diff --git a/.gitignore b/.gitignore
index 9f05840..b0a2125 100644
--- a/.gitignore
+++ b/.gitignore
@@ -66,4 +66,5 @@ github_source
 examples_private*
 *.sconsign.dblite
 
-github_source/*
\ No newline at end of file
+github_source/*
+**setup.ini
\ No newline at end of file
diff --git a/examples/lcd_hello_world/.gitignore b/examples/lcd_hello_world/.gitignore
new file mode 100644
index 0000000..76b743d
--- /dev/null
+++ b/examples/lcd_hello_world/.gitignore
@@ -0,0 +1,6 @@
+
+dist
+build
+.config.mk
+.flash.conf.json
+
diff --git a/examples/lcd_hello_world/SConstruct b/examples/lcd_hello_world/SConstruct
new file mode 100644
index 0000000..076d65c
--- /dev/null
+++ b/examples/lcd_hello_world/SConstruct
@@ -0,0 +1,4 @@
+from pathlib import Path
+import os
+with open(str(Path(os.getcwd())/'..'/'..'/'tools'/'scons'/'project.py')) as f:
+    exec(f.read())
diff --git a/examples/lcd_hello_world/config_defaults.mk b/examples/lcd_hello_world/config_defaults.mk
new file mode 100644
index 0000000..9bc0dda
--- /dev/null
+++ b/examples/lcd_hello_world/config_defaults.mk
@@ -0,0 +1,10 @@
+# unix
+CONFIG_TOOLCHAIN_PATH="/opt/gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf/bin"
+# win
+# CONFIG_TOOLCHAIN_PATH="..\\gcc-linaro-7.5.0-2019.12-x86_64_arm-linux-gnueabihf\\bin"
+
+CONFIG_TOOLCHAIN_PREFIX="arm-linux-gnueabihf-"
+
+CONFIG_MINICV2_COMPONENT_ENABLED=y
+CONFIG_DEVICE_DRIVER_ENABLED=y
+CONFIG_DEVICE_FRAMEBUFFER_ENABLED=y
\ No newline at end of file
diff --git a/examples/lcd_hello_world/main/Kconfig b/examples/lcd_hello_world/main/Kconfig
new file mode 100644
index 0000000..e69de29
diff --git a/examples/lcd_hello_world/main/SConstruct b/examples/lcd_hello_world/main/SConstruct
new file mode 100644
index 0000000..db77bf6
--- /dev/null
+++ b/examples/lcd_hello_world/main/SConstruct
@@ -0,0 +1,33 @@
+# project_root/src/SConscript
+import os
+# Import the environment from the SConstruct file
+Import('env')
+with open(env['PROJECT_TOOL_S']) as f:
+    exec(f.read())
+
+
+SRCS = Glob('src/*.c*')
+INCLUDE = [ADir('include'), ADir('.')]
+PRIVATE_INCLUDE = []
+REQUIREMENTS = ['pthread', 'DeviceDriver', 'minicv2']
+STATIC_LIB = []
+DYNAMIC_LIB = []
+DEFINITIONS = []
+DEFINITIONS_PRIVATE = []
+LDFLAGS = []
+LINK_SEARCH_PATH = []
+
+
+env['COMPONENTS'].append({'target':env['PROJECT_NAME'],
+                          'SRCS':SRCS,
+                          'INCLUDE':INCLUDE,
+                          'PRIVATE_INCLUDE':PRIVATE_INCLUDE,
+                          'REQUIREMENTS':REQUIREMENTS,
+                          'STATIC_LIB':STATIC_LIB,
+                          'DYNAMIC_LIB':DYNAMIC_LIB,
+                          'DEFINITIONS':DEFINITIONS,
+                          'DEFINITIONS_PRIVATE':DEFINITIONS_PRIVATE,
+                          'LDFLAGS':LDFLAGS,
+                          'LINK_SEARCH_PATH':LINK_SEARCH_PATH,
+                          'REGISTER':'project'
+                          })
\ No newline at end of file
diff --git a/examples/lcd_hello_world/main/include/main.h b/examples/lcd_hello_world/main/include/main.h
new file mode 100644
index 0000000..45dcbb0
--- /dev/null
+++ b/examples/lcd_hello_world/main/include/main.h
@@ -0,0 +1,3 @@
+#pragma once
+
+
diff --git a/examples/lcd_hello_world/main/src/main.c b/examples/lcd_hello_world/main/src/main.c
new file mode 100644
index 0000000..1185ab8
--- /dev/null
+++ b/examples/lcd_hello_world/main/src/main.c
@@ -0,0 +1,30 @@
+#include <stdio.h>
+#include <string.h>
+#include "framebuffer/fbtools.h"
+#include "imlib.h"
+
+int main(int argc, char **argv)
+{
+    FBDEV fbdev;
+    memset(&fbdev, 0, sizeof(FBDEV));
+    strcpy(fbdev.dev, "/dev/fb1");
+    if (fb_open(&fbdev) == 0)
+    {
+        printf("open frame buffer error/n");
+        return -1;
+    }
+    int w = fbdev.fb_var.xres;
+    int h = fbdev.fb_var.yres;
+    int color = fbdev.fb_var.bits_per_pixel;
+
+    image_t *img = imlib_image_create(w, h, PIXFORMAT_RGB565, w * h * 2, (void*)fbdev.fb_mem, 0);
+    fb_memset((void*)(fbdev.fb_mem + fbdev.fb_mem_offset), 0, fbdev.fb_fix.smem_len);
+
+    char strs[100];
+    sprintf(strs, "hello_world!");
+    imlib_draw_string(img, 75, 110, strs,     COLOR_R8_G8_B8_TO_RGB565(0xff, 0xff, 0xff), 2, 0, 0, 1, 0, 0, 0, 0, 0, 0);
+
+    imlib_image_destroy(&img);
+    fb_close(&fbdev);
+    return 0;
+}
diff --git a/github_source/minicv2/.gitattributes b/github_source/minicv2/.gitattributes
new file mode 100644
index 0000000..fc73bea
--- /dev/null
+++ b/github_source/minicv2/.gitattributes
@@ -0,0 +1,2 @@
+CMakeLists.txt
+Kconfig
\ No newline at end of file
diff --git a/github_source/minicv2/.gitignore b/github_source/minicv2/.gitignore
new file mode 100644
index 0000000..d204fed
--- /dev/null
+++ b/github_source/minicv2/.gitignore
@@ -0,0 +1,62 @@
+# Prerequisites
+*.d
+
+# Object files
+*.o
+*.ko
+*.obj
+*.elf
+
+# Linker output
+*.ilk
+*.map
+*.exp
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Libraries
+*.lib
+*.a
+*.la
+*.lo
+
+# Shared objects (inc. Windows DLLs)
+*.dll
+*.so
+*.so.*
+*.dylib
+
+# Executables
+*.exe
+*.out
+*.app
+*.i*86
+*.x86_64
+*.hex
+
+# Debug files
+*.dSYM/
+*.su
+*.idb
+*.pdb
+
+# Kernel Module Compile Results
+*.mod*
+*.cmd
+.tmp_versions/
+modules.order
+Module.symvers
+Mkfile.old
+dkms.conf
+.vscode-ctags
+*tempCodeRunnerFile.c
+examples/*/build
+test/tmp.*
+.vscode/settings.json
+test/tmp_img_big.bmp
+test/imlib_base_test
+
+Kconfig
+CMakeLists.txt
\ No newline at end of file
diff --git a/github_source/minicv2/.vscode/settings.json b/github_source/minicv2/.vscode/settings.json
new file mode 100644
index 0000000..746304f
--- /dev/null
+++ b/github_source/minicv2/.vscode/settings.json
@@ -0,0 +1,9 @@
+{
+    "files.associations": {
+        "array": "c",
+        "string": "c",
+        "string_view": "c",
+        "ranges": "c",
+        "span": "c"
+    }
+}
\ No newline at end of file
diff --git a/github_source/minicv2/CMakeLists.txt b/github_source/minicv2/CMakeLists.txt
new file mode 100644
index 0000000..f42cad7
--- /dev/null
+++ b/github_source/minicv2/CMakeLists.txt
@@ -0,0 +1,22 @@
+
+
+if(CONFIG_COMPONENT_IMLIB_ENABLE)
+
+list(APPEND ADD_INCLUDE "include")
+list(APPEND ADD_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../maix_smart/include")
+add_definitions(-DIMLIB_CONFIG_H_FILE="costom_imlib_config.h")
+
+append_srcs_dir(ADD_SRCS "src")
+add_definitions("-lm")
+############ Add static libs ##################
+# list(APPEND ADD_STATIC_LIB "core/lib/libmaix_nn.a")
+###############################################
+
+# include_directories(${CMAKE_CURRENT_SOURCE_DIR}/../libmaix/include)
+
+############ Add dynamic libs ##################
+
+###############################################
+
+register_component(DYNAMIC)
+endif()
\ No newline at end of file
diff --git a/github_source/minicv2/Kconfig b/github_source/minicv2/Kconfig
new file mode 100644
index 0000000..2a67c17
--- /dev/null
+++ b/github_source/minicv2/Kconfig
@@ -0,0 +1,6 @@
+
+config COMPONENT_IMLIB_ENABLE
+    bool "Enable imlib component"
+    default y
+    help
+        Select this option to enable use imlib.
\ No newline at end of file
diff --git a/github_source/minicv2/LICENSE b/github_source/minicv2/LICENSE
new file mode 100644
index 0000000..69a611f
--- /dev/null
+++ b/github_source/minicv2/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2022 dianjixz
+
+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.
diff --git a/github_source/minicv2/Makefile b/github_source/minicv2/Makefile
new file mode 100644
index 0000000..e696b58
--- /dev/null
+++ b/github_source/minicv2/Makefile
@@ -0,0 +1,107 @@
+
+
+CROSS = 
+CC = $(CROSS)gcc
+CXX = $(CROSS)g++
+
+DEBUG = 
+CFLAGS = $(DEBUG) -Wall -c -fPIC -Wno-comment
+LDFLAGS = -fPIC -shared -lm
+MV = mv -f
+RM = rm -rf
+LN = ln -sf
+
+TARGET = libimlib.so
+
+
+TOP_PATH = $(shell pwd)
+SRC_PATH = $(TOP_PATH)/src
+
+INC_PATH = 
+INC_PATH += -I$(TOP_PATH)/include 
+
+
+
+MOD_PATH = $(TOP_PATH)/modules
+MOD_LIB_PATH = $(MOD_PATH)/lib
+MOD_INC_PATH = $(MOD_PATH)/include
+
+DIRS = $(shell find $(SRC_PATH) -maxdepth 3 -type d)
+FILES = $(foreach dir, $(DIRS), $(wildcard $(dir)/*.cpp))
+
+
+##########################################################
+# modules
+##########################################################
+modules = 
+MODULES_PATH = $(foreach m, $(modules), $(MOD_PATH)/$(m))
+
+
+##########################################################
+# srcs
+##########################################################
+SRCS_CPP += $(foreach dir, $(DIRS), $(wildcard $(dir)/*.cpp))
+SRCS_CC += $(foreach dir, $(DIRS), $(wildcard $(dir)/*.cc))
+SRCS_C += $(foreach dir, $(DIRS), $(wildcard $(dir)/*.c))
+
+
+##########################################################
+# objs
+##########################################################
+OBJS_CPP = $(patsubst %.cpp, %.o, $(SRCS_CPP))
+OBJS_CC = $(patsubst %.cc, %.o, $(SRCS_CC))
+OBJS_C = $(patsubst %.c, %.o, $(SRCS_C))
+
+##########################################################
+# paths
+##########################################################
+INC_PATH += -I$(MOD_INC_PATH)
+INC_PATH += -I$(MOD_PATH)
+LIB_PATH += -L$(TOP_PATH)/lib
+LIB_PATH += -L$(MOD_LIB_PATH)
+
+##########################################################
+# libs
+##########################################################
+
+##########################################################
+# building
+##########################################################
+all:$(TARGET) 
+
+$(TARGET) : $(OBJS_CPP) $(OBJS_CC) $(OBJS_C)
+	@ for i in $(MODULES_PATH); \
+	do \
+	make -C $$i; \
+	done
+
+	$(CXX) $^ -o $@ $(LIB_PATH) $(LIBS) $(LDFLAGS)
+	# $(AR) -r libimlib.a $(OBJS_C) 
+	@ echo Create $(TARGET) ok...
+
+$(OBJS_CPP):%.o : %.cpp
+	$(CXX) $(CFLAGS) $< -o $@ $(INC_PATH)
+
+$(OBJS_CC):%.o : %.cc
+	$(CC) $(CFLAGS) $< -o $@ $(INC_PATH)
+
+$(OBJS_C):%.o : %.c
+	$(CC) $(CFLAGS) $< -o $@ $(INC_PATH)
+
+.PHONY : clean
+clean:
+	@ $(RM) $(TARGET) $(OBJS_CPP) $(OBJS_CC) $(OBJS_C)
+	# @ $(RM) libimlib.a
+	@ for i in $(MODULES_PATH); \
+	do \
+	make clean -C $$i; \
+	done
+	@echo clean all...
+
+clean_o:
+	@ $(RM) $(OBJS_CPP) $(OBJS_CC) $(OBJS_C)
+	@echo clean all...
+
+rebuild :
+	make clean
+	make
\ No newline at end of file
diff --git a/github_source/minicv2/README.md b/github_source/minicv2/README.md
new file mode 100644
index 0000000..b991cd4
--- /dev/null
+++ b/github_source/minicv2/README.md
@@ -0,0 +1,95 @@
+# openmv核心算法imlib的移植
+
+
+### 项目信息
+
+1、相关函数使用参考代码将会放在reference文件夹内，主要是openmv的参考代码。
+
+2、项目结构
+~~~ bash
+├── bug_report     #bug报告
+├── include
+├── LICENSE
+├── Makefile
+├── readme.md
+├── reference     #imlib使用参考代码
+├── src           #源码文件
+└── test
+~~~
+
+### 相关工作
+
+1、修改内存管理
+
+2、做相关指令移植工作
+
+3、添加rgb888的支持
+
+4、完成imlib的相关库函数
+
+
+
+### 移植要点
+
+1、尽量在原openmv imlib库上做兼容修改。
+
+2、尽量保持最小的修改。
+
+3、尽量保持代码风格统一。
+
+4、当需要添加新的模块程序时，如果不是必须，请新建源文件进行添加。
+
+5、fb_alloc内存区使用要小心，更改了fb_alloc的内存释放fb_free()接口，方便做程序的移植。
+
+以上要点可以在保持原汁原味的opemv风格下，添加我们自己的相关代码。好处是当openmv代码更新时可以最快的速度更新到我们自己代码中，
+做到代码共享。
+
+
+### 移植进度
+
+1、完成了xalloc内存管理的移植。（动态内存的移植）
+
+2、完成了fb_alloc内存管理的移植。（栈内存的移植）
+
+3、完成了大部分的rgb888的支持添加，对imlib_draw_image()函数的rgb888支持工作还在进行中，目前需要测试后才能继续做支持添加工作。
+
+4、正在进行相关测试。测试参考代码将会放在examples文件夹内。
+
+5、目前的主要测试工作是rgb888的支持测试，测试imlib库对rgb888支持的一些缺陷，然后做修补工作。
+
+6、添加了一些简易函数的实现，方便该库进行单独的移植和使用
+
+### 准备进行的工作
+
+1、png图片的打开和编解码操作
+
+2、jpeg 图片的打开和编解码操作
+
+
+### 如何使用
+
+进入 test 文件。
+~~~ bash
+make 
+
+./imlib_base_test
+~~~
+
+
+### 使用注意
+
+1、目前imlib库的图片输入输出只进行了bpm的移植。其他的正在移植工作中。
+
+2、测试出现问题后，可以写到bug_report文件夹内，作者看到后会进行处理。
+
+3、imlib算法内原生支持rgb565,有关rgb565的算法可以直接测试使用。
+
+4、目前该库只支持了 bmp 图片格式的实现，其他格式的图片打开请持续关注该项目。
+
+5、如果想要参与该项目，可以提交PR或者联系作者，作者将会将其添加到项目管理者内，让合作更加顺畅。
+
+
+
+
+
+
diff --git a/github_source/minicv2/doc/imlib库函数指南.md b/github_source/minicv2/doc/imlib库函数指南.md
new file mode 100644
index 0000000..5a23663
--- /dev/null
+++ b/github_source/minicv2/doc/imlib库函数指南.md
@@ -0,0 +1,56 @@
+- 常用函数列表
+~~~ c
+// 库的初始化函数
+void imlib_init_all();
+void imlib_deinit_all();
+
+// 创建一个堆区图片
+image_t* imlib_image_create(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels, bool is_data_alloc);
+// 创建一个临时的栈内存图片
+image_t* imlib_image_create_fb_buff(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels, bool is_data_alloc);
+// 释放栈内存图片
+void imlib_image_destroy_fb_buff(image_t **obj);
+// 释放堆内存图片
+void imlib_image_destroy(image_t **obj);
+// 初始化一张图片
+void imlib_image_init(image_t *ptr, int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels);
+// 复制一张图片
+void image_copy(image_t *dst, image_t *src);
+// 获取图片的大小
+size_t image_size(image_t *ptr);
+
+
+// 转换图片的格式，兼容截图的功能
+void imlib_pixfmt_to(image_t *dst, image_t *src, rectangle_t *roi_i);
+
+// 图片的缩放
+void imlib_image_resize(image_t *dst, image_t *src, int hist);
+
+// 获取图像的某个像素
+int imlib_get_pixel(image_t *img, int x, int y);
+//快速获取图像的某个像素，以行为单位
+int imlib_get_pixel_fast(image_t *img, const void *row_ptr, int x);
+//设置图片的某个像素
+void imlib_set_pixel(image_t *img, int x, int y, int p);
+// 在图像上画线
+void imlib_draw_line(image_t *img, int x0, int y0, int x1, int y1, int c, int thickness);
+// 在图像上画框
+void imlib_draw_rectangle(image_t *img, int rx, int ry, int rw, int rh, int c, int thickness, bool fill);
+// 在图像上画圆
+void imlib_draw_circle(image_t *img, int cx, int cy, int r, int c, int thickness, bool fill);
+// 在图像上画椭圆
+void imlib_draw_ellipse(image_t *img, int cx, int cy, int rx, int ry, int rotation, int c, int thickness, bool fill);
+// 在图像上写字
+void imlib_draw_string(image_t *img, int x_off, int y_off, const char *str, int c, float scale, int x_spacing, int y_spacing, bool mono_space,
+                       int char_rotation, bool char_hmirror, bool char_vflip, int string_rotation, bool string_hmirror, bool string_hflip);
+// 快速的贴图
+void imlib_draw_image_fast(image_t *img, image_t *other, int x_off, int y_off, float x_scale, float y_scale, float alpha, image_t *mask);
+// 在图像上画十字标
+void imlib_draw_cross(image_t *img, int x, int y, int c, int size, int thickness);
+
+
+
+
+
+
+~~~
\ No newline at end of file
diff --git a/github_source/minicv2/include/arm_compat.h b/github_source/minicv2/include/arm_compat.h
new file mode 100644
index 0000000..28a6f20
--- /dev/null
+++ b/github_source/minicv2/include/arm_compat.h
@@ -0,0 +1,206 @@
+#ifndef __ARM_COMPAT__H
+#define __ARM_COMPAT__H
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// typedef __uint8_t uint8_t;
+typedef unsigned short uint16_t;
+typedef unsigned int uint32_t;
+// typedef __uint64_t uint64_t;
+#ifndef   __STATIC_FORCEINLINE
+  #define __STATIC_FORCEINLINE                   __attribute__((always_inline)) static inline
+#endif
+#if __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+
+
+
+#else //__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+
+
+// Reverse the bit order in a 32-bit word.
+__STATIC_FORCEINLINE uint32_t __RBIT(
+  uint32_t i )
+{
+  i = ( ( i & 0x55555555 ) << 1 ) | ( ( i >> 1 ) & 0x55555555 );
+  i = ( ( i & 0x33333333 ) << 2 ) | ( ( i >> 2 ) & 0x33333333 );
+  i = ( ( i & 0x0f0f0f0f ) << 4 ) | ( ( i >> 4 ) & 0x0f0f0f0f );
+  i = ( i << 24 ) | ( ( i & 0xff00 ) << 8 ) //
+    | ( ( i >> 8 ) & 0xff00 ) | ( i >> 24 );
+  return i;
+}
+
+// Reverse byte order in each halfword independently
+// converts 16-bit big-endian data into little-endian data
+// or 16-bit little-endian data into big-endian data
+__STATIC_FORCEINLINE short __REV16(
+  short s )
+{
+  return __builtin_bswap16(s);
+  // return ( s << 8 ) | ( s >> 8 );
+}
+
+// Reverse byte order in a word
+// converts 32-bit big-endian data into little-endian data
+// or 32-bit little-endian data into big-endian data.
+__STATIC_FORCEINLINE uint32_t __REV32(
+  uint32_t i )
+{
+  return __builtin_bswap32(i);
+  // return ( i & 0x000000FFU ) << 24 | ( i & 0x0000FF00U ) << 8
+  //   | ( i & 0x00FF0000U ) >> 8 | ( i & 0xFF000000U ) >> 24;
+}
+
+__STATIC_FORCEINLINE uint32_t __SSUB16(uint32_t op1, uint32_t op2)
+{
+  return ((op1 & 0xFFFF0000) - (op2 & 0xFFFF0000)) | ((op1 - op2) & 0xFFFF);
+}
+
+__STATIC_FORCEINLINE uint32_t __UXTB_RORn(uint32_t op1, uint32_t rotate)
+{
+  return (op1 >> rotate) & 0xFF;
+}
+
+#define __CLZ             (uint8_t)__builtin_clz
+
+#define __PKHBT(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0x0000FFFFUL) |  \
+                                           ((((uint32_t)(ARG2)) << (ARG3)) & 0xFFFF0000UL)  )
+
+#define __PKHTB(ARG1,ARG2,ARG3)          ( ((((uint32_t)(ARG1))          ) & 0xFFFF0000UL) |  \
+                                           ((((uint32_t)(ARG2)) >> (ARG3)) & 0x0000FFFFUL)  )
+
+__STATIC_FORCEINLINE uint32_t __SMLAD (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+  uint16_t *op1_s = (uint16_t *) &op1, *op2_s = (uint16_t *) &op2;
+  
+  result = op1_s[0] * op2_s[0];
+  result += op1_s[1] * op2_s[1];
+  result += op3;
+  
+  return result;
+}
+
+__STATIC_FORCEINLINE uint32_t __SMUAD  (uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+  uint16_t *op1_s = (uint16_t *) &op1, *op2_s = (uint16_t *) &op2;
+  
+  result = op1_s[0] * op2_s[0] + op1_s[1] * op2_s[1];
+
+  return result;  
+}
+
+__STATIC_FORCEINLINE uint32_t __QADD16(uint32_t op1, uint32_t op2)
+{
+  uint32_t result;
+  uint16_t *op1_s = (uint16_t *) &op1, *op2_s = (uint16_t *) &op2, *result_s = (uint16_t *) &result;
+  
+  result_s[0] = op1_s[0] + op2_s[0];
+  result_s[1] = op1_s[1] + op2_s[1];
+  return(result);
+}
+
+__STATIC_FORCEINLINE uint32_t __SMLADX (uint32_t op1, uint32_t op2, uint32_t op3)
+{
+  uint32_t result;
+  uint16_t *op1_s = (uint16_t *) &op1, *op2_s = (uint16_t *) &op2;
+  
+  result = op1_s[0] * op2_s[1];
+  result += op1_s[1] * op2_s[0];
+  result += op3;
+  
+  return result;
+}
+
+#define __USAT_ASR(ARG1,ARG2,ARG3) \
+({                          \
+  uint32_t __RES, __ARG1 = (ARG1), __ARG2 = 1<<ARG2; \
+  __ARG1 = __ARG1>>ARG3; \
+  if(__ARG1 >= __ARG2) __RES = __ARG2; \
+  else __RES = __ARG1;  \
+  __RES; \
+ })
+
+float arm_cos_f32(float x);
+float arm_sin_f32(float x);
+#define __USAT(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((uint32_t)((0xffffffff >> (32 - _val2)) & _val1));\
+})
+#define __USAT16(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((_val1 & ((0xffff >> (16 - _val2)) << 16)) | (_val1 & (0xffff >> (16 - _val2))));\
+})
+#endif //__BYTE_ORDER__ == __ORDER_LITTER_ENDIAN__
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif //__ARM_COMPAT__H
+
+
+
+#ifdef _CC_ARM_asdxasxsaadsadsaxasadasdsadsads
+//备份宏定义
+#define __SMLAD(x, y, sum) \
+({\
+    __typeof__ (x) __x = x;\
+    __typeof__ (y) __y = y;\
+    __typeof__ (sum) __sum = sum;\
+    ((uint32_t)(((((int32_t)__x << 16) >> 16) * (((int32_t)__y << 16) >> 16)) + ((((int32_t)__x) >> 16) * (((int32_t)__y) >> 16)) + ( ((int32_t)__sum))));\
+})
+
+#define __SMUAD(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((uint32_t)(((((int32_t)_val1 << 16) >> 16) * (((int32_t)_val2 << 16) >> 16)) + ((((int32_t)_val1) >> 16) * (((int32_t)_val2) >> 16))));\
+})
+
+
+#define __QADD16(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((uint32_t)((((((int32_t)_val1 << 16) >> 16) + (((int32_t)_val2 << 16) >> 16))) | (((((int32_t)_val1) >> 16) + (((int32_t)_val2) >> 16)) << 16)));\
+})
+
+#define __USAT(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((uint32_t)((0xffffffff >> (32 - _val2)) & _val1));\
+})
+
+#define __USAT16(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((_val1 & ((0xffff >> (16 - _val2)) << 16)) | (_val1 & (0xffff >> (16 - _val2))));\
+})
+
+#define __SSUB16(val1, val2) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    __typeof__ (val2) _val2 = val2;\
+    ((((_val1 >> 16) - (_val2 >> 16)) << 16) | ((_val1 & 0xffff) - (_val2 & 0xffff)));\
+})
+
+#define __REV16(_x) __builtin_bswap16(_x)
+
+
+#define __CLZ(val1) \
+({\
+    __typeof__ (val1) _val1 = val1;\
+    uint32_t tmp_0 = 0, tmp_1 = 0x80000000, tmp_2 = 0;\
+    if(_val1 == 0){tmp_2 = 32;}else{for(tmp_0 = 0; tmp_0 < 32; tmp_0 ++){if(_val1 & tmp_1){break;}else{tmp_2 ++;tmp_1 = tmp_1 >> 1;}}}\
+    tmp_2;\
+})
+#endif //_CC_ARM_asdxasxsaadsadsaxasadasdsadsadsaxsa
\ No newline at end of file
diff --git a/github_source/minicv2/include/array.h b/github_source/minicv2/include/array.h
new file mode 100644
index 0000000..1217b7e
--- /dev/null
+++ b/github_source/minicv2/include/array.h
@@ -0,0 +1,44 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Dynamic array.
+ */
+#ifndef __ARRAY_H__
+#define __ARRAY_H__
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+typedef void (*array_dtor_t)(void*);
+typedef int  (*array_comp_t)(const void*, const void*);
+// (left < right) == negative
+// (left == right) == zero
+// (left > right) == positive
+typedef struct {
+    int index;
+    int length;
+    void **data;
+    array_dtor_t dtor;
+} array_t;
+void array_alloc(array_t **a, array_dtor_t dtor);
+void array_alloc_init(array_t **a, array_dtor_t dtor, int size);
+void array_clear(array_t *array);
+void array_free(array_t *array);
+int array_length(array_t *array);
+void *array_at(array_t *array, int idx);
+void array_push_back(array_t *array, void *element);
+void *array_pop_back(array_t *array);
+void *array_take(array_t *array, int idx);
+void array_erase(array_t *array, int idx);
+void array_resize(array_t *array, int num);
+void array_sort(array_t *array, array_comp_t comp);
+void array_isort(array_t *array, array_comp_t comp);
+#ifdef __cplusplus
+}
+#endif
+#endif //__ARRAY_H__
diff --git a/github_source/minicv2/include/cascade.h b/github_source/minicv2/include/cascade.h
new file mode 100644
index 0000000..c6f14cf
--- /dev/null
+++ b/github_source/minicv2/include/cascade.h
@@ -0,0 +1,30 @@
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+const int frontalface_window_w=24;
+const int frontalface_window_h=24;
+const int frontalface_n_stages=25;
+const uint8_t frontalface_stages_array[]={9, 16, 27, 32, 52, 53, 62, 72, 83, 91, 99, 115, 127, 135, 136, 137, 159, 155, 169, 196, 197, 181, 199, 211, 200};
+const int16_t frontalface_stages_thresh_array[]={-1290, -1275, -1191, -1140, -1122, -1057, -1029, -994, -983, -933, -990, -951, -912, -947, -877, -899, -920, -868, -829, -821, -838, -849, -833, -862, -766};
+const int16_t frontalface_tree_thresh_array[]={-129, 50, 89, 23, 61, 407, 11, -77, 24, -86, 83, 87, 375, 148, -78, 33, 75, -28, -40, 64, -84, -563, 58, 41, 374, 285, 129, 58, 59, -12, 134, -29, 206, 192, -284, -200, 347, -7, 473, -210, -174, 1522, 79, 71, 162, -37, 7, 123, -322, 8, 110, -184, -269, 64, 596, 25, 27, 75, 81, -1136, 37, -154, 75, -45, 138, -146, -46, -267, -173, 7, -529, 93, -139, 107, 91, -23, 178, 234, 9, 53, -108, -23, -67, -279, 163, 770, 319, 0, 348, 36, 36, -96, 28, 138, -13, 119, -34, -44, -100, 15, -50, -19, 314, 117, 80, -119, -119, 80, 17, -145, -66, -90, -93, 68, -54, -138, 69, 13, 342, 1056, -149, -67, -15, -26, -15, -186, -98, -317, 96, -10, 491, 9, 285, -191, -205, 123, 373, 52, 65, 9, 130, 11, -49, 87, 124, -184, -293, 242, 27, 168, -3, -124, -52, 153, 100, 233, -66, -722, 721, -30, 249, -119, -186, 152, -99, -244, -123, 30, -8, 85, -27, 76, -181, 93, -4, 70, -141, 274, 973, -52, 43, 69, -29, 43, 25, 53, 12, -447, 33, 128, 130, 27, 107, 52, 107, -61, -159, -23, -6, -116, 271, 36, 46, -11, 46, 29, 130, 103, 30, 134, -11, -155, -159, 11, -221, -34, 138, -460, -42, -20, -38, -48, -95, 69, -98, -151, -252, 88, -15, 183, 234, -46, -49, 92, -81, 65, -37, -18, 521, 195, 219, -162, -275, 546, -856, -268, 253, -104, -142, -74, 61, 189, 63, 52, 201, 51, -76, 171, -210, -290, 68, -25, -161, 0, -91, 7, 4, 160, 254, 8, 3, -28, -97, -420, -39, 163, -53, -207, 102, -31, 175, 0, 37, 45, -214, -942, -67, -70, -150, -42, -56, 120, 98, 25, -91, -28, -166, -100, 10, -80, -121, -61, -248, -52, -82, -125, -84, -7, -128, 77, 25, -41, -5, -16, -180, -248, -134, -603, -48, 594, 210, 12, -178, 528, -373, 58, 134, 51, 60, -137, 583, -25, 74, 102, 190, -36, 167, -140, -162, 10, 112, 143, 18, 11, 144, 106, -64, -31, 85, 245, 159, 88, -112, 42, 101, -65, 199, 5, -360, 75, 144, -835, -68, 154, 9, -60, -197, -120, -189, -114, -23, -41, 46, 212, 136, -59, -140, -330, -3, 397, 149, 211, -100, 1340, 31, 662, -19, -75, 318, 77, -325, -278, -24, 130, -122, -329, 15, 137, 33, 413, -40, 29, 102, 1143, -181, -57, 564, 141, 76, 102, 234, 61, 36, 124, -180, 75, 43, -188, 339, -36, 175, -35, -17, 33, 396, -125, -249, -156, -39, 200, -170, -82, -4, -137, 79, -1, -1, -382, -318, 69, -87, -52, 32, 421, -153, 104, 2, -1182, 373, 493, -302, -135, -179, 741, -48, 18, 28, -97, -275, -267, 93, -77, -28, -164, -166, -50, -111, -361, -32, -171, 187, -577, -242, 17, -8, 1127, -108, 167, 22, 130, -169, -393, -47, 75, -139, -100, 200, -84, -94, 264, 51, -49, -108, -104, 160, -24, -139, 166, 104, 817, 50, 160, -126, -145, -252, -48, 274, -84, -91, 4, 146, 125, 22, -25, -124, -39, -233, 16, 138, -141, 192, -35, 268, -180, 70, 135, -86, 121, 226, -137, 80, -85, 133, -44, -40, -15, -171, -140, 41, -368, 106, -15, 130, 79, 7, -180, -183, -440, -526, -183, -180, -502, -81, -63, -200, 229, -40, 55, 26, 29, 19, 39, -112, -161, -125, -6, 781, 21, 98, -108, 22, 222, 0, 62, 69, 124, 26, 580, 79, -70, -25, -65, -414, -30, 181, -476, 19, 91, -49, 229, -35, 27, -74, -93, 52, -56, 128, 381, 106, 67, -7, -36, 92, -154, -22, -97, -108, 50, 395, -112, -64, -8, 49, -63, -17, -86, -69, -167, -33, -78, -181, -255, -4, 97, 87, 82, -117, 14, 233, -384, 72, 935, -749, -286, 62, 27, -65, 53, 53, -163, 61, -84, -91, -32, 62, -129, -126, -63, 144, -73, -13, 64, 122, 12, 347, -240, 183, 165, 154, 248, -81, -679, 282, 46, 6, 326, -234, 30, -73, 387, 22, 28, 141, -212, -283, -22, 280, -274, -86, 83, -192, 768, -177, 81, 33, 111, -375, -51, 60, 119, 35, -224, -60, 102, 190, 72, 668, 53, -64, 329, 144, 135, 49, 176, 124, 145, -59, 51, 41, 118, 2, 198, 132, 136, 26, -23, 52, 24, 10, -69, 115, 42, 40, 106, -104, -14, 37, 86, -209, -255, -135, -153, 508, -36, -245, 25, -72, 72, 21, -43, 855, -108, 241, -47, 188, -93, -33, 14, 202, 14, -126, 354, -559, -23, -73, -81, -235, -340, -220, -34, 226, -275, -97, 22, 87, -100, -80, -218, 29, -92, -337, 536, 58, 26, -188, 236, -24, -213, 190, 30, 88, -73, -152, -1, 102, 38, 132, -25, 210, -108, -63, 79, 137, 118, 0, -201, 313, 97, 15, -366, -61, -45, 387, 2254, 169, 101, 208, -69, -498, -14, 474, 151, 47, -82, -117, -23, -227, -60, -29, -184, 263, -60, 184, -4, 202, 119, 142, -25, 63, 11, -219, -78, -226, 230, -97, 7, -154, -98, 112, 473, -91, 54, -15, -10, 13, 154, -56, -11, -157, -142, 95, 143, -54, 52, 14, 412, 0, 47, -147, -86, 60, -21, 96, -102, -3, -165, 115, 187, 162, 206, -70, 328, 400, -63, -62, -67, -107, 36, -110, 31, -65, 85, 350, 97, -160, -319, -69, 486, 639, -188, -42, 392, 56, 9, 136, -136, 11, -269, 8, 91, -235, 27, 50, -33, 150, -1647, -90, -53, -52, 88, 48, -80, 263, 446, -139, -15, -44, -47, 106, 17, -195, 1, 472, 65, 231, -43, 508, -22, 48, -176, -135, -87, -50, -69, -10, -184, 159, 27, -67, 25, 187, 16, 0, 29, -204, -102, 126, 189, -13, -99, 49, 53, 242, -168, -344, 182, 100, -17, 100, -348, 89, -68, 133, 10, 226, -435, -32, 309, -380, 202, -48, 351, 331, -138, 63, 224, 87, 32, -153, 652, -282, -138, -259, 30, -39, -535, 235, -29, 127, 146, -129, -79, -29, 33, -178, 108, 131, -295, 128, -1, 11, 134, -59, 155, 11, -170, -101, 41, -85, 91, -152, -43, 227, 88, 0, 59, 441, 147, -16, 85, -122, 106, 43, 35, 87, 305, 19, 7, 4, 115, -133, 92, -88, 31, 59, 114, 23, -40, -16, -92, -162, -71, 36, -32, 110, -84, -294, -110, -194, -446, 55, -27, -16, -154, 35, -131, 239, -167, -81, -18, 68, 38, -80, 44, 155, 67, -81, 45, 21, -45, -43, 431, 224, 72, -127, -234, -46, 125, 7, 46, 333, 219, -98, 27, -132, 155, 63, -181, -94, 79, 425, -77, 158, 93, -128, 39, -201, -161, 196, 210, 58, -375, 26, 146, 207, -59, -158, -165, 97, 35, -544, 40, 20, -250, -1, 13, 86, 30, 101, -145, 81, 61, -94, -76, 1846, 48, -101, -183, -59, -100, 94, -102, 4, 63, -109, 5, -2, -130, -20, 127, -137, 49, -142, 40, 244, -267, -380, -168, 87, -104, -168, -72, 36, -47, -30, 3, -125, -77, -33, -142, 77, -77, -364, 28, -115, -1, -443, 65, 35, -103, -55, -31, 293, -55, 12, -208, -36, 877, 57, 174, 81, -137, 260, 89, -321, 58, -275, 534, -189, -122, -1, -91, -6, 49, 99, -193, -101, 89, 770, -318, -199, -70, -11, -404, -89, 250, -100, 138, 156, -82, 101, -99, -108, -14, 438, 184, 181, 4, 292, 146, -85, 1741, 46, -62, -62, -77, -13, 381, -51, -110, -96, -58, 115, 208, 47, -60, 935, 454, 13, 349, 90, -64, 1356, 36, 188, -154, -335, 891, 60, 214, 37, 32, -106, -12, 234, -25, -165, -83, -70, -99, 232, 1, 40, -215, -56, -124, -1230, -147, -225, 138, -33, -22, 12, 219, -513, 379, 157, -8, 39, 98, -73, -43, -29, 98, -75, 64, -199, 27, 40, 60, 397, 197, 40, -163, 93, 27, 244, 28, 64, -203, 214, 91, 168, -88, -339, 34, 323, -369, -119, 28, -33, 80, -60, 103, -64, 120, -34, 100, -138, -8, 124, 16, 113, 32, 180, -132, 85, 103, 26, -239, 130, -124, 61, -200, 340, 97, 67, -48, 0, 78, -41, -57, -422, -391, -169, 9, 439, 13, 119, 46, -49, -52, 100, 188, -111, 164, 94, -97, 317, -54, -88, -292, -22, 109, -161, 106, 200, 151, 323, 118, 25, -269, -282, -477, -5, -182, 209, -129, 86, -566, 213, 106, -49, -99, -103, 51, 234, 68, -93, 0, -31, 385, -255, 71, -90, -42, -38, -118, -86, -151, 43, 670, 388, 144, 52, 569, 48, -40, -24, -5, 132, -57, 4, 0, -1, 16, 58, -226, 383, 109, 15, -130, -92, 103, -127, -108, -56, -257, -183, -83, -32, 35, -111, -67, -56, 119, 153, -102, -261, -38, -3, -89, -73, -101, 643, 282, -45, -56, -126, 87, 381, 121, 0, -172, -92, -52, 114, -113, -25, -83, -50, -165, 121, 28, 66, 205, 8, 102, -64, 152, -324, -70, 134, -481, 493, 17, -297, 725, 34, -53, 77, 87, 259, -132, -96, 76, 127, -45, -52, -52, 281, 21, -158, 25, 717, 476, -94, -210, 920, 38, -485, 154, 90, -148, -540, -170, -135, 64, -161, -277, -109, 163, 412, -331, -87, -43, 3, 14, 77, -104, -16, -3, -202, 47, 141, -33, -91, -126, 179, 176, 111, 38, 386, 697, -193, 458, -58, 139, 88, 89, 337, 346, -225, -265, -93, 224, 0, 402, -29, 205, -23, 57, 87, -119, 1, 7, 35, 260, -114, 200, -120, 508, 32, 124, 103, 41, -68, -11, 173, -198, 118, -164, -168, 48, -87, -97, 73, -178, -37, 194, -58, 15, 14, -119, -26, -123, 32, 36, 393, -134, -54, 62, 49, -312, -49, 89, -11, -199, -42, -27, 35, 81, 90, -213, 80, 94, -61, -204, -283, 19, -138, -66, -205, 233, 167, -12, -133, 403, -156, -188, -489, -493, 289, 34, 93, 2, 141, -18, 96, 52, -46, -170, -382, -111, -89, -39, 284, 127, -203, -83, -62, -207, -84, -126, -18, -187, 68, 13, 100, -326, 182, -513, 73, 78, 163, 55, 66, 45, 160, -39, 114, -96, 110, 1, -168, 27, 196, -12, -35, -30, -7, -353, 191, 0, -66, 187, -112, -113, 31, -2, 452, 281, 7, 787, 644, -202, 212, 204, -174, -153, -152, 57, -1, 131, -17, 40, 382, 70, 34, -57, -31, 114, -77, -76, -149, 132, 244, 40, -144, 11, 33, 364, -123, -89, 154, 11, -43, 531, -72, -315, -78, -209, 8, 104, -97, -26, -154, 886, -54, 291, 229, 165, 258, 42, 256, -161, -22, 441, 69, 127, -94, -45, -19, -71, 77, 29, 77, 127, 85, 46, -233, 295, -81, -68, -163, 110, -16, 93, -282, 176, 35, 59, -47, -449, 185, -110, 73, 206, -122, 155, 760, -16, 41, -47, -26, 43, -83, 9, -6, 35, -99, 304, 69, -100, 123, 49, 355, -173, -10, -232, 96, -85, 29, 1399, 25, 133, 0, 2, 223, -41, -77, -21, -44, -204, 49, -9, 12, 16, -30, 212, 75, 716, 221, -1312, -110, 317, 97, 47, 133, -181, -239, 79, -183, -247, 47, 114, 267, 39, 10, 130, 135, 194, -80, -224, -92, 438, -149, 57, 85, 201, 148, 168, 64, -66, -12, -564, -39, -101, -571, -336, 15, -27, -65, -208, 68, 65, 14, -352, 135, -16, -98, 35, -113, -796, -445, -79, 12, 242, -222, -161, 337, -30, 30, 28, -63, -11, -289, -47, 2, -151, -133, -306, 169, -118, 189, 1041, 9, -339, -46, -528, 157, 417, -78, -248, 101, 109, 61, 107, -153, -21, 72, -139, -65, 80, -424, -78, -52, -66, -522, 78, 133, 38, 20, 169, -312, -298, 244, 83, -328, -73, 46, -104, -3, -59, 35, 224, -443, 94, 11, -8, -92, 340, -27, 313, 22, -42, 113, -95, -227, -166, -30, 69, -151, -80, -96, -177, -90, 67, -134, 292, 3, -34, -70, -76, -37, 75, -206, -96, -111, 26, 95, 53, -27, -92, -261, -204, 27, -228, 1308, 331, -61, 191, 24, -140, -143, 12, -57, -27, -216, -8, 75, 51, 52, -73, 7, -60, -61, 59, -44, -37, 18, 96, 130, -75, 80, 1685, -170, -42, 50, -35, 66, -42, -50, -206, 202, -168, 4, -205, -35, -205, 418, -58, 42, -48, 295, -77, -19, -238, 4, -202, -487, -74, -32, 212, 273, -56, -72, -172, -55, -45, -503, 195, 130, 17, -251, -11, -280, 424, 64, -40, -36, -261, 159, -163, 206, 189, 254, -265, 112, 1, -17, 193, 51, 188, 813, 68, 8, 91, -56, -31, -54, 200, 83, -68, -693, -464, -318, -63, -270, 34, 145, -159, -40, -94, 12, 53, 60, -246, 212, 101, -49, -404, 481, -77, -116, 53, -477, -15, 127, 103, -115, 149, -296, -170, 195, 269, 56, -113, -65, 303, -3, 73, -10, -37, 201, -125, 410, 13, 145, 1, 103, -21, 6, -66, -121, -6, -221, -271, 114, 118, -83, 50, 177, 762, 130, 57, -25, -22, 68, 106, -109, -69, 24, -11, -179, 211, 33, -216, 215, -51, 47, -97, -252, -7, 144, -75, -157, 408, 345, 164, 241, 612, 2, -136, 38, 176, -276, -1276, 121, 43, -118, -23, 116, -118, 102, 49, -174, 42, -283, -19, -57, -62, -41, -208, 125, -45, -25, 321, -41, 127, 164, 66, -186, -74, -57, -158, 129, -44, 49, 289, 2176, -60, -9, 204, -195, -374, 155, -63, -63, -235, -24, -286, -102, 70, -181, 180, 65, -379, 290, 236, -67, 98, 51, -222, -54, 25, 118, -90, 21, 352, -35, 27, -26, 36, 13, 169, -27, 125, -30, 364, 29, -74, -105, 447, -46, -235, 420, 110, -55, -1317, 837, -288, 154, -287, 258, 149, 16, -201, -293, -155, -12, 79, 46, -137, 376, 15, 52, -586, -396, -36, 65, 288, -155, 2113, -134, -148, 27, -66, 34, -563, 724, 32, 449, -124, -94, -12, -136, 54, 60, -54, -66, -118, -415, 154, -1169, 629, 0, -84, 153, 234, 20, -223, 103, 99, 147, -409, 345, 65, 138, -253, 286, -114, -52, 88, 411, 106, 116, 158, -190, -175, 15, 173, 80, 3, -17, 69, 147, -290, -258, 121, 155, -136, -129, 4, -293, -332, 18, -172, -268, 74, -211, -193, 71, -103, -166, -154, -54, 0, -46, 152, 13, -92, 95, -57, 30, -47, 215, 215, -48, 392, -65, 142, 142, 66, -181, -22, -269, -300, 67, -37, 24, -3, 841, -69, -78, -106, -89, -98, 193, -188, 108, -199, -76, 51, -4, -201, -71, -60, -938, -520, 42, 28, 1188, -975, 255, 19, -113, -69, -203, -306, 131, -386, -63, -16, 12, -41, -158, 141, -19, 2, 144, -96, -7, -68, 2705, 449, 55, -93, -335, -215, -103, -179, -74, 96, 140, 105, -108, 249, 592, 218, 46, -9, -121, 111, -14, -51, -363, -78, -68, 52, -55, 77, -26, -99, -121, 20, -23, 68, 156, -233, -220, -10, 1217, -364, -230, 151, -34, -9, -293, 21, -25, 63, 106, -49, -277, -60, 102, 77, -87, 38, 940, -155, -55, 148, 27, 395, -146, 44, 324, 134, -113, -16, 30, 459, -486, -170, -114, -512, 969, -120, 154, 295, 40, 213, -179, -157, -404, -499, -490, 126, 44, 232, 4, -115, -655, 20, 192, 99, 287, 40, -230, 449, 85, 143, 163, -19, 9, 103, -131, 308, -75, -52, -108, 90, 600, 14, 38, -35, -160, 101, -143, -75, -55, 25, -75, 58, -133, -10, -3, 194, -28, -176, 84, -91, 204, 253, -171, -13, 99, -70, -16, -58, -37, -506, -336, 268, -129, -326, -77, -20, -50, 5, 121, 115, 124, -70, -344, 30, 231, -21, -61, 224, -80, -275, -58, 122, 212, 168, -526, 9, 31, 186, -322, 32, -55, 118, -112, -298, -57, 177, 120, -130, 155, -91, 241, 127, 153, -85, -104, -29, -208, -84, 43, 130, -97, -24, 97, 114, 59, 445, -57, 16, -20, -348, 8, 1490, 904, -66, -197, 71, -140, -18, 528, 124, 180, 12, -107, -114, 48, 6, -14, -129, -131, 636, 360, -6, 38, 152, 328, -3, -20, 489, -18, -121, 109, 181, -99, 80, 22, -950, -104, -26, 16, -146, -58, -517, 281, 351, 63, 332, 75, -353, 296, -320, 396, -163, -39, 1, 49, -85, 237, 0, -70, 125, -3, 360, -159, 328, 161, 84, -274, 191, 321, 271, 123, 70, 82, 135, -60, -42, -117, -19, 1318, -69, -30, -122, -46, 19, 20, 792, 22, -279, -143, 20, 390, -257, -697, 43, -170, 520, 338, 349, 227, 18, 53, 237, -93, 197, 105, 28, -141, 120, -9, -392, 68, 106, 1, -27, 77, 0, -312, 205, -11, 66, 154, -50, 237, 19, 187, 87, 642, -42, 9, -95, -28, -140, -86, 8, -17, -58, -33, -38, -155, 19, -18, 21, -39, 184, 58, 670, 10, -15, -103, -79, 59, 211, -155, -121, -160, -119, -342, 1720, 245, -77, -24, -238, -50, 190, 4, -363, -94, 176, 0, 36, -72, 25, 93, -88, 252, -319, 46, -104, -155, 40, -56, 34, -292, 40, 450, 144, -457, -465, 68, -32, -135, 51, -172, 103, -99, -50, -466, -347, -100, -36, 45, -120, 26, 57, -54, 1164, -971, -457, 523, -257, 71, 5, 112, -178, 45, 85, -91, 133, 50, 34, 153, -57, 233, 20, -100, -46, 141, 99, -32, 143, 18, -340, -57, 5, -68, -314, -969, -411, 5, 90, -460, 67, 278, 65, 19, 27, 19, 10, 11, -123, 58, -247, -81, 127, 74, 4, -150, 49, 306, -961, 577, 25, -234, -226, -88, 105, -53, 9, 36, -36, 16, 102, -24, 17, -138, 182, -167, 161, -288, 146, -175, -86, -644, 32, 96, 305, -2, -66, -135, 199, 9, 185, 438, -165, 130, -235, 55, 292, -61, -41, 15, 66, -164, 110, 214, -78, -15, 310, -90};
+const int16_t frontalface_alpha1_array[]={534, -477, -386, -223, -199, 142, -432, -378, -219, 318, -414, -497, -142, 68, -684, -277, -90, 237, 296, -107, 373, 286, -89, -155, 99, -259, -421, 118, -167, -357, -129, 93, -77, -103, 269, -416, 72, -259, -42, 388, 451, -80, -25, -103, 43, 227, -95, 16, -447, -240, -13, -468, 295, -400, -147, -373, -213, -80, -111, 381, -246, -626, 44, 124, 45, -501, 253, -660, 368, -126, -596, -216, -369, 46, 17, 100, 37, 63, -193, -93, -594, 108, 284, -851, -311, -123, -276, -307, -112, -47, 77, 319, -152, 72, 123, 68, -335, 116, -443, -49, -412, 190, -68, -15, -89, -268, 211, 52, 52, -332, -335, -269, -351, -9, -255, 370, -95, -147, 4, -20, -294, 95, 67, 193, 57, -323, 222, -355, 16, -137, -90, -150, -85, 178, 220, 49, -228, -322, -220, -191, -323, -251, 164, -61, -87, 281, 402, -70, -280, 78, 66, -315, 104, -24, -105, 64, -240, 318, -83, 89, 14, -262, 263, 55, -408, -263, -378, -61, 74, -59, -309, 62, -350, 54, 83, -72, -591, 73, -69, -392, 19, 36, -282, 3, -88, 51, -104, -569, -73, -227, -285, -258, 66, -146, -141, -329, 446, -269, 145, 334, -118, -106, 92, -228, 75, -203, 39, 8, -100, 22, 141, -473, -123, -115, -216, 90, 47, -320, -208, -237, 144, 205, -217, -103, -391, 161, 150, -65, 74, -101, 53, 112, 240, 2, -259, -96, -206, -270, 51, -97, 54, -262, -263, -53, 225, 267, 35, -425, 204, -245, 50, -265, -315, -194, -99, -183, 141, -114, -279, 214, -65, 80, -268, 41, -176, 63, -129, 10, 36, -229, -116, 86, -202, -584, 100, 8, -277, -481, 37, -260, 39, -197, -29, 17, -450, 245, 119, 181, -281, -279, -67, -56, 47, -237, 502, 54, -300, -287, -43, 211, -295, -268, -279, 108, -235, -408, -169, 49, -162, -48, -27, -276, 87, 121, 249, -556, -164, -377, 108, 6, 40, -103, -510, -159, 259, -262, -291, -145, 78, -440, 59, -311, 83, -81, -28, 101, 0, 192, -212, -152, 40, 8, -133, -136, 51, 11, -233, 23, 54, -69, -26, 16, -237, 34, 50, -292, 43, -121, -553, 11, -8, -337, 94, -65, -19, -201, 435, 198, -382, -546, 145, 173, 63, 3, -2, 115, -243, -515, 101, -63, -14, 11, -125, -76, -153, -7, 95, -255, 36, -54, -337, 126, 108, -7, -202, -576, -65, -57, -73, -8, 152, -122, 58, -66, -153, 181, -143, -182, -285, -104, -97, -179, -139, -25, 216, 67, 39, -509, -82, 152, 5, -112, -228, 54, 3, 257, -376, -208, 29, 33, -301, 161, 47, -238, 9, 93, 50, -429, -787, 54, -293, 214, -71, 45, 246, 2, -136, 210, -50, -6, -347, -165, 215, 49, -186, -92, 14, 120, -290, 251, -72, -163, 95, -334, -523, 198, 44, -384, 73, 354, -57, -406, -305, -39, 66, -22, 192, 31, -93, -19, 200, -229, 211, 4, 289, -147, -5, -139, -313, 37, -71, -62, -219, 177, -42, 112, -250, -231, -202, -77, -230, -107, 117, 233, -376, -268, 74, -329, -219, 41, 40, 5, -42, -249, 252, 121, -245, -134, 43, -290, 66, 50, -13, 272, -47, -7, 255, -7, 0, -391, 8, 196, 41, -250, 118, 65, -206, -336, 51, 249, -48, -174, 48, -60, 63, -266, 131, 414, 764, 154, -158, 169, -287, -275, 207, -5, 173, 14, -33, -96, -149, -77, 151, 248, 233, -154, 11, -239, 46, -330, -11, -3, -68, -131, 106, -63, -57, 16, 48, -242, 94, 246, -785, 58, 0, 243, -25, 2, 165, -9, 177, -103, -165, 250, -26, 156, -260, -105, -149, -237, 30, -148, -98, 301, -220, -191, 235, 68, -72, -157, 147, 83, 22, 88, 60, -190, -231, -88, -239, -136, 235, -181, -222, -58, -77, 68, -302, -139, -69, -233, -112, 6, 202, 205, -51, -11, -231, 90, -50, -358, 0, -125, -312, 95, -75, -368, -577, 96, -75, -255, 12, 38, -3, -36, -4, -443, -61, 1, 9, 19, -434, 161, -85, 58, 49, 23, -446, -61, 301, 35, -139, -55, 16, 175, 445, 78, -54, -203, 95, -3, 310, -5, -271, -8, 9, -20, -491, 123, -50, 50, -49, 463, 199, 39, -42, -26, -9, -14, 71, 32, 5, 48, 18, 12, -69, 13, 97, 39, 6, 41, -157, -217, -208, -93, -304, 84, -130, -268, -129, -254, -24, 59, -26, 0, -167, 72, 39, -74, 349, 312, -209, -312, 30, -299, -273, -92, 125, 150, -19, 70, -1, 210, 33, -232, 2, 455, 146, -82, 49, 17, -99, -6, -491, -328, -103, -186, 148, 234, -132, 61, 42, -349, -437, -80, 38, 190, -104, 208, 84, -321, 353, -9, -47, -114, 173, -3, 86, -271, 37, -62, 33, -268, -387, 35, 73, -69, 47, 83, 29, -283, 205, -67, 4, 3, -78, -411, 19, -1, -61, 490, -64, -177, 46, -7, 16, 2, 38, 99, -397, 55, -12, -65, -46, 139, -177, 75, 236, -203, 84, -351, 16, 92, -39, 34, 27, -2, 0, -120, -2, -88, 383, -254, -147, -8, 102, 46, 139, 174, -230, -144, 92, -142, -274, -183, -120, 54, 171, -244, 208, 315, -78, 54, -231, 57, -101, 47, 39, 55, -378, -43, 9, 85, 1, 115, 39, -333, -62, 7, -57, 52, 175, -2, -51, 121, -283, 259, 106, 54, -296, 90, -393, 51, -6, 43, -306, -279, 71, -11, -67, 154, 97, 33, 30, -87, -43, 156, -124, -1030, -100, -22, 293, -5, 9, 144, -44, 323, 171, -105, -234, 0, -95, -108, -42, 38, 352, -86, 195, -177, -3, -26, 273, 47, -56, 65, -2, -73, -9, 84, -89, -368, -302, 566, -478, -196, -161, 218, -8, -49, 527, -29, -4, -10, -170, -14, 156, -146, 14, 44, -171, 75, -72, -27, -13, 115, -520, 43, -5, 77, -79, -460, -13, 53, -51, -244, -36, -279, 26, 15, -343, 12, -262, 21, -37, 168, -232, -127, -108, -122, 130, -59, 103, 115, -217, -238, -327, 149, -13, -222, -19, -63, -287, -371, 137, 17, 292, -63, -10, 150, 39, 43, -38, -102, 71, 0, 105, -365, -64, 11, -240, -69, -264, 161, 41, -64, -74, -2, 28, -49, 79, -1, -117, -3, -19, -68, 46, -48, -37, -134, -98, -1, -148, 5, -166, -86, 38, -64, -28, -249, 97, -266, -1410, 244, 2, 57, 42, -221, -721, -331, -208, 168, 1, 78, 65, -367, -43, -166, -13, -235, 137, -139, 39, -62, -130, -55, 29, -3, 311, -64, 57, 64, -83, -14, 0, -78, -62, 120, 98, -12, 54, -43, 29, -11, -103, -84, -185, -40, 49, 210, -110, -7, 28, 557, -12, -83, 294, -99, -429, -249, 53, -42, 60, -237, -188, 36, 2, -304, 622, 183, 40, -208, 238, -144, -202, -362, 97, -104, -61, -223, 39, -293, 39, 10, 111, 111, -24, -97, 228, 220, 153, -406, 43, 130, -110, -80, 270, -183, 63, -176, -151, 11, -157, -78, -351, -143, 1, 400, -404, -397, 44, -334, -353, -181, -10, 147, -126, -125, -154, 60, -20, -308, 59, -207, 157, -75, -156, -136, -329, -43, -28, 261, -200, -225, 29, -207, -18, -329, 121, -15, 44, -51, -17, -326, 31, 3, 158, -92, 134, -43, -304, 214, 90, -225, -36, -74, -8, 177, -165, -7, -2, 217, -531, -219, 98, -441, 140, -9, 149, -3, 38, 132, -5, -220, -116, 33, 33, -64, 5, -100, 21, -46, -158, -12, 45, -215, -48, -203, -60, -14, 67, -171, 172, 77, 37, -47, 48, 115, 34, -53, 82, -51, 40, -160, 42, -64, 39, 145, 146, -98, 56, -73, -166, -74, 116, -131, 4, 100, 304, -174, -217, -282, -50, -104, -75, -334, 60, 74, -620, 225, 205, 37, -208, -181, -186, 43, 708, 29, -1, 59, -79, -12, -297, -69, -138, 46, 160, 61, -240, -19, 10, 43, -8, 24, -101, -58, -70, -27, -12, 38, -5, -205, -53, 51, -46, 127, 299, -16, -59, -210, 155, -10, -294, -2, 96, -25, 171, 40, 97, 38, -174, 65, -7, -90, -9, -6, 27, 119, -72, -5, -83, -313, -4, 167, -133, -200, 0, -13, 4, -159, 45, 11, 116, 85, -598, -169, 117, -68, -47, -6, -8, 1, 108, -5, -8, 28, 74, 30, 37, -137, -15, -115, 310, -590, -183, 18, -313, 34, -7, 34, -37, 49, -95, 207, 214, -242, 11, -497, -54, 153, -56, 161, -59, 46, -178, 88, -224, 60, -15, -50, 247, -15, -116, 29, 463, 59, 126, 155, 102, -217, -202, -172, 9, 35, -35, 35, -51, -119, -241, 83, 70, 60, -147, -156, -144, -205, -207, 35, -42, 369, 34, -86, -29, -254, -123, 9, -278, 244, -265, 230, -259, 157, -21, 16, -239, -215, 155, -7, 33, -289, 194, 76, 5, -218, -15, 91, 0, -8, 151, 152, -300, -4, 41, -57, 70, -194, -58, 49, 42, 328, -138, 162, -127, -303, 5, 7, -53, 0, -56, -2, 114, -52, -196, -361, 49, 215, 32, -119, 132, -7, 62, 250, 51, -65, 43, -219, 143, -65, 1, -154, 107, 58, 23, -68, -185, -89, 29, -2, 52, 148, 4, -84, 351, 0, -3, 96, -703, 121, -148, -2, 89, 364, 61, -2, -4, -231, -54, 50, -23, -141, 47, 496, -67, -140, -655, -63, 41, 56, 79, -244, 32, -15, 10, -11, 10, 7, 264, -17, -152, -16, 14, -1, 37, -45, -152, -276, 199, -16, -4, -14, 87, -67, -33, 7, 6, 115, -50, -138, -3, 17, 174, -52, 182, -94, -220, -69, -88, -81, -176, -53, -126, 343, 11, -182, 257, -3, -209, 138, -86, -306, -227, 42, 160, -72, -163, -196, 116, -195, 11, -12, -5, -245, -179, -72, -64, -178, 117, 46, -161, -263, 88, -74, -113, 45, -2, 423, -1, 0, -158, 180, 100, -6, 120, 82, -314, 11, -42, 86, -218, 14, 133, 160, -157, -216, -16, -45, -7, -62, -60, 100, -68, 44, -277, 184, -304, 161, 338, -86, -65, 36, -298, -101, 126, 479, -227, -298, -171, -122, 30, -19, -51, 236, -68, -138, 4, -3, -45, 53, 5, -4, -48, 104, -52, -434, -7, -51, -115, 60, -46, -70, -118, 106, 37, 192, -48, 90, -164, 4, 270, 76, -55, 61, -8, -1, 19, 20, -35, -476, -47, 36, 411, -207, -356, 8, -141, 5, 113, 46, -16, 51, -81, 222, 163, 44, 61, 138, 612, 40, 0, -29, -269, -51, -54, 28, -439, 165, -2, 50, -221, 35, 86, -640, 129, -750, -153, 86, -283, 114, -266, 8, 135, -137, -128, -84, -81, 27, -36, 241, -139, 3, -80, -1, -195, 61, -24, -202, -26, -103, 52, 0, -1, -93, -365, -10, 67, -214, -125, -48, 59, -9, -456, -55, -45, -2, 77, -243, 8, 250, -5, -14, 167, 6, -1, 87, -1, -134, -149, 5, -93, 9, -37, -55, -277, -39, 11, -396, 42, -197, 28, 283, 70, -206, 36, 50, -12, -42, -32, -8, -16, -93, 30, -133, 166, 44, -50, -130, -17, -104, -54, -127, -52, 46, 3, -53, 63, -488, -182, -43, 48, 1, 43, -578, 616, -69, 80, -371, -4, -59, 36, -56, -29, 6, 45, -37, -134, 225, -123, -54, -18, -63, 2, -45, 33, -11, 44, -289, -57, 116, -38, -174, 166, 114, -22, -119, 74, -309, -11, -68, -33, 497, 39, -182, 235, -57, -185, 319, -370, -200, -218, -38, 140, 93, -8, -157, -16, -87, -77, 19, -249, 47, -15, 83, -75, -310, 33, -169, 42, -13, 51, -201, 73, 442, 4, -19, 81, 196, 47, -60, 44, -11, 205, -209, 38, -186, 145, 10, -507, 128, 102, -196, 221, -143, 10, -49, 47, -12, 362, 337, 12, -53, -319, 66, 58, -220, 80, 64, 68, -138, 183, -149, -190, 45, -275, 6, -115, -69, -125, 106, 41, -282, 166, 107, 90, -74, -338, -224, 66, -253, 162, 6, -144, 0, -24, -167, -119, -271, 129, -78, -285, -222, 168, -58, 46, -84, -30, 98, -228, 137, -14, -390, 19, -50, -163, 21, -110, 102, 135, -99, 224, -298, 279, 35, 34, -3, 45, -135, -28, 100, -65, -6, 202, -122, -44, 0, 4, 51, 47, -15, -83, -159, -8, 50, 52, -145, 191, 217, 42, -340, -15, 195, 57, -407, 30, -335, 0, 167, 18, -172, 85, 116, -11, 68, -212, -172, -18, 7, 34, -152, 103, -278, 74, 167, -501, -58, 40, -99, 439, -97, -791, -35, -16, -144, 64, -670, 15, 239, 35, -3, 15, 182, 37, -95, -60, -7, 47, -39, 38, -42, -18, -5, -46, -116, 68, -39, 17, 70, -787, -374, 226, 35, -263, 19, 30, 172, 54, 114, 9, -50, 34, 215, 44, -45, -36, 267, 28, -201, -155, -3, -523, -107, 6, -44, -56, -17, 330, -297, 17, -45, 56, 158, -118, -32, -77, -57, 64, 74, 49, -193, 21, -68, 34, -103, 41, 79, -68, 39, 293, -182, 106, -341, 36, -12, 163, -55, -206, -81, -164, -117, 117, 93, 6, 44, -246, -181, 18, -191, 174, -32, 18, 244, -72, 98, 0, 217, -236, -139, -1, 184, 49, 29, -13, -27, -46, 42, 52, 239, 0, 0, 185, 256, -11, 3, -241, -111, -45, 148, -5, -36, 249, -21, -529, 112, 73, -146, 88, 143, -37, 61, 110, 5, 46, 38, -50, 0, 323, 166, -264, -122, -53, 132, -54, 46, -37, -72, -114, 10, 101, 563, -71, 87, 73, 163, 20, -114, -251, 58, 214, 29, -9, -346, -45, 32, 205, 41, 39, -471, -206, -35, -6, -188, -116, 53, 102, -5, -127, 45, 11, 44, -118, 13, 38, 35, -73, -77, -251, 12, 60, 120, -53, 42, -144, -911, -9, -144, -7, -136, -56, 36, -88, 245, 445, 355, 13, -23, 9, 243, -34, 58, -56, 329, -1012, 96, -6, 43, -239, 33, -292, 126, -79, -97, -47, -151, -39, 82, -40, 193, -226, 61, -479, 33, -6, 119, 102, -400, -492, 34, 261, -24, 28, 154, -48, 29, -71, 185, -49, 39, -14, -412, -15, 41, -45, 1190, -43, 233, 56, -230, -96, -97, -46, -57, 181, 122, -47, 10, -59, -117, 85, -42, 57, 38, -380, -49, 34, -277, -151, -125, 152, -302, -156, -292, -421, -79, -177, -183, 57, 264, 115, -218, 148, -96, -67, -7, 52, 171, 44, -214, -8, 107, 17, -40, -181, -41, 99, 4, 12, -69, 216, 39, -237, 132, 35, -230, 50, 24, -15, 62, 156, 232, -80, -170, 15, 204, 48, 150, -65, -3, 52, -274, -148, -169, -123, 147, -13, 31, 28, -444, 34, -120, 178, 431, 203, -259, 36, 129, -40, -139, -44, 64, 238, -8, 89, 17, 36, -263, -50, -198, 33, -39, 38, -182, 284, 238, -50, 107, -132, -11, 13, -60, -226, -52, 34, -44, 14, 40, 182, -40, -88, -142, -924, 132, -22, 7, 60, -10, 117, -195, -957, -163, 49, -41, 5, -434, 303, -104, 39, 125, -62, -12, 111, 48, -112, -52, 79, -79, 35, -130, 122, 115, 33, -10, -88, 1, 20, 297, -82, -46, 0, -37, -101, -46, 37, -15, 87, 79, -9, -45, -258, -137, 123, 67, 9, -153, 39, -37, 3, -4, 91, 306, -158, -467, -7680, -61, -8, -39, -15, -165, 278, -66, 35, -53, 37, 7, 323, -32, -175, -122, -120, 65, -123, -61, 194, -89, -202, 120, 171, 63, -55, 71, 14, -255, -305, 38, -363, -72, 121, -15, -219, 42, -300, 67, 9, -10, 73, -360, -54, 86, -64, 10, 135, 64, 1, -127, 21, -133, -161, 329, 213, 28, -345, -346, 103, -67, 150, -42, 3, -4, -61, -137, 192, -41, -44, 59, 64, 33, -214, 603, 48, 37, -11, 45, -252, -41, -61, 36, -266, 50, -232, -7, -255, 187, 71, 1, -51, 165, -47, -74, -17, -3, -53, -91, 277, 54, 132, -112, 8, 3, 87, 84, -64, 35, -3, 48, 89, -9, -109, 170, -125, 33, -14, -147, 249, 45, -207, 71, -34, -17, -46, -40, 74, 113, -49, -2, -108, -218, 214, 25, -47, 64, -90, 41, -37, -54, -182, 8, -69, 92, -12, 33, -275, 6, -66, -454, 76, 50, -110, -130, 199, -161, -11, 30, -4, 22, 10, -486, -15, 227, -56, 147, -138, -20, -51, 106, -7, -30, 84, -5, -112, 30, 234, 28, -36, 51, 83, 40, -19, 29, -42, 57, -49, 29, -229, 91, -117, 60, -7, -130, -138, -227, 206, 3, -11, 18, -50, -1391, 114, -3, -38, 118, -422, -9, 88, 31, -15, 4, -70, -45, -82, 32, -127, 11, -10, 0, -391, 9, 25, 159, -238, -103, 24, 95, -59, 10, -127, 8, -128, 9, -16, 124, 34, -113, 7, 3, 3, 74, -103, 84, -136, -369, -202, -68, -139, 5, -127, -202, 204, -84, -69, -135, -144, -44, -23, -14, 60, 45, -109, 148, 8, 17, -321, 136, 298, 100, -188, -36, 30, -362, 113, -356, 131, -14, -20, -221, 133, -41, -43, -1, 162, -86, -8, 165, 13, 167, 49, -238, -174, 3, 257, -59, -185, -56, 42, -61, 130, 231, 35, -169, 205, -85, -142, -15, 87, 71, 300, 209, -47, 83, 50, -239, 6, -54, 189, -49, 178, 100, -18, 244, -13, 19, 13, 184, 36, 10, 137, -11, 8, -66, 40, -187, 21, -90, 72, -215, 38, -48, 113, -14, -79, 420, -199, -59, -92, 199, 302, -120, 56, -9, 107, -42, 40, -1, -7, -58, -15, -76, 56, 311, 3, -382, -98, -54, 0, -159, -108, 6, 33, 301, 8, -81, 216, 94, -133, -15, 202, -299, 10, -91, 53, -48, 65, 8, -253, -34, 86, -46, -251, -8, 298, 163, -59, -56, 41, -43, 66, -196, -69, 19, -9, -45, 48, 180, 17, 192, 49, -12, -114, 166, -14, -39, -156, -12, 28, -204, -48, -34, 124};
+const int16_t frontalface_alpha2_array[]={-567, 339, 272, 301, 322, -479, 112, 113, 218, -402, 302, 179, 442, -558, 116, 137, 238, -169, -76, 347, -50, -135, 292, 197, -387, 375, 256, -408, 212, 108, 269, -344, 371, 310, -117, 39, -400, 59, 327, -77, -13, 393, 239, 246, -757, -112, 102, -677, 72, 59, 275, 25, -274, 196, 353, 132, 149, 299, 244, -35, 70, 60, -343, -230, -418, 46, -97, 63, -75, 161, 13, 99, 25, -322, -609, -70, -291, -324, 69, 181, 9, -12, -89, 54, 277, 359, 189, 96, 323, 117, -245, 11, 138, -381, -134, -409, 39, -184, 17, 174, 19, -55, 335, 312, 217, 76, -83, -214, -171, 35, 19, 49, 17, 199, 31, 3, 135, 100, -542, 252, 24, -37, -148, -43, -163, 64, -69, 60, -323, 77, 135, 61, 132, -3, -66, -151, 267, 141, 163, 136, 92, 92, -128, 218, 292, -46, -80, 267, 50, -340, -179, 57, -131, 158, 121, -175, 29, -14, 211, -45, -396, 61, -81, -211, 13, 33, 9, 126, -146, 163, 16, -255, 9, -266, -138, 113, 0, -165, 205, 54, -270, -219, 16, 162, 144, -385, 96, 31, 173, 243, 125, 127, -320, 152, 77, 57, -25, 47, -119, -67, 106, 151, -117, 36, -249, 46, -339, -536, 131, -328, -118, 11, 88, 109, 42, -120, -427, 9, 59, 25, -48, -97, 50, 129, 59, -81, -3, 266, -213, 116, -384, -98, -27, -430, 61, 119, 45, 18, -395, 96, -317, 13, 58, 314, -11, -55, -486, 1, -21, 16, -195, 210, 75, 148, 229, 129, -180, 181, 68, -98, 66, -150, 43, -224, 60, -144, 98, -355, -273, 50, 111, -114, 57, -1, -133, -386, 47, 0, -568, 15, -303, 31, 181, -269, 49, -64, -54, -71, 62, 14, 50, 269, -440, 15, 7, -123, 41, 10, 82, -67, 38, 10, 39, -108, 47, 0, 79, -166, 39, 391, 166, 9, -25, -87, -4, -7, 42, 0, -45, -327, -388, 83, 38, 284, -157, 101, 73, 115, -174, 15, -442, 31, -207, 172, 215, -121, 242, -80, 45, 63, -109, -409, 96, 63, -369, -348, 69, -208, -191, 207, 220, -253, 39, -180, -103, 18, -184, 67, 37, -275, 311, 3, -39, 180, 85, 19, 12, -62, 31, -6, -30, -68, -165, -317, 260, -92, 52, -5, -75, 277, 311, -272, 43, 132, 63, -592, -83, 18, -441, 260, 38, -74, -86, -600, 39, -7, 60, 236, 79, -693, -8, 58, -267, 196, 71, -65, 280, 135, 103, 189, 188, 97, 93, 203, -84, -247, -271, 34, 154, -54, -375, 52, 26, -102, -411, -34, 2, 66, -183, -421, 6, -26, -137, 51, -258, -70, -136, 53, -9, -182, 4, -16, 203, -175, -55, 319, 37, -3, 276, 291, -1, 61, -52, -312, 13, 74, -171, 4, 6, 7, 151, 67, -85, 40, -6, -11, -114, 36, -97, 16, 203, 29, -1, 104, -98, 196, -57, -372, 66, 124, -56, 37, -51, 69, -48, 40, -419, 61, -1, -115, 112, 64, 6, 0, 389, -55, 5, 164, 147, 336, 74, 136, -114, -70, 52, 17, -133, 11, 47, -176, -215, -349, 66, 16, -4, -83, 51, 57, -274, 9, -183, -136, 249, -60, 117, -682, 6, -555, 191, 2, 254, -63, -156, 7, -34, -133, 38, 0, -157, -53, 122, 28, -383, 208, -17, 12, -1, -47, 24, -69, 40, -60, 50, 5, -4, -444, -14, -197, 171, 79, 65, 105, 4, -53, 10, 43, 209, 6, -87, 0, 64, -366, 85, 33, -79, 181, 49, -227, -70, 6, -44, -51, 29, -116, 100, -51, 52, -261, -23, -493, -17, 47, 56, -47, 95, -68, 147, 258, 144, 79, -286, 84, 134, -8, 30, 53, -72, -179, 187, 39, -87, -33, -245, -119, -134, 55, 16, 55, 12, 44, -56, 46, 14, 134, 143, -179, 11, 66, 148, 50, 54, 197, -63, -9, 282, 184, 11, -96, 286, 49, -297, 42, -3, -21, 152, 34, -8, 4, 136, 41, -192, -167, -314, 110, -305, 36, 138, 144, -203, 379, -7, 8, 76, -97, -135, 538, -10, 91, -45, -332, 35, 100, -184, 16, -42, -42, 187, 52, -75, 103, -44, 178, 0, 137, -191, 85, -9, 4, 186, -125, 197, 17, -47, -410, 304, 100, -412, 138, -81, -263, -202, -214, -160, 402, 98, 134, -72, -78, -223, -51, 20, 145, 114, 173, 49, -182, 29, 51, 93, 32, 147, -134, 122, -398, 48, -114, -54, 133, 7, -57, 37, 4, -252, 5, 50, 97, -37, -71, 154, -96, 264, -57, -303, 11, 274, -44, -18, 102, -311, -182, 46, -395, 42, -4, 60, 14, -4, -54, 47, -101, -657, -3, 42, 84, -124, -57, 48, -53, -153, -5, 15, -394, 95, 35, -4, -313, 0, -3, -317, 131, -181, 0, 37, -119, -106, 111, -243, -78, -506, -2, -8, 99, 150, -242, 54, -7, 297, -285, 53, -40, 46, 11, -191, -428, 195, -226, -630, -76, 41, -95, 152, 141, 104, -60, 40, -87, 24, 8, -13, -5, 234, -73, 136, -113, -655, -283, 145, 32, 223, 53, 14, -2, 43, -355, 0, -106, 4, -50, 132, 180, -171, 91, 48, 67, 68, -276, -71, 61, -63, 1, 181, -368, 12, -114, 88, -343, -132, -186, -6, 49, -224, -61, -320, -21, -124, 46, 159, 236, 198, -278, -59, 158, 258, 11, 1, 4, -73, -42, -2, -75, -7, -182, -388, -99, -5, 37, -105, 105, 141, 4, -75, -118, -132, 53, 367, -10, 34, 27, 57, 96, -50, 149, -171, -19, 298, 11, -55, 51, 10, 91, 49, 62, 325, -551, -41, 54, -50, 55, -255, 125, -44, -191, 139, -129, -245, 43, -336, 3, 61, 39, -3, 16, -11, 39, 13, 1, -341, 95, -38, 65, -267, 101, 8, 96, -53, 45, -165, -253, 8, 0, 120, 146, -487, -2, -13, -314, -277, -94, 60, 39, -486, 5, 156, 47, 550, 33, -132, 316, -8, 411, -1, 243, 495, -178, 78, 146, 148, 110, -51, 281, 14, -85, 57, 15, 47, -66, 182, 19, 232, 185, 53, -3, -29, -196, 10, 151, 83, -65, -143, -134, 75, 64, -120, -289, -67, -4, 40, -179, 59, 116, 36, -65, -453, 138, 85, -298, -638, 245, -65, -258, 49, -256, 106, 100, -92, 237, 85, 23, 62, -322, 43, -224, 33, 56, -129, 117, 142, 4, -43, 1, 28, -47, 210, -88, -356, 0, 29, -6, 30, -53, 136, -79, -13, -3, 107, 10, 162, 2, -16, 21, -102, 131, 35, 160, -698, -276, 8, 112, -61, -78, 66, -501, 189, 67, 43, -66, -73, -451, -6, 263, -319, -439, 52, 52, 51, 427, -90, -46, 31, -296, -1198, -37, 87, 78, 6, 55, 40, -2, -176, 311, -105, -4, 49, -107, 200, -8, 16, -48, -202, 150, -75, 106, 43, 6, -106, 91, 220, 25, -177, 9, -177, -247, 0, -83, 185, 77, -26, -55, -40, -5, -97, -69, 67, 142, 7, 16, -53, 16, 71, -226, 40, 108, 40, 31, 210, -43, 37, -7, -177, -6, 37, 9, 205, -63, 50, 34, 47, -89, 53, -3, -116, 3, 8, 69, 44, 17, 30, 284, 117, -47, 36, 2, -282, 0, 89, -7, -37, -634, -112, 180, 157, -6, -275, -181, 8, 44, 3, 287, 44, -46, -61, 0, 66, 66, 150, -55, 39, -290, 318, -48, 31, 2, -29, -14, -10, -276, 0, -216, -203, -54, 109, 0, 57, -98, -203, 104, 203, 29, 320, 197, 40, -471, -39, 0, 43, 1, 63, -469, -98, 5, -3, -72, -360, 204, -21, -56, -330, 139, -41, 136, -43, 10, -264, 81, -418, -51, -172, 231, -327, 193, 57, 79, -98, 70, -310, -79, -52, 52, 9, 40, 302, 84, 106, 45, -114, -28, -10, -12, -52, -290, 4, 57, 10, -285, -37, -1014, -252, -191, 77, 134, -1, 60, 20, -171, -53, -267, 0, 157, -217, -130, -325, 696, 39, 35, 87, 123, -514, -28, -298, 36, 157, -192, 256, -8, -47, 74, 152, 45, -54, 154, -6, 145, -69, 63, -52, -194, -65, -73, 8, -68, -293, 76, -339, 180, -115, -15, 112, 180, 61, 29, -280, 19, 29, 42, -218, 107, -166, 39, -87, 202, -57, -1, -15, 51, -57, 63, 186, 73, -285, 170, -67, 48, -281, -750, -70, -160, -94, 49, -498, 47, -39, 28, 5, 252, -11, -301, -239, -383, 400, -173, 27, 7, -43, 33, -133, 33, 124, 2, 138, -5, 127, -56, 4, 18, -2, -73, -571, 104, -51, 69, 22, -280, -37, -108, -52, 7, -55, 36, -3, 32, -162, -120, 499, -542, 126, 195, 101, -162, -147, -175, 70, 62, 69, 29, 61, -169, 107, -48, -234, 100, 113, 0, 43, -205, 46, -53, 56, -48, 37, -60, 55, -154, 39, 3, -23, -358, -126, -3, 0, -75, 51, 12, 38, -67, 266, -301, -14, -62, 43, -273, -342, 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14, -71, 75, 155, 100, 150, 163, -37, -74, 134, -228, 113, 45, -76, 409, -136, -107, 33, 251, -144, -2, 34, 24, -10, -7, 57, -7, 32, 65, 39, 0, -141, -44, 10, -3, -4, 35, 60, -331, -47, -50, -83, -1, 151, -60, 187, 279, 43, 257, -13, -240, 139, 103, 8, -89, 43, -51, -126, -4, -42, -106, 181, -78, 6, -42, 51, 1, 224, -44, -155, -49, 41, -196, -29, -9, 47, 1, 31, -49, 62, -99, -7680, -16, -179, 15, 0, -36, 0, -4, -107, -52, 45, 7, 77, -67, 18, -219, -12, -115, -119, -11, 73, -2, -902, 375, -333, -2, 21, -43, 64, -62, 51, -272, 127, 106, 34, 149, -805, 177, 77, -81, 14, 235, 51, 5, 33, -49, 40, -141, -11, -241, -1, -5, 28, 2, -21, 290, 195, -15, 23, 21, -281, -51, 36, -315, 3, -82, 58, 130, 18, 40, -45, 14, -18, -50, -220, -290, 40, -157, 178, -38, 44, 158, 108, 320, 36, 152, -201, -364, 7, -57, 81, 166, 28, 5, 8, -65, 232, 2, -245, 350, 55, -226, 16, -38, 32, -16, 28, 93, 70, 276, 52, 6, 14, 53, -400, 134, -335, -130, 16, 787, 99, 115, 109, -170, 71, 113, -64, 88, 8, -15, -62, -123, 184, 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+const int8_t frontalface_num_rectangles_array[]={2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 3, 3, 2, 2, 2, 2, 3, 3, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 3, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 3, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 3, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 3, 2, 3, 3, 2, 2, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 3, 3, 3, 2, 3, 2, 3, 2, 3, 2, 3, 2, 2, 3, 2, 2, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 2, 2, 3, 3, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 3, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 3, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 3, 2, 3, 2, 3, 3, 3, 2, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 2, 3, 3, 3, 3, 3, 2, 3, 2, 2, 3, 3, 2, 2, 3, 2, 3, 3, 3, 3, 2, 2, 2, 2, 3, 3, 2, 3, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 3, 2, 2, 2, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 3, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 3, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 3, 2, 3, 3, 3, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 3, 2, 3, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 3, 3, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 3, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 3, 3, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 3, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 3, 3, 3, 2, 2, 3, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 3, 3, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 3, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 2, 2, 3, 2, 3, 3, 2, 3, 2, 2, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 2, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 3, 2, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3};
+const int8_t frontalface_weights_array[]={-1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, 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2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2};
+const int8_t frontalface_rectangles_array[]={6, 4, 12, 9, 6, 7, 12, 3, 6, 4, 12, 7, 10, 4, 4, 7, 3, 9, 18, 9, 3, 12, 18, 3, 8, 18, 9, 6, 8, 20, 9, 2, 3, 5, 4, 19, 5, 5, 2, 19, 6, 5, 12, 16, 6, 13, 12, 8, 5, 8, 12, 6, 5, 11, 12, 3, 11, 14, 4, 10, 11, 19, 4, 5, 4, 0, 7, 6, 4, 3, 7, 3, 6, 6, 12, 6, 6, 8, 12, 2, 6, 4, 12, 7, 10, 4, 4, 7, 1, 8, 19, 12, 1, 12, 19, 4, 0, 2, 24, 3, 8, 2, 8, 3, 9, 9, 6, 15, 9, 14, 6, 5, 5, 6, 14, 10, 5, 11, 14, 5, 5, 0, 14, 9, 5, 3, 14, 3, 13, 11, 9, 6, 16, 11, 3, 6, 7, 5, 6, 10, 9, 5, 2, 10, 10, 8, 6, 10, 12, 8, 2, 10, 2, 5, 4, 9, 4, 5, 2, 9, 18, 0, 6, 11, 20, 0, 2, 11, 0, 6, 24, 13, 8, 6, 8, 13, 9, 6, 6, 9, 11, 6, 2, 9, 7, 18, 10, 6, 7, 20, 10, 2, 5, 7, 14, 12, 5, 13, 14, 6, 0, 3, 24, 3, 8, 3, 8, 3, 5, 8, 15, 6, 5, 11, 15, 3, 9, 6, 5, 14, 9, 13, 5, 7, 9, 5, 6, 10, 11, 5, 2, 10, 6, 6, 3, 12, 6, 12, 3, 6, 3, 21, 18, 3, 9, 21, 6, 3, 5, 6, 13, 6, 5, 8, 13, 2, 18, 1, 6, 15, 18, 1, 3, 15, 1, 1, 6, 15, 4, 1, 3, 15, 0, 8, 24, 15, 8, 8, 8, 15, 5, 6, 14, 12, 5, 6, 7, 6, 12, 12, 7, 6, 2, 12, 21, 12, 2, 16, 21, 4, 8, 1, 4, 10, 10, 1, 2, 10, 2, 13, 20, 10, 2, 13, 10, 10, 0, 1, 6, 13, 2, 1, 2, 13, 20, 2, 4, 13, 20, 2, 2, 13, 0, 5, 22, 19, 11, 5, 11, 19, 18, 4, 6, 9, 20, 4, 2, 9, 0, 3, 6, 11, 2, 3, 2, 11, 12, 1, 4, 9, 12, 1, 2, 9, 0, 6, 19, 3, 0, 7, 19, 1, 12, 1, 4, 9, 12, 1, 2, 9, 8, 1, 4, 9, 10, 1, 2, 9, 5, 5, 14, 14, 12, 5, 7, 7, 5, 12, 7, 7, 1, 10, 18, 2, 1, 11, 18, 1, 17, 13, 4, 11, 17, 13, 2, 11, 0, 4, 6, 9, 0, 7, 6, 3, 6, 4, 12, 9, 6, 7, 12, 3, 6, 5, 12, 6, 10, 5, 4, 6, 0, 1, 24, 5, 8, 1, 8, 5, 4, 10, 18, 6, 4, 12, 18, 2, 2, 17, 12, 6, 2, 17, 6, 3, 8, 20, 6, 3, 19, 3, 4, 13, 19, 3, 2, 13, 1, 3, 4, 13, 3, 3, 2, 13, 0, 1, 24, 23, 8, 1, 8, 23, 1, 7, 8, 12, 1, 11, 8, 4, 14, 7, 3, 14, 14, 14, 3, 7, 3, 12, 16, 6, 3, 12, 8, 3, 11, 15, 8, 3, 6, 6, 12, 6, 6, 8, 12, 2, 8, 7, 6, 12, 8, 13, 6, 6, 15, 15, 9, 6, 15, 17, 9, 2, 1, 17, 18, 3, 1, 18, 18, 1, 4, 4, 16, 12, 4, 10, 16, 6, 0, 1, 4, 20, 2, 1, 2, 20, 3, 0, 18, 2, 3, 1, 18, 1, 1, 5, 20, 14, 1, 5, 10, 7, 11, 12, 10, 7, 5, 8, 14, 12, 5, 12, 14, 4, 3, 14, 7, 9, 3, 17, 7, 3, 14, 15, 9, 6, 14, 17, 9, 2, 1, 15, 9, 6, 1, 17, 9, 2, 11, 6, 8, 10, 15, 6, 4, 5, 11, 11, 4, 5, 5, 5, 14, 14, 5, 5, 7, 7, 12, 12, 7, 7, 6, 0, 12, 5, 10, 0, 4, 5, 9, 0, 6, 9, 9, 3, 6, 3, 9, 6, 6, 9, 11, 6, 2, 9, 7, 0, 6, 9, 9, 0, 2, 9, 10, 6, 6, 9, 12, 6, 2, 9, 8, 6, 6, 9, 10, 6, 2, 9, 3, 8, 18, 4, 9, 8, 6, 4, 6, 0, 12, 9, 6, 3, 12, 3, 0, 0, 24, 6, 8, 0, 8, 6, 4, 7, 16, 12, 4, 11, 16, 4, 11, 6, 6, 6, 11, 6, 3, 6, 0, 20, 24, 3, 8, 20, 8, 3, 11, 6, 4, 9, 11, 6, 2, 9, 4, 13, 15, 4, 9, 13, 5, 4, 11, 6, 4, 9, 11, 6, 2, 9, 9, 6, 4, 9, 11, 6, 2, 9, 9, 12, 6, 12, 9, 18, 6, 6, 1, 22, 18, 2, 1, 23, 18, 1, 10, 7, 4, 10, 10, 12, 4, 5, 6, 7, 8, 10, 6, 12, 8, 5, 7, 6, 10, 6, 7, 8, 10, 2, 0, 14, 10, 4, 0, 16, 10, 2, 6, 18, 18, 2, 6, 19, 18, 1, 1, 1, 22, 3, 1, 2, 22, 1, 6, 16, 18, 3, 6, 17, 18, 1, 2, 4, 6, 15, 5, 4, 3, 15, 20, 4, 4, 10, 20, 4, 2, 10, 0, 4, 4, 10, 2, 4, 2, 10, 2, 16, 20, 6, 12, 16, 10, 3, 2, 19, 10, 3, 0, 12, 8, 9, 4, 12, 4, 9, 12, 0, 6, 9, 14, 0, 2, 9, 5, 10, 6, 6, 8, 10, 3, 6, 11, 8, 12, 6, 17, 8, 6, 3, 11, 11, 6, 3, 0, 8, 12, 6, 0, 8, 6, 3, 6, 11, 6, 3, 12, 0, 6, 9, 14, 0, 2, 9, 6, 0, 6, 9, 8, 0, 2, 9, 8, 14, 9, 6, 8, 16, 9, 2, 0, 16, 9, 6, 0, 18, 9, 2, 10, 8, 6, 10, 12, 8, 2, 10, 3, 19, 12, 3, 9, 19, 6, 3, 2, 10, 20, 2, 2, 11, 20, 1, 2, 9, 18, 12, 2, 9, 9, 6, 11, 15, 9, 6, 3, 0, 18, 24, 3, 0, 9, 24, 5, 6, 14, 10, 5, 6, 7, 5, 12, 11, 7, 5, 9, 5, 10, 12, 14, 5, 5, 6, 9, 11, 5, 6, 4, 5, 12, 12, 4, 5, 6, 6, 10, 11, 6, 6, 4, 14, 18, 3, 4, 15, 18, 1, 6, 13, 8, 8, 6, 17, 8, 4, 3, 16, 18, 6, 3, 19, 18, 3, 0, 0, 6, 6, 3, 0, 3, 6, 6, 6, 12, 18, 10, 6, 4, 18, 6, 1, 4, 14, 8, 1, 2, 14, 3, 2, 19, 2, 3, 3, 19, 1, 1, 8, 22, 13, 12, 8, 11, 13, 8, 9, 11, 4, 8, 11, 11, 2, 0, 12, 15, 10, 5, 12, 5, 10, 12, 16, 12, 6, 16, 16, 4, 6, 0, 16, 12, 6, 4, 16, 4, 6, 19, 1, 5, 12, 19, 5, 5, 4, 0, 2, 24, 4, 8, 2, 8, 4, 6, 8, 12, 4, 6, 10, 12, 2, 7, 5, 9, 6, 10, 5, 3, 6, 9, 17, 6, 6, 9, 20, 6, 3, 0, 7, 22, 15, 0, 12, 22, 5, 4, 1, 17, 9, 4, 4, 17, 3, 7, 5, 6, 10, 9, 5, 2, 10, 18, 1, 6, 8, 18, 1, 3, 8, 0, 1, 6, 7, 3, 1, 3, 7, 18, 0, 6, 22, 18, 0, 3, 22, 0, 0, 6, 22, 3, 0, 3, 22, 16, 7, 8, 16, 16, 7, 4, 16, 2, 10, 19, 6, 2, 12, 19, 2, 9, 9, 6, 12, 9, 13, 6, 4, 2, 15, 17, 6, 2, 17, 17, 2, 14, 7, 3, 14, 14, 14, 3, 7, 5, 6, 8, 10, 5, 6, 4, 5, 9, 11, 4, 5, 15, 8, 9, 11, 18, 8, 3, 11, 0, 8, 9, 11, 3, 8, 3, 11, 8, 6, 10, 18, 8, 15, 10, 9, 7, 7, 3, 14, 7, 14, 3, 7, 0, 14, 24, 8, 8, 14, 8, 8, 1, 10, 18, 14, 10, 10, 9, 14, 14, 12, 6, 6, 14, 15, 6, 3, 7, 0, 10, 16, 7, 0, 5, 8, 12, 8, 5, 8, 10, 0, 9, 6, 13, 0, 3, 6, 4, 3, 16, 4, 12, 3, 8, 4, 10, 0, 9, 6, 13, 0, 3, 6, 1, 1, 20, 4, 1, 1, 10, 2, 11, 3, 10, 2, 10, 0, 9, 6, 13, 0, 3, 6, 5, 0, 9, 6, 8, 0, 3, 6, 8, 18, 10, 6, 8, 20, 10, 2, 6, 3, 6, 9, 8, 3, 2, 9, 7, 3, 12, 6, 7, 5, 12, 2, 0, 10, 18, 3, 0, 11, 18, 1, 1, 10, 22, 3, 1, 11, 22, 1, 5, 11, 8, 8, 9, 11, 4, 8, 12, 11, 6, 6, 12, 11, 3, 6, 6, 11, 6, 6, 9, 11, 3, 6, 7, 10, 11, 6, 7, 12, 11, 2, 0, 13, 24, 4, 0, 13, 12, 2, 12, 15, 12, 2, 2, 4, 22, 12, 13, 4, 11, 6, 2, 10, 11, 6, 2, 0, 20, 17, 12, 0, 10, 17, 14, 0, 2, 24, 14, 0, 1, 24, 8, 0, 2, 24, 9, 0, 1, 24, 14, 1, 2, 22, 14, 1, 1, 22, 8, 1, 2, 22, 9, 1, 1, 22, 17, 6, 3, 18, 18, 6, 1, 18, 6, 14, 9, 6, 6, 16, 9, 2, 13, 14, 9, 4, 13, 16, 9, 2, 3, 18, 18, 3, 3, 19, 18, 1, 9, 4, 8, 18, 13, 4, 4, 9, 9, 13, 4, 9, 0, 17, 18, 3, 0, 18, 18, 1, 0, 2, 12, 4, 6, 2, 6, 4, 6, 8, 14, 6, 6, 11, 14, 3, 7, 5, 6, 6, 10, 5, 3, 6, 10, 5, 6, 16, 10, 13, 6, 8, 1, 4, 9, 16, 4, 4, 3, 16, 5, 0, 18, 9, 5, 3, 18, 3, 9, 15, 5, 8, 9, 19, 5, 4, 20, 0, 4, 9, 20, 0, 2, 9, 2, 0, 18, 3, 2, 1, 18, 1, 5, 22, 19, 2, 5, 23, 19, 1, 0, 0, 4, 9, 2, 0, 2, 9, 5, 6, 19, 18, 5, 12, 19, 6, 0, 1, 6, 9, 2, 1, 2, 9, 6, 5, 14, 12, 13, 5, 7, 6, 6, 11, 7, 6, 0, 1, 20, 2, 0, 2, 20, 1, 1, 2, 22, 3, 1, 3, 22, 1, 2, 8, 7, 9, 2, 11, 7, 3, 2, 12, 22, 4, 13, 12, 11, 2, 2, 14, 11, 2, 0, 12, 22, 4, 0, 12, 11, 2, 11, 14, 11, 2, 9, 7, 6, 11, 11, 7, 2, 11, 7, 1, 9, 6, 10, 1, 3, 6, 11, 2, 4, 10, 11, 7, 4, 5, 6, 4, 12, 12, 6, 10, 12, 6, 18, 1, 6, 15, 18, 6, 6, 5, 3, 15, 18, 3, 3, 16, 18, 1, 18, 5, 6, 9, 18, 8, 6, 3, 1, 5, 16, 6, 1, 5, 8, 3, 9, 8, 8, 3, 11, 0, 6, 9, 13, 0, 2, 9, 0, 4, 24, 14, 0, 4, 12, 7, 12, 11, 12, 7, 13, 0, 4, 13, 13, 0, 2, 13, 7, 0, 4, 13, 9, 0, 2, 13, 11, 6, 6, 9, 13, 6, 2, 9, 8, 7, 6, 9, 10, 7, 2, 9, 13, 17, 9, 6, 13, 19, 9, 2, 2, 18, 14, 6, 2, 18, 7, 3, 9, 21, 7, 3, 3, 18, 18, 4, 12, 18, 9, 2, 3, 20, 9, 2, 0, 20, 15, 4, 5, 20, 5, 4, 9, 15, 15, 9, 14, 15, 5, 9, 4, 4, 16, 4, 4, 6, 16, 2, 7, 6, 10, 6, 7, 8, 10, 2, 0, 14, 15, 10, 5, 14, 5, 10, 7, 9, 10, 14, 12, 9, 5, 7, 7, 16, 5, 7, 7, 6, 6, 9, 9, 6, 2, 9, 3, 6, 18, 3, 3, 7, 18, 1, 0, 10, 18, 3, 0, 11, 18, 1, 3, 16, 18, 4, 12, 16, 9, 2, 3, 18, 9, 2, 4, 6, 14, 6, 4, 6, 7, 3, 11, 9, 7, 3, 13, 0, 2, 18, 13, 0, 1, 18, 9, 0, 2, 18, 10, 0, 1, 18, 5, 7, 15, 10, 10, 7, 5, 10, 1, 20, 21, 4, 8, 20, 7, 4, 10, 5, 5, 18, 10, 14, 5, 9, 0, 2, 24, 6, 0, 2, 12, 3, 12, 5, 12, 3, 1, 1, 22, 8, 12, 1, 11, 4, 1, 5, 11, 4, 4, 0, 15, 9, 4, 3, 15, 3, 0, 0, 24, 19, 8, 0, 8, 19, 2, 21, 18, 3, 11, 21, 9, 3, 9, 7, 10, 4, 9, 7, 5, 4, 5, 7, 10, 4, 10, 7, 5, 4, 17, 8, 6, 16, 20, 8, 3, 8, 17, 16, 3, 8, 1, 15, 20, 4, 1, 15, 10, 2, 11, 17, 10, 2, 14, 15, 10, 6, 14, 17, 10, 2, 3, 0, 16, 9, 3, 3, 16, 3, 15, 6, 7, 15, 15, 11, 7, 5, 9, 1, 6, 13, 11, 1, 2, 13, 17, 2, 6, 14, 17, 2, 3, 14, 3, 14, 12, 10, 3, 14, 6, 5, 9, 19, 6, 5, 7, 6, 10, 6, 7, 8, 10, 2, 1, 2, 6, 14, 4, 2, 3, 14, 10, 4, 5, 12, 10, 8, 5, 4, 0, 17, 24, 5, 8, 17, 8, 5, 15, 7, 5, 12, 15, 11, 5, 4, 3, 1, 6, 12, 3, 1, 3, 6, 6, 7, 3, 6, 12, 13, 6, 6, 12, 16, 6, 3, 6, 13, 6, 6, 6, 16, 6, 3, 14, 6, 3, 16, 14, 14, 3, 8, 1, 12, 13, 6, 1, 14, 13, 2, 13, 1, 4, 9, 13, 1, 2, 9, 7, 0, 9, 6, 10, 0, 3, 6, 12, 2, 6, 9, 12, 2, 3, 9, 6, 2, 6, 9, 9, 2, 3, 9, 6, 18, 12, 6, 6, 20, 12, 2, 7, 6, 6, 9, 9, 6, 2, 9, 7, 7, 12, 3, 7, 7, 6, 3, 8, 3, 8, 21, 8, 10, 8, 7, 7, 4, 10, 12, 7, 8, 10, 4, 0, 1, 6, 9, 0, 4, 6, 3, 15, 2, 2, 20, 15, 2, 1, 20, 0, 3, 6, 9, 0, 6, 6, 3, 15, 3, 2, 21, 15, 3, 1, 21, 7, 0, 2, 23, 8, 0, 1, 23, 15, 8, 9, 4, 15, 10, 9, 2, 0, 8, 9, 4, 0, 10, 9, 2, 8, 14, 9, 6, 8, 16, 9, 2, 0, 14, 9, 6, 0, 16, 9, 2, 3, 10, 18, 4, 9, 10, 6, 4, 0, 0, 24, 19, 8, 0, 8, 19, 9, 1, 8, 12, 9, 7, 8, 6, 10, 6, 4, 10, 12, 6, 2, 10, 7, 9, 10, 12, 12, 9, 5, 6, 7, 15, 5, 6, 5, 0, 3, 19, 6, 0, 1, 19, 14, 0, 6, 10, 16, 0, 2, 10, 2, 0, 6, 12, 2, 0, 3, 6, 5, 6, 3, 6, 0, 11, 24, 2, 0, 12, 24, 1, 4, 9, 13, 4, 4, 11, 13, 2, 9, 8, 6, 9, 9, 11, 6, 3, 0, 12, 16, 4, 0, 14, 16, 2, 18, 12, 6, 9, 18, 15, 6, 3, 0, 12, 6, 9, 0, 15, 6, 3, 8, 7, 10, 4, 8, 7, 5, 4, 8, 7, 6, 9, 10, 7, 2, 9, 11, 0, 6, 9, 13, 0, 2, 9, 7, 0, 6, 9, 9, 0, 2, 9, 12, 3, 6, 15, 14, 3, 2, 15, 6, 3, 6, 15, 8, 3, 2, 15, 15, 2, 9, 4, 15, 4, 9, 2, 5, 10, 6, 7, 8, 10, 3, 7, 9, 14, 6, 10, 9, 19, 6, 5, 7, 13, 5, 8, 7, 17, 5, 4, 14, 5, 3, 16, 14, 13, 3, 8, 2, 17, 18, 3, 2, 18, 18, 1, 5, 18, 19, 3, 5, 19, 19, 1, 9, 0, 6, 9, 11, 0, 2, 9, 12, 4, 3, 18, 13, 4, 1, 18, 9, 4, 3, 18, 10, 4, 1, 18, 3, 3, 18, 9, 9, 3, 6, 9, 6, 1, 6, 14, 8, 1, 2, 14, 12, 16, 9, 6, 12, 19, 9, 3, 1, 3, 20, 16, 1, 3, 10, 8, 11, 11, 10, 8, 12, 5, 6, 12, 15, 5, 3, 6, 12, 11, 3, 6, 1, 2, 22, 16, 1, 2, 11, 8, 12, 10, 11, 8, 10, 14, 5, 10, 10, 19, 5, 5, 3, 21, 18, 3, 3, 22, 18, 1, 10, 14, 6, 10, 12, 14, 2, 10, 0, 2, 24, 4, 8, 2, 8, 4, 6, 4, 12, 9, 6, 7, 12, 3, 6, 6, 12, 5, 10, 6, 4, 5, 5, 8, 14, 12, 5, 12, 14, 4, 4, 14, 8, 10, 4, 14, 4, 5, 8, 19, 4, 5, 11, 6, 5, 14, 11, 13, 5, 7, 7, 6, 3, 16, 7, 14, 3, 8, 3, 7, 18, 8, 9, 7, 6, 8, 2, 3, 20, 2, 2, 4, 20, 1, 3, 12, 19, 6, 3, 14, 19, 2, 8, 6, 6, 9, 10, 6, 2, 9, 16, 6, 6, 14, 16, 6, 3, 14, 7, 9, 6, 12, 9, 9, 2, 12, 18, 6, 6, 18, 21, 6, 3, 9, 18, 15, 3, 9, 0, 6, 6, 18, 0, 6, 3, 9, 3, 15, 3, 9, 18, 2, 6, 9, 18, 5, 6, 3, 3, 18, 15, 6, 3, 20, 15, 2, 18, 2, 6, 9, 18, 5, 6, 3, 0, 2, 6, 9, 0, 5, 6, 3, 5, 10, 18, 2, 5, 11, 18, 1, 6, 0, 12, 6, 6, 2, 12, 2, 10, 0, 6, 9, 12, 0, 2, 9, 8, 0, 6, 9, 10, 0, 2, 9, 15, 12, 9, 6, 15, 14, 9, 2, 3, 6, 13, 6, 3, 8, 13, 2, 15, 12, 9, 6, 15, 14, 9, 2, 2, 5, 6, 15, 5, 5, 3, 15, 8, 8, 9, 6, 11, 8, 3, 6, 8, 6, 3, 14, 8, 13, 3, 7, 15, 12, 9, 6, 15, 14, 9, 2, 4, 12, 10, 4, 9, 12, 5, 4, 13, 1, 4, 19, 13, 1, 2, 19, 7, 1, 4, 19, 9, 1, 2, 19, 18, 9, 6, 9, 18, 12, 6, 3, 1, 21, 18, 3, 1, 22, 18, 1, 14, 13, 10, 9, 14, 16, 10, 3, 1, 13, 22, 4, 1, 13, 11, 2, 12, 15, 11, 2, 4, 6, 16, 6, 12, 6, 8, 3, 4, 9, 8, 3, 1, 0, 18, 22, 1, 0, 9, 11, 10, 11, 9, 11, 10, 7, 8, 14, 14, 7, 4, 7, 10, 14, 4, 7, 0, 4, 6, 20, 0, 4, 3, 10, 3, 14, 3, 10, 15, 0, 6, 9, 17, 0, 2, 9, 3, 0, 6, 9, 5, 0, 2, 9, 15, 12, 6, 12, 18, 12, 3, 6, 15, 18, 3, 6, 3, 12, 6, 12, 3, 12, 3, 6, 6, 18, 3, 6, 15, 12, 9, 6, 15, 14, 9, 2, 0, 12, 9, 6, 0, 14, 9, 2, 4, 14, 19, 3, 4, 15, 19, 1, 2, 13, 19, 3, 2, 14, 19, 1, 14, 15, 10, 6, 14, 17, 10, 2, 6, 0, 10, 12, 6, 0, 5, 6, 11, 6, 5, 6, 17, 1, 6, 12, 20, 1, 3, 6, 17, 7, 3, 6, 1, 1, 6, 12, 1, 1, 3, 6, 4, 7, 3, 6, 16, 14, 6, 9, 16, 17, 6, 3, 7, 3, 9, 12, 7, 9, 9, 6, 12, 1, 4, 12, 12, 7, 4, 6, 4, 0, 14, 8, 4, 4, 14, 4, 10, 6, 6, 9, 12, 6, 2, 9, 2, 10, 18, 3, 8, 10, 6, 3, 15, 15, 9, 6, 15, 17, 9, 2, 0, 1, 21, 23, 7, 1, 7, 23, 6, 9, 17, 4, 6, 11, 17, 2, 1, 0, 11, 18, 1, 6, 11, 6, 6, 15, 13, 6, 6, 17, 13, 2, 0, 15, 9, 6, 0, 17, 9, 2, 8, 7, 15, 4, 13, 7, 5, 4, 9, 12, 6, 9, 9, 15, 6, 3, 6, 8, 18, 3, 12, 8, 6, 3, 0, 14, 24, 4, 8, 14, 8, 4, 16, 10, 3, 12, 16, 16, 3, 6, 0, 3, 24, 3, 0, 4, 24, 1, 14, 17, 10, 6, 14, 19, 10, 2, 1, 13, 18, 3, 7, 13, 6, 3, 5, 0, 18, 9, 5, 3, 18, 3, 4, 3, 16, 9, 4, 6, 16, 3, 16, 5, 3, 12, 16, 11, 3, 6, 0, 7, 18, 4, 6, 7, 6, 4, 10, 6, 6, 9, 12, 6, 2, 9, 9, 8, 6, 10, 11, 8, 2, 10, 9, 15, 6, 9, 11, 15, 2, 9, 3, 1, 18, 21, 12, 1, 9, 21, 6, 8, 12, 7, 6, 8, 6, 7, 8, 5, 6, 9, 10, 5, 2, 9, 0, 2, 24, 4, 8, 2, 8, 4, 14, 7, 5, 12, 14, 11, 5, 4, 5, 7, 5, 12, 5, 11, 5, 4, 9, 6, 6, 9, 11, 6, 2, 9, 0, 1, 6, 17, 3, 1, 3, 17, 3, 1, 19, 9, 3, 4, 19, 3, 3, 18, 12, 6, 3, 18, 6, 3, 9, 21, 6, 3, 20, 4, 4, 19, 20, 4, 2, 19, 0, 16, 10, 7, 5, 16, 5, 7, 8, 7, 10, 12, 13, 7, 5, 6, 8, 13, 5, 6, 6, 7, 10, 12, 6, 7, 5, 6, 11, 13, 5, 6, 9, 2, 9, 6, 12, 2, 3, 6, 1, 20, 21, 4, 8, 20, 7, 4, 9, 12, 9, 6, 9, 14, 9, 2, 7, 2, 9, 6, 10, 2, 3, 6, 13, 0, 4, 14, 13, 0, 2, 14, 7, 0, 4, 14, 9, 0, 2, 14, 14, 15, 9, 6, 14, 17, 9, 2, 2, 8, 18, 5, 8, 8, 6, 5, 18, 3, 6, 11, 20, 3, 2, 11, 6, 5, 11, 14, 6, 12, 11, 7, 18, 4, 6, 9, 18, 7, 6, 3, 7, 6, 9, 6, 7, 8, 9, 2, 18, 4, 6, 9, 18, 7, 6, 3, 0, 4, 6, 9, 0, 7, 6, 3, 9, 4, 9, 4, 9, 6, 9, 2, 0, 22, 19, 2, 0, 23, 19, 1, 17, 14, 6, 9, 17, 17, 6, 3, 1, 14, 6, 9, 1, 17, 6, 3, 14, 11, 4, 9, 14, 11, 2, 9, 6, 11, 4, 9, 8, 11, 2, 9, 3, 9, 18, 7, 9, 9, 6, 7, 9, 12, 6, 10, 9, 17, 6, 5, 12, 0, 6, 9, 14, 0, 2, 9, 6, 0, 6, 9, 8, 0, 2, 9, 6, 17, 18, 3, 6, 18, 18, 1, 1, 17, 18, 3, 1, 18, 18, 1, 10, 6, 11, 12, 10, 12, 11, 6, 5, 6, 14, 6, 5, 6, 7, 3, 12, 9, 7, 3, 5, 4, 15, 4, 5, 6, 15, 2, 0, 0, 22, 2, 0, 1, 22, 1, 0, 0, 24, 24, 8, 0, 8, 24, 1, 15, 18, 4, 10, 15, 9, 4, 6, 8, 12, 9, 6, 11, 12, 3, 4, 12, 7, 12, 4, 16, 7, 4, 1, 2, 22, 6, 12, 2, 11, 3, 1, 5, 11, 3, 5, 20, 14, 3, 12, 20, 7, 3, 0, 0, 24, 16, 12, 0, 12, 8, 0, 8, 12, 8, 3, 13, 18, 4, 3, 13, 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14, 3, 6, 6, 7, 3, 0, 18, 19, 3, 0, 19, 19, 1, 17, 0, 6, 24, 17, 0, 3, 24, 0, 13, 15, 6, 5, 13, 5, 6, 9, 6, 10, 14, 14, 6, 5, 7, 9, 13, 5, 7, 1, 6, 8, 10, 1, 6, 4, 5, 5, 11, 4, 5, 7, 6, 12, 5, 7, 6, 6, 5, 7, 7, 9, 6, 10, 7, 3, 6, 7, 8, 14, 14, 14, 8, 7, 7, 7, 15, 7, 7, 3, 8, 14, 14, 3, 8, 7, 7, 10, 15, 7, 7, 9, 8, 13, 4, 9, 10, 13, 2, 3, 2, 6, 12, 3, 2, 3, 6, 6, 8, 3, 6, 6, 10, 17, 6, 6, 13, 17, 3, 1, 10, 17, 6, 1, 13, 17, 3, 16, 7, 8, 9, 16, 10, 8, 3, 0, 7, 8, 9, 0, 10, 8, 3, 0, 9, 24, 10, 12, 9, 12, 5, 0, 14, 12, 5, 3, 2, 15, 8, 8, 2, 5, 8, 4, 2, 18, 8, 10, 2, 6, 8, 0, 1, 18, 4, 0, 1, 9, 2, 9, 3, 9, 2, 20, 2, 3, 18, 21, 2, 1, 18, 1, 3, 3, 19, 2, 3, 1, 19, 18, 8, 6, 16, 20, 8, 2, 16, 0, 8, 6, 16, 2, 8, 2, 16, 8, 18, 11, 6, 8, 20, 11, 2, 4, 6, 12, 5, 8, 6, 4, 5, 7, 6, 12, 5, 11, 6, 4, 5, 6, 3, 9, 6, 9, 3, 3, 6, 7, 6, 12, 5, 7, 6, 6, 5, 9, 8, 6, 7, 12, 8, 3, 7, 8, 2, 9, 6, 11, 2, 3, 6, 8, 14, 6, 9, 8, 17, 6, 3, 8, 2, 9, 6, 11, 2, 3, 6, 4, 3, 16, 20, 4, 3, 8, 10, 12, 13, 8, 10, 7, 6, 10, 12, 12, 6, 5, 6, 7, 12, 5, 6, 0, 2, 7, 12, 0, 6, 7, 4, 12, 17, 11, 6, 12, 19, 11, 2, 4, 7, 12, 8, 4, 7, 6, 4, 10, 11, 6, 4, 8, 11, 8, 10, 12, 11, 4, 5, 8, 16, 4, 5, 9, 1, 4, 9, 11, 1, 2, 9, 14, 0, 3, 22, 15, 0, 1, 22, 7, 0, 3, 22, 8, 0, 1, 22, 4, 7, 18, 4, 13, 7, 9, 2, 4, 9, 9, 2, 10, 2, 4, 15, 10, 7, 4, 5, 12, 1, 3, 12, 12, 7, 3, 6, 0, 0, 18, 13, 9, 0, 9, 13, 16, 0, 3, 24, 17, 0, 1, 24, 5, 0, 3, 24, 6, 0, 1, 24, 10, 15, 5, 8, 10, 19, 5, 4, 2, 18, 18, 2, 2, 19, 18, 1, 2, 8, 20, 3, 2, 9, 20, 1, 7, 6, 9, 6, 7, 8, 9, 2, 3, 2, 19, 10, 3, 7, 19, 5, 2, 7, 19, 3, 2, 8, 19, 1, 15, 6, 9, 4, 15, 8, 9, 2, 2, 2, 18, 8, 8, 2, 6, 8, 10, 9, 14, 4, 10, 9, 7, 4, 4, 4, 6, 16, 7, 4, 3, 16, 15, 8, 9, 16, 18, 8, 3, 16, 0, 8, 9, 16, 3, 8, 3, 16, 18, 0, 6, 14, 20, 0, 2, 14, 0, 0, 6, 14, 2, 0, 2, 14, 15, 0, 6, 22, 17, 0, 2, 22, 3, 0, 6, 22, 5, 0, 2, 22, 12, 2, 12, 20, 16, 2, 4, 20, 0, 2, 12, 20, 4, 2, 4, 20, 11, 6, 4, 9, 11, 6, 2, 9, 9, 0, 6, 16, 12, 0, 3, 16, 12, 1, 3, 12, 12, 7, 3, 6, 3, 4, 18, 6, 3, 4, 9, 3, 12, 7, 9, 3, 5, 5, 16, 8, 13, 5, 8, 4, 5, 9, 8, 4, 0, 13, 10, 6, 0, 15, 10, 2, 8, 14, 9, 6, 8, 16, 9, 2, 6, 2, 9, 6, 9, 2, 3, 6, 14, 1, 10, 8, 19, 1, 5, 4, 14, 5, 5, 4, 9, 1, 3, 12, 9, 7, 3, 6, 6, 4, 12, 9, 6, 7, 12, 3, 6, 5, 12, 6, 10, 5, 4, 6, 1, 1, 8, 5, 5, 1, 4, 5, 12, 12, 6, 8, 12, 16, 6, 4, 3, 12, 12, 6, 3, 14, 12, 2, 9, 18, 12, 6, 15, 18, 6, 3, 9, 21, 6, 3, 4, 13, 6, 6, 4, 16, 6, 3, 11, 3, 7, 18, 11, 12, 7, 9, 3, 9, 18, 3, 9, 9, 6, 3, 5, 3, 19, 2, 5, 4, 19, 1, 4, 2, 12, 6, 4, 2, 6, 3, 10, 5, 6, 3, 9, 6, 6, 9, 11, 6, 2, 9, 8, 6, 6, 9, 10, 6, 2, 9, 16, 9, 5, 15, 16, 14, 5, 5, 3, 9, 5, 15, 3, 14, 5, 5, 6, 6, 14, 6, 13, 6, 7, 3, 6, 9, 7, 3, 8, 6, 3, 14, 8, 13, 3, 7, 0, 16, 24, 5, 8, 16, 8, 5, 0, 20, 20, 3, 10, 20, 10, 3, 5, 10, 18, 2, 5, 11, 18, 1, 0, 6, 6, 10, 2, 6, 2, 10, 2, 1, 20, 3, 2, 2, 20, 1, 9, 13, 6, 11, 11, 13, 2, 11, 9, 15, 6, 8, 9, 19, 6, 4, 9, 12, 6, 9, 9, 15, 6, 3, 5, 11, 18, 2, 5, 12, 18, 1, 2, 6, 15, 6, 2, 8, 15, 2, 6, 0, 18, 3, 6, 1, 18, 1, 5, 0, 3, 18, 6, 0, 1, 18, 18, 3, 6, 10, 20, 3, 2, 10, 0, 3, 6, 10, 2, 3, 2, 10, 10, 5, 8, 9, 10, 5, 4, 9, 6, 5, 8, 9, 10, 5, 4, 9, 3, 2, 20, 3, 3, 3, 20, 1, 5, 2, 13, 4, 5, 4, 13, 2, 17, 0, 7, 14, 17, 7, 7, 7, 0, 0, 7, 14, 0, 7, 7, 7, 9, 11, 10, 6, 9, 11, 5, 6, 5, 11, 10, 6, 10, 11, 5, 6, 11, 6, 3, 18, 11, 12, 3, 6, 0, 16, 18, 3, 0, 17, 18, 1, 6, 16, 18, 3, 6, 17, 18, 1, 4, 6, 9, 10, 4, 11, 9, 5, 9, 7, 15, 4, 9, 9, 15, 2, 5, 6, 12, 6, 5, 6, 6, 3, 11, 9, 6, 3, 6, 1, 12, 9, 6, 4, 12, 3, 7, 9, 6, 12, 7, 9, 3, 6, 10, 15, 3, 6, 11, 5, 13, 6, 11, 7, 13, 2, 1, 11, 22, 13, 12, 11, 11, 13, 18, 8, 6, 6, 18, 11, 6, 3, 0, 8, 6, 6, 0, 11, 6, 3, 0, 6, 24, 3, 0, 7, 24, 1, 0, 5, 10, 6, 0, 7, 10, 2, 6, 7, 18, 3, 6, 8, 18, 1, 0, 0, 10, 6, 0, 2, 10, 2, 19, 0, 3, 19, 20, 0, 1, 19, 4, 6, 12, 16, 4, 6, 6, 8, 10, 14, 6, 8, 19, 6, 4, 18, 21, 6, 2, 9, 19, 15, 2, 9, 1, 6, 4, 18, 1, 6, 2, 9, 3, 15, 2, 9, 3, 21, 18, 3, 3, 22, 18, 1, 0, 19, 9, 4, 0, 21, 9, 2, 12, 18, 12, 6, 18, 18, 6, 3, 12, 21, 6, 3, 7, 18, 9, 4, 7, 20, 9, 2, 12, 16, 10, 8, 17, 16, 5, 4, 12, 20, 5, 4, 2, 16, 10, 8, 2, 16, 5, 4, 7, 20, 5, 4, 14, 0, 10, 12, 19, 0, 5, 6, 14, 6, 5, 6, 0, 0, 10, 12, 0, 0, 5, 6, 5, 6, 5, 6, 15, 14, 9, 6, 15, 16, 9, 2, 0, 14, 9, 6, 0, 16, 9, 2, 14, 14, 10, 6, 14, 16, 10, 2, 0, 14, 10, 6, 0, 16, 10, 2, 5, 18, 18, 2, 5, 19, 18, 1, 0, 18, 18, 3, 0, 19, 18, 1, 3, 5, 18, 12, 12, 5, 9, 6, 3, 11, 9, 6, 5, 3, 7, 9, 5, 6, 7, 3, 4, 0, 19, 15, 4, 5, 19, 5, 3, 0, 16, 4, 3, 2, 16, 2, 4, 12, 16, 12, 4, 12, 8, 12, 4, 3, 12, 15, 10, 3, 6, 15, 16, 4, 2, 19, 16, 4, 1, 19, 6, 4, 2, 19, 7, 4, 1, 19, 13, 14, 8, 10, 17, 14, 4, 5, 13, 19, 4, 5, 3, 14, 8, 10, 3, 14, 4, 5, 7, 19, 4, 5, 12, 6, 3, 18, 12, 12, 3, 6, 5, 11, 12, 6, 5, 11, 6, 3, 11, 14, 6, 3, 10, 5, 8, 10, 14, 5, 4, 5, 10, 10, 4, 5, 6, 4, 12, 10, 6, 4, 6, 5, 12, 9, 6, 5, 6, 8, 18, 10, 15, 8, 9, 5, 6, 13, 9, 5, 0, 8, 18, 10, 0, 8, 9, 5, 9, 13, 9, 5, 12, 6, 3, 18, 12, 12, 3, 6, 0, 14, 18, 3, 0, 15, 18, 1, 12, 6, 3, 18, 12, 12, 3, 6, 9, 6, 3, 18, 9, 12, 3, 6, 6, 14, 18, 3, 6, 15, 18, 1, 0, 5, 18, 3, 0, 6, 18, 1, 2, 5, 22, 3, 2, 6, 22, 1, 0, 0, 21, 10, 7, 0, 7, 10, 6, 3, 18, 17, 12, 3, 6, 17, 0, 3, 18, 17, 6, 3, 6, 17, 0, 12, 24, 11, 8, 12, 8, 11, 4, 10, 16, 6, 4, 13, 16, 3, 12, 8, 6, 8, 12, 12, 6, 4, 6, 14, 8, 7, 10, 14, 4, 7, 15, 10, 6, 14, 18, 10, 3, 7, 15, 17, 3, 7, 3, 10, 6, 14, 3, 10, 3, 7, 6, 17, 3, 7, 6, 12, 18, 2, 6, 13, 18, 1, 5, 8, 10, 6, 5, 10, 10, 2, 12, 11, 9, 4, 12, 13, 9, 2, 0, 11, 9, 6, 0, 13, 9, 2, 11, 2, 3, 18, 12, 2, 1, 18, 10, 2, 3, 18, 11, 2, 1, 18, 9, 12, 6, 10, 11, 12, 2, 10, 1, 10, 6, 9, 1, 13, 6, 3, 6, 9, 16, 6, 14, 9, 8, 3, 6, 12, 8, 3, 1, 8, 9, 6, 1, 10, 9, 2, 7, 7, 16, 6, 7, 9, 16, 2, 0, 0, 18, 3, 0, 1, 18, 1, 10, 0, 6, 9, 12, 0, 2, 9, 9, 5, 6, 6, 12, 5, 3, 6, 10, 6, 4, 18, 12, 6, 2, 9, 10, 15, 2, 9, 8, 0, 6, 9, 10, 0, 2, 9, 9, 1, 6, 9, 9, 4, 6, 3, 1, 0, 18, 9, 1, 3, 18, 3, 0, 3, 24, 3, 0, 4, 24, 1, 6, 14, 9, 4, 6, 16, 9, 2, 8, 9, 8, 10, 12, 9, 4, 5, 8, 14, 4, 5, 5, 2, 13, 9, 5, 5, 13, 3, 4, 4, 16, 9, 4, 7, 16, 3, 4, 4, 14, 9, 4, 7, 14, 3, 8, 5, 9, 6, 8, 7, 9, 2, 1, 7, 16, 6, 1, 9, 16, 2, 10, 5, 13, 9, 10, 8, 13, 3, 1, 5, 13, 9, 1, 8, 13, 3, 0, 4, 24, 6, 12, 4, 12, 3, 0, 7, 12, 3, 1, 14, 10, 9, 1, 17, 10, 3, 5, 17, 18, 3, 5, 18, 18, 1, 0, 16, 18, 3, 0, 17, 18, 1, 9, 17, 9, 6, 9, 19, 9, 2, 1, 20, 22, 4, 1, 20, 11, 2, 12, 22, 11, 2, 8, 14, 8, 6, 8, 17, 8, 3, 8, 6, 8, 15, 8, 11, 8, 5, 5, 4, 18, 3, 5, 5, 18, 1, 9, 3, 5, 10, 9, 8, 5, 5, 6, 8, 12, 3, 6, 8, 6, 3, 2, 6, 18, 6, 2, 6, 9, 3, 11, 9, 9, 3, 10, 6, 4, 18, 12, 6, 2, 9, 10, 15, 2, 9, 7, 5, 6, 6, 10, 5, 3, 6, 14, 5, 2, 18, 14, 14, 2, 9, 8, 5, 2, 18, 8, 14, 2, 9, 9, 2, 10, 6, 9, 2, 5, 6, 3, 1, 18, 12, 12, 1, 9, 12, 5, 2, 17, 22, 5, 13, 17, 11, 4, 0, 12, 6, 4, 2, 12, 2, 6, 9, 16, 6, 14, 9, 8, 3, 6, 12, 8, 3, 9, 0, 5, 18, 9, 9, 5, 9, 12, 0, 6, 9, 14, 0, 2, 9, 6, 0, 6, 9, 8, 0, 2, 9, 9, 1, 6, 12, 11, 1, 2, 12, 5, 9, 13, 4, 5, 11, 13, 2, 5, 8, 19, 3, 5, 9, 19, 1, 9, 9, 6, 8, 9, 13, 6, 4, 11, 9, 4, 15, 11, 14, 4, 5, 2, 0, 6, 14, 2, 0, 3, 7, 5, 7, 3, 7, 15, 1, 6, 14, 18, 1, 3, 7, 15, 8, 3, 7, 3, 1, 6, 14, 3, 1, 3, 7, 6, 8, 3, 7, 3, 20, 18, 4, 12, 20, 9, 2, 3, 22, 9, 2, 5, 0, 4, 20, 5, 0, 2, 10, 7, 10, 2, 10, 16, 8, 8, 12, 20, 8, 4, 6, 16, 14, 4, 6, 0, 8, 8, 12, 0, 8, 4, 6, 4, 14, 4, 6, 13, 13, 10, 8, 18, 13, 5, 4, 13, 17, 5, 4, 1, 13, 10, 8, 1, 13, 5, 4, 6, 17, 5, 4, 15, 8, 4, 15, 15, 13, 4, 5, 5, 8, 4, 15, 5, 13, 4, 5, 6, 11, 16, 12, 6, 15, 16, 4, 2, 11, 16, 12, 2, 15, 16, 4, 14, 12, 7, 9, 14, 15, 7, 3, 10, 1, 3, 21, 10, 8, 3, 7, 13, 11, 9, 4, 13, 13, 9, 2, 3, 10, 17, 9, 3, 13, 17, 3, 13, 8, 8, 15, 13, 13, 8, 5, 3, 8, 8, 15, 3, 13, 8, 5, 11, 14, 10, 8, 16, 14, 5, 4, 11, 18, 5, 4, 0, 18, 22, 6, 0, 18, 11, 3, 11, 21, 11, 3, 0, 16, 24, 4, 0, 16, 12, 4, 6, 20, 12, 3, 12, 20, 6, 3, 18, 12, 6, 12, 21, 12, 3, 6, 18, 18, 3, 6, 0, 12, 6, 12, 0, 12, 3, 6, 3, 18, 3, 6, 15, 17, 9, 6, 15, 19, 9, 2, 1, 6, 22, 10, 1, 6, 11, 5, 12, 11, 11, 5, 15, 17, 9, 6, 15, 19, 9, 2, 0, 18, 18, 2, 0, 19, 18, 1, 3, 15, 19, 3, 3, 16, 19, 1, 0, 13, 18, 3, 0, 14, 18, 1, 15, 17, 9, 6, 15, 19, 9, 2, 0, 17, 9, 6, 0, 19, 9, 2, 12, 17, 9, 6, 12, 19, 9, 2, 3, 17, 9, 6, 3, 19, 9, 2, 16, 2, 3, 20, 17, 2, 1, 20, 0, 13, 24, 8, 0, 17, 24, 4, 9, 1, 6, 22, 12, 1, 3, 11, 9, 12, 3, 11};
+const int eye_window_w=20;
+const int eye_window_h=20;
+const int eye_n_stages=24;
+const uint8_t eye_stages_array[]={6, 12, 9, 16, 23, 27, 28, 36, 47, 48, 55, 32, 30, 44, 53, 51, 44, 72, 66, 69, 59, 88, 58, 93};
+const int16_t eye_stages_thresh_array[]={-372, -321, -351, -329, -311, -330, -296, -313, -329, -286, -292, -288, -300, -265, -268, -284, -320, -286, -278, -266, -270, -250, -259, -250};
+const int16_t eye_tree_thresh_array[]={531, -189, -66, -187, -220, 139, -889, 49, -73, 91, -374, 118, 32, 83, -48, -3, 0, -33, -483, -140, -88, -89, -117, -46, -92, -7, 0, 814, -147, -317, 0, 1, -76, 0, -75, -53, 0, 0, -13, 7, -103, 5, -30, -122, -514, 21, -33, -67, -8, -6, -20, -78, -50, 235, -39, -12, -17, -55, 0, -10, -289, 377, -36, 0, -12, -10, -196, 357, -69, -118, 10, -98, -134, -62, -1, 3, -43, -30, -437, 66, -84, 69, -23, 0, 32, -10, -91, -31, -4, 78, 23, -39, 45, -71, 125, -90, 0, -28, -28, -57, -196, 0, 4, -10, 0, 0, 1076, -96, -16, 0, -32, -6, -1, 0, 53, -53, 12, -24, -9, 64, 0, -114, 528, 99, -10, -14, 0, -66, -18, -89, -11, -18, 116, 340, -50, -19, -3, -80, 4, -106, -5, -204, -12, 19, 0, 0, -54, 9, -51, -11, 81, 19, -28, -53, -5, 11, 1, -59, -545, -41, -32, -58, -24, 44, 0, -23, -91, -20, 0, -2, 6, -49, 43, -126, 46, -50, -24, -4, -30, 11, 0, -20, 306, 82, 181, -3, -10, 0, -150, 12, -10, -57, 3, -29, -78, -20, -11, -101, 82, 7, 5, -44, 0, 15, -418, -212, -174, 1, 99, -97, -28, -2, 21, -54, -27, -17, -44, 1, -10, 5, -20, 108, -13, -12, 125, -39, 0, 20, 1, -35, 3, 4, -97, 0, 100, -583, -82, 0, -11, 0, -28, -153, -65, -12, 4, -6, 17, -44, -17, 30, 33, -136, 80, 90, -17, -3, 3, 37, -16, 0, -12, -90, -30, 3, -19, -62, 20, -7, -50, -53, -5, 24, 2, -7, -2, -24, -13, -249, -396, 16, -37, -19, -17, -39, -71, -27, 1, -9, -30, -21, -19, 6, -19, -5, 9, -1, 20, -37, -28, 4, -154, -27, 2, -17, -282, 25, 43, -257, 14, -32, -14, -38, 0, 7, -22, 30, -63, 117, 0, 214, -354, -172, 0, 21, -3, 0, 20, -6, 11, 9, -3, 8, 46, -4, 13, 0, -16, -6, 57, 672, 3, -7, -6, 7, -553, -16, -11, -5, -14, 170, -37, 25, -4, 47, -36, 2, 5, -44, 5, 9, 11, -27, -197, 62, -24, 27, -32, 15, -4, 14, 26, 0, -15, 15, -100, 193, 27, -5, -20, 14, 8, 120, -3, -443, -73, 25, -6, 3, 0, -85, -25, 44, 0, 0, 5, -3, 4, -4, -4, 31, -572, 8, -11, 21, -5, -15, 24, -21, 20, -2, 21, -60, -169, 3, -229, 4, 11, -30, -6, 18, 9, -347, -20, -8, -42, -55, -345, 10, 64, 265, 1, 5, -23, -605, -67, 12, -149, 0, -15, -16, 81, 3, -4, 64, -4, -449, -37, 60, -5, -17, 14, -15, 15, -8, -9, 4, 7, 24, -113, 192, -32, -52, 96, 65, 32, 23, 9, 18, -6, 10, 9, 23, 12, -355, 21, -81, 15, 42, -82, -21, -8, -1, 0, -1, 26, 45, -4, 9, -45, -1, 94, -9, -3, 6, 3, -84, -84, 88, 26, -36, -38, -8, -7, -55, -79, -13, 1, -31, -34, 113, -224, 10, 0, 20, -427, -2, 13, 21, -10, -11, -97, 82, -88, 11, 11, 13, -14, 7, -1, 0, -1, 82, 150, 5, -62, 19, 0, -14, 4, 0, 560, -48, 16, -1, -19, -1, 42, -3, 5, 70, 10, 5, 19, -25, -13, 13, -23, 0, -16, 5, -4, -13, 101, -31, 32, -44, -14, -127, 4, 13, -114, -94, -16, 12, -44, -74, 2, 44, -1, -14, -80, -44, -17, 6, 64, -45, 36, -3, -12, 25, 84, 408, -26, -249, -12, -40, -338, 20, 25, -13, -10, 3, -156, 0, 6, 5, 40, -6, 8, -14, 1, -2, -1, 28, 52, -6, 497, -205, 128, 7, -23, 0, -809, 0, 0, 41, -29, 993, 2, 14, 0, -2, -27, -108, 40, 132, -11, -45, 25, 356, 4, -3, -56, -310, -11, -16, 71, 90, -11, -41, -28, -15, -13, -32, 0, -13, -3, -2, -1, 5, -211, -62, 282, 5, -10, -6, -6, -27, -57, -9, 81, 10, -2, -71, -8, 10, -229, -6, -46, 95, -9, -118, -59, -21, 20, -17, 0, 1, -3, 0, -15, -164, 0, 0, 298, 41, 9, -14, -5, -39, -39, -39, -17, -39, -37, -35, -36, -58, 106, 0, 0, 28, -50, -15, 11, -31, 1, 13, -68, -26, 1, 61, 1, -1, 1, 33, -93, 0, -52, -4, 4, -183, 33, -47, 345, 58, 6, 40, -37, -1, 807, -29, 35, 36, 234, 15, -5, 4, -7, 44, 0, -22, -12, 26, 48, 55, -10, 6, 10, -31, 20, -11, 12, 12, 914, -391, 0, 0, -26, -4, -121, -53, -5, -14, -6, -25, -136, -93, -353, -8, 160, 14, 2, 2, -89, -13, 9, -1, 14, -89, 0, -6, 31, 15, 24, -7, 67, 19, -127, 2, 48, -30, -220, 63, 6, -1, 11, -269, 5, 3, 97, 112, -1, -5, -38, 31, 0, -6, 17, 0, -32, 700, -6, -43, -23, -76, -3, 43, 144, 3, 378, -12, -354, 0, -149, 10, -18, -21, 18, 59, 0, -24, -24, -45, -240, -18, -38, 5, 20, -31, -1594, -410, 3, -14, 34, 9, 30, 13, -320, 0, -39, -291, 1, -1, -16, 13, -22, -1, -5, -1, -29, -69, 122, 11, -7, 20, 336, -1, -7, -20, -34, -445, -39, -111, -26, -49, -687, -54, 314, 20, 13, -7, -1, 1, -1, 322, -3, 98, -6, -3, 1, 8, 109, -8, 23, 0, 0, 17, -8, 89, -60, -14, 7, -5, -16, -79, 53, -2, -54, 14, 25, 6, 1, -6, 14, -19, -47, -112, -216, -1222, -1, 0, 0, 8, -28, 33, 0, 6, -1, -126, -2, -48, 29, -8, 14, -551, -9, 17, -30, 2, 0, 27, 0, -832, 38, -9, 0, 61, 3, -17, 2, -68, -1, 1, -82, -59, -86, 86, 4, 0, -148, -37, -8, -93, 104, -10, -15, -68, 2, -150, 5, -34, 265, 124, 10, -28, -4, 0, -1, -7, -54, -7, -26, 0, 89, -112, 0, 287, -294, -441, 5, 279, -27, -2, -238, -25, -55, 5, 0, -317, 3, 4, -3, 341, -37, -1, 31, -510, 54, -27, -11, 3, -205, 30, -2, -7, -1, -290, -218, -82, 4, 0, 62, -852, 6, -216, -88, 0, 0, 0, -49, -72, -25, -3, -1, -69, 19, -42, -90, -28, -2, -9, -115, 8, -1, -68, 490, -1, -74, -1, 1, 3, 1764, 2, 0, -226};
+const int16_t eye_alpha1_array[]={-197, 146, 154, 164, 138, -59, 182, -72, 136, -44, 157, -31, 43, -32, 98, -163, -88, -162, 173, 171, 184, 170, 179, 151, 88, -203, -79, -135, 107, 122, -98, -67, 119, 75, 118, 106, -71, -69, 113, -41, 104, 21, 142, 91, 100, -112, 102, 107, -189, -194, 107, 120, 84, -94, -184, 91, 100, -150, -67, -200, 106, -33, 93, -76, 91, -139, 106, -99, 135, 91, 38, 143, 118, -189, -116, 24, 104, 103, 158, -33, -182, 32, -155, -68, -20, 94, -175, 60, -153, -40, -25, -155, -26, 80, -48, 93, 54, 101, 77, -195, 123, -64, 17, 109, -49, 77, -59, 49, 141, -61, 104, -147, 74, -50, -24, 120, -34, -199, 79, 16, -45, 116, -134, -38, 84, 121, -77, 58, 103, -175, -178, 64, 15, 16, -181, 131, 68, -172, 13, 144, -128, 45, 100, -30, -44, -59, 110, 18, 92, 72, 12, -27, -205, 47, 70, 23, -99, 96, 77, 94, 117, 114, 71, -38, -58, 116, -160, 67, -62, -109, -30, 71, 10, -160, 10, 51, 131, -185, 75, 11, 51, 75, -29, -26, -70, 62, -137, -53, 93, -33, -145, -124, -20, 114, -170, 44, -153, 59, -22, 12, -38, -148, -35, -26, 106, 84, 66, -88, -108, 81, 79, -153, -31, 86, -156, 64, 140, 21, 59, 15, -171, -18, -108, 41, -15, -155, -42, 11, -28, 103, 16, -24, -150, -38, -14, 38, 55, -43, -177, 48, 120, -194, 78, 67, -44, 91, 12, -163, 41, 8, 6, 85, -26, -63, 98, -160, 23, -18, 51, -71, 93, 100, 32, 18, 55, 93, -88, -158, -149, -152, -174, -24, 20, 60, -114, 111, 46, 120, 70, -31, 91, -105, -186, 141, -146, -118, -24, 58, -145, 89, -154, -26, 72, 59, 16, -97, -19, 36, 69, -39, -151, 65, 11, 63, -170, 6, -20, 71, -88, 61, -151, 47, -84, 25, 75, -37, -175, -37, -44, -17, 129, 116, -67, 19, -126, -54, -23, 65, -40, -38, 75, 12, -32, 63, 13, -55, 62, 72, 10, -125, -72, -183, -186, -79, 75, -170, -158, 57, -138, -16, -193, 23, 62, -30, -125, -55, -38, 109, 18, 12, -43, -202, -178, -27, 79, 20, -223, -29, 61, -60, -80, -70, -143, 10, 42, -27, -45, -138, 62, 17, -34, -73, -148, 101, 70, 5, -145, -38, -39, -161, 65, -25, 48, -38, 12, 46, -27, 69, -179, -23, 176, 24, 61, -29, -152, -118, -18, -189, -35, -140, -21, 53, -211, 21, 39, -52, -44, -152, 48, 8, -60, 59, 99, 46, -192, -184, -86, -30, -17, -19, 18, -43, 90, 110, 59, -34, -160, 42, -121, 46, -17, 14, -120, -31, 51, -221, 75, 8, 62, 55, 11, 38, -22, 44, 68, 11, -28, -39, 29, -10, -137, 59, -22, -31, -21, 9, -42, -31, 66, -27, -35, -19, -28, -94, -27, -136, -34, 22, 40, -175, 72, -94, -82, -83, -22, 18, 66, -21, 49, -81, -25, 116, -90, 25, 14, 80, 69, 10, -25, -134, 63, 68, 40, 104, 46, 74, -54, -116, 67, -25, 73, -28, -48, -19, 51, 45, 10, -31, 131, -129, 95, -44, -112, -32, -22, -21, -113, -28, -96, 19, -84, -15, -15, -90, 58, -14, -78, 98, -28, -51, -55, 111, -12, -97, 124, -91, 13, 115, -24, -20, -29, 17, -16, -181, 35, -33, 97, -79, 66, -14, 37, 85, -18, 118, -70, 57, 99, 61, -72, 8, 61, 99, 78, -35, 42, -161, -47, -6, -76, 67, -151, 41, -147, 15, -18, 100, 9, 45, -113, -13, 14, -9, 72, -130, -122, 103, -180, 7, -13, 23, 34, -17, 75, -42, -23, 16, 5, 65, 5, 69, -27, -76, -69, -14, 17, 52, -24, 72, -22, -29, 60, 45, 116, -60, 20, -10, 44, 13, -29, -10, 17, 87, 30, 52, -28, -25, 38, 131, -23, 7, -33, -128, -203, 78, 53, -168, -21, 16, 37, 126, 71, -148, -127, 88, 38, 58, -113, 35, -76, -41, -136, -200, -9, -24, 29, 45, 46, 64, 35, 102, -48, 12, -111, 168, 101, 15, -132, 38, -161, -14, 48, -139, -172, -110, -27, 61, -22, 11, -140, -28, 62, -161, 50, -23, 12, -23, 16, 33, 41, 156, -256, 256, 72, -256, 222, 116, 34, 82, -33, -31, 30, -16, 140, 61, -32, 76, 15, 12, 182, -89, 23, -13, 16, 45, 26, -16, 135, 20, -89, 59, 30, -164, 11, 106, 13, 11, 21, -14, 115, 46, -7, -228, -18, 18, 13, 8, 79, -33, 74, 8, 41, -111, 97, -40, -10, -13, 28, 17, 16, 50, 21, -121, -12, -26, -3, -189, -32, -42, 86, 57, 66, 48, 51, 61, -125, 79, -126, 83, -173, 57, 29, -29, -38, 25, -81, -97, -24, 56, 9, 75, 58, -129, 11, -22, -19, -90, -20, 10, 49, -53, 10, 40, -142, -10, 17, 45, 7, -118, -24, 29, -8, -16, -86, 37, -131, 5, 60, 49, -24, -80, -169, 8, 55, 62, -122, -153, 62, -35, -19, -24, -70, 58, 122, -57, 70, -11, 60, 38, -14, 9, -44, 79, -81, 62, -194, -116, 37, -25, 8, 23, -170, -147, 22, 66, -28, 9, -9, -25, -196, -34, 64, -102, 10, -66, 61, -18, 128, 63, 81, -69, 70, -89, 8, 9, 63, -21, -4, -63, 73, 32, 60, -66, -181, -149, -152, 33, -145, 29, -8, -13, -19, 50, -73, 17, 42, 6, 35, 7, 67, 39, 14, -23, 15, 75, -16, -43, 16, -25, 49, 9, -112, 50, 5, 25, 29, 121, -65, 49, 113, -34, -13, -51, 26, 72, -21, 50, -143, 127, 43, -165, 64, -22, 29, -12, -138, 6, -30, -15, -88, 51, -80, 51, -9, -72, -27, 127, 43, 22, 63, 17, -21, 7, -40, -177, -22, 54, 38, -8, 12, 55, -19, -173, 58, 14, 49, -175, 96, 7, -17, 46, -214, 106, -50, 62, -73, 74, 54, 67, 5, 138, -33, -242, -18, -21, -33, -164, 36, 40, -85, 43, -149, 36, 70, 33, -6, -61, -34, -14, -96, -95, 20, -9, 49, 33, -77, 56, -99, -24, -61, 143, 14, -15, 60, 13, -100, -79, -11, -209, 9, -91, 64, -18, -161, -17, -92, 36, 55, 115, -173, -111, -6, 46, -51, 171, -19, 63, -74, -56, -29, 40, 31, -89, 33, 44, -72, 100, -8, -145, -116, 40, -36, 42, 69, 10, 41, -109, -4, 40, 49, 20, 25, -18, -7, 29, -43, 116};
+const int16_t eye_alpha2_array[]={174, -125, -80, -39, -52, 123, -151, 151, -58, 162, -43, 190, -167, 211, -53, 33, 58, 33, -128, -91, -46, -70, -50, -56, -98, 40, 90, 90, -100, -64, 81, 83, -38, -64, -33, -45, 68, 61, -36, 109, -46, -204, -30, -98, -76, 49, -59, -58, 32, 22, -45, -36, -55, 62, 16, -42, -30, 22, 54, 20, -35, 129, -35, 52, -39, 26, -87, 61, -44, -57, -167, -37, -27, 14, 24, -140, -31, -41, -18, 95, 13, -79, 20, 37, 145, -34, 13, -45, 19, 76, 107, 18, 107, -86, 137, -41, -72, -33, -52, 25, -33, 62, -168, -33, 74, -50, 60, -72, -24, 55, -32, 24, -43, 70, 103, -22, 78, 14, -38, -185, 59, -46, 41, 108, -44, -18, 40, -52, -34, 20, 12, -41, -170, -137, 14, -22, -45, 18, -142, -18, 22, -57, -25, 108, 57, 42, -25, -147, -29, -31, -206, 86, 11, -45, -32, -109, 22, -63, -57, -45, -33, -26, -39, 102, 55, -32, 21, -37, 42, 23, 77, -31, -189, 12, -183, -49, -15, 12, -30, -178, -40, -29, 77, 104, 31, -34, 16, 41, -23, 64, 13, 14, 103, -16, 12, -43, 14, -30, 92, -161, 48, 11, 50, 64, -42, -53, -40, 35, 34, -42, -34, 22, 98, -25, 12, -36, -15, -113, -35, -126, 11, 113, 17, -46, 136, 13, 49, -147, 59, -15, -114, 77, 11, 45, 125, -48, -30, 42, 10, -38, -14, 8, -22, -23, 39, -19, -151, 8, -38, -192, -183, -18, 136, 53, -37, 30, -141, 142, -53, 35, -19, -28, -61, -112, -36, -21, 23, 12, 11, 10, 8, 77, -90, -30, 14, -17, -36, -15, -24, 53, -19, 17, 9, -13, 12, 12, 66, -26, 12, -21, 11, 59, -25, -29, -108, 15, 85, -43, -23, 50, 10, -24, -124, -24, 9, -186, 76, -75, 53, -49, 31, -63, 28, -127, -33, 85, 25, 79, 54, 126, -19, -23, 41, -138, 15, 36, 91, -36, 53, 68, -27, -183, 61, -34, -133, 32, -29, -27, -188, 45, 61, 22, 24, 46, -56, 21, 13, -51, 17, 158, 13, -113, -47, 94, 27, 47, 74, -26, -164, -185, 60, 11, 10, 93, -29, -119, 9, 84, -45, 63, 47, 42, 28, -148, -64, 100, 69, 12, -33, -180, 56, 34, 9, -20, -34, -205, 10, 48, 49, 9, -27, 77, -35, 55, -164, -35, 62, -30, 10, 79, -10, -73, -28, 62, 12, 13, 99, 10, 48, 12, 81, -31, 8, -143, -69, 51, 54, 12, -40, -175, 28, -35, -14, -45, 6, 8, 18, 57, 80, 104, -88, 39, -21, -14, -27, 67, 11, -42, 12, -36, 93, -114, 12, 52, -32, 7, -21, -198, -29, -35, -139, -38, 65, -36, -20, -120, 52, 40, -56, 137, 11, -26, 78, 45, 82, -174, 106, 103, -51, 93, 76, 124, 74, 18, 81, 18, 58, -122, -45, 9, -25, 20, 19, 22, 81, -103, -30, 79, -38, 22, 65, -13, 20, -55, -103, -20, -19, -152, 60, 11, -24, -23, -40, -16, -35, -20, 28, 13, -24, 53, -19, 55, 36, 75, -27, -30, -139, 164, -28, 29, -37, 122, 34, 119, 94, 132, 23, 100, 31, -104, 28, 143, 133, 27, -41, 123, 27, -23, 79, 39, 36, -19, 150, 23, -18, 27, -146, -21, 80, 92, 56, -94, 98, 9, -59, 58, -17, 21, -26, 122, -44, -42, 145, -23, 33, -38, -16, -29, 33, -131, -33, -20, -18, 48, -40, 10, 34, 156, 18, -20, 10, -32, 9, -77, 75, -12, -125, -28, 13, 95, -94, 148, -15, 9, 9, -12, 7, -135, 84, -55, -35, 85, -17, 31, 54, -92, -207, -17, -215, -19, 58, 16, 17, 93, -73, -25, 50, -17, 54, 42, -23, -27, -10, 19, -73, 122, -25, -82, 37, 136, -69, -14, -38, -67, 83, 81, -50, -11, 88, -212, 52, 23, -1, -20, -32, 12, 92, -181, -42, -6, -19, 9, 12, -17, -36, -23, 14, -37, 19, 35, 10, 6, 182, 55, -46, -31, -29, -23, -44, -12, 38, -110, 10, -8, -11, -83, 9, -32, 8, 98, -25, 10, 5, 11, 49, -26, 52, -99, 9, 44, -20, 6, -26, 50, -86, 51, -68, -32, -27, -16, 0, 0, -39, 11, 0, -22, -66, -24, 67, 53, -59, 105, -10, -24, 49, -24, -107, -161, -10, 18, -63, 144, -93, -29, -51, 77, -10, -63, 14, -23, -47, 7, -110, -12, -97, -110, -63, 88, -10, -27, 170, 6, 72, -77, -100, -130, -16, 37, -17, -122, -29, 11, -14, 31, 117, 89, -42, -78, -71, -27, -63, 8, 109, 43, 236, 7, 33, 25, -39, -49, -39, -42, -31, -33, 26, -29, 13, -16, 6, -32, -68, 65, 42, -56, 21, 15, 73, -24, -148, -20, -25, 11, -105, 63, 72, 14, 60, -124, -26, 24, -159, -31, 10, 159, -78, -28, -226, 8, 73, -42, 153, 76, 16, -33, 8, -178, -22, -26, 65, 15, 6, -116, -21, -21, 11, 5, -18, 67, 99, 74, 20, -20, -1, 22, -25, 80, -22, -32, 93, -137, 28, -17, 16, -20, 7, 7, -28, 50, -101, -40, 4, 6, -41, -15, 40, -121, 126, 40, 5, 28, -17, 10, -84, 17, -18, 61, -7, -14, -10, 14, -13, 11, -110, -94, -15, 56, 176, 16, -13, -32, -18, 15, 4, 5, 5, -25, 8, -30, 153, 59, 45, -20, 12, -57, -22, -142, -30, -118, -14, -28, -72, 45, -62, -13, 63, 24, -62, 46, -24, -115, 8, -19, -184, -38, -32, -30, 41, -44, -23, 46, 92, 30, -61, -17, 104, -29, 17, -15, -33, 10, -22, 61, -48, 147, 12, -158, 41, 90, 16, -25, 15, -22, 136, 18, 63, -10, -28, -70, -24, -86, 62, -176, 30, 7, 61, -33, -32, 129, -102, -22, 67, 8, -23, -91, -24, 6, -13, -228, 69, -25, 6, -13, 26, -37, 27, -26, -35, -11, -110, -11, 42, 5, 68, 70, 45, 10, -29, -28, 11, -27, 7, -28, -13, -28, 128, 15, 25, 63, 10, 10, -44, 104, -21, -36, 13, -19, 10, 38, 16, -6, -71, 63, -16, -79, 8, 12, 93, 4, -85, 10, -14, 58, 7, 71, 10, -27, -17, -10, 4, 8, 130, -21, 17, -5, 44, -16, 13, 16, 29, -21, -28, 8, -27, -22, 13, -10, 105, 7, 6, -23, 26, -21, -14, -81, -21, 7, 204, -21, -18, -53, -38, 55, 146, -32, 20, -7};
+const int8_t eye_num_rectangles_array[]={2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 2, 3, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 3, 2, 3, 2, 3, 2, 2, 3, 2, 3, 2, 3, 2, 3, 3, 2, 3, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 2, 2, 3, 3, 3, 2, 3, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 3, 3, 3, 3, 2, 2, 3, 3, 2, 3, 2, 2, 2, 3, 3, 3, 2, 3, 3, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 3, 3, 2, 2, 3, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 3, 3, 3, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 3, 2, 3, 2, 3, 3, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 3, 3, 3, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 3, 3, 2, 2, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 3, 2, 2, 3, 2, 2, 2, 3, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2};
+const int8_t eye_weights_array[]={-1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, 2, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 2, -1, 2, -1, 3, -1, 2, 2, -1, 2, 2, -1, 2, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, 2, -1, 2, -1, 3, -1, 3, -1, 2, 2, -1, 3, -1, 3, -1, 2, -1, 3, -1, 3, -1, 3, -1, 2, -1, 2, -1, 3, -1, 2, -1, 2};
+const int8_t eye_rectangles_array[]={0, 8, 20, 12, 0, 14, 20, 6, 9, 1, 4, 15, 9, 6, 4, 5, 6, 10, 9, 2, 9, 10, 3, 2, 7, 0, 10, 9, 7, 3, 10, 3, 12, 2, 2, 18, 12, 8, 2, 6, 8, 6, 8, 6, 8, 9, 8, 3, 2, 0, 17, 18, 2, 6, 17, 6, 10, 10, 1, 8, 10, 14, 1, 4, 7, 10, 9, 2, 10, 10, 3, 2, 5, 1, 6, 6, 5, 3, 6, 2, 3, 1, 15, 9, 3, 4, 15, 3, 6, 3, 9, 6, 6, 5, 9, 2, 8, 17, 6, 3, 10, 17, 2, 3, 9, 10, 9, 1, 12, 10, 3, 1, 1, 7, 6, 11, 3, 7, 2, 11, 9, 18, 3, 1, 10, 18, 1, 1, 16, 16, 1, 2, 16, 17, 1, 1, 9, 17, 6, 3, 11, 17, 2, 3, 8, 0, 5, 18, 8, 6, 5, 6, 6, 7, 9, 7, 9, 7, 3, 7, 14, 6, 6, 10, 16, 6, 2, 10, 9, 8, 9, 5, 12, 8, 3, 5, 3, 7, 9, 6, 6, 7, 3, 6, 1, 7, 6, 6, 3, 7, 2, 6, 16, 0, 4, 18, 16, 6, 4, 6, 0, 17, 3, 3, 0, 18, 3, 1, 16, 0, 2, 1, 17, 0, 1, 1, 0, 8, 20, 12, 0, 14, 20, 6, 6, 6, 9, 8, 9, 6, 3, 8, 5, 3, 12, 9, 5, 6, 12, 3, 4, 16, 1, 2, 4, 17, 1, 1, 18, 10, 2, 1, 19, 10, 1, 1, 9, 8, 6, 5, 11, 8, 2, 5, 0, 0, 2, 1, 1, 0, 1, 1, 6, 8, 6, 6, 8, 8, 2, 6, 11, 7, 6, 7, 13, 7, 2, 7, 19, 14, 1, 2, 19, 15, 1, 1, 6, 17, 1, 2, 6, 18, 1, 1, 14, 7, 2, 7, 15, 7, 1, 7, 6, 8, 2, 4, 7, 8, 1, 4, 5, 8, 12, 6, 5, 10, 12, 2, 2, 17, 1, 3, 2, 18, 1, 1, 6, 7, 3, 6, 7, 7, 1, 6, 6, 7, 9, 12, 9, 7, 3, 12, 6, 2, 11, 12, 6, 6, 11, 4, 1, 12, 5, 8, 1, 16, 5, 4, 14, 7, 6, 7, 16, 7, 2, 7, 10, 8, 6, 6, 12, 8, 2, 6, 16, 18, 4, 2, 16, 19, 4, 1, 18, 17, 2, 3, 18, 18, 2, 1, 9, 7, 3, 7, 10, 7, 1, 7, 5, 6, 6, 8, 7, 6, 2, 8, 2, 6, 6, 11, 4, 6, 2, 11, 8, 10, 12, 8, 8, 14, 12, 4, 7, 17, 6, 3, 9, 17, 2, 3, 10, 9, 3, 3, 11, 9, 1, 3, 8, 8, 3, 6, 9, 8, 1, 6, 7, 0, 6, 5, 9, 0, 2, 5, 6, 17, 1, 3, 6, 18, 1, 1, 0, 18, 4, 2, 0, 19, 4, 1, 4, 1, 11, 9, 4, 4, 11, 3, 3, 1, 14, 9, 3, 4, 14, 3, 0, 9, 6, 4, 2, 9, 2, 4, 18, 13, 1, 2, 18, 14, 1, 1, 13, 5, 3, 11, 14, 5, 1, 11, 0, 18, 8, 2, 0, 18, 4, 1, 4, 19, 4, 1, 5, 8, 12, 5, 9, 8, 4, 5, 4, 7, 11, 10, 4, 12, 11, 5, 14, 9, 6, 4, 16, 9, 2, 4, 0, 7, 6, 8, 3, 7, 3, 8, 0, 16, 3, 3, 0, 17, 3, 1, 7, 11, 12, 1, 11, 11, 4, 1, 4, 8, 9, 4, 7, 8, 3, 4, 5, 16, 6, 4, 7, 16, 2, 4, 18, 17, 1, 3, 18, 18, 1, 1, 18, 17, 1, 3, 18, 18, 1, 1, 4, 9, 4, 10, 4, 9, 2, 5, 6, 14, 2, 5, 4, 8, 6, 4, 6, 8, 2, 4, 10, 2, 2, 18, 10, 8, 2, 6, 0, 5, 8, 6, 0, 5, 4, 3, 4, 8, 4, 3, 6, 0, 6, 5, 8, 0, 2, 5, 18, 0, 2, 14, 18, 7, 2, 7, 8, 18, 4, 2, 10, 18, 2, 2, 1, 17, 6, 3, 1, 18, 6, 1, 11, 8, 3, 5, 12, 8, 1, 5, 11, 8, 3, 4, 12, 8, 1, 4, 11, 0, 6, 5, 13, 0, 2, 5, 1, 7, 6, 7, 3, 7, 2, 7, 0, 13, 1, 3, 0, 14, 1, 1, 3, 2, 9, 6, 3, 4, 9, 2, 8, 6, 9, 2, 8, 7, 9, 1, 0, 14, 3, 6, 0, 16, 3, 2, 1, 11, 6, 4, 3, 11, 2, 4, 6, 9, 9, 3, 9, 9, 3, 3, 6, 0, 9, 6, 6, 2, 9, 2, 8, 5, 6, 6, 8, 7, 6, 2, 1, 12, 2, 1, 2, 12, 1, 1, 10, 10, 6, 2, 12, 10, 2, 2, 13, 8, 6, 6, 15, 8, 2, 6, 6, 16, 6, 4, 8, 16, 2, 4, 8, 0, 9, 9, 8, 3, 9, 3, 18, 17, 1, 3, 18, 18, 1, 1, 18, 17, 1, 3, 18, 18, 1, 1, 7, 10, 3, 3, 8, 10, 1, 3, 9, 14, 2, 2, 9, 14, 1, 1, 10, 15, 1, 1, 9, 14, 2, 2, 9, 14, 1, 1, 10, 15, 1, 1, 0, 8, 19, 12, 0, 14, 19, 6, 7, 6, 9, 14, 10, 6, 3, 14, 13, 8, 3, 4, 14, 8, 1, 4, 4, 17, 1, 3, 4, 18, 1, 1, 4, 9, 6, 3, 6, 9, 2, 3, 2, 18, 5, 2, 2, 19, 5, 1, 7, 8, 2, 2, 7, 8, 1, 1, 8, 9, 1, 1, 7, 8, 2, 2, 7, 8, 1, 1, 8, 9, 1, 1, 5, 10, 13, 2, 5, 11, 13, 1, 10, 8, 1, 9, 10, 11, 1, 3, 15, 8, 2, 12, 15, 8, 1, 6, 16, 14, 1, 6, 4, 0, 3, 5, 5, 0, 1, 5, 12, 6, 3, 7, 13, 6, 1, 7, 7, 16, 6, 4, 9, 16, 2, 4, 9, 16, 2, 1, 10, 16, 1, 1, 6, 10, 9, 2, 9, 10, 3, 2, 0, 6, 15, 14, 0, 13, 15, 7, 9, 1, 5, 6, 9, 3, 5, 2, 3, 9, 3, 4, 4, 9, 1, 4, 5, 7, 3, 6, 6, 7, 1, 6, 17, 16, 1, 2, 17, 17, 1, 1, 9, 8, 6, 12, 11, 8, 2, 12, 6, 10, 6, 1, 8, 10, 2, 1, 7, 17, 9, 3, 10, 17, 3, 3, 14, 18, 6, 2, 14, 19, 6, 1, 9, 5, 3, 14, 10, 5, 1, 14, 8, 16, 9, 4, 11, 16, 3, 4, 0, 0, 4, 14, 0, 7, 4, 7, 8, 1, 6, 3, 10, 1, 2, 3, 6, 8, 3, 4, 7, 8, 1, 4, 4, 8, 3, 4, 5, 8, 1, 4, 5, 1, 6, 5, 7, 1, 2, 5, 1, 18, 1, 2, 1, 19, 1, 1, 7, 0, 6, 6, 7, 2, 6, 2, 0, 18, 4, 2, 0, 19, 4, 1, 12, 3, 8, 12, 12, 7, 8, 4, 12, 9, 3, 4, 13, 9, 1, 4, 12, 8, 3, 5, 13, 8, 1, 5, 16, 0, 2, 1, 17, 0, 1, 1, 5, 17, 1, 3, 5, 18, 1, 1, 10, 2, 3, 6, 10, 4, 3, 2, 4, 17, 2, 3, 4, 18, 2, 1, 12, 7, 1, 9, 12, 10, 1, 3, 7, 6, 3, 9, 8, 6, 1, 9, 17, 13, 3, 6, 17, 15, 3, 2, 7, 7, 3, 8, 8, 7, 1, 8, 5, 0, 3, 5, 6, 0, 1, 5, 4, 6, 9, 8, 7, 6, 3, 8, 2, 9, 3, 3, 3, 9, 1, 3, 16, 18, 4, 2, 16, 19, 4, 1, 17, 10, 3, 10, 17, 15, 3, 5, 8, 9, 6, 4, 10, 9, 2, 4, 5, 2, 10, 12, 5, 6, 10, 4, 6, 9, 6, 3, 8, 9, 2, 3, 11, 7, 3, 7, 12, 7, 1, 7, 12, 8, 6, 4, 14, 8, 2, 4, 14, 8, 6, 5, 16, 8, 2, 5, 12, 12, 2, 4, 12, 14, 2, 2, 3, 15, 1, 2, 3, 16, 1, 1, 12, 7, 3, 4, 13, 7, 1, 4, 10, 0, 6, 6, 12, 0, 2, 6, 10, 6, 3, 8, 11, 6, 1, 8, 16, 17, 1, 2, 16, 18, 1, 1, 16, 16, 1, 3, 16, 17, 1, 1, 11, 11, 1, 2, 11, 12, 1, 1, 3, 7, 6, 9, 5, 7, 2, 9, 4, 18, 9, 1, 7, 18, 3, 1, 0, 11, 4, 9, 0, 14, 4, 3, 9, 17, 6, 3, 11, 17, 2, 3, 7, 8, 6, 12, 9, 8, 2, 12, 6, 8, 3, 4, 7, 8, 1, 4, 3, 17, 1, 3, 3, 18, 1, 1, 11, 9, 6, 4, 13, 9, 2, 4, 6, 1, 3, 2, 7, 1, 1, 2, 1, 0, 2, 1, 2, 0, 1, 1, 1, 0, 2, 14, 1, 0, 1, 7, 2, 7, 1, 7, 5, 5, 11, 8, 5, 9, 11, 4, 9, 3, 5, 6, 9, 5, 5, 2, 7, 9, 5, 10, 7, 14, 5, 5, 15, 10, 2, 2, 16, 10, 1, 2, 0, 18, 8, 2, 0, 19, 8, 1, 7, 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11, 2, 1, 6, 5, 9, 15, 2, 5, 10, 15, 1, 8, 16, 6, 2, 8, 17, 6, 1, 9, 16, 10, 2, 9, 16, 5, 1, 14, 17, 5, 1, 9, 17, 2, 2, 9, 17, 1, 1, 10, 18, 1, 1, 10, 15, 6, 4, 10, 15, 3, 2, 13, 17, 3, 2, 4, 5, 15, 12, 9, 5, 5, 12, 11, 13, 2, 3, 11, 14, 2, 1, 8, 13, 7, 3, 8, 14, 7, 1, 1, 12, 1, 2, 1, 13, 1, 1, 16, 18, 2, 2, 16, 18, 1, 1, 17, 19, 1, 1, 1, 19, 18, 1, 7, 19, 6, 1, 1, 17, 6, 1, 4, 17, 3, 1, 1, 3, 1, 12, 1, 9, 1, 6, 0, 9, 3, 6, 0, 11, 3, 2, 5, 4, 3, 10, 6, 4, 1, 10, 6, 17, 2, 1, 7, 17, 1, 1, 1, 0, 6, 12, 3, 0, 2, 12, 4, 7, 9, 2, 7, 7, 3, 2, 6, 11, 9, 1, 9, 11, 3, 1, 17, 10, 2, 10, 17, 15, 2, 5, 4, 10, 2, 10, 4, 10, 1, 5, 5, 15, 1, 5, 12, 3, 3, 12, 13, 3, 1, 12, 15, 3, 4, 6, 15, 3, 2, 3, 17, 6, 2, 3, 12, 8, 3, 3, 13, 8, 1, 3, 4, 14, 2, 4, 4, 16, 2, 2, 6, 16, 1, 3, 6, 17, 1, 1, 1, 1, 2, 3, 2, 1, 1, 3, 0, 2, 4, 1, 2, 2, 2, 1, 8, 17, 12, 3, 12, 17, 4, 3, 9, 16, 6, 4, 11, 16, 2, 4, 4, 6, 3, 6, 4, 9, 3, 3, 6, 2, 12, 9, 6, 5, 12, 3, 6, 0, 14, 20, 6, 0, 7, 10, 13, 10, 7, 10, 15, 16, 2, 2, 15, 16, 1, 1, 16, 17, 1, 1, 15, 16, 2, 2, 15, 16, 1, 1, 16, 17, 1, 1, 19, 8, 1, 3, 19, 9, 1, 1, 13, 4, 1, 2, 13, 5, 1, 1, 0, 4, 4, 2, 0, 5, 4, 1, 19, 5, 1, 6, 19, 7, 1, 2, 16, 0, 2, 1, 17, 0, 1, 1, 13, 1, 1, 3, 13, 2, 1, 1, 17, 17, 1, 3, 17, 18, 1, 1, 5, 4, 8, 8, 5, 4, 4, 4, 9, 8, 4, 4, 1, 2, 2, 2, 1, 2, 1, 1, 2, 3, 1, 1, 0, 0, 8, 6, 0, 0, 4, 3, 4, 3, 4, 3, 6, 3, 4, 2, 6, 4, 4, 1, 1, 0, 3, 3, 1, 1, 3, 1, 6, 1, 7, 2, 6, 2, 7, 1, 2, 6, 12, 6, 6, 6, 4, 6, 1, 16, 9, 2, 4, 16, 3, 2, 7, 15, 6, 4, 9, 15, 2, 4, 6, 15, 12, 1, 12, 15, 6, 1, 17, 17, 1, 3, 17, 18, 1, 1, 17, 15, 2, 2, 17, 15, 1, 1, 18, 16, 1, 1, 3, 13, 3, 3, 3, 14, 3, 1, 10, 17, 1, 3, 10, 18, 1, 1, 4, 0, 14, 8, 11, 0, 7, 8, 2, 0, 12, 2, 6, 0, 4, 2, 2, 0, 4, 3, 4, 0, 2, 3, 13, 1, 1, 2, 13, 2, 1, 1, 7, 5, 3, 6, 8, 5, 1, 6, 18, 2, 2, 2, 18, 2, 1, 1, 19, 3, 1, 1, 15, 1, 2, 14, 16, 1, 1, 14, 15, 6, 2, 2, 15, 6, 1, 1, 16, 7, 1, 1, 3, 1, 6, 3, 5, 1, 2, 3, 7, 16, 2, 2, 7, 16, 1, 1, 8, 17, 1, 1, 5, 17, 2, 2, 5, 17, 1, 1, 6, 18, 1, 1, 9, 10, 6, 10, 11, 10, 2, 10, 10, 17, 6, 3, 12, 17, 2, 3, 14, 5, 2, 10, 14, 10, 2, 5, 11, 12, 6, 2, 11, 13, 6, 1, 8, 1, 1, 3, 8, 2, 1, 1, 12, 15, 2, 2, 12, 15, 1, 1, 13, 16, 1, 1, 6, 8, 6, 4, 6, 8, 3, 2, 9, 10, 3, 2, 7, 5, 3, 5, 8, 5, 1, 5, 0, 5, 7, 3, 0, 6, 7, 1, 7, 9, 6, 6, 9, 9, 2, 6, 5, 7, 8, 8, 5, 11, 8, 4, 4, 9, 2, 6, 4, 9, 1, 3, 5, 12, 1, 3, 10, 11, 6, 1, 12, 11, 2, 1, 13, 6, 6, 11, 15, 6, 2, 11, 8, 17, 2, 2, 8, 17, 1, 1, 9, 18, 1, 1, 4, 12, 12, 1, 8, 12, 4, 1, 11, 17, 3, 2, 11, 18, 3, 1, 8, 17, 6, 1, 10, 17, 2, 1, 4, 1, 14, 6, 4, 3, 14, 2, 14, 2, 2, 12, 14, 8, 2, 6, 12, 13, 3, 2, 12, 14, 3, 1, 6, 1, 6, 1, 8, 1, 2, 1, 10, 6, 6, 1, 12, 6, 2, 1, 3, 19, 2, 1, 4, 19, 1, 1, 18, 16, 2, 2, 18, 16, 1, 1, 19, 17, 1, 1, 16, 11, 3, 7, 17, 11, 1, 7, 19, 5, 1, 6, 19, 8, 1, 3, 9, 8, 4, 3, 9, 9, 4, 1, 16, 8, 4, 4, 16, 8, 2, 2, 18, 10, 2, 2, 2, 8, 2, 2, 2, 8, 1, 1, 3, 9, 1, 1, 3, 5, 6, 4, 3, 5, 3, 2, 6, 7, 3, 2, 2, 3, 8, 16, 2, 3, 4, 8, 6, 11, 4, 8, 17, 17, 1, 3, 17, 18, 1, 1, 7, 2, 8, 11, 11, 2, 4, 11, 13, 3, 6, 14, 16, 3, 3, 14, 0, 9, 18, 2, 6, 9, 6, 2, 6, 10, 14, 3, 6, 11, 14, 1, 10, 9, 9, 3, 13, 9, 3, 3, 3, 5, 4, 6, 3, 5, 2, 3, 5, 8, 2, 3, 3, 7, 3, 7, 4, 7, 1, 7, 2, 8, 11, 6, 2, 10, 11, 2, 8, 9, 6, 3, 8, 10, 6, 1, 3, 3, 3, 11, 4, 3, 1, 11, 0, 19, 6, 1, 3, 19, 3, 1, 18, 18, 1, 2, 18, 19, 1, 1, 8, 0, 12, 6, 8, 0, 6, 3, 14, 3, 6, 3, 19, 5, 1, 3, 19, 6, 1, 1, 5, 8, 2, 1, 6, 8, 1, 1, 13, 11, 2, 1, 14, 11, 1, 1, 3, 6, 15, 13, 8, 6, 5, 13, 4, 3, 6, 2, 6, 3, 2, 2, 0, 18, 1, 2, 0, 19, 1, 1, 7, 8, 2, 6, 8, 8, 1, 6, 3, 0, 6, 19, 5, 0, 2, 19, 3, 1, 6, 5, 5, 1, 2, 5, 17, 14, 3, 6, 17, 16, 3, 2, 17, 13, 2, 6, 18, 13, 1, 6, 17, 18, 2, 2, 18, 18, 1, 2, 11, 14, 9, 4, 14, 14, 3, 4, 15, 8, 4, 6, 15, 8, 2, 3, 17, 11, 2, 3, 1, 16, 1, 3, 1, 17, 1, 1, 7, 0, 3, 14, 8, 0, 1, 14, 12, 0, 2, 1, 13, 0, 1, 1, 7, 9, 6, 5, 10, 9, 3, 5, 15, 5, 4, 9, 17, 5, 2, 9, 11, 0, 6, 6, 13, 0, 2, 6, 16, 15, 2, 2, 16, 15, 1, 1, 17, 16, 1, 1, 16, 15, 2, 2, 16, 15, 1, 1, 17, 16, 1, 1, 13, 2, 2, 18, 13, 11, 2, 9, 8, 4, 8, 10, 8, 9, 8, 5, 8, 3, 2, 3, 8, 4, 2, 1, 11, 1, 6, 9, 11, 4, 6, 3, 15, 4, 5, 6, 15, 6, 5, 2, 12, 18, 2, 2, 12, 18, 1, 1, 13, 19, 1, 1, 1, 17, 1, 3, 1, 18, 1, 1, 12, 19, 2, 1, 13, 19, 1, 1, 8, 10, 6, 6, 10, 10, 2, 6, 14, 2, 6, 5, 16, 2, 2, 5, 9, 5, 2, 6, 9, 7, 2, 2, 1, 15, 2, 2, 2, 15, 1, 2, 18, 17, 1, 3, 18, 18, 1, 1, 10, 14, 4, 6, 10, 16, 4, 2, 9, 7, 3, 2, 10, 7, 1, 2, 6, 9, 6, 2, 6, 9, 3, 1, 9, 10, 3, 1, 0, 2, 1, 12, 0, 6, 1, 4, 4, 0, 15, 1, 9, 0, 5, 1, 9, 0, 8, 2, 9, 0, 4, 1, 13, 1, 4, 1, 12, 2, 8, 1, 16, 2, 4, 1, 7, 1, 10, 6, 7, 3, 10, 2, 18, 6, 2, 3, 18, 7, 2, 1, 4, 12, 2, 2, 4, 12, 1, 1, 5, 13, 1, 1, 6, 6, 6, 2, 8, 6, 2, 2, 0, 9, 9, 6, 3, 9, 3, 6, 17, 18, 2, 2, 18, 18, 1, 2, 11, 2, 6, 16, 13, 2, 2, 16, 2, 4, 15, 13, 7, 4, 5, 13, 16, 2, 3, 10, 17, 2, 1, 10, 6, 10, 2, 1, 7, 10, 1, 1, 1, 1, 18, 16, 10, 1, 9, 16, 14, 4, 3, 15, 15, 4, 1, 15, 19, 13, 1, 2, 19, 14, 1, 1, 2, 6, 5, 8, 2, 10, 5, 4};
+
+#ifdef __cplusplus
+}
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/include/collections.h b/github_source/minicv2/include/collections.h
new file mode 100644
index 0000000..ab9c48d
--- /dev/null
+++ b/github_source/minicv2/include/collections.h
@@ -0,0 +1,134 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Common data structures.
+ */
+#ifndef __COLLECTIONS_H__
+#define __COLLECTIONS_H__
+#include <stdbool.h>
+#include <stddef.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+////////////
+// bitmap //
+////////////
+
+typedef struct bitmap
+{
+    size_t size;
+    char *data;
+}
+bitmap_t;
+
+void bitmap_alloc(bitmap_t *ptr, size_t size);
+void bitmap_free(bitmap_t *ptr);
+void bitmap_clear(bitmap_t *ptr);
+void bitmap_bit_set(bitmap_t *ptr, size_t index);
+bool bitmap_bit_get(bitmap_t *ptr, size_t index);
+#define BITMAP_COMPUTE_ROW_INDEX(image, y) (((image)->w)*(y))
+#define BITMAP_COMPUTE_INDEX(row_index, x) ((row_index)+(x))
+
+//////////
+// lifo //
+//////////
+
+typedef struct lifo
+{
+    size_t len, size, data_len;
+    char *data;
+}
+lifo_t;
+
+void lifo_alloc(lifo_t *ptr, size_t size, size_t data_len);
+void lifo_alloc_all(lifo_t *ptr, size_t *size, size_t data_len);
+void lifo_free(lifo_t *ptr);
+void lifo_clear(lifo_t *ptr);
+size_t lifo_size(lifo_t *ptr);
+bool lifo_is_not_empty(lifo_t *ptr);
+bool lifo_is_not_full(lifo_t *ptr);
+void lifo_enqueue(lifo_t *ptr, void *data);
+void lifo_dequeue(lifo_t *ptr, void *data);
+void lifo_poke(lifo_t *ptr, void *data);
+void lifo_peek(lifo_t *ptr, void *data);
+
+//////////
+// fifo //
+//////////
+
+typedef struct fifo
+{
+    size_t head_ptr, tail_ptr, len, size, data_len;
+    char *data;
+}
+fifo_t;
+
+void fifo_alloc(fifo_t *ptr, size_t size, size_t data_len);
+void fifo_alloc_all(fifo_t *ptr, size_t *size, size_t data_len);
+void fifo_free(fifo_t *ptr);
+void fifo_clear(fifo_t *ptr);
+size_t fifo_size(fifo_t *ptr);
+bool fifo_is_not_empty(fifo_t *ptr);
+bool fifo_is_not_full(fifo_t *ptr);
+void fifo_enqueue(fifo_t *ptr, void *data);
+void fifo_dequeue(fifo_t *ptr, void *data);
+void fifo_poke(fifo_t *ptr, void *data);
+void fifo_peek(fifo_t *ptr, void *data);
+
+//////////
+// list //
+//////////
+
+typedef struct list_lnk
+{
+    struct list_lnk *next_ptr, *prev_ptr;
+    char data[];
+}
+list_lnk_t;
+
+typedef struct list
+{
+    list_lnk_t *head_ptr, *tail_ptr;
+    size_t size, data_len;
+}
+list_t;
+
+void imlib_list_init(list_t *ptr, size_t data_len);
+void list_init(list_t *ptr, size_t data_len);
+void list_copy(list_t *dst, list_t *src);
+void list_free(list_t *ptr);
+void list_clear(list_t *ptr);
+size_t list_size(list_t *ptr);
+void list_push_front(list_t *ptr, void *data);
+void list_push_back(list_t *ptr, void *data);
+void list_pop_front(list_t *ptr, void *data);
+void list_pop_back(list_t *ptr, void *data);
+void list_get_front(list_t *ptr, void *data);
+void list_get_back(list_t *ptr, void *data);
+void list_set_front(list_t *ptr, void *data);
+void list_set_back(list_t *ptr, void *data);
+void list_insert(list_t *ptr, void *data, size_t index);
+void list_remove(list_t *ptr, void *data, size_t index);
+void list_get(list_t *ptr, void *data, size_t index);
+void list_set(list_t *ptr, void *data, size_t index);
+
+//////////////
+// iterator //
+//////////////
+
+list_lnk_t *iterator_start_from_head(list_t *ptr);
+list_lnk_t *iterator_start_from_tail(list_t *ptr);
+list_lnk_t *iterator_next(list_lnk_t *lnk);
+list_lnk_t *iterator_prev(list_lnk_t *lnk);
+void iterator_get(list_t *ptr, list_lnk_t *lnk, void *data);
+void iterator_set(list_t *ptr, list_lnk_t *lnk, void *data);
+#ifdef __cplusplus
+}
+#endif
+#endif /* __COLLECTIONS_H__ */
diff --git a/github_source/minicv2/include/common.h b/github_source/minicv2/include/common.h
new file mode 100644
index 0000000..17663f6
--- /dev/null
+++ b/github_source/minicv2/include/common.h
@@ -0,0 +1,48 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Common macros.
+ */
+#ifndef __OMV_COMMON_H__
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#define OMV_ATTR_ALIGNED(x, a)   x __attribute__((aligned(a)))
+#define OMV_ATTR_SECTION(x, s)   x __attribute__((section(s)))
+#define OMV_ATTR_ALWAYS_INLINE  inline __attribute__((always_inline))
+#define OMV_ATTR_OPTIMIZE(o)    __attribute__((optimize(o)))
+
+#define OMG_BREAK() __asm__ volatile ("BKPT")
+
+#ifdef OMV_DEBUG_PRINTF
+#define debug_printf(fmt, ...) \
+            do { imlib_printf(5, "%s(): " fmt, __func__, ##__VA_ARGS__);} while (0)
+#else
+#define debug_printf(...)
+#endif
+
+#define OMV_MAX(a,b)                    \
+({                                      \
+    __typeof__ (a) _a = (a);            \
+    __typeof__ (b) _b = (b);            \
+    _a > _b ? _a : _b;                  \
+})
+
+#define OMV_MIN(a,b)                    \
+({                                      \
+    __typeof__ (a) _a = (a);            \
+    __typeof__ (b) _b = (b);            \
+    _a < _b ? _a : _b;                  \
+})
+
+#ifdef __cplusplus
+}
+#endif
+#endif //__OMV_COMMON_H__
diff --git a/github_source/minicv2/include/fb_alloc.h b/github_source/minicv2/include/fb_alloc.h
new file mode 100644
index 0000000..730e2c9
--- /dev/null
+++ b/github_source/minicv2/include/fb_alloc.h
@@ -0,0 +1,82 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Interface for using extra frame buffer RAM as a stack.
+ *
+ * Theory of operation:
+ *
+ * The frame buffer stack may be used to allocate large areas of RAM very quickly. You can allocate
+ * memory using fb_alloc() which returns a poiner to an allocated region of memory equal in size to
+ * the amount requested. If the memory is not avaiable fb_alloc() will generate an exception.
+ *
+ * After RAM is allocated with fb_alloc() you can free it with fb_free() in the order of allocs.
+ *
+ * Now, to prevent leaking allocated regions on the frame buffer stack all fb_alloc()s should be
+ * preceded by fb_alloc_mark() which starts an fb_alloc() region (which may have many fb_alloc()s
+ * in it). This ensures that if an exception occurs all fb_alloc()s are freed in the region.
+ *
+ * This is because all exceptions call fb_alloc_free_till_mark() to free the previously allocated
+ * region. Your code should call fb_alloc_free_till_mark() to free previously allocated memory also
+ * once you are done with it. This will cleanup all allocs along with the alloced mark.
+ *
+ * You may conveniently use fb_alloc_free_till_mark() to avoid having to manually free all
+ * previous allocs in one go very easily.
+ *
+ * Now, it can be tricky to allocate a region permanently that you do not want freed because
+ * exceptions pop the frame buffer stack using fb_alloc_free_till_mark(). Additionally, you may
+ * actually want exceptions to do this until you know an allocation operation that has multiple
+ * steps has succeeded. To handle these situations call fb_alloc_mark_permanent() after a complex
+ * operation to prevent fb_alloc_free_till_mark() from freeing past the last marked alloc.
+ *
+ * When you want deallocate this permanent region just call fb_alloc_free_till_mark_permanent()
+ * which will ignore the permanent mark and free backwards until it hits the previously allocated
+ * mark.
+ *
+ * Note that fb_free() and fb_free_all() do not respect any marks and permanent regions.
+ *
+ * Regardings the flags below:
+ * - FB_ALLOC_NO_HINT - fb_alloc doesn't do anything special.
+ * - FB_ALLOC_PREFER_SPEED - fb_alloc will make sure the allocated region is in the fatest possible
+ *                           memory. E.g. allocs will be in SRAM versus SDRAM if SDRAM is available.
+ *                           Setting this flag affects where fb_alloc_all() gets RAM from. If this
+ *                           flag is set then fb_alloc_all() will not use the SDRAM.
+ * - FB_ALLOC_PREFER_SIZE - fb_alloc will make sure the allocated region is the largest possible
+ *                          memory. E.g. allocs will be in SDRAM versus SRAM if SDRAM is available.
+ *                          Setting this flag affects where fb_alloc_all() gets RAM from. If this
+ *                          flag is set then fb_alloc_all() will use the SDRAM (default).
+ * - FB_ALLOC_CACHE_ALIGN - Aligns the starting address returned to a cache line and makes sure
+ *                          the amount of memory allocated is padded to the end of a cache line.
+ */
+#ifndef __FB_ALLOC_H__
+#define __FB_ALLOC_H__
+#include <stdint.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+#define FB_ALLOC_NO_HINT 0
+#define FB_ALLOC_PREFER_SPEED 1
+#define FB_ALLOC_PREFER_SIZE 2
+#define FB_ALLOC_CACHE_ALIGN 4
+char *fb_alloc_stack_pointer();
+void fb_alloc_fail();
+void fb_alloc_init0();
+void fb_realloc_init1(uint32_t size);
+void fb_alloc_close0();
+uint32_t fb_avail();
+void fb_alloc_mark();
+void fb_alloc_free_till_mark();
+void fb_alloc_mark_permanent(); // tag memory that should not be popped on exception
+void fb_alloc_free_till_mark_past_mark_permanent(); // frees past marked permanent allocations
+void *fb_alloc(uint32_t size, int hints);
+void *fb_alloc0(uint32_t size, int hints);
+void *fb_alloc_all(uint32_t *size, int hints); // returns pointer and sets size
+void *fb_alloc0_all(uint32_t *size, int hints); // returns pointer and sets size
+void fb_free(void *msm);
+void fb_free_all();
+#ifdef __cplusplus
+}
+#endif
+#endif /* __FF_ALLOC_H__ */
diff --git a/github_source/minicv2/include/ff_wrapper.h b/github_source/minicv2/include/ff_wrapper.h
new file mode 100644
index 0000000..f9bfc64
--- /dev/null
+++ b/github_source/minicv2/include/ff_wrapper.h
@@ -0,0 +1,64 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * File System Helper Functions
+ *
+ */
+#ifndef __FF_WRAPPER_H__
+#define __FF_WRAPPER_H__
+#include <stdint.h>
+// #include <ff.h>
+#include <stdio.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+typedef FILE* FIL;
+// extern const char *ffs_strerror(FRESULT res);
+
+//OOFATFS wrappers
+// FRESULT f_open_helper(FIL *fp, const TCHAR *path, BYTE mode);
+// FRESULT f_opendir_helper(FF_DIR *dp, const TCHAR *path);
+// FRESULT f_stat_helper(const TCHAR *path, FILEINFO *fno);
+// FRESULT f_mkdir_helper(const TCHAR *path);
+// FRESULT f_unlink_helper(const TCHAR *path);
+// FRESULT f_rename_helper(const TCHAR *path_old, const TCHAR *path_new);
+
+int ff_unsupported_format(FIL *fp);
+int ff_file_corrupted(FIL *fp);
+int ff_not_equal(FIL *fp);
+int ff_no_intersection(FIL *fp);
+int file_read_open(FIL *fp, const char *path);
+int file_write_open(FIL *fp, const char *path);
+int file_close(FIL *fp);
+int file_seek(FIL *fp, size_t offset);
+int file_truncate(FIL *fp);
+int file_sync(FIL *fp);
+long file_fsize(FIL *fp);
+// File buffer functions.
+int file_buffer_init0();
+int file_buffer_on(FIL *fp); // does fb_alloc_all
+uint32_t file_tell_w_buf(FIL *fp); // valid between on and off
+uint32_t file_size_w_buf(FIL *fp); // valid between on and off
+int file_buffer_off(FIL *fp); // does fb_free
+int read_byte(FIL *fp, uint8_t *value);
+int read_byte_expect(FIL *fp, uint8_t value);
+int read_byte_ignore(FIL *fp);
+int read_word(FIL *fp, uint16_t *value);
+int read_word_expect(FIL *fp, uint16_t value);
+int read_word_ignore(FIL *fp);
+int read_long(FIL *fp, uint32_t *value);
+int read_long_expect(FIL *fp, uint32_t value);
+int read_long_ignore(FIL *fp);
+int read_data(FIL *fp, void *data, size_t size);
+int write_byte(FIL *fp, uint8_t value);
+int write_word(FIL *fp, uint16_t value);
+int write_long(FIL *fp, uint32_t value);
+int write_data(FIL *fp, const void *data, size_t size);
+#ifdef __cplusplus
+}
+#endif
+#endif /* __FF_WRAPPER_H__ */
+
diff --git a/github_source/minicv2/include/fft.h b/github_source/minicv2/include/fft.h
new file mode 100644
index 0000000..9118509
--- /dev/null
+++ b/github_source/minicv2/include/fft.h
@@ -0,0 +1,55 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * FFT LIB - can do 1024 point real FFTs and 512 point complex FFTs
+ *
+ */
+#ifndef __FFT_H__
+#define __FFT_H__
+#include <stdint.h>
+#include "imlib.h"
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+typedef struct fft1d_controller {
+    uint8_t *d_pointer;
+    int d_len;
+    int pow2;
+    float *data;
+} fft1d_controller_t;
+void fft1d_alloc(fft1d_controller_t *controller, uint8_t *buf, int len);
+void fft1d_dealloc();
+void fft1d_run(fft1d_controller_t *controller);
+void ifft1d_run(fft1d_controller_t *controller);
+void fft1d_mag(fft1d_controller_t *controller);
+void fft1d_phase(fft1d_controller_t *controller);
+void fft1d_log(fft1d_controller_t *controller);
+void fft1d_exp(fft1d_controller_t *controller);
+void fft1d_swap(fft1d_controller_t *controller); // a.k.a MATLAB fftshift
+void fft1d_run_again(fft1d_controller_t *controller); // Do FFT again on real mag/phase of the FFT.
+typedef struct fft2d_controller {
+    image_t *img;
+    rectangle_t r;
+    int w_pow2, h_pow2;
+    float *data;
+} fft2d_controller_t;
+void fft2d_alloc(fft2d_controller_t *controller, image_t *img, rectangle_t *r);
+void fft2d_dealloc(void *msm);
+void fft2d_run(fft2d_controller_t *controller);
+void ifft2d_run(fft2d_controller_t *controller);
+void fft2d_mag(fft2d_controller_t *controller);
+void fft2d_phase(fft2d_controller_t *controller);
+void fft2d_log(fft2d_controller_t *controller);
+void fft2d_exp(fft2d_controller_t *controller);
+void fft2d_swap(fft2d_controller_t *controller); // a.k.a MATLAB fftshift
+void fft2d_linpolar(fft2d_controller_t *controller);
+void fft2d_logpolar(fft2d_controller_t *controller);
+void fft2d_run_again(fft2d_controller_t *controller); // Do FFT again on real mag/phase of the FFT.
+// END
+#ifdef __cplusplus
+}
+#endif
+#endif /* __FFT_H__ */
diff --git a/github_source/minicv2/include/fmath.h b/github_source/minicv2/include/fmath.h
new file mode 100644
index 0000000..fe988d9
--- /dev/null
+++ b/github_source/minicv2/include/fmath.h
@@ -0,0 +1,48 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Fast approximate math functions.
+ */
+#ifndef __FMATH_H__
+#define __FMATH_H__
+#include <stdlib.h>
+#include <stdint.h>
+#include <float.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+#include <math.h>
+
+float fast_sqrtf(float x);
+int fast_floorf(float x);
+int fast_ceilf(float x);
+int fast_roundf(float x);
+float fast_fabsf(float x);
+
+
+
+
+float fast_atanf(float x);
+float fast_atan2f(float y, float x);
+float fast_expf(float x);
+float fast_cbrtf(float d);
+float fast_log(float x);
+float fast_log2(float x);
+float fast_powf(float a, float b);
+void fast_get_min_max(float *data, size_t data_len, float *p_min, float *p_max);
+extern const float cos_table[360];
+extern const float sin_table[360];
+void fmath_init();
+uint32_t rng_randint(uint32_t min, uint32_t max);
+#ifdef __cplusplus
+}
+#endif
+#endif // __FMATH_H__
diff --git a/github_source/minicv2/include/font.h b/github_source/minicv2/include/font.h
new file mode 100644
index 0000000..2cd542a
--- /dev/null
+++ b/github_source/minicv2/include/font.h
@@ -0,0 +1,27 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Font data.
+ */
+#ifndef __FONT_H__
+#define __FONT_H__
+#include <stdint.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+typedef struct {
+    int w;
+    int h;
+    uint8_t data[10];
+} glyph_t;
+extern const glyph_t font[95];
+#ifdef __cplusplus
+}
+#endif
+#endif // __FONT_H__
diff --git a/github_source/minicv2/include/font_ttf.h b/github_source/minicv2/include/font_ttf.h
new file mode 100644
index 0000000..2d26a3a
--- /dev/null
+++ b/github_source/minicv2/include/font_ttf.h
@@ -0,0 +1,41 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013/2014 Ibrahim Abdelkader <i.abdalkader@gmail.com>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Font data.
+ *
+ */
+#ifndef __FONT_TTF_H__
+#define __FONT_TTF_H__
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+#include "fmath.h"
+// #include "imdefs.h"
+#include "imlib.h"
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+enum FontIndex {
+    ASCII,
+    Unicode,
+    UTF8,
+    GBK,
+    GB2312,
+};
+
+enum FontSource {
+    BuildIn,
+    FileIn,
+    StringIO,
+    ArrayIn,
+};
+
+void font_load(uint8_t index, uint8_t width, uint8_t high, uint8_t source_type, void *src_addr);
+void font_free();
+#ifdef __cplusplus
+}
+#endif
+#endif // __FONT_H__
diff --git a/github_source/minicv2/include/fsort.h b/github_source/minicv2/include/fsort.h
new file mode 100644
index 0000000..e0fd05f
--- /dev/null
+++ b/github_source/minicv2/include/fsort.h
@@ -0,0 +1,20 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Fast 9 and 25 bin sort.
+ *
+ */
+#ifndef __FSORT_H__
+#define __FSORT_H__
+#include <stdint.h>
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+void fsort(int *data, int n);
+#ifdef __cplusplus
+}
+#endif
+#endif /* __FSORT_H__ */
diff --git a/github_source/minicv2/include/imlib.h b/github_source/minicv2/include/imlib.h
new file mode 100644
index 0000000..866d2a1
--- /dev/null
+++ b/github_source/minicv2/include/imlib.h
@@ -0,0 +1,1613 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image processing library.
+ */
+#ifndef __IMLIB_H__
+#define __IMLIB_H__
+#include <stdbool.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <string.h>
+#include <limits.h>
+#include <float.h>
+#include <math.h>
+// #include <arm_math.h>
+// #include <ff.h>
+#include "fb_alloc.h"
+#include "umm_malloc.h"
+#include "xalloc.h"
+#include "array.h"
+#include "fmath.h"
+#include "collections.h"
+#include "imlib_config.h"
+#include "omv_boardconfig.h"
+#include "ff_wrapper.h"
+#include "imlib_io.h"
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+#ifndef M_PI
+#define M_PI    3.14159265f
+#define M_PI_2  1.57079632f
+#define M_PI_4  0.78539816f
+#endif
+
+#define IM_LOG2_2(x)    (((x) &                0x2ULL) ? ( 2                        ) :             1) // NO ({ ... }) !
+#define IM_LOG2_4(x)    (((x) &                0xCULL) ? ( 2 +  IM_LOG2_2((x) >>  2)) :  IM_LOG2_2(x)) // NO ({ ... }) !
+#define IM_LOG2_8(x)    (((x) &               0xF0ULL) ? ( 4 +  IM_LOG2_4((x) >>  4)) :  IM_LOG2_4(x)) // NO ({ ... }) !
+#define IM_LOG2_16(x)   (((x) &             0xFF00ULL) ? ( 8 +  IM_LOG2_8((x) >>  8)) :  IM_LOG2_8(x)) // NO ({ ... }) !
+#define IM_LOG2_32(x)   (((x) &         0xFFFF0000ULL) ? (16 + IM_LOG2_16((x) >> 16)) : IM_LOG2_16(x)) // NO ({ ... }) !
+#define IM_LOG2(x)      (((x) & 0xFFFFFFFF00000000ULL) ? (32 + IM_LOG2_32((x) >> 32)) : IM_LOG2_32(x)) // NO ({ ... }) !
+
+#define IM_MAX(a,b)     ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a > _b ? _a : _b; })
+#define IM_MIN(a,b)     ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; })
+#define IM_DIV(a,b)     ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _b ? (_a / _b) : 0; })
+#define IM_MOD(a,b)     ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _b ? (_a % _b) : 0; })
+#define IM_LIMIT(a, min_b, max_c) ({__typeof__ (a) _a = (a);__typeof__ (min_b) _min_b = (min_b);__typeof__ (max_c) _max_c = (max_c); _a = _a > max_c ? max_c : _a;_a < min_b ? min_b : _a;})
+
+#define INT8_T_BITS     (sizeof(int8_t) * 8)
+#define INT8_T_MASK     (INT8_T_BITS - 1)
+#define INT8_T_SHIFT    IM_LOG2(INT8_T_MASK)
+
+#define INT16_T_BITS    (sizeof(int16_t) * 8)
+#define INT16_T_MASK    (INT16_T_BITS - 1)
+#define INT16_T_SHIFT   IM_LOG2(INT16_T_MASK)
+
+#define INT32_T_BITS    (sizeof(int32_t) * 8)
+#define INT32_T_MASK    (INT32_T_BITS - 1)
+#define INT32_T_SHIFT   IM_LOG2(INT32_T_MASK)
+
+#define INT64_T_BITS    (sizeof(int64_t) * 8)
+#define INT64_T_MASK    (INT64_T_BITS - 1)
+#define INT64_T_SHIFT   IM_LOG2(INT64_T_MASK)
+
+#define UINT8_T_BITS    (sizeof(uint8_t) * 8)
+#define UINT8_T_MASK    (UINT8_T_BITS - 1)
+#define UINT8_T_SHIFT   IM_LOG2(UINT8_T_MASK)
+
+#define UINT16_T_BITS   (sizeof(uint16_t) * 8)
+#define UINT16_T_MASK   (UINT16_T_BITS - 1)
+#define UINT16_T_SHIFT  IM_LOG2(UINT16_T_MASK)
+
+#define UINT32_T_BITS   (sizeof(uint32_t) * 8)
+#define UINT32_T_MASK   (UINT32_T_BITS - 1)
+#define UINT32_T_SHIFT  IM_LOG2(UINT32_T_MASK)
+
+#define UINT64_T_BITS   (sizeof(uint64_t) * 8)
+#define UINT64_T_MASK   (UINT64_T_BITS - 1)
+#define UINT64_T_SHIFT  IM_LOG2(UINT64_T_MASK)
+
+#define IM_DEG2RAD(x)   (((x)*M_PI)/180)
+#define IM_RAD2DEG(x)   (((x)*180)/M_PI)
+
+
+/////////////////
+// pixel Stuff //
+/////////////////
+
+
+
+#if __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
+// ARGB
+
+typedef struct pixel_s {
+    char blue;
+    char green;
+    char red;
+} pixel24_t;
+
+#define pixel24232(_u24_t) \
+({\
+    __typeof__ (_u24_t) ___u24_t = _u24_t;\
+    ((*((uint32_t*)((void*)&___u24_t))) & 0xffffff00);\
+})
+//input_ uint32_t，output pixel24_t
+#define pixel32224(_u32_t) \
+({\
+    __typeof__ (_u32_t) __u32_t = _u32_t;\
+    __u32_t = __u32_t >> 8;\
+    (*((pixel24_t*)((void*)&__u32_t)));\
+})
+void nihao()
+{
+    printf("t am __ORDER_BIG_ENDIAN__ \n");
+}
+#else
+//cpu is little
+//input pixel24_t，output uint32_t
+// BGRA
+
+typedef struct pixel_s {
+    uint8_t red;
+    uint8_t green;
+    uint8_t blue;
+} pixel24_t;
+
+#define pixel24232(_u24_t) \
+({\
+    __typeof__ (_u24_t) ___u24_t = _u24_t;\
+    ((*((uint32_t*)&___u24_t)) & 0x00ffffff);\
+})
+//input_ uint32_t，output pixel24_t
+#define pixel32224(_u32_t) \
+({\
+    __typeof__ (_u32_t) __u32_t = _u32_t;\
+    (*((pixel24_t*)&__u32_t));\
+})
+#endif //__BYTE_ORDER__
+
+
+
+/////////////////
+// Point Stuff //
+/////////////////
+
+typedef struct point {
+    int16_t x;
+    int16_t y;
+} point_t;
+
+void point_init(point_t *ptr, int x, int y);
+void point_copy(point_t *dst, point_t *src);
+bool point_equal_fast(point_t *ptr0, point_t *ptr1);
+int point_quadrance(point_t *ptr0, point_t *ptr1);
+int point_quadrance_i(point_t *ptr0, point_t *ptr1);
+void point_rotate(int x, int y, float r, int center_x, int center_y, int16_t *new_x, int16_t *new_y);
+void point_min_area_rectangle(point_t *corners, point_t *new_corners, int corners_len);
+
+////////////////
+// Line Stuff //
+////////////////
+
+typedef struct line {
+    int16_t x1;
+    int16_t y1;
+    int16_t x2;
+    int16_t y2;
+} line_t;
+
+bool lb_clip_line(line_t *l, int x, int y, int w, int h);
+
+/////////////////////
+// Rectangle Stuff //
+/////////////////////
+
+typedef struct rectangle {
+    int16_t x;
+    int16_t y;
+    int16_t w;
+    int16_t h;
+} rectangle_t;
+
+void rectangle_init(rectangle_t *ptr, int x, int y, int w, int h);
+void rectangle_copy(rectangle_t *dst, rectangle_t *src);
+bool rectangle_equal_fast(rectangle_t *ptr0, rectangle_t *ptr1);
+bool rectangle_overlap(rectangle_t *ptr0, rectangle_t *ptr1);
+void rectangle_intersected(rectangle_t *dst, rectangle_t *src);
+void rectangle_united(rectangle_t *dst, rectangle_t *src);
+
+/////////////////
+// Color Stuff //
+/////////////////
+
+typedef struct color_thresholds_list_lnk_data
+{
+    uint8_t LMin, LMax; // or grayscale
+    int8_t AMin, AMax;
+    int8_t BMin, BMax;
+}
+color_thresholds_list_lnk_data_t;
+
+#define COLOR_THRESHOLD_BINARY(pixel, threshold, invert) \
+({ \
+    __typeof__ (pixel) _pixel = (pixel); \
+    __typeof__ (threshold) _threshold = (threshold); \
+    __typeof__ (invert) _invert = (invert); \
+    ((_threshold->LMin <= _pixel) && (_pixel <= _threshold->LMax)) ^ _invert; \
+})
+
+#define COLOR_THRESHOLD_GRAYSCALE(pixel, threshold, invert) \
+({ \
+    __typeof__ (pixel) _pixel = (pixel); \
+    __typeof__ (threshold) _threshold = (threshold); \
+    __typeof__ (invert) _invert = (invert); \
+    ((_threshold->LMin <= _pixel) && (_pixel <= _threshold->LMax)) ^ _invert; \
+})
+
+#define COLOR_THRESHOLD_RGB565(pixel, threshold, invert) \
+({ \
+    __typeof__ (pixel) _pixel = (pixel); \
+    __typeof__ (threshold) _threshold = (threshold); \
+    __typeof__ (invert) _invert = (invert); \
+    uint8_t _l = COLOR_RGB565_TO_L(_pixel); \
+    int8_t _a = COLOR_RGB565_TO_A(_pixel); \
+    int8_t _b = COLOR_RGB565_TO_B(_pixel); \
+    ((_threshold->LMin <= _l) && (_l <= _threshold->LMax) && \
+    (_threshold->AMin <= _a) && (_a <= _threshold->AMax) && \
+    (_threshold->BMin <= _b) && (_b <= _threshold->BMax)) ^ _invert; \
+})
+#define COLOR_THRESHOLD_RGB888(pixel, threshold, invert)             \
+({\
+    __typeof__(pixel) _pixel = (pixel);                      \
+    __typeof__(threshold) _threshold = (threshold);          \
+    __typeof__(invert) _invert = (invert);                   \
+    uint8_t _l = COLOR_RGB888_TO_L(_pixel);                  \
+    int8_t _a = COLOR_RGB888_TO_A(_pixel);                   \
+    int8_t _b = COLOR_RGB888_TO_B(_pixel);                   \
+    ((_threshold->LMin <= _l) && (_l <= _threshold->LMax) && \
+    (_threshold->AMin <= _a) && (_a <= _threshold->AMax) && \
+    (_threshold->BMin <= _b) && (_b <= _threshold->BMax)) ^ _invert; \
+})
+#define COLOR_THRESHOLD_LAB(pixel, threshold, invert)                               \
+({\
+    __typeof__(pixel) _pixel = (pixel);                                             \
+    __typeof__(threshold) _threshold = (threshold);                                 \
+    __typeof__(invert) _invert = (invert);                                          \
+    ((_threshold->LMin <= _pixel->L) && (_pixel->L <= _threshold->LMax) &&          \
+    (_threshold->AMin <= _pixel->A) && (_pixel->A <= _threshold->AMax) &&           \
+    (_threshold->BMin <= _pixel->B) && (_pixel->B <= _threshold->BMax)) ^ _invert;  \
+})
+#define COLOR_BOUND_BINARY(pixel0, pixel1, threshold) \
+({ \
+    __typeof__ (pixel0) _pixel0 = (pixel0); \
+    __typeof__ (pixel1) _pixel1 = (pixel1); \
+    __typeof__ (threshold) _threshold = (threshold); \
+    (abs(_pixel0 - _pixel1) <= _threshold); \
+})
+
+#define COLOR_BOUND_GRAYSCALE(pixel0, pixel1, threshold) \
+({ \
+    __typeof__ (pixel0) _pixel0 = (pixel0); \
+    __typeof__ (pixel1) _pixel1 = (pixel1); \
+    __typeof__ (threshold) _threshold = (threshold); \
+    (abs(_pixel0 - _pixel1) <= _threshold); \
+})
+
+#define COLOR_BOUND_RGB565(pixel0, pixel1, threshold) \
+({ \
+    __typeof__ (pixel0) _pixel0 = (pixel0); \
+    __typeof__ (pixel1) _pixel1 = (pixel1); \
+    __typeof__ (threshold) _threshold = (threshold); \
+    (abs(COLOR_RGB565_TO_R5(_pixel0) - COLOR_RGB565_TO_R5(_pixel1)) <= COLOR_RGB565_TO_R5(_threshold)) && \
+    (abs(COLOR_RGB565_TO_G6(_pixel0) - COLOR_RGB565_TO_G6(_pixel1)) <= COLOR_RGB565_TO_G6(_threshold)) && \
+    (abs(COLOR_RGB565_TO_B5(_pixel0) - COLOR_RGB565_TO_B5(_pixel1)) <= COLOR_RGB565_TO_B5(_threshold)); \
+})
+#define COLOR_BOUND_RGB888(pixel0, pixel1, threshold)                                                         \
+({ \
+    __typeof__(pixel0) _pixel0 = (pixel0);                                                                    \
+    __typeof__(pixel1) _pixel1 = (pixel1);                                                                    \
+    __typeof__(threshold) _threshold = (threshold);                                                           \
+    (abs(COLOR_RGB888_TO_R8(_pixel0) - COLOR_RGB888_TO_R8(_pixel1)) <= COLOR_RGB888_TO_R8(_threshold)) &&     \
+    (abs(COLOR_RGB888_TO_G8(_pixel0) - COLOR_RGB888_TO_G8(_pixel1)) <= COLOR_RGB888_TO_G8(_threshold)) &&     \
+    (abs(COLOR_RGB888_TO_B8(_pixel0) - COLOR_RGB888_TO_B8(_pixel1)) <= COLOR_RGB888_TO_B8(_threshold));       \
+})
+#define COLOR_BINARY_MIN 0
+#define COLOR_BINARY_MAX 1
+#define COLOR_GRAYSCALE_BINARY_MIN 0x00
+#define COLOR_GRAYSCALE_BINARY_MAX 0xFF
+#define COLOR_RGB565_BINARY_MIN 0x0000
+#define COLOR_RGB565_BINARY_MAX 0xFFFF
+#define COLOR_RGB888_BINARY_MIN 0x000000
+#define COLOR_RGB888_BINARY_MAX 0xFFFFFF
+
+#define COLOR_GRAYSCALE_MIN 0
+#define COLOR_GRAYSCALE_MAX 255
+
+#define COLOR_R5_MIN 0
+#define COLOR_R5_MAX 31
+#define COLOR_G6_MIN 0
+#define COLOR_G6_MAX 63
+#define COLOR_B5_MIN 0
+#define COLOR_B5_MAX 31
+
+#define COLOR_R8_MIN 0
+#define COLOR_R8_MAX 255
+#define COLOR_G8_MIN 0
+#define COLOR_G8_MAX 255
+#define COLOR_B8_MIN 0
+#define COLOR_B8_MAX 255
+
+#define COLOR_L_MIN 0
+#define COLOR_L_MAX 100
+#define COLOR_A_MIN -128
+#define COLOR_A_MAX 127
+#define COLOR_B_MIN -128
+#define COLOR_B_MAX 127
+
+#define COLOR_Y_MIN 0
+#define COLOR_Y_MAX 255
+#define COLOR_U_MIN -128
+#define COLOR_U_MAX 127
+#define COLOR_V_MIN -128
+#define COLOR_V_MAX 127
+
+// RGB565 Stuff //
+
+#define COLOR_RGB565_TO_R5(pixel) (((pixel) >> 11) & 0x1F)
+#define COLOR_RGB565_TO_R8(pixel) \
+({ \
+    __typeof__ (pixel) __pixel = (pixel); \
+    __pixel = (__pixel >> 8) & 0xF8; \
+    __pixel | (__pixel >> 5); \
+})
+
+#define COLOR_RGB565_TO_G6(pixel) (((pixel) >> 5) & 0x3F)
+#define COLOR_RGB565_TO_G8(pixel) \
+({ \
+    __typeof__ (pixel) __pixel = (pixel); \
+    __pixel = (__pixel >> 3) & 0xFC; \
+    __pixel | (__pixel >> 6); \
+})
+
+#define COLOR_RGB565_TO_B5(pixel) ((pixel) & 0x1F)
+#define COLOR_RGB565_TO_B8(pixel) \
+({ \
+    __typeof__ (pixel) __pixel = (pixel); \
+    __pixel = (__pixel << 3) & 0xF8; \
+    __pixel | (__pixel >> 5); \
+})
+
+#define COLOR_RGB888_TO_R8(pixel) pixel32224(pixel).red
+#define COLOR_RGB888_TO_G8(pixel) pixel32224(pixel).green
+#define COLOR_RGB888_TO_B8(pixel) pixel32224(pixel).blue
+
+#define COLOR_R5_G6_B5_TO_RGB565(r5, g6, b5) (((r5) << 11) | ((g6) << 5) | (b5))
+#define COLOR_R8_G8_B8_TO_RGB565(r8, g8, b8) ((((r8) & 0xF8) << 8) | (((g8) & 0xFC) << 3) | ((b8) >> 3))
+
+#define COLOR_R8_G8_B8_TO_RGB888(r8, g8, b8) pixel24232(((pixel24_t){.red = r8,.green = g8, .blue = b8}))
+
+#define COLOR_RGB888_TO_Y_(r8, g8, b8) ((((r8) * 38) + ((g8) * 75) + ((b8) * 15)) >> 7) // 0.299R + 0.587G + 0.114B
+
+#define COLOR_RGB888_TO_Y(rgb888) COLOR_RGB888_TO_Y_(COLOR_RGB888_TO_R8(rgb888), COLOR_RGB888_TO_G8(rgb888), COLOR_RGB888_TO_B8(rgb888)) // 0.299R + 0.587G + 0.114B
+
+#define COLOR_RGB565_TO_Y(rgb565) \
+({ \
+    __typeof__ (rgb565) __rgb565 = (rgb565); \
+    int r = COLOR_RGB565_TO_R8(__rgb565); \
+    int g = COLOR_RGB565_TO_G8(__rgb565); \
+    int b = COLOR_RGB565_TO_B8(__rgb565); \
+    COLOR_RGB888_TO_Y_(r, g, b); \
+})
+
+#define COLOR_Y_TO_RGB888(pixel) ((pixel) * 0x010101)
+#define COLOR_Y_TO_RGB565(pixel) \
+({ \
+    __typeof__ (pixel) __pixel = (pixel); \
+    int __rb_pixel = (__pixel >> 3) & 0x1F; \
+    (__rb_pixel * 0x0801) + ((__pixel << 3) & 0x7E0); \
+})
+#define COLOR_RGB888_TO_U_(r8, g8, b8) ((((r8) * -21) - ((g8) * 43) + ((b8) * 64)) >> 7) // -0.168736R - 0.331264G + 0.5B
+#define COLOR_RGB888_TO_U(rgb888) COLOR_RGB888_TO_U_(COLOR_RGB888_TO_R8(rgb888), COLOR_RGB888_TO_G8(rgb888), COLOR_RGB888_TO_B8(rgb888)) // -0.168736R - 0.331264G + 0.5B
+#define COLOR_RGB565_TO_U(rgb565) \
+({ \
+    __typeof__ (rgb565) __rgb565 = (rgb565); \
+    int r = COLOR_RGB565_TO_R8(__rgb565); \
+    int g = COLOR_RGB565_TO_G8(__rgb565); \
+    int b = COLOR_RGB565_TO_B8(__rgb565); \
+    COLOR_RGB888_TO_U_(r, g, b); \
+})
+#define COLOR_RGB888_TO_V_(r8, g8, b8) ((((r8) * 64) - ((g8) * 54) - ((b8) * 10)) >> 7) // 0.5R - 0.418688G - 0.081312B
+#define COLOR_RGB888_TO_V(rgb888) COLOR_RGB888_TO_V_(COLOR_RGB888_TO_R8(rgb888), COLOR_RGB888_TO_G8(rgb888), COLOR_RGB888_TO_B8(rgb888)) // 0.5R - 0.418688G - 0.081312B
+#define COLOR_RGB565_TO_V(rgb565) \
+({ \
+    __typeof__ (rgb565) __rgb565 = (rgb565); \
+    int r = COLOR_RGB565_TO_R8(__rgb565); \
+    int g = COLOR_RGB565_TO_G8(__rgb565); \
+    int b = COLOR_RGB565_TO_B8(__rgb565); \
+    COLOR_RGB888_TO_V_(r, g, b); \
+})
+
+
+
+#ifdef IMLIB_ENABLE_LAB_LUT
+extern const int8_t lab_table[196608/2];
+#define COLOR_RGB565_TO_L(pixel) lab_table[((pixel>>1) * 3) + 0]
+#define COLOR_RGB565_TO_A(pixel) lab_table[((pixel>>1) * 3) + 1]
+#define COLOR_RGB565_TO_B(pixel) lab_table[((pixel>>1) * 3) + 2]
+#else
+#define COLOR_RGB565_TO_L(pixel) imlib_rgb565_to_l(pixel)
+#define COLOR_RGB565_TO_A(pixel) imlib_rgb565_to_a(pixel)
+#define COLOR_RGB565_TO_B(pixel) imlib_rgb565_to_b(pixel)
+#define COLOR_RGB888_TO_L(pixel) imlib_rgb888_to_l(pixel)
+#define COLOR_RGB888_TO_A(pixel) imlib_rgb888_to_a(pixel)
+#define COLOR_RGB888_TO_B(pixel) imlib_rgb888_to_b(pixel)
+#endif
+
+#define COLOR_LAB_TO_RGB565(l, a, b) imlib_lab_to_rgb(l, a, b)
+#define COLOR_YUV_TO_RGB565(y, u, v) imlib_yuv_to_rgb((y) + 128, u, v)
+
+#define COLOR_LAB_TO_RGB888(l, a, b) imlib_lab_to_rgb888(l, a, b)
+#define COLOR_YUV_TO_RGB888(y, u, v) imlib_yuv_to_rgb888((y) + 128, u, v)
+
+#define COLOR_BINARY_TO_GRAYSCALE(pixel) ((pixel) * COLOR_GRAYSCALE_MAX)
+#define COLOR_BINARY_TO_RGB565(pixel) COLOR_YUV_TO_RGB565(((pixel) ? 127 : -128), 0, 0)
+#define COLOR_BINARY_TO_RGB888(pixel) COLOR_YUV_TO_RGB888(((pixel) ? 127 : -128), 0, 0)
+#define COLOR_RGB565_TO_BINARY(pixel) (COLOR_RGB565_TO_Y(pixel) > (((COLOR_Y_MAX - COLOR_Y_MIN) / 2) + COLOR_Y_MIN))
+#define COLOR_RGB565_TO_GRAYSCALE(pixel) COLOR_RGB565_TO_Y(pixel)
+#define COLOR_RGB565_TO_RGB888(pixel) COLOR_R8_G8_B8_TO_RGB888(COLOR_RGB565_TO_R8(pixel), COLOR_RGB565_TO_G8(pixel), COLOR_RGB565_TO_B8(pixel))
+#define COLOR_RGB888_TO_GRAYSCALE(pixel) COLOR_RGB888_TO_Y(pixel)
+#define COLOR_RGB888_TO_BINARY(pixel) (COLOR_RGB888_TO_Y(pixel) > (((COLOR_Y_MAX - COLOR_Y_MIN) / 2) + COLOR_Y_MIN))
+#define COLOR_RGB888_TO_RGB565(pixel) COLOR_R8_G8_B8_TO_RGB565(COLOR_RGB888_TO_R8(pixel), COLOR_RGB888_TO_G8(pixel), COLOR_RGB888_TO_B8(pixel))
+
+#define COLOR_GRAYSCALE_TO_BINARY(pixel) ((pixel) > (((COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN) / 2) + COLOR_GRAYSCALE_MIN))
+#define COLOR_GRAYSCALE_TO_RGB565(pixel) COLOR_YUV_TO_RGB565(((pixel) - 128), 0, 0)
+#define COLOR_GRAYSCALE_TO_RGB888(pixel) COLOR_YUV_TO_RGB888(((pixel) - 128), 0, 0)
+
+typedef enum {
+    COLOR_PALETTE_RAINBOW,
+    COLOR_PALETTE_IRONBOW
+} color_palette_t;
+
+// Color palette LUTs
+extern const uint16_t rainbow_table[256];
+extern const uint16_t ironbow_table[256];
+
+/////////////////
+// Image Stuff //
+/////////////////
+
+// Pixel format IDs.
+typedef enum {
+    PIXFORMAT_ID_BINARY     = 1,
+    PIXFORMAT_ID_GRAY       = 2,
+    PIXFORMAT_ID_RGB565     = 3,
+    PIXFORMAT_ID_BAYER      = 4,
+    PIXFORMAT_ID_YUV422     = 5,
+    PIXFORMAT_ID_JPEG       = 6,
+    PIXFORMAT_ID_RGB888     = 7,
+    PIXFORMAT_ID_PNG        = 9,
+    PIXFORMAT_ID_ARGB8      = 8,
+    
+    /* Note: Update PIXFORMAT_IS_VALID when adding new formats */
+} pixformat_id_t;
+
+// Pixel sub-format IDs.
+typedef enum {
+    SUBFORMAT_ID_GRAY8      = 0,
+    SUBFORMAT_ID_GRAY16     = 1,
+    SUBFORMAT_ID_BGGR       = 0, // !!! Note: Make sure bayer sub-formats don't  !!!
+    SUBFORMAT_ID_GBRG       = 1, // !!! overflow the sensor.hw_flags.bayer field !!!
+    SUBFORMAT_ID_GRBG       = 2,
+    SUBFORMAT_ID_RGGB       = 3,
+    SUBFORMAT_ID_YUV422     = 0,
+    SUBFORMAT_ID_YVU422     = 1,
+    /* Note: Update PIXFORMAT_IS_VALID when adding new formats */
+} subformat_id_t;
+
+// Pixel format Byte Per Pixel.
+typedef enum {
+    PIXFORMAT_BPP_BINARY    = 0,
+    PIXFORMAT_BPP_GRAY8     = 1,
+    PIXFORMAT_BPP_GRAY16    = 2,
+    PIXFORMAT_BPP_RGB565    = 2,
+    PIXFORMAT_BPP_BAYER     = 1,
+    PIXFORMAT_BPP_YUV422    = 2,
+    PIXFORMAT_BPP_RGB888    = 3,
+    PIXFORMAT_BPP_ARGB8     = 4,
+    /* Note: Update PIXFORMAT_IS_VALID when adding new formats */
+} pixformat_bpp_t;
+
+// Pixel format flags.
+#define PIXFORMAT_FLAGS_Y       (1 << 28) // YUV format.
+#define PIXFORMAT_FLAGS_M       (1 << 27) // Mutable format.
+#define PIXFORMAT_FLAGS_C       (1 << 26) // Colored format.
+#define PIXFORMAT_FLAGS_J       (1 << 25) // Compressed format (JPEG/PNG).
+#define PIXFORMAT_FLAGS_R       (1 << 24) // RAW/Bayer format.
+#define PIXFORMAT_FLAGS_CY      (PIXFORMAT_FLAGS_C | PIXFORMAT_FLAGS_Y)
+#define PIXFORMAT_FLAGS_CM      (PIXFORMAT_FLAGS_C | PIXFORMAT_FLAGS_M)
+#define PIXFORMAT_FLAGS_CR      (PIXFORMAT_FLAGS_C | PIXFORMAT_FLAGS_R)
+#define PIXFORMAT_FLAGS_CJ      (PIXFORMAT_FLAGS_C | PIXFORMAT_FLAGS_J)
+#define IMLIB_IMAGE_MAX_SIZE(x) ((x) & 0xFFFFFFFF)
+
+// Each pixel format encodes flags, pixel format id and bpp as follows:
+// 31......29  28  27  26  25  24  23..........16  15...........8  7.............0
+// <RESERVED>  YF  MF  CF  JF  RF  <PIXFORMAT_ID>  <SUBFORMAT_ID>  <BYTES_PER_PIX>
+// NOTE: Bit 31-30 must Not be used for pixformat_t to be used as mp_int_t.
+typedef enum {
+    PIXFORMAT_INVALID    = (0x00000000U),
+    PIXFORMAT_BINARY     = (PIXFORMAT_FLAGS_M  | (PIXFORMAT_ID_BINARY << 16) | (0                   << 8) | PIXFORMAT_BPP_BINARY ),
+    PIXFORMAT_GRAYSCALE  = (PIXFORMAT_FLAGS_M  | (PIXFORMAT_ID_GRAY   << 16) | (SUBFORMAT_ID_GRAY8  << 8) | PIXFORMAT_BPP_GRAY8  ),
+    PIXFORMAT_RGB565     = (PIXFORMAT_FLAGS_CM | (PIXFORMAT_ID_RGB565 << 16) | (0                   << 8) | PIXFORMAT_BPP_RGB565 ),
+    PIXFORMAT_ARGB8      = (PIXFORMAT_FLAGS_CM | (PIXFORMAT_ID_ARGB8  << 16) | (0                   << 8) | PIXFORMAT_BPP_ARGB8  ),
+    PIXFORMAT_BAYER      = (PIXFORMAT_FLAGS_CR | (PIXFORMAT_ID_BAYER  << 16) | (SUBFORMAT_ID_BGGR   << 8) | PIXFORMAT_BPP_BAYER  ),
+    PIXFORMAT_BAYER_BGGR = (PIXFORMAT_FLAGS_CR | (PIXFORMAT_ID_BAYER  << 16) | (SUBFORMAT_ID_BGGR   << 8) | PIXFORMAT_BPP_BAYER  ),
+    PIXFORMAT_BAYER_GBRG = (PIXFORMAT_FLAGS_CR | (PIXFORMAT_ID_BAYER  << 16) | (SUBFORMAT_ID_GBRG   << 8) | PIXFORMAT_BPP_BAYER  ),
+    PIXFORMAT_BAYER_GRBG = (PIXFORMAT_FLAGS_CR | (PIXFORMAT_ID_BAYER  << 16) | (SUBFORMAT_ID_GRBG   << 8) | PIXFORMAT_BPP_BAYER  ),
+    PIXFORMAT_BAYER_RGGB = (PIXFORMAT_FLAGS_CR | (PIXFORMAT_ID_BAYER  << 16) | (SUBFORMAT_ID_RGGB   << 8) | PIXFORMAT_BPP_BAYER  ),
+    PIXFORMAT_YUV        = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV422 << 16) | (SUBFORMAT_ID_YUV422 << 8) | PIXFORMAT_BPP_YUV422 ),
+    PIXFORMAT_YUV422     = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV422 << 16) | (SUBFORMAT_ID_YUV422 << 8) | PIXFORMAT_BPP_YUV422 ),
+    PIXFORMAT_YVU422     = (PIXFORMAT_FLAGS_CY | (PIXFORMAT_ID_YUV422 << 16) | (SUBFORMAT_ID_YVU422 << 8) | PIXFORMAT_BPP_YUV422 ),
+    PIXFORMAT_JPEG       = (PIXFORMAT_FLAGS_CJ | (PIXFORMAT_ID_JPEG   << 16) | (0                   << 8) | 0                    ),
+    PIXFORMAT_PNG        = (PIXFORMAT_FLAGS_CJ | (PIXFORMAT_ID_PNG    << 16) | (0                   << 8) | 0                    ),
+    PIXFORMAT_RGB888     = (PIXFORMAT_FLAGS_CM | (PIXFORMAT_ID_RGB888 << 16) | (0                   << 8) | PIXFORMAT_BPP_RGB888 ),
+    PIXFORMAT_LAST       = (0xFFFFFFFFU),
+} pixformat_t;
+
+#define PIXFORMAT_MUTABLE_ANY           \
+        PIXFORMAT_BINARY:               \
+        case PIXFORMAT_GRAYSCALE:       \
+        case PIXFORMAT_RGB565:          \
+        case PIXFORMAT_ARGB8:           \
+        case PIXFORMAT_RGB888           \
+
+#define PIXFORMAT_BAYER_ANY             \
+        PIXFORMAT_BAYER_BGGR:           \
+        case PIXFORMAT_BAYER_GBRG:      \
+        case PIXFORMAT_BAYER_GRBG:      \
+        case PIXFORMAT_BAYER_RGGB       \
+
+#define PIXFORMAT_YUV_ANY               \
+        PIXFORMAT_YUV422:               \
+        case PIXFORMAT_YVU422           \
+
+#define PIXFORMAT_COMPRESSED_ANY        \
+        PIXFORMAT_JPEG:                 \
+        case PIXFORMAT_PNG              \
+
+#define IMLIB_PIXFORMAT_IS_VALID(x)     \
+    ((x == PIXFORMAT_BINARY)            \
+     || (x == PIXFORMAT_GRAYSCALE)      \
+     || (x == PIXFORMAT_RGB565)         \
+     || (x == PIXFORMAT_ARGB8)          \
+     || (x == PIXFORMAT_BAYER_BGGR)     \
+     || (x == PIXFORMAT_BAYER_GBRG)     \
+     || (x == PIXFORMAT_BAYER_GRBG)     \
+     || (x == PIXFORMAT_BAYER_RGGB)     \
+     || (x == PIXFORMAT_YUV422)         \
+     || (x == PIXFORMAT_YVU422)         \
+     || (x == PIXFORMAT_JPEG)           \
+     || (x == PIXFORMAT_PNG)            \
+     || (x == PIXFORMAT_RGB888))        \
+
+#if defined(__BYTE_ORDER__) && (__BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__)
+#define PIXFORMAT_STRUCT            \
+struct {                            \
+  union {                           \
+    struct {                        \
+        uint32_t bpp            :8; \
+        uint32_t subfmt_id      :8; \
+        uint32_t pixfmt_id      :8; \
+        uint32_t is_bayer       :1; \
+        uint32_t is_compressed  :1; \
+        uint32_t is_color       :1; \
+        uint32_t is_mutable     :1; \
+        uint32_t is_yuv         :1; \
+        uint32_t /*reserved*/   :3; \
+    };                              \
+    uint32_t pixfmt;                \
+  };                                \
+  uint32_t size; /* for compressed images */ \
+  bool is_data_alloc;  /*data need to free when call destory*/\
+}
+#elif defined(__BYTE_ORDER__) && (__BYTE_ORDER__ == __ORDER_BIG_ENDIAN__)
+#define PIXFORMAT_STRUCT            \
+struct {                            \
+  union {                           \
+    struct {                        \
+        uint32_t /*reserved*/   :3; \
+        uint32_t is_yuv         :1; \
+        uint32_t is_mutable     :1; \
+        uint32_t is_color       :1; \
+        uint32_t is_compressed  :1; \
+        uint32_t is_bayer       :1; \
+        uint32_t pixfmt_id      :8; \
+        uint32_t subfmt_id      :8; \
+        uint32_t bpp            :8; \
+    };                              \
+    uint32_t pixfmt;                \
+  };                                \
+  uint32_t size; /* for compressed images */ \
+  bool is_data_alloc;  /*data need to free when call destory*/\
+}
+#else
+#error "Byte order is not defined."
+#endif
+
+typedef struct image {
+    uint32_t w;
+    uint32_t h;
+    PIXFORMAT_STRUCT;
+    union {
+        uint8_t *pixels;
+        uint8_t *data;
+    };
+} image_t;
+
+image_t* imlib_image_create(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels, bool is_data_alloc);
+image_t* imlib_image_create_fb_buff(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels, bool is_data_alloc);
+void imlib_image_destroy_fb_buff(image_t **obj);
+void imlib_image_destroy(image_t **obj);
+void imlib_image_init(image_t *ptr, int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels);
+void image_copy(image_t *dst, image_t *src);
+size_t image_size(image_t *ptr);
+bool image_get_mask_pixel(image_t *ptr, int x, int y);
+
+#define IMAGE_BINARY_LINE_LEN(image) (((image)->w + UINT32_T_MASK) >> UINT32_T_SHIFT)
+#define IMAGE_BINARY_LINE_LEN_BYTES(image) (IMAGE_BINARY_LINE_LEN(image) * sizeof(uint32_t))
+
+#define IMAGE_GRAYSCALE_LINE_LEN(image) ((image)->w)
+#define IMAGE_GRAYSCALE_LINE_LEN_BYTES(image) (IMAGE_GRAYSCALE_LINE_LEN(image) * sizeof(uint8_t))
+
+#define IMAGE_RGB565_LINE_LEN(image) ((image)->w)
+#define IMAGE_RGB565_LINE_LEN_BYTES(image) (IMAGE_RGB565_LINE_LEN(image) * sizeof(uint16_t))
+
+#define IMAGE_RGB888_LINE_LEN(image) ((image)->w)
+#define IMAGE_RGB888_LINE_LEN_BYTES(image) (IMAGE_RGB888_LINE_LEN(image) * sizeof(pixel24_t))        
+
+#define IMAGE_GET_BINARY_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    (((uint32_t *) _image->data)[(((_image->w + UINT32_T_MASK) >> UINT32_T_SHIFT) * _y) + (_x >> UINT32_T_SHIFT)] >> (_x & UINT32_T_MASK)) & 1; \
+})
+
+#define IMAGE_PUT_BINARY_PIXEL(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    size_t _i = (((_image->w + UINT32_T_MASK) >> UINT32_T_SHIFT) * _y) + (_x >> UINT32_T_SHIFT); \
+    size_t _j = _x & UINT32_T_MASK; \
+    ((uint32_t *) _image->data)[_i] = (((uint32_t *) _image->data)[_i] & (~(1 << _j))) | ((_v & 1) << _j); \
+})
+
+#define IMAGE_CLEAR_BINARY_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((uint32_t *) _image->data)[(((_image->w + UINT32_T_MASK) >> UINT32_T_SHIFT) * _y) + (_x >> UINT32_T_SHIFT)] &= ~(1 << (_x & UINT32_T_MASK)); \
+})
+
+#define IMAGE_SET_BINARY_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((uint32_t *) _image->data)[(((_image->w + UINT32_T_MASK) >> UINT32_T_SHIFT) * _y) + (_x >> UINT32_T_SHIFT)] |= 1 << (_x & UINT32_T_MASK); \
+})
+
+#define IMAGE_GET_GRAYSCALE_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((uint8_t *) _image->data)[(_image->w * _y) + _x]; \
+})
+
+#define IMAGE_PUT_GRAYSCALE_PIXEL(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    ((uint8_t *) _image->data)[(_image->w * _y) + _x] = _v; \
+})
+
+#define IMAGE_GET_RGB565_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((uint16_t *) _image->data)[(_image->w * _y) + _x]; \
+})
+
+#define IMAGE_PUT_RGB565_PIXEL(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    ((uint16_t *) _image->data)[(_image->w * _y) + _x] = _v; \
+})
+
+#define IMAGE_GET_RGB888_PIXEL_(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((pixel24_t *) _image->data)[(_image->w * _y) + _x]; \
+})
+
+#define IMAGE_GET_RGB888_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    pixel24232(((pixel24_t *) _image->data)[(_image->w * _y) + _x]); \
+})
+
+#define IMAGE_PUT_RGB888_PIXEL_(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    ((pixel24_t *) _image->data)[(_image->w * _y) + _x] = _v; \
+})
+
+#define IMAGE_PUT_RGB888_PIXEL(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    ((pixel24_t *) _image->data)[(_image->w * _y) + _x] = pixel32224(_v); \
+})
+
+#define IMAGE_GET_YUV_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((uint16_t *) _image->data)[(_image->w * _y) + _x]; \
+})
+
+#define IMAGE_PUT_YUV_PIXEL(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    ((uint16_t *) _image->data)[(_image->w * _y) + _x] = _v; \
+})
+
+#define IMAGE_GET_BAYER_PIXEL(image, x, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    ((uint8_t *) _image->data)[(_image->w * _y) + _x]; \
+})
+
+#define IMAGE_PUT_BAYER_PIXEL(image, x, y, v) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (y) _y = (y); \
+    __typeof__ (v) _v = (v); \
+    ((uint8_t *) _image->data)[(_image->w * _y) + _x] = _v; \
+})
+
+// Fast Stuff //
+
+#define IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(image, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (y) _y = (y); \
+    ((uint32_t *) _image->data) + (((_image->w + UINT32_T_MASK) >> UINT32_T_SHIFT) * _y); \
+})
+
+#define IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    (_row_ptr[_x >> UINT32_T_SHIFT] >> (_x & UINT32_T_MASK)) & 1; \
+})
+
+#define IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, v) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (v) _v = (v); \
+    size_t _i = _x >> UINT32_T_SHIFT; \
+    size_t _j = _x & UINT32_T_MASK; \
+    _row_ptr[_i] = (_row_ptr[_i] & (~(1 << _j))) | ((_v & 1) << _j); \
+})
+
+#define IMAGE_CLEAR_BINARY_PIXEL_FAST(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    _row_ptr[_x >> UINT32_T_SHIFT] &= ~(1 << (_x & UINT32_T_MASK)); \
+})
+
+#define IMAGE_SET_BINARY_PIXEL_FAST(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    _row_ptr[_x >> UINT32_T_SHIFT] |= 1 << (_x & UINT32_T_MASK); \
+})
+
+#define IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(image, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (y) _y = (y); \
+    ((uint8_t *) _image->data) + (_image->w * _y); \
+})
+
+#define IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    _row_ptr[_x]; \
+})
+
+#define IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, v) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (v) _v = (v); \
+    _row_ptr[_x] = _v; \
+})
+
+#define IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(image, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (y) _y = (y); \
+    ((uint16_t *) _image->data) + (_image->w * _y); \
+})
+
+#define IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    _row_ptr[_x]; \
+})
+
+#define IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, v) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (v) _v = (v); \
+    _row_ptr[_x] = _v; \
+})
+
+#define IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(image, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (y) _y = (y); \
+    ((pixel24_t *) _image->data) + (_image->w * _y); \
+})
+
+#define IMAGE_GET_RGB888_PIXEL_FAST_(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    _row_ptr[_x]; \
+})
+
+#define IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    pixel24232(_row_ptr[_x]); \
+})
+
+#define IMAGE_PUT_RGB888_PIXEL_FAST_(row_ptr, x, v) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (v) _v = (v); \
+    _row_ptr[_x] = _v; \
+})
+
+#define IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x, v) \
+({ \
+    __typeof__ (row_ptr) _row_ptr = (row_ptr); \
+    __typeof__ (x) _x = (x); \
+    __typeof__ (v) _v = (v); \
+    _row_ptr[_x] = pixel32224(_v); \
+})
+
+#define IMAGE_COMPUTE_BAYER_PIXEL_ROW_PTR(image, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (y) _y = (y); \
+    ((uint8_t *) _image->data) + (_image->w * _y); \
+})
+
+#define IMAGE_COMPUTE_YUV_PIXEL_ROW_PTR(image, y) \
+({ \
+    __typeof__ (image) _image = (image); \
+    __typeof__ (y) _y = (y); \
+    ((uint16_t *) _image->data) + (_image->w * _y); \
+})
+
+// Old Image Macros - Will be refactor and removed. But, only after making sure through testing new macros work.
+
+// Image kernels
+extern const int8_t kernel_gauss_3[9];
+extern const int8_t kernel_gauss_5[25];
+extern const int kernel_laplacian_3[9];
+extern const int kernel_high_pass_3[9];
+
+// Grayscale maxes
+#define IM_MAX_GS (255)
+
+#define IM_IS_BINARY(img)   ((img)->pixfmt == PIXFORMAT_BINARY)
+#define IM_IS_GS(img)       ((img)->pixfmt == PIXFORMAT_GRAYSCALE)
+#define IM_IS_RGB565(img)   ((img)->pixfmt == PIXFORMAT_RGB565)
+#define IM_IS_BAYER(img)    ((img)->is_bayer)
+#define IM_IS_JPEG(img)     ((img)->pixfmt == PIXFORMAT_JPEG)
+#define IM_IS_RGB888(img)   ((img)->pixfmt == PIXFORMAT_RGB888)
+
+#define IM_X_INSIDE(img, x) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       (0<=_x)&&(_x<_img->w); })
+
+#define IM_Y_INSIDE(img, y) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (y) _y = (y); \
+       (0<=_y)&&(_y<_img->h); })
+
+#define IM_GET_GS_PIXEL(img, x, y) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       ((uint8_t*)_img->pixels)[(_y*_img->w)+_x]; })
+
+#define IM_GET_RGB565_PIXEL(img, x, y) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       ((uint16_t*)_img->pixels)[(_y*_img->w)+_x]; })
+
+#define IM_GET_RGB888_PIXEL(img, x, y) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       pixel24232(((pixel24_t*)_img->pixels)[(_y*_img->w)+_x]); })
+#define IM_GET_RGB888_PIXEL_(img, x, y) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       ((pixel24_t*)_img->pixels)[(_y*_img->w)+_x]; })
+
+#define IM_SET_GS_PIXEL(img, x, y, p) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       __typeof__ (p) _p = (p); \
+       ((uint8_t*)_img->pixels)[(_y*_img->w)+_x]=_p; })
+
+#define IM_SET_RGB565_PIXEL(img, x, y, p) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       __typeof__ (p) _p = (p); \
+       ((uint16_t*)_img->pixels)[(_y*_img->w)+_x]=_p; })
+
+#define IM_SET_RGB888_PIXEL(img, x, y, p) \
+    ({ __typeof__ (img) _img = (img); \
+       __typeof__ (x) _x = (x); \
+       __typeof__ (y) _y = (y); \
+       __typeof__ (p) _p = (p); \
+       ((pixel24_t*)_img->pixels)[(_y*_img->w)+_x]=pixel32224(_p); })
+
+#define IM_EQUAL(img0, img1) \
+    ({ __typeof__ (img0) _img0 = (img0); \
+       __typeof__ (img1) _img1 = (img1); \
+       (_img0->w==_img1->w)&&(_img0->h==_img1->h)&&(_img0->pixfmt=_img1->pixfmt); })
+
+#define IM_TO_GS_PIXEL(img, x, y)    \
+    (img->bpp == 1 ? img->pixels[((y)*img->w)+(x)] : COLOR_RGB565_TO_Y(((uint16_t*)img->pixels)[((y)*img->w)+(x)]) )
+
+typedef struct simple_color {
+    uint8_t G;          // Gray
+    union {
+        int8_t L;       // LAB L
+        uint8_t red;    // RGB888 Red
+    };
+    union {
+        int8_t A;       // LAB A
+        uint8_t green;  // RGB888 Green
+    };
+    union {
+        int8_t B;       // LAB B
+        uint8_t blue;   // RGB888 Blue
+    };
+} simple_color_t;
+
+typedef struct integral_image {
+    int w;
+    int h;
+    uint32_t *data;
+} i_image_t;
+
+typedef struct {
+    int w;
+    int h;
+    int y_offs;
+    int x_ratio;
+    int y_ratio;
+    uint32_t **data;
+    uint32_t **swap;
+} mw_image_t;
+
+typedef struct _vector {
+    float x;
+    float y;
+    float m;
+    uint16_t cx,cy;
+} vec_t;
+
+typedef struct cluster {
+    int x, y, w, h;
+    array_t *points;
+} cluster_t;
+
+// Return the distance between a cluster centroid and some object.
+typedef float (*cluster_dist_t)(int cx, int cy, void *obj);
+
+/* Keypoint */
+typedef struct kp {
+    uint16_t x;
+    uint16_t y;
+    uint16_t score;
+    uint16_t octave;
+    uint16_t angle;
+    uint16_t matched;
+    uint8_t desc[32];
+} kp_t;
+
+typedef struct size {
+    int w;
+    int h;
+} wsize_t;
+
+/* Haar cascade struct */
+typedef struct cascade {
+    int std;                        // Image standard deviation.
+    int step;                       // Image scanning factor.
+    float threshold;                // Detection threshold.
+    float scale_factor;             // Image scaling factor.
+    int n_stages;                   // Number of stages in the cascade.
+    int n_features;                 // Number of features in the cascade.
+    int n_rectangles;               // Number of rectangles in the cascade.
+    struct size window;             // Detection window size.
+    struct image *img;              // Grayscale image.
+    mw_image_t *sum;                // Integral image.
+    mw_image_t *ssq;                // Squared integral image.
+    uint8_t *stages_array;          // Number of features per stage.
+    int16_t *stages_thresh_array;   // Stages thresholds.
+    int16_t *tree_thresh_array;     // Features threshold (1 per feature).
+    int16_t *alpha1_array;          // Alpha1 array (1 per feature).
+    int16_t *alpha2_array;          // Alpha2 array (1 per feature).
+    int8_t *num_rectangles_array;   // Number of rectangles per features (1 per feature).
+    int8_t *weights_array;          // Rectangles weights (1 per rectangle).
+    int8_t *rectangles_array;       // Rectangles array.
+} cascade_t;
+
+typedef struct bmp_read_settings {
+    int32_t bmp_w;
+    int32_t bmp_h;
+    uint16_t bmp_bpp;
+    uint32_t bmp_fmt;
+    uint32_t bmp_row_bytes;
+} bmp_read_settings_t;
+
+typedef struct ppm_read_settings {
+    uint8_t read_int_c;
+    bool read_int_c_valid;
+    uint8_t ppm_fmt;
+} ppm_read_settings_t;
+
+typedef struct jpg_read_settings {
+    int32_t jpg_w;
+    int32_t jpg_h;
+    int32_t jpg_size;
+} jpg_read_settings_t;
+
+typedef struct png_read_settings {
+    int32_t png_w;
+    int32_t png_h;
+    int32_t png_size;
+} png_read_settings_t;
+
+typedef enum save_image_format {
+    FORMAT_DONT_CARE,
+    FORMAT_BMP,
+    FORMAT_PNM,
+    FORMAT_JPG,
+    FORMAT_PNG,
+    FORMAT_RAW,
+} save_image_format_t;
+
+typedef struct img_read_settings {
+    union {
+        bmp_read_settings_t bmp_rs;
+        ppm_read_settings_t ppm_rs;
+        jpg_read_settings_t jpg_rs;
+        png_read_settings_t png_rs;
+    };
+    save_image_format_t format;
+} img_read_settings_t;
+
+typedef void (*line_op_t)(image_t*, int, void*, void*, bool);
+typedef void (*flood_fill_call_back_t)(image_t *, int, int, int, void *);
+
+typedef enum descriptor_type {
+    DESC_LBP,
+    DESC_ORB,
+} descriptor_t;
+
+typedef enum edge_detector_type {
+   EDGE_CANNY,
+   EDGE_SIMPLE,
+} edge_detector_t;
+
+typedef enum template_match {
+    SEARCH_EX,  // Exhaustive search
+    SEARCH_DS,  // Diamond search
+} template_match_t;
+
+typedef enum  jpeg_subsample {
+    JPEG_SUBSAMPLE_1x1 = 0x11,  // 1x1 chroma subsampling (No subsampling)
+    JPEG_SUBSAMPLE_2x1 = 0x21,  // 2x2 chroma subsampling
+    JPEG_SUBSAMPLE_2x2 = 0x22,  // 2x2 chroma subsampling
+} jpeg_subsample_t;
+
+typedef enum corner_detector_type {
+    CORNER_FAST,
+    CORNER_AGAST
+} corner_detector_t;
+
+typedef struct histogram {
+    int LBinCount;
+    float *LBins;
+    int ABinCount;
+    float *ABins;
+    int BBinCount;
+    float *BBins;
+} histogram_t;
+
+typedef struct percentile {
+    uint8_t LValue;
+    int8_t AValue;
+    int8_t BValue;
+} percentile_t;
+
+typedef struct threshold {
+    uint8_t LValue;
+    int8_t AValue;
+    int8_t BValue;
+} threshold_t;
+           //平均数, 中位数, 众数, stdev, 最小值, 最大值,
+typedef struct statistics {
+    uint8_t LMean, LMedian, LMode, LSTDev, LMin, LMax, LLQ, LUQ;
+    int8_t AMean, AMedian, AMode, ASTDev, AMin, AMax, ALQ, AUQ;
+    int8_t BMean, BMedian, BMode, BSTDev, BMin, BMax, BLQ, BUQ;
+} statistics_t;
+
+#define FIND_BLOBS_CORNERS_RESOLUTION 20 // multiple of 4
+#define FIND_BLOBS_ANGLE_RESOLUTION (360 / FIND_BLOBS_CORNERS_RESOLUTION)
+
+typedef struct find_blobs_list_lnk_data {
+    point_t corners[FIND_BLOBS_CORNERS_RESOLUTION];
+    rectangle_t rect;
+    uint32_t pixels, perimeter, code, count;
+    float centroid_x, centroid_y, rotation, roundness;
+    uint16_t x_hist_bins_count, y_hist_bins_count, *x_hist_bins, *y_hist_bins;
+    float centroid_x_acc, centroid_y_acc, rotation_acc_x, rotation_acc_y, roundness_acc;
+} find_blobs_list_lnk_data_t;
+
+typedef struct find_lines_list_lnk_data {
+    line_t line;
+    uint32_t magnitude;
+    int16_t theta, rho;
+} find_lines_list_lnk_data_t;
+
+typedef struct find_circles_list_lnk_data {
+    point_t p;
+    uint16_t r, magnitude;
+} find_circles_list_lnk_data_t;
+
+typedef struct find_rects_list_lnk_data {
+    point_t corners[4];
+    rectangle_t rect;
+    uint32_t magnitude;
+} find_rects_list_lnk_data_t;
+
+typedef struct find_qrcodes_list_lnk_data {
+    point_t corners[4];
+    rectangle_t rect;
+    size_t payload_len;
+    char *payload;
+    uint8_t version, ecc_level, mask, data_type;
+    uint32_t eci;
+} find_qrcodes_list_lnk_data_t;
+
+typedef enum apriltag_families {
+    TAG16H5 = 1,
+    TAG25H7 = 2,
+    TAG25H9 = 4,
+    TAG36H10 = 8,
+    TAG36H11 = 16,
+    ARTOOLKIT = 32
+} apriltag_families_t;
+
+typedef struct find_apriltags_list_lnk_data {
+    point_t corners[4];
+    rectangle_t rect;
+    uint16_t id;
+    uint8_t family, hamming;
+    point_t centroid;
+    float goodness, decision_margin;
+    float x_translation, y_translation, z_translation;
+    float x_rotation, y_rotation, z_rotation;
+} find_apriltags_list_lnk_data_t;
+
+typedef struct find_datamatrices_list_lnk_data {
+    point_t corners[4];
+    rectangle_t rect;
+    size_t payload_len;
+    char *payload;
+    uint16_t rotation;
+    uint8_t rows, columns;
+    uint16_t capacity, padding;
+} find_datamatrices_list_lnk_data_t;
+
+typedef enum barcodes {
+    BARCODE_EAN2,
+    BARCODE_EAN5,
+    BARCODE_EAN8,
+    BARCODE_UPCE,
+    BARCODE_ISBN10,
+    BARCODE_UPCA,
+    BARCODE_EAN13,
+    BARCODE_ISBN13,
+    BARCODE_I25,
+    BARCODE_DATABAR,
+    BARCODE_DATABAR_EXP,
+    BARCODE_CODABAR,
+    BARCODE_CODE39,
+    BARCODE_PDF417,
+    BARCODE_CODE93,
+    BARCODE_CODE128
+} barcodes_t;
+
+typedef struct find_barcodes_list_lnk_data {
+    point_t corners[4];
+    rectangle_t rect;
+    size_t payload_len;
+    char *payload;
+    uint16_t type, rotation;
+    int quality;
+} find_barcodes_list_lnk_data_t;
+
+typedef enum image_hint {
+    IMAGE_HINT_AREA = 1 << 0,
+    IMAGE_HINT_BILINEAR = 1 << 1,
+    IMAGE_HINT_BICUBIC = 1 << 2,
+    IMAGE_HINT_CENTER = 1 << 7,
+    IMAGE_HINT_EXTRACT_RGB_CHANNEL_FIRST = 1 << 8,
+    IMAGE_HINT_APPLY_COLOR_PALETTE_FIRST = 1 << 9,
+    IMAGE_HINT_BLACK_BACKGROUND = 1 << 31
+} image_hint_t;
+
+typedef struct imlib_draw_row_data {
+    image_t *dst_img; // user
+    pixformat_t src_img_pixfmt; // user
+    int rgb_channel; // user
+    int alpha; // user
+    const uint16_t *color_palette; // user
+    const uint8_t *alpha_palette; // user
+    bool black_background; // user
+    void *callback; // user
+    void *dst_row_override; // user
+    int toggle; // private
+    void *row_buffer[2]; // private
+    #ifdef IMLIB_ENABLE_DMA2D
+    bool dma2d_request; // user
+    bool dma2d_enabled; // private
+    bool dma2d_initialized; // private
+    DMA2D_HandleTypeDef dma2d; // private
+    #endif
+    long smuad_alpha; // private
+    uint32_t *smuad_alpha_palette; // private
+} imlib_draw_row_data_t;
+
+typedef void (*imlib_draw_row_callback_t)(int x_start, int x_end, int y_row, imlib_draw_row_data_t *data);
+
+// Library Hardware Init
+void imlib_init_all();
+void imlib_deinit_all();
+
+//imlib base operation
+void imlib_pixfmt_to(image_t *dst, image_t *src, rectangle_t *roi_i);
+void imlib_image_resize(image_t *dst, image_t *src, int hist);
+
+// Generic Helper Functions
+void imlib_fill_image_from_float(image_t *img, int w, int h, float *data, float min, float max,
+                                 bool mirror, bool flip, bool dst_transpose, bool src_transpose);
+
+// Bayer Image Processing
+void imlib_debayer_line(int x_start, int x_end, int y_row, void *dst_row_ptr, pixformat_t pixfmt, image_t *src);
+void imlib_debayer_image(image_t *dst, image_t *src);
+
+// YUV Image Processing
+void imlib_deyuv_line(int x_start, int x_end, int y_row, void *dst_row_ptr, pixformat_t pixfmt, image_t *src);
+void imlib_deyuv_image(image_t *dst, image_t *src);
+
+/* Color space functions */
+int8_t imlib_rgb565_to_l(uint16_t pixel);
+int8_t imlib_rgb565_to_a(uint16_t pixel);
+int8_t imlib_rgb565_to_b(uint16_t pixel);
+int8_t imlib_rgb888_to_l(uint32_t pixel);
+int8_t imlib_rgb888_to_a(uint32_t pixel);
+int8_t imlib_rgb888_to_b(uint32_t pixel);
+uint16_t imlib_lab_to_rgb(uint8_t l, int8_t a, int8_t b);
+uint16_t imlib_yuv_to_rgb(uint8_t y, int8_t u, int8_t v);
+uint32_t imlib_lab_to_rgb888(uint8_t l, int8_t a, int8_t b);
+uint32_t imlib_yuv_to_rgb888(uint8_t y, int8_t u, int8_t v);
+
+/* Image file functions */
+void ppm_read_geometry(FIL *fp, image_t *img, const char *path, ppm_read_settings_t *rs);
+void ppm_read_pixels(FIL *fp, image_t *img, int n_lines, ppm_read_settings_t *rs);
+void ppm_read(image_t *img, const char *path);
+void ppm_write_subimg(image_t *img, const char *path, rectangle_t *r);
+bool bmp_read_geometry(FIL *fp, image_t *img, const char *path, bmp_read_settings_t *rs);
+void bmp_read_pixels(FIL *fp, image_t *img, int n_lines, bmp_read_settings_t *rs);
+void bmp_read(image_t *img, const char *path);
+void bmp_write_subimg(image_t *img, const char *path, rectangle_t *r);
+#if (OMV_HARDWARE_JPEG == 1)
+void imlib_jpeg_compress_init();
+void imlib_jpeg_compress_deinit();
+void jpeg_mdma_irq_handler();
+#endif
+void jpeg_decompress(image_t *dst, image_t *src);
+bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc);
+int jpeg_clean_trailing_bytes(int bpp, uint8_t *data);
+void jpeg_read_geometry(FIL *fp, image_t *img, const char *path, jpg_read_settings_t *rs);
+void jpeg_read_pixels(FIL *fp, image_t *img);
+void jpeg_read(image_t *img, const char *path);
+void jpeg_write(image_t *img, const char *path, int quality);
+void png_decompress(image_t *dst, image_t *src);
+bool png_compress(image_t *src, image_t *dst);
+void png_read_geometry(FIL *fp, image_t *img, const char *path, png_read_settings_t *rs);
+void png_read_pixels(FIL *fp, image_t *img);
+void png_read(image_t *img, const char *path);
+void png_write(image_t *img, const char *path);
+bool imlib_read_geometry(FIL *fp, image_t *img, const char *path, img_read_settings_t *rs);
+void imlib_image_operation(image_t *img, const char *path, image_t *other, int scalar, line_op_t op, void *data);
+void imlib_load_image(image_t *img, const char *path);
+void imlib_save_image(image_t *img, const char *path, rectangle_t *roi, int quality);
+
+/* GIF functions */
+void gif_open(FIL *fp, int width, int height, bool color, bool loop);
+void gif_add_frame(FIL *fp, image_t *img, uint16_t delay);
+void gif_close(FIL *fp);
+
+/* MJPEG functions */
+void mjpeg_open(FIL *fp, int width, int height);
+void mjpeg_add_frame(FIL *fp, uint32_t *frames, uint32_t *bytes, image_t *img, int quality);
+void mjpeg_close(FIL *fp, uint32_t *frames, uint32_t *bytes, float fps);
+
+/* Point functions */
+point_t *point_alloc(int16_t x, int16_t y);
+bool point_equal(point_t *p1, point_t *p2);
+float point_distance(point_t *p1, point_t *p2);
+
+/* Rectangle functions */
+rectangle_t *rectangle_alloc(int16_t x, int16_t y, int16_t w, int16_t h);
+bool rectangle_equal(rectangle_t *r1, rectangle_t *r2);
+bool rectangle_intersects(rectangle_t *r1, rectangle_t *r2);
+bool rectangle_subimg(image_t *img, rectangle_t *r, rectangle_t *r_out);
+array_t *rectangle_merge(array_t *rectangles);
+void rectangle_expand(rectangle_t *r, int x, int y);
+
+/* Separable 2D convolution */
+void imlib_sepconv3(image_t *img, const int8_t *krn, const float m, const int b);
+
+/* Image Statistics */
+int imlib_image_mean(image_t *src, int *r_mean, int *g_mean, int *b_mean);
+int imlib_image_std(image_t *src); // grayscale only
+
+/* Template Matching */
+void imlib_midpoint_pool(image_t *img_i, image_t *img_o, int x_div, int y_div, const int bias);
+void imlib_mean_pool(image_t *img_i, image_t *img_o, int x_div, int y_div);
+float imlib_template_match_ds(image_t *image, image_t *template_obj, rectangle_t *r);
+float imlib_template_match_ex(image_t *image, image_t *template_obj, rectangle_t *roi, int step, rectangle_t *r);
+
+/* Clustering functions */
+array_t *cluster_kmeans(array_t *points, int k, cluster_dist_t dist_func);
+
+/* Integral image functions */
+void imlib_integral_image_alloc(struct integral_image *sum, int w, int h);
+void imlib_integral_image_free(struct integral_image *sum);
+void imlib_integral_image(struct image *src, struct integral_image *sum);
+void imlib_integral_image_sq(struct image *src, struct integral_image *sum);
+void imlib_integral_image_scaled(struct image *src, struct integral_image *sum);
+uint32_t imlib_integral_lookup(struct integral_image *src, int x, int y, int w, int h);
+
+// Integral moving window
+void imlib_integral_mw_alloc(mw_image_t *sum, int w, int h);
+void imlib_integral_mw_free(mw_image_t *sum);
+void imlib_integral_mw_scale(rectangle_t *roi, mw_image_t *sum, int w, int h);
+void imlib_integral_mw(image_t *src, mw_image_t *sum);
+void imlib_integral_mw_sq(image_t *src, mw_image_t *sum);
+void imlib_integral_mw_shift(image_t *src, mw_image_t *sum, int n);
+void imlib_integral_mw_shift_sq(image_t *src, mw_image_t *sum, int n);
+void imlib_integral_mw_ss(image_t *src, mw_image_t *sum, mw_image_t *ssq, rectangle_t *roi);
+void imlib_integral_mw_shift_ss(image_t *src, mw_image_t *sum, mw_image_t *ssq, rectangle_t *roi, int n);
+long imlib_integral_mw_lookup(mw_image_t *sum, int x, int y, int w, int h);
+
+/* Haar/VJ */
+int imlib_load_cascade(struct cascade* cascade, const char *path);
+array_t *imlib_detect_objects(struct image *image, struct cascade *cascade, struct rectangle *roi);
+
+/* Corner detectors */
+void fast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t *roi);
+void agast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t *roi);
+
+/* ORB descriptor */
+array_t *orb_find_keypoints(image_t *image, bool normalized, int threshold,
+        float scale_factor, int max_keypoints, corner_detector_t corner_detector, rectangle_t *roi);
+int orb_match_keypoints(array_t *kpts1, array_t *kpts2, int *match, int threshold, rectangle_t *r, point_t *c, int *angle);
+int orb_filter_keypoints(array_t *kpts, rectangle_t *r, point_t *c);
+int orb_save_descriptor(FIL *fp, array_t *kpts);
+int orb_load_descriptor(FIL *fp, array_t *kpts);
+float orb_cluster_dist(int cx, int cy, void *kp);
+
+/* LBP Operator */
+uint8_t *imlib_lbp_desc(image_t *image, rectangle_t *roi);
+int imlib_lbp_desc_distance(uint8_t *d0, uint8_t *d1);
+int imlib_lbp_desc_save(FIL *fp, uint8_t *desc);
+int imlib_lbp_desc_load(FIL *fp, uint8_t **desc);
+
+/* Iris detector */
+void imlib_find_iris(image_t *src, point_t *iris, rectangle_t *roi);
+
+// Image filter functions
+void im_filter_bw(uint8_t *src, uint8_t *dst, int size, int bpp, void *args);
+void im_filter_skin(uint8_t *src, uint8_t *dst, int size, int bpp, void *args);
+
+// Edge detection
+void imlib_edge_simple(image_t *src, rectangle_t *roi, int low_thresh, int high_thresh);
+void imlib_edge_canny(image_t *src, rectangle_t *roi, int low_thresh, int high_thresh);
+
+// HoG
+void imlib_find_hog(image_t *src, rectangle_t *roi, int cell_size);
+
+// Helper Functions
+void imlib_zero(image_t *img, image_t *mask, bool invert);
+void imlib_draw_row_setup(imlib_draw_row_data_t *data);
+void imlib_draw_row_teardown(imlib_draw_row_data_t *data);
+#ifdef IMLIB_ENABLE_DMA2D
+void imlib_draw_row_deinit_all();
+#endif
+void *imlib_draw_row_get_row_buffer(imlib_draw_row_data_t *data);
+void imlib_draw_row_put_row_buffer(imlib_draw_row_data_t *data, void *row_buffer);
+void imlib_draw_row(int x_start, int x_end, int y_row, imlib_draw_row_data_t *data);
+bool imlib_draw_image_rectangle(image_t *dst_img, image_t *src_img, int dst_x_start, int dst_y_start, float x_scale, float y_scale, rectangle_t *roi,
+                                int alpha, const uint8_t *alpha_palette, image_hint_t hint,
+                                int *x0, int *x1, int *y0, int *y1);
+void imlib_flood_fill_int(image_t *out, image_t *img, int x, int y,
+                          int seed_threshold, int floating_threshold,
+                          flood_fill_call_back_t cb, void *data);
+// Drawing Functions
+int imlib_get_pixel(image_t *img, int x, int y);
+int imlib_get_pixel_fast(image_t *img, const void *row_ptr, int x);
+void imlib_set_pixel(image_t *img, int x, int y, int p);
+void imlib_draw_line(image_t *img, int x0, int y0, int x1, int y1, int c, int thickness);
+void imlib_draw_rectangle(image_t *img, int rx, int ry, int rw, int rh, int c, int thickness, bool fill);
+void imlib_draw_circle(image_t *img, int cx, int cy, int r, int c, int thickness, bool fill);
+void imlib_draw_ellipse(image_t *img, int cx, int cy, int rx, int ry, int rotation, int c, int thickness, bool fill);
+void imlib_draw_string(image_t *img, int x_off, int y_off, const char *str, int c, float scale, int x_spacing, int y_spacing, bool mono_space,
+                       int char_rotation, bool char_hmirror, bool char_vflip, int string_rotation, bool string_hmirror, bool string_hflip);
+void imlib_draw_image_fast(image_t *img, image_t *other, int x_off, int y_off, float x_scale, float y_scale, float alpha, image_t *mask);
+void imlib_draw_image(image_t *dst_img, image_t *src_img, int dst_x_start, int dst_y_start, float x_scale, float y_scale, rectangle_t *roi,
+                      int rgb_channel, int alpha, const uint16_t *color_palette, const uint8_t *alpha_palette, image_hint_t hint,
+                      imlib_draw_row_callback_t callback, void *dst_row_override);
+void imlib_flood_fill(image_t *img, int x, int y,
+                      float seed_threshold, float floating_threshold,
+                      int c, bool invert, bool clear_background, image_t *mask);
+void imlib_draw_cross(image_t *img, int x, int y, int c, int size, int thickness);
+// ISP Functions
+void imlib_awb(image_t *img, bool max);
+void imlib_ccm(image_t *img, float *ccm, bool offset);
+void imlib_gamma(image_t *img, float gamma, float scale, float offset);
+// Binary Functions
+void imlib_binary(image_t *out, image_t *img, list_t *thresholds, bool invert, bool zero, image_t *mask);
+void imlib_invert(image_t *img);
+void imlib_b_and(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_b_nand(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_b_or(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_b_nor(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_b_xor(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_b_xnor(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_erode(image_t *img, int ksize, int threshold, image_t *mask);
+void imlib_dilate(image_t *img, int ksize, int threshold, image_t *mask);
+void imlib_open(image_t *img, int ksize, int threshold, image_t *mask);
+void imlib_close(image_t *img, int ksize, int threshold, image_t *mask);
+void imlib_top_hat(image_t *img, int ksize, int threshold, image_t *mask);
+void imlib_black_hat(image_t *img, int ksize, int threshold, image_t *mask);
+// Math Functions
+void imlib_gamma_corr(image_t *img, float gamma, float scale, float offset);
+void imlib_negate(image_t *img);
+void imlib_replace(image_t *img, const char *path, image_t *other, int scalar, bool hmirror, bool vflip, bool transpose, image_t *mask);
+void imlib_add(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_sub(image_t *img, const char *path, image_t *other, int scalar, bool reverse, image_t *mask);
+void imlib_mul(image_t *img, const char *path, image_t *other, int scalar, bool invert, image_t *mask);
+void imlib_div(image_t *img, const char *path, image_t *other, int scalar, bool invert, bool mod, image_t *mask);
+void imlib_min(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_max(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_difference(image_t *img, const char *path, image_t *other, int scalar, image_t *mask);
+void imlib_blend(image_t *img, const char *path, image_t *other, int scalar, float alpha, image_t *mask);
+// Filtering Functions
+void imlib_histeq(image_t *img, image_t *mask);
+void imlib_clahe_histeq(image_t *img, float clip_limit, image_t *mask);
+void imlib_mean_filter(image_t *img, const int ksize, bool threshold, int offset, bool invert, image_t *mask);
+void imlib_median_filter(image_t *img, const int ksize, float percentile, bool threshold, int offset, bool invert, image_t *mask);
+void imlib_mode_filter(image_t *img, const int ksize, bool threshold, int offset, bool invert, image_t *mask);
+void imlib_midpoint_filter(image_t *img, const int ksize, float bias, bool threshold, int offset, bool invert, image_t *mask);
+void imlib_morph(image_t *img, const int ksize, const int *krn, const float m, const int b, bool threshold, int offset, bool invert, image_t *mask);
+void imlib_bilateral_filter(image_t *img, const int ksize, float color_sigma, float space_sigma, bool threshold, int offset, bool invert, image_t *mask);
+void imlib_cartoon_filter(image_t *img, float seed_threshold, float floating_threshold, image_t *mask);
+// Image Correction
+void imlib_logpolar_int(image_t *dst, image_t *src, rectangle_t *roi, bool linear, bool reverse); // helper/internal
+void imlib_logpolar(image_t *img, bool linear, bool reverse);
+// Lens/Rotation Correction
+void imlib_lens_corr(image_t *img, float strength, float zoom, float x_corr, float y_corr);
+void imlib_rotation_corr(image_t *img, float x_rotation, float y_rotation,
+                         float z_rotation, float x_translation, float y_translation,
+                         float zoom, float fov, float *corners);
+// Statistics
+void imlib_get_similarity(image_t *img, const char *path, image_t *other, int scalar, float *avg, float *std, float *min, float *max);
+void imlib_get_histogram(histogram_t *out, image_t *ptr, rectangle_t *roi, list_t *thresholds, bool invert, image_t *other);
+void imlib_get_percentile(percentile_t *out, pixformat_t pixfmt, histogram_t *ptr, float percentile);
+void imlib_get_threshold(threshold_t *out, pixformat_t pixfmt, histogram_t *ptr);
+void imlib_get_statistics(statistics_t *out, pixformat_t pixfmt, histogram_t *ptr);
+bool imlib_get_regression(find_lines_list_lnk_data_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                          list_t *thresholds, bool invert, unsigned int area_threshold, unsigned int pixels_threshold, bool robust);
+// Color Tracking
+void imlib_find_blobs(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                      list_t *thresholds, bool invert, unsigned int area_threshold, unsigned int pixels_threshold,
+                      bool merge, int margin,
+                      bool (*threshold_cb)(void*,find_blobs_list_lnk_data_t*), void *threshold_cb_arg,
+                      bool (*merge_cb)(void*,find_blobs_list_lnk_data_t*,find_blobs_list_lnk_data_t*), void *merge_cb_arg,
+                      unsigned int x_hist_bins_max, unsigned int y_hist_bins_max);
+// Shape Detection
+size_t trace_line(image_t *ptr, line_t *l, int *theta_buffer, uint32_t *mag_buffer, point_t *point_buffer); // helper/internal
+void merge_alot(list_t *out, int threshold, int theta_threshold); // helper/internal
+void imlib_find_lines(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                      uint32_t threshold, unsigned int theta_margin, unsigned int rho_margin);
+void imlib_lsd_find_line_segments(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int merge_distance, unsigned int max_theta_diff);
+void imlib_find_line_segments(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                              uint32_t threshold, unsigned int theta_margin, unsigned int rho_margin,
+                              uint32_t segment_threshold);
+void imlib_find_circles(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                        uint32_t threshold, unsigned int x_margin, unsigned int y_margin, unsigned int r_margin,
+                        unsigned int r_min, unsigned int r_max, unsigned int r_step);
+void imlib_find_rects(list_t *out, image_t *ptr, rectangle_t *roi,
+                      uint32_t threshold);
+// 1/2D Bar Codes
+void imlib_find_qrcodes(list_t *out, image_t *ptr, rectangle_t *roi);
+void custom_imlib_find_apriltags(list_t *out, image_t *ptr, rectangle_t *roi, apriltag_families_t families,
+                          float fx, float fy, float cx, float cy, int status);
+void imlib_find_apriltags(list_t *out, image_t *ptr, rectangle_t *roi, apriltag_families_t families,
+                          float fx, float fy, float cx, float cy);
+void imlib_find_datamatrices(list_t *out, image_t *ptr, rectangle_t *roi, int effort);
+void imlib_find_barcodes(list_t *out, image_t *ptr, rectangle_t *roi);
+// Template Matching
+void imlib_phasecorrelate(image_t *img0, image_t *img1, rectangle_t *roi0, rectangle_t *roi1, bool logpolar, bool fix_rotation_scale,
+                          float *x_translation, float *y_translation, float *rotation, float *scale, float *response);
+
+array_t *imlib_selective_search(image_t *src, float t, int min_size, float a1, float a2, float a3);
+
+
+// custem
+
+void imlib_find_domain(image_t* img, image_t** dst, float edge_gate);
+
+
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif //__IMLIB_H__
diff --git a/github_source/minicv2/include/imlib_config.h b/github_source/minicv2/include/imlib_config.h
new file mode 100644
index 0000000..81bf361
--- /dev/null
+++ b/github_source/minicv2/include/imlib_config.h
@@ -0,0 +1,177 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image library configuration.
+ */
+// #define IMLIB_CONFIG_H_FILE "costom_imlib_config.h"
+#ifdef IMLIB_CONFIG_H_FILE
+#include IMLIB_CONFIG_H_FILE
+#else
+#ifndef __IMLIB_CONFIG_H__
+#define __IMLIB_CONFIG_H__
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+// Enable Image I/O
+#define IMLIB_ENABLE_IMAGE_IO
+
+// Enable Image File I/O
+#define IMLIB_ENABLE_IMAGE_FILE_IO
+
+// Enable LAB LUT
+//#define IMLIB_ENABLE_LAB_LUT
+
+// Enable YUV LUT
+//#define IMLIB_ENABLE_YUV_LUT
+
+// Enable mean pooling
+#define IMLIB_ENABLE_MEAN_POOLING
+
+// Enable midpoint pooling
+#define IMLIB_ENABLE_MIDPOINT_POOLING
+
+// Enable binary ops
+#define IMLIB_ENABLE_BINARY_OPS
+
+// Enable math ops
+#define IMLIB_ENABLE_MATH_OPS
+
+// Enable flood_fill()
+#define IMLIB_ENABLE_FLOOD_FILL
+
+// Enable mean()
+#define IMLIB_ENABLE_MEAN
+
+// Enable median()
+#define IMLIB_ENABLE_MEDIAN
+
+// Enable mode()
+#define IMLIB_ENABLE_MODE
+
+// Enable midpoint()
+#define IMLIB_ENABLE_MIDPOINT
+
+// Enable morph()
+#define IMLIB_ENABLE_MORPH
+
+// Enable Gaussian
+#define IMLIB_ENABLE_GAUSSIAN
+
+// Enable Laplacian
+#define IMLIB_ENABLE_LAPLACIAN
+
+// Enable bilateral()
+#define IMLIB_ENABLE_BILATERAL
+
+// Enable cartoon()
+#define IMLIB_ENABLE_CARTOON
+
+// Enable linpolar()
+#define IMLIB_ENABLE_LINPOLAR
+
+// Enable logpolar()
+#define IMLIB_ENABLE_LOGPOLAR
+
+// Enable lens_corr()
+#define IMLIB_ENABLE_LENS_CORR
+
+// Enable find_apriltags() (64 KB)
+#define IMLIB_ENABLE_APRILTAGS
+
+// Enable fine find_apriltags() - (8-way connectivity versus 4-way connectivity)
+// #define IMLIB_ENABLE_FINE_APRILTAGS
+
+// Enable high res find_apriltags() - uses more RAM
+// #define IMLIB_ENABLE_HIGH_RES_APRILTAGS
+
+// Enable rotation_corr()
+#if defined(IMLIB_ENABLE_APRILTAGS)
+#define IMLIB_ENABLE_ROTATION_CORR
+#endif
+
+// Enable phasecorrelate()
+#if defined(IMLIB_ENABLE_ROTATION_CORR)
+#define IMLIB_ENABLE_FIND_DISPLACEMENT
+#endif
+
+// Enable find_rects()
+#if defined(IMLIB_ENABLE_ROTATION_CORR)
+#define IMLIB_ENABLE_FIND_RECTS
+#endif
+
+// Enable get_similarity()
+#define IMLIB_ENABLE_GET_SIMILARITY
+
+// Enable find_lines()
+#define IMLIB_ENABLE_FIND_LINES
+
+// Enable find_line_segments()
+#define IMLIB_ENABLE_FIND_LINE_SEGMENTS
+
+// Enable find_circles()
+#define IMLIB_ENABLE_FIND_CIRCLES
+
+
+// Enable find_qrcodes() (14 KB)
+#define IMLIB_ENABLE_QRCODES
+
+
+// Enable find_datamatrices() (26 KB)
+#define IMLIB_ENABLE_DATAMATRICES
+
+// Enable find_barcodes() (42 KB)
+#define IMLIB_ENABLE_BARCODES
+
+// Enable CMSIS NN
+// #if !defined(CUBEAI)
+// #define IMLIB_ENABLE_CNN
+// #endif
+
+// Enable Tensor Flow
+#if !defined(CUBEAI)
+#define IMLIB_ENABLE_TF
+#endif
+
+// Enable FAST (20+ KBs).
+#define IMLIB_ENABLE_FAST
+
+// Enable find_template()
+#define IMLIB_FIND_TEMPLATE
+
+// Enable find_lbp()
+// #define IMLIB_ENABLE_FIND_LBP
+
+// Enable find_keypoints()
+#define IMLIB_ENABLE_FIND_KEYPOINTS
+
+// Enable load, save and match descriptor
+#define IMLIB_ENABLE_DESCRIPTOR
+
+// Enable find_hog()
+//#define IMLIB_ENABLE_HOG
+
+// Enable selective_search()
+#define IMLIB_ENABLE_SELECTIVE_SEARCH
+
+// Enable STM32 DMA2D
+// #define IMLIB_ENABLE_DMA2D
+
+// Enable PRINT
+#define IMLIB_ENABLE_PRINT
+
+// FB Heap Block Size
+#define OMV_UMM_BLOCK_SIZE      256
+
+#define OMV_FB_ALLOC_SIZE       (4 * 1024 * 1024)       // minimum fb alloc size
+
+#ifdef __cplusplus
+}
+#endif
+#endif //__IMLIB_CONFIG_H__
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/include/imlib_io.h b/github_source/minicv2/include/imlib_io.h
new file mode 100644
index 0000000..745a46f
--- /dev/null
+++ b/github_source/minicv2/include/imlib_io.h
@@ -0,0 +1,59 @@
+#ifndef __IMLIB_IO__
+#define __IMLIB_IO__
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+
+int imlib_printf(int level, char *fmt, ...);
+void imlib_set_print_out_level(int le);
+
+
+
+#define DEBUG_PRINT(fmt, ...) do{\
+		imlib_printf(4,fmt"  [DEBUG:%s:%d] [%s]\n", ##__VA_ARGS__, __FILE__, __LINE__, __FUNCTION__);\
+}while(0);
+
+#define LOG_PRINT(fmt, ...) do{\
+		imlib_printf(3,fmt"  [LOG] [%s]\n", ##__VA_ARGS__, __FUNCTION__);\
+}while(0);
+
+#define INFO_PRINT(fmt, ...) do{\
+		imlib_printf(2,fmt"  [INFO]\n", ##__VA_ARGS__);\
+}while(0);
+
+#define WORN_PRINT(fmt, ...) do{\
+		imlib_printf(1,fmt"  [WORN:%s:%d] [%s]\n", ##__VA_ARGS__, __FILE__, __LINE__, __FUNCTION__);\
+}while(0);
+
+
+#define ERR_PRINT(fmt, ...) do{\
+		imlib_printf(0, fmt"  [ERR:%s:%d] [%s]\n", ##__VA_ARGS__, __FILE__, __LINE__, __FUNCTION__);\
+}while(0);
+
+
+void imlib_printf_image_info(void *img);
+
+
+#define IMLIB_2_MAIX(img) \
+({\
+	const libmaix_image_mode_t __tmp_mode[4] = {LIBMAIX_IMAGE_MODE_GRAY, LIBMAIX_IMAGE_MODE_GRAY, LIBMAIX_IMAGE_MODE_RGB565, LIBMAIX_IMAGE_MODE_RGB888};\
+	libmaix_image_create(img->w, img->h, __tmp_mode[img->bpp], LIBMAIX_IMAGE_LAYOUT_HWC, img->data, false);\
+})
+
+
+#define MAIX_2_IMLIB(img) \
+({\
+	const pixformat_t __tmp_mode[5] = {PIXFORMAT_GRAYSCALE, PIXFORMAT_GRAYSCALE, PIXFORMAT_GRAYSCALE, PIXFORMAT_RGB888, PIXFORMAT_RGB565};\
+	imlib_image_create(img->width, img->height, __tmp_mode[img->mode], img->width * img->height * (__tmp_mode[img->mode] & 0xff), img->data, false);\
+})
+
+#ifdef __cplusplus
+}
+#endif
+#endif // __IMLIB_IO__
+
+
+
+
diff --git a/github_source/minicv2/include/ini.h b/github_source/minicv2/include/ini.h
new file mode 100644
index 0000000..4693323
--- /dev/null
+++ b/github_source/minicv2/include/ini.h
@@ -0,0 +1,164 @@
+#ifdef ENABLE_OPENMV_INI
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Initialization file parser.
+ * inih library is released under the New BSD license (see LICENSE.txt).
+ * For more details see the following: https://github.com/benhoyt/inih
+ */
+#ifndef __INI_H__
+#define __INI_H__
+
+
+
+/* Make this header file easier to include in C++ code */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int ini_atoi(const char *string);
+bool ini_is_true(const char *value);
+
+#include "ff_wrapper.h"
+
+/* Nonzero if ini_handler callback should accept lineno parameter. */
+#ifndef INI_HANDLER_LINENO
+#define INI_HANDLER_LINENO 0
+#endif
+
+/* Typedef for prototype of handler function. */
+#if INI_HANDLER_LINENO
+typedef int (*ini_handler)(void* user, const char* section,
+                           const char* name, const char* value,
+                           int lineno);
+#else
+typedef int (*ini_handler)(void* user, const char* section,
+                           const char* name, const char* value);
+#endif
+
+/* Typedef for prototype of fgets-style reader function. */
+typedef char* (*ini_reader)(char* str, int num, void* stream);
+
+/* Parse given INI-style file. May have [section]s, name=value pairs
+   (whitespace stripped), and comments starting with ';' (semicolon). Section
+   is "" if name=value pair parsed before any section heading. name:value
+   pairs are also supported as a concession to Python's configparser.
+
+   For each name=value pair parsed, call handler function with given user
+   pointer as well as section, name, and value (data only valid for duration
+   of handler call). Handler should return nonzero on success, zero on error.
+
+   Returns 0 on success, line number of first error on parse error (doesn't
+   stop on first error), -1 on file open error, or -2 on memory allocation
+   error (only when INI_USE_STACK is zero).
+*/
+int ini_parse(FATFS *fs, const char* filename, ini_handler handler, void* user);
+
+/* Same as ini_parse(), but takes a FIL* instead of filename. This doesn't
+   close the file when it's finished -- the caller must do that. */
+int ini_parse_file(FIL* file, ini_handler handler, void* user);
+
+/* Same as ini_parse(), but takes an ini_reader function pointer instead of
+   filename. Used for implementing custom or string-based I/O (see also
+   ini_parse_string). */
+int ini_parse_stream(ini_reader reader, void* stream, ini_handler handler,
+                     void* user);
+
+/* Same as ini_parse(), but takes a zero-terminated string with the INI data
+instead of a file. Useful for parsing INI data from a network socket or
+already in memory. */
+int ini_parse_string(const char* string, ini_handler handler, void* user);
+
+/* Nonzero to allow multi-line value parsing, in the style of Python's
+   configparser. If allowed, ini_parse() will call the handler with the same
+   name for each subsequent line parsed. */
+#ifndef INI_ALLOW_MULTILINE
+#define INI_ALLOW_MULTILINE 1
+#endif
+
+/* Nonzero to allow a UTF-8 BOM sequence (0xEF 0xBB 0xBF) at the start of
+   the file. See http://code.google.com/p/inih/issues/detail?id=21 */
+#ifndef INI_ALLOW_BOM
+#define INI_ALLOW_BOM 1
+#endif
+
+/* Nonzero to allow inline comments (with valid inline comment characters
+   specified by INI_INLINE_COMMENT_PREFIXES). Set to 0 to turn off and match
+   Python 3.2+ configparser behaviour. */
+#ifndef INI_ALLOW_INLINE_COMMENTS
+#define INI_ALLOW_INLINE_COMMENTS 1
+#endif
+#ifndef INI_INLINE_COMMENT_PREFIXES
+#define INI_INLINE_COMMENT_PREFIXES ";"
+#endif
+
+/* Nonzero to use stack for line buffer, zero to use heap (malloc/free). */
+#ifndef INI_USE_STACK
+#define INI_USE_STACK 1
+#endif
+
+/* Maximum line length for any line in INI file (stack or heap). Note that
+   this must be 3 more than the longest line (due to '\r', '\n', and '\0'). */
+#ifndef INI_MAX_LINE
+#define INI_MAX_LINE 200
+#endif
+
+/* Nonzero to allow heap line buffer to grow via realloc(), zero for a
+   fixed-size buffer of INI_MAX_LINE bytes. Only applies if INI_USE_STACK is
+   zero. */
+#ifndef INI_ALLOW_REALLOC
+#define INI_ALLOW_REALLOC 0
+#endif
+
+/* Initial size in bytes for heap line buffer. Only applies if INI_USE_STACK
+   is zero. */
+#ifndef INI_INITIAL_ALLOC
+#define INI_INITIAL_ALLOC 200
+#endif
+
+/* Stop parsing on first error (default is to keep parsing). */
+#ifndef INI_STOP_ON_FIRST_ERROR
+#define INI_STOP_ON_FIRST_ERROR 0
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __INI_H__ */
+
+#else
+/**
+ * Copyright (c) 2016 rxi
+ *
+ * This library is free software; you can redistribute it and/or modify it
+ * under the terms of the MIT license. See `ini.c` for details.
+ */
+
+
+
+#ifndef INI_H
+#define INI_H
+
+#define INI_VERSION "0.1.1"
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+typedef struct ini_t ini_t;
+
+ini_t*      ini_load(const char *filename);
+void        ini_free(ini_t *ini);
+const char* ini_get(ini_t *ini, const char *section, const char *key);
+int         ini_sget(ini_t *ini, const char *section, const char *key, const char *scanfmt, void *dst);
+#ifdef __cplusplus
+}
+#endif
+#endif
+
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/include/lodepng.h b/github_source/minicv2/include/lodepng.h
new file mode 100644
index 0000000..ad4903f
--- /dev/null
+++ b/github_source/minicv2/include/lodepng.h
@@ -0,0 +1,2026 @@
+/*
+LodePNG version 20220109
+
+Copyright (c) 2005-2022 Lode Vandevenne
+
+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.
+*/
+
+#ifndef LODEPNG_H
+#define LODEPNG_H
+
+#include <string.h> /*for size_t*/
+#include "imlib.h"
+
+extern const char* LODEPNG_VERSION_STRING;
+
+/*
+The following #defines are used to create code sections. They can be disabled
+to disable code sections, which can give faster compile time and smaller binary.
+The "NO_COMPILE" defines are designed to be used to pass as defines to the
+compiler command to disable them without modifying this header, e.g.
+-DLODEPNG_NO_COMPILE_ZLIB for gcc.
+In addition to those below, you can also define LODEPNG_NO_COMPILE_CRC to
+allow implementing a custom lodepng_crc32.
+*/
+/*deflate & zlib. If disabled, you must specify alternative zlib functions in
+the custom_zlib field of the compress and decompress settings*/
+#ifndef LODEPNG_NO_COMPILE_ZLIB
+#define LODEPNG_COMPILE_ZLIB
+#endif
+
+/*png encoder and png decoder*/
+#ifndef LODEPNG_NO_COMPILE_PNG
+#define LODEPNG_COMPILE_PNG
+#endif
+
+/*deflate&zlib decoder and png decoder*/
+#ifdef IMLIB_ENABLE_PNG_DECODER
+#define LODEPNG_COMPILE_DECODER
+#endif
+
+/*deflate&zlib encoder and png encoder*/
+#ifdef IMLIB_ENABLE_PNG_ENCODER
+#define LODEPNG_COMPILE_ENCODER
+#endif
+
+/*the optional built in harddisk file loading and saving functions*/
+#ifndef LODEPNG_NO_COMPILE_DISK
+//#define LODEPNG_COMPILE_DISK
+#endif
+
+/*support for chunks other than IHDR, IDAT, PLTE, tRNS, IEND: ancillary and unknown chunks*/
+#ifndef LODEPNG_NO_COMPILE_ANCILLARY_CHUNKS
+#define LODEPNG_COMPILE_ANCILLARY_CHUNKS
+#endif
+
+/*ability to convert error numerical codes to English text string*/
+#ifndef LODEPNG_NO_COMPILE_ERROR_TEXT
+#define LODEPNG_COMPILE_ERROR_TEXT
+#endif
+
+/*Compile the default allocators (C's free, malloc and realloc). If you disable this,
+you can define the functions lodepng_free, lodepng_malloc and lodepng_realloc in your
+source files with custom allocators.*/
+#ifndef LODEPNG_NO_COMPILE_ALLOCATORS
+//#define LODEPNG_COMPILE_ALLOCATORS
+#endif
+
+/*compile the C++ version (you can disable the C++ wrapper here even when compiling for C++)*/
+#ifdef __cplusplus
+#ifndef LODEPNG_NO_COMPILE_CPP
+#define LODEPNG_COMPILE_CPP
+#endif
+#endif
+
+#ifdef LODEPNG_COMPILE_CPP
+#include <vector>
+#include <string>
+#endif /*LODEPNG_COMPILE_CPP*/
+
+#ifdef LODEPNG_COMPILE_PNG
+/*The PNG color types (also used for raw image).*/
+typedef enum LodePNGColorType {
+  LCT_GREY = 0, /*grayscale: 1,2,4,8,16 bit*/
+  LCT_RGB = 2, /*RGB: 8,16 bit*/
+  LCT_PALETTE = 3, /*palette: 1,2,4,8 bit*/
+  LCT_GREY_ALPHA = 4, /*grayscale with alpha: 8,16 bit*/
+  LCT_RGBA = 6, /*RGB with alpha: 8,16 bit*/
+  LCT_CUSTOM = 7,
+  /*LCT_MAX_OCTET_VALUE lets the compiler allow this enum to represent any invalid
+  byte value from 0 to 255 that could be present in an invalid PNG file header. Do
+  not use, compare with or set the name LCT_MAX_OCTET_VALUE, instead either use
+  the valid color type names above, or numeric values like 1 or 7 when checking for
+  particular disallowed color type byte values, or cast to integer to print it.*/
+  LCT_MAX_OCTET_VALUE = 255
+} LodePNGColorType;
+
+#ifdef LODEPNG_COMPILE_DECODER
+/*
+Converts PNG data in memory to raw pixel data.
+out: Output parameter. Pointer to buffer that will contain the raw pixel data.
+     After decoding, its size is w * h * (bytes per pixel) bytes larger than
+     initially. Bytes per pixel depends on colortype and bitdepth.
+     Must be freed after usage with free(*out).
+     Note: for 16-bit per channel colors, uses big endian format like PNG does.
+w: Output parameter. Pointer to width of pixel data.
+h: Output parameter. Pointer to height of pixel data.
+in: Memory buffer with the PNG file.
+insize: size of the in buffer.
+colortype: the desired color type for the raw output image. See explanation on PNG color types.
+bitdepth: the desired bit depth for the raw output image. See explanation on PNG color types.
+Return value: LodePNG error code (0 means no error).
+*/
+unsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h,
+                               const unsigned char* in, size_t insize,
+                               LodePNGColorType colortype, unsigned bitdepth);
+
+/*Same as lodepng_decode_memory, but always decodes to 32-bit RGBA raw image*/
+unsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h,
+                          const unsigned char* in, size_t insize);
+
+/*Same as lodepng_decode_memory, but always decodes to 24-bit RGB raw image*/
+unsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h,
+                          const unsigned char* in, size_t insize);
+
+#ifdef LODEPNG_COMPILE_DISK
+/*
+Load PNG from disk, from file with given name.
+Same as the other decode functions, but instead takes a filename as input.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory.*/
+unsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h,
+                             const char* filename,
+                             LodePNGColorType colortype, unsigned bitdepth);
+
+/*Same as lodepng_decode_file, but always decodes to 32-bit RGBA raw image.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory.*/
+unsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h,
+                               const char* filename);
+
+/*Same as lodepng_decode_file, but always decodes to 24-bit RGB raw image.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory.*/
+unsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h,
+                               const char* filename);
+#endif /*LODEPNG_COMPILE_DISK*/
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/*
+Converts raw pixel data into a PNG image in memory. The colortype and bitdepth
+  of the output PNG image cannot be chosen, they are automatically determined
+  by the colortype, bitdepth and content of the input pixel data.
+  Note: for 16-bit per channel colors, needs big endian format like PNG does.
+out: Output parameter. Pointer to buffer that will contain the PNG image data.
+     Must be freed after usage with free(*out).
+outsize: Output parameter. Pointer to the size in bytes of the out buffer.
+image: The raw pixel data to encode. The size of this buffer should be
+       w * h * (bytes per pixel), bytes per pixel depends on colortype and bitdepth.
+w: width of the raw pixel data in pixels.
+h: height of the raw pixel data in pixels.
+colortype: the color type of the raw input image. See explanation on PNG color types.
+bitdepth: the bit depth of the raw input image. See explanation on PNG color types.
+Return value: LodePNG error code (0 means no error).
+*/
+unsigned lodepng_encode_memory(unsigned char** out, size_t* outsize,
+                               const unsigned char* image, unsigned w, unsigned h,
+                               LodePNGColorType colortype, unsigned bitdepth);
+
+/*Same as lodepng_encode_memory, but always encodes from 32-bit RGBA raw image.*/
+unsigned lodepng_encode32(unsigned char** out, size_t* outsize,
+                          const unsigned char* image, unsigned w, unsigned h);
+
+/*Same as lodepng_encode_memory, but always encodes from 24-bit RGB raw image.*/
+unsigned lodepng_encode24(unsigned char** out, size_t* outsize,
+                          const unsigned char* image, unsigned w, unsigned h);
+
+#ifdef LODEPNG_COMPILE_DISK
+/*
+Converts raw pixel data into a PNG file on disk.
+Same as the other encode functions, but instead takes a filename as output.
+
+NOTE: This overwrites existing files without warning!
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and encode in-memory.*/
+unsigned lodepng_encode_file(const char* filename,
+                             const unsigned char* image, unsigned w, unsigned h,
+                             LodePNGColorType colortype, unsigned bitdepth);
+
+/*Same as lodepng_encode_file, but always encodes from 32-bit RGBA raw image.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and encode in-memory.*/
+unsigned lodepng_encode32_file(const char* filename,
+                               const unsigned char* image, unsigned w, unsigned h);
+
+/*Same as lodepng_encode_file, but always encodes from 24-bit RGB raw image.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and encode in-memory.*/
+unsigned lodepng_encode24_file(const char* filename,
+                               const unsigned char* image, unsigned w, unsigned h);
+#endif /*LODEPNG_COMPILE_DISK*/
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+
+#ifdef LODEPNG_COMPILE_CPP
+namespace lodepng {
+#ifdef LODEPNG_COMPILE_DECODER
+/*Same as lodepng_decode_memory, but decodes to an std::vector. The colortype
+is the format to output the pixels to. Default is RGBA 8-bit per channel.*/
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                const unsigned char* in, size_t insize,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                const std::vector<unsigned char>& in,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+#ifdef LODEPNG_COMPILE_DISK
+/*
+Converts PNG file from disk to raw pixel data in memory.
+Same as the other decode functions, but instead takes a filename as input.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory.
+*/
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                const std::string& filename,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+#endif /* LODEPNG_COMPILE_DISK */
+#endif /* LODEPNG_COMPILE_DECODER */
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/*Same as lodepng_encode_memory, but encodes to an std::vector. colortype
+is that of the raw input data. The output PNG color type will be auto chosen.*/
+unsigned encode(std::vector<unsigned char>& out,
+                const unsigned char* in, unsigned w, unsigned h,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+unsigned encode(std::vector<unsigned char>& out,
+                const std::vector<unsigned char>& in, unsigned w, unsigned h,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+#ifdef LODEPNG_COMPILE_DISK
+/*
+Converts 32-bit RGBA raw pixel data into a PNG file on disk.
+Same as the other encode functions, but instead takes a filename as output.
+
+NOTE: This overwrites existing files without warning!
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory.
+*/
+unsigned encode(const std::string& filename,
+                const unsigned char* in, unsigned w, unsigned h,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+unsigned encode(const std::string& filename,
+                const std::vector<unsigned char>& in, unsigned w, unsigned h,
+                LodePNGColorType colortype = LCT_RGBA, unsigned bitdepth = 8);
+#endif /* LODEPNG_COMPILE_DISK */
+#endif /* LODEPNG_COMPILE_ENCODER */
+} /* namespace lodepng */
+#endif /*LODEPNG_COMPILE_CPP*/
+#endif /*LODEPNG_COMPILE_PNG*/
+
+#ifdef LODEPNG_COMPILE_ERROR_TEXT
+/*Returns an English description of the numerical error code.*/
+const char* lodepng_error_text(unsigned code);
+#endif /*LODEPNG_COMPILE_ERROR_TEXT*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+/*Settings for zlib decompression*/
+typedef struct LodePNGDecompressSettings LodePNGDecompressSettings;
+struct LodePNGDecompressSettings {
+  /* Check LodePNGDecoderSettings for more ignorable errors such as ignore_crc */
+  unsigned ignore_adler32; /*if 1, continue and don't give an error message if the Adler32 checksum is corrupted*/
+  unsigned ignore_nlen; /*ignore complement of len checksum in uncompressed blocks*/
+
+  /*Maximum decompressed size, beyond this the decoder may (and is encouraged to) stop decoding,
+  return an error, output a data size > max_output_size and all the data up to that point. This is
+  not hard limit nor a guarantee, but can prevent excessive memory usage. This setting is
+  ignored by the PNG decoder, but is used by the deflate/zlib decoder and can be used by custom ones.
+  Set to 0 to impose no limit (the default).*/
+  size_t max_output_size;
+
+  /*use custom zlib decoder instead of built in one (default: null).
+  Should return 0 if success, any non-0 if error (numeric value not exposed).*/
+  unsigned (*custom_zlib)(unsigned char**, size_t*,
+                          const unsigned char*, size_t,
+                          const LodePNGDecompressSettings*);
+  /*use custom deflate decoder instead of built in one (default: null)
+  if custom_zlib is not null, custom_inflate is ignored (the zlib format uses deflate).
+  Should return 0 if success, any non-0 if error (numeric value not exposed).*/
+  unsigned (*custom_inflate)(unsigned char**, size_t*,
+                             const unsigned char*, size_t,
+                             const LodePNGDecompressSettings*);
+
+  const void* custom_context; /*optional custom settings for custom functions*/
+};
+
+extern const LodePNGDecompressSettings lodepng_default_decompress_settings;
+void lodepng_decompress_settings_init(LodePNGDecompressSettings* settings);
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/*
+Settings for zlib compression. Tweaking these settings tweaks the balance
+between speed and compression ratio.
+*/
+typedef struct LodePNGCompressSettings LodePNGCompressSettings;
+struct LodePNGCompressSettings /*deflate = compress*/ {
+  /*LZ77 related settings*/
+  unsigned btype; /*the block type for LZ (0, 1, 2 or 3, see zlib standard). Should be 2 for proper compression.*/
+  unsigned use_lz77; /*whether or not to use LZ77. Should be 1 for proper compression.*/
+  unsigned windowsize; /*must be a power of two <= 32768. higher compresses more but is slower. Default value: 2048.*/
+  unsigned minmatch; /*minimum lz77 length. 3 is normally best, 6 can be better for some PNGs. Default: 0*/
+  unsigned nicematch; /*stop searching if >= this length found. Set to 258 for best compression. Default: 128*/
+  unsigned lazymatching; /*use lazy matching: better compression but a bit slower. Default: true*/
+
+  /*use custom zlib encoder instead of built in one (default: null)*/
+  unsigned (*custom_zlib)(unsigned char**, size_t*,
+                          const unsigned char*, size_t,
+                          const LodePNGCompressSettings*);
+  /*use custom deflate encoder instead of built in one (default: null)
+  if custom_zlib is used, custom_deflate is ignored since only the built in
+  zlib function will call custom_deflate*/
+  unsigned (*custom_deflate)(unsigned char**, size_t*,
+                             const unsigned char*, size_t,
+                             const LodePNGCompressSettings*);
+
+  const void* custom_context; /*optional custom settings for custom functions*/
+};
+
+extern const LodePNGCompressSettings lodepng_default_compress_settings;
+void lodepng_compress_settings_init(LodePNGCompressSettings* settings);
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+#ifdef LODEPNG_COMPILE_PNG
+/*
+Color mode of an image. Contains all information required to decode the pixel
+bits to RGBA colors. This information is the same as used in the PNG file
+format, and is used both for PNG and raw image data in LodePNG.
+*/
+typedef struct LodePNGColorMode {
+  /*header (IHDR)*/
+  LodePNGColorType colortype; /*color type, see PNG standard or documentation further in this header file*/
+  unsigned customfmt;
+  unsigned bitdepth;  /*bits per sample, see PNG standard or documentation further in this header file*/
+
+  /*
+  palette (PLTE and tRNS)
+
+  Dynamically allocated with the colors of the palette, including alpha.
+  This field may not be allocated directly, use lodepng_color_mode_init first,
+  then lodepng_palette_add per color to correctly initialize it (to ensure size
+  of exactly 1024 bytes).
+
+  The alpha channels must be set as well, set them to 255 for opaque images.
+
+  When decoding, by default you can ignore this palette, since LodePNG already
+  fills the palette colors in the pixels of the raw RGBA output.
+
+  The palette is only supported for color type 3.
+  */
+  unsigned char* palette; /*palette in RGBARGBA... order. Must be either 0, or when allocated must have 1024 bytes*/
+  size_t palettesize; /*palette size in number of colors (amount of used bytes is 4 * palettesize)*/
+
+  /*
+  transparent color key (tRNS)
+
+  This color uses the same bit depth as the bitdepth value in this struct, which can be 1-bit to 16-bit.
+  For grayscale PNGs, r, g and b will all 3 be set to the same.
+
+  When decoding, by default you can ignore this information, since LodePNG sets
+  pixels with this key to transparent already in the raw RGBA output.
+
+  The color key is only supported for color types 0 and 2.
+  */
+  unsigned key_defined; /*is a transparent color key given? 0 = false, 1 = true*/
+  unsigned key_r;       /*red/grayscale component of color key*/
+  unsigned key_g;       /*green component of color key*/
+  unsigned key_b;       /*blue component of color key*/
+} LodePNGColorMode;
+
+/*init, cleanup and copy functions to use with this struct*/
+void lodepng_color_mode_init(LodePNGColorMode* info);
+void lodepng_color_mode_cleanup(LodePNGColorMode* info);
+/*return value is error code (0 means no error)*/
+unsigned lodepng_color_mode_copy(LodePNGColorMode* dest, const LodePNGColorMode* source);
+/* Makes a temporary LodePNGColorMode that does not need cleanup (no palette) */
+LodePNGColorMode lodepng_color_mode_make(LodePNGColorType colortype, unsigned bitdepth);
+
+void lodepng_palette_clear(LodePNGColorMode* info);
+/*add 1 color to the palette*/
+unsigned lodepng_palette_add(LodePNGColorMode* info,
+                             unsigned char r, unsigned char g, unsigned char b, unsigned char a);
+
+/*get the total amount of bits per pixel, based on colortype and bitdepth in the struct*/
+unsigned lodepng_get_bpp(const LodePNGColorMode* info);
+/*get the amount of color channels used, based on colortype in the struct.
+If a palette is used, it counts as 1 channel.*/
+unsigned lodepng_get_channels(const LodePNGColorMode* info);
+/*is it a grayscale type? (only colortype 0 or 4)*/
+unsigned lodepng_is_greyscale_type(const LodePNGColorMode* info);
+/*has it got an alpha channel? (only colortype 2 or 6)*/
+unsigned lodepng_is_alpha_type(const LodePNGColorMode* info);
+/*has it got a palette? (only colortype 3)*/
+unsigned lodepng_is_palette_type(const LodePNGColorMode* info);
+/*only returns true if there is a palette and there is a value in the palette with alpha < 255.
+Loops through the palette to check this.*/
+unsigned lodepng_has_palette_alpha(const LodePNGColorMode* info);
+/*
+Check if the given color info indicates the possibility of having non-opaque pixels in the PNG image.
+Returns true if the image can have translucent or invisible pixels (it still be opaque if it doesn't use such pixels).
+Returns false if the image can only have opaque pixels.
+In detail, it returns true only if it's a color type with alpha, or has a palette with non-opaque values,
+or if "key_defined" is true.
+*/
+unsigned lodepng_can_have_alpha(const LodePNGColorMode* info);
+/*Returns the byte size of a raw image buffer with given width, height and color mode*/
+size_t lodepng_get_raw_size(unsigned w, unsigned h, const LodePNGColorMode* color);
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+/*The information of a Time chunk in PNG.*/
+typedef struct LodePNGTime {
+  unsigned year;    /*2 bytes used (0-65535)*/
+  unsigned month;   /*1-12*/
+  unsigned day;     /*1-31*/
+  unsigned hour;    /*0-23*/
+  unsigned minute;  /*0-59*/
+  unsigned second;  /*0-60 (to allow for leap seconds)*/
+} LodePNGTime;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+/*Information about the PNG image, except pixels, width and height.*/
+typedef struct LodePNGInfo {
+  /*header (IHDR), palette (PLTE) and transparency (tRNS) chunks*/
+  unsigned compression_method;/*compression method of the original file. Always 0.*/
+  unsigned filter_method;     /*filter method of the original file*/
+  unsigned interlace_method;  /*interlace method of the original file: 0=none, 1=Adam7*/
+  LodePNGColorMode color;     /*color type and bits, palette and transparency of the PNG file*/
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  /*
+  Suggested background color chunk (bKGD)
+
+  This uses the same color mode and bit depth as the PNG (except no alpha channel),
+  with values truncated to the bit depth in the unsigned integer.
+
+  For grayscale and palette PNGs, the value is stored in background_r. The values
+  in background_g and background_b are then unused.
+
+  So when decoding, you may get these in a different color mode than the one you requested
+  for the raw pixels.
+
+  When encoding with auto_convert, you must use the color model defined in info_png.color for
+  these values. The encoder normally ignores info_png.color when auto_convert is on, but will
+  use it to interpret these values (and convert copies of them to its chosen color model).
+
+  When encoding, avoid setting this to an expensive color, such as a non-gray value
+  when the image is gray, or the compression will be worse since it will be forced to
+  write the PNG with a more expensive color mode (when auto_convert is on).
+
+  The decoder does not use this background color to edit the color of pixels. This is a
+  completely optional metadata feature.
+  */
+  unsigned background_defined; /*is a suggested background color given?*/
+  unsigned background_r;       /*red/gray/palette component of suggested background color*/
+  unsigned background_g;       /*green component of suggested background color*/
+  unsigned background_b;       /*blue component of suggested background color*/
+
+  /*
+  Non-international text chunks (tEXt and zTXt)
+
+  The char** arrays each contain num strings. The actual messages are in
+  text_strings, while text_keys are keywords that give a short description what
+  the actual text represents, e.g. Title, Author, Description, or anything else.
+
+  All the string fields below including strings, keys, names and language tags are null terminated.
+  The PNG specification uses null characters for the keys, names and tags, and forbids null
+  characters to appear in the main text which is why we can use null termination everywhere here.
+
+  A keyword is minimum 1 character and maximum 79 characters long (plus the
+  additional null terminator). It's discouraged to use a single line length
+  longer than 79 characters for texts.
+
+  Don't allocate these text buffers yourself. Use the init/cleanup functions
+  correctly and use lodepng_add_text and lodepng_clear_text.
+
+  Standard text chunk keywords and strings are encoded using Latin-1.
+  */
+  size_t text_num; /*the amount of texts in these char** buffers (there may be more texts in itext)*/
+  char** text_keys; /*the keyword of a text chunk (e.g. "Comment")*/
+  char** text_strings; /*the actual text*/
+
+  /*
+  International text chunks (iTXt)
+  Similar to the non-international text chunks, but with additional strings
+  "langtags" and "transkeys", and the following text encodings are used:
+  keys: Latin-1, langtags: ASCII, transkeys and strings: UTF-8.
+  keys must be 1-79 characters (plus the additional null terminator), the other
+  strings are any length.
+  */
+  size_t itext_num; /*the amount of international texts in this PNG*/
+  char** itext_keys; /*the English keyword of the text chunk (e.g. "Comment")*/
+  char** itext_langtags; /*language tag for this text's language, ISO/IEC 646 string, e.g. ISO 639 language tag*/
+  char** itext_transkeys; /*keyword translated to the international language - UTF-8 string*/
+  char** itext_strings; /*the actual international text - UTF-8 string*/
+
+  /*time chunk (tIME)*/
+  unsigned time_defined; /*set to 1 to make the encoder generate a tIME chunk*/
+  LodePNGTime time;
+
+  /*phys chunk (pHYs)*/
+  unsigned phys_defined; /*if 0, there is no pHYs chunk and the values below are undefined, if 1 else there is one*/
+  unsigned phys_x; /*pixels per unit in x direction*/
+  unsigned phys_y; /*pixels per unit in y direction*/
+  unsigned phys_unit; /*may be 0 (unknown unit) or 1 (metre)*/
+
+  /*
+  Color profile related chunks: gAMA, cHRM, sRGB, iCPP
+
+  LodePNG does not apply any color conversions on pixels in the encoder or decoder and does not interpret these color
+  profile values. It merely passes on the information. If you wish to use color profiles and convert colors, please
+  use these values with a color management library.
+
+  See the PNG, ICC and sRGB specifications for more information about the meaning of these values.
+  */
+
+  /* gAMA chunk: optional, overridden by sRGB or iCCP if those are present. */
+  unsigned gama_defined; /* Whether a gAMA chunk is present (0 = not present, 1 = present). */
+  unsigned gama_gamma;   /* Gamma exponent times 100000 */
+
+  /* cHRM chunk: optional, overridden by sRGB or iCCP if those are present. */
+  unsigned chrm_defined; /* Whether a cHRM chunk is present (0 = not present, 1 = present). */
+  unsigned chrm_white_x; /* White Point x times 100000 */
+  unsigned chrm_white_y; /* White Point y times 100000 */
+  unsigned chrm_red_x;   /* Red x times 100000 */
+  unsigned chrm_red_y;   /* Red y times 100000 */
+  unsigned chrm_green_x; /* Green x times 100000 */
+  unsigned chrm_green_y; /* Green y times 100000 */
+  unsigned chrm_blue_x;  /* Blue x times 100000 */
+  unsigned chrm_blue_y;  /* Blue y times 100000 */
+
+  /*
+  sRGB chunk: optional. May not appear at the same time as iCCP.
+  If gAMA is also present gAMA must contain value 45455.
+  If cHRM is also present cHRM must contain respectively 31270,32900,64000,33000,30000,60000,15000,6000.
+  */
+  unsigned srgb_defined; /* Whether an sRGB chunk is present (0 = not present, 1 = present). */
+  unsigned srgb_intent;  /* Rendering intent: 0=perceptual, 1=rel. colorimetric, 2=saturation, 3=abs. colorimetric */
+
+  /*
+  iCCP chunk: optional. May not appear at the same time as sRGB.
+
+  LodePNG does not parse or use the ICC profile (except its color space header field for an edge case), a
+  separate library to handle the ICC data (not included in LodePNG) format is needed to use it for color
+  management and conversions.
+
+  For encoding, if iCCP is present, gAMA and cHRM are recommended to be added as well with values that match the ICC
+  profile as closely as possible, if you wish to do this you should provide the correct values for gAMA and cHRM and
+  enable their '_defined' flags since LodePNG will not automatically compute them from the ICC profile.
+
+  For encoding, the ICC profile is required by the PNG specification to be an "RGB" profile for non-gray
+  PNG color types and a "GRAY" profile for gray PNG color types. If you disable auto_convert, you must ensure
+  the ICC profile type matches your requested color type, else the encoder gives an error. If auto_convert is
+  enabled (the default), and the ICC profile is not a good match for the pixel data, this will result in an encoder
+  error if the pixel data has non-gray pixels for a GRAY profile, or a silent less-optimal compression of the pixel
+  data if the pixels could be encoded as grayscale but the ICC profile is RGB.
+
+  To avoid this do not set an ICC profile in the image unless there is a good reason for it, and when doing so
+  make sure you compute it carefully to avoid the above problems.
+  */
+  unsigned iccp_defined;      /* Whether an iCCP chunk is present (0 = not present, 1 = present). */
+  char* iccp_name;            /* Null terminated string with profile name, 1-79 bytes */
+  /*
+  The ICC profile in iccp_profile_size bytes.
+  Don't allocate this buffer yourself. Use the init/cleanup functions
+  correctly and use lodepng_set_icc and lodepng_clear_icc.
+  */
+  unsigned char* iccp_profile;
+  unsigned iccp_profile_size; /* The size of iccp_profile in bytes */
+
+  /* End of color profile related chunks */
+
+
+  /*
+  unknown chunks: chunks not known by LodePNG, passed on byte for byte.
+
+  There are 3 buffers, one for each position in the PNG where unknown chunks can appear.
+  Each buffer contains all unknown chunks for that position consecutively.
+  The 3 positions are:
+  0: between IHDR and PLTE, 1: between PLTE and IDAT, 2: between IDAT and IEND.
+
+  For encoding, do not store critical chunks or known chunks that are enabled with a "_defined" flag
+  above in here, since the encoder will blindly follow this and could then encode an invalid PNG file
+  (such as one with two IHDR chunks or the disallowed combination of sRGB with iCCP). But do use
+  this if you wish to store an ancillary chunk that is not supported by LodePNG (such as sPLT or hIST),
+  or any non-standard PNG chunk.
+
+  Do not allocate or traverse this data yourself. Use the chunk traversing functions declared
+  later, such as lodepng_chunk_next and lodepng_chunk_append, to read/write this struct.
+  */
+  unsigned char* unknown_chunks_data[3];
+  size_t unknown_chunks_size[3]; /*size in bytes of the unknown chunks, given for protection*/
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+} LodePNGInfo;
+
+/*init, cleanup and copy functions to use with this struct*/
+void lodepng_info_init(LodePNGInfo* info);
+void lodepng_info_cleanup(LodePNGInfo* info);
+/*return value is error code (0 means no error)*/
+unsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source);
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+unsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str); /*push back both texts at once*/
+void lodepng_clear_text(LodePNGInfo* info); /*use this to clear the texts again after you filled them in*/
+
+unsigned lodepng_add_itext(LodePNGInfo* info, const char* key, const char* langtag,
+                           const char* transkey, const char* str); /*push back the 4 texts of 1 chunk at once*/
+void lodepng_clear_itext(LodePNGInfo* info); /*use this to clear the itexts again after you filled them in*/
+
+/*replaces if exists*/
+unsigned lodepng_set_icc(LodePNGInfo* info, const char* name, const unsigned char* profile, unsigned profile_size);
+void lodepng_clear_icc(LodePNGInfo* info); /*use this to clear the texts again after you filled them in*/
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+/*
+Converts raw buffer from one color type to another color type, based on
+LodePNGColorMode structs to describe the input and output color type.
+See the reference manual at the end of this header file to see which color conversions are supported.
+return value = LodePNG error code (0 if all went ok, an error if the conversion isn't supported)
+The out buffer must have size (w * h * bpp + 7) / 8, where bpp is the bits per pixel
+of the output color type (lodepng_get_bpp).
+For < 8 bpp images, there should not be padding bits at the end of scanlines.
+For 16-bit per channel colors, uses big endian format like PNG does.
+Return value is LodePNG error code
+*/
+unsigned lodepng_convert(unsigned char* out, const unsigned char* in,
+                         const LodePNGColorMode* mode_out, const LodePNGColorMode* mode_in,
+                         unsigned w, unsigned h);
+
+#ifdef LODEPNG_COMPILE_DECODER
+/*
+Settings for the decoder. This contains settings for the PNG and the Zlib
+decoder, but not the Info settings from the Info structs.
+*/
+typedef struct LodePNGDecoderSettings {
+  LodePNGDecompressSettings zlibsettings; /*in here is the setting to ignore Adler32 checksums*/
+
+  /* Check LodePNGDecompressSettings for more ignorable errors such as ignore_adler32 */
+  unsigned ignore_crc; /*ignore CRC checksums*/
+  unsigned ignore_critical; /*ignore unknown critical chunks*/
+  unsigned ignore_end; /*ignore issues at end of file if possible (missing IEND chunk, too large chunk, ...)*/
+  /* TODO: make a system involving warnings with levels and a strict mode instead. Other potentially recoverable
+     errors: srgb rendering intent value, size of content of ancillary chunks, more than 79 characters for some
+     strings, placement/combination rules for ancillary chunks, crc of unknown chunks, allowed characters
+     in string keys, etc... */
+
+  unsigned color_convert; /*whether to convert the PNG to the color type you want. Default: yes*/
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  unsigned read_text_chunks; /*if false but remember_unknown_chunks is true, they're stored in the unknown chunks*/
+
+  /*store all bytes from unknown chunks in the LodePNGInfo (off by default, useful for a png editor)*/
+  unsigned remember_unknown_chunks;
+
+  /* maximum size for decompressed text chunks. If a text chunk's text is larger than this, an error is returned,
+  unless reading text chunks is disabled or this limit is set higher or disabled. Set to 0 to allow any size.
+  By default it is a value that prevents unreasonably large strings from hogging memory. */
+  size_t max_text_size;
+
+  /* maximum size for compressed ICC chunks. If the ICC profile is larger than this, an error will be returned. Set to
+  0 to allow any size. By default this is a value that prevents ICC profiles that would be much larger than any
+  legitimate profile could be to hog memory. */
+  size_t max_icc_size;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+} LodePNGDecoderSettings;
+
+void lodepng_decoder_settings_init(LodePNGDecoderSettings* settings);
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/*automatically use color type with less bits per pixel if losslessly possible. Default: AUTO*/
+typedef enum LodePNGFilterStrategy {
+  /*every filter at zero*/
+  LFS_ZERO = 0,
+  /*every filter at 1, 2, 3 or 4 (paeth), unlike LFS_ZERO not a good choice, but for testing*/
+  LFS_ONE = 1,
+  LFS_TWO = 2,
+  LFS_THREE = 3,
+  LFS_FOUR = 4,
+  /*Use filter that gives minimum sum, as described in the official PNG filter heuristic.*/
+  LFS_MINSUM,
+  /*Use the filter type that gives smallest Shannon entropy for this scanline. Depending
+  on the image, this is better or worse than minsum.*/
+  LFS_ENTROPY,
+  /*
+  Brute-force-search PNG filters by compressing each filter for each scanline.
+  Experimental, very slow, and only rarely gives better compression than MINSUM.
+  */
+  LFS_BRUTE_FORCE,
+  /*use predefined_filters buffer: you specify the filter type for each scanline*/
+  LFS_PREDEFINED
+} LodePNGFilterStrategy;
+
+/*Gives characteristics about the integer RGBA colors of the image (count, alpha channel usage, bit depth, ...),
+which helps decide which color model to use for encoding.
+Used internally by default if "auto_convert" is enabled. Public because it's useful for custom algorithms.*/
+typedef struct LodePNGColorStats {
+  unsigned colored; /*not grayscale*/
+  unsigned key; /*image is not opaque and color key is possible instead of full alpha*/
+  unsigned short key_r; /*key values, always as 16-bit, in 8-bit case the byte is duplicated, e.g. 65535 means 255*/
+  unsigned short key_g;
+  unsigned short key_b;
+  unsigned alpha; /*image is not opaque and alpha channel or alpha palette required*/
+  unsigned numcolors; /*amount of colors, up to 257. Not valid if bits == 16 or allow_palette is disabled.*/
+  unsigned char palette[1024]; /*Remembers up to the first 256 RGBA colors, in no particular order, only valid when numcolors is valid*/
+  unsigned bits; /*bits per channel (not for palette). 1,2 or 4 for grayscale only. 16 if 16-bit per channel required.*/
+  size_t numpixels;
+
+  /*user settings for computing/using the stats*/
+  unsigned allow_palette; /*default 1. if 0, disallow choosing palette colortype in auto_choose_color, and don't count numcolors*/
+  unsigned allow_greyscale; /*default 1. if 0, choose RGB or RGBA even if the image only has gray colors*/
+} LodePNGColorStats;
+
+void lodepng_color_stats_init(LodePNGColorStats* stats);
+
+/*Get a LodePNGColorStats of the image. The stats must already have been inited.
+Returns error code (e.g. alloc fail) or 0 if ok.*/
+unsigned lodepng_compute_color_stats(LodePNGColorStats* stats,
+                                     const unsigned char* image, unsigned w, unsigned h,
+                                     const LodePNGColorMode* mode_in);
+
+/*Settings for the encoder.*/
+typedef struct LodePNGEncoderSettings {
+  LodePNGCompressSettings zlibsettings; /*settings for the zlib encoder, such as window size, ...*/
+
+  unsigned auto_convert; /*automatically choose output PNG color type. Default: true*/
+
+  /*If true, follows the official PNG heuristic: if the PNG uses a palette or lower than
+  8 bit depth, set all filters to zero. Otherwise use the filter_strategy. Note that to
+  completely follow the official PNG heuristic, filter_palette_zero must be true and
+  filter_strategy must be LFS_MINSUM*/
+  unsigned filter_palette_zero;
+  /*Which filter strategy to use when not using zeroes due to filter_palette_zero.
+  Set filter_palette_zero to 0 to ensure always using your chosen strategy. Default: LFS_MINSUM*/
+  LodePNGFilterStrategy filter_strategy;
+  /*used if filter_strategy is LFS_PREDEFINED. In that case, this must point to a buffer with
+  the same length as the amount of scanlines in the image, and each value must <= 5. You
+  have to cleanup this buffer, LodePNG will never free it. Don't forget that filter_palette_zero
+  must be set to 0 to ensure this is also used on palette or low bitdepth images.*/
+  const unsigned char* predefined_filters;
+
+  /*force creating a PLTE chunk if colortype is 2 or 6 (= a suggested palette).
+  If colortype is 3, PLTE is _always_ created.*/
+  unsigned force_palette;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  /*add LodePNG identifier and version as a text chunk, for debugging*/
+  unsigned add_id;
+  /*encode text chunks as zTXt chunks instead of tEXt chunks, and use compression in iTXt chunks*/
+  unsigned text_compression;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+} LodePNGEncoderSettings;
+
+void lodepng_encoder_settings_init(LodePNGEncoderSettings* settings);
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+
+#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER)
+/*The settings, state and information for extended encoding and decoding.*/
+typedef struct LodePNGState {
+#ifdef LODEPNG_COMPILE_DECODER
+  LodePNGDecoderSettings decoder; /*the decoding settings*/
+#endif /*LODEPNG_COMPILE_DECODER*/
+#ifdef LODEPNG_COMPILE_ENCODER
+  LodePNGEncoderSettings encoder; /*the encoding settings*/
+#endif /*LODEPNG_COMPILE_ENCODER*/
+  LodePNGColorMode info_raw; /*specifies the format in which you would like to get the raw pixel buffer*/
+  LodePNGInfo info_png; /*info of the PNG image obtained after decoding*/
+  unsigned error;  
+  /* Callback for custom color format conversion */
+  unsigned (*lodepng_convert) (unsigned char* out, const unsigned char* in,
+          const LodePNGColorMode* mode_out, const LodePNGColorMode* mode_in, unsigned w, unsigned h);
+} LodePNGState;
+
+/*init, cleanup and copy functions to use with this struct*/
+void lodepng_state_init(LodePNGState* state);
+void lodepng_state_cleanup(LodePNGState* state);
+void lodepng_state_copy(LodePNGState* dest, const LodePNGState* source);
+#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */
+
+#ifdef LODEPNG_COMPILE_DECODER
+/*
+Same as lodepng_decode_memory, but uses a LodePNGState to allow custom settings and
+getting much more information about the PNG image and color mode.
+*/
+unsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h,
+                        LodePNGState* state,
+                        const unsigned char* in, size_t insize);
+
+/*
+Read the PNG header, but not the actual data. This returns only the information
+that is in the IHDR chunk of the PNG, such as width, height and color type. The
+information is placed in the info_png field of the LodePNGState.
+*/
+unsigned lodepng_inspect(unsigned* w, unsigned* h,
+                         LodePNGState* state,
+                         const unsigned char* in, size_t insize);
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+/*
+Reads one metadata chunk (other than IHDR) of the PNG file and outputs what it
+read in the state. Returns error code on failure.
+Use lodepng_inspect first with a new state, then e.g. lodepng_chunk_find_const
+to find the desired chunk type, and if non null use lodepng_inspect_chunk (with
+chunk_pointer - start_of_file as pos).
+Supports most metadata chunks from the PNG standard (gAMA, bKGD, tEXt, ...).
+Ignores unsupported, unknown, non-metadata or IHDR chunks (without error).
+Requirements: &in[pos] must point to start of a chunk, must use regular
+lodepng_inspect first since format of most other chunks depends on IHDR, and if
+there is a PLTE chunk, that one must be inspected before tRNS or bKGD.
+*/
+unsigned lodepng_inspect_chunk(LodePNGState* state, size_t pos,
+                               const unsigned char* in, size_t insize);
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/*This function allocates the out buffer with standard malloc and stores the size in *outsize.*/
+unsigned lodepng_encode(unsigned char** out, size_t* outsize,
+                        const unsigned char* image, unsigned w, unsigned h,
+                        LodePNGState* state);
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+/*
+The lodepng_chunk functions are normally not needed, except to traverse the
+unknown chunks stored in the LodePNGInfo struct, or add new ones to it.
+It also allows traversing the chunks of an encoded PNG file yourself.
+
+The chunk pointer always points to the beginning of the chunk itself, that is
+the first byte of the 4 length bytes.
+
+In the PNG file format, chunks have the following format:
+-4 bytes length: length of the data of the chunk in bytes (chunk itself is 12 bytes longer)
+-4 bytes chunk type (ASCII a-z,A-Z only, see below)
+-length bytes of data (may be 0 bytes if length was 0)
+-4 bytes of CRC, computed on chunk name + data
+
+The first chunk starts at the 8th byte of the PNG file, the entire rest of the file
+exists out of concatenated chunks with the above format.
+
+PNG standard chunk ASCII naming conventions:
+-First byte: uppercase = critical, lowercase = ancillary
+-Second byte: uppercase = public, lowercase = private
+-Third byte: must be uppercase
+-Fourth byte: uppercase = unsafe to copy, lowercase = safe to copy
+*/
+
+/*
+Gets the length of the data of the chunk. Total chunk length has 12 bytes more.
+There must be at least 4 bytes to read from. If the result value is too large,
+it may be corrupt data.
+*/
+unsigned lodepng_chunk_length(const unsigned char* chunk);
+
+/*puts the 4-byte type in null terminated string*/
+void lodepng_chunk_type(char type[5], const unsigned char* chunk);
+
+/*check if the type is the given type*/
+unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type);
+
+/*0: it's one of the critical chunk types, 1: it's an ancillary chunk (see PNG standard)*/
+unsigned char lodepng_chunk_ancillary(const unsigned char* chunk);
+
+/*0: public, 1: private (see PNG standard)*/
+unsigned char lodepng_chunk_private(const unsigned char* chunk);
+
+/*0: the chunk is unsafe to copy, 1: the chunk is safe to copy (see PNG standard)*/
+unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk);
+
+/*get pointer to the data of the chunk, where the input points to the header of the chunk*/
+unsigned char* lodepng_chunk_data(unsigned char* chunk);
+const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk);
+
+/*returns 0 if the crc is correct, 1 if it's incorrect (0 for OK as usual!)*/
+unsigned lodepng_chunk_check_crc(const unsigned char* chunk);
+
+/*generates the correct CRC from the data and puts it in the last 4 bytes of the chunk*/
+void lodepng_chunk_generate_crc(unsigned char* chunk);
+
+/*
+Iterate to next chunks, allows iterating through all chunks of the PNG file.
+Input must be at the beginning of a chunk (result of a previous lodepng_chunk_next call,
+or the 8th byte of a PNG file which always has the first chunk), or alternatively may
+point to the first byte of the PNG file (which is not a chunk but the magic header, the
+function will then skip over it and return the first real chunk).
+Will output pointer to the start of the next chunk, or at or beyond end of the file if there
+is no more chunk after this or possibly if the chunk is corrupt.
+Start this process at the 8th byte of the PNG file.
+In a non-corrupt PNG file, the last chunk should have name "IEND".
+*/
+unsigned char* lodepng_chunk_next(unsigned char* chunk, unsigned char* end);
+const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk, const unsigned char* end);
+
+/*Finds the first chunk with the given type in the range [chunk, end), or returns NULL if not found.*/
+unsigned char* lodepng_chunk_find(unsigned char* chunk, unsigned char* end, const char type[5]);
+const unsigned char* lodepng_chunk_find_const(const unsigned char* chunk, const unsigned char* end, const char type[5]);
+
+/*
+Appends chunk to the data in out. The given chunk should already have its chunk header.
+The out variable and outsize are updated to reflect the new reallocated buffer.
+Returns error code (0 if it went ok)
+*/
+unsigned lodepng_chunk_append(unsigned char** out, size_t* outsize, const unsigned char* chunk);
+
+/*
+Appends new chunk to out. The chunk to append is given by giving its length, type
+and data separately. The type is a 4-letter string.
+The out variable and outsize are updated to reflect the new reallocated buffer.
+Returne error code (0 if it went ok)
+*/
+unsigned lodepng_chunk_create(unsigned char** out, size_t* outsize, unsigned length,
+                              const char* type, const unsigned char* data);
+
+
+/*Calculate CRC32 of buffer*/
+unsigned lodepng_crc32(const unsigned char* buf, size_t len);
+#endif /*LODEPNG_COMPILE_PNG*/
+
+
+#ifdef LODEPNG_COMPILE_ZLIB
+/*
+This zlib part can be used independently to zlib compress and decompress a
+buffer. It cannot be used to create gzip files however, and it only supports the
+part of zlib that is required for PNG, it does not support dictionaries.
+*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+/*Inflate a buffer. Inflate is the decompression step of deflate. Out buffer must be freed after use.*/
+unsigned lodepng_inflate(unsigned char** out, size_t* outsize,
+                         const unsigned char* in, size_t insize,
+                         const LodePNGDecompressSettings* settings);
+
+/*
+Decompresses Zlib data. Reallocates the out buffer and appends the data. The
+data must be according to the zlib specification.
+Either, *out must be NULL and *outsize must be 0, or, *out must be a valid
+buffer and *outsize its size in bytes. out must be freed by user after usage.
+*/
+unsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize,
+                                 const unsigned char* in, size_t insize,
+                                 const LodePNGDecompressSettings* settings);
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/*
+Compresses data with Zlib. Reallocates the out buffer and appends the data.
+Zlib adds a small header and trailer around the deflate data.
+The data is output in the format of the zlib specification.
+Either, *out must be NULL and *outsize must be 0, or, *out must be a valid
+buffer and *outsize its size in bytes. out must be freed by user after usage.
+*/
+unsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize,
+                               const unsigned char* in, size_t insize,
+                               const LodePNGCompressSettings* settings);
+
+/*
+Find length-limited Huffman code for given frequencies. This function is in the
+public interface only for tests, it's used internally by lodepng_deflate.
+*/
+unsigned lodepng_huffman_code_lengths(unsigned* lengths, const unsigned* frequencies,
+                                      size_t numcodes, unsigned maxbitlen);
+
+/*Compress a buffer with deflate. See RFC 1951. Out buffer must be freed after use.*/
+unsigned lodepng_deflate(unsigned char** out, size_t* outsize,
+                         const unsigned char* in, size_t insize,
+                         const LodePNGCompressSettings* settings);
+
+#endif /*LODEPNG_COMPILE_ENCODER*/
+#endif /*LODEPNG_COMPILE_ZLIB*/
+
+#ifdef LODEPNG_COMPILE_DISK
+/*
+Load a file from disk into buffer. The function allocates the out buffer, and
+after usage you should free it.
+out: output parameter, contains pointer to loaded buffer.
+outsize: output parameter, size of the allocated out buffer
+filename: the path to the file to load
+return value: error code (0 means ok)
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory.
+*/
+unsigned lodepng_load_file(unsigned char** out, size_t* outsize, const char* filename);
+
+/*
+Save a file from buffer to disk. Warning, if it exists, this function overwrites
+the file without warning!
+buffer: the buffer to write
+buffersize: size of the buffer to write
+filename: the path to the file to save to
+return value: error code (0 means ok)
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and encode in-memory
+*/
+unsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize, const char* filename);
+#endif /*LODEPNG_COMPILE_DISK*/
+
+#ifdef LODEPNG_COMPILE_CPP
+/* The LodePNG C++ wrapper uses std::vectors instead of manually allocated memory buffers. */
+namespace lodepng {
+#ifdef LODEPNG_COMPILE_PNG
+class State : public LodePNGState {
+  public:
+    State();
+    State(const State& other);
+    ~State();
+    State& operator=(const State& other);
+};
+
+#ifdef LODEPNG_COMPILE_DECODER
+/* Same as other lodepng::decode, but using a State for more settings and information. */
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                State& state,
+                const unsigned char* in, size_t insize);
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                State& state,
+                const std::vector<unsigned char>& in);
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/* Same as other lodepng::encode, but using a State for more settings and information. */
+unsigned encode(std::vector<unsigned char>& out,
+                const unsigned char* in, unsigned w, unsigned h,
+                State& state);
+unsigned encode(std::vector<unsigned char>& out,
+                const std::vector<unsigned char>& in, unsigned w, unsigned h,
+                State& state);
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+#ifdef LODEPNG_COMPILE_DISK
+/*
+Load a file from disk into an std::vector.
+return value: error code (0 means ok)
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and decode in-memory
+*/
+unsigned load_file(std::vector<unsigned char>& buffer, const std::string& filename);
+
+/*
+Save the binary data in an std::vector to a file on disk. The file is overwritten
+without warning.
+
+NOTE: Wide-character filenames are not supported, you can use an external method
+to handle such files and encode in-memory
+*/
+unsigned save_file(const std::vector<unsigned char>& buffer, const std::string& filename);
+#endif /* LODEPNG_COMPILE_DISK */
+#endif /* LODEPNG_COMPILE_PNG */
+
+#ifdef LODEPNG_COMPILE_ZLIB
+#ifdef LODEPNG_COMPILE_DECODER
+/* Zlib-decompress an unsigned char buffer */
+unsigned decompress(std::vector<unsigned char>& out, const unsigned char* in, size_t insize,
+                    const LodePNGDecompressSettings& settings = lodepng_default_decompress_settings);
+
+/* Zlib-decompress an std::vector */
+unsigned decompress(std::vector<unsigned char>& out, const std::vector<unsigned char>& in,
+                    const LodePNGDecompressSettings& settings = lodepng_default_decompress_settings);
+#endif /* LODEPNG_COMPILE_DECODER */
+
+#ifdef LODEPNG_COMPILE_ENCODER
+/* Zlib-compress an unsigned char buffer */
+unsigned compress(std::vector<unsigned char>& out, const unsigned char* in, size_t insize,
+                  const LodePNGCompressSettings& settings = lodepng_default_compress_settings);
+
+/* Zlib-compress an std::vector */
+unsigned compress(std::vector<unsigned char>& out, const std::vector<unsigned char>& in,
+                  const LodePNGCompressSettings& settings = lodepng_default_compress_settings);
+#endif /* LODEPNG_COMPILE_ENCODER */
+#endif /* LODEPNG_COMPILE_ZLIB */
+} /* namespace lodepng */
+#endif /*LODEPNG_COMPILE_CPP*/
+
+/*
+TODO:
+[.] test if there are no memory leaks or security exploits - done a lot but needs to be checked often
+[.] check compatibility with various compilers  - done but needs to be redone for every newer version
+[X] converting color to 16-bit per channel types
+[X] support color profile chunk types (but never let them touch RGB values by default)
+[ ] support all public PNG chunk types (almost done except sBIT, sPLT and hIST)
+[ ] make sure encoder generates no chunks with size > (2^31)-1
+[ ] partial decoding (stream processing)
+[X] let the "isFullyOpaque" function check color keys and transparent palettes too
+[X] better name for the variables "codes", "codesD", "codelengthcodes", "clcl" and "lldl"
+[ ] allow treating some errors like warnings, when image is recoverable (e.g. 69, 57, 58)
+[ ] make warnings like: oob palette, checksum fail, data after iend, wrong/unknown crit chunk, no null terminator in text, ...
+[ ] error messages with line numbers (and version)
+[ ] errors in state instead of as return code?
+[ ] new errors/warnings like suspiciously big decompressed ztxt or iccp chunk
+[ ] let the C++ wrapper catch exceptions coming from the standard library and return LodePNG error codes
+[ ] allow user to provide custom color conversion functions, e.g. for premultiplied alpha, padding bits or not, ...
+[ ] allow user to give data (void*) to custom allocator
+[X] provide alternatives for C library functions not present on some platforms (memcpy, ...)
+*/
+
+#endif /*LODEPNG_H inclusion guard*/
+
+/*
+LodePNG Documentation
+---------------------
+
+0. table of contents
+--------------------
+
+  1. about
+   1.1. supported features
+   1.2. features not supported
+  2. C and C++ version
+  3. security
+  4. decoding
+  5. encoding
+  6. color conversions
+    6.1. PNG color types
+    6.2. color conversions
+    6.3. padding bits
+    6.4. A note about 16-bits per channel and endianness
+  7. error values
+  8. chunks and PNG editing
+  9. compiler support
+  10. examples
+   10.1. decoder C++ example
+   10.2. decoder C example
+  11. state settings reference
+  12. changes
+  13. contact information
+
+
+1. about
+--------
+
+PNG is a file format to store raster images losslessly with good compression,
+supporting different color types and alpha channel.
+
+LodePNG is a PNG codec according to the Portable Network Graphics (PNG)
+Specification (Second Edition) - W3C Recommendation 10 November 2003.
+
+The specifications used are:
+
+*) Portable Network Graphics (PNG) Specification (Second Edition):
+     http://www.w3.org/TR/2003/REC-PNG-20031110
+*) RFC 1950 ZLIB Compressed Data Format version 3.3:
+     http://www.gzip.org/zlib/rfc-zlib.html
+*) RFC 1951 DEFLATE Compressed Data Format Specification ver 1.3:
+     http://www.gzip.org/zlib/rfc-deflate.html
+
+The most recent version of LodePNG can currently be found at
+http://lodev.org/lodepng/
+
+LodePNG works both in C (ISO C90) and C++, with a C++ wrapper that adds
+extra functionality.
+
+LodePNG exists out of two files:
+-lodepng.h: the header file for both C and C++
+-lodepng.c(pp): give it the name lodepng.c or lodepng.cpp (or .cc) depending on your usage
+
+If you want to start using LodePNG right away without reading this doc, get the
+examples from the LodePNG website to see how to use it in code, or check the
+smaller examples in chapter 13 here.
+
+LodePNG is simple but only supports the basic requirements. To achieve
+simplicity, the following design choices were made: There are no dependencies
+on any external library. There are functions to decode and encode a PNG with
+a single function call, and extended versions of these functions taking a
+LodePNGState struct allowing to specify or get more information. By default
+the colors of the raw image are always RGB or RGBA, no matter what color type
+the PNG file uses. To read and write files, there are simple functions to
+convert the files to/from buffers in memory.
+
+This all makes LodePNG suitable for loading textures in games, demos and small
+programs, ... It's less suitable for full fledged image editors, loading PNGs
+over network (it requires all the image data to be available before decoding can
+begin), life-critical systems, ...
+
+1.1. supported features
+-----------------------
+
+The following features are supported by the decoder:
+
+*) decoding of PNGs with any color type, bit depth and interlace mode, to a 24- or 32-bit color raw image,
+   or the same color type as the PNG
+*) encoding of PNGs, from any raw image to 24- or 32-bit color, or the same color type as the raw image
+*) Adam7 interlace and deinterlace for any color type
+*) loading the image from harddisk or decoding it from a buffer from other sources than harddisk
+*) support for alpha channels, including RGBA color model, translucent palettes and color keying
+*) zlib decompression (inflate)
+*) zlib compression (deflate)
+*) CRC32 and ADLER32 checksums
+*) colorimetric color profile conversions: currently experimentally available in lodepng_util.cpp only,
+   plus alternatively ability to pass on chroma/gamma/ICC profile information to other color management system.
+*) handling of unknown chunks, allowing making a PNG editor that stores custom and unknown chunks.
+*) the following chunks are supported by both encoder and decoder:
+    IHDR: header information
+    PLTE: color palette
+    IDAT: pixel data
+    IEND: the final chunk
+    tRNS: transparency for palettized images
+    tEXt: textual information
+    zTXt: compressed textual information
+    iTXt: international textual information
+    bKGD: suggested background color
+    pHYs: physical dimensions
+    tIME: modification time
+    cHRM: RGB chromaticities
+    gAMA: RGB gamma correction
+    iCCP: ICC color profile
+    sRGB: rendering intent
+
+1.2. features not supported
+---------------------------
+
+The following features are _not_ supported:
+
+*) some features needed to make a conformant PNG-Editor might be still missing.
+*) partial loading/stream processing. All data must be available and is processed in one call.
+*) The following public chunks are not (yet) supported but treated as unknown chunks by LodePNG:
+    sBIT
+    hIST
+    sPLT
+
+
+2. C and C++ version
+--------------------
+
+The C version uses buffers allocated with alloc that you need to free()
+yourself. You need to use init and cleanup functions for each struct whenever
+using a struct from the C version to avoid exploits and memory leaks.
+
+The C++ version has extra functions with std::vectors in the interface and the
+lodepng::State class which is a LodePNGState with constructor and destructor.
+
+These files work without modification for both C and C++ compilers because all
+the additional C++ code is in "#ifdef __cplusplus" blocks that make C-compilers
+ignore it, and the C code is made to compile both with strict ISO C90 and C++.
+
+To use the C++ version, you need to rename the source file to lodepng.cpp
+(instead of lodepng.c), and compile it with a C++ compiler.
+
+To use the C version, you need to rename the source file to lodepng.c (instead
+of lodepng.cpp), and compile it with a C compiler.
+
+
+3. Security
+-----------
+
+Even if carefully designed, it's always possible that LodePNG contains possible
+exploits. If you discover one, please let me know, and it will be fixed.
+
+When using LodePNG, care has to be taken with the C version of LodePNG, as well
+as the C-style structs when working with C++. The following conventions are used
+for all C-style structs:
+
+-if a struct has a corresponding init function, always call the init function when making a new one
+-if a struct has a corresponding cleanup function, call it before the struct disappears to avoid memory leaks
+-if a struct has a corresponding copy function, use the copy function instead of "=".
+ The destination must also be inited already.
+
+
+4. Decoding
+-----------
+
+Decoding converts a PNG compressed image to a raw pixel buffer.
+
+Most documentation on using the decoder is at its declarations in the header
+above. For C, simple decoding can be done with functions such as
+lodepng_decode32, and more advanced decoding can be done with the struct
+LodePNGState and lodepng_decode. For C++, all decoding can be done with the
+various lodepng::decode functions, and lodepng::State can be used for advanced
+features.
+
+When using the LodePNGState, it uses the following fields for decoding:
+*) LodePNGInfo info_png: it stores extra information about the PNG (the input) in here
+*) LodePNGColorMode info_raw: here you can say what color mode of the raw image (the output) you want to get
+*) LodePNGDecoderSettings decoder: you can specify a few extra settings for the decoder to use
+
+LodePNGInfo info_png
+--------------------
+
+After decoding, this contains extra information of the PNG image, except the actual
+pixels, width and height because these are already gotten directly from the decoder
+functions.
+
+It contains for example the original color type of the PNG image, text comments,
+suggested background color, etc... More details about the LodePNGInfo struct are
+at its declaration documentation.
+
+LodePNGColorMode info_raw
+-------------------------
+
+When decoding, here you can specify which color type you want
+the resulting raw image to be. If this is different from the colortype of the
+PNG, then the decoder will automatically convert the result. This conversion
+always works, except if you want it to convert a color PNG to grayscale or to
+a palette with missing colors.
+
+By default, 32-bit color is used for the result.
+
+LodePNGDecoderSettings decoder
+------------------------------
+
+The settings can be used to ignore the errors created by invalid CRC and Adler32
+chunks, and to disable the decoding of tEXt chunks.
+
+There's also a setting color_convert, true by default. If false, no conversion
+is done, the resulting data will be as it was in the PNG (after decompression)
+and you'll have to puzzle the colors of the pixels together yourself using the
+color type information in the LodePNGInfo.
+
+
+5. Encoding
+-----------
+
+Encoding converts a raw pixel buffer to a PNG compressed image.
+
+Most documentation on using the encoder is at its declarations in the header
+above. For C, simple encoding can be done with functions such as
+lodepng_encode32, and more advanced decoding can be done with the struct
+LodePNGState and lodepng_encode. For C++, all encoding can be done with the
+various lodepng::encode functions, and lodepng::State can be used for advanced
+features.
+
+Like the decoder, the encoder can also give errors. However it gives less errors
+since the encoder input is trusted, the decoder input (a PNG image that could
+be forged by anyone) is not trusted.
+
+When using the LodePNGState, it uses the following fields for encoding:
+*) LodePNGInfo info_png: here you specify how you want the PNG (the output) to be.
+*) LodePNGColorMode info_raw: here you say what color type of the raw image (the input) has
+*) LodePNGEncoderSettings encoder: you can specify a few settings for the encoder to use
+
+LodePNGInfo info_png
+--------------------
+
+When encoding, you use this the opposite way as when decoding: for encoding,
+you fill in the values you want the PNG to have before encoding. By default it's
+not needed to specify a color type for the PNG since it's automatically chosen,
+but it's possible to choose it yourself given the right settings.
+
+The encoder will not always exactly match the LodePNGInfo struct you give,
+it tries as close as possible. Some things are ignored by the encoder. The
+encoder uses, for example, the following settings from it when applicable:
+colortype and bitdepth, text chunks, time chunk, the color key, the palette, the
+background color, the interlace method, unknown chunks, ...
+
+When encoding to a PNG with colortype 3, the encoder will generate a PLTE chunk.
+If the palette contains any colors for which the alpha channel is not 255 (so
+there are translucent colors in the palette), it'll add a tRNS chunk.
+
+LodePNGColorMode info_raw
+-------------------------
+
+You specify the color type of the raw image that you give to the input here,
+including a possible transparent color key and palette you happen to be using in
+your raw image data.
+
+By default, 32-bit color is assumed, meaning your input has to be in RGBA
+format with 4 bytes (unsigned chars) per pixel.
+
+LodePNGEncoderSettings encoder
+------------------------------
+
+The following settings are supported (some are in sub-structs):
+*) auto_convert: when this option is enabled, the encoder will
+automatically choose the smallest possible color mode (including color key) that
+can encode the colors of all pixels without information loss.
+*) btype: the block type for LZ77. 0 = uncompressed, 1 = fixed huffman tree,
+   2 = dynamic huffman tree (best compression). Should be 2 for proper
+   compression.
+*) use_lz77: whether or not to use LZ77 for compressed block types. Should be
+   true for proper compression.
+*) windowsize: the window size used by the LZ77 encoder (1 - 32768). Has value
+   2048 by default, but can be set to 32768 for better, but slow, compression.
+*) force_palette: if colortype is 2 or 6, you can make the encoder write a PLTE
+   chunk if force_palette is true. This can used as suggested palette to convert
+   to by viewers that don't support more than 256 colors (if those still exist)
+*) add_id: add text chunk "Encoder: LodePNG <version>" to the image.
+*) text_compression: default 1. If 1, it'll store texts as zTXt instead of tEXt chunks.
+  zTXt chunks use zlib compression on the text. This gives a smaller result on
+  large texts but a larger result on small texts (such as a single program name).
+  It's all tEXt or all zTXt though, there's no separate setting per text yet.
+
+
+6. color conversions
+--------------------
+
+An important thing to note about LodePNG, is that the color type of the PNG, and
+the color type of the raw image, are completely independent. By default, when
+you decode a PNG, you get the result as a raw image in the color type you want,
+no matter whether the PNG was encoded with a palette, grayscale or RGBA color.
+And if you encode an image, by default LodePNG will automatically choose the PNG
+color type that gives good compression based on the values of colors and amount
+of colors in the image. It can be configured to let you control it instead as
+well, though.
+
+To be able to do this, LodePNG does conversions from one color mode to another.
+It can convert from almost any color type to any other color type, except the
+following conversions: RGB to grayscale is not supported, and converting to a
+palette when the palette doesn't have a required color is not supported. This is
+not supported on purpose: this is information loss which requires a color
+reduction algorithm that is beyond the scope of a PNG encoder (yes, RGB to gray
+is easy, but there are multiple ways if you want to give some channels more
+weight).
+
+By default, when decoding, you get the raw image in 32-bit RGBA or 24-bit RGB
+color, no matter what color type the PNG has. And by default when encoding,
+LodePNG automatically picks the best color model for the output PNG, and expects
+the input image to be 32-bit RGBA or 24-bit RGB. So, unless you want to control
+the color format of the images yourself, you can skip this chapter.
+
+6.1. PNG color types
+--------------------
+
+A PNG image can have many color types, ranging from 1-bit color to 64-bit color,
+as well as palettized color modes. After the zlib decompression and unfiltering
+in the PNG image is done, the raw pixel data will have that color type and thus
+a certain amount of bits per pixel. If you want the output raw image after
+decoding to have another color type, a conversion is done by LodePNG.
+
+The PNG specification gives the following color types:
+
+0: grayscale, bit depths 1, 2, 4, 8, 16
+2: RGB, bit depths 8 and 16
+3: palette, bit depths 1, 2, 4 and 8
+4: grayscale with alpha, bit depths 8 and 16
+6: RGBA, bit depths 8 and 16
+
+Bit depth is the amount of bits per pixel per color channel. So the total amount
+of bits per pixel is: amount of channels * bitdepth.
+
+6.2. color conversions
+----------------------
+
+As explained in the sections about the encoder and decoder, you can specify
+color types and bit depths in info_png and info_raw to change the default
+behaviour.
+
+If, when decoding, you want the raw image to be something else than the default,
+you need to set the color type and bit depth you want in the LodePNGColorMode,
+or the parameters colortype and bitdepth of the simple decoding function.
+
+If, when encoding, you use another color type than the default in the raw input
+image, you need to specify its color type and bit depth in the LodePNGColorMode
+of the raw image, or use the parameters colortype and bitdepth of the simple
+encoding function.
+
+If, when encoding, you don't want LodePNG to choose the output PNG color type
+but control it yourself, you need to set auto_convert in the encoder settings
+to false, and specify the color type you want in the LodePNGInfo of the
+encoder (including palette: it can generate a palette if auto_convert is true,
+otherwise not).
+
+If the input and output color type differ (whether user chosen or auto chosen),
+LodePNG will do a color conversion, which follows the rules below, and may
+sometimes result in an error.
+
+To avoid some confusion:
+-the decoder converts from PNG to raw image
+-the encoder converts from raw image to PNG
+-the colortype and bitdepth in LodePNGColorMode info_raw, are those of the raw image
+-the colortype and bitdepth in the color field of LodePNGInfo info_png, are those of the PNG
+-when encoding, the color type in LodePNGInfo is ignored if auto_convert
+ is enabled, it is automatically generated instead
+-when decoding, the color type in LodePNGInfo is set by the decoder to that of the original
+ PNG image, but it can be ignored since the raw image has the color type you requested instead
+-if the color type of the LodePNGColorMode and PNG image aren't the same, a conversion
+ between the color types is done if the color types are supported. If it is not
+ supported, an error is returned. If the types are the same, no conversion is done.
+-even though some conversions aren't supported, LodePNG supports loading PNGs from any
+ colortype and saving PNGs to any colortype, sometimes it just requires preparing
+ the raw image correctly before encoding.
+-both encoder and decoder use the same color converter.
+
+The function lodepng_convert does the color conversion. It is available in the
+interface but normally isn't needed since the encoder and decoder already call
+it.
+
+Non supported color conversions:
+-color to grayscale when non-gray pixels are present: no error is thrown, but
+the result will look ugly because only the red channel is taken (it assumes all
+three channels are the same in this case so ignores green and blue). The reason
+no error is given is to allow converting from three-channel grayscale images to
+one-channel even if there are numerical imprecisions.
+-anything to palette when the palette does not have an exact match for a from-color
+in it: in this case an error is thrown
+
+Supported color conversions:
+-anything to 8-bit RGB, 8-bit RGBA, 16-bit RGB, 16-bit RGBA
+-any gray or gray+alpha, to gray or gray+alpha
+-anything to a palette, as long as the palette has the requested colors in it
+-removing alpha channel
+-higher to smaller bitdepth, and vice versa
+
+If you want no color conversion to be done (e.g. for speed or control):
+-In the encoder, you can make it save a PNG with any color type by giving the
+raw color mode and LodePNGInfo the same color mode, and setting auto_convert to
+false.
+-In the decoder, you can make it store the pixel data in the same color type
+as the PNG has, by setting the color_convert setting to false. Settings in
+info_raw are then ignored.
+
+6.3. padding bits
+-----------------
+
+In the PNG file format, if a less than 8-bit per pixel color type is used and the scanlines
+have a bit amount that isn't a multiple of 8, then padding bits are used so that each
+scanline starts at a fresh byte. But that is NOT true for the LodePNG raw input and output.
+The raw input image you give to the encoder, and the raw output image you get from the decoder
+will NOT have these padding bits, e.g. in the case of a 1-bit image with a width
+of 7 pixels, the first pixel of the second scanline will the 8th bit of the first byte,
+not the first bit of a new byte.
+
+6.4. A note about 16-bits per channel and endianness
+----------------------------------------------------
+
+LodePNG uses unsigned char arrays for 16-bit per channel colors too, just like
+for any other color format. The 16-bit values are stored in big endian (most
+significant byte first) in these arrays. This is the opposite order of the
+little endian used by x86 CPU's.
+
+LodePNG always uses big endian because the PNG file format does so internally.
+Conversions to other formats than PNG uses internally are not supported by
+LodePNG on purpose, there are myriads of formats, including endianness of 16-bit
+colors, the order in which you store R, G, B and A, and so on. Supporting and
+converting to/from all that is outside the scope of LodePNG.
+
+This may mean that, depending on your use case, you may want to convert the big
+endian output of LodePNG to little endian with a for loop. This is certainly not
+always needed, many applications and libraries support big endian 16-bit colors
+anyway, but it means you cannot simply cast the unsigned char* buffer to an
+unsigned short* buffer on x86 CPUs.
+
+
+7. error values
+---------------
+
+All functions in LodePNG that return an error code, return 0 if everything went
+OK, or a non-zero code if there was an error.
+
+The meaning of the LodePNG error values can be retrieved with the function
+lodepng_error_text: given the numerical error code, it returns a description
+of the error in English as a string.
+
+Check the implementation of lodepng_error_text to see the meaning of each code.
+
+It is not recommended to use the numerical values to programmatically make
+different decisions based on error types as the numbers are not guaranteed to
+stay backwards compatible. They are for human consumption only. Programmatically
+only 0 or non-0 matter.
+
+
+8. chunks and PNG editing
+-------------------------
+
+If you want to add extra chunks to a PNG you encode, or use LodePNG for a PNG
+editor that should follow the rules about handling of unknown chunks, or if your
+program is able to read other types of chunks than the ones handled by LodePNG,
+then that's possible with the chunk functions of LodePNG.
+
+A PNG chunk has the following layout:
+
+4 bytes length
+4 bytes type name
+length bytes data
+4 bytes CRC
+
+8.1. iterating through chunks
+-----------------------------
+
+If you have a buffer containing the PNG image data, then the first chunk (the
+IHDR chunk) starts at byte number 8 of that buffer. The first 8 bytes are the
+signature of the PNG and are not part of a chunk. But if you start at byte 8
+then you have a chunk, and can check the following things of it.
+
+NOTE: none of these functions check for memory buffer boundaries. To avoid
+exploits, always make sure the buffer contains all the data of the chunks.
+When using lodepng_chunk_next, make sure the returned value is within the
+allocated memory.
+
+unsigned lodepng_chunk_length(const unsigned char* chunk):
+
+Get the length of the chunk's data. The total chunk length is this length + 12.
+
+void lodepng_chunk_type(char type[5], const unsigned char* chunk):
+unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type):
+
+Get the type of the chunk or compare if it's a certain type
+
+unsigned char lodepng_chunk_critical(const unsigned char* chunk):
+unsigned char lodepng_chunk_private(const unsigned char* chunk):
+unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk):
+
+Check if the chunk is critical in the PNG standard (only IHDR, PLTE, IDAT and IEND are).
+Check if the chunk is private (public chunks are part of the standard, private ones not).
+Check if the chunk is safe to copy. If it's not, then, when modifying data in a critical
+chunk, unsafe to copy chunks of the old image may NOT be saved in the new one if your
+program doesn't handle that type of unknown chunk.
+
+unsigned char* lodepng_chunk_data(unsigned char* chunk):
+const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk):
+
+Get a pointer to the start of the data of the chunk.
+
+unsigned lodepng_chunk_check_crc(const unsigned char* chunk):
+void lodepng_chunk_generate_crc(unsigned char* chunk):
+
+Check if the crc is correct or generate a correct one.
+
+unsigned char* lodepng_chunk_next(unsigned char* chunk):
+const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk):
+
+Iterate to the next chunk. This works if you have a buffer with consecutive chunks. Note that these
+functions do no boundary checking of the allocated data whatsoever, so make sure there is enough
+data available in the buffer to be able to go to the next chunk.
+
+unsigned lodepng_chunk_append(unsigned char** out, size_t* outsize, const unsigned char* chunk):
+unsigned lodepng_chunk_create(unsigned char** out, size_t* outsize, unsigned length,
+                              const char* type, const unsigned char* data):
+
+These functions are used to create new chunks that are appended to the data in *out that has
+length *outsize. The append function appends an existing chunk to the new data. The create
+function creates a new chunk with the given parameters and appends it. Type is the 4-letter
+name of the chunk.
+
+8.2. chunks in info_png
+-----------------------
+
+The LodePNGInfo struct contains fields with the unknown chunk in it. It has 3
+buffers (each with size) to contain 3 types of unknown chunks:
+the ones that come before the PLTE chunk, the ones that come between the PLTE
+and the IDAT chunks, and the ones that come after the IDAT chunks.
+It's necessary to make the distinction between these 3 cases because the PNG
+standard forces to keep the ordering of unknown chunks compared to the critical
+chunks, but does not force any other ordering rules.
+
+info_png.unknown_chunks_data[0] is the chunks before PLTE
+info_png.unknown_chunks_data[1] is the chunks after PLTE, before IDAT
+info_png.unknown_chunks_data[2] is the chunks after IDAT
+
+The chunks in these 3 buffers can be iterated through and read by using the same
+way described in the previous subchapter.
+
+When using the decoder to decode a PNG, you can make it store all unknown chunks
+if you set the option settings.remember_unknown_chunks to 1. By default, this
+option is off (0).
+
+The encoder will always encode unknown chunks that are stored in the info_png.
+If you need it to add a particular chunk that isn't known by LodePNG, you can
+use lodepng_chunk_append or lodepng_chunk_create to the chunk data in
+info_png.unknown_chunks_data[x].
+
+Chunks that are known by LodePNG should not be added in that way. E.g. to make
+LodePNG add a bKGD chunk, set background_defined to true and add the correct
+parameters there instead.
+
+
+9. compiler support
+-------------------
+
+No libraries other than the current standard C library are needed to compile
+LodePNG. For the C++ version, only the standard C++ library is needed on top.
+Add the files lodepng.c(pp) and lodepng.h to your project, include
+lodepng.h where needed, and your program can read/write PNG files.
+
+It is compatible with C90 and up, and C++03 and up.
+
+If performance is important, use optimization when compiling! For both the
+encoder and decoder, this makes a large difference.
+
+Make sure that LodePNG is compiled with the same compiler of the same version
+and with the same settings as the rest of the program, or the interfaces with
+std::vectors and std::strings in C++ can be incompatible.
+
+CHAR_BITS must be 8 or higher, because LodePNG uses unsigned chars for octets.
+
+*) gcc and g++
+
+LodePNG is developed in gcc so this compiler is natively supported. It gives no
+warnings with compiler options "-Wall -Wextra -pedantic -ansi", with gcc and g++
+version 4.7.1 on Linux, 32-bit and 64-bit.
+
+*) Clang
+
+Fully supported and warning-free.
+
+*) Mingw
+
+The Mingw compiler (a port of gcc for Windows) should be fully supported by
+LodePNG.
+
+*) Visual Studio and Visual C++ Express Edition
+
+LodePNG should be warning-free with warning level W4. Two warnings were disabled
+with pragmas though: warning 4244 about implicit conversions, and warning 4996
+where it wants to use a non-standard function fopen_s instead of the standard C
+fopen.
+
+Visual Studio may want "stdafx.h" files to be included in each source file and
+give an error "unexpected end of file while looking for precompiled header".
+This is not standard C++ and will not be added to the stock LodePNG. You can
+disable it for lodepng.cpp only by right clicking it, Properties, C/C++,
+Precompiled Headers, and set it to Not Using Precompiled Headers there.
+
+NOTE: Modern versions of VS should be fully supported, but old versions, e.g.
+VS6, are not guaranteed to work.
+
+*) Compilers on Macintosh
+
+LodePNG has been reported to work both with gcc and LLVM for Macintosh, both for
+C and C++.
+
+*) Other Compilers
+
+If you encounter problems on any compilers, feel free to let me know and I may
+try to fix it if the compiler is modern and standards compliant.
+
+
+10. examples
+------------
+
+This decoder example shows the most basic usage of LodePNG. More complex
+examples can be found on the LodePNG website.
+
+NOTE: these examples do not support wide-character filenames, you can use an
+external method to handle such files and encode or decode in-memory
+
+10.1. decoder C++ example
+-------------------------
+
+#include "lodepng.h"
+#include <iostream>
+
+int main(int argc, char *argv[]) {
+  const char* filename = argc > 1 ? argv[1] : "test.png";
+
+  //load and decode
+  std::vector<unsigned char> image;
+  unsigned width, height;
+  unsigned error = lodepng::decode(image, width, height, filename);
+
+  //if there's an error, display it
+  if(error) std::cout << "decoder error " << error << ": " << lodepng_error_text(error) << std::endl;
+
+  //the pixels are now in the vector "image", 4 bytes per pixel, ordered RGBARGBA..., use it as texture, draw it, ...
+}
+
+10.2. decoder C example
+-----------------------
+
+#include "lodepng.h"
+
+int main(int argc, char *argv[]) {
+  unsigned error;
+  unsigned char* image;
+  size_t width, height;
+  const char* filename = argc > 1 ? argv[1] : "test.png";
+
+  error = lodepng_decode32_file(&image, &width, &height, filename);
+
+  if(error) printf("decoder error %u: %s\n", error, lodepng_error_text(error));
+
+  / * use image here * /
+
+  free(image);
+  return 0;
+}
+
+11. state settings reference
+----------------------------
+
+A quick reference of some settings to set on the LodePNGState
+
+For decoding:
+
+state.decoder.zlibsettings.ignore_adler32: ignore ADLER32 checksums
+state.decoder.zlibsettings.custom_...: use custom inflate function
+state.decoder.ignore_crc: ignore CRC checksums
+state.decoder.ignore_critical: ignore unknown critical chunks
+state.decoder.ignore_end: ignore missing IEND chunk. May fail if this corruption causes other errors
+state.decoder.color_convert: convert internal PNG color to chosen one
+state.decoder.read_text_chunks: whether to read in text metadata chunks
+state.decoder.remember_unknown_chunks: whether to read in unknown chunks
+state.info_raw.colortype: desired color type for decoded image
+state.info_raw.bitdepth: desired bit depth for decoded image
+state.info_raw....: more color settings, see struct LodePNGColorMode
+state.info_png....: no settings for decoder but ouput, see struct LodePNGInfo
+
+For encoding:
+
+state.encoder.zlibsettings.btype: disable compression by setting it to 0
+state.encoder.zlibsettings.use_lz77: use LZ77 in compression
+state.encoder.zlibsettings.windowsize: tweak LZ77 windowsize
+state.encoder.zlibsettings.minmatch: tweak min LZ77 length to match
+state.encoder.zlibsettings.nicematch: tweak LZ77 match where to stop searching
+state.encoder.zlibsettings.lazymatching: try one more LZ77 matching
+state.encoder.zlibsettings.custom_...: use custom deflate function
+state.encoder.auto_convert: choose optimal PNG color type, if 0 uses info_png
+state.encoder.filter_palette_zero: PNG filter strategy for palette
+state.encoder.filter_strategy: PNG filter strategy to encode with
+state.encoder.force_palette: add palette even if not encoding to one
+state.encoder.add_id: add LodePNG identifier and version as a text chunk
+state.encoder.text_compression: use compressed text chunks for metadata
+state.info_raw.colortype: color type of raw input image you provide
+state.info_raw.bitdepth: bit depth of raw input image you provide
+state.info_raw: more color settings, see struct LodePNGColorMode
+state.info_png.color.colortype: desired color type if auto_convert is false
+state.info_png.color.bitdepth: desired bit depth if auto_convert is false
+state.info_png.color....: more color settings, see struct LodePNGColorMode
+state.info_png....: more PNG related settings, see struct LodePNGInfo
+
+
+12. changes
+-----------
+
+The version number of LodePNG is the date of the change given in the format
+yyyymmdd.
+
+Some changes aren't backwards compatible. Those are indicated with a (!)
+symbol.
+
+Not all changes are listed here, the commit history in github lists more:
+https://github.com/lvandeve/lodepng
+
+*) 09 jan 2022: minor decoder speed improvements.
+*) 27 jun 2021: added warnings that file reading/writing functions don't support
+   wide-character filenames (support for this is not planned, opening files is
+   not the core part of PNG decoding/decoding and is platform dependent).
+*) 17 okt 2020: prevent decoding too large text/icc chunks by default.
+*) 06 mar 2020: simplified some of the dynamic memory allocations.
+*) 12 jan 2020: (!) added 'end' argument to lodepng_chunk_next to allow correct
+   overflow checks.
+*) 14 aug 2019: around 25% faster decoding thanks to huffman lookup tables.
+*) 15 jun 2019: (!) auto_choose_color API changed (for bugfix: don't use palette
+   if gray ICC profile) and non-ICC LodePNGColorProfile renamed to
+   LodePNGColorStats.
+*) 30 dec 2018: code style changes only: removed newlines before opening braces.
+*) 10 sep 2018: added way to inspect metadata chunks without full decoding.
+*) 19 aug 2018: (!) fixed color mode bKGD is encoded with and made it use
+   palette index in case of palette.
+*) 10 aug 2018: (!) added support for gAMA, cHRM, sRGB and iCCP chunks. This
+   change is backwards compatible unless you relied on unknown_chunks for those.
+*) 11 jun 2018: less restrictive check for pixel size integer overflow
+*) 14 jan 2018: allow optionally ignoring a few more recoverable errors
+*) 17 sep 2017: fix memory leak for some encoder input error cases
+*) 27 nov 2016: grey+alpha auto color model detection bugfix
+*) 18 apr 2016: Changed qsort to custom stable sort (for platforms w/o qsort).
+*) 09 apr 2016: Fixed colorkey usage detection, and better file loading (within
+   the limits of pure C90).
+*) 08 dec 2015: Made load_file function return error if file can't be opened.
+*) 24 okt 2015: Bugfix with decoding to palette output.
+*) 18 apr 2015: Boundary PM instead of just package-merge for faster encoding.
+*) 24 aug 2014: Moved to github
+*) 23 aug 2014: Reduced needless memory usage of decoder.
+*) 28 jun 2014: Removed fix_png setting, always support palette OOB for
+    simplicity. Made ColorProfile public.
+*) 09 jun 2014: Faster encoder by fixing hash bug and more zeros optimization.
+*) 22 dec 2013: Power of two windowsize required for optimization.
+*) 15 apr 2013: Fixed bug with LAC_ALPHA and color key.
+*) 25 mar 2013: Added an optional feature to ignore some PNG errors (fix_png).
+*) 11 mar 2013: (!) Bugfix with custom free. Changed from "my" to "lodepng_"
+    prefix for the custom allocators and made it possible with a new #define to
+    use custom ones in your project without needing to change lodepng's code.
+*) 28 jan 2013: Bugfix with color key.
+*) 27 okt 2012: Tweaks in text chunk keyword length error handling.
+*) 8 okt 2012: (!) Added new filter strategy (entropy) and new auto color mode.
+    (no palette). Better deflate tree encoding. New compression tweak settings.
+    Faster color conversions while decoding. Some internal cleanups.
+*) 23 sep 2012: Reduced warnings in Visual Studio a little bit.
+*) 1 sep 2012: (!) Removed #define's for giving custom (de)compression functions
+    and made it work with function pointers instead.
+*) 23 jun 2012: Added more filter strategies. Made it easier to use custom alloc
+    and free functions and toggle #defines from compiler flags. Small fixes.
+*) 6 may 2012: (!) Made plugging in custom zlib/deflate functions more flexible.
+*) 22 apr 2012: (!) Made interface more consistent, renaming a lot. Removed
+    redundant C++ codec classes. Reduced amount of structs. Everything changed,
+    but it is cleaner now imho and functionality remains the same. Also fixed
+    several bugs and shrunk the implementation code. Made new samples.
+*) 6 nov 2011: (!) By default, the encoder now automatically chooses the best
+    PNG color model and bit depth, based on the amount and type of colors of the
+    raw image. For this, autoLeaveOutAlphaChannel replaced by auto_choose_color.
+*) 9 okt 2011: simpler hash chain implementation for the encoder.
+*) 8 sep 2011: lz77 encoder lazy matching instead of greedy matching.
+*) 23 aug 2011: tweaked the zlib compression parameters after benchmarking.
+    A bug with the PNG filtertype heuristic was fixed, so that it chooses much
+    better ones (it's quite significant). A setting to do an experimental, slow,
+    brute force search for PNG filter types is added.
+*) 17 aug 2011: (!) changed some C zlib related function names.
+*) 16 aug 2011: made the code less wide (max 120 characters per line).
+*) 17 apr 2011: code cleanup. Bugfixes. Convert low to 16-bit per sample colors.
+*) 21 feb 2011: fixed compiling for C90. Fixed compiling with sections disabled.
+*) 11 dec 2010: encoding is made faster, based on suggestion by Peter Eastman
+    to optimize long sequences of zeros.
+*) 13 nov 2010: added LodePNG_InfoColor_hasPaletteAlpha and
+    LodePNG_InfoColor_canHaveAlpha functions for convenience.
+*) 7 nov 2010: added LodePNG_error_text function to get error code description.
+*) 30 okt 2010: made decoding slightly faster
+*) 26 okt 2010: (!) changed some C function and struct names (more consistent).
+     Reorganized the documentation and the declaration order in the header.
+*) 08 aug 2010: only changed some comments and external samples.
+*) 05 jul 2010: fixed bug thanks to warnings in the new gcc version.
+*) 14 mar 2010: fixed bug where too much memory was allocated for char buffers.
+*) 02 sep 2008: fixed bug where it could create empty tree that linux apps could
+    read by ignoring the problem but windows apps couldn't.
+*) 06 jun 2008: added more error checks for out of memory cases.
+*) 26 apr 2008: added a few more checks here and there to ensure more safety.
+*) 06 mar 2008: crash with encoding of strings fixed
+*) 02 feb 2008: support for international text chunks added (iTXt)
+*) 23 jan 2008: small cleanups, and #defines to divide code in sections
+*) 20 jan 2008: support for unknown chunks allowing using LodePNG for an editor.
+*) 18 jan 2008: support for tIME and pHYs chunks added to encoder and decoder.
+*) 17 jan 2008: ability to encode and decode compressed zTXt chunks added
+    Also various fixes, such as in the deflate and the padding bits code.
+*) 13 jan 2008: Added ability to encode Adam7-interlaced images. Improved
+    filtering code of encoder.
+*) 07 jan 2008: (!) changed LodePNG to use ISO C90 instead of C++. A
+    C++ wrapper around this provides an interface almost identical to before.
+    Having LodePNG be pure ISO C90 makes it more portable. The C and C++ code
+    are together in these files but it works both for C and C++ compilers.
+*) 29 dec 2007: (!) changed most integer types to unsigned int + other tweaks
+*) 30 aug 2007: bug fixed which makes this Borland C++ compatible
+*) 09 aug 2007: some VS2005 warnings removed again
+*) 21 jul 2007: deflate code placed in new namespace separate from zlib code
+*) 08 jun 2007: fixed bug with 2- and 4-bit color, and small interlaced images
+*) 04 jun 2007: improved support for Visual Studio 2005: crash with accessing
+    invalid std::vector element [0] fixed, and level 3 and 4 warnings removed
+*) 02 jun 2007: made the encoder add a tag with version by default
+*) 27 may 2007: zlib and png code separated (but still in the same file),
+    simple encoder/decoder functions added for more simple usage cases
+*) 19 may 2007: minor fixes, some code cleaning, new error added (error 69),
+    moved some examples from here to lodepng_examples.cpp
+*) 12 may 2007: palette decoding bug fixed
+*) 24 apr 2007: changed the license from BSD to the zlib license
+*) 11 mar 2007: very simple addition: ability to encode bKGD chunks.
+*) 04 mar 2007: (!) tEXt chunk related fixes, and support for encoding
+    palettized PNG images. Plus little interface change with palette and texts.
+*) 03 mar 2007: Made it encode dynamic Huffman shorter with repeat codes.
+    Fixed a bug where the end code of a block had length 0 in the Huffman tree.
+*) 26 feb 2007: Huffman compression with dynamic trees (BTYPE 2) now implemented
+    and supported by the encoder, resulting in smaller PNGs at the output.
+*) 27 jan 2007: Made the Adler-32 test faster so that a timewaste is gone.
+*) 24 jan 2007: gave encoder an error interface. Added color conversion from any
+    greyscale type to 8-bit greyscale with or without alpha.
+*) 21 jan 2007: (!) Totally changed the interface. It allows more color types
+    to convert to and is more uniform. See the manual for how it works now.
+*) 07 jan 2007: Some cleanup & fixes, and a few changes over the last days:
+    encode/decode custom tEXt chunks, separate classes for zlib & deflate, and
+    at last made the decoder give errors for incorrect Adler32 or Crc.
+*) 01 jan 2007: Fixed bug with encoding PNGs with less than 8 bits per channel.
+*) 29 dec 2006: Added support for encoding images without alpha channel, and
+    cleaned out code as well as making certain parts faster.
+*) 28 dec 2006: Added "Settings" to the encoder.
+*) 26 dec 2006: The encoder now does LZ77 encoding and produces much smaller files now.
+    Removed some code duplication in the decoder. Fixed little bug in an example.
+*) 09 dec 2006: (!) Placed output parameters of public functions as first parameter.
+    Fixed a bug of the decoder with 16-bit per color.
+*) 15 okt 2006: Changed documentation structure
+*) 09 okt 2006: Encoder class added. It encodes a valid PNG image from the
+    given image buffer, however for now it's not compressed.
+*) 08 sep 2006: (!) Changed to interface with a Decoder class
+*) 30 jul 2006: (!) LodePNG_InfoPng , width and height are now retrieved in different
+    way. Renamed decodePNG to decodePNGGeneric.
+*) 29 jul 2006: (!) Changed the interface: image info is now returned as a
+    struct of type LodePNG::LodePNG_Info, instead of a vector, which was a bit clumsy.
+*) 28 jul 2006: Cleaned the code and added new error checks.
+    Corrected terminology "deflate" into "inflate".
+*) 23 jun 2006: Added SDL example in the documentation in the header, this
+    example allows easy debugging by displaying the PNG and its transparency.
+*) 22 jun 2006: (!) Changed way to obtain error value. Added
+    loadFile function for convenience. Made decodePNG32 faster.
+*) 21 jun 2006: (!) Changed type of info vector to unsigned.
+    Changed position of palette in info vector. Fixed an important bug that
+    happened on PNGs with an uncompressed block.
+*) 16 jun 2006: Internally changed unsigned into unsigned where
+    needed, and performed some optimizations.
+*) 07 jun 2006: (!) Renamed functions to decodePNG and placed them
+    in LodePNG namespace. Changed the order of the parameters. Rewrote the
+    documentation in the header. Renamed files to lodepng.cpp and lodepng.h
+*) 22 apr 2006: Optimized and improved some code
+*) 07 sep 2005: (!) Changed to std::vector interface
+*) 12 aug 2005: Initial release (C++, decoder only)
+
+
+13. contact information
+-----------------------
+
+Feel free to contact me with suggestions, problems, comments, ... concerning
+LodePNG. If you encounter a PNG image that doesn't work properly with this
+decoder, feel free to send it and I'll use it to find and fix the problem.
+
+My email address is (puzzle the account and domain together with an @ symbol):
+Domain: gmail dot com.
+Account: lode dot vandevenne.
+
+
+Copyright (c) 2005-2022 Lode Vandevenne
+*/
diff --git a/github_source/minicv2/include/omv_boardconfig.h b/github_source/minicv2/include/omv_boardconfig.h
new file mode 100644
index 0000000..fc8a59e
--- /dev/null
+++ b/github_source/minicv2/include/omv_boardconfig.h
@@ -0,0 +1,502 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Board configuration and pin definitions.
+ */
+#ifndef __OMV_BOARDCONFIG_H__
+#define __OMV_BOARDCONFIG_H__
+#include "arm_compat.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+// // Architecture info
+// #define OMV_ARCH_STR            "PORTENTA H7 8192 SDRAM" // 33 chars max
+// #define OMV_BOARD_TYPE          "H7"
+// #define OMV_UNIQUE_ID_ADDR      0x1FF1E800
+// #define OMV_UNIQUE_ID_SIZE      3 // 3 words
+
+// // Flash sectors for the bootloader.
+// // Flash FS sector, main FW sector, max sector.
+// #define OMV_FLASH_LAYOUT        {1, 2, 15}
+
+// #define OMV_XCLK_MCO            (0U)
+// #define OMV_XCLK_TIM            (1U)
+// #define OMV_XCLK_OSC            (2U)
+
+// // Sensor external clock source.
+// #define OMV_XCLK_SOURCE         (OMV_XCLK_TIM)
+
+// // Sensor external clock timer frequency.
+// #define OMV_XCLK_FREQUENCY      (6000000)
+
+// // Sensor PLL register value.
+// #define OMV_OV7725_PLL_CONFIG   (0x41)  // x4
+
+// // Sensor Banding Filter Value
+// #define OMV_OV7725_BANDING      (0x7F)
+
+// // Bootloader LED GPIO port/pin
+// #define OMV_BOOTLDR_LED_PIN     (GPIO_PIN_6)
+// #define OMV_BOOTLDR_LED_PORT    (GPIOK)
+
+// // RAW buffer size
+// #define OMV_RAW_BUF_SIZE        (4*1024*1024)
+
+// // Enable hardware JPEG
+// // #define OMV_HARDWARE_JPEG       (1)
+
+// // Enable MDMA sensor offload.
+// // #define OMV_ENABLE_SENSOR_MDMA  (1)
+
+// // Enable sensor drivers
+// #define OMV_ENABLE_OV2640       (0)
+// #define OMV_ENABLE_OV5640       (0)
+// #define OMV_ENABLE_OV7690       (0)
+// #define OMV_ENABLE_OV7725       (1)
+// #define OMV_ENABLE_OV9650       (0)
+// #define OMV_ENABLE_MT9M114      (0)
+// #define OMV_ENABLE_MT9V034      (1)
+// #define OMV_ENABLE_LEPTON       (0)
+// #define OMV_ENABLE_HM01B0       (1)
+// #define OMV_ENABLE_GC2145       (1)
+
+// // Enable sensor features
+// #define OMV_ENABLE_OV5640_AF    (0)
+
+// // Enable WiFi debug
+// #define OMV_ENABLE_WIFIDBG      (0)
+
+// // Enable self-tests on first boot
+// #define OMV_ENABLE_SELFTEST     (0)
+
+// // If buffer size is bigger than this threshold, the quality is reduced.
+// // This is only used for JPEG images sent to the IDE not normal compression.
+// #define JPEG_QUALITY_THRESH     (320*240*2)
+
+// // Low and high JPEG QS.
+// #define JPEG_QUALITY_LOW        50
+// #define JPEG_QUALITY_HIGH       90
+
+// FB Heap Block Size
+// #define OMV_UMM_BLOCK_SIZE      256
+
+// // Core VBAT for selftests
+// #define OMV_CORE_VBAT           "3.0"
+
+// // USB IRQn.
+// #define OMV_USB_IRQN            (OTG_HS_IRQn)
+
+// // Defined for cpu frequency scaling to override the revid.
+// #define OMV_MAX_CPU_FREQ        (400)
+
+// // PLL1 400MHz/40MHz for SDMMC and FDCAN
+// // USB and RNG are clocked from the HSI48
+// #define OMV_OSC_PLL1M           (5)
+// #define OMV_OSC_PLL1N           (160)
+// #define OMV_OSC_PLL1P           (2)
+// #define OMV_OSC_PLL1Q           (16)
+// #define OMV_OSC_PLL1R           (2)
+// #define OMV_OSC_PLL1VCI         (RCC_PLL1VCIRANGE_2)
+// #define OMV_OSC_PLL1VCO         (RCC_PLL1VCOWIDE)
+// #define OMV_OSC_PLL1FRAC        (0)
+
+// // PLL2 200MHz for FMC and QSPI.
+// #define OMV_OSC_PLL2M           (5)
+// #define OMV_OSC_PLL2N           (80)
+// #define OMV_OSC_PLL2P           (2)
+// #define OMV_OSC_PLL2Q           (2)
+// #define OMV_OSC_PLL2R           (2)
+// #define OMV_OSC_PLL2VCI         (RCC_PLL2VCIRANGE_2)
+// #define OMV_OSC_PLL2VCO         (RCC_PLL2VCOWIDE)
+// #define OMV_OSC_PLL2FRAC        (0)
+
+// // PLL3 160MHz for ADC and SPI123
+// #define OMV_OSC_PLL3M           (5)
+// #define OMV_OSC_PLL3N           (160)
+// #define OMV_OSC_PLL3P           (2)
+// #define OMV_OSC_PLL3Q           (5)
+// #define OMV_OSC_PLL3R           (2)
+// #define OMV_OSC_PLL3VCI         (RCC_PLL3VCIRANGE_2)
+// #define OMV_OSC_PLL3VCO         (RCC_PLL3VCOWIDE)
+// #define OMV_OSC_PLL3FRAC        (0)
+
+// // Clock Sources
+// #define OMV_OSC_PLL_CLKSOURCE       RCC_PLLSOURCE_HSE
+// #define OMV_OSC_USB_CLKSOURCE       RCC_USBCLKSOURCE_HSI48
+// #define OMV_OSC_RNG_CLKSOURCE       RCC_RNGCLKSOURCE_HSI48
+// #define OMV_OSC_ADC_CLKSOURCE       RCC_ADCCLKSOURCE_PLL3
+// #define OMV_OSC_SPI123_CLKSOURCE    RCC_SPI123CLKSOURCE_PLL3
+
+// // HSE/HSI/CSI State
+// #define OMV_OSC_HSE_STATE       (RCC_HSE_BYPASS)
+// #define OMV_OSC_HSI48_STATE     (RCC_HSI48_ON)
+
+// // Flash Latency
+// #define OMV_FLASH_LATENCY       (FLASH_LATENCY_2)
+
+// // Power supply configuration
+// #define OMV_PWR_SUPPLY          (PWR_SMPS_1V8_SUPPLIES_LDO)
+
+// // Linker script constants (see the linker script template stm32fxxx.ld.S).
+// // Note: fb_alloc is a stack-based, dynamically allocated memory on FB.
+// // The maximum available fb_alloc memory = FB_ALLOC_SIZE + FB_SIZE - (w*h*bpp).
+// #define OMV_MAIN_MEMORY         SRAM1       // data, bss and heap
+// #define OMV_STACK_MEMORY        DTCM        // stack memory
+// #define OMV_DMA_MEMORY          SRAM3       // DMA buffers memory.
+// #define OMV_FB_MEMORY           DRAM        // Framebuffer, fb_alloc
+// #define OMV_JPEG_MEMORY         DRAM        // JPEG buffer memory buffer.
+// #define OMV_JPEG_MEMORY_OFFSET  (7M)        // JPEG buffer is placed after FB/fballoc memory.
+// #define OMV_VOSPI_MEMORY        SRAM4       // VoSPI buffer memory.
+// #define OMV_FB_OVERLAY_MEMORY   AXI_SRAM    // Fast fb_alloc memory.
+// #define OMV_FB_OVERLAY_MEMORY_OFFSET    (480*1024)  // Fast fb_alloc memory size.
+// #define OMV_CYW43_MEMORY        FLASH_EXT   // CYW43 firmware in external flash mmap'd flash.
+// #define OMV_CYW43_MEMORY_OFFSET (0x90F00000)// Last Mbyte.
+
+// #define OMV_FB_SIZE             (4 * 1024 * 1024)       // FB memory: header + VGA/GS image
+// #define OMV_FB_ALLOC_SIZE       (4 * 1024 * 1024)       // minimum fb alloc size
+// #define OMV_STACK_SIZE          (64K)
+// #define OMV_HEAP_SIZE           (160K)
+// #define OMV_SDRAM_SIZE          (8 * 1024 * 1024) // This needs to be here for UVC firmware.
+
+// #define OMV_LINE_BUF_SIZE       (11 * 1024) // Image line buffer round(2592 * 2BPP * 2 buffers).
+// #define OMV_MSC_BUF_SIZE        (2K)        // USB MSC bot data
+// #define OMV_VFS_BUF_SIZE        (1K)        // VFS sturct + FATFS file buffer (624 bytes)
+// #define OMV_FIR_LEPTON_BUF_SIZE (1K)        // FIR Lepton Packet Double Buffer (328 bytes)
+// #define OMV_JPEG_BUF_SIZE       (1024*1024) // IDE JPEG buffer (header + data).
+
+// #define OMV_BOOT_ORIGIN         0x08000000
+// #define OMV_BOOT_LENGTH         128K
+// #define OMV_TEXT_ORIGIN         0x08040000
+// #define OMV_TEXT_LENGTH         1792K
+// #define OMV_DTCM_ORIGIN         0x20000000  // Note accessible by CPU and MDMA only.
+// #define OMV_DTCM_LENGTH         128K
+// #define OMV_SRAM1_ORIGIN        0x30000000
+// #define OMV_SRAM1_LENGTH        256K        // SRAM1 + SRAM2
+// #define OMV_SRAM3_ORIGIN        0x30040000  // Second half of SRAM3 reserved for M4.
+// #define OMV_SRAM3_LENGTH        16K
+// #define OMV_SRAM4_ORIGIN        0x38000000
+// #define OMV_SRAM4_LENGTH        64K
+// #define OMV_AXI_SRAM_ORIGIN     0x24000000
+// #define OMV_AXI_SRAM_LENGTH     512K
+// #define OMV_DRAM_ORIGIN         0xC0000000
+// #define OMV_DRAM_LENGTH         8M
+// #define OMV_FLASH_EXT_ORIGIN    0x90000000
+// #define OMV_FLASH_EXT_LENGTH    16M
+// #define OMV_CM4_RAM_ORIGIN      0x30044000  // Cortex-M4 memory.
+// #define OMV_CM4_RAM_LENGTH      16K
+// #define OMV_CM4_FLASH_ORIGIN    0x08020000
+// #define OMV_CM4_FLASH_LENGTH    128K
+
+// // Domain 1 DMA buffers region.
+// #define OMV_DMA_MEMORY_D1       AXI_SRAM
+// #define OMV_DMA_MEMORY_D1_SIZE  (16*1024) // Reserved memory for DMA buffers
+// #define OMV_DMA_REGION_D1_BASE  (OMV_AXI_SRAM_ORIGIN+OMV_FB_OVERLAY_MEMORY_OFFSET)
+// #define OMV_DMA_REGION_D1_SIZE  MPU_REGION_SIZE_32KB
+
+// // Domain 2 DMA buffers region.
+// #define OMV_DMA_MEMORY_D2       SRAM3
+// #define OMV_DMA_MEMORY_D2_SIZE  (1*1024) // Reserved memory for DMA buffers
+// #define OMV_DMA_REGION_D2_BASE  (OMV_SRAM3_ORIGIN+(0*1024))
+// #define OMV_DMA_REGION_D2_SIZE  MPU_REGION_SIZE_16KB
+
+// // Domain 3 DMA buffers region.
+// #define OMV_DMA_MEMORY_D3       SRAM4
+// #define OMV_DMA_MEMORY_D3_SIZE  (32*1024) // Reserved memory for DMA buffers
+// #define OMV_DMA_REGION_D3_BASE  (OMV_SRAM4_ORIGIN+(0*1024))
+// #define OMV_DMA_REGION_D3_SIZE  MPU_REGION_SIZE_64KB
+
+// // AXI QoS - Low-High (0:15) - default 0
+// #define OMV_AXI_QOS_MDMA_R_PRI  14 // Max pri to move data.
+// #define OMV_AXI_QOS_MDMA_W_PRI  15 // Max pri to move data.
+// #define OMV_AXI_QOS_LTDC_R_PRI  15 // Max pri to read out the frame buffer.
+
+// // Image sensor I2C
+// #define ISC_I2C                 (I2C3)
+// #define ISC_I2C_ID              (3)
+// #define ISC_I2C_AF              (GPIO_AF4_I2C3)
+// #define ISC_I2C_CLK_ENABLE()    __I2C3_CLK_ENABLE()
+// #define ISC_I2C_CLK_DISABLE()   __I2C3_CLK_DISABLE()
+// #define ISC_I2C_PORT            (GPIOH)
+// #define ISC_I2C_SCL_PIN         (GPIO_PIN_7)
+// #define ISC_I2C_SDA_PIN         (GPIO_PIN_8)
+// #define ISC_I2C_SPEED           (CAMBUS_SPEED_STANDARD)
+// #define ISC_I2C_FORCE_RESET()   __HAL_RCC_I2C3_FORCE_RESET()
+// #define ISC_I2C_RELEASE_RESET() __HAL_RCC_I2C3_RELEASE_RESET()
+
+// // Alternate I2C bus for the Portenta breakout
+// #define ISC_I2C_ALT                 (I2C4)
+// #define ISC_I2C_ALT_ID              (4)
+// #define ISC_I2C_ALT_AF              (GPIO_AF4_I2C4)
+// #define ISC_I2C_ALT_CLK_ENABLE()    __HAL_RCC_I2C4_CLK_ENABLE()
+// #define ISC_I2C_ALT_CLK_DISABLE()   __HAL_RCC_I2C4_CLK_DISABLE()
+// #define ISC_I2C_ALT_PORT            (GPIOH)
+// #define ISC_I2C_ALT_SCL_PIN         (GPIO_PIN_11)
+// #define ISC_I2C_ALT_SDA_PIN         (GPIO_PIN_12)
+// #define ISC_I2C_ALT_SPEED           (CAMBUS_SPEED_STANDARD)
+// #define ISC_I2C_ALT_FORCE_RESET()   __HAL_RCC_I2C4_FORCE_RESET()
+// #define ISC_I2C_ALT_RELEASE_RESET() __HAL_RCC_I2C4_RELEASE_RESET()
+
+// // FIR I2C
+// #define FIR_I2C                 (I2C3)
+// #define FIR_I2C_ID              (3)
+// #define FIR_I2C_AF              (GPIO_AF4_I2C3)
+// #define FIR_I2C_CLK_ENABLE()    __I2C3_CLK_ENABLE()
+// #define FIR_I2C_CLK_DISABLE()   __I2C3_CLK_DISABLE()
+// #define FIR_I2C_PORT            (GPIOH)
+// #define FIR_I2C_SCL_PIN         (GPIO_PIN_7)
+// #define FIR_I2C_SDA_PIN         (GPIO_PIN_8)
+// #define FIR_I2C_SPEED           (CAMBUS_SPEED_STANDARD)
+// #define FIR_I2C_FORCE_RESET()   __HAL_RCC_I2C3_FORCE_RESET()
+// #define FIR_I2C_RELEASE_RESET() __HAL_RCC_I2C3_RELEASE_RESET()
+
+// // GPIO.0 is connected to the sensor module reset pin on the Portenta
+// // breakout board and to the LDO's LDO_ENABLE pin on the Himax shield.
+// // The sensor probing process will detect the right reset or powerdown
+// // polarity, so it should be fine to enable it for both boards.
+// #define DCMI_RESET_PIN          (GPIO_PIN_13)
+// #define DCMI_RESET_PORT         (GPIOC)
+
+// // GPIO.1 is connected to the sensor module frame sync pin (OUTPUT) on
+// // the Portenta breakout board and to the INT pin (OUTPUT) on the Himax
+// // shield, so it can't be enabled for the two boards at the same time.
+// //#define DCMI_FSYNC_PIN          (GPIO_PIN_15)
+// //#define DCMI_FSYNC_PORT         (GPIOC)
+
+// // GPIO.3 is connected to the powerdown pin on the Portenta breakout board,
+// // and to the STROBE pin on the Himax shield, however it's not actually
+// // used on the Himax shield and can be safely enable for the two boards.
+// #define DCMI_PWDN_PIN           (GPIO_PIN_5)
+// #define DCMI_PWDN_PORT          (GPIOD)
+
+// /* DCMI */
+// #define DCMI_TIM                (TIM1)
+// #define DCMI_TIM_PIN            (GPIO_PIN_1)
+// #define DCMI_TIM_PORT           (GPIOK)
+// // Enable TIM1-CH1 on PA8 too for Portenta breakout.
+// #define DCMI_TIM_EXT_PIN        (GPIO_PIN_8)
+// #define DCMI_TIM_EXT_PORT       (GPIOA)
+// #define DCMI_TIM_AF             (GPIO_AF1_TIM1)
+// #define DCMI_TIM_CHANNEL        (TIM_CHANNEL_1)
+// #define DCMI_TIM_CLK_ENABLE()   __TIM1_CLK_ENABLE()
+// #define DCMI_TIM_CLK_DISABLE()  __TIM1_CLK_DISABLE()
+// #define DCMI_TIM_PCLK_FREQ()    HAL_RCC_GetPCLK2Freq()
+
+// #define DCMI_D0_PIN             (GPIO_PIN_9)
+// #define DCMI_D1_PIN             (GPIO_PIN_10)
+// #define DCMI_D2_PIN             (GPIO_PIN_11)
+// #define DCMI_D3_PIN             (GPIO_PIN_12)
+// #define DCMI_D4_PIN             (GPIO_PIN_14)
+// #define DCMI_D5_PIN             (GPIO_PIN_4)
+// #define DCMI_D6_PIN             (GPIO_PIN_6)
+// #define DCMI_D7_PIN             (GPIO_PIN_7)
+
+// #define DCMI_D0_PORT            (GPIOH)
+// #define DCMI_D1_PORT            (GPIOH)
+// #define DCMI_D2_PORT            (GPIOH)
+// #define DCMI_D3_PORT            (GPIOH)
+// #define DCMI_D4_PORT            (GPIOH)
+// #define DCMI_D5_PORT            (GPIOI)
+// #define DCMI_D6_PORT            (GPIOI)
+// #define DCMI_D7_PORT            (GPIOI)
+
+// #define DCMI_HSYNC_PIN          (GPIO_PIN_4)
+// #define DCMI_VSYNC_PIN          (GPIO_PIN_5)
+// #define DCMI_PXCLK_PIN          (GPIO_PIN_6)
+
+// #define DCMI_HSYNC_PORT         (GPIOA)
+// #define DCMI_VSYNC_PORT         (GPIOI)
+// #define DCMI_PXCLK_PORT         (GPIOA)
+
+// #if defined(DCMI_RESET_PIN)
+// #define DCMI_RESET_LOW()        HAL_GPIO_WritePin(DCMI_RESET_PORT, DCMI_RESET_PIN, GPIO_PIN_RESET)
+// #define DCMI_RESET_HIGH()       HAL_GPIO_WritePin(DCMI_RESET_PORT, DCMI_RESET_PIN, GPIO_PIN_SET)
+// #else
+// #define DCMI_RESET_LOW()
+// #define DCMI_RESET_HIGH()
+// #endif
+
+// #if defined(DCMI_PWDN_PIN)
+// #define DCMI_PWDN_LOW()         HAL_GPIO_WritePin(DCMI_PWDN_PORT, DCMI_PWDN_PIN, GPIO_PIN_RESET)
+// #define DCMI_PWDN_HIGH()        HAL_GPIO_WritePin(DCMI_PWDN_PORT, DCMI_PWDN_PIN, GPIO_PIN_SET)
+// #else
+// #define DCMI_PWDN_LOW()
+// #define DCMI_PWDN_HIGH()
+// #endif
+
+// #if defined(DCMI_FSYNC_PIN)
+// #define DCMI_FSYNC_LOW()        HAL_GPIO_WritePin(DCMI_FSYNC_PORT, DCMI_FSYNC_PIN, GPIO_PIN_RESET)
+// #define DCMI_FSYNC_HIGH()       HAL_GPIO_WritePin(DCMI_FSYNC_PORT, DCMI_FSYNC_PIN, GPIO_PIN_SET)
+// #else
+// #define DCMI_FSYNC_LOW()
+// #define DCMI_FSYNC_HIGH()
+// #endif
+
+// #define DCMI_VSYNC_IRQN         EXTI9_5_IRQn
+// #define DCMI_VSYNC_IRQ_LINE     (7)
+
+// #define SOFT_I2C_PORT                GPIOB
+// #define SOFT_I2C_SIOC_PIN            GPIO_PIN_10
+// #define SOFT_I2C_SIOD_PIN            GPIO_PIN_11
+
+// #define SOFT_I2C_SIOC_H()            HAL_GPIO_WritePin(SOFT_I2C_PORT, SOFT_I2C_SIOC_PIN, GPIO_PIN_SET)
+// #define SOFT_I2C_SIOC_L()            HAL_GPIO_WritePin(SOFT_I2C_PORT, SOFT_I2C_SIOC_PIN, GPIO_PIN_RESET)
+
+// #define SOFT_I2C_SIOD_H()            HAL_GPIO_WritePin(SOFT_I2C_PORT, SOFT_I2C_SIOD_PIN, GPIO_PIN_SET)
+// #define SOFT_I2C_SIOD_L()            HAL_GPIO_WritePin(SOFT_I2C_PORT, SOFT_I2C_SIOD_PIN, GPIO_PIN_RESET)
+
+// #define SOFT_I2C_SIOD_READ()         HAL_GPIO_ReadPin (SOFT_I2C_PORT, SOFT_I2C_SIOD_PIN)
+// #define SOFT_I2C_SIOD_WRITE(bit)     HAL_GPIO_WritePin(SOFT_I2C_PORT, SOFT_I2C_SIOD_PIN, bit);
+
+// #define SOFT_I2C_SPIN_DELAY          64
+
+// // SAI4
+// #define AUDIO_SAI                   (SAI4_Block_A)
+// // SCKx frequency = SAI_KER_CK / MCKDIV / 2
+// #define AUDIO_SAI_MCKDIV            (12)
+// #define AUDIO_SAI_FREQKHZ           (2048U) // 2048KHz
+// #define AUDIO_SAI_NBR_CHANNELS      (2) // Default number of channels.
+
+// #define AUDIO_SAI_CK_PORT           (GPIOE)
+// #define AUDIO_SAI_CK_PIN            (GPIO_PIN_2)
+// #define AUDIO_SAI_CK_AF             (GPIO_AF10_SAI4)
+
+// #define AUDIO_SAI_D1_PORT           (GPIOB)
+// #define AUDIO_SAI_D1_PIN            (GPIO_PIN_2)
+// #define AUDIO_SAI_D1_AF             (GPIO_AF10_SAI4)
+
+// #define AUDIO_SAI_DMA_STREAM        BDMA_Channel1
+// #define AUDIO_SAI_DMA_REQUEST       BDMA_REQUEST_SAI4_A
+// #define AUDIO_SAI_DMA_IRQ           BDMA_Channel1_IRQn
+// #define AUDIO_SAI_DMA_IRQHandler    BDMA_Channel1_IRQHandler
+
+// #define AUDIO_SAI_CLK_ENABLE()      __HAL_RCC_SAI4_CLK_ENABLE()
+// #define AUDIO_SAI_CLK_DISABLE()     __HAL_RCC_SAI4_CLK_DISABLE()
+// #define AUDIO_SAI_DMA_CLK_ENABLE()  __HAL_RCC_BDMA_CLK_ENABLE()
+
+// // SAI1
+// // Set SAI1 clock source in system ex: Sai1ClockSelection = RCC_SAI1CLKSOURCE_PLL;
+// // #define AUDIO_SAI                   (SAI1_Block_A)
+// // #define AUDIO_SAI_MCKDIV            (12)
+// // #define AUDIO_SAI_FREQKHZ           (2048U) // 2048KHz
+// // #define AUDIO_SAI_NBR_CHANNELS      (2) // Default number of channels.
+// //
+// // #define AUDIO_SAI_CK_PORT           (GPIOE)
+// // #define AUDIO_SAI_CK_PIN            (GPIO_PIN_2)
+// // #define AUDIO_SAI_CK_AF             (GPIO_AF2_SAI1)
+// //
+// // #define AUDIO_SAI_D1_PORT           (GPIOB)
+// // #define AUDIO_SAI_D1_PIN            (GPIO_PIN_2)
+// // #define AUDIO_SAI_D1_AF             (GPIO_AF2_SAI1)
+// //
+// // #define AUDIO_SAI_DMA_STREAM        DMA2_Stream6
+// // #define AUDIO_SAI_DMA_REQUEST       DMA_REQUEST_SAI1_A
+// // #define AUDIO_SAI_DMA_IRQ           DMA2_Stream6_IRQn
+// // #define AUDIO_SAI_DMA_IRQHandler    DMA2_Stream6_IRQHandler
+// //
+// // #define AUDIO_SAI_CLK_ENABLE()      __HAL_RCC_SAI1_CLK_ENABLE()
+// // #define AUDIO_SAI_CLK_DISABLE()     __HAL_RCC_SAI1_CLK_DISABLE()
+// // #define AUDIO_SAI_DMA_CLK_ENABLE()  __HAL_RCC_DMA2_CLK_ENABLE()
+
+// // LCD Interface
+// #define OMV_LCD_CONTROLLER              (LTDC)
+// #define OMV_LCD_CLK_ENABLE()            __HAL_RCC_LTDC_CLK_ENABLE()
+// #define OMV_LCD_CLK_DISABLE()           __HAL_RCC_LTDC_CLK_DISABLE()
+// #define OMV_LCD_FORCE_RESET()           __HAL_RCC_LTDC_FORCE_RESET()
+// #define OMV_LCD_RELEASE_RESET()         __HAL_RCC_LTDC_RELEASE_RESET()
+
+// // DSI Interface
+// #define OMV_DSI_CONTROLLER              (DSI)
+// #define OMV_DSI_CLK_ENABLE()            __HAL_RCC_DSI_CLK_ENABLE()
+// #define OMV_DSI_CLK_DISABLE()           __HAL_RCC_DSI_CLK_DISABLE()
+// #define OMV_DSI_FORCE_RESET()           __HAL_RCC_DSI_FORCE_RESET()
+// #define OMV_DSI_RELEASE_RESET()         __HAL_RCC_DSI_RELEASE_RESET()
+
+// // SPI LCD Interface
+// #define OMV_SPI_LCD_CONTROLLER              (&spi_obj[1])
+// #define OMV_SPI_LCD_CONTROLLER_INSTANCE     (SPI2)
+
+// #define OMV_SPI_LCD_MOSI_PIN                (GPIO_PIN_3)
+// #define OMV_SPI_LCD_MOSI_PORT               (GPIOC)
+// #define OMV_SPI_LCD_MOSI_ALT                (GPIO_AF5_SPI2)
+
+// #define OMV_SPI_LCD_MISO_PIN                (GPIO_PIN_2)
+// #define OMV_SPI_LCD_MISO_PORT               (GPIOC)
+// #define OMV_SPI_LCD_MISO_ALT                (GPIO_AF5_SPI2)
+
+// #define OMV_SPI_LCD_SCLK_PIN                (GPIO_PIN_1)
+// #define OMV_SPI_LCD_SCLK_PORT               (GPIOI)
+// #define OMV_SPI_LCD_SCLK_ALT                (GPIO_AF5_SPI2)
+
+// #define OMV_SPI_LCD_RST_PIN                 (GPIO_PIN_15)
+// #define OMV_SPI_LCD_RST_PORT                (GPIOH)
+// #define OMV_SPI_LCD_RST_OFF()               HAL_GPIO_WritePin(OMV_SPI_LCD_RST_PORT, OMV_SPI_LCD_RST_PIN, GPIO_PIN_SET)
+// #define OMV_SPI_LCD_RST_ON()                HAL_GPIO_WritePin(OMV_SPI_LCD_RST_PORT, OMV_SPI_LCD_RST_PIN, GPIO_PIN_RESET)
+
+// #define OMV_SPI_LCD_RS_PIN                  (GPIO_PIN_1)
+// #define OMV_SPI_LCD_RS_PORT                 (GPIOK)
+// #define OMV_SPI_LCD_RS_OFF()                HAL_GPIO_WritePin(OMV_SPI_LCD_RS_PORT, OMV_SPI_LCD_RS_PIN, GPIO_PIN_SET)
+// #define OMV_SPI_LCD_RS_ON()                 HAL_GPIO_WritePin(OMV_SPI_LCD_RS_PORT, OMV_SPI_LCD_RS_PIN, GPIO_PIN_RESET)
+
+// #define OMV_SPI_LCD_CS_PIN                  (GPIO_PIN_0)
+// #define OMV_SPI_LCD_CS_PORT                 (GPIOI)
+// #define OMV_SPI_LCD_CS_HIGH()               HAL_GPIO_WritePin(OMV_SPI_LCD_CS_PORT, OMV_SPI_LCD_CS_PIN, GPIO_PIN_SET)
+// #define OMV_SPI_LCD_CS_LOW()                HAL_GPIO_WritePin(OMV_SPI_LCD_CS_PORT, OMV_SPI_LCD_CS_PIN, GPIO_PIN_RESET)
+
+// #define OMV_SPI_LCD_BL_PIN                  (GPIO_PIN_4)
+// #define OMV_SPI_LCD_BL_PORT                 (GPIOA)
+// #define OMV_SPI_LCD_BL_ON()                 HAL_GPIO_WritePin(OMV_SPI_LCD_BL_PORT, OMV_SPI_LCD_BL_PIN, GPIO_PIN_SET)
+// #define OMV_SPI_LCD_BL_OFF()                HAL_GPIO_WritePin(OMV_SPI_LCD_BL_PORT, OMV_SPI_LCD_BL_PIN, GPIO_PIN_RESET)
+
+// #define OMV_SPI_LCD_BL_DAC                  (DAC1)
+// #define OMV_SPI_LCD_BL_DAC_CHANNEL          (DAC_CHANNEL_1)
+// #define OMV_SPI_LCD_BL_DAC_CLK_ENABLE()     __HAL_RCC_DAC12_CLK_ENABLE()
+// #define OMV_SPI_LCD_BL_DAC_CLK_DISABLE()    __HAL_RCC_DAC12_CLK_DISABLE()
+// #define OMV_SPI_LCD_BL_DAC_FORCE_RESET()    __HAL_RCC_DAC12_FORCE_RESET()
+// #define OMV_SPI_LCD_BL_DAC_RELEASE_RESET()  __HAL_RCC_DAC12_RELEASE_RESET()
+
+// // FIR Module
+// #define OMV_ENABLE_FIR_MLX90621             (1)
+// #define OMV_ENABLE_FIR_MLX90640             (1)
+// #define OMV_ENABLE_FIR_MLX90641             (1)
+// #define OMV_ENABLE_FIR_AMG8833              (1)
+// #define OMV_ENABLE_FIR_LEPTON               (1)
+
+// // FIR Lepton
+// #define OMV_FIR_LEPTON_I2C_BUS              (FIR_I2C_ID)
+// #define OMV_FIR_LEPTON_I2C_BUS_SPEED        (FIR_I2C_SPEED)
+// #define OMV_FIR_LEPTON_CONTROLLER           (&spi_obj[1])
+// #define OMV_FIR_LEPTON_CONTROLLER_INSTANCE  (SPI2)
+
+// #define OMV_FIR_LEPTON_MOSI_PIN             (GPIO_PIN_3)
+// #define OMV_FIR_LEPTON_MOSI_PORT            (GPIOC)
+// #define OMV_FIR_LEPTON_MOSI_ALT             (GPIO_AF5_SPI2)
+
+// #define OMV_FIR_LEPTON_MISO_PIN             (GPIO_PIN_2)
+// #define OMV_FIR_LEPTON_MISO_PORT            (GPIOC)
+// #define OMV_FIR_LEPTON_MISO_ALT             (GPIO_AF5_SPI2)
+
+// #define OMV_FIR_LEPTON_SCLK_PIN             (GPIO_PIN_1)
+// #define OMV_FIR_LEPTON_SCLK_PORT            (GPIOI)
+// #define OMV_FIR_LEPTON_SCLK_ALT             (GPIO_AF5_SPI2)
+
+// #define OMV_FIR_LEPTON_CS_PIN               (GPIO_PIN_0)
+// #define OMV_FIR_LEPTON_CS_PORT              (GPIOI)
+// #define OMV_FIR_LEPTON_CS_HIGH()            HAL_GPIO_WritePin(OMV_FIR_LEPTON_CS_PORT, OMV_FIR_LEPTON_CS_PIN, GPIO_PIN_SET)
+// #define OMV_FIR_LEPTON_CS_LOW()             HAL_GPIO_WritePin(OMV_FIR_LEPTON_CS_PORT, OMV_FIR_LEPTON_CS_PIN, GPIO_PIN_RESET)
+
+// // Enable additional GPIO banks for DRAM...
+// #define OMV_ENABLE_GPIO_BANK_F
+// #define OMV_ENABLE_GPIO_BANK_G
+// #define OMV_ENABLE_GPIO_BANK_H
+// #define OMV_ENABLE_GPIO_BANK_I
+// #define OMV_ENABLE_GPIO_BANK_J
+// #define OMV_ENABLE_GPIO_BANK_K
+#ifdef __cplusplus
+}
+#endif
+#endif //__OMV_BOARDCONFIG_H__
diff --git a/github_source/minicv2/include/ringbuf.h b/github_source/minicv2/include/ringbuf.h
new file mode 100644
index 0000000..e371bec
--- /dev/null
+++ b/github_source/minicv2/include/ringbuf.h
@@ -0,0 +1,32 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Simple Ring Buffer implementation.
+ */
+#ifndef __RING_BUFFER_H__
+#define __RING_BUFFER_H__
+#include <stdint.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
+#define BUFFER_SIZE (1024)
+
+typedef struct ring_buffer {
+   volatile uint32_t head;
+   volatile uint32_t tail;
+   uint8_t data[BUFFER_SIZE];
+} ring_buf_t;
+
+void ring_buf_init(ring_buf_t *buf);
+int ring_buf_empty(ring_buf_t *buf);
+void ring_buf_put(ring_buf_t *buf, uint8_t c);
+uint8_t ring_buf_get(ring_buf_t *buf);
+#ifdef __cplusplus
+}
+#endif
+#endif /* __RING_BUFFER_H__ */
diff --git a/github_source/minicv2/include/umm_malloc.h b/github_source/minicv2/include/umm_malloc.h
new file mode 100644
index 0000000..4eeca93
--- /dev/null
+++ b/github_source/minicv2/include/umm_malloc.h
@@ -0,0 +1,70 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * UMM memory allocator.
+ */
+#ifndef __UMM_MALLOC_H__
+#define __UMM_MALLOC_H__
+#include <stdlib.h>
+#ifdef __cplusplus
+extern "C" {
+#endif
+void umm_alloc_fail();
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "umm_malloc.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+//The MIT License (MIT)
+
+//Copyright (c) 2015 Ralph Hempel
+
+//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.
+
+/* ----------------------------------------------------------------------------
+ * umm_malloc.h - a memory allocator for embedded systems (microcontrollers)
+ *
+ * See copyright notice in LICENSE.TXT
+ * ----------------------------------------------------------------------------
+ */
+
+
+/* ------------------------------------------------------------------------ */
+
+void  umm_init_x( size_t size ); // Min of 2.5KB - Max of 640 KB.
+void *umm_malloc( size_t size );
+void *umm_calloc( size_t num, size_t size );
+void *umm_realloc( void *ptr, size_t size );
+void  umm_free( void *ptr );
+
+
+/* ------------------------------------------------------------------------ */
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+#ifdef __cplusplus
+}
+#endif
+#endif /* __UMM_MALLOC_H__ */
diff --git a/github_source/minicv2/include/unaligned_memcpy.h b/github_source/minicv2/include/unaligned_memcpy.h
new file mode 100644
index 0000000..6e8af7d
--- /dev/null
+++ b/github_source/minicv2/include/unaligned_memcpy.h
@@ -0,0 +1,22 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Fast unaligned memcpy functions.
+ */
+#ifndef __UNALIGNED_MEMCPY_H__
+#define __UNALIGNED_MEMCPY_H__
+#ifdef __cplusplus
+extern "C" {
+#endif
+void *unaligned_memcpy(void *dest, void *src, size_t n);
+void *unaligned_memcpy_rev16(void *dest, void *src, size_t n);
+void *unaligned_2_to_1_memcpy(void *dest, void *src, size_t n);
+#ifdef __cplusplus
+}
+#endif
+#endif //__UNALIGNED_MEMCPY_H__
diff --git a/github_source/minicv2/include/x_vfs.h b/github_source/minicv2/include/x_vfs.h
new file mode 100644
index 0000000..58ef6d7
--- /dev/null
+++ b/github_source/minicv2/include/x_vfs.h
@@ -0,0 +1,12 @@
+#ifndef __X_VFS__
+#define __X_VFS__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+#ifdef __cplusplus
+}
+#endif
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/include/xalloc.h b/github_source/minicv2/include/xalloc.h
new file mode 100644
index 0000000..df0100d
--- /dev/null
+++ b/github_source/minicv2/include/xalloc.h
@@ -0,0 +1,34 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Memory allocation functions.
+ */
+#ifndef __XALLOC_H__
+#define __XALLOC_H__
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stddef.h>
+#include <stdint.h>
+void *xalloc(size_t size);
+void *xalloc_try_alloc(size_t size);
+void *xalloc0(size_t size);
+void xfree(void *mem);
+void *xrealloc(void *mem, size_t size);
+
+void *xcalloc(size_t nitems, size_t size);
+
+
+// #define xcalloc(num, item_size) calloc(num, item_size)
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __XALLOC_H__
diff --git a/github_source/minicv2/openmv_unpdate.md b/github_source/minicv2/openmv_unpdate.md
new file mode 100644
index 0000000..7f56bbe
--- /dev/null
+++ b/github_source/minicv2/openmv_unpdate.md
@@ -0,0 +1,78 @@
+# openmv更新追踪
+
+- 2022年2月8号更新记录
+更新log
+~~~ bash
+更新 be2aad13..9eb48bae
+Fast-forward
+ .github/workflows/firmware.yml                       |  128 +++++
+ .travis.yml                                          |  150 ------
+ scripts/libraries/rpc.py                             |   15 +-
+ src/Makefile                                         |    2 +
+ src/lib/libtf/Makefile                               |   32 ++
+ src/lib/libtf/cortex-m0plus/LICENSE                  |  248 +++++++++
+ src/lib/libtf/cortex-m0plus/README                   |    1 +
+ src/lib/libtf/cortex-m0plus/libtf.a                  |  Bin 0 -> 1095954 bytes
+ src/lib/libtf/cortex-m4/LICENSE                      |   45 ++
+ src/lib/libtf/cortex-m55/LICENSE                     |   45 ++
+ src/lib/libtf/cortex-m55/libtf.h                     |   83 ---
+ src/lib/libtf/cortex-m7/LICENSE                      |   45 ++
+ src/lib/libtf/cortex-m7/libtf.h                      |   83 ---
+ src/lib/libtf/{cortex-m4 => }/libtf.h                |    4 -
+ src/lib/libtf/models/person_detection.tflite         |  Bin 0 -> 300568 bytes
+ src/lib/libtf/models/person_detection.txt            |    2 +
+ src/micropython                                      |    2 +-
+ src/omv/Makefile                                     |    2 +
+ src/omv/boards/{BORMIO => NICLAV}/imlib_config.h     |    8 +-
+ src/omv/boards/{BORMIO => NICLAV}/manifest.py        |    0
+ src/omv/boards/{BORMIO => NICLAV}/omv_boardconfig.h  |    4 +-
+ src/omv/boards/{BORMIO => NICLAV}/omv_boardconfig.mk |    0
+ src/omv/boards/NICLAV/readme_txt.h                   |   19 +
+ src/omv/boards/{BORMIO => NICLAV}/ulab_config.h      |    0
+ src/omv/boards/OPENMV3/imlib_config.h                |    6 +-
+ src/omv/boards/OPENMV4/imlib_config.h                |    6 +-
+ src/omv/boards/OPENMV4P/imlib_config.h               |    6 +-
+ src/omv/boards/OPENMVPT/imlib_config.h               |    6 +-
+ src/omv/boards/PORTENTA/imlib_config.h               |    4 +
+ src/omv/common/ini.c                                 |    2 +-
+ src/omv/imlib/draw.c                                 |   14 +-
+ src/omv/imlib/framebuffer.c                          |    4 +-
+ src/omv/imlib/imlib.c                                |   33 +-
+ src/omv/imlib/imlib.h                                |   35 +-
+ src/omv/imlib/jpeg.c                                 |   10 +
+ src/omv/imlib/lodepng.c                              | 6503 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ src/omv/imlib/lodepng.h                              | 2026 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ src/omv/imlib/png.c                                  |  337 ++++++++++++
+ src/omv/modules/py_image.c                           |  256 ++++-----
+ src/omv/modules/py_tf.c                              |   62 ++-
+ src/omv/ports/nrf/omv_portconfig.mk                  |    2 +
+ src/omv/ports/rp2/omv_portconfig.cmake               |    2 +
+ src/omv/ports/stm32/omv_portconfig.mk                |   46 +-
+ tools/ci.sh                                          |   51 ++
+ tools/tflite2c.py                                    |   77 +++
+ 45 files changed, 9864 insertions(+), 542 deletions(-)
+ create mode 100644 .github/workflows/firmware.yml
+ delete mode 100644 .travis.yml
+ create mode 100644 src/lib/libtf/Makefile
+ create mode 100644 src/lib/libtf/cortex-m0plus/LICENSE
+ create mode 100644 src/lib/libtf/cortex-m0plus/README
+ create mode 100644 src/lib/libtf/cortex-m0plus/libtf.a
+ delete mode 100644 src/lib/libtf/cortex-m55/libtf.h
+ delete mode 100644 src/lib/libtf/cortex-m7/libtf.h
+ rename src/lib/libtf/{cortex-m4 => }/libtf.h (96%)
+ create mode 100644 src/lib/libtf/models/person_detection.tflite
+ create mode 100644 src/lib/libtf/models/person_detection.txt
+ rename src/omv/boards/{BORMIO => NICLAV}/imlib_config.h (94%)
+ rename src/omv/boards/{BORMIO => NICLAV}/manifest.py (100%)
+ rename src/omv/boards/{BORMIO => NICLAV}/omv_boardconfig.h (99%)
+ rename src/omv/boards/{BORMIO => NICLAV}/omv_boardconfig.mk (100%)
+ create mode 100644 src/omv/boards/NICLAV/readme_txt.h
+ rename src/omv/boards/{BORMIO => NICLAV}/ulab_config.h (100%)
+ create mode 100644 src/omv/imlib/lodepng.c
+ create mode 100644 src/omv/imlib/lodepng.h
+ create mode 100644 src/omv/imlib/png.c
+ create mode 100755 tools/ci.sh
+ create mode 100755 tools/tflite2c.py
+~~~
+添加了 png 图片格式的支持
+等待合并到 minicv2 中！ 
\ No newline at end of file
diff --git a/github_source/minicv2/reference/py_assert.h b/github_source/minicv2/reference/py_assert.h
new file mode 100644
index 0000000..edc8d00
--- /dev/null
+++ b/github_source/minicv2/reference/py_assert.h
@@ -0,0 +1,64 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * MP assertions.
+ */
+#ifndef __PY_ASSERT_H__
+#define __PY_ASSERT_H__
+#define PY_ASSERT_TRUE(cond)                            \
+    do {                                                \
+        if ((cond) == 0) {                              \
+            mp_raise_msg(&mp_type_OSError,              \
+                         MP_ERROR_TEXT(                 \
+                         "Operation not supported"));   \
+        }                                               \
+    } while(0)
+
+#define PY_ASSERT_TRUE_MSG(cond, msg)                   \
+    do {                                                \
+        if ((cond) == 0) {                              \
+            mp_raise_msg(&mp_type_OSError,              \
+                         MP_ERROR_TEXT(msg));           \
+        }                                               \
+    } while(0)
+
+#define PY_ASSERT_FALSE_MSG(cond, msg)                  \
+    do {                                                \
+        if ((cond) == 1) {                              \
+            mp_raise_msg(&mp_type_OSError,              \
+                         MP_ERROR_TEXT(msg));           \
+        }                                               \
+    } while(0)
+
+#define PY_ASSERT_TYPE(obj, type)                       \
+    do {                                                \
+        __typeof__ (obj) _a = (obj);                    \
+        __typeof__ (type) _b = (type);                  \
+        if (!MP_OBJ_IS_TYPE(_a, _b)) {                  \
+            mp_raise_msg_varg(&mp_type_TypeError,       \
+                        MP_ERROR_TEXT(                  \
+                        "Can't convert %s to %s"),      \
+                        mp_obj_get_type_str(_a),        \
+                        mp_obj_get_type_str(_b));       \
+        }                                               \
+    } while(0)
+/* IS_TYPE doesn't work for str objs */
+#define PY_ASSERT_STR(obj)                              \
+    do {                                                \
+        __typeof__ (obj) _a = (obj);                    \
+        if (!MP_OBJ_IS_STR(_a)) {                       \
+            mp_raise_msg_varg(                          \
+                        &mp_type_TypeError,             \
+                        MP_ERROR_TEXT(                  \
+                        "Can't convert %s to %s"),      \
+                        mp_obj_get_type_str(_a),        \
+                        str_type.name);                 \
+        }                                               \
+    } while(0)
+
+#endif // __PY_ASSERT_H__
diff --git a/github_source/minicv2/reference/py_clock.c b/github_source/minicv2/reference/py_clock.c
new file mode 100644
index 0000000..a684b54
--- /dev/null
+++ b/github_source/minicv2/reference/py_clock.c
@@ -0,0 +1,92 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Clock Python module.
+ */
+#include "py/obj.h"
+#include "py/mphal.h"
+#include "py_clock.h"
+
+/* Clock Type */
+typedef struct _py_clock_obj_t {
+    mp_obj_base_t base;
+    uint32_t t_start;
+    uint32_t t_ticks;
+    uint32_t t_frame;
+} py_clock_obj_t;
+
+mp_obj_t py_clock_tick(mp_obj_t clock_obj)
+{
+    py_clock_obj_t *clock = (py_clock_obj_t*) clock_obj;
+    clock->t_start = mp_hal_ticks_ms();
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_tick_obj,  py_clock_tick);
+
+mp_obj_t py_clock_fps(mp_obj_t clock_obj)
+{
+    py_clock_obj_t *clock = (py_clock_obj_t*) clock_obj;
+    clock->t_frame++;
+    clock->t_ticks += (mp_hal_ticks_ms() - clock->t_start);
+    float fps = 1000.0f / (clock->t_ticks/(float)clock->t_frame);
+    return mp_obj_new_float(fps);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_fps_obj,   py_clock_fps);
+
+mp_obj_t py_clock_avg(mp_obj_t clock_obj)
+{
+    py_clock_obj_t *clock = (py_clock_obj_t*) clock_obj;
+    clock->t_frame++;
+    clock->t_ticks += (mp_hal_ticks_ms() - clock->t_start);
+    return mp_obj_new_float(clock->t_ticks/(float)clock->t_frame);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_avg_obj,   py_clock_avg);
+
+mp_obj_t py_clock_reset(mp_obj_t clock_obj)
+{
+    py_clock_obj_t *clock = (py_clock_obj_t*) clock_obj;
+    clock->t_start = 0;
+    clock->t_ticks = 0;
+    clock->t_frame = 0;
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_clock_reset_obj, py_clock_reset);
+
+STATIC void py_clock_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_clock_obj_t *self = self_in;
+    mp_printf(print, "t_start:%d t_ticks:%d t_frame:%d\n", self->t_start, self->t_ticks, self->t_frame);
+}
+
+mp_obj_t py_clock_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args)
+{
+    py_clock_obj_t *clock =NULL;
+    clock = m_new_obj(py_clock_obj_t);
+    clock->base.type = &py_clock_type;
+    clock->t_start = 0;
+    clock->t_ticks = 0;
+    clock->t_frame = 0;
+    return MP_OBJ_FROM_PTR(clock);
+}
+
+STATIC const mp_rom_map_elem_t py_clock_locals_dict_table[] = {
+    { MP_OBJ_NEW_QSTR(MP_QSTR_tick),   MP_ROM_PTR(&py_clock_tick_obj)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_fps),    MP_ROM_PTR(&py_clock_fps_obj)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_avg),    MP_ROM_PTR(&py_clock_avg_obj)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_reset),  MP_ROM_PTR(&py_clock_reset_obj)},
+    { NULL, NULL },
+};
+STATIC MP_DEFINE_CONST_DICT(py_clock_locals_dict, py_clock_locals_dict_table);
+
+const mp_obj_type_t py_clock_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_Clock,
+    .print = py_clock_print,
+    .make_new = py_clock_make_new,
+    .locals_dict = (mp_obj_t)&py_clock_locals_dict,
+};
diff --git a/github_source/minicv2/reference/py_clock.h b/github_source/minicv2/reference/py_clock.h
new file mode 100644
index 0000000..6945dd9
--- /dev/null
+++ b/github_source/minicv2/reference/py_clock.h
@@ -0,0 +1,14 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Clock Python module.
+ */
+#ifndef __PY_CLOCK_H__
+#define __PY_CLOCK_H__
+extern const mp_obj_type_t py_clock_type;
+#endif // __PY_CLOCK_H__
diff --git a/github_source/minicv2/reference/py_fir.c b/github_source/minicv2/reference/py_fir.c
new file mode 100644
index 0000000..ac11f07
--- /dev/null
+++ b/github_source/minicv2/reference/py_fir.c
@@ -0,0 +1,1269 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * FIR Python module.
+ */
+#include "py/runtime.h"
+#include "py/objlist.h"
+
+#include "omv_boardconfig.h"
+#include "cambus.h"
+#if (OMV_ENABLE_FIR_MLX90621 == 1)
+#include "MLX90621_API.h"
+#include "MLX90621_I2C_Driver.h"
+#endif
+#if (OMV_ENABLE_FIR_MLX90640 == 1)
+#include "MLX90640_API.h"
+#include "MLX90640_I2C_Driver.h"
+#endif
+#if (OMV_ENABLE_FIR_MLX90641 == 1)
+#include "MLX90641_API.h"
+#include "MLX90641_I2C_Driver.h"
+#endif
+#include "framebuffer.h"
+
+#include "py_assert.h"
+#include "py_helper.h"
+#include "py_image.h"
+
+#if (OMV_ENABLE_FIR_LEPTON == 1)
+#include "py_fir_lepton.h"
+#endif
+
+#define MLX90621_ADDR                   0x50
+#define MLX90621_WIDTH                  16
+#define MLX90621_HEIGHT                 4
+#define MLX90621_EEPROM_DATA_SIZE       256
+#define MLX90621_FRAME_DATA_SIZE        66
+
+#define MLX90640_ADDR                   0x33
+#define MLX90640_WIDTH                  32
+#define MLX90640_HEIGHT                 24
+#define MLX90640_EEPROM_DATA_SIZE       832
+#define MLX90640_FRAME_DATA_SIZE        834
+
+#define MLX90641_ADDR                   0x33
+#define MLX90641_WIDTH                  16
+#define MLX90641_HEIGHT                 12
+#define MLX90641_EEPROM_DATA_SIZE       832
+#define MLX90641_FRAME_DATA_SIZE        242
+
+#define AMG8833_ADDR                    0xD2
+#define AMG8833_WIDTH                   8
+#define AMG8833_HEIGHT                  8
+#define AMG8833_RESET_REGISTER          0x01
+#define AMG8833_THERMISTOR_REGISTER     0x0E
+#define AMG8833_TEMPERATURE_REGISTER    0x80
+#define AMG8833_INITIAL_RESET_VALUE     0x3F
+
+#define LEPTON_ADDR                     0x54
+
+#define AMG8833_12_TO_16(value) \
+({ \
+    __typeof__ (value) __value = (value); \
+    if ((__value >> 11) & 1) { \
+        __value |= 1 << 15; \
+    } \
+    __value & 0x87FF; \
+})
+
+static cambus_t fir_bus = {};
+#if ((OMV_ENABLE_FIR_MLX90621 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90641 == 1))
+static void *fir_mlx_data = NULL;
+#endif
+
+static enum {
+    FIR_NONE,
+#if (OMV_ENABLE_FIR_MLX90621 == 1)
+    FIR_MLX90621,
+#endif
+#if (OMV_ENABLE_FIR_MLX90640 == 1)
+    FIR_MLX90640,
+#endif
+#if (OMV_ENABLE_FIR_MLX90641 == 1)
+    FIR_MLX90641,
+#endif
+#if (OMV_ENABLE_FIR_AMG8833 == 1)
+    FIR_AMG8833,
+#endif
+#if (OMV_ENABLE_FIR_LEPTON == 1)
+    FIR_LEPTON
+#endif
+} fir_sensor = FIR_NONE;
+
+static int fir_width = 0;
+static int fir_height = 0;
+static int fir_ir_fresh_rate = 0;
+static int fir_adc_resolution = 0;
+static bool fir_transposed = false;
+
+// img->w == data_w && img->h == data_h && img->pixfmt == PIXFORMAT_GRAYSCALE
+static void fir_fill_image_float_obj(image_t *img, mp_obj_t *data, float min, float max)
+{
+    float tmp = min;
+    min = (min < max) ? min : max;
+    max = (max > tmp) ? max : tmp;
+
+    float diff = 255.f / (max - min);
+
+    for (int y = 0; y < img->h; y++) {
+        int row_offset = y * img->w;
+        mp_obj_t *raw_row = data + row_offset;
+        uint8_t *row_pointer = ((uint8_t *) img->data) + row_offset;
+
+        for (int x = 0; x < img->w; x++) {
+            float raw = mp_obj_get_float(raw_row[x]);
+
+            if (raw < min) {
+                raw = min;
+            }
+
+            if (raw > max) {
+                raw = max;
+            }
+
+            int pixel = fast_roundf((raw - min) * diff);
+            row_pointer[x] = __USAT(pixel, 8);
+        }
+    }
+}
+
+#if (OMV_ENABLE_FIR_MLX90621 == 1)
+static void fir_MLX90621_get_frame(float *Ta, float *To)
+{
+    uint16_t *data = fb_alloc(MLX90621_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+
+    PY_ASSERT_TRUE_MSG(MLX90621_GetFrameData(data) >= 0,
+                       "Failed to read the MLX90621 sensor data!");
+    *Ta = MLX90621_GetTa(data, fir_mlx_data);
+    MLX90621_CalculateTo(data, fir_mlx_data, 0.95f, *Ta - 8, To);
+
+    fb_free();
+}
+#endif
+
+#if (OMV_ENABLE_FIR_MLX90640 == 1)
+static void fir_MLX90640_get_frame(float *Ta, float *To)
+{
+    uint16_t *data = fb_alloc(MLX90640_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+
+    // Calculate 1st sub-frame...
+    PY_ASSERT_TRUE_MSG(MLX90640_GetFrameData(MLX90640_ADDR, data) >= 0,
+                       "Failed to read the MLX90640 sensor data!");
+    *Ta = MLX90640_GetTa(data, fir_mlx_data);
+    MLX90640_CalculateTo(data, fir_mlx_data, 0.95f, *Ta - 8, To);
+
+    // Calculate 2nd sub-frame...
+    PY_ASSERT_TRUE_MSG(MLX90640_GetFrameData(MLX90640_ADDR, data) >= 0,
+                       "Failed to read the MLX90640 sensor data!");
+    *Ta = MLX90640_GetTa(data, fir_mlx_data);
+    MLX90640_CalculateTo(data, fir_mlx_data, 0.95f, *Ta - 8, To);
+
+    fb_free();
+}
+#endif
+
+#if (OMV_ENABLE_FIR_MLX90641 == 1)
+static void fir_MLX90641_get_frame(float *Ta, float *To)
+{
+    uint16_t *data = fb_alloc(MLX90641_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+
+    PY_ASSERT_TRUE_MSG(MLX90641_GetFrameData(MLX90641_ADDR, data) >= 0,
+                       "Failed to read the MLX90641 sensor data!");
+    *Ta = MLX90641_GetTa(data, fir_mlx_data);
+    MLX90641_CalculateTo(data, fir_mlx_data, 0.95f, *Ta - 8, To);
+
+    fb_free();
+}
+#endif
+
+#if (OMV_ENABLE_FIR_AMG8833 == 1)
+static void fir_AMG8833_get_frame(float *Ta, float *To)
+{
+    int16_t temp;
+    int error = 0;
+    error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_THERMISTOR_REGISTER}, 1, CAMBUS_XFER_NO_STOP);
+    error |= cambus_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) &temp, sizeof(temp), CAMBUS_XFER_NO_FLAGS);
+    PY_ASSERT_TRUE_MSG((error == 0), "Failed to read the AMG8833 sensor data!");
+
+    *Ta = AMG8833_12_TO_16(temp) * 0.0625f;
+
+    int16_t *data = fb_alloc(AMG8833_WIDTH * AMG8833_HEIGHT * sizeof(int16_t), FB_ALLOC_NO_HINT);
+    error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_TEMPERATURE_REGISTER}, 1, CAMBUS_XFER_NO_STOP);
+    error |= cambus_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) data, AMG8833_WIDTH * AMG8833_HEIGHT * 2, CAMBUS_XFER_NO_FLAGS);
+    PY_ASSERT_TRUE_MSG((error == 0), "Failed to read the AMG8833 sensor data!");
+
+    for (int i = 0, ii = AMG8833_WIDTH * AMG8833_HEIGHT; i < ii; i++) {
+        To[i] = AMG8833_12_TO_16(data[i]) * 0.25f;
+    }
+
+    fb_free();
+}
+#endif
+
+static mp_obj_t fir_get_ir(int w, int h, float Ta, float *To, bool mirror, bool flip, bool dst_transpose, bool src_transpose)
+{
+    mp_obj_list_t *list = (mp_obj_list_t *) mp_obj_new_list(w * h, NULL);
+    float min = FLT_MAX;
+    float max = -FLT_MAX;
+    int w_1 = w - 1;
+    int h_1 = h - 1;
+
+    if (!src_transpose) {
+        for (int y = 0; y < h; y++) {
+            int y_dst = flip ? (h_1 - y) : y;
+            float *raw_row = To + (y * w);
+            mp_obj_t *list_row = list->items + (y_dst * w);
+            mp_obj_t *t_list_row = list->items + y_dst;
+
+            for (int x = 0; x < w; x++) {
+                int x_dst = mirror ? (w_1 - x) : x;
+                float raw = raw_row[x];
+
+                if (raw < min) {
+                    min = raw;
+                }
+
+                if (raw > max) {
+                    max = raw;
+                }
+
+                mp_obj_t f = mp_obj_new_float(raw);
+
+                if (!dst_transpose) {
+                    list_row[x_dst] = f;
+                } else {
+                    t_list_row[x_dst * h] = f;
+                }
+            }
+        }
+    } else {
+        for (int x = 0; x < w; x++) {
+            int x_dst = mirror ? (w_1 - x) : x;
+            float *raw_row = To + (x * h);
+            mp_obj_t *t_list_row = list->items + (x_dst * h);
+            mp_obj_t *list_row = list->items + x_dst;
+
+            for (int y = 0; y < h; y++) {
+                int y_dst = flip ? (h_1 - y) : y;
+                float raw = raw_row[y];
+
+                if (raw < min) {
+                    min = raw;
+                }
+
+                if (raw > max) {
+                    max = raw;
+                }
+
+                mp_obj_t f = mp_obj_new_float(raw);
+
+                if (!dst_transpose) {
+                    list_row[y_dst * w] = f;
+                } else {
+                    t_list_row[y_dst] = f;
+                }
+            }
+        }
+    }
+
+    mp_obj_t tuple[4];
+    tuple[0] = mp_obj_new_float(Ta);
+    tuple[1] = MP_OBJ_FROM_PTR(list);
+    tuple[2] = mp_obj_new_float(min);
+    tuple[3] = mp_obj_new_float(max);
+    return mp_obj_new_tuple(4, tuple);
+}
+
+static mp_obj_t py_fir_deinit()
+{
+    #if (OMV_ENABLE_FIR_LEPTON == 1)
+    if (fir_sensor == FIR_LEPTON) {
+        fir_lepton_deinit();
+    }
+    #endif
+
+    if (fir_sensor != FIR_NONE) {
+        cambus_deinit(&fir_bus);
+        fir_sensor = FIR_NONE;
+    }
+
+    #if ((OMV_ENABLE_FIR_MLX90621 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90641 == 1))
+    if (fir_mlx_data != NULL) {
+        xfree(fir_mlx_data);
+        fir_mlx_data = NULL;
+    }
+    #endif
+
+    fir_width = 0;
+    fir_height = 0;
+    fir_ir_fresh_rate = 0;
+    fir_adc_resolution = 0;
+    fir_transposed = false;
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_deinit_obj, py_fir_deinit);
+
+mp_obj_t py_fir_init(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    py_fir_deinit();
+    bool first_init = true;
+    int type = py_helper_keyword_int(n_args, args, 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_type), -1);
+    if (type == -1) {
+        FIR_SCAN_RETRY:
+        cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_STANDARD);
+        switch (cambus_scan(&fir_bus)) {
+            #if (OMV_ENABLE_FIR_MLX90621 == 1)
+                case (MLX90621_ADDR << 1): {
+                    type = FIR_MLX90621;
+                    break;
+                }
+            #endif
+            #if (OMV_ENABLE_FIR_MLX90640 == 1)
+                case (MLX90640_ADDR << 1): {
+                    type = FIR_MLX90640;
+                    break;
+                }
+            #endif
+            #if (OMV_ENABLE_FIR_MLX90640 == 0) && (OMV_ENABLE_FIR_MLX90641 == 1)
+                case (MLX90641_ADDR << 1): {
+                    type = FIR_MLX90641;
+                    break;
+                }
+            #endif
+            #if (OMV_ENABLE_FIR_AMG8833 == 1)
+                case AMG8833_ADDR: {
+                    type = FIR_AMG8833;
+                    break;
+                }
+            #endif
+            #if (OMV_ENABLE_FIR_LEPTON == 1)
+                case LEPTON_ADDR: {
+                    type = FIR_LEPTON;
+                    break;
+                }
+            #endif
+            default: {
+                if (first_init) {
+                    first_init = false;
+                    // Try to recover the bus once as it may be stuck from an interrupted run.
+                    // This is mostly needed for the AMG8833
+                    cambus_pulse_scl(&fir_bus);
+                    goto FIR_SCAN_RETRY;
+                } else {
+                    mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to detect any FIR sensor"));
+                }
+            }
+        }
+        cambus_deinit(&fir_bus);
+    }
+
+    // Initialize the detected sensor.
+    first_init = true;
+    switch (type) {
+        case FIR_NONE: {
+            return mp_const_none;
+        }
+        #if (OMV_ENABLE_FIR_MLX90621 == 1)
+        case FIR_MLX90621: {
+            // parse refresh rate and ADC resolution
+            int ir_fresh_rate = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_refresh), 64);
+            int adc_resolution = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_resolution), 18);
+
+            // sanitize values
+            ir_fresh_rate = 14 - __CLZ(__RBIT((ir_fresh_rate > 512) ? 512 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate)));
+            adc_resolution = ((adc_resolution > 18) ? 18 : ((adc_resolution < 15) ? 15 : adc_resolution)) - 15;
+
+            fir_mlx_data = xalloc(sizeof(paramsMLX90621));
+
+            fir_sensor = FIR_MLX90621;
+            FIR_MLX90621_RETRY:
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
+            MLX90621_I2CInit(&fir_bus);
+
+            fb_alloc_mark();
+            uint8_t *eeprom = fb_alloc(MLX90621_EEPROM_DATA_SIZE * sizeof(uint8_t), FB_ALLOC_NO_HINT);
+            int error = MLX90621_DumpEE(eeprom);
+            error |= MLX90621_Configure(eeprom);
+            error |= MLX90621_SetRefreshRate(ir_fresh_rate);
+            error |= MLX90621_SetResolution(adc_resolution);
+            error |= MLX90621_ExtractParameters(eeprom, fir_mlx_data);
+            fb_alloc_free_till_mark();
+
+            if (error != 0) {
+                if (first_init) {
+                    first_init = false;
+                    cambus_pulse_scl(&fir_bus);
+                    goto FIR_MLX90621_RETRY;
+                } else {
+                    py_fir_deinit();
+                    mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the MLX90621!"));
+                }
+            }
+
+            // Switch to FAST speed
+            cambus_deinit(&fir_bus);
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FAST);
+            fir_width = MLX90621_WIDTH;
+            fir_height = MLX90621_HEIGHT;
+            fir_ir_fresh_rate = ir_fresh_rate;
+            fir_adc_resolution = adc_resolution;
+            return mp_const_none;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90640 == 1)
+        case FIR_MLX90640: {
+            // parse refresh rate and ADC resolution
+            int ir_fresh_rate = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_refresh), 32);
+            int adc_resolution = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_resolution), 19);
+
+            // sanitize values
+            ir_fresh_rate = __CLZ(__RBIT((ir_fresh_rate > 64) ? 64 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate))) + 1;
+            adc_resolution = ((adc_resolution > 19) ? 19 : ((adc_resolution < 16) ? 16 : adc_resolution)) - 16;
+
+            fir_mlx_data = xalloc(sizeof(paramsMLX90640));
+
+            fir_sensor = FIR_MLX90640;
+            FIR_MLX90640_RETRY:
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
+            MLX90640_I2CInit(&fir_bus);
+
+            fb_alloc_mark();
+            uint16_t *eeprom = fb_alloc(MLX90640_EEPROM_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+            int error = MLX90640_DumpEE(MLX90640_ADDR, eeprom);
+            error |= MLX90640_SetRefreshRate(MLX90640_ADDR, ir_fresh_rate);
+            error |= MLX90640_SetResolution(MLX90640_ADDR, adc_resolution);
+            error |= MLX90640_ExtractParameters(eeprom, fir_mlx_data);
+            fb_alloc_free_till_mark();
+
+            if (error != 0) {
+                if (first_init) {
+                    first_init = false;
+                    cambus_pulse_scl(&fir_bus);
+                    goto FIR_MLX90640_RETRY;
+                } else {
+                    py_fir_deinit();
+                    mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the MLX90640!"));
+                }
+            }
+
+            // Switch to FAST speed
+            cambus_deinit(&fir_bus);
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FAST);
+            fir_width = MLX90640_WIDTH;
+            fir_height = MLX90640_HEIGHT;
+            fir_ir_fresh_rate = ir_fresh_rate;
+            fir_adc_resolution = adc_resolution;
+            return mp_const_none;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90641 == 1)
+        case FIR_MLX90641: {
+            // parse refresh rate and ADC resolution
+            int ir_fresh_rate = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_refresh), 32);
+            int adc_resolution = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_resolution), 19);
+
+            // sanitize values
+            ir_fresh_rate = __CLZ(__RBIT((ir_fresh_rate > 64) ? 64 : ((ir_fresh_rate < 1) ? 1 : ir_fresh_rate))) + 1;
+            adc_resolution = ((adc_resolution > 19) ? 19 : ((adc_resolution < 16) ? 16 : adc_resolution)) - 16;
+
+            fir_mlx_data = xalloc(sizeof(paramsMLX90641));
+
+            fir_sensor = FIR_MLX90641;
+            FIR_MLX90641_RETRY:
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FULL); // The EEPROM must be read at <= 400KHz.
+            MLX90641_I2CInit(&fir_bus);
+
+            fb_alloc_mark();
+            uint16_t *eeprom = fb_alloc(MLX90641_EEPROM_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+            int error = MLX90641_DumpEE(MLX90641_ADDR, eeprom);
+            error |= MLX90641_SetRefreshRate(MLX90641_ADDR, ir_fresh_rate);
+            error |= MLX90641_SetResolution(MLX90641_ADDR, adc_resolution);
+            error |= MLX90641_ExtractParameters(eeprom, fir_mlx_data);
+            fb_alloc_free_till_mark();
+
+            if (error != 0) {
+                if (first_init) {
+                    first_init = false;
+                    cambus_pulse_scl(&fir_bus);
+                    goto FIR_MLX90641_RETRY;
+                } else {
+                    py_fir_deinit();
+                    mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the MLX90641!"));
+                }
+            }
+
+            // Switch to FAST speed
+            cambus_deinit(&fir_bus);
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_FAST);
+            fir_width = MLX90641_WIDTH;
+            fir_height = MLX90641_HEIGHT;
+            fir_ir_fresh_rate = ir_fresh_rate;
+            fir_adc_resolution = adc_resolution;
+            return mp_const_none;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_AMG8833 == 1)
+        case FIR_AMG8833: {
+            fir_sensor = FIR_AMG8833;
+            FIR_AMG8833_RETRY:
+            cambus_init(&fir_bus, FIR_I2C_ID, CAMBUS_SPEED_STANDARD);
+
+            int error = cambus_write_bytes(&fir_bus, AMG8833_ADDR,
+                    (uint8_t [2]){AMG8833_RESET_REGISTER, AMG8833_INITIAL_RESET_VALUE}, 2, 0);
+            if (error != 0) {
+                if (first_init) {
+                    first_init = false;
+                    cambus_pulse_scl(&fir_bus);
+                    goto FIR_AMG8833_RETRY;
+                } else {
+                    py_fir_deinit();
+                    mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the AMG8833!"));
+                }
+            }
+
+            fir_width = AMG8833_WIDTH;
+            fir_height = AMG8833_HEIGHT;
+            fir_ir_fresh_rate = 10;
+            fir_adc_resolution = 12;
+            return mp_const_none;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_LEPTON == 1)
+        case FIR_LEPTON: {
+            fir_sensor = FIR_LEPTON;
+            FIR_LEPTON_RETRY:
+            cambus_init(&fir_bus, OMV_FIR_LEPTON_I2C_BUS, OMV_FIR_LEPTON_I2C_BUS_SPEED);
+
+            int error = fir_lepton_init(&fir_bus, &fir_width, &fir_height, &fir_ir_fresh_rate, &fir_adc_resolution);
+
+            if (error != 0) {
+                if (first_init) {
+                    first_init = false;
+                    cambus_pulse_scl(&fir_bus);
+                    goto FIR_LEPTON_RETRY;
+                } else {
+                    py_fir_deinit();
+                    mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Failed to init the Lepton!"));
+                }
+            }
+
+            return mp_const_none;
+        }
+        #endif
+        default: {
+            mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid sensor type!"));
+        }
+    }
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_init_obj, 0, py_fir_init);
+
+static mp_obj_t py_fir_type()
+{
+    if (fir_sensor == FIR_NONE) return mp_const_none;
+    return mp_obj_new_int(fir_sensor);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_type_obj, py_fir_type);
+
+static mp_obj_t py_fir_width()
+{
+    if (fir_sensor == FIR_NONE) return mp_const_none;
+    return mp_obj_new_int(fir_width);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_width_obj, py_fir_width);
+
+static mp_obj_t py_fir_height()
+{
+    if (fir_sensor == FIR_NONE) return mp_const_none;
+    return mp_obj_new_int(fir_height);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_height_obj, py_fir_height);
+
+static mp_obj_t py_fir_refresh()
+{
+    #if (OMV_ENABLE_FIR_MLX90621 == 1)
+    const int mlx_90621_refresh_rates[16] = {512, 512, 512, 512, 512, 512, 256, 128, 64, 32, 16, 8, 4, 2, 1, 0};
+    #endif
+    #if (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90641 == 1)
+    const int mlx_90640_1_refresh_rates[8] = {0, 1, 2, 4, 8, 16, 32, 64};
+    #endif
+    switch (fir_sensor) {
+        case FIR_NONE:
+            return mp_const_none;
+        #if (OMV_ENABLE_FIR_MLX90621 == 1)
+        case FIR_MLX90621:
+            return mp_obj_new_int(mlx_90621_refresh_rates[fir_ir_fresh_rate]);
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1)
+        #if (OMV_ENABLE_FIR_MLX90640 == 1)
+        case FIR_MLX90640:
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90641 == 1)
+        case FIR_MLX90641:
+        #endif
+            return mp_obj_new_int(mlx_90640_1_refresh_rates[fir_ir_fresh_rate]);
+        #endif
+        #if (OMV_ENABLE_FIR_AMG8833 == 1)
+        case FIR_AMG8833:
+            return mp_obj_new_int(fir_ir_fresh_rate);
+        #endif
+        #if (OMV_ENABLE_FIR_LEPTON == 1)
+        case FIR_LEPTON:
+            return mp_obj_new_int(fir_ir_fresh_rate);
+        #endif
+        default:
+            return mp_const_none;
+    }
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_refresh_obj, py_fir_refresh);
+
+static mp_obj_t py_fir_resolution()
+{
+    switch (fir_sensor) {
+        case FIR_NONE:
+            return mp_const_none;
+        #if (OMV_ENABLE_FIR_MLX90621 == 1)
+        case FIR_MLX90621:
+            return mp_obj_new_int(fir_adc_resolution + 15);
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90640 == 1) || (OMV_ENABLE_FIR_MLX90640 == 1)
+        #if (OMV_ENABLE_FIR_MLX90640 == 1)
+        case FIR_MLX90640:
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90641 == 1)
+        case FIR_MLX90641:
+        #endif
+            return mp_obj_new_int(fir_adc_resolution + 16);
+        #endif
+        #if (OMV_ENABLE_FIR_AMG8833 == 1)
+        case FIR_AMG8833:
+            return mp_obj_new_int(fir_adc_resolution);
+        #endif
+        #if (OMV_ENABLE_FIR_LEPTON == 1)
+        case FIR_LEPTON:
+            return mp_obj_new_int(fir_adc_resolution);
+        #endif
+        default:
+            return mp_const_none;
+    }
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_resolution_obj, py_fir_resolution);
+
+#if (OMV_ENABLE_FIR_LEPTON == 1)
+static mp_obj_t py_fir_radiometric()
+{
+    if (fir_sensor == FIR_LEPTON) {
+        return fir_lepton_get_radiometry();
+    }
+
+    return mp_const_true;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_radiometric_obj, py_fir_radiometric);
+
+#if defined(OMV_FIR_LEPTON_VSYNC_PRESENT)
+static mp_obj_t py_fir_register_vsync_cb(mp_obj_t cb)
+{
+    if (fir_sensor == FIR_LEPTON) {
+        fir_lepton_register_vsync_cb(cb);
+    }
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_fir_register_vsync_cb_obj, py_fir_register_vsync_cb);
+#endif
+
+static mp_obj_t py_fir_register_frame_cb(mp_obj_t cb)
+{
+    if (fir_sensor == FIR_LEPTON) {
+        fir_lepton_register_frame_cb(cb);
+    }
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_fir_register_frame_cb_obj, py_fir_register_frame_cb);
+
+static mp_obj_t py_fir_get_frame_available()
+{
+    if (fir_sensor == FIR_LEPTON) {
+        return fir_lepton_get_frame_available();
+    }
+
+    return mp_const_true;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_get_frame_available_obj, py_fir_get_frame_available);
+
+static mp_obj_t py_fir_trigger_ffc(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    if (fir_sensor == FIR_LEPTON) {
+        fir_lepton_trigger_ffc(n_args, args, kw_args);
+    }
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_trigger_ffc_obj, 0, py_fir_trigger_ffc);
+#endif
+
+mp_obj_t py_fir_read_ta()
+{
+    switch(fir_sensor) {
+        case FIR_NONE: {
+            return mp_const_none;
+        }
+        #if (OMV_ENABLE_FIR_MLX90621 == 1)
+        case FIR_MLX90621: {
+            fb_alloc_mark();
+            uint16_t *data = fb_alloc(MLX90621_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+            PY_ASSERT_TRUE_MSG(MLX90621_GetFrameData(data) >= 0,
+                               "Failed to read the MLX90640 sensor data!");
+            mp_obj_t result = mp_obj_new_float(MLX90621_GetTa(data, fir_mlx_data));
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90640 == 1)
+        case FIR_MLX90640: {
+            fb_alloc_mark();
+            uint16_t *data = fb_alloc(MLX90640_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+            PY_ASSERT_TRUE_MSG(MLX90640_GetFrameData(MLX90640_ADDR, data) >= 0,
+                               "Failed to read the MLX90640 sensor data!");
+            mp_obj_t result = mp_obj_new_float(MLX90640_GetTa(data, fir_mlx_data));
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90641 == 1)
+        case FIR_MLX90641: {
+            fb_alloc_mark();
+            uint16_t *data = fb_alloc(MLX90641_FRAME_DATA_SIZE * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+            PY_ASSERT_TRUE_MSG(MLX90641_GetFrameData(MLX90641_ADDR, data) >= 0,
+                               "Failed to read the MLX90641 sensor data!");
+            mp_obj_t result = mp_obj_new_float(MLX90641_GetTa(data, fir_mlx_data));
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_AMG8833 == 1)
+        case FIR_AMG8833: {
+            int16_t temp;
+            int error = 0;
+            error |= cambus_write_bytes(&fir_bus, AMG8833_ADDR, (uint8_t [1]){AMG8833_THERMISTOR_REGISTER}, 1, CAMBUS_XFER_NO_STOP);
+            error |= cambus_read_bytes(&fir_bus, AMG8833_ADDR, (uint8_t *) &temp, sizeof(temp), CAMBUS_XFER_NO_FLAGS);
+            PY_ASSERT_TRUE_MSG((error == 0), "Failed to read the AMG8833 sensor data!");
+            return mp_obj_new_float(AMG8833_12_TO_16(temp) * 0.0625f);
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_LEPTON == 1)
+        case FIR_LEPTON: {
+            return fir_lepton_read_ta();
+        }
+        #endif
+    }
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_fir_read_ta_obj, py_fir_read_ta);
+
+mp_obj_t py_fir_read_ir(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    bool arg_hmirror = py_helper_keyword_int(n_args, args, 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hmirror), false);
+    bool arg_vflip = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_vflip), false);
+    fir_transposed = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_transpose), false);
+    #if (OMV_ENABLE_FIR_LEPTON == 1)
+    int arg_timeout = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_timeout), -1);
+    #endif
+
+    switch(fir_sensor) {
+        case FIR_NONE: {
+            return mp_const_none;
+        }
+        #if (OMV_ENABLE_FIR_MLX90621 == 1)
+        case FIR_MLX90621: {
+            fb_alloc_mark();
+            float Ta, *To = fb_alloc(MLX90621_WIDTH * MLX90621_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_MLX90621_get_frame(&Ta, To);
+            mp_obj_t result = fir_get_ir(MLX90621_WIDTH, MLX90621_HEIGHT, Ta, To,
+                                         arg_hmirror ^ true, arg_vflip, fir_transposed, true);
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90640 == 1)
+        case FIR_MLX90640: {
+            fb_alloc_mark();
+            float Ta, *To = fb_alloc(MLX90640_WIDTH * MLX90640_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_MLX90640_get_frame(&Ta, To);
+            mp_obj_t result = fir_get_ir(MLX90640_WIDTH, MLX90640_HEIGHT, Ta, To,
+                                         arg_hmirror ^ true, arg_vflip, fir_transposed, false);
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90641 == 1)
+        case FIR_MLX90641: {
+            fb_alloc_mark();
+            float Ta, *To = fb_alloc(MLX90641_WIDTH * MLX90641_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_MLX90641_get_frame(&Ta, To);
+            mp_obj_t result = fir_get_ir(MLX90641_WIDTH, MLX90641_HEIGHT, Ta, To,
+                                         arg_hmirror ^ true, arg_vflip, fir_transposed, false);
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_AMG8833 == 1)
+        case FIR_AMG8833: {
+            fb_alloc_mark();
+            float Ta, *To = fb_alloc(AMG8833_WIDTH * AMG8833_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_AMG8833_get_frame(&Ta, To);
+            mp_obj_t result = fir_get_ir(AMG8833_WIDTH, AMG8833_HEIGHT, Ta, To,
+                                         arg_hmirror ^ true, arg_vflip, fir_transposed, true);
+            fb_alloc_free_till_mark();
+            return result;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_LEPTON == 1)
+        case FIR_LEPTON: {
+            return fir_lepton_read_ir(fir_width, fir_height, arg_hmirror, arg_vflip, fir_transposed, arg_timeout);
+        }
+        #endif
+    }
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_read_ir_obj, 0, py_fir_read_ir);
+
+mp_obj_t py_fir_draw_ir(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *dst_img = py_helper_arg_to_image_mutable(args[0]);
+
+    image_t src_img;
+    src_img.pixfmt = PIXFORMAT_GRAYSCALE;
+
+    size_t len;
+    mp_obj_t *items, *arg_to;
+    mp_obj_get_array(args[1], &len, &items);
+
+    if (len == 3) {
+        src_img.w = mp_obj_get_int(items[0]);
+        src_img.h = mp_obj_get_int(items[1]);
+        mp_obj_get_array_fixed_n(items[2], src_img.w * src_img.h, &arg_to);
+    } else if (fir_sensor != FIR_NONE) {
+        src_img.w = fir_transposed ? fir_height : fir_width;
+        src_img.h = fir_transposed ? fir_width : fir_height;
+        // Handle if the user passed an array of the array.
+        if (len == 1) {
+            mp_obj_get_array_fixed_n(*items, src_img.w * src_img.h, &arg_to);
+        } else {
+            mp_obj_get_array_fixed_n(args[1], src_img.w * src_img.h, &arg_to);
+        }
+    } else {
+        mp_raise_msg(&mp_type_TypeError, MP_ERROR_TEXT("Invalid IR array!"));
+    }
+
+    int arg_x_off = 0;
+    int arg_y_off = 0;
+    uint offset = 2;
+    if (n_args > 2) {
+        if (MP_OBJ_IS_TYPE(args[2], &mp_type_tuple) || MP_OBJ_IS_TYPE(args[2], &mp_type_list)) {
+            mp_obj_t *arg_vec;
+            mp_obj_get_array_fixed_n(args[2], 2, &arg_vec);
+            arg_x_off = mp_obj_get_int(arg_vec[0]);
+            arg_y_off = mp_obj_get_int(arg_vec[1]);
+            offset = 3;
+        } else if (n_args > 3) {
+            arg_x_off = mp_obj_get_int(args[2]);
+            arg_y_off = mp_obj_get_int(args[3]);
+            offset = 4;
+        } else if (n_args > 2) {
+            mp_raise_msg(&mp_type_TypeError, MP_ERROR_TEXT("Expected x and y offset!"));
+        }
+    }
+
+    float arg_x_scale = 1.f;
+    bool got_x_scale = py_helper_keyword_float_maybe(n_args, args,
+            offset + 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_scale), &arg_x_scale);
+
+    float arg_y_scale = 1.f;
+    bool got_y_scale = py_helper_keyword_float_maybe(n_args, args,
+            offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_scale), &arg_y_scale);
+
+    rectangle_t arg_roi;
+    py_helper_keyword_rectangle_roi(&src_img, n_args, args, offset + 2, kw_args, &arg_roi);
+
+    float tmp_x_scale = dst_img->w / ((float) arg_roi.w);
+    float tmp_y_scale = dst_img->h / ((float) arg_roi.h);
+    float tmp_scale = IM_MIN(tmp_x_scale, tmp_y_scale);
+
+    if (n_args == 2) {
+        arg_x_off = fast_floorf((dst_img->w - (arg_roi.w * tmp_scale)) / 2.f);
+        arg_y_off = fast_floorf((dst_img->h - (arg_roi.h * tmp_scale)) / 2.f);
+    }
+
+    if (!got_x_scale) {
+        arg_x_scale = tmp_scale;
+    }
+
+    if (!got_y_scale) {
+        arg_y_scale = tmp_scale;
+    }
+
+    int arg_rgb_channel = py_helper_keyword_int(n_args, args, offset + 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_channel), -1);
+    if ((arg_rgb_channel < -1) || (2 < arg_rgb_channel)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("-1 <= rgb_channel <= 2!"));
+    }
+
+    int arg_alpha = py_helper_keyword_int(n_args, args, offset + 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 128);
+    if ((arg_alpha < 0) || (256 < arg_alpha)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= alpha <= 256!"));
+    }
+
+    const uint16_t *color_palette = py_helper_keyword_color_palette(n_args, args, offset + 5, kw_args, rainbow_table);
+    const uint8_t *alpha_palette = py_helper_keyword_alpha_palette(n_args, args, offset + 6, kw_args, NULL);
+
+    image_hint_t hint = py_helper_keyword_int(n_args, args, offset + 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hint), 0);
+
+    int arg_x_size;
+    bool got_x_size = py_helper_keyword_int_maybe(n_args, args, offset + 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_size), &arg_x_size);
+
+    int arg_y_size;
+    bool got_y_size = py_helper_keyword_int_maybe(n_args, args, offset + 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_size), &arg_y_size);
+
+    if (got_x_scale && got_x_size) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either x_scale or x_size not both!"));
+    }
+
+    if (got_y_scale && got_y_size) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either y_scale or y_size not both!"));
+    }
+
+    if (got_x_size) {
+        arg_x_scale = arg_x_size / ((float) arg_roi.w);
+    }
+
+    if (got_y_size) {
+        arg_y_scale = arg_y_size / ((float) arg_roi.h);
+    }
+
+    if ((!got_x_scale) && (!got_x_size) && got_y_size) {
+        arg_x_scale = arg_y_scale;
+    }
+
+    if ((!got_y_scale) && (!got_y_size) && got_x_size) {
+        arg_y_scale = arg_x_scale;
+    }
+
+    mp_obj_t scale_obj = py_helper_keyword_object(n_args, args, offset + 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale), NULL);
+    float min = FLT_MAX, max = -FLT_MAX;
+
+    if (scale_obj) {
+        mp_obj_t *arg_scale;
+        mp_obj_get_array_fixed_n(scale_obj, 2, &arg_scale);
+        min = mp_obj_get_float(arg_scale[0]);
+        max = mp_obj_get_float(arg_scale[1]);
+    } else {
+        for (int i = 0, ii = src_img.w * src_img.h; i < ii; i++) {
+            float temp = mp_obj_get_float(arg_to[i]);
+            if (temp < min) {
+                min = temp;
+            }
+            if (temp > max) {
+                max = temp;
+            }
+        }
+    }
+
+    fb_alloc_mark();
+
+    src_img.data = fb_alloc(src_img.w * src_img.h * sizeof(uint8_t), FB_ALLOC_NO_HINT);
+    fir_fill_image_float_obj(&src_img, arg_to, min, max);
+
+    imlib_draw_image(dst_img, &src_img, arg_x_off, arg_y_off, arg_x_scale, arg_y_scale, &arg_roi,
+                     arg_rgb_channel, arg_alpha, color_palette, alpha_palette, hint, NULL, NULL);
+
+    fb_alloc_free_till_mark();
+
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_draw_ir_obj, 2, py_fir_draw_ir);
+
+mp_obj_t py_fir_snapshot(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    if (fir_sensor == FIR_NONE) return mp_const_none;
+
+    bool arg_hmirror = py_helper_keyword_int(n_args, args, 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hmirror), false);
+    bool arg_vflip = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_vflip), false);
+    bool arg_transpose = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_transpose), false);
+
+    image_t src_img;
+    src_img.w = arg_transpose ? fir_height : fir_width;
+    src_img.h = arg_transpose ? fir_width : fir_height;
+    src_img.pixfmt = PIXFORMAT_GRAYSCALE;
+
+    float arg_x_scale = 1.f;
+    bool got_x_scale = py_helper_keyword_float_maybe(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_scale), &arg_x_scale);
+
+    float arg_y_scale = 1.f;
+    bool got_y_scale = py_helper_keyword_float_maybe(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_scale), &arg_y_scale);
+
+    rectangle_t arg_roi;
+    py_helper_keyword_rectangle_roi(&src_img, n_args, args, 5, kw_args, &arg_roi);
+
+    int arg_rgb_channel = py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_channel), -1);
+    if ((arg_rgb_channel < -1) || (2 < arg_rgb_channel)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("-1 <= rgb_channel <= 2!"));
+    }
+
+    int arg_alpha = py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 128);
+    if ((arg_alpha < 0) || (256 < arg_alpha)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= alpha <= 256!"));
+    }
+
+    const uint16_t *color_palette = py_helper_keyword_color_palette(n_args, args, 8, kw_args, rainbow_table);
+    const uint8_t *alpha_palette = py_helper_keyword_alpha_palette(n_args, args, 9, kw_args, NULL);
+
+    image_hint_t hint = py_helper_keyword_int(n_args, args, 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hint), 0);
+
+    int arg_x_size;
+    bool got_x_size = py_helper_keyword_int_maybe(n_args, args, 11, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_size), &arg_x_size);
+
+    int arg_y_size;
+    bool got_y_size = py_helper_keyword_int_maybe(n_args, args, 12, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_size), &arg_y_size);
+
+    if (got_x_scale && got_x_size) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either x_scale or x_size not both!"));
+    }
+
+    if (got_y_scale && got_y_size) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either y_scale or y_size not both!"));
+    }
+
+    if (got_x_size) {
+        arg_x_scale = arg_x_size / ((float) arg_roi.w);
+    }
+
+    if (got_y_size) {
+        arg_y_scale = arg_y_size / ((float) arg_roi.h);
+    }
+
+    if ((!got_x_scale) && (!got_x_size) && got_y_size) {
+        arg_x_scale = arg_y_scale;
+    }
+
+    if ((!got_y_scale) && (!got_y_size) && got_x_size) {
+        arg_y_scale = arg_x_scale;
+    }
+
+    mp_obj_t scale_obj = py_helper_keyword_object(n_args, args, 13, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale), NULL);
+    float min, max;
+
+    if (scale_obj) {
+        mp_obj_t *arg_scale;
+        mp_obj_get_array_fixed_n(scale_obj, 2, &arg_scale);
+        min = mp_obj_get_float(arg_scale[0]);
+        max = mp_obj_get_float(arg_scale[1]);
+    }
+
+    int arg_pixformat = py_helper_keyword_int(n_args, args, 14, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_pixformat), PIXFORMAT_RGB565);
+    if ((arg_pixformat != PIXFORMAT_GRAYSCALE) && (arg_pixformat != PIXFORMAT_RGB565)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid pixformat!"));
+    }
+
+    mp_obj_t copy_to_fb_obj = py_helper_keyword_object(n_args, args, 15, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_copy_to_fb), NULL);
+    bool copy_to_fb = false;
+    image_t *arg_other = NULL;
+
+    if (copy_to_fb_obj) {
+        if (mp_obj_is_integer(copy_to_fb_obj)) {
+            copy_to_fb = mp_obj_get_int(copy_to_fb_obj);
+        } else {
+            arg_other = py_helper_arg_to_image_not_compressed(copy_to_fb_obj);
+        }
+    }
+
+    if (copy_to_fb) {
+        framebuffer_update_jpeg_buffer();
+    }
+
+    image_t dst_img;
+    dst_img.w = fast_floorf(arg_roi.w * arg_x_scale);
+    dst_img.h = fast_floorf(arg_roi.h * arg_y_scale);
+    dst_img.pixfmt = (arg_pixformat == PIXFORMAT_RGB565) ? PIXFORMAT_RGB565 : PIXFORMAT_GRAYSCALE;
+
+    size_t size = image_size(&dst_img);
+
+    if (copy_to_fb) {
+        py_helper_set_to_framebuffer(&dst_img);
+    } else if (arg_other) {
+        bool fb = py_helper_is_equal_to_framebuffer(arg_other);
+        size_t buf_size = fb ? framebuffer_get_buffer_size() : image_size(arg_other);
+        PY_ASSERT_TRUE_MSG((size <= buf_size),
+                "The new image won't fit in the target frame buffer!");
+        dst_img.data = arg_other->data;
+        memcpy(arg_other, &dst_img, sizeof(image_t));
+        py_helper_update_framebuffer(&dst_img);
+    } else {
+        dst_img.data = xalloc(size);
+    }
+
+    #if (OMV_ENABLE_FIR_LEPTON == 1)
+    int arg_timeout = py_helper_keyword_int(n_args, args, 16, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_timeout), -1);
+    #endif
+
+    fb_alloc_mark();
+    src_img.data = fb_alloc(src_img.w * src_img.h * sizeof(uint8_t), FB_ALLOC_NO_HINT);
+
+    switch(fir_sensor) {
+        #if (OMV_ENABLE_FIR_MLX90621 == 1)
+        case FIR_MLX90621: {
+            float Ta, *To = fb_alloc(MLX90621_WIDTH * MLX90621_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_MLX90621_get_frame(&Ta, To);
+
+            if (!scale_obj) {
+                fast_get_min_max(To, MLX90621_WIDTH * MLX90621_HEIGHT, &min, &max);
+            }
+
+            imlib_fill_image_from_float(&src_img, MLX90621_WIDTH, MLX90621_HEIGHT, To, min, max,
+                                        arg_hmirror ^ true, arg_vflip, arg_transpose, true);
+            fb_free();
+            break;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90640 == 1)
+        case FIR_MLX90640: {
+            float Ta, *To = fb_alloc(MLX90640_WIDTH * MLX90640_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_MLX90640_get_frame(&Ta, To);
+
+            if (!scale_obj) {
+                fast_get_min_max(To, MLX90640_WIDTH * MLX90640_HEIGHT, &min, &max);
+            }
+
+            imlib_fill_image_from_float(&src_img, MLX90640_WIDTH, MLX90640_HEIGHT, To, min, max,
+                                        arg_hmirror ^ true, arg_vflip, arg_transpose, false);
+            fb_free();
+            break;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_MLX90641 == 1)
+        case FIR_MLX90641: {
+            float Ta, *To = fb_alloc(MLX90641_WIDTH * MLX90641_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_MLX90641_get_frame(&Ta, To);
+
+            if (!scale_obj) {
+                fast_get_min_max(To, MLX90641_WIDTH * MLX90641_HEIGHT, &min, &max);
+            }
+
+            imlib_fill_image_from_float(&src_img, MLX90641_WIDTH, MLX90641_HEIGHT, To, min, max,
+                                        arg_hmirror ^ true, arg_vflip, arg_transpose, false);
+            fb_free();
+            break;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_AMG8833 == 1)
+        case FIR_AMG8833: {
+            float Ta, *To = fb_alloc(AMG8833_WIDTH * AMG8833_HEIGHT * sizeof(float), FB_ALLOC_NO_HINT);
+            fir_AMG8833_get_frame(&Ta, To);
+
+            if (!scale_obj) {
+                fast_get_min_max(To, AMG8833_WIDTH * AMG8833_HEIGHT, &min, &max);
+            }
+
+            imlib_fill_image_from_float(&src_img, AMG8833_WIDTH, AMG8833_HEIGHT, To, min, max,
+                                        arg_hmirror ^ true, arg_vflip, arg_transpose, true);
+            fb_free();
+            break;
+        }
+        #endif
+        #if (OMV_ENABLE_FIR_LEPTON == 1)
+        case FIR_LEPTON: {
+            fir_lepton_fill_image(&src_img, fir_width, fir_height, !scale_obj, min, max,
+                                  arg_hmirror, arg_vflip, arg_transpose, arg_timeout);
+            break;
+        }
+        #endif
+        default: {
+            break;
+        }
+    }
+
+    imlib_draw_image(&dst_img, &src_img, 0, 0, arg_x_scale, arg_y_scale,
+            &arg_roi, arg_rgb_channel, arg_alpha, color_palette, alpha_palette,
+            (hint & (~IMAGE_HINT_CENTER)) | IMAGE_HINT_BLACK_BACKGROUND, NULL, NULL);
+
+    fb_alloc_free_till_mark();
+
+    return py_image_from_struct(&dst_img);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_fir_snapshot_obj, 0, py_fir_snapshot);
+
+STATIC const mp_rom_map_elem_t globals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__),            MP_ROM_QSTR(MP_QSTR_fir)                    },
+    { MP_ROM_QSTR(MP_QSTR_FIR_NONE),            MP_ROM_INT(FIR_NONE)                        },
+#if (OMV_ENABLE_FIR_MLX90621 == 1)
+    { MP_ROM_QSTR(MP_QSTR_FIR_SHIELD),          MP_ROM_INT(FIR_MLX90621)                    },
+    { MP_ROM_QSTR(MP_QSTR_FIR_MLX90621),        MP_ROM_INT(FIR_MLX90621)                    },
+#endif
+#if (OMV_ENABLE_FIR_MLX90640 == 1)
+    { MP_ROM_QSTR(MP_QSTR_FIR_MLX90640),        MP_ROM_INT(FIR_MLX90640)                    },
+#endif
+#if (OMV_ENABLE_FIR_MLX90641 == 1)
+    { MP_ROM_QSTR(MP_QSTR_FIR_MLX90641),        MP_ROM_INT(FIR_MLX90641)                    },
+#endif
+#if (OMV_ENABLE_FIR_AMG8833 == 1)
+    { MP_ROM_QSTR(MP_QSTR_FIR_AMG8833),         MP_ROM_INT(FIR_AMG8833)                     },
+#endif
+#if (OMV_ENABLE_FIR_LEPTON == 1)
+    { MP_ROM_QSTR(MP_QSTR_FIR_LEPTON),          MP_ROM_INT(FIR_LEPTON)                      },
+#endif
+    { MP_ROM_QSTR(MP_QSTR_PALETTE_RAINBOW),     MP_ROM_INT(COLOR_PALETTE_RAINBOW)           },
+    { MP_ROM_QSTR(MP_QSTR_PALETTE_IRONBOW),     MP_ROM_INT(COLOR_PALETTE_IRONBOW)           },
+    { MP_ROM_QSTR(MP_QSTR_GRAYSCALE),           MP_ROM_INT(PIXFORMAT_GRAYSCALE)             },
+    { MP_ROM_QSTR(MP_QSTR_RGB565),              MP_ROM_INT(PIXFORMAT_RGB565)                },
+    { MP_ROM_QSTR(MP_QSTR_init),                MP_ROM_PTR(&py_fir_init_obj)                },
+    { MP_ROM_QSTR(MP_QSTR_deinit),              MP_ROM_PTR(&py_fir_deinit_obj)              },
+    { MP_ROM_QSTR(MP_QSTR_type),                MP_ROM_PTR(&py_fir_type_obj)                },
+    { MP_ROM_QSTR(MP_QSTR_width),               MP_ROM_PTR(&py_fir_width_obj)               },
+    { MP_ROM_QSTR(MP_QSTR_height),              MP_ROM_PTR(&py_fir_height_obj)              },
+    { MP_ROM_QSTR(MP_QSTR_refresh),             MP_ROM_PTR(&py_fir_refresh_obj)             },
+    { MP_ROM_QSTR(MP_QSTR_resolution),          MP_ROM_PTR(&py_fir_resolution_obj)          },
+#if (OMV_ENABLE_FIR_LEPTON == 1)
+    { MP_ROM_QSTR(MP_QSTR_radiometric),         MP_ROM_PTR(&py_fir_radiometric_obj)         },
+#if defined(OMV_FIR_LEPTON_VSYNC_PRESENT)
+    { MP_ROM_QSTR(MP_QSTR_register_vsync_cb),   MP_ROM_PTR(&py_fir_register_vsync_cb_obj)   },
+#else
+    { MP_ROM_QSTR(MP_QSTR_register_vsync_cb),   MP_ROM_PTR(&py_func_unavailable_obj)        },
+#endif
+    { MP_ROM_QSTR(MP_QSTR_register_frame_cb),   MP_ROM_PTR(&py_fir_register_frame_cb_obj)   },
+    { MP_ROM_QSTR(MP_QSTR_get_frame_available), MP_ROM_PTR(&py_fir_get_frame_available_obj) },
+    { MP_ROM_QSTR(MP_QSTR_trigger_ffc),         MP_ROM_PTR(&py_fir_trigger_ffc_obj)         },
+#else
+    { MP_ROM_QSTR(MP_QSTR_radiometric),         MP_ROM_PTR(&py_func_unavailable_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_register_vsync_cb),   MP_ROM_PTR(&py_func_unavailable_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_register_frame_cb),   MP_ROM_PTR(&py_func_unavailable_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_get_frame_available), MP_ROM_PTR(&py_func_unavailable_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_trigger_ffc),         MP_ROM_PTR(&py_func_unavailable_obj)        },
+#endif
+    { MP_ROM_QSTR(MP_QSTR_read_ta),             MP_ROM_PTR(&py_fir_read_ta_obj)             },
+    { MP_ROM_QSTR(MP_QSTR_read_ir),             MP_ROM_PTR(&py_fir_read_ir_obj)             },
+    { MP_ROM_QSTR(MP_QSTR_draw_ir),             MP_ROM_PTR(&py_fir_draw_ir_obj)             },
+    { MP_ROM_QSTR(MP_QSTR_snapshot),            MP_ROM_PTR(&py_fir_snapshot_obj)            }
+};
+
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t fir_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t) &globals_dict,
+};
+
+void py_fir_init0()
+{
+    py_fir_deinit();
+}
+
+MP_REGISTER_MODULE(MP_QSTR_fir, fir_module, 1);
diff --git a/github_source/minicv2/reference/py_fir.h b/github_source/minicv2/reference/py_fir.h
new file mode 100644
index 0000000..3f5a12b
--- /dev/null
+++ b/github_source/minicv2/reference/py_fir.h
@@ -0,0 +1,14 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * FIR Python module.
+ */
+#ifndef __PY_FIR_H__
+#define __PY_FIR_H__
+void py_fir_init0();
+#endif // __PY_FIR_H__
diff --git a/github_source/minicv2/reference/py_gif.c b/github_source/minicv2/reference/py_gif.c
new file mode 100644
index 0000000..f443687
--- /dev/null
+++ b/github_source/minicv2/reference/py_gif.c
@@ -0,0 +1,159 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * GIF Python module.
+ */
+#include "py/mphal.h"
+#include "py/runtime.h"
+
+#include "ff_wrapper.h"
+#include "framebuffer.h"
+#include "imlib.h"
+#include "py_assert.h"
+#include "py_helper.h"
+#include "py_image.h"
+
+static const mp_obj_type_t py_gif_type; // forward declare
+// Gif class
+typedef struct py_gif_obj {
+    mp_obj_base_t base;
+    int width;
+    int height;
+    bool color;
+    bool loop;
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    FIL fp;
+    #endif
+} py_gif_obj_t;
+
+static mp_obj_t py_gif_open(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    py_gif_obj_t *gif = m_new_obj(py_gif_obj_t);
+    gif->width  = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_width), framebuffer_get_width());
+    gif->height = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_height), framebuffer_get_height());
+    gif->color  = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_color), framebuffer_get_depth()>=2);
+    gif->loop   = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_loop), true);
+    gif->base.type = &py_gif_type;
+
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    file_write_open(&gif->fp, mp_obj_str_get_str(args[0]));
+    gif_open(&gif->fp, gif->width, gif->height, gif->color, gif->loop);
+    #else
+    mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+    #endif
+    return gif;
+}
+
+static mp_obj_t py_gif_width(mp_obj_t gif_obj)
+{
+    py_gif_obj_t *arg_gif = gif_obj;
+    return mp_obj_new_int(arg_gif->width);
+}
+
+static mp_obj_t py_gif_height(mp_obj_t gif_obj)
+{
+    py_gif_obj_t *arg_gif = gif_obj;
+    return mp_obj_new_int(arg_gif->height);
+}
+
+static mp_obj_t py_gif_format(mp_obj_t gif_obj)
+{
+    py_gif_obj_t *arg_gif = gif_obj;
+    return mp_obj_new_int(arg_gif->color ? PIXFORMAT_RGB565 : PIXFORMAT_GRAYSCALE);
+}
+
+static mp_obj_t py_gif_size(mp_obj_t gif_obj)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_gif_obj_t *arg_gif = gif_obj;
+    return mp_obj_new_int(file_size_w_buf(&arg_gif->fp));
+    #else
+    return mp_obj_new_int(0);
+    #endif
+}
+
+static mp_obj_t py_gif_loop(mp_obj_t gif_obj)
+{
+    py_gif_obj_t *arg_gif = gif_obj;
+    return mp_obj_new_int(arg_gif->loop);
+}
+
+static mp_obj_t py_gif_add_frame(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_gif_obj_t *arg_gif = args[0];
+    image_t *arg_img = py_image_cobj(args[1]);
+    PY_ASSERT_FALSE_MSG(IM_IS_JPEG(arg_img),   "Operation not supported on JPEG images.");
+    PY_ASSERT_FALSE_MSG(IM_IS_BINARY(arg_img), "Operation not supported on binary images.");
+    PY_ASSERT_FALSE_MSG((arg_gif->width != arg_img->w) ||
+            (arg_gif->height != arg_img->h), "Unexpected image geometry!");
+
+    int delay = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_delay), 10);
+
+    gif_add_frame(&arg_gif->fp, arg_img, delay);
+    #else
+    mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+    #endif
+    return mp_const_none;
+}
+
+static mp_obj_t py_gif_close(mp_obj_t gif_obj)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_gif_obj_t *arg_gif = gif_obj;
+    gif_close(&arg_gif->fp);
+    #endif
+    return mp_const_none;
+}
+
+static void py_gif_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_gif_obj_t *self = self_in;
+    mp_printf(print, "<gif width:%d height:%d color:%d loop:%d>", self->width, self->height, self->color, self->loop);
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_gif_width_obj, py_gif_width);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_gif_height_obj, py_gif_height);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_gif_format_obj, py_gif_format);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_gif_size_obj, py_gif_size);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_gif_loop_obj, py_gif_loop);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_gif_add_frame_obj, 2, py_gif_add_frame);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_gif_close_obj, py_gif_close);
+static const mp_map_elem_t locals_dict_table[] = {
+    { MP_OBJ_NEW_QSTR(MP_QSTR_width),       (mp_obj_t)&py_gif_width_obj     },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_height),      (mp_obj_t)&py_gif_height_obj    },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_format),      (mp_obj_t)&py_gif_format_obj    },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_size),        (mp_obj_t)&py_gif_size_obj      },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_loop),        (mp_obj_t)&py_gif_loop_obj      },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_add_frame),   (mp_obj_t)&py_gif_add_frame_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_close),       (mp_obj_t)&py_gif_close_obj     },
+    { NULL, NULL },
+};
+STATIC MP_DEFINE_CONST_DICT(locals_dict, locals_dict_table);
+
+static const mp_obj_type_t py_gif_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_Gif,
+    .print = py_gif_print,
+    .locals_dict = (mp_obj_t)&locals_dict,
+};
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_gif_open_obj, 1, py_gif_open);
+static const mp_map_elem_t globals_dict_table[] = {
+    { MP_OBJ_NEW_QSTR(MP_QSTR___name__),    MP_OBJ_NEW_QSTR(MP_QSTR_gif) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_Gif),         (mp_obj_t)&py_gif_open_obj   },
+    { NULL, NULL },
+};
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t gif_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t)&globals_dict,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_gif, gif_module, 1);
diff --git a/github_source/minicv2/reference/py_helper.c b/github_source/minicv2/reference/py_helper.c
new file mode 100644
index 0000000..f86805b
--- /dev/null
+++ b/github_source/minicv2/reference/py_helper.c
@@ -0,0 +1,495 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Python helper functions.
+ */
+#include "py/obj.h"
+#include "py/runtime.h"
+#include "framebuffer.h"
+#include "sensor.h"
+#include "py_helper.h"
+#include "py_assert.h"
+
+extern void *py_image_cobj(mp_obj_t img_obj);
+
+mp_obj_t py_func_unavailable(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    PY_ASSERT_TRUE_MSG(false, "This function is unavailable on your OpenMV Cam.");
+    return mp_const_none;
+}
+MP_DEFINE_CONST_FUN_OBJ_KW(py_func_unavailable_obj, 0, py_func_unavailable);
+
+image_t *py_helper_arg_to_image_mutable(const mp_obj_t arg)
+{
+    image_t *arg_img = py_image_cobj(arg);
+    PY_ASSERT_TRUE_MSG(arg_img->is_mutable, "Image is not mutable!");
+    return arg_img;
+}
+
+image_t *py_helper_arg_to_image_not_compressed(const mp_obj_t arg)
+{
+    image_t *arg_img = py_image_cobj(arg);
+    PY_ASSERT_FALSE_MSG(arg_img->is_compressed, "Image is compressed!");
+    return arg_img;
+}
+
+image_t *py_helper_arg_to_image_grayscale(const mp_obj_t arg)
+{
+    image_t *arg_img = py_image_cobj(arg);
+    PY_ASSERT_TRUE_MSG(arg_img->pixfmt == PIXFORMAT_GRAYSCALE, "Image is not grayscale!");
+    return arg_img;
+}
+
+image_t *py_helper_keyword_to_image_mutable(uint n_args, const mp_obj_t *args, uint arg_index,
+                                            mp_map_t *kw_args, mp_obj_t kw, image_t *default_val)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        default_val = py_helper_arg_to_image_mutable(kw_arg->value);
+    } else if (n_args > arg_index) {
+        default_val = py_helper_arg_to_image_mutable(args[arg_index]);
+    }
+
+    return default_val;
+}
+
+image_t *py_helper_keyword_to_image_mutable_mask(uint n_args, const mp_obj_t *args, uint arg_index,
+                                                 mp_map_t *kw_args)
+{
+    return py_helper_keyword_to_image_mutable(n_args, args, arg_index, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_mask), NULL);
+}
+
+image_t *py_helper_keyword_to_image_mutable_color_palette(uint n_args, const mp_obj_t *args, uint arg_index,
+                                                          mp_map_t *kw_args)
+{
+    return py_helper_keyword_to_image_mutable(n_args, args, arg_index, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_color_palette), NULL);
+}
+
+image_t *py_helper_keyword_to_image_mutable_alpha_palette(uint n_args, const mp_obj_t *args, uint arg_index,
+                                                          mp_map_t *kw_args)
+{
+    return py_helper_keyword_to_image_mutable(n_args, args, arg_index, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha_palette), NULL);
+}
+
+void py_helper_keyword_rectangle(image_t *img, uint n_args, const mp_obj_t *args, uint arg_index,
+                                 mp_map_t *kw_args, mp_obj_t kw, rectangle_t *r)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        mp_obj_t *arg_rectangle;
+        mp_obj_get_array_fixed_n(kw_arg->value, 4, &arg_rectangle);
+        r->x = mp_obj_get_int(arg_rectangle[0]);
+        r->y = mp_obj_get_int(arg_rectangle[1]);
+        r->w = mp_obj_get_int(arg_rectangle[2]);
+        r->h = mp_obj_get_int(arg_rectangle[3]);
+    } else if (n_args > arg_index) {
+        mp_obj_t *arg_rectangle;
+        mp_obj_get_array_fixed_n(args[arg_index], 4, &arg_rectangle);
+        r->x = mp_obj_get_int(arg_rectangle[0]);
+        r->y = mp_obj_get_int(arg_rectangle[1]);
+        r->w = mp_obj_get_int(arg_rectangle[2]);
+        r->h = mp_obj_get_int(arg_rectangle[3]);
+    } else {
+        r->x = 0;
+        r->y = 0;
+        r->w = img->w;
+        r->h = img->h;
+    }
+
+    PY_ASSERT_TRUE_MSG((r->w >= 1) && (r->h >= 1), "Invalid ROI dimensions!");
+    rectangle_t temp;
+    temp.x = 0;
+    temp.y = 0;
+    temp.w = img->w;
+    temp.h = img->h;
+
+    PY_ASSERT_TRUE_MSG(rectangle_overlap(r, &temp), "ROI does not overlap on the image!");
+    rectangle_intersected(r, &temp);
+}
+
+void py_helper_keyword_rectangle_roi(image_t *img, uint n_args, const mp_obj_t *args, uint arg_index,
+                                     mp_map_t *kw_args, rectangle_t *r)
+{
+    py_helper_keyword_rectangle(img, n_args, args, arg_index, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_roi), r);
+}
+
+int py_helper_keyword_int(uint n_args, const mp_obj_t *args, uint arg_index,
+                          mp_map_t *kw_args, mp_obj_t kw, int default_val)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        default_val = mp_obj_get_int(kw_arg->value);
+    } else if (n_args > arg_index) {
+        default_val = mp_obj_get_int(args[arg_index]);
+    }
+
+    return default_val;
+}
+
+bool py_helper_keyword_int_maybe(uint n_args, const mp_obj_t *args, uint arg_index,
+                                 mp_map_t *kw_args, mp_obj_t kw, int* value)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        return mp_obj_get_int_maybe(kw_arg->value, value);
+    } else if (n_args > arg_index) {
+        return mp_obj_get_int_maybe(args[arg_index], value);
+    }
+
+    return false;
+}
+
+float py_helper_keyword_float(uint n_args, const mp_obj_t *args, uint arg_index,
+                              mp_map_t *kw_args, mp_obj_t kw, float default_val)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        default_val = mp_obj_get_float(kw_arg->value);
+    } else if (n_args > arg_index) {
+        default_val = mp_obj_get_float(args[arg_index]);
+    }
+
+    return default_val;
+}
+
+bool py_helper_keyword_float_maybe(uint n_args, const mp_obj_t *args, uint arg_index,
+                                   mp_map_t *kw_args, mp_obj_t kw, float *value)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        return mp_obj_get_float_maybe(kw_arg->value, value);
+    } else if (n_args > arg_index) {
+        return mp_obj_get_float_maybe(args[arg_index], value);
+    }
+
+    return false;
+}
+
+void py_helper_keyword_int_array(uint n_args, const mp_obj_t *args, uint arg_index,
+                                 mp_map_t *kw_args, mp_obj_t kw, int *x, int size)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        mp_obj_t *arg_array;
+        mp_obj_get_array_fixed_n(kw_arg->value, size, &arg_array);
+        for (int i = 0; i < size; i++) x[i] = mp_obj_get_int(arg_array[i]);
+    } else if (n_args > arg_index) {
+        mp_obj_t *arg_array;
+        mp_obj_get_array_fixed_n(args[arg_index], size, &arg_array);
+        for (int i = 0; i < size; i++) x[i] = mp_obj_get_int(arg_array[i]);
+    }
+}
+
+void py_helper_keyword_float_array(uint n_args, const mp_obj_t *args, uint arg_index,
+                                   mp_map_t *kw_args, mp_obj_t kw, float *x, int size)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        mp_obj_t *arg_array;
+        mp_obj_get_array_fixed_n(kw_arg->value, size, &arg_array);
+        for (int i = 0; i < size; i++) x[i] = mp_obj_get_float(arg_array[i]);
+    } else if (n_args > arg_index) {
+        mp_obj_t *arg_array;
+        mp_obj_get_array_fixed_n(args[arg_index], size, &arg_array);
+        for (int i = 0; i < size; i++) x[i] = mp_obj_get_float(arg_array[i]);
+    }
+}
+
+float *py_helper_keyword_corner_array(uint n_args, const mp_obj_t *args, uint arg_index,
+                                      mp_map_t *kw_args, mp_obj_t kw)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        mp_obj_t *arg_array;
+        mp_obj_get_array_fixed_n(kw_arg->value, 4, &arg_array);
+        float *corners = xalloc(sizeof(float) * 8);
+        for (int i = 0; i < 4; i++) {
+            mp_obj_t *arg_point;
+            mp_obj_get_array_fixed_n(arg_array[i], 2, &arg_point);
+            corners[(i*2)+0] = mp_obj_get_float(arg_point[0]);
+            corners[(i*2)+1] = mp_obj_get_float(arg_point[1]);
+        }
+        return corners;
+    } else if (n_args > arg_index) {
+        mp_obj_t *arg_array;
+        mp_obj_get_array_fixed_n(args[arg_index], 4, &arg_array);
+        float *corners = xalloc(sizeof(float) * 8);
+        for (int i = 0; i < 4; i++) {
+            mp_obj_t *arg_point;
+            mp_obj_get_array_fixed_n(arg_array[i], 2, &arg_point);
+            corners[(i*2)+0] = mp_obj_get_float(arg_point[0]);
+            corners[(i*2)+1] = mp_obj_get_float(arg_point[1]);
+        }
+        return corners;
+    }
+
+    return NULL;
+}
+
+mp_obj_t *py_helper_keyword_iterable(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, mp_obj_t kw, size_t *len)
+{
+    mp_obj_t itr = NULL;
+    mp_obj_t *items = NULL;
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        itr = kw_arg->value;
+    } else if (n_args > arg_index) {
+        itr = args[arg_index];
+    }
+
+    if (itr && (MP_OBJ_IS_TYPE(itr, &mp_type_tuple) ||
+                MP_OBJ_IS_TYPE(itr, &mp_type_list))) {
+        mp_obj_get_array(itr, len, &items);
+    }
+    return items;
+}
+
+uint py_helper_consume_array(uint n_args, const mp_obj_t *args, uint arg_index, size_t len, const mp_obj_t **items)
+{
+    if (MP_OBJ_IS_TYPE(args[arg_index], &mp_type_tuple) || MP_OBJ_IS_TYPE(args[arg_index], &mp_type_list)) {
+        mp_obj_get_array_fixed_n(args[arg_index], len, (mp_obj_t **) items);
+        return arg_index + 1;
+    } else {
+        PY_ASSERT_TRUE_MSG((n_args - arg_index) >= len, "Not enough positional arguments!");
+        *items = args + arg_index;
+        return arg_index + len;
+    }
+}
+
+int py_helper_keyword_color(image_t *img, uint n_args, const mp_obj_t *args, uint arg_index,
+                            mp_map_t *kw_args, int default_val)
+{
+    mp_map_elem_t *kw_arg = kw_args ? mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_color), MP_MAP_LOOKUP) : NULL;
+
+    if (kw_arg) {
+        if (mp_obj_is_integer(kw_arg->value)) {
+            default_val = mp_obj_get_int(kw_arg->value);
+        } else {
+            mp_obj_t *arg_color;
+            mp_obj_get_array_fixed_n(kw_arg->value, 3, &arg_color);
+            default_val = COLOR_R8_G8_B8_TO_RGB565(IM_MAX(IM_MIN(mp_obj_get_int(arg_color[0]), COLOR_R8_MAX), COLOR_R8_MIN),
+                                                   IM_MAX(IM_MIN(mp_obj_get_int(arg_color[1]), COLOR_G8_MAX), COLOR_G8_MIN),
+                                                   IM_MAX(IM_MIN(mp_obj_get_int(arg_color[2]), COLOR_B8_MAX), COLOR_B8_MIN));
+            switch (img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    default_val = COLOR_RGB565_TO_BINARY(default_val);
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    default_val = COLOR_RGB565_TO_GRAYSCALE(default_val);
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+    } else if (n_args > arg_index) {
+        if (mp_obj_is_integer(args[arg_index])) {
+            default_val = mp_obj_get_int(args[arg_index]);
+        } else {
+            mp_obj_t *arg_color;
+            mp_obj_get_array_fixed_n(args[arg_index], 3, &arg_color);
+            default_val = COLOR_R8_G8_B8_TO_RGB565(IM_MAX(IM_MIN(mp_obj_get_int(arg_color[0]), COLOR_R8_MAX), COLOR_R8_MIN),
+                                                   IM_MAX(IM_MIN(mp_obj_get_int(arg_color[1]), COLOR_G8_MAX), COLOR_G8_MIN),
+                                                   IM_MAX(IM_MIN(mp_obj_get_int(arg_color[2]), COLOR_B8_MAX), COLOR_B8_MIN));
+            switch (img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    default_val = COLOR_RGB565_TO_BINARY(default_val);
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    default_val = COLOR_RGB565_TO_GRAYSCALE(default_val);
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+    }
+
+    return default_val;
+}
+
+void py_helper_arg_to_thresholds(const mp_obj_t arg, list_t *thresholds)
+{
+    mp_uint_t arg_thresholds_len;
+    mp_obj_t *arg_thresholds;
+    mp_obj_get_array(arg, &arg_thresholds_len, &arg_thresholds);
+    if (!arg_thresholds_len) return;
+    for(mp_uint_t i = 0; i < arg_thresholds_len; i++) {
+        mp_uint_t arg_threshold_len;
+        mp_obj_t *arg_threshold;
+        mp_obj_get_array(arg_thresholds[i], &arg_threshold_len, &arg_threshold);
+        if (arg_threshold_len) {
+            color_thresholds_list_lnk_data_t lnk_data;
+            lnk_data.LMin = (arg_threshold_len > 0) ? IM_MAX(IM_MIN(mp_obj_get_int(arg_threshold[0]),
+                        IM_MAX(COLOR_L_MAX, COLOR_GRAYSCALE_MAX)), IM_MIN(COLOR_L_MIN, COLOR_GRAYSCALE_MIN)) :
+                        IM_MIN(COLOR_L_MIN, COLOR_GRAYSCALE_MIN);
+            lnk_data.LMax = (arg_threshold_len > 1) ? IM_MAX(IM_MIN(mp_obj_get_int(arg_threshold[1]),
+                        IM_MAX(COLOR_L_MAX, COLOR_GRAYSCALE_MAX)), IM_MIN(COLOR_L_MIN, COLOR_GRAYSCALE_MIN)) :
+                        IM_MAX(COLOR_L_MAX, COLOR_GRAYSCALE_MAX);
+            lnk_data.AMin = (arg_threshold_len > 2) ? IM_MAX(IM_MIN(mp_obj_get_int(arg_threshold[2]), COLOR_A_MAX), COLOR_A_MIN) : COLOR_A_MIN;
+            lnk_data.AMax = (arg_threshold_len > 3) ? IM_MAX(IM_MIN(mp_obj_get_int(arg_threshold[3]), COLOR_A_MAX), COLOR_A_MIN) : COLOR_A_MAX;
+            lnk_data.BMin = (arg_threshold_len > 4) ? IM_MAX(IM_MIN(mp_obj_get_int(arg_threshold[4]), COLOR_B_MAX), COLOR_B_MIN) : COLOR_B_MIN;
+            lnk_data.BMax = (arg_threshold_len > 5) ? IM_MAX(IM_MIN(mp_obj_get_int(arg_threshold[5]), COLOR_B_MAX), COLOR_B_MIN) : COLOR_B_MAX;
+            color_thresholds_list_lnk_data_t lnk_data_tmp;
+            memcpy(&lnk_data_tmp, &lnk_data, sizeof(color_thresholds_list_lnk_data_t));
+            lnk_data.LMin = IM_MIN(lnk_data_tmp.LMin, lnk_data_tmp.LMax);
+            lnk_data.LMax = IM_MAX(lnk_data_tmp.LMin, lnk_data_tmp.LMax);
+            lnk_data.AMin = IM_MIN(lnk_data_tmp.AMin, lnk_data_tmp.AMax);
+            lnk_data.AMax = IM_MAX(lnk_data_tmp.AMin, lnk_data_tmp.AMax);
+            lnk_data.BMin = IM_MIN(lnk_data_tmp.BMin, lnk_data_tmp.BMax);
+            lnk_data.BMax = IM_MAX(lnk_data_tmp.BMin, lnk_data_tmp.BMax);
+            list_push_back(thresholds, &lnk_data);
+        }
+    }
+}
+
+void py_helper_keyword_thresholds(uint n_args, const mp_obj_t *args, uint arg_index,
+                                  mp_map_t *kw_args, list_t *thresholds)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thresholds), MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        py_helper_arg_to_thresholds(kw_arg->value, thresholds);
+    } else if (n_args > arg_index) {
+        py_helper_arg_to_thresholds(args[arg_index], thresholds);
+    }
+}
+
+int py_helper_arg_to_ksize(const mp_obj_t arg)
+{
+    int ksize = mp_obj_get_int(arg);
+    PY_ASSERT_TRUE_MSG(ksize >= 0, "KernelSize must be >= 0!");
+    return ksize;
+}
+
+int py_helper_ksize_to_n(int ksize)
+{
+    return ((ksize * 2) + 1) * ((ksize * 2) + 1);
+}
+
+mp_obj_t py_helper_keyword_object(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, mp_obj_t kw, mp_obj_t default_val)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, kw, MP_MAP_LOOKUP);
+
+    if (kw_arg) {
+        return kw_arg->value;
+    } else if (n_args > arg_index) {
+        return args[arg_index];
+    } else {
+        return default_val;
+    }
+}
+
+const uint16_t *py_helper_keyword_color_palette(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, const uint16_t *default_color_palette)
+{
+    int palette;
+
+    mp_map_elem_t *kw_arg =
+        mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_color_palette), MP_MAP_LOOKUP);
+
+    if (kw_arg && (kw_arg->value == mp_const_none)) {
+        default_color_palette = NULL;
+    } else if ((n_args > arg_index) && (args[arg_index] == mp_const_none)) {
+        default_color_palette = NULL;
+    } else if (py_helper_keyword_int_maybe(n_args, args, arg_index, kw_args,
+            MP_OBJ_NEW_QSTR(MP_QSTR_color_palette), &palette)) {
+        if (palette == COLOR_PALETTE_RAINBOW) {
+            default_color_palette = rainbow_table;
+        } else if (palette == COLOR_PALETTE_IRONBOW) {
+            default_color_palette = ironbow_table;
+        } else {
+            mp_raise_msg(&mp_type_ValueError,
+                    MP_ERROR_TEXT("Invalid pre-defined color palette!"));
+        }
+    } else {
+        image_t *arg_color_palette =
+            py_helper_keyword_to_image_mutable_color_palette(n_args, args, arg_index, kw_args);
+
+        if (arg_color_palette) {
+            if (arg_color_palette->pixfmt != PIXFORMAT_RGB565) {
+                mp_raise_msg(&mp_type_ValueError,
+                        MP_ERROR_TEXT("Color palette must be RGB565!"));
+            }
+
+            if ((arg_color_palette->w * arg_color_palette->h) != 256) {
+                mp_raise_msg(&mp_type_ValueError,
+                        MP_ERROR_TEXT("Color palette must be 256 pixels!"));
+            }
+
+            default_color_palette = (uint16_t *) arg_color_palette->data;
+        }
+    }
+
+    return default_color_palette;
+}
+
+const uint8_t *py_helper_keyword_alpha_palette(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, const uint8_t *default_alpha_palette)
+{
+    image_t *arg_alpha_palette =
+        py_helper_keyword_to_image_mutable_alpha_palette(n_args, args, 9, kw_args);
+
+    if (arg_alpha_palette) {
+        if (arg_alpha_palette->pixfmt != PIXFORMAT_GRAYSCALE) {
+            mp_raise_msg(&mp_type_ValueError,
+                    MP_ERROR_TEXT("Alpha palette must be GRAYSCALE!"));
+        }
+
+        if ((arg_alpha_palette->w * arg_alpha_palette->h) != 256) {
+            mp_raise_msg(&mp_type_ValueError,
+                    MP_ERROR_TEXT("Alpha palette must be 256 pixels!"));
+        }
+
+        default_alpha_palette = (uint8_t *) arg_alpha_palette->data;
+    }
+
+    return default_alpha_palette;
+}
+
+bool py_helper_is_equal_to_framebuffer(image_t *img)
+{
+    return framebuffer_get_buffer(framebuffer->head)->data == img->data;
+}
+
+void py_helper_update_framebuffer(image_t *img)
+{
+    if (py_helper_is_equal_to_framebuffer(img)) {
+        framebuffer_init_from_image(img);
+    }
+}
+
+void py_helper_set_to_framebuffer(image_t *img)
+{
+    #if MICROPY_PY_SENSOR
+    sensor_set_framebuffers(1);
+    #else
+    framebuffer_set_buffers(1);
+    #endif
+
+    PY_ASSERT_TRUE_MSG((image_size(img) <= framebuffer_get_buffer_size()),
+            "The image doesn't fit in the frame buffer!");
+    framebuffer_init_from_image(img);
+    img->data = framebuffer_get_buffer(framebuffer->head)->data;
+}
diff --git a/github_source/minicv2/reference/py_helper.h b/github_source/minicv2/reference/py_helper.h
new file mode 100644
index 0000000..134737b
--- /dev/null
+++ b/github_source/minicv2/reference/py_helper.h
@@ -0,0 +1,63 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Python helper functions.
+ */
+#ifndef __PY_HELPER_H__
+#define __PY_HELPER_H__
+#include "imlib.h"
+extern const mp_obj_fun_builtin_var_t py_func_unavailable_obj;
+image_t *py_helper_arg_to_image_mutable(const mp_obj_t arg);
+image_t *py_helper_arg_to_image_not_compressed(const mp_obj_t arg);
+image_t *py_helper_arg_to_image_grayscale(const mp_obj_t arg);
+image_t *py_helper_keyword_to_image_mutable(uint n_args, const mp_obj_t *args, uint arg_index,
+                                            mp_map_t *kw_args, mp_obj_t kw, image_t *default_val);
+image_t *py_helper_keyword_to_image_mutable_mask(uint n_args, const mp_obj_t *args, uint arg_index,
+                                                 mp_map_t *kw_args);
+image_t *py_helper_keyword_to_image_mutable_color_palette(uint n_args, const mp_obj_t *args, uint arg_index,
+                                                          mp_map_t *kw_args);
+image_t *py_helper_keyword_to_image_mutable_alpha_palette(uint n_args, const mp_obj_t *args, uint arg_index,
+                                                          mp_map_t *kw_args);
+void py_helper_keyword_rectangle(image_t *img, uint n_args, const mp_obj_t *args, uint arg_index,
+                                 mp_map_t *kw_args, mp_obj_t kw, rectangle_t *r);
+void py_helper_keyword_rectangle_roi(image_t *img, uint n_args, const mp_obj_t *args, uint arg_index,
+                                     mp_map_t *kw_args, rectangle_t *r);
+int py_helper_keyword_int(uint n_args, const mp_obj_t *args, uint arg_index,
+                          mp_map_t *kw_args, mp_obj_t kw, int default_val);
+bool py_helper_keyword_int_maybe(uint n_args, const mp_obj_t *args, uint arg_index,
+                                 mp_map_t *kw_args, mp_obj_t kw, int* value);
+float py_helper_keyword_float(uint n_args, const mp_obj_t *args, uint arg_index,
+                              mp_map_t *kw_args, mp_obj_t kw, float default_val);
+bool py_helper_keyword_float_maybe(uint n_args, const mp_obj_t *args, uint arg_index,
+                                   mp_map_t *kw_args, mp_obj_t kw, float* value);
+void py_helper_keyword_int_array(uint n_args, const mp_obj_t *args, uint arg_index,
+                                 mp_map_t *kw_args, mp_obj_t kw, int *x, int size);
+void py_helper_keyword_float_array(uint n_args, const mp_obj_t *args, uint arg_index,
+                                   mp_map_t *kw_args, mp_obj_t kw, float *x, int size);
+float *py_helper_keyword_corner_array(uint n_args, const mp_obj_t *args, uint arg_index,
+                                      mp_map_t *kw_args, mp_obj_t kw);
+mp_obj_t *py_helper_keyword_iterable(uint n_args, const mp_obj_t *args, uint arg_index,
+                                        mp_map_t *kw_args, mp_obj_t kw, size_t *len);
+uint py_helper_consume_array(uint n_args, const mp_obj_t *args, uint arg_index, size_t len, const mp_obj_t **items);
+int py_helper_keyword_color(image_t *img, uint n_args, const mp_obj_t *args, uint arg_index,
+                            mp_map_t *kw_args, int default_val);
+void py_helper_arg_to_thresholds(const mp_obj_t arg, list_t *thresholds);
+void py_helper_keyword_thresholds(uint n_args, const mp_obj_t *args, uint arg_index,
+                                  mp_map_t *kw_args, list_t *thresholds);
+int py_helper_arg_to_ksize(const mp_obj_t arg);
+int py_helper_ksize_to_n(int ksize);
+mp_obj_t py_helper_keyword_object(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, mp_obj_t kw, mp_obj_t default_val);
+const uint16_t *py_helper_keyword_color_palette(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, const uint16_t *default_color_palette);
+const uint8_t *py_helper_keyword_alpha_palette(uint n_args, const mp_obj_t *args,
+        uint arg_index, mp_map_t *kw_args, const uint8_t *default_alpha_palette);
+bool py_helper_is_equal_to_framebuffer(image_t *img);
+void py_helper_update_framebuffer(image_t *img);
+void py_helper_set_to_framebuffer(image_t *img);
+#endif // __PY_HELPER__
diff --git a/github_source/minicv2/reference/py_image.c b/github_source/minicv2/reference/py_image.c
new file mode 100644
index 0000000..a32c191
--- /dev/null
+++ b/github_source/minicv2/reference/py_image.c
@@ -0,0 +1,7069 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image Python module.
+ */
+#include <string.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <arm_math.h>
+#include "py/nlr.h"
+#include "py/obj.h"
+#include "py/objlist.h"
+#include "py/objstr.h"
+#include "py/objtuple.h"
+#include "py/objtype.h"
+#include "py/runtime.h"
+#include "py/mphal.h"
+
+#include "imlib.h"
+#include "array.h"
+#include "ff_wrapper.h"
+#include "xalloc.h"
+#include "fb_alloc.h"
+#include "framebuffer.h"
+#include "py_assert.h"
+#include "py_helper.h"
+#include "py_image.h"
+#include "omv_boardconfig.h"
+#if defined(IMLIB_ENABLE_IMAGE_IO)
+#include "py_imageio.h"
+#endif
+
+static const mp_obj_type_t py_cascade_type;
+static const mp_obj_type_t py_image_type;
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+extern const char *ffs_strerror(FRESULT res);
+#endif
+
+// Haar Cascade ///////////////////////////////////////////////////////////////
+
+typedef struct _py_cascade_obj_t {
+    mp_obj_base_t base;
+    struct cascade _cobj;
+} py_cascade_obj_t;
+
+void *py_cascade_cobj(mp_obj_t cascade)
+{
+    PY_ASSERT_TYPE(cascade, &py_cascade_type);
+    return &((py_cascade_obj_t *)cascade)->_cobj;
+}
+
+static void py_cascade_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_cascade_obj_t *self = self_in;
+    mp_printf(print, "{\"width\":%d, \"height\":%d, \"n_stages\":%d, \"n_features\":%d, \"n_rectangles\":%d}",
+            self->_cobj.window.w, self->_cobj.window.h, self->_cobj.n_stages,
+            self->_cobj.n_features, self->_cobj.n_rectangles);
+}
+
+static const mp_obj_type_t py_cascade_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_Cascade,
+    .print = py_cascade_print,
+};
+
+// Keypoints object ///////////////////////////////////////////////////////////
+
+#ifdef IMLIB_ENABLE_FIND_KEYPOINTS
+
+typedef struct _py_kp_obj_t {
+    mp_obj_base_t base;
+    array_t *kpts;
+    int threshold;
+    bool normalized;
+} py_kp_obj_t;
+
+static void py_kp_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_kp_obj_t *self = self_in;
+    mp_printf(print, "{\"size\":%d, \"threshold\":%d, \"normalized\":%d}", array_length(self->kpts), self->threshold, self->normalized);
+}
+
+mp_obj_t py_kp_unary_op(mp_unary_op_t op, mp_obj_t self_in) {
+    py_kp_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    switch (op) {
+        case MP_UNARY_OP_LEN:
+            return MP_OBJ_NEW_SMALL_INT(array_length(self->kpts));
+
+        default:
+            return MP_OBJ_NULL; // op not supported
+    }
+}
+
+static mp_obj_t py_kp_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_kp_obj_t *self = self_in;
+        int size = array_length(self->kpts);
+        int i = mp_get_index(self->base.type, size, index, false);
+        kp_t *kp = array_at(self->kpts, i);
+        return mp_obj_new_tuple(5, (mp_obj_t []) {mp_obj_new_int(kp->x),
+                                                  mp_obj_new_int(kp->y),
+                                                  mp_obj_new_int(kp->score),
+                                                  mp_obj_new_int(kp->octave),
+                                                  mp_obj_new_int(kp->angle)});
+    }
+
+    return MP_OBJ_NULL; // op not supported
+}
+
+static const mp_obj_type_t py_kp_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_kp_desc,
+    .print = py_kp_print,
+    .subscr = py_kp_subscr,
+    .unary_op = py_kp_unary_op,
+};
+
+py_kp_obj_t *py_kpts_obj(mp_obj_t kpts_obj)
+{
+    PY_ASSERT_TYPE(kpts_obj, &py_kp_type);
+    return kpts_obj;
+}
+
+#endif // IMLIB_ENABLE_FIND_KEYPOINTS
+
+// LBP descriptor /////////////////////////////////////////////////////////////
+
+#ifdef IMLIB_ENABLE_FIND_LBP
+
+typedef struct _py_lbp_obj_t {
+    mp_obj_base_t base;
+    uint8_t *hist;
+} py_lbp_obj_t;
+
+static void py_lbp_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    mp_printf(print, "{}");
+}
+
+static const mp_obj_type_t py_lbp_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_lbp_desc,
+    .print = py_lbp_print,
+};
+
+#endif // IMLIB_ENABLE_FIND_LBP
+
+// Keypoints Match Object /////////////////////////////////////////////////////
+
+#if defined(IMLIB_ENABLE_DESCRIPTOR) && defined(IMLIB_ENABLE_FIND_KEYPOINTS)
+
+#define kptmatch_obj_size 9
+typedef struct _py_kptmatch_obj_t {
+    mp_obj_base_t base;
+    mp_obj_t cx, cy;
+    mp_obj_t x, y, w, h;
+    mp_obj_t count;
+    mp_obj_t theta;
+    mp_obj_t match;
+} py_kptmatch_obj_t;
+
+static void py_kptmatch_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_kptmatch_obj_t *self = self_in;
+    mp_printf(print, "{\"cx\":%d, \"cy\":%d, \"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"count\":%d, \"theta\":%d}",
+              mp_obj_get_int(self->cx), mp_obj_get_int(self->cy), mp_obj_get_int(self->x), mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),  mp_obj_get_int(self->h),  mp_obj_get_int(self->count), mp_obj_get_int(self->theta));
+}
+
+static mp_obj_t py_kptmatch_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_kptmatch_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(kptmatch_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, kptmatch_obj_size, index, false)) {
+            case 0: return self->cx;
+            case 1: return self->cy;
+            case 2: return self->x;
+            case 3: return self->y;
+            case 4: return self->w;
+            case 5: return self->h;
+            case 6: return self->count;
+            case 7: return self->theta;
+            case 8: return self->match;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_kptmatch_cx(mp_obj_t self_in)     { return ((py_kptmatch_obj_t *) self_in)->cx;    }
+mp_obj_t py_kptmatch_cy(mp_obj_t self_in)     { return ((py_kptmatch_obj_t *) self_in)->cy;    }
+mp_obj_t py_kptmatch_x (mp_obj_t self_in)     { return ((py_kptmatch_obj_t *) self_in)->x;     }
+mp_obj_t py_kptmatch_y (mp_obj_t self_in)     { return ((py_kptmatch_obj_t *) self_in)->y;     }
+mp_obj_t py_kptmatch_w (mp_obj_t self_in)     { return ((py_kptmatch_obj_t *) self_in)->w;     }
+mp_obj_t py_kptmatch_h (mp_obj_t self_in)     { return ((py_kptmatch_obj_t *) self_in)->h;     }
+mp_obj_t py_kptmatch_count(mp_obj_t self_in)  { return ((py_kptmatch_obj_t *) self_in)->count; }
+mp_obj_t py_kptmatch_theta(mp_obj_t self_in)  { return ((py_kptmatch_obj_t *) self_in)->theta; }
+mp_obj_t py_kptmatch_match(mp_obj_t self_in)  { return ((py_kptmatch_obj_t *) self_in)->match; }
+mp_obj_t py_kptmatch_rect(mp_obj_t  self_in)  {
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_kptmatch_obj_t *) self_in)->x,
+                                              ((py_kptmatch_obj_t *) self_in)->y,
+                                              ((py_kptmatch_obj_t *) self_in)->w,
+                                              ((py_kptmatch_obj_t *) self_in)->h});
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_cx_obj,    py_kptmatch_cx);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_cy_obj,    py_kptmatch_cy);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_x_obj,     py_kptmatch_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_y_obj,     py_kptmatch_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_w_obj,     py_kptmatch_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_h_obj,     py_kptmatch_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_count_obj, py_kptmatch_count);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_theta_obj, py_kptmatch_theta);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_match_obj, py_kptmatch_match);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_kptmatch_rect_obj,  py_kptmatch_rect);
+
+STATIC const mp_rom_map_elem_t py_kptmatch_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_cx),      MP_ROM_PTR(&py_kptmatch_cx_obj)      },
+    { MP_ROM_QSTR(MP_QSTR_cy),      MP_ROM_PTR(&py_kptmatch_cy_obj)      },
+    { MP_ROM_QSTR(MP_QSTR_x),       MP_ROM_PTR(&py_kptmatch_x_obj)       },
+    { MP_ROM_QSTR(MP_QSTR_y),       MP_ROM_PTR(&py_kptmatch_y_obj)       },
+    { MP_ROM_QSTR(MP_QSTR_w),       MP_ROM_PTR(&py_kptmatch_w_obj)       },
+    { MP_ROM_QSTR(MP_QSTR_h),       MP_ROM_PTR(&py_kptmatch_h_obj)       },
+    { MP_ROM_QSTR(MP_QSTR_count),   MP_ROM_PTR(&py_kptmatch_count_obj)   },
+    { MP_ROM_QSTR(MP_QSTR_theta),   MP_ROM_PTR(&py_kptmatch_theta_obj)   },
+    { MP_ROM_QSTR(MP_QSTR_match),   MP_ROM_PTR(&py_kptmatch_match_obj)   },
+    { MP_ROM_QSTR(MP_QSTR_rect),    MP_ROM_PTR(&py_kptmatch_rect_obj)    }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_kptmatch_locals_dict, py_kptmatch_locals_dict_table);
+
+static const mp_obj_type_t py_kptmatch_type = {
+    { &mp_type_type },
+    .name   = MP_QSTR_kptmatch,
+    .print  = py_kptmatch_print,
+    .subscr = py_kptmatch_subscr,
+    .locals_dict = (mp_obj_t) &py_kptmatch_locals_dict
+};
+
+
+#endif //IMLIB_ENABLE_DESCRIPTOR && IMLIB_ENABLE_FIND_KEYPOINTS
+
+// Image //////////////////////////////////////////////////////////////////////
+
+typedef struct _py_image_obj_t {
+    mp_obj_base_t base;
+    image_t _cobj;
+} py_image_obj_t;
+
+typedef struct _mp_obj_py_image_it_t {
+    mp_obj_base_t base;
+    mp_fun_1_t iternext;
+    mp_obj_t py_image;
+    size_t cur;
+} mp_obj_py_image_it_t;
+
+void *py_image_cobj(mp_obj_t img_obj)
+{
+    PY_ASSERT_TYPE(img_obj, &py_image_type);
+    return &((py_image_obj_t *)img_obj)->_cobj;
+}
+
+mp_obj_t py_image_unary_op(mp_unary_op_t op, mp_obj_t self_in) {
+    py_image_obj_t *self = MP_OBJ_TO_PTR(self_in);
+    switch (op) {
+        case MP_UNARY_OP_LEN: {
+            image_t *img = &self->_cobj;
+            if (img->pixfmt == PIXFORMAT_JPEG) {
+                // For JPEG images we create a 1D array.
+                return mp_obj_new_int(img->size);
+            } else {
+                // For other formats, 2D array is created.
+                return mp_obj_new_int(img->h);
+            }
+        }
+        default:
+            return MP_OBJ_NULL; // op not supported
+    }
+}
+
+// image iterator
+STATIC mp_obj_t py_image_it_iternext(mp_obj_t self_in)
+{
+    mp_obj_py_image_it_t *self = MP_OBJ_TO_PTR(self_in);
+    py_image_obj_t *image = MP_OBJ_TO_PTR(self->py_image);
+    image_t *img = &image->_cobj;
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            if (self->cur >= img->h) {
+                return MP_OBJ_STOP_ITERATION;
+            } else {
+                mp_obj_t row = mp_obj_new_list(0, NULL);
+                for (int i=0; i<img->w; i++) {
+                    mp_obj_list_append(row, mp_obj_new_int(IMAGE_GET_BINARY_PIXEL(img, i, self->cur)));
+                }
+                self->cur++;
+                return row;
+            }
+        }
+        case PIXFORMAT_GRAYSCALE:
+        case PIXFORMAT_BAYER_ANY: {
+            if (self->cur >= img->h) {
+                return MP_OBJ_STOP_ITERATION;
+            } else {
+                mp_obj_t row = mp_obj_new_list(0, NULL);
+                for (int i=0; i<img->w; i++) {
+                    mp_obj_list_append(row, mp_obj_new_int(IMAGE_GET_GRAYSCALE_PIXEL(img, i, self->cur)));
+                }
+                self->cur++;
+                return row;
+            }
+        }
+        case PIXFORMAT_RGB565:
+        case PIXFORMAT_YUV_ANY: {
+            if (self->cur >= img->h) {
+                return MP_OBJ_STOP_ITERATION;
+            } else {
+                mp_obj_t row = mp_obj_new_list(0, NULL);
+                for (int i=0; i<img->w; i++) {
+                    mp_obj_list_append(row, mp_obj_new_int(IMAGE_GET_RGB565_PIXEL(img, i, self->cur)));
+                }
+                self->cur++;
+                return row;
+            }
+        }
+        default: {// JPEG
+            if (self->cur >= img->size) {
+                return MP_OBJ_STOP_ITERATION;
+            } else {
+                return mp_obj_new_int(img->pixels[self->cur++]);
+            }
+        }
+    }
+}
+
+STATIC mp_obj_t py_image_getiter(mp_obj_t o_in, mp_obj_iter_buf_t *iter_buf)
+{
+    assert(sizeof(mp_obj_py_image_it_t) <= sizeof(mp_obj_iter_buf_t));
+    mp_obj_py_image_it_t *o = (mp_obj_py_image_it_t*)iter_buf;
+    o->base.type = &mp_type_polymorph_iter;
+    o->iternext = py_image_it_iternext;
+    o->py_image = o_in;
+    o->cur = 0;
+    return MP_OBJ_FROM_PTR(o);
+}
+
+static void py_image_print(const mp_print_t *print, mp_obj_t self, mp_print_kind_t kind)
+{
+    image_t *image = py_image_cobj(self);
+    if (image->pixfmt == PIXFORMAT_JPEG
+            && image->pixels[0] == 0xFE
+            && image->pixels[image->size-1] == 0xFE) {
+        // print for ide.
+        print->print_strn(print->data, (const char *) image->pixels, image->size);
+    } else {
+        mp_printf(print, "{\"w\":%d, \"h\":%d, \"type\":\"%s\", \"size\":%d}",
+                image->w,
+                image->h,
+                (image->pixfmt == PIXFORMAT_BINARY)     ? "binary" :
+                (image->pixfmt == PIXFORMAT_GRAYSCALE)  ? "grayscale" :
+                (image->pixfmt == PIXFORMAT_RGB565)     ? "rgb565" :
+                (image->pixfmt == PIXFORMAT_BAYER_BGGR) ? "bayer_bggr" :
+                (image->pixfmt == PIXFORMAT_BAYER_GBRG) ? "bayer_gbrg" :
+                (image->pixfmt == PIXFORMAT_BAYER_GRBG) ? "bayer_grbg" :
+                (image->pixfmt == PIXFORMAT_BAYER_RGGB) ? "bayer_rggb" :
+                (image->pixfmt == PIXFORMAT_YUV422)     ? "yuv422" :
+                (image->pixfmt == PIXFORMAT_YVU422)     ? "yvu422" :
+                (image->pixfmt == PIXFORMAT_JPEG)       ? "jpeg" : "unknown",
+                image_size(image));
+    }
+}
+
+static mp_obj_t py_image_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    py_image_obj_t *self = self_in;
+    image_t *image = py_image_cobj(self);
+    if (value == MP_OBJ_NULL) { // delete
+    } else if (value == MP_OBJ_SENTINEL) { // load
+        switch (image->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->w * image->h, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+                    for (mp_uint_t i = 0; i < result->len; i++) {
+                        result->items[i] = mp_obj_new_int(IMAGE_GET_BINARY_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w));
+                    }
+                    return result;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->w * image->h, index, false);
+                return mp_obj_new_int(IMAGE_GET_BINARY_PIXEL(image, i % image->w, i / image->w));
+            }
+            case PIXFORMAT_GRAYSCALE:
+            case PIXFORMAT_BAYER_ANY: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->w * image->h, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+                    for (mp_uint_t i = 0; i < result->len; i++) {
+                        uint8_t p = IMAGE_GET_GRAYSCALE_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w);
+                        result->items[i] = mp_obj_new_int(p);
+                    }
+                    return result;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->w * image->h, index, false);
+                uint8_t p = IMAGE_GET_GRAYSCALE_PIXEL(image, i % image->w, i / image->w);
+                return mp_obj_new_int(p);
+            }
+            case PIXFORMAT_RGB565:
+            case PIXFORMAT_YUV_ANY: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->w * image->h, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+                    for (mp_uint_t i = 0; i < result->len; i++) {
+                        uint16_t p = IMAGE_GET_RGB565_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w);
+                        if (image->is_yuv) {
+                            result->items[i] = mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(p & 0xff),
+                                                                                  mp_obj_new_int((p >> 8) & 0xff)});
+                        } else {
+                            result->items[i] = mp_obj_new_tuple(3, (mp_obj_t []) {mp_obj_new_int(COLOR_RGB565_TO_R8(p)),
+                                                                                  mp_obj_new_int(COLOR_RGB565_TO_G8(p)),
+                                                                                  mp_obj_new_int(COLOR_RGB565_TO_B8(p))});
+                        }
+                    }
+                    return result;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->w * image->h, index, false);
+                uint16_t p = IMAGE_GET_RGB565_PIXEL(image, i % image->w, i / image->w);
+                if (image->is_yuv) {
+                    return mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(p & 0xff),
+                                                              mp_obj_new_int((p >> 8) & 0xff)});
+                } else {
+                    return mp_obj_new_tuple(3, (mp_obj_t []) {mp_obj_new_int(COLOR_RGB565_TO_R8(p)),
+                                                              mp_obj_new_int(COLOR_RGB565_TO_G8(p)),
+                                                              mp_obj_new_int(COLOR_RGB565_TO_B8(p))});
+                }
+            }
+            case PIXFORMAT_JPEG: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->size, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+                    for (mp_uint_t i = 0; i < result->len; i++) {
+                        result->items[i] = mp_obj_new_int(image->data[slice.start + i]);
+                    }
+                    return result;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->size, index, false);
+                return mp_obj_new_int(image->data[i]);
+            }
+            default:
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid pixel format"));
+        }
+    } else { // store
+        switch (image->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->w * image->h, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    if (MP_OBJ_IS_TYPE(value, &mp_type_list)) {
+                        mp_uint_t value_l_len;
+                        mp_obj_t *value_l;
+                        mp_obj_get_array(value, &value_l_len, &value_l);
+                        PY_ASSERT_TRUE_MSG(value_l_len == (slice.stop - slice.start), "cannot grow or shrink image");
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            IMAGE_PUT_BINARY_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w, mp_obj_get_int(value_l[i]));
+                        }
+                    } else {
+                        mp_int_t v = mp_obj_get_int(value);
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            IMAGE_PUT_BINARY_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w, v);
+                        }
+                    }
+                    return mp_const_none;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->w * image->h, index, false);
+                IMAGE_PUT_BINARY_PIXEL(image, i % image->w, i / image->w, mp_obj_get_int(value));
+                return mp_const_none;
+            }
+            case PIXFORMAT_GRAYSCALE:
+            case PIXFORMAT_BAYER_ANY: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->w * image->h, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    if (MP_OBJ_IS_TYPE(value, &mp_type_list)) {
+                        mp_uint_t value_l_len;
+                        mp_obj_t *value_l;
+                        mp_obj_get_array(value, &value_l_len, &value_l);
+                        PY_ASSERT_TRUE_MSG(value_l_len == (slice.stop - slice.start), "cannot grow or shrink image");
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            uint8_t p = mp_obj_get_int(value_l[i]);
+                            IMAGE_PUT_GRAYSCALE_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w, p);
+                        }
+                    } else {
+                        uint8_t p = mp_obj_get_int(value);
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            IMAGE_PUT_GRAYSCALE_PIXEL(image, (slice.start + i) % image->w, (slice.start + i) / image->w, p);
+                        }
+                    }
+                    return mp_const_none;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->w * image->h, index, false);
+                uint8_t p = mp_obj_get_int(value);
+                IMAGE_PUT_GRAYSCALE_PIXEL(image, i % image->w, i / image->w, p);
+                return mp_const_none;
+            }
+            case PIXFORMAT_RGB565:
+            case PIXFORMAT_YUV_ANY: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->w * image->h, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    if (MP_OBJ_IS_TYPE(value, &mp_type_list)) {
+                        mp_uint_t value_l_len;
+                        mp_obj_t *value_l;
+                        mp_obj_get_array(value, &value_l_len, &value_l);
+                        PY_ASSERT_TRUE_MSG(value_l_len == (slice.stop - slice.start), "cannot grow or shrink image");
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            mp_obj_t *value_2;
+                            uint16_t p;
+                            if (image->is_yuv) {
+                                mp_obj_get_array_fixed_n(value_l[i], 2, &value_2);
+                                p = (mp_obj_get_int(value_2[0]) & 0xff) |
+                                    (mp_obj_get_int(value_2[1]) & 0xff) << 8;
+                            } else {
+                                mp_obj_get_array_fixed_n(value_l[i], 3, &value_2);
+                                p = COLOR_R8_G8_B8_TO_RGB565(mp_obj_get_int(value_2[0]),
+                                                             mp_obj_get_int(value_2[1]),
+                                                             mp_obj_get_int(value_2[2]));
+                            }
+                            IMAGE_PUT_RGB565_PIXEL(image, (slice.start + i) % image->w,
+                                                          (slice.start + i) / image->w, p);
+                        }
+                    } else {
+                        mp_obj_t *value_2;
+                        uint16_t p;
+                        if (image->is_yuv) {
+                            mp_obj_get_array_fixed_n(value, 2, &value_2);
+                            p = (mp_obj_get_int(value_2[0]) & 0xff) |
+                                (mp_obj_get_int(value_2[1]) & 0xff) << 8;
+                        } else {
+                            mp_obj_get_array_fixed_n(value, 3, &value_2);
+                            p = COLOR_R8_G8_B8_TO_RGB565(mp_obj_get_int(value_2[0]),
+                                                         mp_obj_get_int(value_2[1]),
+                                                         mp_obj_get_int(value_2[2]));
+                        }
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            IMAGE_PUT_RGB565_PIXEL(image, (slice.start + i) % image->w,
+                                                          (slice.start + i) / image->w, p);
+                        }
+                    }
+                    return mp_const_none;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->w * image->h, index, false);
+                mp_obj_t *value_2;
+                mp_obj_get_array_fixed_n(value, 3, &value_2);
+                uint16_t p = COLOR_R8_G8_B8_TO_RGB565(mp_obj_get_int(value_2[0]), mp_obj_get_int(value_2[1]), mp_obj_get_int(value_2[2]));
+                IMAGE_PUT_RGB565_PIXEL(image, i % image->w, i / image->w, p);
+                return mp_const_none;
+            }
+            case PIXFORMAT_JPEG: {
+                if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+                    mp_bound_slice_t slice;
+                    if (!mp_seq_get_fast_slice_indexes(image->size, index, &slice)) {
+                        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+                    }
+                    if (MP_OBJ_IS_TYPE(value, &mp_type_list)) {
+                        mp_uint_t value_l_len;
+                        mp_obj_t *value_l;
+                        mp_obj_get_array(value, &value_l_len, &value_l);
+                        PY_ASSERT_TRUE_MSG(value_l_len == (slice.stop - slice.start), "cannot grow or shrink image");
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            image->data[slice.start + i] = mp_obj_get_int(value_l[i]);
+                        }
+                    } else {
+                        mp_int_t v = mp_obj_get_int(value);
+                        for (mp_uint_t i = 0; i < (slice.stop - slice.start); i++) {
+                            image->data[slice.start + i] = v;
+                        }
+                    }
+                    return mp_const_none;
+                }
+                mp_uint_t i = mp_get_index(self->base.type, image->size, index, false);
+                image->data[i] = mp_obj_get_int(value);
+                return mp_const_none;
+            }
+            default:
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid pixel format"));
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+static mp_int_t py_image_get_buffer(mp_obj_t self_in, mp_buffer_info_t *bufinfo, mp_uint_t flags)
+{
+    py_image_obj_t *self = self_in;
+    if (flags == MP_BUFFER_READ) {
+        bufinfo->buf = self->_cobj.data;
+        bufinfo->len = image_size(&self->_cobj);
+        bufinfo->typecode = 'b';
+        return 0;
+    } else { // Can't write to an image!
+        bufinfo->buf = NULL;
+        bufinfo->len = 0;
+        bufinfo->typecode = -1;
+        return 1;
+    }
+}
+
+////////////////
+// Basic Methods
+////////////////
+
+static mp_obj_t py_image_width(mp_obj_t img_obj)
+{
+    return mp_obj_new_int(((image_t *) py_image_cobj(img_obj))->w);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_width_obj, py_image_width);
+
+static mp_obj_t py_image_height(mp_obj_t img_obj)
+{
+    return mp_obj_new_int(((image_t *) py_image_cobj(img_obj))->h);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_height_obj, py_image_height);
+
+static mp_obj_t py_image_format(mp_obj_t img_obj)
+{
+    image_t *image = py_image_cobj(img_obj);
+    switch (image->pixfmt) {
+        case PIXFORMAT_BINARY:
+            return mp_obj_new_int(PIXFORMAT_BINARY);
+        case PIXFORMAT_GRAYSCALE:
+            return mp_obj_new_int(PIXFORMAT_GRAYSCALE);
+        case PIXFORMAT_RGB565:
+            return mp_obj_new_int(PIXFORMAT_RGB565);
+        case PIXFORMAT_BAYER_ANY:
+            return mp_obj_new_int(PIXFORMAT_BAYER);
+        case PIXFORMAT_YUV_ANY:
+            return mp_obj_new_int(PIXFORMAT_YUV422);
+        default:
+            return mp_obj_new_int(PIXFORMAT_JPEG);
+    }
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_format_obj, py_image_format);
+
+static mp_obj_t py_image_size(mp_obj_t img_obj)
+{
+    return mp_obj_new_int(image_size((image_t *) py_image_cobj(img_obj)));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_size_obj, py_image_size);
+
+static mp_obj_t py_image_bytearray(mp_obj_t img_obj)
+{
+    image_t *arg_img = (image_t *) py_image_cobj(img_obj);
+    return mp_obj_new_bytearray_by_ref(image_size(arg_img), arg_img->data);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_bytearray_obj, py_image_bytearray);
+
+STATIC mp_obj_t py_image_get_pixel(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 2, &arg_vec);
+    int arg_x = mp_obj_get_int(arg_vec[0]);
+    int arg_y = mp_obj_get_int(arg_vec[1]);
+
+    bool arg_rgbtuple = py_helper_keyword_int(n_args, args, offset, kw_args,
+            MP_OBJ_NEW_QSTR(MP_QSTR_rgbtuple), arg_img->pixfmt == PIXFORMAT_RGB565);
+
+    if ((!IM_X_INSIDE(arg_img, arg_x)) || (!IM_Y_INSIDE(arg_img, arg_y))) {
+        return mp_const_none;
+    }
+
+    switch (arg_img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            if (arg_rgbtuple) {
+                int pixel = IMAGE_GET_BINARY_PIXEL(arg_img, arg_x, arg_y);
+                mp_obj_t pixel_tuple[3];
+                pixel_tuple[0] = mp_obj_new_int(COLOR_RGB565_TO_R8(COLOR_BINARY_TO_RGB565(pixel)));
+                pixel_tuple[1] = mp_obj_new_int(COLOR_RGB565_TO_G8(COLOR_BINARY_TO_RGB565(pixel)));
+                pixel_tuple[2] = mp_obj_new_int(COLOR_RGB565_TO_B8(COLOR_BINARY_TO_RGB565(pixel)));
+                return mp_obj_new_tuple(3, pixel_tuple);
+            } else {
+                return mp_obj_new_int(IMAGE_GET_BINARY_PIXEL(arg_img, arg_x, arg_y));
+            }
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            if (arg_rgbtuple) {
+                int pixel = IMAGE_GET_GRAYSCALE_PIXEL(arg_img, arg_x, arg_y);
+                mp_obj_t pixel_tuple[3];
+                pixel_tuple[0] = mp_obj_new_int(COLOR_RGB565_TO_R8(COLOR_GRAYSCALE_TO_RGB565(pixel)));
+                pixel_tuple[1] = mp_obj_new_int(COLOR_RGB565_TO_G8(COLOR_GRAYSCALE_TO_RGB565(pixel)));
+                pixel_tuple[2] = mp_obj_new_int(COLOR_RGB565_TO_B8(COLOR_GRAYSCALE_TO_RGB565(pixel)));
+                return mp_obj_new_tuple(3, pixel_tuple);
+            } else {
+                return mp_obj_new_int(IMAGE_GET_GRAYSCALE_PIXEL(arg_img, arg_x, arg_y));
+            }
+        }
+        case PIXFORMAT_RGB565: {
+            if (arg_rgbtuple) {
+                int pixel = IMAGE_GET_RGB565_PIXEL(arg_img, arg_x, arg_y);
+                mp_obj_t pixel_tuple[3];
+                pixel_tuple[0] = mp_obj_new_int(COLOR_RGB565_TO_R8(pixel));
+                pixel_tuple[1] = mp_obj_new_int(COLOR_RGB565_TO_G8(pixel));
+                pixel_tuple[2] = mp_obj_new_int(COLOR_RGB565_TO_B8(pixel));
+                return mp_obj_new_tuple(3, pixel_tuple);
+            } else {
+                return mp_obj_new_int(IMAGE_GET_RGB565_PIXEL(arg_img, arg_x, arg_y));
+            }
+        }
+        case PIXFORMAT_BAYER_ANY:
+            if (arg_rgbtuple) {
+                uint16_t pixel; imlib_debayer_line(arg_x, arg_x + 1, arg_y, &pixel, PIXFORMAT_RGB565, arg_img);
+                mp_obj_t pixel_tuple[3];
+                pixel_tuple[0] = mp_obj_new_int(COLOR_RGB565_TO_R8(pixel));
+                pixel_tuple[1] = mp_obj_new_int(COLOR_RGB565_TO_G8(pixel));
+                pixel_tuple[2] = mp_obj_new_int(COLOR_RGB565_TO_B8(pixel));
+                return mp_obj_new_tuple(3, pixel_tuple);
+            } else {
+                return mp_obj_new_int(IMAGE_GET_BAYER_PIXEL(arg_img, arg_x, arg_y));
+            }
+        case PIXFORMAT_YUV_ANY:
+            if (arg_rgbtuple) {
+                uint16_t pixel; imlib_deyuv_line(arg_x, arg_x + 1, arg_y, &pixel, PIXFORMAT_RGB565, arg_img);
+                mp_obj_t pixel_tuple[3];
+                pixel_tuple[0] = mp_obj_new_int(COLOR_RGB565_TO_R8(pixel));
+                pixel_tuple[1] = mp_obj_new_int(COLOR_RGB565_TO_G8(pixel));
+                pixel_tuple[2] = mp_obj_new_int(COLOR_RGB565_TO_B8(pixel));
+                return mp_obj_new_tuple(3, pixel_tuple);
+            } else {
+                return mp_obj_new_int(IMAGE_GET_YUV_PIXEL(arg_img, arg_x, arg_y));
+            }
+        default: return mp_const_none;
+    }
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_get_pixel_obj, 2, py_image_get_pixel);
+
+STATIC mp_obj_t py_image_set_pixel(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 2, &arg_vec);
+    int arg_x = mp_obj_get_int(arg_vec[0]);
+    int arg_y = mp_obj_get_int(arg_vec[1]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset, kw_args, -1); // White.
+
+    if ((!IM_X_INSIDE(arg_img, arg_x)) || (!IM_Y_INSIDE(arg_img, arg_y))) {
+        return args[0];
+    }
+
+    switch (arg_img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            IMAGE_PUT_BINARY_PIXEL(arg_img, arg_x, arg_y, arg_c);
+            return args[0];
+        }
+        case PIXFORMAT_GRAYSCALE:
+        case PIXFORMAT_BAYER_ANY: { // re-use
+            IMAGE_PUT_GRAYSCALE_PIXEL(arg_img, arg_x, arg_y, arg_c);
+            return args[0];
+        }
+        case PIXFORMAT_RGB565:
+        case PIXFORMAT_YUV_ANY: { // re-use
+            IMAGE_PUT_RGB565_PIXEL(arg_img, arg_x, arg_y, arg_c);
+            return args[0];
+        }
+        default: return args[0];
+    }
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_set_pixel_obj, 2, py_image_set_pixel);
+
+#ifdef IMLIB_ENABLE_MEAN_POOLING
+static mp_obj_t py_image_mean_pool(mp_obj_t img_obj, mp_obj_t x_div_obj, mp_obj_t y_div_obj)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(img_obj);
+
+    int arg_x_div = mp_obj_get_int(x_div_obj);
+    PY_ASSERT_TRUE_MSG(arg_x_div >= 1, "Width divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_x_div <= arg_img->w, "Width divisor must be less than <= img width");
+    int arg_y_div = mp_obj_get_int(y_div_obj);
+    PY_ASSERT_TRUE_MSG(arg_y_div >= 1, "Height divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_y_div <= arg_img->h, "Height divisor must be less than <= img height");
+
+    image_t out_img;
+    out_img.w = arg_img->w / arg_x_div;
+    out_img.h = arg_img->h / arg_y_div;
+    out_img.pixfmt = arg_img->pixfmt;
+    out_img.pixels = arg_img->pixels;
+    PY_ASSERT_TRUE_MSG(image_size(&out_img) <= image_size(arg_img), "Can't pool in place!");
+
+    imlib_mean_pool(arg_img, &out_img, arg_x_div, arg_y_div);
+    arg_img->w = out_img.w;
+    arg_img->h = out_img.h;
+    py_helper_update_framebuffer(arg_img);
+    return img_obj;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_mean_pool_obj, py_image_mean_pool);
+
+static mp_obj_t py_image_mean_pooled(mp_obj_t img_obj, mp_obj_t x_div_obj, mp_obj_t y_div_obj)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(img_obj);
+
+    int arg_x_div = mp_obj_get_int(x_div_obj);
+    PY_ASSERT_TRUE_MSG(arg_x_div >= 1, "Width divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_x_div <= arg_img->w, "Width divisor must be less than <= img width");
+    int arg_y_div = mp_obj_get_int(y_div_obj);
+    PY_ASSERT_TRUE_MSG(arg_y_div >= 1, "Height divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_y_div <= arg_img->h, "Height divisor must be less than <= img height");
+
+    image_t out_img;
+    out_img.w = arg_img->w / arg_x_div;
+    out_img.h = arg_img->h / arg_y_div;
+    out_img.pixfmt = arg_img->pixfmt;
+    out_img.pixels = xalloc(image_size(&out_img));
+
+    imlib_mean_pool(arg_img, &out_img, arg_x_div, arg_y_div);
+    return py_image_from_struct(&out_img);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_image_mean_pooled_obj, py_image_mean_pooled);
+#endif // IMLIB_ENABLE_MEAN_POOLING
+
+#ifdef IMLIB_ENABLE_MIDPOINT_POOLING
+static mp_obj_t py_image_midpoint_pool(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    int arg_x_div = mp_obj_get_int(args[1]);
+    PY_ASSERT_TRUE_MSG(arg_x_div >= 1, "Width divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_x_div <= arg_img->w, "Width divisor must be less than <= img width");
+    int arg_y_div = mp_obj_get_int(args[2]);
+    PY_ASSERT_TRUE_MSG(arg_y_div >= 1, "Height divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_y_div <= arg_img->h, "Height divisor must be less than <= img height");
+
+    int arg_bias = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bias), 0.5) * 256;
+    PY_ASSERT_TRUE_MSG((0 <= arg_bias) && (arg_bias <= 256), "Error: 0 <= bias <= 1!");
+
+    image_t out_img;
+    out_img.w = arg_img->w / arg_x_div;
+    out_img.h = arg_img->h / arg_y_div;
+    out_img.pixfmt = arg_img->pixfmt;
+    out_img.pixels = arg_img->pixels;
+    PY_ASSERT_TRUE_MSG(image_size(&out_img) <= image_size(arg_img), "Can't pool in place!");
+
+    imlib_midpoint_pool(arg_img, &out_img, arg_x_div, arg_y_div, arg_bias);
+    arg_img->w = out_img.w;
+    arg_img->h = out_img.h;
+    py_helper_update_framebuffer(arg_img);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_midpoint_pool_obj, 3, py_image_midpoint_pool);
+
+static mp_obj_t py_image_midpoint_pooled(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    int arg_x_div = mp_obj_get_int(args[1]);
+    PY_ASSERT_TRUE_MSG(arg_x_div >= 1, "Width divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_x_div <= arg_img->w, "Width divisor must be less than <= img width");
+    int arg_y_div = mp_obj_get_int(args[2]);
+    PY_ASSERT_TRUE_MSG(arg_y_div >= 1, "Height divisor must be greater than >= 1");
+    PY_ASSERT_TRUE_MSG(arg_y_div <= arg_img->h, "Height divisor must be less than <= img height");
+
+    int arg_bias = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bias), 0.5) * 256;
+    PY_ASSERT_TRUE_MSG((0 <= arg_bias) && (arg_bias <= 256), "Error: 0 <= bias <= 1!");
+
+    image_t out_img;
+    out_img.w = arg_img->w / arg_x_div;
+    out_img.h = arg_img->h / arg_y_div;
+    out_img.pixfmt = arg_img->pixfmt;
+    out_img.pixels = xalloc(image_size(&out_img));
+
+    imlib_midpoint_pool(arg_img, &out_img, arg_x_div, arg_y_div, arg_bias);
+    return py_image_from_struct(&out_img);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_midpoint_pooled_obj, 3, py_image_midpoint_pooled);
+#endif // IMLIB_ENABLE_MIDPOINT_POOLING
+
+static mp_obj_t py_image_to(pixformat_t pixfmt, const uint16_t *default_color_palette, bool copy_to_fb,
+                            uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *src_img = py_image_cobj(args[0]);
+
+    float arg_x_scale = 1.f;
+    bool got_x_scale = py_helper_keyword_float_maybe(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_scale), &arg_x_scale);
+
+    float arg_y_scale = 1.f;
+    bool got_y_scale = py_helper_keyword_float_maybe(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_scale), &arg_y_scale);
+
+    rectangle_t arg_roi;
+    py_helper_keyword_rectangle_roi(src_img, n_args, args, 3, kw_args, &arg_roi);
+
+    int arg_rgb_channel = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_channel), -1);
+    if ((arg_rgb_channel < -1) || (2 < arg_rgb_channel)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("-1 <= rgb_channel <= 2!"));
+    }
+
+    int arg_alpha = py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 256);
+    if ((arg_alpha < 0) || (256 < arg_alpha)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= alpha <= 256!"));
+    }
+
+    const uint16_t *color_palette = py_helper_keyword_color_palette(n_args, args, 6, kw_args, default_color_palette);
+    const uint8_t *alpha_palette = py_helper_keyword_alpha_palette(n_args, args, 7, kw_args, NULL);
+
+    image_hint_t hint = py_helper_keyword_int(n_args, args, 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hint), 0);
+
+    int arg_x_size;
+    bool got_x_size = py_helper_keyword_int_maybe(n_args, args, 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_size), &arg_x_size);
+
+    int arg_y_size;
+    bool got_y_size = py_helper_keyword_int_maybe(n_args, args, 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_size), &arg_y_size);
+
+    if (got_x_scale && got_x_size) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either x_scale or x_size not both!"));
+    }
+
+    if (got_y_scale && got_y_size) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either y_scale or y_size not both!"));
+    }
+
+    if (got_x_size) {
+        arg_x_scale = arg_x_size / ((float) arg_roi.w);
+    }
+
+    if (got_y_size) {
+        arg_y_scale = arg_y_size / ((float) arg_roi.h);
+    }
+
+    if ((!got_x_scale) && (!got_x_size) && got_y_size) {
+        arg_x_scale = arg_y_scale;
+    }
+
+    if ((!got_y_scale) && (!got_y_size) && got_x_size) {
+        arg_y_scale = arg_x_scale;
+    }
+
+    mp_obj_t copy_obj = py_helper_keyword_object(n_args, args, 11, kw_args,
+            MP_OBJ_NEW_QSTR(copy_to_fb ? MP_QSTR_copy_to_fb : MP_QSTR_copy), NULL);
+    bool copy = false;
+    image_t *arg_other = copy_to_fb ? NULL : src_img;
+
+    if (copy_obj) {
+        if (mp_obj_is_integer(copy_obj)) {
+            copy = mp_obj_get_int(copy_obj);
+        } else {
+            arg_other = py_helper_arg_to_image_not_compressed(copy_obj);
+        }
+    }
+
+    if (copy_to_fb && copy) {
+        framebuffer_update_jpeg_buffer();
+    }
+
+    image_t dst_img = {
+        .w      = fast_floorf(arg_roi.w * arg_x_scale),
+        .h      = fast_floorf(arg_roi.h * arg_y_scale),
+        .size   = src_img->size,
+        .pixfmt = (pixfmt == PIXFORMAT_INVALID) ? src_img->pixfmt : pixfmt,
+        .pixels = NULL,
+    };
+
+    if (dst_img.is_bayer) {
+        if (((arg_x_scale != 1) && (arg_x_scale != -1)) ||
+            ((arg_y_scale != 1) && (arg_y_scale != -1)) ||
+            (arg_rgb_channel != -1) ||
+            (arg_alpha != 256) ||
+            (color_palette != NULL) ||
+            (alpha_palette != NULL)) {
+            mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Only bayer copying/cropping is supported!"));
+        } else {
+            bool shift_right = arg_roi.x % 2;
+            bool shift_down = arg_roi.y % 2;
+            switch (dst_img.pixfmt) {
+                case PIXFORMAT_BAYER_BGGR: {
+                    if (shift_right && shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_RGGB;
+                    } else if (shift_right) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_GBRG;
+                    } else if (shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_GRBG;
+                    }
+                    break;
+                }
+                case PIXFORMAT_BAYER_GBRG: {
+                    if (shift_right && shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_GRBG;
+                    } else if (shift_right) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_BGGR;
+                    } else if (shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_RGGB;
+                    }
+                    break;
+                }
+                case PIXFORMAT_BAYER_GRBG: {
+                    if (shift_right && shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_GBRG;
+                    } else if (shift_right) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_RGGB;
+                    } else if (shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_BGGR;
+                    }
+                    break;
+                }
+                case PIXFORMAT_BAYER_RGGB: {
+                    if (shift_right && shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_BGGR;
+                    } else if (shift_right) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_GRBG;
+                    } else if (shift_down) {
+                        dst_img.pixfmt = PIXFORMAT_BAYER_GBRG;
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+            hint &= ~(IMAGE_HINT_AREA |
+                      IMAGE_HINT_BICUBIC |
+                      IMAGE_HINT_BILINEAR |
+                      IMAGE_HINT_EXTRACT_RGB_CHANNEL_FIRST |
+                      IMAGE_HINT_APPLY_COLOR_PALETTE_FIRST);
+        }
+    } else if (dst_img.is_yuv) {
+        if (((arg_x_scale != 1) && (arg_x_scale != -1)) ||
+            ((arg_y_scale != 1) && (arg_y_scale != -1)) ||
+            (arg_rgb_channel != -1) ||
+            (arg_alpha != 256) ||
+            (color_palette != NULL) ||
+            (alpha_palette != NULL)) {
+            mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Only YUV422 copying/cropping is supported!"));
+        } else {
+            if (arg_roi.x % 2) {
+                dst_img.pixfmt = (dst_img.pixfmt == PIXFORMAT_YUV422) ? PIXFORMAT_YVU422 : PIXFORMAT_YUV422;
+            }
+            hint &= ~(IMAGE_HINT_AREA |
+                      IMAGE_HINT_BICUBIC |
+                      IMAGE_HINT_BILINEAR |
+                      IMAGE_HINT_EXTRACT_RGB_CHANNEL_FIRST |
+                      IMAGE_HINT_APPLY_COLOR_PALETTE_FIRST);
+        }
+    } else if (dst_img.pixfmt == PIXFORMAT_JPEG) {
+        if ((arg_x_scale != 1) ||
+            (arg_y_scale != 1) ||
+            (arg_roi.x != 0) ||
+            (arg_roi.y != 0) ||
+            (arg_roi.w != src_img->w) ||
+            (arg_roi.h != src_img->h) ||
+            (arg_rgb_channel != -1) ||
+            (arg_alpha != 256) ||
+            (color_palette != NULL) ||
+            (alpha_palette != NULL)) {
+            mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Only jpeg copying is supported!"));
+        }
+    }
+
+    uint32_t size = image_size(&dst_img);
+
+    if (copy) {
+        if (copy_to_fb) {
+            py_helper_set_to_framebuffer(&dst_img);
+        } else {
+            dst_img.data = xalloc(size);
+        }
+    } else if (arg_other) {
+        bool fb = py_helper_is_equal_to_framebuffer(arg_other);
+        size_t buf_size = fb ? framebuffer_get_buffer_size() : image_size(arg_other);
+        PY_ASSERT_TRUE_MSG((size <= buf_size),
+                "The new image won't fit in the target frame buffer!");
+        // DO NOT MODIFY arg_other YET (as it could point to src_img)!
+        dst_img.data = arg_other->data;
+        py_helper_update_framebuffer(&dst_img);
+    } else {
+        dst_img.data = xalloc(size);
+    }
+
+    if (dst_img.pixfmt == PIXFORMAT_JPEG) {
+        if (dst_img.data != src_img->data) {
+            memcpy(dst_img.data, src_img->data, dst_img.size);
+        }
+    } else {
+        fb_alloc_mark();
+        imlib_draw_image(&dst_img, src_img, 0, 0, arg_x_scale, arg_y_scale, &arg_roi,
+                        arg_rgb_channel, arg_alpha, color_palette, alpha_palette,
+                        (hint & (~IMAGE_HINT_CENTER)) | IMAGE_HINT_BLACK_BACKGROUND, NULL, NULL);
+        fb_alloc_free_till_mark();
+    }
+
+    if (arg_other) {
+        memcpy(arg_other, &dst_img, sizeof(image_t));
+    }
+
+    return py_image_from_struct(&dst_img);
+}
+
+static mp_obj_t py_image_to_bitmap(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return py_image_to(PIXFORMAT_BINARY, NULL, false, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_bitmap_obj, 1, py_image_to_bitmap);
+
+static mp_obj_t py_image_to_grayscale(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return py_image_to(PIXFORMAT_GRAYSCALE, NULL, false, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_grayscale_obj, 1, py_image_to_grayscale);
+
+static mp_obj_t py_image_to_rgb565(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return py_image_to(PIXFORMAT_RGB565, NULL, false, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_rgb565_obj, 1, py_image_to_rgb565);
+
+static mp_obj_t py_image_to_rainbow(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return py_image_to(PIXFORMAT_RGB565, rainbow_table, false, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_to_rainbow_obj, 1, py_image_to_rainbow);
+
+static mp_obj_t py_image_copy(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return py_image_to(PIXFORMAT_INVALID, NULL, true, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_copy_obj, 1, py_image_copy);
+
+static mp_obj_t py_image_crop(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return py_image_to(PIXFORMAT_INVALID, NULL, false, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_crop_obj, 1, py_image_crop);
+
+static mp_obj_t py_image_jpeg_encode_for_ide(mp_obj_t img_obj)
+{
+    image_t *arg_img = py_image_cobj(img_obj);
+    PY_ASSERT_TRUE_MSG(arg_img->pixfmt == PIXFORMAT_JPEG, "Image format is not supported!");
+    PY_ASSERT_TRUE_MSG(py_helper_is_equal_to_framebuffer(arg_img), "Can't compress in place!");
+
+    int new_size = fb_encode_for_ide_new_size(arg_img);
+    fb_alloc_mark();
+    uint8_t *temp = fb_alloc(new_size, FB_ALLOC_NO_HINT);
+    fb_encode_for_ide(temp, arg_img);
+
+    image_t out;
+    out.w = arg_img->w;
+    out.h = arg_img->h;
+    out.size = new_size;
+    py_helper_set_to_framebuffer(&out);
+    arg_img->size = new_size;
+
+    memcpy(arg_img->data, temp, new_size);
+    fb_alloc_free_till_mark();
+
+    return img_obj;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_jpeg_encode_for_ide_obj, py_image_jpeg_encode_for_ide);
+
+static mp_obj_t py_image_jpeg_encoded_for_ide(mp_obj_t img_obj)
+{
+    image_t *arg_img = py_image_cobj(img_obj);
+    PY_ASSERT_TRUE_MSG(arg_img->pixfmt == PIXFORMAT_JPEG, "Image format is not supported!");
+
+    int new_size = fb_encode_for_ide_new_size(arg_img);
+    uint8_t *temp = xalloc(new_size);
+    fb_encode_for_ide(temp, arg_img);
+    arg_img->size = new_size;
+
+    return py_image(arg_img->w, arg_img->h, arg_img->pixfmt, new_size, temp);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_jpeg_encoded_for_ide_obj, py_image_jpeg_encoded_for_ide);
+
+static mp_obj_t py_image_compress(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    if (IM_IS_JPEG((image_t *) py_image_cobj(args[0]))) return args[0];
+
+    image_t *arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+    int arg_q = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), 50);
+    PY_ASSERT_TRUE_MSG((1 <= arg_q) && (arg_q <= 100), "Error: 1 <= quality <= 100!");
+
+    fb_alloc_mark();
+    image_t out = { .w=arg_img->w, .h=arg_img->h, .pixfmt=PIXFORMAT_JPEG, .size=0, .data=NULL }; // alloc in jpeg compress
+    PY_ASSERT_FALSE_MSG(jpeg_compress(arg_img, &out, arg_q, false), "Out of Memory!");
+    PY_ASSERT_TRUE_MSG(out.size <= image_size(arg_img), "Can't compress in place!");
+    memcpy(arg_img->data, out.data, out.size);
+
+    arg_img->pixfmt = PIXFORMAT_JPEG;
+    arg_img->size = out.size;
+    fb_alloc_free_till_mark();
+    py_helper_update_framebuffer(arg_img);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_compress_obj, 1, py_image_compress);
+
+static mp_obj_t py_image_compress_for_ide(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    if (IM_IS_JPEG((image_t *) py_image_cobj(args[0]))) return py_image_jpeg_encode_for_ide(args[0]);
+
+    image_t *arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+    int arg_q = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), 50);
+    PY_ASSERT_TRUE_MSG((1 <= arg_q) && (arg_q <= 100), "Error: 1 <= quality <= 100!");
+
+    fb_alloc_mark();
+    image_t out = { .w=arg_img->w, .h=arg_img->h, .pixfmt=PIXFORMAT_JPEG, .size=0, .data=NULL }; // alloc in jpeg compress
+    PY_ASSERT_FALSE_MSG(jpeg_compress(arg_img, &out, arg_q, false), "Out of Memory!");
+    int new_size = fb_encode_for_ide_new_size(&out);
+    PY_ASSERT_TRUE_MSG(new_size <= image_size(arg_img), "Can't compress in place!");
+    fb_encode_for_ide(arg_img->data, &out);
+
+    arg_img->pixfmt = PIXFORMAT_JPEG;
+    arg_img->size = new_size;
+    fb_alloc_free_till_mark();
+    py_helper_update_framebuffer(arg_img);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_compress_for_ide_obj, 1, py_image_compress_for_ide);
+
+static mp_obj_t py_image_compressed(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    if (IM_IS_JPEG(arg_img)) {
+        image_t out = { .w=arg_img->w, .h=arg_img->h, .pixfmt=PIXFORMAT_JPEG, .size=arg_img->size, .data=xalloc(arg_img->size) };
+        memcpy(out.data, arg_img->data, arg_img->size);
+        return py_image_from_struct(&out);
+    }
+
+    arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+    int arg_q = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), 50);
+    PY_ASSERT_TRUE_MSG((1 <= arg_q) && (arg_q <= 100), "Error: 1 <= quality <= 100!");
+
+    fb_alloc_mark();
+    image_t out = { .w=arg_img->w, .h=arg_img->h, .pixfmt=PIXFORMAT_JPEG, .size=0, .data=NULL }; // alloc in jpeg compress
+    PY_ASSERT_FALSE_MSG(jpeg_compress(arg_img, &out, arg_q, false), "Out of Memory!");
+    uint8_t *temp = xalloc(out.size);
+    memcpy(temp, out.data, out.size);
+    out.data = temp;
+    fb_alloc_free_till_mark();
+
+    return py_image_from_struct(&out);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_compressed_obj, 1, py_image_compressed);
+
+static mp_obj_t py_image_compressed_for_ide(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    if (IM_IS_JPEG((image_t *) py_image_cobj(args[0]))) return py_image_jpeg_encoded_for_ide(args[0]);
+
+    image_t *arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+    int arg_q = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), 50);
+    PY_ASSERT_TRUE_MSG((1 <= arg_q) && (arg_q <= 100), "Error: 1 <= quality <= 100!");
+
+    fb_alloc_mark();
+    image_t out = { .w=arg_img->w, .h=arg_img->h, .pixfmt=PIXFORMAT_JPEG, .size=0, .data=NULL }; // alloc in jpeg compress
+    PY_ASSERT_FALSE_MSG(jpeg_compress(arg_img, &out, arg_q, false), "Out of Memory!");
+    int new_size = fb_encode_for_ide_new_size(&out);
+    uint8_t *temp = xalloc(new_size);
+    fb_encode_for_ide(temp, &out);
+
+    out.size = new_size;
+    out.data = temp;
+    fb_alloc_free_till_mark();
+
+    return py_image_from_struct(&out);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_compressed_for_ide_obj, 1, py_image_compressed_for_ide);
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+static mp_obj_t py_image_save(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+    const char *path = mp_obj_str_get_str(args[1]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 2, kw_args, &roi);
+
+    int arg_q = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), 50);
+    PY_ASSERT_TRUE_MSG((1 <= arg_q) && (arg_q <= 100), "Error: 1 <= quality <= 100!");
+
+    fb_alloc_mark();
+    imlib_save_image(arg_img, path, &roi, arg_q);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_save_obj, 2, py_image_save);
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
+
+static mp_obj_t py_image_flush(mp_obj_t img_obj)
+{
+    framebuffer_update_jpeg_buffer();
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_flush_obj, py_image_flush);
+
+//////////////////
+// Drawing Methods
+//////////////////
+
+STATIC mp_obj_t py_image_clear(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_not_compressed(args[0]);
+
+    image_t *arg_msk =
+            py_helper_keyword_to_image_mutable_mask(n_args, args, 1, kw_args);
+
+    if (!arg_msk) {
+        memset(arg_img->data, 0, image_size(arg_img));
+    } else {
+        imlib_zero(arg_img, arg_msk, false);
+    }
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_clear_obj, 1, py_image_clear);
+
+STATIC mp_obj_t py_image_draw_line(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 4, &arg_vec);
+    int arg_x0 = mp_obj_get_int(arg_vec[0]);
+    int arg_y0 = mp_obj_get_int(arg_vec[1]);
+    int arg_x1 = mp_obj_get_int(arg_vec[2]);
+    int arg_y1 = mp_obj_get_int(arg_vec[3]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 0, kw_args, -1); // White.
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+
+    imlib_draw_line(arg_img, arg_x0, arg_y0, arg_x1, arg_y1, arg_c, arg_thickness);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_line_obj, 2, py_image_draw_line);
+
+STATIC mp_obj_t py_image_draw_rectangle(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 4, &arg_vec);
+    int arg_rx = mp_obj_get_int(arg_vec[0]);
+    int arg_ry = mp_obj_get_int(arg_vec[1]);
+    int arg_rw = mp_obj_get_int(arg_vec[2]);
+    int arg_rh = mp_obj_get_int(arg_vec[3]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 0, kw_args, -1); // White.
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+    bool arg_fill =
+        py_helper_keyword_int(n_args, args, offset + 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fill), false);
+
+    imlib_draw_rectangle(arg_img, arg_rx, arg_ry, arg_rw, arg_rh, arg_c, arg_thickness, arg_fill);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_rectangle_obj, 2, py_image_draw_rectangle);
+
+STATIC mp_obj_t py_image_draw_circle(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 3, &arg_vec);
+    int arg_cx = mp_obj_get_int(arg_vec[0]);
+    int arg_cy = mp_obj_get_int(arg_vec[1]);
+    int arg_cr = mp_obj_get_int(arg_vec[2]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 0, kw_args, -1); // White.
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+    bool arg_fill =
+        py_helper_keyword_int(n_args, args, offset + 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fill), false);
+
+    imlib_draw_circle(arg_img, arg_cx, arg_cy, arg_cr, arg_c, arg_thickness, arg_fill);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_circle_obj, 2, py_image_draw_circle);
+
+STATIC mp_obj_t py_image_draw_ellipse(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 5, &arg_vec);
+    int arg_cx = mp_obj_get_int(arg_vec[0]);
+    int arg_cy = mp_obj_get_int(arg_vec[1]);
+    int arg_rx = mp_obj_get_int(arg_vec[2]);
+    int arg_ry = mp_obj_get_int(arg_vec[3]);
+    int arg_r = mp_obj_get_int(arg_vec[4]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 1, kw_args, -1); // White.
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, offset + 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+    bool arg_fill =
+        py_helper_keyword_int(n_args, args, offset + 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fill), false);
+
+    imlib_draw_ellipse(arg_img, arg_cx, arg_cy, arg_rx, arg_ry, arg_r, arg_c, arg_thickness, arg_fill);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_ellipse_obj, 2, py_image_draw_ellipse);
+
+STATIC mp_obj_t py_image_draw_string(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 3, &arg_vec);
+    int arg_x_off = mp_obj_get_int(arg_vec[0]);
+    int arg_y_off = mp_obj_get_int(arg_vec[1]);
+    const char *arg_str = mp_obj_str_get_str(arg_vec[2]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 0, kw_args, -1); // White.
+    float arg_scale =
+        py_helper_keyword_float(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale), 1.0);
+    PY_ASSERT_TRUE_MSG(0 < arg_scale, "Error: 0 < scale!");
+    int arg_x_spacing =
+        py_helper_keyword_int(n_args, args, offset + 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_spacing), 0);
+    int arg_y_spacing =
+        py_helper_keyword_int(n_args, args, offset + 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_spacing), 0);
+    bool arg_mono_space =
+        py_helper_keyword_int(n_args, args, offset + 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_mono_space), true);
+    int arg_char_rotation =
+        py_helper_keyword_int(n_args, args, offset + 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_char_rotation), 0);
+    int arg_char_hmirror =
+        py_helper_keyword_int(n_args, args, offset + 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_char_hmirror), false);
+    int arg_char_vflip =
+        py_helper_keyword_int(n_args, args, offset + 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_char_vflip), false);
+    int arg_string_rotation =
+        py_helper_keyword_int(n_args, args, offset + 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_string_rotation), 0);
+    int arg_string_hmirror =
+        py_helper_keyword_int(n_args, args, offset + 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_string_hmirror), false);
+    int arg_string_vflip =
+        py_helper_keyword_int(n_args, args, offset + 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_string_vflip), false);
+
+    imlib_draw_string(arg_img, arg_x_off, arg_y_off, arg_str,
+                      arg_c, arg_scale, arg_x_spacing, arg_y_spacing, arg_mono_space,
+                      arg_char_rotation, arg_char_hmirror, arg_char_vflip,
+                      arg_string_rotation, arg_string_hmirror, arg_string_vflip);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_string_obj, 2, py_image_draw_string);
+
+STATIC mp_obj_t py_image_draw_cross(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 2, &arg_vec);
+    int arg_x = mp_obj_get_int(arg_vec[0]);
+    int arg_y = mp_obj_get_int(arg_vec[1]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 0, kw_args, -1); // White.
+    int arg_s =
+        py_helper_keyword_int(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_size), 5);
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, offset + 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+
+    imlib_draw_line(arg_img, arg_x - arg_s, arg_y        , arg_x + arg_s, arg_y        , arg_c, arg_thickness);
+    imlib_draw_line(arg_img, arg_x        , arg_y - arg_s, arg_x        , arg_y + arg_s, arg_c, arg_thickness);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_cross_obj, 2, py_image_draw_cross);
+
+STATIC mp_obj_t py_image_draw_arrow(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 4, &arg_vec);
+    int arg_x0 = mp_obj_get_int(arg_vec[0]);
+    int arg_y0 = mp_obj_get_int(arg_vec[1]);
+    int arg_x1 = mp_obj_get_int(arg_vec[2]);
+    int arg_y1 = mp_obj_get_int(arg_vec[3]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 0, kw_args, -1); // White.
+    int arg_s =
+        py_helper_keyword_int(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_size), 10);
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, offset + 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+
+    int dx = (arg_x1 - arg_x0);
+    int dy = (arg_y1 - arg_y0);
+    float length = fast_sqrtf((dx * dx) + (dy * dy));
+
+    float ux = IM_DIV(dx, length);
+    float uy = IM_DIV(dy, length);
+    float vx = -uy;
+    float vy = ux;
+
+    int a0x = fast_roundf(arg_x1 - (arg_s * ux) + (arg_s * vx * 0.5));
+    int a0y = fast_roundf(arg_y1 - (arg_s * uy) + (arg_s * vy * 0.5));
+    int a1x = fast_roundf(arg_x1 - (arg_s * ux) - (arg_s * vx * 0.5));
+    int a1y = fast_roundf(arg_y1 - (arg_s * uy) - (arg_s * vy * 0.5));
+
+    imlib_draw_line(arg_img, arg_x0, arg_y0, arg_x1, arg_y1, arg_c, arg_thickness);
+    imlib_draw_line(arg_img, arg_x1, arg_y1, a0x, a0y, arg_c, arg_thickness);
+    imlib_draw_line(arg_img, arg_x1, arg_y1, a1x, a1y, arg_c, arg_thickness);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_arrow_obj, 2, py_image_draw_arrow);
+
+STATIC mp_obj_t py_image_draw_edges(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(args[1], 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, 2, kw_args, -1); // White.
+    int arg_s =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_size), 0);
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+    bool arg_fill =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fill), false);
+
+    imlib_draw_line(arg_img, x0, y0, x1, y1, arg_c, arg_thickness);
+    imlib_draw_line(arg_img, x1, y1, x2, y2, arg_c, arg_thickness);
+    imlib_draw_line(arg_img, x2, y2, x3, y3, arg_c, arg_thickness);
+    imlib_draw_line(arg_img, x3, y3, x0, y0, arg_c, arg_thickness);
+
+    if (arg_s >= 1) {
+        imlib_draw_circle(arg_img, x0, y0, arg_s, arg_c, arg_thickness, arg_fill);
+        imlib_draw_circle(arg_img, x1, y1, arg_s, arg_c, arg_thickness, arg_fill);
+        imlib_draw_circle(arg_img, x2, y2, arg_s, arg_c, arg_thickness, arg_fill);
+        imlib_draw_circle(arg_img, x3, y3, arg_s, arg_c, arg_thickness, arg_fill);
+    }
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_edges_obj, 2, py_image_draw_edges);
+
+STATIC mp_obj_t py_image_draw_image(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_other = py_helper_arg_to_image_not_compressed(args[1]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 2, 2, &arg_vec);
+    int arg_x_off = mp_obj_get_int(arg_vec[0]);
+    int arg_y_off = mp_obj_get_int(arg_vec[1]);
+
+    float arg_x_scale = 1.f;
+    bool got_x_scale = py_helper_keyword_float_maybe(n_args, args, offset + 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_scale), &arg_x_scale);
+
+    float arg_y_scale = 1.f;
+    bool got_y_scale = py_helper_keyword_float_maybe(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_scale), &arg_y_scale);
+
+    rectangle_t arg_roi;
+    py_helper_keyword_rectangle_roi(arg_other, n_args, args, offset + 2, kw_args, &arg_roi);
+
+    int arg_rgb_channel = py_helper_keyword_int(n_args, args, offset + 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_channel), -1);
+    if ((arg_rgb_channel < -1) || (2 < arg_rgb_channel)) mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("-1 <= rgb_channel <= 2!"));
+
+    int arg_alpha = py_helper_keyword_int(n_args, args, offset + 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 256);
+    if ((arg_alpha < 0) || (256 < arg_alpha)) mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= alpha <= 256!"));
+
+    const uint16_t *color_palette = py_helper_keyword_color_palette(n_args, args, offset + 5, kw_args, NULL);
+    const uint8_t *alpha_palette = py_helper_keyword_alpha_palette(n_args, args, offset + 6, kw_args, NULL);
+
+    image_hint_t hint = py_helper_keyword_int(n_args, args, offset + 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hint), 0);
+
+    int arg_x_size;
+    bool got_x_size = py_helper_keyword_int_maybe(n_args, args, offset + 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_size), &arg_x_size);
+
+    int arg_y_size;
+    bool got_y_size = py_helper_keyword_int_maybe(n_args, args, offset + 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_size), &arg_y_size);
+
+    if (got_x_scale && got_x_size) mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either x_scale or x_size not both!"));
+    if (got_y_scale && got_y_size) mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Choose either y_scale or y_size not both!"));
+
+    if (got_x_size) arg_x_scale = arg_x_size / ((float) arg_roi.w);
+    if (got_y_size) arg_y_scale = arg_y_size / ((float) arg_roi.h);
+
+    if ((!got_x_scale) && (!got_x_size) && got_y_size) arg_x_scale = arg_y_scale;
+    if ((!got_y_scale) && (!got_y_size) && got_x_size) arg_y_scale = arg_x_scale;
+
+    fb_alloc_mark();
+    imlib_draw_image(arg_img, arg_other, arg_x_off, arg_y_off, arg_x_scale, arg_y_scale, &arg_roi,
+                     arg_rgb_channel, arg_alpha, color_palette, alpha_palette, hint, NULL, NULL);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_image_obj, 3, py_image_draw_image);
+
+STATIC mp_obj_t py_image_draw_keypoints(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, 2, kw_args, -1); // White.
+    int arg_s =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_size), 10);
+    int arg_thickness =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_thickness), 1);
+    bool arg_fill =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fill), false);
+
+    if (MP_OBJ_IS_TYPE(args[1], &mp_type_tuple) || MP_OBJ_IS_TYPE(args[1], &mp_type_list)) {
+        size_t len;
+        mp_obj_t *items;
+        mp_obj_get_array(args[1], &len, &items);
+        for (size_t i = 0; i < len; i++) {
+            mp_obj_t *tuple;
+            mp_obj_get_array_fixed_n(items[i], 3, &tuple);
+            int cx = mp_obj_get_int(tuple[0]);
+            int cy = mp_obj_get_int(tuple[1]);
+            int angle = mp_obj_get_int(tuple[2]) % 360;
+            int si = sin_table[angle] * arg_s;
+            int co = cos_table[angle] * arg_s;
+            imlib_draw_line(arg_img, cx, cy, cx + co, cy + si, arg_c, arg_thickness);
+            imlib_draw_circle(arg_img, cx, cy, (arg_s - 2) / 2, arg_c, arg_thickness, arg_fill);
+        }
+    } else {
+#ifdef IMLIB_ENABLE_FIND_KEYPOINTS
+        py_kp_obj_t *kpts_obj = py_kpts_obj(args[1]);
+        for (int i = 0, ii = array_length(kpts_obj->kpts); i < ii; i++) {
+            kp_t *kp = array_at(kpts_obj->kpts, i);
+            int cx = kp->x;
+            int cy = kp->y;
+            int angle = kp->angle % 360;
+            int si = sin_table[angle] * arg_s;
+            int co = cos_table[angle] * arg_s;
+            imlib_draw_line(arg_img, cx, cy, cx + co, cy + si, arg_c, arg_thickness);
+            imlib_draw_circle(arg_img, cx, cy, (arg_s - 2) / 2, arg_c, arg_thickness, arg_fill);
+        }
+#else
+        PY_ASSERT_TRUE_MSG(false, "Expected a list of tuples!");
+#endif // IMLIB_ENABLE_FIND_KEYPOINTS
+    }
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_draw_keypoints_obj, 2, py_image_draw_keypoints);
+
+STATIC mp_obj_t py_image_mask_rectangle(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+    int arg_rx;
+    int arg_ry;
+    int arg_rw;
+    int arg_rh;
+
+    if (n_args > 1) {
+        const mp_obj_t *arg_vec;
+        py_helper_consume_array(n_args, args, 1, 4, &arg_vec);
+        arg_rx = mp_obj_get_int(arg_vec[0]);
+        arg_ry = mp_obj_get_int(arg_vec[1]);
+        arg_rw = mp_obj_get_int(arg_vec[2]);
+        arg_rh = mp_obj_get_int(arg_vec[3]);
+    } else {
+        arg_rx = arg_img->w / 4;
+        arg_ry = arg_img->h / 4;
+        arg_rw = arg_img->w / 2;
+        arg_rh = arg_img->h / 2;
+    }
+
+    fb_alloc_mark();
+    image_t temp;
+    temp.w = arg_img->w;
+    temp.h = arg_img->h;
+    temp.pixfmt = PIXFORMAT_BINARY;
+    temp.data = fb_alloc0(image_size(&temp), FB_ALLOC_NO_HINT);
+
+    imlib_draw_rectangle(&temp, arg_rx, arg_ry, arg_rw, arg_rh, -1, 0, true);
+    imlib_zero(arg_img, &temp, true);
+
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_mask_rectangle_obj, 1, py_image_mask_rectangle);
+
+STATIC mp_obj_t py_image_mask_circle(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+    int arg_cx;
+    int arg_cy;
+    int arg_cr;
+
+    if (n_args > 1) {
+        const mp_obj_t *arg_vec;
+        py_helper_consume_array(n_args, args, 1, 3, &arg_vec);
+        arg_cx = mp_obj_get_int(arg_vec[0]);
+        arg_cy = mp_obj_get_int(arg_vec[1]);
+        arg_cr = mp_obj_get_int(arg_vec[2]);
+    } else {
+        arg_cx = arg_img->w / 2;
+        arg_cy = arg_img->h / 2;
+        arg_cr = IM_MIN(arg_img->w, arg_img->h) / 2;
+    }
+
+    fb_alloc_mark();
+    image_t temp;
+    temp.w = arg_img->w;
+    temp.h = arg_img->h;
+    temp.pixfmt = PIXFORMAT_BINARY;
+    temp.data = fb_alloc0(image_size(&temp), FB_ALLOC_NO_HINT);
+
+    imlib_draw_circle(&temp, arg_cx, arg_cy, arg_cr, -1, 0, true);
+    imlib_zero(arg_img, &temp, true);
+
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_mask_circle_obj, 1, py_image_mask_circle);
+
+STATIC mp_obj_t py_image_mask_ellipse(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+    int arg_cx;
+    int arg_cy;
+    int arg_rx;
+    int arg_ry;
+    int arg_r;
+
+    if (n_args > 1) {
+        const mp_obj_t *arg_vec;
+        py_helper_consume_array(n_args, args, 1, 5, &arg_vec);
+        arg_cx = mp_obj_get_int(arg_vec[0]);
+        arg_cy = mp_obj_get_int(arg_vec[1]);
+        arg_rx = mp_obj_get_int(arg_vec[2]);
+        arg_ry = mp_obj_get_int(arg_vec[3]);
+        arg_r = mp_obj_get_int(arg_vec[4]);
+    } else {
+        arg_cx = arg_img->w / 2;
+        arg_cy = arg_img->h / 2;
+        arg_rx = arg_img->w / 2;
+        arg_ry = arg_img->h / 2;
+        arg_r = 0;
+    }
+
+    fb_alloc_mark();
+    image_t temp;
+    temp.w = arg_img->w;
+    temp.h = arg_img->h;
+    temp.pixfmt = PIXFORMAT_BINARY;
+    temp.data = fb_alloc0(image_size(&temp), FB_ALLOC_NO_HINT);
+
+    imlib_draw_ellipse(&temp, arg_cx, arg_cy, arg_rx, arg_ry, arg_r, -1, 0, true);
+    imlib_zero(arg_img, &temp, true);
+
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_mask_ellipse_obj, 1, py_image_mask_ellipse);
+
+#ifdef IMLIB_ENABLE_FLOOD_FILL
+STATIC mp_obj_t py_image_flood_fill(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    const mp_obj_t *arg_vec;
+    uint offset = py_helper_consume_array(n_args, args, 1, 2, &arg_vec);
+    int arg_x_off = mp_obj_get_int(arg_vec[0]);
+    int arg_y_off = mp_obj_get_int(arg_vec[1]);
+
+    float arg_seed_threshold =
+        py_helper_keyword_float(n_args, args, offset + 0, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_seed_threshold), 0.05);
+    PY_ASSERT_TRUE_MSG((0.0f <= arg_seed_threshold) && (arg_seed_threshold <= 1.0f),
+                       "Error: 0.0 <= seed_threshold <= 1.0!");
+    float arg_floating_threshold =
+        py_helper_keyword_float(n_args, args, offset + 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_floating_threshold), 0.05);
+    PY_ASSERT_TRUE_MSG((0.0f <= arg_floating_threshold) && (arg_floating_threshold <= 1.0f),
+                       "Error: 0.0 <= floating_threshold <= 1.0!");
+    int arg_c =
+        py_helper_keyword_color(arg_img, n_args, args, offset + 2, kw_args, -1); // White.
+    bool arg_invert =
+        py_helper_keyword_float(n_args, args, offset + 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    bool clear_background =
+        py_helper_keyword_float(n_args, args, offset + 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_clear_background), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, offset + 5, kw_args);
+
+    fb_alloc_mark();
+    imlib_flood_fill(arg_img, arg_x_off, arg_y_off,
+                     arg_seed_threshold, arg_floating_threshold,
+                     arg_c, arg_invert, clear_background, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_flood_fill_obj, 2, py_image_flood_fill);
+#endif // IMLIB_ENABLE_FLOOD_FILL
+
+#ifdef IMLIB_ENABLE_BINARY_OPS
+/////////////////
+// Binary Methods
+/////////////////
+
+STATIC mp_obj_t py_image_binary(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    list_t arg_thresholds;
+    list_init(&arg_thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    py_helper_arg_to_thresholds(args[1], &arg_thresholds);
+
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    bool arg_zero =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_zero), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 4, kw_args);
+    bool arg_to_bitmap =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_to_bitmap), false);
+    bool arg_copy =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_copy), false);
+
+    if (arg_to_bitmap && (!arg_copy)) {
+        switch(arg_img->pixfmt) {
+            case PIXFORMAT_GRAYSCALE: {
+                PY_ASSERT_TRUE_MSG((arg_img->w >= (sizeof(uint32_t)/sizeof(uint8_t))),
+                                   "Can't convert to bitmap in place!");
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                PY_ASSERT_TRUE_MSG((arg_img->w >= (sizeof(uint32_t)/sizeof(uint16_t))),
+                                   "Can't convert to bitmap in place!");
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+
+    image_t out;
+    out.w = arg_img->w;
+    out.h = arg_img->h;
+    out.pixfmt = arg_to_bitmap ? PIXFORMAT_BINARY  : arg_img->pixfmt;
+    out.pixels = arg_copy ? xalloc(image_size(&out)) : arg_img->pixels;
+
+    fb_alloc_mark();
+    imlib_binary(&out, arg_img, &arg_thresholds, arg_invert, arg_zero, arg_msk);
+    fb_alloc_free_till_mark();
+
+    list_free(&arg_thresholds);
+
+    if (arg_to_bitmap && (!arg_copy)) {
+        arg_img->pixfmt = PIXFORMAT_BINARY;
+        py_helper_update_framebuffer(&out);
+    }
+
+    return py_image_from_struct(&out);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_binary_obj, 2, py_image_binary);
+
+STATIC mp_obj_t py_image_invert(mp_obj_t img_obj)
+{
+    imlib_invert(py_helper_arg_to_image_mutable(img_obj));
+    return img_obj;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_invert_obj, py_image_invert);
+
+STATIC mp_obj_t py_image_b_and(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_b_and(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_b_and(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_b_and(arg_img, NULL, NULL,
+                    py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                    arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_b_and_obj, 2, py_image_b_and);
+
+STATIC mp_obj_t py_image_b_nand(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_b_nand(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_b_nand(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_b_nand(arg_img, NULL, NULL,
+                     py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                     arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_b_nand_obj, 2, py_image_b_nand);
+
+STATIC mp_obj_t py_image_b_or(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_b_or(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_b_or(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_b_or(arg_img, NULL, NULL,
+                   py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                   arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_b_or_obj, 2, py_image_b_or);
+
+STATIC mp_obj_t py_image_b_nor(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_b_nor(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_b_nor(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_b_nor(arg_img, NULL, NULL,
+                    py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                    arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_b_nor_obj, 2, py_image_b_nor);
+
+STATIC mp_obj_t py_image_b_xor(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_b_xor(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_b_xor(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_b_xor(arg_img, NULL, NULL,
+                    py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                    arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_b_xor_obj, 2, py_image_b_xor);
+
+STATIC mp_obj_t py_image_b_xnor(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_b_xnor(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_b_xnor(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_b_xnor(arg_img, NULL, NULL,
+                     py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                     arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_b_xnor_obj, 2, py_image_b_xnor);
+
+STATIC mp_obj_t py_image_erode(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    int arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold),
+            py_helper_ksize_to_n(arg_ksize) - 1);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_erode(py_helper_arg_to_image_mutable(args[0]), arg_ksize, arg_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_erode_obj, 2, py_image_erode);
+
+STATIC mp_obj_t py_image_dilate(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    int arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold),
+            0);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_dilate(py_helper_arg_to_image_mutable(args[0]), arg_ksize, arg_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_dilate_obj, 2, py_image_dilate);
+
+STATIC mp_obj_t py_image_open(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    int arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 0);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_open(py_helper_arg_to_image_mutable(args[0]), arg_ksize, arg_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_open_obj, 2, py_image_open);
+
+STATIC mp_obj_t py_image_close(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    int arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 0);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_close(py_helper_arg_to_image_mutable(args[0]), arg_ksize, arg_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_close_obj, 2, py_image_close);
+#endif // IMLIB_ENABLE_BINARY_OPS
+
+#ifdef IMLIB_ENABLE_MATH_OPS
+///////////////
+// Math Methods
+///////////////
+
+STATIC mp_obj_t py_image_gamma_corr(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    float arg_gamma =
+        py_helper_keyword_float(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_gamma), 1.0f);
+    float arg_contrast =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_contrast), 1.0f);
+    float arg_brightness =
+        py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_brightness), 0.0f);
+
+    fb_alloc_mark();
+    imlib_gamma_corr(arg_img, arg_gamma, arg_contrast, arg_brightness);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_gamma_corr_obj, 1, py_image_gamma_corr);
+
+STATIC mp_obj_t py_image_negate(mp_obj_t img_obj)
+{
+    imlib_negate(py_helper_arg_to_image_mutable(img_obj));
+    return img_obj;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_negate_obj, py_image_negate);
+
+STATIC mp_obj_t py_image_replace(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    bool arg_hmirror =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_hmirror), false);
+    bool arg_vflip =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_vflip), false);
+    bool arg_transpose =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_transpose), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 5, kw_args);
+
+    if (arg_transpose) {
+        size_t size0 = image_size(arg_img);
+        int w = arg_img->w;
+        int h = arg_img->h;
+        arg_img->w = h;
+        arg_img->h = w;
+        size_t size1 = image_size(arg_img);
+        arg_img->w = w;
+        arg_img->h = h;
+        PY_ASSERT_TRUE_MSG(size1 <= size0,
+                           "Unable to transpose the image because it would grow in size!");
+    }
+
+    fb_alloc_mark();
+
+    mp_obj_t arg_1 = (n_args > 1) ? args[1] : args[0];
+
+    if (MP_OBJ_IS_STR(arg_1)) {
+        imlib_replace(arg_img, mp_obj_str_get_str(arg_1), NULL, 0,
+                      arg_hmirror, arg_vflip, arg_transpose, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(arg_1, &py_image_type)) {
+        imlib_replace(arg_img, NULL, py_helper_arg_to_image_mutable(arg_1), 0,
+                      arg_hmirror, arg_vflip, arg_transpose, arg_msk);
+    } else {
+        imlib_replace(arg_img, NULL, NULL,
+                      py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                      arg_hmirror, arg_vflip, arg_transpose, arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+    py_helper_update_framebuffer(arg_img);
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_replace_obj, 1, py_image_replace);
+
+STATIC mp_obj_t py_image_add(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_add(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_add(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_add(arg_img, NULL, NULL,
+                  py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                  arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_add_obj, 2, py_image_add);
+
+STATIC mp_obj_t py_image_sub(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    bool arg_reverse =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_reverse), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_sub(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_reverse, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_sub(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_reverse, arg_msk);
+    } else {
+        imlib_sub(arg_img, NULL, NULL,
+                  py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                  arg_reverse, arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_sub_obj, 2, py_image_sub);
+
+STATIC mp_obj_t py_image_mul(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_mul(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_invert, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_mul(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_invert, arg_msk);
+    } else {
+        imlib_mul(arg_img, NULL, NULL,
+                  py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                  arg_invert, arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_mul_obj, 2, py_image_mul);
+
+STATIC mp_obj_t py_image_div(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    bool arg_mod =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_mod), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 4, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_div(arg_img, mp_obj_str_get_str(args[1]), NULL, 0,
+                  arg_invert, arg_mod, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_div(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0,
+                  arg_invert, arg_mod, arg_msk);
+    } else {
+        imlib_div(arg_img, NULL, NULL,
+                  py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                  arg_invert, arg_mod, arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_div_obj, 2, py_image_div);
+
+STATIC mp_obj_t py_image_min(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_min(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_min(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_min(arg_img, NULL, NULL,
+                  py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                  arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_min_obj, 2, py_image_min);
+
+STATIC mp_obj_t py_image_max(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_max(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_max(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_max(arg_img, NULL, NULL,
+                  py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                  arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_max_obj, 2, py_image_max);
+
+STATIC mp_obj_t py_image_difference(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 2, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_difference(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_difference(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_msk);
+    } else {
+        imlib_difference(arg_img, NULL, NULL,
+                         py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                         arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_difference_obj, 2, py_image_difference);
+
+STATIC mp_obj_t py_image_blend(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    float arg_alpha =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_alpha), 128) / 256.0f;
+    PY_ASSERT_TRUE_MSG((0 <= arg_alpha) && (arg_alpha <= 1), "Error: 0 <= alpha <= 256!");
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(args[1])) {
+        imlib_blend(arg_img, mp_obj_str_get_str(args[1]), NULL, 0, arg_alpha, arg_msk);
+    } else if (MP_OBJ_IS_TYPE(args[1], &py_image_type)) {
+        imlib_blend(arg_img, NULL, py_helper_arg_to_image_mutable(args[1]), 0, arg_alpha, arg_msk);
+    } else {
+        imlib_blend(arg_img, NULL, NULL,
+                    py_helper_keyword_color(arg_img, n_args, args, 1, NULL, 0),
+                    arg_alpha, arg_msk);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_blend_obj, 2, py_image_blend);
+#endif//IMLIB_ENABLE_MATH_OPS
+
+#if defined(IMLIB_ENABLE_MATH_OPS) && defined (IMLIB_ENABLE_BINARY_OPS)
+STATIC mp_obj_t py_image_top_hat(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    int arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 0);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_top_hat(py_helper_arg_to_image_mutable(args[0]), arg_ksize, arg_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_top_hat_obj, 2, py_image_top_hat);
+
+STATIC mp_obj_t py_image_black_hat(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    int arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 0);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_black_hat(py_helper_arg_to_image_mutable(args[0]), arg_ksize, arg_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_black_hat_obj, 2, py_image_black_hat);
+#endif // defined(IMLIB_ENABLE_MATH_OPS) && defined (IMLIB_ENABLE_BINARY_OPS)
+
+////////////////////
+// Filtering Methods
+////////////////////
+
+static mp_obj_t py_image_histeq(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    bool arg_adaptive =
+        py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_adaptive), false);
+    float arg_clip_limit =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_clip_limit), -1);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    if (arg_adaptive) imlib_clahe_histeq(arg_img, arg_clip_limit, arg_msk); else imlib_histeq(arg_img, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_histeq_obj, 1, py_image_histeq);
+
+#ifdef IMLIB_ENABLE_MEAN
+STATIC mp_obj_t py_image_mean(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 5, kw_args);
+
+    fb_alloc_mark();
+    imlib_mean_filter(arg_img, arg_ksize, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_mean_obj, 2, py_image_mean);
+#endif // IMLIB_ENABLE_MEAN
+
+#ifdef IMLIB_ENABLE_MEDIAN
+STATIC mp_obj_t py_image_median(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    float arg_percentile =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_percentile), 0.5f);
+    PY_ASSERT_TRUE_MSG((0 <= arg_percentile) && (arg_percentile <= 1), "Error: 0 <= percentile <= 1!");
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 6, kw_args);
+
+    fb_alloc_mark();
+    imlib_median_filter(arg_img, arg_ksize, arg_percentile, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_median_obj, 2, py_image_median);
+#endif // IMLIB_ENABLE_MEDIAN
+
+#ifdef IMLIB_ENABLE_MODE
+STATIC mp_obj_t py_image_mode(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 5, kw_args);
+
+    fb_alloc_mark();
+    imlib_mode_filter(arg_img, arg_ksize, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_mode_obj, 2, py_image_mode);
+#endif // IMLIB_ENABLE_MODE
+
+#ifdef IMLIB_ENABLE_MIDPOINT
+STATIC mp_obj_t py_image_midpoint(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    float arg_bias =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bias), 0.5f);
+    PY_ASSERT_TRUE_MSG((0 <= arg_bias) && (arg_bias <= 1), "Error: 0 <= bias <= 1!");
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 6, kw_args);
+
+    fb_alloc_mark();
+    imlib_midpoint_filter(arg_img, arg_ksize, arg_bias, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_midpoint_obj, 2, py_image_midpoint);
+#endif // IMLIB_ENABLE_MIDPOINT
+
+#ifdef IMLIB_ENABLE_MORPH
+STATIC mp_obj_t py_image_morph(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+
+    int n = py_helper_ksize_to_n(arg_ksize);
+
+    mp_obj_t *krn;
+    mp_obj_get_array_fixed_n(args[2], n, &krn);
+
+    fb_alloc_mark();
+
+    int *arg_krn = fb_alloc(n * sizeof(int), FB_ALLOC_NO_HINT);
+    int arg_m = 0;
+
+    for (int i = 0; i < n; i++) {
+        arg_krn[i] = mp_obj_get_int(krn[i]);
+        arg_m += arg_krn[i];
+    }
+
+    if (arg_m == 0) {
+        arg_m = 1;
+    }
+
+    float arg_mul =
+        py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_mul), 1.0f / arg_m);
+    float arg_add =
+        py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_add), 0.0f);
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 8, kw_args);
+
+    imlib_morph(arg_img, arg_ksize, arg_krn, arg_mul, arg_add, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_morph_obj, 3, py_image_morph);
+#endif //IMLIB_ENABLE_MORPH
+
+#ifdef IMLIB_ENABLE_GAUSSIAN
+STATIC mp_obj_t py_image_gaussian(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+
+    int k_2 = arg_ksize * 2;
+    int n = k_2 + 1;
+
+    fb_alloc_mark();
+
+    int *pascal = fb_alloc(n * sizeof(int), FB_ALLOC_NO_HINT);
+    pascal[0] = 1;
+
+    for (int i = 0; i < k_2; i++) { // Compute a row of pascal's triangle.
+        pascal[i + 1] = (pascal[i] * (k_2 - i)) / (i + 1);
+    }
+
+    int *arg_krn = fb_alloc(n * n * sizeof(int), FB_ALLOC_NO_HINT);
+    int arg_m = 0;
+
+    for (int i = 0; i < n; i++) {
+        for (int j = 0; j < n; j++) {
+            int temp = pascal[i] * pascal[j];
+            arg_krn[(i * n) + j] = temp;
+            arg_m += temp;
+        }
+    }
+
+    if (py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_unsharp), false)) {
+        arg_krn[((n/2)*n)+(n/2)] -= arg_m * 2;
+        arg_m = -arg_m;
+    }
+
+    float arg_mul =
+        py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_mul), 1.0f / arg_m);
+    float arg_add =
+        py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_add), 0.0f);
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 8, kw_args);
+
+    imlib_morph(arg_img, arg_ksize, arg_krn, arg_mul, arg_add, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_gaussian_obj, 2, py_image_gaussian);
+#endif // IMLIB_ENABLE_GAUSSIAN
+
+#ifdef IMLIB_ENABLE_LAPLACIAN
+STATIC mp_obj_t py_image_laplacian(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+
+    int k_2 = arg_ksize * 2;
+    int n = k_2 + 1;
+
+    fb_alloc_mark();
+
+    int *pascal = fb_alloc(n * sizeof(int), FB_ALLOC_NO_HINT);
+    pascal[0] = 1;
+
+    for (int i = 0; i < k_2; i++) { // Compute a row of pascal's triangle.
+        pascal[i + 1] = (pascal[i] * (k_2 - i)) / (i + 1);
+    }
+
+    int *arg_krn = fb_alloc(n * n * sizeof(int), FB_ALLOC_NO_HINT);
+    int arg_m = 0;
+
+    for (int i = 0; i < n; i++) {
+        for (int j = 0; j < n; j++) {
+            int temp = pascal[i] * pascal[j];
+            arg_krn[(i * n) + j] = -temp;
+            arg_m += temp;
+        }
+    }
+
+    arg_krn[((n/2)*n)+(n/2)] += arg_m;
+    arg_m = arg_krn[((n/2)*n)+(n/2)];
+
+    if (py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_sharpen), false)) {
+        arg_krn[((n/2)*n)+(n/2)] += arg_m;
+    }
+
+    float arg_mul =
+        py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_mul), 1.0f / arg_m);
+    float arg_add =
+        py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_add), 0.0f);
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 8, kw_args);
+
+    imlib_morph(arg_img, arg_ksize, arg_krn, arg_mul, arg_add, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_laplacian_obj, 2, py_image_laplacian);
+#endif // IMLIB_ENABLE_LAPLACIAN
+
+#ifdef IMLIB_ENABLE_BILATERAL
+STATIC mp_obj_t py_image_bilateral(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    int arg_ksize =
+        py_helper_arg_to_ksize(args[1]);
+    float arg_color_sigma =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_color_sigma), 0.1);
+    float arg_space_sigma =
+        py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_space_sigma), 1);
+    bool arg_threshold =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), false);
+    int arg_offset =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_offset), 0);
+    bool arg_invert =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 7, kw_args);
+
+    fb_alloc_mark();
+    imlib_bilateral_filter(arg_img, arg_ksize, arg_color_sigma, arg_space_sigma, arg_threshold, arg_offset, arg_invert, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_bilateral_obj, 2, py_image_bilateral);
+#endif // IMLIB_ENABLE_BILATERAL
+
+#ifdef IMLIB_ENABLE_CARTOON
+STATIC mp_obj_t py_image_cartoon(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    float arg_seed_threshold =
+        py_helper_keyword_float(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_seed_threshold), 0.05);
+    PY_ASSERT_TRUE_MSG((0.0f <= arg_seed_threshold) && (arg_seed_threshold <= 1.0f),
+                       "Error: 0.0 <= seed_threshold <= 1.0!");
+    float arg_floating_threshold =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_floating_threshold), 0.05);
+    PY_ASSERT_TRUE_MSG((0.0f <= arg_floating_threshold) && (arg_floating_threshold <= 1.0f),
+                       "Error: 0.0 <= floating_threshold <= 1.0!");
+    image_t *arg_msk =
+        py_helper_keyword_to_image_mutable_mask(n_args, args, 3, kw_args);
+
+    fb_alloc_mark();
+    imlib_cartoon_filter(arg_img, arg_seed_threshold, arg_floating_threshold, arg_msk);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_cartoon_obj, 1, py_image_cartoon);
+#endif // IMLIB_ENABLE_CARTOON
+
+////////////////////
+// Geometric Methods
+////////////////////
+
+#ifdef IMLIB_ENABLE_LINPOLAR
+static mp_obj_t py_image_linpolar(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    PY_ASSERT_FALSE_MSG(arg_img->w % 2, "Width must be even!");
+    PY_ASSERT_FALSE_MSG(arg_img->h % 2, "Height must be even!");
+    bool arg_reverse =
+        py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_reverse), false);
+
+    fb_alloc_mark();
+    imlib_logpolar(arg_img, true, arg_reverse);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_linpolar_obj, 1, py_image_linpolar);
+#endif // IMLIB_ENABLE_LINPOLAR
+
+#ifdef IMLIB_ENABLE_LOGPOLAR
+static mp_obj_t py_image_logpolar(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    PY_ASSERT_FALSE_MSG(arg_img->w % 2, "Width must be even!");
+    PY_ASSERT_FALSE_MSG(arg_img->h % 2, "Height must be even!");
+    bool arg_reverse =
+        py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_reverse), false);
+
+    fb_alloc_mark();
+    imlib_logpolar(arg_img, false, arg_reverse);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_logpolar_obj, 1, py_image_logpolar);
+#endif // IMLIB_ENABLE_LOGPOLAR
+
+#ifdef IMLIB_ENABLE_LENS_CORR
+STATIC mp_obj_t py_image_lens_corr(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    PY_ASSERT_FALSE_MSG(arg_img->w % 2, "Width must be even!");
+    PY_ASSERT_FALSE_MSG(arg_img->h % 2, "Height must be even!");
+    float arg_strength =
+        py_helper_keyword_float(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_strength), 1.8f);
+    PY_ASSERT_TRUE_MSG(arg_strength > 0.0f, "Strength must be > 0!");
+    float arg_zoom =
+        py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_zoom), 1.0f);
+    PY_ASSERT_TRUE_MSG(arg_zoom > 0.0f, "Zoom must be > 0!");
+
+    float arg_x_corr =
+        py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_corr), 0.0f);
+    float arg_y_corr =
+        py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_corr), 0.0f);
+
+    fb_alloc_mark();
+    imlib_lens_corr(arg_img, arg_strength, arg_zoom, arg_x_corr, arg_y_corr);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_lens_corr_obj, 1, py_image_lens_corr);
+#endif // IMLIB_ENABLE_LENS_CORR
+
+#ifdef IMLIB_ENABLE_ROTATION_CORR
+STATIC mp_obj_t py_image_rotation_corr(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img =
+        py_helper_arg_to_image_mutable(args[0]);
+    float arg_x_rotation =
+        IM_DEG2RAD(py_helper_keyword_float(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_rotation), 0.0f));
+    float arg_y_rotation =
+        IM_DEG2RAD(py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_rotation), 0.0f));
+    float arg_z_rotation =
+        IM_DEG2RAD(py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_z_rotation), 0.0f));
+    float arg_x_translation =
+        py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_translation), 0.0f);
+    float arg_y_translation =
+        py_helper_keyword_float(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_translation), 0.0f);
+    float arg_zoom =
+        py_helper_keyword_float(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_zoom), 1.0f);
+    PY_ASSERT_TRUE_MSG(arg_zoom > 0.0f, "Zoom must be > 0!");
+    float arg_fov =
+        IM_DEG2RAD(py_helper_keyword_float(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fov), 60.0f));
+    PY_ASSERT_TRUE_MSG((0.0f < arg_fov) && (arg_fov < 180.0f), "FOV must be > 0 and < 180!");
+    float *arg_corners = py_helper_keyword_corner_array(n_args, args, 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_corners));
+
+    fb_alloc_mark();
+    imlib_rotation_corr(arg_img,
+                        arg_x_rotation, arg_y_rotation, arg_z_rotation,
+                        arg_x_translation, arg_y_translation,
+                        arg_zoom, arg_fov, arg_corners);
+    fb_alloc_free_till_mark();
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_rotation_corr_obj, 1, py_image_rotation_corr);
+#endif // IMLIB_ENABLE_ROTATION_CORR
+
+//////////////
+// Get Methods
+//////////////
+
+#ifdef IMLIB_ENABLE_GET_SIMILARITY
+// Similarity Object //
+#define py_similarity_obj_size 4
+typedef struct py_similarity_obj {
+    mp_obj_base_t base;
+    mp_obj_t avg, std, min, max;
+} py_similarity_obj_t;
+
+static void py_similarity_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_similarity_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"mean\":%f, \"stdev\":%f, \"min\":%f, \"max\":%f}",
+              (double) mp_obj_get_float(self->avg),
+              (double) mp_obj_get_float(self->std),
+              (double) mp_obj_get_float(self->min),
+              (double) mp_obj_get_float(self->max));
+}
+
+static mp_obj_t py_similarity_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_similarity_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_similarity_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->avg) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_similarity_obj_size, index, false)) {
+            case 0: return self->avg;
+            case 1: return self->std;
+            case 2: return self->min;
+            case 3: return self->max;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_similarity_mean(mp_obj_t self_in) { return ((py_similarity_obj_t *) self_in)->avg; }
+mp_obj_t py_similarity_stdev(mp_obj_t self_in) { return ((py_similarity_obj_t *) self_in)->std; }
+mp_obj_t py_similarity_min(mp_obj_t self_in) { return ((py_similarity_obj_t *) self_in)->min; }
+mp_obj_t py_similarity_max(mp_obj_t self_in) { return ((py_similarity_obj_t *) self_in)->max; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_similarity_mean_obj, py_similarity_mean);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_similarity_stdev_obj, py_similarity_stdev);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_similarity_min_obj, py_similarity_min);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_similarity_max_obj, py_similarity_max);
+
+STATIC const mp_rom_map_elem_t py_similarity_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_mean), MP_ROM_PTR(&py_similarity_mean_obj) },
+    { MP_ROM_QSTR(MP_QSTR_stdev), MP_ROM_PTR(&py_similarity_stdev_obj) },
+    { MP_ROM_QSTR(MP_QSTR_min), MP_ROM_PTR(&py_similarity_min_obj) },
+    { MP_ROM_QSTR(MP_QSTR_max), MP_ROM_PTR(&py_similarity_max_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_similarity_locals_dict, py_similarity_locals_dict_table);
+
+static const mp_obj_type_t py_similarity_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_similarity,
+    .print = py_similarity_print,
+    .subscr = py_similarity_subscr,
+    .locals_dict = (mp_obj_t) &py_similarity_locals_dict
+};
+
+static mp_obj_t py_image_get_similarity(mp_obj_t img_obj, mp_obj_t other_obj)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(img_obj);
+    float avg, std, min, max;
+
+    fb_alloc_mark();
+
+    if (MP_OBJ_IS_STR(other_obj)) {
+        imlib_get_similarity(arg_img, mp_obj_str_get_str(other_obj), NULL, 0, &avg, &std, &min, &max);
+    } else if (MP_OBJ_IS_TYPE(other_obj, &py_image_type)) {
+        imlib_get_similarity(arg_img, NULL, py_helper_arg_to_image_mutable(other_obj), 0, &avg, &std, &min, &max);
+    } else {
+        imlib_get_similarity(arg_img, NULL, NULL,
+                             py_helper_keyword_color(arg_img, 1, &other_obj, 0, NULL, 0),
+                             &avg, &std, &min, &max);
+    }
+
+    fb_alloc_free_till_mark();
+
+    py_similarity_obj_t *o = m_new_obj(py_similarity_obj_t);
+    o->base.type = &py_similarity_type;
+    o->avg = mp_obj_new_float(avg);
+    o->std = mp_obj_new_float(std);
+    o->min = mp_obj_new_float(min);
+    o->max = mp_obj_new_float(max);
+    return o;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_image_get_similarity_obj, py_image_get_similarity);
+#endif // IMLIB_ENABLE_GET_SIMILARITY
+
+// Statistics Object //
+#define py_statistics_obj_size 24
+typedef struct py_statistics_obj {
+    mp_obj_base_t base;
+    pixformat_t pixfmt;
+    mp_obj_t LMean, LMedian, LMode, LSTDev, LMin, LMax, LLQ, LUQ,
+        AMean, AMedian, AMode, ASTDev, AMin, AMax, ALQ, AUQ,
+        BMean, BMedian, BMode, BSTDev, BMin, BMax, BLQ, BUQ;
+} py_statistics_obj_t;
+
+static void py_statistics_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_statistics_obj_t *self = self_in;
+    switch (self->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            mp_printf(print, "{\"mean\":%d, \"median\":%d, \"mode\":%d, \"stdev\":%d, \"min\":%d, \"max\":%d, \"lq\":%d, \"uq\":%d}",
+                      mp_obj_get_int(self->LMean),
+                      mp_obj_get_int(self->LMedian),
+                      mp_obj_get_int(self->LMode),
+                      mp_obj_get_int(self->LSTDev),
+                      mp_obj_get_int(self->LMin),
+                      mp_obj_get_int(self->LMax),
+                      mp_obj_get_int(self->LLQ),
+                      mp_obj_get_int(self->LUQ));
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            mp_printf(print, "{\"mean\":%d, \"median\":%d, \"mode\":%d, \"stdev\":%d, \"min\":%d, \"max\":%d, \"lq\":%d, \"uq\":%d}",
+                      mp_obj_get_int(self->LMean),
+                      mp_obj_get_int(self->LMedian),
+                      mp_obj_get_int(self->LMode),
+                      mp_obj_get_int(self->LSTDev),
+                      mp_obj_get_int(self->LMin),
+                      mp_obj_get_int(self->LMax),
+                      mp_obj_get_int(self->LLQ),
+                      mp_obj_get_int(self->LUQ));
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            mp_printf(print, "{\"l_mean\":%d, \"l_median\":%d, \"l_mode\":%d, \"l_stdev\":%d, \"l_min\":%d, \"l_max\":%d, \"l_lq\":%d, \"l_uq\":%d,"
+                             " \"a_mean\":%d, \"a_median\":%d, \"a_mode\":%d, \"a_stdev\":%d, \"a_min\":%d, \"a_max\":%d, \"a_lq\":%d, \"a_uq\":%d,"
+                             " \"b_mean\":%d, \"b_median\":%d, \"b_mode\":%d, \"b_stdev\":%d, \"b_min\":%d, \"b_max\":%d, \"b_lq\":%d, \"b_uq\":%d}",
+                      mp_obj_get_int(self->LMean),
+                      mp_obj_get_int(self->LMedian),
+                      mp_obj_get_int(self->LMode),
+                      mp_obj_get_int(self->LSTDev),
+                      mp_obj_get_int(self->LMin),
+                      mp_obj_get_int(self->LMax),
+                      mp_obj_get_int(self->LLQ),
+                      mp_obj_get_int(self->LUQ),
+                      mp_obj_get_int(self->AMean),
+                      mp_obj_get_int(self->AMedian),
+                      mp_obj_get_int(self->AMode),
+                      mp_obj_get_int(self->ASTDev),
+                      mp_obj_get_int(self->AMin),
+                      mp_obj_get_int(self->AMax),
+                      mp_obj_get_int(self->ALQ),
+                      mp_obj_get_int(self->AUQ),
+                      mp_obj_get_int(self->BMean),
+                      mp_obj_get_int(self->BMedian),
+                      mp_obj_get_int(self->BMode),
+                      mp_obj_get_int(self->BSTDev),
+                      mp_obj_get_int(self->BMin),
+                      mp_obj_get_int(self->BMax),
+                      mp_obj_get_int(self->BLQ),
+                      mp_obj_get_int(self->BUQ));
+            break;
+        }
+        default: {
+            mp_printf(print, "{}");
+            break;
+        }
+    }
+}
+
+static mp_obj_t py_statistics_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_statistics_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_statistics_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->LMean) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_statistics_obj_size, index, false)) {
+            case 0: return self->LMean;
+            case 1: return self->LMedian;
+            case 2: return self->LMode;
+            case 3: return self->LSTDev;
+            case 4: return self->LMin;
+            case 5: return self->LMax;
+            case 6: return self->LLQ;
+            case 7: return self->LUQ;
+            case 8: return self->AMean;
+            case 9: return self->AMedian;
+            case 10: return self->AMode;
+            case 11: return self->ASTDev;
+            case 12: return self->AMin;
+            case 13: return self->AMax;
+            case 14: return self->ALQ;
+            case 15: return self->AUQ;
+            case 16: return self->BMean;
+            case 17: return self->BMedian;
+            case 18: return self->BMode;
+            case 19: return self->BSTDev;
+            case 20: return self->BMin;
+            case 21: return self->BMax;
+            case 22: return self->BLQ;
+            case 23: return self->BUQ;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_statistics_mean(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMean; }
+mp_obj_t py_statistics_median(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMedian; }
+mp_obj_t py_statistics_mode(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMode; }
+mp_obj_t py_statistics_stdev(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LSTDev; }
+mp_obj_t py_statistics_min(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMin; }
+mp_obj_t py_statistics_max(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMax; }
+mp_obj_t py_statistics_lq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LLQ; }
+mp_obj_t py_statistics_uq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LUQ; }
+mp_obj_t py_statistics_l_mean(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMean; }
+mp_obj_t py_statistics_l_median(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMedian; }
+mp_obj_t py_statistics_l_mode(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMode; }
+mp_obj_t py_statistics_l_stdev(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LSTDev; }
+mp_obj_t py_statistics_l_min(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMin; }
+mp_obj_t py_statistics_l_max(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LMax; }
+mp_obj_t py_statistics_l_lq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LLQ; }
+mp_obj_t py_statistics_l_uq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->LUQ; }
+mp_obj_t py_statistics_a_mean(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->AMean; }
+mp_obj_t py_statistics_a_median(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->AMedian; }
+mp_obj_t py_statistics_a_mode(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->AMode; }
+mp_obj_t py_statistics_a_stdev(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->ASTDev; }
+mp_obj_t py_statistics_a_min(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->AMin; }
+mp_obj_t py_statistics_a_max(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->AMax; }
+mp_obj_t py_statistics_a_lq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->ALQ; }
+mp_obj_t py_statistics_a_uq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->AUQ; }
+mp_obj_t py_statistics_b_mean(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BMean; }
+mp_obj_t py_statistics_b_median(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BMedian; }
+mp_obj_t py_statistics_b_mode(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BMode; }
+mp_obj_t py_statistics_b_stdev(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BSTDev; }
+mp_obj_t py_statistics_b_min(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BMin; }
+mp_obj_t py_statistics_b_max(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BMax; }
+mp_obj_t py_statistics_b_lq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BLQ; }
+mp_obj_t py_statistics_b_uq(mp_obj_t self_in) { return ((py_statistics_obj_t *) self_in)->BUQ; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_mean_obj, py_statistics_mean);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_median_obj, py_statistics_median);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_mode_obj, py_statistics_mode);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_stdev_obj, py_statistics_stdev);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_min_obj, py_statistics_min);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_max_obj, py_statistics_max);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_lq_obj, py_statistics_lq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_uq_obj, py_statistics_uq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_mean_obj, py_statistics_l_mean);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_median_obj, py_statistics_l_median);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_mode_obj, py_statistics_l_mode);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_stdev_obj, py_statistics_l_stdev);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_min_obj, py_statistics_l_min);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_max_obj, py_statistics_l_max);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_lq_obj, py_statistics_l_lq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_l_uq_obj, py_statistics_l_uq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_mean_obj, py_statistics_a_mean);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_median_obj, py_statistics_a_median);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_mode_obj, py_statistics_a_mode);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_stdev_obj, py_statistics_a_stdev);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_min_obj, py_statistics_a_min);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_max_obj, py_statistics_a_max);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_lq_obj, py_statistics_a_lq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_a_uq_obj, py_statistics_a_uq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_mean_obj, py_statistics_b_mean);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_median_obj, py_statistics_b_median);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_mode_obj, py_statistics_b_mode);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_stdev_obj, py_statistics_b_stdev);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_min_obj, py_statistics_b_min);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_max_obj, py_statistics_b_max);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_lq_obj, py_statistics_b_lq);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_statistics_b_uq_obj, py_statistics_b_uq);
+
+STATIC const mp_rom_map_elem_t py_statistics_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_mean), MP_ROM_PTR(&py_statistics_mean_obj) },
+    { MP_ROM_QSTR(MP_QSTR_median), MP_ROM_PTR(&py_statistics_median_obj) },
+    { MP_ROM_QSTR(MP_QSTR_mode), MP_ROM_PTR(&py_statistics_mode_obj) },
+    { MP_ROM_QSTR(MP_QSTR_stdev), MP_ROM_PTR(&py_statistics_stdev_obj) },
+    { MP_ROM_QSTR(MP_QSTR_min), MP_ROM_PTR(&py_statistics_min_obj) },
+    { MP_ROM_QSTR(MP_QSTR_max), MP_ROM_PTR(&py_statistics_max_obj) },
+    { MP_ROM_QSTR(MP_QSTR_lq), MP_ROM_PTR(&py_statistics_lq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_uq), MP_ROM_PTR(&py_statistics_uq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_mean), MP_ROM_PTR(&py_statistics_l_mean_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_median), MP_ROM_PTR(&py_statistics_l_median_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_mode), MP_ROM_PTR(&py_statistics_l_mode_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_stdev), MP_ROM_PTR(&py_statistics_l_stdev_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_min), MP_ROM_PTR(&py_statistics_l_min_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_max), MP_ROM_PTR(&py_statistics_l_max_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_lq), MP_ROM_PTR(&py_statistics_l_lq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_uq), MP_ROM_PTR(&py_statistics_l_uq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_mean), MP_ROM_PTR(&py_statistics_a_mean_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_median), MP_ROM_PTR(&py_statistics_a_median_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_mode), MP_ROM_PTR(&py_statistics_a_mode_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_stdev), MP_ROM_PTR(&py_statistics_a_stdev_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_min), MP_ROM_PTR(&py_statistics_a_min_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_max), MP_ROM_PTR(&py_statistics_a_max_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_lq), MP_ROM_PTR(&py_statistics_a_lq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_uq), MP_ROM_PTR(&py_statistics_a_uq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_mean), MP_ROM_PTR(&py_statistics_b_mean_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_median), MP_ROM_PTR(&py_statistics_b_median_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_mode), MP_ROM_PTR(&py_statistics_b_mode_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_stdev), MP_ROM_PTR(&py_statistics_b_stdev_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_min), MP_ROM_PTR(&py_statistics_b_min_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_max), MP_ROM_PTR(&py_statistics_b_max_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_lq), MP_ROM_PTR(&py_statistics_b_lq_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_uq), MP_ROM_PTR(&py_statistics_b_uq_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_statistics_locals_dict, py_statistics_locals_dict_table);
+
+static const mp_obj_type_t py_statistics_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_statistics,
+    .print = py_statistics_print,
+    .subscr = py_statistics_subscr,
+    .locals_dict = (mp_obj_t) &py_statistics_locals_dict
+};
+
+// Percentile Object //
+#define py_percentile_obj_size 3
+typedef struct py_percentile_obj {
+    mp_obj_base_t base;
+    pixformat_t pixfmt;
+    mp_obj_t LValue, AValue, BValue;
+} py_percentile_obj_t;
+
+static void py_percentile_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_percentile_obj_t *self = self_in;
+    switch (self->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            mp_printf(print, "{\"value\":%d}",
+                      mp_obj_get_int(self->LValue));
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            mp_printf(print, "{\"value\":%d}",
+                      mp_obj_get_int(self->LValue));
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            mp_printf(print, "{\"l_value:%d\", \"a_value\":%d, \"b_value\":%d}",
+                      mp_obj_get_int(self->LValue),
+                      mp_obj_get_int(self->AValue),
+                      mp_obj_get_int(self->BValue));
+            break;
+        }
+        default: {
+            mp_printf(print, "{}");
+            break;
+        }
+    }
+}
+
+static mp_obj_t py_percentile_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_percentile_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_percentile_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->LValue) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_percentile_obj_size, index, false)) {
+            case 0: return self->LValue;
+            case 1: return self->AValue;
+            case 2: return self->BValue;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_percentile_value(mp_obj_t self_in) { return ((py_percentile_obj_t *) self_in)->LValue; }
+mp_obj_t py_percentile_l_value(mp_obj_t self_in) { return ((py_percentile_obj_t *) self_in)->LValue; }
+mp_obj_t py_percentile_a_value(mp_obj_t self_in) { return ((py_percentile_obj_t *) self_in)->AValue; }
+mp_obj_t py_percentile_b_value(mp_obj_t self_in) { return ((py_percentile_obj_t *) self_in)->BValue; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_percentile_value_obj, py_percentile_value);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_percentile_l_value_obj, py_percentile_l_value);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_percentile_a_value_obj, py_percentile_a_value);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_percentile_b_value_obj, py_percentile_b_value);
+
+STATIC const mp_rom_map_elem_t py_percentile_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&py_percentile_value_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_value), MP_ROM_PTR(&py_percentile_l_value_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_value), MP_ROM_PTR(&py_percentile_a_value_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_value), MP_ROM_PTR(&py_percentile_b_value_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_percentile_locals_dict, py_percentile_locals_dict_table);
+
+static const mp_obj_type_t py_percentile_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_percentile,
+    .print = py_percentile_print,
+    .subscr = py_percentile_subscr,
+    .locals_dict = (mp_obj_t) &py_percentile_locals_dict
+};
+
+// Threshold Object //
+#define py_threshold_obj_size 3
+typedef struct py_threshold_obj {
+    mp_obj_base_t base;
+    pixformat_t pixfmt;
+    mp_obj_t LValue, AValue, BValue;
+} py_threshold_obj_t;
+
+static void py_threshold_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_threshold_obj_t *self = self_in;
+    switch (self->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            mp_printf(print, "{\"value\":%d}",
+                      mp_obj_get_int(self->LValue));
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            mp_printf(print, "{\"value\":%d}",
+                      mp_obj_get_int(self->LValue));
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            mp_printf(print, "{\"l_value\":%d, \"a_value\":%d, \"b_value\":%d}",
+                      mp_obj_get_int(self->LValue),
+                      mp_obj_get_int(self->AValue),
+                      mp_obj_get_int(self->BValue));
+            break;
+        }
+        default: {
+            mp_printf(print, "{}");
+            break;
+        }
+    }
+}
+
+static mp_obj_t py_threshold_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_threshold_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_threshold_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->LValue) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_threshold_obj_size, index, false)) {
+            case 0: return self->LValue;
+            case 1: return self->AValue;
+            case 2: return self->BValue;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_threshold_value(mp_obj_t self_in) { return ((py_threshold_obj_t *) self_in)->LValue; }
+mp_obj_t py_threshold_l_value(mp_obj_t self_in) { return ((py_threshold_obj_t *) self_in)->LValue; }
+mp_obj_t py_threshold_a_value(mp_obj_t self_in) { return ((py_threshold_obj_t *) self_in)->AValue; }
+mp_obj_t py_threshold_b_value(mp_obj_t self_in) { return ((py_threshold_obj_t *) self_in)->BValue; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_threshold_value_obj, py_threshold_value);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_threshold_l_value_obj, py_threshold_l_value);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_threshold_a_value_obj, py_threshold_a_value);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_threshold_b_value_obj, py_threshold_b_value);
+
+STATIC const mp_rom_map_elem_t py_threshold_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_value), MP_ROM_PTR(&py_threshold_value_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_value), MP_ROM_PTR(&py_threshold_l_value_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_value), MP_ROM_PTR(&py_threshold_a_value_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_value), MP_ROM_PTR(&py_threshold_b_value_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_threshold_locals_dict, py_threshold_locals_dict_table);
+
+static const mp_obj_type_t py_threshold_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_threshold,
+    .print = py_threshold_print,
+    .subscr = py_threshold_subscr,
+    .locals_dict = (mp_obj_t) &py_threshold_locals_dict
+};
+
+// Histogram Object //
+#define py_histogram_obj_size 3
+typedef struct py_histogram_obj {
+    mp_obj_base_t base;
+    pixformat_t pixfmt;
+    mp_obj_t LBins, ABins, BBins;
+} py_histogram_obj_t;
+
+static void py_histogram_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_histogram_obj_t *self = self_in;
+    switch (self->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            mp_printf(print, "{\"bins\":");
+            mp_obj_print_helper(print, self->LBins, kind);
+            mp_printf(print, "}");
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            mp_printf(print, "{\"bins\":");
+            mp_obj_print_helper(print, self->LBins, kind);
+            mp_printf(print, "}");
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            mp_printf(print, "{\"l_bins\":");
+            mp_obj_print_helper(print, self->LBins, kind);
+            mp_printf(print, ", \"a_bins\":");
+            mp_obj_print_helper(print, self->ABins, kind);
+            mp_printf(print, ", \"b_bins\":");
+            mp_obj_print_helper(print, self->BBins, kind);
+            mp_printf(print, "}");
+            break;
+        }
+        default: {
+            mp_printf(print, "{}");
+            break;
+        }
+    }
+}
+
+static mp_obj_t py_histogram_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_histogram_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_histogram_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->LBins) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_histogram_obj_size, index, false)) {
+            case 0: return self->LBins;
+            case 1: return self->ABins;
+            case 2: return self->BBins;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_histogram_bins(mp_obj_t self_in) { return ((py_histogram_obj_t *) self_in)->LBins; }
+mp_obj_t py_histogram_l_bins(mp_obj_t self_in) { return ((py_histogram_obj_t *) self_in)->LBins; }
+mp_obj_t py_histogram_a_bins(mp_obj_t self_in) { return ((py_histogram_obj_t *) self_in)->ABins; }
+mp_obj_t py_histogram_b_bins(mp_obj_t self_in) { return ((py_histogram_obj_t *) self_in)->BBins; }
+
+mp_obj_t py_histogram_get_percentile(mp_obj_t self_in, mp_obj_t percentile)
+{
+    histogram_t hist;
+    hist.LBinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->len;
+    hist.ABinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->len;
+    hist.BBinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->len;
+    fb_alloc_mark();
+    hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+    hist.ABins = fb_alloc(hist.ABinCount * sizeof(float), FB_ALLOC_NO_HINT);
+    hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+
+    for (int i = 0; i < hist.LBinCount; i++) {
+        hist.LBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
+    }
+
+    for (int i = 0; i < hist.ABinCount; i++) {
+        hist.ABins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
+    }
+
+    for (int i = 0; i < hist.BBinCount; i++) {
+        hist.BBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
+    }
+
+    percentile_t p;
+    imlib_get_percentile(&p, ((py_histogram_obj_t *) self_in)->pixfmt, &hist, mp_obj_get_float(percentile));
+    fb_alloc_free_till_mark();
+
+    py_percentile_obj_t *o = m_new_obj(py_percentile_obj_t);
+    o->base.type = &py_percentile_type;
+    o->pixfmt = ((py_histogram_obj_t *) self_in)->pixfmt;
+
+    o->LValue = mp_obj_new_int(p.LValue);
+    o->AValue = mp_obj_new_int(p.AValue);
+    o->BValue = mp_obj_new_int(p.BValue);
+
+    return o;
+}
+
+mp_obj_t py_histogram_get_threshold(mp_obj_t self_in)
+{
+    histogram_t hist;
+    hist.LBinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->len;
+    hist.ABinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->len;
+    hist.BBinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->len;
+    fb_alloc_mark();
+    hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+    hist.ABins = fb_alloc(hist.ABinCount * sizeof(float), FB_ALLOC_NO_HINT);
+    hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+
+    for (int i = 0; i < hist.LBinCount; i++) {
+        hist.LBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
+    }
+
+    for (int i = 0; i < hist.ABinCount; i++) {
+        hist.ABins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
+    }
+
+    for (int i = 0; i < hist.BBinCount; i++) {
+        hist.BBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
+    }
+
+    threshold_t t;
+    imlib_get_threshold(&t, ((py_histogram_obj_t *) self_in)->pixfmt, &hist);
+    fb_alloc_free_till_mark();
+
+    py_threshold_obj_t *o = m_new_obj(py_threshold_obj_t);
+    o->base.type = &py_threshold_type;
+    o->pixfmt = ((py_threshold_obj_t *) self_in)->pixfmt;
+
+    o->LValue = mp_obj_new_int(t.LValue);
+    o->AValue = mp_obj_new_int(t.AValue);
+    o->BValue = mp_obj_new_int(t.BValue);
+
+    return o;
+}
+
+mp_obj_t py_histogram_get_statistics(mp_obj_t self_in)
+{
+    histogram_t hist;
+    hist.LBinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->len;
+    hist.ABinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->len;
+    hist.BBinCount = ((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->len;
+    fb_alloc_mark();
+    hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+    hist.ABins = fb_alloc(hist.ABinCount * sizeof(float), FB_ALLOC_NO_HINT);
+    hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+
+    for (int i = 0; i < hist.LBinCount; i++) {
+        hist.LBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->LBins)->items[i]);
+    }
+
+    for (int i = 0; i < hist.ABinCount; i++) {
+        hist.ABins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->ABins)->items[i]);
+    }
+
+    for (int i = 0; i < hist.BBinCount; i++) {
+        hist.BBins[i] = mp_obj_get_float(((mp_obj_list_t *) ((py_histogram_obj_t *) self_in)->BBins)->items[i]);
+    }
+
+    statistics_t stats;
+    imlib_get_statistics(&stats, ((py_histogram_obj_t *) self_in)->pixfmt, &hist);
+    fb_alloc_free_till_mark();
+
+    py_statistics_obj_t *o = m_new_obj(py_statistics_obj_t);
+    o->base.type = &py_statistics_type;
+    o->pixfmt = ((py_histogram_obj_t *) self_in)->pixfmt;
+
+    o->LMean = mp_obj_new_int(stats.LMean);
+    o->LMedian = mp_obj_new_int(stats.LMedian);
+    o->LMode= mp_obj_new_int(stats.LMode);
+    o->LSTDev = mp_obj_new_int(stats.LSTDev);
+    o->LMin = mp_obj_new_int(stats.LMin);
+    o->LMax = mp_obj_new_int(stats.LMax);
+    o->LLQ = mp_obj_new_int(stats.LLQ);
+    o->LUQ = mp_obj_new_int(stats.LUQ);
+    o->AMean = mp_obj_new_int(stats.AMean);
+    o->AMedian = mp_obj_new_int(stats.AMedian);
+    o->AMode= mp_obj_new_int(stats.AMode);
+    o->ASTDev = mp_obj_new_int(stats.ASTDev);
+    o->AMin = mp_obj_new_int(stats.AMin);
+    o->AMax = mp_obj_new_int(stats.AMax);
+    o->ALQ = mp_obj_new_int(stats.ALQ);
+    o->AUQ = mp_obj_new_int(stats.AUQ);
+    o->BMean = mp_obj_new_int(stats.BMean);
+    o->BMedian = mp_obj_new_int(stats.BMedian);
+    o->BMode= mp_obj_new_int(stats.BMode);
+    o->BSTDev = mp_obj_new_int(stats.BSTDev);
+    o->BMin = mp_obj_new_int(stats.BMin);
+    o->BMax = mp_obj_new_int(stats.BMax);
+    o->BLQ = mp_obj_new_int(stats.BLQ);
+    o->BUQ = mp_obj_new_int(stats.BUQ);
+
+    return o;
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_histogram_bins_obj, py_histogram_bins);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_histogram_l_bins_obj, py_histogram_l_bins);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_histogram_a_bins_obj, py_histogram_a_bins);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_histogram_b_bins_obj, py_histogram_b_bins);
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_histogram_get_percentile_obj, py_histogram_get_percentile);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_histogram_get_threshold_obj, py_histogram_get_threshold);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_histogram_get_statistics_obj, py_histogram_get_statistics);
+
+STATIC const mp_rom_map_elem_t py_histogram_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_bins), MP_ROM_PTR(&py_histogram_bins_obj) },
+    { MP_ROM_QSTR(MP_QSTR_l_bins), MP_ROM_PTR(&py_histogram_l_bins_obj) },
+    { MP_ROM_QSTR(MP_QSTR_a_bins), MP_ROM_PTR(&py_histogram_a_bins_obj) },
+    { MP_ROM_QSTR(MP_QSTR_b_bins), MP_ROM_PTR(&py_histogram_b_bins_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_percentile), MP_ROM_PTR(&py_histogram_get_percentile_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_threshold), MP_ROM_PTR(&py_histogram_get_threshold_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_stats), MP_ROM_PTR(&py_histogram_get_statistics_obj) },
+    { MP_ROM_QSTR(MP_QSTR_get_statistics), MP_ROM_PTR(&py_histogram_get_statistics_obj) },
+    { MP_ROM_QSTR(MP_QSTR_statistics), MP_ROM_PTR(&py_histogram_get_statistics_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_histogram_locals_dict, py_histogram_locals_dict_table);
+
+static const mp_obj_type_t py_histogram_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_histogram,
+    .print = py_histogram_print,
+    .subscr = py_histogram_subscr,
+    .locals_dict = (mp_obj_t) &py_histogram_locals_dict
+};
+
+static mp_obj_t py_image_get_histogram(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    list_t thresholds;
+    list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    py_helper_keyword_thresholds(n_args, args, 1, kw_args, &thresholds);
+    bool invert = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *other = py_helper_keyword_to_image_mutable(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_difference), NULL);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 3, kw_args, &roi);
+
+    histogram_t hist;
+    switch (arg_img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            int bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                             (COLOR_BINARY_MAX-COLOR_BINARY_MIN+1));
+            PY_ASSERT_TRUE_MSG(bins >= 2, "bins must be >= 2");
+            hist.LBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_l_bins), bins);
+            PY_ASSERT_TRUE_MSG(hist.LBinCount >= 2, "l_bins must be >= 2");
+            hist.ABinCount = 0;
+            hist.BBinCount = 0;
+            fb_alloc_mark();
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = NULL;
+            hist.BBins = NULL;
+            imlib_get_histogram(&hist, arg_img, &roi, &thresholds, invert, other);
+            list_free(&thresholds);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            int bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                             (COLOR_GRAYSCALE_MAX-COLOR_GRAYSCALE_MIN+1));
+            PY_ASSERT_TRUE_MSG(bins >= 2, "bins must be >= 2");
+            hist.LBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_l_bins), bins);
+            PY_ASSERT_TRUE_MSG(hist.LBinCount >= 2, "l_bins must be >= 2");
+            hist.ABinCount = 0;
+            hist.BBinCount = 0;
+            fb_alloc_mark();
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = NULL;
+            hist.BBins = NULL;
+            imlib_get_histogram(&hist, arg_img, &roi, &thresholds, invert, other);
+            list_free(&thresholds);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            int l_bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                               (COLOR_L_MAX-COLOR_L_MIN+1));
+            PY_ASSERT_TRUE_MSG(l_bins >= 2, "bins must be >= 2");
+            hist.LBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_l_bins), l_bins);
+            PY_ASSERT_TRUE_MSG(hist.LBinCount >= 2, "l_bins must be >= 2");
+            int a_bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                               (COLOR_A_MAX-COLOR_A_MIN+1));
+            PY_ASSERT_TRUE_MSG(a_bins >= 2, "bins must be >= 2");
+            hist.ABinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_a_bins), a_bins);
+            PY_ASSERT_TRUE_MSG(hist.ABinCount >= 2, "a_bins must be >= 2");
+            int b_bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                               (COLOR_B_MAX-COLOR_B_MIN+1));
+            PY_ASSERT_TRUE_MSG(b_bins >= 2, "bins must be >= 2");
+            hist.BBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_b_bins), b_bins);
+            PY_ASSERT_TRUE_MSG(hist.BBinCount >= 2, "b_bins must be >= 2");
+            fb_alloc_mark();
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = fb_alloc(hist.ABinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            imlib_get_histogram(&hist, arg_img, &roi, &thresholds, invert, other);
+            list_free(&thresholds);
+            break;
+        }
+        default: {
+            return MP_OBJ_NULL;
+        }
+    }
+
+    py_histogram_obj_t *o = m_new_obj(py_histogram_obj_t);
+    o->base.type = &py_histogram_type;
+    o->pixfmt = arg_img->pixfmt;
+
+    o->LBins = mp_obj_new_list(hist.LBinCount, NULL);
+    o->ABins = mp_obj_new_list(hist.ABinCount, NULL);
+    o->BBins = mp_obj_new_list(hist.BBinCount, NULL);
+
+    for (int i = 0; i < hist.LBinCount; i++) {
+        ((mp_obj_list_t *) o->LBins)->items[i] = mp_obj_new_float(hist.LBins[i]);
+    }
+
+    for (int i = 0; i < hist.ABinCount; i++) {
+        ((mp_obj_list_t *) o->ABins)->items[i] = mp_obj_new_float(hist.ABins[i]);
+    }
+
+    for (int i = 0; i < hist.BBinCount; i++) {
+        ((mp_obj_list_t *) o->BBins)->items[i] = mp_obj_new_float(hist.BBins[i]);
+    }
+
+    fb_alloc_free_till_mark();
+
+    return o;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_get_histogram_obj, 1, py_image_get_histogram);
+
+static mp_obj_t py_image_get_statistics(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    list_t thresholds;
+    list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    py_helper_keyword_thresholds(n_args, args, 1, kw_args, &thresholds);
+    bool invert = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+    image_t *other = py_helper_keyword_to_image_mutable(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_difference), NULL);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 3, kw_args, &roi);
+
+    histogram_t hist;
+    switch (arg_img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            int bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                             (COLOR_BINARY_MAX-COLOR_BINARY_MIN+1));
+            PY_ASSERT_TRUE_MSG(bins >= 2, "bins must be >= 2");
+            hist.LBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_l_bins), bins);
+            PY_ASSERT_TRUE_MSG(hist.LBinCount >= 2, "l_bins must be >= 2");
+            hist.ABinCount = 0;
+            hist.BBinCount = 0;
+            fb_alloc_mark();
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = NULL;
+            hist.BBins = NULL;
+            imlib_get_histogram(&hist, arg_img, &roi, &thresholds, invert, other);
+            list_free(&thresholds);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            int bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                             (COLOR_GRAYSCALE_MAX-COLOR_GRAYSCALE_MIN+1));
+            PY_ASSERT_TRUE_MSG(bins >= 2, "bins must be >= 2");
+            hist.LBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_l_bins), bins);
+            PY_ASSERT_TRUE_MSG(hist.LBinCount >= 2, "l_bins must be >= 2");
+            hist.ABinCount = 0;
+            hist.BBinCount = 0;
+            fb_alloc_mark();
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = NULL;
+            hist.BBins = NULL;
+            imlib_get_histogram(&hist, arg_img, &roi, &thresholds, invert, other);
+            list_free(&thresholds);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            int l_bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                               (COLOR_L_MAX-COLOR_L_MIN+1));
+            PY_ASSERT_TRUE_MSG(l_bins >= 2, "bins must be >= 2");
+            hist.LBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_l_bins), l_bins);
+            PY_ASSERT_TRUE_MSG(hist.LBinCount >= 2, "l_bins must be >= 2");
+            int a_bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                               (COLOR_A_MAX-COLOR_A_MIN+1));
+            PY_ASSERT_TRUE_MSG(a_bins >= 2, "bins must be >= 2");
+            hist.ABinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_a_bins), a_bins);
+            PY_ASSERT_TRUE_MSG(hist.ABinCount >= 2, "a_bins must be >= 2");
+            int b_bins = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_bins),
+                                               (COLOR_B_MAX-COLOR_B_MIN+1));
+            PY_ASSERT_TRUE_MSG(b_bins >= 2, "bins must be >= 2");
+            hist.BBinCount = py_helper_keyword_int(n_args, args, n_args, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_b_bins), b_bins);
+            PY_ASSERT_TRUE_MSG(hist.BBinCount >= 2, "b_bins must be >= 2");
+            fb_alloc_mark();
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = fb_alloc(hist.ABinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.BBins = fb_alloc(hist.BBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            imlib_get_histogram(&hist, arg_img, &roi, &thresholds, invert, other);
+            list_free(&thresholds);
+            break;
+        }
+        default: {
+            return MP_OBJ_NULL;
+        }
+    }
+
+    statistics_t stats;
+    imlib_get_statistics(&stats, arg_img->pixfmt, &hist);
+    fb_alloc_free_till_mark();
+
+    py_statistics_obj_t *o = m_new_obj(py_statistics_obj_t);
+    o->base.type = &py_statistics_type;
+    o->pixfmt = arg_img->pixfmt;
+
+    o->LMean = mp_obj_new_int(stats.LMean);
+    o->LMedian = mp_obj_new_int(stats.LMedian);
+    o->LMode= mp_obj_new_int(stats.LMode);
+    o->LSTDev = mp_obj_new_int(stats.LSTDev);
+    o->LMin = mp_obj_new_int(stats.LMin);
+    o->LMax = mp_obj_new_int(stats.LMax);
+    o->LLQ = mp_obj_new_int(stats.LLQ);
+    o->LUQ = mp_obj_new_int(stats.LUQ);
+    o->AMean = mp_obj_new_int(stats.AMean);
+    o->AMedian = mp_obj_new_int(stats.AMedian);
+    o->AMode= mp_obj_new_int(stats.AMode);
+    o->ASTDev = mp_obj_new_int(stats.ASTDev);
+    o->AMin = mp_obj_new_int(stats.AMin);
+    o->AMax = mp_obj_new_int(stats.AMax);
+    o->ALQ = mp_obj_new_int(stats.ALQ);
+    o->AUQ = mp_obj_new_int(stats.AUQ);
+    o->BMean = mp_obj_new_int(stats.BMean);
+    o->BMedian = mp_obj_new_int(stats.BMedian);
+    o->BMode= mp_obj_new_int(stats.BMode);
+    o->BSTDev = mp_obj_new_int(stats.BSTDev);
+    o->BMin = mp_obj_new_int(stats.BMin);
+    o->BMax = mp_obj_new_int(stats.BMax);
+    o->BLQ = mp_obj_new_int(stats.BLQ);
+    o->BUQ = mp_obj_new_int(stats.BUQ);
+
+    return o;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_get_statistics_obj, 1, py_image_get_statistics);
+
+// Line Object //
+#define py_line_obj_size 8
+typedef struct py_line_obj {
+    mp_obj_base_t base;
+    mp_obj_t x1, y1, x2, y2, length, magnitude, theta, rho;
+} py_line_obj_t;
+
+static void py_line_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_line_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x1\":%d, \"y1\":%d, \"x2\":%d, \"y2\":%d, \"length\":%d, \"magnitude\":%d, \"theta\":%d, \"rho\":%d}",
+              mp_obj_get_int(self->x1),
+              mp_obj_get_int(self->y1),
+              mp_obj_get_int(self->x2),
+              mp_obj_get_int(self->y2),
+              mp_obj_get_int(self->length),
+              mp_obj_get_int(self->magnitude),
+              mp_obj_get_int(self->theta),
+              mp_obj_get_int(self->rho));
+}
+
+static mp_obj_t py_line_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_line_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_line_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x1) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_line_obj_size, index, false)) {
+            case 0: return self->x1;
+            case 1: return self->y1;
+            case 2: return self->x2;
+            case 3: return self->y2;
+            case 4: return self->length;
+            case 5: return self->magnitude;
+            case 6: return self->theta;
+            case 7: return self->rho;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_line_line(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_line_obj_t *) self_in)->x1,
+                                              ((py_line_obj_t *) self_in)->y1,
+                                              ((py_line_obj_t *) self_in)->x2,
+                                              ((py_line_obj_t *) self_in)->y2});
+}
+
+mp_obj_t py_line_x1(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->x1; }
+mp_obj_t py_line_y1(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->y1; }
+mp_obj_t py_line_x2(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->x2; }
+mp_obj_t py_line_y2(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->y2; }
+mp_obj_t py_line_length(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->length; }
+mp_obj_t py_line_magnitude(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->magnitude; }
+mp_obj_t py_line_theta(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->theta; }
+mp_obj_t py_line_rho(mp_obj_t self_in) { return ((py_line_obj_t *) self_in)->rho; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_line_obj, py_line_line);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_x1_obj, py_line_x1);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_y1_obj, py_line_y1);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_x2_obj, py_line_x2);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_y2_obj, py_line_y2);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_length_obj, py_line_length);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_magnitude_obj, py_line_magnitude);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_theta_obj, py_line_theta);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_line_rho_obj, py_line_rho);
+
+STATIC const mp_rom_map_elem_t py_line_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_line), MP_ROM_PTR(&py_line_line_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x1), MP_ROM_PTR(&py_line_x1_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y1), MP_ROM_PTR(&py_line_y1_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x2), MP_ROM_PTR(&py_line_x2_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y2), MP_ROM_PTR(&py_line_y2_obj) },
+    { MP_ROM_QSTR(MP_QSTR_length), MP_ROM_PTR(&py_line_length_obj) },
+    { MP_ROM_QSTR(MP_QSTR_magnitude), MP_ROM_PTR(&py_line_magnitude_obj) },
+    { MP_ROM_QSTR(MP_QSTR_theta), MP_ROM_PTR(&py_line_theta_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rho), MP_ROM_PTR(&py_line_rho_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_line_locals_dict, py_line_locals_dict_table);
+
+static const mp_obj_type_t py_line_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_line,
+    .print = py_line_print,
+    .subscr = py_line_subscr,
+    .locals_dict = (mp_obj_t) &py_line_locals_dict
+};
+
+static mp_obj_t py_image_get_regression(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    list_t thresholds;
+    list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    py_helper_arg_to_thresholds(args[1], &thresholds);
+    if (!list_size(&thresholds)) return mp_const_none;
+    bool invert = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 3, kw_args, &roi);
+
+    unsigned int x_stride = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_stride), 2);
+    PY_ASSERT_TRUE_MSG(x_stride > 0, "x_stride must not be zero.");
+    unsigned int y_stride = py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_stride), 1);
+    PY_ASSERT_TRUE_MSG(y_stride > 0, "y_stride must not be zero.");
+    unsigned int area_threshold = py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_area_threshold), 10);
+    unsigned int pixels_threshold = py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_pixels_threshold), 10);
+    bool robust = py_helper_keyword_int(n_args, args, 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_robust), false);
+
+    find_lines_list_lnk_data_t out;
+    fb_alloc_mark();
+    bool result = imlib_get_regression(&out, arg_img, &roi, x_stride,
+            y_stride, &thresholds, invert, area_threshold, pixels_threshold, robust);
+    fb_alloc_free_till_mark();
+    list_free(&thresholds);
+    if (!result) {
+        return mp_const_none;
+    }
+
+    py_line_obj_t *o = m_new_obj(py_line_obj_t);
+    o->base.type = &py_line_type;
+    o->x1 = mp_obj_new_int(out.line.x1);
+    o->y1 = mp_obj_new_int(out.line.y1);
+    o->x2 = mp_obj_new_int(out.line.x2);
+    o->y2 = mp_obj_new_int(out.line.y2);
+    int x_diff = out.line.x2 - out.line.x1;
+    int y_diff = out.line.y2 - out.line.y1;
+    o->length = mp_obj_new_int(fast_roundf(fast_sqrtf((x_diff * x_diff) + (y_diff * y_diff))));
+    o->magnitude = mp_obj_new_int(out.magnitude);
+    o->theta = mp_obj_new_int(out.theta);
+    o->rho = mp_obj_new_int(out.rho);
+
+    return o;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_get_regression_obj, 2, py_image_get_regression);
+
+///////////////
+// Find Methods
+///////////////
+
+// Blob Object //
+#define py_blob_obj_size 12
+typedef struct py_blob_obj {
+    mp_obj_base_t base;
+    mp_obj_t corners;
+    mp_obj_t min_corners;
+    mp_obj_t x, y, w, h, pixels, cx, cy, rotation, code, count, perimeter, roundness;
+    mp_obj_t x_hist_bins;
+    mp_obj_t y_hist_bins;
+} py_blob_obj_t;
+
+static void py_blob_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_blob_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d,"
+              " \"pixels\":%d, \"cx\":%d, \"cy\":%d, \"rotation\":%f, \"code\":%d, \"count\":%d,"
+              " \"perimeter\":%d, \"roundness\":%f}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h),
+              mp_obj_get_int(self->pixels),
+              fast_roundf(mp_obj_get_float(self->cx)),
+              fast_roundf(mp_obj_get_float(self->cy)),
+              (double) mp_obj_get_float(self->rotation),
+              mp_obj_get_int(self->code),
+              mp_obj_get_int(self->count),
+              mp_obj_get_int(self->perimeter),
+              (double) mp_obj_get_float(self->roundness));
+}
+
+static mp_obj_t py_blob_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_blob_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_blob_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_blob_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->pixels;
+            case 5: return mp_obj_new_int(fast_roundf(mp_obj_get_float(self->cx)));
+            case 6: return mp_obj_new_int(fast_roundf(mp_obj_get_float(self->cy)));
+            case 7: return self->rotation;
+            case 8: return self->code;
+            case 9: return self->count;
+            case 10: return self->perimeter;
+            case 11: return self->roundness;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_blob_corners(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->corners; }
+mp_obj_t py_blob_min_corners(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->min_corners; }
+mp_obj_t py_blob_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_blob_obj_t *) self_in)->x,
+                                              ((py_blob_obj_t *) self_in)->y,
+                                              ((py_blob_obj_t *) self_in)->w,
+                                              ((py_blob_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_blob_x(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->x; }
+mp_obj_t py_blob_y(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->y; }
+mp_obj_t py_blob_w(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->w; }
+mp_obj_t py_blob_h(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->h; }
+mp_obj_t py_blob_pixels(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->pixels; }
+mp_obj_t py_blob_cx(mp_obj_t self_in) { return mp_obj_new_int(fast_roundf(mp_obj_get_float(((py_blob_obj_t *) self_in)->cx))); }
+mp_obj_t py_blob_cxf(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->cx; }
+mp_obj_t py_blob_cy(mp_obj_t self_in) { return mp_obj_new_int(fast_roundf(mp_obj_get_float(((py_blob_obj_t *) self_in)->cy))); }
+mp_obj_t py_blob_cyf(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->cy; }
+mp_obj_t py_blob_rotation(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->rotation; }
+mp_obj_t py_blob_rotation_deg(mp_obj_t self_in) { return mp_obj_new_int(IM_RAD2DEG(mp_obj_get_float(((py_blob_obj_t *) self_in)->rotation))); }
+mp_obj_t py_blob_rotation_rad(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->rotation; }
+mp_obj_t py_blob_code(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->code; }
+mp_obj_t py_blob_count(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->count; }
+mp_obj_t py_blob_perimeter(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->perimeter; }
+mp_obj_t py_blob_roundness(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->roundness; }
+mp_obj_t py_blob_elongation(mp_obj_t self_in) { return mp_obj_new_float(1 - mp_obj_get_float(((py_blob_obj_t *) self_in)->roundness)); }
+mp_obj_t py_blob_area(mp_obj_t self_in) {
+    return mp_obj_new_int(mp_obj_get_int(((py_blob_obj_t *) self_in)->w) * mp_obj_get_int(((py_blob_obj_t *) self_in)->h));
+}
+mp_obj_t py_blob_density(mp_obj_t self_in) {
+    int area = mp_obj_get_int(((py_blob_obj_t *) self_in)->w) * mp_obj_get_int(((py_blob_obj_t *) self_in)->h);
+    int pixels = mp_obj_get_int(((py_blob_obj_t *) self_in)->pixels);
+    return mp_obj_new_float(IM_DIV(pixels, ((float) area)));
+}
+// Rect-area versus pixels (e.g. blob area) -> Above.
+// Rect-area versus perimeter -> Basically the same as the above with a different scale factor.
+// Rect-perimeter versus pixels (e.g. blob area) -> Basically the same as the above with a different scale factor.
+// Rect-perimeter versus perimeter -> Basically the same as the above with a different scale factor.
+mp_obj_t py_blob_compactness(mp_obj_t self_in) {
+    int pixels = mp_obj_get_int(((py_blob_obj_t *) self_in)->pixels);
+    float perimeter = mp_obj_get_int(((py_blob_obj_t *) self_in)->perimeter);
+    return mp_obj_new_float(IM_DIV((pixels * 4 * M_PI), (perimeter * perimeter)));
+}
+mp_obj_t py_blob_solidity(mp_obj_t self_in) {
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(((py_blob_obj_t *) self_in)->min_corners, 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    // Shoelace Formula
+    float min_area = (((x0*y1)+(x1*y2)+(x2*y3)+(x3*y0))-((y0*x1)+(y1*x2)+(y2*x3)+(y3*x0)))/2.0f;
+    int pixels = mp_obj_get_int(((py_blob_obj_t *) self_in)->pixels);
+    return mp_obj_new_float(IM_MIN(IM_DIV(pixels, min_area), 1));
+}
+mp_obj_t py_blob_convexity(mp_obj_t self_in) {
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(((py_blob_obj_t *) self_in)->min_corners, 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    float d0 = fast_sqrtf(((x0 - x1) * (x0 - x1)) + ((y0 - y1) * (y0 - y1)));
+    float d1 = fast_sqrtf(((x1 - x2) * (x1 - x2)) + ((y1 - y2) * (y1 - y2)));
+    float d2 = fast_sqrtf(((x2 - x3) * (x2 - x3)) + ((y2 - y3) * (y2 - y3)));
+    float d3 = fast_sqrtf(((x3 - x0) * (x3 - x0)) + ((y3 - y0) * (y3 - y0)));
+    int perimeter = mp_obj_get_int(((py_blob_obj_t *) self_in)->perimeter);
+    return mp_obj_new_float(IM_MIN(IM_DIV(d0 + d1 + d2 + d3, perimeter), 1));
+}
+// Min rect-area versus pixels (e.g. blob area) -> Above.
+// Min rect-area versus perimeter -> Basically the same as the above with a different scale factor.
+// Min rect-perimeter versus pixels (e.g. blob area) -> Basically the same as the above with a different scale factor.
+// Min rect-perimeter versus perimeter -> Above
+mp_obj_t py_blob_x_hist_bins(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->x_hist_bins; }
+mp_obj_t py_blob_y_hist_bins(mp_obj_t self_in) { return ((py_blob_obj_t *) self_in)->y_hist_bins; }
+mp_obj_t py_blob_major_axis_line(mp_obj_t self_in) {
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(((py_blob_obj_t *) self_in)->min_corners, 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    int m0x = (x0 + x1) / 2;
+    int m0y = (y0 + y1) / 2;
+    int m1x = (x1 + x2) / 2;
+    int m1y = (y1 + y2) / 2;
+    int m2x = (x2 + x3) / 2;
+    int m2y = (y2 + y3) / 2;
+    int m3x = (x3 + x0) / 2;
+    int m3y = (y3 + y0) / 2;
+
+    float l0 = fast_sqrtf(((m0x - m2x) * (m0x - m2x)) + ((m0y - m2y) * (m0y - m2y)));
+    float l1 = fast_sqrtf(((m1x - m3x) * (m1x - m3x)) + ((m1y - m3y) * (m1y - m3y)));
+
+    if (l0 >= l1) {
+        return mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(m0x),
+                                                  mp_obj_new_int(m0y),
+                                                  mp_obj_new_int(m2x),
+                                                  mp_obj_new_int(m2y)});
+    } else {
+        return mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(m1x),
+                                                  mp_obj_new_int(m1y),
+                                                  mp_obj_new_int(m3x),
+                                                  mp_obj_new_int(m3y)});
+    }
+}
+mp_obj_t py_blob_minor_axis_line(mp_obj_t self_in) {
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(((py_blob_obj_t *) self_in)->min_corners, 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    int m0x = (x0 + x1) / 2;
+    int m0y = (y0 + y1) / 2;
+    int m1x = (x1 + x2) / 2;
+    int m1y = (y1 + y2) / 2;
+    int m2x = (x2 + x3) / 2;
+    int m2y = (y2 + y3) / 2;
+    int m3x = (x3 + x0) / 2;
+    int m3y = (y3 + y0) / 2;
+
+    float l0 = fast_sqrtf(((m0x - m2x) * (m0x - m2x)) + ((m0y - m2y) * (m0y - m2y)));
+    float l1 = fast_sqrtf(((m1x - m3x) * (m1x - m3x)) + ((m1y - m3y) * (m1y - m3y)));
+
+    if (l0 < l1) {
+        return mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(m0x),
+                                                  mp_obj_new_int(m0y),
+                                                  mp_obj_new_int(m2x),
+                                                  mp_obj_new_int(m2y)});
+    } else {
+        return mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(m1x),
+                                                  mp_obj_new_int(m1y),
+                                                  mp_obj_new_int(m3x),
+                                                  mp_obj_new_int(m3y)});
+    }
+}
+mp_obj_t py_blob_enclosing_circle(mp_obj_t self_in) {
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(((py_blob_obj_t *) self_in)->min_corners, 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    int cx = (x0 + x1 + x2 + x3) / 4;
+    int cy = (y0 + y1 + y2 + y3) / 4;
+
+    float d0 = fast_sqrtf(((x0 - cx) * (x0 - cx)) + ((y0 - cy) * (y0 - cy)));
+    float d1 = fast_sqrtf(((x1 - cx) * (x1 - cx)) + ((y1 - cy) * (y1 - cy)));
+    float d2 = fast_sqrtf(((x2 - cx) * (x2 - cx)) + ((y2 - cy) * (y2 - cy)));
+    float d3 = fast_sqrtf(((x3 - cx) * (x3 - cx)) + ((y3 - cy) * (y3 - cy)));
+    float d = IM_MAX(d0, IM_MAX(d1, IM_MAX(d2, d3)));
+
+    return mp_obj_new_tuple(3, (mp_obj_t []) {mp_obj_new_int(cx),
+                                              mp_obj_new_int(cy),
+                                              mp_obj_new_int(fast_roundf(d))});
+}
+mp_obj_t py_blob_enclosed_ellipse(mp_obj_t self_in) {
+    mp_obj_t *corners, *p0, *p1, *p2, *p3;
+    mp_obj_get_array_fixed_n(((py_blob_obj_t *) self_in)->min_corners, 4, &corners);
+    mp_obj_get_array_fixed_n(corners[0], 2, &p0);
+    mp_obj_get_array_fixed_n(corners[1], 2, &p1);
+    mp_obj_get_array_fixed_n(corners[2], 2, &p2);
+    mp_obj_get_array_fixed_n(corners[3], 2, &p3);
+
+    int x0, y0, x1, y1, x2, y2, x3, y3;
+    x0 = mp_obj_get_int(p0[0]);
+    y0 = mp_obj_get_int(p0[1]);
+    x1 = mp_obj_get_int(p1[0]);
+    y1 = mp_obj_get_int(p1[1]);
+    x2 = mp_obj_get_int(p2[0]);
+    y2 = mp_obj_get_int(p2[1]);
+    x3 = mp_obj_get_int(p3[0]);
+    y3 = mp_obj_get_int(p3[1]);
+
+    int m0x = (x0 + x1) / 2;
+    int m0y = (y0 + y1) / 2;
+    int m1x = (x1 + x2) / 2;
+    int m1y = (y1 + y2) / 2;
+    int m2x = (x2 + x3) / 2;
+    int m2y = (y2 + y3) / 2;
+    int m3x = (x3 + x0) / 2;
+    int m3y = (y3 + y0) / 2;
+
+    int cx = (x0 + x1 + x2 + x3) / 4;
+    int cy = (y0 + y1 + y2 + y3) / 4;
+
+    float d0 = fast_sqrtf(((m0x - cx) * (m0x - cx)) + ((m0y - cy) * (m0y - cy)));
+    float d1 = fast_sqrtf(((m1x - cx) * (m1x - cx)) + ((m1y - cy) * (m1y - cy)));
+    float d2 = fast_sqrtf(((m2x - cx) * (m2x - cx)) + ((m2y - cy) * (m2y - cy)));
+    float d3 = fast_sqrtf(((m3x - cx) * (m3x - cx)) + ((m3y - cy) * (m3y - cy)));
+    float a = IM_MIN(d0, d2);
+    float b = IM_MIN(d1, d3);
+
+    float l0 = fast_sqrtf(((m0x - m2x) * (m0x - m2x)) + ((m0y - m2y) * (m0y - m2y)));
+    float l1 = fast_sqrtf(((m1x - m3x) * (m1x - m3x)) + ((m1y - m3y) * (m1y - m3y)));
+
+    float r;
+
+    if (l0 >= l1) {
+        r = IM_RAD2DEG(fast_atan2f(m0y - m2y, m0x - m2x));
+    } else {
+        r = IM_RAD2DEG(fast_atan2f(m1y - m3y, m1x - m3x) + M_PI_2);
+    }
+
+    return mp_obj_new_tuple(5, (mp_obj_t []) {mp_obj_new_int(cx),
+                                              mp_obj_new_int(cy),
+                                              mp_obj_new_int(a),
+                                              mp_obj_new_int(b),
+                                              mp_obj_new_int(r)});
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_corners_obj, py_blob_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_min_corners_obj, py_blob_min_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_rect_obj, py_blob_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_x_obj, py_blob_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_y_obj, py_blob_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_w_obj, py_blob_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_h_obj, py_blob_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_pixels_obj, py_blob_pixels);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cx_obj, py_blob_cx);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cxf_obj, py_blob_cxf);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cy_obj, py_blob_cy);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_cyf_obj, py_blob_cyf);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_rotation_obj, py_blob_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_rotation_deg_obj, py_blob_rotation_deg);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_rotation_rad_obj, py_blob_rotation_rad);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_code_obj, py_blob_code);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_count_obj, py_blob_count);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_perimeter_obj, py_blob_perimeter);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_roundness_obj, py_blob_roundness);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_elongation_obj, py_blob_elongation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_area_obj, py_blob_area);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_density_obj, py_blob_density);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_compactness_obj, py_blob_compactness);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_solidity_obj, py_blob_solidity);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_convexity_obj, py_blob_convexity);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_x_hist_bins_obj, py_blob_x_hist_bins);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_y_hist_bins_obj, py_blob_y_hist_bins);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_major_axis_line_obj, py_blob_major_axis_line);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_minor_axis_line_obj, py_blob_minor_axis_line);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_enclosing_circle_obj, py_blob_enclosing_circle);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_blob_enclosed_ellipse_obj, py_blob_enclosed_ellipse);
+
+STATIC const mp_rom_map_elem_t py_blob_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_corners), MP_ROM_PTR(&py_blob_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_min_corners), MP_ROM_PTR(&py_blob_min_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_blob_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_blob_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_blob_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_blob_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_blob_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_pixels), MP_ROM_PTR(&py_blob_pixels_obj) },
+    { MP_ROM_QSTR(MP_QSTR_cx), MP_ROM_PTR(&py_blob_cx_obj) },
+    { MP_ROM_QSTR(MP_QSTR_cxf), MP_ROM_PTR(&py_blob_cxf_obj) },
+    { MP_ROM_QSTR(MP_QSTR_cy), MP_ROM_PTR(&py_blob_cy_obj) },
+    { MP_ROM_QSTR(MP_QSTR_cyf), MP_ROM_PTR(&py_blob_cyf_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation), MP_ROM_PTR(&py_blob_rotation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation_deg), MP_ROM_PTR(&py_blob_rotation_deg_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation_rad), MP_ROM_PTR(&py_blob_rotation_rad_obj) },
+    { MP_ROM_QSTR(MP_QSTR_code), MP_ROM_PTR(&py_blob_code_obj) },
+    { MP_ROM_QSTR(MP_QSTR_count), MP_ROM_PTR(&py_blob_count_obj) },
+    { MP_ROM_QSTR(MP_QSTR_perimeter), MP_ROM_PTR(&py_blob_perimeter_obj) },
+    { MP_ROM_QSTR(MP_QSTR_roundness), MP_ROM_PTR(&py_blob_roundness_obj) },
+    { MP_ROM_QSTR(MP_QSTR_elongation), MP_ROM_PTR(&py_blob_elongation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_area), MP_ROM_PTR(&py_blob_area_obj) } ,
+    { MP_ROM_QSTR(MP_QSTR_density), MP_ROM_PTR(&py_blob_density_obj) },
+    { MP_ROM_QSTR(MP_QSTR_extent), MP_ROM_PTR(&py_blob_density_obj) },
+    { MP_ROM_QSTR(MP_QSTR_compactness), MP_ROM_PTR(&py_blob_compactness_obj) },
+    { MP_ROM_QSTR(MP_QSTR_solidity), MP_ROM_PTR(&py_blob_solidity_obj) },
+    { MP_ROM_QSTR(MP_QSTR_convexity), MP_ROM_PTR(&py_blob_convexity_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x_hist_bins), MP_ROM_PTR(&py_blob_x_hist_bins_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y_hist_bins), MP_ROM_PTR(&py_blob_y_hist_bins_obj) },
+    { MP_ROM_QSTR(MP_QSTR_major_axis_line), MP_ROM_PTR(&py_blob_major_axis_line_obj) },
+    { MP_ROM_QSTR(MP_QSTR_minor_axis_line), MP_ROM_PTR(&py_blob_minor_axis_line_obj) },
+    { MP_ROM_QSTR(MP_QSTR_enclosing_circle), MP_ROM_PTR(&py_blob_enclosing_circle_obj) },
+    { MP_ROM_QSTR(MP_QSTR_enclosed_ellipse), MP_ROM_PTR(&py_blob_enclosed_ellipse_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_blob_locals_dict, py_blob_locals_dict_table);
+
+static const mp_obj_type_t py_blob_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_blob,
+    .print = py_blob_print,
+    .subscr = py_blob_subscr,
+    .locals_dict = (mp_obj_t) &py_blob_locals_dict
+};
+
+static bool py_image_find_blobs_threshold_cb(void *fun_obj, find_blobs_list_lnk_data_t *blob)
+{
+    py_blob_obj_t *o = m_new_obj(py_blob_obj_t);
+    o->base.type = &py_blob_type;
+    o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+        {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x),
+                                            mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].x),
+                                            mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x),
+                                            mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].x),
+                                            mp_obj_new_int(blob->corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y)})});
+    point_t min_corners[4];
+    point_min_area_rectangle(blob->corners, min_corners, FIND_BLOBS_CORNERS_RESOLUTION);
+    o->min_corners = mp_obj_new_tuple(4, (mp_obj_t [])
+        {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[0].x), mp_obj_new_int(min_corners[0].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[1].x), mp_obj_new_int(min_corners[1].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[2].x), mp_obj_new_int(min_corners[2].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[3].x), mp_obj_new_int(min_corners[3].y)})});
+    o->x = mp_obj_new_int(blob->rect.x);
+    o->y = mp_obj_new_int(blob->rect.y);
+    o->w = mp_obj_new_int(blob->rect.w);
+    o->h = mp_obj_new_int(blob->rect.h);
+    o->pixels = mp_obj_new_int(blob->pixels);
+    o->cx = mp_obj_new_float(blob->centroid_x);
+    o->cy = mp_obj_new_float(blob->centroid_y);
+    o->rotation = mp_obj_new_float(blob->rotation);
+    o->code = mp_obj_new_int(blob->code);
+    o->count = mp_obj_new_int(blob->count);
+    o->perimeter = mp_obj_new_int(blob->perimeter);
+    o->roundness = mp_obj_new_float(blob->roundness);
+    o->x_hist_bins = mp_obj_new_list(blob->x_hist_bins_count, NULL);
+    o->y_hist_bins = mp_obj_new_list(blob->y_hist_bins_count, NULL);
+
+    for (int i = 0; i < blob->x_hist_bins_count; i++) {
+        ((mp_obj_list_t *) o->x_hist_bins)->items[i] = mp_obj_new_int(blob->x_hist_bins[i]);
+    }
+
+    for (int i = 0; i < blob->y_hist_bins_count; i++) {
+        ((mp_obj_list_t *) o->y_hist_bins)->items[i] = mp_obj_new_int(blob->y_hist_bins[i]);
+    }
+
+    return mp_obj_is_true(mp_call_function_1(fun_obj, o));
+}
+
+static bool py_image_find_blobs_merge_cb(void *fun_obj, find_blobs_list_lnk_data_t *blob0, find_blobs_list_lnk_data_t *blob1)
+{
+    py_blob_obj_t *o0 = m_new_obj(py_blob_obj_t);
+    o0->base.type = &py_blob_type;
+    o0->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+        {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x),
+                                            mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].x),
+                                            mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x),
+                                            mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].x),
+                                            mp_obj_new_int(blob0->corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y)})});
+    point_t min_area_rect_corners0[4];
+    point_min_area_rectangle(blob0->corners, min_area_rect_corners0, FIND_BLOBS_CORNERS_RESOLUTION);
+    o0->min_corners = mp_obj_new_tuple(4, (mp_obj_t [])
+        {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners0[0].x), mp_obj_new_int(min_area_rect_corners0[0].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners0[1].x), mp_obj_new_int(min_area_rect_corners0[1].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners0[2].x), mp_obj_new_int(min_area_rect_corners0[2].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners0[3].x), mp_obj_new_int(min_area_rect_corners0[3].y)})});
+    o0->x = mp_obj_new_int(blob0->rect.x);
+    o0->y = mp_obj_new_int(blob0->rect.y);
+    o0->w = mp_obj_new_int(blob0->rect.w);
+    o0->h = mp_obj_new_int(blob0->rect.h);
+    o0->pixels = mp_obj_new_int(blob0->pixels);
+    o0->cx = mp_obj_new_float(blob0->centroid_x);
+    o0->cy = mp_obj_new_float(blob0->centroid_y);
+    o0->rotation = mp_obj_new_float(blob0->rotation);
+    o0->code = mp_obj_new_int(blob0->code);
+    o0->count = mp_obj_new_int(blob0->count);
+    o0->perimeter = mp_obj_new_int(blob0->perimeter);
+    o0->roundness = mp_obj_new_float(blob0->roundness);
+    o0->x_hist_bins = mp_obj_new_list(blob0->x_hist_bins_count, NULL);
+    o0->y_hist_bins = mp_obj_new_list(blob0->y_hist_bins_count, NULL);
+
+    for (int i = 0; i < blob0->x_hist_bins_count; i++) {
+        ((mp_obj_list_t *) o0->x_hist_bins)->items[i] = mp_obj_new_int(blob0->x_hist_bins[i]);
+    }
+
+    for (int i = 0; i < blob0->y_hist_bins_count; i++) {
+        ((mp_obj_list_t *) o0->y_hist_bins)->items[i] = mp_obj_new_int(blob0->y_hist_bins[i]);
+    }
+
+    py_blob_obj_t *o1 = m_new_obj(py_blob_obj_t);
+    o1->base.type = &py_blob_type;
+    o1->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+        {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x),
+                                            mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].x),
+                                            mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x),
+                                            mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].x),
+                                            mp_obj_new_int(blob1->corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y)})});
+    point_t min_area_rect_corners1[4];
+    point_min_area_rectangle(blob1->corners, min_area_rect_corners1, FIND_BLOBS_CORNERS_RESOLUTION);
+    o1->min_corners = mp_obj_new_tuple(4, (mp_obj_t [])
+        {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners1[0].x), mp_obj_new_int(min_area_rect_corners1[0].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners1[1].x), mp_obj_new_int(min_area_rect_corners1[1].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners1[2].x), mp_obj_new_int(min_area_rect_corners1[2].y)}),
+         mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_area_rect_corners1[3].x), mp_obj_new_int(min_area_rect_corners1[3].y)})});
+    o1->x = mp_obj_new_int(blob1->rect.x);
+    o1->y = mp_obj_new_int(blob1->rect.y);
+    o1->w = mp_obj_new_int(blob1->rect.w);
+    o1->h = mp_obj_new_int(blob1->rect.h);
+    o1->pixels = mp_obj_new_int(blob1->pixels);
+    o1->cx = mp_obj_new_float(blob1->centroid_x);
+    o1->cy = mp_obj_new_float(blob1->centroid_y);
+    o1->rotation = mp_obj_new_float(blob1->rotation);
+    o1->code = mp_obj_new_int(blob1->code);
+    o1->count = mp_obj_new_int(blob1->count);
+    o1->perimeter = mp_obj_new_int(blob1->perimeter);
+    o1->roundness = mp_obj_new_float(blob1->roundness);
+    o1->x_hist_bins = mp_obj_new_list(blob1->x_hist_bins_count, NULL);
+    o1->y_hist_bins = mp_obj_new_list(blob1->y_hist_bins_count, NULL);
+
+    for (int i = 0; i < blob1->x_hist_bins_count; i++) {
+        ((mp_obj_list_t *) o1->x_hist_bins)->items[i] = mp_obj_new_int(blob1->x_hist_bins[i]);
+    }
+
+    for (int i = 0; i < blob1->y_hist_bins_count; i++) {
+        ((mp_obj_list_t *) o1->y_hist_bins)->items[i] = mp_obj_new_int(blob1->y_hist_bins[i]);
+    }
+
+    return mp_obj_is_true(mp_call_function_2(fun_obj, o0, o1));
+}
+
+static mp_obj_t py_image_find_blobs(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    list_t thresholds;
+    list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    py_helper_arg_to_thresholds(args[1], &thresholds);
+    if (!list_size(&thresholds)) return mp_obj_new_list(0, NULL);
+    bool invert = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 3, kw_args, &roi);
+
+    unsigned int x_stride =
+        py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_stride), 2);
+    PY_ASSERT_TRUE_MSG(x_stride > 0, "x_stride must not be zero.");
+    unsigned int y_stride =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_stride), 1);
+    PY_ASSERT_TRUE_MSG(y_stride > 0, "y_stride must not be zero.");
+    unsigned int area_threshold =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_area_threshold), 10);
+    unsigned int pixels_threshold =
+        py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_pixels_threshold), 10);
+    bool merge =
+        py_helper_keyword_int(n_args, args, 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_merge), false);
+    int margin =
+        py_helper_keyword_int(n_args, args, 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_margin), 0);
+    mp_obj_t threshold_cb =
+        py_helper_keyword_object(n_args, args, 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold_cb), NULL);
+    mp_obj_t merge_cb =
+        py_helper_keyword_object(n_args, args, 11, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_merge_cb), NULL);
+    unsigned int x_hist_bins_max =
+        py_helper_keyword_int(n_args, args, 12, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_hist_bins_max), 0);
+    unsigned int y_hist_bins_max =
+        py_helper_keyword_int(n_args, args, 13, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_hist_bins_max), 0);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_blobs(&out, arg_img, &roi, x_stride, y_stride, &thresholds, invert,
+            area_threshold, pixels_threshold, merge, margin,
+            py_image_find_blobs_threshold_cb, threshold_cb, py_image_find_blobs_merge_cb, merge_cb, x_hist_bins_max, y_hist_bins_max);
+    fb_alloc_free_till_mark();
+    list_free(&thresholds);
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_blobs_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_blob_obj_t *o = m_new_obj(py_blob_obj_t);
+        o->base.type = &py_blob_type;
+        o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x),
+                                                mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].x),
+                                                mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x),
+                                                mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].x),
+                                                mp_obj_new_int(lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y)})});
+        point_t min_corners[4];
+        point_min_area_rectangle(lnk_data.corners, min_corners, FIND_BLOBS_CORNERS_RESOLUTION);
+        o->min_corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[0].x), mp_obj_new_int(min_corners[0].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[1].x), mp_obj_new_int(min_corners[1].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[2].x), mp_obj_new_int(min_corners[2].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(min_corners[3].x), mp_obj_new_int(min_corners[3].y)})});
+        o->x = mp_obj_new_int(lnk_data.rect.x);
+        o->y = mp_obj_new_int(lnk_data.rect.y);
+        o->w = mp_obj_new_int(lnk_data.rect.w);
+        o->h = mp_obj_new_int(lnk_data.rect.h);
+        o->pixels = mp_obj_new_int(lnk_data.pixels);
+        o->cx = mp_obj_new_float(lnk_data.centroid_x);
+        o->cy = mp_obj_new_float(lnk_data.centroid_y);
+        o->rotation = mp_obj_new_float(lnk_data.rotation);
+        o->code = mp_obj_new_int(lnk_data.code);
+        o->count = mp_obj_new_int(lnk_data.count);
+        o->perimeter = mp_obj_new_int(lnk_data.perimeter);
+        o->roundness = mp_obj_new_float(lnk_data.roundness);
+        o->x_hist_bins = mp_obj_new_list(lnk_data.x_hist_bins_count, NULL);
+        o->y_hist_bins = mp_obj_new_list(lnk_data.y_hist_bins_count, NULL);
+
+        for (int i = 0; i < lnk_data.x_hist_bins_count; i++) {
+            ((mp_obj_list_t *) o->x_hist_bins)->items[i] = mp_obj_new_int(lnk_data.x_hist_bins[i]);
+        }
+
+        for (int i = 0; i < lnk_data.y_hist_bins_count; i++) {
+            ((mp_obj_list_t *) o->y_hist_bins)->items[i] = mp_obj_new_int(lnk_data.y_hist_bins[i]);
+        }
+
+        objects_list->items[i] = o;
+        if (lnk_data.x_hist_bins) xfree(lnk_data.x_hist_bins);
+        if (lnk_data.y_hist_bins) xfree(lnk_data.y_hist_bins);
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_blobs_obj, 2, py_image_find_blobs);
+
+#ifdef IMLIB_ENABLE_FIND_LINES
+static mp_obj_t py_image_find_lines(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    unsigned int x_stride = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_stride), 2);
+    PY_ASSERT_TRUE_MSG(x_stride > 0, "x_stride must not be zero.");
+    unsigned int y_stride = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_stride), 1);
+    PY_ASSERT_TRUE_MSG(y_stride > 0, "y_stride must not be zero.");
+    uint32_t threshold = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 1000);
+    unsigned int theta_margin = py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_theta_margin), 25);
+    unsigned int rho_margin = py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rho_margin), 25);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_lines(&out, arg_img, &roi, x_stride, y_stride, threshold, theta_margin, rho_margin);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_lines_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_line_obj_t *o = m_new_obj(py_line_obj_t);
+        o->base.type = &py_line_type;
+        o->x1 = mp_obj_new_int(lnk_data.line.x1);
+        o->y1 = mp_obj_new_int(lnk_data.line.y1);
+        o->x2 = mp_obj_new_int(lnk_data.line.x2);
+        o->y2 = mp_obj_new_int(lnk_data.line.y2);
+        int x_diff = lnk_data.line.x2 - lnk_data.line.x1;
+        int y_diff = lnk_data.line.y2 - lnk_data.line.y1;
+        o->length = mp_obj_new_int(fast_roundf(fast_sqrtf((x_diff * x_diff) + (y_diff * y_diff))));
+        o->magnitude = mp_obj_new_int(lnk_data.magnitude);
+        o->theta = mp_obj_new_int(lnk_data.theta);
+        o->rho = mp_obj_new_int(lnk_data.rho);
+
+        objects_list->items[i] = o;
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_lines_obj, 1, py_image_find_lines);
+#endif // IMLIB_ENABLE_FIND_LINES
+
+#ifdef IMLIB_ENABLE_FIND_LINE_SEGMENTS
+static mp_obj_t py_image_find_line_segments(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    unsigned int merge_distance = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_merge_distance), 0);
+    unsigned int max_theta_diff = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_max_theta_diff), 15);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_lsd_find_line_segments(&out, arg_img, &roi, merge_distance, max_theta_diff);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_lines_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_line_obj_t *o = m_new_obj(py_line_obj_t);
+        o->base.type = &py_line_type;
+        o->x1 = mp_obj_new_int(lnk_data.line.x1);
+        o->y1 = mp_obj_new_int(lnk_data.line.y1);
+        o->x2 = mp_obj_new_int(lnk_data.line.x2);
+        o->y2 = mp_obj_new_int(lnk_data.line.y2);
+        int x_diff = lnk_data.line.x2 - lnk_data.line.x1;
+        int y_diff = lnk_data.line.y2 - lnk_data.line.y1;
+        o->length = mp_obj_new_int(fast_roundf(fast_sqrtf((x_diff * x_diff) + (y_diff * y_diff))));
+        o->magnitude = mp_obj_new_int(lnk_data.magnitude);
+        o->theta = mp_obj_new_int(lnk_data.theta);
+        o->rho = mp_obj_new_int(lnk_data.rho);
+
+        objects_list->items[i] = o;
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_line_segments_obj, 1, py_image_find_line_segments);
+#endif // IMLIB_ENABLE_FIND_LINE_SEGMENTS
+
+#ifdef IMLIB_ENABLE_FIND_CIRCLES
+// Circle Object //
+#define py_circle_obj_size 4
+typedef struct py_circle_obj {
+    mp_obj_base_t base;
+    mp_obj_t x, y, r, magnitude;
+} py_circle_obj_t;
+
+static void py_circle_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_circle_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"r\":%d, \"magnitude\":%d}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->r),
+              mp_obj_get_int(self->magnitude));
+}
+
+static mp_obj_t py_circle_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_circle_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_circle_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_circle_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->r;
+            case 3: return self->magnitude;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_circle_circle(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(3, (mp_obj_t []) {((py_circle_obj_t *) self_in)->x,
+                                              ((py_circle_obj_t *) self_in)->y,
+                                              ((py_circle_obj_t *) self_in)->r});
+}
+
+mp_obj_t py_circle_x(mp_obj_t self_in) { return ((py_circle_obj_t *) self_in)->x; }
+mp_obj_t py_circle_y(mp_obj_t self_in) { return ((py_circle_obj_t *) self_in)->y; }
+mp_obj_t py_circle_r(mp_obj_t self_in) { return ((py_circle_obj_t *) self_in)->r; }
+mp_obj_t py_circle_magnitude(mp_obj_t self_in) { return ((py_circle_obj_t *) self_in)->magnitude; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_circle_circle_obj, py_circle_circle);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_circle_x_obj, py_circle_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_circle_y_obj, py_circle_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_circle_r_obj, py_circle_r);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_circle_magnitude_obj, py_circle_magnitude);
+
+STATIC const mp_rom_map_elem_t py_circle_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_circle), MP_ROM_PTR(&py_circle_circle_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_circle_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_circle_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_r), MP_ROM_PTR(&py_circle_r_obj) },
+    { MP_ROM_QSTR(MP_QSTR_magnitude), MP_ROM_PTR(&py_circle_magnitude_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_circle_locals_dict, py_circle_locals_dict_table);
+
+static const mp_obj_type_t py_circle_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_circle,
+    .print = py_circle_print,
+    .subscr = py_circle_subscr,
+    .locals_dict = (mp_obj_t) &py_circle_locals_dict
+};
+
+static mp_obj_t py_image_find_circles(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    unsigned int x_stride = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_stride), 2);
+    PY_ASSERT_TRUE_MSG(x_stride > 0, "x_stride must not be zero.");
+    unsigned int y_stride = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_stride), 1);
+    PY_ASSERT_TRUE_MSG(y_stride > 0, "y_stride must not be zero.");
+    uint32_t threshold = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 2000);
+    unsigned int x_margin = py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_margin), 10);
+    unsigned int y_margin = py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_margin), 10);
+    unsigned int r_margin = py_helper_keyword_int(n_args, args, 7, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_r_margin), 10);
+    unsigned int r_min = IM_MAX(py_helper_keyword_int(n_args, args, 8, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_r_min),
+            2), 2);
+    unsigned int r_max = IM_MIN(py_helper_keyword_int(n_args, args, 9, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_r_max),
+            IM_MIN((roi.w / 2), (roi.h / 2))), IM_MIN((roi.w / 2), (roi.h / 2)));
+    unsigned int r_step = py_helper_keyword_int(n_args, args, 10, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_r_step), 2);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_circles(&out, arg_img, &roi, x_stride, y_stride, threshold, x_margin, y_margin, r_margin,
+                       r_min, r_max, r_step);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_circles_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_circle_obj_t *o = m_new_obj(py_circle_obj_t);
+        o->base.type = &py_circle_type;
+        o->x = mp_obj_new_int(lnk_data.p.x);
+        o->y = mp_obj_new_int(lnk_data.p.y);
+        o->r = mp_obj_new_int(lnk_data.r);
+        o->magnitude = mp_obj_new_int(lnk_data.magnitude);
+
+        objects_list->items[i] = o;
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_circles_obj, 1, py_image_find_circles);
+#endif // IMLIB_ENABLE_FIND_CIRCLES
+
+#ifdef IMLIB_ENABLE_FIND_RECTS
+// Rect Object //
+#define py_rect_obj_size 5
+typedef struct py_rect_obj {
+    mp_obj_base_t base;
+    mp_obj_t corners;
+    mp_obj_t x, y, w, h, magnitude;
+} py_rect_obj_t;
+
+static void py_rect_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_rect_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"magnitude\":%d}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h),
+              mp_obj_get_int(self->magnitude));
+}
+
+static mp_obj_t py_rect_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_rect_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_rect_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_rect_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->magnitude;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_rect_corners(mp_obj_t self_in) { return ((py_rect_obj_t *) self_in)->corners; }
+mp_obj_t py_rect_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_rect_obj_t *) self_in)->x,
+                                              ((py_rect_obj_t *) self_in)->y,
+                                              ((py_rect_obj_t *) self_in)->w,
+                                              ((py_rect_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_rect_x(mp_obj_t self_in) { return ((py_rect_obj_t *) self_in)->x; }
+mp_obj_t py_rect_y(mp_obj_t self_in) { return ((py_rect_obj_t *) self_in)->y; }
+mp_obj_t py_rect_w(mp_obj_t self_in) { return ((py_rect_obj_t *) self_in)->w; }
+mp_obj_t py_rect_h(mp_obj_t self_in) { return ((py_rect_obj_t *) self_in)->h; }
+mp_obj_t py_rect_magnitude(mp_obj_t self_in) { return ((py_rect_obj_t *) self_in)->magnitude; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_corners_obj, py_rect_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_rect_obj, py_rect_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_x_obj, py_rect_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_y_obj, py_rect_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_w_obj, py_rect_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_h_obj, py_rect_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_rect_magnitude_obj, py_rect_magnitude);
+
+STATIC const mp_rom_map_elem_t py_rect_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_corners), MP_ROM_PTR(&py_rect_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_rect_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_rect_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_rect_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_rect_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_rect_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_magnitude), MP_ROM_PTR(&py_rect_magnitude_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_rect_locals_dict, py_rect_locals_dict_table);
+
+static const mp_obj_type_t py_rect_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_rect,
+    .print = py_rect_print,
+    .subscr = py_rect_subscr,
+    .locals_dict = (mp_obj_t) &py_rect_locals_dict
+};
+
+static mp_obj_t py_image_find_rects(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    uint32_t threshold = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 1000);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_rects(&out, arg_img, &roi, threshold);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_rects_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_rect_obj_t *o = m_new_obj(py_rect_obj_t);
+        o->base.type = &py_rect_type;
+        o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[0].x), mp_obj_new_int(lnk_data.corners[0].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[1].x), mp_obj_new_int(lnk_data.corners[1].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[2].x), mp_obj_new_int(lnk_data.corners[2].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[3].x), mp_obj_new_int(lnk_data.corners[3].y)})});
+        o->x = mp_obj_new_int(lnk_data.rect.x);
+        o->y = mp_obj_new_int(lnk_data.rect.y);
+        o->w = mp_obj_new_int(lnk_data.rect.w);
+        o->h = mp_obj_new_int(lnk_data.rect.h);
+        o->magnitude = mp_obj_new_int(lnk_data.magnitude);
+
+        objects_list->items[i] = o;
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_rects_obj, 1, py_image_find_rects);
+#endif // IMLIB_ENABLE_FIND_RECTS
+
+#ifdef IMLIB_ENABLE_QRCODES
+// QRCode Object //
+#define py_qrcode_obj_size 10
+typedef struct py_qrcode_obj {
+    mp_obj_base_t base;
+    mp_obj_t corners;
+    mp_obj_t x, y, w, h, payload, version, ecc_level, mask, data_type, eci;
+} py_qrcode_obj_t;
+
+static void py_qrcode_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_qrcode_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"payload\":\"%s\","
+              " \"version\":%d, \"ecc_level\":%d, \"mask\":%d, \"data_type\":%d, \"eci\":%d}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h),
+              mp_obj_str_get_str(self->payload),
+              mp_obj_get_int(self->version),
+              mp_obj_get_int(self->ecc_level),
+              mp_obj_get_int(self->mask),
+              mp_obj_get_int(self->data_type),
+              mp_obj_get_int(self->eci));
+}
+
+static mp_obj_t py_qrcode_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_qrcode_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_qrcode_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_qrcode_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->payload;
+            case 5: return self->version;
+            case 6: return self->ecc_level;
+            case 7: return self->mask;
+            case 8: return self->data_type;
+            case 9: return self->eci;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_qrcode_corners(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->corners; }
+mp_obj_t py_qrcode_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_qrcode_obj_t *) self_in)->x,
+                                              ((py_qrcode_obj_t *) self_in)->y,
+                                              ((py_qrcode_obj_t *) self_in)->w,
+                                              ((py_qrcode_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_qrcode_x(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->x; }
+mp_obj_t py_qrcode_y(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->y; }
+mp_obj_t py_qrcode_w(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->w; }
+mp_obj_t py_qrcode_h(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->h; }
+mp_obj_t py_qrcode_payload(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->payload; }
+mp_obj_t py_qrcode_version(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->version; }
+mp_obj_t py_qrcode_ecc_level(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->ecc_level; }
+mp_obj_t py_qrcode_mask(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->mask; }
+mp_obj_t py_qrcode_data_type(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->data_type; }
+mp_obj_t py_qrcode_eci(mp_obj_t self_in) { return ((py_qrcode_obj_t *) self_in)->eci; }
+mp_obj_t py_qrcode_is_numeric(mp_obj_t self_in) { return mp_obj_new_bool(mp_obj_get_int(((py_qrcode_obj_t *) self_in)->data_type) == 1); }
+mp_obj_t py_qrcode_is_alphanumeric(mp_obj_t self_in) { return mp_obj_new_bool(mp_obj_get_int(((py_qrcode_obj_t *) self_in)->data_type) == 2); }
+mp_obj_t py_qrcode_is_binary(mp_obj_t self_in) { return mp_obj_new_bool(mp_obj_get_int(((py_qrcode_obj_t *) self_in)->data_type) == 4); }
+mp_obj_t py_qrcode_is_kanji(mp_obj_t self_in) { return mp_obj_new_bool(mp_obj_get_int(((py_qrcode_obj_t *) self_in)->data_type) == 8); }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_corners_obj, py_qrcode_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_rect_obj, py_qrcode_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_x_obj, py_qrcode_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_y_obj, py_qrcode_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_w_obj, py_qrcode_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_h_obj, py_qrcode_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_payload_obj, py_qrcode_payload);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_version_obj, py_qrcode_version);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_ecc_level_obj, py_qrcode_ecc_level);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_mask_obj, py_qrcode_mask);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_data_type_obj, py_qrcode_data_type);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_eci_obj, py_qrcode_eci);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_is_numeric_obj, py_qrcode_is_numeric);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_is_alphanumeric_obj, py_qrcode_is_alphanumeric);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_is_binary_obj, py_qrcode_is_binary);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_qrcode_is_kanji_obj, py_qrcode_is_kanji);
+
+STATIC const mp_rom_map_elem_t py_qrcode_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_corners), MP_ROM_PTR(&py_qrcode_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_qrcode_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_qrcode_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_qrcode_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_qrcode_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_qrcode_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_payload), MP_ROM_PTR(&py_qrcode_payload_obj) },
+    { MP_ROM_QSTR(MP_QSTR_version), MP_ROM_PTR(&py_qrcode_version_obj) },
+    { MP_ROM_QSTR(MP_QSTR_ecc_level), MP_ROM_PTR(&py_qrcode_ecc_level_obj) },
+    { MP_ROM_QSTR(MP_QSTR_mask), MP_ROM_PTR(&py_qrcode_mask_obj) },
+    { MP_ROM_QSTR(MP_QSTR_data_type), MP_ROM_PTR(&py_qrcode_data_type_obj) },
+    { MP_ROM_QSTR(MP_QSTR_eci), MP_ROM_PTR(&py_qrcode_eci_obj) },
+    { MP_ROM_QSTR(MP_QSTR_is_numeric), MP_ROM_PTR(&py_qrcode_is_numeric_obj) },
+    { MP_ROM_QSTR(MP_QSTR_is_alphanumeric), MP_ROM_PTR(&py_qrcode_is_alphanumeric_obj) },
+    { MP_ROM_QSTR(MP_QSTR_is_binary), MP_ROM_PTR(&py_qrcode_is_binary_obj) },
+    { MP_ROM_QSTR(MP_QSTR_is_kanji), MP_ROM_PTR(&py_qrcode_is_kanji_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_qrcode_locals_dict, py_qrcode_locals_dict_table);
+
+static const mp_obj_type_t py_qrcode_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_qrcode,
+    .print = py_qrcode_print,
+    .subscr = py_qrcode_subscr,
+    .locals_dict = (mp_obj_t) &py_qrcode_locals_dict
+};
+
+static mp_obj_t py_image_find_qrcodes(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_qrcodes(&out, arg_img, &roi);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_qrcodes_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_qrcode_obj_t *o = m_new_obj(py_qrcode_obj_t);
+        o->base.type = &py_qrcode_type;
+        o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[0].x), mp_obj_new_int(lnk_data.corners[0].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[1].x), mp_obj_new_int(lnk_data.corners[1].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[2].x), mp_obj_new_int(lnk_data.corners[2].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[3].x), mp_obj_new_int(lnk_data.corners[3].y)})});
+        o->x = mp_obj_new_int(lnk_data.rect.x);
+        o->y = mp_obj_new_int(lnk_data.rect.y);
+        o->w = mp_obj_new_int(lnk_data.rect.w);
+        o->h = mp_obj_new_int(lnk_data.rect.h);
+        o->payload = mp_obj_new_str(lnk_data.payload, lnk_data.payload_len);
+        o->version = mp_obj_new_int(lnk_data.version);
+        o->ecc_level = mp_obj_new_int(lnk_data.ecc_level);
+        o->mask = mp_obj_new_int(lnk_data.mask);
+        o->data_type = mp_obj_new_int(lnk_data.data_type);
+        o->eci = mp_obj_new_int(lnk_data.eci);
+
+        objects_list->items[i] = o;
+        xfree(lnk_data.payload);
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_qrcodes_obj, 1, py_image_find_qrcodes);
+#endif // IMLIB_ENABLE_QRCODES
+
+#ifdef IMLIB_ENABLE_APRILTAGS
+// AprilTag Object //
+#define py_apriltag_obj_size 18
+typedef struct py_apriltag_obj {
+    mp_obj_base_t base;
+    mp_obj_t corners;
+    mp_obj_t x, y, w, h, id, family, cx, cy, rotation, decision_margin, hamming, goodness;
+    mp_obj_t x_translation, y_translation, z_translation;
+    mp_obj_t x_rotation, y_rotation, z_rotation;
+} py_apriltag_obj_t;
+
+static void py_apriltag_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_apriltag_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"id\":%d,"
+              " \"family\":%d, \"cx\":%d, \"cy\":%d, \"rotation\":%f, \"decision_margin\":%f, \"hamming\":%d, \"goodness\":%f,"
+              " \"x_translation\":%f, \"y_translation\":%f, \"z_translation\":%f,"
+              " \"x_rotation\":%f, \"y_rotation\":%f, \"z_rotation\":%f}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h),
+              mp_obj_get_int(self->id),
+              mp_obj_get_int(self->family),
+              mp_obj_get_int(self->cx),
+              mp_obj_get_int(self->cy),
+              (double) mp_obj_get_float(self->rotation),
+              (double) mp_obj_get_float(self->decision_margin),
+              mp_obj_get_int(self->hamming),
+              (double) mp_obj_get_float(self->goodness),
+              (double) mp_obj_get_float(self->x_translation),
+              (double) mp_obj_get_float(self->y_translation),
+              (double) mp_obj_get_float(self->z_translation),
+              (double) mp_obj_get_float(self->x_rotation),
+              (double) mp_obj_get_float(self->y_rotation),
+              (double) mp_obj_get_float(self->z_rotation));
+}
+
+static mp_obj_t py_apriltag_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_apriltag_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_apriltag_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_apriltag_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->id;
+            case 5: return self->family;
+            case 6: return self->cx;
+            case 7: return self->cy;
+            case 8: return self->rotation;
+            case 9: return self->decision_margin;
+            case 10: return self->hamming;
+            case 11: return self->goodness;
+            case 12: return self->x_translation;
+            case 13: return self->y_translation;
+            case 14: return self->z_translation;
+            case 15: return self->x_rotation;
+            case 16: return self->y_rotation;
+            case 17: return self->z_rotation;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_apriltag_corners(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->corners; }
+mp_obj_t py_apriltag_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_apriltag_obj_t *) self_in)->x,
+                                              ((py_apriltag_obj_t *) self_in)->y,
+                                              ((py_apriltag_obj_t *) self_in)->w,
+                                              ((py_apriltag_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_apriltag_x(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->x; }
+mp_obj_t py_apriltag_y(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->y; }
+mp_obj_t py_apriltag_w(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->w; }
+mp_obj_t py_apriltag_h(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->h; }
+mp_obj_t py_apriltag_id(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->id; }
+mp_obj_t py_apriltag_family(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->family; }
+mp_obj_t py_apriltag_cx(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->cx; }
+mp_obj_t py_apriltag_cy(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->cy; }
+mp_obj_t py_apriltag_rotation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->rotation; }
+mp_obj_t py_apriltag_decision_margin(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->decision_margin; }
+mp_obj_t py_apriltag_hamming(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->hamming; }
+mp_obj_t py_apriltag_goodness(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->goodness; }
+mp_obj_t py_apriltag_x_translation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->x_translation; }
+mp_obj_t py_apriltag_y_translation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->y_translation; }
+mp_obj_t py_apriltag_z_translation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->z_translation; }
+mp_obj_t py_apriltag_x_rotation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->x_rotation; }
+mp_obj_t py_apriltag_y_rotation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->y_rotation; }
+mp_obj_t py_apriltag_z_rotation(mp_obj_t self_in) { return ((py_apriltag_obj_t *) self_in)->z_rotation; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_corners_obj, py_apriltag_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_rect_obj, py_apriltag_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_x_obj, py_apriltag_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_y_obj, py_apriltag_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_w_obj, py_apriltag_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_h_obj, py_apriltag_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_id_obj, py_apriltag_id);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_family_obj, py_apriltag_family);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_cx_obj, py_apriltag_cx);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_cy_obj, py_apriltag_cy);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_rotation_obj, py_apriltag_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_decision_margin_obj, py_apriltag_decision_margin);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_hamming_obj, py_apriltag_hamming);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_goodness_obj, py_apriltag_goodness);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_x_translation_obj, py_apriltag_x_translation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_y_translation_obj, py_apriltag_y_translation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_z_translation_obj, py_apriltag_z_translation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_x_rotation_obj, py_apriltag_x_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_y_rotation_obj, py_apriltag_y_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_apriltag_z_rotation_obj, py_apriltag_z_rotation);
+
+STATIC const mp_rom_map_elem_t py_apriltag_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_corners), MP_ROM_PTR(&py_apriltag_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_apriltag_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_apriltag_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_apriltag_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_apriltag_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_apriltag_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_id), MP_ROM_PTR(&py_apriltag_id_obj) },
+    { MP_ROM_QSTR(MP_QSTR_family), MP_ROM_PTR(&py_apriltag_family_obj) },
+    { MP_ROM_QSTR(MP_QSTR_cx), MP_ROM_PTR(&py_apriltag_cx_obj) },
+    { MP_ROM_QSTR(MP_QSTR_cy), MP_ROM_PTR(&py_apriltag_cy_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation), MP_ROM_PTR(&py_apriltag_rotation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_decision_margin), MP_ROM_PTR(&py_apriltag_decision_margin_obj) },
+    { MP_ROM_QSTR(MP_QSTR_hamming), MP_ROM_PTR(&py_apriltag_hamming_obj) },
+    { MP_ROM_QSTR(MP_QSTR_goodness), MP_ROM_PTR(&py_apriltag_goodness_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x_translation), MP_ROM_PTR(&py_apriltag_x_translation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y_translation), MP_ROM_PTR(&py_apriltag_y_translation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_z_translation), MP_ROM_PTR(&py_apriltag_z_translation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x_rotation), MP_ROM_PTR(&py_apriltag_x_rotation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y_rotation), MP_ROM_PTR(&py_apriltag_y_rotation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_z_rotation), MP_ROM_PTR(&py_apriltag_z_rotation_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_apriltag_locals_dict, py_apriltag_locals_dict_table);
+
+static const mp_obj_type_t py_apriltag_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_apriltag,
+    .print = py_apriltag_print,
+    .subscr = py_apriltag_subscr,
+    .locals_dict = (mp_obj_t) &py_apriltag_locals_dict
+};
+
+static mp_obj_t py_image_find_apriltags(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+#ifndef IMLIB_ENABLE_HIGH_RES_APRILTAGS
+    PY_ASSERT_TRUE_MSG((roi.w * roi.h) < 65536, "The maximum supported resolution for find_apriltags() is < 64K pixels.");
+#endif
+    if ((roi.w < 4) || (roi.h < 4)) {
+        return mp_obj_new_list(0, NULL);
+    }
+
+    apriltag_families_t families = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_families), TAG36H11);
+    // 2.8mm Focal Length w/ OV7725 sensor for reference.
+    float fx = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fx), (2.8 / 3.984) * arg_img->w);
+    // 2.8mm Focal Length w/ OV7725 sensor for reference.
+    float fy = py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fy), (2.8 / 2.952) * arg_img->h);
+    // Use the image versus the roi here since the image should be projected from the camera center.
+    float cx = py_helper_keyword_float(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_cx), arg_img->w * 0.5);
+    // Use the image versus the roi here since the image should be projected from the camera center.
+    float cy = py_helper_keyword_float(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_cy), arg_img->h * 0.5);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_apriltags(&out, arg_img, &roi, families, fx, fy, cx, cy);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_apriltags_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_apriltag_obj_t *o = m_new_obj(py_apriltag_obj_t);
+        o->base.type = &py_apriltag_type;
+        o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[0].x), mp_obj_new_int(lnk_data.corners[0].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[1].x), mp_obj_new_int(lnk_data.corners[1].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[2].x), mp_obj_new_int(lnk_data.corners[2].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[3].x), mp_obj_new_int(lnk_data.corners[3].y)})});
+        o->x = mp_obj_new_int(lnk_data.rect.x);
+        o->y = mp_obj_new_int(lnk_data.rect.y);
+        o->w = mp_obj_new_int(lnk_data.rect.w);
+        o->h = mp_obj_new_int(lnk_data.rect.h);
+        o->id = mp_obj_new_int(lnk_data.id);
+        o->family = mp_obj_new_int(lnk_data.family);
+        o->cx = mp_obj_new_int(lnk_data.centroid.x);
+        o->cy = mp_obj_new_int(lnk_data.centroid.y);
+        o->rotation = mp_obj_new_float(lnk_data.z_rotation);
+        o->decision_margin = mp_obj_new_float(lnk_data.decision_margin);
+        o->hamming = mp_obj_new_int(lnk_data.hamming);
+        o->goodness = mp_obj_new_float(lnk_data.goodness);
+        o->x_translation = mp_obj_new_float(lnk_data.x_translation);
+        o->y_translation = mp_obj_new_float(lnk_data.y_translation);
+        o->z_translation = mp_obj_new_float(lnk_data.z_translation);
+        o->x_rotation = mp_obj_new_float(lnk_data.x_rotation);
+        o->y_rotation = mp_obj_new_float(lnk_data.y_rotation);
+        o->z_rotation = mp_obj_new_float(lnk_data.z_rotation);
+
+        objects_list->items[i] = o;
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_apriltags_obj, 1, py_image_find_apriltags);
+#endif // IMLIB_ENABLE_APRILTAGS
+
+#ifdef IMLIB_ENABLE_DATAMATRICES
+// DataMatrix Object //
+#define py_datamatrix_obj_size 10
+typedef struct py_datamatrix_obj {
+    mp_obj_base_t base;
+    mp_obj_t corners;
+    mp_obj_t x, y, w, h, payload, rotation, rows, columns, capacity, padding;
+} py_datamatrix_obj_t;
+
+static void py_datamatrix_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_datamatrix_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"payload\":\"%s\","
+              " \"rotation\":%f, \"rows\":%d, \"columns\":%d, \"capacity\":%d, \"padding\":%d}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h),
+              mp_obj_str_get_str(self->payload),
+              (double) mp_obj_get_float(self->rotation),
+              mp_obj_get_int(self->rows),
+              mp_obj_get_int(self->columns),
+              mp_obj_get_int(self->capacity),
+              mp_obj_get_int(self->padding));
+}
+
+static mp_obj_t py_datamatrix_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_datamatrix_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_datamatrix_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_datamatrix_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->payload;
+            case 5: return self->rotation;
+            case 6: return self->rows;
+            case 7: return self->columns;
+            case 8: return self->capacity;
+            case 9: return self->padding;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_datamatrix_corners(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->corners; }
+mp_obj_t py_datamatrix_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_datamatrix_obj_t *) self_in)->x,
+                                              ((py_datamatrix_obj_t *) self_in)->y,
+                                              ((py_datamatrix_obj_t *) self_in)->w,
+                                              ((py_datamatrix_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_datamatrix_x(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->x; }
+mp_obj_t py_datamatrix_y(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->y; }
+mp_obj_t py_datamatrix_w(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->w; }
+mp_obj_t py_datamatrix_h(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->h; }
+mp_obj_t py_datamatrix_payload(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->payload; }
+mp_obj_t py_datamatrix_rotation(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->rotation; }
+mp_obj_t py_datamatrix_rows(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->rows; }
+mp_obj_t py_datamatrix_columns(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->columns; }
+mp_obj_t py_datamatrix_capacity(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->capacity; }
+mp_obj_t py_datamatrix_padding(mp_obj_t self_in) { return ((py_datamatrix_obj_t *) self_in)->padding; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_corners_obj, py_datamatrix_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_rect_obj, py_datamatrix_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_x_obj, py_datamatrix_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_y_obj, py_datamatrix_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_w_obj, py_datamatrix_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_h_obj, py_datamatrix_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_payload_obj, py_datamatrix_payload);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_rotation_obj, py_datamatrix_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_rows_obj, py_datamatrix_rows);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_columns_obj, py_datamatrix_columns);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_capacity_obj, py_datamatrix_capacity);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_datamatrix_padding_obj, py_datamatrix_padding);
+
+STATIC const mp_rom_map_elem_t py_datamatrix_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_corners), MP_ROM_PTR(&py_datamatrix_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_datamatrix_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_datamatrix_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_datamatrix_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_datamatrix_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_datamatrix_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_payload), MP_ROM_PTR(&py_datamatrix_payload_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation), MP_ROM_PTR(&py_datamatrix_rotation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rows), MP_ROM_PTR(&py_datamatrix_rows_obj) },
+    { MP_ROM_QSTR(MP_QSTR_columns), MP_ROM_PTR(&py_datamatrix_columns_obj) },
+    { MP_ROM_QSTR(MP_QSTR_capacity), MP_ROM_PTR(&py_datamatrix_capacity_obj) },
+    { MP_ROM_QSTR(MP_QSTR_padding), MP_ROM_PTR(&py_datamatrix_padding_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_datamatrix_locals_dict, py_datamatrix_locals_dict_table);
+
+static const mp_obj_type_t py_datamatrix_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_datamatrix,
+    .print = py_datamatrix_print,
+    .subscr = py_datamatrix_subscr,
+    .locals_dict = (mp_obj_t) &py_datamatrix_locals_dict
+};
+
+static mp_obj_t py_image_find_datamatrices(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    int effort = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_effort), 200);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_datamatrices(&out, arg_img, &roi, effort);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_datamatrices_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_datamatrix_obj_t *o = m_new_obj(py_datamatrix_obj_t);
+        o->base.type = &py_datamatrix_type;
+        o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[0].x), mp_obj_new_int(lnk_data.corners[0].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[1].x), mp_obj_new_int(lnk_data.corners[1].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[2].x), mp_obj_new_int(lnk_data.corners[2].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[3].x), mp_obj_new_int(lnk_data.corners[3].y)})});
+        o->x = mp_obj_new_int(lnk_data.rect.x);
+        o->y = mp_obj_new_int(lnk_data.rect.y);
+        o->w = mp_obj_new_int(lnk_data.rect.w);
+        o->h = mp_obj_new_int(lnk_data.rect.h);
+        o->payload = mp_obj_new_str(lnk_data.payload, lnk_data.payload_len);
+        o->rotation = mp_obj_new_float(IM_DEG2RAD(lnk_data.rotation));
+        o->rows = mp_obj_new_int(lnk_data.rows);
+        o->columns = mp_obj_new_int(lnk_data.columns);
+        o->capacity = mp_obj_new_int(lnk_data.capacity);
+        o->padding = mp_obj_new_int(lnk_data.padding);
+
+        objects_list->items[i] = o;
+        xfree(lnk_data.payload);
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_datamatrices_obj, 1, py_image_find_datamatrices);
+#endif // IMLIB_ENABLE_DATAMATRICES
+
+#ifdef IMLIB_ENABLE_BARCODES
+// BarCode Object //
+#define py_barcode_obj_size 8
+typedef struct py_barcode_obj {
+    mp_obj_base_t base;
+    mp_obj_t corners;
+    mp_obj_t x, y, w, h, payload, type, rotation, quality;
+} py_barcode_obj_t;
+
+static void py_barcode_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_barcode_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"payload\":\"%s\","
+              " \"type\":%d, \"rotation\":%f, \"quality\":%d}",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h),
+              mp_obj_str_get_str(self->payload),
+              mp_obj_get_int(self->type),
+              (double) mp_obj_get_float(self->rotation),
+              mp_obj_get_int(self->quality));
+}
+
+static mp_obj_t py_barcode_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_barcode_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_barcode_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_barcode_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->payload;
+            case 5: return self->type;
+            case 6: return self->rotation;
+            case 7: return self->quality;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_barcode_corners(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->corners; }
+mp_obj_t py_barcode_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_barcode_obj_t *) self_in)->x,
+                                              ((py_barcode_obj_t *) self_in)->y,
+                                              ((py_barcode_obj_t *) self_in)->w,
+                                              ((py_barcode_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_barcode_x(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->x; }
+mp_obj_t py_barcode_y(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->y; }
+mp_obj_t py_barcode_w(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->w; }
+mp_obj_t py_barcode_h(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->h; }
+mp_obj_t py_barcode_payload_fun(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->payload; }
+mp_obj_t py_barcode_type_fun(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->type; }
+mp_obj_t py_barcode_rotation_fun(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->rotation; }
+mp_obj_t py_barcode_quality_fun(mp_obj_t self_in) { return ((py_barcode_obj_t *) self_in)->quality; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_corners_obj, py_barcode_corners);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_rect_obj, py_barcode_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_x_obj, py_barcode_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_y_obj, py_barcode_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_w_obj, py_barcode_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_h_obj, py_barcode_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_payload_fun_obj, py_barcode_payload_fun);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_type_fun_obj, py_barcode_type_fun);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_rotation_fun_obj, py_barcode_rotation_fun);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_barcode_quality_fun_obj, py_barcode_quality_fun);
+
+STATIC const mp_rom_map_elem_t py_barcode_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_corners), MP_ROM_PTR(&py_barcode_corners_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_barcode_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_barcode_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_barcode_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_barcode_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_barcode_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_payload), MP_ROM_PTR(&py_barcode_payload_fun_obj) },
+    { MP_ROM_QSTR(MP_QSTR_type), MP_ROM_PTR(&py_barcode_type_fun_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation), MP_ROM_PTR(&py_barcode_rotation_fun_obj) },
+    { MP_ROM_QSTR(MP_QSTR_quality), MP_ROM_PTR(&py_barcode_quality_fun_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_barcode_locals_dict, py_barcode_locals_dict_table);
+
+static const mp_obj_type_t py_barcode_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_barcode,
+    .print = py_barcode_print,
+    .subscr = py_barcode_subscr,
+    .locals_dict = (mp_obj_t) &py_barcode_locals_dict
+};
+
+static mp_obj_t py_image_find_barcodes(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_image_cobj(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_barcodes(&out, arg_img, &roi);
+    fb_alloc_free_till_mark();
+
+    mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+    for (size_t i = 0; list_size(&out); i++) {
+        find_barcodes_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+
+        py_barcode_obj_t *o = m_new_obj(py_barcode_obj_t);
+        o->base.type = &py_barcode_type;
+        o->corners = mp_obj_new_tuple(4, (mp_obj_t [])
+            {mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[0].x), mp_obj_new_int(lnk_data.corners[0].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[1].x), mp_obj_new_int(lnk_data.corners[1].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[2].x), mp_obj_new_int(lnk_data.corners[2].y)}),
+             mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_int(lnk_data.corners[3].x), mp_obj_new_int(lnk_data.corners[3].y)})});
+        o->x = mp_obj_new_int(lnk_data.rect.x);
+        o->y = mp_obj_new_int(lnk_data.rect.y);
+        o->w = mp_obj_new_int(lnk_data.rect.w);
+        o->h = mp_obj_new_int(lnk_data.rect.h);
+        o->payload = mp_obj_new_str(lnk_data.payload, lnk_data.payload_len);
+        o->type = mp_obj_new_int(lnk_data.type);
+        o->rotation = mp_obj_new_float(IM_DEG2RAD(lnk_data.rotation));
+        o->quality = mp_obj_new_int(lnk_data.quality);
+
+        objects_list->items[i] = o;
+        xfree(lnk_data.payload);
+    }
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_barcodes_obj, 1, py_image_find_barcodes);
+#endif // IMLIB_ENABLE_BARCODES
+
+#ifdef IMLIB_ENABLE_FIND_DISPLACEMENT
+// Displacement Object //
+#define py_displacement_obj_size 5
+typedef struct py_displacement_obj {
+    mp_obj_base_t base;
+    mp_obj_t x_translation, y_translation, rotation, scale, response;
+} py_displacement_obj_t;
+
+static void py_displacement_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_displacement_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x_translation\":%f, \"y_translation\":%f, \"rotation\":%f, \"scale\":%f, \"response\":%f}",
+              (double) mp_obj_get_float(self->x_translation),
+              (double) mp_obj_get_float(self->y_translation),
+              (double) mp_obj_get_float(self->rotation),
+              (double) mp_obj_get_float(self->scale),
+              (double) mp_obj_get_float(self->response));
+}
+
+static mp_obj_t py_displacement_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_displacement_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_displacement_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x_translation) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_displacement_obj_size, index, false)) {
+            case 0: return self->x_translation;
+            case 1: return self->y_translation;
+            case 2: return self->rotation;
+            case 3: return self->scale;
+            case 4: return self->response;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_displacement_x_translation(mp_obj_t self_in) { return ((py_displacement_obj_t *) self_in)->x_translation; }
+mp_obj_t py_displacement_y_translation(mp_obj_t self_in) { return ((py_displacement_obj_t *) self_in)->y_translation; }
+mp_obj_t py_displacement_rotation(mp_obj_t self_in) { return ((py_displacement_obj_t *) self_in)->rotation; }
+mp_obj_t py_displacement_scale(mp_obj_t self_in) { return ((py_displacement_obj_t *) self_in)->scale; }
+mp_obj_t py_displacement_response(mp_obj_t self_in) { return ((py_displacement_obj_t *) self_in)->response; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_displacement_x_translation_obj, py_displacement_x_translation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_displacement_y_translation_obj, py_displacement_y_translation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_displacement_rotation_obj, py_displacement_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_displacement_scale_obj, py_displacement_scale);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_displacement_response_obj, py_displacement_response);
+
+STATIC const mp_rom_map_elem_t py_displacement_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_x_translation), MP_ROM_PTR(&py_displacement_x_translation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y_translation), MP_ROM_PTR(&py_displacement_y_translation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_rotation), MP_ROM_PTR(&py_displacement_rotation_obj) },
+    { MP_ROM_QSTR(MP_QSTR_scale), MP_ROM_PTR(&py_displacement_scale_obj) },
+    { MP_ROM_QSTR(MP_QSTR_response), MP_ROM_PTR(&py_displacement_response_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_displacement_locals_dict, py_displacement_locals_dict_table);
+
+static const mp_obj_type_t py_displacement_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_displacement,
+    .print = py_displacement_print,
+    .subscr = py_displacement_subscr,
+    .locals_dict = (mp_obj_t) &py_displacement_locals_dict
+};
+
+static mp_obj_t py_image_find_displacement(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+    image_t *arg_template_img = py_helper_arg_to_image_mutable(args[1]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 2, kw_args, &roi);
+
+    rectangle_t template_roi;
+    py_helper_keyword_rectangle(arg_template_img, n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_template_roi), &template_roi);
+
+    PY_ASSERT_FALSE_MSG((roi.w != template_roi.w) || (roi.h != template_roi.h), "ROI(w,h) != TEMPLATE_ROI(w,h)");
+
+    bool logpolar = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_logpolar), false);
+    bool fix_rotation_scale = py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_fix_rotation_scale), false);
+
+    float x, y, r, s, response;
+    fb_alloc_mark();
+    imlib_phasecorrelate(arg_img, arg_template_img, &roi, &template_roi, logpolar, fix_rotation_scale, &x, &y, &r, &s, &response);
+    fb_alloc_free_till_mark();
+
+    py_displacement_obj_t *o = m_new_obj(py_displacement_obj_t);
+    o->base.type = &py_displacement_type;
+    o->x_translation = mp_obj_new_float(x);
+    o->y_translation = mp_obj_new_float(y);
+    o->rotation = mp_obj_new_float(r);
+    o->scale = mp_obj_new_float(s);
+    o->response = mp_obj_new_float(response);
+
+    return o;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_displacement_obj, 2, py_image_find_displacement);
+#endif // IMLIB_ENABLE_FIND_DISPLACEMENT
+
+#ifdef IMLIB_FIND_TEMPLATE
+static mp_obj_t py_image_find_template(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_grayscale(args[0]);
+    image_t *arg_template = py_helper_arg_to_image_grayscale(args[1]);
+    float arg_thresh = mp_obj_get_float(args[2]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 3, kw_args, &roi);
+
+    // Make sure ROI is bigger than or equal to template size
+    PY_ASSERT_TRUE_MSG((roi.w >= arg_template->w && roi.h >= arg_template->h),
+            "Region of interest is smaller than template!");
+
+    // Make sure ROI is smaller than or equal to image size
+    PY_ASSERT_TRUE_MSG(((roi.x + roi.w) <= arg_img->w && (roi.y + roi.h) <= arg_img->h),
+            "Region of interest is bigger than image!");
+
+    int step = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_step), 2);
+    int search = py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_search), SEARCH_EX);
+
+    // Find template
+    rectangle_t r;
+    float corr;
+    fb_alloc_mark();
+    if (search == SEARCH_DS) {
+        corr = imlib_template_match_ds(arg_img, arg_template, &r);
+    } else {
+        corr = imlib_template_match_ex(arg_img, arg_template, &roi, step, &r);
+    }
+    fb_alloc_free_till_mark();
+
+    if (corr > arg_thresh) {
+        mp_obj_t rec_obj[4] = {
+            mp_obj_new_int(r.x),
+            mp_obj_new_int(r.y),
+            mp_obj_new_int(r.w),
+            mp_obj_new_int(r.h)
+        };
+        return mp_obj_new_tuple(4, rec_obj);
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_template_obj, 3, py_image_find_template);
+#endif // IMLIB_FIND_TEMPLATE
+
+static mp_obj_t py_image_find_features(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+    cascade_t *cascade = py_cascade_cobj(args[1]);
+    cascade->threshold = py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 0.5f);
+    cascade->scale_factor = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale_factor), 1.5f);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 4, kw_args, &roi);
+
+    // Make sure ROI is bigger than feature size
+    PY_ASSERT_TRUE_MSG((roi.w > cascade->window.w && roi.h > cascade->window.h),
+            "Region of interest is smaller than detector window!");
+
+    // Detect objects
+    fb_alloc_mark();
+    array_t *objects_array = imlib_detect_objects(arg_img, cascade, &roi);
+    fb_alloc_free_till_mark();
+
+    // Add detected objects to a new Python list...
+    mp_obj_t objects_list = mp_obj_new_list(0, NULL);
+    for (int i=0; i<array_length(objects_array); i++) {
+        rectangle_t *r = array_at(objects_array, i);
+        mp_obj_t rec_obj[4] = {
+            mp_obj_new_int(r->x),
+            mp_obj_new_int(r->y),
+            mp_obj_new_int(r->w),
+            mp_obj_new_int(r->h),
+        };
+        mp_obj_list_append(objects_list, mp_obj_new_tuple(4, rec_obj));
+    }
+    array_free(objects_array);
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_features_obj, 2, py_image_find_features);
+
+static mp_obj_t py_image_find_eye(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_grayscale(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    point_t iris;
+    imlib_find_iris(arg_img, &iris, &roi);
+
+    mp_obj_t eye_obj[2] = {
+        mp_obj_new_int(iris.x),
+        mp_obj_new_int(iris.y),
+    };
+
+    return mp_obj_new_tuple(2, eye_obj);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_eye_obj, 2, py_image_find_eye);
+
+#ifdef IMLIB_ENABLE_FIND_LBP
+static mp_obj_t py_image_find_lbp(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_grayscale(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    py_lbp_obj_t *lbp_obj = m_new_obj(py_lbp_obj_t);
+    lbp_obj->base.type = &py_lbp_type;
+    lbp_obj->hist = imlib_lbp_desc(arg_img, &roi);
+    return lbp_obj;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_lbp_obj, 2, py_image_find_lbp);
+#endif // IMLIB_ENABLE_FIND_LBP
+
+#ifdef IMLIB_ENABLE_FIND_KEYPOINTS
+static mp_obj_t py_image_find_keypoints(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_mutable(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    int threshold =
+        py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 20);
+    bool normalized =
+        py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_normalized), false);
+    float scale_factor =
+        py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale_factor), 1.5f);
+    int max_keypoints =
+        py_helper_keyword_int(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_max_keypoints), 100);
+    corner_detector_t corner_detector =
+        py_helper_keyword_int(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_corner_detector), CORNER_AGAST);
+
+    #ifndef IMLIB_ENABLE_FAST
+    // Force AGAST when FAST is disabled.
+    corner_detector = CORNER_AGAST;
+    #endif
+
+    // Find keypoints
+    fb_alloc_mark();
+    array_t *kpts = orb_find_keypoints(arg_img, normalized, threshold, scale_factor, max_keypoints, corner_detector, &roi);
+    fb_alloc_free_till_mark();
+
+    if (array_length(kpts)) {
+        py_kp_obj_t *kp_obj = m_new_obj(py_kp_obj_t);
+        kp_obj->base.type = &py_kp_type;
+        kp_obj->kpts = kpts;
+        kp_obj->threshold = threshold;
+        kp_obj->normalized = normalized;
+        return kp_obj;
+    }
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_keypoints_obj, 1, py_image_find_keypoints);
+#endif // IMLIB_ENABLE_FIND_KEYPOINTS
+
+#ifdef IMLIB_ENABLE_BINARY_OPS
+static mp_obj_t py_image_find_edges(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_grayscale(args[0]);
+    edge_detector_t edge_type = mp_obj_get_int(args[1]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 2, kw_args, &roi);
+
+    int thresh[2] = {100, 200};
+    mp_obj_t thresh_obj = py_helper_keyword_object(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), NULL);
+
+    if (thresh_obj) {
+        mp_obj_t *thresh_array;
+        mp_obj_get_array_fixed_n(thresh_obj, 2, &thresh_array);
+        thresh[0] = mp_obj_get_int(thresh_array[0]);
+        thresh[1] = mp_obj_get_int(thresh_array[1]);
+    }
+
+    switch (edge_type) {
+        case EDGE_SIMPLE: {
+            fb_alloc_mark();
+            imlib_edge_simple(arg_img, &roi, thresh[0], thresh[1]);
+            fb_alloc_free_till_mark();
+            break;
+        }
+        case EDGE_CANNY: {
+            fb_alloc_mark();
+            imlib_edge_canny(arg_img, &roi, thresh[0], thresh[1]);
+            fb_alloc_free_till_mark();
+            break;
+        }
+
+    }
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_edges_obj, 2, py_image_find_edges);
+#endif
+
+#ifdef IMLIB_ENABLE_HOG
+static mp_obj_t py_image_find_hog(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *arg_img = py_helper_arg_to_image_grayscale(args[0]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 1, kw_args, &roi);
+
+    int size = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_size), 8);
+
+    fb_alloc_mark();
+    imlib_find_hog(arg_img, &roi, size);
+    fb_alloc_free_till_mark();
+
+    return args[0];
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_find_hog_obj, 1, py_image_find_hog);
+#endif // IMLIB_ENABLE_HOG
+
+#ifdef IMLIB_ENABLE_SELECTIVE_SEARCH
+static mp_obj_t py_image_selective_search(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    image_t *img = py_helper_arg_to_image_mutable(args[0]);
+    int t = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 500);
+    int s = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_size), 20);
+    float a1 = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_a1), 1.0f);
+    float a2 = py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_a1), 1.0f);
+    float a3 = py_helper_keyword_float(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_a1), 1.0f);
+    array_t *proposals_array = imlib_selective_search(img, t, s, a1, a2, a3);
+
+    // Add proposals to a new Python list...
+    mp_obj_t proposals_list = mp_obj_new_list(0, NULL);
+    for (int i=0; i<array_length(proposals_array); i++) {
+        rectangle_t *r = array_at(proposals_array, i);
+        mp_obj_t rec_obj[4] = {
+            mp_obj_new_int(r->x),
+            mp_obj_new_int(r->y),
+            mp_obj_new_int(r->w),
+            mp_obj_new_int(r->h),
+        };
+        mp_obj_list_append(proposals_list, mp_obj_new_tuple(4, rec_obj));
+    }
+
+    array_free(proposals_array);
+    return proposals_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_selective_search_obj, 1, py_image_selective_search);
+#endif // IMLIB_ENABLE_SELECTIVE_SEARCH
+
+static const mp_rom_map_elem_t locals_dict_table[] = {
+    /* Basic Methods */
+    {MP_ROM_QSTR(MP_QSTR_width),               MP_ROM_PTR(&py_image_width_obj)},
+    {MP_ROM_QSTR(MP_QSTR_height),              MP_ROM_PTR(&py_image_height_obj)},
+    {MP_ROM_QSTR(MP_QSTR_format),              MP_ROM_PTR(&py_image_format_obj)},
+    {MP_ROM_QSTR(MP_QSTR_size),                MP_ROM_PTR(&py_image_size_obj)},
+    {MP_ROM_QSTR(MP_QSTR_bytearray),           MP_ROM_PTR(&py_image_bytearray_obj)},
+    {MP_ROM_QSTR(MP_QSTR_get_pixel),           MP_ROM_PTR(&py_image_get_pixel_obj)},
+    {MP_ROM_QSTR(MP_QSTR_set_pixel),           MP_ROM_PTR(&py_image_set_pixel_obj)},
+#ifdef IMLIB_ENABLE_MEAN_POOLING
+    {MP_ROM_QSTR(MP_QSTR_mean_pool),           MP_ROM_PTR(&py_image_mean_pool_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mean_pooled),         MP_ROM_PTR(&py_image_mean_pooled_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_mean_pool),           MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mean_pooled),         MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_MIDPOINT_POOLING
+    {MP_ROM_QSTR(MP_QSTR_midpoint_pool),       MP_ROM_PTR(&py_image_midpoint_pool_obj)},
+    {MP_ROM_QSTR(MP_QSTR_midpoint_pooled),     MP_ROM_PTR(&py_image_midpoint_pooled_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_midpoint_pool),       MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_midpoint_pooled),     MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+    {MP_ROM_QSTR(MP_QSTR_to_bitmap),           MP_ROM_PTR(&py_image_to_bitmap_obj)},
+    {MP_ROM_QSTR(MP_QSTR_to_grayscale),        MP_ROM_PTR(&py_image_to_grayscale_obj)},
+    {MP_ROM_QSTR(MP_QSTR_to_rgb565),           MP_ROM_PTR(&py_image_to_rgb565_obj)},
+    {MP_ROM_QSTR(MP_QSTR_to_rainbow),          MP_ROM_PTR(&py_image_to_rainbow_obj)},
+    {MP_ROM_QSTR(MP_QSTR_compress),            MP_ROM_PTR(&py_image_compress_obj)},
+    {MP_ROM_QSTR(MP_QSTR_compress_for_ide),    MP_ROM_PTR(&py_image_compress_for_ide_obj)},
+    {MP_ROM_QSTR(MP_QSTR_compressed),          MP_ROM_PTR(&py_image_compressed_obj)},
+    {MP_ROM_QSTR(MP_QSTR_compressed_for_ide),  MP_ROM_PTR(&py_image_compressed_for_ide_obj)},
+    {MP_ROM_QSTR(MP_QSTR_jpeg_encode_for_ide), MP_ROM_PTR(&py_image_jpeg_encode_for_ide_obj)},
+    {MP_ROM_QSTR(MP_QSTR_jpeg_encoded_for_ide),MP_ROM_PTR(&py_image_jpeg_encoded_for_ide_obj)},
+    {MP_ROM_QSTR(MP_QSTR_copy),                MP_ROM_PTR(&py_image_copy_obj)},
+    {MP_ROM_QSTR(MP_QSTR_crop),                MP_ROM_PTR(&py_image_crop_obj)},
+    {MP_ROM_QSTR(MP_QSTR_scale),               MP_ROM_PTR(&py_image_crop_obj)},
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    {MP_ROM_QSTR(MP_QSTR_save),                MP_ROM_PTR(&py_image_save_obj)},
+    #else
+    {MP_ROM_QSTR(MP_QSTR_save),                MP_ROM_PTR(&py_func_unavailable_obj)},
+    #endif
+    {MP_ROM_QSTR(MP_QSTR_flush),               MP_ROM_PTR(&py_image_flush_obj)},
+    /* Drawing Methods */
+    {MP_ROM_QSTR(MP_QSTR_clear),               MP_ROM_PTR(&py_image_clear_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_line),           MP_ROM_PTR(&py_image_draw_line_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_rectangle),      MP_ROM_PTR(&py_image_draw_rectangle_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_circle),         MP_ROM_PTR(&py_image_draw_circle_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_ellipse),        MP_ROM_PTR(&py_image_draw_ellipse_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_string),         MP_ROM_PTR(&py_image_draw_string_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_cross),          MP_ROM_PTR(&py_image_draw_cross_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_arrow),          MP_ROM_PTR(&py_image_draw_arrow_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_edges),          MP_ROM_PTR(&py_image_draw_edges_obj)},
+    {MP_ROM_QSTR(MP_QSTR_draw_image),          MP_ROM_PTR(&py_image_draw_image_obj)},
+#ifdef IMLIB_ENABLE_FLOOD_FILL
+    {MP_ROM_QSTR(MP_QSTR_flood_fill),          MP_ROM_PTR(&py_image_flood_fill_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_flood_fill),          MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+    {MP_ROM_QSTR(MP_QSTR_draw_keypoints),      MP_ROM_PTR(&py_image_draw_keypoints_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mask_rectangle),      MP_ROM_PTR(&py_image_mask_rectangle_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mask_circle),         MP_ROM_PTR(&py_image_mask_circle_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mask_ellipse),        MP_ROM_PTR(&py_image_mask_ellipse_obj)},
+    /* Binary Methods */
+#ifdef IMLIB_ENABLE_BINARY_OPS
+    {MP_ROM_QSTR(MP_QSTR_binary),              MP_ROM_PTR(&py_image_binary_obj)},
+    {MP_ROM_QSTR(MP_QSTR_invert),              MP_ROM_PTR(&py_image_invert_obj)},
+    {MP_ROM_QSTR(MP_QSTR_and),                 MP_ROM_PTR(&py_image_b_and_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_and),               MP_ROM_PTR(&py_image_b_and_obj)},
+    {MP_ROM_QSTR(MP_QSTR_nand),                MP_ROM_PTR(&py_image_b_nand_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_nand),              MP_ROM_PTR(&py_image_b_nand_obj)},
+    {MP_ROM_QSTR(MP_QSTR_or),                  MP_ROM_PTR(&py_image_b_or_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_or),                MP_ROM_PTR(&py_image_b_or_obj)},
+    {MP_ROM_QSTR(MP_QSTR_nor),                 MP_ROM_PTR(&py_image_b_nor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_nor),               MP_ROM_PTR(&py_image_b_nor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_xor),                 MP_ROM_PTR(&py_image_b_xor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_xor),               MP_ROM_PTR(&py_image_b_xor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_xnor),                MP_ROM_PTR(&py_image_b_xnor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_xnor),              MP_ROM_PTR(&py_image_b_xnor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_erode),               MP_ROM_PTR(&py_image_erode_obj)},
+    {MP_ROM_QSTR(MP_QSTR_dilate),              MP_ROM_PTR(&py_image_dilate_obj)},
+    {MP_ROM_QSTR(MP_QSTR_open),                MP_ROM_PTR(&py_image_open_obj)},
+    {MP_ROM_QSTR(MP_QSTR_close),               MP_ROM_PTR(&py_image_close_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_binary),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_invert),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_and),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_and),               MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_nand),                MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_nand),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_or),                  MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_or),                MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_nor),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_nor),               MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_xor),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_xor),               MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_xnor),                MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_b_xnor),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_erode),               MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_dilate),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_open),                MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_close),               MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_MATH_OPS
+    /* Math Methods */
+    {MP_ROM_QSTR(MP_QSTR_gamma_corr),          MP_ROM_PTR(&py_image_gamma_corr_obj)},
+    {MP_ROM_QSTR(MP_QSTR_negate),              MP_ROM_PTR(&py_image_negate_obj)},
+    {MP_ROM_QSTR(MP_QSTR_assign),              MP_ROM_PTR(&py_image_replace_obj)},
+    {MP_ROM_QSTR(MP_QSTR_replace),             MP_ROM_PTR(&py_image_replace_obj)},
+    {MP_ROM_QSTR(MP_QSTR_set),                 MP_ROM_PTR(&py_image_replace_obj)},
+    {MP_ROM_QSTR(MP_QSTR_add),                 MP_ROM_PTR(&py_image_add_obj)},
+    {MP_ROM_QSTR(MP_QSTR_sub),                 MP_ROM_PTR(&py_image_sub_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mul),                 MP_ROM_PTR(&py_image_mul_obj)},
+    {MP_ROM_QSTR(MP_QSTR_div),                 MP_ROM_PTR(&py_image_div_obj)},
+    {MP_ROM_QSTR(MP_QSTR_min),                 MP_ROM_PTR(&py_image_min_obj)},
+    {MP_ROM_QSTR(MP_QSTR_max),                 MP_ROM_PTR(&py_image_max_obj)},
+    {MP_ROM_QSTR(MP_QSTR_difference),          MP_ROM_PTR(&py_image_difference_obj)},
+    {MP_ROM_QSTR(MP_QSTR_blend),               MP_ROM_PTR(&py_image_blend_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_negate),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_assign),              MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_replace),             MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_set),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_add),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_sub),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_mul),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_div),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_min),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_max),                 MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_difference),          MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_blend),               MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#if defined(IMLIB_ENABLE_MATH_OPS) && defined (IMLIB_ENABLE_BINARY_OPS)
+    {MP_ROM_QSTR(MP_QSTR_top_hat),             MP_ROM_PTR(&py_image_top_hat_obj)},
+    {MP_ROM_QSTR(MP_QSTR_black_hat),           MP_ROM_PTR(&py_image_black_hat_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_top_hat),             MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_black_hat),           MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif //defined(IMLIB_ENABLE_MATH_OPS) && defined (IMLIB_ENABLE_BINARY_OPS)
+    /* Filtering Methods */
+    {MP_ROM_QSTR(MP_QSTR_histeq),              MP_ROM_PTR(&py_image_histeq_obj)},
+#ifdef IMLIB_ENABLE_MEAN
+    {MP_ROM_QSTR(MP_QSTR_mean),                MP_ROM_PTR(&py_image_mean_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_mean),                MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_MEDIAN
+    {MP_ROM_QSTR(MP_QSTR_median),              MP_ROM_PTR(&py_image_median_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_median),              MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_MODE
+    {MP_ROM_QSTR(MP_QSTR_mode),                MP_ROM_PTR(&py_image_mode_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_mode),                MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_MIDPOINT
+    {MP_ROM_QSTR(MP_QSTR_midpoint),            MP_ROM_PTR(&py_image_midpoint_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_midpoint),            MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_MORPH
+    {MP_ROM_QSTR(MP_QSTR_morph),               MP_ROM_PTR(&py_image_morph_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_morph),               MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_GAUSSIAN
+    {MP_ROM_QSTR(MP_QSTR_blur),                MP_ROM_PTR(&py_image_gaussian_obj)},
+    {MP_ROM_QSTR(MP_QSTR_gaussian),            MP_ROM_PTR(&py_image_gaussian_obj)},
+    {MP_ROM_QSTR(MP_QSTR_gaussian_blur),       MP_ROM_PTR(&py_image_gaussian_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_blur),                MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_gaussian),            MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_gaussian_blur),       MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_LAPLACIAN
+    {MP_ROM_QSTR(MP_QSTR_laplacian),           MP_ROM_PTR(&py_image_laplacian_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_laplacian),           MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_BILATERAL
+    {MP_ROM_QSTR(MP_QSTR_bilateral),           MP_ROM_PTR(&py_image_bilateral_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_bilateral),           MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_CARTOON
+    {MP_ROM_QSTR(MP_QSTR_cartoon),             MP_ROM_PTR(&py_image_cartoon_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_cartoon),             MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+    /* Geometric Methods */
+#ifdef IMLIB_ENABLE_LINPOLAR
+    {MP_ROM_QSTR(MP_QSTR_linpolar),            MP_ROM_PTR(&py_image_linpolar_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_linpolar),            MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_LOGPOLAR
+    {MP_ROM_QSTR(MP_QSTR_logpolar),            MP_ROM_PTR(&py_image_logpolar_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_logpolar),            MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_LENS_CORR
+    {MP_ROM_QSTR(MP_QSTR_lens_corr),           MP_ROM_PTR(&py_image_lens_corr_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_lens_corr),           MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_ROTATION_CORR
+    {MP_ROM_QSTR(MP_QSTR_rotation_corr),       MP_ROM_PTR(&py_image_rotation_corr_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_rotation_corr),       MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+    /* Get Methods */
+#ifdef IMLIB_ENABLE_GET_SIMILARITY
+    {MP_ROM_QSTR(MP_QSTR_get_similarity),      MP_ROM_PTR(&py_image_get_similarity_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_get_similarity),      MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+    {MP_ROM_QSTR(MP_QSTR_get_hist),            MP_ROM_PTR(&py_image_get_histogram_obj)},
+    {MP_ROM_QSTR(MP_QSTR_get_histogram),       MP_ROM_PTR(&py_image_get_histogram_obj)},
+    {MP_ROM_QSTR(MP_QSTR_histogram),           MP_ROM_PTR(&py_image_get_histogram_obj)},
+    {MP_ROM_QSTR(MP_QSTR_get_stats),           MP_ROM_PTR(&py_image_get_statistics_obj)},
+    {MP_ROM_QSTR(MP_QSTR_get_statistics),      MP_ROM_PTR(&py_image_get_statistics_obj)},
+    {MP_ROM_QSTR(MP_QSTR_statistics),          MP_ROM_PTR(&py_image_get_statistics_obj)},
+    {MP_ROM_QSTR(MP_QSTR_get_regression),      MP_ROM_PTR(&py_image_get_regression_obj)},
+    /* Find Methods */
+    {MP_ROM_QSTR(MP_QSTR_find_blobs),          MP_ROM_PTR(&py_image_find_blobs_obj)},
+#ifdef IMLIB_ENABLE_FIND_LINES
+    {MP_ROM_QSTR(MP_QSTR_find_lines),          MP_ROM_PTR(&py_image_find_lines_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_lines),          MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_FIND_LINE_SEGMENTS
+    {MP_ROM_QSTR(MP_QSTR_find_line_segments),  MP_ROM_PTR(&py_image_find_line_segments_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_line_segments),  MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_FIND_CIRCLES
+    {MP_ROM_QSTR(MP_QSTR_find_circles),        MP_ROM_PTR(&py_image_find_circles_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_circles),        MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_FIND_RECTS
+    {MP_ROM_QSTR(MP_QSTR_find_rects),          MP_ROM_PTR(&py_image_find_rects_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_rects),          MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_QRCODES
+    {MP_ROM_QSTR(MP_QSTR_find_qrcodes),        MP_ROM_PTR(&py_image_find_qrcodes_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_qrcodes),        MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_APRILTAGS
+    {MP_ROM_QSTR(MP_QSTR_find_apriltags),      MP_ROM_PTR(&py_image_find_apriltags_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_apriltags),      MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_DATAMATRICES
+    {MP_ROM_QSTR(MP_QSTR_find_datamatrices),   MP_ROM_PTR(&py_image_find_datamatrices_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_datamatrices),   MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_BARCODES
+    {MP_ROM_QSTR(MP_QSTR_find_barcodes),       MP_ROM_PTR(&py_image_find_barcodes_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_barcodes),       MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_FIND_DISPLACEMENT
+    {MP_ROM_QSTR(MP_QSTR_find_displacement),   MP_ROM_PTR(&py_image_find_displacement_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_displacement),   MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_FIND_TEMPLATE
+    {MP_ROM_QSTR(MP_QSTR_find_template),       MP_ROM_PTR(&py_image_find_template_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_template),       MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+    {MP_ROM_QSTR(MP_QSTR_find_features),       MP_ROM_PTR(&py_image_find_features_obj)},
+    {MP_ROM_QSTR(MP_QSTR_find_eye),            MP_ROM_PTR(&py_image_find_eye_obj)},
+#ifdef IMLIB_ENABLE_FIND_LBP
+    {MP_ROM_QSTR(MP_QSTR_find_lbp),            MP_ROM_PTR(&py_image_find_lbp_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_lbp),            MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_FIND_KEYPOINTS
+    {MP_ROM_QSTR(MP_QSTR_find_keypoints),      MP_ROM_PTR(&py_image_find_keypoints_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_keypoints),      MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_BINARY_OPS
+    {MP_ROM_QSTR(MP_QSTR_find_edges),          MP_ROM_PTR(&py_image_find_edges_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_edges),          MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_HOG
+    {MP_ROM_QSTR(MP_QSTR_find_hog),            MP_ROM_PTR(&py_image_find_hog_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_find_hog),            MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+#ifdef IMLIB_ENABLE_SELECTIVE_SEARCH
+    {MP_ROM_QSTR(MP_QSTR_selective_search),    MP_ROM_PTR(&py_image_selective_search_obj)},
+#else
+    {MP_ROM_QSTR(MP_QSTR_selective_search),    MP_ROM_PTR(&py_func_unavailable_obj)},
+#endif
+};
+
+STATIC MP_DEFINE_CONST_DICT(locals_dict, locals_dict_table);
+
+static const mp_obj_type_t py_image_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_Image,
+    .print = py_image_print,
+    .buffer_p = { .get_buffer = py_image_get_buffer },
+    .subscr = py_image_subscr,
+    .getiter = py_image_getiter,
+    .unary_op = py_image_unary_op,
+    .locals_dict = (mp_obj_t) &locals_dict
+};
+
+mp_obj_t py_image_binary_to_grayscale(mp_obj_t arg)
+{
+    int8_t b = mp_obj_get_int(arg) & 1;
+    return mp_obj_new_int(COLOR_BINARY_TO_GRAYSCALE(b));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_binary_to_grayscale_obj, py_image_binary_to_grayscale);
+
+mp_obj_t py_image_binary_to_rgb(mp_obj_t arg)
+{
+    int8_t b = mp_obj_get_int(arg) & 1;
+    uint16_t rgb565 = COLOR_BINARY_TO_RGB565(b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_R8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_G8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B8(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_binary_to_rgb_obj, py_image_binary_to_rgb);
+
+mp_obj_t py_image_binary_to_lab(mp_obj_t arg)
+{
+    int8_t b = mp_obj_get_int(arg) & 1;
+    uint16_t rgb565 = COLOR_BINARY_TO_RGB565(b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_L(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_A(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_binary_to_lab_obj, py_image_binary_to_lab);
+
+mp_obj_t py_image_binary_to_yuv(mp_obj_t arg)
+{
+    int8_t b = mp_obj_get_int(arg) & 1;
+    uint16_t rgb565 = COLOR_BINARY_TO_RGB565(b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_Y(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_U(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_V(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_binary_to_yuv_obj, py_image_binary_to_yuv);
+
+mp_obj_t py_image_grayscale_to_binary(mp_obj_t arg)
+{
+    int8_t g = mp_obj_get_int(arg) & 255;
+    return mp_obj_new_int(COLOR_GRAYSCALE_TO_BINARY(g));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_grayscale_to_binary_obj, py_image_grayscale_to_binary);
+
+mp_obj_t py_image_grayscale_to_rgb(mp_obj_t arg)
+{
+    int8_t g = mp_obj_get_int(arg) & 255;
+    uint16_t rgb565 = COLOR_GRAYSCALE_TO_RGB565(g);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_R8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_G8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B8(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_grayscale_to_rgb_obj, py_image_grayscale_to_rgb);
+
+mp_obj_t py_image_grayscale_to_lab(mp_obj_t arg)
+{
+    int8_t g = mp_obj_get_int(arg) & 255;
+    uint16_t rgb565 = COLOR_GRAYSCALE_TO_RGB565(g);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_L(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_A(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_grayscale_to_lab_obj, py_image_grayscale_to_lab);
+
+mp_obj_t py_image_grayscale_to_yuv(mp_obj_t arg)
+{
+    int8_t g = mp_obj_get_int(arg) & 255;
+    uint16_t rgb565 = COLOR_GRAYSCALE_TO_RGB565(g);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_Y(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_U(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_V(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_image_grayscale_to_yuv_obj, py_image_grayscale_to_yuv);
+
+mp_obj_t py_image_rgb_to_binary(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    uint8_t r = mp_obj_get_int(arg_vec[0]) & 255;
+    uint8_t g = mp_obj_get_int(arg_vec[1]) & 255;
+    uint8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_R8_G8_B8_TO_RGB565(r, g, b);
+    return mp_obj_new_int(COLOR_RGB565_TO_BINARY(rgb565));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_rgb_to_binary_obj, 1, py_image_rgb_to_binary);
+
+mp_obj_t py_image_rgb_to_grayscale(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    uint8_t r = mp_obj_get_int(arg_vec[0]) & 255;
+    uint8_t g = mp_obj_get_int(arg_vec[1]) & 255;
+    uint8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_R8_G8_B8_TO_RGB565(r, g, b);
+    return mp_obj_new_int(COLOR_RGB565_TO_GRAYSCALE(rgb565));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_rgb_to_grayscale_obj, 1, py_image_rgb_to_grayscale);
+
+mp_obj_t py_image_rgb_to_lab(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    uint8_t r = mp_obj_get_int(arg_vec[0]) & 255;
+    uint8_t g = mp_obj_get_int(arg_vec[1]) & 255;
+    uint8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_R8_G8_B8_TO_RGB565(r, g, b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_L(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_A(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_rgb_to_lab_obj, 1, py_image_rgb_to_lab);
+
+mp_obj_t py_image_rgb_to_yuv(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    uint8_t r = mp_obj_get_int(arg_vec[0]) & 255;
+    uint8_t g = mp_obj_get_int(arg_vec[1]) & 255;
+    uint8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_R8_G8_B8_TO_RGB565(r, g, b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_Y(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_U(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_V(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_rgb_to_yuv_obj, 1, py_image_rgb_to_yuv);
+
+mp_obj_t py_image_lab_to_binary(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t l = (mp_obj_get_int(arg_vec[0]) & 255) % 100;
+    int8_t a = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_LAB_TO_RGB565(l, a, b);
+    return mp_obj_new_int(COLOR_RGB565_TO_BINARY(rgb565));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_lab_to_binary_obj, 1, py_image_lab_to_binary);
+
+mp_obj_t py_image_lab_to_grayscale(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t l = (mp_obj_get_int(arg_vec[0]) & 255) % 100;
+    int8_t a = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_LAB_TO_RGB565(l, a, b);
+    return mp_obj_new_int(COLOR_RGB565_TO_GRAYSCALE(rgb565));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_lab_to_grayscale_obj, 1, py_image_lab_to_grayscale);
+
+mp_obj_t py_image_lab_to_rgb(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t l = (mp_obj_get_int(arg_vec[0]) & 255) % 100;
+    int8_t a = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_LAB_TO_RGB565(l, a, b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_R8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_G8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B8(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_lab_to_rgb_obj, 1, py_image_lab_to_rgb);
+
+mp_obj_t py_image_lab_to_yuv(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t l = (mp_obj_get_int(arg_vec[0]) & 255) % 100;
+    int8_t a = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t b = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_LAB_TO_RGB565(l, a, b);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_Y(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_U(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_V(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_lab_to_yuv_obj, 1, py_image_lab_to_yuv);
+
+mp_obj_t py_image_yuv_to_binary(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t y = mp_obj_get_int(arg_vec[0]) & 255;
+    int8_t u = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t v = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_YUV_TO_RGB565(y, u, v);
+    return mp_obj_new_int(COLOR_RGB565_TO_BINARY(rgb565));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_yuv_to_binary_obj, 1, py_image_yuv_to_binary);
+
+mp_obj_t py_image_yuv_to_grayscale(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t y = mp_obj_get_int(arg_vec[0]) & 255;
+    int8_t u = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t v = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_YUV_TO_RGB565(y, u, v);
+    return mp_obj_new_int(COLOR_RGB565_TO_GRAYSCALE(rgb565));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_yuv_to_grayscale_obj, 1, py_image_yuv_to_grayscale);
+
+mp_obj_t py_image_yuv_to_rgb(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t y = mp_obj_get_int(arg_vec[0]) & 255;
+    int8_t u = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t v = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_YUV_TO_RGB565(y, u, v);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_R8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_G8(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B8(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_yuv_to_rgb_obj, 1, py_image_yuv_to_rgb);
+
+mp_obj_t py_image_yuv_to_lab(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    const mp_obj_t *arg_vec;
+    py_helper_consume_array(n_args, args, 0, 3, &arg_vec);
+    int8_t y = mp_obj_get_int(arg_vec[0]) & 255;
+    int8_t u = mp_obj_get_int(arg_vec[1]) & 255;
+    int8_t v = mp_obj_get_int(arg_vec[2]) & 255;
+    uint16_t rgb565 = COLOR_YUV_TO_RGB565(y, u, v);
+    return mp_obj_new_tuple(3, (mp_obj_t[3])
+            {mp_obj_new_int(COLOR_RGB565_TO_L(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_A(rgb565)),
+             mp_obj_new_int(COLOR_RGB565_TO_B(rgb565))});
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_yuv_to_lab_obj, 1, py_image_yuv_to_lab);
+
+mp_obj_t py_image(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels)
+{
+    py_image_obj_t *o = m_new_obj(py_image_obj_t);
+    o->base.type = &py_image_type;
+    o->_cobj.w = w;
+    o->_cobj.h = h;
+    o->_cobj.size   = size;
+    o->_cobj.pixfmt = pixfmt;
+    o->_cobj.pixels = pixels;
+    return o;
+}
+
+mp_obj_t py_image_from_struct(image_t *img)
+{
+    py_image_obj_t *o = m_new_obj(py_image_obj_t);
+    o->base.type = &py_image_type;
+    o->_cobj = *img;
+    return o;
+}
+
+mp_obj_t py_image_load_image(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    // mode == false -> load behavior
+    // mode == true -> make behavior
+    bool mode = mp_obj_is_integer(args[0]);
+    const char *path = mode ? NULL : mp_obj_str_get_str(args[0]);
+
+    mp_obj_t copy_to_fb_obj = py_helper_keyword_object(n_args, args,
+            mode ? 3 : 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_copy_to_fb), NULL);
+    bool copy_to_fb = false;
+    image_t *arg_other = NULL;
+
+    if (copy_to_fb_obj) {
+        if (mp_obj_is_integer(copy_to_fb_obj)) {
+            copy_to_fb = mp_obj_get_int(copy_to_fb_obj);
+        } else {
+            arg_other = py_helper_arg_to_image_mutable(copy_to_fb_obj);
+        }
+    }
+
+    image_t image = {0};
+
+    if (mode) {
+        PY_ASSERT_TRUE_MSG(n_args >= 3, "Expected width, height, and type");
+
+        image.w = mp_obj_get_int(args[0]);
+        PY_ASSERT_TRUE_MSG(image.w > 0, "Width must be > 0");
+
+        image.h = mp_obj_get_int(args[1]);
+        PY_ASSERT_TRUE_MSG(image.h > 0, "Height must be > 0");
+
+        switch(mp_obj_get_int(args[2])) {
+            case PIXFORMAT_BINARY:
+                image.pixfmt = PIXFORMAT_BINARY;
+                break;
+            case PIXFORMAT_GRAYSCALE:
+                image.pixfmt = PIXFORMAT_GRAYSCALE;
+                break;
+            case PIXFORMAT_RGB565:
+                image.pixfmt = PIXFORMAT_RGB565;
+                break;
+            default:
+                PY_ASSERT_TRUE_MSG(false, "Unsupported type");
+                break;
+        }
+    } else {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        fb_alloc_mark();
+        FIL fp;
+        img_read_settings_t rs;
+        imlib_read_geometry(&fp, &image, path, &rs);
+        file_buffer_off(&fp);
+        file_close(&fp);
+        #else
+        (void) path;
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+        #endif //IMLIB_ENABLE_IMAGE_FILE_IO
+    }
+
+    size_t size = image_size(&image);
+
+    if (copy_to_fb) {
+        py_helper_set_to_framebuffer(&image);
+    } else if (arg_other) {
+        PY_ASSERT_TRUE_MSG((size <= image_size(arg_other)),
+            "The new image won't fit in the target frame buffer!");
+        image.data = arg_other->data;
+    } else if (mode) {
+        image.data = xalloc(size);
+    }
+
+    if (mode) {
+        memset(image.data, 0, size);
+    } else {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        imlib_load_image(&image, path);
+        fb_alloc_free_till_mark();
+        #endif
+    }
+
+    py_helper_update_framebuffer(&image);
+
+    if (arg_other) {
+        memcpy(arg_other, &image, sizeof(image_t));
+    }
+
+    if (copy_to_fb) {
+        framebuffer_update_jpeg_buffer();
+    }
+
+    return py_image_from_struct(&image);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_load_image_obj, 1, py_image_load_image);
+
+mp_obj_t py_image_load_cascade(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    cascade_t cascade;
+    const char *path = mp_obj_str_get_str(args[0]);
+
+    // Load cascade from file or flash
+    int res = imlib_load_cascade(&cascade, path);
+    if (res != FR_OK) {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        // cascade is not built-in and failed to load it from file.
+        mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) ffs_strerror(res));
+        #else
+        // cascade is not built-in.
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+        #endif
+    }
+
+    // Read the number of stages
+    int stages = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(qstr_from_str("stages")), cascade.n_stages);
+    // Check the number of stages
+    if (stages > 0 && stages < cascade.n_stages) {
+        cascade.n_stages = stages;
+    }
+
+    // Return micropython cascade object
+    py_cascade_obj_t *o = m_new_obj(py_cascade_obj_t);
+    o->base.type = &py_cascade_type;
+    o->_cobj = cascade;
+    return o;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_load_cascade_obj, 1, py_image_load_cascade);
+
+#if defined(IMLIB_ENABLE_DESCRIPTOR)
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+mp_obj_t py_image_load_descriptor(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    FIL fp;
+    UINT bytes;
+    FRESULT res;
+
+    uint32_t desc_type;
+    mp_obj_t desc = mp_const_none;
+    const char *path = mp_obj_str_get_str(args[0]);
+
+    if ((res = f_open_helper(&fp, path, FA_READ|FA_OPEN_EXISTING)) == FR_OK) {
+        // Read descriptor type
+        res = f_read(&fp, &desc_type, sizeof(desc_type), &bytes);
+        if (res != FR_OK || bytes  != sizeof(desc_type)) {
+            goto error;
+        }
+
+        // Load descriptor
+        switch (desc_type) {
+            #if defined(IMLIB_ENABLE_FIND_LBP)
+            case DESC_LBP: {
+                py_lbp_obj_t *lbp = m_new_obj(py_lbp_obj_t);
+                lbp->base.type = &py_lbp_type;
+
+                res = imlib_lbp_desc_load(&fp, &lbp->hist);
+                if (res == FR_OK) {
+                    desc = lbp;
+                }
+                break;
+            }
+            #endif  //IMLIB_ENABLE_FIND_LBP
+            #if defined(IMLIB_ENABLE_FIND_KEYPOINTS)
+            case DESC_ORB: {
+                array_t *kpts = NULL;
+                array_alloc(&kpts, xfree);
+
+                res = orb_load_descriptor(&fp, kpts);
+                if (res == FR_OK) {
+                    // Return keypoints MP object
+                    py_kp_obj_t *kp_obj = m_new_obj(py_kp_obj_t);
+                    kp_obj->base.type = &py_kp_type;
+                    kp_obj->kpts = kpts;
+                    kp_obj->threshold = 10;
+                    kp_obj->normalized = false;
+                    desc = kp_obj;
+                }
+                break;
+            }
+            #endif //IMLIB_ENABLE_FIND_KEYPOINTS
+        }
+
+        f_close(&fp);
+    }
+
+error:
+    // File open or write error
+    if (res != FR_OK) {
+        mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) ffs_strerror(res));
+    }
+
+    // If no file error and descriptor is still none, then it's not supported.
+    if (desc == mp_const_none) {
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Descriptor type is not supported"));
+    }
+    return desc;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_load_descriptor_obj, 1, py_image_load_descriptor);
+
+mp_obj_t py_image_save_descriptor(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    FIL fp;
+    UINT bytes;
+    FRESULT res;
+
+    uint32_t desc_type;
+    const char *path = mp_obj_str_get_str(args[1]);
+
+    if ((res = f_open_helper(&fp, path, FA_WRITE|FA_CREATE_ALWAYS)) == FR_OK) {
+        // Find descriptor type
+        const mp_obj_type_t *desc_obj_type = mp_obj_get_type(args[0]);
+        if (0) {
+        #if defined(IMLIB_ENABLE_FIND_LBP)
+        } else if (desc_obj_type ==  &py_lbp_type) {
+            desc_type = DESC_LBP;
+        #endif //IMLIB_ENABLE_FIND_LBP
+        #if defined(IMLIB_ENABLE_FIND_KEYPOINTS)
+        } else if (desc_obj_type ==  &py_kp_type) {
+            desc_type = DESC_ORB;
+        #endif //IMLIB_ENABLE_FIND_KEYPOINTS
+        } else {
+            (void) desc_obj_type;
+            mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Descriptor type is not supported"));
+        }
+
+        // Write descriptor type
+        res = f_write(&fp, &desc_type, sizeof(desc_type), &bytes);
+        if (res != FR_OK || bytes  !=  sizeof(desc_type)) {
+            goto error;
+        }
+
+        // Write descriptor
+        switch (desc_type) {
+            #if defined(IMLIB_ENABLE_FIND_LBP)
+            case DESC_LBP: {
+                py_lbp_obj_t *lbp = ((py_lbp_obj_t*)args[0]);
+                res = imlib_lbp_desc_save(&fp, lbp->hist);
+                break;
+            }
+            #endif //IMLIB_ENABLE_FIND_LBP
+            #if defined(IMLIB_ENABLE_FIND_KEYPOINTS)
+            case DESC_ORB: {
+                py_kp_obj_t *kpts = ((py_kp_obj_t*)args[0]);
+                res = orb_save_descriptor(&fp, kpts->kpts);
+                break;
+            }
+            #endif //IMLIB_ENABLE_FIND_KEYPOINTS
+        }
+        // ignore unsupported descriptors when saving
+        f_close(&fp);
+    }
+
+error:
+    // File open or read error
+    if (res != FR_OK) {
+        mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) ffs_strerror(res));
+    }
+    return mp_const_true;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_save_descriptor_obj, 2, py_image_save_descriptor);
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
+
+static mp_obj_t py_image_match_descriptor(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    mp_obj_t match_obj = mp_const_none;
+    const mp_obj_type_t *desc1_type = mp_obj_get_type(args[0]);
+    const mp_obj_type_t *desc2_type = mp_obj_get_type(args[1]);
+    PY_ASSERT_TRUE_MSG((desc1_type == desc2_type), "Descriptors have different types!");
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_FIND_LBP)
+    } else if (desc1_type ==  &py_lbp_type) {
+        py_lbp_obj_t *lbp1 = ((py_lbp_obj_t*)args[0]);
+        py_lbp_obj_t *lbp2 = ((py_lbp_obj_t*)args[1]);
+
+        // Sanity checks
+        PY_ASSERT_TYPE(lbp1, &py_lbp_type);
+        PY_ASSERT_TYPE(lbp2, &py_lbp_type);
+
+        // Match descriptors
+        match_obj = mp_obj_new_int(imlib_lbp_desc_distance(lbp1->hist, lbp2->hist));
+    #endif //IMLIB_ENABLE_FIND_LBP
+    #if defined(IMLIB_ENABLE_FIND_KEYPOINTS)
+    } else if (desc1_type == &py_kp_type) {
+        py_kp_obj_t *kpts1 = ((py_kp_obj_t*)args[0]);
+        py_kp_obj_t *kpts2 = ((py_kp_obj_t*)args[1]);
+        int threshold = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_threshold), 85);
+        int filter_outliers = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_filter_outliers), false);
+
+        // Sanity checks
+        PY_ASSERT_TYPE(kpts1, &py_kp_type);
+        PY_ASSERT_TYPE(kpts2, &py_kp_type);
+        PY_ASSERT_TRUE_MSG((threshold >=0 && threshold <= 100), "Expected threshold between 0 and 100");
+
+        int theta = 0;          // Estimated angle of rotation
+        int count = 0;          // Number of matches
+        point_t c = {0};        // Centroid
+        rectangle_t r = {0};    // Bounding rectangle
+        // List of matching keypoints indices
+        mp_obj_t match_list = mp_obj_new_list(0, NULL);
+
+        if (array_length(kpts1->kpts) && array_length(kpts1->kpts)) {
+            fb_alloc_mark();
+            int *match = fb_alloc(array_length(kpts1->kpts) * sizeof(int) * 2, FB_ALLOC_NO_HINT);
+
+            // Match the two keypoint sets
+            count = orb_match_keypoints(kpts1->kpts, kpts2->kpts, match, threshold, &r, &c, &theta);
+
+            // Add matching keypoints to Python list.
+            for (int i=0; i<count*2; i+=2) {
+                mp_obj_t index_obj[2] = {
+                    mp_obj_new_int(match[i+0]),
+                    mp_obj_new_int(match[i+1]),
+                };
+                mp_obj_list_append(match_list, mp_obj_new_tuple(2, index_obj));
+            }
+
+            // Free match list
+            fb_alloc_free_till_mark();
+
+            if (filter_outliers == true) {
+                count = orb_filter_keypoints(kpts2->kpts, &r, &c);
+            }
+        }
+
+        py_kptmatch_obj_t *o = m_new_obj(py_kptmatch_obj_t);
+        o->base.type = &py_kptmatch_type;
+        o->cx    = mp_obj_new_int(c.x);
+        o->cy    = mp_obj_new_int(c.y);
+        o->x     = mp_obj_new_int(r.x);
+        o->y     = mp_obj_new_int(r.y);
+        o->w     = mp_obj_new_int(r.w);
+        o->h     = mp_obj_new_int(r.h);
+        o->count = mp_obj_new_int(count);
+        o->theta = mp_obj_new_int(theta);
+        o->match = match_list;
+        match_obj = o;
+    #endif //IMLIB_ENABLE_FIND_KEYPOINTS
+    } else {
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Descriptor type is not supported"));
+    }
+
+    return match_obj;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_image_match_descriptor_obj, 2, py_image_match_descriptor);
+#endif //IMLIB_ENABLE_DESCRIPTOR
+
+#if defined(IMLIB_ENABLE_FIND_KEYPOINTS) && defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+int py_image_descriptor_from_roi(image_t *img, const char *path, rectangle_t *roi)
+{
+    FIL fp;
+    FRESULT res = FR_OK;
+
+    printf("Save Descriptor: ROI(%d %d %d %d)\n", roi->x, roi->y, roi->w, roi->h);
+    array_t *kpts = orb_find_keypoints(img, false, 20, 1.5f, 100, CORNER_AGAST, roi);
+    printf("Save Descriptor: KPTS(%d)\n", array_length(kpts));
+
+    if (array_length(kpts)) {
+        if ((res = f_open_helper(&fp, path, FA_WRITE|FA_CREATE_ALWAYS)) == FR_OK) {
+            res = orb_save_descriptor(&fp, kpts);
+            f_close(&fp);
+        }
+        // File open/write error
+        if (res != FR_OK) {
+            mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) ffs_strerror(res));
+        }
+    }
+    return 0;
+}
+#endif // IMLIB_ENABLE_KEYPOINTS && IMLIB_ENABLE_IMAGE_FILE_IO
+
+static const mp_rom_map_elem_t globals_dict_table[] = {
+    {MP_ROM_QSTR(MP_QSTR___name__),            MP_OBJ_NEW_QSTR(MP_QSTR_image)},
+    // Pixel formats
+    {MP_ROM_QSTR(MP_QSTR_BINARY),              MP_ROM_INT(PIXFORMAT_BINARY)},   /* 1BPP/BINARY*/
+    {MP_ROM_QSTR(MP_QSTR_GRAYSCALE),           MP_ROM_INT(PIXFORMAT_GRAYSCALE)},/* 1BPP/GRAYSCALE*/
+    {MP_ROM_QSTR(MP_QSTR_RGB565),              MP_ROM_INT(PIXFORMAT_RGB565)},   /* 2BPP/RGB565*/
+    {MP_ROM_QSTR(MP_QSTR_BAYER),               MP_ROM_INT(PIXFORMAT_BAYER)},    /* 1BPP/RAW*/
+    {MP_ROM_QSTR(MP_QSTR_YUV422),              MP_ROM_INT(PIXFORMAT_YUV422)},   /* 2BPP/YUV422*/
+    {MP_ROM_QSTR(MP_QSTR_JPEG),                MP_ROM_INT(PIXFORMAT_JPEG)},     /* JPEG/COMPRESSED*/
+    {MP_ROM_QSTR(MP_QSTR_AREA),                MP_ROM_INT(IMAGE_HINT_AREA)},
+    {MP_ROM_QSTR(MP_QSTR_BILINEAR),            MP_ROM_INT(IMAGE_HINT_BILINEAR)},
+    {MP_ROM_QSTR(MP_QSTR_BICUBIC),             MP_ROM_INT(IMAGE_HINT_BICUBIC)},
+    {MP_ROM_QSTR(MP_QSTR_CENTER),              MP_ROM_INT(IMAGE_HINT_CENTER)},
+    {MP_ROM_QSTR(MP_QSTR_EXTRACT_RGB_CHANNEL_FIRST), MP_ROM_INT(IMAGE_HINT_EXTRACT_RGB_CHANNEL_FIRST)},
+    {MP_ROM_QSTR(MP_QSTR_APPLY_COLOR_PALETTE_FIRST), MP_ROM_INT(IMAGE_HINT_APPLY_COLOR_PALETTE_FIRST)},
+    #ifdef IMLIB_FIND_TEMPLATE
+    {MP_ROM_QSTR(MP_QSTR_SEARCH_EX),           MP_ROM_INT(SEARCH_EX)},
+    {MP_ROM_QSTR(MP_QSTR_SEARCH_DS),           MP_ROM_INT(SEARCH_DS)},
+    #endif
+    {MP_ROM_QSTR(MP_QSTR_EDGE_CANNY),          MP_ROM_INT(EDGE_CANNY)},
+    {MP_ROM_QSTR(MP_QSTR_EDGE_SIMPLE),         MP_ROM_INT(EDGE_SIMPLE)},
+    {MP_ROM_QSTR(MP_QSTR_CORNER_FAST),         MP_ROM_INT(CORNER_FAST)},
+    {MP_ROM_QSTR(MP_QSTR_CORNER_AGAST),        MP_ROM_INT(CORNER_AGAST)},
+    #ifdef IMLIB_ENABLE_APRILTAGS
+    {MP_ROM_QSTR(MP_QSTR_TAG16H5),             MP_ROM_INT(TAG16H5)},
+    {MP_ROM_QSTR(MP_QSTR_TAG25H7),             MP_ROM_INT(TAG25H7)},
+    {MP_ROM_QSTR(MP_QSTR_TAG25H9),             MP_ROM_INT(TAG25H9)},
+    {MP_ROM_QSTR(MP_QSTR_TAG36H10),            MP_ROM_INT(TAG36H10)},
+    {MP_ROM_QSTR(MP_QSTR_TAG36H11),            MP_ROM_INT(TAG36H11)},
+    {MP_ROM_QSTR(MP_QSTR_ARTOOLKIT),           MP_ROM_INT(ARTOOLKIT)},
+    #endif
+    #ifdef IMLIB_ENABLE_BARCODES
+    {MP_ROM_QSTR(MP_QSTR_EAN2),                MP_ROM_INT(BARCODE_EAN2)},
+    {MP_ROM_QSTR(MP_QSTR_EAN5),                MP_ROM_INT(BARCODE_EAN5)},
+    {MP_ROM_QSTR(MP_QSTR_EAN8),                MP_ROM_INT(BARCODE_EAN8)},
+    {MP_ROM_QSTR(MP_QSTR_UPCE),                MP_ROM_INT(BARCODE_UPCE)},
+    {MP_ROM_QSTR(MP_QSTR_ISBN10),              MP_ROM_INT(BARCODE_ISBN10)},
+    {MP_ROM_QSTR(MP_QSTR_UPCA),                MP_ROM_INT(BARCODE_UPCA)},
+    {MP_ROM_QSTR(MP_QSTR_EAN13),               MP_ROM_INT(BARCODE_EAN13)},
+    {MP_ROM_QSTR(MP_QSTR_ISBN13),              MP_ROM_INT(BARCODE_ISBN13)},
+    {MP_ROM_QSTR(MP_QSTR_I25),                 MP_ROM_INT(BARCODE_I25)},
+    {MP_ROM_QSTR(MP_QSTR_DATABAR),             MP_ROM_INT(BARCODE_DATABAR)},
+    {MP_ROM_QSTR(MP_QSTR_DATABAR_EXP),         MP_ROM_INT(BARCODE_DATABAR_EXP)},
+    {MP_ROM_QSTR(MP_QSTR_CODABAR),             MP_ROM_INT(BARCODE_CODABAR)},
+    {MP_ROM_QSTR(MP_QSTR_CODE39),              MP_ROM_INT(BARCODE_CODE39)},
+    {MP_ROM_QSTR(MP_QSTR_PDF417),              MP_ROM_INT(BARCODE_PDF417)},
+    {MP_ROM_QSTR(MP_QSTR_CODE93),              MP_ROM_INT(BARCODE_CODE93)},
+    {MP_ROM_QSTR(MP_QSTR_CODE128),             MP_ROM_INT(BARCODE_CODE128)},
+    #endif
+    #if defined(IMLIB_ENABLE_IMAGE_IO)
+    {MP_ROM_QSTR(MP_QSTR_ImageIO),             MP_ROM_PTR(&py_imageio_type) },
+    #else
+    {MP_ROM_QSTR(MP_QSTR_ImageIO),             MP_ROM_PTR(&py_func_unavailable_obj)},
+    #endif
+    {MP_ROM_QSTR(MP_QSTR_binary_to_grayscale), MP_ROM_PTR(&py_image_binary_to_grayscale_obj)},
+    {MP_ROM_QSTR(MP_QSTR_binary_to_rgb),       MP_ROM_PTR(&py_image_binary_to_rgb_obj)},
+    {MP_ROM_QSTR(MP_QSTR_binary_to_lab),       MP_ROM_PTR(&py_image_binary_to_lab_obj)},
+    {MP_ROM_QSTR(MP_QSTR_binary_to_yuv),       MP_ROM_PTR(&py_image_binary_to_yuv_obj)},
+    {MP_ROM_QSTR(MP_QSTR_grayscale_to_binary), MP_ROM_PTR(&py_image_grayscale_to_binary_obj)},
+    {MP_ROM_QSTR(MP_QSTR_grayscale_to_rgb),    MP_ROM_PTR(&py_image_grayscale_to_rgb_obj)},
+    {MP_ROM_QSTR(MP_QSTR_grayscale_to_lab),    MP_ROM_PTR(&py_image_grayscale_to_lab_obj)},
+    {MP_ROM_QSTR(MP_QSTR_grayscale_to_yuv),    MP_ROM_PTR(&py_image_grayscale_to_yuv_obj)},
+    {MP_ROM_QSTR(MP_QSTR_rgb_to_binary),       MP_ROM_PTR(&py_image_rgb_to_binary_obj)},
+    {MP_ROM_QSTR(MP_QSTR_rgb_to_grayscale),    MP_ROM_PTR(&py_image_rgb_to_grayscale_obj)},
+    {MP_ROM_QSTR(MP_QSTR_rgb_to_lab),          MP_ROM_PTR(&py_image_rgb_to_lab_obj)},
+    {MP_ROM_QSTR(MP_QSTR_rgb_to_yuv),          MP_ROM_PTR(&py_image_rgb_to_yuv_obj)},
+    {MP_ROM_QSTR(MP_QSTR_lab_to_binary),       MP_ROM_PTR(&py_image_lab_to_binary_obj)},
+    {MP_ROM_QSTR(MP_QSTR_lab_to_grayscale),    MP_ROM_PTR(&py_image_lab_to_grayscale_obj)},
+    {MP_ROM_QSTR(MP_QSTR_lab_to_rgb),          MP_ROM_PTR(&py_image_lab_to_rgb_obj)},
+    {MP_ROM_QSTR(MP_QSTR_lab_to_yuv),          MP_ROM_PTR(&py_image_lab_to_yuv_obj)},
+    {MP_ROM_QSTR(MP_QSTR_yuv_to_binary),       MP_ROM_PTR(&py_image_yuv_to_binary_obj)},
+    {MP_ROM_QSTR(MP_QSTR_yuv_to_grayscale),    MP_ROM_PTR(&py_image_yuv_to_grayscale_obj)},
+    {MP_ROM_QSTR(MP_QSTR_yuv_to_rgb),          MP_ROM_PTR(&py_image_yuv_to_rgb_obj)},
+    {MP_ROM_QSTR(MP_QSTR_yuv_to_lab),          MP_ROM_PTR(&py_image_yuv_to_lab_obj)},
+    {MP_ROM_QSTR(MP_QSTR_Image),               MP_ROM_PTR(&py_image_load_image_obj)},
+    {MP_ROM_QSTR(MP_QSTR_HaarCascade),         MP_ROM_PTR(&py_image_load_cascade_obj)},
+    #if defined(IMLIB_ENABLE_DESCRIPTOR) && defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    {MP_ROM_QSTR(MP_QSTR_load_descriptor),     MP_ROM_PTR(&py_image_load_descriptor_obj)},
+    {MP_ROM_QSTR(MP_QSTR_save_descriptor),     MP_ROM_PTR(&py_image_save_descriptor_obj)},
+    #else
+    {MP_ROM_QSTR(MP_QSTR_load_descriptor),     MP_ROM_PTR(&py_func_unavailable_obj)},
+    {MP_ROM_QSTR(MP_QSTR_save_descriptor),     MP_ROM_PTR(&py_func_unavailable_obj)},
+    #endif //IMLIB_ENABLE_DESCRIPTOR && IMLIB_ENABLE_IMAGE_FILE_IO
+    #if defined(IMLIB_ENABLE_DESCRIPTOR)
+    {MP_ROM_QSTR(MP_QSTR_match_descriptor),    MP_ROM_PTR(&py_image_match_descriptor_obj)}
+    #else
+    {MP_ROM_QSTR(MP_QSTR_match_descriptor),    MP_ROM_PTR(&py_func_unavailable_obj)}
+    #endif
+};
+
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t image_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t) &globals_dict
+};
+
+MP_REGISTER_MODULE(MP_QSTR_image, image_module, 1);
diff --git a/github_source/minicv2/reference/py_image.h b/github_source/minicv2/reference/py_image.h
new file mode 100644
index 0000000..93dd9f1
--- /dev/null
+++ b/github_source/minicv2/reference/py_image.h
@@ -0,0 +1,18 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image Python module.
+ */
+#ifndef __PY_IMAGE_H__
+#define __PY_IMAGE_H__
+#include "imlib.h"
+mp_obj_t py_image(int width, int height, pixformat_t pixfmt, uint32_t size, void *pixels);
+mp_obj_t py_image_from_struct(image_t *img);
+void *py_image_cobj(mp_obj_t img_obj);
+int py_image_descriptor_from_roi(image_t *img, const char *path, rectangle_t *roi);
+#endif // __PY_IMAGE_H__
diff --git a/github_source/minicv2/reference/py_imageio.c b/github_source/minicv2/reference/py_imageio.c
new file mode 100644
index 0000000..ed16888
--- /dev/null
+++ b/github_source/minicv2/reference/py_imageio.c
@@ -0,0 +1,647 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image I/O Python module.
+ */
+#include "imlib_config.h"
+#if defined(IMLIB_ENABLE_IMAGE_IO)
+
+#include "py/obj.h"
+#include "py/nlr.h"
+#include "py/mphal.h"
+#include "py/runtime.h"
+
+#include "py_assert.h"
+#include "py_helper.h"
+#include "py_image.h"
+#include "py_imageio.h"
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+#include "ff_wrapper.h"
+#endif
+#include "framebuffer.h"
+#include "omv_boardconfig.h"
+
+#define OLD_BINARY_BPP      0
+#define OLD_GRAYSCALE_BPP   1
+#define OLD_RGB565_BPP      2
+#define OLD_BAYER_BPP       3
+#define OLD_JPG_BPP         4
+
+#define MAGIC_SIZE          16
+#define ALIGN_SIZE          16
+#define AFTER_SIZE_PADDING  12
+
+#define ORIGINAL_VER        10
+#define RGB565_FIXED_VER    11
+#define NEW_PIXFORMAT_VER   20
+
+#ifndef __DCACHE_PRESENT
+#define IMAGE_ALIGNMENT 32 // Use 32-byte alignment on MCUs with no cache for DMA buffer alignment.
+#else
+#define IMAGE_ALIGNMENT __SCB_DCACHE_LINE_SIZE
+#endif
+
+#define IMAGE_T_SIZE_ALIGNED (((sizeof(uint32_t) + sizeof(image_t) + (IMAGE_ALIGNMENT) - 1) \
+                             / (IMAGE_ALIGNMENT)) \
+                             * (IMAGE_ALIGNMENT))
+
+STATIC size_t image_size_aligned(image_t *image) {
+    return ((image_size(image) + (IMAGE_ALIGNMENT) - 1) / (IMAGE_ALIGNMENT)) * (IMAGE_ALIGNMENT);
+}
+
+typedef enum image_io_stream_type {
+    IMAGE_IO_FILE_STREAM,
+    IMAGE_IO_MEMORY_STREAM,
+} image_io_stream_type_t;
+
+typedef struct py_imageio_obj {
+    mp_obj_base_t base;
+    image_io_stream_type_t type;
+    bool closed;
+    uint32_t count;
+    uint32_t offset;
+    uint32_t ms;
+    union {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        struct {
+            FIL fp;
+            int version;
+        };
+        #endif
+        struct {
+            uint32_t size;
+            uint8_t *buffer;
+        };
+    };
+} py_imageio_obj_t;
+
+STATIC py_imageio_obj_t *py_imageio_obj(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+
+    if (stream->closed) {
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Stream closed"));
+    }
+
+    return stream;
+}
+
+STATIC void py_imageio_print(const mp_print_t *print, mp_obj_t self, mp_print_kind_t kind)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+    mp_printf(print, "{\"type\":%s, \"closed\":%s, \"count\":%u, \"offset\":%u, "
+                      "\"version\":%u, \"buffer_size\":%u, \"size\":%u}",
+        (stream->type == IMAGE_IO_FILE_STREAM) ? "\"file stream\"" : "\"memory stream\"",
+        stream->closed ? "\"true\"" : "\"false\"",
+        stream->count,
+        stream->offset,
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        (stream->type == IMAGE_IO_FILE_STREAM)  ? stream->version : 0,
+#else
+        0,
+#endif
+        (stream->type == IMAGE_IO_FILE_STREAM) ? 0 : stream->size,
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        (stream->type == IMAGE_IO_FILE_STREAM) ? f_size(&stream->fp) : (stream->count * stream->size));
+#else
+        stream->count * stream->size);
+#endif
+}
+
+STATIC mp_obj_t py_imageio_get_type(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+    return mp_obj_new_int(stream->type);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_get_type_obj, py_imageio_get_type);
+
+STATIC mp_obj_t py_imageio_is_closed(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+    return mp_obj_new_int(stream->closed);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_is_closed_obj, py_imageio_is_closed);
+
+STATIC mp_obj_t py_imageio_count(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+    return mp_obj_new_int(stream->count);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_count_obj, py_imageio_count);
+
+STATIC mp_obj_t py_imageio_offset(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+    return mp_obj_new_int(stream->offset);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_offset_obj, py_imageio_offset);
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+STATIC mp_obj_t py_imageio_version(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+    return (stream->type == IMAGE_IO_FILE_STREAM) ?  mp_obj_new_int(stream->version) : mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_version_obj, py_imageio_version);
+#endif
+
+STATIC mp_obj_t py_imageio_buffer_size(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    if (stream->type == IMAGE_IO_FILE_STREAM) {
+        return mp_const_none;
+    }
+    #endif
+
+    return mp_obj_new_int(stream->size - IMAGE_T_SIZE_ALIGNED);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_buffer_size_obj, py_imageio_buffer_size);
+
+STATIC mp_obj_t py_imageio_size(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = MP_OBJ_TO_PTR(self);
+
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    if (stream->type == IMAGE_IO_FILE_STREAM) {
+        return mp_obj_new_int(f_size(&stream->fp));
+    }
+    #endif
+
+    return mp_obj_new_int(stream->count * stream->size);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_size_obj, py_imageio_size);
+
+STATIC mp_obj_t py_imageio_write(mp_obj_t self, mp_obj_t img_obj)
+{
+    py_imageio_obj_t *stream = py_imageio_obj(self);
+    image_t *image = py_image_cobj(img_obj);
+
+    uint32_t ms = mp_hal_ticks_ms(), elapsed_ms = ms - stream->ms;
+    stream->ms = ms;
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    } else if (stream->type == IMAGE_IO_FILE_STREAM) {
+        FIL *fp = &stream->fp;
+
+        write_long(fp, elapsed_ms);
+        write_long(fp, image->w);
+        write_long(fp, image->h);
+
+        char padding[ALIGN_SIZE] = {};
+
+        if (stream->version < NEW_PIXFORMAT_VER) {
+            if (image->pixfmt == PIXFORMAT_BINARY) {
+                write_long(fp, OLD_BINARY_BPP);
+            } else if (image->pixfmt == PIXFORMAT_GRAYSCALE) {
+                write_long(fp, OLD_GRAYSCALE_BPP);
+            } else if (image->pixfmt == PIXFORMAT_RGB565) {
+                write_long(fp, OLD_RGB565_BPP);
+            } else if (image->pixfmt == PIXFORMAT_BAYER) {
+                write_long(fp, OLD_BAYER_BPP);
+            } else if (image->pixfmt == PIXFORMAT_JPEG) {
+                write_long(fp, image->size);
+            } else {
+                mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid image stream bpp"));
+            }
+        } else {
+            write_long(fp, image->pixfmt);
+            write_long(fp, image->size);
+            write_data(fp, padding, AFTER_SIZE_PADDING);
+        }
+
+        uint32_t size = image_size(image);
+        write_data(fp, image->data, size);
+
+        if (size % ALIGN_SIZE) {
+            write_data(fp, padding, ALIGN_SIZE - (size % ALIGN_SIZE));
+        }
+
+        // Seeking to the middle of a file and writing data corrupts the remainder of the file. So,
+        // truncate the rest of the file when this happens to prevent crashing because of this.
+        if (!f_eof(fp)) {
+            file_truncate(fp);
+        }
+
+        stream->count = stream->offset + 1;
+    #endif
+    } else if (stream->type == IMAGE_IO_MEMORY_STREAM) {
+        if (stream->offset == stream->count) {
+            mp_raise_msg(&mp_type_EOFError, MP_ERROR_TEXT("End of stream"));
+        }
+
+        uint32_t size = image_size(image);
+
+        if (stream->size < size) {
+            mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid frame size"));
+        }
+
+        *((uint32_t *) (stream->buffer + (stream->offset * stream->size))) = elapsed_ms;
+        memcpy(stream->buffer + (stream->offset * stream->size) + sizeof(uint32_t), image, sizeof(image_t));
+        memcpy(stream->buffer + (stream->offset * stream->size) + IMAGE_T_SIZE_ALIGNED, image->data, size);
+    }
+
+    stream->offset += 1;
+
+    return self;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_imageio_write_obj, py_imageio_write);
+
+STATIC void int_py_imageio_pause(py_imageio_obj_t *stream, bool pause)
+{
+    uint32_t elapsed_ms;
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    } else if (stream->type == IMAGE_IO_FILE_STREAM) {
+        read_long(&stream->fp, &elapsed_ms);
+    #endif
+    } else if (stream->type == IMAGE_IO_MEMORY_STREAM) {
+        elapsed_ms = *((uint32_t *) (stream->buffer + (stream->offset * stream->size)));
+    }
+
+    while (pause && ((mp_hal_ticks_ms() - stream->ms) < elapsed_ms)) {
+        __WFI();
+    }
+
+    stream->ms += elapsed_ms;
+}
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+STATIC void int_py_imageio_read_chunk(py_imageio_obj_t *stream, image_t *image, bool pause)
+{
+    FIL *fp = &stream->fp;
+
+    if (f_eof(fp)) {
+        mp_raise_msg(&mp_type_EOFError, MP_ERROR_TEXT("End of stream"));
+    }
+
+    int_py_imageio_pause(stream, pause);
+
+    read_long(fp, (uint32_t *) &image->w);
+    read_long(fp, (uint32_t *) &image->h);
+
+    uint32_t bpp;
+    read_long(fp, (uint32_t *) &bpp);
+
+    if (stream->version < NEW_PIXFORMAT_VER) {
+        if (bpp < 0) {
+            mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid image stream bpp"));
+        } else if (bpp == OLD_BINARY_BPP) {
+            image->pixfmt = PIXFORMAT_BINARY;
+        } else if (bpp == OLD_GRAYSCALE_BPP) {
+            image->pixfmt = PIXFORMAT_GRAYSCALE;
+        } else if (bpp == OLD_RGB565_BPP) {
+            image->pixfmt = PIXFORMAT_RGB565;
+        } else if (bpp == OLD_BAYER_BPP) {
+            image->pixfmt = PIXFORMAT_BAYER;
+        } else if (bpp >= OLD_JPG_BPP) {
+            image->pixfmt = PIXFORMAT_JPEG;
+        }
+    } else {
+        if (!IMLIB_PIXFORMAT_IS_VALID(bpp)) {
+            mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid image stream pixformat"));
+        }
+
+        image->pixfmt = bpp;
+        read_long(fp, (uint32_t *) &image->size);
+
+        char ignore[AFTER_SIZE_PADDING];
+        read_data(fp, ignore, AFTER_SIZE_PADDING);
+    }
+}
+#endif
+
+STATIC mp_obj_t py_imageio_read(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+
+    py_imageio_obj_t *stream = py_imageio_obj(args[0]);
+
+    mp_obj_t copy_to_fb_obj = py_helper_keyword_object(n_args, args, 1, kw_args,
+            MP_OBJ_NEW_QSTR(MP_QSTR_copy_to_fb), NULL);
+    bool copy_to_fb = true;
+    image_t *arg_other = NULL;
+
+    if (copy_to_fb_obj) {
+        if (mp_obj_is_integer(copy_to_fb_obj)) {
+            copy_to_fb = mp_obj_get_int(copy_to_fb_obj);
+        } else {
+            arg_other = py_helper_arg_to_image_mutable(copy_to_fb_obj);
+        }
+    }
+
+    image_t image = {};
+
+    bool pause = py_helper_keyword_int(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_pause), true);
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    } else if (stream->type == IMAGE_IO_FILE_STREAM) {
+        FIL *fp = &stream->fp;
+
+        if (f_eof(fp)) {
+            if (!py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_loop), true)) {
+                return mp_const_none;
+            }
+
+            file_seek(fp, MAGIC_SIZE); // skip past the header
+
+            stream->offset = 0;
+
+            if (f_eof(fp)) { // empty file
+                return mp_const_none;
+            }
+        }
+
+        int_py_imageio_read_chunk(stream, &image, pause);
+    #endif
+    } else if (stream->type == IMAGE_IO_MEMORY_STREAM) {
+        if (stream->offset == stream->count) {
+            mp_raise_msg(&mp_type_EOFError, MP_ERROR_TEXT("End of stream"));
+        }
+
+        int_py_imageio_pause(stream, pause);
+
+        memcpy(&image, stream->buffer + (stream->offset * stream->size) + sizeof(uint32_t), sizeof(image_t));
+    }
+
+    uint32_t size = image_size(&image);
+
+    if (copy_to_fb) {
+        py_helper_set_to_framebuffer(&image);
+    } else if (arg_other) {
+        PY_ASSERT_TRUE_MSG((size <= image_size(arg_other)),
+            "The new image won't fit in the target frame buffer!");
+        image.data = arg_other->data;
+    } else {
+        image.data = xalloc(size);
+    }
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    } else if (stream->type == IMAGE_IO_FILE_STREAM) {
+        FIL *fp = &stream->fp;
+        read_data(fp, image.data, size);
+
+        // Check if original byte reversed data.
+        if ((image.pixfmt == PIXFORMAT_RGB565) && (stream->version == ORIGINAL_VER)) {
+            uint32_t *data_ptr = (uint32_t *) image.data;
+            size_t data_len = image.w * image.h;
+
+            for (; data_len >= 2; data_len -= 2, data_ptr += 1) {
+                *data_ptr = __REV16(*data_ptr); // long aligned
+            }
+
+            if (data_len) {
+                *((uint16_t *) data_ptr) = __REV16(*((uint16_t *) data_ptr)); // word aligned
+            }
+        }
+
+        if (size % ALIGN_SIZE) {
+            char ignore[ALIGN_SIZE];
+            read_data(fp, ignore, ALIGN_SIZE - (size % ALIGN_SIZE));
+        }
+
+        if (stream->offset >= stream->count) {
+            stream->count = stream->offset + 1;
+        }
+    #endif
+    } else if (stream->type == IMAGE_IO_MEMORY_STREAM) {
+        memcpy(image.data, stream->buffer + (stream->offset * stream->size) + IMAGE_T_SIZE_ALIGNED, size);
+    }
+
+    stream->offset += 1;
+
+    py_helper_update_framebuffer(&image);
+
+    if (arg_other) {
+        memcpy(arg_other, &image, sizeof(image_t));
+    }
+
+    if (copy_to_fb) {
+        framebuffer_update_jpeg_buffer();
+    }
+
+    return py_image_from_struct(&image);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_imageio_read_obj, 1, py_imageio_read);
+
+STATIC mp_obj_t py_imageio_seek(mp_obj_t self, mp_obj_t offs)
+{
+    py_imageio_obj_t *stream = py_imageio_obj(self);
+    int offset = mp_obj_get_int(offs);
+
+    if ((offset < 0) || ((stream->type == IMAGE_IO_MEMORY_STREAM) && (stream->count <= offset))) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid stream offset"));
+    }
+
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    if (stream->type == IMAGE_IO_FILE_STREAM) {
+        FIL *fp = &stream->fp;
+        file_seek(fp, MAGIC_SIZE); // skip past the file header
+
+        for (int i = 0; i < offset; i++) {
+            image_t image = {};
+            int_py_imageio_read_chunk(stream, &image, false);
+            uint32_t size = image_size(&image);
+
+            if (size % ALIGN_SIZE) {
+                size += ALIGN_SIZE - (size % ALIGN_SIZE);
+            }
+
+            file_seek(fp, f_tell(fp) + size);
+        }
+
+        if (stream->offset >= stream->count) {
+            stream->count = offset + 1;
+        }
+    }
+    #endif
+
+    stream->offset = offset;
+
+    return self;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_imageio_seek_obj, py_imageio_seek);
+
+STATIC mp_obj_t py_imageio_sync(mp_obj_t self)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_imageio_obj_t *stream = py_imageio_obj(self);
+
+    if (stream->type == IMAGE_IO_FILE_STREAM) {
+        file_sync(&stream->fp);
+    }
+    #endif
+
+    return self;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_sync_obj, py_imageio_sync);
+
+STATIC mp_obj_t py_imageio_close(mp_obj_t self)
+{
+    py_imageio_obj_t *stream = py_imageio_obj(self);
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    } else if (stream->type == IMAGE_IO_FILE_STREAM) {
+        file_close(&stream->fp);
+    #endif
+    } else if (stream->type == IMAGE_IO_MEMORY_STREAM) {
+        fb_alloc_free_till_mark_past_mark_permanent();
+    }
+
+    stream->closed = true;
+
+    return self;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_imageio_close_obj, py_imageio_close);
+
+STATIC mp_obj_t py_imageio_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *args)
+{
+    mp_arg_check_num(n_args, n_kw, 2, 2, false);
+    py_imageio_obj_t *stream = m_new_obj(py_imageio_obj_t);
+    stream->base.type = &py_imageio_type;
+    stream->closed = false;
+
+    if (0) {
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    } else if (mp_obj_is_str(args[0])) { // File Stream I/O
+        FIL *fp = &stream->fp;
+        stream->type = IMAGE_IO_FILE_STREAM;
+        stream->count = 0;
+
+        char mode = mp_obj_str_get_str(args[1])[0];
+
+        if ((mode == 'W') || (mode == 'w')) {
+            file_read_write_open_always(fp, mp_obj_str_get_str(args[0]));
+            const char string[] = "OMV IMG STR V2.0";
+            stream->version = NEW_PIXFORMAT_VER;
+
+            // Overwrite if file is too small.
+            if (f_size(fp) < MAGIC_SIZE) {
+                write_data(fp, string, sizeof(string) - 1); // exclude null terminator
+            } else {
+                uint8_t version_hi, period, version_lo;
+                char temp[sizeof(string) - 3] = {};
+                read_data(fp, temp, sizeof(temp) - 1);
+                read_byte(fp, &version_hi);
+                read_byte(fp, &period);
+                read_byte(fp, &version_lo);
+                int version = ((version_hi - '0') * 10) + (version_lo - '0');
+
+                // Overwrite if file magic does not match.
+                if (strcmp(string, temp)
+                || (period != ((uint8_t) '.'))
+                || (version != ORIGINAL_VER)
+                || (version != RGB565_FIXED_VER)
+                || (version != NEW_PIXFORMAT_VER)) {
+                    file_seek(fp, 0);
+                    write_data(fp, string, sizeof(string) - 1); // exclude null terminator
+                } else {
+                    file_close(fp);
+                    mode = 'R';
+                }
+            }
+        }
+
+        if ((mode == 'R') || (mode == 'r')) {
+            uint8_t version_hi, version_lo;
+            file_read_write_open_existing(fp, mp_obj_str_get_str(args[0]));
+            read_long_expect(fp, *((uint32_t *) "OMV ")); // OpenMV
+            read_long_expect(fp, *((uint32_t *) "IMG ")); // Image
+            read_long_expect(fp, *((uint32_t *) "STR ")); // Stream
+            read_byte_expect(fp, 'V');
+            read_byte(fp, &version_hi);
+            read_byte_expect(fp, '.');
+            read_byte(fp, &version_lo);
+
+            stream->version = ((version_hi - '0') * 10) + (version_lo - '0');
+
+            if ((stream->version != ORIGINAL_VER)
+            && (stream->version != RGB565_FIXED_VER)
+            && (stream->version != NEW_PIXFORMAT_VER)) {
+                mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected version V1.0, V1.1, or V2.0"));
+            }
+        } else if ((mode != 'W') && (mode != 'w')) {
+            mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid stream mode, expected 'R/r' or 'W/w'"));
+        }
+    #endif
+    } else if (mp_obj_is_type(args[0], &mp_type_tuple)) { // Memory Stream I/O
+        stream->type = IMAGE_IO_MEMORY_STREAM;
+
+        mp_obj_t *image_info;
+        mp_obj_get_array_fixed_n(args[0], 3, &image_info);
+        int w = mp_obj_get_int(image_info[0]);
+        int h = mp_obj_get_int(image_info[1]);
+        int pixfmt = mp_obj_get_int(image_info[2]);
+
+        if (!IMLIB_PIXFORMAT_IS_VALID(pixfmt)) {
+            mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Invalid image stream pixformat"));
+        }
+
+        image_t image = {.w = w, .h = h, .pixfmt = pixfmt};
+
+        // Estimate that the compressed image will fit in less than 2 bits per pixel.
+        if (image.is_compressed) {
+            image.h *= 2; // double calculated image size
+            image.pixfmt = PIXFORMAT_BINARY;
+        }
+
+        stream->count = mp_obj_get_int(args[1]);
+        stream->size = IMAGE_T_SIZE_ALIGNED + image_size_aligned(&image);
+
+        fb_alloc_mark();
+        stream->buffer = fb_alloc(stream->count * stream->size, FB_ALLOC_PREFER_SIZE | FB_ALLOC_CACHE_ALIGN);
+        fb_alloc_mark_permanent();
+    } else {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid stream type"));
+    }
+
+    stream->offset = 0;
+    stream->ms = mp_hal_ticks_ms();
+
+    return MP_OBJ_FROM_PTR(stream);
+}
+
+STATIC const mp_rom_map_elem_t py_imageio_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__),        MP_ROM_QSTR(MP_QSTR_imageio)            },
+    { MP_ROM_QSTR(MP_QSTR_FILE_STREAM),     MP_ROM_INT(IMAGE_IO_FILE_STREAM)        },
+    { MP_ROM_QSTR(MP_QSTR_MEMORY_STREAM),   MP_ROM_INT(IMAGE_IO_MEMORY_STREAM)      },
+    { MP_ROM_QSTR(MP_QSTR_type),            MP_ROM_PTR(&py_imageio_get_type_obj)    },
+    { MP_ROM_QSTR(MP_QSTR_is_closed),       MP_ROM_PTR(&py_imageio_is_closed_obj)   },
+    { MP_ROM_QSTR(MP_QSTR_count),           MP_ROM_PTR(&py_imageio_count_obj)       },
+    { MP_ROM_QSTR(MP_QSTR_offset),          MP_ROM_PTR(&py_imageio_offset_obj)      },
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    { MP_ROM_QSTR(MP_QSTR_version),         MP_ROM_PTR(&py_imageio_version_obj)     },
+    #else
+    { MP_ROM_QSTR(MP_QSTR_version),         MP_ROM_PTR(&py_func_unavailable_obj)    },
+    #endif
+    { MP_ROM_QSTR(MP_QSTR_buffer_size),     MP_ROM_PTR(&py_imageio_buffer_size_obj) },
+    { MP_ROM_QSTR(MP_QSTR_size),            MP_ROM_PTR(&py_imageio_size_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_write),           MP_ROM_PTR(&py_imageio_write_obj)       },
+    { MP_ROM_QSTR(MP_QSTR_read),            MP_ROM_PTR(&py_imageio_read_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_seek),            MP_ROM_PTR(&py_imageio_seek_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_sync),            MP_ROM_PTR(&py_imageio_sync_obj)        },
+    { MP_ROM_QSTR(MP_QSTR_close),           MP_ROM_PTR(&py_imageio_close_obj)       }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_imageio_locals_dict, py_imageio_locals_dict_table);
+
+const mp_obj_type_t py_imageio_type = {
+    { &mp_type_type },
+    .name = MP_QSTR_ImageIO,
+    .print = py_imageio_print,
+    .make_new = py_imageio_make_new,
+    .locals_dict = (mp_obj_dict_t *) &py_imageio_locals_dict,
+};
+
+#endif // IMLIB_ENABLE_IMAGE_IO
diff --git a/github_source/minicv2/reference/py_imageio.h b/github_source/minicv2/reference/py_imageio.h
new file mode 100644
index 0000000..2b26009
--- /dev/null
+++ b/github_source/minicv2/reference/py_imageio.h
@@ -0,0 +1,14 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image I/O Python module.
+ */
+#ifndef __PY_IMAGE_IO_H__
+#define __PY_IMAGE_IO_H__
+extern const mp_obj_type_t py_imageio_type;
+#endif // __PY_IMAGE_IO_H__
diff --git a/github_source/minicv2/reference/py_mjpeg.c b/github_source/minicv2/reference/py_mjpeg.c
new file mode 100644
index 0000000..385ea26
--- /dev/null
+++ b/github_source/minicv2/reference/py_mjpeg.c
@@ -0,0 +1,140 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * MJPEG Python module.
+ */
+#include "py/obj.h"
+#include "py/runtime.h"
+#include "ff_wrapper.h"
+#include "framebuffer.h"
+#include "py_assert.h"
+#include "py_helper.h"
+#include "py_image.h"
+
+static const mp_obj_type_t py_mjpeg_type; // forward declare
+// Mjpeg class
+typedef struct py_mjpeg_obj {
+    mp_obj_base_t base;
+    int width;
+    int height;
+    uint32_t frames;
+    uint32_t bytes;
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    FIL fp;
+    #endif
+} py_mjpeg_obj_t;
+
+static mp_obj_t py_mjpeg_open(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    py_mjpeg_obj_t *mjpeg = m_new_obj(py_mjpeg_obj_t);
+    mjpeg->width  = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_width), MAIN_FB()->w);
+    mjpeg->height = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_height), MAIN_FB()->h);
+    mjpeg->frames = 0; // private
+    mjpeg->bytes = 0; // private
+    mjpeg->base.type = &py_mjpeg_type;
+
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    file_write_open(&mjpeg->fp, mp_obj_str_get_str(args[0]));
+    mjpeg_open(&mjpeg->fp, mjpeg->width, mjpeg->height);
+    #else
+    mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+    #endif
+    return mjpeg;
+}
+
+static mp_obj_t py_mjpeg_width(mp_obj_t mjpeg_obj)
+{
+    py_mjpeg_obj_t *arg_mjpeg = mjpeg_obj;
+    return mp_obj_new_int(arg_mjpeg->width);
+}
+
+static mp_obj_t py_mjpeg_height(mp_obj_t mjpeg_obj)
+{
+    py_mjpeg_obj_t *arg_mjpeg = mjpeg_obj;
+    return mp_obj_new_int(arg_mjpeg->height);
+}
+
+static mp_obj_t py_mjpeg_size(mp_obj_t mjpeg_obj)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_mjpeg_obj_t *arg_mjpeg = mjpeg_obj;
+    return mp_obj_new_int(f_size(&arg_mjpeg->fp));
+    #else
+    return mp_obj_new_int(0);
+    #endif
+}
+
+static mp_obj_t py_mjpeg_add_frame(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_mjpeg_obj_t *arg_mjpeg = args[0];
+    image_t *arg_img = py_image_cobj(args[1]);
+    PY_ASSERT_FALSE_MSG((arg_mjpeg->width != arg_img->w)
+                     || (arg_mjpeg->height != arg_img->h),
+            "Unexpected image geometry");
+
+    int arg_q = py_helper_keyword_int(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_quality), 50);
+    arg_q = IM_MIN(IM_MAX(arg_q, 1), 100);
+    mjpeg_add_frame(&arg_mjpeg->fp, &arg_mjpeg->frames, &arg_mjpeg->bytes, arg_img, arg_q);
+    #else
+    mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+    #endif
+    return mp_const_none;
+}
+
+static mp_obj_t py_mjpeg_close(mp_obj_t mjpeg_obj, mp_obj_t fps_obj)
+{
+    #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+    py_mjpeg_obj_t *arg_mjpeg = mjpeg_obj;
+    mjpeg_close(&arg_mjpeg->fp, &arg_mjpeg->frames, &arg_mjpeg->bytes, mp_obj_get_float(fps_obj));
+    #endif
+    return mp_const_none;
+}
+
+static void py_mjpeg_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_mjpeg_obj_t *self = self_in;
+    mp_printf(print, "<mjpeg width:%d height:%d>", self->width, self->height);
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_mjpeg_width_obj, py_mjpeg_width);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_mjpeg_height_obj, py_mjpeg_height);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_mjpeg_size_obj, py_mjpeg_size);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_mjpeg_add_frame_obj, 2, py_mjpeg_add_frame);
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_mjpeg_close_obj, py_mjpeg_close);
+static const mp_map_elem_t locals_dict_table[] = {
+    { MP_OBJ_NEW_QSTR(MP_QSTR_width),       (mp_obj_t)&py_mjpeg_width_obj     },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_height),      (mp_obj_t)&py_mjpeg_height_obj    },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_size),        (mp_obj_t)&py_mjpeg_size_obj      },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_add_frame),   (mp_obj_t)&py_mjpeg_add_frame_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_close),       (mp_obj_t)&py_mjpeg_close_obj     },
+    { NULL, NULL },
+};
+STATIC MP_DEFINE_CONST_DICT(locals_dict, locals_dict_table);
+
+static const mp_obj_type_t py_mjpeg_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_Mjpeg,
+    .print = py_mjpeg_print,
+    .locals_dict = (mp_obj_t)&locals_dict,
+};
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_mjpeg_open_obj, 1, py_mjpeg_open);
+static const mp_map_elem_t globals_dict_table[] = {
+    { MP_OBJ_NEW_QSTR(MP_QSTR___name__),    MP_OBJ_NEW_QSTR(MP_QSTR_mjpeg) },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_Mjpeg),       (mp_obj_t)&py_mjpeg_open_obj   },
+    { NULL, NULL },
+};
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t mjpeg_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t)&globals_dict,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_mjpeg, mjpeg_module, 1);
diff --git a/github_source/minicv2/reference/py_omv.c b/github_source/minicv2/reference/py_omv.c
new file mode 100644
index 0000000..879586e
--- /dev/null
+++ b/github_source/minicv2/reference/py_omv.c
@@ -0,0 +1,84 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * OMV Python module.
+ */
+#include <string.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include "py/obj.h"
+#include "usbdbg.h"
+#include "framebuffer.h"
+#include "omv_boardconfig.h"
+
+static mp_obj_t py_omv_version_string()
+{
+    char str[12];
+    snprintf(str, 12, "%d.%d.%d",
+             FIRMWARE_VERSION_MAJOR,
+             FIRMWARE_VERSION_MINOR,
+             FIRMWARE_VERSION_PATCH);
+    return mp_obj_new_str(str, strlen(str));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_omv_version_string_obj, py_omv_version_string);
+
+static mp_obj_t py_omv_arch()
+{
+    char *str = OMV_ARCH_STR;
+    return mp_obj_new_str(str, strlen(str));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_omv_arch_obj, py_omv_arch);
+
+static mp_obj_t py_omv_board_type()
+{
+    char *str = OMV_BOARD_TYPE;
+    return mp_obj_new_str(str, strlen(str));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_omv_board_type_obj, py_omv_board_type);
+
+static mp_obj_t py_omv_board_id()
+{
+    char str[25];
+    snprintf(str, 25, "%08X%08X%08X",
+             *((unsigned int *) (OMV_UNIQUE_ID_ADDR + 8)),
+             *((unsigned int *) (OMV_UNIQUE_ID_ADDR + 4)),
+             *((unsigned int *) (OMV_UNIQUE_ID_ADDR + 0)));
+    return mp_obj_new_str(str, strlen(str));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_omv_board_id_obj, py_omv_board_id);
+
+static mp_obj_t py_omv_disable_fb(uint n_args, const mp_obj_t *args)
+{
+    if (!n_args) {
+        return mp_obj_new_bool(!fb_get_streaming_enabled());
+    }
+    fb_set_streaming_enabled(!mp_obj_get_int(args[0]));
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_omv_disable_fb_obj, 0, 1, py_omv_disable_fb);
+
+static const mp_rom_map_elem_t globals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__),        MP_OBJ_NEW_QSTR(MP_QSTR_omv) },
+    { MP_ROM_QSTR(MP_QSTR_version_major),   MP_ROM_INT(FIRMWARE_VERSION_MAJOR) },
+    { MP_ROM_QSTR(MP_QSTR_version_minor),   MP_ROM_INT(FIRMWARE_VERSION_MINOR) },
+    { MP_ROM_QSTR(MP_QSTR_version_patch),   MP_ROM_INT(FIRMWARE_VERSION_PATCH) },
+    { MP_ROM_QSTR(MP_QSTR_version_string),  MP_ROM_PTR(&py_omv_version_string_obj) },
+    { MP_ROM_QSTR(MP_QSTR_arch),            MP_ROM_PTR(&py_omv_arch_obj) },
+    { MP_ROM_QSTR(MP_QSTR_board_type),      MP_ROM_PTR(&py_omv_board_type_obj) },
+    { MP_ROM_QSTR(MP_QSTR_board_id),        MP_ROM_PTR(&py_omv_board_id_obj) },
+    { MP_ROM_QSTR(MP_QSTR_disable_fb),      MP_ROM_PTR(&py_omv_disable_fb_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t omv_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t) &globals_dict,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_omv, omv_module, 1);
diff --git a/github_source/minicv2/reference/py_sensor.c b/github_source/minicv2/reference/py_sensor.c
new file mode 100644
index 0000000..dc9f3dd
--- /dev/null
+++ b/github_source/minicv2/reference/py_sensor.c
@@ -0,0 +1,1173 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Sensor Python module.
+ */
+#include <stdarg.h>
+#include "py/mphal.h"
+#include "py/runtime.h"
+
+#if MICROPY_PY_SENSOR
+
+#include "cambus.h"
+#include "sensor.h"
+#include "imlib.h"
+#include "xalloc.h"
+#include "py_assert.h"
+#include "py_image.h"
+#if MICROPY_PY_IMU
+#include "py_imu.h"
+#endif
+#include "omv_boardconfig.h"
+#include "py_helper.h"
+#include "framebuffer.h"
+
+extern sensor_t sensor;
+static mp_obj_t vsync_callback = mp_const_none;
+static mp_obj_t frame_callback = mp_const_none;
+
+#define sensor_raise_error(err) mp_raise_msg(&mp_type_RuntimeError, (mp_rom_error_text_t) sensor_strerror(err))
+
+#if MICROPY_PY_IMU
+static void do_auto_rotation(int pitch_deadzone, int roll_activezone)
+{
+    if (sensor_get_auto_rotation()) {
+        float pitch = py_imu_pitch_rotation();
+        if (((pitch <= (90 - pitch_deadzone)) || ((90 + pitch_deadzone) < pitch))
+        && ((pitch <= (270 - pitch_deadzone)) || ((270 + pitch_deadzone) < pitch))) { // disable when 90 or 270
+            float roll = py_imu_roll_rotation();
+            if (((360 - roll_activezone) <= roll) || (roll < (0 + roll_activezone)) ) { // center is 0/360, upright
+                sensor_set_hmirror(false);
+                sensor_set_vflip(false);
+                sensor_set_transpose(false);
+            } else if (((270 - roll_activezone) <= roll) && (roll < (270 + roll_activezone))) { // center is 270, rotated right
+                sensor_set_hmirror(true);
+                sensor_set_vflip(false);
+                sensor_set_transpose(true);
+            } else if (((180 - roll_activezone) <= roll) && (roll < (180 + roll_activezone))) { // center is 180, upside down
+                sensor_set_hmirror(true);
+                sensor_set_vflip(true);
+                sensor_set_transpose(false);
+            } else if (((90 - roll_activezone) <= roll) && (roll < (90 + roll_activezone))) { // center is 90, rotated left
+                sensor_set_hmirror(false);
+                sensor_set_vflip(true);
+                sensor_set_transpose(true);
+            }
+        }
+    }
+}
+#endif // MICROPY_PY_IMU
+
+static mp_obj_t py_sensor__init__()
+{
+    // This is the module init function, not the sensor init function,
+    // it gets called when the module is imported. This is good
+    // place to check if the sensor was detected or not.
+    if (sensor_is_detected() == false) {
+        sensor_raise_error(SENSOR_ERROR_ISC_UNDETECTED);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_reset()
+{
+    int error = sensor_reset();
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+#if MICROPY_PY_IMU
+    // +-10 degree dead-zone around pitch 90/270.
+    // +-45 degree active-zone around roll 0/90/180/270/360.
+    do_auto_rotation(10, 45);
+    // We're setting the dead-zone on pitch because roll readings are invalid there.
+    // We're setting the full range on roll to set the initial state.
+#endif // MICROPY_PY_IMU
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_sleep(mp_obj_t enable)
+{
+    PY_ASSERT_FALSE_MSG(sensor_sleep(mp_obj_is_true(enable)) != 0, "Sleep Failed");
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_shutdown(mp_obj_t enable)
+{
+    PY_ASSERT_FALSE_MSG(sensor_shutdown(mp_obj_is_true(enable)) != 0, "Shutdown Failed");
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_flush()
+{
+    framebuffer_update_jpeg_buffer();
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_snapshot(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+#if MICROPY_PY_IMU
+    // +-10 degree dead-zone around pitch 90/270.
+    // +-35 degree active-zone around roll 0/90/180/270/360.
+    do_auto_rotation(10, 35);
+    // We're setting the dead-zone on pitch because roll readings are invalid there.
+    // We're not setting the full range on roll to prevent oscillation.
+#endif // MICROPY_PY_IMU
+
+    mp_obj_t image = py_image(0, 0, 0, 0, 0);
+    int error = sensor.snapshot(&sensor, (image_t *) py_image_cobj(image), 0);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return image;
+}
+
+static mp_obj_t py_sensor_skip_frames(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    mp_map_elem_t *kw_arg = mp_map_lookup(kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_time), MP_MAP_LOOKUP);
+    mp_int_t time = 300; // OV Recommended.
+
+    if (kw_arg != NULL) {
+        time = mp_obj_get_int(kw_arg->value);
+    }
+
+    uint32_t millis = mp_hal_ticks_ms();
+
+    if (!n_args) {
+        while ((mp_hal_ticks_ms() - millis) < time) { // 32-bit math handles wrap around...
+            py_sensor_snapshot(0, NULL, NULL);
+        }
+    } else {
+        for (int i = 0, j = mp_obj_get_int(args[0]); i < j; i++) {
+            if ((kw_arg != NULL) && ((mp_hal_ticks_ms() - millis) >= time)) {
+                break;
+            }
+
+            py_sensor_snapshot(0, NULL, NULL);
+        }
+    }
+
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_width()
+{
+    return mp_obj_new_int(resolution[sensor.framesize][0]);
+}
+
+static mp_obj_t py_sensor_height()
+{
+    return mp_obj_new_int(resolution[sensor.framesize][1]);
+}
+
+static mp_obj_t py_sensor_get_fb()
+{
+    if (framebuffer_get_depth() < 0) {
+        return mp_const_none;
+    }
+
+    image_t image;
+    framebuffer_init_image(&image);
+    return py_image_from_struct(&image);
+}
+
+static mp_obj_t py_sensor_get_id()
+{
+    return mp_obj_new_int(sensor_get_id());
+}
+
+static mp_obj_t py_sensor_get_frame_available()
+{
+    return mp_obj_new_bool(framebuffer->tail != framebuffer->head);
+}
+
+static mp_obj_t py_sensor_alloc_extra_fb(mp_obj_t w_obj, mp_obj_t h_obj, mp_obj_t pixfmt_obj)
+{
+    int w = mp_obj_get_int(w_obj);
+    PY_ASSERT_TRUE_MSG(w > 0, "Width must be > 0");
+
+    int h = mp_obj_get_int(h_obj);
+    PY_ASSERT_TRUE_MSG(h > 0, "Height must be > 0");
+
+    pixformat_t pixfmt = mp_obj_get_int(pixfmt_obj);
+    PY_ASSERT_TRUE_MSG(IMLIB_PIXFORMAT_IS_VALID(pixfmt), "Invalid Pixel Format");
+
+    image_t img = {.w = w, .h = h, .pixfmt = pixfmt, .size = 0, .pixels = 0};
+
+    // Alloc image first (could fail) then alloc RAM so that there's no leak on failure.
+    mp_obj_t r = py_image_from_struct(&img);
+
+    fb_alloc_mark();
+    ((image_t *) py_image_cobj(r))->pixels = fb_alloc0(image_size(&img), FB_ALLOC_NO_HINT);
+    fb_alloc_mark_permanent(); // pixels will not be popped on exception
+    return r;
+}
+
+static mp_obj_t py_sensor_dealloc_extra_fb()
+{
+    fb_alloc_free_till_mark_past_mark_permanent();
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_set_pixformat(mp_obj_t pixformat)
+{
+    int error = sensor_set_pixformat(mp_obj_get_int(pixformat));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_pixformat()
+{
+    if (sensor.pixformat == PIXFORMAT_INVALID) {
+        sensor_raise_error(SENSOR_ERROR_INVALID_PIXFORMAT);
+    }
+    return mp_obj_new_int(sensor.pixformat);
+}
+
+static mp_obj_t py_sensor_set_framesize(mp_obj_t framesize)
+{
+    int error = sensor_set_framesize(mp_obj_get_int(framesize));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_framesize()
+{
+    if (sensor.framesize == FRAMESIZE_INVALID) {
+        sensor_raise_error(SENSOR_ERROR_INVALID_FRAMESIZE);
+    }
+    return mp_obj_new_int(sensor.framesize);
+}
+
+static mp_obj_t py_sensor_set_framerate(mp_obj_t framerate)
+{
+    int error = sensor_set_framerate(mp_obj_get_int(framerate));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_framerate()
+{
+    if (sensor.framerate == 0) {
+        sensor_raise_error(SENSOR_ERROR_INVALID_FRAMERATE);
+    }
+    return mp_obj_new_int(sensor.framerate);
+}
+
+static mp_obj_t py_sensor_set_windowing(uint n_args, const mp_obj_t *args)
+{
+    if (sensor.framesize == FRAMESIZE_INVALID) {
+        sensor_raise_error(SENSOR_ERROR_INVALID_FRAMESIZE);
+    }
+
+    rectangle_t temp;
+    temp.x = 0;
+    temp.y = 0;
+    temp.w = resolution[sensor.framesize][0];
+    temp.h = resolution[sensor.framesize][1];
+
+    mp_obj_t *array = (mp_obj_t *) args;
+    mp_uint_t array_len = n_args;
+
+    if (n_args == 1) {
+        mp_obj_get_array(args[0], &array_len, &array);
+    }
+
+    rectangle_t r;
+
+    if (array_len == 2) {
+        r.w = mp_obj_get_int(array[0]);
+        r.h = mp_obj_get_int(array[1]);
+        r.x = (temp.w / 2) - (r.w / 2);
+        r.y = (temp.h / 2) - (r.h / 2);
+    } else if (array_len == 4) {
+        r.x = mp_obj_get_int(array[0]);
+        r.y = mp_obj_get_int(array[1]);
+        r.w = mp_obj_get_int(array[2]);
+        r.h = mp_obj_get_int(array[3]);
+    } else {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("The tuple/list must either be (x, y, w, h) or (w, h)"));
+    }
+
+    if ((r.w < 1) || (r.h < 1)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Invalid ROI dimensions!"));
+    }
+
+    if (!rectangle_overlap(&r, &temp)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("ROI does not overlap on the image!"));
+    }
+
+    rectangle_intersected(&r, &temp);
+
+    int error = sensor_set_windowing(r.x, r.y, r.w, r.h);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_windowing()
+{
+    if (sensor.framesize == FRAMESIZE_INVALID) {
+        sensor_raise_error(SENSOR_ERROR_INVALID_FRAMESIZE);
+    }
+
+    return mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(framebuffer_get_x()),
+                                              mp_obj_new_int(framebuffer_get_y()),
+                                              mp_obj_new_int(framebuffer_get_u()),
+                                              mp_obj_new_int(framebuffer_get_v())});
+}
+
+static mp_obj_t py_sensor_set_gainceiling(mp_obj_t gainceiling)
+{
+    gainceiling_t gain;
+    switch (mp_obj_get_int(gainceiling)) {
+        case 2:
+            gain = GAINCEILING_2X;
+            break;
+        case 4:
+            gain = GAINCEILING_4X;
+            break;
+        case 8:
+            gain = GAINCEILING_8X;
+            break;
+        case 16:
+            gain = GAINCEILING_16X;
+            break;
+        case 32:
+            gain = GAINCEILING_32X;
+            break;
+        case 64:
+            gain = GAINCEILING_64X;
+            break;
+        case 128:
+            gain = GAINCEILING_128X;
+            break;
+        default:
+            sensor_raise_error(SENSOR_ERROR_INVALID_ARGUMENT);
+            break;
+    }
+
+    if (sensor_set_gainceiling(gain) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_brightness(mp_obj_t brightness)
+{
+    if (sensor_set_brightness(mp_obj_get_int(brightness)) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_contrast(mp_obj_t contrast)
+{
+    if (sensor_set_contrast(mp_obj_get_int(contrast)) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_saturation(mp_obj_t saturation)
+{
+    if (sensor_set_saturation(mp_obj_get_int(saturation)) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_quality(mp_obj_t qs)
+{
+    int q = mp_obj_get_int(qs);
+    PY_ASSERT_TRUE((q >= 0 && q <= 100));
+
+    q = 100-q; //invert quality
+    q = 255*q/100; //map to 0->255
+    if (sensor_set_quality(q) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_colorbar(mp_obj_t enable)
+{
+    if (sensor_set_colorbar(mp_obj_is_true(enable)) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_auto_gain(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int enable = mp_obj_get_int(args[0]);
+    float gain_db = py_helper_keyword_float(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_gain_db), NAN);
+    float gain_db_ceiling = py_helper_keyword_float(n_args, args, 2, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_gain_db_ceiling), NAN);
+
+    int error = sensor_set_auto_gain(enable, gain_db, gain_db_ceiling);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_gain_db()
+{
+    float gain_db;
+    int error = sensor_get_gain_db(&gain_db);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_obj_new_float(gain_db);
+}
+
+static mp_obj_t py_sensor_set_auto_exposure(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int exposure_us = py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_exposure_us), -1);
+    int error = sensor_set_auto_exposure(mp_obj_get_int(args[0]), exposure_us);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_exposure_us()
+{
+    int exposure_us;
+    int error = sensor_get_exposure_us(&exposure_us);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_obj_new_int(exposure_us);
+}
+
+static mp_obj_t py_sensor_set_auto_whitebal(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    int enable = mp_obj_get_int(args[0]);
+    float rgb_gain_db[3] = {NAN, NAN, NAN};
+    py_helper_keyword_float_array(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_rgb_gain_db), rgb_gain_db, 3);
+
+    int error = sensor_set_auto_whitebal(enable, rgb_gain_db[0], rgb_gain_db[1], rgb_gain_db[2]);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_rgb_gain_db()
+{
+    float r_gain_db = 0.0, g_gain_db = 0.0, b_gain_db = 0.0;
+    int error = sensor_get_rgb_gain_db(&r_gain_db, &g_gain_db, &b_gain_db);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_obj_new_tuple(3, (mp_obj_t []) {
+            mp_obj_new_float(r_gain_db),
+            mp_obj_new_float(g_gain_db),
+            mp_obj_new_float(b_gain_db)});
+}
+
+static mp_obj_t py_sensor_set_hmirror(mp_obj_t enable)
+{
+    int error = sensor_set_hmirror(mp_obj_is_true(enable));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_hmirror()
+{
+    return mp_obj_new_bool(sensor_get_hmirror());
+}
+
+static mp_obj_t py_sensor_set_vflip(mp_obj_t enable)
+{
+    int error = sensor_set_vflip(mp_obj_is_true(enable));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_vflip()
+{
+    return mp_obj_new_bool(sensor_get_vflip());
+}
+
+static mp_obj_t py_sensor_set_transpose(mp_obj_t enable)
+{
+    int error = sensor_set_transpose(mp_obj_is_true(enable));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_transpose()
+{
+    return mp_obj_new_bool(sensor_get_transpose());
+}
+
+static mp_obj_t py_sensor_set_auto_rotation(mp_obj_t enable)
+{
+    int error = sensor_set_auto_rotation(mp_obj_is_true(enable));
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_auto_rotation()
+{
+    return mp_obj_new_bool(sensor_get_auto_rotation());
+}
+
+static mp_obj_t py_sensor_set_framebuffers(mp_obj_t count)
+{
+    mp_int_t c = mp_obj_get_int(count);
+
+    if (framebuffer->n_buffers == c) {
+        return mp_const_none;
+    }
+
+    if (c < 1) {
+        sensor_raise_error(SENSOR_ERROR_INVALID_ARGUMENT);
+    }
+
+    int error = sensor_set_framebuffers(c);
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_framebuffers()
+{
+    return mp_obj_new_int(framebuffer->n_buffers);
+}
+
+static mp_obj_t py_sensor_disable_full_flush(uint n_args, const mp_obj_t *args)
+{
+    if (!n_args) {
+        return mp_obj_new_bool(sensor.disable_full_flush);
+    }
+
+    sensor.disable_full_flush = mp_obj_get_int(args[0]);
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_set_special_effect(mp_obj_t sde)
+{
+    if (sensor_set_special_effect(mp_obj_get_int(sde)) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static mp_obj_t py_sensor_set_lens_correction(mp_obj_t enable, mp_obj_t radi, mp_obj_t coef)
+{
+    if (sensor_set_lens_correction(mp_obj_is_true(enable),
+                mp_obj_get_int(radi), mp_obj_get_int(coef)) != 0) {
+        return mp_const_false;
+    }
+    return mp_const_true;
+}
+
+static void sensor_vsync_callback(uint32_t vsync)
+{
+    if (mp_obj_is_callable(vsync_callback)) {
+        mp_call_function_1(vsync_callback, mp_obj_new_int(vsync));
+    }
+}
+
+static mp_obj_t py_sensor_set_vsync_callback(mp_obj_t vsync_callback_obj)
+{
+    if (!mp_obj_is_callable(vsync_callback_obj)) {
+        vsync_callback = mp_const_none;
+        sensor_set_vsync_callback(NULL);
+    } else {
+        vsync_callback = vsync_callback_obj;
+        sensor_set_vsync_callback(sensor_vsync_callback);
+    }
+
+    return mp_const_none;
+}
+
+static void sensor_frame_callback()
+{
+    if (mp_obj_is_callable(frame_callback)) {
+        mp_call_function_0(frame_callback);
+    }
+}
+
+static mp_obj_t py_sensor_set_frame_callback(mp_obj_t frame_callback_obj)
+{
+    if (!mp_obj_is_callable(frame_callback_obj)) {
+        frame_callback = mp_const_none;
+        sensor_set_frame_callback(NULL);
+    } else {
+        frame_callback = frame_callback_obj;
+        sensor_set_frame_callback(sensor_frame_callback);
+    }
+
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_ioctl(uint n_args, const mp_obj_t *args)
+{
+    mp_obj_t ret_obj = mp_const_none;
+    int request = mp_obj_get_int(args[0]);
+    int error = SENSOR_ERROR_INVALID_ARGUMENT;
+
+    switch (request) {
+        case IOCTL_SET_READOUT_WINDOW: {
+            if (n_args >= 2) {
+                int x, y, w, h;
+                mp_obj_t *array;
+                mp_uint_t array_len;
+                mp_obj_get_array(args[1], &array_len, &array);
+
+                if (array_len == 4) {
+                    x = mp_obj_get_int(array[0]);
+                    y = mp_obj_get_int(array[1]);
+                    w = mp_obj_get_int(array[2]);
+                    h = mp_obj_get_int(array[3]);
+                } else if (array_len == 2) {
+                    w = mp_obj_get_int(array[0]);
+                    h = mp_obj_get_int(array[1]);
+                    x = 0;
+                    y = 0;
+                } else {
+                    mp_raise_msg(&mp_type_ValueError,
+                            MP_ERROR_TEXT("The tuple/list must either be (x, y, w, h) or (w, h)"));
+                }
+
+                error = sensor_ioctl(request, x, y, w, h);
+            }
+            break;
+        }
+
+        case IOCTL_GET_READOUT_WINDOW: {
+            int x, y, w, h;
+            error = sensor_ioctl(request, &x, &y, &w, &h);
+            if (error == 0) {
+                ret_obj = mp_obj_new_tuple(4, (mp_obj_t []) {mp_obj_new_int(x),
+                                                             mp_obj_new_int(y),
+                                                             mp_obj_new_int(w),
+                                                             mp_obj_new_int(h)});
+            }
+            break;
+        }
+
+        case IOCTL_SET_TRIGGERED_MODE: {
+            if (n_args >= 2) {
+                error = sensor_ioctl(request, mp_obj_get_int(args[1]));
+            }
+            break;
+        }
+
+        case IOCTL_GET_TRIGGERED_MODE: {
+            int enabled;
+            error = sensor_ioctl(request, &enabled);
+            if (error == 0) {
+                ret_obj = mp_obj_new_bool(enabled);
+            }
+            break;
+        }
+
+        #if (OMV_ENABLE_OV5640_AF == 1)
+        case IOCTL_TRIGGER_AUTO_FOCUS:
+        case IOCTL_PAUSE_AUTO_FOCUS:
+        case IOCTL_RESET_AUTO_FOCUS: {
+            error = sensor_ioctl(request);
+            break;
+        }
+        case IOCTL_WAIT_ON_AUTO_FOCUS: {
+            error = sensor_ioctl(request, (n_args < 2) ? 5000 : mp_obj_get_int(args[1]));
+            break;
+        }
+        #endif
+
+        case IOCTL_LEPTON_GET_WIDTH: {
+            int width;
+            error = sensor_ioctl(request, &width);
+            if (error == 0) {
+                ret_obj = mp_obj_new_int(width);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_GET_HEIGHT: {
+            int height;
+            error = sensor_ioctl(request, &height);
+            if (error == 0) {
+                ret_obj = mp_obj_new_int(height);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_GET_RADIOMETRY: {
+            int radiometry;
+            error = sensor_ioctl(request, &radiometry);
+            if (error == 0) {
+                ret_obj = mp_obj_new_int(radiometry);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_GET_REFRESH: {
+            int refresh;
+            error = sensor_ioctl(request, &refresh);
+            if (error == 0) {
+                ret_obj = mp_obj_new_int(refresh);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_GET_RESOLUTION: {
+            int resolution;
+            error = sensor_ioctl(request, &resolution);
+            if (error == 0) {
+                ret_obj = mp_obj_new_int(resolution);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_RUN_COMMAND: {
+            if (n_args >= 2) {
+                error = sensor_ioctl(request, mp_obj_get_int(args[1]));
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_SET_ATTRIBUTE: {
+            if (n_args >= 3) {
+                size_t data_len;
+                int command = mp_obj_get_int(args[1]);
+                uint16_t *data = (uint16_t *) mp_obj_str_get_data(args[2], &data_len);
+                PY_ASSERT_TRUE_MSG(data_len > 0, "0 bytes transferred!");
+                error = sensor_ioctl(request, command, data, data_len / sizeof(uint16_t));
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_GET_ATTRIBUTE: {
+            if (n_args >= 3) {
+                int command = mp_obj_get_int(args[1]);
+                size_t data_len = mp_obj_get_int(args[2]);
+                PY_ASSERT_TRUE_MSG(data_len > 0, "0 bytes transferred!");
+                uint16_t *data = xalloc(data_len * sizeof(uint16_t));
+                error = sensor_ioctl(request, command, data, data_len);
+                if (error == 0) {
+                    ret_obj = mp_obj_new_bytearray_by_ref(data_len * sizeof(uint16_t), data);
+                }
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_GET_FPA_TEMPERATURE:
+        case IOCTL_LEPTON_GET_AUX_TEMPERATURE: {
+            int temp;
+            error = sensor_ioctl(request, &temp);
+            if (error == 0) {
+                ret_obj = mp_obj_new_float((((float) temp) / 100) - 273.15f);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_SET_MEASUREMENT_MODE:
+            if (n_args >= 2) {
+                error = sensor_ioctl(request, mp_obj_get_int(args[1]));
+            }
+            break;
+
+        case IOCTL_LEPTON_GET_MEASUREMENT_MODE: {
+            int enabled;
+            error = sensor_ioctl(request, &enabled);
+            if (error == 0) {
+                ret_obj = mp_obj_new_bool(enabled);
+            }
+            break;
+        }
+
+        case IOCTL_LEPTON_SET_MEASUREMENT_RANGE:
+            if (n_args >= 3) {
+                // GCC will not let us pass floats to ... so we have to pass float pointers instead.
+                float min = mp_obj_get_float(args[1]);
+                float max = mp_obj_get_float(args[2]);
+                error = sensor_ioctl(request, &min, &max);
+            }
+            break;
+
+        case IOCTL_LEPTON_GET_MEASUREMENT_RANGE: {
+            float min, max;
+            error = sensor_ioctl(request, &min, &max);
+            if (error == 0) {
+                ret_obj = mp_obj_new_tuple(2, (mp_obj_t []) {mp_obj_new_float(min), mp_obj_new_float(max)});
+            }
+            break;
+        }
+
+        #if (OMV_ENABLE_HM01B0 == 1)
+        case IOCTL_HIMAX_MD_ENABLE: {
+            if (n_args >= 2) {
+                error = sensor_ioctl(request, mp_obj_get_int(args[1]));
+            }
+            break;
+        }
+
+        case IOCTL_HIMAX_MD_WINDOW: {
+            if (n_args >= 2) {
+                int x, y, w, h;
+                mp_obj_t *array;
+                mp_uint_t array_len;
+                mp_obj_get_array(args[1], &array_len, &array);
+
+                if (array_len == 4) {
+                    x = mp_obj_get_int(array[0]);
+                    y = mp_obj_get_int(array[1]);
+                    w = mp_obj_get_int(array[2]);
+                    h = mp_obj_get_int(array[3]);
+                } else if (array_len == 2) {
+                    w = mp_obj_get_int(array[0]);
+                    h = mp_obj_get_int(array[1]);
+                    x = 0;
+                    y = 0;
+                } else {
+                    mp_raise_msg(&mp_type_ValueError,
+                            MP_ERROR_TEXT("The tuple/list must either be (x, y, w, h) or (w, h)"));
+                }
+
+                error = sensor_ioctl(request, x, y, w, h);
+            }
+            break;
+        }
+
+        case IOCTL_HIMAX_MD_THRESHOLD: {
+            if (n_args >= 2) {
+                error = sensor_ioctl(request, mp_obj_get_int(args[1]));
+            }
+            break;
+        }
+
+        case IOCTL_HIMAX_MD_CLEAR: {
+            error = sensor_ioctl(request);
+            break;
+        }
+
+        case IOCTL_HIMAX_OSC_ENABLE: {
+            if (n_args >= 2) {
+                error = sensor_ioctl(request, mp_obj_get_int(args[1]));
+            }
+            break;
+        }
+
+        #endif // (OMV_ENABLE_HM01B0 == 1)
+
+        default: {
+            sensor_raise_error(SENSOR_ERROR_CTL_UNSUPPORTED);
+            break;
+        }
+    }
+
+    if (error != 0) {
+        sensor_raise_error(error);
+    }
+
+    return ret_obj;
+}
+
+static mp_obj_t py_sensor_set_color_palette(mp_obj_t palette_obj)
+{
+    int palette = mp_obj_get_int(palette_obj);
+    switch (palette) {
+        case COLOR_PALETTE_RAINBOW:
+            sensor_set_color_palette(rainbow_table);
+            break;
+        case COLOR_PALETTE_IRONBOW:
+            sensor_set_color_palette(ironbow_table);
+            break;
+        default:
+            sensor_raise_error(SENSOR_ERROR_INVALID_ARGUMENT);
+            break;
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_get_color_palette()
+{
+    const uint16_t *palette = sensor_get_color_palette();
+    if (palette == rainbow_table) {
+        return mp_obj_new_int(COLOR_PALETTE_RAINBOW);
+    } else if (palette == ironbow_table) {
+        return mp_obj_new_int(COLOR_PALETTE_IRONBOW);
+    }
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_write_reg(mp_obj_t addr, mp_obj_t val)
+{
+    sensor_write_reg(mp_obj_get_int(addr), mp_obj_get_int(val));
+    return mp_const_none;
+}
+
+static mp_obj_t py_sensor_read_reg(mp_obj_t addr)
+{
+    return mp_obj_new_int(sensor_read_reg(mp_obj_get_int(addr)));
+}
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor__init__obj,              py_sensor__init__);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_reset_obj,               py_sensor_reset);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_sleep_obj,               py_sensor_sleep);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_shutdown_obj,            py_sensor_shutdown);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_flush_obj,               py_sensor_flush);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_snapshot_obj, 0,        py_sensor_snapshot);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_skip_frames_obj, 0,     py_sensor_skip_frames);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_width_obj,               py_sensor_width);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_height_obj,              py_sensor_height);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_fb_obj,              py_sensor_get_fb);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_id_obj,              py_sensor_get_id);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_frame_available_obj, py_sensor_get_frame_available);
+STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_sensor_alloc_extra_fb_obj,      py_sensor_alloc_extra_fb);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_dealloc_extra_fb_obj,    py_sensor_dealloc_extra_fb);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_pixformat_obj,       py_sensor_set_pixformat);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_pixformat_obj,       py_sensor_get_pixformat);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_framesize_obj,       py_sensor_set_framesize);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_framesize_obj,       py_sensor_get_framesize);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_framerate_obj,       py_sensor_set_framerate);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_framerate_obj,       py_sensor_get_framerate);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_sensor_set_windowing_obj, 1, 4, py_sensor_set_windowing);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_windowing_obj, py_sensor_get_windowing);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_gainceiling_obj,     py_sensor_set_gainceiling);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_contrast_obj,        py_sensor_set_contrast);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_brightness_obj,      py_sensor_set_brightness);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_saturation_obj,      py_sensor_set_saturation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_quality_obj,         py_sensor_set_quality);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_colorbar_obj,        py_sensor_set_colorbar);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_set_auto_gain_obj,    1,py_sensor_set_auto_gain);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_gain_db_obj,         py_sensor_get_gain_db);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_set_auto_exposure_obj,1,py_sensor_set_auto_exposure);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_exposure_us_obj,     py_sensor_get_exposure_us);
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_sensor_set_auto_whitebal_obj,1,py_sensor_set_auto_whitebal);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_rgb_gain_db_obj,     py_sensor_get_rgb_gain_db);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_hmirror_obj,         py_sensor_set_hmirror);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_hmirror_obj,         py_sensor_get_hmirror);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_vflip_obj,           py_sensor_set_vflip);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_vflip_obj,           py_sensor_get_vflip);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_transpose_obj,       py_sensor_set_transpose);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_transpose_obj,       py_sensor_get_transpose);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_auto_rotation_obj,   py_sensor_set_auto_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_auto_rotation_obj,   py_sensor_get_auto_rotation);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_framebuffers_obj,    py_sensor_set_framebuffers);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_framebuffers_obj,    py_sensor_get_framebuffers);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_sensor_disable_full_flush_obj, 0, 1, py_sensor_disable_full_flush);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_special_effect_obj,  py_sensor_set_special_effect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_3(py_sensor_set_lens_correction_obj, py_sensor_set_lens_correction);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_vsync_callback_obj,  py_sensor_set_vsync_callback);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_frame_callback_obj,  py_sensor_set_frame_callback);
+STATIC MP_DEFINE_CONST_FUN_OBJ_VAR_BETWEEN(py_sensor_ioctl_obj, 1, 5, py_sensor_ioctl);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_set_color_palette_obj,   py_sensor_set_color_palette);
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_sensor_get_color_palette_obj,   py_sensor_get_color_palette);
+STATIC MP_DEFINE_CONST_FUN_OBJ_2(py_sensor_write_reg_obj,           py_sensor_write_reg);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_sensor_read_reg_obj,            py_sensor_read_reg);
+
+STATIC const mp_map_elem_t globals_dict_table[] = {
+    { MP_OBJ_NEW_QSTR(MP_QSTR___name__),            MP_OBJ_NEW_QSTR(MP_QSTR_sensor)},
+
+    // Pixel Formats
+    { MP_OBJ_NEW_QSTR(MP_QSTR_BINARY),              MP_OBJ_NEW_SMALL_INT(PIXFORMAT_BINARY)},   /* 1BPP/BINARY*/
+    { MP_OBJ_NEW_QSTR(MP_QSTR_GRAYSCALE),           MP_OBJ_NEW_SMALL_INT(PIXFORMAT_GRAYSCALE)},/* 1BPP/GRAYSCALE*/
+    { MP_OBJ_NEW_QSTR(MP_QSTR_RGB565),              MP_OBJ_NEW_SMALL_INT(PIXFORMAT_RGB565)},   /* 2BPP/RGB565*/
+    { MP_OBJ_NEW_QSTR(MP_QSTR_BAYER),               MP_OBJ_NEW_SMALL_INT(PIXFORMAT_BAYER)},    /* 1BPP/RAW*/
+    { MP_OBJ_NEW_QSTR(MP_QSTR_YUV422),              MP_OBJ_NEW_SMALL_INT(PIXFORMAT_YUV422)},   /* 2BPP/YUV422*/
+    { MP_OBJ_NEW_QSTR(MP_QSTR_JPEG),                MP_OBJ_NEW_SMALL_INT(PIXFORMAT_JPEG)},     /* JPEG/COMPRESSED*/
+
+    // Image Sensors
+    { MP_OBJ_NEW_QSTR(MP_QSTR_OV2640),              MP_OBJ_NEW_SMALL_INT(OV2640_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_OV5640),              MP_OBJ_NEW_SMALL_INT(OV5640_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_OV7670),              MP_OBJ_NEW_SMALL_INT(OV7670_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_OV7690),              MP_OBJ_NEW_SMALL_INT(OV7690_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_OV7725),              MP_OBJ_NEW_SMALL_INT(OV7725_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_OV9650),              MP_OBJ_NEW_SMALL_INT(OV9650_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_MT9V022),             MP_OBJ_NEW_SMALL_INT(MT9V0X2_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_MT9V024),             MP_OBJ_NEW_SMALL_INT(MT9V0X4_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_MT9V032),             MP_OBJ_NEW_SMALL_INT(MT9V0X2_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_MT9V034),             MP_OBJ_NEW_SMALL_INT(MT9V0X4_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_MT9M114),             MP_OBJ_NEW_SMALL_INT(MT9M114_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_LEPTON),              MP_OBJ_NEW_SMALL_INT(LEPTON_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HM01B0),              MP_OBJ_NEW_SMALL_INT(HM01B0_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_GC2145),              MP_OBJ_NEW_SMALL_INT(GC2145_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_PAJ6100),             MP_OBJ_NEW_SMALL_INT(PAJ6100_ID)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_FROGEYE2020),         MP_OBJ_NEW_SMALL_INT(FROGEYE2020_ID)},
+
+    // Special effects
+    { MP_OBJ_NEW_QSTR(MP_QSTR_NORMAL),              MP_OBJ_NEW_SMALL_INT(SDE_NORMAL)},          /* Normal/No SDE */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_NEGATIVE),            MP_OBJ_NEW_SMALL_INT(SDE_NEGATIVE)},        /* Negative image */
+
+    // C/SIF Resolutions
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QQCIF),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQCIF)},    /* 88x72     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QCIF),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QCIF)},     /* 176x144   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_CIF),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_CIF)},      /* 352x288   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QQSIF),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQSIF)},    /* 88x60     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QSIF),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QSIF)},     /* 176x120   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_SIF),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SIF)},      /* 352x240   */
+    // VGA Resolutions
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QQQQVGA),             MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQQQVGA)},  /* 40x30     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QQQVGA),              MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQQVGA)},   /* 80x60     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QQVGA),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQVGA)},    /* 160x120   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QVGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QVGA)},     /* 320x240   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_VGA),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_VGA)},      /* 640x480   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HQQQQVGA),            MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQQQQVGA)}, /* 40x20     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HQQQVGA),             MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQQQVGA)},  /* 80x40     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HQQVGA),              MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQQVGA)},   /* 160x80    */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HQVGA),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HQVGA)},    /* 240x160   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HVGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HVGA)},     /* 480x320   */
+    // FFT Resolutions
+    { MP_OBJ_NEW_QSTR(MP_QSTR_B64X32),              MP_OBJ_NEW_SMALL_INT(FRAMESIZE_64X32)},    /* 64x32     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_B64X64),              MP_OBJ_NEW_SMALL_INT(FRAMESIZE_64X64)},    /* 64x64     */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_B128X64),             MP_OBJ_NEW_SMALL_INT(FRAMESIZE_128X64)},   /* 128x64    */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_B128X128),            MP_OBJ_NEW_SMALL_INT(FRAMESIZE_128X128)},  /* 128x128   */
+    // Himax Resolutions
+    { MP_OBJ_NEW_QSTR(MP_QSTR_B160X160),            MP_OBJ_NEW_SMALL_INT(FRAMESIZE_160X160)},  /* 160x160   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_B320X320),            MP_OBJ_NEW_SMALL_INT(FRAMESIZE_320X320)},  /* 320x320   */
+    // Other
+    { MP_OBJ_NEW_QSTR(MP_QSTR_LCD),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_LCD)},      /* 128x160   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QQVGA2),              MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QQVGA2)},   /* 128x160   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_WVGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WVGA)},     /* 720x480   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_WVGA2),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WVGA2)},    /* 752x480   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_SVGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SVGA)},     /* 800x600   */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_XGA),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_XGA)},      /* 1024x768  */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_WXGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WXGA)},     /* 1280x768  */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_SXGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SXGA)},     /* 1280x1024 */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_SXGAM),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_SXGAM)},    /* 1280x960  */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_UXGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_UXGA)},     /* 1600x1200 */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_HD),                  MP_OBJ_NEW_SMALL_INT(FRAMESIZE_HD)},       /* 1280x720  */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_FHD),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_FHD)},      /* 1920x1080 */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QHD),                 MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QHD)},      /* 2560x1440 */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_QXGA),                MP_OBJ_NEW_SMALL_INT(FRAMESIZE_QXGA)},     /* 2048x1536 */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_WQXGA),               MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WQXGA)},    /* 2560x1600 */
+    { MP_OBJ_NEW_QSTR(MP_QSTR_WQXGA2),              MP_OBJ_NEW_SMALL_INT(FRAMESIZE_WQXGA2)},   /* 2592x1944 */
+
+    // Color Palettes
+    { MP_OBJ_NEW_QSTR(MP_QSTR_PALETTE_RAINBOW),     MP_OBJ_NEW_SMALL_INT(COLOR_PALETTE_RAINBOW)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_PALETTE_IRONBOW),     MP_OBJ_NEW_SMALL_INT(COLOR_PALETTE_IRONBOW)},
+
+    // IOCTLs
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_SET_READOUT_WINDOW),            MP_OBJ_NEW_SMALL_INT(IOCTL_SET_READOUT_WINDOW)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_GET_READOUT_WINDOW),            MP_OBJ_NEW_SMALL_INT(IOCTL_GET_READOUT_WINDOW)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_SET_TRIGGERED_MODE),            MP_OBJ_NEW_SMALL_INT(IOCTL_SET_TRIGGERED_MODE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_GET_TRIGGERED_MODE),            MP_OBJ_NEW_SMALL_INT(IOCTL_GET_TRIGGERED_MODE)},
+    #if (OMV_ENABLE_OV5640_AF == 1)
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_TRIGGER_AUTO_FOCUS),            MP_OBJ_NEW_SMALL_INT(IOCTL_TRIGGER_AUTO_FOCUS)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_PAUSE_AUTO_FOCUS),              MP_OBJ_NEW_SMALL_INT(IOCTL_PAUSE_AUTO_FOCUS)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_RESET_AUTO_FOCUS),              MP_OBJ_NEW_SMALL_INT(IOCTL_RESET_AUTO_FOCUS)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_WAIT_ON_AUTO_FOCUS),            MP_OBJ_NEW_SMALL_INT(IOCTL_WAIT_ON_AUTO_FOCUS)},
+    #endif
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_WIDTH),              MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_WIDTH)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_HEIGHT),             MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_HEIGHT)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_RADIOMETRY),         MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_RADIOMETRY)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_REFRESH),            MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_REFRESH)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_RESOLUTION),         MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_RESOLUTION)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_RUN_COMMAND),            MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_RUN_COMMAND)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_SET_ATTRIBUTE),          MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_SET_ATTRIBUTE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_ATTRIBUTE),          MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_ATTRIBUTE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_FPA_TEMPERATURE),    MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_FPA_TEMPERATURE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_AUX_TEMPERATURE),    MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_AUX_TEMPERATURE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_SET_MEASUREMENT_MODE),   MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_SET_MEASUREMENT_MODE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_MEASUREMENT_MODE),   MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_MEASUREMENT_MODE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_SET_MEASUREMENT_RANGE),  MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_SET_MEASUREMENT_RANGE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_LEPTON_GET_MEASUREMENT_RANGE),  MP_OBJ_NEW_SMALL_INT(IOCTL_LEPTON_GET_MEASUREMENT_RANGE)},
+    #if (OMV_ENABLE_HM01B0 == 1)
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_ENABLE),               MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_ENABLE)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_WINDOW),               MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_WINDOW)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_THRESHOLD),            MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_THRESHOLD)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_MD_CLEAR),                MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_MD_CLEAR)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_IOCTL_HIMAX_OSC_ENABLE),              MP_OBJ_NEW_SMALL_INT(IOCTL_HIMAX_OSC_ENABLE)},
+    #endif
+
+    // Framebuffer Sizes
+    { MP_OBJ_NEW_QSTR(MP_QSTR_SINGLE_BUFFER),                       MP_OBJ_NEW_SMALL_INT(1)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_DOUBLE_BUFFER),                       MP_OBJ_NEW_SMALL_INT(2)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_TRIPLE_BUFFER),                       MP_OBJ_NEW_SMALL_INT(3)},
+    { MP_OBJ_NEW_QSTR(MP_QSTR_VIDEO_FIFO),                          MP_OBJ_NEW_SMALL_INT(4)},
+
+    // Sensor functions
+    { MP_OBJ_NEW_QSTR(MP_QSTR___init__),            (mp_obj_t)&py_sensor__init__obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_reset),               (mp_obj_t)&py_sensor_reset_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_sleep),               (mp_obj_t)&py_sensor_sleep_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_shutdown),            (mp_obj_t)&py_sensor_shutdown_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_flush),               (mp_obj_t)&py_sensor_flush_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_snapshot),            (mp_obj_t)&py_sensor_snapshot_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_skip_frames),         (mp_obj_t)&py_sensor_skip_frames_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_width),               (mp_obj_t)&py_sensor_width_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_height),              (mp_obj_t)&py_sensor_height_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_fb),              (mp_obj_t)&py_sensor_get_fb_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_id),              (mp_obj_t)&py_sensor_get_id_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_frame_available), (mp_obj_t)&py_sensor_get_frame_available_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_alloc_extra_fb),      (mp_obj_t)&py_sensor_alloc_extra_fb_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_dealloc_extra_fb),    (mp_obj_t)&py_sensor_dealloc_extra_fb_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_pixformat),       (mp_obj_t)&py_sensor_set_pixformat_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_pixformat),       (mp_obj_t)&py_sensor_get_pixformat_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_framesize),       (mp_obj_t)&py_sensor_set_framesize_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_framesize),       (mp_obj_t)&py_sensor_get_framesize_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_framerate),       (mp_obj_t)&py_sensor_set_framerate_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_framerate),       (mp_obj_t)&py_sensor_get_framerate_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_windowing),       (mp_obj_t)&py_sensor_set_windowing_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_windowing),       (mp_obj_t)&py_sensor_get_windowing_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_gainceiling),     (mp_obj_t)&py_sensor_set_gainceiling_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_contrast),        (mp_obj_t)&py_sensor_set_contrast_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_brightness),      (mp_obj_t)&py_sensor_set_brightness_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_saturation),      (mp_obj_t)&py_sensor_set_saturation_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_quality),         (mp_obj_t)&py_sensor_set_quality_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_colorbar),        (mp_obj_t)&py_sensor_set_colorbar_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_gain),       (mp_obj_t)&py_sensor_set_auto_gain_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_gain_db),         (mp_obj_t)&py_sensor_get_gain_db_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_exposure),   (mp_obj_t)&py_sensor_set_auto_exposure_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_exposure_us),     (mp_obj_t)&py_sensor_get_exposure_us_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_whitebal),   (mp_obj_t)&py_sensor_set_auto_whitebal_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_rgb_gain_db),     (mp_obj_t)&py_sensor_get_rgb_gain_db_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_hmirror),         (mp_obj_t)&py_sensor_set_hmirror_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_hmirror),         (mp_obj_t)&py_sensor_get_hmirror_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_vflip),           (mp_obj_t)&py_sensor_set_vflip_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_vflip),           (mp_obj_t)&py_sensor_get_vflip_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_transpose),       (mp_obj_t)&py_sensor_set_transpose_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_transpose),       (mp_obj_t)&py_sensor_get_transpose_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_auto_rotation),   (mp_obj_t)&py_sensor_set_auto_rotation_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_auto_rotation),   (mp_obj_t)&py_sensor_get_auto_rotation_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_framebuffers),    (mp_obj_t)&py_sensor_set_framebuffers_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_framebuffers),    (mp_obj_t)&py_sensor_get_framebuffers_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_disable_full_flush),  (mp_obj_t)&py_sensor_disable_full_flush_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_special_effect),  (mp_obj_t)&py_sensor_set_special_effect_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_lens_correction), (mp_obj_t)&py_sensor_set_lens_correction_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_vsync_callback),  (mp_obj_t)&py_sensor_set_vsync_callback_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_frame_callback),  (mp_obj_t)&py_sensor_set_frame_callback_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_ioctl),               (mp_obj_t)&py_sensor_ioctl_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_set_color_palette),   (mp_obj_t)&py_sensor_set_color_palette_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR_get_color_palette),   (mp_obj_t)&py_sensor_get_color_palette_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR___write_reg),         (mp_obj_t)&py_sensor_write_reg_obj },
+    { MP_OBJ_NEW_QSTR(MP_QSTR___read_reg),          (mp_obj_t)&py_sensor_read_reg_obj },
+};
+
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t sensor_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t)&globals_dict,
+};
+
+MP_REGISTER_MODULE(MP_QSTR_sensor, sensor_module, MICROPY_PY_SENSOR);
+#endif // MICROPY_PY_SENSOR
diff --git a/github_source/minicv2/reference/py_tf.c b/github_source/minicv2/reference/py_tf.c
new file mode 100644
index 0000000..9db34e9
--- /dev/null
+++ b/github_source/minicv2/reference/py_tf.c
@@ -0,0 +1,799 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Python Tensorflow library wrapper.
+ */
+#include "py/runtime.h"
+#include "py/obj.h"
+#include "py/objlist.h"
+#include "py/objtuple.h"
+
+#include "py_helper.h"
+#include "imlib_config.h"
+
+#ifdef IMLIB_ENABLE_TF
+#include "py_image.h"
+#include "ff_wrapper.h"
+#include "py_tf.h"
+
+#define GRAYSCALE_RANGE ((COLOR_GRAYSCALE_MAX) - (COLOR_GRAYSCALE_MIN))
+#define GRAYSCALE_MID   (((GRAYSCALE_RANGE) + 1) / 2)
+
+void py_tf_alloc_putchar_buffer()
+{
+    py_tf_putchar_buffer = (char *) fb_alloc0(PY_TF_PUTCHAR_BUFFER_LEN + 1, FB_ALLOC_NO_HINT);
+    py_tf_putchar_buffer_index = 0;
+    py_tf_putchar_buffer_len = PY_TF_PUTCHAR_BUFFER_LEN;
+}
+
+STATIC const char *py_tf_map_datatype(libtf_datatype_t datatype)
+{
+    if (datatype == LIBTF_DATATYPE_UINT8) {
+        return "uint8";
+    } else if (datatype == LIBTF_DATATYPE_INT8) {
+        return "int8";
+    } else {
+        return "float";
+    }
+}
+
+STATIC void py_tf_model_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_tf_model_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"len\":%d, \"ram\":%d, "
+              "\"input_height\":%d, \"input_width\":%d, \"input_channels\":%d, \"input_datatype\":\"%s\", "
+              "\"input_scale\":%f, \"input_zero_point\":%d, "
+              "\"output_height\":%d, \"output_width\":%d, \"output_channels\":%d, \"output_datatype\":\"%s\", "
+              "\"output_scale\":%f, \"output_zero_point\":%d}",
+              self->model_data_len, self->params.tensor_arena_size,
+              self->params.input_height, self->params.input_width, self->params.input_channels,
+              py_tf_map_datatype(self->params.input_datatype),
+              (double) self->params.input_scale, self->params.input_zero_point,
+              self->params.output_height, self->params.output_width, self->params.output_channels,
+              py_tf_map_datatype(self->params.output_datatype),
+              (double) self->params.output_scale, self->params.output_zero_point);
+}
+
+// TF Classification Object
+#define py_tf_classification_obj_size 5
+typedef struct py_tf_classification_obj {
+    mp_obj_base_t base;
+    mp_obj_t x, y, w, h, output;
+} py_tf_classification_obj_t;
+
+STATIC void py_tf_classification_print(const mp_print_t *print, mp_obj_t self_in, mp_print_kind_t kind)
+{
+    py_tf_classification_obj_t *self = self_in;
+    mp_printf(print,
+              "{\"x\":%d, \"y\":%d, \"w\":%d, \"h\":%d, \"output\":",
+              mp_obj_get_int(self->x),
+              mp_obj_get_int(self->y),
+              mp_obj_get_int(self->w),
+              mp_obj_get_int(self->h));
+    mp_obj_print_helper(print, self->output, kind);
+    mp_printf(print, "}");
+}
+
+STATIC mp_obj_t py_tf_classification_subscr(mp_obj_t self_in, mp_obj_t index, mp_obj_t value)
+{
+    if (value == MP_OBJ_SENTINEL) { // load
+        py_tf_classification_obj_t *self = self_in;
+        if (MP_OBJ_IS_TYPE(index, &mp_type_slice)) {
+            mp_bound_slice_t slice;
+            if (!mp_seq_get_fast_slice_indexes(py_tf_classification_obj_size, index, &slice)) {
+                mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("only slices with step=1 (aka None) are supported"));
+            }
+            mp_obj_tuple_t *result = mp_obj_new_tuple(slice.stop - slice.start, NULL);
+            mp_seq_copy(result->items, &(self->x) + slice.start, result->len, mp_obj_t);
+            return result;
+        }
+        switch (mp_get_index(self->base.type, py_tf_classification_obj_size, index, false)) {
+            case 0: return self->x;
+            case 1: return self->y;
+            case 2: return self->w;
+            case 3: return self->h;
+            case 4: return self->output;
+        }
+    }
+    return MP_OBJ_NULL; // op not supported
+}
+
+mp_obj_t py_tf_classification_rect(mp_obj_t self_in)
+{
+    return mp_obj_new_tuple(4, (mp_obj_t []) {((py_tf_classification_obj_t *) self_in)->x,
+                                              ((py_tf_classification_obj_t *) self_in)->y,
+                                              ((py_tf_classification_obj_t *) self_in)->w,
+                                              ((py_tf_classification_obj_t *) self_in)->h});
+}
+
+mp_obj_t py_tf_classification_x(mp_obj_t self_in) { return ((py_tf_classification_obj_t *) self_in)->x; }
+mp_obj_t py_tf_classification_y(mp_obj_t self_in) { return ((py_tf_classification_obj_t *) self_in)->y; }
+mp_obj_t py_tf_classification_w(mp_obj_t self_in) { return ((py_tf_classification_obj_t *) self_in)->w; }
+mp_obj_t py_tf_classification_h(mp_obj_t self_in) { return ((py_tf_classification_obj_t *) self_in)->h; }
+mp_obj_t py_tf_classification_output(mp_obj_t self_in) { return ((py_tf_classification_obj_t *) self_in)->output; }
+
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_classification_rect_obj, py_tf_classification_rect);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_classification_x_obj, py_tf_classification_x);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_classification_y_obj, py_tf_classification_y);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_classification_w_obj, py_tf_classification_w);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_classification_h_obj, py_tf_classification_h);
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_classification_output_obj, py_tf_classification_output);
+
+STATIC const mp_rom_map_elem_t py_tf_classification_locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_rect), MP_ROM_PTR(&py_tf_classification_rect_obj) },
+    { MP_ROM_QSTR(MP_QSTR_x), MP_ROM_PTR(&py_tf_classification_x_obj) },
+    { MP_ROM_QSTR(MP_QSTR_y), MP_ROM_PTR(&py_tf_classification_y_obj) },
+    { MP_ROM_QSTR(MP_QSTR_w), MP_ROM_PTR(&py_tf_classification_w_obj) },
+    { MP_ROM_QSTR(MP_QSTR_h), MP_ROM_PTR(&py_tf_classification_h_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output), MP_ROM_PTR(&py_tf_classification_output_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(py_tf_classification_locals_dict, py_tf_classification_locals_dict_table);
+
+static const mp_obj_type_t py_tf_classification_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_tf_classification,
+    .print = py_tf_classification_print,
+    .subscr = py_tf_classification_subscr,
+    .locals_dict = (mp_obj_t) &py_tf_classification_locals_dict
+};
+
+static const mp_obj_type_t py_tf_model_type;
+
+STATIC mp_obj_t int_py_tf_load(mp_obj_t path_obj, bool alloc_mode, bool helper_mode)
+{
+    if (!helper_mode) {
+        fb_alloc_mark();
+    }
+
+    const char *path = mp_obj_str_get_str(path_obj);
+    py_tf_model_obj_t *tf_model = m_new_obj(py_tf_model_obj_t);
+    tf_model->base.type = &py_tf_model_type;
+
+    if (!strcmp(path, "person_detection")) {
+        tf_model->model_data = (unsigned char *) g_person_detect_model_data;
+        tf_model->model_data_len = g_person_detect_model_data_len;
+    } else {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        FIL fp;
+        file_read_open(&fp, path);
+        tf_model->model_data_len = f_size(&fp);
+        tf_model->model_data = alloc_mode
+            ? fb_alloc(tf_model->model_data_len, FB_ALLOC_PREFER_SIZE)
+            : xalloc(tf_model->model_data_len);
+        read_data(&fp, tf_model->model_data, tf_model->model_data_len);
+        file_close(&fp);
+        #else
+        mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+        #endif
+    }
+
+    if (!helper_mode) {
+        py_tf_alloc_putchar_buffer();
+    }
+
+    uint32_t tensor_arena_size;
+    uint8_t *tensor_arena = fb_alloc_all(&tensor_arena_size, FB_ALLOC_PREFER_SIZE);
+
+    if (libtf_get_parameters(tf_model->model_data, tensor_arena, tensor_arena_size, &tf_model->params) != 0) {
+        // Note can't use MP_ERROR_TEXT here...
+        mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) py_tf_putchar_buffer);
+    }
+
+    fb_free(); // free fb_alloc_all()
+
+    if (!helper_mode) {
+        fb_free(); // free py_tf_alloc_putchar_buffer()
+    }
+
+    // In this mode we leave the model allocated on the frame buffer.
+    // py_tf_free_from_fb() must be called to free the model allocated on the frame buffer.
+    // On error everything is cleaned because of fb_alloc_mark().
+
+    if ((!helper_mode) && (!alloc_mode)) {
+        fb_alloc_free_till_mark();
+    } else if ((!helper_mode) && alloc_mode) {
+        fb_alloc_mark_permanent(); // tf_model->model_data will not be popped on exception.
+    }
+
+    return tf_model;
+}
+
+STATIC mp_obj_t py_tf_load(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return int_py_tf_load(args[0],
+                          py_helper_keyword_int(n_args, args, 1, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_load_to_fb), false),
+                          false);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_tf_load_obj, 1, py_tf_load);
+
+STATIC mp_obj_t py_tf_free_from_fb()
+{
+    fb_alloc_free_till_mark_past_mark_permanent();
+    return mp_const_none;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_0(py_tf_free_from_fb_obj, py_tf_free_from_fb);
+
+STATIC py_tf_model_obj_t *py_tf_load_alloc(mp_obj_t path_obj)
+{
+    if (MP_OBJ_IS_TYPE(path_obj, &py_tf_model_type)) {
+        return (py_tf_model_obj_t *) path_obj;
+    } else {
+        return (py_tf_model_obj_t *) int_py_tf_load(path_obj, true, true);
+    }
+}
+
+typedef struct py_tf_input_data_callback_data {
+    image_t *img;
+    rectangle_t *roi;
+} py_tf_input_data_callback_data_t;
+
+STATIC void py_tf_input_data_callback(void *callback_data,
+                                      void *model_input,
+                                      libtf_parameters_t *params)
+{
+    py_tf_input_data_callback_data_t *arg = (py_tf_input_data_callback_data_t *) callback_data;
+
+    // Disable checking input scaling and zero-point. Nets can be all over the place on the input
+    // scaling and zero-point but still work with the code below.
+
+    // if (params->input_datatype == LIBTF_DATATYPE_UINT8) {
+    //     if (fast_roundf(params->input_scale * GRAYSCALE_RANGE) != 1) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model input scale to be 1/255!"));
+    //     }
+
+    //     if (params->input_zero_point != 0) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model input zero point to be 0!"));
+    //     }
+    // }
+
+    // if (params->input_datatype == LIBTF_DATATYPE_INT8) {
+    //     if (fast_roundf(params->input_scale * GRAYSCALE_RANGE) != 1) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model input scale to be 1/255!"));
+    //     }
+
+    //     if (params->input_zero_point != -GRAYSCALE_MID) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model input zero point to be -128!"));
+    //     }
+    // }
+
+    int shift = (params->input_datatype == LIBTF_DATATYPE_INT8) ? GRAYSCALE_MID : 0;
+    float fscale = 1.0f / GRAYSCALE_RANGE;
+
+    float xscale = params->input_width / ((float) arg->roi->w);
+    float yscale = params->input_height / ((float) arg->roi->h);
+    // MAX == KeepAspectRationByExpanding - MIN == KeepAspectRatio
+    float scale = IM_MAX(xscale, yscale);
+
+    image_t dst_img;
+    dst_img.w = params->input_width;
+    dst_img.h = params->input_height;
+    dst_img.data = (uint8_t *) model_input;
+
+    if (params->input_channels == 1) {
+        dst_img.pixfmt = PIXFORMAT_GRAYSCALE;
+    } else if (params->input_channels == 3) {
+        dst_img.pixfmt = PIXFORMAT_RGB565;
+    } else {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model input channels to be 1 or 3!"));
+    }
+
+    imlib_draw_image(&dst_img, arg->img, 0, 0, scale, scale, arg->roi,
+                     -1, 256, NULL, NULL, IMAGE_HINT_BILINEAR | IMAGE_HINT_BLACK_BACKGROUND,
+                     NULL, NULL);
+
+    int size = (params->input_width * params->input_height) - 1; // must be int per countdown loop
+
+    if (params->input_channels == 1) { // GRAYSCALE
+        if (params->input_datatype == LIBTF_DATATYPE_FLOAT) { // convert u8 -> f32
+            uint8_t *model_input_u8 = (uint8_t *) model_input;
+            float *model_input_f32 = (float *) model_input;
+
+            for (; size >= 0; size -= 1) {
+                model_input_f32[size] = model_input_u8[size] * fscale;
+            }
+        } else {
+            if (shift) { // convert u8 -> s8
+                uint8_t *model_input_8 = (uint8_t *) model_input;
+
+                #if (__ARM_ARCH > 6)
+                for (; size >= 3; size -= 4) {
+                    *((uint32_t *) (model_input_8 + size - 3)) ^= 0x80808080;
+                }
+                #endif
+
+                for (; size >= 0; size -= 1) {
+                    model_input_8[size] ^= GRAYSCALE_MID;
+                }
+            }
+        }
+    } else if (params->input_channels == 3) { // RGB888
+        int rgb_size = size * 3; // must be int per countdown loop
+
+        if (params->input_datatype == LIBTF_DATATYPE_FLOAT) {
+            uint16_t *model_input_u16 = (uint16_t *) model_input;
+            float *model_input_f32 = (float *) model_input;
+
+            for (; size >= 0; size -= 1, rgb_size -= 3) {
+                int pixel = model_input_u16[size];
+                model_input_f32[rgb_size] = COLOR_RGB565_TO_R8(pixel) * fscale;
+                model_input_f32[rgb_size + 1] = COLOR_RGB565_TO_G8(pixel) * fscale;
+                model_input_f32[rgb_size + 2] = COLOR_RGB565_TO_B8(pixel) * fscale;
+            }
+        } else {
+            uint16_t *model_input_u16 = (uint16_t *) model_input;
+            uint8_t *model_input_8 = (uint8_t *) model_input;
+
+            for (; size >= 0; size -= 1, rgb_size -= 3) {
+                int pixel = model_input_u16[size];
+                model_input_8[rgb_size] = COLOR_RGB565_TO_R8(pixel) ^ shift;
+                model_input_8[rgb_size + 1] = COLOR_RGB565_TO_G8(pixel) ^ shift;
+                model_input_8[rgb_size + 2] = COLOR_RGB565_TO_B8(pixel) ^ shift;
+            }
+        }
+    }
+}
+
+typedef struct py_tf_classify_output_data_callback_data {
+    mp_obj_t out;
+} py_tf_classify_output_data_callback_data_t;
+
+STATIC void py_tf_classify_output_data_callback(void *callback_data,
+                                                void *model_output,
+                                                libtf_parameters_t *params)
+{
+    py_tf_classify_output_data_callback_data_t *arg = (py_tf_classify_output_data_callback_data_t *) callback_data;
+
+    if (params->output_height != 1) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model output height to be 1!"));
+    }
+
+    if (params->output_width != 1) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model output width to be 1!"));
+    }
+
+    arg->out = mp_obj_new_list(params->output_channels, NULL);
+
+    if (params->output_datatype == LIBTF_DATATYPE_FLOAT) {
+        for (int i = 0, ii = params->output_channels; i < ii; i++) {
+            ((mp_obj_list_t *) arg->out)->items[i] =
+                mp_obj_new_float(((float *) model_output)[i]);
+        }
+    } else {
+        for (int i = 0, ii = params->output_channels; i < ii; i++) {
+            ((mp_obj_list_t *) arg->out)->items[i] =
+                mp_obj_new_float((((uint8_t *) model_output)[i] - params->output_zero_point) * params->output_scale);
+        }
+    }
+}
+
+STATIC mp_obj_t py_tf_classify(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    fb_alloc_mark();
+    py_tf_alloc_putchar_buffer();
+
+    py_tf_model_obj_t *arg_model = py_tf_load_alloc(args[0]);
+    image_t *arg_img = py_image_cobj(args[1]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 2, kw_args, &roi);
+
+    float arg_min_scale = py_helper_keyword_float(n_args, args, 3, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_min_scale), 1.0f);
+
+    if ((arg_min_scale <= 0.0f) || (1.0f < arg_min_scale)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 < min_scale <= 1"));
+    }
+
+    float arg_scale_mul = py_helper_keyword_float(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_scale_mul), 0.5f);
+
+    if ((arg_scale_mul < 0.0f) || (1.0f <= arg_scale_mul)) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= scale_mul < 1"));
+    }
+
+    float arg_x_overlap = py_helper_keyword_float(n_args, args, 5, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_x_overlap), 0.0f);
+
+    if ((arg_x_overlap != -1.f) && ((arg_x_overlap < 0.0f) || (1.0f <= arg_x_overlap))) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= x_overlap < 1"));
+    }
+
+    float arg_y_overlap = py_helper_keyword_float(n_args, args, 6, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_y_overlap), 0.0f);
+
+    if ((arg_y_overlap != -1.0f) && ((arg_y_overlap < 0.0f) || (1.0f <= arg_y_overlap))) {
+        mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("0 <= y_overlap < 1"));
+    }
+
+    uint8_t *tensor_arena = fb_alloc(arg_model->params.tensor_arena_size, FB_ALLOC_PREFER_SPEED | FB_ALLOC_CACHE_ALIGN);
+
+    mp_obj_t objects_list = mp_obj_new_list(0, NULL);
+
+    for (float scale = 1.0f; scale >= arg_min_scale; scale *= arg_scale_mul) {
+        // Either provide a subtle offset to center multiple detection windows or center the only detection window.
+        for (int y = roi.y + ((arg_y_overlap != -1.0f)
+                ? (fmodf(roi.h, (roi.h * scale)) / 2.0f)
+                : ((roi.h - (roi.h * scale)) / 2.0f));
+            // Finish when the detection window is outside of the ROI.
+            (y + (roi.h * scale)) <= (roi.y + roi.h);
+            // Step by an overlap amount accounting for scale or just terminate after one iteration.
+            y += ((arg_y_overlap != -1.0f) ? (roi.h * scale * (1.0f - arg_y_overlap)) : roi.h)) {
+            // Either provide a subtle offset to center multiple detection windows or center the only detection window.
+            for (int x = roi.x + ((arg_x_overlap != -1.0f)
+                    ? (fmodf(roi.w, (roi.w * scale)) / 2.0f)
+                    : ((roi.w - (roi.w * scale)) / 2.0f));
+                // Finish when the detection window is outside of the ROI.
+                (x + (roi.w * scale)) <= (roi.x + roi.w);
+                // Step by an overlap amount accounting for scale or just terminate after one iteration.
+                x += ((arg_x_overlap != -1.0f) ? (roi.w * scale * (1.0f - arg_x_overlap)) : roi.w)) {
+
+                rectangle_t new_roi;
+                rectangle_init(&new_roi, x, y, roi.w * scale, roi.h * scale);
+
+                if (rectangle_overlap(&roi, &new_roi)) { // Check if new_roi is null...
+
+                    py_tf_input_data_callback_data_t py_tf_input_data_callback_data;
+                    py_tf_input_data_callback_data.img = arg_img;
+                    py_tf_input_data_callback_data.roi = &new_roi;
+
+                    py_tf_classify_output_data_callback_data_t py_tf_classify_output_data_callback_data;
+
+                    if (libtf_invoke(arg_model->model_data,
+                            tensor_arena,
+                            &arg_model->params,
+                            py_tf_input_data_callback,
+                            &py_tf_input_data_callback_data,
+                            py_tf_classify_output_data_callback,
+                            &py_tf_classify_output_data_callback_data) != 0) {
+                        // Note can't use MP_ERROR_TEXT here.
+                        mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) py_tf_putchar_buffer);
+                    }
+
+                    py_tf_classification_obj_t *o = m_new_obj(py_tf_classification_obj_t);
+                    o->base.type = &py_tf_classification_type;
+                    o->x = mp_obj_new_int(new_roi.x);
+                    o->y = mp_obj_new_int(new_roi.y);
+                    o->w = mp_obj_new_int(new_roi.w);
+                    o->h = mp_obj_new_int(new_roi.h);
+                    o->output = py_tf_classify_output_data_callback_data.out;
+                    mp_obj_list_append(objects_list, o);
+                }
+            }
+        }
+    }
+
+    fb_alloc_free_till_mark();
+
+    return objects_list;
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_tf_classify_obj, 2, py_tf_classify);
+
+typedef struct py_tf_segment_output_data_callback_data {
+    mp_obj_t out;
+} py_tf_segment_output_data_callback_data_t;
+
+STATIC void py_tf_segment_output_data_callback(void *callback_data,
+                                               void *model_output,
+                                               libtf_parameters_t *params)
+{
+    py_tf_segment_output_data_callback_data_t *arg = (py_tf_segment_output_data_callback_data_t *) callback_data;
+
+    // Disable checking output scaling and zero-point. Nets can be all over the place on the output
+    // scaling and zero-point but still work with the code below.
+
+    // if (params->output_datatype == LIBTF_DATATYPE_UINT8) {
+    //     if (fast_roundf(params->output_scale * GRAYSCALE_RANGE) != 1) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model output scale to be 1/255!"));
+    //     }
+
+    //     if (params->output_zero_point != 0) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model output zero point to be 0!"));
+    //     }
+    // }
+
+    // if (params->output_datatype == LIBTF_DATATYPE_INT8) {
+    //     if (fast_roundf(params->output_scale * GRAYSCALE_RANGE) != 1) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model output scale to be 1/255!"));
+    //     }
+
+    //     if (params->output_zero_point != -GRAYSCALE_MID) {
+    //         mp_raise_msg(&mp_type_ValueError, MP_ERROR_TEXT("Expected model output zero point to be -128!"));
+    //     }
+    // }
+
+    int shift = (params->output_datatype == LIBTF_DATATYPE_INT8) ? GRAYSCALE_MID : 0;
+
+    arg->out = mp_obj_new_list(params->output_channels, NULL);
+
+    for (int i = 0, ii = params->output_channels; i < ii; i++) {
+
+        image_t img = {
+            .w = params->output_width,
+            .h = params->output_height,
+            .pixfmt = PIXFORMAT_GRAYSCALE,
+            .pixels = xalloc(params->output_width * params->output_height * sizeof(uint8_t))
+        };
+
+        ((mp_obj_list_t *) arg->out)->items[i] = py_image_from_struct(&img);
+
+        for (int y = 0, yy = params->output_height, xx = params->output_width; y < yy; y++) {
+            int row = y * xx * ii;
+            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&img, y);
+
+            for (int x = 0; x < xx; x++) {
+                int col = x * ii;
+
+                if (params->output_datatype == LIBTF_DATATYPE_FLOAT) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x,
+                        ((float *) model_output)[row + col + i] * GRAYSCALE_RANGE);
+                } else {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x,
+                        ((uint8_t *) model_output)[row + col + i] ^ shift);
+                }
+            }
+        }
+    }
+}
+
+STATIC mp_obj_t int_py_tf_segment(bool detecting_mode, uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    fb_alloc_mark();
+    py_tf_alloc_putchar_buffer();
+
+    py_tf_model_obj_t *arg_model = py_tf_load_alloc(args[0]);
+    image_t *arg_img = py_image_cobj(args[1]);
+
+    rectangle_t roi;
+    py_helper_keyword_rectangle_roi(arg_img, n_args, args, 2, kw_args, &roi);
+
+    uint8_t *tensor_arena = fb_alloc(arg_model->params.tensor_arena_size, FB_ALLOC_PREFER_SPEED | FB_ALLOC_CACHE_ALIGN);
+
+    py_tf_input_data_callback_data_t py_tf_input_data_callback_data;
+    py_tf_input_data_callback_data.img = arg_img;
+    py_tf_input_data_callback_data.roi = &roi;
+
+    py_tf_segment_output_data_callback_data_t py_tf_segment_output_data_callback_data;
+
+    if (libtf_invoke(arg_model->model_data,
+            tensor_arena,
+            &arg_model->params,
+            py_tf_input_data_callback,
+            &py_tf_input_data_callback_data,
+            py_tf_segment_output_data_callback,
+            &py_tf_segment_output_data_callback_data) != 0) {
+        // Note can't use MP_ERROR_TEXT here.
+        mp_raise_msg(&mp_type_OSError, (mp_rom_error_text_t) py_tf_putchar_buffer);
+    }
+
+    fb_alloc_free_till_mark();
+
+    if (!detecting_mode) {
+        return py_tf_segment_output_data_callback_data.out;
+    }
+
+    list_t thresholds;
+    list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    py_helper_keyword_thresholds(n_args, args, 3, kw_args, &thresholds);
+
+    if (!list_size(&thresholds)) {
+        color_thresholds_list_lnk_data_t lnk_data;
+        lnk_data.LMin = GRAYSCALE_MID;
+        lnk_data.LMax = GRAYSCALE_RANGE;
+        lnk_data.AMin = COLOR_A_MIN;
+        lnk_data.AMax = COLOR_A_MAX;
+        lnk_data.BMin = COLOR_B_MIN;
+        lnk_data.BMax = COLOR_B_MAX;
+        list_push_back(&thresholds, &lnk_data);
+    }
+
+    bool invert = py_helper_keyword_int(n_args, args, 4, kw_args, MP_OBJ_NEW_QSTR(MP_QSTR_invert), false);
+
+    mp_obj_list_t *img_list = (mp_obj_list_t *) py_tf_segment_output_data_callback_data.out;
+    mp_obj_list_t *out_list = mp_obj_new_list(img_list->len, NULL);
+
+    fb_alloc_mark();
+
+    float fscale = 1.f / GRAYSCALE_RANGE;
+    for (int i = 0, ii = img_list->len; i < ii; i++) {
+        image_t *img = py_image_cobj(img_list->items[i]);
+        float x_scale = roi.w / ((float) img->w);
+        float y_scale = roi.h / ((float) img->h);
+
+        list_t out;
+        imlib_find_blobs(&out, img, &((rectangle_t) {0, 0, img->w, img->h}), 1, 1,
+                         &thresholds, invert, 1, 1, false, 0,
+                         NULL, NULL, NULL, NULL, 0, 0);
+
+        mp_obj_list_t *objects_list = mp_obj_new_list(list_size(&out), NULL);
+        for (int j = 0, jj = list_size(&out); j < jj; j++) {
+            find_blobs_list_lnk_data_t lnk_data;
+            list_pop_front(&out, &lnk_data);
+
+            histogram_t hist;
+            hist.LBinCount = GRAYSCALE_RANGE + 1;
+            hist.ABinCount = 0;
+            hist.BBinCount = 0;
+            hist.LBins = fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+            hist.ABins = NULL;
+            hist.BBins = NULL;
+            imlib_get_histogram(&hist, img, &lnk_data.rect, &thresholds, invert, NULL);
+
+            statistics_t stats;
+            imlib_get_statistics(&stats, img->pixfmt, &hist);
+            fb_free(); // fb_alloc(hist.LBinCount * sizeof(float), FB_ALLOC_NO_HINT);
+
+            py_tf_classification_obj_t *o = m_new_obj(py_tf_classification_obj_t);
+            o->base.type = &py_tf_classification_type;
+            o->x = mp_obj_new_int(fast_floorf(lnk_data.rect.x * x_scale) + roi.x);
+            o->y = mp_obj_new_int(fast_floorf(lnk_data.rect.y * y_scale) + roi.y);
+            o->w = mp_obj_new_int(fast_floorf(lnk_data.rect.w * x_scale));
+            o->h = mp_obj_new_int(fast_floorf(lnk_data.rect.h * y_scale));
+            o->output = mp_obj_new_float(stats.LMean * fscale);
+            objects_list->items[j] = o;
+        }
+
+        out_list->items[i] = objects_list;
+    }
+
+    fb_alloc_free_till_mark();
+
+    return out_list;
+}
+
+STATIC mp_obj_t py_tf_segment(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return int_py_tf_segment(false, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_tf_segment_obj, 2, py_tf_segment);
+
+STATIC mp_obj_t py_tf_detect(uint n_args, const mp_obj_t *args, mp_map_t *kw_args)
+{
+    return int_py_tf_segment(true, n_args, args, kw_args);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_KW(py_tf_detect_obj, 2, py_tf_detect);
+
+mp_obj_t py_tf_len(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->model_data_len);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_len_obj, py_tf_len);
+
+mp_obj_t py_tf_ram(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.tensor_arena_size);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_ram_obj, py_tf_ram);
+
+mp_obj_t py_tf_input_height(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.input_height);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_input_height_obj, py_tf_input_height);
+
+mp_obj_t py_tf_input_width(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.input_width);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_input_width_obj, py_tf_input_width);
+
+mp_obj_t py_tf_input_channels(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.input_channels);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_input_channels_obj, py_tf_input_channels);
+
+mp_obj_t py_tf_input_datatype(mp_obj_t self_in)
+{
+    const char *str = py_tf_map_datatype(((py_tf_model_obj_t *) self_in)->params.input_datatype);
+    return mp_obj_new_str(str, strlen(str));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_input_datatype_obj, py_tf_input_datatype);
+
+mp_obj_t py_tf_input_scale(mp_obj_t self_in)
+{
+    return mp_obj_new_float(((py_tf_model_obj_t *) self_in)->params.input_scale);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_input_scale_obj, py_tf_input_scale);
+
+mp_obj_t py_tf_input_zero_point(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.input_zero_point);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_input_zero_point_obj, py_tf_input_zero_point);
+
+mp_obj_t py_tf_output_height(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.output_height);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_output_height_obj, py_tf_output_height);
+
+mp_obj_t py_tf_output_width(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.output_width);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_output_width_obj, py_tf_output_width);
+
+mp_obj_t py_tf_output_channels(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.output_channels);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_output_channels_obj, py_tf_output_channels);
+
+mp_obj_t py_tf_output_datatype(mp_obj_t self_in)
+{
+    const char *str = py_tf_map_datatype(((py_tf_model_obj_t *) self_in)->params.output_datatype);
+    return mp_obj_new_str(str, strlen(str));
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_output_datatype_obj, py_tf_output_datatype);
+
+mp_obj_t py_tf_output_scale(mp_obj_t self_in)
+{
+    return mp_obj_new_float(((py_tf_model_obj_t *) self_in)->params.output_scale);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_output_scale_obj, py_tf_output_scale);
+
+mp_obj_t py_tf_output_zero_point(mp_obj_t self_in)
+{
+    return mp_obj_new_int(((py_tf_model_obj_t *) self_in)->params.output_zero_point);
+}
+STATIC MP_DEFINE_CONST_FUN_OBJ_1(py_tf_output_zero_point_obj, py_tf_output_zero_point);
+
+STATIC const mp_rom_map_elem_t locals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR_len),                 MP_ROM_PTR(&py_tf_len_obj) },
+    { MP_ROM_QSTR(MP_QSTR_ram),                 MP_ROM_PTR(&py_tf_ram_obj) },
+    { MP_ROM_QSTR(MP_QSTR_input_height),        MP_ROM_PTR(&py_tf_input_height_obj) },
+    { MP_ROM_QSTR(MP_QSTR_input_width),         MP_ROM_PTR(&py_tf_input_width_obj) },
+    { MP_ROM_QSTR(MP_QSTR_input_channels),      MP_ROM_PTR(&py_tf_input_channels_obj) },
+    { MP_ROM_QSTR(MP_QSTR_input_datatype),      MP_ROM_PTR(&py_tf_input_datatype_obj) },
+    { MP_ROM_QSTR(MP_QSTR_input_scale),         MP_ROM_PTR(&py_tf_input_scale_obj) },
+    { MP_ROM_QSTR(MP_QSTR_input_zero_point),    MP_ROM_PTR(&py_tf_input_zero_point_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output_height),       MP_ROM_PTR(&py_tf_output_height_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output_width),        MP_ROM_PTR(&py_tf_output_width_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output_channels),     MP_ROM_PTR(&py_tf_output_channels_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output_datatype),     MP_ROM_PTR(&py_tf_output_datatype_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output_scale),        MP_ROM_PTR(&py_tf_output_scale_obj) },
+    { MP_ROM_QSTR(MP_QSTR_output_zero_point),   MP_ROM_PTR(&py_tf_output_zero_point_obj) },
+    { MP_ROM_QSTR(MP_QSTR_classify),            MP_ROM_PTR(&py_tf_classify_obj) },
+    { MP_ROM_QSTR(MP_QSTR_segment),             MP_ROM_PTR(&py_tf_segment_obj) },
+    { MP_ROM_QSTR(MP_QSTR_detect),              MP_ROM_PTR(&py_tf_detect_obj) }
+};
+
+STATIC MP_DEFINE_CONST_DICT(locals_dict, locals_dict_table);
+
+STATIC const mp_obj_type_t py_tf_model_type = {
+    { &mp_type_type },
+    .name  = MP_QSTR_tf_model,
+    .print = py_tf_model_print,
+    .locals_dict = (mp_obj_t) &locals_dict
+};
+
+#endif // IMLIB_ENABLE_TF
+
+STATIC const mp_rom_map_elem_t globals_dict_table[] = {
+    { MP_ROM_QSTR(MP_QSTR___name__),        MP_OBJ_NEW_QSTR(MP_QSTR_tf) },
+#ifdef IMLIB_ENABLE_TF
+    { MP_ROM_QSTR(MP_QSTR_load),            MP_ROM_PTR(&py_tf_load_obj) },
+    { MP_ROM_QSTR(MP_QSTR_free_from_fb),    MP_ROM_PTR(&py_tf_free_from_fb_obj) },
+    { MP_ROM_QSTR(MP_QSTR_classify),        MP_ROM_PTR(&py_tf_classify_obj) },
+    { MP_ROM_QSTR(MP_QSTR_segment),         MP_ROM_PTR(&py_tf_segment_obj) },
+    { MP_ROM_QSTR(MP_QSTR_detect),          MP_ROM_PTR(&py_tf_detect_obj) },
+#else
+    { MP_ROM_QSTR(MP_QSTR_load),            MP_ROM_PTR(&py_func_unavailable_obj) },
+    { MP_ROM_QSTR(MP_QSTR_free_from_fb),    MP_ROM_PTR(&py_func_unavailable_obj) },
+    { MP_ROM_QSTR(MP_QSTR_classify),        MP_ROM_PTR(&py_func_unavailable_obj) },
+    { MP_ROM_QSTR(MP_QSTR_segment),         MP_ROM_PTR(&py_func_unavailable_obj) },
+    { MP_ROM_QSTR(MP_QSTR_detect),          MP_ROM_PTR(&py_func_unavailable_obj) }
+#endif // IMLIB_ENABLE_TF
+};
+
+STATIC MP_DEFINE_CONST_DICT(globals_dict, globals_dict_table);
+
+const mp_obj_module_t tf_module = {
+    .base = { &mp_type_module },
+    .globals = (mp_obj_t) &globals_dict
+};
+
+MP_REGISTER_MODULE(MP_QSTR_tf, tf_module, 1);
diff --git a/github_source/minicv2/reference/py_tf.h b/github_source/minicv2/reference/py_tf.h
new file mode 100644
index 0000000..5c2e98b
--- /dev/null
+++ b/github_source/minicv2/reference/py_tf.h
@@ -0,0 +1,29 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Python Tensorflow library wrapper.
+ */
+#ifndef __PY_TF_H__
+#define __PY_TF_H__
+#include "libtf.h"
+
+typedef struct py_tf_model_obj {
+    mp_obj_base_t base;
+    unsigned char *model_data;
+    unsigned int model_data_len;
+    libtf_parameters_t params;
+} py_tf_model_obj_t;
+
+// Log buffer
+#define PY_TF_PUTCHAR_BUFFER_LEN 1023
+extern char *py_tf_putchar_buffer;
+extern size_t py_tf_putchar_buffer_index;
+extern size_t py_tf_putchar_buffer_len;
+void py_tf_alloc_putchar_buffer();
+
+#endif // __PY_TF_H__
diff --git a/github_source/minicv2/reference/py_tof.h b/github_source/minicv2/reference/py_tof.h
new file mode 100644
index 0000000..3a8c222
--- /dev/null
+++ b/github_source/minicv2/reference/py_tof.h
@@ -0,0 +1,14 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * ToF Python module.
+ */
+#ifndef __PY_TOF_H__
+#define __PY_TOF_H__
+void py_tof_init0();
+#endif // __PY_TOF_H__
diff --git a/github_source/minicv2/src/agast.c b/github_source/minicv2/src/agast.c
new file mode 100644
index 0000000..c2bd1bb
--- /dev/null
+++ b/github_source/minicv2/src/agast.c
@@ -0,0 +1,1287 @@
+/*
+ * NOTE: This code is mostly auto-generated.
+ * See: http://archive.www6.in.tum.de/www6/Main/ResearchAgast.html
+ *
+ * Copyright (C) 2010 Elmar Mair
+ * The program you can download here is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later version.
+ * This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
+ * without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ * See the GNU General Public License for more details. You should have received a copy of the
+ * GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+#include <stdio.h>
+#include <stdint.h>
+#include "imlib.h"
+#include "xalloc.h"
+// #include "fb_alloc.h"
+// #include "gc.h"
+
+#define MAX_ROW         (480)
+#define MAX_CORNERS     (2000)
+#define Compare(X, Y) ((X)>=(Y))
+
+typedef struct {
+    uint16_t x;
+    uint16_t y;
+    uint16_t score;
+} corner_t;
+
+static int s_width=-1;
+static int_fast16_t s_offset0;
+static int_fast16_t s_offset1;
+static int_fast16_t s_offset2;
+static int_fast16_t s_offset3;
+static int_fast16_t s_offset4;
+static int_fast16_t s_offset5;
+static int_fast16_t s_offset6;
+static int_fast16_t s_offset7;
+
+static corner_t *agast58_detect(image_t *img, int b, int* num_corners, rectangle_t *roi);
+static int agast58_score(const unsigned char* p, int bstart);
+static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints);
+
+static kp_t *alloc_keypoint(uint16_t x, uint16_t y, uint16_t score)
+{
+    // Note must set keypoint descriptor to zeros
+    kp_t *kpt = xalloc0(sizeof*kpt);
+    kpt->x = x;
+    kpt->y = y;
+    kpt->score = score;
+    return kpt;
+}
+
+static void init5_8_pattern(int image_width)
+{
+	if(image_width==s_width)
+		return;
+
+	s_width=image_width;
+
+	s_offset0=(-1)+(0)*s_width;
+	s_offset1=(-1)+(-1)*s_width;
+	s_offset2=(0)+(-1)*s_width;
+	s_offset3=(1)+(-1)*s_width;
+	s_offset4=(1)+(0)*s_width;
+	s_offset5=(1)+(1)*s_width;
+	s_offset6=(0)+(1)*s_width;
+	s_offset7=(-1)+(1)*s_width;
+}
+
+void agast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t *roi)
+{
+    int num_corners=0;
+	init5_8_pattern(image->w);
+
+    // Find corners
+    corner_t *corners = agast58_detect(image, threshold, &num_corners, roi);
+    if (num_corners) {
+        // Score corners
+        for(int i=0; i<num_corners; i++) {
+            corners[i].score = agast58_score(image->pixels + (corners[i].y*image->w + corners[i].x), threshold);
+        }
+        // Non-max suppression
+        nonmax_suppression(corners, num_corners, keypoints);
+    }
+
+    // Free corners;
+    xfree(corners);
+}
+
+static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints)
+{
+    // gc_info_t info;
+
+	int last_row;
+	int16_t row_start[MAX_ROW+1];
+	const int sz = num_corners;
+
+	/* Point above points (roughly) to the pixel above
+       the one of interest, if there is a feature there.*/
+	int point_above = 0;
+	int point_below = 0;
+
+	/* Find where each row begins (the corners are output in raster scan order).
+       A beginning of -1 signifies that there are no corners on that row. */
+	last_row  = corners[sz-1].y;
+
+	for(int i=0; i<last_row+1; i++) {
+		row_start[i] = -1;
+    }
+
+    for (int i=0, prev_row=-1; i<sz; i++) {
+        corner_t *c = &corners[i];
+        if (c->y != prev_row) {
+            row_start[c->y] = i;
+            prev_row = c->y;
+        }
+    }
+
+    for(int i=0; i<sz; i++) {
+        corner_t pos = corners[i];
+        uint16_t score = pos.score;
+
+        /*Check left */
+        if (i > 0) {
+            if (corners[i-1].x == pos.x-1 && corners[i-1].y == pos.y && Compare(corners[i-1].score, score)) {
+                goto nonmax;
+            }
+        }
+
+        /*Check right*/
+        if (i < (sz - 1)) {
+            if (corners[i+1].x == pos.x+1 && corners[i+1].y == pos.y && Compare(corners[i+1].score, score)) {
+                goto nonmax;
+            }
+        }
+
+        /*Check above (if there is a valid row above)*/
+        if (pos.y != 0 && row_start[pos.y - 1] != -1)  {
+            /*Make sure that current point_above is one row above.*/
+            if(corners[point_above].y < pos.y - 1)
+                point_above = row_start[pos.y-1];
+
+            /*Make point_above point to the first of the pixels above the current point, if it exists.*/
+            for (; corners[point_above].y < pos.y && corners[point_above].x < pos.x - 1; point_above++) {
+
+            }
+
+            for (int j=point_above; corners[j].y < pos.y && corners[j].x <= pos.x + 1; j++) {
+                int x = corners[j].x;
+                if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(corners[j].score, score))
+                    goto nonmax;
+            }
+        }
+
+        /*Check below (if there is anything below)*/
+        if (pos.y != last_row && row_start[pos.y + 1] != -1 && point_below < sz) /*Nothing below*/ {
+            if (corners[point_below].y < pos.y + 1)
+                point_below = row_start[pos.y+1];
+
+            /* Make point below point to one of the pixels belowthe current point, if it exists.*/
+            for (; point_below < sz && corners[point_below].y == pos.y+1 && corners[point_below].x < pos.x - 1; point_below++) {
+            }
+
+            for (int j=point_below; j < sz && corners[j].y == pos.y+1 && corners[j].x <= pos.x + 1; j++) {
+                int x = corners[j].x;
+                if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(corners[j].score, score))
+                    goto nonmax;
+            }
+        }
+
+        // gc_info(&info);
+        // #define MIN_MEM (10*1024)
+        // // Allocate keypoints until we're almost out of memory
+        // if (info.free < MIN_MEM) {
+        //     // Try collecting memory
+        //     gc_collect();
+        //     // If it didn't work break
+        //     gc_info(&info);
+        //     if (info.free < MIN_MEM) {
+        //         break;
+        //     }
+        // }
+
+        // #undef MIN_MEM
+        array_push_back(keypoints, alloc_keypoint(pos.x, pos.y, pos.score));
+        nonmax:
+        ;
+    }
+}
+
+static corner_t *agast58_detect(image_t *img, int b, int* num_corners, rectangle_t *roi)
+{
+	int total=0;
+	register int x, y;
+	register int xsizeB=(roi->x+roi->w) - 2;
+	register int ysizeB=(roi->y+roi->h) - 1;
+	register int_fast16_t offset0, offset1, offset2, offset3, offset4, offset5, offset6, offset7;
+	register int width;
+
+	offset0=s_offset0;
+	offset1=s_offset1;
+	offset2=s_offset2;
+	offset3=s_offset3;
+	offset4=s_offset4;
+	offset5=s_offset5;
+	offset6=s_offset6;
+	offset7=s_offset7;
+	width=s_width;
+
+    // Try to alloc MAX_CORNERS or the actual max corners we can alloc.
+    // int max_corners = IM_MIN(MAX_CORNERS, (fb_avail() / sizeof(corner_t)));
+	int max_corners = MAX_CORNERS;
+    corner_t *corners = (corner_t*) xalloc(max_corners * sizeof(corner_t));
+
+	for(y=roi->y+1; y < ysizeB; y++)
+	{										
+		x=roi->x;
+		while(1)							
+		{									
+homogeneous:
+{
+			x++;			
+			if(x>xsizeB)	
+				break;
+			else
+			{
+				register const unsigned char* const p = img->pixels + y*width + x;
+				register const int cb = *p + b;
+				register const int c_b = *p - b;
+				if(p[offset0] > cb)
+				  if(p[offset2] > cb)
+					if(p[offset3] > cb)
+					  if(p[offset5] > cb)
+						if(p[offset1] > cb)
+						  if(p[offset4] > cb)
+							goto success_structured;
+						  else
+							if(p[offset7] > cb)
+							  goto success_structured;
+							else
+							  goto homogeneous;
+						else
+						  if(p[offset4] > cb)
+							if(p[offset6] > cb)
+							  goto success_structured;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						if(p[offset1] > cb)
+						  if(p[offset4] > cb)
+							goto success_homogeneous;
+						  else
+							if(p[offset7] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto homogeneous;
+					else
+					  if(p[offset7] > cb)
+						if(p[offset6] > cb)
+						  if(p[offset5] > cb)
+							if(p[offset1] > cb)
+							  goto success_structured;
+							else
+							  if(p[offset4] > cb)
+								goto success_structured;
+							  else
+								goto homogeneous;
+						  else
+							if(p[offset1] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto homogeneous;
+					  else
+						if(p[offset5] < c_b)
+						  if(p[offset3] < c_b)
+							if(p[offset7] < c_b)
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto structured;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  goto homogeneous;
+				  else
+					if(p[offset5] > cb)
+					  if(p[offset7] > cb)
+						if(p[offset6] > cb)
+						  if(p[offset1] > cb)
+							goto success_homogeneous;
+						  else
+							if(p[offset4] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto homogeneous;
+					  else
+						goto homogeneous;
+					else
+					  if(p[offset5] < c_b)
+						if(p[offset3] < c_b)
+						  if(p[offset2] < c_b)
+							if(p[offset1] < c_b)
+							  if(p[offset4] < c_b)
+								goto success_structured;
+							  else
+								goto homogeneous;
+							else
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto homogeneous;
+							  else
+								goto homogeneous;
+						  else
+							if(p[offset7] < c_b)
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto homogeneous;
+					  else
+						goto homogeneous;
+				else if(p[offset0] < c_b)
+				  if(p[offset2] < c_b)
+					if(p[offset7] > cb)
+					  if(p[offset3] < c_b)
+						if(p[offset5] < c_b)
+						  if(p[offset1] < c_b)
+							if(p[offset4] < c_b)
+							  goto success_structured;
+							else
+							  goto structured;
+						  else
+							if(p[offset4] < c_b)
+							  if(p[offset6] < c_b)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto homogeneous;
+						else
+						  if(p[offset1] < c_b)
+							if(p[offset4] < c_b)
+							  goto success_structured;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						if(p[offset5] > cb)
+						  if(p[offset3] > cb)
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  goto homogeneous;
+					else
+					  if(p[offset7] < c_b)
+						if(p[offset3] < c_b)
+						  if(p[offset5] < c_b)
+							if(p[offset1] < c_b)
+							  goto success_structured;
+							else
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto structured;
+							  else
+								goto homogeneous;
+						  else
+							if(p[offset1] < c_b)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  if(p[offset6] < c_b)
+							if(p[offset5] < c_b)
+							  if(p[offset1] < c_b)
+								goto success_structured;
+							  else
+								if(p[offset4] < c_b)
+								  goto success_structured;
+								else
+								  goto homogeneous;
+							else
+							  if(p[offset1] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						if(p[offset3] < c_b)
+						  if(p[offset5] < c_b)
+							if(p[offset1] < c_b)
+							  if(p[offset4] < c_b)
+								goto success_structured;
+							  else
+								goto homogeneous;
+							else
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto homogeneous;
+							  else
+								goto homogeneous;
+						  else
+							if(p[offset1] < c_b)
+							  if(p[offset4] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto homogeneous;
+				  else
+					if(p[offset5] > cb)
+					  if(p[offset3] > cb)
+						if(p[offset2] > cb)
+						  if(p[offset1] > cb)
+							if(p[offset4] > cb)
+							  goto success_structured;
+							else
+							  goto homogeneous;
+						  else
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  if(p[offset7] > cb)
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						goto homogeneous;
+					else
+					  if(p[offset5] < c_b)
+						if(p[offset7] < c_b)
+						  if(p[offset6] < c_b)
+							if(p[offset1] < c_b)
+							  goto success_homogeneous;
+							else
+							  if(p[offset4] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  goto homogeneous;
+					  else
+						goto homogeneous;
+				else
+				  if(p[offset3] > cb)
+					if(p[offset5] > cb)
+					  if(p[offset2] > cb)
+						if(p[offset1] > cb)
+						  if(p[offset4] > cb)
+							goto success_homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  if(p[offset4] > cb)
+							if(p[offset6] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						if(p[offset7] > cb)
+						  if(p[offset4] > cb)
+							if(p[offset6] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  goto homogeneous;
+					else
+					  goto homogeneous;
+				  else
+					if(p[offset3] < c_b)
+					  if(p[offset5] < c_b)
+						if(p[offset2] < c_b)
+						  if(p[offset1] < c_b)
+							if(p[offset4] < c_b)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							if(p[offset4] < c_b)
+							  if(p[offset6] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  if(p[offset7] < c_b)
+							if(p[offset4] < c_b)
+							  if(p[offset6] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						goto homogeneous;
+					else
+					  goto homogeneous;
+			}
+}
+structured:
+{
+			x++;			
+			if(x>xsizeB)	
+				break;
+			else
+			{
+				register const unsigned char* const p = img->pixels + y*width + x;
+				register const int cb = *p + b;
+				register const int c_b = *p - b;
+				if(p[offset0] > cb)
+				  if(p[offset2] > cb)
+					if(p[offset3] > cb)
+					  if(p[offset5] > cb)
+						if(p[offset7] > cb)
+						  if(p[offset1] > cb)
+							goto success_structured;
+						  else
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto structured;
+						else
+						  if(p[offset1] > cb)
+							if(p[offset4] > cb)
+							  goto success_structured;
+							else
+							  goto structured;
+						  else
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto structured;
+					  else
+						if(p[offset7] > cb)
+						  if(p[offset1] > cb)
+							goto success_structured;
+						  else
+							goto structured;
+						else
+						  if(p[offset1] > cb)
+							if(p[offset4] > cb)
+							  goto success_structured;
+							else
+							  goto structured;
+						  else
+							goto structured;
+					else
+					  if(p[offset7] > cb)
+						if(p[offset6] > cb)
+						  if(p[offset5] > cb)
+							if(p[offset1] > cb)
+							  goto success_structured;
+							else
+							  if(p[offset4] > cb)
+								goto success_structured;
+							  else
+								goto structured;
+						  else
+							if(p[offset1] > cb)
+							  goto success_structured;
+							else
+							  goto structured;
+						else
+						  goto structured;
+					  else
+						if(p[offset5] < c_b)
+						  if(p[offset3] < c_b)
+							if(p[offset7] < c_b)
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto structured;
+							  else
+								goto structured;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  goto structured;
+				  else
+					if(p[offset5] > cb)
+					  if(p[offset7] > cb)
+						if(p[offset6] > cb)
+						  if(p[offset1] > cb)
+							goto success_structured;
+						  else
+							if(p[offset4] > cb)
+							  goto success_structured;
+							else
+							  goto structured;
+						else
+						  goto structured;
+					  else
+						goto structured;
+					else
+					  if(p[offset5] < c_b)
+						if(p[offset3] < c_b)
+						  if(p[offset2] < c_b)
+							if(p[offset1] < c_b)
+							  if(p[offset4] < c_b)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto structured;
+							  else
+								goto structured;
+						  else
+							if(p[offset7] < c_b)
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_homogeneous;
+								else
+								  goto homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto structured;
+					  else
+						goto homogeneous;
+				else if(p[offset0] < c_b)
+				  if(p[offset2] < c_b)
+					if(p[offset7] > cb)
+					  if(p[offset3] < c_b)
+						if(p[offset5] < c_b)
+						  if(p[offset1] < c_b)
+							if(p[offset4] < c_b)
+							  goto success_structured;
+							else
+							  goto structured;
+						  else
+							if(p[offset4] < c_b)
+							  if(p[offset6] < c_b)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto structured;
+						else
+						  if(p[offset1] < c_b)
+							if(p[offset4] < c_b)
+							  goto success_structured;
+							else
+							  goto structured;
+						  else
+							goto structured;
+					  else
+						if(p[offset5] > cb)
+						  if(p[offset3] > cb)
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto structured;
+						  else
+							goto homogeneous;
+						else
+						  goto structured;
+					else
+					  if(p[offset7] < c_b)
+						if(p[offset3] < c_b)
+						  if(p[offset5] < c_b)
+							if(p[offset1] < c_b)
+							  goto success_structured;
+							else
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_structured;
+								else
+								  goto structured;
+							  else
+								goto structured;
+						  else
+							if(p[offset1] < c_b)
+							  goto success_structured;
+							else
+							  goto structured;
+						else
+						  if(p[offset6] < c_b)
+							if(p[offset5] < c_b)
+							  if(p[offset1] < c_b)
+								goto success_structured;
+							  else
+								if(p[offset4] < c_b)
+								  goto success_structured;
+								else
+								  goto structured;
+							else
+							  if(p[offset1] < c_b)
+								goto success_structured;
+							  else
+								goto structured;
+						  else
+							goto structured;
+					  else
+						if(p[offset3] < c_b)
+						  if(p[offset5] < c_b)
+							if(p[offset1] < c_b)
+							  if(p[offset4] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  if(p[offset4] < c_b)
+								if(p[offset6] < c_b)
+								  goto success_homogeneous;
+								else
+								  goto homogeneous;
+							  else
+								goto homogeneous;
+						  else
+							if(p[offset1] < c_b)
+							  if(p[offset4] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  goto homogeneous;
+				  else
+					if(p[offset5] > cb)
+					  if(p[offset3] > cb)
+						if(p[offset2] > cb)
+						  if(p[offset1] > cb)
+							if(p[offset4] > cb)
+							  goto success_structured;
+							else
+							  goto structured;
+						  else
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_structured;
+							  else
+								goto structured;
+							else
+							  goto structured;
+						else
+						  if(p[offset7] > cb)
+							if(p[offset4] > cb)
+							  if(p[offset6] > cb)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						goto structured;
+					else
+					  if(p[offset5] < c_b)
+						if(p[offset7] < c_b)
+						  if(p[offset6] < c_b)
+							if(p[offset1] < c_b)
+							  goto success_structured;
+							else
+							  if(p[offset4] < c_b)
+								goto success_structured;
+							  else
+								goto structured;
+						  else
+							goto structured;
+						else
+						  goto structured;
+					  else
+						goto homogeneous;
+				else
+				  if(p[offset3] > cb)
+					if(p[offset5] > cb)
+					  if(p[offset2] > cb)
+						if(p[offset1] > cb)
+						  if(p[offset4] > cb)
+							goto success_homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  if(p[offset4] > cb)
+							if(p[offset6] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						if(p[offset7] > cb)
+						  if(p[offset4] > cb)
+							if(p[offset6] > cb)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+						else
+						  goto homogeneous;
+					else
+					  goto homogeneous;
+				  else
+					if(p[offset3] < c_b)
+					  if(p[offset5] < c_b)
+						if(p[offset2] < c_b)
+						  if(p[offset1] < c_b)
+							if(p[offset4] < c_b)
+							  goto success_homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							if(p[offset4] < c_b)
+							  if(p[offset6] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						else
+						  if(p[offset7] < c_b)
+							if(p[offset4] < c_b)
+							  if(p[offset6] < c_b)
+								goto success_homogeneous;
+							  else
+								goto homogeneous;
+							else
+							  goto homogeneous;
+						  else
+							goto homogeneous;
+					  else
+						goto homogeneous;
+					else
+					  goto homogeneous;
+			}
+}
+success_homogeneous:
+			corners[total].x = x;				
+			corners[total].y = y;				
+			if(++total == max_corners) {
+                goto done;
+            }
+			goto homogeneous;				
+success_structured:
+			corners[total].x = x;				
+			corners[total].y = y;				
+			if(++total == max_corners) {
+                goto done;
+            }
+			goto structured;				
+		}									
+	}										
+done:
+	*num_corners = total;
+	return corners;								
+}
+
+//using also bisection as propsed by Edward Rosten in FAST,
+//but it is based on the OAST
+static int agast58_score(const unsigned char* p, int bstart)
+{
+    int bmin = bstart;
+    int bmax = 255;
+    int b = (bmax + bmin)/2;
+
+	register int_fast16_t offset0=s_offset0;
+	register int_fast16_t offset1=s_offset1;
+	register int_fast16_t offset2=s_offset2;
+	register int_fast16_t offset3=s_offset3;
+	register int_fast16_t offset4=s_offset4;
+	register int_fast16_t offset5=s_offset5;
+	register int_fast16_t offset6=s_offset6;
+	register int_fast16_t offset7=s_offset7;
+
+	while(1)
+	{
+		register const int cb = *p + b;
+		register const int c_b = *p - b;
+		if(p[offset0] > cb)
+		  if(p[offset2] > cb)
+		    if(p[offset3] > cb)
+		      if(p[offset5] > cb)
+		        if(p[offset1] > cb)
+		          if(p[offset4] > cb)
+		            goto is_a_corner;
+		          else
+		            if(p[offset7] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          if(p[offset4] > cb)
+		            if(p[offset6] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		      else
+		        if(p[offset1] > cb)
+		          if(p[offset4] > cb)
+		            goto is_a_corner;
+		          else
+		            if(p[offset7] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		    else
+		      if(p[offset7] > cb)
+		        if(p[offset6] > cb)
+		          if(p[offset5] > cb)
+		            if(p[offset1] > cb)
+		              goto is_a_corner;
+		            else
+		              if(p[offset4] > cb)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		          else
+		            if(p[offset1] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		      else
+		        if(p[offset5] < c_b)
+		          if(p[offset3] < c_b)
+		            if(p[offset7] < c_b)
+		              if(p[offset4] < c_b)
+		                if(p[offset6] < c_b)
+		                  goto is_a_corner;
+		                else
+		                  goto is_not_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		  else
+		    if(p[offset5] > cb)
+		      if(p[offset7] > cb)
+		        if(p[offset6] > cb)
+		          if(p[offset1] > cb)
+		            goto is_a_corner;
+		          else
+		            if(p[offset4] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		      else
+		        goto is_not_a_corner;
+		    else
+		      if(p[offset5] < c_b)
+		        if(p[offset3] < c_b)
+		          if(p[offset2] < c_b)
+		            if(p[offset1] < c_b)
+		              if(p[offset4] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              if(p[offset4] < c_b)
+		                if(p[offset6] < c_b)
+		                  goto is_a_corner;
+		                else
+		                  goto is_not_a_corner;
+		              else
+		                goto is_not_a_corner;
+		          else
+		            if(p[offset7] < c_b)
+		              if(p[offset4] < c_b)
+		                if(p[offset6] < c_b)
+		                  goto is_a_corner;
+		                else
+		                  goto is_not_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		      else
+		        goto is_not_a_corner;
+		else if(p[offset0] < c_b)
+		  if(p[offset2] < c_b)
+		    if(p[offset7] > cb)
+		      if(p[offset3] < c_b)
+		        if(p[offset5] < c_b)
+		          if(p[offset1] < c_b)
+		            if(p[offset4] < c_b)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            if(p[offset4] < c_b)
+		              if(p[offset6] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          if(p[offset1] < c_b)
+		            if(p[offset4] < c_b)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		      else
+		        if(p[offset5] > cb)
+		          if(p[offset3] > cb)
+		            if(p[offset4] > cb)
+		              if(p[offset6] > cb)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		    else
+		      if(p[offset7] < c_b)
+		        if(p[offset3] < c_b)
+		          if(p[offset5] < c_b)
+		            if(p[offset1] < c_b)
+		              goto is_a_corner;
+		            else
+		              if(p[offset4] < c_b)
+		                if(p[offset6] < c_b)
+		                  goto is_a_corner;
+		                else
+		                  goto is_not_a_corner;
+		              else
+		                goto is_not_a_corner;
+		          else
+		            if(p[offset1] < c_b)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          if(p[offset6] < c_b)
+		            if(p[offset5] < c_b)
+		              if(p[offset1] < c_b)
+		                goto is_a_corner;
+		              else
+		                if(p[offset4] < c_b)
+		                  goto is_a_corner;
+		                else
+		                  goto is_not_a_corner;
+		            else
+		              if(p[offset1] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		      else
+		        if(p[offset3] < c_b)
+		          if(p[offset5] < c_b)
+		            if(p[offset1] < c_b)
+		              if(p[offset4] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              if(p[offset4] < c_b)
+		                if(p[offset6] < c_b)
+		                  goto is_a_corner;
+		                else
+		                  goto is_not_a_corner;
+		              else
+		                goto is_not_a_corner;
+		          else
+		            if(p[offset1] < c_b)
+		              if(p[offset4] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		  else
+		    if(p[offset5] > cb)
+		      if(p[offset3] > cb)
+		        if(p[offset2] > cb)
+		          if(p[offset1] > cb)
+		            if(p[offset4] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            if(p[offset4] > cb)
+		              if(p[offset6] > cb)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          if(p[offset7] > cb)
+		            if(p[offset4] > cb)
+		              if(p[offset6] > cb)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		      else
+		        goto is_not_a_corner;
+		    else
+		      if(p[offset5] < c_b)
+		        if(p[offset7] < c_b)
+		          if(p[offset6] < c_b)
+		            if(p[offset1] < c_b)
+		              goto is_a_corner;
+		            else
+		              if(p[offset4] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		      else
+		        goto is_not_a_corner;
+		else
+		  if(p[offset3] > cb)
+		    if(p[offset5] > cb)
+		      if(p[offset2] > cb)
+		        if(p[offset1] > cb)
+		          if(p[offset4] > cb)
+		            goto is_a_corner;
+		          else
+		            goto is_not_a_corner;
+		        else
+		          if(p[offset4] > cb)
+		            if(p[offset6] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		      else
+		        if(p[offset7] > cb)
+		          if(p[offset4] > cb)
+		            if(p[offset6] > cb)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		        else
+		          goto is_not_a_corner;
+		    else
+		      goto is_not_a_corner;
+		  else
+		    if(p[offset3] < c_b)
+		      if(p[offset5] < c_b)
+		        if(p[offset2] < c_b)
+		          if(p[offset1] < c_b)
+		            if(p[offset4] < c_b)
+		              goto is_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            if(p[offset4] < c_b)
+		              if(p[offset6] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		        else
+		          if(p[offset7] < c_b)
+		            if(p[offset4] < c_b)
+		              if(p[offset6] < c_b)
+		                goto is_a_corner;
+		              else
+		                goto is_not_a_corner;
+		            else
+		              goto is_not_a_corner;
+		          else
+		            goto is_not_a_corner;
+		      else
+		        goto is_not_a_corner;
+		    else
+		      goto is_not_a_corner;
+
+		is_a_corner:
+			bmin=b;
+			goto end;
+
+		is_not_a_corner:
+			bmax=b;
+			goto end;
+
+		end:
+
+		if(bmin == bmax - 1 || bmin == bmax)
+			return bmin;
+		b = (bmin + bmax) / 2;
+	}
+}
diff --git a/github_source/minicv2/src/apriltag.c b/github_source/minicv2/src/apriltag.c
new file mode 100644
index 0000000..414ae20
--- /dev/null
+++ b/github_source/minicv2/src/apriltag.c
@@ -0,0 +1,12738 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * AprilTags library.
+ */
+#include <float.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include "imlib.h"
+#ifdef IMLIB_ENABLE_APRILTAGS
+// Enable new code optimizations
+#define OPTIMIZED
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+
+/* Copyright (C) 2013-2016, The Regents of The University of Michigan.
+All rights reserved.
+
+This software was developed in the APRIL Robotics Lab under the
+direction of Edwin Olson, ebolson@umich.edu. This software may be
+available under alternative licensing terms; contact the address above.
+
+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.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the Regents of The University of Michigan.
+*/
+#define fprintf(format, ...)
+#define free(ptr) ({ umm_free(ptr); })
+#define malloc(size) ({ void *_r = umm_malloc(size); if(!_r) umm_alloc_fail(); _r; })
+#define realloc(ptr, size) ({ void *_r = umm_realloc((ptr), (size)); if(!_r) umm_alloc_fail(); _r; })
+#define calloc(num, item_size) ({ void *_r = umm_calloc((num), (item_size)); if(!_r) umm_alloc_fail(); _r; })
+#undef assert
+#define assert(expression)
+#define sqrt(x) fast_sqrtf(x)
+#define sqrtf(x) fast_sqrtf(x)
+#define floor(x) fast_floorf(x)
+#define floorf(x) fast_floorf(x)
+#define ceil(x) fast_ceilf(x)
+#define ceilf(x) fast_ceilf(x)
+#define round(x) fast_roundf(x)
+#define roundf(x) fast_roundf(x)
+#define atan(x) fast_atanf(x)
+#define atanf(x) fast_atanf(x)
+#define atan2(y, x) fast_atan2f((y), (x))
+#define atan2f(y, x) fast_atan2f((y), (x))
+#define exp(x) fast_expf(x)
+#define expf(x) fast_expf(x)
+#define cbrt(x) fast_cbrtf(x)
+#define cbrtf(x) fast_cbrtf(x)
+#define fabs(x) fast_fabsf(x)
+#define fabsf(x) fast_fabsf(x)
+#define log(x) fast_log(x)
+#define logf(x) fast_log(x)
+#undef log2
+#define log2(x) fast_log2(x)
+#undef log2f
+#define log2f(x) fast_log2(x)
+#define sin(x) arm_sin_f32(x)
+#define cos(x) arm_cos_f32(x)
+#define fmin(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; })
+#define fminf(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a < _b ? _a : _b; })
+#define fmax(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a > _b ? _a : _b; })
+#define fmaxf(a, b) ({ __typeof__ (a) _a = (a); __typeof__ (b) _b = (b); _a > _b ? _a : _b; })
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "zarray.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Defines a structure which acts as a resize-able array ala Java's ArrayList.
+ */
+typedef struct zarray zarray_t;
+struct zarray
+{
+    size_t el_sz; // size of each element
+
+    int size; // how many elements?
+    int alloc; // we've allocated storage for how many elements?
+    char *data;
+};
+
+/**
+ * Creates and returns a variable array structure capable of holding elements of
+ * the specified size. It is the caller's responsibility to call zarray_destroy()
+ * on the returned array when it is no longer needed.
+ */
+static inline zarray_t *zarray_create(size_t el_sz)
+{
+    assert(el_sz > 0);
+
+    zarray_t *za = (zarray_t*) calloc(1, sizeof(zarray_t));
+    za->el_sz = el_sz;
+    return za;
+}
+
+/**
+ * Creates and returns a variable array structure capable of holding elements of
+ * the specified size. It is the caller's responsibility to call zarray_destroy()
+ * on the returned array when it is no longer needed.
+ */
+static inline zarray_t *zarray_create_fail_ok(size_t el_sz)
+{
+    assert(el_sz > 0);
+
+    zarray_t *za = (zarray_t*) umm_calloc(1, sizeof(zarray_t));
+    if (za) za->el_sz = el_sz;
+    return za;
+}
+
+/**
+ * Frees all resources associated with the variable array structure which was
+ * created by zarray_create(). After calling, 'za' will no longer be valid for storage.
+ */
+static inline void zarray_destroy(zarray_t *za)
+{
+    if (za == NULL)
+        return;
+
+    if (za->data != NULL)
+        free(za->data);
+    memset(za, 0, sizeof(zarray_t));
+    free(za);
+}
+
+/** Allocate a new zarray that contains a copy of the data in the argument. **/
+static inline zarray_t *zarray_copy(const zarray_t *za)
+{
+    assert(za != NULL);
+
+    zarray_t *zb = (zarray_t*) calloc(1, sizeof(zarray_t));
+    zb->el_sz = za->el_sz;
+    zb->size = za->size;
+    zb->alloc = za->alloc;
+    zb->data = (char*) malloc(zb->alloc * zb->el_sz);
+    memcpy(zb->data, za->data, za->size * za->el_sz);
+    return zb;
+}
+
+static int iceillog2(int v)
+{
+    v--;
+    v |= v >> 1;
+    v |= v >> 2;
+    v |= v >> 4;
+    v |= v >> 8;
+    v |= v >> 16;
+    v++;
+    return v;
+}
+
+/**
+ * Allocate a new zarray that contains a subset of the original
+ * elements. NOTE: end index is EXCLUSIVE, that is one past the last
+ * element you want.
+ */
+static inline zarray_t *zarray_copy_subset(const zarray_t *za,
+                             int start_idx,
+                             int end_idx_exclusive)
+{
+    zarray_t *out = (zarray_t*) calloc(1, sizeof(zarray_t));
+    out->el_sz = za->el_sz;
+    out->size = end_idx_exclusive - start_idx;
+    out->alloc = iceillog2(out->size); // round up pow 2
+    out->data = (char*) malloc(out->alloc * out->el_sz);
+    memcpy(out->data,  za->data +(start_idx*out->el_sz), out->size*out->el_sz);
+    return out;
+}
+
+/**
+ * Retrieves the number of elements currently being contained by the passed
+ * array, which may be different from its capacity. The index of the last element
+ * in the array will be one less than the returned value.
+ */
+static inline int zarray_size(const zarray_t *za)
+{
+    assert(za != NULL);
+
+    return za->size;
+}
+
+/**
+ * Returns 1 if zarray_size(za) == 0,
+ * returns 0 otherwise.
+ */
+/*
+JUST CALL zarray_size
+int zarray_isempty(const zarray_t *za)
+{
+    assert(za != NULL);
+    if (za->size <= 0)
+        return 1;
+    else
+        return 0;
+}
+*/
+
+
+/**
+ * Allocates enough internal storage in the supplied variable array structure to
+ * guarantee that the supplied number of elements (capacity) can be safely stored.
+ */
+static inline void zarray_ensure_capacity(zarray_t *za, int capacity)
+{
+    assert(za != NULL);
+
+    if (capacity <= za->alloc)
+        return;
+
+    while (za->alloc < capacity) {
+        za->alloc += 8; // use less memory // *= 2;
+        if (za->alloc < 8)
+            za->alloc = 8;
+    }
+
+    za->data = (char*) realloc(za->data, za->alloc * za->el_sz);
+}
+
+/**
+ * Adds a new element to the end of the supplied array, and sets its value
+ * (by copying) from the data pointed to by the supplied pointer 'p'.
+ * Automatically ensures that enough storage space is available for the new element.
+ */
+static inline void zarray_add(zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    zarray_ensure_capacity(za, za->size + 1);
+
+    memcpy(&za->data[za->size*za->el_sz], p, za->el_sz);
+    za->size++;
+}
+
+/**
+ * Adds a new element to the end of the supplied array, and sets its value
+ * (by copying) from the data pointed to by the supplied pointer 'p'.
+ * Automatically ensures that enough storage space is available for the new element.
+ */
+static inline void zarray_add_fail_ok(zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    if ((za->size + 1) > za->alloc)
+    {
+        char *old_data = za->data;
+        int old_alloc = za->alloc;
+
+        while (za->alloc < (za->size + 1)) {
+            za->alloc += 8; // use less memory // *= 2;
+            if (za->alloc < 8)
+                za->alloc = 8;
+        }
+
+        za->data = (char*) umm_realloc(za->data, za->alloc * za->el_sz);
+
+        if (!za->data) {
+            za->data = old_data;
+            za->alloc = old_alloc;
+            return;
+        }
+    }
+
+    memcpy(&za->data[za->size*za->el_sz], p, za->el_sz);
+    za->size++;
+}
+
+/**
+ * Retrieves the element from the supplied array located at the zero-based
+ * index of 'idx' and copies its value into the variable pointed to by the pointer
+ * 'p'.
+ */
+static inline void zarray_get(const zarray_t *za, int idx, void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    memcpy(p, &za->data[idx*za->el_sz], za->el_sz);
+}
+
+/**
+ * Similar to zarray_get(), but returns a "live" pointer to the internal
+ * storage, avoiding a memcpy. This pointer is not valid across
+ * operations which might move memory around (i.e. zarray_remove_value(),
+ * zarray_remove_index(), zarray_insert(), zarray_sort(), zarray_clear()).
+ * 'p' should be a pointer to the pointer which will be set to the internal address.
+ */
+inline static void zarray_get_volatile(const zarray_t *za, int idx, void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    *((void**) p) = &za->data[idx*za->el_sz];
+}
+
+inline static void zarray_truncate(zarray_t *za, int sz)
+{
+   assert(za != NULL);
+   assert(sz <= za->size);
+   za->size = sz;
+}
+
+/**
+ * Copies the memory array used internally by zarray to store its owned
+ * elements to the address pointed by 'buffer'. It is the caller's responsibility
+ * to allocate zarray_size()*el_sz bytes for the copy to be stored and
+ * to free the memory when no longer needed. The memory allocated at 'buffer'
+ * and the internal zarray storage must not overlap. 'buffer_bytes' should be
+ * the size of the 'buffer' memory space, in bytes, and must be at least
+ * zarray_size()*el_sz.
+ *
+ * Returns the number of bytes copied into 'buffer'.
+ */
+static inline size_t zarray_copy_data(const zarray_t *za, void *buffer, size_t buffer_bytes)
+{
+    assert(za != NULL);
+    assert(buffer != NULL);
+    assert(buffer_bytes >= za->el_sz * za->size);
+    memcpy(buffer, za->data, za->el_sz * za->size);
+    return za->el_sz * za->size;
+}
+
+/**
+ * Removes the entry at index 'idx'.
+ * If shuffle is true, the last element in the array will be placed in
+ * the newly-open space; if false, the zarray is compacted.
+ */
+static inline void zarray_remove_index(zarray_t *za, int idx, int shuffle)
+{
+    assert(za != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    if (shuffle) {
+        if (idx < za->size-1)
+            memcpy(&za->data[idx*za->el_sz], &za->data[(za->size-1)*za->el_sz], za->el_sz);
+        za->size--;
+        return;
+    } else {
+        // size = 10, idx = 7. Should copy 2 entries (at idx=8 and idx=9).
+        // size = 10, idx = 9. Should copy 0 entries.
+        int ncopy = za->size - idx - 1;
+        if (ncopy > 0)
+            memmove(&za->data[idx*za->el_sz], &za->data[(idx+1)*za->el_sz], ncopy*za->el_sz);
+        za->size--;
+        return;
+    }
+}
+
+/**
+ * Remove the entry whose value is equal to the value pointed to by 'p'.
+ * If shuffle is true, the last element in the array will be placed in
+ * the newly-open space; if false, the zarray is compacted. At most
+ * one element will be removed.
+ *
+ * Note that objects will be compared using memcmp over the full size
+ * of the value. If the value is a struct that contains padding,
+ * differences in the padding bytes can cause comparisons to
+ * fail. Thus, it remains best practice to bzero all structs so that
+ * the padding is set to zero.
+ *
+ * Returns the number of elements removed (0 or 1).
+ */
+// remove the entry whose value is equal to the value pointed to by p.
+// if shuffle is true, the last element in the array will be placed in
+// the newly-open space; if false, the zarray is compacted.
+static inline int zarray_remove_value(zarray_t *za, const void *p, int shuffle)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    for (int idx = 0; idx < za->size; idx++) {
+        if (!memcmp(p, &za->data[idx*za->el_sz], za->el_sz)) {
+            zarray_remove_index(za, idx, shuffle);
+            return 1;
+        }
+    }
+
+    return 0;
+}
+
+
+/**
+ * Creates a new entry and inserts it into the array so that it will have the
+ * index 'idx' (i.e. before the item which currently has that index). The value
+ * of the new entry is set to (copied from) the data pointed to by 'p'. 'idx'
+ * can be one larger than the current max index to place the new item at the end
+ * of the array, or zero to add it to an empty array.
+ */
+static inline void zarray_insert(zarray_t *za, int idx, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx <= za->size);
+
+    zarray_ensure_capacity(za, za->size + 1);
+    // size = 10, idx = 7. Should copy three entries (idx=7, idx=8, idx=9)
+    int ncopy = za->size - idx;
+
+    memmove(&za->data[(idx+1)*za->el_sz], &za->data[idx*za->el_sz], ncopy*za->el_sz);
+    memcpy(&za->data[idx*za->el_sz], p, za->el_sz);
+
+    za->size++;
+}
+
+
+/**
+ * Sets the value of the current element at index 'idx' by copying its value from
+ * the data pointed to by 'p'. The previous value of the changed element will be
+ * copied into the data pointed to by 'outp' if it is not null.
+ */
+static inline void zarray_set(zarray_t *za, int idx, const void *p, void *outp)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+    assert(idx >= 0);
+    assert(idx < za->size);
+
+    if (outp != NULL)
+        memcpy(outp, &za->data[idx*za->el_sz], za->el_sz);
+
+    memcpy(&za->data[idx*za->el_sz], p, za->el_sz);
+}
+
+/**
+ * Calls the supplied function for every element in the array in index order.
+ * The map function will be passed a pointer to each element in turn and must
+ * have the following format:
+ *
+ * void map_function(element_type *element)
+ */
+static inline void zarray_map(zarray_t *za, void (*f)(void*))
+{
+    assert(za != NULL);
+    assert(f != NULL);
+
+    for (int idx = 0; idx < za->size; idx++)
+        f(&za->data[idx*za->el_sz]);
+}
+
+/**
+ * Calls the supplied function for every element in the array in index order.
+ * HOWEVER values are passed to the function, not pointers to values. In the
+ * case where the zarray stores object pointers, zarray_vmap allows you to
+ * pass in the object's destroy function (or free) directly. Can only be used
+ * with zarray's which contain pointer data. The map function should have the
+ * following format:
+ *
+ * void map_function(element_type *element)
+ */
+    void zarray_vmap(zarray_t *za, void (*f)());
+
+/**
+ * Removes all elements from the array and sets its size to zero. Pointers to
+ * any data elements obtained i.e. by zarray_get_volatile() will no longer be
+ * valid.
+ */
+static inline void zarray_clear(zarray_t *za)
+{
+    assert(za != NULL);
+    za->size = 0;
+}
+
+/**
+ * Determines whether any element in the array has a value which matches the
+ * data pointed to by 'p'.
+ *
+ * Returns 1 if a match was found anywhere in the array, else 0.
+ */
+static inline int zarray_contains(const zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    for (int idx = 0; idx < za->size; idx++) {
+        if (!memcmp(p, &za->data[idx*za->el_sz], za->el_sz)) {
+            return 1;
+        }
+    }
+
+    return 0;
+}
+
+/**
+ * Uses qsort() to sort the elements contained by the array in ascending order.
+ * Uses the supplied comparison function to determine the appropriate order.
+ *
+ * The comparison function will be passed a pointer to two elements to be compared
+ * and should return a measure of the difference between them (see strcmp()).
+ * I.e. it should return a negative number if the first element is 'less than'
+ * the second, zero if they are equivalent, and a positive number if the first
+ * element is 'greater than' the second. The function should have the following format:
+ *
+ * int comparison_function(const element_type *first, const element_type *second)
+ *
+ * zstrcmp() can be used as the comparison function for string elements, which
+ * will call strcmp() internally.
+ */
+static inline void zarray_sort(zarray_t *za, int (*compar)(const void*, const void*))
+{
+    assert(za != NULL);
+    assert(compar != NULL);
+    if (za->size == 0)
+        return;
+
+    qsort(za->data, za->size, za->el_sz, compar);
+}
+
+/**
+ * A comparison function for comparing strings which can be used by zarray_sort()
+ * to sort arrays with char* elements.
+ */
+    int zstrcmp(const void * a_pp, const void * b_pp);
+
+/**
+  * Find the index of an element, or return -1 if not found. Remember that p is
+  * a pointer to the element.
+ **/
+// returns -1 if not in array. Remember p is a pointer to the item.
+static inline int zarray_index_of(const zarray_t *za, const void *p)
+{
+    assert(za != NULL);
+    assert(p != NULL);
+
+    for (int i = 0; i < za->size; i++) {
+        if (!memcmp(p, &za->data[i*za->el_sz], za->el_sz))
+            return i;
+    }
+
+    return -1;
+}
+
+
+
+/**
+ * Add all elements from 'source' into 'dest'. el_size must be the same
+ * for both lists
+ **/
+static inline void zarray_add_all(zarray_t * dest, const zarray_t * source)
+{
+    assert(dest->el_sz == source->el_sz);
+
+    // Don't allocate on stack because el_sz could be larger than ~8 MB
+    // stack size
+    char *tmp = (char*)calloc(1, dest->el_sz);
+
+    for (int i = 0; i < zarray_size(source); i++) {
+        zarray_get(source, i, tmp);
+        zarray_add(dest, tmp);
+   }
+
+    free(tmp);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "zarray.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+int zstrcmp(const void * a_pp, const void * b_pp)
+{
+    assert(a_pp != NULL);
+    assert(b_pp != NULL);
+
+    char * a = *(void**)a_pp;
+    char * b = *(void**)b_pp;
+
+    return strcmp(a,b);
+}
+
+void zarray_vmap(zarray_t *za, void (*f)())
+{
+    assert(za != NULL);
+    assert(f != NULL);
+    assert(za->el_sz == sizeof(void*));
+
+    for (int idx = 0; idx < za->size; idx++) {
+        void *pp = &za->data[idx*za->el_sz];
+        void *p = *(void**) pp;
+        f(p);
+    }
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "math_util.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#ifndef M_TWOPI
+# define M_TWOPI       6.2831853071795862319959  /* 2*pi */
+#endif
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+#define to_radians(x) ( (x) * (M_PI / 180.0 ))
+#define to_degrees(x) ( (x) * (180.0 / M_PI ))
+
+#define max(A, B) (A < B ? B : A)
+#define min(A, B) (A < B ? A : B)
+
+  /* DEPRECATE, threshold meaningless without context.
+static inline int dequals(float a, float b)
+{
+    float thresh = 1e-9;
+    return (fabs(a-b) < thresh);
+}
+  */
+
+static inline int dequals_mag(float a, float b, float thresh)
+{
+    return (fabs(a-b) < thresh);
+}
+
+static inline int isq(int v)
+{
+    return v*v;
+}
+
+static inline float fsq(float v)
+{
+    return v*v;
+}
+
+static inline float sq(float v)
+{
+    return v*v;
+}
+
+static inline float sgn(float v)
+{
+    return (v>=0) ? 1 : -1;
+}
+
+// random number between [0, 1)
+static inline float randf()
+{
+    return ((float) rand()) / (RAND_MAX + 1.0);
+}
+
+
+static inline float signed_randf()
+{
+    return randf()*2 - 1;
+}
+
+// return a random integer between [0, bound)
+static inline int irand(int bound)
+{
+    int v = (int) (randf()*bound);
+    if (v == bound)
+        return (bound-1);
+    //assert(v >= 0);
+    //assert(v < bound);
+    return v;
+}
+
+/** Map vin to [0, 2*PI) **/
+static inline float mod2pi_positive(float vin)
+{
+    return vin - M_TWOPI * floor(vin / M_TWOPI);
+}
+
+/** Map vin to [-PI, PI) **/
+static inline float mod2pi(float vin)
+{
+    return mod2pi_positive(vin + M_PI) - M_PI;
+}
+
+/** Return vin such that it is within PI degrees of ref **/
+static inline float mod2pi_ref(float ref, float vin)
+{
+    return ref + mod2pi(vin - ref);
+}
+
+/** Map vin to [0, 360) **/
+static inline float mod360_positive(float vin)
+{
+    return vin - 360 * floor(vin / 360);
+}
+
+/** Map vin to [-180, 180) **/
+static inline float mod360(float vin)
+{
+    return mod360_positive(vin + 180) - 180;
+}
+
+static inline int theta_to_int(float theta, int max)
+{
+    theta = mod2pi_ref(M_PI, theta);
+    int v = (int) (theta / M_TWOPI * max);
+
+    if (v == max)
+        v = 0;
+
+    assert (v >= 0 && v < max);
+
+    return v;
+}
+
+static inline int imin(int a, int b)
+{
+    return (a < b) ? a : b;
+}
+
+static inline int imax(int a, int b)
+{
+    return (a > b) ? a : b;
+}
+
+static inline int64_t imin64(int64_t a, int64_t b)
+{
+    return (a < b) ? a : b;
+}
+
+static inline int64_t imax64(int64_t a, int64_t b)
+{
+    return (a > b) ? a : b;
+}
+
+static inline int iclamp(int v, int minv, int maxv)
+{
+    return imax(minv, imin(v, maxv));
+}
+
+static inline float dclamp(float a, float min, float max)
+{
+    if (a < min)
+        return min;
+    if (a > max)
+        return max;
+    return a;
+}
+
+static inline int fltcmp (float f1, float f2)
+{
+    float epsilon = f1-f2;
+    if (epsilon < 0.0)
+        return -1;
+    else if (epsilon > 0.0)
+        return  1;
+    else
+        return  0;
+}
+
+static inline int dblcmp (float d1, float d2)
+{
+    float epsilon = d1-d2;
+    if (epsilon < 0.0)
+        return -1;
+    else if (epsilon > 0.0)
+        return  1;
+    else
+        return  0;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "svd22.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void svd22(const float A[4], float U[4], float S[2], float V[4]);
+
+// for the matrix [a b; b d]
+void svd_sym_singular_values(float A00, float A01, float A11,
+                             float *Lmin, float *Lmax);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "svd22.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/** SVD 2x2.
+
+    Computes singular values and vectors without squaring the input
+    matrix. With double precision math, results are accurate to about
+    1E-16.
+
+    U = [ cos(theta) -sin(theta) ]
+        [ sin(theta)  cos(theta) ]
+
+    S = [ e  0 ]
+        [ 0  f ]
+
+    V = [ cos(phi)   -sin(phi) ]
+        [ sin(phi)   cos(phi)  ]
+
+
+    Our strategy is basically to analytically multiply everything out
+    and then rearrange so that we can solve for theta, phi, e, and
+    f. (Derivation by ebolson@umich.edu 5/2016)
+
+   V' = [ CP  SP ]
+        [ -SP CP ]
+
+USV' = [ CT -ST ][  e*CP  e*SP ]
+       [ ST  CT ][ -f*SP  f*CP ]
+
+     = [e*CT*CP + f*ST*SP     e*CT*SP - f*ST*CP ]
+       [e*ST*CP - f*SP*CT     e*SP*ST + f*CP*CT ]
+
+A00+A11 = e*CT*CP + f*ST*SP + e*SP*ST + f*CP*CT
+        = e*(CP*CT + SP*ST) + f*(SP*ST + CP*CT)
+        = (e+f)(CP*CT + SP*ST)
+B0	    = (e+f)*cos(P-T)
+
+A00-A11 = e*CT*CP + f*ST*SP - e*SP*ST - f*CP*CT
+        = e*(CP*CT - SP*ST) - f*(-ST*SP + CP*CT)
+        = (e-f)(CP*CT - SP*ST)
+B1	    = (e-f)*cos(P+T)
+
+A01+A10 = e*CT*SP - f*ST*CP + e*ST*CP - f*SP*CT
+        = e(CT*SP + ST*CP) - f*(ST*CP + SP*CT)
+        = (e-f)*(CT*SP + ST*CP)
+B2	    = (e-f)*sin(P+T)
+
+A01-A10 = e*CT*SP - f*ST*CP - e*ST*CP + f*SP*CT
+    = e*(CT*SP - ST*CP) + f(SP*CT - ST*CP)
+    = (e+f)*(CT*SP - ST*CP)
+B3	= (e+f)*sin(P-T)
+
+B0 = (e+f)*cos(P-T)
+B1 = (e-f)*cos(P+T)
+B2 = (e-f)*sin(P+T)
+B3 = (e+f)*sin(P-T)
+
+B3/B0 = tan(P-T)
+
+B2/B1 = tan(P+T)
+ **/
+void svd22(const float A[4], float U[4], float S[2], float V[4])
+{
+    float A00 = A[0];
+    float A01 = A[1];
+    float A10 = A[2];
+    float A11 = A[3];
+
+    float B0 = A00 + A11;
+    float B1 = A00 - A11;
+    float B2 = A01 + A10;
+    float B3 = A01 - A10;
+
+    float PminusT = atan2(B3, B0);
+    float PplusT = atan2(B2, B1);
+
+    float P = (PminusT + PplusT) / 2;
+    float T = (-PminusT + PplusT) / 2;
+
+    float CP = cos(P), SP = sin(P);
+    float CT = cos(T), ST = sin(T);
+
+    U[0] = CT;
+    U[1] = -ST;
+    U[2] = ST;
+    U[3] = CT;
+
+    V[0] = CP;
+    V[1] = -SP;
+    V[2] = SP;
+    V[3] = CP;
+
+    // C0 = e+f. There are two ways to compute C0; we pick the one
+    // that is better conditioned.
+    float CPmT = cos(P-T), SPmT = sin(P-T);
+    float C0 = 0;
+    if (fabs(CPmT) > fabs(SPmT))
+        C0 = B0 / CPmT;
+    else
+        C0 = B3 / SPmT;
+
+    // C1 = e-f. There are two ways to compute C1; we pick the one
+    // that is better conditioned.
+    float CPpT = cos(P+T), SPpT = sin(P+T);
+    float C1 = 0;
+    if (fabs(CPpT) > fabs(SPpT))
+        C1 = B1 / CPpT;
+    else
+        C1 = B2 / SPpT;
+
+    // e and f are the singular values
+    float e = (C0 + C1) / 2;
+    float f = (C0 - C1) / 2;
+
+    if (e < 0) {
+        e = -e;
+        U[0] = -U[0];
+        U[2] = -U[2];
+    }
+
+    if (f < 0) {
+        f = -f;
+        U[1] = -U[1];
+        U[3] = -U[3];
+    }
+
+    // sort singular values.
+    if (e > f) {
+        // already in big-to-small order.
+        S[0] = e;
+        S[1] = f;
+    } else {
+        // Curiously, this code never seems to get invoked.  Why is it
+        // that S[0] always ends up the dominant vector?  However,
+        // this code has been tested (flipping the logic forces us to
+        // sort the singular values in ascending order).
+        //
+        // P = [ 0 1 ; 1 0 ]
+        // USV' = (UP)(PSP)(PV')
+        //      = (UP)(PSP)(VP)'
+        //      = (UP)(PSP)(P'V')'
+        S[0] = f;
+        S[1] = e;
+
+        // exchange columns of U and V
+        float tmp[2];
+        tmp[0] = U[0];
+        tmp[1] = U[2];
+        U[0] = U[1];
+        U[2] = U[3];
+        U[1] = tmp[0];
+        U[3] = tmp[1];
+
+        tmp[0] = V[0];
+        tmp[1] = V[2];
+        V[0] = V[1];
+        V[2] = V[3];
+        V[1] = tmp[0];
+        V[3] = tmp[1];
+    }
+
+    /*
+    float SM[4] = { S[0], 0, 0, S[1] };
+
+    doubles_print_mat(U, 2, 2, "%20.10g");
+    doubles_print_mat(SM, 2, 2, "%20.10g");
+    doubles_print_mat(V, 2, 2, "%20.10g");
+    printf("A:\n");
+    doubles_print_mat(A, 2, 2, "%20.10g");
+
+    float SVt[4];
+    doubles_mat_ABt(SM, 2, 2, V, 2, 2, SVt, 2, 2);
+    float USVt[4];
+    doubles_mat_AB(U, 2, 2, SVt, 2, 2, USVt, 2, 2);
+
+    printf("USVt\n");
+    doubles_print_mat(USVt, 2, 2, "%20.10g");
+
+    float diff[4];
+    for (int i = 0; i < 4; i++)
+        diff[i] = A[i] - USVt[i];
+
+    printf("diff\n");
+    doubles_print_mat(diff, 2, 2, "%20.10g");
+
+    */
+
+}
+
+
+// for the matrix [a b; b d]
+void svd_sym_singular_values(float A00, float A01, float A11,
+                             float *Lmin, float *Lmax)
+{
+    float A10 = A01;
+
+    float B0 = A00 + A11;
+    float B1 = A00 - A11;
+    float B2 = A01 + A10;
+    float B3 = A01 - A10;
+
+    float PminusT = atan2(B3, B0);
+    float PplusT = atan2(B2, B1);
+
+    float P = (PminusT + PplusT) / 2;
+    float T = (-PminusT + PplusT) / 2;
+
+    // C0 = e+f. There are two ways to compute C0; we pick the one
+    // that is better conditioned.
+    float CPmT = cos(P-T), SPmT = sin(P-T);
+    float C0 = 0;
+    if (fabs(CPmT) > fabs(SPmT))
+        C0 = B0 / CPmT;
+    else
+        C0 = B3 / SPmT;
+
+    // C1 = e-f. There are two ways to compute C1; we pick the one
+    // that is better conditioned.
+    float CPpT = cos(P+T), SPpT = sin(P+T);
+    float C1 = 0;
+    if (fabs(CPpT) > fabs(SPpT))
+        C1 = B1 / CPpT;
+    else
+        C1 = B2 / SPpT;
+
+    // e and f are the singular values
+    float e = (C0 + C1) / 2;
+    float f = (C0 - C1) / 2;
+
+    *Lmin = fmin(e, f);
+    *Lmax = fmax(e, f);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "matd.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * Defines a matrix structure for holding float-precision values with
+ * data in row-major order (i.e. index = row*ncols + col).
+ *
+ * nrows and ncols are 1-based counts with the exception that a scalar (non-matrix)
+ *   is represented with nrows=0 and/or ncols=0.
+ */
+typedef struct
+{
+    unsigned int nrows, ncols;
+    float data[];
+//    float *data;
+} matd_t;
+
+#define MATD_ALLOC(name, nrows, ncols) float name ## _storage [nrows*ncols]; matd_t name = { .nrows = nrows, .ncols = ncols, .data = &name ## _storage };
+
+/**
+ * Defines a small value which can be used in place of zero for approximating
+ * calculations which are singular at zero values (i.e. inverting a matrix with
+ * a zero or near-zero determinant).
+ */
+#define MATD_EPS 1e-8
+
+/**
+ * A macro to reference a specific matd_t data element given it's zero-based
+ * row and column indexes. Suitable for both retrieval and assignment.
+ */
+#define MATD_EL(m, row, col) (m)->data[((row)*(m)->ncols + (col))]
+
+/**
+ * Creates a float matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * to zero. It is the caller's responsibility to call matd_destroy() on the
+ * returned matrix.
+ */
+matd_t *matd_create(int rows, int cols);
+
+/**
+ * Creates a float matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * using the supplied array of data, which must contain at least rows*cols elements,
+ * arranged in row-major order (i.e. index = row*ncols + col). It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_create_data(int rows, int cols, const float *data);
+
+/**
+ * Creates a float matrix with the given number of rows and columns (or a scalar
+ * in the case where rows=0 and/or cols=0). All data elements will be initialized
+ * using the supplied array of float data, which must contain at least rows*cols elements,
+ * arranged in row-major order (i.e. index = row*ncols + col). It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_create_dataf(int rows, int cols, const float *data);
+
+/**
+ * Creates a square identity matrix with the given number of rows (and
+ * therefore columns), or a scalar with value 1 in the case where dim=0.
+ * It is the caller's responsibility to call matd_destroy() on the
+ * returned matrix.
+ */
+matd_t *matd_identity(int dim);
+
+/**
+ * Creates a scalar with the supplied value 'v'. It is the caller's responsibility
+ * to call matd_destroy() on the returned matrix.
+ *
+ * NOTE: Scalars are different than 1x1 matrices (implementation note:
+ * they are encoded as 0x0 matrices). For example: for matrices A*B, A
+ * and B must both have specific dimensions. However, if A is a
+ * scalar, there are no restrictions on the size of B.
+ */
+matd_t *matd_create_scalar(float v);
+
+/**
+ * Retrieves the cell value for matrix 'm' at the given zero-based row and column index.
+ * Performs more thorough validation checking than MATD_EL().
+ */
+float matd_get(const matd_t *m, int row, int col);
+
+/**
+ * Assigns the given value to the matrix cell at the given zero-based row and
+ * column index. Performs more thorough validation checking than MATD_EL().
+ */
+void matd_put(matd_t *m, int row, int col, float value);
+
+/**
+ * Retrieves the scalar value of the given element ('m' must be a scalar).
+ * Performs more thorough validation checking than MATD_EL().
+ */
+float matd_get_scalar(const matd_t *m);
+
+/**
+ * Assigns the given value to the supplied scalar element ('m' must be a scalar).
+ * Performs more thorough validation checking than MATD_EL().
+ */
+void matd_put_scalar(matd_t *m, float value);
+
+/**
+ * Creates an exact copy of the supplied matrix 'm'. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_copy(const matd_t *m);
+
+/**
+ * Creates a copy of a subset of the supplied matrix 'a'. The subset will include
+ * rows 'r0' through 'r1', inclusive ('r1' >= 'r0'), and columns 'c0' through 'c1',
+ * inclusive ('c1' >= 'c0'). All parameters are zero-based (i.e. matd_select(a, 0, 0, 0, 0)
+ * will return only the first cell). Cannot be used on scalars or to extend
+ * beyond the number of rows/columns of 'a'. It is the caller's  responsibility to
+ * call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_select(const matd_t *a, int r0, int r1, int c0, int c1);
+
+/**
+ * Prints the supplied matrix 'm' to standard output by applying the supplied
+ * printf format specifier 'fmt' for each individual element. Each row will
+ * be printed on a separate newline.
+ */
+void matd_print(const matd_t *m, const char *fmt);
+
+/**
+ * Prints the transpose of the supplied matrix 'm' to standard output by applying
+ * the supplied printf format specifier 'fmt' for each individual element. Each
+ * row will be printed on a separate newline.
+ */
+void matd_print_transpose(const matd_t *m, const char *fmt);
+
+/**
+ * Adds the two supplied matrices together, cell-by-cell, and returns the results
+ * as a new matrix of the same dimensions. The supplied matrices must have
+ * identical dimensions.  It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_add(const matd_t *a, const matd_t *b);
+
+/**
+ * Adds the values of 'b' to matrix 'a', cell-by-cell, and overwrites the
+ * contents of 'a' with the results. The supplied matrices must have
+ * identical dimensions.
+ */
+void matd_add_inplace(matd_t *a, const matd_t *b);
+
+/**
+ * Subtracts matrix 'b' from matrix 'a', cell-by-cell, and returns the results
+ * as a new matrix of the same dimensions. The supplied matrices must have
+ * identical dimensions.  It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_subtract(const matd_t *a, const matd_t *b);
+
+/**
+ * Subtracts the values of 'b' from matrix 'a', cell-by-cell, and overwrites the
+ * contents of 'a' with the results. The supplied matrices must have
+ * identical dimensions.
+ */
+void matd_subtract_inplace(matd_t *a, const matd_t *b);
+
+/**
+ * Scales all cell values of matrix 'a' by the given scale factor 's' and
+ * returns the result as a new matrix of the same dimensions. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_scale(const matd_t *a, float s);
+
+/**
+ * Scales all cell values of matrix 'a' by the given scale factor 's' and
+ * overwrites the contents of 'a' with the results.
+ */
+void matd_scale_inplace(matd_t *a, float s);
+
+/**
+ * Multiplies the two supplied matrices together (matrix product), and returns the
+ * results as a new matrix. The supplied matrices must have dimensions such that
+ * columns(a) = rows(b). The returned matrix will have a row count of rows(a)
+ * and a column count of columns(b). It is the caller's responsibility to call
+ * matd_destroy() on the returned matrix.
+ */
+matd_t *matd_multiply(const matd_t *a, const matd_t *b);
+
+/**
+ * Creates a matrix which is the transpose of the supplied matrix 'a'. It is the
+ * caller's responsibility to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_transpose(const matd_t *a);
+
+/**
+ * Calculates the determinant of the supplied matrix 'a'.
+ */
+float matd_det(const matd_t *a);
+
+/**
+ * Attempts to compute an inverse of the supplied matrix 'a' and return it as
+ * a new matrix. This is strictly only possible if the determinant of 'a' is
+ * non-zero (matd_det(a) != 0).
+ *
+ * If the determinant is zero, NULL is returned. It is otherwise the
+ * caller's responsibility to cope with the results caused by poorly
+ * conditioned matrices. (E.g.., if such a situation is likely to arise, compute
+ * the pseudo-inverse from the SVD.)
+ **/
+matd_t *matd_inverse(const matd_t *a);
+
+static inline void matd_set_data(matd_t *m, const float *data)
+{
+    memcpy(m->data, data, m->nrows * m->ncols * sizeof(float));
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a scalar (positive return) or
+ * not (zero return, indicating a matrix of dimensions at least 1x1).
+ */
+static inline int matd_is_scalar(const matd_t *a)
+{
+    assert(a != NULL);
+    return a->ncols == 0 || a->nrows == 0;
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a row or column vector
+ * (positive return) or not (zero return, indicating either 'a' is a scalar or a
+ * matrix with at least one dimension > 1).
+ */
+static inline int matd_is_vector(const matd_t *a)
+{
+    assert(a != NULL);
+    return a->ncols == 1 || a->nrows == 1;
+}
+
+/**
+ * Determines whether the supplied matrix 'a' is a row or column vector
+ * with a dimension of 'len' (positive return) or not (zero return).
+ */
+static inline int matd_is_vector_len(const matd_t *a, int len)
+{
+    assert(a != NULL);
+    return (a->ncols == 1 && a->nrows == len) || (a->ncols == len && a->nrows == 1);
+}
+
+/**
+ * Calculates the magnitude of the supplied matrix 'a'.
+ */
+float matd_vec_mag(const matd_t *a);
+
+/**
+ * Calculates the magnitude of the distance between the points represented by
+ * matrices 'a' and 'b'. Both 'a' and 'b' must be vectors and have the same
+ * dimension (although one may be a row vector and one may be a column vector).
+ */
+float matd_vec_dist(const matd_t *a, const matd_t *b);
+
+
+/**
+ * Same as matd_vec_dist, but only uses the first 'n' terms to compute distance
+ */
+float matd_vec_dist_n(const matd_t *a, const matd_t *b, int n);
+
+/**
+ * Calculates the dot product of two vectors. Both 'a' and 'b' must be vectors
+ * and have the same dimension (although one may be a row vector and one may be
+ * a column vector).
+ */
+float matd_vec_dot_product(const matd_t *a, const matd_t *b);
+
+/**
+ * Calculates the normalization of the supplied vector 'a' (i.e. a unit vector
+ * of the same dimension and orientation as 'a' with a magnitude of 1) and returns
+ * it as a new vector. 'a' must be a vector of any dimension and must have a
+ * non-zero magnitude. It is the caller's responsibility to call matd_destroy()
+ * on the returned matrix.
+ */
+matd_t *matd_vec_normalize(const matd_t *a);
+
+/**
+ * Calculates the cross product of supplied matrices 'a' and 'b' (i.e. a x b)
+ * and returns it as a new matrix. Both 'a' and 'b' must be vectors of dimension
+ * 3, but can be either row or column vectors. It is the caller's responsibility
+ * to call matd_destroy() on the returned matrix.
+ */
+matd_t *matd_crossproduct(const matd_t *a, const matd_t *b);
+
+float matd_err_inf(const matd_t *a, const matd_t *b);
+
+/**
+ * Creates a new matrix by applying a series of matrix operations, as expressed
+ * in 'expr', to the supplied list of matrices. Each matrix to be operated upon
+ * must be represented in the expression by a separate matrix placeholder, 'M',
+ * and there must be one matrix supplied as an argument for each matrix
+ * placeholder in the expression. All rules and caveats of the corresponding
+ * matrix operations apply to the operated-on matrices. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ *
+ * Available operators (in order of increasing precedence):
+ *   M+M   add two matrices together
+ *   M-M   subtract one matrix from another
+ *   M*M   multiply to matrices together (matrix product)
+ *   MM    multiply to matrices together (matrix product)
+ *   -M    negate a matrix
+ *   M^-1  take the inverse of a matrix
+ *   M'    take the transpose of a matrix
+ *
+ * Expressions can be combined together and grouped by enclosing them in
+ * parenthesis, i.e.:
+ *   -M(M+M+M)-(M*M)^-1
+ *
+ * Scalar values can be generated on-the-fly, i.e.:
+ *   M*2.2  scales M by 2.2
+ *   -2+M   adds -2 to all elements of M
+ *
+ * All whitespace in the expression is ignored.
+ */
+matd_t *matd_op(const char *expr, ...);
+
+/**
+ * Frees the memory associated with matrix 'm', being the result of an earlier
+ * call to a matd_*() function, after which 'm' will no longer be usable.
+ */
+void matd_destroy(matd_t *m);
+
+typedef struct
+{
+    matd_t *U;
+    matd_t *S;
+    matd_t *V;
+} matd_svd_t;
+
+/** Compute a complete SVD of a matrix. The SVD exists for all
+ * matrices. For a matrix MxN, we will have:
+ *
+ * A = U*S*V'
+ *
+ * where A is MxN, U is MxM (and is an orthonormal basis), S is MxN
+ * (and is diagonal up to machine precision), and V is NxN (and is an
+ * orthonormal basis).
+ *
+ * The caller is responsible for destroying U, S, and V.
+ **/
+matd_svd_t matd_svd(matd_t *A);
+
+#define MATD_SVD_NO_WARNINGS 1
+    matd_svd_t matd_svd_flags(matd_t *A, int flags);
+
+////////////////////////////////
+// PLU Decomposition
+
+// All square matrices (even singular ones) have a partially-pivoted
+// LU decomposition such that A = PLU, where P is a permutation
+// matrix, L is a lower triangular matrix, and U is an upper
+// triangular matrix.
+//
+typedef struct
+{
+    // was the input matrix singular? When a zero pivot is found, this
+    // flag is set to indicate that this has happened.
+    int singular;
+
+    unsigned int *piv; // permutation indices
+    int pivsign; // either +1 or -1
+
+    // The matd_plu_t object returned "owns" the enclosed LU matrix. It
+    // is not expected that the returned object is itself useful to
+    // users: it contains the L and U information all smushed
+    // together.
+    matd_t *lu; // combined L and U matrices, permuted so they can be triangular.
+} matd_plu_t;
+
+matd_plu_t *matd_plu(const matd_t *a);
+void matd_plu_destroy(matd_plu_t *mlu);
+float matd_plu_det(const matd_plu_t *lu);
+matd_t *matd_plu_p(const matd_plu_t *lu);
+matd_t *matd_plu_l(const matd_plu_t *lu);
+matd_t *matd_plu_u(const matd_plu_t *lu);
+matd_t *matd_plu_solve(const matd_plu_t *mlu, const matd_t *b);
+
+// uses LU decomposition internally.
+matd_t *matd_solve(matd_t *A, matd_t *b);
+
+////////////////////////////////
+// Cholesky Factorization
+
+/**
+ * Creates a float matrix with the Cholesky lower triangular matrix
+ * of A. A must be symmetric, positive definite. It is the caller's
+ * responsibility to call matd_destroy() on the returned matrix.
+ */
+//matd_t *matd_cholesky(const matd_t *A);
+
+typedef struct
+{
+    int is_spd;
+    matd_t *u;
+} matd_chol_t;
+
+matd_chol_t *matd_chol(matd_t *A);
+matd_t *matd_chol_solve(const matd_chol_t *chol, const matd_t *b);
+void matd_chol_destroy(matd_chol_t *chol);
+// only sensible on PSD matrices
+matd_t *matd_chol_inverse(matd_t *a);
+
+void matd_ltransposetriangle_solve(matd_t *u, const float *b, float *x);
+void matd_ltriangle_solve(matd_t *u, const float *b, float *x);
+void matd_utriangle_solve(matd_t *u, const float *b, float *x);
+
+
+float matd_max(matd_t *m);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "matd.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// a matd_t with rows=0 cols=0 is a SCALAR.
+
+// to ease creating mati, matf, etc. in the future.
+#define TYPE float
+
+matd_t *matd_create(int rows, int cols)
+{
+    assert(rows >= 0);
+    assert(cols >= 0);
+
+    if (rows == 0 || cols == 0)
+        return matd_create_scalar(0);
+
+    matd_t *m = calloc(1, sizeof(matd_t) + (rows*cols*sizeof(float)));
+    m->nrows = rows;
+    m->ncols = cols;
+
+    return m;
+}
+
+matd_t *matd_create_scalar(TYPE v)
+{
+    matd_t *m = calloc(1, sizeof(matd_t) + sizeof(float));
+    m->nrows = 0;
+    m->ncols = 0;
+    m->data[0] = v;
+
+    return m;
+}
+
+matd_t *matd_create_data(int rows, int cols, const TYPE *data)
+{
+    if (rows == 0 || cols == 0)
+        return matd_create_scalar(data[0]);
+
+    matd_t *m = matd_create(rows, cols);
+    for (int i = 0; i < rows * cols; i++)
+        m->data[i] = data[i];
+
+    return m;
+}
+
+matd_t *matd_create_dataf(int rows, int cols, const float *data)
+{
+    if (rows == 0 || cols == 0)
+        return matd_create_scalar(data[0]);
+
+    matd_t *m = matd_create(rows, cols);
+    for (int i = 0; i < rows * cols; i++)
+        m->data[i] = (float)data[i];
+
+    return m;
+}
+
+matd_t *matd_identity(int dim)
+{
+    if (dim == 0)
+        return matd_create_scalar(1);
+
+    matd_t *m = matd_create(dim, dim);
+    for (int i = 0; i < dim; i++)
+        MATD_EL(m, i, i) = 1;
+
+    return m;
+}
+
+// row and col are zero-based
+TYPE matd_get(const matd_t *m, int row, int col)
+{
+    assert(m != NULL);
+    assert(!matd_is_scalar(m));
+    assert(row >= 0);
+    assert(row < m->nrows);
+    assert(col >= 0);
+    assert(col < m->ncols);
+
+    return MATD_EL(m, row, col);
+}
+
+// row and col are zero-based
+void matd_put(matd_t *m, int row, int col, TYPE value)
+{
+    assert(m != NULL);
+
+    if (matd_is_scalar(m)) {
+        matd_put_scalar(m, value);
+        return;
+    }
+
+    assert(row >= 0);
+    assert(row < m->nrows);
+    assert(col >= 0);
+    assert(col < m->ncols);
+
+    MATD_EL(m, row, col) = value;
+}
+
+TYPE matd_get_scalar(const matd_t *m)
+{
+    assert(m != NULL);
+    assert(matd_is_scalar(m));
+
+    return (m->data[0]);
+}
+
+void matd_put_scalar(matd_t *m, TYPE value)
+{
+    assert(m != NULL);
+    assert(matd_is_scalar(m));
+
+    m->data[0] = value;
+}
+
+matd_t *matd_copy(const matd_t *m)
+{
+    assert(m != NULL);
+
+    matd_t *x = matd_create(m->nrows, m->ncols);
+    if (matd_is_scalar(m))
+        x->data[0] = m->data[0];
+    else
+        memcpy(x->data, m->data, sizeof(TYPE)*m->ncols*m->nrows);
+
+    return x;
+}
+
+matd_t *matd_select(const matd_t * a, int r0, int r1, int c0, int c1)
+{
+    assert(a != NULL);
+
+    assert(r0 >= 0 && r0 < a->nrows);
+    assert(c0 >= 0 && c0 < a->ncols);
+
+    int nrows = r1 - r0 + 1;
+    int ncols = c1 - c0 + 1;
+
+    matd_t * r = matd_create(nrows, ncols);
+
+    for (int row = r0; row <= r1; row++)
+        for (int col = c0; col <= c1; col++)
+            MATD_EL(r,row-r0,col-c0) = MATD_EL(a,row,col);
+
+    return r;
+}
+
+void matd_print(const matd_t *m, const char *fmt)
+{
+    assert(m != NULL);
+    assert(fmt != NULL);
+
+    if (matd_is_scalar(m)) {
+        printf(fmt, (double) MATD_EL(m, 0, 0));
+        printf("\n");
+    } else {
+        for (int i = 0; i < m->nrows; i++) {
+            for (int j = 0; j < m->ncols; j++) {
+                printf(fmt, (double) MATD_EL(m, i, j));
+            }
+            printf("\n");
+        }
+    }
+}
+
+void matd_print_transpose(const matd_t *m, const char *fmt)
+{
+    assert(m != NULL);
+    assert(fmt != NULL);
+
+    if (matd_is_scalar(m)) {
+        printf(fmt, (double) MATD_EL(m, 0, 0));
+        printf("\n");
+    } else {
+        for (int j = 0; j < m->ncols; j++) {
+            for (int i = 0; i < m->nrows; i++) {
+                printf(fmt, (double) MATD_EL(m, i, j));
+            }
+            printf("\n");
+        }
+    }
+}
+
+void matd_destroy(matd_t *m)
+{
+    if (!m)
+        return;
+
+    assert(m != NULL);
+    free(m);
+}
+
+matd_t *matd_multiply(const matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+
+    if (matd_is_scalar(a))
+        return matd_scale(b, a->data[0]);
+    if (matd_is_scalar(b))
+        return matd_scale(a, b->data[0]);
+
+    assert(a->ncols == b->nrows);
+    matd_t *m = matd_create(a->nrows, b->ncols);
+
+    for (int i = 0; i < m->nrows; i++) {
+        for (int j = 0; j < m->ncols; j++) {
+            TYPE acc = 0;
+            for (int k = 0; k < a->ncols; k++) {
+                acc += MATD_EL(a, i, k) * MATD_EL(b, k, j);
+            }
+            MATD_EL(m, i, j) = acc;
+        }
+    }
+
+    return m;
+}
+
+matd_t *matd_scale(const matd_t *a, float s)
+{
+    assert(a != NULL);
+
+    if (matd_is_scalar(a))
+        return matd_create_scalar(a->data[0] * s);
+
+    matd_t *m = matd_create(a->nrows, a->ncols);
+
+    for (int i = 0; i < m->nrows; i++) {
+        for (int j = 0; j < m->ncols; j++) {
+            MATD_EL(m, i, j) = s * MATD_EL(a, i, j);
+        }
+    }
+
+    return m;
+}
+
+void matd_scale_inplace(matd_t *a, float s)
+{
+    assert(a != NULL);
+
+    if (matd_is_scalar(a)) {
+        a->data[0] *= s;
+        return;
+    }
+
+    for (int i = 0; i < a->nrows; i++) {
+        for (int j = 0; j < a->ncols; j++) {
+            MATD_EL(a, i, j) *= s;
+        }
+    }
+}
+
+matd_t *matd_add(const matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(a->nrows == b->nrows);
+    assert(a->ncols == b->ncols);
+
+    if (matd_is_scalar(a))
+        return matd_create_scalar(a->data[0] + b->data[0]);
+
+    matd_t *m = matd_create(a->nrows, a->ncols);
+
+    for (int i = 0; i < m->nrows; i++) {
+        for (int j = 0; j < m->ncols; j++) {
+            MATD_EL(m, i, j) = MATD_EL(a, i, j) + MATD_EL(b, i, j);
+        }
+    }
+
+    return m;
+}
+
+void matd_add_inplace(matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(a->nrows == b->nrows);
+    assert(a->ncols == b->ncols);
+
+    if (matd_is_scalar(a)) {
+        a->data[0] += b->data[0];
+        return;
+    }
+
+    for (int i = 0; i < a->nrows; i++) {
+        for (int j = 0; j < a->ncols; j++) {
+            MATD_EL(a, i, j) += MATD_EL(b, i, j);
+        }
+    }
+}
+
+
+matd_t *matd_subtract(const matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(a->nrows == b->nrows);
+    assert(a->ncols == b->ncols);
+
+    if (matd_is_scalar(a))
+        return matd_create_scalar(a->data[0] - b->data[0]);
+
+    matd_t *m = matd_create(a->nrows, a->ncols);
+
+    for (int i = 0; i < m->nrows; i++) {
+        for (int j = 0; j < m->ncols; j++) {
+            MATD_EL(m, i, j) = MATD_EL(a, i, j) - MATD_EL(b, i, j);
+        }
+    }
+
+    return m;
+}
+
+void matd_subtract_inplace(matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(a->nrows == b->nrows);
+    assert(a->ncols == b->ncols);
+
+    if (matd_is_scalar(a)) {
+        a->data[0] -= b->data[0];
+        return;
+    }
+
+    for (int i = 0; i < a->nrows; i++) {
+        for (int j = 0; j < a->ncols; j++) {
+            MATD_EL(a, i, j) -= MATD_EL(b, i, j);
+        }
+    }
+}
+
+
+matd_t *matd_transpose(const matd_t *a)
+{
+    assert(a != NULL);
+
+    if (matd_is_scalar(a))
+        return matd_create_scalar(a->data[0]);
+
+    matd_t *m = matd_create(a->ncols, a->nrows);
+
+    for (int i = 0; i < a->nrows; i++) {
+        for (int j = 0; j < a->ncols; j++) {
+            MATD_EL(m, j, i) = MATD_EL(a, i, j);
+        }
+    }
+    return m;
+}
+
+static
+float matd_det_general(const matd_t *a)
+{
+    // Use LU decompositon to calculate the determinant
+    matd_plu_t *mlu = matd_plu(a);
+    matd_t *L = matd_plu_l(mlu);
+    matd_t *U = matd_plu_u(mlu);
+
+    // The determinants of the L and U matrices are the products of
+    // their respective diagonal elements
+    float detL = 1; float detU = 1;
+    for (int i = 0; i < a->nrows; i++) {
+        detL *= matd_get(L, i, i);
+        detU *= matd_get(U, i, i);
+    }
+
+    // The determinant of a can be calculated as
+    //     epsilon*det(L)*det(U),
+    // where epsilon is just the sign of the corresponding permutation
+    // (which is +1 for an even number of permutations and is −1
+    // for an uneven number of permutations).
+    float det = mlu->pivsign * detL * detU;
+
+    // Cleanup
+    matd_plu_destroy(mlu);
+    matd_destroy(L);
+    matd_destroy(U);
+
+    return det;
+}
+
+float matd_det(const matd_t *a)
+{
+    assert(a != NULL);
+    assert(a->nrows == a->ncols);
+
+    switch(a->nrows) {
+        case 0:
+            // scalar: invalid
+            assert(a->nrows > 0);
+            break;
+
+        case 1:
+            // 1x1 matrix
+            return a->data[0];
+
+        case 2:
+            // 2x2 matrix
+            return a->data[0] * a->data[3] - a->data[1] * a->data[2];
+
+        case 3:
+            // 3x3 matrix
+            return  a->data[0]*a->data[4]*a->data[8]
+                - a->data[0]*a->data[5]*a->data[7]
+                + a->data[1]*a->data[5]*a->data[6]
+                - a->data[1]*a->data[3]*a->data[8]
+                + a->data[2]*a->data[3]*a->data[7]
+                - a->data[2]*a->data[4]*a->data[6];
+
+        case 4: {
+            // 4x4 matrix
+            float m00 = MATD_EL(a,0,0), m01 = MATD_EL(a,0,1), m02 = MATD_EL(a,0,2), m03 = MATD_EL(a,0,3);
+            float m10 = MATD_EL(a,1,0), m11 = MATD_EL(a,1,1), m12 = MATD_EL(a,1,2), m13 = MATD_EL(a,1,3);
+            float m20 = MATD_EL(a,2,0), m21 = MATD_EL(a,2,1), m22 = MATD_EL(a,2,2), m23 = MATD_EL(a,2,3);
+            float m30 = MATD_EL(a,3,0), m31 = MATD_EL(a,3,1), m32 = MATD_EL(a,3,2), m33 = MATD_EL(a,3,3);
+
+            return m00 * m11 * m22 * m33 - m00 * m11 * m23 * m32 -
+                m00 * m21 * m12 * m33 + m00 * m21 * m13 * m32 + m00 * m31 * m12 * m23 -
+                m00 * m31 * m13 * m22 - m10 * m01 * m22 * m33 +
+                m10 * m01 * m23 * m32 + m10 * m21 * m02 * m33 -
+                m10 * m21 * m03 * m32 - m10 * m31 * m02 * m23 +
+                m10 * m31 * m03 * m22 + m20 * m01 * m12 * m33 -
+                m20 * m01 * m13 * m32 - m20 * m11 * m02 * m33 +
+                m20 * m11 * m03 * m32 + m20 * m31 * m02 * m13 -
+                m20 * m31 * m03 * m12 - m30 * m01 * m12 * m23 +
+                m30 * m01 * m13 * m22 + m30 * m11 * m02 * m23 -
+                m30 * m11 * m03 * m22 - m30 * m21 * m02 * m13 +
+                m30 * m21 * m03 * m12;
+        }
+
+        default:
+            return matd_det_general(a);
+    }
+
+    assert(0);
+    return 0;
+}
+
+// returns NULL if the matrix is (exactly) singular. Caller is
+// otherwise responsible for knowing how to cope with badly
+// conditioned matrices.
+matd_t *matd_inverse(const matd_t *x)
+{
+    matd_t *m = NULL;
+
+    assert(x != NULL);
+    assert(x->nrows == x->ncols);
+
+    if (matd_is_scalar(x)) {
+        if (x->data[0] == 0)
+            return NULL;
+
+        return matd_create_scalar(1.0 / x->data[0]);
+    }
+
+    switch(x->nrows) {
+        case 1: {
+            float det = x->data[0];
+            if (det == 0)
+                return NULL;
+
+            float invdet = 1.0 / det;
+
+            m = matd_create(x->nrows, x->nrows);
+            MATD_EL(m, 0, 0) = 1.0 * invdet;
+            return m;
+        }
+
+        case 2: {
+            float det = x->data[0] * x->data[3] - x->data[1] * x->data[2];
+            if (det == 0)
+                return NULL;
+
+            float invdet = 1.0 / det;
+
+            m = matd_create(x->nrows, x->nrows);
+            MATD_EL(m, 0, 0) = MATD_EL(x, 1, 1) * invdet;
+            MATD_EL(m, 0, 1) = - MATD_EL(x, 0, 1) * invdet;
+            MATD_EL(m, 1, 0) = - MATD_EL(x, 1, 0) * invdet;
+            MATD_EL(m, 1, 1) = MATD_EL(x, 0, 0) * invdet;
+            return m;
+        }
+
+        default: {
+            matd_plu_t *plu = matd_plu(x);
+
+            matd_t *inv = NULL;
+            if (!plu->singular) {
+                matd_t *ident = matd_identity(x->nrows);
+                inv = matd_plu_solve(plu, ident);
+                matd_destroy(ident);
+            }
+
+            matd_plu_destroy(plu);
+
+            return inv;
+        }
+    }
+
+    return NULL; // unreachable
+}
+
+
+
+// TODO Optimization: Some operations we could perform in-place,
+// saving some memory allocation work. E.g., ADD, SUBTRACT. Just need
+// to make sure that we don't do an in-place modification on a matrix
+// that was an input argument!
+
+// handle right-associative operators, greedily consuming them. These
+// include transpose and inverse. This is called by the main recursion
+// method.
+static inline matd_t *matd_op_gobble_right(const char *expr, int *pos, matd_t *acc, matd_t **garb, int *garbpos)
+{
+    while (expr[*pos] != 0) {
+
+        switch (expr[*pos]) {
+
+            case '\'': {
+                assert(acc != NULL); // either a syntax error or a math op failed, producing null
+                matd_t *res = matd_transpose(acc);
+                garb[*garbpos] = res;
+                (*garbpos)++;
+                acc = res;
+
+                (*pos)++;
+                break;
+            }
+
+                // handle inverse ^-1. No other exponents are allowed.
+            case '^': {
+                assert(acc != NULL);
+                assert(expr[*pos+1] == '-');
+                assert(expr[*pos+2] == '1');
+
+                matd_t *res = matd_inverse(acc);
+                garb[*garbpos] = res;
+                (*garbpos)++;
+                acc = res;
+
+                (*pos)+=3;
+                break;
+            }
+
+            default:
+                return acc;
+        }
+    }
+
+    return acc;
+}
+
+// @garb, garbpos  A list of every matrix allocated during evaluation... used to assist cleanup.
+// @oneterm: we should return at the end of this term (i.e., stop at a PLUS, MINUS, LPAREN).
+static matd_t *matd_op_recurse(const char *expr, int *pos, matd_t *acc, matd_t **args, int *argpos,
+                               matd_t **garb, int *garbpos, int oneterm)
+{
+    while (expr[*pos] != 0) {
+
+        switch (expr[*pos]) {
+
+            case '(': {
+                if (oneterm && acc != NULL)
+                    return acc;
+                (*pos)++;
+                matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 0);
+                rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                if (acc == NULL) {
+                    acc = rhs;
+                } else {
+                    matd_t *res = matd_multiply(acc, rhs);
+                    garb[*garbpos] = res;
+                    (*garbpos)++;
+                    acc = res;
+                }
+
+                break;
+            }
+
+            case ')': {
+                if (oneterm)
+                    return acc;
+
+                (*pos)++;
+                return acc;
+            }
+
+            case '*': {
+                (*pos)++;
+
+                matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+                rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                if (acc == NULL) {
+                    acc = rhs;
+                } else {
+                    matd_t *res = matd_multiply(acc, rhs);
+                    garb[*garbpos] = res;
+                    (*garbpos)++;
+                    acc = res;
+                }
+
+                break;
+            }
+
+            case 'F': {
+                matd_t *rhs = args[*argpos];
+                garb[*garbpos] = rhs;
+                (*garbpos)++;
+
+                (*pos)++;
+                (*argpos)++;
+
+                rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                if (acc == NULL) {
+                    acc = rhs;
+                } else {
+                    matd_t *res = matd_multiply(acc, rhs);
+                    garb[*garbpos] = res;
+                    (*garbpos)++;
+                    acc = res;
+                }
+
+                break;
+            }
+
+            case 'M': {
+                matd_t *rhs = args[*argpos];
+
+                (*pos)++;
+                (*argpos)++;
+
+                rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                if (acc == NULL) {
+                    acc = rhs;
+                } else {
+                    matd_t *res = matd_multiply(acc, rhs);
+                    garb[*garbpos] = res;
+                    (*garbpos)++;
+                    acc = res;
+                }
+
+                break;
+            }
+
+/*
+  case 'D': {
+  int rows = expr[*pos+1]-'0';
+  int cols = expr[*pos+2]-'0';
+
+  matd_t *rhs = matd_create(rows, cols);
+
+  break;
+  }
+*/
+                // a constant (SCALAR) defined inline. Treat just like M, creating a matd_t on the fly.
+//            case '0':
+//            case '1':
+//            case '2':
+//            case '3':
+//            case '4':
+//            case '5':
+//            case '6':
+//            case '7':
+//            case '8':
+//            case '9':
+//            case '.': {
+//                const char *start = &expr[*pos];
+//                char *end;
+//                float s = strtod(start, &end);
+//                (*pos) += (end - start);
+//                matd_t *rhs = matd_create_scalar(s);
+//                garb[*garbpos] = rhs;
+//                (*garbpos)++;
+
+//                rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+//                if (acc == NULL) {
+//                    acc = rhs;
+//                } else {
+//                    matd_t *res = matd_multiply(acc, rhs);
+//                    garb[*garbpos] = res;
+//                    (*garbpos)++;
+//                    acc = res;
+//                }
+
+//                break;
+//            }
+
+            case '+': {
+                if (oneterm && acc != NULL)
+                    return acc;
+
+                // don't support unary plus
+                assert(acc != NULL);
+                (*pos)++;
+                matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+                rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                matd_t *res = matd_add(acc, rhs);
+
+                garb[*garbpos] = res;
+                (*garbpos)++;
+                acc = res;
+                break;
+            }
+
+            case '-': {
+                if (oneterm && acc != NULL)
+                    return acc;
+
+                if (acc == NULL) {
+                    // unary minus
+                    (*pos)++;
+                    matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+                    rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                    matd_t *res = matd_scale(rhs, -1);
+                    garb[*garbpos] = res;
+                    (*garbpos)++;
+                    acc = res;
+                } else {
+                    // subtract
+                    (*pos)++;
+                    matd_t *rhs = matd_op_recurse(expr, pos, NULL, args, argpos, garb, garbpos, 1);
+                    rhs = matd_op_gobble_right(expr, pos, rhs, garb, garbpos);
+
+                    matd_t *res = matd_subtract(acc, rhs);
+                    garb[*garbpos] = res;
+                    (*garbpos)++;
+                    acc = res;
+                }
+                break;
+            }
+
+            case ' ': {
+                // nothing to do. spaces are meaningless.
+                (*pos)++;
+                break;
+            }
+
+            default: {
+                fprintf(stderr, "matd_op(): Unknown character: '%c'\n", expr[*pos]);
+                assert(expr[*pos] != expr[*pos]);
+            }
+        }
+    }
+    return acc;
+}
+
+// always returns a new matrix.
+matd_t *matd_op(const char *expr, ...)
+{
+    int nargs = 0;
+    int exprlen = 0;
+
+    assert(expr != NULL);
+
+    for (const char *p = expr; *p != 0; p++) {
+        if (*p == 'M' || *p == 'F')
+            nargs++;
+        exprlen++;
+    }
+
+    assert(nargs > 0);
+
+    if (!exprlen) // expr = ""
+        return NULL;
+
+    va_list ap;
+    va_start(ap, expr);
+
+    matd_t *args[nargs];
+    for (int i = 0; i < nargs; i++) {
+        args[i] = va_arg(ap, matd_t*);
+        // XXX: sanity check argument; emit warning/error if args[i]
+        // doesn't look like a matd_t*.
+    }
+
+    va_end(ap);
+
+    int pos = 0;
+    int argpos = 0;
+    int garbpos = 0;
+
+    matd_t *garb[2*exprlen]; // can't create more than 2 new result per character
+                             // one result, and possibly one argument to free
+
+    matd_t *res = matd_op_recurse(expr, &pos, NULL, args, &argpos, garb, &garbpos, 0);
+
+    // 'res' may need to be freed as part of garbage collection (i.e. expr = "F")
+    matd_t *res_copy = (res ? matd_copy(res) : NULL);
+
+    for (int i = 0; i < garbpos; i++) {
+        matd_destroy(garb[i]);
+    }
+
+    return res_copy;
+}
+
+float matd_vec_mag(const matd_t *a)
+{
+    assert(a != NULL);
+    assert(matd_is_vector(a));
+
+    float mag = 0.0;
+    int len = a->nrows*a->ncols;
+    for (int i = 0; i < len; i++)
+        mag += sq(a->data[i]);
+    return sqrt(mag);
+}
+
+float matd_vec_dist(const matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(matd_is_vector(a) && matd_is_vector(b));
+    assert(a->nrows*a->ncols == b->nrows*b->ncols);
+
+    int lena = a->nrows*a->ncols;
+    return matd_vec_dist_n(a, b, lena);
+}
+
+float matd_vec_dist_n(const matd_t *a, const matd_t *b, int n)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(matd_is_vector(a) && matd_is_vector(b));
+
+    int lena = a->nrows*a->ncols;
+    int lenb = b->nrows*b->ncols;
+
+    assert(n <= lena && n <= lenb);
+
+    float mag = 0.0;
+    for (int i = 0; i < n; i++)
+        mag += sq(a->data[i] - b->data[i]);
+    return sqrt(mag);
+}
+
+// find the index of the off-diagonal element with the largest mag
+static inline int max_idx(const matd_t *A, int row, int maxcol)
+{
+    int maxi = 0;
+    float maxv = -1;
+
+    for (int i = 0; i < maxcol; i++) {
+        if (i == row)
+            continue;
+        float v = fabs(MATD_EL(A, row, i));
+        if (v > maxv) {
+            maxi = i;
+            maxv = v;
+        }
+    }
+
+    return maxi;
+}
+
+float matd_vec_dot_product(const matd_t *a, const matd_t *b)
+{
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(matd_is_vector(a) && matd_is_vector(b));
+    int adim = a->ncols*a->nrows;
+    int bdim = b->ncols*b->nrows;
+    assert(adim == bdim);
+
+    float acc = 0;
+    for (int i = 0; i < adim; i++) {
+        acc += a->data[i] * b->data[i];
+    }
+    return acc;
+}
+
+
+matd_t *matd_vec_normalize(const matd_t *a)
+{
+    assert(a != NULL);
+    assert(matd_is_vector(a));
+
+    float mag = matd_vec_mag(a);
+    assert(mag > 0);
+
+    matd_t *b = matd_create(a->nrows, a->ncols);
+
+    int len = a->nrows*a->ncols;
+    for(int i = 0; i < len; i++)
+        b->data[i] = a->data[i] / mag;
+
+    return b;
+}
+
+matd_t *matd_crossproduct(const matd_t *a, const matd_t *b)
+{ // only defined for vecs (col or row) of length 3
+    assert(a != NULL);
+    assert(b != NULL);
+    assert(matd_is_vector_len(a, 3) && matd_is_vector_len(b, 3));
+
+    matd_t * r = matd_create(a->nrows, a->ncols);
+
+    r->data[0] = a->data[1] * b->data[2] - a->data[2] * b->data[1];
+    r->data[1] = a->data[2] * b->data[0] - a->data[0] * b->data[2];
+    r->data[2] = a->data[0] * b->data[1] - a->data[1] * b->data[0];
+
+    return r;
+}
+
+TYPE matd_err_inf(const matd_t *a, const matd_t *b)
+{
+    assert(a->nrows == b->nrows);
+    assert(a->ncols == b->ncols);
+
+    TYPE maxf = 0;
+
+    for (int i = 0; i < a->nrows; i++) {
+        for (int j = 0; j < a->ncols; j++) {
+            TYPE av = MATD_EL(a, i, j);
+            TYPE bv = MATD_EL(b, i, j);
+
+            TYPE err = fabs(av - bv);
+            maxf = fmax(maxf, err);
+        }
+    }
+
+    return maxf;
+}
+
+// Computes an SVD for square or tall matrices. This code doesn't work
+// for wide matrices, because the bidiagonalization results in one
+// non-zero element too far to the right for us to rotate away.
+//
+// Caller is responsible for destroying U, S, and V.
+static matd_svd_t matd_svd_tall(matd_t *A, int flags)
+{
+    matd_t *B = matd_copy(A);
+
+    // Apply householder reflections on each side to reduce A to
+    // bidiagonal form. Specifically:
+    //
+    // A = LS*B*RS'
+    //
+    // Where B is bidiagonal, and LS/RS are unitary.
+    //
+    // Why are we doing this? Some sort of transformation is necessary
+    // to reduce the matrix's nz elements to a square region. QR could
+    // work too. We need nzs confined to a square region so that the
+    // subsequent iterative process, which is based on rotations, can
+    // work. (To zero out a term at (i,j), our rotations will also
+    // affect (j,i).
+    //
+    // We prefer bidiagonalization over QR because it gets us "closer"
+    // to the SVD, which should mean fewer iterations.
+
+    // LS: cumulative left-handed transformations
+    matd_t *LS = matd_identity(A->nrows);
+
+    // RS: cumulative right-handed transformations.
+    matd_t *RS = matd_identity(A->ncols);
+
+    for (int hhidx = 0; hhidx < A->nrows; hhidx++)  {
+
+        if (hhidx < A->ncols) {
+            // We construct the normal of the reflection plane: let u
+            // be the vector to reflect, x =[ M 0 0 0 ] the target
+            // location for u (u') after reflection (with M = ||u||).
+            //
+            // The normal vector is then n = (u - x), but since we
+            // could equally have the target location be x = [-M 0 0 0
+            // ], we could use n = (u + x).
+            //
+            // We then normalize n. To ensure a reasonable magnitude,
+            // we select the sign of M so as to maximize the magnitude
+            // of the first element of (x +/- M). (Otherwise, we could
+            // end up with a divide-by-zero if u[0] and M cancel.)
+            //
+            // The householder reflection matrix is then H=(I - nn'), and
+            // u' = Hu.
+            //
+            //
+            int vlen = A->nrows - hhidx;
+
+            float v[vlen];
+
+            float mag2 = 0;
+            for (int i = 0; i < vlen; i++) {
+                v[i] = MATD_EL(B, hhidx+i, hhidx);
+                mag2 += v[i]*v[i];
+            }
+
+            float oldv0 = v[0];
+            if (oldv0 < 0)
+                v[0] -= sqrt(mag2);
+            else
+                v[0] += sqrt(mag2);
+
+            mag2 += -oldv0*oldv0 + v[0]*v[0];
+
+            // normalize v
+            float mag = sqrt(mag2);
+
+            // this case arises with matrices of all zeros, for example.
+            if (mag == 0)
+                continue;
+
+            for (int i = 0; i < vlen; i++)
+                v[i] /= mag;
+
+            // Q = I - 2vv'
+            //matd_t *Q = matd_identity(A->nrows);
+            //for (int i = 0; i < vlen; i++)
+            //  for (int j = 0; j < vlen; j++)
+            //    MATD_EL(Q, i+hhidx, j+hhidx) -= 2*v[i]*v[j];
+
+
+            // LS = matd_op("F*M", LS, Q);
+            // Implementation: take each row of LS, compute dot product with n,
+            // subtract n (scaled by dot product) from it.
+            for (int i = 0; i < LS->nrows; i++) {
+                float dot = 0;
+                for (int j = 0; j < vlen; j++)
+                    dot += MATD_EL(LS, i, hhidx+j) * v[j];
+                for (int j = 0; j < vlen; j++)
+                    MATD_EL(LS, i, hhidx+j) -= 2*dot*v[j];
+            }
+
+            //  B = matd_op("M*F", Q, B); // should be Q', but Q is symmetric.
+            for (int i = 0; i < B->ncols; i++) {
+                float dot = 0;
+                for (int j = 0; j < vlen; j++)
+                    dot += MATD_EL(B, hhidx+j, i) * v[j];
+                for (int j = 0; j < vlen; j++)
+                    MATD_EL(B, hhidx+j, i) -= 2*dot*v[j];
+            }
+        }
+
+        if (hhidx+2 < A->ncols) {
+            int vlen = A->ncols - hhidx - 1;
+
+            float v[vlen];
+
+            float mag2 = 0;
+            for (int i = 0; i < vlen; i++) {
+                v[i] = MATD_EL(B, hhidx, hhidx+i+1);
+                mag2 += v[i]*v[i];
+            }
+
+            float oldv0 = v[0];
+            if (oldv0 < 0)
+                v[0] -= sqrt(mag2);
+            else
+                v[0] += sqrt(mag2);
+
+            mag2 += -oldv0*oldv0 + v[0]*v[0];
+
+            // compute magnitude of ([1 0 0..]+v)
+            float mag = sqrt(mag2);
+
+            // this case can occur when the vectors are already perpendicular
+            if (mag == 0)
+                continue;
+
+            for (int i = 0; i < vlen; i++)
+                v[i] /= mag;
+
+            // TODO: optimize these multiplications
+            // matd_t *Q = matd_identity(A->ncols);
+            //  for (int i = 0; i < vlen; i++)
+            //    for (int j = 0; j < vlen; j++)
+            //       MATD_EL(Q, i+1+hhidx, j+1+hhidx) -= 2*v[i]*v[j];
+
+            //  RS = matd_op("F*M", RS, Q);
+            for (int i = 0; i < RS->nrows; i++) {
+                float dot = 0;
+                for (int j = 0; j < vlen; j++)
+                    dot += MATD_EL(RS, i, hhidx+1+j) * v[j];
+                for (int j = 0; j < vlen; j++)
+                    MATD_EL(RS, i, hhidx+1+j) -= 2*dot*v[j];
+            }
+
+            //   B = matd_op("F*M", B, Q); // should be Q', but Q is symmetric.
+            for (int i = 0; i < B->nrows; i++) {
+                float dot = 0;
+                for (int j = 0; j < vlen; j++)
+                    dot += MATD_EL(B, i, hhidx+1+j) * v[j];
+                for (int j = 0; j < vlen; j++)
+                    MATD_EL(B, i, hhidx+1+j) -= 2*dot*v[j];
+            }
+        }
+    }
+
+    // maxiters used to be smaller to prevent us from looping forever,
+    // but this doesn't seem to happen any more with our more stable
+    // svd22 implementation.
+    int maxiters = 1UL << 5; // 1UL << 30;
+    assert(maxiters > 0); // reassure clang
+    int iter;
+
+    float maxv; // maximum non-zero value being reduced this iteration
+
+    float tol = 1E-5; // 1E-10;
+
+    // which method will we use to find the largest off-diagonal
+    // element of B?
+    const int find_max_method = 1; //(B->ncols < 6) ? 2 : 1;
+
+    // for each of the first B->ncols rows, which index has the
+    // maximum absolute value? (used by method 1)
+    int maxrowidx[B->ncols];
+    int lastmaxi, lastmaxj;
+
+    if (find_max_method == 1) {
+        for (int i = 2; i < B->ncols; i++)
+            maxrowidx[i] = max_idx(B, i, B->ncols);
+
+        // note that we started the array at 2. That's because by setting
+        // these values below, we'll recompute first two entries on the
+        // first iteration!
+        lastmaxi = 0, lastmaxj = 1;
+    }
+
+    for (iter = 0; iter < maxiters; iter++) {
+
+        // No diagonalization required for 0x0 and 1x1 matrices.
+        if (B->ncols < 2)
+            break;
+
+        // find the largest off-diagonal element of B, and put its
+        // coordinates in maxi, maxj.
+        int maxi, maxj;
+
+        if (find_max_method == 1) {
+            // method 1 is the "smarter" method which does at least
+            // 4*ncols work. More work might be needed (up to
+            // ncols*ncols), depending on data. Thus, this might be a
+            // bit slower than the default method for very small
+            // matrices.
+            maxi = -1;
+            maxv = -1;
+
+            // every iteration, we must deal with the fact that rows
+            // and columns lastmaxi and lastmaxj have been
+            // modified. Update maxrowidx accordingly.
+
+            // now, EVERY row also had columns lastmaxi and lastmaxj modified.
+            for (int rowi = 0; rowi < B->ncols; rowi++) {
+
+                // the magnitude of the largest off-diagonal element
+                // in this row.
+                float thismaxv;
+
+                // row 'lastmaxi' and 'lastmaxj' have been completely
+                // changed. compute from scratch.
+                if (rowi == lastmaxi || rowi == lastmaxj) {
+                    maxrowidx[rowi] = max_idx(B, rowi, B->ncols);
+                    thismaxv = fabs(MATD_EL(B, rowi, maxrowidx[rowi]));
+                    goto endrowi;
+                }
+
+                // our maximum entry was just modified. We don't know
+                // if it went up or down, and so we don't know if it
+                // is still the maximum. We have to update from
+                // scratch.
+                if (maxrowidx[rowi] == lastmaxi || maxrowidx[rowi] == lastmaxj) {
+                    maxrowidx[rowi] = max_idx(B, rowi, B->ncols);
+                    thismaxv = fabs(MATD_EL(B, rowi, maxrowidx[rowi]));
+                    goto endrowi;
+                }
+
+                // This row is unchanged, except for columns
+                // 'lastmaxi' and 'lastmaxj', and those columns were
+                // not previously the largest entry...  just check to
+                // see if they are now the maximum entry in their
+                // row. (Remembering to consider off-diagonal entries
+                // only!)
+                thismaxv = fabs(MATD_EL(B, rowi, maxrowidx[rowi]));
+
+                // check column lastmaxi. Is it now the maximum?
+                if (lastmaxi != rowi) {
+                    float v = fabs(MATD_EL(B, rowi, lastmaxi));
+                    if (v > thismaxv) {
+                        thismaxv = v;
+                        maxrowidx[rowi] = lastmaxi;
+                    }
+                }
+
+                // check column lastmaxj
+                if (lastmaxj != rowi) {
+                    float v = fabs(MATD_EL(B, rowi, lastmaxj));
+                    if (v > thismaxv) {
+                        thismaxv = v;
+                        maxrowidx[rowi] = lastmaxj;
+                    }
+                }
+
+                // does this row have the largest value we've seen so far?
+              endrowi:
+                if (thismaxv > maxv) {
+                    maxv = thismaxv;
+                    maxi = rowi;
+                }
+            }
+
+            assert(maxi >= 0);
+            maxj = maxrowidx[maxi];
+
+            // save these for the next iteration.
+            lastmaxi = maxi;
+            lastmaxj = maxj;
+
+            if (maxv < tol)
+                break;
+
+        } else if (find_max_method == 2) {
+            // brute-force (reference) version.
+            maxv = -1;
+
+            // only search top "square" portion
+            for (int i = 0; i < B->ncols; i++) {
+                for (int j = 0; j < B->ncols; j++) {
+                    if (i == j)
+                        continue;
+
+                    float v = fabs(MATD_EL(B, i, j));
+
+                    if (v > maxv) {
+                        maxi = i;
+                        maxj = j;
+                        maxv = v;
+                    }
+                }
+            }
+
+            // termination condition.
+            if (maxv < tol)
+                break;
+        } else {
+            assert(0);
+        }
+
+//        printf(">>> %5d %3d, %3d %15g\n", maxi, maxj, iter, maxv);
+
+        // Now, solve the 2x2 SVD problem for the matrix
+        // [ A0 A1 ]
+        // [ A2 A3 ]
+        float A0 = MATD_EL(B, maxi, maxi);
+        float A1 = MATD_EL(B, maxi, maxj);
+        float A2 = MATD_EL(B, maxj, maxi);
+        float A3 = MATD_EL(B, maxj, maxj);
+
+        if (1) {
+            float AQ[4];
+            AQ[0] = A0;
+            AQ[1] = A1;
+            AQ[2] = A2;
+            AQ[3] = A3;
+
+            float U[4], S[2], V[4];
+            svd22(AQ, U, S, V);
+
+/*  Reference (slow) implementation...
+
+            // LS = LS * ROT(theta) = LS * QL
+            matd_t *QL = matd_identity(A->nrows);
+            MATD_EL(QL, maxi, maxi) = U[0];
+            MATD_EL(QL, maxi, maxj) = U[1];
+            MATD_EL(QL, maxj, maxi) = U[2];
+            MATD_EL(QL, maxj, maxj) = U[3];
+
+            matd_t *QR = matd_identity(A->ncols);
+            MATD_EL(QR, maxi, maxi) = V[0];
+            MATD_EL(QR, maxi, maxj) = V[1];
+            MATD_EL(QR, maxj, maxi) = V[2];
+            MATD_EL(QR, maxj, maxj) = V[3];
+
+            LS = matd_op("F*M", LS, QL);
+            RS = matd_op("F*M", RS, QR); // remember we'll transpose RS.
+            B = matd_op("M'*F*M", QL, B, QR);
+
+            matd_destroy(QL);
+            matd_destroy(QR);
+*/
+
+            //  LS = matd_op("F*M", LS, QL);
+            for (int i = 0; i < LS->nrows; i++) {
+                float vi = MATD_EL(LS, i, maxi);
+                float vj = MATD_EL(LS, i, maxj);
+
+                MATD_EL(LS, i, maxi) = U[0]*vi + U[2]*vj;
+                MATD_EL(LS, i, maxj) = U[1]*vi + U[3]*vj;
+            }
+
+            //  RS = matd_op("F*M", RS, QR); // remember we'll transpose RS.
+            for (int i = 0; i < RS->nrows; i++) {
+                float vi = MATD_EL(RS, i, maxi);
+                float vj = MATD_EL(RS, i, maxj);
+
+                MATD_EL(RS, i, maxi) = V[0]*vi + V[2]*vj;
+                MATD_EL(RS, i, maxj) = V[1]*vi + V[3]*vj;
+            }
+
+            // B = matd_op("M'*F*M", QL, B, QR);
+            // The QL matrix mixes rows of B.
+            for (int i = 0; i < B->ncols; i++) {
+                float vi = MATD_EL(B, maxi, i);
+                float vj = MATD_EL(B, maxj, i);
+
+                MATD_EL(B, maxi, i) = U[0]*vi + U[2]*vj;
+                MATD_EL(B, maxj, i) = U[1]*vi + U[3]*vj;
+            }
+
+            // The QR matrix mixes columns of B.
+            for (int i = 0; i < B->nrows; i++) {
+                float vi = MATD_EL(B, i, maxi);
+                float vj = MATD_EL(B, i, maxj);
+
+                MATD_EL(B, i, maxi) = V[0]*vi + V[2]*vj;
+                MATD_EL(B, i, maxj) = V[1]*vi + V[3]*vj;
+            }
+        }
+    }
+
+    if (!(flags & MATD_SVD_NO_WARNINGS) && iter == maxiters) {
+        printf("WARNING: maximum iters (maximum = %d, matrix %d x %d, max=%.15f)\n",
+               iter, A->nrows, A->ncols, (double) maxv);
+
+//        matd_print(A, "%15f");
+    }
+
+    // them all positive by flipping the corresponding columns of
+    // U/LS.
+    int idxs[A->ncols];
+    float vals[A->ncols];
+    for (int i = 0; i < A->ncols; i++) {
+        idxs[i] = i;
+        vals[i] = MATD_EL(B, i, i);
+    }
+
+    // A bubble sort. Seriously.
+    int changed;
+    do {
+        changed = 0;
+
+        for (int i = 0; i + 1 < A->ncols; i++) {
+            if (fabs(vals[i+1]) > fabs(vals[i])) {
+                int tmpi = idxs[i];
+                idxs[i] = idxs[i+1];
+                idxs[i+1] = tmpi;
+
+                float tmpv = vals[i];
+                vals[i] = vals[i+1];
+                vals[i+1] = tmpv;
+
+                changed = 1;
+            }
+        }
+    } while (changed);
+
+    matd_t *LP = matd_identity(A->nrows);
+    matd_t *RP = matd_identity(A->ncols);
+
+    for (int i = 0; i < A->ncols; i++) {
+        MATD_EL(LP, idxs[i], idxs[i]) = 0; // undo the identity above
+        MATD_EL(RP, idxs[i], idxs[i]) = 0;
+
+        MATD_EL(LP, idxs[i], i) = vals[i] < 0 ? -1 : 1;
+        MATD_EL(RP, idxs[i], i) = 1; //vals[i] < 0 ? -1 : 1;
+    }
+
+    // we've factored:
+    // LP*(something)*RP'
+
+    // solve for (something)
+    B = matd_op("M'*F*M", LP, B, RP);
+
+    // update LS and RS, remembering that RS will be transposed.
+    LS = matd_op("F*M", LS, LP);
+    RS = matd_op("F*M", RS, RP);
+
+    matd_destroy(LP);
+    matd_destroy(RP);
+
+    matd_svd_t res;
+    memset(&res, 0, sizeof(res));
+
+    // make B exactly diagonal
+
+    for (int i = 0; i < B->nrows; i++) {
+        for (int j = 0; j < B->ncols; j++) {
+            if (i != j)
+                MATD_EL(B, i, j) = 0;
+        }
+    }
+
+    res.U = LS;
+    res.S = B;
+    res.V = RS;
+
+    return res;
+}
+
+matd_svd_t matd_svd(matd_t *A)
+{
+    return matd_svd_flags(A, 0);
+}
+
+matd_svd_t matd_svd_flags(matd_t *A, int flags)
+{
+    matd_svd_t res;
+
+    if (A->ncols <= A->nrows) {
+        res = matd_svd_tall(A, flags);
+    } else {
+        matd_t *At = matd_transpose(A);
+
+        // A =U  S  V'
+        // A'=V  S' U'
+
+        matd_svd_t tmp = matd_svd_tall(At, flags);
+
+        memset(&res, 0, sizeof(res));
+        res.U = tmp.V; //matd_transpose(tmp.V);
+        res.S = matd_transpose(tmp.S);
+        res.V = tmp.U; //matd_transpose(tmp.U);
+
+        matd_destroy(tmp.S);
+        matd_destroy(At);
+    }
+
+/*
+  matd_t *check = matd_op("M*M*M'-M", res.U, res.S, res.V, A);
+  float maxerr = 0;
+
+  for (int i = 0; i < check->nrows; i++)
+  for (int j = 0; j < check->ncols; j++)
+  maxerr = fmax(maxerr, fabs(MATD_EL(check, i, j)));
+
+  matd_destroy(check);
+
+  if (maxerr > 1e-7) {
+  printf("bad maxerr: %15f\n", maxerr);
+  }
+
+  if (maxerr > 1e-5) {
+  printf("bad maxerr: %15f\n", maxerr);
+  matd_print(A, "%15f");
+  assert(0);
+  }
+
+*/
+    return res;
+}
+
+
+matd_plu_t *matd_plu(const matd_t *a)
+{
+    unsigned int *piv = calloc(a->nrows, sizeof(unsigned int));
+    int pivsign = 1;
+    matd_t *lu = matd_copy(a);
+
+    // only for square matrices.
+    assert(a->nrows == a->ncols);
+
+    matd_plu_t *mlu = calloc(1, sizeof(matd_plu_t));
+
+    for (int i = 0; i < a->nrows; i++)
+        piv[i] = i;
+
+    for (int j = 0; j < a->ncols; j++) {
+        for (int i = 0; i < a->nrows; i++) {
+            int kmax = i < j ? i : j; // min(i,j)
+
+            // compute dot product of row i with column j (up through element kmax)
+            float acc = 0;
+            for (int k = 0; k < kmax; k++)
+                acc += MATD_EL(lu, i, k) * MATD_EL(lu, k, j);
+
+            MATD_EL(lu, i, j) -= acc;
+        }
+
+        // find pivot and exchange if necessary.
+        int p = j;
+        if (1) {
+            for (int i = j+1; i < lu->nrows; i++) {
+                if (fabs(MATD_EL(lu,i,j)) > fabs(MATD_EL(lu, p, j))) {
+                    p = i;
+                }
+            }
+        }
+
+        // swap rows p and j?
+        if (p != j) {
+            TYPE tmp[lu->ncols];
+            memcpy(tmp, &MATD_EL(lu, p, 0), sizeof(TYPE) * lu->ncols);
+            memcpy(&MATD_EL(lu, p, 0), &MATD_EL(lu, j, 0), sizeof(TYPE) * lu->ncols);
+            memcpy(&MATD_EL(lu, j, 0), tmp, sizeof(TYPE) * lu->ncols);
+            int k = piv[p];
+            piv[p] = piv[j];
+            piv[j] = k;
+            pivsign = -pivsign;
+        }
+
+        float LUjj = MATD_EL(lu, j, j);
+
+        // If our pivot is very small (which means the matrix is
+        // singular or nearly singular), replace with a new pivot of the
+        // right sign.
+        if (fabs(LUjj) < MATD_EPS) {
+/*
+            if (LUjj < 0)
+                LUjj = -MATD_EPS;
+            else
+                LUjj = MATD_EPS;
+
+            MATD_EL(lu, j, j) = LUjj;
+*/
+            mlu->singular = 1;
+        }
+
+        if (j < lu->ncols && j < lu->nrows && LUjj != 0) {
+            LUjj = 1.0 / LUjj;
+            for (int i = j+1; i < lu->nrows; i++)
+                MATD_EL(lu, i, j) *= LUjj;
+        }
+    }
+
+    mlu->lu = lu;
+    mlu->piv = piv;
+    mlu->pivsign = pivsign;
+
+    return mlu;
+}
+
+void matd_plu_destroy(matd_plu_t *mlu)
+{
+    matd_destroy(mlu->lu);
+    free(mlu->piv);
+    memset(mlu, 0, sizeof(matd_plu_t));
+    free(mlu);
+}
+
+float matd_plu_det(const matd_plu_t *mlu)
+{
+    matd_t *lu = mlu->lu;
+    float det = mlu->pivsign;
+
+    if (lu->nrows == lu->ncols) {
+        for (int i = 0; i < lu->ncols; i++)
+            det *= MATD_EL(lu, i, i);
+    }
+
+    return det;
+}
+
+matd_t *matd_plu_p(const matd_plu_t *mlu)
+{
+    matd_t *lu = mlu->lu;
+    matd_t *P = matd_create(lu->nrows, lu->nrows);
+
+    for (int i = 0; i < lu->nrows; i++) {
+        MATD_EL(P, mlu->piv[i], i) = 1;
+    }
+
+    return P;
+}
+
+matd_t *matd_plu_l(const matd_plu_t *mlu)
+{
+    matd_t *lu = mlu->lu;
+
+    matd_t *L = matd_create(lu->nrows, lu->ncols);
+    for (int i = 0; i < lu->nrows; i++) {
+        MATD_EL(L, i, i) = 1;
+
+        for (int j = 0; j < i; j++) {
+            MATD_EL(L, i, j) = MATD_EL(lu, i, j);
+        }
+    }
+
+    return L;
+}
+
+matd_t *matd_plu_u(const matd_plu_t *mlu)
+{
+    matd_t *lu = mlu->lu;
+
+    matd_t *U = matd_create(lu->ncols, lu->ncols);
+    for (int i = 0; i < lu->ncols; i++) {
+        for (int j = 0; j < lu->ncols; j++) {
+            if (i <= j)
+                MATD_EL(U, i, j) = MATD_EL(lu, i, j);
+        }
+    }
+
+    return U;
+}
+
+// PLU = A
+// Ax = B
+// PLUx = B
+// LUx = P'B
+matd_t *matd_plu_solve(const matd_plu_t *mlu, const matd_t *b)
+{
+    matd_t *x = matd_copy(b);
+
+    // permute right hand side
+    for (int i = 0; i < mlu->lu->nrows; i++)
+        memcpy(&MATD_EL(x, i, 0), &MATD_EL(b, mlu->piv[i], 0), sizeof(TYPE) * b->ncols);
+
+    // solve Ly = b
+    for (int k = 0; k < mlu->lu->nrows; k++) {
+        for (int i = k+1; i < mlu->lu->nrows; i++) {
+            float LUik = -MATD_EL(mlu->lu, i, k);
+            for (int t = 0; t < b->ncols; t++)
+                MATD_EL(x, i, t) += MATD_EL(x, k, t) * LUik;
+        }
+    }
+
+    // solve Ux = y
+    for (int k = mlu->lu->ncols-1; k >= 0; k--) {
+        float LUkk = 1.0 / MATD_EL(mlu->lu, k, k);
+        for (int t = 0; t < b->ncols; t++)
+            MATD_EL(x, k, t) *= LUkk;
+
+        for (int i = 0; i < k; i++) {
+            float LUik = -MATD_EL(mlu->lu, i, k);
+            for (int t = 0; t < b->ncols; t++)
+                MATD_EL(x, i, t) += MATD_EL(x, k, t) *LUik;
+        }
+    }
+
+    return x;
+}
+
+matd_t *matd_solve(matd_t *A, matd_t *b)
+{
+    matd_plu_t *mlu = matd_plu(A);
+    matd_t *x = matd_plu_solve(mlu, b);
+
+    matd_plu_destroy(mlu);
+    return x;
+}
+
+#if 0
+
+static int randi()
+{
+    int v = random()&31;
+    v -= 15;
+    return v;
+}
+
+static float randf()
+{
+    float v = 1.0 *random() / RAND_MAX;
+    return 2*v - 1;
+}
+
+int main(int argc, char *argv[])
+{
+    if (1) {
+        int maxdim = 16;
+        matd_t *A = matd_create(maxdim, maxdim);
+
+        for (int iter = 0; 1; iter++) {
+            srand(iter);
+
+            if (iter % 1000 == 0)
+                printf("%d\n", iter);
+
+            int m = 1 + (random()%(maxdim-1));
+            int n = 1 + (random()%(maxdim-1));
+
+            for (int i = 0; i < m*n; i++)
+                A->data[i] = randi();
+
+            A->nrows = m;
+            A->ncols = n;
+
+//            printf("%d %d ", m, n);
+            matd_svd_t svd = matd_svd(A);
+            matd_destroy(svd.U);
+            matd_destroy(svd.S);
+            matd_destroy(svd.V);
+
+        }
+
+/*        matd_t *A = matd_create_data(2, 5, (float[]) { 1, 5, 2, 6,
+          3, 3, 0, 7,
+          1, 1, 0, -2,
+          4, 0, 9, 9, 2, 6, 1, 3, 2, 5, 5, 4, -1, 2, 5, 9, 8, 2 });
+
+          matd_svd(A);
+*/
+        return 0;
+    }
+
+
+    struct svd22 s;
+
+    srand(0);
+
+    matd_t *A = matd_create(2, 2);
+    MATD_EL(A,0,0) = 4;
+    MATD_EL(A,0,1) = 7;
+    MATD_EL(A,1,0) = 2;
+    MATD_EL(A,1,1) = 6;
+
+    matd_t *U = matd_create(2, 2);
+    matd_t *V = matd_create(2, 2);
+    matd_t *S = matd_create(2, 2);
+
+    for (int iter = 0; 1; iter++) {
+        if (iter % 100000 == 0)
+            printf("%d\n", iter);
+
+        MATD_EL(A,0,0) = randf();
+        MATD_EL(A,0,1) = randf();
+        MATD_EL(A,1,0) = randf();
+        MATD_EL(A,1,1) = randf();
+
+        matd_svd22_impl(A->data, &s);
+
+        memcpy(U->data, s.U, 4*sizeof(float));
+        memcpy(V->data, s.V, 4*sizeof(float));
+        MATD_EL(S,0,0) = s.S[0];
+        MATD_EL(S,1,1) = s.S[1];
+
+        assert(s.S[0] >= s.S[1]);
+        assert(s.S[0] >= 0);
+        assert(s.S[1] >= 0);
+        if (s.S[0] == 0) {
+//            printf("*"); fflush(NULL);
+//            printf("%15f %15f %15f %15f\n", MATD_EL(A,0,0), MATD_EL(A,0,1), MATD_EL(A,1,0), MATD_EL(A,1,1));
+        }
+        if (s.S[1] == 0) {
+//            printf("#"); fflush(NULL);
+        }
+
+        matd_t *USV = matd_op("M*M*M'", U, S, V);
+
+        float maxerr = 0;
+        for (int i = 0; i < 4; i++)
+            maxerr = fmax(maxerr, fabs(USV->data[i] - A->data[i]));
+
+        if (0) {
+            printf("------------------------------------\n");
+            printf("A:\n");
+            matd_print(A, "%15f");
+            printf("\nUSV':\n");
+            matd_print(USV, "%15f");
+            printf("maxerr: %.15f\n", maxerr);
+            printf("\n\n");
+        }
+
+        matd_destroy(USV);
+
+        assert(maxerr < 0.00001);
+    }
+}
+
+#endif
+
+// XXX NGV Cholesky
+/*static float *matd_cholesky_raw(float *A, int n)
+  {
+  float *L = (float*)calloc(n * n, sizeof(float));
+
+  for (int i = 0; i < n; i++) {
+  for (int j = 0; j < (i+1); j++) {
+  float s = 0;
+  for (int k = 0; k < j; k++)
+  s += L[i * n + k] * L[j * n + k];
+  L[i * n + j] = (i == j) ?
+  sqrt(A[i * n + i] - s) :
+  (1.0 / L[j * n + j] * (A[i * n + j] - s));
+  }
+  }
+
+  return L;
+  }
+
+  matd_t *matd_cholesky(const matd_t *A)
+  {
+  assert(A->nrows == A->ncols);
+  float *L_data = matd_cholesky_raw(A->data, A->nrows);
+  matd_t *L = matd_create_data(A->nrows, A->ncols, L_data);
+  free(L_data);
+  return L;
+  }*/
+
+// NOTE: The below implementation of Cholesky is different from the one
+// used in NGV.
+matd_chol_t *matd_chol(matd_t *A)
+{
+    assert(A->nrows == A->ncols);
+    int N = A->nrows;
+
+    // make upper right
+    matd_t *U = matd_copy(A);
+
+    // don't actually need to clear lower-left... we won't touch it.
+/*    for (int i = 0; i < U->nrows; i++) {
+      for (int j = 0; j < i; j++) {
+//            assert(MATD_EL(U, i, j) == MATD_EL(U, j, i));
+MATD_EL(U, i, j) = 0;
+}
+}
+*/
+    int is_spd = 1; // (A->nrows == A->ncols);
+
+    for (int i = 0; i < N; i++) {
+        float d = MATD_EL(U, i, i);
+        is_spd &= (d > 0);
+
+        if (d < MATD_EPS)
+            d = MATD_EPS;
+        d = 1.0 / sqrt(d);
+
+        for (int j = i; j < N; j++)
+            MATD_EL(U, i, j) *= d;
+
+        for (int j = i+1; j < N; j++) {
+            float s = MATD_EL(U, i, j);
+
+            if (s == 0)
+                continue;
+
+            for (int k = j; k < N; k++) {
+                MATD_EL(U, j, k) -= MATD_EL(U, i, k)*s;
+            }
+        }
+    }
+
+    matd_chol_t *chol = calloc(1, sizeof(matd_chol_t));
+    chol->is_spd = is_spd;
+    chol->u = U;
+    return chol;
+}
+
+void matd_chol_destroy(matd_chol_t *chol)
+{
+    matd_destroy(chol->u);
+    free(chol);
+}
+
+// Solve: (U')x = b, U is upper triangular
+void matd_ltransposetriangle_solve(matd_t *u, const TYPE *b, TYPE *x)
+{
+    int n = u->ncols;
+    memcpy(x, b, n*sizeof(TYPE));
+    for (int i = 0; i < n; i++) {
+        x[i] /= MATD_EL(u, i, i);
+
+        for (int j = i+1; j < u->ncols; j++) {
+            x[j] -= x[i] * MATD_EL(u, i, j);
+        }
+    }
+}
+
+// Solve: Lx = b, L is lower triangular
+void matd_ltriangle_solve(matd_t *L, const TYPE *b, TYPE *x)
+{
+    int n = L->ncols;
+
+    for (int i = 0; i < n; i++) {
+        float acc = b[i];
+
+        for (int j = 0; j < i; j++) {
+            acc -= MATD_EL(L, i, j)*x[j];
+        }
+
+        x[i] = acc / MATD_EL(L, i, i);
+    }
+}
+
+// solve Ux = b, U is upper triangular
+void matd_utriangle_solve(matd_t *u, const TYPE *b, TYPE *x)
+{
+    for (int i = u->ncols-1; i >= 0; i--) {
+        float bi = b[i];
+
+        float diag = MATD_EL(u, i, i);
+
+        for (int j = i+1; j < u->ncols; j++)
+            bi -= MATD_EL(u, i, j)*x[j];
+
+        x[i] = bi / diag;
+    }
+}
+
+matd_t *matd_chol_solve(const matd_chol_t *chol, const matd_t *b)
+{
+    matd_t *u = chol->u;
+
+    matd_t *x = matd_copy(b);
+
+    // LUx = b
+
+    // solve Ly = b ==> (U')y = b
+
+    for (int i = 0; i < u->nrows; i++) {
+        for (int j = 0; j < i; j++) {
+            // b[i] -= L[i,j]*x[j]... replicated across columns of b
+            //   ==> i.e., ==>
+            // b[i,k] -= L[i,j]*x[j,k]
+            for (int k = 0; k < b->ncols; k++) {
+                MATD_EL(x, i, k) -= MATD_EL(u, j, i)*MATD_EL(x, j, k);
+            }
+        }
+        // x[i] = b[i] / L[i,i]
+        for (int k = 0; k < b->ncols; k++) {
+            MATD_EL(x, i, k) /= MATD_EL(u, i, i);
+        }
+    }
+
+    // solve Ux = y
+    for (int k = u->ncols-1; k >= 0; k--) {
+        float LUkk = 1.0 / MATD_EL(u, k, k);
+        for (int t = 0; t < b->ncols; t++)
+            MATD_EL(x, k, t) *= LUkk;
+
+        for (int i = 0; i < k; i++) {
+            float LUik = -MATD_EL(u, i, k);
+            for (int t = 0; t < b->ncols; t++)
+                MATD_EL(x, i, t) += MATD_EL(x, k, t) *LUik;
+        }
+    }
+
+    return x;
+}
+
+/*void matd_chol_solve(matd_chol_t *chol, const TYPE *b, TYPE *x)
+  {
+  matd_t *u = chol->u;
+
+  TYPE y[u->ncols];
+  matd_ltransposetriangle_solve(u, b, y);
+  matd_utriangle_solve(u, y, x);
+  }
+*/
+// only sensible on PSD matrices. had expected it to be faster than
+// inverse via LU... for now, doesn't seem to be.
+matd_t *matd_chol_inverse(matd_t *a)
+{
+    assert(a->nrows == a->ncols);
+
+    matd_chol_t *chol = matd_chol(a);
+
+    matd_t *eye = matd_identity(a->nrows);
+    matd_t *inv = matd_chol_solve(chol, eye);
+    matd_destroy(eye);
+    matd_chol_destroy(chol);
+
+    return inv;
+}
+
+float matd_max(matd_t *m)
+{
+    float d = -FLT_MAX;
+    for(int x=0; x<m->nrows; x++) {
+        for(int y=0; y<m->ncols; y++) {
+            if(MATD_EL(m, x, y) > d)
+                d = MATD_EL(m, x, y);
+        }
+    }
+
+    return d;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "homography.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+    /** Given a 3x3 homography matrix and the focal lengths of the
+     * camera, compute the pose of the tag. The focal lengths should
+     * be given in pixels. For example, if the camera's focal length
+     * is twice the width of the sensor, and the sensor is 600 pixels
+     * across, the focal length in pixels is 2*600. Note that the
+     * focal lengths in the fx and fy direction will be approximately
+     * equal for most lenses, and is not a function of aspect ratio.
+     *
+     * Theory: The homography matrix is the product of the camera
+     * projection matrix and the tag's pose matrix (the matrix that
+     * projects points from the tag's local coordinate system to the
+     * camera's coordinate frame).
+     *
+    * [ h00 h01 h02 h03] = [ fx   0     cx 0 ] [ R00 R01 R02 TX ]
+     * [ h10 h11 h12 h13] = [ 0    fy    cy 0 ] [ R10 R11 R12 TY ]
+     * [ h20 h21 h22 h23] = [ 0    0      s 0 ] [ R20 R21 R22 TZ ]
+     *                                          [ 0   0   0   1  ]
+     *
+     * fx is the focal length in the x direction of the camera
+     * (typically measured in pixels), fy is the focal length. cx and
+     * cy give the focal center (usually the middle of the image), and
+     * s is either +1 or -1, depending on the conventions you use. (We
+     * use 1.)
+
+     * When observing a tag, the points we project in world space all
+     * have z=0, so we can form a 3x3 matrix by eliminating the 3rd
+     * column of the pose matrix.
+     *
+     * [ h00 h01 h02 ] = [ fx   0    cx 0 ] [ R00 R01 TX ]
+     * [ h10 h11 h12 ] = [ 0    fy   cy 0 ] [ R10 R11 TY ]
+     * [ h20 h21 h22 ] = [ 0    0     s 0 ] [ R20 R21 TZ ]
+     *                                      [ 0   0   1  ]
+     *
+     * (note that these h's are different from the ones above.)
+     *
+     * We can multiply the right-hand side to yield a set of equations
+     * relating the values of h to the values of the pose matrix.
+     *
+     * There are two wrinkles. The first is that the homography matrix
+     * is known only up to scale. We recover the unknown scale by
+     * constraining the magnitude of the first two columns of the pose
+     * matrix to be 1. We use the geometric average scale. The sign of
+     * the scale factor is recovered by constraining the observed tag
+     * to be in front of the camera. Once scaled, we recover the first
+     * two colmuns of the rotation matrix. The third column is the
+     * cross product of these.
+     *
+     * The second wrinkle is that the computed rotation matrix might
+     * not be exactly orthogonal, so we perform a polar decomposition
+     * to find a good pure rotation approximation.
+     *
+     * Tagsize is the size of the tag in your desired units. I.e., if
+     * your tag measures 0.25m along the side, your tag size is
+     * 0.25. (The homography is computed in terms of *half* the tag
+     * size, i.e., that a tag is 2 units wide as it spans from -1 to
+     * +1, but this code makes the appropriate adjustment.)
+     *
+     * A note on signs:
+     *
+     * The code below incorporates no additional negative signs, but
+     * respects the sign of any parameters that you pass in. Flipping
+     * the signs allows you to modify the projection to suit a wide
+     * variety of conditions.
+     *
+     * In the "pure geometry" projection matrix, the image appears
+     * upside down; i.e., the x and y coordinates on the left hand
+     * side are the opposite of those on the right of the camera
+     * projection matrix. This would happen for all parameters
+     * positive: recall that points in front of the camera have
+     * negative Z values, which will cause the sign of all points to
+     * flip.
+     *
+     * However, most cameras flip things so that the image appears
+     * "right side up" as though you were looking through the lens
+     * directly. This means that the projected points should have the
+     * same sign as the points on the right of the camera projection
+     * matrix. To achieve this, flip fx and fy.
+     *
+     * One further complication: cameras typically put y=0 at the top
+     * of the image, instead of the bottom. Thus you generally want to
+     * flip y yet again (so it's now positive again).
+     *
+     * General advice: you probably want fx negative, fy positive, cx
+     * and cy positive, and s=1.
+     **/
+
+// correspondences is a list of float[4]s, consisting of the points x
+// and y concatenated. We will compute a homography such that y = Hx
+// Specifically, float [] { a, b, c, d } where x = [a b], y = [c d].
+
+
+#define HOMOGRAPHY_COMPUTE_FLAG_INVERSE 1
+#define HOMOGRAPHY_COMPUTE_FLAG_SVD 0
+
+matd_t *homography_compute(zarray_t *correspondences, int flags);
+
+//void homography_project(const matd_t *H, float x, float y, float *ox, float *oy);
+static inline void homography_project(const matd_t *H, float x, float y, float *ox, float *oy)
+{
+    float xx = MATD_EL(H, 0, 0)*x + MATD_EL(H, 0, 1)*y + MATD_EL(H, 0, 2);
+    float yy = MATD_EL(H, 1, 0)*x + MATD_EL(H, 1, 1)*y + MATD_EL(H, 1, 2);
+    float zz = MATD_EL(H, 2, 0)*x + MATD_EL(H, 2, 1)*y + MATD_EL(H, 2, 2);
+
+    *ox = xx / zz;
+    *oy = yy / zz;
+}
+
+// assuming that the projection matrix is:
+// [ fx 0  cx 0 ]
+// [  0 fy cy 0 ]
+// [  0  0  1 0 ]
+//
+// And that the homography is equal to the projection matrix times the model matrix,
+// recover the model matrix (which is returned). Note that the third column of the model
+// matrix is missing in the expresison below, reflecting the fact that the homography assumes
+// all points are at z=0 (i.e., planar) and that the element of z is thus omitted.
+// (3x1 instead of 4x1).
+//
+// [ fx 0  cx 0 ] [ R00  R01  TX ]    [ H00 H01 H02 ]
+// [  0 fy cy 0 ] [ R10  R11  TY ] =  [ H10 H11 H12 ]
+// [  0  0  1 0 ] [ R20  R21  TZ ] =  [ H20 H21 H22 ]
+//                [  0    0    1 ]
+//
+// fx*R00 + cx*R20 = H00   (note, H only known up to scale; some additional adjustments required; see code.)
+// fx*R01 + cx*R21 = H01
+// fx*TX  + cx*TZ  = H02
+// fy*R10 + cy*R20 = H10
+// fy*R11 + cy*R21 = H11
+// fy*TY  + cy*TZ  = H12
+// R20 = H20
+// R21 = H21
+// TZ  = H22
+matd_t *homography_to_pose(const matd_t *H, float fx, float fy, float cx, float cy);
+
+// Similar to above
+// Recover the model view matrix assuming that the projection matrix is:
+//
+// [ F  0  A  0 ]     (see glFrustrum)
+// [ 0  G  B  0 ]
+// [ 0  0  C  D ]
+// [ 0  0 -1  0 ]
+
+matd_t *homography_to_model_view(const matd_t *H, float F, float G, float A, float B, float C, float D);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "homography.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// correspondences is a list of float[4]s, consisting of the points x
+// and y concatenated. We will compute a homography such that y = Hx
+matd_t *homography_compute(zarray_t *correspondences, int flags)
+{
+    // compute centroids of both sets of points (yields a better
+    // conditioned information matrix)
+    float x_cx = 0, x_cy = 0;
+    float y_cx = 0, y_cy = 0;
+
+    for (int i = 0; i < zarray_size(correspondences); i++) {
+        float *c;
+        zarray_get_volatile(correspondences, i, &c);
+
+        x_cx += c[0];
+        x_cy += c[1];
+        y_cx += c[2];
+        y_cy += c[3];
+    }
+
+    int sz = zarray_size(correspondences);
+    x_cx /= sz;
+    x_cy /= sz;
+    y_cx /= sz;
+    y_cy /= sz;
+
+    // NB We don't normalize scale; it seems implausible that it could
+    // possibly make any difference given the dynamic range of IEEE
+    // doubles.
+
+    matd_t *A = matd_create(9,9);
+    for (int i = 0; i < zarray_size(correspondences); i++) {
+        float *c;
+        zarray_get_volatile(correspondences, i, &c);
+
+        // (below world is "x", and image is "y")
+        float worldx = c[0] - x_cx;
+        float worldy = c[1] - x_cy;
+        float imagex = c[2] - y_cx;
+        float imagey = c[3] - y_cy;
+
+        float a03 = -worldx;
+        float a04 = -worldy;
+        float a05 = -1;
+        float a06 = worldx*imagey;
+        float a07 = worldy*imagey;
+        float a08 = imagey;
+
+        MATD_EL(A, 3, 3) += a03*a03;
+        MATD_EL(A, 3, 4) += a03*a04;
+        MATD_EL(A, 3, 5) += a03*a05;
+        MATD_EL(A, 3, 6) += a03*a06;
+        MATD_EL(A, 3, 7) += a03*a07;
+        MATD_EL(A, 3, 8) += a03*a08;
+        MATD_EL(A, 4, 4) += a04*a04;
+        MATD_EL(A, 4, 5) += a04*a05;
+        MATD_EL(A, 4, 6) += a04*a06;
+        MATD_EL(A, 4, 7) += a04*a07;
+        MATD_EL(A, 4, 8) += a04*a08;
+        MATD_EL(A, 5, 5) += a05*a05;
+        MATD_EL(A, 5, 6) += a05*a06;
+        MATD_EL(A, 5, 7) += a05*a07;
+        MATD_EL(A, 5, 8) += a05*a08;
+        MATD_EL(A, 6, 6) += a06*a06;
+        MATD_EL(A, 6, 7) += a06*a07;
+        MATD_EL(A, 6, 8) += a06*a08;
+        MATD_EL(A, 7, 7) += a07*a07;
+        MATD_EL(A, 7, 8) += a07*a08;
+        MATD_EL(A, 8, 8) += a08*a08;
+
+        float a10 = worldx;
+        float a11 = worldy;
+        float a12 = 1;
+        float a16 = -worldx*imagex;
+        float a17 = -worldy*imagex;
+        float a18 = -imagex;
+
+        MATD_EL(A, 0, 0) += a10*a10;
+        MATD_EL(A, 0, 1) += a10*a11;
+        MATD_EL(A, 0, 2) += a10*a12;
+        MATD_EL(A, 0, 6) += a10*a16;
+        MATD_EL(A, 0, 7) += a10*a17;
+        MATD_EL(A, 0, 8) += a10*a18;
+        MATD_EL(A, 1, 1) += a11*a11;
+        MATD_EL(A, 1, 2) += a11*a12;
+        MATD_EL(A, 1, 6) += a11*a16;
+        MATD_EL(A, 1, 7) += a11*a17;
+        MATD_EL(A, 1, 8) += a11*a18;
+        MATD_EL(A, 2, 2) += a12*a12;
+        MATD_EL(A, 2, 6) += a12*a16;
+        MATD_EL(A, 2, 7) += a12*a17;
+        MATD_EL(A, 2, 8) += a12*a18;
+        MATD_EL(A, 6, 6) += a16*a16;
+        MATD_EL(A, 6, 7) += a16*a17;
+        MATD_EL(A, 6, 8) += a16*a18;
+        MATD_EL(A, 7, 7) += a17*a17;
+        MATD_EL(A, 7, 8) += a17*a18;
+        MATD_EL(A, 8, 8) += a18*a18;
+
+        float a20 = -worldx*imagey;
+        float a21 = -worldy*imagey;
+        float a22 = -imagey;
+        float a23 = worldx*imagex;
+        float a24 = worldy*imagex;
+        float a25 = imagex;
+
+        MATD_EL(A, 0, 0) += a20*a20;
+        MATD_EL(A, 0, 1) += a20*a21;
+        MATD_EL(A, 0, 2) += a20*a22;
+        MATD_EL(A, 0, 3) += a20*a23;
+        MATD_EL(A, 0, 4) += a20*a24;
+        MATD_EL(A, 0, 5) += a20*a25;
+        MATD_EL(A, 1, 1) += a21*a21;
+        MATD_EL(A, 1, 2) += a21*a22;
+        MATD_EL(A, 1, 3) += a21*a23;
+        MATD_EL(A, 1, 4) += a21*a24;
+        MATD_EL(A, 1, 5) += a21*a25;
+        MATD_EL(A, 2, 2) += a22*a22;
+        MATD_EL(A, 2, 3) += a22*a23;
+        MATD_EL(A, 2, 4) += a22*a24;
+        MATD_EL(A, 2, 5) += a22*a25;
+        MATD_EL(A, 3, 3) += a23*a23;
+        MATD_EL(A, 3, 4) += a23*a24;
+        MATD_EL(A, 3, 5) += a23*a25;
+        MATD_EL(A, 4, 4) += a24*a24;
+        MATD_EL(A, 4, 5) += a24*a25;
+        MATD_EL(A, 5, 5) += a25*a25;
+    }
+
+    // make symmetric
+    for (int i = 0; i < 9; i++)
+        for (int j = i+1; j < 9; j++)
+            MATD_EL(A, j, i) = MATD_EL(A, i, j);
+
+    matd_t *H = matd_create(3,3);
+
+    if (flags & HOMOGRAPHY_COMPUTE_FLAG_INVERSE) {
+        // compute singular vector by (carefully) inverting the rank-deficient matrix.
+
+        if (1) {
+            matd_t *Ainv = matd_inverse(A);
+            float scale = 0;
+
+            for (int i = 0; i < 9; i++)
+                scale += sq(MATD_EL(Ainv, i, 0));
+            scale = sqrt(scale);
+
+            for (int i = 0; i < 3; i++)
+                for (int j = 0; j < 3; j++)
+                    MATD_EL(H, i, j) = MATD_EL(Ainv, 3*i+j, 0) / scale;
+
+            matd_destroy(Ainv);
+        } else {
+
+            matd_t *b = matd_create_data(9, 1, (float[]) { 1, 0, 0, 0, 0, 0, 0, 0, 0 });
+            matd_t *Ainv = NULL;
+
+            if (0) {
+                matd_plu_t *lu = matd_plu(A);
+                Ainv = matd_plu_solve(lu, b);
+                matd_plu_destroy(lu);
+            } else {
+                matd_chol_t *chol = matd_chol(A);
+                Ainv = matd_chol_solve(chol, b);
+                matd_chol_destroy(chol);
+            }
+
+            float scale = 0;
+
+            for (int i = 0; i < 9; i++)
+                scale += sq(MATD_EL(Ainv, i, 0));
+            scale = sqrt(scale);
+
+            for (int i = 0; i < 3; i++)
+                for (int j = 0; j < 3; j++)
+                    MATD_EL(H, i, j) = MATD_EL(Ainv, 3*i+j, 0) / scale;
+
+            matd_destroy(b);
+            matd_destroy(Ainv);
+        }
+
+    } else {
+        // compute singular vector using SVD. A bit slower, but more accurate.
+        matd_svd_t svd = matd_svd_flags(A, MATD_SVD_NO_WARNINGS);
+
+        for (int i = 0; i < 3; i++)
+            for (int j = 0; j < 3; j++)
+                MATD_EL(H, i, j) = MATD_EL(svd.U, 3*i+j, 8);
+
+        matd_destroy(svd.U);
+        matd_destroy(svd.S);
+        matd_destroy(svd.V);
+
+    }
+
+    matd_t *Tx = matd_identity(3);
+    MATD_EL(Tx,0,2) = -x_cx;
+    MATD_EL(Tx,1,2) = -x_cy;
+
+    matd_t *Ty = matd_identity(3);
+    MATD_EL(Ty,0,2) = y_cx;
+    MATD_EL(Ty,1,2) = y_cy;
+
+    matd_t *H2 = matd_op("M*M*M", Ty, H, Tx);
+
+    matd_destroy(A);
+    matd_destroy(Tx);
+    matd_destroy(Ty);
+    matd_destroy(H);
+
+    return H2;
+}
+
+
+// assuming that the projection matrix is:
+// [ fx 0  cx 0 ]
+// [  0 fy cy 0 ]
+// [  0  0  1 0 ]
+//
+// And that the homography is equal to the projection matrix times the
+// model matrix, recover the model matrix (which is returned). Note
+// that the third column of the model matrix is missing in the
+// expresison below, reflecting the fact that the homography assumes
+// all points are at z=0 (i.e., planar) and that the element of z is
+// thus omitted.  (3x1 instead of 4x1).
+//
+// [ fx 0  cx 0 ] [ R00  R01  TX ]    [ H00 H01 H02 ]
+// [  0 fy cy 0 ] [ R10  R11  TY ] =  [ H10 H11 H12 ]
+// [  0  0  1 0 ] [ R20  R21  TZ ] =  [ H20 H21 H22 ]
+//                [  0    0    1 ]
+//
+// fx*R00 + cx*R20 = H00   (note, H only known up to scale; some additional adjustments required; see code.)
+// fx*R01 + cx*R21 = H01
+// fx*TX  + cx*TZ  = H02
+// fy*R10 + cy*R20 = H10
+// fy*R11 + cy*R21 = H11
+// fy*TY  + cy*TZ  = H12
+// R20 = H20
+// R21 = H21
+// TZ  = H22
+
+matd_t *homography_to_pose(const matd_t *H, float fx, float fy, float cx, float cy)
+{
+    // Note that every variable that we compute is proportional to the scale factor of H.
+    float R20 = MATD_EL(H, 2, 0);
+    float R21 = MATD_EL(H, 2, 1);
+    float TZ  = MATD_EL(H, 2, 2);
+    float R00 = (MATD_EL(H, 0, 0) - cx*R20) / fx;
+    float R01 = (MATD_EL(H, 0, 1) - cx*R21) / fx;
+    float TX  = (MATD_EL(H, 0, 2) - cx*TZ)  / fx;
+    float R10 = (MATD_EL(H, 1, 0) - cy*R20) / fy;
+    float R11 = (MATD_EL(H, 1, 1) - cy*R21) / fy;
+    float TY  = (MATD_EL(H, 1, 2) - cy*TZ)  / fy;
+
+    // compute the scale by requiring that the rotation columns are unit length
+    // (Use geometric average of the two length vectors we have)
+    float length1 = sqrtf(R00*R00 + R10*R10 + R20*R20);
+    float length2 = sqrtf(R01*R01 + R11*R11 + R21*R21);
+    float s = 1.0 / sqrtf(length1 * length2);
+
+    // get sign of S by requiring the tag to be in front the camera;
+    // we assume camera looks in the -Z direction.
+    if (TZ > 0)
+        s *= -1;
+
+    R20 *= s;
+    R21 *= s;
+    TZ  *= s;
+    R00 *= s;
+    R01 *= s;
+    TX  *= s;
+    R10 *= s;
+    R11 *= s;
+    TY  *= s;
+
+    // now recover [R02 R12 R22] by noting that it is the cross product of the other two columns.
+    float R02 = R10*R21 - R20*R11;
+    float R12 = R20*R01 - R00*R21;
+    float R22 = R00*R11 - R10*R01;
+
+    // Improve rotation matrix by applying polar decomposition.
+    if (1) {
+        // do polar decomposition. This makes the rotation matrix
+        // "proper", but probably increases the reprojection error. An
+        // iterative alignment step would be superior.
+
+        matd_t *R = matd_create_data(3, 3, (float[]) { R00, R01, R02,
+                                                       R10, R11, R12,
+                                                       R20, R21, R22 });
+
+        matd_svd_t svd = matd_svd(R);
+        matd_destroy(R);
+
+        R = matd_op("M*M'", svd.U, svd.V);
+
+        matd_destroy(svd.U);
+        matd_destroy(svd.S);
+        matd_destroy(svd.V);
+
+        R00 = MATD_EL(R, 0, 0);
+        R01 = MATD_EL(R, 0, 1);
+        R02 = MATD_EL(R, 0, 2);
+        R10 = MATD_EL(R, 1, 0);
+        R11 = MATD_EL(R, 1, 1);
+        R12 = MATD_EL(R, 1, 2);
+        R20 = MATD_EL(R, 2, 0);
+        R21 = MATD_EL(R, 2, 1);
+        R22 = MATD_EL(R, 2, 2);
+
+        matd_destroy(R);
+    }
+
+    return matd_create_data(4, 4, (float[]) { R00, R01, R02, TX,
+                                               R10, R11, R12, TY,
+                                               R20, R21, R22, TZ,
+                                                0, 0, 0, 1 });
+}
+
+// Similar to above
+// Recover the model view matrix assuming that the projection matrix is:
+//
+// [ F  0  A  0 ]     (see glFrustrum)
+// [ 0  G  B  0 ]
+// [ 0  0  C  D ]
+// [ 0  0 -1  0 ]
+
+matd_t *homography_to_model_view(const matd_t *H, float F, float G, float A, float B, float C, float D)
+{
+    // Note that every variable that we compute is proportional to the scale factor of H.
+    float R20 = -MATD_EL(H, 2, 0);
+    float R21 = -MATD_EL(H, 2, 1);
+    float TZ  = -MATD_EL(H, 2, 2);
+    float R00 = (MATD_EL(H, 0, 0) - A*R20) / F;
+    float R01 = (MATD_EL(H, 0, 1) - A*R21) / F;
+    float TX  = (MATD_EL(H, 0, 2) - A*TZ)  / F;
+    float R10 = (MATD_EL(H, 1, 0) - B*R20) / G;
+    float R11 = (MATD_EL(H, 1, 1) - B*R21) / G;
+    float TY  = (MATD_EL(H, 1, 2) - B*TZ)  / G;
+
+    // compute the scale by requiring that the rotation columns are unit length
+    // (Use geometric average of the two length vectors we have)
+    float length1 = sqrtf(R00*R00 + R10*R10 + R20*R20);
+    float length2 = sqrtf(R01*R01 + R11*R11 + R21*R21);
+    float s = 1.0 / sqrtf(length1 * length2);
+
+    // get sign of S by requiring the tag to be in front of the camera
+    // (which is Z < 0) for our conventions.
+    if (TZ > 0)
+        s *= -1;
+
+    R20 *= s;
+    R21 *= s;
+    TZ  *= s;
+    R00 *= s;
+    R01 *= s;
+    TX  *= s;
+    R10 *= s;
+    R11 *= s;
+    TY  *= s;
+
+    // now recover [R02 R12 R22] by noting that it is the cross product of the other two columns.
+    float R02 = R10*R21 - R20*R11;
+    float R12 = R20*R01 - R00*R21;
+    float R22 = R00*R11 - R10*R01;
+
+    // TODO XXX: Improve rotation matrix by applying polar decomposition.
+
+    return matd_create_data(4, 4, (float[]) { R00, R01, R02, TX,
+        R10, R11, R12, TY,
+        R20, R21, R22, TZ,
+        0, 0, 0, 1 });
+}
+
+// Only uses the upper 3x3 matrix.
+/*
+static void matrix_to_quat(const matd_t *R, float q[4])
+{
+    // see: "from quaternion to matrix and back"
+
+    // trace: get the same result if R is 4x4 or 3x3:
+    float T = MATD_EL(R, 0, 0) + MATD_EL(R, 1, 1) + MATD_EL(R, 2, 2) + 1;
+    float S = 0;
+
+    float m0  = MATD_EL(R, 0, 0);
+    float m1  = MATD_EL(R, 1, 0);
+    float m2  = MATD_EL(R, 2, 0);
+    float m4  = MATD_EL(R, 0, 1);
+    float m5  = MATD_EL(R, 1, 1);
+    float m6  = MATD_EL(R, 2, 1);
+    float m8  = MATD_EL(R, 0, 2);
+    float m9  = MATD_EL(R, 1, 2);
+    float m10 = MATD_EL(R, 2, 2);
+
+    if (T > 0.0000001) {
+        S = sqrtf(T) * 2;
+        q[1] = -( m9 - m6 ) / S;
+        q[2] = -( m2 - m8 ) / S;
+        q[3] = -( m4 - m1 ) / S;
+        q[0] = 0.25 * S;
+    } else if ( m0 > m5 && m0 > m10 )  {	// Column 0:
+        S  = sqrtf( 1.0 + m0 - m5 - m10 ) * 2;
+        q[1] = -0.25 * S;
+        q[2] = -(m4 + m1 ) / S;
+        q[3] = -(m2 + m8 ) / S;
+        q[0] = (m9 - m6 ) / S;
+    } else if ( m5 > m10 ) {			// Column 1:
+        S  = sqrtf( 1.0 + m5 - m0 - m10 ) * 2;
+        q[1] = -(m4 + m1 ) / S;
+        q[2] = -0.25 * S;
+        q[3] = -(m9 + m6 ) / S;
+        q[0] = (m2 - m8 ) / S;
+    } else {
+        // Column 2:
+        S  = sqrtf( 1.0 + m10 - m0 - m5 ) * 2;
+        q[1] = -(m2 + m8 ) / S;
+        q[2] = -(m9 + m6 ) / S;
+        q[3] = -0.25 * S;
+        q[0] = (m4 - m1 ) / S;
+    }
+
+    float mag2 = 0;
+    for (int i = 0; i < 4; i++)
+        mag2 += q[i]*q[i];
+    float norm = 1.0 / sqrtf(mag2);
+    for (int i = 0; i < 4; i++)
+        q[i] *= norm;
+}
+*/
+
+// overwrites upper 3x3 area of matrix M. Doesn't touch any other elements of M.
+void quat_to_matrix(const float q[4], matd_t *M)
+{
+    float w = q[0], x = q[1], y = q[2], z = q[3];
+
+    MATD_EL(M, 0, 0) = w*w + x*x - y*y - z*z;
+    MATD_EL(M, 0, 1) = 2*x*y - 2*w*z;
+    MATD_EL(M, 0, 2) = 2*x*z + 2*w*y;
+
+    MATD_EL(M, 1, 0) = 2*x*y + 2*w*z;
+    MATD_EL(M, 1, 1) = w*w - x*x + y*y - z*z;
+    MATD_EL(M, 1, 2) = 2*y*z - 2*w*x;
+
+    MATD_EL(M, 2, 0) = 2*x*z - 2*w*y;
+    MATD_EL(M, 2, 1) = 2*y*z + 2*w*x;
+    MATD_EL(M, 2, 2) = w*w - x*x - y*y + z*z;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "g2d.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// This library tries to avoid needless proliferation of types.
+//
+// A point is a float[2]. (Note that when passing a float[2] as an
+// argument, it is passed by pointer, not by value.)
+//
+// A polygon is a zarray_t of float[2]. (Note that in this case, the
+// zarray contains the actual vertex data, and not merely a pointer to
+// some other data. IMPORTANT: A polygon must be specified in CCW
+// order.  It is implicitly closed (do not list the same point at the
+// beginning at the end.
+//
+// Where sensible, it is assumed that objects should be allocated
+// sparingly; consequently "init" style methods, rather than "create"
+// methods are used.
+
+////////////////////////////////////////////////////////////////////
+// Lines
+
+typedef struct
+{
+    // Internal representation: a point that the line goes through (p) and
+    // the direction of the line (u).
+    float p[2];
+    float u[2]; // always a unit vector
+} g2d_line_t;
+
+// initialize a line object.
+void g2d_line_init_from_points(g2d_line_t *line, const float p0[2], const float p1[2]);
+
+// The line defines a one-dimensional coordinate system whose origin
+// is p. Where is q? (If q is not on the line, the point nearest q is
+// returned.
+float g2d_line_get_coordinate(const g2d_line_t *line, const float q[2]);
+
+// Intersect two lines. The intersection, if it exists, is written to
+// p (if not NULL), and 1 is returned. Else, zero is returned.
+int g2d_line_intersect_line(const g2d_line_t *linea, const g2d_line_t *lineb, float *p);
+
+////////////////////////////////////////////////////////////////////
+// Line Segments. line.p is always one endpoint; p1 is the other
+// endpoint.
+typedef struct
+{
+    g2d_line_t line;
+    float p1[2];
+} g2d_line_segment_t;
+
+void g2d_line_segment_init_from_points(g2d_line_segment_t *seg, const float p0[2], const float p1[2]);
+
+// Intersect two segments. The intersection, if it exists, is written
+// to p (if not NULL), and 1 is returned. Else, zero is returned.
+int g2d_line_segment_intersect_segment(const g2d_line_segment_t *sega, const g2d_line_segment_t *segb, float *p);
+
+void g2d_line_segment_closest_point(const g2d_line_segment_t *seg, const float *q, float *p);
+float g2d_line_segment_closest_point_distance(const g2d_line_segment_t *seg, const float *q);
+
+////////////////////////////////////////////////////////////////////
+// Polygons
+
+zarray_t *g2d_polygon_create_data(float v[][2], int sz);
+
+zarray_t *g2d_polygon_create_zeros(int sz);
+
+zarray_t *g2d_polygon_create_empty();
+
+void g2d_polygon_add(zarray_t *poly, float v[2]);
+
+// Takes a polygon in either CW or CCW and modifies it (if necessary)
+// to be CCW.
+void g2d_polygon_make_ccw(zarray_t *poly);
+
+// Return 1 if point q lies within poly.
+int g2d_polygon_contains_point(const zarray_t *poly, float q[2]);
+
+// Do the edges of the polygons cross? (Does not test for containment).
+int g2d_polygon_intersects_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// Does polya completely contain polyb?
+int g2d_polygon_contains_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// Is there some point which is in both polya and polyb?
+int g2d_polygon_overlaps_polygon(const zarray_t *polya, const zarray_t *polyb);
+
+// returns the number of points written to x. see comments.
+int g2d_polygon_rasterize(const zarray_t *poly, float y, float *x);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "g2d.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+float g2d_distance(const float a[2], const float b[2])
+{
+    return sqrtf(sq(a[0]-b[0]) + sq(a[1]-b[1]));
+}
+
+zarray_t *g2d_polygon_create_empty()
+{
+    return zarray_create(sizeof(float[2]));
+}
+
+void g2d_polygon_add(zarray_t *poly, float v[2])
+{
+    zarray_add(poly, v);
+}
+
+zarray_t *g2d_polygon_create_data(float v[][2], int sz)
+{
+    zarray_t *points = g2d_polygon_create_empty();
+
+    for (int i = 0; i < sz; i++)
+        g2d_polygon_add(points, v[i]);
+
+    return points;
+}
+
+zarray_t *g2d_polygon_create_zeros(int sz)
+{
+    zarray_t *points = zarray_create(sizeof(float[2]));
+
+    float z[2] = { 0, 0 };
+
+    for (int i = 0; i < sz; i++)
+        zarray_add(points, z);
+
+    return points;
+}
+
+void g2d_polygon_make_ccw(zarray_t *poly)
+{
+    // Step one: we want the points in counter-clockwise order.
+    // If the points are in clockwise order, we'll reverse them.
+    float total_theta = 0;
+    float last_theta = 0;
+
+    // Count the angle accumulated going around the polygon. If
+    // the sum is +2pi, it's CCW. Otherwise, we'll get -2pi.
+    int sz = zarray_size(poly);
+
+    for (int i = 0; i <= sz; i++) {
+        float p0[2], p1[2];
+        zarray_get(poly, i % sz, &p0);
+        zarray_get(poly, (i+1) % sz, &p1);
+
+        float this_theta = atan2(p1[1]-p0[1], p1[0]-p0[0]);
+
+        if (i > 0) {
+            float dtheta = mod2pi(this_theta-last_theta);
+            total_theta += dtheta;
+        }
+
+        last_theta = this_theta;
+    }
+
+    int ccw = (total_theta > 0);
+
+    // reverse order if necessary.
+    if (!ccw) {
+        for (int i = 0; i < sz / 2; i++) {
+            float a[2], b[2];
+
+            zarray_get(poly, i, a);
+            zarray_get(poly, sz-1-i, b);
+            zarray_set(poly, i, b, NULL);
+            zarray_set(poly, sz-1-i, a, NULL);
+        }
+    }
+}
+
+int g2d_polygon_contains_point_ref(const zarray_t *poly, float q[2])
+{
+    // use winding. If the point is inside the polygon, we'll wrap
+    // around it (accumulating 6.28 radians). If we're outside the
+    // polygon, we'll accumulate zero.
+    int psz = zarray_size(poly);
+
+    float acc_theta = 0;
+
+    float last_theta;
+
+    for (int i = 0; i <= psz; i++) {
+        float p[2];
+
+        zarray_get(poly, i % psz, &p);
+
+        float this_theta = atan2(q[1]-p[1], q[0]-p[0]);
+
+        if (i != 0)
+            acc_theta += mod2pi(this_theta - last_theta);
+
+        last_theta = this_theta;
+    }
+
+    return acc_theta > M_PI;
+}
+
+/*
+// sort by x coordinate, ascending
+static int g2d_convex_hull_sort(const void *_a, const void *_b)
+{
+    float *a = (float*) _a;
+    float *b = (float*) _b;
+
+    if (a[0] < b[0])
+        return -1;
+    if (a[0] == b[0])
+        return 0;
+    return 1;
+}
+*/
+
+/*
+zarray_t *g2d_convex_hull2(const zarray_t *points)
+{
+    zarray_t *hull = zarray_copy(points);
+
+    zarray_sort(hull, g2d_convex_hull_sort);
+
+    int hsz = zarray_size(hull);
+    int hout = 0;
+
+    for (int hin = 1; hin < hsz; hin++) {
+        float *p;
+        zarray_get_volatile(hull, i, &p);
+
+        // Everything to the right of hin is already convex. We now
+        // add one point, p, which begins "connected" by two
+        // (coincident) edges from the last right-most point to p.
+        float *last;
+        zarray_get_volatile(hull, hout, &last);
+
+        // We now remove points from the convex hull by moving
+    }
+
+    return hull;
+}
+*/
+
+// creates and returns a zarray(float[2]). The resulting polygon is
+// CCW and implicitly closed. Unnecessary colinear points are omitted.
+zarray_t *g2d_convex_hull(const zarray_t *points)
+{
+    zarray_t *hull = zarray_create(sizeof(float[2]));
+
+    // gift-wrap algorithm.
+
+    // step 1: find left most point.
+    int insz = zarray_size(points);
+
+    // must have at least 2 points. (XXX need 3?)
+    assert(insz >= 2);
+
+    float *pleft = NULL;
+    for (int i = 0; i < insz; i++) {
+        float *p;
+        zarray_get_volatile(points, i, &p);
+
+        if (pleft == NULL || p[0] < pleft[0])
+            pleft = p;
+    }
+
+    // cannot be NULL since there must be at least one point.
+    assert(pleft != NULL);
+
+    zarray_add(hull, pleft);
+
+    // step 2. gift wrap. Keep searching for points that make the
+    // smallest-angle left-hand turn. This implementation is carefully
+    // written to use only addition/subtraction/multiply. No division
+    // or sqrts. This guarantees exact results for integer-coordinate
+    // polygons (no rounding/precision problems).
+    float *p = pleft;
+
+    while (1) {
+        assert(p != NULL);
+
+        float *q = NULL;
+        float n0 = 0, n1 = 0; // the normal to the line (p, q) (not
+                       // necessarily unit length).
+
+        // Search for the point q for which the line (p,q) is most "to
+        // the right of" the other points. (i.e., every time we find a
+        // point that is to the right of our current line, we change
+        // lines.)
+        for (int i = 0; i < insz; i++) {
+            float *thisq;
+            zarray_get_volatile(points, i, &thisq);
+
+            if (thisq == p)
+                continue;
+
+            // the first time we find another point, we initialize our
+            // value of q, forming the line (p,q)
+            if (q == NULL) {
+                q = thisq;
+                n0 = q[1] - p[1];
+                n1 = -q[0] + p[0];
+            } else {
+                // we already have a line (p,q). is point thisq RIGHT OF line (p, q)?
+                float e0 = thisq[0] - p[0], e1 = thisq[1] - p[1];
+                float dot = e0*n0 + e1*n1;
+
+                if (dot > 0) {
+                    // it is. change our line.
+                    q = thisq;
+                    n0 = q[1] - p[1];
+                    n1 = -q[0] + p[0];
+                }
+            }
+        }
+
+        // we must have elected *some* line, so long as there are at
+        // least 2 points in the polygon.
+        assert(q != NULL);
+
+        // loop completed?
+        if (q == pleft)
+            break;
+
+        int colinear = 0;
+
+        // is this new point colinear with the last two?
+        if (zarray_size(hull) > 1) {
+            float *o;
+            zarray_get_volatile(hull, zarray_size(hull) - 2, &o);
+
+            float e0 = o[0] - p[0];
+            float e1 = o[1] - p[1];
+
+            if (n0*e0 + n1*e1 == 0)
+                colinear = 1;
+        }
+
+        // if it is colinear, overwrite the last one.
+        if (colinear)
+            zarray_set(hull, zarray_size(hull)-1, q, NULL);
+        else
+            zarray_add(hull, q);
+
+        p = q;
+    }
+
+    return hull;
+}
+
+// Find point p on the boundary of poly that is closest to q.
+void g2d_polygon_closest_boundary_point(const zarray_t *poly, const float q[2], float *p)
+{
+    int psz = zarray_size(poly);
+    float min_dist = HUGE_VALF;
+
+    for (int i = 0; i < psz; i++) {
+        float *p0, *p1;
+
+        zarray_get_volatile(poly, i, &p0);
+        zarray_get_volatile(poly, (i+1) % psz, &p1);
+
+        g2d_line_segment_t seg;
+        g2d_line_segment_init_from_points(&seg, p0, p1);
+
+        float thisp[2];
+        g2d_line_segment_closest_point(&seg, q, thisp);
+
+        float dist = g2d_distance(q, thisp);
+        if (dist < min_dist) {
+            memcpy(p, thisp, sizeof(float[2]));
+            min_dist = dist;
+        }
+    }
+}
+
+int g2d_polygon_contains_point(const zarray_t *poly, float q[2])
+{
+    // use winding. If the point is inside the polygon, we'll wrap
+    // around it (accumulating 6.28 radians). If we're outside the
+    // polygon, we'll accumulate zero.
+    int psz = zarray_size(poly);
+    assert(psz > 0);
+
+    int last_quadrant;
+    int quad_acc = 0;
+
+    for (int i = 0; i <= psz; i++) {
+        float *p;
+
+        zarray_get_volatile(poly, i % psz, &p);
+
+        // p[0] < q[0]       p[1] < q[1]    quadrant
+        //     0                 0              0
+        //     0                 1              3
+        //     1                 0              1
+        //     1                 1              2
+
+        // p[1] < q[1]       p[0] < q[0]    quadrant
+        //     0                 0              0
+        //     0                 1              1
+        //     1                 0              3
+        //     1                 1              2
+
+        int quadrant;
+        if (p[0] < q[0])
+            quadrant = (p[1] < q[1]) ? 2 : 1;
+        else
+            quadrant = (p[1] < q[1]) ? 3 : 0;
+
+        if (i > 0) {
+            int dquadrant = quadrant - last_quadrant;
+
+            // encourage a jump table by mapping to small positive integers.
+            switch (dquadrant) {
+                case -3:
+                case 1:
+                    quad_acc ++;
+                    break;
+                case -1:
+                case 3:
+                    quad_acc --;
+                    break;
+                case 0:
+                    break;
+                case -2:
+                case 2:
+                {
+                    // get the previous point.
+                    float *p0;
+                    zarray_get_volatile(poly, i-1, &p0);
+
+                    // Consider the points p0 and p (the points around the
+                    //polygon that we are tracing) and the query point q.
+                    //
+                    // If we've moved diagonally across quadrants, we want
+                    // to measure whether we have rotated +PI radians or
+                    // -PI radians. We can test this by computing the dot
+                    // product of vector (p0-q) with the vector
+                    // perpendicular to vector (p-q)
+                    float nx = p[1] - q[1];
+                    float ny = -p[0] + q[0];
+
+                    float dot = nx*(p0[0]-q[0]) + ny*(p0[1]-q[1]);
+                    if (dot < 0)
+                        quad_acc -= 2;
+                    else
+                        quad_acc += 2;
+
+                    break;
+                }
+            }
+        }
+
+        last_quadrant = quadrant;
+    }
+
+    int v = (quad_acc >= 2) || (quad_acc <= -2);
+
+    if (0 && v != g2d_polygon_contains_point_ref(poly, q)) {
+        printf("FAILURE %d %d\n", v, quad_acc);
+        exit(-1);
+    }
+
+    return v;
+}
+
+void g2d_line_init_from_points(g2d_line_t *line, const float p0[2], const float p1[2])
+{
+    line->p[0] = p0[0];
+    line->p[1] = p0[1];
+    line->u[0] = p1[0]-p0[0];
+    line->u[1] = p1[1]-p0[1];
+    float mag = sqrtf(sq(line->u[0]) + sq(line->u[1]));
+
+    line->u[0] /= mag;
+    line->u[1] /= mag;
+}
+
+float g2d_line_get_coordinate(const g2d_line_t *line, const float q[2])
+{
+    return (q[0]-line->p[0])*line->u[0] + (q[1]-line->p[1])*line->u[1];
+}
+
+// Compute intersection of two line segments. If they intersect,
+// result is stored in p and 1 is returned. Otherwise, zero is
+// returned. p may be NULL.
+int g2d_line_intersect_line(const g2d_line_t *linea, const g2d_line_t *lineb, float *p)
+{
+    // this implementation is many times faster than the original,
+    // mostly due to avoiding a general-purpose LU decomposition in
+    // Matrix.inverse().
+    float m00, m01, m10, m11;
+    float i00, i01;
+    float b00, b10;
+
+    m00 = linea->u[0];
+    m01= -lineb->u[0];
+    m10 = linea->u[1];
+    m11= -lineb->u[1];
+
+    // determinant of m
+    float det = m00*m11-m01*m10;
+
+    // parallel lines?
+    if (fabs(det) < 0.00000001)
+        return 0;
+
+    // inverse of m
+    i00 = m11/det;
+    i01 = -m01/det;
+
+    b00 = lineb->p[0] - linea->p[0];
+    b10 = lineb->p[1] - linea->p[1];
+
+    float x00; //, x10;
+    x00 = i00*b00+i01*b10;
+
+    if (p != NULL) {
+        p[0] = linea->u[0]*x00 + linea->p[0];
+        p[1] = linea->u[1]*x00 + linea->p[1];
+    }
+
+    return 1;
+}
+
+
+void g2d_line_segment_init_from_points(g2d_line_segment_t *seg, const float p0[2], const float p1[2])
+{
+    g2d_line_init_from_points(&seg->line, p0, p1);
+    seg->p1[0] = p1[0];
+    seg->p1[1] = p1[1];
+}
+
+// Find the point p on segment seg that is closest to point q.
+void g2d_line_segment_closest_point(const g2d_line_segment_t *seg, const float *q, float *p)
+{
+    float a = g2d_line_get_coordinate(&seg->line, seg->line.p);
+    float b = g2d_line_get_coordinate(&seg->line, seg->p1);
+    float c = g2d_line_get_coordinate(&seg->line, q);
+
+    if (a < b)
+        c = dclamp(c, a, b);
+    else
+        c = dclamp(c, b, a);
+
+    p[0] = seg->line.p[0] + c * seg->line.u[0];
+    p[1] = seg->line.p[1] + c * seg->line.u[1];
+}
+
+// Compute intersection of two line segments. If they intersect,
+// result is stored in p and 1 is returned. Otherwise, zero is
+// returned. p may be NULL.
+int g2d_line_segment_intersect_segment(const g2d_line_segment_t *sega, const g2d_line_segment_t *segb, float *p)
+{
+    float tmp[2];
+
+    if (!g2d_line_intersect_line(&sega->line, &segb->line, tmp))
+        return 0;
+
+    float a = g2d_line_get_coordinate(&sega->line, sega->line.p);
+    float b = g2d_line_get_coordinate(&sega->line, sega->p1);
+    float c = g2d_line_get_coordinate(&sega->line, tmp);
+
+    // does intersection lie on the first line?
+    if ((c<a && c<b) || (c>a && c>b))
+        return 0;
+
+    a = g2d_line_get_coordinate(&segb->line, segb->line.p);
+    b = g2d_line_get_coordinate(&segb->line, segb->p1);
+    c = g2d_line_get_coordinate(&segb->line, tmp);
+
+    // does intersection lie on second line?
+    if ((c<a && c<b) || (c>a && c>b))
+        return 0;
+
+    if (p != NULL) {
+        p[0] = tmp[0];
+        p[1] = tmp[1];
+    }
+
+    return 1;
+}
+
+// Compute intersection of a line segment and a line. If they
+// intersect, result is stored in p and 1 is returned. Otherwise, zero
+// is returned. p may be NULL.
+int g2d_line_segment_intersect_line(const g2d_line_segment_t *seg, const g2d_line_t *line, float *p)
+{
+    float tmp[2];
+
+    if (!g2d_line_intersect_line(&seg->line, line, tmp))
+        return 0;
+
+    float a = g2d_line_get_coordinate(&seg->line, seg->line.p);
+    float b = g2d_line_get_coordinate(&seg->line, seg->p1);
+    float c = g2d_line_get_coordinate(&seg->line, tmp);
+
+    // does intersection lie on the first line?
+    if ((c<a && c<b) || (c>a && c>b))
+        return 0;
+
+    if (p != NULL) {
+        p[0] = tmp[0];
+        p[1] = tmp[1];
+    }
+
+    return 1;
+}
+
+// do the edges of polya and polyb collide? (Does NOT test for containment).
+int g2d_polygon_intersects_polygon(const zarray_t *polya, const zarray_t *polyb)
+{
+    // do any of the line segments collide? If so, the answer is no.
+
+    // dumb N^2 method.
+    for (int ia = 0; ia < zarray_size(polya); ia++) {
+        float pa0[2], pa1[2];
+        zarray_get(polya, ia, pa0);
+        zarray_get(polya, (ia+1)%zarray_size(polya), pa1);
+
+        g2d_line_segment_t sega;
+        g2d_line_segment_init_from_points(&sega, pa0, pa1);
+
+        for (int ib = 0; ib < zarray_size(polyb); ib++) {
+            float pb0[2], pb1[2];
+            zarray_get(polyb, ib, pb0);
+            zarray_get(polyb, (ib+1)%zarray_size(polyb), pb1);
+
+            g2d_line_segment_t segb;
+            g2d_line_segment_init_from_points(&segb, pb0, pb1);
+
+            if (g2d_line_segment_intersect_segment(&sega, &segb, NULL))
+                return 1;
+        }
+    }
+
+    return 0;
+}
+
+// does polya completely contain polyb?
+int g2d_polygon_contains_polygon(const zarray_t *polya, const zarray_t *polyb)
+{
+    // do any of the line segments collide? If so, the answer is no.
+    if (g2d_polygon_intersects_polygon(polya, polyb))
+        return 0;
+
+    // if none of the edges cross, then the polygon is either fully
+    // contained or fully outside.
+    float p[2];
+    zarray_get(polyb, 0, p);
+
+    return g2d_polygon_contains_point(polya, p);
+}
+
+// compute a point that is inside the polygon. (It may not be *far* inside though)
+void g2d_polygon_get_interior_point(const zarray_t *poly, float *p)
+{
+    // take the first three points, which form a triangle. Find the middle point
+    float a[2], b[2], c[2];
+
+    zarray_get(poly, 0, a);
+    zarray_get(poly, 1, b);
+    zarray_get(poly, 2, c);
+
+    p[0] = (a[0]+b[0]+c[0])/3;
+    p[1] = (a[1]+b[1]+c[1])/3;
+}
+
+int g2d_polygon_overlaps_polygon(const zarray_t *polya, const zarray_t *polyb)
+{
+    // do any of the line segments collide? If so, the answer is yes.
+    if (g2d_polygon_intersects_polygon(polya, polyb))
+        return 1;
+
+    // if none of the edges cross, then the polygon is either fully
+    // contained or fully outside.
+    float p[2];
+    g2d_polygon_get_interior_point(polyb, p);
+
+    if (g2d_polygon_contains_point(polya, p))
+        return 1;
+
+    g2d_polygon_get_interior_point(polya, p);
+
+    if (g2d_polygon_contains_point(polyb, p))
+        return 1;
+
+    return 0;
+}
+
+static int double_sort_up(const void *_a, const void *_b)
+{
+    float a = *((float*) _a);
+    float b = *((float*) _b);
+
+    if (a < b)
+        return -1;
+
+    if (a == b)
+        return 0;
+
+    return 1;
+}
+
+// Compute the crossings of the polygon along line y, storing them in
+// the array x. X must be allocated to be at least as long as
+// zarray_size(poly). X will be sorted, ready for
+// rasterization. Returns the number of intersections (and elements
+// written to x).
+/*
+  To rasterize, do something like this:
+
+  float res = 0.099;
+  for (float y = y0; y < y1; y += res) {
+  float xs[zarray_size(poly)];
+
+  int xsz = g2d_polygon_rasterize(poly, y, xs);
+  int xpos = 0;
+  int inout = 0; // start off "out"
+
+  for (float x = x0; x < x1; x += res) {
+      while (x > xs[xpos] && xpos < xsz) {
+        xpos++;
+        inout ^= 1;
+      }
+
+    if (inout)
+       printf("y");
+    else
+       printf(" ");
+  }
+  printf("\n");
+*/
+
+// returns the number of x intercepts
+int g2d_polygon_rasterize(const zarray_t *poly, float y, float *x)
+{
+    int sz = zarray_size(poly);
+
+    g2d_line_t line;
+    if (1) {
+        float p0[2] = { 0, y };
+        float p1[2] = { 1, y };
+
+        g2d_line_init_from_points(&line, p0, p1);
+    }
+
+    int xpos = 0;
+
+    for (int i = 0; i < sz; i++) {
+        g2d_line_segment_t seg;
+        float *p0, *p1;
+        zarray_get_volatile(poly, i, &p0);
+        zarray_get_volatile(poly, (i+1)%sz, &p1);
+
+        g2d_line_segment_init_from_points(&seg, p0, p1);
+
+        float q[2];
+        if (g2d_line_segment_intersect_line(&seg, &line, q))
+            x[xpos++] = q[0];
+    }
+
+    qsort(x, xpos, sizeof(float), double_sort_up);
+
+    return xpos;
+}
+
+/*
+  /---(1,5)
+  (-2,4)-/        |
+  \          |
+  \        (1,2)--(2,2)\
+  \                     \
+  \                      \
+  (0,0)------------------(4,0)
+*/
+#if 0
+
+#include "timeprofile.h"
+
+int main(int argc, char *argv[])
+{
+    timeprofile_t *tp = timeprofile_create();
+
+    zarray_t *polya = g2d_polygon_create_data((float[][2]) {
+            { 0, 0},
+            { 4, 0},
+            { 2, 2},
+            { 1, 2},
+            { 1, 5},
+            { -2,4} }, 6);
+
+    zarray_t *polyb = g2d_polygon_create_data((float[][2]) {
+            { .1, .1},
+            { .5, .1},
+            { .1, .5 } }, 3);
+
+    zarray_t *polyc = g2d_polygon_create_data((float[][2]) {
+            { 3, 0},
+            { 5, 0},
+            { 5, 1} }, 3);
+
+    zarray_t *polyd = g2d_polygon_create_data((float[][2]) {
+            { 5, 5},
+            { 6, 6},
+            { 5, 6} }, 3);
+
+/*
+  5      L---K
+  4      |I--J
+  3      |H-G
+  2      |E-F
+  1      |D--C
+  0      A---B
+  01234
+*/
+    zarray_t *polyE = g2d_polygon_create_data((float[][2]) {
+            {0,0}, {4,0}, {4, 1}, {1,1},
+                                  {1,2}, {3,2}, {3,3}, {1,3},
+                                                       {1,4}, {4,4}, {4,5}, {0,5}}, 12);
+
+    srand(0);
+
+    timeprofile_stamp(tp, "begin");
+
+    if (1) {
+        int niters = 100000;
+
+        for (int i = 0; i < niters; i++) {
+            float q[2];
+            q[0] = 10.0f * random() / RAND_MAX - 2;
+            q[1] = 10.0f * random() / RAND_MAX - 2;
+
+            g2d_polygon_contains_point(polyE, q);
+        }
+
+        timeprofile_stamp(tp, "fast");
+
+        for (int i = 0; i < niters; i++) {
+            float q[2];
+            q[0] = 10.0f * random() / RAND_MAX - 2;
+            q[1] = 10.0f * random() / RAND_MAX - 2;
+
+            g2d_polygon_contains_point_ref(polyE, q);
+        }
+
+        timeprofile_stamp(tp, "slow");
+
+        for (int i = 0; i < niters; i++) {
+            float q[2];
+            q[0] = 10.0f * random() / RAND_MAX - 2;
+            q[1] = 10.0f * random() / RAND_MAX - 2;
+
+            int v0 = g2d_polygon_contains_point(polyE, q);
+            int v1 = g2d_polygon_contains_point_ref(polyE, q);
+            assert(v0 == v1);
+        }
+
+        timeprofile_stamp(tp, "both");
+        timeprofile_display(tp);
+    }
+
+    if (1) {
+        zarray_t *poly = polyE;
+
+        float res = 0.399;
+        for (float y = 5.2; y >= -.5; y -= res) {
+            float xs[zarray_size(poly)];
+
+            int xsz = g2d_polygon_rasterize(poly, y, xs);
+            int xpos = 0;
+            int inout = 0; // start off "out"
+            for (float x = -3; x < 6; x += res) {
+                while (x > xs[xpos] && xpos < xsz) {
+                    xpos++;
+                    inout ^= 1;
+                }
+
+                if (inout)
+                    printf("y");
+                else
+                    printf(" ");
+            }
+            printf("\n");
+
+            for (float x = -3; x < 6; x += res) {
+                float q[2] = {x, y};
+                if (g2d_polygon_contains_point(poly, q))
+                    printf("X");
+                else
+                    printf(" ");
+            }
+            printf("\n");
+        }
+    }
+
+
+
+/*
+// CW order
+float p[][2] =  { { 0, 0},
+{ -2, 4},
+{1, 5},
+{1, 2},
+{2, 2},
+{4, 0} };
+*/
+
+     float q[2] = { 10, 10 };
+     printf("0==%d\n", g2d_polygon_contains_point(polya, q));
+
+     q[0] = 1; q[1] = 1;
+     printf("1==%d\n", g2d_polygon_contains_point(polya, q));
+
+     q[0] = 3; q[1] = .5;
+     printf("1==%d\n", g2d_polygon_contains_point(polya, q));
+
+     q[0] = 1.2; q[1] = 2.1;
+     printf("0==%d\n", g2d_polygon_contains_point(polya, q));
+
+     printf("0==%d\n", g2d_polygon_contains_polygon(polya, polyb));
+
+     printf("0==%d\n", g2d_polygon_contains_polygon(polya, polyc));
+
+     printf("0==%d\n", g2d_polygon_contains_polygon(polya, polyd));
+
+     ////////////////////////////////////////////////////////
+     // Test convex hull
+     if (1) {
+         zarray_t *hull = g2d_convex_hull(polyE);
+
+         for (int k = 0; k < zarray_size(hull); k++) {
+             float *h;
+             zarray_get_volatile(hull, k, &h);
+
+             printf("%15f, %15f\n", h[0], h[1]);
+         }
+     }
+
+     for (int i = 0; i < 100000; i++) {
+         zarray_t *points = zarray_create(sizeof(float[2]));
+
+         for (int j = 0; j < 100; j++) {
+             float q[2];
+             q[0] = 10.0f * random() / RAND_MAX - 2;
+             q[1] = 10.0f * random() / RAND_MAX - 2;
+
+             zarray_add(points, q);
+         }
+
+         zarray_t *hull = g2d_convex_hull(points);
+         for (int j = 0; j < zarray_size(points); j++) {
+             float *q;
+             zarray_get_volatile(points, j, &q);
+
+             int on_edge;
+
+             float p[2];
+             g2d_polygon_closest_boundary_point(hull, q, p);
+             if (g2d_distance(q, p) < .00001)
+                 on_edge = 1;
+
+             assert(on_edge || g2d_polygon_contains_point(hull, q));
+         }
+
+         zarray_destroy(hull);
+         zarray_destroy(points);
+     }
+}
+#endif
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "image_types.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// to support conversions between different types, we define all image
+// types at once. Type-specific implementations can then #include this
+// file, assured that the basic types of each image are known.
+
+typedef struct image_u8 image_u8_t;
+struct image_u8
+{
+    int32_t width;
+    int32_t height;
+    int32_t stride;
+
+    uint8_t *buf;
+};
+
+typedef struct image_u8x3 image_u8x3_t;
+struct image_u8x3
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // bytes per line
+
+    uint8_t *buf;
+};
+
+typedef struct image_u8x4 image_u8x4_t;
+struct image_u8x4
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // bytes per line
+
+    uint8_t *buf;
+};
+
+typedef struct image_f32 image_f32_t;
+struct image_f32
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // floats per line
+
+    float *buf; // indexed as buf[y*stride + x]
+};
+
+typedef struct image_u32 image_u32_t;
+struct image_u32
+{
+    const int32_t width;
+    const int32_t height;
+    const int32_t stride; // int32_ts per line
+
+    uint32_t *buf; // indexed as buf[y*stride + x]
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "apriltag_math.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// Computes the cholesky factorization of A, putting the lower
+// triangular matrix into R.
+static inline void mat33_chol(const float *A,
+                              float *R)
+{
+    // A[0] = R[0]*R[0]
+    R[0] = sqrt(A[0]);
+
+    // A[1] = R[0]*R[3];
+    R[3] = A[1] / R[0];
+
+    // A[2] = R[0]*R[6];
+    R[6] = A[2] / R[0];
+
+    // A[4] = R[3]*R[3] + R[4]*R[4]
+    R[4] = sqrt(A[4] - R[3]*R[3]);
+
+    // A[5] = R[3]*R[6] + R[4]*R[7]
+    R[7] = (A[5] - R[3]*R[6]) / R[4];
+
+    // A[8] = R[6]*R[6] + R[7]*R[7] + R[8]*R[8]
+    R[8] = sqrt(A[8] - R[6]*R[6] - R[7]*R[7]);
+
+    R[1] = 0;
+    R[2] = 0;
+    R[5] = 0;
+}
+
+static inline void mat33_lower_tri_inv(const float *A,
+                                       float *R)
+{
+    // A[0]*R[0] = 1
+    R[0] = 1 / A[0];
+
+    // A[3]*R[0] + A[4]*R[3] = 0
+    R[3] = -A[3]*R[0] / A[4];
+
+    // A[4]*R[4] = 1
+    R[4] = 1 / A[4];
+
+    // A[6]*R[0] + A[7]*R[3] + A[8]*R[6] = 0
+    R[6] = (-A[6]*R[0] - A[7]*R[3]) / A[8];
+
+    // A[7]*R[4] + A[8]*R[7] = 0
+    R[7] = -A[7]*R[4] / A[8];
+
+    // A[8]*R[8] = 1
+    R[8] = 1 / A[8];
+}
+
+
+static inline void mat33_sym_solve(const float *A,
+                                   const float *B,
+                                   float *R)
+{
+    float L[9];
+    mat33_chol(A, L);
+
+    float M[9];
+    mat33_lower_tri_inv(L, M);
+
+    float tmp[3];
+    tmp[0] = M[0]*B[0];
+    tmp[1] = M[3]*B[0] + M[4]*B[1];
+    tmp[2] = M[6]*B[0] + M[7]*B[1] + M[8]*B[2];
+
+    R[0] = M[0]*tmp[0] + M[3]*tmp[1] + M[6]*tmp[2];
+    R[1] = M[4]*tmp[1] + M[7]*tmp[2];
+    R[2] = M[8]*tmp[2];
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "apriltag.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+struct quad
+{
+    float p[4][2]; // corners
+
+    // H: tag coordinates ([-1,1] at the black corners) to pixels
+    // Hinv: pixels to tag
+    matd_t *H, *Hinv;
+};
+
+// Represents a tag family. Every tag belongs to a tag family. Tag
+// families are generated by the Java tool
+// april.tag.TagFamilyGenerator and can be converted to C using
+// april.tag.TagToC.
+typedef struct apriltag_family apriltag_family_t;
+struct apriltag_family
+{
+    // How many codes are there in this tag family?
+    uint32_t ncodes;
+
+    // how wide (in bit-sizes) is the black border? (usually 1)
+    uint32_t black_border;
+
+    // how many bits tall and wide is it? (e.g. 36bit tag ==> 6)
+    uint32_t d;
+
+    // minimum hamming distance between any two codes. (e.g. 36h11 => 11)
+    uint32_t h;
+
+    // The codes in the family.
+    uint64_t codes[];
+};
+
+struct apriltag_quad_thresh_params
+{
+    // reject quads containing too few pixels
+    int min_cluster_pixels;
+
+    // how many corner candidates to consider when segmenting a group
+    // of pixels into a quad.
+    int max_nmaxima;
+
+    // Reject quads where pairs of edges have angles that are close to
+    // straight or close to 180 degrees. Zero means that no quads are
+    // rejected. (In radians).
+    float critical_rad;
+
+    // When fitting lines to the contours, what is the maximum mean
+    // squared error allowed?  This is useful in rejecting contours
+    // that are far from being quad shaped; rejecting these quads "early"
+    // saves expensive decoding processing.
+    float max_line_fit_mse;
+
+    // When we build our model of black & white pixels, we add an
+    // extra check that the white model must be (overall) brighter
+    // than the black model.  How much brighter? (in pixel values,
+    // [0,255]). .
+    int min_white_black_diff;
+
+    // should the thresholded image be deglitched? Only useful for
+    // very noisy images
+    int deglitch;
+};
+
+// Represents a detector object. Upon creating a detector, all fields
+// are set to reasonable values, but can be overridden by accessing
+// these fields.
+typedef struct apriltag_detector apriltag_detector_t;
+struct apriltag_detector
+{
+    ///////////////////////////////////////////////////////////////
+    // User-configurable parameters.
+
+    // When non-zero, the edges of the each quad are adjusted to "snap
+    // to" strong gradients nearby. This is useful when decimation is
+    // employed, as it can increase the quality of the initial quad
+    // estimate substantially. Generally recommended to be on (1).
+    //
+    // Very computationally inexpensive. Option is ignored if
+    // quad_decimate = 1.
+    int refine_edges;
+
+    // when non-zero, detections are refined in a way intended to
+    // increase the number of detected tags. Especially effective for
+    // very small tags near the resolution threshold (e.g. 10px on a
+    // side).
+    int refine_decode;
+
+    // when non-zero, detections are refined in a way intended to
+    // increase the accuracy of the extracted pose. This is done by
+    // maximizing the contrast around the black and white border of
+    // the tag. This generally increases the number of successfully
+    // detected tags, though not as effectively (or quickly) as
+    // refine_decode.
+    //
+    // This option must be enabled in order for "goodness" to be
+    // computed.
+    int refine_pose;
+
+    struct apriltag_quad_thresh_params qtp;
+
+    ///////////////////////////////////////////////////////////////
+    // Statistics relating to last processed frame
+
+    uint32_t nedges;
+    uint32_t nsegments;
+    uint32_t nquads;
+
+    ///////////////////////////////////////////////////////////////
+    // Internal variables below
+
+    // Not freed on apriltag_destroy; a tag family can be shared
+    // between multiple users. The user should ultimately destroy the
+    // tag family passed into the constructor.
+    zarray_t *tag_families;
+};
+
+// Represents the detection of a tag. These are returned to the user
+// and must be individually destroyed by the user.
+typedef struct apriltag_detection apriltag_detection_t;
+struct apriltag_detection
+{
+    // a pointer for convenience. not freed by apriltag_detection_destroy.
+    apriltag_family_t *family;
+
+    // The decoded ID of the tag
+    int id;
+
+    // How many error bits were corrected? Note: accepting large numbers of
+    // corrected errors leads to greatly increased false positive rates.
+    // NOTE: As of this implementation, the detector cannot detect tags with
+    // a hamming distance greater than 2.
+    int hamming;
+
+    // A measure of the quality of tag localization: measures the
+    // average contrast of the pixels around the border of the
+    // tag. refine_pose must be enabled, or this field will be zero.
+    float goodness;
+
+    // A measure of the quality of the binary decoding process: the
+    // average difference between the intensity of a data bit versus
+    // the decision threshold. Higher numbers roughly indicate better
+    // decodes. This is a reasonable measure of detection accuracy
+    // only for very small tags-- not effective for larger tags (where
+    // we could have sampled anywhere within a bit cell and still
+    // gotten a good detection.)
+    float decision_margin;
+
+    // The 3x3 homography matrix describing the projection from an
+    // "ideal" tag (with corners at (-1,-1), (1,-1), (1,1), and (-1,
+    // 1)) to pixels in the image. This matrix will be freed by
+    // apriltag_detection_destroy.
+    matd_t *H;
+
+    // The center of the detection in image pixel coordinates.
+    float c[2];
+
+    // The corners of the tag in image pixel coordinates. These always
+    // wrap counter-clock wise around the tag.
+    float p[4][2];
+};
+
+// don't forget to add a family!
+apriltag_detector_t *apriltag_detector_create();
+
+// add a family to the apriltag detector. caller still "owns" the family.
+// a single instance should only be provided to one apriltag detector instance.
+void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected);
+
+// Tunable, but really, 2 is a good choice. Values of >=3
+// consume prohibitively large amounts of memory, and otherwise
+// you want the largest value possible.
+static inline void apriltag_detector_add_family(apriltag_detector_t *td, apriltag_family_t *fam)
+{
+    apriltag_detector_add_family_bits(td, fam, 2);
+}
+
+// does not deallocate the family.
+void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam);
+
+// unregister all families, but does not deallocate the underlying tag family objects.
+void apriltag_detector_clear_families(apriltag_detector_t *td);
+
+// Destroy the april tag detector (but not the underlying
+// apriltag_family_t used to initialize it.)
+void apriltag_detector_destroy(apriltag_detector_t *td);
+
+// Detect tags from an image and return an array of
+// apriltag_detection_t*. You can use apriltag_detections_destroy to
+// free the array and the detections it contains, or call
+// _detection_destroy and zarray_destroy yourself.
+zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig);
+
+// Call this method on each of the tags returned by apriltag_detector_detect
+void apriltag_detection_destroy(apriltag_detection_t *det);
+
+// destroys the array AND the detections within it.
+void apriltag_detections_destroy(zarray_t *detections);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "tag16h5"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const apriltag_family_t tag16h5 = {
+    .ncodes = 30,
+    .black_border = 1,
+    .d = 4,
+    .h = 5,
+    .codes = {
+        0x000000000000231bUL,
+        0x0000000000002ea5UL,
+        0x000000000000346aUL,
+        0x00000000000045b9UL,
+        0x00000000000079a6UL,
+        0x0000000000007f6bUL,
+        0x000000000000b358UL,
+        0x000000000000e745UL,
+        0x000000000000fe59UL,
+        0x000000000000156dUL,
+        0x000000000000380bUL,
+        0x000000000000f0abUL,
+        0x0000000000000d84UL,
+        0x0000000000004736UL,
+        0x0000000000008c72UL,
+        0x000000000000af10UL,
+        0x000000000000093cUL,
+        0x00000000000093b4UL,
+        0x000000000000a503UL,
+        0x000000000000468fUL,
+        0x000000000000e137UL,
+        0x0000000000005795UL,
+        0x000000000000df42UL,
+        0x0000000000001c1dUL,
+        0x000000000000e9dcUL,
+        0x00000000000073adUL,
+        0x000000000000ad5fUL,
+        0x000000000000d530UL,
+        0x00000000000007caUL,
+        0x000000000000af2eUL
+    }
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "tag25h7"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const apriltag_family_t tag25h7 = {
+    .ncodes = 242,
+    .black_border = 1,
+    .d = 5,
+    .h = 7,
+    .codes = {
+        0x00000000004b770dUL,
+        0x00000000011693e6UL,
+        0x0000000001a599abUL,
+        0x0000000000c3a535UL,
+        0x000000000152aafaUL,
+        0x0000000000accd98UL,
+        0x0000000001cad922UL,
+        0x00000000002c2fadUL,
+        0x0000000000bb3572UL,
+        0x00000000014a3b37UL,
+        0x000000000186524bUL,
+        0x0000000000c99d4cUL,
+        0x000000000023bfeaUL,
+        0x000000000141cb74UL,
+        0x0000000001d0d139UL,
+        0x0000000001670aebUL,
+        0x0000000000851675UL,
+        0x000000000150334eUL,
+        0x00000000006e3ed8UL,
+        0x0000000000fd449dUL,
+        0x0000000000aa55ecUL,
+        0x0000000001c86176UL,
+        0x00000000015e9b28UL,
+        0x00000000007ca6b2UL,
+        0x000000000147c38bUL,
+        0x0000000001d6c950UL,
+        0x00000000008b0e8cUL,
+        0x00000000011a1451UL,
+        0x0000000001562b65UL,
+        0x00000000013f53c8UL,
+        0x0000000000d58d7aUL,
+        0x0000000000829ec9UL,
+        0x0000000000faccf1UL,
+        0x000000000136e405UL,
+        0x00000000007a2f06UL,
+        0x00000000010934cbUL,
+        0x00000000016a8b56UL,
+        0x0000000001a6a26aUL,
+        0x0000000000f85545UL,
+        0x000000000195c2e4UL,
+        0x000000000024c8a9UL,
+        0x00000000012bfc96UL,
+        0x00000000016813aaUL,
+        0x0000000001a42abeUL,
+        0x0000000001573424UL,
+        0x0000000001044573UL,
+        0x0000000000b156c2UL,
+        0x00000000005e6811UL,
+        0x0000000001659bfeUL,
+        0x0000000001d55a63UL,
+        0x00000000005bf065UL,
+        0x0000000000e28667UL,
+        0x0000000001e9ba54UL,
+        0x00000000017d7c5aUL,
+        0x0000000001f5aa82UL,
+        0x0000000001a2bbd1UL,
+        0x00000000001ae9f9UL,
+        0x0000000001259e51UL,
+        0x000000000134062bUL,
+        0x0000000000e1177aUL,
+        0x0000000000ed07a8UL,
+        0x000000000162be24UL,
+        0x000000000059128bUL,
+        0x0000000001663e8fUL,
+        0x00000000001a83cbUL,
+        0x000000000045bb59UL,
+        0x000000000189065aUL,
+        0x00000000004bb370UL,
+        0x00000000016fb711UL,
+        0x000000000122c077UL,
+        0x0000000000eca17aUL,
+        0x0000000000dbc1f4UL,
+        0x000000000088d343UL,
+        0x000000000058ac5dUL,
+        0x0000000000ba02e8UL,
+        0x00000000001a1d9dUL,
+        0x0000000001c72eecUL,
+        0x0000000000924bc5UL,
+        0x0000000000dccab3UL,
+        0x0000000000886d15UL,
+        0x000000000178c965UL,
+        0x00000000005bc69aUL,
+        0x0000000001716261UL,
+        0x000000000174e2ccUL,
+        0x0000000001ed10f4UL,
+        0x0000000000156aa8UL,
+        0x00000000003e2a8aUL,
+        0x00000000002752edUL,
+        0x000000000153c651UL,
+        0x0000000001741670UL,
+        0x0000000000765b05UL,
+        0x000000000119c0bbUL,
+        0x000000000172a783UL,
+        0x00000000004faca1UL,
+        0x0000000000f31257UL,
+        0x00000000012441fcUL,
+        0x00000000000d3748UL,
+        0x0000000000c21f15UL,
+        0x0000000000ac5037UL,
+        0x000000000180e592UL,
+        0x00000000007d3210UL,
+        0x0000000000a27187UL,
+        0x00000000002beeafUL,
+        0x000000000026ff57UL,
+        0x0000000000690e82UL,
+        0x000000000077765cUL,
+        0x0000000001a9e1d7UL,
+        0x000000000140be1aUL,
+        0x0000000001aa1e3aUL,
+        0x0000000001944f5cUL,
+        0x00000000019b5032UL,
+        0x0000000000169897UL,
+        0x0000000001068eb9UL,
+        0x0000000000f30dbcUL,
+        0x000000000106a151UL,
+        0x0000000001d53e95UL,
+        0x0000000001348ceeUL,
+        0x0000000000cf4fcaUL,
+        0x0000000001728bb5UL,
+        0x0000000000dc1eecUL,
+        0x000000000069e8dbUL,
+        0x00000000016e1523UL,
+        0x000000000105fa25UL,
+        0x00000000018abb0cUL,
+        0x0000000000c4275dUL,
+        0x00000000006d8e76UL,
+        0x0000000000e8d6dbUL,
+        0x0000000000e16fd7UL,
+        0x0000000001ac2682UL,
+        0x000000000077435bUL,
+        0x0000000000a359ddUL,
+        0x00000000003a9c4eUL,
+        0x000000000123919aUL,
+        0x0000000001e25817UL,
+        0x000000000002a836UL,
+        0x00000000001545a4UL,
+        0x0000000001209c8dUL,
+        0x0000000000bb5f69UL,
+        0x0000000001dc1f02UL,
+        0x00000000005d5f7eUL,
+        0x00000000012d0581UL,
+        0x00000000013786c2UL,
+        0x0000000000e15409UL,
+        0x0000000001aa3599UL,
+        0x000000000139aad8UL,
+        0x0000000000b09d2aUL,
+        0x000000000054488fUL,
+        0x00000000013c351cUL,
+        0x0000000000976079UL,
+        0x0000000000b25b12UL,
+        0x0000000001addb34UL,
+        0x0000000001cb23aeUL,
+        0x0000000001175738UL,
+        0x0000000001303bb8UL,
+        0x0000000000d47716UL,
+        0x000000000188ceeaUL,
+        0x0000000000baf967UL,
+        0x0000000001226d39UL,
+        0x000000000135e99bUL,
+        0x000000000034adc5UL,
+        0x00000000002e384dUL,
+        0x000000000090d3faUL,
+        0x0000000000232713UL,
+        0x00000000017d49b1UL,
+        0x0000000000aa84d6UL,
+        0x0000000000c2ddf8UL,
+        0x0000000001665646UL,
+        0x00000000004f345fUL,
+        0x00000000002276b1UL,
+        0x0000000001255dd7UL,
+        0x00000000016f4cccUL,
+        0x00000000004aaffcUL,
+        0x0000000000c46da6UL,
+        0x000000000085c7b3UL,
+        0x0000000001311fcbUL,
+        0x00000000009c6c4fUL,
+        0x000000000187d947UL,
+        0x00000000008578e4UL,
+        0x0000000000e2bf0bUL,
+        0x0000000000a01b4cUL,
+        0x0000000000a1493bUL,
+        0x00000000007ad766UL,
+        0x0000000000ccfe82UL,
+        0x0000000001981b5bUL,
+        0x0000000001cacc85UL,
+        0x0000000000562cdbUL,
+        0x00000000015b0e78UL,
+        0x00000000008f66c5UL,
+        0x00000000003332bfUL,
+        0x00000000012ce754UL,
+        0x0000000000096a76UL,
+        0x0000000001d5e3baUL,
+        0x000000000027ea41UL,
+        0x00000000014412dfUL,
+        0x000000000067b9b4UL,
+        0x0000000000daa51aUL,
+        0x00000000001dcb17UL,
+        0x00000000004d4afdUL,
+        0x00000000006335d5UL,
+        0x0000000000ee2334UL,
+        0x00000000017d4e55UL,
+        0x0000000001b8b0f0UL,
+        0x00000000014999e3UL,
+        0x0000000001513dfaUL,
+        0x0000000000765cf2UL,
+        0x000000000056af90UL,
+        0x00000000012e16acUL,
+        0x0000000001d3d86cUL,
+        0x0000000000ff279bUL,
+        0x00000000018822ddUL,
+        0x000000000099d478UL,
+        0x00000000008dc0d2UL,
+        0x000000000034b666UL,
+        0x0000000000cf9526UL,
+        0x000000000186443dUL,
+        0x00000000007a8e29UL,
+        0x00000000019c6aa5UL,
+        0x0000000001f2a27dUL,
+        0x00000000012b2136UL,
+        0x0000000000d0cd0dUL,
+        0x00000000012cb320UL,
+        0x00000000017ddb0bUL,
+        0x000000000005353bUL,
+        0x00000000015b2cafUL,
+        0x0000000001e5a507UL,
+        0x000000000120f1e5UL,
+        0x000000000114605aUL,
+        0x00000000014efe4cUL,
+        0x0000000000568134UL,
+        0x00000000011b9f92UL,
+        0x000000000174d2a7UL,
+        0x0000000000692b1dUL,
+        0x000000000039e4feUL,
+        0x0000000000aaff3dUL,
+        0x000000000096224cUL,
+        0x00000000013c9f77UL,
+        0x000000000110ee8fUL,
+        0x0000000000f17beaUL,
+        0x000000000099fb5dUL,
+        0x0000000000337141UL,
+        0x000000000002b54dUL,
+        0x0000000001233a70UL
+    }
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "tag25h9"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const apriltag_family_t tag25h9 = {
+    .ncodes = 35,
+    .black_border = 1,
+    .d = 5,
+    .h = 9,
+    .codes = {
+        0x000000000155cbf1UL,
+        0x0000000001e4d1b6UL,
+        0x00000000017b0b68UL,
+        0x0000000001eac9cdUL,
+        0x00000000012e14ceUL,
+        0x00000000003548bbUL,
+        0x00000000007757e6UL,
+        0x0000000001065dabUL,
+        0x0000000001baa2e7UL,
+        0x0000000000dea688UL,
+        0x000000000081d927UL,
+        0x000000000051b241UL,
+        0x0000000000dbc8aeUL,
+        0x0000000001e50e19UL,
+        0x00000000015819d2UL,
+        0x00000000016d8282UL,
+        0x000000000163e035UL,
+        0x00000000009d9b81UL,
+        0x000000000173eec4UL,
+        0x0000000000ae3a09UL,
+        0x00000000005f7c51UL,
+        0x0000000001a137fcUL,
+        0x0000000000dc9562UL,
+        0x0000000001802e45UL,
+        0x0000000001c3542cUL,
+        0x0000000000870fa4UL,
+        0x0000000000914709UL,
+        0x00000000016684f0UL,
+        0x0000000000c8f2a5UL,
+        0x0000000000833ebbUL,
+        0x000000000059717fUL,
+        0x00000000013cd050UL,
+        0x0000000000fa0ad1UL,
+        0x0000000001b763b0UL,
+        0x0000000000b991ceUL
+    }
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "tag36h10"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const apriltag_family_t tag36h10 = {
+    .ncodes = 2320,
+    .black_border = 1,
+    .d = 6,
+    .h = 10,
+    .codes = {
+        0x00000001ca92a687UL,
+        0x000000020521ac4cUL,
+        0x000000027a3fb7d6UL,
+        0x00000002b4cebd9bUL,
+        0x00000003647bceeaUL,
+        0x000000039f0ad4afUL,
+        0x00000003d999da74UL,
+        0x000000044eb7e5feUL,
+        0x0000000538f3fd12UL,
+        0x00000005738302d7UL,
+        0x000000065dbf19ebUL,
+        0x000000070d6c2b3aUL,
+        0x00000007f7a8424eUL,
+        0x0000000832374813UL,
+        0x000000086cc64dd8UL,
+        0x00000008a755539dUL,
+        0x00000009570264ecUL,
+        0x0000000991916ab1UL,
+        0x0000000a06af763bUL,
+        0x0000000ab65c878aUL,
+        0x0000000b2b7a9314UL,
+        0x0000000b660998d9UL,
+        0x0000000bdb27a463UL,
+        0x0000000cc563bb77UL,
+        0x0000000e24bdde15UL,
+        0x0000000ed46aef64UL,
+        0x0000000f4988faeeUL,
+        0x000000006e5417c7UL,
+        0x0000000158902edbUL,
+        0x00000001cdae3a65UL,
+        0x0000000242cc45efUL,
+        0x000000027d5b4bb4UL,
+        0x00000002b7ea5179UL,
+        0x000000032d085d03UL,
+        0x00000003679762c8UL,
+        0x00000003a226688dUL,
+        0x00000003dcb56e52UL,
+        0x000000048c627fa1UL,
+        0x00000005769e96b5UL,
+        0x00000006264ba804UL,
+        0x0000000660daadc9UL,
+        0x00000006d5f8b953UL,
+        0x000000074b16c4ddUL,
+        0x00000007fac3d62cUL,
+        0x000000091f8ef305UL,
+        0x000000095a1df8caUL,
+        0x0000000994acfe8fUL,
+        0x0000000a09cb0a19UL,
+        0x0000000a445a0fdeUL,
+        0x0000000a7ee915a3UL,
+        0x0000000ab9781b68UL,
+        0x0000000af407212dUL,
+        0x0000000b69252cb7UL,
+        0x0000000c8df04990UL,
+        0x0000000d3d9d5adfUL,
+        0x0000000d782c60a4UL,
+        0x0000000f12158907UL,
+        0x00000001d0c9ce43UL,
+        0x000000020b58d408UL,
+        0x00000002f594eb1cUL,
+        0x00000003a541fc6bUL,
+        0x0000000454ef0dbaUL,
+        0x000000053f2b24ceUL,
+        0x0000000629673be2UL,
+        0x000000074e3258bbUL,
+        0x00000008ad8c7b59UL,
+        0x00000009d2579832UL,
+        0x0000000a8204a981UL,
+        0x0000000af722b50bUL,
+        0x0000000b6c40c095UL,
+        0x0000000ba6cfc65aUL,
+        0x0000000f15311ce5UL,
+        0x00000000748b3f83UL,
+        0x00000000af1a4548UL,
+        0x00000000e9a94b0dUL,
+        0x00000002be217935UL,
+        0x00000003e2ec960eUL,
+        0x00000004cd28ad22UL,
+        0x0000000507b7b2e7UL,
+        0x000000054246b8acUL,
+        0x000000057cd5be71UL,
+        0x00000006a1a0db4aUL,
+        0x00000006dc2fe10fUL,
+        0x0000000876190972UL,
+        0x000000099ae4264bUL,
+        0x0000000abfaf4324UL,
+        0x0000000c9427714cUL,
+        0x0000000d09457cd6UL,
+        0x0000000d43d4829bUL,
+        0x0000000ea32ea539UL,
+        0x0000000f52dbb688UL,
+        0x0000000161e2ea75UL,
+        0x0000000286ae074eUL,
+        0x000000066a2d6963UL,
+        0x00000008b3c3a315UL,
+        0x00000008ee52a8daUL,
+        0x0000000a131dc5b3UL,
+        0x0000000e6bbb3352UL,
+        0x0000000f55f74a66UL,
+        0x0000000005a45bb5UL,
+        0x000000007ac2673fUL,
+        0x00000001da1c89ddUL,
+        0x0000000289c99b2cUL,
+        0x00000003ae94b805UL,
+        0x000000050deedaa3UL,
+        0x00000005830ce62dUL,
+        0x00000005bd9bebf2UL,
+        0x0000000632b9f77cUL,
+        0x00000006e26708cbUL,
+        0x0000000841c12b69UL,
+        0x000000092bfd427dUL,
+        0x00000009668c4842UL,
+        0x00000009dbaa53ccUL,
+        0x0000000b007570a5UL,
+        0x0000000b3b04766aUL,
+        0x0000000c25408d7eUL,
+        0x0000000ea965ccf5UL,
+        0x0000000f93a1e409UL,
+        0x00000000434ef558UL,
+        0x00000001681a1231UL,
+        0x00000001dd381dbbUL,
+        0x0000000302033a94UL,
+        0x000000075aa0a833UL,
+        0x000000092f18d65bUL,
+        0x00000009a436e1e5UL,
+        0x0000000a1954ed6fUL,
+        0x0000000b78af100dUL,
+        0x0000000bb33e15d2UL,
+        0x0000000c62eb2721UL,
+        0x00000000466a8936UL,
+        0x00000000f6179a85UL,
+        0x000000016b35a60fUL,
+        0x0000000589440de9UL,
+        0x00000006738024fdUL,
+        0x0000000847f85325UL,
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+        0x00000000b8663437UL,
+        0x00000001cde52798UL,
+        0x00000006b8e658b1UL,
+        0x0000000b43c0d44dUL,
+        0x000000045481d697UL,
+        0x000000029de93df5UL,
+        0x000000010549b874UL,
+        0x0000000c056b5828UL,
+        0x000000003fa830adUL,
+        0x00000009496d14faUL,
+        0x0000000f540592a0UL,
+        0x0000000f31c8b855UL,
+        0x000000064f2ba36bUL,
+        0x0000000fe7c6e4f5UL,
+        0x00000005e42a78b0UL,
+        0x00000009c2b8b096UL,
+        0x0000000dcb4a6e71UL,
+        0x0000000d63b0e7edUL,
+        0x0000000de1bcbcdaUL,
+        0x000000068e7161f2UL,
+        0x00000003e5ddf88dUL,
+        0x0000000419a37501UL,
+        0x0000000fad63e7abUL,
+        0x0000000c6e81b4baUL,
+        0x00000008329315d3UL,
+        0x0000000c88d267e6UL,
+        0x000000073a0ac25fUL,
+        0x0000000e7b75690fUL,
+        0x0000000dcbb95be2UL,
+        0x00000007a1d2a059UL,
+        0x0000000d8fac361eUL,
+        0x00000006312ff5c9UL,
+        0x0000000d2cf50d54UL,
+        0x00000008c65fd00fUL,
+        0x0000000aa1636532UL,
+        0x0000000870c7285dUL,
+        0x00000001894f0b84UL,
+        0x00000004260cc5c3UL,
+        0x0000000e9997b9ecUL,
+        0x000000087a052144UL,
+        0x00000008706babf6UL,
+        0x0000000bd5f62ad3UL,
+        0x00000001a7895439UL,
+        0x0000000f7e294bbcUL,
+        0x0000000bcc27ca26UL,
+        0x00000003186a63d4UL,
+        0x00000007f3ede4a4UL,
+        0x0000000b64e32468UL,
+        0x000000071f250d53UL,
+        0x00000007c6513783UL,
+        0x0000000b1778714aUL,
+        0x000000094bf2c57fUL,
+        0x000000064a9f893aUL,
+        0x00000001305be654UL,
+        0x0000000493e0c9f6UL,
+        0x000000005ba6fed8UL,
+        0x0000000c4a0c7a06UL,
+        0x00000000cc2ec0ddUL,
+        0x0000000d9a6769afUL,
+        0x0000000724c78a49UL,
+        0x0000000c85c981a4UL,
+        0x000000012553c4cdUL,
+        0x000000083cb892b1UL,
+        0x0000000bc324ccc7UL,
+        0x0000000ef43f6c1dUL,
+        0x00000002d6748bb7UL,
+        0x00000005efdce2d7UL,
+        0x000000094af64f28UL,
+        0x0000000f9d58feb3UL,
+        0x0000000cf547ac63UL,
+        0x0000000ceb309febUL,
+        0x000000030beba8caUL,
+        0x00000008ab2e486aUL,
+        0x00000004a95d58adUL,
+        0x000000025ce07c46UL,
+        0x0000000712b93fd7UL,
+        0x00000007f46acc81UL,
+        0x000000064049d4beUL,
+        0x000000065303aa09UL,
+        0x0000000f3aad21b3UL,
+        0x00000002903a6cd0UL,
+        0x00000005a0e0467dUL,
+        0x00000003c4fa64e4UL,
+        0x00000005c6655126UL,
+        0x0000000b40a2a67fUL,
+        0x0000000b0c22c6e5UL,
+        0x00000001507e039bUL,
+        0x0000000b282b16b8UL,
+        0x0000000c0e14a3d3UL,
+        0x000000093d381427UL,
+        0x00000006bb55bb87UL,
+        0x0000000b675af72fUL,
+        0x0000000fceb4f95eUL,
+        0x000000066af6ebbdUL,
+        0x000000020a44d1f2UL,
+        0x00000006bc873916UL,
+        0x0000000b8947bee8UL,
+        0x00000004b6bed8a6UL,
+        0x00000007012f7867UL,
+        0x00000007eda3c150UL,
+        0x0000000ab3ef1b8eUL,
+        0x00000006d71466eeUL,
+        0x0000000408c4e225UL,
+        0x0000000e117838b1UL,
+        0x00000000aef3a075UL,
+        0x00000005a0779d4fUL,
+        0x000000070a3b1d69UL,
+        0x000000026ccd31fdUL,
+        0x0000000ed64dd1b2UL,
+        0x0000000981d4f60cUL,
+        0x00000006a6e4fb61UL,
+        0x000000052f15fc93UL,
+        0x0000000032b3a64dUL,
+        0x0000000ecb17d667UL,
+        0x0000000a983fb935UL,
+        0x000000037d23c88dUL,
+        0x0000000b8590fbcbUL,
+        0x0000000ec2f1a277UL,
+        0x000000090d3053e6UL,
+        0x0000000a36fa8ccdUL,
+        0x000000044bd08eccUL,
+        0x000000061dd197d9UL,
+        0x0000000a307cfd82UL,
+        0x00000001d09c2de4UL,
+        0x00000005f6d74368UL,
+        0x00000001327d1b2dUL,
+        0x0000000594cc36b9UL,
+        0x0000000fea1cba7cUL,
+        0x000000050c31262dUL,
+        0x0000000d99b1a6baUL,
+        0x00000001bf789cd2UL,
+        0x0000000e2f6f66f9UL,
+        0x000000013d5edfc6UL,
+        0x0000000bc3a9ab0cUL,
+        0x00000001da5b2734UL,
+        0x000000025ef4f2deUL,
+        0x0000000dcb55a50aUL,
+        0x00000009c6dbc6acUL,
+        0x000000089a838853UL,
+        0x0000000168f099eeUL,
+        0x0000000d51601760UL,
+        0x000000089f324f1aUL,
+        0x00000002cb1ec1eaUL,
+        0x00000006306de366UL,
+        0x0000000012a2f11eUL,
+        0x0000000b5c0bf797UL,
+        0x00000005c5f02be4UL,
+        0x00000005019f54beUL,
+        0x00000006ae4a096aUL,
+        0x00000004bce78778UL,
+        0x000000094b65b97fUL,
+        0x0000000d3f6e7bd2UL,
+        0x00000001fbd2a84cUL,
+        0x00000006d0127ab1UL,
+        0x00000003e82799aaUL,
+        0x00000004c1264dfeUL,
+        0x0000000cf69c9360UL,
+        0x00000004b43e5342UL,
+        0x000000035d1f0372UL,
+        0x0000000d78c18eb4UL,
+        0x0000000262574101UL,
+        0x0000000c2c5c7335UL,
+        0x0000000bad04051aUL,
+        0x00000001c481f94eUL,
+        0x00000003285aa0deUL,
+        0x00000008973e1f69UL,
+        0x00000005d238c694UL,
+        0x00000007b71847b9UL,
+        0x0000000242f5675cUL,
+        0x0000000cc5751c2dUL,
+        0x0000000e09bc620bUL,
+        0x00000000e4e904ddUL,
+        0x000000007ca4f1a7UL,
+        0x00000002ac79ae43UL,
+        0x0000000e213d4250UL,
+        0x0000000d4137c2b5UL,
+        0x0000000ddfce11bcUL,
+        0x0000000d1d658566UL,
+        0x0000000213f5b1bbUL,
+        0x0000000cd35be0a8UL,
+        0x0000000cc67d7f91UL,
+        0x0000000509bde098UL,
+        0x000000074d3d8f46UL,
+        0x000000051309c970UL,
+        0x000000053e2bdf66UL,
+        0x0000000a5dd3fed3UL,
+        0x0000000a4e69b212UL,
+        0x0000000b1d39936dUL,
+        0x00000006b6c8926bUL,
+        0x000000046540a7b0UL,
+        0x00000002eebc599fUL,
+        0x00000002e54a283eUL,
+        0x0000000f9a328a9cUL,
+        0x00000007ea9cfc53UL,
+        0x00000005cffa2bdbUL,
+        0x0000000464d16f8eUL,
+        0x0000000eb09444bcUL,
+        0x00000003f341b259UL,
+        0x00000004d112b108UL,
+        0x000000070cb94242UL,
+        0x0000000974ed4ffdUL,
+        0x00000001084da291UL,
+        0x000000085673ca39UL,
+        0x0000000d4d74766fUL,
+        0x000000064a68e1deUL,
+        0x0000000e35630caeUL,
+        0x00000002073229dbUL,
+        0x000000063d3a3902UL,
+        0x000000031598ee06UL,
+        0x0000000808d61126UL,
+        0x0000000029957984UL,
+        0x0000000d4f5f2649UL,
+        0x00000009ec8a706bUL,
+        0x0000000349981760UL,
+        0x0000000c93ab23a6UL,
+        0x00000002c7aa80daUL,
+        0x0000000866f102baUL,
+        0x0000000b15cff7bcUL,
+        0x000000066a13a4caUL,
+        0x000000054a755048UL,
+        0x0000000d13fdb8d9UL,
+        0x000000016ad5edf3UL,
+        0x0000000e043bb154UL,
+        0x0000000cc8755671UL,
+        0x0000000cf9b2bfd5UL,
+        0x00000003608890b4UL,
+        0x0000000330fef315UL,
+        0x0000000e3299ca65UL,
+        0x00000000b60765e1UL,
+        0x00000000e9bb17dcUL,
+        0x000000095f474d8bUL,
+        0x0000000e721d3d00UL,
+        0x0000000d4679e565UL,
+        0x0000000c80da6113UL,
+        0x000000098deeff30UL,
+        0x0000000c293bb871UL,
+        0x0000000e79132f48UL,
+        0x0000000b152dafbbUL,
+        0x000000055f6a4386UL,
+        0x0000000a1b8a4044UL,
+        0x00000004f4187b05UL,
+        0x00000000b17c2ed3UL,
+        0x000000095d75ba04UL,
+        0x0000000bbf12e96dUL,
+        0x00000006abd1a52fUL,
+        0x0000000f300bc991UL,
+        0x0000000f0a7385d4UL,
+        0x000000052964f82aUL,
+        0x0000000a9962925fUL,
+        0x0000000613b2eef1UL,
+        0x00000005fd2c92a8UL,
+        0x000000009ebecd05UL,
+        0x000000036002b87aUL,
+        0x0000000902c79eefUL,
+        0x0000000394e63c7eUL,
+        0x0000000133285064UL,
+        0x0000000f7cfe2d4bUL,
+        0x00000004f068522cUL,
+        0x000000096fea1a0fUL,
+        0x0000000c5a927b13UL,
+        0x0000000e9a2c1994UL,
+        0x00000005c53b3803UL,
+        0x0000000f636b6188UL,
+        0x0000000007c656e3UL,
+        0x000000026af1fc5fUL,
+        0x0000000ec2f40b78UL,
+        0x0000000faa1921e5UL,
+        0x00000006137a8b30UL,
+        0x0000000028674f7bUL,
+        0x00000003de184e35UL,
+        0x0000000eeef093e6UL,
+        0x0000000d44b3dae0UL,
+        0x0000000bb7ab7d93UL,
+        0x00000002ae18c956UL,
+        0x0000000cde492bd6UL,
+        0x00000001cee0216eUL,
+        0x0000000f1e5830adUL,
+        0x000000076f6c3299UL,
+        0x0000000dea24af84UL,
+        0x0000000277e75586UL,
+        0x0000000a17318024UL,
+        0x00000005c4739486UL,
+        0x00000005e3de4725UL,
+        0x00000006f67c9f6dUL,
+        0x000000025f42791dUL,
+        0x00000003c54d15b3UL,
+        0x0000000ef98d9c32UL,
+        0x000000042f64819dUL,
+        0x000000016d5fd070UL,
+        0x000000063cb98d4fUL,
+        0x000000045a3ad27cUL,
+        0x00000001b496b0acUL,
+        0x0000000aa471c42dUL,
+        0x00000000599346a2UL,
+        0x00000000dc8d1c2dUL,
+        0x00000007498928c1UL,
+        0x0000000ea06e90ffUL,
+        0x0000000b683baa32UL,
+        0x0000000f93014e16UL,
+        0x000000020575d56eUL,
+        0x0000000794325589UL,
+        0x00000001533e9935UL,
+        0x000000086b8bcb70UL,
+        0x0000000ce11faf5dUL,
+        0x000000036c0bd318UL,
+        0x0000000e5e8c1167UL,
+        0x0000000e1831ba64UL,
+        0x0000000e088dbfa4UL,
+        0x0000000984479674UL,
+        0x0000000afef02b29UL,
+        0x000000048518c716UL,
+        0x00000004301564ceUL,
+        0x000000021cc88710UL,
+        0x0000000d5c995278UL,
+        0x0000000d8367de1cUL,
+        0x00000004a51125e8UL,
+        0x0000000113e1c226UL,
+        0x0000000ef141e076UL,
+        0x000000044097011dUL,
+        0x00000004ca9d707cUL,
+        0x000000040d8831f1UL,
+        0x0000000bd9c3b1d8UL,
+        0x0000000978364177UL,
+        0x000000010f7606a9UL,
+        0x000000046a64270aUL,
+        0x000000042df1b22bUL,
+        0x0000000e906cf2a0UL,
+        0x0000000997da6fa5UL,
+        0x0000000a5722c26fUL,
+        0x0000000b14f58aaaUL,
+        0x0000000afc167ad8UL,
+        0x000000037be56e60UL,
+        0x0000000de7f80d62UL,
+        0x00000000c3fb0a64UL,
+        0x0000000ce8ca802cUL,
+        0x000000035032ed9dUL,
+        0x0000000aa8ba3ee6UL,
+        0x000000094b2e707cUL,
+        0x00000002debbdae1UL,
+        0x0000000f53e25fcfUL,
+        0x0000000e935543ebUL,
+        0x00000001462f0e90UL,
+        0x000000054ce7d18cUL,
+        0x00000002ddafdc5fUL,
+        0x0000000700565deeUL,
+        0x0000000fd408e0afUL,
+        0x000000017d089decUL,
+        0x0000000833ea2459UL,
+        0x00000003c8d3776aUL,
+        0x00000002e5eebac8UL,
+        0x000000020cbf49b0UL,
+        0x0000000c44675eb7UL,
+        0x00000003a4b6beb1UL,
+        0x0000000ce6f37c1eUL,
+        0x000000063fba2e7cUL,
+        0x00000005a05b553dUL,
+        0x00000001286445b0UL,
+        0x00000005e07a9b61UL,
+        0x00000007d8397ea4UL,
+        0x00000008084b7bbbUL,
+        0x0000000b05b38097UL,
+        0x000000029c3019eeUL,
+        0x0000000ed1d2708bUL,
+        0x00000009df8a4d47UL,
+        0x0000000e4891e436UL,
+        0x00000002a762ab72UL,
+        0x000000092f70600fUL,
+        0x000000092329a2cdUL,
+        0x00000003e200c6edUL,
+        0x00000008c0a7233eUL,
+        0x000000060866806aUL,
+        0x0000000f4fddd24aUL,
+        0x0000000f78464c71UL,
+        0x00000009c3d22242UL,
+        0x00000003877ea6d1UL,
+        0x0000000e2a6d54acUL,
+        0x0000000497d2a5e7UL,
+        0x0000000ca82f781eUL,
+        0x0000000481524f4cUL,
+        0x0000000dee088814UL,
+        0x0000000b2a82d3a4UL,
+        0x00000008e6afe6e5UL,
+        0x0000000d6279a5daUL,
+        0x00000004567cbc1aUL,
+        0x00000005bec2b2fdUL,
+        0x00000004ef452505UL,
+        0x000000061d992cbaUL,
+        0x0000000ab96be0cbUL,
+        0x0000000708ef35d9UL,
+        0x0000000b3f6f3623UL,
+        0x000000036eb1801dUL,
+        0x0000000badfee917UL,
+        0x0000000a3db13cd0UL,
+        0x00000001d1a12828UL,
+        0x00000002500816ceUL,
+        0x0000000cf7612148UL,
+        0x00000000be6a3f4bUL,
+        0x000000074142f3daUL,
+        0x0000000ce5deed92UL,
+        0x0000000f9530a786UL,
+        0x0000000047c8bb38UL,
+        0x0000000fcabfe88fUL,
+        0x0000000bc83accb1UL,
+        0x000000020cd9fb1fUL,
+        0x0000000023dcceb3UL,
+        0x00000009e969b8c4UL,
+        0x00000006e28de934UL,
+        0x000000080a399667UL,
+        0x000000076a0b85adUL,
+        0x000000021a84be3cUL,
+        0x0000000a28d028b5UL,
+        0x0000000c4e7690dfUL,
+        0x0000000bfd9621e8UL,
+        0x00000006f4bc0c24UL,
+        0x0000000aa8e76bd7UL,
+        0x0000000deb55dac9UL,
+        0x0000000bb344fa8bUL,
+        0x0000000fcaab4decUL,
+        0x0000000146aba6cbUL,
+        0x0000000f49ed6eb8UL,
+        0x0000000dd57e9deaUL,
+        0x0000000225d5d090UL,
+        0x0000000d6e86c1c5UL,
+        0x0000000639be5f39UL,
+        0x0000000f5e7a6132UL,
+        0x0000000d2968b09fUL,
+        0x000000082b30ba1eUL,
+        0x0000000803fa46ccUL,
+        0x0000000c290fab00UL,
+        0x000000010df59de5UL,
+        0x000000051ae9dcfbUL,
+        0x000000049af8516dUL,
+        0x000000002b564ce6UL,
+        0x0000000c615a1de0UL,
+        0x0000000fef9864a4UL,
+        0x0000000c16e27341UL,
+        0x000000039e846736UL,
+        0x00000001ecbb6746UL,
+        0x0000000588d03a7cUL,
+        0x000000010a0eaf9cUL,
+        0x0000000671ccea6bUL,
+        0x000000033a154603UL,
+        0x0000000a7b003bc1UL,
+        0x0000000c5fc3848dUL,
+        0x000000078e50a9c7UL,
+        0x000000017dbfb88eUL,
+        0x00000004fd0ed541UL,
+        0x000000084221debaUL,
+        0x00000003132cf7e6UL,
+        0x0000000b67e7ac53UL,
+        0x0000000df6b28024UL,
+        0x0000000785b9f7edUL,
+        0x0000000e3d35320dUL,
+        0x0000000159c06583UL,
+        0x00000005c54a80a3UL,
+        0x0000000ed4d4533bUL,
+        0x0000000cf16c601aUL,
+        0x00000005e94efbd1UL,
+        0x00000005d587126eUL,
+        0x0000000eef2f2807UL,
+        0x000000009f3c558eUL,
+        0x0000000736cfd539UL,
+        0x0000000f5a922ae1UL,
+        0x00000004e2ab9959UL,
+        0x00000006a2dd34e7UL,
+        0x00000008c9d30d23UL,
+        0x0000000eba20b791UL,
+        0x0000000d5c5095e3UL,
+        0x0000000423d75a82UL,
+        0x000000040cebaafeUL,
+        0x000000065e08d288UL,
+        0x00000002e4f6d767UL,
+        0x0000000fe10d2f21UL,
+        0x0000000110347bdaUL,
+        0x0000000e43a9bfb3UL,
+        0x0000000cdea483ccUL,
+        0x0000000fb1e2d8c6UL,
+        0x0000000d8a0af7a7UL,
+        0x000000037d05b182UL,
+        0x00000008d1241d83UL,
+        0x0000000da1ea7b6eUL,
+        0x000000065bea93dbUL,
+        0x00000002a02f8753UL,
+        0x0000000454243289UL,
+        0x00000004150bc5a2UL,
+        0x0000000bbabe5911UL,
+        0x00000004cbcdbc59UL,
+        0x0000000f0e61340bUL,
+        0x000000030a2cdea8UL,
+        0x00000005daecb091UL,
+        0x00000005dc93d891UL,
+        0x0000000c501b4051UL,
+        0x0000000782cfba78UL,
+        0x00000004c191b61eUL,
+        0x0000000b7e27ef35UL,
+        0x000000005a476838UL,
+        0x00000009b0209574UL,
+        0x0000000a775164cfUL,
+        0x0000000d33d21701UL,
+        0x00000003afcb7d45UL,
+        0x00000004df2035cdUL,
+        0x0000000498819a21UL,
+        0x0000000293f9e506UL,
+        0x00000009a35ff1c8UL,
+        0x0000000c090ebe6bUL,
+        0x0000000a4f0551d4UL,
+        0x00000005dc0dc194UL,
+        0x00000001388aeb31UL,
+        0x0000000340b27bf4UL,
+        0x00000003a0f320abUL,
+        0x00000000996be75dUL,
+        0x0000000b257ecf39UL,
+        0x000000078d86f2f1UL,
+        0x0000000673f5ff91UL,
+        0x00000004538d7e3eUL,
+        0x0000000de5bc4369UL
+    }
+};
+
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "tag36h11"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const apriltag_family_t tag36h11 = {
+    .ncodes = 587,
+    .black_border = 1,
+    .d = 6,
+    .h = 11,
+    .codes = {
+        0x0000000d5d628584UL,
+        0x0000000d97f18b49UL,
+        0x0000000dd280910eUL,
+        0x0000000e479e9c98UL,
+        0x0000000ebcbca822UL,
+        0x0000000f31dab3acUL,
+        0x0000000056a5d085UL,
+        0x000000010652e1d4UL,
+        0x000000022b1dfeadUL,
+        0x0000000265ad0472UL,
+        0x000000034fe91b86UL,
+        0x00000003ff962cd5UL,
+        0x000000043a25329aUL,
+        0x0000000474b4385fUL,
+        0x00000004e9d243e9UL,
+        0x00000005246149aeUL,
+        0x00000005997f5538UL,
+        0x0000000683bb6c4cUL,
+        0x00000006be4a7211UL,
+        0x00000007e3158eeaUL,
+        0x000000081da494afUL,
+        0x0000000858339a74UL,
+        0x00000008cd51a5feUL,
+        0x00000009f21cc2d7UL,
+        0x0000000a2cabc89cUL,
+        0x0000000adc58d9ebUL,
+        0x0000000b16e7dfb0UL,
+        0x0000000b8c05eb3aUL,
+        0x0000000d25ef139dUL,
+        0x0000000d607e1962UL,
+        0x0000000e4aba3076UL,
+        0x00000002dde6a3daUL,
+        0x000000043d40c678UL,
+        0x00000005620be351UL,
+        0x000000064c47fa65UL,
+        0x0000000686d7002aUL,
+        0x00000006c16605efUL,
+        0x00000006fbf50bb4UL,
+        0x00000008d06d39dcUL,
+        0x00000009f53856b5UL,
+        0x0000000adf746dc9UL,
+        0x0000000bc9b084ddUL,
+        0x0000000d290aa77bUL,
+        0x0000000d9e28b305UL,
+        0x0000000e4dd5c454UL,
+        0x0000000fad2fe6f2UL,
+        0x0000000181a8151aUL,
+        0x000000026be42c2eUL,
+        0x00000002e10237b8UL,
+        0x0000000405cd5491UL,
+        0x00000007742eab1cUL,
+        0x000000085e6ac230UL,
+        0x00000008d388cdbaUL,
+        0x00000009f853ea93UL,
+        0x0000000c41ea2445UL,
+        0x0000000cf1973594UL,
+        0x000000014a34a333UL,
+        0x000000031eacd15bUL,
+        0x00000006c79d2dabUL,
+        0x000000073cbb3935UL,
+        0x000000089c155bd3UL,
+        0x00000008d6a46198UL,
+        0x000000091133675dUL,
+        0x0000000a708d89fbUL,
+        0x0000000ae5ab9585UL,
+        0x0000000b9558a6d4UL,
+        0x0000000b98743ab2UL,
+        0x0000000d6cec68daUL,
+        0x00000001506bcaefUL,
+        0x00000004becd217aUL,
+        0x00000004f95c273fUL,
+        0x0000000658b649ddUL,
+        0x0000000a76c4b1b7UL,
+        0x0000000ecf621f56UL,
+        0x00000001c8a56a57UL,
+        0x00000003628e92baUL,
+        0x000000053706c0e2UL,
+        0x00000005e6b3d231UL,
+        0x00000007809cfa94UL,
+        0x0000000e97eead6fUL,
+        0x00000005af40604aUL,
+        0x00000007492988adUL,
+        0x0000000ed5994712UL,
+        0x00000005eceaf9edUL,
+        0x00000007c1632815UL,
+        0x0000000c1a0095b4UL,
+        0x0000000e9e25d52bUL,
+        0x00000003a6705419UL,
+        0x0000000a8333012fUL,
+        0x00000004ce5704d0UL,
+        0x0000000508e60a95UL,
+        0x0000000877476120UL,
+        0x0000000a864e950dUL,
+        0x0000000ea45cfce7UL,
+        0x000000019da047e8UL,
+        0x000000024d4d5937UL,
+        0x00000006e079cc9bUL,
+        0x000000099f2e11d7UL,
+        0x000000033aa50429UL,
+        0x0000000499ff26c7UL,
+        0x000000050f1d3251UL,
+        0x000000066e7754efUL,
+        0x000000096ad633ceUL,
+        0x00000009a5653993UL,
+        0x0000000aca30566cUL,
+        0x0000000c298a790aUL,
+        0x00000008be44b65dUL,
+        0x0000000dc68f354bUL,
+        0x000000016f7f919bUL,
+        0x00000004dde0e826UL,
+        0x0000000d548cbd9fUL,
+        0x0000000e0439ceeeUL,
+        0x0000000fd8b1fd16UL,
+        0x000000076521bb7bUL,
+        0x0000000d92375742UL,
+        0x0000000cab16d40cUL,
+        0x0000000730c9dd72UL,
+        0x0000000ad9ba39c2UL,
+        0x0000000b14493f87UL,
+        0x000000052b15651fUL,
+        0x0000000185409cadUL,
+        0x000000077ae2c68dUL,
+        0x000000094f5af4b5UL,
+        0x00000000a13bad55UL,
+        0x000000061ea437cdUL,
+        0x0000000a022399e2UL,
+        0x0000000203b163d1UL,
+        0x00000007bba8f40eUL,
+        0x000000095bc9442dUL,
+        0x000000041c0b5358UL,
+        0x00000008e9c6cc81UL,
+        0x00000000eb549670UL,
+        0x00000009da3a0b51UL,
+        0x0000000d832a67a1UL,
+        0x0000000dcd4350bcUL,
+        0x00000004aa05fdd2UL,
+        0x000000060c7bb44eUL,
+        0x00000004b358b96cUL,
+        0x0000000067299b45UL,
+        0x0000000b9c89b5faUL,
+        0x00000006975acaeaUL,
+        0x000000062b8f7afaUL,
+        0x000000033567c3d7UL,
+        0x0000000bac139950UL,
+        0x0000000a5927c62aUL,
+        0x00000005c916e6a4UL,
+        0x0000000260ecb7d5UL,
+        0x000000029b7bbd9aUL,
+        0x0000000903205f26UL,
+        0x0000000ae72270a4UL,
+        0x00000003d2ec51a7UL,
+        0x000000082ea55324UL,
+        0x000000011a6f3427UL,
+        0x00000001ca1c4576UL,
+        0x0000000a40c81aefUL,
+        0x0000000bddccd730UL,
+        0x00000000e617561eUL,
+        0x0000000969317b0fUL,
+        0x000000067f781364UL,
+        0x0000000610912f96UL,
+        0x0000000b2549fdfcUL,
+        0x000000006e5aaa6bUL,
+        0x0000000b6c475339UL,
+        0x0000000c56836a4dUL,
+        0x0000000844e351ebUL,
+        0x00000004647f83b4UL,
+        0x00000000908a04f5UL,
+        0x00000007f51034c9UL,
+        0x0000000aee537fcaUL,
+        0x00000005e92494baUL,
+        0x0000000d445808f4UL,
+        0x000000028d68b563UL,
+        0x000000004d25374bUL,
+        0x00000002bc065f65UL,
+        0x000000096dc3ea0cUL,
+        0x00000004b2ade817UL,
+        0x000000007c3fd502UL,
+        0x0000000e768b5cafUL,
+        0x000000017605cf6cUL,
+        0x0000000182741ee4UL,
+        0x000000062846097cUL,
+        0x000000072b5ebf80UL,
+        0x0000000263da6e13UL,
+        0x0000000fa841bcb5UL,
+        0x00000007e45e8c69UL,
+        0x0000000653c81fa0UL,
+        0x00000007443b5e70UL,
+        0x00000000a5234afdUL,
+        0x000000074756f24eUL,
+        0x0000000157ebf02aUL,
+        0x000000082ef46939UL,
+        0x000000080d420264UL,
+        0x00000002aeed3e98UL,
+        0x0000000b0a1dd4f8UL,
+        0x0000000b5436be13UL,
+        0x00000007b7b4b13bUL,
+        0x00000001ce80d6d3UL,
+        0x000000016c08427dUL,
+        0x0000000ee54462ddUL,
+        0x00000001f7644cceUL,
+        0x00000009c7b5cc92UL,
+        0x0000000e369138f8UL,
+        0x00000005d5a66e91UL,
+        0x0000000485d62f49UL,
+        0x0000000e6e819e94UL,
+        0x0000000b1f340eb5UL,
+        0x000000009d198ce2UL,
+        0x0000000d60717437UL,
+        0x00000000196b856cUL,
+        0x0000000f0a6173a5UL,
+        0x000000012c0e1ec6UL,
+        0x000000062b82d5cfUL,
+        0x0000000ad154c067UL,
+        0x0000000ce3778832UL,
+        0x00000006b0a7b864UL,
+        0x00000004c7686694UL,
+        0x00000005058ff3ecUL,
+        0x0000000d5e21ea23UL,
+        0x00000009ff4a76eeUL,
+        0x00000009dd981019UL,
+        0x00000001bad4d30aUL,
+        0x0000000c601896d1UL,
+        0x0000000973439b48UL,
+        0x00000001ce7431a8UL,
+        0x000000057a8021d6UL,
+        0x0000000f9dba96e6UL,
+        0x000000083a2e4e7cUL,
+        0x00000008ea585380UL,
+        0x0000000af6c0e744UL,
+        0x0000000875b73babUL,
+        0x0000000da34ca901UL,
+        0x00000002ab9727efUL,
+        0x0000000d39f21b9aUL,
+        0x00000008a10b742fUL,
+        0x00000005f8952dbaUL,
+        0x0000000f8da71ab0UL,
+        0x0000000c25f9df96UL,
+        0x000000006f8a5d94UL,
+        0x0000000e42e63e1aUL,
+        0x0000000b78409d1bUL,
+        0x0000000792229addUL,
+        0x00000005acf8c455UL,
+        0x00000002fc29a9b0UL,
+        0x0000000ea486237bUL,
+        0x0000000b0c9685a0UL,
+        0x00000001ad748a47UL,
+        0x000000003b4712d5UL,
+        0x0000000f29216d30UL,
+        0x00000008dad65e49UL,
+        0x00000000a2cf09ddUL,
+        0x00000000b5f174c6UL,
+        0x0000000e54f57743UL,
+        0x0000000b9cf54d78UL,
+        0x00000004a312a88aUL,
+        0x000000027babc962UL,
+        0x0000000b86897111UL,
+        0x0000000f2ff6c116UL,
+        0x000000082274bd8aUL,
+        0x000000097023505eUL,
+        0x000000052d46edd1UL,
+        0x0000000585c1f538UL,
+        0x0000000bddd00e43UL,
+        0x00000005590b74dfUL,
+        0x0000000729404a1fUL,
+        0x000000065320855eUL,
+        0x0000000d3d4b6956UL,
+        0x00000007ae374f14UL,
+        0x00000002d7a60e06UL,
+        0x0000000315cd9b5eUL,
+        0x0000000fd36b4eacUL,
+        0x0000000f1df7642bUL,
+        0x000000055db27726UL,
+        0x00000008f15ebc19UL,
+        0x0000000992f8c531UL,
+        0x000000062dea2a40UL,
+        0x0000000928275cabUL,
+        0x000000069c263cb9UL,
+        0x0000000a774cca9eUL,
+        0x0000000266b2110eUL,
+        0x00000001b14acbb8UL,
+        0x0000000624b8a71bUL,
+        0x00000001c539406bUL,
+        0x00000003086d529bUL,
+        0x00000000111dd66eUL,
+        0x000000098cd630bfUL,
+        0x00000008b9d1ffdcUL,
+        0x000000072b2f61e7UL,
+        0x00000009ed9d672bUL,
+        0x000000096cdd15f3UL,
+        0x00000006366c2504UL,
+        0x00000006ca9df73aUL,
+        0x0000000a066d60f0UL,
+        0x0000000e7a4b8addUL,
+        0x00000008264647efUL,
+        0x0000000aa195bf81UL,
+        0x00000009a3db8244UL,
+        0x0000000014d2df6aUL,
+        0x00000000b63265b7UL,
+        0x00000002f010de73UL,
+        0x000000097e774986UL,
+        0x0000000248affc29UL,
+        0x0000000fb57dcd11UL,
+        0x00000000b1a7e4d9UL,
+        0x00000004bfa2d07dUL,
+        0x000000054e5cdf96UL,
+        0x00000004c15c1c86UL,
+        0x0000000cd9c61166UL,
+        0x0000000499380b2aUL,
+        0x0000000540308d09UL,
+        0x00000008b63fe66fUL,
+        0x0000000c81aeb35eUL,
+        0x000000086fe0bd5cUL,
+        0x0000000ce2480c2aUL,
+        0x00000001ab29ee60UL,
+        0x00000008048daa15UL,
+        0x0000000dbfeb2d39UL,
+        0x0000000567c9858cUL,
+        0x00000002b6edc5bcUL,
+        0x00000002078fca82UL,
+        0x0000000adacc22aaUL,
+        0x0000000b92486f49UL,
+        0x000000051fac5964UL,
+        0x0000000691ee6420UL,
+        0x0000000f63b3e129UL,
+        0x000000039be7e572UL,
+        0x0000000da2ce6c74UL,
+        0x000000020cf17a5cUL,
+        0x0000000ee55f9b6eUL,
+        0x0000000fb8572726UL,
+        0x0000000b2c2de548UL,
+        0x0000000caa9bce92UL,
+        0x0000000ae9182db3UL,
+        0x000000074b6e5bd1UL,
+        0x0000000137b252afUL,
+        0x000000051f686881UL,
+        0x0000000d672f6c02UL,
+        0x0000000654146ce4UL,
+        0x0000000f944bc825UL,
+        0x0000000e8327f809UL,
+        0x000000076a73fd59UL,
+        0x0000000f79da4cb4UL,
+        0x0000000956f8099bUL,
+        0x00000007b5f2655cUL,
+        0x0000000d06b114a6UL,
+        0x0000000d0697ca50UL,
+        0x000000027c390797UL,
+        0x0000000bc61ed9b2UL,
+        0x0000000cc12dd19bUL,
+        0x0000000eb7818d2cUL,
+        0x0000000092fcecdaUL,
+        0x000000089ded4ea1UL,
+        0x0000000256a0ba34UL,
+        0x0000000b6948e627UL,
+        0x00000001ef6b1054UL,
+        0x00000008639294a2UL,
+        0x0000000eda3780a4UL,
+        0x000000039ee2af1dUL,
+        0x0000000cd257edc5UL,
+        0x00000002d9d6bc22UL,
+        0x0000000121d3b47dUL,
+        0x000000037e23f8adUL,
+        0x0000000119f31cf6UL,
+        0x00000002c97f4f09UL,
+        0x0000000d502abfe0UL,
+        0x000000010bc3ca77UL,
+        0x000000053d7190efUL,
+        0x000000090c3e62a6UL,
+        0x00000007e9ebf675UL,
+        0x0000000979ce23d1UL,
+        0x000000027f0c98e9UL,
+        0x0000000eafb4ae59UL,
+        0x00000007ca7fe2bdUL,
+        0x00000001490ca8f6UL,
+        0x00000009123387baUL,
+        0x0000000b3bc73888UL,
+        0x00000003ea87e325UL,
+        0x00000004888964aaUL,
+        0x0000000a0188a6b9UL,
+        0x0000000cd383c666UL,
+        0x000000040029a3fdUL,
+        0x0000000e1c00ac5cUL,
+        0x000000039e6f2b6eUL,
+        0x0000000de664f622UL,
+        0x0000000e979a75e8UL,
+        0x00000007c6b4c86cUL,
+        0x0000000fd492e071UL,
+        0x00000008fbb35118UL,
+        0x000000040b4a09b7UL,
+        0x0000000af80bd6daUL,
+        0x000000070e0b2521UL,
+        0x00000002f5c54d93UL,
+        0x00000003f4a118d5UL,
+        0x000000009c1897b9UL,
+        0x0000000079776eacUL,
+        0x0000000084b00b17UL,
+        0x00000003a95ad90eUL,
+        0x000000028c544095UL,
+        0x000000039d457c05UL,
+        0x00000007a3791a78UL,
+        0x0000000bb770e22eUL,
+        0x00000009a822bd6cUL,
+        0x000000068a4b1fedUL,
+        0x0000000a5fd27b3bUL,
+        0x00000000c3995b79UL,
+        0x0000000d1519dff1UL,
+        0x00000008e7eee359UL,
+        0x0000000cd3ca50b1UL,
+        0x0000000b73b8b793UL,
+        0x000000057aca1c43UL,
+        0x0000000ec2655277UL,
+        0x0000000785a2c1b3UL,
+        0x000000075a07985aUL,
+        0x0000000a4b01eb69UL,
+        0x0000000a18a11347UL,
+        0x0000000db1f28ca3UL,
+        0x0000000877ec3e25UL,
+        0x000000031f6341b8UL,
+        0x00000001363a3a4cUL,
+        0x0000000075d8b9baUL,
+        0x00000007ae0792a9UL,
+        0x0000000a83a21651UL,
+        0x00000007f08f9fb5UL,
+        0x00000000d0cf73a9UL,
+        0x0000000b04dcc98eUL,
+        0x0000000f65c7b0f8UL,
+        0x000000065ddaf69aUL,
+        0x00000002cf9b86b3UL,
+        0x000000014cb51e25UL,
+        0x0000000f48027b5bUL,
+        0x00000000ec26ea8bUL,
+        0x000000044bafd45cUL,
+        0x0000000b12c7c0c4UL,
+        0x0000000959fd9d82UL,
+        0x0000000c77c9725aUL,
+        0x000000048a22d462UL,
+        0x00000008398e8072UL,
+        0x0000000ec89b05ceUL,
+        0x0000000bb682d4c9UL,
+        0x0000000e5a86d2ffUL,
+        0x0000000358f01134UL,
+        0x00000008556ddcf6UL,
+        0x000000067584b6e2UL,
+        0x000000011609439fUL,
+        0x000000008488816eUL,
+        0x0000000aaf1a2c46UL,
+        0x0000000f879898cfUL,
+        0x00000008bbe5e2f7UL,
+        0x0000000101eee363UL,
+        0x0000000690f69377UL,
+        0x0000000f5bd93cd9UL,
+        0x0000000cea4c2bf6UL,
+        0x00000009550be706UL,
+        0x00000002c5b38a60UL,
+        0x0000000e72033547UL,
+        0x00000004458b0629UL,
+        0x0000000ee8d9ed41UL,
+        0x0000000d2f918d72UL,
+        0x000000078dc39fd3UL,
+        0x00000008212636f6UL,
+        0x00000007450a72a7UL,
+        0x0000000c4f0cf4c6UL,
+        0x0000000367bcddcdUL,
+        0x0000000c1caf8cc6UL,
+        0x0000000a7f5b853dUL,
+        0x00000009d536818bUL,
+        0x0000000535e021b0UL,
+        0x0000000a7eb8729eUL,
+        0x0000000422a67b49UL,
+        0x0000000929e928a6UL,
+        0x000000048e8aefccUL,
+        0x0000000a9897393cUL,
+        0x00000005eb81d37eUL,
+        0x00000001e80287b7UL,
+        0x000000034770d903UL,
+        0x00000002eef86728UL,
+        0x000000059266ccb6UL,
+        0x00000000110bba61UL,
+        0x00000001dfd284efUL,
+        0x0000000447439d1bUL,
+        0x0000000fece0e599UL,
+        0x00000009309f3703UL,
+        0x000000080764d1ddUL,
+        0x0000000353f1e6a0UL,
+        0x00000002c1c12dccUL,
+        0x0000000c1d21b9d7UL,
+        0x0000000457ee453eUL,
+        0x0000000d66faf540UL,
+        0x000000044831e652UL,
+        0x0000000cfd49a848UL,
+        0x00000009312d4133UL,
+        0x00000003f097d3eeUL,
+        0x00000008c9ebef7aUL,
+        0x0000000a99e29e88UL,
+        0x00000000e9fab22cUL,
+        0x00000004e748f4fbUL,
+        0x0000000ecdee4288UL,
+        0x0000000abce5f1d0UL,
+        0x0000000c42f6876cUL,
+        0x00000007ed402ea0UL,
+        0x0000000e5c4242c3UL,
+        0x0000000d5b2c31aeUL,
+        0x0000000286863be6UL,
+        0x0000000160444d94UL,
+        0x00000005f0f5808eUL,
+        0x0000000ae3d44b2aUL,
+        0x00000009f5c5d109UL,
+        0x00000008ad9316d7UL,
+        0x00000003422ba064UL,
+        0x00000002fed11d56UL,
+        0x0000000bea6e3e04UL,
+        0x000000004b029eecUL,
+        0x00000006deed7435UL,
+        0x00000003718ce17cUL,
+        0x000000055857f5e2UL,
+        0x00000002edac7b62UL,
+        0x0000000085d6c512UL,
+        0x0000000d6ca88e0fUL,
+        0x00000002b7e1fc69UL,
+        0x0000000a699d5c1bUL,
+        0x0000000f05ad74deUL,
+        0x00000004cf5fb56dUL,
+        0x00000005725e07e1UL,
+        0x000000072f18a2deUL,
+        0x00000001cec52609UL,
+        0x000000048534243cUL,
+        0x00000002523a4d69UL,
+        0x000000035c1b80d1UL,
+        0x0000000a4d7338a7UL,
+        0x00000000db1af012UL,
+        0x0000000e61a9475dUL,
+        0x000000005df03f91UL,
+        0x000000097ae260bbUL,
+        0x000000032d627fefUL,
+        0x0000000b640f73c2UL,
+        0x000000045a1ac9c6UL,
+        0x00000006a2202de1UL,
+        0x000000057d3e25f2UL,
+        0x00000005aa9f986eUL,
+        0x00000000cc859d8aUL,
+        0x0000000e3ec6cca8UL,
+        0x000000054e95e1aeUL,
+        0x0000000446887b06UL,
+        0x00000007516732beUL,
+        0x00000003817ac8f5UL,
+        0x00000003e26d938cUL,
+        0x0000000aa81bc235UL,
+        0x0000000df387ca1bUL,
+        0x00000000f3a3b3f2UL,
+        0x0000000b4bf69677UL,
+        0x0000000ae21868edUL,
+        0x000000081e1d2d9dUL,
+        0x0000000a0a9ea14cUL,
+        0x00000008eee297a9UL,
+        0x00000004740c0559UL,
+        0x0000000e8b141837UL,
+        0x0000000ac69e0a3dUL,
+        0x00000009ed83a1e1UL,
+        0x00000005edb55ecbUL,
+        0x000000007340fe81UL,
+        0x000000050dfbc6bfUL,
+        0x00000004f583508aUL,
+        0x0000000cb1fb78bcUL,
+        0x00000004025ced2fUL,
+        0x000000039791ebecUL,
+        0x000000053ee388f1UL,
+        0x00000007d6c0bd23UL,
+        0x000000093a995fbeUL,
+        0x00000008a41728deUL,
+        0x00000002fe70e053UL,
+        0x0000000ab3db443aUL,
+        0x00000001364edb05UL,
+        0x000000047b6eeed6UL,
+        0x000000012e71af01UL,
+        0x000000052ff83587UL,
+        0x00000003a1575dd8UL,
+        0x00000003feaa3564UL,
+        0x0000000eacf78ba7UL,
+        0x00000000872b94f8UL,
+        0x0000000da8ddf9a2UL,
+        0x00000009aa920d2bUL,
+        0x00000001f350ed36UL,
+        0x000000018a5e861fUL,
+        0x00000002c35b89c3UL,
+        0x00000003347ac48aUL,
+        0x00000007f23e022eUL,
+        0x00000002459068fbUL,
+        0x0000000e83be4b73UL
+    }
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "artoolkit"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+const apriltag_family_t artoolkit = {
+    .ncodes = 512,
+    .black_border = 1,
+    .d = 6,
+    .h = 7,
+    .codes = {
+        0x0006dc269c27UL,
+        0x0006d4229e26UL,
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+    }
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "union_find.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+typedef struct unionfind unionfind_t;
+
+struct unionfind
+{
+    struct ufrec *data;
+};
+
+struct ufrec
+{
+    // the parent of this node. If a node's parent is its own index,
+    // then it is a root.
+#ifdef IMLIB_ENABLE_HIGH_RES_APRILTAGS
+    uint32_t parent;
+#else
+    uint16_t parent;
+#endif
+};
+
+static inline unionfind_t *unionfind_create(uint32_t maxid)
+{
+    unionfind_t *uf = (unionfind_t*) fb_alloc(sizeof(unionfind_t), FB_ALLOC_NO_HINT);
+    uf->data = (struct ufrec*) fb_alloc((maxid+1) * sizeof(struct ufrec), FB_ALLOC_NO_HINT);
+    for (int i = 0; i <= maxid; i++) {
+        uf->data[i].parent = i;
+    }
+    return uf;
+}
+
+static inline void unionfind_destroy(unionfind_t *pt)
+{
+    fb_free(pt->data);
+    fb_free(pt);
+}
+
+/*
+static inline uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
+{
+    // base case: a node is its own parent
+    if (uf->data[id].parent == id)
+        return id;
+
+    // otherwise, recurse
+    uint32_t root = unionfind_get_representative(uf, uf->data[id].parent);
+
+    // short circuit the path. [XXX This write prevents tail recursion]
+    uf->data[id].parent = root;
+
+    return root;
+}
+*/
+
+// this one seems to be every-so-slightly faster than the recursive
+// version above.
+static inline uint32_t unionfind_get_representative(unionfind_t *uf, uint32_t id)
+{
+    uint32_t root = id;
+
+    // chase down the root
+    while (uf->data[root].parent != root) {
+        root = uf->data[root].parent;
+    }
+
+    // go back and collapse the tree.
+    //
+    // XXX: on some of our workloads that have very shallow trees
+    // (e.g. image segmentation), we are actually faster not doing
+    // this...
+    while (uf->data[id].parent != root) {
+        uint32_t tmp = uf->data[id].parent;
+        uf->data[id].parent = root;
+        id = tmp;
+    }
+
+    return root;
+}
+
+static inline uint32_t unionfind_connect(unionfind_t *uf, uint32_t aid, uint32_t bid)
+{
+    uint32_t aroot = unionfind_get_representative(uf, aid);
+    uint32_t broot = unionfind_get_representative(uf, bid);
+
+    if (aroot != broot)
+        uf->data[broot].parent = aroot;
+
+    return aroot;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "union_find.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "apriltag_quad_thresh.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// limitation: image size must be <32768 in width and height. This is
+// because we use a fixed-point 16 bit integer representation with one
+// fractional bit.
+
+static inline uint32_t u64hash_2(uint64_t x) {
+    return (2654435761 * x) >> 32;
+    return (uint32_t) x;
+}
+
+struct uint32_zarray_entry
+{
+    uint32_t id;
+    zarray_t *cluster;
+
+    struct uint32_zarray_entry *next;
+};
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+struct pt
+{
+    // Note: these represent 2*actual value.
+    uint16_t x, y;
+    float theta;
+    int16_t gx, gy;
+};
+
+struct remove_vertex
+{
+    int i;           // which vertex to remove?
+    int left, right; // left vertex, right vertex
+
+    float err;
+};
+
+struct segment
+{
+    int is_vertex;
+
+    // always greater than zero, but right can be > size, which denotes
+    // a wrap around back to the beginning of the points. and left < right.
+    int left, right;
+};
+
+struct line_fit_pt
+{
+    float Mx, My;
+    float Mxx, Myy, Mxy;
+    float W; // total weight
+};
+
+static inline void ptsort(struct pt *pts, int sz)
+{
+#define MAYBE_SWAP(arr,apos,bpos)                                   \
+    if (arr[apos].theta > arr[bpos].theta) {                        \
+        tmp = arr[apos]; arr[apos] = arr[bpos]; arr[bpos] = tmp;    \
+    };
+
+    if (sz <= 1)
+        return;
+
+    if (sz == 2) {
+        struct pt tmp;
+        MAYBE_SWAP(pts, 0, 1);
+        return;
+    }
+
+    // NB: Using less-branch-intensive sorting networks here on the
+    // hunch that it's better for performance.
+    if (sz == 3) { // 3 element bubble sort is optimal
+        struct pt tmp;
+        MAYBE_SWAP(pts, 0, 1);
+        MAYBE_SWAP(pts, 1, 2);
+        MAYBE_SWAP(pts, 0, 1);
+        return;
+    }
+
+    if (sz == 4) { // 4 element optimal sorting network.
+        struct pt tmp;
+        MAYBE_SWAP(pts, 0, 1); // sort each half, like a merge sort
+        MAYBE_SWAP(pts, 2, 3);
+        MAYBE_SWAP(pts, 0, 2); // minimum value is now at 0.
+        MAYBE_SWAP(pts, 1, 3); // maximum value is now at end.
+        MAYBE_SWAP(pts, 1, 2); // that only leaves the middle two.
+        return;
+    }
+
+    if (sz == 5) {
+        // this 9-step swap is optimal for a sorting network, but two
+        // steps slower than a generic sort.
+        struct pt tmp;
+        MAYBE_SWAP(pts, 0, 1); // sort each half (3+2), like a merge sort
+        MAYBE_SWAP(pts, 3, 4);
+        MAYBE_SWAP(pts, 1, 2);
+        MAYBE_SWAP(pts, 0, 1);
+        MAYBE_SWAP(pts, 0, 3); // minimum element now at 0
+        MAYBE_SWAP(pts, 2, 4); // maximum element now at end
+        MAYBE_SWAP(pts, 1, 2); // now resort the three elements 1-3.
+        MAYBE_SWAP(pts, 2, 3);
+        MAYBE_SWAP(pts, 1, 2);
+        return;
+    }
+
+#undef MAYBE_SWAP
+
+    // a merge sort with temp storage.
+
+    struct pt *tmp = fb_alloc(sizeof(struct pt) * sz, FB_ALLOC_NO_HINT);
+
+    memcpy(tmp, pts, sizeof(struct pt) * sz);
+
+    int asz = sz/2;
+    int bsz = sz - asz;
+
+    struct pt *as = &tmp[0];
+    struct pt *bs = &tmp[asz];
+
+    ptsort(as, asz);
+    ptsort(bs, bsz);
+
+#define MERGE(apos,bpos)                        \
+    if (as[apos].theta < bs[bpos].theta)        \
+        pts[outpos++] = as[apos++];             \
+    else                                        \
+        pts[outpos++] = bs[bpos++];
+
+    int apos = 0, bpos = 0, outpos = 0;
+    while (apos + 8 < asz && bpos + 8 < bsz) {
+        MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos);
+        MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos); MERGE(apos,bpos);
+    }
+
+    while (apos < asz && bpos < bsz) {
+        MERGE(apos,bpos);
+    }
+
+    if (apos < asz)
+        memcpy(&pts[outpos], &as[apos], (asz-apos)*sizeof(struct pt));
+    if (bpos < bsz)
+        memcpy(&pts[outpos], &bs[bpos], (bsz-bpos)*sizeof(struct pt));
+
+    fb_free(tmp); // tmp
+
+#undef MERGE
+}
+
+// lfps contains *cumulative* moments for N points, with
+// index j reflecting points [0,j] (inclusive).
+//
+// fit a line to the points [i0, i1] (inclusive). i0, i1 are both [0,
+// sz) if i1 < i0, we treat this as a wrap around.
+void fit_line(struct line_fit_pt *lfps, int sz, int i0, int i1, float *lineparm, float *err, float *mse)
+{
+    assert(i0 != i1);
+    assert(i0 >= 0 && i1 >= 0 && i0 < sz && i1 < sz);
+
+    float Mx, My, Mxx, Myy, Mxy, W;
+    int N; // how many points are included in the set?
+
+    if (i0 < i1) {
+        N = i1 - i0 + 1;
+
+        Mx  = lfps[i1].Mx;
+        My  = lfps[i1].My;
+        Mxx = lfps[i1].Mxx;
+        Mxy = lfps[i1].Mxy;
+        Myy = lfps[i1].Myy;
+        W   = lfps[i1].W;
+
+        if (i0 > 0) {
+            Mx  -= lfps[i0-1].Mx;
+            My  -= lfps[i0-1].My;
+            Mxx -= lfps[i0-1].Mxx;
+            Mxy -= lfps[i0-1].Mxy;
+            Myy -= lfps[i0-1].Myy;
+            W   -= lfps[i0-1].W;
+        }
+
+    } else {
+        // i0 > i1, e.g. [15, 2]. Wrap around.
+        assert(i0 > 0);
+
+        Mx  = lfps[sz-1].Mx   - lfps[i0-1].Mx;
+        My  = lfps[sz-1].My   - lfps[i0-1].My;
+        Mxx = lfps[sz-1].Mxx  - lfps[i0-1].Mxx;
+        Mxy = lfps[sz-1].Mxy  - lfps[i0-1].Mxy;
+        Myy = lfps[sz-1].Myy  - lfps[i0-1].Myy;
+        W   = lfps[sz-1].W    - lfps[i0-1].W;
+
+        Mx  += lfps[i1].Mx;
+        My  += lfps[i1].My;
+        Mxx += lfps[i1].Mxx;
+        Mxy += lfps[i1].Mxy;
+        Myy += lfps[i1].Myy;
+        W   += lfps[i1].W;
+
+        N = sz - i0 + i1 + 1;
+    }
+
+    assert(N >= 2);
+
+    float Ex = Mx / W;
+    float Ey = My / W;
+    float Cxx = Mxx / W - Ex*Ex;
+    float Cxy = Mxy / W - Ex*Ey;
+    float Cyy = Myy / W - Ey*Ey;
+
+    float nx, ny;
+
+    if (1) {
+        // on iOS about 5% of total CPU spent in these trig functions.
+        // 85 ms per frame on 5S, example.pnm
+        //
+        // XXX this was using the float-precision atan2. Was there a case where
+        // we needed that precision? Seems doubtful.
+        float normal_theta = .5 * atan2f(-2*Cxy, (Cyy - Cxx));
+        nx = cosf(normal_theta);
+        ny = sinf(normal_theta);
+    } else {
+        // 73.5 ms per frame on 5S, example.pnm
+        float ty = -2*Cxy;
+        float tx = (Cyy - Cxx);
+        float mag = ty*ty + tx*tx;
+
+        if (mag == 0) {
+            nx = 1;
+            ny = 0;
+        } else {
+            float norm = sqrtf(ty*ty + tx*tx);
+            tx /= norm;
+
+            // ty is now sin(2theta)
+            // tx is now cos(2theta). We want sin(theta) and cos(theta)
+
+            // due to precision err, tx could still have slightly too large magnitude.
+            if (tx > 1) {
+                ny = 0;
+                nx = 1;
+            } else if (tx < -1) {
+                ny = 1;
+                nx = 0;
+            } else {
+                // half angle formula
+                ny = sqrtf((1 - tx)/2);
+                nx = sqrtf((1 + tx)/2);
+
+                // pick a consistent branch cut
+                if (ty < 0)
+                    ny = - ny;
+            }
+        }
+    }
+
+    if (lineparm) {
+        lineparm[0] = Ex;
+        lineparm[1] = Ey;
+        lineparm[2] = nx;
+        lineparm[3] = ny;
+    }
+
+    // sum of squared errors =
+    //
+    // SUM_i ((p_x - ux)*nx + (p_y - uy)*ny)^2
+    // SUM_i  nx*nx*(p_x - ux)^2 + 2nx*ny(p_x -ux)(p_y-uy) + ny*ny*(p_y-uy)*(p_y-uy)
+    //  nx*nx*SUM_i((p_x -ux)^2) + 2nx*ny*SUM_i((p_x-ux)(p_y-uy)) + ny*ny*SUM_i((p_y-uy)^2)
+    //
+    //  nx*nx*N*Cxx + 2nx*ny*N*Cxy + ny*ny*N*Cyy
+
+    // sum of squared errors
+    if (err)
+        *err = nx*nx*N*Cxx + 2*nx*ny*N*Cxy + ny*ny*N*Cyy;
+
+    // mean squared error
+    if (mse)
+        *mse = nx*nx*Cxx + 2*nx*ny*Cxy + ny*ny*Cyy;
+}
+
+int pt_compare_theta(const void *_a, const void *_b)
+{
+    struct pt *a = (struct pt*) _a;
+    struct pt *b = (struct pt*) _b;
+
+    return (a->theta < b->theta) ? -1 : 1;
+}
+
+int err_compare_descending(const void *_a, const void *_b)
+{
+    const float *a =  _a;
+    const float *b =  _b;
+
+    return ((*a) < (*b)) ? 1 : -1;
+}
+
+/*
+
+  1. Identify A) white points near a black point and B) black points near a white point.
+
+  2. Find the connected components within each of the classes above,
+  yielding clusters of "white-near-black" and
+  "black-near-white". (These two classes are kept separate). Each
+  segment has a unique id.
+
+  3. For every pair of "white-near-black" and "black-near-white"
+  clusters, find the set of points that are in one and adjacent to the
+  other. In other words, a "boundary" layer between the two
+  clusters. (This is actually performed by iterating over the pixels,
+  rather than pairs of clusters.) Critically, this helps keep nearby
+  edges from becoming connected.
+*/
+int quad_segment_maxima(apriltag_detector_t *td, zarray_t *cluster, struct line_fit_pt *lfps, int indices[4])
+{
+    int sz = zarray_size(cluster);
+
+    // ksz: when fitting points, how many points on either side do we consider?
+    // (actual "kernel" width is 2ksz).
+    //
+    // This value should be about: 0.5 * (points along shortest edge).
+    //
+    // If all edges were equally-sized, that would give a value of
+    // sz/8. We make it somewhat smaller to account for tags at high
+    // aspects.
+
+    // XXX Tunable. Maybe make a multiple of JPEG block size to increase robustness
+    // to JPEG compression artifacts?
+    int ksz = imin(20, sz / 12);
+
+    // can't fit a quad if there are too few points.
+    if (ksz < 2)
+        return 0;
+
+//    printf("sz %5d, ksz %3d\n", sz, ksz);
+
+    float *errs = fb_alloc(sz * sizeof(float), FB_ALLOC_NO_HINT);
+
+    for (int i = 0; i < sz; i++) {
+        fit_line(lfps, sz, (i + sz - ksz) % sz, (i + ksz) % sz, NULL, &errs[i], NULL);
+    }
+
+    // apply a low-pass filter to errs
+    if (1) {
+        float *y = fb_alloc(sz * sizeof(float), FB_ALLOC_NO_HINT);
+
+        // how much filter to apply?
+
+        // XXX Tunable
+        float sigma = 1; // was 3
+
+        // cutoff = exp(-j*j/(2*sigma*sigma));
+        // log(cutoff) = -j*j / (2*sigma*sigma)
+        // log(cutoff)*2*sigma*sigma = -j*j;
+
+        // how big a filter should we use? We make our kernel big
+        // enough such that we represent any values larger than
+        // 'cutoff'.
+
+        // XXX Tunable (though not super useful to change)
+        float cutoff = 0.05;
+        int fsz = sqrt(-log(cutoff)*2*sigma*sigma) + 1;
+        fsz = 2*fsz + 1;
+
+        // For default values of cutoff = 0.05, sigma = 3,
+        // we have fsz = 17.
+        float *f = fb_alloc(fsz * sizeof(float), FB_ALLOC_NO_HINT);
+
+        for (int i = 0; i < fsz; i++) {
+            int j = i - fsz / 2;
+            f[i] = exp(-j*j/(2*sigma*sigma));
+        }
+
+        for (int iy = 0; iy < sz; iy++) {
+            float acc = 0;
+#ifdef OPTIMIZED
+            int index = (iy - fsz/2 + sz) % sz;
+            for (int i = 0; i < fsz; i++) {
+                acc += errs[index] * f[i];
+                index++;
+                if (index >= sz) // faster to compare than divide (%)
+                   index -= sz;
+            }
+#else
+            for (int i = 0; i < fsz; i++) {
+                acc += errs[(iy + i - fsz / 2 + sz) % sz] * f[i];
+            }
+#endif
+            y[iy] = acc;
+        }
+
+        fb_free(f); // f
+        memcpy(errs, y, sz * sizeof(float));
+        fb_free(y); // y
+    }
+
+    int *maxima = fb_alloc(sz * sizeof(int), FB_ALLOC_NO_HINT);
+    float *maxima_errs = fb_alloc(sz * sizeof(float), FB_ALLOC_NO_HINT);
+    int nmaxima = 0;
+
+    for (int i = 0; i < sz; i++) {
+        if (errs[i] > errs[(i+1)%sz] && errs[i] > errs[(i+sz-1)%sz]) {
+            maxima[nmaxima] = i;
+            maxima_errs[nmaxima] = errs[i];
+            nmaxima++;
+        }
+    }
+
+    // if we didn't get at least 4 maxima, we can't fit a quad.
+    if (nmaxima < 4)
+    {
+        fb_free(maxima_errs);
+        fb_free(maxima);
+        fb_free(errs);
+        return 0;
+    }
+
+    // select only the best maxima if we have too many
+    int max_nmaxima = td->qtp.max_nmaxima;
+
+    if (nmaxima > max_nmaxima) {
+        float *maxima_errs_copy = fb_alloc(nmaxima * sizeof(float), FB_ALLOC_NO_HINT);
+        memcpy(maxima_errs_copy, maxima_errs, nmaxima * sizeof(float));
+
+        // throw out all but the best handful of maxima. Sorts descending.
+        qsort(maxima_errs_copy, nmaxima, sizeof(float), err_compare_descending);
+
+        float maxima_thresh = maxima_errs_copy[max_nmaxima];
+        int out = 0;
+        for (int in = 0; in < nmaxima; in++) {
+            if (maxima_errs[in] <= maxima_thresh)
+                continue;
+            maxima[out++] = maxima[in];
+        }
+        nmaxima = out;
+
+        fb_free(maxima_errs_copy); // maxima_errs_copy
+    }
+
+    fb_free(maxima_errs); // maxima_errs
+    fb_free(maxima); // maxima
+    fb_free(errs); // errs
+
+    int best_indices[4];
+    float best_error = HUGE_VALF;
+
+    float err01, err12, err23, err30;
+    float mse01, mse12, mse23, mse30;
+    float params01[4], params12[4], params23[4], params30[4];
+
+    // disallow quads where the angle is less than a critical value.
+    float max_dot = cos(td->qtp.critical_rad); //25*M_PI/180);
+
+    for (int m0 = 0; m0 < nmaxima - 3; m0++) {
+        int i0 = maxima[m0];
+
+        for (int m1 = m0+1; m1 < nmaxima - 2; m1++) {
+            int i1 = maxima[m1];
+
+            fit_line(lfps, sz, i0, i1, params01, &err01, &mse01);
+
+            if (mse01 > td->qtp.max_line_fit_mse)
+                continue;
+
+            for (int m2 = m1+1; m2 < nmaxima - 1; m2++) {
+                int i2 = maxima[m2];
+
+                fit_line(lfps, sz, i1, i2, params12, &err12, &mse12);
+                if (mse12 > td->qtp.max_line_fit_mse)
+                    continue;
+
+                float dot = params01[2]*params12[2] + params01[3]*params12[3];
+                if (fabs(dot) > max_dot)
+                    continue;
+
+                for (int m3 = m2+1; m3 < nmaxima; m3++) {
+                    int i3 = maxima[m3];
+
+                    fit_line(lfps, sz, i2, i3, params23, &err23, &mse23);
+                    if (mse23 > td->qtp.max_line_fit_mse)
+                        continue;
+
+                    fit_line(lfps, sz, i3, i0, params30, &err30, &mse30);
+                    if (mse30 > td->qtp.max_line_fit_mse)
+                        continue;
+
+                    float err = err01 + err12 + err23 + err30;
+                    if (err < best_error) {
+                        best_error = err;
+                        best_indices[0] = i0;
+                        best_indices[1] = i1;
+                        best_indices[2] = i2;
+                        best_indices[3] = i3;
+                    }
+                }
+            }
+        }
+    }
+
+    if (best_error == HUGE_VALF)
+        return 0;
+
+    for (int i = 0; i < 4; i++)
+        indices[i] = best_indices[i];
+
+    if (best_error / sz < td->qtp.max_line_fit_mse)
+        return 1;
+    return 0;
+}
+
+// return 1 if the quad looks okay, 0 if it should be discarded
+int fit_quad(apriltag_detector_t *td, image_u8_t *im, zarray_t *cluster, struct quad *quad, bool overrideMode)
+{
+    int res = 0;
+
+    int sz = zarray_size(cluster);
+    if (sz < 4) // can't fit a quad to less than 4 points
+        return 0;
+
+    /////////////////////////////////////////////////////////////
+    // Step 1. Sort points so they wrap around the center of the
+    // quad. We will constrain our quad fit to simply partition this
+    // ordered set into 4 groups.
+
+    // compute a bounding box so that we can order the points
+    // according to their angle WRT the center.
+    int32_t xmax = 0, xmin = INT32_MAX, ymax = 0, ymin = INT32_MAX;
+
+    for (int pidx = 0; pidx < zarray_size(cluster); pidx++) {
+        struct pt *p;
+        zarray_get_volatile(cluster, pidx, &p);
+
+        xmax = imax(xmax, p->x);
+        xmin = imin(xmin, p->x);
+
+        ymax = imax(ymax, p->y);
+        ymin = imin(ymin, p->y);
+    }
+
+    // add some noise to (cx,cy) so that pixels get a more diverse set
+    // of theta estimates. This will help us remove more points.
+    // (Only helps a small amount. The actual noise values here don't
+    // matter much at all, but we want them [-1, 1]. (XXX with
+    // fixed-point, should range be bigger?)
+    float cx = (xmin + xmax) * 0.5 + 0.05118;
+    float cy = (ymin + ymax) * 0.5 + -0.028581;
+
+    float dot = 0;
+
+    for (int pidx = 0; pidx < zarray_size(cluster); pidx++) {
+        struct pt *p;
+        zarray_get_volatile(cluster, pidx, &p);
+
+        float dx = p->x - cx;
+        float dy = p->y - cy;
+
+        p->theta = atan2f(dy, dx);
+
+        dot += dx*p->gx + dy*p->gy;
+//        p->theta = terrible_atan2(dy, dx);
+    }
+
+    // Ensure that the black border is inside the white border.
+    if ((!overrideMode) && (dot < 0))
+        return 0;
+
+    // we now sort the points according to theta. This is a prepatory
+    // step for segmenting them into four lines.
+    if (1) {
+        //        zarray_sort(cluster, pt_compare_theta);
+        ptsort((struct pt*) cluster->data, zarray_size(cluster));
+
+        // remove duplicate points. (A byproduct of our segmentation system.)
+        if (1) {
+            int outpos = 1;
+
+            struct pt *last;
+            zarray_get_volatile(cluster, 0, &last);
+
+            for (int i = 1; i < sz; i++) {
+
+                struct pt *p;
+                zarray_get_volatile(cluster, i, &p);
+
+                if (p->x != last->x || p->y != last->y) {
+
+                    if (i != outpos)  {
+                        struct pt *out;
+                        zarray_get_volatile(cluster, outpos, &out);
+                        memcpy(out, p, sizeof(struct pt));
+                    }
+
+                    outpos++;
+                }
+
+                last = p;
+            }
+
+            cluster->size = outpos;
+            sz = outpos;
+        }
+
+    } else {
+        // This is a counting sort in which we retain at most one
+        // point for every bucket; the bucket index is computed from
+        // theta. Since a good quad completes a complete revolution,
+        // there's reason to think that we should get a good
+        // distribution of thetas.  We might "lose" a few points due
+        // to collisions, but this shouldn't affect quality very much.
+
+        // XXX tunable. Increase to reduce the likelihood of "losing"
+        // points due to collisions.
+        int nbuckets = 4*sz;
+
+#define ASSOC 2
+        struct pt v[nbuckets][ASSOC];
+        memset(v, 0, sizeof(v));
+
+        // put each point into a bucket.
+        for (int i = 0; i < sz; i++) {
+            struct pt *p;
+            zarray_get_volatile(cluster, i, &p);
+
+            assert(p->theta >= -M_PI && p->theta <= M_PI);
+
+            int bucket = (nbuckets - 1) * (p->theta + M_PI) / (2*M_PI);
+            assert(bucket >= 0 && bucket < nbuckets);
+
+            for (int i = 0; i < ASSOC; i++) {
+                if (v[bucket][i].theta == 0) {
+                    v[bucket][i] = *p;
+                    break;
+                }
+            }
+        }
+
+        // collect the points from the buckets and put them back into the array.
+        int outsz = 0;
+        for (int i = 0; i < nbuckets; i++) {
+            for (int j = 0; j < ASSOC; j++) {
+                if (v[i][j].theta != 0) {
+                    zarray_set(cluster, outsz, &v[i][j], NULL);
+                    outsz++;
+                }
+            }
+        }
+
+        zarray_truncate(cluster, outsz);
+        sz = outsz;
+    }
+
+    if (sz < 4)
+        return 0;
+
+    /////////////////////////////////////////////////////////////
+    // Step 2. Precompute statistics that allow line fit queries to be
+    // efficiently computed for any contiguous range of indices.
+
+    struct line_fit_pt *lfps = fb_alloc0(sz * sizeof(struct line_fit_pt), FB_ALLOC_NO_HINT);
+
+    for (int i = 0; i < sz; i++) {
+        struct pt *p;
+        zarray_get_volatile(cluster, i, &p);
+
+        if (i > 0) {
+            memcpy(&lfps[i], &lfps[i-1], sizeof(struct line_fit_pt));
+        }
+
+        if (0) {
+            // we now undo our fixed-point arithmetic.
+            float delta = 0.5;
+            float x = p->x * .5 + delta;
+            float y = p->y * .5 + delta;
+            float W;
+
+            for (int dy = -1; dy <= 1; dy++) {
+                int iy = y + dy;
+
+                if (iy < 0 || iy + 1 >= im->height)
+                    continue;
+
+                for (int dx = -1; dx <= 1; dx++) {
+                    int ix = x + dx;
+
+                    if (ix < 0 || ix + 1 >= im->width)
+                        continue;
+
+                    int grad_x = im->buf[iy * im->stride + ix + 1] -
+                        im->buf[iy * im->stride + ix - 1];
+
+                    int grad_y = im->buf[(iy+1) * im->stride + ix] -
+                        im->buf[(iy-1) * im->stride + ix];
+
+                    W = sqrtf(grad_x*grad_x + grad_y*grad_y) + 1;
+
+//                    float fx = x + dx, fy = y + dy;
+                    float fx = ix + .5, fy = iy + .5;
+                    lfps[i].Mx  += W * fx;
+                    lfps[i].My  += W * fy;
+                    lfps[i].Mxx += W * fx * fx;
+                    lfps[i].Mxy += W * fx * fy;
+                    lfps[i].Myy += W * fy * fy;
+                    lfps[i].W   += W;
+                }
+            }
+        } else {
+            // we now undo our fixed-point arithmetic.
+            float delta = 0.5; // adjust for pixel center bias
+            float x = p->x * .5 + delta;
+            float y = p->y * .5 + delta;
+            int ix = x, iy = y;
+            float W = 1;
+
+            if (ix > 0 && ix+1 < im->width && iy > 0 && iy+1 < im->height) {
+                int grad_x = im->buf[iy * im->stride + ix + 1] -
+                    im->buf[iy * im->stride + ix - 1];
+
+                int grad_y = im->buf[(iy+1) * im->stride + ix] -
+                    im->buf[(iy-1) * im->stride + ix];
+
+                // XXX Tunable. How to shape the gradient magnitude?
+                W = sqrt(grad_x*grad_x + grad_y*grad_y) + 1;
+            }
+
+            float fx = x, fy = y;
+            lfps[i].Mx  += W * fx;
+            lfps[i].My  += W * fy;
+            lfps[i].Mxx += W * fx * fx;
+            lfps[i].Mxy += W * fx * fy;
+            lfps[i].Myy += W * fy * fy;
+            lfps[i].W   += W;
+        }
+    }
+
+    int indices[4];
+    if (1) {
+        if (!quad_segment_maxima(td, cluster, lfps, indices))
+            goto finish;
+    }
+
+//    printf("%d %d %d %d\n", indices[0], indices[1], indices[2], indices[3]);
+
+    if (0) {
+        // no refitting here; just use those points as the vertices.
+        // Note, this is useful for debugging, but pretty bad in
+        // practice since this code path also omits several
+        // plausibility checks that save us tons of time in quad
+        // decoding.
+        for (int i = 0; i < 4; i++) {
+            struct pt *p;
+            zarray_get_volatile(cluster, indices[i], &p);
+
+            quad->p[i][0] = .5*p->x; // undo fixed-point arith.
+            quad->p[i][1] = .5*p->y;
+        }
+
+        res = 1;
+
+    } else {
+        float lines[4][4];
+
+        for (int i = 0; i < 4; i++) {
+            int i0 = indices[i];
+            int i1 = indices[(i+1)&3];
+
+            if (0) {
+                // if there are enough points, skip the points near the corners
+                // (because those tend not to be very good.)
+                if (i1-i0 > 8) {
+                    int t = (i1-i0)/6;
+                    if (t < 0)
+                        t = -t;
+
+                    i0 = (i0 + t) % sz;
+                    i1 = (i1 + sz - t) % sz;
+                }
+            }
+
+            float err;
+            fit_line(lfps, sz, i0, i1, lines[i], NULL, &err);
+
+            if (err > td->qtp.max_line_fit_mse) {
+                res = 0;
+                goto finish;
+            }
+        }
+
+        for (int i = 0; i < 4; i++) {
+            // solve for the intersection of lines (i) and (i+1)&3.
+            // p0 + lambda0*u0 = p1 + lambda1*u1, where u0 and u1
+            // are the line directions.
+            //
+            // lambda0*u0 - lambda1*u1 = (p1 - p0)
+            //
+            // rearrange (solve for lambdas)
+            //
+            // [u0_x   -u1_x ] [lambda0] = [ p1_x - p0_x ]
+            // [u0_y   -u1_y ] [lambda1]   [ p1_y - p0_y ]
+            //
+            // remember that lines[i][0,1] = p, lines[i][2,3] = NORMAL vector.
+            // We want the unit vector, so we need the perpendiculars. Thus, below
+            // we have swapped the x and y components and flipped the y components.
+
+            float A00 =  lines[i][3],  A01 = -lines[(i+1)&3][3];
+            float A10 =  -lines[i][2],  A11 = lines[(i+1)&3][2];
+            float B0 = -lines[i][0] + lines[(i+1)&3][0];
+            float B1 = -lines[i][1] + lines[(i+1)&3][1];
+
+            float det = A00 * A11 - A10 * A01;
+
+            // inverse.
+            float W00 = A11 / det, W01 = -A01 / det;
+            if (fabs(det) < 0.001) {
+                res = 0;
+                goto finish;
+            }
+
+            // solve
+            float L0 = W00*B0 + W01*B1;
+
+            // compute intersection
+            quad->p[i][0] = lines[i][0] + L0*A00;
+            quad->p[i][1] = lines[i][1] + L0*A10;
+
+            if (0) {
+                // we should get the same intersection starting
+                // from point p1 and moving L1*u1.
+                float W10 = -A10 / det, W11 = A00 / det;
+                float L1 = W10*B0 + W11*B1;
+
+                float x = lines[(i+1)&3][0] - L1*A10;
+                float y = lines[(i+1)&3][1] - L1*A11;
+                assert(fabs(x - quad->p[i][0]) < 0.001 &&
+                       fabs(y - quad->p[i][1]) < 0.001);
+            }
+
+            res = 1;
+        }
+    }
+
+    // reject quads that are too small
+    if (1) {
+        float area = 0;
+
+        // get area of triangle formed by points 0, 1, 2, 0
+        float length[3], p;
+        for (int i = 0; i < 3; i++) {
+            int idxa = i; // 0, 1, 2,
+            int idxb = (i+1) % 3; // 1, 2, 0
+            length[i] = sqrt(sq(quad->p[idxb][0] - quad->p[idxa][0]) +
+                             sq(quad->p[idxb][1] - quad->p[idxa][1]));
+        }
+        p = (length[0] + length[1] + length[2]) / 2;
+
+        area += sqrt(p*(p-length[0])*(p-length[1])*(p-length[2]));
+
+        // get area of triangle formed by points 2, 3, 0, 2
+        for (int i = 0; i < 3; i++) {
+            int idxs[] = { 2, 3, 0, 2 };
+            int idxa = idxs[i];
+            int idxb = idxs[i+1];
+            length[i] = sqrt(sq(quad->p[idxb][0] - quad->p[idxa][0]) +
+                             sq(quad->p[idxb][1] - quad->p[idxa][1]));
+        }
+        p = (length[0] + length[1] + length[2]) / 2;
+
+        area += sqrt(p*(p-length[0])*(p-length[1])*(p-length[2]));
+
+        // we don't actually know the family yet (quad detection is generic.)
+        // This threshold is based on a 6x6 tag (which is actually 8x8)
+//        int d = fam->d + fam->black_border*2;
+        int d = 8;
+        if (area < d*d) {
+            res = 0;
+            goto finish;
+        }
+    }
+
+    // reject quads whose cumulative angle change isn't equal to 2PI
+    if (1) {
+        float total = 0;
+
+        for (int i = 0; i < 4; i++) {
+            int i0 = i, i1 = (i+1)&3, i2 = (i+2)&3;
+
+            float theta0 = atan2f(quad->p[i0][1] - quad->p[i1][1],
+                                   quad->p[i0][0] - quad->p[i1][0]);
+            float theta1 = atan2f(quad->p[i2][1] - quad->p[i1][1],
+                                   quad->p[i2][0] - quad->p[i1][0]);
+
+            float dtheta = theta0 - theta1;
+            if (dtheta < 0)
+                dtheta += 2*M_PI;
+
+            if (dtheta < td->qtp.critical_rad || dtheta > (M_PI - td->qtp.critical_rad))
+                res = 0;
+
+            total += dtheta;
+        }
+
+        // looking for 2PI
+        if (total < 6.2 || total > 6.4) {
+            res = 0;
+            goto finish;
+        }
+    }
+
+    // adjust pixel coordinates; all math up 'til now uses pixel
+    // coordinates in which (0,0) is the lower left corner. But each
+    // pixel actually spans from to [x, x+1), [y, y+1) the mean value of which
+    // is +.5 higher than x & y.
+/*    float delta = .5;
+      for (int i = 0; i < 4; i++) {
+      quad->p[i][0] += delta;
+      quad->p[i][1] += delta;
+      }
+*/
+  finish:
+
+    fb_free(lfps); // lfps
+
+    return res;
+}
+
+#ifdef OPTIMIZED
+#define DO_UNIONFIND(dx, dy) if (im->buf[y*s + dy*s + x + dx] == v) { broot = unionfind_get_representative(uf, y*w + dy*w + x + dx); if (aroot != broot) uf->data[broot].parent = aroot; }
+
+static void do_unionfind_line(unionfind_t *uf, image_u8_t *im, int h, int w, int s, int y)
+{
+    assert(y+1 < im->height);
+    uint8_t v, *p;
+    p = &im->buf[y*s + 1];
+    for (int x = 1; x < w - 1; x++) {
+        v = *p++; //im->buf[y*s + x];
+
+        if (v == 127)
+            continue;
+        uint32_t broot;
+        uint32_t aroot = unionfind_get_representative(uf, y*w+x);
+        // (dx,dy) pairs for 8 connectivity:
+        //          (REFERENCE) (1, 0)
+        // (-1, 1)    (0, 1)    (1, 1)
+        //
+        DO_UNIONFIND(1, 0);
+        DO_UNIONFIND(0, 1);
+        if (v == 255) {
+            DO_UNIONFIND(-1, 1);
+            DO_UNIONFIND(1, 1);
+        }
+    }
+}
+#else // not optimized
+#define DO_UNIONFIND(dx, dy) if (im->buf[y*s + dy*s + x + dx] == v) unionfind_connect(uf, y*w + x, y*w + dy*w + x + dx);
+
+static void do_unionfind_line(unionfind_t *uf, image_u8_t *im, int h, int w, int s, int y)
+{
+    assert(y+1 < im->height);
+
+    for (int x = 1; x < w - 1; x++) {
+        uint8_t v = im->buf[y*s + x];
+
+        if (v == 127)
+            continue;
+
+        // (dx,dy) pairs for 8 connectivity:
+        //          (REFERENCE) (1, 0)
+        // (-1, 1)    (0, 1)    (1, 1)
+        //
+        DO_UNIONFIND(1, 0);
+        DO_UNIONFIND(0, 1);
+        if (v == 255) {
+            DO_UNIONFIND(-1, 1);
+            DO_UNIONFIND(1, 1);
+        }
+    }
+}
+#undef DO_UNIONFIND
+#endif // OPTIMIZED
+
+image_u8_t *threshold(apriltag_detector_t *td, image_u8_t *im)
+{
+    int w = im->width, h = im->height, s = im->stride;
+    assert(w < 32768);
+    assert(h < 32768);
+
+    image_u8_t *threshim = fb_alloc(sizeof(image_u8_t), FB_ALLOC_NO_HINT);
+    threshim->width = w;
+    threshim->height = h;
+    threshim->stride = s;
+    threshim->buf = fb_alloc(w * h, FB_ALLOC_NO_HINT);
+    assert(threshim->stride == s);
+
+    // The idea is to find the maximum and minimum values in a
+    // window around each pixel. If it's a contrast-free region
+    // (max-min is small), don't try to binarize. Otherwise,
+    // threshold according to (max+min)/2.
+    //
+    // Mark low-contrast regions with value 127 so that we can skip
+    // future work on these areas too.
+
+    // however, computing max/min around every pixel is needlessly
+    // expensive. We compute max/min for tiles. To avoid artifacts
+    // that arise when high-contrast features appear near a tile
+    // edge (and thus moving from one tile to another results in a
+    // large change in max/min value), the max/min values used for
+    // any pixel are computed from all 3x3 surrounding tiles. Thus,
+    // the max/min sampling area for nearby pixels overlap by at least
+    // one tile.
+    //
+    // The important thing is that the windows be large enough to
+    // capture edge transitions; the tag does not need to fit into
+    // a tile.
+
+    // XXX Tunable. Generally, small tile sizes--- so long as they're
+    // large enough to span a single tag edge--- seem to be a winner.
+    const int tilesz = 4;
+
+    // the last (possibly partial) tiles along each row and column will
+    // just use the min/max value from the last full tile.
+    int tw = w / tilesz;
+    int th = h / tilesz;
+
+    uint8_t *im_max = fb_alloc(tw*th*sizeof(uint8_t), FB_ALLOC_NO_HINT);
+    uint8_t *im_min = fb_alloc(tw*th*sizeof(uint8_t), FB_ALLOC_NO_HINT);
+
+    // first, collect min/max statistics for each tile
+    for (int ty = 0; ty < th; ty++) {
+        for (int tx = 0; tx < tw; tx++) {
+#if defined( OPTIMIZED ) && (defined(ARM_MATH_CM7) || defined(ARM_MATH_CM4))
+        uint32_t tmp, max32 = 0, min32 = 0xffffffff;
+        for (int dy=0; dy < tilesz; dy++) {
+            uint32_t v = *(uint32_t *)&im->buf[(ty*tilesz+dy)*s + tx*tilesz];
+            tmp = __USUB8(v, max32);
+            max32 = __SEL(v, max32);
+            tmp = __USUB8(min32, v);
+            min32 = __SEL(v, min32);
+        }
+        // find the min/max of the 4 remaining values
+        tmp = max32 >> 16;
+        __USUB8(max32, tmp); // 4->2
+        max32 = __SEL(max32, tmp);
+        tmp = max32 >> 8;
+        __USUB8(max32, tmp); // 2->1
+        max32 = __SEL(max32, tmp);
+        tmp = min32 >> 16;
+        __USUB8(min32, tmp);
+        min32 = __SEL(tmp, min32); // 4-->2
+        tmp = min32 >> 8;
+        __USUB8(min32, tmp);
+        min32 = __SEL(tmp, min32); // 2-->1
+        im_max[ty*tw+tx] = (uint8_t)max32;
+        im_min[ty*tw+tx] = (uint8_t)min32;
+#else
+        uint8_t max = 0, min = 255;
+        for (int dy = 0; dy < tilesz; dy++) {
+            for (int dx = 0; dx < tilesz; dx++) {
+                uint8_t v = im->buf[(ty*tilesz+dy)*s + tx*tilesz + dx];
+                if (v < min)
+                    min = v;
+                if (v > max)
+                    max = v;
+            }
+        }
+        im_max[ty*tw+tx] = max;
+        im_min[ty*tw+tx] = min;
+#endif
+        }
+    }
+
+    // second, apply 3x3 max/min convolution to "blur" these values
+    // over larger areas. This reduces artifacts due to abrupt changes
+    // in the threshold value.
+    if (1) {
+        uint8_t *im_max_tmp = fb_alloc(tw*th*sizeof(uint8_t), FB_ALLOC_NO_HINT);
+        uint8_t *im_min_tmp = fb_alloc(tw*th*sizeof(uint8_t), FB_ALLOC_NO_HINT);
+
+#ifdef OPTIMIZED
+        // Checking boundaries on every pixel wastes significant time; just break it into 5 pieces
+        // (center, top, bottom, left right)
+        // First pass does the entire center area
+        int ty, tx, dy, dx;
+        for (ty = 1; ty < th-1; ty++) {
+            for (tx = 1; tx < tw-1; tx++) {
+                uint8_t max = 0, min = 255;
+                for (dy = -1; dy <= 1; dy++) {
+                    for (dx = -1; dx <= 1; dx++) {
+                        uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+                        if (m > max)
+                            max = m;
+                        m = im_min[(ty+dy)*tw+tx+dx];
+                        if (m < min)
+                            min = m;
+                    }
+                }
+                im_max_tmp[ty*tw + tx] = max;
+                im_min_tmp[ty*tw + tx] = min;
+            }
+        }
+        // top edge
+        ty = 0;
+        for (tx = 1; tx < tw-1; tx++) {
+            uint8_t max = 0, min = 255;
+            for (dy = 0; dy <= 1; dy++) {
+                for (dx = -1; dx <= 1; dx++) {
+                    uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+                    if (m > max)
+                        max = m;
+                    m = im_min[(ty+dy)*tw+tx+dx];
+                    if (m < min)
+                        min = m;
+                }
+            }
+            im_max_tmp[ty*tw + tx] = max;
+            im_min_tmp[ty*tw + tx] = min;
+        }
+        // bottom edge
+        ty = th-1;
+        for (tx = 1; tx < tw-1; tx++) {
+            uint8_t max = 0, min = 255;
+            for (dy = -1; dy <= 0; dy++) {
+                for (dx = -1; dx <= 1; dx++) {
+                    uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+                    if (m > max)
+                        max = m;
+                    m = im_min[(ty+dy)*tw+tx+dx];
+                    if (m < min)
+                        min = m;
+                }
+            }
+            im_max_tmp[ty*tw + tx] = max;
+            im_min_tmp[ty*tw + tx] = min;
+        }
+        // left edge
+        tx = 0;
+        for (ty = 1; ty < th-1; ty++) {
+            uint8_t max = 0, min = 255;
+            for (dy = -1; dy <= 1; dy++) {
+                for (dx = 0; dx <= 1; dx++) {
+                    uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+                    if (m > max)
+                        max = m;
+                    m = im_min[(ty+dy)*tw+tx+dx];
+                    if (m < min)
+                        min = m;
+                }
+            }
+            im_max_tmp[ty*tw + tx] = max;
+            im_min_tmp[ty*tw + tx] = min;
+        }
+        // right edge
+        tx = tw-1;
+        for (ty = 1; ty < th-1; ty++) {
+            uint8_t max = 0, min = 255;
+            for (dy = -1; dy <= 1; dy++) {
+                for (dx = -1; dx <= 0; dx++) {
+                    uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+                    if (m > max)
+                        max = m;
+                    m = im_min[(ty+dy)*tw+tx+dx];
+                    if (m < min)
+                        min = m;
+                }
+            }
+            im_max_tmp[ty*tw + tx] = max;
+            im_min_tmp[ty*tw + tx] = min;
+        }
+#else
+        for (int ty = 0; ty < th; ty++) {
+            for (int tx = 0; tx < tw; tx++) {
+                uint8_t max = 0, min = 255;
+
+                for (int dy = -1; dy <= 1; dy++) {
+                    if (ty+dy < 0 || ty+dy >= th)
+                        continue;
+                    for (int dx = -1; dx <= 1; dx++) {
+                        if (tx+dx < 0 || tx+dx >= tw)
+                            continue;
+
+                        uint8_t m = im_max[(ty+dy)*tw+tx+dx];
+                        if (m > max)
+                            max = m;
+                        m = im_min[(ty+dy)*tw+tx+dx];
+                        if (m < min)
+                            min = m;
+                    }
+                }
+
+                im_max_tmp[ty*tw + tx] = max;
+                im_min_tmp[ty*tw + tx] = min;
+            }
+        }
+#endif
+        memcpy(im_max, im_max_tmp, tw*th*sizeof(uint8_t));
+        memcpy(im_min, im_min_tmp, tw*th*sizeof(uint8_t));
+        fb_free(im_min_tmp); // im_min_tmp
+        fb_free(im_max_tmp); // im_max_tmp
+    }
+#if defined( OPTIMIZED ) && (defined(ARM_MATH_CM7) || defined(ARM_MATH_CM4))
+    if ((s & 0x3) == 0 && tilesz == 4) // if each line is a multiple of 4, we can do this faster
+    {
+        const uint32_t lowcontrast = 0x7f7f7f7f;
+        const int s32 = s/4; // pitch for 32-bit values
+        const int minmax = td->qtp.min_white_black_diff; // local var to avoid constant dereferencing of the pointer
+        for (int ty = 0; ty < th; ty++) {
+            for (int tx = 0; tx < tw; tx++) {
+
+                int min = im_min[ty*tw + tx];
+                int max = im_max[ty*tw + tx];
+
+                // low contrast region? (no edges)
+                if (max - min < minmax) {
+                    uint32_t *d32 = (uint32_t *)&threshim->buf[ty*tilesz*s + tx*tilesz];
+                    d32[0] = d32[s32] = d32[s32*2] = d32[s32*3] = lowcontrast;
+                    continue;
+                } // if low contrast
+                    // otherwise, actually threshold this tile.
+
+                    // argument for biasing towards dark; specular highlights
+                    // can be substantially brighter than white tag parts
+                    uint32_t thresh32 = (min + (max - min) / 2) + 1; // plus 1 to make GT become GE for the __USUB8 and __SEL instructions
+                    uint32_t u32tmp;
+                    thresh32 *= 0x01010101; // spread value to all 4 slots
+                        for (int dy = 0; dy < tilesz; dy++) {
+                        uint32_t *d32 = (uint32_t *)&threshim->buf[(ty*tilesz+dy)*s + tx*tilesz];
+                            uint32_t *s32 = (uint32_t *)&im->buf[(ty*tilesz+dy)*s + tx*tilesz];
+                            // process 4 pixels at a time
+                            u32tmp = s32[0];
+                            u32tmp = __USUB8(u32tmp, thresh32);
+                            u32tmp = __SEL(0xffffffff, 0x00000000); // 4 thresholded pixels
+                            d32[0] = u32tmp;
+                    } // dy
+            } // tx
+        } // ty
+    }
+    else // need to do it the slow way
+#endif // OPTIMIZED
+    {
+    for (int ty = 0; ty < th; ty++) {
+        for (int tx = 0; tx < tw; tx++) {
+
+            int min = im_min[ty*tw + tx];
+            int max = im_max[ty*tw + tx];
+
+            // low contrast region? (no edges)
+            if (max - min < td->qtp.min_white_black_diff) {
+                for (int dy = 0; dy < tilesz; dy++) {
+                    int y = ty*tilesz + dy;
+
+                    for (int dx = 0; dx < tilesz; dx++) {
+                        int x = tx*tilesz + dx;
+
+                        threshim->buf[y*s+x] = 127;
+                    }
+                }
+                continue;
+            }
+
+            // otherwise, actually threshold this tile.
+
+            // argument for biasing towards dark; specular highlights
+            // can be substantially brighter than white tag parts
+            uint8_t thresh = min + (max - min) / 2;
+
+            for (int dy = 0; dy < tilesz; dy++) {
+                int y = ty*tilesz + dy;
+
+                for (int dx = 0; dx < tilesz; dx++) {
+                    int x = tx*tilesz + dx;
+
+                    uint8_t v = im->buf[y*s+x];
+                    if (v > thresh)
+                        threshim->buf[y*s+x] = 255;
+                    else
+                        threshim->buf[y*s+x] = 0;
+                }
+            }
+        }
+    }
+    }
+
+    // we skipped over the non-full-sized tiles above. Fix those now.
+    if (1) {
+        for (int y = 0; y < h; y++) {
+
+            // what is the first x coordinate we need to process in this row?
+
+            int x0;
+
+            if (y >= th*tilesz) {
+                x0 = 0; // we're at the bottom; do the whole row.
+            } else {
+                x0 = tw*tilesz; // we only need to do the right most part.
+            }
+
+            // compute tile coordinates and clamp.
+            int ty = y / tilesz;
+            if (ty >= th)
+                ty = th - 1;
+
+            for (int x = x0; x < w; x++) {
+                int tx = x / tilesz;
+                if (tx >= tw)
+                    tx = tw - 1;
+
+                int max = im_max[ty*tw + tx];
+                int min = im_min[ty*tw + tx];
+                int thresh = min + (max - min) / 2;
+
+                uint8_t v = im->buf[y*s+x];
+                if (v > thresh)
+                    threshim->buf[y*s+x] = 255;
+                else
+                    threshim->buf[y*s+x] = 0;
+            }
+        }
+    }
+
+    fb_free(im_min); // im_min
+    fb_free(im_max); // im_max
+
+    // this is a dilate/erode deglitching scheme that does not improve
+    // anything as far as I can tell.
+    if (0 || td->qtp.deglitch) {
+        image_u8_t *tmp = fb_alloc(sizeof(image_u8_t), FB_ALLOC_NO_HINT);
+        tmp->width = w;
+        tmp->height = h;
+        tmp->stride = s;
+        tmp->buf = fb_alloc(w * h, FB_ALLOC_NO_HINT);
+
+        for (int y = 1; y + 1 < h; y++) {
+            for (int x = 1; x + 1 < w; x++) {
+                uint8_t max = 0;
+                for (int dy = -1; dy <= 1; dy++) {
+                    for (int dx = -1; dx <= 1; dx++) {
+                        uint8_t v = threshim->buf[(y+dy)*s + x + dx];
+                        if (v > max)
+                            max = v;
+                    }
+                }
+                tmp->buf[y*s+x] = max;
+            }
+        }
+
+        for (int y = 1; y + 1 < h; y++) {
+            for (int x = 1; x + 1 < w; x++) {
+                uint8_t min = 255;
+                for (int dy = -1; dy <= 1; dy++) {
+                    for (int dx = -1; dx <= 1; dx++) {
+                        uint8_t v = tmp->buf[(y+dy)*s + x + dx];
+                        if (v < min)
+                            min = v;
+                    }
+                }
+                threshim->buf[y*s+x] = min;
+            }
+        }
+
+        fb_free(tmp->buf); // tmp->buf
+        fb_free(tmp); // tmp
+    }
+
+    return threshim;
+}
+
+zarray_t *apriltag_quad_thresh(apriltag_detector_t *td, image_u8_t *im, bool overrideMode)
+{
+    ////////////////////////////////////////////////////////
+    // step 1. threshold the image, creating the edge image.
+
+    int w = im->width, h = im->height;
+
+    image_u8_t *threshim = threshold(td, im);
+    int ts = threshim->stride;
+
+    ////////////////////////////////////////////////////////
+    // step 2. find connected components.
+
+    unionfind_t *uf = unionfind_create(w * h);
+
+    for (int y = 0; y < h - 1; y++) {
+        do_unionfind_line(uf, threshim, h, w, ts, y);
+    }
+
+    uint32_t nclustermap;
+    struct uint32_zarray_entry **clustermap = fb_alloc0_all(&nclustermap, FB_ALLOC_PREFER_SPEED);
+    nclustermap /= sizeof(struct uint32_zarray_entry*);
+    if (!nclustermap) fb_alloc_fail();
+
+    for (int y = 1; y < h-1; y++) {
+        for (int x = 1; x < w-1; x++) {
+
+            uint8_t v0 = threshim->buf[y*ts + x];
+            if (v0 == 127)
+                continue;
+
+            // XXX don't query this until we know we need it?
+            uint32_t rep0 = unionfind_get_representative(uf, y*w + x);
+
+            // whenever we find two adjacent pixels such that one is
+            // white and the other black, we add the point half-way
+            // between them to a cluster associated with the unique
+            // ids of the white and black regions.
+            //
+            // We additionally compute the gradient direction (i.e., which
+            // direction was the white pixel?) Note: if (v1-v0) == 255, then
+            // (dx,dy) points towards the white pixel. if (v1-v0) == -255, then
+            // (dx,dy) points towards the black pixel. p.gx and p.gy will thus
+            // be -255, 0, or 255.
+            //
+            // Note that any given pixel might be added to multiple
+            // different clusters. But in the common case, a given
+            // pixel will be added multiple times to the same cluster,
+            // which increases the size of the cluster and thus the
+            // computational costs.
+            //
+            // A possible optimization would be to combine entries
+            // within the same cluster.
+
+#define DO_CONN(dx, dy)                                                 \
+            if (1) {                                                    \
+                uint8_t v1 = threshim->buf[y*ts + dy*ts + x + dx];      \
+                                                                        \
+                while (v0 + v1 == 255) {                                   \
+                    uint32_t rep1 = unionfind_get_representative(uf, y*w + dy*w + x + dx); \
+                    uint32_t clusterid;                                 \
+                    if (rep0 < rep1)                                    \
+                        clusterid = (rep1 << 16) + rep0;                \
+                    else                                                \
+                        clusterid = (rep0 << 16) + rep1;                \
+                                                                        \
+                    /* XXX lousy hash function */                       \
+                    uint32_t clustermap_bucket = u64hash_2(clusterid) % nclustermap; \
+                    struct uint32_zarray_entry *entry = clustermap[clustermap_bucket]; \
+                    while (entry && entry->id != clusterid)     {       \
+                        entry = entry->next;                            \
+                    }                                                   \
+                                                                        \
+                    if (!entry) {                                       \
+                        entry = umm_calloc(1, sizeof(struct uint32_zarray_entry)); \
+                        if (!entry) break;                              \
+                        entry->id = clusterid;                          \
+                        entry->cluster = zarray_create_fail_ok(sizeof(struct pt)); \
+                        if (!entry->cluster) {                          \
+                            free(entry);                                \
+                            break;                                      \
+                        }                                               \
+                        entry->next = clustermap[clustermap_bucket];    \
+                        clustermap[clustermap_bucket] = entry;          \
+                    }                                                   \
+                                                                        \
+                    struct pt p = { .x = 2*x + dx, .y = 2*y + dy, .gx = dx*((int) v1-v0), .gy = dy*((int) v1-v0)}; \
+                    zarray_add_fail_ok(entry->cluster, &p);             \
+                    break;                                              \
+                }                                                       \
+            }
+
+            // do 4 connectivity. NB: Arguments must be [-1, 1] or we'll overflow .gx, .gy
+            DO_CONN(1, 0);
+            DO_CONN(0, 1);
+
+#ifdef IMLIB_ENABLE_FINE_APRILTAGS
+            // do 8 connectivity
+            DO_CONN(-1, 1);
+            DO_CONN(1, 1);
+#endif
+        }
+    }
+#undef DO_CONN
+
+    ////////////////////////////////////////////////////////
+    // step 3. process each connected component.
+    zarray_t *clusters = zarray_create_fail_ok(sizeof(zarray_t*)); //, uint32_zarray_hash_size(clustermap));
+    if (clusters) {
+        for (int i = 0; i < nclustermap; i++) {
+
+            for (struct uint32_zarray_entry *entry = clustermap[i]; entry; entry = entry->next) {
+                // XXX reject clusters here?
+                zarray_add_fail_ok(clusters, &entry->cluster);
+            }
+        }
+    }
+
+
+    int sz = clusters ? zarray_size(clusters) : 0;
+
+    if (1) {
+      for (int i = 0; i < nclustermap; i++) {
+        struct uint32_zarray_entry *entry = clustermap[i];
+        while (entry) {
+          // free any leaked cluster (zarray_add_fail_ok)
+          bool leaked = true;
+          for (int j = 0; j < sz && leaked; j++) {
+              zarray_t *cluster;
+              zarray_get(clusters, j, &cluster);
+              leaked &= entry->cluster != cluster;
+          }
+          if (leaked) free(entry->cluster);
+          struct uint32_zarray_entry *tmp = entry->next;
+          free(entry);
+          entry = tmp;
+        }
+      }
+      fb_free(clustermap); // clustermap
+    }
+
+    unionfind_destroy(uf);
+
+    fb_free(threshim->buf); // threshim->buf
+    fb_free(threshim); // threshim
+
+    zarray_t *quads = zarray_create_fail_ok(sizeof(struct quad));
+
+    if (quads) {
+        for (int i = 0; i < sz; i++) {
+
+            zarray_t *cluster;
+            zarray_get(clusters, i, &cluster);
+
+            if (zarray_size(cluster) < td->qtp.min_cluster_pixels)
+                continue;
+
+            // a cluster should contain only boundary points around the
+            // tag. it cannot be bigger than the whole screen. (Reject
+            // large connected blobs that will be prohibitively slow to
+            // fit quads to.) A typical point along an edge is added three
+            // times (because it has 3 neighbors). The maximum perimeter
+            // is 2w+2h.
+            if (zarray_size(cluster) > 3*(2*w+2*h)) {
+                continue;
+            }
+
+            struct quad quad;
+            memset(&quad, 0, sizeof(struct quad));
+
+            if (fit_quad(td, im, cluster, &quad, overrideMode)) {
+
+                zarray_add_fail_ok(quads, &quad);
+            }
+        }
+    }
+
+    //        printf("  %d %d %d %d\n", indices[0], indices[1], indices[2], indices[3]);
+
+    for (int i = 0; i < sz; i++) {
+        zarray_t *cluster;
+        zarray_get(clusters, i, &cluster);
+        zarray_destroy(cluster);
+    }
+
+    if (clusters) zarray_destroy(clusters);
+
+
+    if (!quads) {
+        // we should have enough memory now
+        quads = zarray_create(sizeof(struct quad));
+    }
+    return quads;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "apriltag.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#ifndef M_PI
+# define M_PI 3.141592653589793238462643383279502884196
+#endif
+
+// Regresses a model of the form:
+// intensity(x,y) = C0*x + C1*y + CC2
+// The J matrix is the:
+//    J = [ x1 y1 1 ]
+//        [ x2 y2 1 ]
+//        [ ...     ]
+//  The A matrix is J'J
+
+struct graymodel
+{
+    float A[3][3];
+    float B[3];
+    float C[3];
+};
+
+void graymodel_init(struct graymodel *gm)
+{
+    memset(gm, 0, sizeof(struct graymodel));
+}
+
+void graymodel_add(struct graymodel *gm, float x, float y, float gray)
+{
+    // update upper right entries of A = J'J
+    gm->A[0][0] += x*x;
+    gm->A[0][1] += x*y;
+    gm->A[0][2] += x;
+    gm->A[1][1] += y*y;
+    gm->A[1][2] += y;
+    gm->A[2][2] += 1;
+
+    // update B = J'gray
+    gm->B[0] += x * gray;
+    gm->B[1] += y * gray;
+    gm->B[2] += gray;
+}
+
+void graymodel_solve(struct graymodel *gm)
+{
+    mat33_sym_solve((float*) gm->A, gm->B, gm->C);
+}
+
+float graymodel_interpolate(struct graymodel *gm, float x, float y)
+{
+    return gm->C[0]*x + gm->C[1]*y + gm->C[2];
+}
+
+struct quick_decode_entry
+{
+    uint64_t rcode;   // the queried code
+    uint16_t id;      // the tag ID (a small integer)
+    uint8_t hamming;  // how many errors corrected?
+    uint8_t rotation; // number of rotations [0, 3]
+    bool hmirror;
+    bool vflip;
+};
+
+struct quick_decode
+{
+    int nentries;
+    struct quick_decode_entry *entries;
+};
+
+/** if the bits in w were arranged in a d*d grid and that grid was
+ * rotated, what would the new bits in w be?
+ * The bits are organized like this (for d = 3):
+ *
+ *  8 7 6       2 5 8      0 1 2
+ *  5 4 3  ==>  1 4 7 ==>  3 4 5    (rotate90 applied twice)
+ *  2 1 0       0 3 6      6 7 8
+ **/
+static uint64_t rotate90(uint64_t w, uint32_t d)
+{
+    uint64_t wr = 0;
+
+    for (int32_t r = d-1; r >=0; r--) {
+        for (int32_t c = 0; c < d; c++) {
+            int32_t b = r + d*c;
+
+            wr = wr << 1;
+
+            if ((w & (((uint64_t) 1) << b))!=0)
+                wr |= 1;
+        }
+    }
+
+    return wr;
+}
+
+static uint64_t hmirror_code(uint64_t w, uint32_t d)
+{
+    uint64_t wr = 0;
+
+    for (int32_t r = d-1; r >=0; r--) {
+        for (int32_t c = 0; c < d; c++) {
+            int32_t b = c + d*r;
+
+            wr = wr << 1;
+
+            if ((w & (((uint64_t) 1) << b))!=0)
+                wr |= 1;
+        }
+    }
+
+    return wr;
+}
+
+static uint64_t vflip_code(uint64_t w, uint32_t d)
+{
+    uint64_t wr = 0;
+
+    for (int32_t r = 0; r < d; r++) {
+        for (int32_t c = d-1; c >=0; c--) {
+            int32_t b = c + d*r;
+
+            wr = wr << 1;
+
+            if ((w & (((uint64_t) 1) << b))!=0)
+                wr |= 1;
+        }
+    }
+
+    return wr;
+}
+
+void quad_destroy(struct quad *quad)
+{
+    if (!quad)
+        return;
+
+    matd_destroy(quad->H);
+    matd_destroy(quad->Hinv);
+    free(quad);
+}
+
+struct quad *quad_copy(struct quad *quad)
+{
+    struct quad *q = calloc(1, sizeof(struct quad));
+    memcpy(q, quad, sizeof(struct quad));
+    if (quad->H)
+        q->H = matd_copy(quad->H);
+    if (quad->Hinv)
+        q->Hinv = matd_copy(quad->Hinv);
+    return q;
+}
+
+// http://en.wikipedia.org/wiki/Hamming_weight
+
+//types and constants used in the functions below
+//uint64_t is an unsigned 64-bit integer variable type (defined in C99 version of C language)
+const uint64_t m1  = 0x5555555555555555; //binary: 0101...
+const uint64_t m2  = 0x3333333333333333; //binary: 00110011..
+const uint64_t m4  = 0x0f0f0f0f0f0f0f0f; //binary:  4 zeros,  4 ones ...
+const uint64_t m8  = 0x00ff00ff00ff00ff; //binary:  8 zeros,  8 ones ...
+const uint64_t m16 = 0x0000ffff0000ffff; //binary: 16 zeros, 16 ones ...
+const uint64_t m32 = 0x00000000ffffffff; //binary: 32 zeros, 32 ones
+const uint64_t hff = 0xffffffffffffffff; //binary: all ones
+const uint64_t h01 = 0x0101010101010101; //the sum of 256 to the power of 0,1,2,3...
+
+//This is a naive implementation, shown for comparison,
+//and to help in understanding the better functions.
+//This algorithm uses 24 arithmetic operations (shift, add, and).
+int popcount64a(uint64_t x)
+{
+    x = (x & m1 ) + ((x >>  1) & m1 ); //put count of each  2 bits into those  2 bits
+    x = (x & m2 ) + ((x >>  2) & m2 ); //put count of each  4 bits into those  4 bits
+    x = (x & m4 ) + ((x >>  4) & m4 ); //put count of each  8 bits into those  8 bits
+    x = (x & m8 ) + ((x >>  8) & m8 ); //put count of each 16 bits into those 16 bits
+    x = (x & m16) + ((x >> 16) & m16); //put count of each 32 bits into those 32 bits
+    x = (x & m32) + ((x >> 32) & m32); //put count of each 64 bits into those 64 bits
+    return x;
+}
+
+//This uses fewer arithmetic operations than any other known
+//implementation on machines with slow multiplication.
+//This algorithm uses 17 arithmetic operations.
+int popcount64b(uint64_t x)
+{
+    x -= (x >> 1) & m1;             //put count of each 2 bits into those 2 bits
+    x = (x & m2) + ((x >> 2) & m2); //put count of each 4 bits into those 4 bits
+    x = (x + (x >> 4)) & m4;        //put count of each 8 bits into those 8 bits
+    x += x >>  8;  //put count of each 16 bits into their lowest 8 bits
+    x += x >> 16;  //put count of each 32 bits into their lowest 8 bits
+    x += x >> 32;  //put count of each 64 bits into their lowest 8 bits
+    return x & 0x7f;
+}
+
+//This uses fewer arithmetic operations than any other known
+//implementation on machines with fast multiplication.
+//This algorithm uses 12 arithmetic operations, one of which is a multiply.
+int popcount64c(uint64_t x)
+{
+    x -= (x >> 1) & m1;             //put count of each 2 bits into those 2 bits
+    x = (x & m2) + ((x >> 2) & m2); //put count of each 4 bits into those 4 bits
+    x = (x + (x >> 4)) & m4;        //put count of each 8 bits into those 8 bits
+    return (x * h01) >> 56;  //returns left 8 bits of x + (x<<8) + (x<<16) + (x<<24) + ...
+}
+
+// returns an entry with hamming set to 255 if no decode was found.
+static void quick_decode_codeword(apriltag_family_t *tf, uint64_t rcode,
+                                  struct quick_decode_entry *entry)
+{
+    int threshold = imax(tf->h - tf->d - 1, 0);
+
+    for (int ridx = 0; ridx < 4; ridx++) {
+
+        for (int i = 0, j = tf->ncodes; i < j; i++) {
+            int hamming = popcount64c(tf->codes[i] ^ rcode);
+            if(hamming <= threshold) {
+                entry->rcode = rcode;
+                entry->id = i;
+                entry->hamming = hamming;
+                entry->rotation = ridx;
+                entry->hmirror = false;
+                entry->vflip = false;
+                return;
+            }
+        }
+
+        rcode = rotate90(rcode, tf->d);
+    }
+
+    rcode = hmirror_code(rcode, tf->d); // handle hmirror
+
+    for (int ridx = 0; ridx < 4; ridx++) {
+
+        for (int i = 0, j = tf->ncodes; i < j; i++) {
+            int hamming = popcount64c(tf->codes[i] ^ rcode);
+            if(hamming <= threshold) {
+                entry->rcode = rcode;
+                entry->id = i;
+                entry->hamming = hamming;
+                entry->rotation = ridx;
+                entry->hmirror = true;
+                entry->vflip = false;
+                return;
+            }
+        }
+
+        rcode = rotate90(rcode, tf->d);
+    }
+
+    rcode = vflip_code(rcode, tf->d); // handle hmirror+vflip
+
+    for (int ridx = 0; ridx < 4; ridx++) {
+
+        for (int i = 0, j = tf->ncodes; i < j; i++) {
+            int hamming = popcount64c(tf->codes[i] ^ rcode);
+            if(hamming <= threshold) {
+                entry->rcode = rcode;
+                entry->id = i;
+                entry->hamming = hamming;
+                entry->rotation = ridx;
+                entry->hmirror = true;
+                entry->vflip = true;
+                return;
+            }
+        }
+
+        rcode = rotate90(rcode, tf->d);
+    }
+
+    rcode = hmirror_code(rcode, tf->d); // handle vflip
+
+    for (int ridx = 0; ridx < 4; ridx++) {
+
+        for (int i = 0, j = tf->ncodes; i < j; i++) {
+            int hamming = popcount64c(tf->codes[i] ^ rcode);
+            if(hamming <= threshold) {
+                entry->rcode = rcode;
+                entry->id = i;
+                entry->hamming = hamming;
+                entry->rotation = ridx;
+                entry->hmirror = false;
+                entry->vflip = true;
+                return;
+            }
+        }
+
+        rcode = rotate90(rcode, tf->d);
+    }
+
+    entry->rcode = 0;
+    entry->id = 65535;
+    entry->hamming = 255;
+    entry->rotation = 0;
+    entry->hmirror = false;
+    entry->vflip = false;
+}
+
+static inline int detection_compare_function(const void *_a, const void *_b)
+{
+    apriltag_detection_t *a = *(apriltag_detection_t**) _a;
+    apriltag_detection_t *b = *(apriltag_detection_t**) _b;
+
+    return a->id - b->id;
+}
+
+void apriltag_detector_remove_family(apriltag_detector_t *td, apriltag_family_t *fam)
+{
+    zarray_remove_value(td->tag_families, &fam, 0);
+}
+
+void apriltag_detector_add_family_bits(apriltag_detector_t *td, apriltag_family_t *fam, int bits_corrected)
+{
+    zarray_add(td->tag_families, &fam);
+}
+
+void apriltag_detector_clear_families(apriltag_detector_t *td)
+{
+    zarray_clear(td->tag_families);
+}
+
+apriltag_detector_t *apriltag_detector_create()
+{
+    apriltag_detector_t *td = (apriltag_detector_t*) calloc(1, sizeof(apriltag_detector_t));
+
+    td->qtp.max_nmaxima = 10;
+    td->qtp.min_cluster_pixels = 5;
+
+    td->qtp.max_line_fit_mse = 10.0;
+    td->qtp.critical_rad = 10 * M_PI / 180;
+    td->qtp.deglitch = 0;
+    td->qtp.min_white_black_diff = 5;
+
+    td->tag_families = zarray_create(sizeof(apriltag_family_t*));
+
+    td->refine_edges = 1;
+    td->refine_pose = 0;
+    td->refine_decode = 0;
+
+    return td;
+}
+
+void apriltag_detector_destroy(apriltag_detector_t *td)
+{
+    apriltag_detector_clear_families(td);
+
+    zarray_destroy(td->tag_families);
+    free(td);
+}
+
+struct evaluate_quad_ret
+{
+    int64_t rcode;
+    float  score;
+    matd_t  *H, *Hinv;
+
+    int decode_status;
+    struct quick_decode_entry e;
+};
+
+// returns non-zero if an error occurs (i.e., H has no inverse)
+int quad_update_homographies(struct quad *quad)
+{
+    zarray_t *correspondences = zarray_create(sizeof(float[4]));
+
+    for (int i = 0; i < 4; i++) {
+        float corr[4];
+
+        // At this stage of the pipeline, we have not attempted to decode the
+        // quad into an oriented tag. Thus, just act as if the quad is facing
+        // "up" with respect to our desired corners. We'll fix the rotation
+        // later.
+        // [-1, -1], [1, -1], [1, 1], [-1, 1]
+        corr[0] = (i==0 || i==3) ? -1 : 1;
+        corr[1] = (i==0 || i==1) ? -1 : 1;
+
+        corr[2] = quad->p[i][0];
+        corr[3] = quad->p[i][1];
+
+        zarray_add(correspondences, &corr);
+    }
+
+    if (quad->H)
+        matd_destroy(quad->H);
+    if (quad->Hinv)
+        matd_destroy(quad->Hinv);
+
+    // XXX Tunable
+    quad->H = homography_compute(correspondences, HOMOGRAPHY_COMPUTE_FLAG_SVD);
+    quad->Hinv = matd_inverse(quad->H);
+    zarray_destroy(correspondences);
+
+    if (quad->H && quad->Hinv)
+        return 0;
+
+    return -1;
+}
+
+// compute a "score" for a quad that is independent of tag family
+// encoding (but dependent upon the tag geometry) by considering the
+// contrast around the exterior of the tag.
+float quad_goodness(apriltag_family_t *family, image_u8_t *im, struct quad *quad)
+{
+    // when sampling from the white border, how much white border do
+    // we actually consider valid, measured in bit-cell units? (the
+    // outside portions are often intruded upon, so it could be advantageous to use
+    // less than the "nominal" 1.0. (Less than 1.0 not well tested.)
+
+    // XXX Tunable
+    float white_border = 1;
+
+    // in tag coordinates, how big is each bit cell?
+    float bit_size = 2.0 / (2*family->black_border + family->d);
+//    float inv_bit_size = 1.0 / bit_size;
+
+    int32_t xmin = INT32_MAX, xmax = 0, ymin = INT32_MAX, ymax = 0;
+
+    for (int i = 0; i < 4; i++) {
+        float tx = (i == 0 || i == 3) ? -1 - bit_size : 1 + bit_size;
+        float ty = (i == 0 || i == 1) ? -1 - bit_size : 1 + bit_size;
+        float x, y;
+
+        homography_project(quad->H, tx, ty, &x, &y);
+        xmin = imin(xmin, x);
+        xmax = imax(xmax, x);
+        ymin = imin(ymin, y);
+        ymax = imax(ymax, y);
+    }
+
+    // clamp bounding box to image dimensions
+    xmin = imax(0, xmin);
+    xmax = imin(im->width-1, xmax);
+    ymin = imax(0, ymin);
+    ymax = imin(im->height-1, ymax);
+
+//    int nbits = family->d * family->d;
+
+    int32_t W1 = 0, B1 = 0, Wn = 0, Bn = 0; // int64_t W1 = 0, B1 = 0, Wn = 0, Bn = 0;
+
+    float wsz = bit_size*white_border;
+    float bsz = bit_size*family->black_border;
+
+    matd_t *Hinv = quad->Hinv;
+//    matd_t *H = quad->H;
+
+    // iterate over all the pixels in the tag. (Iterating in pixel space)
+    for (int y = ymin; y <= ymax; y++) {
+
+        // we'll incrementally compute the homography
+        // projections. Begin by evaluating the homogeneous position
+        // [(xmin - .5f), y, 1]. Then, we'll update as we stride in
+        // the +x direction.
+        float Hx = MATD_EL(Hinv, 0, 0) * (.5 + (int) xmin) +
+            MATD_EL(Hinv, 0, 1) * (y + .5) + MATD_EL(Hinv, 0, 2);
+        float Hy = MATD_EL(Hinv, 1, 0) * (.5 + (int) xmin) +
+            MATD_EL(Hinv, 1, 1) * (y + .5) + MATD_EL(Hinv, 1, 2);
+        float Hh = MATD_EL(Hinv, 2, 0) * (.5 + (int) xmin) +
+            MATD_EL(Hinv, 2, 1) * (y + .5) + MATD_EL(Hinv, 2, 2);
+
+        for (int x = xmin; x <= xmax;  x++) {
+            // project the pixel center.
+            float tx, ty;
+
+            // divide by homogeneous coordinate
+            tx = Hx / Hh;
+            ty = Hy / Hh;
+
+            // if we move x one pixel to the right, here's what
+            // happens to our three pre-normalized coordinates.
+            Hx += MATD_EL(Hinv, 0, 0);
+            Hy += MATD_EL(Hinv, 1, 0);
+            Hh += MATD_EL(Hinv, 2, 0);
+
+            float txa = fabsf((float) tx), tya = fabsf((float) ty);
+            float xymax = fmaxf(txa, tya);
+
+//            if (txa >= 1 + wsz || tya >= 1 + wsz)
+            if (xymax >= 1 + wsz)
+                continue;
+
+            uint8_t v = im->buf[y*im->stride + x];
+
+            // it's within the white border?
+//            if (txa >= 1 || tya >= 1) {
+            if (xymax >= 1) {
+                W1 += v;
+                Wn ++;
+                continue;
+            }
+
+            // it's within the black border?
+//            if (txa >= 1 - bsz || tya >= 1 - bsz) {
+            if (xymax >= 1 - bsz) {
+                B1 += v;
+                Bn ++;
+                continue;
+            }
+
+            // it must be a data bit. We don't do anything with these.
+            continue;
+        }
+    }
+
+
+    // score = average margin between white and black pixels near border.
+    float margin = 1.0 * W1 / Wn - 1.0 * B1 / Bn;
+//    printf("margin %f: W1 %f, B1 %f\n", margin, W1, B1);
+
+    return margin;
+}
+
+// returns the decision margin. Return < 0 if the detection should be rejected.
+float quad_decode(apriltag_family_t *family, image_u8_t *im, struct quad *quad, struct quick_decode_entry *entry, image_u8_t *im_samples)
+{
+    // decode the tag binary contents by sampling the pixel
+    // closest to the center of each bit cell.
+
+    int64_t rcode = 0;
+
+    // how wide do we assume the white border is?
+    float white_border = 1.0;
+
+    // We will compute a threshold by sampling known white/black cells around this tag.
+    // This sampling is achieved by considering a set of samples along lines.
+    //
+    // coordinates are given in bit coordinates. ([0, fam->d]).
+    //
+    // { initial x, initial y, delta x, delta y, WHITE=1 }
+    float patterns[] = {
+        // left white column
+        0 - white_border / 2.0, 0.5,
+        0, 1,
+        1,
+
+        // left black column
+        0 + family->black_border / 2.0, 0.5,
+        0, 1,
+        0,
+
+        // right white column
+        2*family->black_border + family->d + white_border / 2.0, .5,
+        0, 1,
+        1,
+
+        // right black column
+        2*family->black_border + family->d - family->black_border / 2.0, .5,
+        0, 1,
+        0,
+
+        // top white row
+        0.5, -white_border / 2.0,
+        1, 0,
+        1,
+
+        // top black row
+        0.5, family->black_border / 2.0,
+        1, 0,
+        0,
+
+        // bottom white row
+        0.5, 2*family->black_border + family->d + white_border / 2.0,
+        1, 0,
+        1,
+
+        // bottom black row
+        0.5, 2*family->black_border + family->d - family->black_border / 2.0,
+        1, 0,
+        0
+
+        // XXX float-counts the corners.
+    };
+
+    struct graymodel whitemodel, blackmodel;
+    graymodel_init(&whitemodel);
+    graymodel_init(&blackmodel);
+
+    for (int pattern_idx = 0; pattern_idx < sizeof(patterns)/(5*sizeof(float)); pattern_idx ++) {
+        float *pattern = &patterns[pattern_idx * 5];
+
+        int is_white = pattern[4];
+
+        for (int i = 0; i < 2*family->black_border + family->d; i++) {
+            float tagx01 = (pattern[0] + i*pattern[2]) / (2*family->black_border + family->d);
+            float tagy01 = (pattern[1] + i*pattern[3]) / (2*family->black_border + family->d);
+
+            float tagx = 2*(tagx01-0.5);
+            float tagy = 2*(tagy01-0.5);
+
+            float px, py;
+            homography_project(quad->H, tagx, tagy, &px, &py);
+
+            // don't round
+            int ix = px;
+            int iy = py;
+            if (ix < 0 || iy < 0 || ix >= im->width || iy >= im->height)
+                continue;
+
+            int v = im->buf[iy*im->stride + ix];
+
+            if (im_samples) {
+                im_samples->buf[iy*im_samples->stride + ix] = (1-is_white)*255;
+            }
+
+            if (is_white)
+                graymodel_add(&whitemodel, tagx, tagy, v);
+            else
+                graymodel_add(&blackmodel, tagx, tagy, v);
+        }
+    }
+
+    graymodel_solve(&whitemodel);
+    graymodel_solve(&blackmodel);
+
+    // XXX Tunable
+    if (graymodel_interpolate(&whitemodel, 0, 0) - graymodel_interpolate(&blackmodel, 0, 0) < 0)
+        return -1;
+
+    // compute the average decision margin (how far was each bit from
+    // the decision boundary?
+    //
+    // we score this separately for white and black pixels and return
+    // the minimum average threshold for black/white pixels. This is
+    // to penalize thresholds that are too close to an extreme.
+    float black_score = 0, white_score = 0;
+    float black_score_count = 1, white_score_count = 1;
+
+    for (int bitidx = 0; bitidx < family->d * family->d; bitidx++) {
+        int bitx = bitidx % family->d;
+        int bity = bitidx / family->d;
+
+        float tagx01 = (family->black_border + bitx + 0.5) / (2*family->black_border + family->d);
+        float tagy01 = (family->black_border + bity + 0.5) / (2*family->black_border + family->d);
+
+        // scale to [-1, 1]
+        float tagx = 2*(tagx01-0.5);
+        float tagy = 2*(tagy01-0.5);
+
+        float px, py;
+        homography_project(quad->H, tagx, tagy, &px, &py);
+
+        rcode = (rcode << 1);
+
+        // don't round.
+        int ix = px;
+        int iy = py;
+
+        if (ix < 0 || iy < 0 || ix >= im->width || iy >= im->height)
+            continue;
+
+        int v = im->buf[iy*im->stride + ix];
+
+        float thresh = (graymodel_interpolate(&blackmodel, tagx, tagy) + graymodel_interpolate(&whitemodel, tagx, tagy)) / 2.0;
+        if (v > thresh) {
+            white_score += (v - thresh);
+            white_score_count ++;
+            rcode |= 1;
+        } else {
+            black_score += (thresh - v);
+            black_score_count ++;
+        }
+
+        if (im_samples)
+            im_samples->buf[iy*im_samples->stride + ix] = (1 - (rcode & 1)) * 255;
+    }
+
+    quick_decode_codeword(family, rcode, entry);
+
+    return fmin(white_score / white_score_count, black_score / black_score_count);
+}
+
+float score_goodness(apriltag_family_t *family, image_u8_t *im, struct quad *quad, void *user)
+{
+    return quad_goodness(family, im, quad);
+}
+
+float score_decodability(apriltag_family_t *family, image_u8_t *im, struct quad *quad, void *user)
+{
+    struct quick_decode_entry entry;
+
+    float decision_margin = quad_decode(family, im, quad, &entry, NULL);
+
+    // hamming trumps decision margin; maximum value for decision_margin is 255.
+    return decision_margin - entry.hamming*1000;
+}
+
+// returns score of best quad
+float optimize_quad_generic(apriltag_family_t *family, image_u8_t *im, struct quad *quad0,
+                             float *stepsizes, int nstepsizes,
+                             float (*score)(apriltag_family_t *family, image_u8_t *im, struct quad *quad, void *user),
+                             void *user)
+{
+    struct quad *best_quad = quad_copy(quad0);
+    float best_score = score(family, im, best_quad, user);
+
+    for (int stepsize_idx = 0; stepsize_idx < nstepsizes; stepsize_idx++)  {
+
+        int improved = 1;
+
+        // when we make progress with a particular step size, how many
+        // times will we try to perform that same step size again?
+        // (max_repeat = 0 means ("don't repeat--- just move to the
+        // next step size").
+        // XXX Tunable
+        int max_repeat = 1;
+
+        for (int repeat = 0; repeat <= max_repeat && improved; repeat++) {
+
+            improved = 0;
+
+            // wiggle point i
+            for (int i = 0; i < 4; i++) {
+
+                float stepsize = stepsizes[stepsize_idx];
+
+                // XXX Tunable (really 1 makes the best sense since)
+                int nsteps = 1;
+
+                struct quad *this_best_quad = NULL;
+                float this_best_score = best_score;
+
+                for (int sx = -nsteps; sx <= nsteps; sx++) {
+                    for (int sy = -nsteps; sy <= nsteps; sy++) {
+                        if (sx==0 && sy==0)
+                            continue;
+
+                        struct quad *this_quad = quad_copy(best_quad);
+                        this_quad->p[i][0] = best_quad->p[i][0] + sx*stepsize;
+                        this_quad->p[i][1] = best_quad->p[i][1] + sy*stepsize;
+                        if (quad_update_homographies(this_quad))
+                            continue;
+
+                        float this_score = score(family, im, this_quad, user);
+
+                        if (this_score > this_best_score) {
+                            quad_destroy(this_best_quad);
+
+                            this_best_quad = this_quad;
+                            this_best_score = this_score;
+                        } else {
+                            quad_destroy(this_quad);
+                        }
+                    }
+                }
+
+                if (this_best_score > best_score) {
+                    quad_destroy(best_quad);
+                    best_quad = this_best_quad;
+                    best_score = this_best_score;
+                    improved = 1;
+                }
+            }
+        }
+    }
+
+    matd_destroy(quad0->H);
+    matd_destroy(quad0->Hinv);
+    memcpy(quad0, best_quad, sizeof(struct quad)); // copy pointers
+    free(best_quad);
+    return best_score;
+}
+
+static void refine_edges(apriltag_detector_t *td, image_u8_t *im_orig, struct quad *quad)
+{
+    float lines[4][4]; // for each line, [Ex Ey nx ny]
+
+    for (int edge = 0; edge < 4; edge++) {
+        int a = edge, b = (edge + 1) & 3; // indices of the end points.
+
+        // compute the normal to the current line estimate
+        float nx = quad->p[b][1] - quad->p[a][1];
+        float ny = -quad->p[b][0] + quad->p[a][0];
+        float mag = sqrt(nx*nx + ny*ny);
+        nx /= mag;
+        ny /= mag;
+
+        // we will now fit a NEW line by sampling points near
+        // our original line that have large gradients. On really big tags,
+        // we're willing to sample more to get an even better estimate.
+        int nsamples = imax(16, mag / 8); // XXX tunable
+
+        // stats for fitting a line...
+        float Mx = 0, My = 0, Mxx = 0, Mxy = 0, Myy = 0, N = 0;
+
+        for (int s = 0; s < nsamples; s++) {
+            // compute a point along the line... Note, we're avoiding
+            // sampling *right* at the corners, since those points are
+            // the least reliable.
+            float alpha = (1.0 + s) / (nsamples + 1);
+            float x0 = alpha*quad->p[a][0] + (1-alpha)*quad->p[b][0];
+            float y0 = alpha*quad->p[a][1] + (1-alpha)*quad->p[b][1];
+
+            // search along the normal to this line, looking at the
+            // gradients along the way. We're looking for a strong
+            // response.
+            float Mn = 0;
+            float Mcount = 0;
+
+            // XXX tunable: how far to search?  We want to search far
+            // enough that we find the best edge, but not so far that
+            // we hit other edges that aren't part of the tag. We
+            // shouldn't ever have to search more than quad_decimate,
+            // since otherwise we would (ideally) have started our
+            // search on another pixel in the first place. Likewise,
+            // for very small tags, we don't want the range to be too
+            // big.
+            float range = 1.0 + 1;
+
+            // XXX tunable step size.
+            for (float n = -range; n <= range; n +=  0.25) {
+                // Because of the guaranteed winding order of the
+                // points in the quad, we will start inside the white
+                // portion of the quad and work our way outward.
+                //
+                // sample to points (x1,y1) and (x2,y2) XXX tunable:
+                // how far +/- to look? Small values compute the
+                // gradient more precisely, but are more sensitive to
+                // noise.
+                float grange = 1;
+                int x1 = x0 + (n + grange)*nx;
+                int y1 = y0 + (n + grange)*ny;
+                if (x1 < 0 || x1 >= im_orig->width || y1 < 0 || y1 >= im_orig->height)
+                    continue;
+
+                int x2 = x0 + (n - grange)*nx;
+                int y2 = y0 + (n - grange)*ny;
+                if (x2 < 0 || x2 >= im_orig->width || y2 < 0 || y2 >= im_orig->height)
+                    continue;
+
+                int g1 = im_orig->buf[y1*im_orig->stride + x1];
+                int g2 = im_orig->buf[y2*im_orig->stride + x2];
+
+                if (g1 < g2) // reject points whose gradient is "backwards". They can only hurt us.
+                    continue;
+
+                float weight = (g2 - g1)*(g2 - g1); // XXX tunable. What shape for weight=f(g2-g1)?
+
+                // compute weighted average of the gradient at this point.
+                Mn += weight*n;
+                Mcount += weight;
+            }
+
+            // what was the average point along the line?
+            if (Mcount == 0)
+                continue;
+
+            float n0 = Mn / Mcount;
+
+            // where is the point along the line?
+            float bestx = x0 + n0*nx;
+            float besty = y0 + n0*ny;
+
+            // update our line fit statistics
+            Mx += bestx;
+            My += besty;
+            Mxx += bestx*bestx;
+            Mxy += bestx*besty;
+            Myy += besty*besty;
+            N++;
+        }
+
+        // fit a line
+        float Ex = Mx / N, Ey = My / N;
+        float Cxx = Mxx / N - Ex*Ex;
+        float Cxy = Mxy / N - Ex*Ey;
+        float Cyy = Myy / N - Ey*Ey;
+
+        float normal_theta = .5 * atan2f(-2*Cxy, (Cyy - Cxx));
+        nx = cosf(normal_theta);
+        ny = sinf(normal_theta);
+        lines[edge][0] = Ex;
+        lines[edge][1] = Ey;
+        lines[edge][2] = nx;
+        lines[edge][3] = ny;
+    }
+
+    // now refit the corners of the quad
+    for (int i = 0; i < 4; i++) {
+
+        // solve for the intersection of lines (i) and (i+1)&3.
+        float A00 =  lines[i][3],  A01 = -lines[(i+1)&3][3];
+        float A10 =  -lines[i][2],  A11 = lines[(i+1)&3][2];
+        float B0 = -lines[i][0] + lines[(i+1)&3][0];
+        float B1 = -lines[i][1] + lines[(i+1)&3][1];
+
+        float det = A00 * A11 - A10 * A01;
+
+        // inverse.
+        if (fabs(det) > 0.001) {
+            // solve
+            float W00 = A11 / det, W01 = -A01 / det;
+
+            float L0 = W00*B0 + W01*B1;
+
+            // compute intersection
+            quad->p[i][0] = lines[i][0] + L0*A00;
+            quad->p[i][1] = lines[i][1] + L0*A10;
+        } else {
+            // this is a bad sign. We'll just keep the corner we had.
+//            printf("bad det: %15f %15f %15f %15f %15f\n", A00, A11, A10, A01, det);
+        }
+    }
+}
+
+void apriltag_detection_destroy(apriltag_detection_t *det)
+{
+    if (det == NULL)
+        return;
+
+    matd_destroy(det->H);
+    free(det);
+}
+
+int prefer_smaller(int pref, float q0, float q1)
+{
+    if (pref)     // already prefer something? exit.
+        return pref;
+
+    if (q0 < q1)
+        return -1; // we now prefer q0
+    if (q1 < q0)
+        return 1; // we now prefer q1
+
+    // no preference
+    return 0;
+}
+
+zarray_t *apriltag_detector_detect(apriltag_detector_t *td, image_u8_t *im_orig)
+{
+    if (zarray_size(td->tag_families) == 0) {
+        zarray_t *s = zarray_create(sizeof(apriltag_detection_t*));
+        printf("apriltag.c: No tag families enabled.");
+        return s;
+    }
+
+    ///////////////////////////////////////////////////////////
+    // Step 1. Detect quads according to requested image decimation
+    // and blurring parameters.
+
+//    zarray_t *quads = apriltag_quad_gradient(td, im_orig);
+    zarray_t *quads = apriltag_quad_thresh(td, im_orig, false);
+
+    zarray_t *detections = zarray_create(sizeof(apriltag_detection_t*));
+
+    td->nquads = zarray_size(quads);
+
+    ////////////////////////////////////////////////////////////////
+    // Step 2. Decode tags from each quad.
+    if (1) {
+        for (int i = 0; i < zarray_size(quads); i++) {
+            struct quad *quad_original;
+            zarray_get_volatile(quads, i, &quad_original);
+
+            // refine edges is not dependent upon the tag family, thus
+            // apply this optimization BEFORE the other work.
+            //if (td->quad_decimate > 1 && td->refine_edges) {
+            if (td->refine_edges) {
+                refine_edges(td, im_orig, quad_original);
+            }
+
+            // make sure the homographies are computed...
+            if (quad_update_homographies(quad_original))
+                continue;
+
+            for (int famidx = 0; famidx < zarray_size(td->tag_families); famidx++) {
+                apriltag_family_t *family;
+                zarray_get(td->tag_families, famidx, &family);
+
+                float goodness = 0;
+
+                // since the geometry of tag families can vary, start any
+                // optimization process over with the original quad.
+                struct quad *quad = quad_copy(quad_original);
+
+                // improve the quad corner positions by minimizing the
+                // variance within each intra-bit area.
+                if (td->refine_pose) {
+                    // NB: We potentially step an integer
+                    // number of times in each direction. To make each
+                    // sample as useful as possible, the step sizes should
+                    // not be integer multiples of each other. (I.e.,
+                    // probably don't use 1, 0.5, 0.25, etc.)
+
+                    // XXX Tunable
+                    float stepsizes[] = { 1, .4, .16, .064 };
+                    int nstepsizes = sizeof(stepsizes)/sizeof(float);
+
+                    goodness = optimize_quad_generic(family, im_orig, quad, stepsizes, nstepsizes, score_goodness, NULL);
+                }
+
+                if (td->refine_decode) {
+                    // this optimizes decodability, but we don't report
+                    // that value to the user.  (so discard return value.)
+                    // XXX Tunable
+                    float stepsizes[] = { .4 };
+                    int nstepsizes = sizeof(stepsizes)/sizeof(float);
+
+                    optimize_quad_generic(family, im_orig, quad, stepsizes, nstepsizes, score_decodability, NULL);
+                }
+
+                struct quick_decode_entry entry;
+
+                float decision_margin = quad_decode(family, im_orig, quad, &entry, NULL);
+
+                if (entry.hamming < 255 && decision_margin >= 0) {
+                    apriltag_detection_t *det = calloc(1, sizeof(apriltag_detection_t));
+
+                    det->family = family;
+                    det->id = entry.id;
+                    det->hamming = entry.hamming;
+                    det->goodness = goodness;
+                    det->decision_margin = decision_margin;
+
+                    float theta = -entry.rotation * M_PI / 2.0;
+                    float c = cos(theta), s = sin(theta);
+
+                    // Fix the rotation of our homography to properly orient the tag
+                    matd_t *R = matd_create(3,3);
+                    MATD_EL(R, 0, 0) = c;
+                    MATD_EL(R, 0, 1) = -s;
+                    MATD_EL(R, 1, 0) = s;
+                    MATD_EL(R, 1, 1) = c;
+                    MATD_EL(R, 2, 2) = 1;
+
+                    matd_t *RHMirror = matd_create(3,3);
+                    MATD_EL(RHMirror, 0, 0) = entry.hmirror ? -1 : 1;
+                    MATD_EL(RHMirror, 1, 1) = 1;
+                    MATD_EL(RHMirror, 2, 2) = entry.hmirror ? -1 : 1;
+
+                    matd_t *RVFlip = matd_create(3,3);
+                    MATD_EL(RVFlip, 0, 0) = 1;
+                    MATD_EL(RVFlip, 1, 1) = entry.vflip ? -1 : 1;
+                    MATD_EL(RVFlip, 2, 2) = entry.vflip ? -1 : 1;
+
+                    det->H = matd_op("M*M*M*M", quad->H, R, RHMirror, RVFlip);
+
+                    matd_destroy(R);
+                    matd_destroy(RHMirror);
+                    matd_destroy(RVFlip);
+
+                    homography_project(det->H, 0, 0, &det->c[0], &det->c[1]);
+
+                    // [-1, -1], [1, -1], [1, 1], [-1, 1], Desired points
+                    // [-1, 1], [1, 1], [1, -1], [-1, -1], FLIP Y
+                    // adjust the points in det->p so that they correspond to
+                    // counter-clockwise around the quad, starting at -1,-1.
+                    for (int i = 0; i < 4; i++) {
+                        int tcx = (i == 1 || i == 2) ? 1 : -1;
+                        int tcy = (i < 2) ? 1 : -1;
+
+                        float p[2];
+
+                        homography_project(det->H, tcx, tcy, &p[0], &p[1]);
+
+                        det->p[i][0] = p[0];
+                        det->p[i][1] = p[1];
+                    }
+
+                    zarray_add(detections, &det);
+                }
+
+                quad_destroy(quad);
+            }
+        }
+    }
+
+    ////////////////////////////////////////////////////////////////
+    // Step 3. Reconcile detections--- don't report the same tag more
+    // than once. (Allow non-overlapping duplicate detections.)
+    if (1) {
+        zarray_t *poly0 = g2d_polygon_create_zeros(4);
+        zarray_t *poly1 = g2d_polygon_create_zeros(4);
+
+        for (int i0 = 0; i0 < zarray_size(detections); i0++) {
+
+            apriltag_detection_t *det0;
+            zarray_get(detections, i0, &det0);
+
+            for (int k = 0; k < 4; k++)
+                zarray_set(poly0, k, det0->p[k], NULL);
+
+            for (int i1 = i0+1; i1 < zarray_size(detections); i1++) {
+
+                apriltag_detection_t *det1;
+                zarray_get(detections, i1, &det1);
+
+                if (det0->id != det1->id || det0->family != det1->family)
+                    continue;
+
+                for (int k = 0; k < 4; k++)
+                    zarray_set(poly1, k, det1->p[k], NULL);
+
+                if (g2d_polygon_overlaps_polygon(poly0, poly1)) {
+                    // the tags overlap. Delete one, keep the other.
+
+                    int pref = 0; // 0 means undecided which one we'll keep.
+                    pref = prefer_smaller(pref, det0->hamming, det1->hamming);     // want small hamming
+                    pref = prefer_smaller(pref, -det0->decision_margin, -det1->decision_margin);      // want bigger margins
+                    pref = prefer_smaller(pref, -det0->goodness, -det1->goodness); // want bigger goodness
+
+                    // if we STILL don't prefer one detection over the other, then pick
+                    // any deterministic criterion.
+                    for (int i = 0; i < 4; i++) {
+                        pref = prefer_smaller(pref, det0->p[i][0], det1->p[i][0]);
+                        pref = prefer_smaller(pref, det0->p[i][1], det1->p[i][1]);
+                    }
+
+                    if (pref == 0) {
+                        // at this point, we should only be undecided if the tag detections
+                        // are *exactly* the same. How would that happen?
+                        // printf("uh oh, no preference for overlappingdetection\n");
+                    }
+
+                    if (pref < 0) {
+                        // keep det0, destroy det1
+                        apriltag_detection_destroy(det1);
+                        zarray_remove_index(detections, i1, 1);
+                        i1--; // retry the same index
+                        goto retry1;
+                    } else {
+                        // keep det1, destroy det0
+                        apriltag_detection_destroy(det0);
+                        zarray_remove_index(detections, i0, 1);
+                        i0--; // retry the same index.
+                        goto retry0;
+                    }
+                }
+
+              retry1: ;
+            }
+
+          retry0: ;
+        }
+
+        zarray_destroy(poly0);
+        zarray_destroy(poly1);
+    }
+
+    for (int i = 0; i < zarray_size(quads); i++) {
+        struct quad *quad;
+        zarray_get_volatile(quads, i, &quad);
+        matd_destroy(quad->H);
+        matd_destroy(quad->Hinv);
+    }
+
+    zarray_destroy(quads);
+
+    zarray_sort(detections, detection_compare_function);
+
+    return detections;
+}
+
+
+// Call this method on each of the tags returned by apriltag_detector_detect
+void apriltag_detections_destroy(zarray_t *detections)
+{
+    for (int i = 0; i < zarray_size(detections); i++) {
+        apriltag_detection_t *det;
+        zarray_get(detections, i, &det);
+
+        apriltag_detection_destroy(det);
+    }
+
+    zarray_destroy(detections);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+struct custom_apriltag_data_t
+{
+    apriltag_detector_t *td;
+    image_u8_t im;
+    image_t img;
+};
+void custom_imlib_find_apriltags(list_t *out, image_t *ptr, rectangle_t *roi, apriltag_families_t families,
+                          float fx, float fy, float cx, float cy, int status)
+{
+    static struct custom_apriltag_data_t custom_apriltag_data;
+    switch (status)
+    {
+    case 1:
+    {
+        // Frame Buffer Memory Usage...
+        // -> GRAYSCALE Input Image = w*h*1
+        // -> GRAYSCALE Threhsolded Image = w*h*1
+        // -> UnionFind = w*h*2 (+w*h*1 for hash table)
+        
+        size_t resolution = roi->w * roi->h;
+        size_t fb_alloc_need = resolution * (1 + 1 + 2 + 1); // read above...
+        umm_init_x(((fb_avail() - fb_alloc_need) / resolution) * resolution);
+        custom_apriltag_data.td = apriltag_detector_create();
+
+        if (families & TAG16H5) {
+            apriltag_detector_add_family(custom_apriltag_data.td, (apriltag_family_t *) &tag16h5);
+        }
+
+        if (families & TAG25H7) {
+            apriltag_detector_add_family(custom_apriltag_data.td, (apriltag_family_t *) &tag25h7);
+        }
+
+        if (families & TAG25H9) {
+            apriltag_detector_add_family(custom_apriltag_data.td, (apriltag_family_t *) &tag25h9);
+        }
+
+        if (families & TAG36H10) {
+            apriltag_detector_add_family(custom_apriltag_data.td, (apriltag_family_t *) &tag36h10);
+        }
+
+        if (families & TAG36H11) {
+            apriltag_detector_add_family(custom_apriltag_data.td, (apriltag_family_t *) &tag36h11);
+        }
+
+        if (families & ARTOOLKIT) {
+            apriltag_detector_add_family(custom_apriltag_data.td, (apriltag_family_t *) &artoolkit);
+        }
+    }
+        break;
+    case 2:
+    {
+        custom_apriltag_data.img.w = roi->w;
+        custom_apriltag_data.img.h = roi->h;
+        custom_apriltag_data.img.pixfmt = PIXFORMAT_GRAYSCALE;
+        custom_apriltag_data.img.size = image_size(&custom_apriltag_data.img);
+        if(ptr->pixfmt == PIXFORMAT_GRAYSCALE && custom_apriltag_data.img.w == ptr->w && custom_apriltag_data.img.h == ptr->h)
+        {
+            custom_apriltag_data.img.data = ptr->data;
+        }
+        else
+        {
+            custom_apriltag_data.img.data = fb_alloc(custom_apriltag_data.img.size, FB_ALLOC_NO_HINT);
+            imlib_pixfmt_to(&custom_apriltag_data.img, ptr, roi);
+        }
+        // imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+
+        custom_apriltag_data.im.width = roi->w;
+        custom_apriltag_data.im.height = roi->h;
+        custom_apriltag_data.im.stride = roi->w;
+        custom_apriltag_data.im.buf = custom_apriltag_data.img.data;
+        zarray_t *detections = apriltag_detector_detect(custom_apriltag_data.td, &custom_apriltag_data.im);
+        imlib_list_init(out, sizeof(find_apriltags_list_lnk_data_t));
+        for (int i = 0, j = zarray_size(detections); i < j; i++) {
+            apriltag_detection_t *det;
+            zarray_get(detections, i, &det);
+
+            find_apriltags_list_lnk_data_t lnk_data;
+            rectangle_init(&(lnk_data.rect), fast_roundf(det->p[0][0]) + roi->x, fast_roundf(det->p[0][1]) + roi->y, 0, 0);
+
+            for (size_t k = 1, l = (sizeof(det->p) / sizeof(det->p[0])); k < l; k++) {
+                rectangle_t temp;
+                rectangle_init(&temp, fast_roundf(det->p[k][0]) + roi->x, fast_roundf(det->p[k][1]) + roi->y, 0, 0);
+                rectangle_united(&(lnk_data.rect), &temp);
+            }
+
+            // Add corners...
+            lnk_data.corners[0].x = fast_roundf(det->p[3][0]) + roi->x; // top-left
+            lnk_data.corners[0].y = fast_roundf(det->p[3][1]) + roi->y; // top-left
+            lnk_data.corners[1].x = fast_roundf(det->p[2][0]) + roi->x; // top-right
+            lnk_data.corners[1].y = fast_roundf(det->p[2][1]) + roi->y; // top-right
+            lnk_data.corners[2].x = fast_roundf(det->p[1][0]) + roi->x; // bottom-right
+            lnk_data.corners[2].y = fast_roundf(det->p[1][1]) + roi->y; // bottom-right
+            lnk_data.corners[3].x = fast_roundf(det->p[0][0]) + roi->x; // bottom-left
+            lnk_data.corners[3].y = fast_roundf(det->p[0][1]) + roi->y; // bottom-left
+
+            lnk_data.id = det->id;
+            lnk_data.family = 0;
+
+            if(det->family == &tag16h5) {
+                lnk_data.family |= TAG16H5;
+            }
+
+            if(det->family == &tag25h7) {
+                lnk_data.family |= TAG25H7;
+            }
+
+            if(det->family == &tag25h9) {
+                lnk_data.family |= TAG25H9;
+            }
+
+            if(det->family == &tag36h10) {
+                lnk_data.family |= TAG36H10;
+            }
+
+            if(det->family == &tag36h11) {
+                lnk_data.family |= TAG36H11;
+            }
+
+            if(det->family == &artoolkit) {
+                lnk_data.family |= ARTOOLKIT;
+            }
+
+            lnk_data.hamming = det->hamming;
+            lnk_data.centroid.x = fast_roundf(det->c[0]) + roi->x;
+            lnk_data.centroid.y = fast_roundf(det->c[1]) + roi->y;
+            lnk_data.goodness = det->goodness / 255.0; // scale to [0:1]
+            lnk_data.decision_margin = det->decision_margin / 255.0; // scale to [0:1]
+
+            // matd_t *pose = homography_to_pose(det->H, -fx, fy, cx, cy);
+
+            // lnk_data.x_translation = MATD_EL(pose, 0, 3);
+            // lnk_data.y_translation = MATD_EL(pose, 1, 3);
+            // lnk_data.z_translation = MATD_EL(pose, 2, 3);
+            // lnk_data.x_rotation = fast_atan2f(MATD_EL(pose, 2, 1), MATD_EL(pose, 2, 2));
+            // lnk_data.y_rotation = fast_atan2f(-MATD_EL(pose, 2, 0), fast_sqrtf(sq(MATD_EL(pose, 2, 1)) + sq(MATD_EL(pose, 2, 2))));
+            // lnk_data.z_rotation = fast_atan2f(MATD_EL(pose, 1, 0), MATD_EL(pose, 0, 0));
+
+            // matd_destroy(pose);
+
+            list_push_back(out, &lnk_data);
+        }
+        apriltag_detections_destroy(detections);
+        if(ptr->pixfmt == PIXFORMAT_GRAYSCALE && custom_apriltag_data.img.w == ptr->w && custom_apriltag_data.img.h == ptr->h)
+            fb_free(custom_apriltag_data.img.data); // grayscale_image;
+    }
+        break;
+    case 3:
+    {
+        apriltag_detector_destroy(custom_apriltag_data.td);
+        fb_free(NULL); // umm_init_x();
+    }
+        break;
+    default:
+        break;
+    }
+}
+void imlib_find_apriltags(list_t *out, image_t *ptr, rectangle_t *roi, apriltag_families_t families,
+                          float fx, float fy, float cx, float cy)
+{
+    // Frame Buffer Memory Usage...
+    // -> GRAYSCALE Input Image = w*h*1
+    // -> GRAYSCALE Threhsolded Image = w*h*1
+    // -> UnionFind = w*h*2 (+w*h*1 for hash table)
+    size_t resolution = roi->w * roi->h;
+    size_t fb_alloc_need = resolution * (1 + 1 + 2 + 1); // read above...
+    umm_init_x(((fb_avail() - fb_alloc_need) / resolution) * resolution);
+    apriltag_detector_t *td = apriltag_detector_create();
+
+    if (families & TAG16H5) {
+        apriltag_detector_add_family(td, (apriltag_family_t *) &tag16h5);
+    }
+
+    if (families & TAG25H7) {
+        apriltag_detector_add_family(td, (apriltag_family_t *) &tag25h7);
+    }
+
+    if (families & TAG25H9) {
+        apriltag_detector_add_family(td, (apriltag_family_t *) &tag25h9);
+    }
+
+    if (families & TAG36H10) {
+        apriltag_detector_add_family(td, (apriltag_family_t *) &tag36h10);
+    }
+
+    if (families & TAG36H11) {
+        apriltag_detector_add_family(td, (apriltag_family_t *) &tag36h11);
+    }
+
+    if (families & ARTOOLKIT) {
+        apriltag_detector_add_family(td, (apriltag_family_t *) &artoolkit);
+    }
+
+    image_t img;
+    img.w = roi->w;
+    img.h = roi->h;
+    img.pixfmt = PIXFORMAT_GRAYSCALE;
+    img.size = image_size(&img);
+    img.data = fb_alloc(img.size, FB_ALLOC_NO_HINT);
+    imlib_pixfmt_to(&img, ptr, roi);
+    // imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+
+    image_u8_t im;
+    im.width = roi->w;
+    im.height = roi->h;
+    im.stride = roi->w;
+    im.buf = img.data;
+
+    zarray_t *detections = apriltag_detector_detect(td, &im);
+    imlib_list_init(out, sizeof(find_apriltags_list_lnk_data_t));
+
+    for (int i = 0, j = zarray_size(detections); i < j; i++) {
+        apriltag_detection_t *det;
+        zarray_get(detections, i, &det);
+
+        find_apriltags_list_lnk_data_t lnk_data;
+        rectangle_init(&(lnk_data.rect), fast_roundf(det->p[0][0]) + roi->x, fast_roundf(det->p[0][1]) + roi->y, 0, 0);
+
+        for (size_t k = 1, l = (sizeof(det->p) / sizeof(det->p[0])); k < l; k++) {
+            rectangle_t temp;
+            rectangle_init(&temp, fast_roundf(det->p[k][0]) + roi->x, fast_roundf(det->p[k][1]) + roi->y, 0, 0);
+            rectangle_united(&(lnk_data.rect), &temp);
+        }
+
+        // Add corners...
+        lnk_data.corners[0].x = fast_roundf(det->p[3][0]) + roi->x; // top-left
+        lnk_data.corners[0].y = fast_roundf(det->p[3][1]) + roi->y; // top-left
+        lnk_data.corners[1].x = fast_roundf(det->p[2][0]) + roi->x; // top-right
+        lnk_data.corners[1].y = fast_roundf(det->p[2][1]) + roi->y; // top-right
+        lnk_data.corners[2].x = fast_roundf(det->p[1][0]) + roi->x; // bottom-right
+        lnk_data.corners[2].y = fast_roundf(det->p[1][1]) + roi->y; // bottom-right
+        lnk_data.corners[3].x = fast_roundf(det->p[0][0]) + roi->x; // bottom-left
+        lnk_data.corners[3].y = fast_roundf(det->p[0][1]) + roi->y; // bottom-left
+
+        lnk_data.id = det->id;
+        lnk_data.family = 0;
+
+        if(det->family == &tag16h5) {
+            lnk_data.family |= TAG16H5;
+        }
+
+        if(det->family == &tag25h7) {
+            lnk_data.family |= TAG25H7;
+        }
+
+        if(det->family == &tag25h9) {
+            lnk_data.family |= TAG25H9;
+        }
+
+        if(det->family == &tag36h10) {
+            lnk_data.family |= TAG36H10;
+        }
+
+        if(det->family == &tag36h11) {
+            lnk_data.family |= TAG36H11;
+        }
+
+        if(det->family == &artoolkit) {
+            lnk_data.family |= ARTOOLKIT;
+        }
+
+        lnk_data.hamming = det->hamming;
+        lnk_data.centroid.x = fast_roundf(det->c[0]) + roi->x;
+        lnk_data.centroid.y = fast_roundf(det->c[1]) + roi->y;
+        lnk_data.goodness = det->goodness / 255.0; // scale to [0:1]
+        lnk_data.decision_margin = det->decision_margin / 255.0; // scale to [0:1]
+
+        matd_t *pose = homography_to_pose(det->H, -fx, fy, cx, cy);
+
+        lnk_data.x_translation = MATD_EL(pose, 0, 3);
+        lnk_data.y_translation = MATD_EL(pose, 1, 3);
+        lnk_data.z_translation = MATD_EL(pose, 2, 3);
+        lnk_data.x_rotation = fast_atan2f(MATD_EL(pose, 2, 1), MATD_EL(pose, 2, 2));
+        lnk_data.y_rotation = fast_atan2f(-MATD_EL(pose, 2, 0), fast_sqrtf(sq(MATD_EL(pose, 2, 1)) + sq(MATD_EL(pose, 2, 2))));
+        lnk_data.z_rotation = fast_atan2f(MATD_EL(pose, 1, 0), MATD_EL(pose, 0, 0));
+
+        matd_destroy(pose);
+
+        list_push_back(out, &lnk_data);
+    }
+
+    apriltag_detections_destroy(detections);
+    fb_free(img.data); // grayscale_image;
+    apriltag_detector_destroy(td);
+    fb_free(NULL); // umm_init_x();
+}
+#endif
+#ifdef IMLIB_ENABLE_FIND_RECTS
+void imlib_find_rects(list_t *out, image_t *ptr, rectangle_t *roi, uint32_t threshold)
+{
+    // Frame Buffer Memory Usage...
+    // -> GRAYSCALE Input Image = w*h*1
+    // -> GRAYSCALE Threhsolded Image = w*h*1
+    // -> UnionFind = w*h*2 (+w*h*1 for hash table)
+    size_t resolution = roi->w * roi->h;
+    size_t fb_alloc_need = resolution * (1 + 1 + 2 + 2); // read above...
+    umm_init_x(((fb_avail() - fb_alloc_need) / resolution) * resolution);
+    apriltag_detector_t *td = apriltag_detector_create();
+
+    image_t img;
+    img.w = roi->w;
+    img.h = roi->h;
+    img.pixfmt = PIXFORMAT_GRAYSCALE;
+    img.size = image_size(&img);
+    img.data = fb_alloc(img.size, FB_ALLOC_NO_HINT);
+    imlib_pixfmt_to(&img, ptr, roi);
+
+    // imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+
+    image_u8_t im;
+    im.width = roi->w;
+    im.height = roi->h;
+    im.stride = roi->w;
+    im.buf = img.data;
+
+    ///////////////////////////////////////////////////////////
+    // Detect quads according to requested image decimation
+    // and blurring parameters.
+
+//    zarray_t *detections = apriltag_quad_gradient(td, &im, true);
+    zarray_t *detections = apriltag_quad_thresh(td, &im, true);
+
+    td->nquads = zarray_size(detections);
+
+    ////////////////////////////////////////////////////////////////
+    // Decode tags from each quad.
+    if (1) {
+        for (int i = 0; i < zarray_size(detections); i++) {
+            struct quad *quad_original;
+            zarray_get_volatile(detections, i, &quad_original);
+
+            // refine edges is not dependent upon the tag family, thus
+            // apply this optimization BEFORE the other work.
+            //if (td->quad_decimate > 1 && td->refine_edges) {
+            if (td->refine_edges) {
+                refine_edges(td, &im, quad_original);
+            }
+
+            // make sure the homographies are computed...
+            if (quad_update_homographies(quad_original))
+                continue;
+        }
+    }
+
+    ////////////////////////////////////////////////////////////////
+    // Reconcile detections--- don't report the same tag more
+    // than once. (Allow non-overlapping duplicate detections.)
+    if (1) {
+        zarray_t *poly0 = g2d_polygon_create_zeros(4);
+        zarray_t *poly1 = g2d_polygon_create_zeros(4);
+
+        for (int i0 = 0; i0 < zarray_size(detections); i0++) {
+
+            struct quad *det0;
+            zarray_get_volatile(detections, i0, &det0);
+
+            for (int k = 0; k < 4; k++)
+                zarray_set(poly0, k, det0->p[k], NULL);
+
+            for (int i1 = i0+1; i1 < zarray_size(detections); i1++) {
+
+                struct quad *det1;
+                zarray_get_volatile(detections, i1, &det1);
+
+                for (int k = 0; k < 4; k++)
+                    zarray_set(poly1, k, det1->p[k], NULL);
+
+                if (g2d_polygon_overlaps_polygon(poly0, poly1)) {
+                    // the tags overlap. Delete one, keep the other.
+
+                    int pref = 0; // 0 means undecided which one we'll keep.
+
+                    // if we STILL don't prefer one detection over the other, then pick
+                    // any deterministic criterion.
+                    for (int i = 0; i < 4; i++) {
+                        pref = prefer_smaller(pref, det0->p[i][0], det1->p[i][0]);
+                        pref = prefer_smaller(pref, det0->p[i][1], det1->p[i][1]);
+                    }
+
+                    if (pref == 0) {
+                        // at this point, we should only be undecided if the tag detections
+                        // are *exactly* the same. How would that happen?
+                        // printf("uh oh, no preference for overlappingdetection\n");
+                    }
+
+                    if (pref < 0) {
+                        // keep det0, destroy det1
+                        matd_destroy(det1->H);
+                        matd_destroy(det1->Hinv);
+                        zarray_remove_index(detections, i1, 1);
+                        i1--; // retry the same index
+                        goto retry1;
+                    } else {
+                        // keep det1, destroy det0
+                        matd_destroy(det0->H);
+                        matd_destroy(det0->Hinv);
+                        zarray_remove_index(detections, i0, 1);
+                        i0--; // retry the same index.
+                        goto retry0;
+                    }
+                }
+
+              retry1: ;
+            }
+
+          retry0: ;
+        }
+
+        zarray_destroy(poly0);
+        zarray_destroy(poly1);
+    }
+
+    imlib_list_init(out, sizeof(find_rects_list_lnk_data_t));
+
+    const int r_diag_len = fast_roundf(fast_sqrtf((roi->w * roi->w) + (roi->h * roi->h))) * 2;
+    int *theta_buffer = fb_alloc(sizeof(int) * r_diag_len, FB_ALLOC_NO_HINT);
+    uint32_t *mag_buffer = fb_alloc(sizeof(uint32_t) * r_diag_len, FB_ALLOC_NO_HINT);
+    point_t *point_buffer = fb_alloc(sizeof(point_t) * r_diag_len, FB_ALLOC_NO_HINT);
+
+    for (int i = 0, j = zarray_size(detections); i < j; i++) {
+        struct quad *det;
+        zarray_get_volatile(detections, i, &det);
+
+        line_t lines[4];
+        lines[0].x1 = fast_roundf(det->p[0][0]) + roi->x; lines[0].y1 = fast_roundf(det->p[0][1]) + roi->y;
+        lines[0].x2 = fast_roundf(det->p[1][0]) + roi->x; lines[0].y2 = fast_roundf(det->p[1][1]) + roi->y;
+        lines[1].x1 = fast_roundf(det->p[1][0]) + roi->x; lines[1].y1 = fast_roundf(det->p[1][1]) + roi->y;
+        lines[1].x2 = fast_roundf(det->p[2][0]) + roi->x; lines[1].y2 = fast_roundf(det->p[2][1]) + roi->y;
+        lines[2].x1 = fast_roundf(det->p[2][0]) + roi->x; lines[2].y1 = fast_roundf(det->p[2][1]) + roi->y;
+        lines[2].x2 = fast_roundf(det->p[3][0]) + roi->x; lines[2].y2 = fast_roundf(det->p[3][1]) + roi->y;
+        lines[3].x1 = fast_roundf(det->p[3][0]) + roi->x; lines[3].y1 = fast_roundf(det->p[3][1]) + roi->y;
+        lines[3].x2 = fast_roundf(det->p[0][0]) + roi->x; lines[3].y2 = fast_roundf(det->p[0][1]) + roi->y;
+
+        uint32_t magnitude = 0;
+
+        for (int i = 0; i < 4; i++) {
+            if(!lb_clip_line(&lines[i], 0, 0, roi->w, roi->h)) {
+                continue;
+            }
+
+            size_t index = trace_line(ptr, &lines[i], theta_buffer, mag_buffer, point_buffer);
+
+            for (int j = 0; j < index; j++) {
+                magnitude += mag_buffer[j];
+            }
+        }
+
+        if (magnitude < threshold) {
+            continue;
+        }
+
+        find_rects_list_lnk_data_t lnk_data;
+        rectangle_init(&(lnk_data.rect), fast_roundf(det->p[0][0]) + roi->x, fast_roundf(det->p[0][1]) + roi->y, 0, 0);
+
+        for (size_t k = 1, l = (sizeof(det->p) / sizeof(det->p[0])); k < l; k++) {
+            rectangle_t temp;
+            rectangle_init(&temp, fast_roundf(det->p[k][0]) + roi->x, fast_roundf(det->p[k][1]) + roi->y, 0, 0);
+            rectangle_united(&(lnk_data.rect), &temp);
+        }
+
+        // Add corners...
+        lnk_data.corners[0].x = fast_roundf(det->p[3][0]) + roi->x; // top-left
+        lnk_data.corners[0].y = fast_roundf(det->p[3][1]) + roi->y; // top-left
+        lnk_data.corners[1].x = fast_roundf(det->p[2][0]) + roi->x; // top-right
+        lnk_data.corners[1].y = fast_roundf(det->p[2][1]) + roi->y; // top-right
+        lnk_data.corners[2].x = fast_roundf(det->p[1][0]) + roi->x; // bottom-right
+        lnk_data.corners[2].y = fast_roundf(det->p[1][1]) + roi->y; // bottom-right
+        lnk_data.corners[3].x = fast_roundf(det->p[0][0]) + roi->x; // bottom-left
+        lnk_data.corners[3].y = fast_roundf(det->p[0][1]) + roi->y; // bottom-left
+
+        lnk_data.magnitude = magnitude;
+
+        list_push_back(out, &lnk_data);
+    }
+
+    fb_free(point_buffer); // point_buffer
+    fb_free(mag_buffer); // mag_buffer
+    fb_free(theta_buffer); // theta_buffer
+
+    zarray_destroy(detections);
+    fb_free(img.data); // grayscale_image;
+    apriltag_detector_destroy(td);
+    fb_free(NULL); // umm_init_x();
+}
+#endif //IMLIB_ENABLE_FIND_RECTS
+
+#ifdef IMLIB_ENABLE_ROTATION_CORR
+// http://jepsonsblog.blogspot.com/2012/11/rotation-in-3d-using-opencvs.html
+void imlib_rotation_corr(image_t *img, float x_rotation, float y_rotation, float z_rotation,
+                         float x_translation, float y_translation,
+                         float zoom, float fov, float *corners)
+{
+    // Create a tmp copy of the image to pull pixels from.
+    size_t size = image_size(img);
+    void *data = fb_alloc(size, FB_ALLOC_NO_HINT);
+    memcpy(data, img->data, size);
+    memset(img->data, 0, size);
+
+    umm_init_x(fb_avail());
+
+    int w = img->w;
+    int h = img->h;
+    float z = (fast_sqrtf((w * w) + (h * h)) / 2) / tanf(fov / 2);
+    float z_z = z * zoom;
+
+    matd_t *A1 = matd_create(4, 3);
+    MATD_EL(A1, 0, 0) = 1;  MATD_EL(A1, 0, 1) = 0;  MATD_EL(A1, 0, 2) = -w / 2;
+    MATD_EL(A1, 1, 0) = 0;  MATD_EL(A1, 1, 1) = 1;  MATD_EL(A1, 1, 2) = -h / 2;
+    MATD_EL(A1, 2, 0) = 0;  MATD_EL(A1, 2, 1) = 0;  MATD_EL(A1, 2, 2) = 0;
+    MATD_EL(A1, 3, 0) = 0;  MATD_EL(A1, 3, 1) = 0;  MATD_EL(A1, 3, 2) = 1; // needed for z translation
+
+    matd_t *RX = matd_create(4, 4);
+    MATD_EL(RX, 0, 0) = 1;  MATD_EL(RX, 0, 1) = 0;                  MATD_EL(RX, 0, 2) = 0;                  MATD_EL(RX, 0, 3) = 0;
+    MATD_EL(RX, 1, 0) = 0;  MATD_EL(RX, 1, 1) = +cosf(x_rotation);  MATD_EL(RX, 1, 2) = -sinf(x_rotation);  MATD_EL(RX, 1, 3) = 0;
+    MATD_EL(RX, 2, 0) = 0;  MATD_EL(RX, 2, 1) = +sinf(x_rotation);  MATD_EL(RX, 2, 2) = +cosf(x_rotation);  MATD_EL(RX, 2, 3) = 0;
+    MATD_EL(RX, 3, 0) = 0;  MATD_EL(RX, 3, 1) = 0;                  MATD_EL(RX, 3, 2) = 0;                  MATD_EL(RX, 3, 3) = 1;
+
+    matd_t *RY = matd_create(4, 4);
+    MATD_EL(RY, 0, 0) = +cosf(y_rotation);  MATD_EL(RY, 0, 1) = 0;  MATD_EL(RY, 0, 2) = -sinf(y_rotation);  MATD_EL(RY, 0, 3) = 0;
+    MATD_EL(RY, 1, 0) = 0;                  MATD_EL(RY, 1, 1) = 1;  MATD_EL(RY, 1, 2) = 0;                  MATD_EL(RY, 1, 3) = 0;
+    MATD_EL(RY, 2, 0) = +sinf(y_rotation);  MATD_EL(RY, 2, 1) = 0;  MATD_EL(RY, 2, 2) = +cosf(y_rotation);  MATD_EL(RY, 2, 3) = 0;
+    MATD_EL(RY, 3, 0) = 0;                  MATD_EL(RY, 3, 1) = 0;  MATD_EL(RY, 3, 2) = 0;                  MATD_EL(RY, 3, 3) = 1;
+
+    matd_t *RZ = matd_create(4, 4);
+    MATD_EL(RZ, 0, 0) = +cosf(z_rotation);  MATD_EL(RZ, 0, 1) = -sinf(z_rotation);  MATD_EL(RZ, 0, 2) = 0;  MATD_EL(RZ, 0, 3) = 0;
+    MATD_EL(RZ, 1, 0) = +sinf(z_rotation);  MATD_EL(RZ, 1, 1) = +cosf(z_rotation);  MATD_EL(RZ, 1, 2) = 0;  MATD_EL(RZ, 1, 3) = 0;
+    MATD_EL(RZ, 2, 0) = 0;                  MATD_EL(RZ, 2, 1) = 0;                  MATD_EL(RZ, 2, 2) = 1;  MATD_EL(RZ, 2, 3) = 0;
+    MATD_EL(RZ, 3, 0) = 0;                  MATD_EL(RZ, 3, 1) = 0;                  MATD_EL(RZ, 3, 2) = 0;  MATD_EL(RZ, 3, 3) = 1;
+
+    matd_t *R = matd_op("M*M*M", RX, RY, RZ);
+
+    matd_t *T = matd_create(4, 4);
+    MATD_EL(T, 0, 0) = 1;   MATD_EL(T, 0, 1) = 0;   MATD_EL(T, 0, 2) = 0;   MATD_EL(T, 0, 3) = x_translation;
+    MATD_EL(T, 1, 0) = 0;   MATD_EL(T, 1, 1) = 1;   MATD_EL(T, 1, 2) = 0;   MATD_EL(T, 1, 3) = y_translation;
+    MATD_EL(T, 2, 0) = 0;   MATD_EL(T, 2, 1) = 0;   MATD_EL(T, 2, 2) = 1;   MATD_EL(T, 2, 3) = z;
+    MATD_EL(T, 3, 0) = 0;   MATD_EL(T, 3, 1) = 0;   MATD_EL(T, 3, 2) = 0;   MATD_EL(T, 3, 3) = 1;
+
+    matd_t *A2 = matd_create(3, 4);
+    MATD_EL(A2, 0, 0) = z_z;    MATD_EL(A2, 0, 1) = 0;      MATD_EL(A2, 0, 2) = w / 2;   MATD_EL(A2, 0, 3) = 0;
+    MATD_EL(A2, 1, 0) = 0;      MATD_EL(A2, 1, 1) = z_z;    MATD_EL(A2, 1, 2) = h / 2;   MATD_EL(A2, 1, 3) = 0;
+    MATD_EL(A2, 2, 0) = 0;      MATD_EL(A2, 2, 1) = 0;      MATD_EL(A2, 2, 2) = 1;       MATD_EL(A2, 2, 3) = 0;
+
+    matd_t *T1 = matd_op("M*M", R, A1);
+    matd_t *T2 = matd_op("M*M", T, T1);
+    matd_t *T3 = matd_op("M*M", A2, T2);
+    matd_t *T4 = matd_inverse(T3);
+
+    if (T4 && corners) {
+        float corr[4];
+        zarray_t *correspondences = zarray_create(sizeof(float[4]));
+
+        corr[0] = 0;
+        corr[1] = 0;
+        corr[2] = corners[0];
+        corr[3] = corners[1];
+        zarray_add(correspondences, &corr);
+
+        corr[0] = w - 1;
+        corr[1] = 0;
+        corr[2] = corners[2];
+        corr[3] = corners[3];
+        zarray_add(correspondences, &corr);
+
+        corr[0] = w - 1;
+        corr[1] = h - 1;
+        corr[2] = corners[4];
+        corr[3] = corners[5];
+        zarray_add(correspondences, &corr);
+
+        corr[0] = 0;
+        corr[1] = h - 1;
+        corr[2] = corners[6];
+        corr[3] = corners[7];
+        zarray_add(correspondences, &corr);
+
+        matd_t *H = homography_compute(correspondences, HOMOGRAPHY_COMPUTE_FLAG_INVERSE);
+
+        if (!H) { // try again...
+            H = homography_compute(correspondences, HOMOGRAPHY_COMPUTE_FLAG_SVD);
+        }
+
+        if (H) {
+            matd_t *T5 = matd_op("M*M", H, T4);
+            matd_destroy(H);
+            matd_destroy(T4);
+            T4 = T5;
+        }
+
+        zarray_destroy(correspondences);
+    }
+
+    if (T4) {
+        float T4_00 = MATD_EL(T4, 0, 0), T4_01 = MATD_EL(T4, 0, 1), T4_02 = MATD_EL(T4, 0, 2);
+        float T4_10 = MATD_EL(T4, 1, 0), T4_11 = MATD_EL(T4, 1, 1), T4_12 = MATD_EL(T4, 1, 2);
+        float T4_20 = MATD_EL(T4, 2, 0), T4_21 = MATD_EL(T4, 2, 1), T4_22 = MATD_EL(T4, 2, 2);
+
+        if ((fast_fabsf(T4_20) < MATD_EPS) && (fast_fabsf(T4_21) < MATD_EPS)) { // warp affine
+            T4_00 /= T4_22;
+            T4_01 /= T4_22;
+            T4_02 /= T4_22;
+            T4_10 /= T4_22;
+            T4_11 /= T4_22;
+            T4_12 /= T4_22;
+            switch (img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *tmp = (uint32_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            int sourceX = fast_roundf(T4_00*x + T4_01*y + T4_02);
+                            int sourceY = fast_roundf(T4_10*x + T4_11*y + T4_12);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                uint32_t *ptr = tmp + (((w + UINT32_T_MASK) >> UINT32_T_SHIFT) * sourceY);
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX);
+                                IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *tmp = (uint8_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            int sourceX = fast_roundf(T4_00*x + T4_01*y + T4_02);
+                            int sourceY = fast_roundf(T4_10*x + T4_11*y + T4_12);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                uint8_t *ptr = tmp + (w * sourceY);
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(ptr, sourceX);
+                                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *tmp = (uint16_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            int sourceX = fast_roundf(T4_00*x + T4_01*y + T4_02);
+                            int sourceY = fast_roundf(T4_10*x + T4_11*y + T4_12);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                uint16_t *ptr = tmp + (w * sourceY);
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(ptr, sourceX);
+                                IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *tmp = (pixel24_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            int sourceX = fast_roundf(T4_00*x + T4_01*y + T4_02);
+                            int sourceY = fast_roundf(T4_10*x + T4_11*y + T4_12);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                pixel24_t *ptr = tmp + (w * sourceY);
+                                pixel24_t pixel = IMAGE_GET_RGB888_PIXEL_FAST_(ptr, sourceX);
+                                IMAGE_PUT_RGB888_PIXEL_FAST_(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        } else { // warp persepective
+            switch (img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *tmp = (uint32_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            float xxx = T4_00*x + T4_01*y + T4_02;
+                            float yyy = T4_10*x + T4_11*y + T4_12;
+                            float zzz = T4_20*x + T4_21*y + T4_22;
+                            int sourceX = fast_roundf(xxx / zzz);
+                            int sourceY = fast_roundf(yyy / zzz);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                uint32_t *ptr = tmp + (((w + UINT32_T_MASK) >> UINT32_T_SHIFT) * sourceY);
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX);
+                                IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *tmp = (uint8_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            float xxx = T4_00*x + T4_01*y + T4_02;
+                            float yyy = T4_10*x + T4_11*y + T4_12;
+                            float zzz = T4_20*x + T4_21*y + T4_22;
+                            int sourceX = fast_roundf(xxx / zzz);
+                            int sourceY = fast_roundf(yyy / zzz);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                uint8_t *ptr = tmp + (w * sourceY);
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(ptr, sourceX);
+                                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *tmp = (uint16_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            float xxx = T4_00*x + T4_01*y + T4_02;
+                            float yyy = T4_10*x + T4_11*y + T4_12;
+                            float zzz = T4_20*x + T4_21*y + T4_22;
+                            int sourceX = fast_roundf(xxx / zzz);
+                            int sourceY = fast_roundf(yyy / zzz);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                uint16_t *ptr = tmp + (w * sourceY);
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(ptr, sourceX);
+                                IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *tmp = (pixel24_t *) data;
+
+                    for (int y = 0, yy = h; y < yy; y++) {
+                        pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                        for (int x = 0, xx = w; x < xx; x++) {
+                            float xxx = T4_00*x + T4_01*y + T4_02;
+                            float yyy = T4_10*x + T4_11*y + T4_12;
+                            float zzz = T4_20*x + T4_21*y + T4_22;
+                            int sourceX = fast_roundf(xxx / zzz);
+                            int sourceY = fast_roundf(yyy / zzz);
+
+                            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                                pixel24_t *ptr = tmp + (w * sourceY);
+                                pixel24_t pixel = IMAGE_GET_RGB888_PIXEL_FAST_(ptr, sourceX);
+                                IMAGE_PUT_RGB888_PIXEL_FAST_(row_ptr, x, pixel);
+                            }
+                        }
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+
+        matd_destroy(T4);
+    }
+
+    matd_destroy(T3);
+    matd_destroy(T2);
+    matd_destroy(T1);
+    matd_destroy(A2);
+    matd_destroy(T);
+    matd_destroy(R);
+    matd_destroy(RZ);
+    matd_destroy(RY);
+    matd_destroy(RX);
+    matd_destroy(A1);
+
+    fb_free(NULL); // umm_init_x();
+
+    fb_free(data);
+}
+#endif //IMLIB_ENABLE_ROTATION_CORR
+#pragma GCC diagnostic pop
diff --git a/github_source/minicv2/src/arm_dsp_compat.c b/github_source/minicv2/src/arm_dsp_compat.c
new file mode 100755
index 0000000..e49a317
--- /dev/null
+++ b/github_source/minicv2/src/arm_dsp_compat.c
@@ -0,0 +1,195 @@
+#include "omv_boardconfig.h"
+#include "arm_compat.h"
+#include <stdint.h>
+#define FAST_MATH_TABLE_SIZE  512
+static const float sinTable_f32[FAST_MATH_TABLE_SIZE + 1] = {
+   0.00000000f, 0.01227154f, 0.02454123f, 0.03680722f, 0.04906767f, 0.06132074f,
+   0.07356456f, 0.08579731f, 0.09801714f, 0.11022221f, 0.12241068f, 0.13458071f,
+   0.14673047f, 0.15885814f, 0.17096189f, 0.18303989f, 0.19509032f, 0.20711138f,
+   0.21910124f, 0.23105811f, 0.24298018f, 0.25486566f, 0.26671276f, 0.27851969f,
+   0.29028468f, 0.30200595f, 0.31368174f, 0.32531029f, 0.33688985f, 0.34841868f,
+   0.35989504f, 0.37131719f, 0.38268343f, 0.39399204f, 0.40524131f, 0.41642956f,
+   0.42755509f, 0.43861624f, 0.44961133f, 0.46053871f, 0.47139674f, 0.48218377f,
+   0.49289819f, 0.50353838f, 0.51410274f, 0.52458968f, 0.53499762f, 0.54532499f,
+   0.55557023f, 0.56573181f, 0.57580819f, 0.58579786f, 0.59569930f, 0.60551104f,
+   0.61523159f, 0.62485949f, 0.63439328f, 0.64383154f, 0.65317284f, 0.66241578f,
+   0.67155895f, 0.68060100f, 0.68954054f, 0.69837625f, 0.70710678f, 0.71573083f,
+   0.72424708f, 0.73265427f, 0.74095113f, 0.74913639f, 0.75720885f, 0.76516727f,
+   0.77301045f, 0.78073723f, 0.78834643f, 0.79583690f, 0.80320753f, 0.81045720f,
+   0.81758481f, 0.82458930f, 0.83146961f, 0.83822471f, 0.84485357f, 0.85135519f,
+   0.85772861f, 0.86397286f, 0.87008699f, 0.87607009f, 0.88192126f, 0.88763962f,
+   0.89322430f, 0.89867447f, 0.90398929f, 0.90916798f, 0.91420976f, 0.91911385f,
+   0.92387953f, 0.92850608f, 0.93299280f, 0.93733901f, 0.94154407f, 0.94560733f,
+   0.94952818f, 0.95330604f, 0.95694034f, 0.96043052f, 0.96377607f, 0.96697647f,
+   0.97003125f, 0.97293995f, 0.97570213f, 0.97831737f, 0.98078528f, 0.98310549f,
+   0.98527764f, 0.98730142f, 0.98917651f, 0.99090264f, 0.99247953f, 0.99390697f,
+   0.99518473f, 0.99631261f, 0.99729046f, 0.99811811f, 0.99879546f, 0.99932238f,
+   0.99969882f, 0.99992470f, 1.00000000f, 0.99992470f, 0.99969882f, 0.99932238f,
+   0.99879546f, 0.99811811f, 0.99729046f, 0.99631261f, 0.99518473f, 0.99390697f,
+   0.99247953f, 0.99090264f, 0.98917651f, 0.98730142f, 0.98527764f, 0.98310549f,
+   0.98078528f, 0.97831737f, 0.97570213f, 0.97293995f, 0.97003125f, 0.96697647f,
+   0.96377607f, 0.96043052f, 0.95694034f, 0.95330604f, 0.94952818f, 0.94560733f,
+   0.94154407f, 0.93733901f, 0.93299280f, 0.92850608f, 0.92387953f, 0.91911385f,
+   0.91420976f, 0.90916798f, 0.90398929f, 0.89867447f, 0.89322430f, 0.88763962f,
+   0.88192126f, 0.87607009f, 0.87008699f, 0.86397286f, 0.85772861f, 0.85135519f,
+   0.84485357f, 0.83822471f, 0.83146961f, 0.82458930f, 0.81758481f, 0.81045720f,
+   0.80320753f, 0.79583690f, 0.78834643f, 0.78073723f, 0.77301045f, 0.76516727f,
+   0.75720885f, 0.74913639f, 0.74095113f, 0.73265427f, 0.72424708f, 0.71573083f,
+   0.70710678f, 0.69837625f, 0.68954054f, 0.68060100f, 0.67155895f, 0.66241578f,
+   0.65317284f, 0.64383154f, 0.63439328f, 0.62485949f, 0.61523159f, 0.60551104f,
+   0.59569930f, 0.58579786f, 0.57580819f, 0.56573181f, 0.55557023f, 0.54532499f,
+   0.53499762f, 0.52458968f, 0.51410274f, 0.50353838f, 0.49289819f, 0.48218377f,
+   0.47139674f, 0.46053871f, 0.44961133f, 0.43861624f, 0.42755509f, 0.41642956f,
+   0.40524131f, 0.39399204f, 0.38268343f, 0.37131719f, 0.35989504f, 0.34841868f,
+   0.33688985f, 0.32531029f, 0.31368174f, 0.30200595f, 0.29028468f, 0.27851969f,
+   0.26671276f, 0.25486566f, 0.24298018f, 0.23105811f, 0.21910124f, 0.20711138f,
+   0.19509032f, 0.18303989f, 0.17096189f, 0.15885814f, 0.14673047f, 0.13458071f,
+   0.12241068f, 0.11022221f, 0.09801714f, 0.08579731f, 0.07356456f, 0.06132074f,
+   0.04906767f, 0.03680722f, 0.02454123f, 0.01227154f, 0.00000000f, -0.01227154f,
+   -0.02454123f, -0.03680722f, -0.04906767f, -0.06132074f, -0.07356456f,
+   -0.08579731f, -0.09801714f, -0.11022221f, -0.12241068f, -0.13458071f,
+   -0.14673047f, -0.15885814f, -0.17096189f, -0.18303989f, -0.19509032f,
+   -0.20711138f, -0.21910124f, -0.23105811f, -0.24298018f, -0.25486566f,
+   -0.26671276f, -0.27851969f, -0.29028468f, -0.30200595f, -0.31368174f,
+   -0.32531029f, -0.33688985f, -0.34841868f, -0.35989504f, -0.37131719f,
+   -0.38268343f, -0.39399204f, -0.40524131f, -0.41642956f, -0.42755509f,
+   -0.43861624f, -0.44961133f, -0.46053871f, -0.47139674f, -0.48218377f,
+   -0.49289819f, -0.50353838f, -0.51410274f, -0.52458968f, -0.53499762f,
+   -0.54532499f, -0.55557023f, -0.56573181f, -0.57580819f, -0.58579786f,
+   -0.59569930f, -0.60551104f, -0.61523159f, -0.62485949f, -0.63439328f,
+   -0.64383154f, -0.65317284f, -0.66241578f, -0.67155895f, -0.68060100f,
+   -0.68954054f, -0.69837625f, -0.70710678f, -0.71573083f, -0.72424708f,
+   -0.73265427f, -0.74095113f, -0.74913639f, -0.75720885f, -0.76516727f,
+   -0.77301045f, -0.78073723f, -0.78834643f, -0.79583690f, -0.80320753f,
+   -0.81045720f, -0.81758481f, -0.82458930f, -0.83146961f, -0.83822471f,
+   -0.84485357f, -0.85135519f, -0.85772861f, -0.86397286f, -0.87008699f,
+   -0.87607009f, -0.88192126f, -0.88763962f, -0.89322430f, -0.89867447f,
+   -0.90398929f, -0.90916798f, -0.91420976f, -0.91911385f, -0.92387953f,
+   -0.92850608f, -0.93299280f, -0.93733901f, -0.94154407f, -0.94560733f,
+   -0.94952818f, -0.95330604f, -0.95694034f, -0.96043052f, -0.96377607f,
+   -0.96697647f, -0.97003125f, -0.97293995f, -0.97570213f, -0.97831737f,
+   -0.98078528f, -0.98310549f, -0.98527764f, -0.98730142f, -0.98917651f,
+   -0.99090264f, -0.99247953f, -0.99390697f, -0.99518473f, -0.99631261f,
+   -0.99729046f, -0.99811811f, -0.99879546f, -0.99932238f, -0.99969882f,
+   -0.99992470f, -1.00000000f, -0.99992470f, -0.99969882f, -0.99932238f,
+   -0.99879546f, -0.99811811f, -0.99729046f, -0.99631261f, -0.99518473f,
+   -0.99390697f, -0.99247953f, -0.99090264f, -0.98917651f, -0.98730142f,
+   -0.98527764f, -0.98310549f, -0.98078528f, -0.97831737f, -0.97570213f,
+   -0.97293995f, -0.97003125f, -0.96697647f, -0.96377607f, -0.96043052f,
+   -0.95694034f, -0.95330604f, -0.94952818f, -0.94560733f, -0.94154407f,
+   -0.93733901f, -0.93299280f, -0.92850608f, -0.92387953f, -0.91911385f,
+   -0.91420976f, -0.90916798f, -0.90398929f, -0.89867447f, -0.89322430f,
+   -0.88763962f, -0.88192126f, -0.87607009f, -0.87008699f, -0.86397286f,
+   -0.85772861f, -0.85135519f, -0.84485357f, -0.83822471f, -0.83146961f,
+   -0.82458930f, -0.81758481f, -0.81045720f, -0.80320753f, -0.79583690f,
+   -0.78834643f, -0.78073723f, -0.77301045f, -0.76516727f, -0.75720885f,
+   -0.74913639f, -0.74095113f, -0.73265427f, -0.72424708f, -0.71573083f,
+   -0.70710678f, -0.69837625f, -0.68954054f, -0.68060100f, -0.67155895f,
+   -0.66241578f, -0.65317284f, -0.64383154f, -0.63439328f, -0.62485949f,
+   -0.61523159f, -0.60551104f, -0.59569930f, -0.58579786f, -0.57580819f,
+   -0.56573181f, -0.55557023f, -0.54532499f, -0.53499762f, -0.52458968f,
+   -0.51410274f, -0.50353838f, -0.49289819f, -0.48218377f, -0.47139674f,
+   -0.46053871f, -0.44961133f, -0.43861624f, -0.42755509f, -0.41642956f,
+   -0.40524131f, -0.39399204f, -0.38268343f, -0.37131719f, -0.35989504f,
+   -0.34841868f, -0.33688985f, -0.32531029f, -0.31368174f, -0.30200595f,
+   -0.29028468f, -0.27851969f, -0.26671276f, -0.25486566f, -0.24298018f,
+   -0.23105811f, -0.21910124f, -0.20711138f, -0.19509032f, -0.18303989f,
+   -0.17096189f, -0.15885814f, -0.14673047f, -0.13458071f, -0.12241068f,
+   -0.11022221f, -0.09801714f, -0.08579731f, -0.07356456f, -0.06132074f,
+   -0.04906767f, -0.03680722f, -0.02454123f, -0.01227154f, -0.00000000f
+};
+
+float arm_sin_f32(
+  float x)
+{
+  float sinVal, fract, in;                           /* Temporary variables for input, output */
+  uint16_t index;                                        /* Index variable */
+  float a, b;                                        /* Two nearest output values */
+  int32_t n;
+  float findex;
+
+  /* Special case for small negative inputs */
+  if ((x < 0.0f) && (x >= (float)(-1.9e-7f))) {
+     return x;
+  }
+
+  /* input x is in radians */
+  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */
+  in = x * 0.159154943092f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if (x < 0.0f)
+  {
+    n--;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float) n;
+
+  /* Calculation of index of the table */
+  findex = (float) FAST_MATH_TABLE_SIZE * in;
+
+  index = ((uint16_t)findex) & 0x1ff;
+
+  /* fractional value calculation */
+  fract = findex - (float) index;
+
+  /* Read two nearest values of input value from the sin table */
+  a = sinTable_f32[index];
+  b = sinTable_f32[index+1];
+
+  /* Linear interpolation process */
+  sinVal = (1.0f-fract)*a + fract*b;
+
+  /* Return the output value */
+  return (sinVal);
+}
+
+float arm_cos_f32(
+  float x)
+{
+  float cosVal, fract, in;                   /* Temporary variables for input, output */
+  uint16_t index;                                /* Index variable */
+  float a, b;                                /* Two nearest output values */
+  int32_t n;
+  float findex;
+
+  /* input x is in radians */
+  /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi, add 0.25 (pi/2) to read sine table */
+  in = x * 0.159154943092f + 0.25f;
+
+  /* Calculation of floor value of input */
+  n = (int32_t) in;
+
+  /* Make negative values towards -infinity */
+  if (in < 0.0f)
+  {
+    n--;
+  }
+
+  /* Map input value to [0 1] */
+  in = in - (float) n;
+
+  /* Calculation of index of the table */
+  findex = (float) FAST_MATH_TABLE_SIZE * in;
+  index = ((uint16_t)findex) & 0x1ff;
+
+  /* fractional value calculation */
+  fract = findex - (float) index;
+
+  /* Read two nearest values of input value from the cos table */
+  a = sinTable_f32[index];
+  b = sinTable_f32[index+1];
+
+  /* Linear interpolation process */
+  cosVal = (1.0f-fract)*a + fract*b;
+
+  /* Return the output value */
+  return (cosVal);
+}
+int abs__(int n) {
+    return n<0 ? -n : n;
+}
diff --git a/github_source/minicv2/src/array.c b/github_source/minicv2/src/array.c
new file mode 100644
index 0000000..5976a66
--- /dev/null
+++ b/github_source/minicv2/src/array.c
@@ -0,0 +1,178 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Dynamic array.
+ */
+#include <string.h>
+// #include "py/runtime.h"
+// #include "py/stackctrl.h"
+#include "xalloc.h"
+#include "array.h"
+#define ARRAY_INIT_SIZE (4) // Size of one GC block.
+
+void array_alloc(array_t **a, array_dtor_t dtor)
+{
+    array_t *array = xalloc(sizeof(array_t));
+    array->index  = 0;
+    array->length = ARRAY_INIT_SIZE;
+    array->dtor   = dtor;
+    array->data   = xalloc(ARRAY_INIT_SIZE * sizeof(void*));
+    *a = array;
+}
+
+void array_alloc_init(array_t **a, array_dtor_t dtor, int size)
+{
+    array_t *array = xalloc(sizeof(array_t));
+    array->index  = 0;
+    array->length = size;
+    array->dtor   = dtor;
+    array->data   = xalloc(size * sizeof(void*));
+    *a = array;
+}
+
+void array_clear(array_t *array)
+{
+    if (array->dtor != NULL) {
+        for (int i=0, j=array->index; i<j; i++) {
+            array->dtor(array->data[i]);
+        }
+    }
+    xfree(array->data);
+    array->index = 0;
+    array->length = 0;
+    array->data = NULL;
+    // Note: realloc with null pointer and (size != 0) returns valid pointer.
+    // Note: realloc with valid pointer and (size == 0) returns null pointer.
+}
+
+void array_free(array_t *array)
+{
+    array_clear(array);
+    xfree(array);
+}
+
+int array_length(array_t *array)
+{
+    return array->index; // index is the actual length, length is the max length
+}
+
+void *array_at(array_t *array, int idx)
+{
+    return array->data[idx];
+}
+
+void array_push_back(array_t *array, void *element)
+{
+    if (array->index == array->length) {
+        array->length += ARRAY_INIT_SIZE;
+        array->data    = xrealloc(array->data, array->length * sizeof(void*));
+    }
+    array->data[array->index++] = element;
+}
+
+void *array_pop_back(array_t *array)
+{
+    void *el=NULL;
+    if (array->index) {
+        el = array->data[--array->index];
+    }
+    return el;
+}
+
+void *array_take(array_t *array, int idx)
+{
+    void *el=array->data[idx];
+    if ((1 < array->index) && (idx < (array->index - 1))) {
+        /* Since dst is always < src we can just use memcpy */
+        memcpy(array->data+idx, array->data+idx+1, (array->index-idx-1) * sizeof(void*));
+    }
+    array->index--;
+    return el;
+}
+
+void array_erase(array_t *array, int idx)
+{
+    if (array->dtor) {
+        array->dtor(array->data[idx]);
+    }
+    array_take(array, idx);
+}
+
+void array_resize(array_t *array, int num)
+{
+    if (array->index != num) {
+        if (!num) {
+            array_clear(array);
+        } else {
+            if (array->index > num) {
+                if (array->dtor != NULL) {
+                    for (int i=num, j=array->index; i<j; i++) {
+                        array->dtor(array->data[i]);
+                    }
+                }
+                array->index = num;
+            }
+            // resize array
+            array->length = num;
+            array->data = xrealloc(array->data, array->length * sizeof(void*));
+        }
+    }
+}
+
+// see micropython quicksort (objlist.c -> mp_quicksort)
+static void quicksort(void **head, void **tail, array_comp_t comp)
+{
+    // MP_STACK_CHECK();
+    while (head < tail) {
+        void **h = head - 1;
+        void **t = tail;
+        void *v = tail[0];
+        for (;;) {
+            do ++h; while(h < t && comp(h[0], v) < 0);
+            do --t; while(h < t && comp(v, t[0]) < 0);
+            if (h >= t) break;
+            void *x = h[0];
+            h[0] = t[0];
+            t[0] = x;
+        }
+        void *x = h[0];
+        h[0] = tail[0];
+        tail[0] = x;
+        // do the smaller recursive call first, to keep stack within O(log(N))
+        if (t - head < tail - h - 1) {
+            quicksort(head, t, comp);
+            head = h + 1;
+        } else {
+            quicksort(h + 1, tail, comp);
+            tail = t;
+        }
+    }
+}
+
+// TODO Python defines sort to be stable but ours is not
+void array_sort(array_t *array, array_comp_t comp)
+{
+    if (array->index > 1) {
+        quicksort(array->data, array->data + array->index - 1, comp);
+    }
+}
+
+void array_isort(array_t *array, array_comp_t comp)
+{
+    if (array->index > 1) {
+        for (int i = 1; i < array->index; i++) {
+            int j = i-1;
+            void *t = array->data[i];
+            while (j >= 0 && comp(array->data[j], t)) {
+                array->data[j+1] = array->data[j];
+                j--;
+            }
+            array->data[j+1] = t;
+        }
+    }
+}
diff --git a/github_source/minicv2/src/bayer.c b/github_source/minicv2/src/bayer.c
new file mode 100644
index 0000000..1f8928b
--- /dev/null
+++ b/github_source/minicv2/src/bayer.c
@@ -0,0 +1,931 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Debayering Functions
+ */
+#include "imlib.h"
+
+void imlib_debayer_line(int x_start, int x_end, int y_row, void *dst_row_ptr, pixformat_t pixfmt, image_t *src)
+{
+    int src_w = src->w, w_limit = src_w - 1, w_limit_m_1 = w_limit - 1;
+    int src_h = src->h, h_limit = src_h - 1, h_limit_m_1 = h_limit - 1;
+
+    int y_row_odd = y_row & 1;
+    int y = (y_row / 2) * 2;
+    uint8_t *rowptr_grgr_0, *rowptr_bgbg_1, *rowptr_grgr_2, *rowptr_bgbg_3;
+
+    // keep row pointers in bounds
+    if (y == 0) {
+        rowptr_bgbg_1 = src->data;
+        rowptr_grgr_2 = rowptr_bgbg_1 + ((src_h >= 2) ? src_w : 0);
+        rowptr_bgbg_3 = rowptr_bgbg_1 + ((src_h >= 3) ? (src_w * 2) : 0);
+        rowptr_grgr_0 = rowptr_grgr_2;
+    } else if (y == h_limit_m_1) {
+        rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+        rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+        rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+        rowptr_bgbg_3 = rowptr_bgbg_1;
+    } else if (y >= h_limit) {
+        rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+        rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+        rowptr_grgr_2 = rowptr_grgr_0;
+        rowptr_bgbg_3 = rowptr_bgbg_1;
+    } else { // get 4 neighboring rows
+        rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+        rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+        rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+        rowptr_bgbg_3 = rowptr_grgr_2 + src_w;
+    }
+
+    // If the image is an odd width this will go for the last loop and we drop the last column.
+    if (!y_row_odd) { // even
+        for (int x = x_start, i = 0; x < x_end; x += 2, i += 2) {
+            uint32_t row_grgr_0, row_bgbg_1, row_grgr_2;
+
+            // keep pixels in bounds
+            if (x == 0) {
+                if (src_w >= 4) {
+                    row_grgr_0 = *((uint32_t *) rowptr_grgr_0);
+                    row_bgbg_1 = *((uint32_t *) rowptr_bgbg_1);
+                    row_grgr_2 = *((uint32_t *) rowptr_grgr_2);
+                } else if (src_w >= 3) {
+                    row_grgr_0 = *((uint16_t *) rowptr_grgr_0) | (*(rowptr_grgr_0 + 2) << 16);
+                    row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1) | (*(rowptr_bgbg_1 + 2) << 16);
+                    row_grgr_2 = *((uint16_t *) rowptr_grgr_2) | (*(rowptr_grgr_2 + 2) << 16);
+                } else if (src_w >= 2) {
+                    row_grgr_0 = *((uint16_t *) rowptr_grgr_0);
+                    row_grgr_0 = (row_grgr_0 << 16) | row_grgr_0;
+                    row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1);
+                    row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                    row_grgr_2 = *((uint16_t *) rowptr_grgr_2);
+                    row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                } else {
+                    row_grgr_0 = *(rowptr_grgr_0) * 0x01010101;
+                    row_bgbg_1 = *(rowptr_bgbg_1) * 0x01010101;
+                    row_grgr_2 = *(rowptr_grgr_2) * 0x01010101;
+                }
+                // The starting point needs to be offset by 1. The below patterns are actually
+                // rgrg, gbgb, rgrg, and gbgb. So, shift left and backfill the missing border pixel.
+                row_grgr_0 = (row_grgr_0 << 8) | __UXTB_RORn(row_grgr_0, 8);
+                row_bgbg_1 = (row_bgbg_1 << 8) | __UXTB_RORn(row_bgbg_1, 8);
+                row_grgr_2 = (row_grgr_2 << 8) | __UXTB_RORn(row_grgr_2, 8);
+            } else if (x == w_limit_m_1) {
+                row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x - 2));
+                row_grgr_0 = (row_grgr_0 >> 8) | ((row_grgr_0 << 8) & 0xff000000);
+                row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 2));
+                row_bgbg_1 = (row_bgbg_1 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+                row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 2));
+                row_grgr_2 = (row_grgr_2 >> 8) | ((row_grgr_2 << 8) & 0xff000000);
+            } else if (x >= w_limit) {
+                row_grgr_0 = *((uint16_t *) (rowptr_grgr_0 + x - 1));
+                row_grgr_0 = (row_grgr_0 << 16) | row_grgr_0;
+                row_bgbg_1 = *((uint16_t *) (rowptr_bgbg_1 + x - 1));
+                row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                row_grgr_2 = *((uint16_t *) (rowptr_grgr_2 + x - 1));
+                row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+            } else { // get 4 neighboring rows
+                row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x - 1));
+                row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 1));
+                row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 1));
+            }
+
+            int r_pixels_0, g_pixels_0, b_pixels_0;
+
+            switch (src->pixfmt) {
+                case PIXFORMAT_BAYER_BGGR: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                    g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                    b_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                    #else
+
+                    int r0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int r2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                    r_pixels_0 = (r2 << 16) | ((r0 + r2) >> 1);
+
+                    int g0 = (row_grgr_0 >> 8) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 8) & 0xFF;
+                    g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                    int b1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    b_pixels_0 = (b1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GBRG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                    g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                    b_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                    #else
+
+                    int r0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int r2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                    r_pixels_0 = r0 | (((r0 + r2) >> 1) << 16);
+
+                    int g0 = (row_grgr_0 >> 16) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 16) & 0xFF;
+                    g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                    int b1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    b_pixels_0 = b1 | (row_bgbg_1 & 0xFF0000);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GRBG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                    g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                    b_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                    #else
+
+                    int r1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    r_pixels_0 = r1 | (row_bgbg_1 & 0xFF0000);
+
+                    int g0 = (row_grgr_0 >> 16) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 16) & 0xFF;
+                    g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                    int b0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int b2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                    b_pixels_0 = b0 | (((b0 + b2) >> 1) << 16);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_RGGB: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                    g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                    b_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                    #else
+
+                    int r1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    r_pixels_0 = (r1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                    int g0 = (row_grgr_0 >> 8) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 8) & 0xFF;
+                    g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                    int b0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int b2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                    b_pixels_0 = (b2 << 16) | ((b0 + b2) >> 1);
+
+                    #endif
+                    break;
+                }
+                default: {
+                    r_pixels_0 = 0;
+                    g_pixels_0 = 0;
+                    b_pixels_0 = 0;
+                    break;
+                }
+            }
+
+            switch (pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *dst_row_ptr_32 = (uint32_t *) dst_row_ptr;
+                    int y0 = ((r_pixels_0 * 38) + (g_pixels_0 * 75) + (b_pixels_0 * 15)) >> 7;
+                    IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr_32, i, (y0 >> 7));
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr_32, i + 1, (y0 >> 23));
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *dst_row_ptr_8 = (uint8_t *) dst_row_ptr;
+                    int y0 = ((r_pixels_0 * 38) + (g_pixels_0 * 75) + (b_pixels_0 * 15)) >> 7;
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr_8, i, y0);
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr_8, i + 1, y0 >> 16);
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *dst_row_ptr_16 = (uint16_t *) dst_row_ptr;
+                    int rgb565_0 = ((r_pixels_0 << 8) & 0xf800f800) |
+                                   ((g_pixels_0 << 3) & 0x07e007e0) |
+                                   ((b_pixels_0 >> 3) & 0x001f001f);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr_16, i, rgb565_0);
+                    } else { // put both
+                        *((uint32_t *) (dst_row_ptr_16 + i)) = rgb565_0;
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *dst_row_ptr_24 = (pixel24_t *) dst_row_ptr;
+                    int rgb888_0 = COLOR_R8_G8_B8_TO_RGB888(r_pixels_0, g_pixels_0, b_pixels_0);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr_24, i, rgb888_0);
+                    } else { // put both
+
+                        *((pixel24_t *) (dst_row_ptr_24 + i)) = pixel32224(rgb888_0);
+                    }
+
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+    } else { // odd
+        for (int x = x_start, i = 0; x < x_end; x += 2, i += 2) {
+            uint32_t row_bgbg_1, row_grgr_2, row_bgbg_3;
+
+            // keep pixels in bounds
+            if (x == 0) {
+                if (src_w >= 4) {
+                    row_bgbg_1 = *((uint32_t *) rowptr_bgbg_1);
+                    row_grgr_2 = *((uint32_t *) rowptr_grgr_2);
+                    row_bgbg_3 = *((uint32_t *) rowptr_bgbg_3);
+                } else if (src_w >= 3) {
+                    row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1) | (*(rowptr_bgbg_1 + 2) << 16);
+                    row_grgr_2 = *((uint16_t *) rowptr_grgr_2) | (*(rowptr_grgr_2 + 2) << 16);
+                    row_bgbg_3 = *((uint16_t *) rowptr_bgbg_3) | (*(rowptr_bgbg_3 + 2) << 16);
+                } else if (src_w >= 2) {
+                    row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1);
+                    row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                    row_grgr_2 = *((uint16_t *) rowptr_grgr_2);
+                    row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                    row_bgbg_3 = *((uint16_t *) rowptr_bgbg_3);
+                    row_bgbg_3 = (row_bgbg_3 << 16) | row_bgbg_3;
+                } else {
+                    row_bgbg_1 = *(rowptr_bgbg_1) * 0x01010101;
+                    row_grgr_2 = *(rowptr_grgr_2) * 0x01010101;
+                    row_bgbg_3 = *(rowptr_bgbg_3) * 0x01010101;
+                }
+                // The starting point needs to be offset by 1. The below patterns are actually
+                // rgrg, gbgb, rgrg, and gbgb. So, shift left and backfill the missing border pixel.
+                row_bgbg_1 = (row_bgbg_1 << 8) | __UXTB_RORn(row_bgbg_1, 8);
+                row_grgr_2 = (row_grgr_2 << 8) | __UXTB_RORn(row_grgr_2, 8);
+                row_bgbg_3 = (row_bgbg_3 << 8) | __UXTB_RORn(row_bgbg_3, 8);
+            } else if (x == w_limit_m_1) {
+                row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 2));
+                row_bgbg_1 = (row_bgbg_1 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+                row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 2));
+                row_grgr_2 = (row_grgr_2 >> 8) | ((row_grgr_2 << 8) & 0xff000000);
+                row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x - 2));
+                row_bgbg_3 = (row_bgbg_3 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+            } else if (x >= w_limit) {
+                row_bgbg_1 = *((uint16_t *) (rowptr_bgbg_1 + x - 1));
+                row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                row_grgr_2 = *((uint16_t *) (rowptr_grgr_2 + x - 1));
+                row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                row_bgbg_3 = *((uint16_t *) (rowptr_bgbg_3 + x - 1));
+                row_bgbg_3 = (row_bgbg_3 << 16) | row_bgbg_3;
+            } else { // get 4 neighboring rows
+                row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 1));
+                row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 1));
+                row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x - 1));
+            }
+
+            int r_pixels_1, g_pixels_1, b_pixels_1;
+
+            switch (src->pixfmt) {
+                case PIXFORMAT_BAYER_BGGR: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                    g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                    b_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                    #else
+
+                    int r2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    r_pixels_1 = (row_grgr_2 & 0xFF0000) | r2;
+
+                    int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                    g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                    int b1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                    int b3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                    b_pixels_1 = (((b1 + b3) >> 1) << 16) | b1;
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GBRG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                    g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                    b_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                    #else
+
+                    int r2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    r_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (r2 << 16);
+
+                    int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                    g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                    int b1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                    int b3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                    b_pixels_1 = ((b1 + b3) >> 1) | (b3 << 16);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GRBG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                    g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                    b_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                    #else
+
+                    int r1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                    int r3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                    r_pixels_1 = ((r1 + r3) >> 1) | (r3 << 16);
+
+                    int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                    g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                    int b2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    b_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (b2 << 16);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_RGGB: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                    g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                    b_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                    #else
+
+                    int r1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                    int r3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                    r_pixels_1 = (((r1 + r3) >> 1) << 16) | r1;
+
+                    int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                    g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                    int b2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    b_pixels_1 = (row_grgr_2 & 0xFF0000) | b2;
+
+                    #endif
+                    break;
+                }
+                default: {
+                    r_pixels_1 = 0;
+                    g_pixels_1 = 0;
+                    b_pixels_1 = 0;
+                    break;
+                }
+            }
+
+            switch (pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *dst_row_ptr_32 = (uint32_t *) dst_row_ptr;
+                    int y1 = ((r_pixels_1 * 38) + (g_pixels_1 * 75) + (b_pixels_1 * 15)) >> 7;
+                    IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr_32, i, (y1 >> 7));
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr_32, i + 1, (y1 >> 23));
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *dst_row_ptr_8 = (uint8_t *) dst_row_ptr;
+                    int y1 = ((r_pixels_1 * 38) + (g_pixels_1 * 75) + (b_pixels_1 * 15)) >> 7;
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr_8, i, y1);
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr_8, i + 1, y1 >> 16);
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *dst_row_ptr_16 = (uint16_t *) dst_row_ptr;
+                    int rgb565_1 = ((r_pixels_1 << 8) & 0xf800f800) |
+                                   ((g_pixels_1 << 3) & 0x07e007e0) |
+                                   ((b_pixels_1 >> 3) & 0x001f001f);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr_16, i, rgb565_1);
+                    } else { // put both
+                        *((uint32_t *) (dst_row_ptr_16 + i)) = rgb565_1;
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *dst_row_ptr_24 = (pixel24_t *) dst_row_ptr;
+                    int rgb888_1 = COLOR_R8_G8_B8_TO_RGB888(r_pixels_1, g_pixels_1, b_pixels_1);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr_24, i, rgb888_1);
+                    } else { // put both
+                        *((pixel24_t *) (dst_row_ptr_24 + i)) = pixel32224(rgb888_1);
+                    }
+
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+    }
+}
+
+// Does no bounds checking on the destination. Destination must be mutable.
+void imlib_debayer_image(image_t *dst, image_t *src)
+{
+    int src_w = src->w, w_limit = src_w - 1, w_limit_m_1 = w_limit - 1;
+    int src_h = src->h, h_limit = src_h - 1, h_limit_m_1 = h_limit - 1;
+
+    // If the image is an odd height this will go for the last loop and we drop the last row.
+    for (int y = 0; y < src_h; y += 2) {
+        void *row_ptr_e = NULL, *row_ptr_o = NULL;
+
+        switch (dst->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                row_ptr_e = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, y);
+                row_ptr_o = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, y + 1);
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                row_ptr_e = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, y);
+                row_ptr_o = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, y + 1);
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                row_ptr_e = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, y);
+                row_ptr_o = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, y + 1);
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                row_ptr_e = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, y);
+                row_ptr_o = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, y + 1);
+                break;
+            }
+        }
+
+        uint8_t *rowptr_grgr_0, *rowptr_bgbg_1, *rowptr_grgr_2, *rowptr_bgbg_3;
+
+        // keep row pointers in bounds
+        if (y == 0) {
+            rowptr_bgbg_1 = src->data;
+            rowptr_grgr_2 = rowptr_bgbg_1 + ((src_h >= 2) ? src_w : 0);
+            rowptr_bgbg_3 = rowptr_bgbg_1 + ((src_h >= 3) ? (src_w * 2) : 0);
+            rowptr_grgr_0 = rowptr_grgr_2;
+        } else if (y == h_limit_m_1) {
+            rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+            rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+            rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+            rowptr_bgbg_3 = rowptr_bgbg_1;
+        } else if (y >= h_limit) {
+            rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+            rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+            rowptr_grgr_2 = rowptr_grgr_0;
+            rowptr_bgbg_3 = rowptr_bgbg_1;
+        } else { // get 4 neighboring rows
+            rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+            rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+            rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+            rowptr_bgbg_3 = rowptr_grgr_2 + src_w;
+        }
+
+        // If the image is an odd width this will go for the last loop and we drop the last column.
+        for (int x = 0; x < src_w; x += 2) {
+            uint32_t row_grgr_0, row_bgbg_1, row_grgr_2, row_bgbg_3;
+
+            // keep pixels in bounds
+            if (x == 0) {
+                if (src_w >= 4) {
+                    row_grgr_0 = *((uint32_t *) rowptr_grgr_0);
+                    row_bgbg_1 = *((uint32_t *) rowptr_bgbg_1);
+                    row_grgr_2 = *((uint32_t *) rowptr_grgr_2);
+                    row_bgbg_3 = *((uint32_t *) rowptr_bgbg_3);
+                } else if (src_w >= 3) {
+                    row_grgr_0 = *((uint16_t *) rowptr_grgr_0) | (*(rowptr_grgr_0 + 2) << 16);
+                    row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1) | (*(rowptr_bgbg_1 + 2) << 16);
+                    row_grgr_2 = *((uint16_t *) rowptr_grgr_2) | (*(rowptr_grgr_2 + 2) << 16);
+                    row_bgbg_3 = *((uint16_t *) rowptr_bgbg_3) | (*(rowptr_bgbg_3 + 2) << 16);
+                } else if (src_w >= 2) {
+                    row_grgr_0 = *((uint16_t *) rowptr_grgr_0);
+                    row_grgr_0 = (row_grgr_0 << 16) | row_grgr_0;
+                    row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1);
+                    row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                    row_grgr_2 = *((uint16_t *) rowptr_grgr_2);
+                    row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                    row_bgbg_3 = *((uint16_t *) rowptr_bgbg_3);
+                    row_bgbg_3 = (row_bgbg_3 << 16) | row_bgbg_3;
+                } else {
+                    row_grgr_0 = *(rowptr_grgr_0) * 0x01010101;
+                    row_bgbg_1 = *(rowptr_bgbg_1) * 0x01010101;
+                    row_grgr_2 = *(rowptr_grgr_2) * 0x01010101;
+                    row_bgbg_3 = *(rowptr_bgbg_3) * 0x01010101;
+                }
+                // The starting point needs to be offset by 1. The below patterns are actually
+                // rgrg, gbgb, rgrg, and gbgb. So, shift left and backfill the missing border pixel.
+                row_grgr_0 = (row_grgr_0 << 8) | __UXTB_RORn(row_grgr_0, 8);
+                row_bgbg_1 = (row_bgbg_1 << 8) | __UXTB_RORn(row_bgbg_1, 8);
+                row_grgr_2 = (row_grgr_2 << 8) | __UXTB_RORn(row_grgr_2, 8);
+                row_bgbg_3 = (row_bgbg_3 << 8) | __UXTB_RORn(row_bgbg_3, 8);
+            } else if (x == w_limit_m_1) {
+                row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x - 2));
+                row_grgr_0 = (row_grgr_0 >> 8) | ((row_grgr_0 << 8) & 0xff000000);
+                row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 2));
+                row_bgbg_1 = (row_bgbg_1 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+                row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 2));
+                row_grgr_2 = (row_grgr_2 >> 8) | ((row_grgr_2 << 8) & 0xff000000);
+                row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x - 2));
+                row_bgbg_3 = (row_bgbg_3 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+            } else if (x >= w_limit) {
+                row_grgr_0 = *((uint16_t *) (rowptr_grgr_0 + x - 1));
+                row_grgr_0 = (row_grgr_0 << 16) | row_grgr_0;
+                row_bgbg_1 = *((uint16_t *) (rowptr_bgbg_1 + x - 1));
+                row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                row_grgr_2 = *((uint16_t *) (rowptr_grgr_2 + x - 1));
+                row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                row_bgbg_3 = *((uint16_t *) (rowptr_bgbg_3 + x - 1));
+                row_bgbg_3 = (row_bgbg_3 << 16) | row_bgbg_3;
+            } else { // get 4 neighboring rows
+                row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x - 1));
+                row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 1));
+                row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 1));
+                row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x - 1));
+            }
+
+            int r_pixels_0, g_pixels_0, b_pixels_0;
+
+            switch (src->pixfmt) {
+                case PIXFORMAT_BAYER_BGGR: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                    g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                    b_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                    #else
+
+                    int r0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int r2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                    r_pixels_0 = (r2 << 16) | ((r0 + r2) >> 1);
+
+                    int g0 = (row_grgr_0 >> 8) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 8) & 0xFF;
+                    g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                    int b1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    b_pixels_0 = (b1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GBRG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                    g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                    b_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                    #else
+
+                    int r0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int r2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                    r_pixels_0 = r0 | (((r0 + r2) >> 1) << 16);
+
+                    int g0 = (row_grgr_0 >> 16) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 16) & 0xFF;
+                    g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                    int b1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    b_pixels_0 = b1 | (row_bgbg_1 & 0xFF0000);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GRBG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                    g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                    b_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                    #else
+
+                    int r1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    r_pixels_0 = r1 | (row_bgbg_1 & 0xFF0000);
+
+                    int g0 = (row_grgr_0 >> 16) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 16) & 0xFF;
+                    g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                    int b0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int b2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                    b_pixels_0 = b0 | (((b0 + b2) >> 1) << 16);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_RGGB: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                    int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                    r_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                    g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                    b_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                    #else
+
+                    int r1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                    r_pixels_0 = (r1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                    int g0 = (row_grgr_0 >> 8) & 0xFF;
+                    int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                    int g2 = (row_grgr_2 >> 8) & 0xFF;
+                    g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                    int b0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int b2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                    b_pixels_0 = (b2 << 16) | ((b0 + b2) >> 1);
+
+                    #endif
+                    break;
+                }
+                default: {
+                    r_pixels_0 = 0;
+                    g_pixels_0 = 0;
+                    b_pixels_0 = 0;
+                    break;
+                }
+            }
+
+            switch (dst->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *row_ptr_e_32 = (uint32_t *) row_ptr_e;
+                    int y0 = ((r_pixels_0 * 38) + (g_pixels_0 * 75) + (b_pixels_0 * 15)) >> 7;
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr_e_32, x, (y0 >> 7));
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr_e_32, x + 1, (y0 >> 23));
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *row_ptr_e_8 = (uint8_t *) row_ptr_e;
+                    int y0 = ((r_pixels_0 * 38) + (g_pixels_0 * 75) + (b_pixels_0 * 15)) >> 7;
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr_e_8, x, y0);
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr_e_8, x + 1, y0 >> 16);
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *row_ptr_e_16 = (uint16_t *) row_ptr_e;
+                    int rgb565_0 = ((r_pixels_0 << 8) & 0xf800f800) |
+                                   ((g_pixels_0 << 3) & 0x07e007e0) |
+                                   ((b_pixels_0 >> 3) & 0x001f001f);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr_e_16, x, rgb565_0);
+                    } else { // put both
+                        *((uint32_t *) (row_ptr_e_16 + x)) = rgb565_0;
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *row_ptr_e_24 = (pixel24_t *) row_ptr_e;
+                    int rgb888_0 = COLOR_R8_G8_B8_TO_RGB888(r_pixels_0, g_pixels_0, b_pixels_0);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr_e_24, x, rgb888_0);
+                    } else { // put both
+                        *((pixel24_t *) (row_ptr_e_24 + x)) = pixel32224(rgb888_0);
+                    }
+
+                    break;
+                }
+            }
+
+            if (y == h_limit) {
+                continue;
+            }
+
+            int r_pixels_1, g_pixels_1, b_pixels_1;
+
+            switch (src->pixfmt) {
+                case PIXFORMAT_BAYER_BGGR: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                    g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                    b_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                    #else
+
+                    int r2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    r_pixels_1 = (row_grgr_2 & 0xFF0000) | r2;
+
+                    int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                    g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                    int b1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                    int b3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                    b_pixels_1 = (((b1 + b3) >> 1) << 16) | b1;
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GBRG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                    g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                    b_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                    #else
+
+                    int r2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    r_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (r2 << 16);
+
+                    int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                    g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                    int b1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                    int b3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                    b_pixels_1 = ((b1 + b3) >> 1) | (b3 << 16);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_GRBG: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                    g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                    b_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                    #else
+
+                    int r1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                    int r3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                    r_pixels_1 = ((r1 + r3) >> 1) | (r3 << 16);
+
+                    int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                    g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                    int b2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    b_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (b2 << 16);
+
+                    #endif
+                    break;
+                }
+                case PIXFORMAT_BAYER_RGGB: {
+                    #if defined(ARM_MATH_DSP)
+                    int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                    int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                    r_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                    g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                    b_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                    #else
+
+                    int r1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                    int r3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                    r_pixels_1 = (((r1 + r3) >> 1) << 16) | r1;
+
+                    int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                    int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                    int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                    g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                    int b2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                    b_pixels_1 = (row_grgr_2 & 0xFF0000) | b2;
+
+                    #endif
+                    break;
+                }
+                default: {
+                    r_pixels_1 = 0;
+                    g_pixels_1 = 0;
+                    b_pixels_1 = 0;
+                    break;
+                }
+            }
+
+            switch (dst->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *row_ptr_o_32 = (uint32_t *) row_ptr_o;
+                    int y1 = ((r_pixels_1 * 38) + (g_pixels_1 * 75) + (b_pixels_1 * 15)) >> 7;
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr_o_32, x, (y1 >> 7));
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr_o_32, x + 1, (y1 >> 23));
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *row_ptr_o_8 = (uint8_t *) row_ptr_o;
+                    int y1 = ((r_pixels_1 * 38) + (g_pixels_1 * 75) + (b_pixels_1 * 15)) >> 7;
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr_o_8, x, y1);
+
+                    if (x != w_limit) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr_o_8, x + 1, y1 >> 16);
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *row_ptr_o_16 = (uint16_t *) row_ptr_o;
+                    int rgb565_1 = ((r_pixels_1 << 8) & 0xf800f800) |
+                                   ((g_pixels_1 << 3) & 0x07e007e0) |
+                                   ((b_pixels_1 >> 3) & 0x001f001f);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr_o_16, x, rgb565_1);
+                    } else { // put both
+                        *((uint32_t *) (row_ptr_o_16 + x)) = rgb565_1;
+                    }
+
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *row_ptr_o_24 = (pixel24_t *) row_ptr_o;
+                    int rgb888_1 = COLOR_R8_G8_B8_TO_RGB888(r_pixels_1, g_pixels_1, b_pixels_1);
+
+                    if (x == w_limit) { // just put bottom
+                        IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr_o_24, x, rgb888_1);
+                    } else { // put both
+                        *((pixel24_t *) (row_ptr_o_24 + x)) = pixel32224(rgb888_1);
+                    }
+
+                    break;
+                }
+            }
+        }
+    }
+}
diff --git a/github_source/minicv2/src/binary.c b/github_source/minicv2/src/binary.c
new file mode 100644
index 0000000..d6e7f99
--- /dev/null
+++ b/github_source/minicv2/src/binary.c
@@ -0,0 +1,1179 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Binary image operations.
+ */
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_BINARY_OPS
+void imlib_binary(image_t *out, image_t *img, list_t *thresholds, bool invert, bool zero, image_t *mask)
+{
+    image_t bmp;
+    bmp.w = img->w;
+    bmp.h = img->h;
+    bmp.pixfmt = PIXFORMAT_BINARY;
+    bmp.data = fb_alloc0(image_size(&bmp), FB_ALLOC_NO_HINT);
+
+    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+        color_thresholds_list_lnk_data_t lnk_data;
+        iterator_get(thresholds, it, &lnk_data);
+        switch (img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                for (int y = 0, yy = img->h; y < yy; y++) {
+                    uint32_t *old_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = 0, xx = img->w; x < xx; x++) {
+                        if (COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(old_row_ptr, x), &lnk_data, invert)) {
+                            IMAGE_SET_BINARY_PIXEL_FAST(bmp_row_ptr, x);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                for (int y = 0, yy = img->h; y < yy; y++) {
+                    uint8_t *old_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = 0, xx = img->w; x < xx; x++) {
+                        if (COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row_ptr, x), &lnk_data, invert)) {
+                            IMAGE_SET_BINARY_PIXEL_FAST(bmp_row_ptr, x);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                for (int y = 0, yy = img->h; y < yy; y++) {
+                    uint16_t *old_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = 0, xx = img->w; x < xx; x++) {
+                        if (COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(old_row_ptr, x), &lnk_data, invert)) {
+                            IMAGE_SET_BINARY_PIXEL_FAST(bmp_row_ptr, x);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                for (int y = 0, yy = img->h; y < yy; y++) {
+                    pixel24_t *old_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = 0, xx = img->w; x < xx; x++) {
+                        if (COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(old_row_ptr, x), &lnk_data, invert)) {
+                            IMAGE_SET_BINARY_PIXEL_FAST(bmp_row_ptr, x);
+                        }
+                    }
+                }
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            if (!zero) {
+                for (int y = 0, yy = img->h; y < yy; y++) {
+                    uint32_t *old_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                    for (int x = 0, xx = img->w; x < xx; x++) {
+                        int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                            ? IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)
+                            : IMAGE_GET_BINARY_PIXEL_FAST(old_row_ptr, x);
+                        IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                    }
+                }
+            } else {
+                for (int y = 0, yy = img->h; y < yy; y++) {
+                    uint32_t *old_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                    for (int x = 0, xx = img->w; x < xx; x++) {
+                        int pixel = IMAGE_GET_BINARY_PIXEL_FAST(old_row_ptr, x);
+                        if (((!mask) || image_get_mask_pixel(mask, x, y))
+                            && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                        IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            if (out->pixfmt == PIXFORMAT_BINARY) {
+                if (!zero) {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint8_t *old_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                                ? IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)
+                                : COLOR_GRAYSCALE_TO_BINARY(IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row_ptr, x));
+                            IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                } else {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint8_t *old_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = COLOR_GRAYSCALE_TO_BINARY(IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row_ptr, x));
+                            if (((!mask) || image_get_mask_pixel(mask, x, y))
+                                && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                            IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                }
+            } else {
+                if (!zero) {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint8_t *old_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint8_t *out_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                                ? COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                                : IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row_ptr, x);
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                } else {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint8_t *old_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint8_t *out_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row_ptr, x);
+                            if (((!mask) || image_get_mask_pixel(mask, x, y))
+                                && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            if (out->pixfmt == PIXFORMAT_BINARY) {
+                if (!zero) {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint16_t *old_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                                ? IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)
+                                : COLOR_RGB565_TO_BINARY(IMAGE_GET_RGB565_PIXEL_FAST(old_row_ptr, x));
+                            IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                } else {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint16_t *old_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = COLOR_RGB565_TO_BINARY(IMAGE_GET_RGB565_PIXEL_FAST(old_row_ptr, x));
+                            if (((!mask) || image_get_mask_pixel(mask, x, y))
+                                && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                            IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                }
+            } else {
+                if (!zero) {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint16_t *old_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint16_t *out_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                                ? COLOR_BINARY_TO_RGB565(IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                                : IMAGE_GET_RGB565_PIXEL_FAST(old_row_ptr, x);
+                            IMAGE_PUT_RGB565_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                } else {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        uint16_t *old_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint16_t *out_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_RGB565_PIXEL_FAST(old_row_ptr, x);
+                            if (((!mask) || image_get_mask_pixel(mask, x, y))
+                                && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                            IMAGE_PUT_RGB565_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            if (out->pixfmt == PIXFORMAT_BINARY) {
+                if (!zero) {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        pixel24_t *old_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                                ? IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)
+                                : COLOR_RGB888_TO_BINARY(IMAGE_GET_RGB888_PIXEL_FAST(old_row_ptr, x));
+                            IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                } else {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        pixel24_t *old_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = COLOR_RGB888_TO_BINARY(IMAGE_GET_RGB888_PIXEL_FAST(old_row_ptr, x));
+                            if (((!mask) || image_get_mask_pixel(mask, x, y))
+                                && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                            IMAGE_PUT_BINARY_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                }
+            } else {
+                if (!zero) {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        pixel24_t *old_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        pixel24_t *out_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = ((!mask) || image_get_mask_pixel(mask, x, y))
+                                ? COLOR_BINARY_TO_RGB888(IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                                : IMAGE_GET_RGB888_PIXEL_FAST(old_row_ptr, x);
+                            IMAGE_PUT_RGB888_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                } else {
+                    for (int y = 0, yy = img->h; y < yy; y++) {
+                        pixel24_t *old_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                        uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                        pixel24_t *out_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(out, y);
+                        for (int x = 0, xx = img->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_RGB888_PIXEL_FAST(old_row_ptr, x);
+                            if (((!mask) || image_get_mask_pixel(mask, x, y))
+                                && IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x)) pixel = 0;
+                            IMAGE_PUT_RGB888_PIXEL_FAST(out_row_ptr, x, pixel);
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    fb_free(bmp.data);
+}
+
+void imlib_invert(image_t *img)
+{
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (uint32_t *start = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, 0),
+                 *end = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, img->h);
+                 start < end; start++) {
+                *start = ~*start;
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (uint8_t *start = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, 0),
+                 *end = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, img->h);
+                 start < end; start++) {
+                *start = ~*start;
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (uint16_t *start = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, 0),
+                 *end = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, img->h);
+                 start < end; start++) {
+                *start = ~*start;
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (pixel24_t *start = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, 0),
+                 *end = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, img->h);
+                 start < end; start++) {
+                 *start = pixel32224((~ pixel24232(*start)));
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+static void imlib_b_and_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_BINARY_LINE_LEN(img); i < j; i++) {
+                    data[i] &= ((uint32_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(data, i,
+                            (IMAGE_GET_BINARY_PIXEL_FAST(data, i)
+                             & IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_GRAYSCALE_LINE_LEN(img); i < j; i++) {
+                    data[i] &= ((uint8_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i,
+                            (IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i)
+                             & IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] &= ((uint16_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB565_PIXEL_FAST(data, i)
+                             & IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB888_LINE_LEN(img); i < j; i++) {
+                    data[i] = pixel32224(pixel24232(((pixel24_t *) other)[i]) & pixel24232(data[i]));
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB888_PIXEL_FAST(data, i)
+                             & IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_b_and(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_b_and_line_op, mask);
+}
+
+static void imlib_b_nand_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_BINARY_LINE_LEN(img); i < j; i++) {
+                    data[i] &= ~((uint32_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(data, i,
+                            (IMAGE_GET_BINARY_PIXEL_FAST(data, i)
+                             & ~IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_GRAYSCALE_LINE_LEN(img); i < j; i++) {
+                    data[i] &= ~((uint8_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i,
+                            (IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i)
+                             & ~IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] &= ~((uint16_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB565_PIXEL_FAST(data, i)
+                             & ~IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB888_LINE_LEN(img); i < j; i++) {
+                    data[i] = pixel32224((~ pixel24232(((pixel24_t *) other)[i])) & pixel24232(data[i]));
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB888_PIXEL_FAST(data, i)
+                             & ~IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_b_nand(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_b_nand_line_op, mask);
+}
+
+static void imlib_b_or_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_BINARY_LINE_LEN(img); i < j; i++) {
+                    data[i] |= ((uint32_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(data, i,
+                            (IMAGE_GET_BINARY_PIXEL_FAST(data, i)
+                             | IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_GRAYSCALE_LINE_LEN(img); i < j; i++) {
+                    data[i] |= ((uint8_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i,
+                            (IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i)
+                             | IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] |= ((uint16_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB565_PIXEL_FAST(data, i)
+                             | IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] = pixel32224(pixel24232(((pixel24_t *) other)[i]) | pixel24232(data[i]));
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB888_PIXEL_FAST(data, i)
+                             | IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_b_or(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_b_or_line_op, mask);
+}
+
+static void imlib_b_nor_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_BINARY_LINE_LEN(img); i < j; i++) {
+                    data[i] |= ~((uint32_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(data, i,
+                            (IMAGE_GET_BINARY_PIXEL_FAST(data, i)
+                             | ~IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_GRAYSCALE_LINE_LEN(img); i < j; i++) {
+                    data[i] |= ~((uint8_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i,
+                            (IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i)
+                             | ~IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] |= ~((uint16_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB565_PIXEL_FAST(data, i)
+                             | ~IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] = pixel32224(((~pixel24232(((pixel24_t *) other)[i])) | pixel24232(data[i])));
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB888_PIXEL_FAST(data, i)
+                             | ~IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_b_nor(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar,imlib_b_nor_line_op,  mask);
+}
+
+static void imlib_b_xor_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_BINARY_LINE_LEN(img); i < j; i++) {
+                    data[i] ^= ((uint32_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(data, i,
+                            (IMAGE_GET_BINARY_PIXEL_FAST(data, i)
+                             ^ IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_GRAYSCALE_LINE_LEN(img); i < j; i++) {
+                    data[i] ^= ((uint8_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i,
+                            (IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i)
+                             ^ IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] ^= ((uint16_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB565_PIXEL_FAST(data, i)
+                             ^ IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB888_LINE_LEN(img); i < j; i++) {
+                    data[i] = pixel32224((pixel24232(data[i]) ^ pixel24232(((pixel24_t *) other)[i])));
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB888_PIXEL_FAST(data, i)
+                             ^ IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_b_xor(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_b_xor_line_op, mask);
+}
+
+static void imlib_b_xnor_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_BINARY_LINE_LEN(img); i < j; i++) {
+                    data[i] ^= ~((uint32_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(data, i,
+                            (IMAGE_GET_BINARY_PIXEL_FAST(data, i)
+                             ^ ~IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_GRAYSCALE_LINE_LEN(img); i < j; i++) {
+                    data[i] ^= ~((uint8_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i,
+                            (IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i)
+                             ^ ~IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB565_LINE_LEN(img); i < j; i++) {
+                    data[i] ^= ~((uint16_t *) other)[i];
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB565_PIXEL_FAST(data, i)
+                             ^ ~IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+
+            if(!mask) {
+                for (int i = 0, j = IMAGE_RGB888_LINE_LEN(img); i < j; i++) {
+                    data[i] = pixel32224((pixel24232(data[i]) ^ (~pixel24232(((pixel24_t *) other)[i]))));
+                }
+            } else {
+                for (int i = 0, j = img->w; i < j; i++) {
+                    if (image_get_mask_pixel(mask, i, line)) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(data, i,
+                            (IMAGE_GET_RGB888_PIXEL_FAST(data, i)
+                             ^ ~IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i)));
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_b_xnor(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_b_xnor_line_op, mask);
+}
+
+static void imlib_erode_dilate(image_t *img, int ksize, int threshold, int e_or_d, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+                int acc = 0;
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        continue; // Short circuit.
+                    }
+                    if (x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) { // faster
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,y+j);
+                            // subtract old left column and add new right column
+                            acc -= IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,x-ksize-1);
+                            acc += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,x+ksize);
+                        }
+                    } else { // slower (checks boundaries per pixel)
+                        acc = e_or_d ? 0 : -1; // Don't count center pixel...
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+
+                    if (!e_or_d) {
+                        // Preserve original pixel value... or clear it.
+                        if (acc < threshold) IMAGE_CLEAR_BINARY_PIXEL_FAST(buf_row_ptr, x);
+                    } else {
+                        // Preserve original pixel value... or set it.
+                        if (acc > threshold) IMAGE_SET_BINARY_PIXEL_FAST(buf_row_ptr, x);
+                    }
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+                int acc = 0;
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        continue; // Short circuit.
+                    }
+
+                    if (x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) { // faster
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,y+j);
+                            // subtract old left edge and add new right edge to sum
+                            acc -= (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0);
+                            acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+ksize) > 0);
+                        } // for j
+                    } else { // slower way which checks boundaries per pixel
+                        acc = e_or_d ? 0 : -1; // Don't count center pixel...
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += (IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
+                            }  // for k
+                        } // for j
+                    }
+
+                    if (!e_or_d) {
+                        // Preserve original pixel value... or clear it.
+                        if (acc < threshold) IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x,
+                                                                            COLOR_GRAYSCALE_BINARY_MIN);
+                    } else {
+                        // Preserve original pixel value... or set it.
+                        if (acc > threshold) IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x,
+                                                                            COLOR_GRAYSCALE_BINARY_MAX);
+                    }
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+                int acc = 0;
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        continue; // Short circuit.
+                    }
+
+                    if (x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) { // faster
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,y+j);
+                            // subtract old left column and add new right column
+                            acc -= IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0;
+                            acc += IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+ksize) > 0;
+                        }
+                    } else { // need to check boundary conditions for each pixel
+                        acc = e_or_d ? 0 : -1; // Don't count center pixel...
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += (IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
+                            }
+                        }
+                    }
+
+                    if (!e_or_d) {
+                        // Preserve original pixel value... or clear it.
+                        if (acc < threshold) IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x,
+                                                                         COLOR_RGB565_BINARY_MIN);
+                    } else {
+                        // Preserve original pixel value... or set it.
+                        if (acc > threshold) IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x,
+                                                                         COLOR_RGB565_BINARY_MAX);
+                    }
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+                int acc = 0;
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        continue; // Short circuit.
+                    }
+
+                    if (x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) { // faster
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,y+j);
+                            // subtract old left column and add new right column
+                            acc -= IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,x-ksize-1) > 0;
+                            acc += IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,x+ksize) > 0;
+                        }
+                    } else { // need to check boundary conditions for each pixel
+                        acc = e_or_d ? 0 : -1; // Don't count center pixel...
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += (IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)))) > 0;
+                            }
+                        }
+                    }
+
+                    if (!e_or_d) {
+                        // Preserve original pixel value... or clear it.
+                        if (acc < threshold) IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x,
+                                                                         COLOR_RGB888_BINARY_MIN);
+                    } else {
+                        // Preserve original pixel value... or set it.
+                        if (acc > threshold) IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x,
+                                                                         COLOR_RGB888_BINARY_MAX);
+                    }
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_erode(image_t *img, int ksize, int threshold, image_t *mask)
+{
+    // Threshold should be equal to (((ksize*2)+1)*((ksize*2)+1))-1
+    // for normal operation. E.g. for ksize==3 -> threshold==8
+    // Basically you're adjusting the number of data that
+    // must be set in the kernel (besides the center) for the output to be 1.
+    // Erode normally requires all data to be 1.
+    imlib_erode_dilate(img, ksize, threshold, 0, mask);
+}
+
+void imlib_dilate(image_t *img, int ksize, int threshold, image_t *mask)
+{
+    // Threshold should be equal to 0
+    // for normal operation. E.g. for ksize==3 -> threshold==0
+    // Basically you're adjusting the number of data that
+    // must be set in the kernel (besides the center) for the output to be 1.
+    // Dilate normally requires one pixel to be 1.
+    imlib_erode_dilate(img, ksize, threshold, 1, mask);
+}
+
+void imlib_open(image_t *img, int ksize, int threshold, image_t *mask)
+{
+    imlib_erode(img, ksize, (((ksize*2)+1)*((ksize*2)+1))-1 - threshold, mask);
+    imlib_dilate(img, ksize, 0 + threshold, mask);
+}
+
+void imlib_close(image_t *img, int ksize, int threshold, image_t *mask)
+{
+    imlib_dilate(img, ksize, 0 + threshold, mask);
+    imlib_erode(img, ksize, (((ksize*2)+1)*((ksize*2)+1))-1 - threshold, mask);
+}
+
+void imlib_top_hat(image_t *img, int ksize, int threshold, image_t *mask)
+{
+    image_t temp;
+    temp.w = img->w;
+    temp.h = img->h;
+    temp.pixfmt = img->pixfmt;
+    temp.data = fb_alloc(image_size(img), FB_ALLOC_NO_HINT);
+    memcpy(temp.data, img->data, image_size(img));
+    imlib_open(&temp, ksize, threshold, mask);
+    imlib_difference(img, NULL, &temp, 0, mask);
+    fb_free(temp.data);
+}
+
+void imlib_black_hat(image_t *img, int ksize, int threshold, image_t *mask)
+{
+    image_t temp;
+    temp.w = img->w;
+    temp.h = img->h;
+    temp.pixfmt = img->pixfmt;
+    temp.data = fb_alloc(image_size(img), FB_ALLOC_NO_HINT);
+    memcpy(temp.data, img->data, image_size(img));
+    imlib_close(&temp, ksize, threshold, mask);
+    imlib_difference(img, NULL, &temp, 0, mask);
+    fb_free(temp.data);
+}
+#endif
diff --git a/github_source/minicv2/src/blob.c b/github_source/minicv2/src/blob.c
new file mode 100644
index 0000000..f856824
--- /dev/null
+++ b/github_source/minicv2/src/blob.c
@@ -0,0 +1,1810 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Blob detection code.
+ */
+#include "imlib.h"
+
+typedef struct xylr {
+    int16_t x, y, l, r, t_l, b_l;
+}
+xylr_t;
+
+static float sign(float x)
+{
+    return x / fabsf(x);
+}
+
+static int sum_m_to_n(int m, int n)
+{
+    return ((n * (n + 1)) - (m * (m - 1))) / 2;
+}
+
+static int sum_2_m_to_n(int m, int n)
+{
+    return ((n * (n + 1) * ((2 * n) + 1)) - (m * (m - 1) * ((2 * m) - 1))) / 6;
+}
+
+static int cumulative_moving_average(int avg, int x, int n)
+{
+    return (x + (n * avg)) / (n + 1);
+}
+
+static void bin_up(uint16_t *hist, uint16_t size, unsigned int max_size, uint16_t **new_hist, uint16_t *new_size)
+{
+    int start = -1;
+
+    for (int i = 0; i < size; i++) {
+        if (hist[i]) {
+            start = i;
+            break;
+        }
+    }
+
+    if (start != -1) {
+        int end = start;
+
+        for (int i = start + 1; i < size; i++) {
+            if (!hist[i]) {
+                break;
+            }
+            end = i;
+        }
+
+        int bin_count = end - start + 1; // >= 1
+        *new_size = IM_MIN(max_size, bin_count);
+        *new_hist = xalloc0((*new_size) * sizeof(uint16_t));
+        float div_value = (*new_size) / ((float) bin_count); // Reversed so we can multiply below.
+
+        for (int i = 0; i < bin_count; i++) {
+            (*new_hist)[fast_floorf(i*div_value)] += hist[start+i];
+        }
+    }
+}
+
+static void merge_bins(int b_dst_start, int b_dst_end, uint16_t **b_dst_hist, uint16_t *b_dst_hist_len,
+                       int b_src_start, int b_src_end, uint16_t **b_src_hist, uint16_t *b_src_hist_len,
+                       unsigned int max_size)
+{
+    int start = IM_MIN(b_dst_start, b_src_start);
+    int end = IM_MAX(b_dst_end, b_src_end);
+
+    int bin_count = end - start + 1; // >= 1
+    uint16_t new_size = IM_MIN(max_size, bin_count);
+    uint16_t *new_hist = xalloc0(new_size * sizeof(uint16_t));
+    float div_value = new_size / ((float) bin_count); // Reversed so we can multiply below.
+
+    int b_dst_bin_count = b_dst_end - b_dst_start + 1; // >= 1
+    uint16_t b_dst_new_size = IM_MIN((*b_dst_hist_len), b_dst_bin_count);
+    float b_dst_div_value = b_dst_new_size / ((float) b_dst_bin_count); // Reversed so we can multiply below.
+
+    int b_src_bin_count = b_src_end - b_src_start + 1; // >= 1
+    uint16_t b_src_new_size = IM_MIN((*b_src_hist_len), b_src_bin_count);
+    float b_src_div_value = b_src_new_size / ((float) b_src_bin_count); // Reversed so we can multiply below.
+
+    for(int i = 0; i < bin_count; i++) {
+        if ((b_dst_start <= (i + start)) && ((i + start) <= b_dst_end)) {
+            int index = fast_floorf((i + start - b_dst_start) * b_dst_div_value);
+            new_hist[fast_floorf(i*div_value)] += (*b_dst_hist)[index];
+            (*b_dst_hist)[index] = 0; // prevent from adding again...
+        }
+        if ((b_src_start <= (i + start)) && ((i + start) <= b_src_end)) {
+            int index = fast_floorf((i + start - b_src_start) * b_src_div_value);
+            new_hist[fast_floorf(i*div_value)] += (*b_src_hist)[index];
+            (*b_src_hist)[index] = 0; // prevent from adding again...
+        }
+    }
+
+    xfree(*b_dst_hist);
+    xfree(*b_src_hist);
+
+    *b_dst_hist_len = new_size;
+    (*b_dst_hist) = new_hist;
+    *b_src_hist_len = 0;
+    (*b_src_hist) = NULL;
+}
+
+static float calc_roundness(float blob_a, float blob_b, float blob_c)
+{
+    float roundness_div = fast_sqrtf((blob_b * blob_b) + ((blob_a - blob_c) * (blob_a - blob_c)));
+    float roundness_sin = IM_DIV(blob_b, roundness_div);
+    float roundness_cos = IM_DIV(blob_a - blob_c, roundness_div);
+    float roundness_add = (blob_a + blob_c) / 2;
+    float roundness_cos_mul = (blob_a - blob_c) / 2;
+    float roundness_sin_mul = blob_b / 2;
+
+    float roundness_0 = roundness_add + (roundness_cos * roundness_cos_mul) + (roundness_sin * roundness_sin_mul);
+    float roundness_1 = roundness_add + (roundness_cos * roundness_cos_mul) - (roundness_sin * roundness_sin_mul);
+    float roundness_2 = roundness_add - (roundness_cos * roundness_cos_mul) + (roundness_sin * roundness_sin_mul);
+    float roundness_3 = roundness_add - (roundness_cos * roundness_cos_mul) - (roundness_sin * roundness_sin_mul);
+
+    float roundness_max = IM_MAX(roundness_0, IM_MAX(roundness_1, IM_MAX(roundness_2, roundness_3)));
+    float roundness_min = IM_MIN(roundness_0, IM_MIN(roundness_1, IM_MIN(roundness_2, roundness_3)));
+
+    return IM_DIV(roundness_min, roundness_max);
+}
+
+void imlib_find_blobs(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                      list_t *thresholds, bool invert, unsigned int area_threshold, unsigned int pixels_threshold,
+                      bool merge, int margin,
+                      bool (*threshold_cb)(void*,find_blobs_list_lnk_data_t*), void *threshold_cb_arg,
+                      bool (*merge_cb)(void*,find_blobs_list_lnk_data_t*,find_blobs_list_lnk_data_t*), void *merge_cb_arg,
+                      unsigned int x_hist_bins_max, unsigned int y_hist_bins_max)
+{
+    // Same size as the image so we don't have to translate.
+    image_t bmp;
+    bmp.w = ptr->w;
+    bmp.h = ptr->h;
+    bmp.pixfmt = PIXFORMAT_BINARY;
+    bmp.data = fb_alloc0(image_size(&bmp), FB_ALLOC_NO_HINT);
+
+    uint16_t *x_hist_bins = NULL;
+    if (x_hist_bins_max) x_hist_bins = fb_alloc(ptr->w * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+
+    uint16_t *y_hist_bins = NULL;
+    if (y_hist_bins_max) y_hist_bins = fb_alloc(ptr->h * sizeof(uint16_t), FB_ALLOC_NO_HINT);
+
+    lifo_t lifo;
+    size_t lifo_len;
+    lifo_alloc_all(&lifo, &lifo_len, sizeof(xylr_t));
+
+    imlib_list_init(out, sizeof(find_blobs_list_lnk_data_t));
+
+    size_t code = 0;
+    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+        color_thresholds_list_lnk_data_t lnk_data;
+        iterator_get(thresholds, it, &lnk_data);
+
+        switch (ptr->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                for (int y = roi->y, yy = roi->y + roi->h, y_max = yy - 1; y < yy; y += y_stride) {
+                    uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w, x_max = xx - 1; x < xx; x += x_stride) {
+                        if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                        && COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                            int old_x = x;
+                            int old_y = y;
+
+                            float corners_acc[FIND_BLOBS_CORNERS_RESOLUTION];
+                            point_t corners[FIND_BLOBS_CORNERS_RESOLUTION];
+                            int corners_n[FIND_BLOBS_CORNERS_RESOLUTION];
+                            // These values are initialized to their maximum before we minimize.
+                            for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                corners[i].x = IM_MAX(IM_MIN(x_max * sign(cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), x_max), 0);
+                                corners[i].y = IM_MAX(IM_MIN(y_max * sign(sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), y_max), 0);
+                                corners_acc[i] = (corners[i].x * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                                 (corners[i].y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                corners_n[i] = 1;
+                            }
+
+                            int blob_pixels = 0;
+                            int blob_perimeter = 0;
+                            int blob_cx = 0;
+                            int blob_cy = 0;
+                            long long blob_a = 0;
+                            long long blob_b = 0;
+                            long long blob_c = 0;
+
+                            if (x_hist_bins) memset(x_hist_bins, 0, ptr->w * sizeof(uint16_t));
+                            if (y_hist_bins) memset(y_hist_bins, 0, ptr->h * sizeof(uint16_t));
+
+                            // Scanline Flood Fill Algorithm //
+
+                            for(;;) {
+                                int left = x, right = x;
+                                uint32_t *row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                                uint32_t *bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+
+                                while ((left > roi->x)
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, left - 1))
+                                && COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, left - 1), &lnk_data, invert)) {
+                                    left--;
+                                }
+
+                                while ((right < (roi->x + roi->w - 1))
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, right + 1))
+                                && COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, right + 1), &lnk_data, invert)) {
+                                    right++;
+                                }
+
+                                for (int i = left; i <= right; i++) {
+                                    IMAGE_SET_BINARY_PIXEL_FAST(bmp_row, i);
+                                }
+
+                                int sum = sum_m_to_n(left, right);
+                                int sum_2 = sum_2_m_to_n(left, right);
+                                int cnt = right - left + 1;
+                                int avg = sum / cnt;
+
+                                for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                    int x_new = (cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] > 0) ? left :
+                                                ((cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] == 0) ? avg :
+                                                                                                  right);
+                                    float z = (x_new * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                              (y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                    if (z < corners_acc[i]) {
+                                        corners_acc[i] = z;
+                                        corners[i].x = x_new;
+                                        corners[i].y = y;
+                                        corners_n[i] = 1;
+                                    } else if (z == corners_acc[i]) {
+                                        corners[i].x = cumulative_moving_average(corners[i].x, x_new, corners_n[i]);
+                                        corners[i].y = cumulative_moving_average(corners[i].y, y, corners_n[i]);
+                                        corners_n[i] += 1;
+                                    }
+                                }
+
+                                blob_pixels += cnt;
+                                blob_perimeter += 2;
+                                blob_cx += sum;
+                                blob_cy += y * cnt;
+                                blob_a += sum_2;
+                                blob_b += y * sum;
+                                blob_c += y * y * cnt;
+
+                                if (y_hist_bins) y_hist_bins[y] += cnt;
+                                if (x_hist_bins) for (int i = left; i <= right; i++) x_hist_bins[i] += 1;
+
+                                int top_left = left;
+                                int bot_left = left;
+                                bool break_out = false;
+                                for(;;) {
+                                    if (lifo_size(&lifo) < lifo_len) {
+
+                                        if (y > roi->y) {
+                                            row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y - 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y - 1);
+
+                                            bool recurse = false;
+                                            for (int i = top_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                                    context.b_l = bot_left;
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y - 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+
+                                        if (y < (roi->y + roi->h - 1)) {
+                                            row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y + 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y + 1);
+
+                                            bool recurse = false;
+                                            for (int i = bot_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = top_left;
+                                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y + 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+                                    } else {
+                                        blob_perimeter += (right - left + 1) * 2;
+                                    }
+
+                                    if (!lifo_size(&lifo)) {
+                                        break_out = true;
+                                        break;
+                                    }
+
+                                    xylr_t context;
+                                    lifo_dequeue(&lifo, &context);
+                                    x = context.x;
+                                    y = context.y;
+                                    left = context.l;
+                                    right = context.r;
+                                    top_left = context.t_l;
+                                    bot_left = context.b_l;
+                                }
+
+                                if (break_out) {
+                                    break;
+                                }
+                            }
+
+                            rectangle_t rect;
+                            rect.x = corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x; // l
+                            rect.y = corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y; // t
+                            rect.w = corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x - corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x + 1; // r - l + 1
+                            rect.h = corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y - corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y + 1; // b - t + 1
+
+                            if (((rect.w * rect.h) >= area_threshold) && (blob_pixels >= pixels_threshold)) {
+
+                                // http://www.cse.usf.edu/~r1k/MachineVisionBook/MachineVision.files/MachineVision_Chapter2.pdf
+                                // https://www.strchr.com/standard_deviation_in_one_pass
+                                //
+                                // a = sigma(x*x) + (mx*sigma(x)) + (mx*sigma(x)) + (sigma()*mx*mx)
+                                // b = sigma(x*y) + (mx*sigma(y)) + (my*sigma(x)) + (sigma()*mx*my)
+                                // c = sigma(y*y) + (my*sigma(y)) + (my*sigma(y)) + (sigma()*my*my)
+                                //
+                                // blob_a = sigma(x*x)
+                                // blob_b = sigma(x*y)
+                                // blob_c = sigma(y*y)
+                                // blob_cx = sigma(x)
+                                // blob_cy = sigma(y)
+                                // blob_pixels = sigma()
+
+                                float b_mx = blob_cx / ((float) blob_pixels);
+                                float b_my = blob_cy / ((float) blob_pixels);
+                                int mx = fast_roundf(b_mx); // x centroid
+                                int my = fast_roundf(b_my); // y centroid
+                                int small_blob_a = blob_a - ((mx * blob_cx) + (mx * blob_cx)) + (blob_pixels * mx * mx);
+                                int small_blob_b = blob_b - ((mx * blob_cy) + (my * blob_cx)) + (blob_pixels * mx * my);
+                                int small_blob_c = blob_c - ((my * blob_cy) + (my * blob_cy)) + (blob_pixels * my * my);
+
+                                find_blobs_list_lnk_data_t lnk_blob;
+                                memcpy(lnk_blob.corners, corners, FIND_BLOBS_CORNERS_RESOLUTION * sizeof(point_t));
+                                memcpy(&lnk_blob.rect, &rect, sizeof(rectangle_t));
+                                lnk_blob.pixels = blob_pixels;
+                                lnk_blob.perimeter = blob_perimeter;
+                                lnk_blob.code = 1 << code;
+                                lnk_blob.count = 1;
+                                lnk_blob.centroid_x = b_mx;
+                                lnk_blob.centroid_y = b_my;
+                                lnk_blob.rotation = (small_blob_a != small_blob_c) ? (fast_atan2f(2 * small_blob_b, small_blob_a - small_blob_c) / 2.0f) : 0.0f;
+                                lnk_blob.roundness = calc_roundness(small_blob_a, small_blob_b, small_blob_c);
+                                lnk_blob.x_hist_bins_count = 0;
+                                lnk_blob.x_hist_bins = NULL;
+                                lnk_blob.y_hist_bins_count = 0;
+                                lnk_blob.y_hist_bins = NULL;
+                                // These store the current average accumulation.
+                                lnk_blob.centroid_x_acc = lnk_blob.centroid_x * lnk_blob.pixels;
+                                lnk_blob.centroid_y_acc = lnk_blob.centroid_y * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_x = cosf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_y = sinf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.roundness_acc = lnk_blob.roundness * lnk_blob.pixels;
+
+                                if (x_hist_bins) {
+                                    bin_up(x_hist_bins, ptr->w, x_hist_bins_max, &lnk_blob.x_hist_bins, &lnk_blob.x_hist_bins_count);
+                                }
+
+                                if (y_hist_bins) {
+                                    bin_up(y_hist_bins, ptr->h, y_hist_bins_max, &lnk_blob.y_hist_bins, &lnk_blob.y_hist_bins_count);
+                                }
+
+                                bool add_to_list = threshold_cb_arg == NULL;
+                                if (!add_to_list) {
+                                    // Protect ourselves from caught exceptions in the callback
+                                    // code from freeing our fb_alloc() stack.
+                                    fb_alloc_mark();
+                                    fb_alloc_mark_permanent();
+                                    add_to_list = threshold_cb(threshold_cb_arg, &lnk_blob);
+                                    fb_alloc_free_till_mark_past_mark_permanent();
+                                }
+
+                                if (add_to_list) {
+                                    list_push_back(out, &lnk_blob);
+                                } else {
+                                    if (lnk_blob.x_hist_bins) xfree(lnk_blob.x_hist_bins);
+                                    if (lnk_blob.y_hist_bins) xfree(lnk_blob.y_hist_bins);
+                                }
+                            }
+
+                            x = old_x;
+                            y = old_y;
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                for (int y = roi->y, yy = roi->y + roi->h, y_max = yy - 1; y < yy; y += y_stride) {
+                    uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w, x_max = xx - 1; x < xx; x += x_stride) {
+                        if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                        && COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                            int old_x = x;
+                            int old_y = y;
+
+                            float corners_acc[FIND_BLOBS_CORNERS_RESOLUTION];
+                            point_t corners[FIND_BLOBS_CORNERS_RESOLUTION];
+                            int corners_n[FIND_BLOBS_CORNERS_RESOLUTION];
+                            // These values are initialized to their maximum before we minimize.
+                            for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                corners[i].x = IM_MAX(IM_MIN(x_max * sign(cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), x_max), 0);
+                                corners[i].y = IM_MAX(IM_MIN(y_max * sign(sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), y_max), 0);
+                                corners_acc[i] = (corners[i].x * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                                 (corners[i].y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                corners_n[i] = 1;
+                            }
+
+                            int blob_pixels = 0;
+                            int blob_perimeter = 0;
+                            int blob_cx = 0;
+                            int blob_cy = 0;
+                            long long blob_a = 0;
+                            long long blob_b = 0;
+                            long long blob_c = 0;
+
+                            if (x_hist_bins) memset(x_hist_bins, 0, ptr->w * sizeof(uint16_t));
+                            if (y_hist_bins) memset(y_hist_bins, 0, ptr->h * sizeof(uint16_t));
+
+                            // Scanline Flood Fill Algorithm //
+
+                            for(;;) {
+                                int left = x, right = x;
+                                uint8_t *row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                                uint32_t *bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+
+                                while ((left > roi->x)
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, left - 1))
+                                && COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left - 1), &lnk_data, invert)) {
+                                    left--;
+                                }
+
+                                while ((right < (roi->x + roi->w - 1))
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, right + 1))
+                                && COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right + 1), &lnk_data, invert)) {
+                                    right++;
+                                }
+
+                                for (int i = left; i <= right; i++) {
+                                    IMAGE_SET_BINARY_PIXEL_FAST(bmp_row, i);
+                                }
+
+                                int sum = sum_m_to_n(left, right);
+                                int sum_2 = sum_2_m_to_n(left, right);
+                                int cnt = right - left + 1;
+                                int avg = sum / cnt;
+
+                                for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                    int x_new = (cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] > 0) ? left :
+                                                ((cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] == 0) ? avg :
+                                                                                                  right);
+                                    float z = (x_new * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                              (y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                    if (z < corners_acc[i]) {
+                                        corners_acc[i] = z;
+                                        corners[i].x = x_new;
+                                        corners[i].y = y;
+                                        corners_n[i] = 1;
+                                    } else if (z == corners_acc[i]) {
+                                        corners[i].x = cumulative_moving_average(corners[i].x, x_new, corners_n[i]);
+                                        corners[i].y = cumulative_moving_average(corners[i].y, y, corners_n[i]);
+                                        corners_n[i] += 1;
+                                    }
+                                }
+
+                                blob_pixels += cnt;
+                                blob_perimeter += 2;
+                                blob_cx += sum;
+                                blob_cy += y * cnt;
+                                blob_a += sum_2;
+                                blob_b += y * sum;
+                                blob_c += y * y * cnt;
+
+                                if (y_hist_bins) y_hist_bins[y] += cnt;
+                                if (x_hist_bins) for (int i = left; i <= right; i++) x_hist_bins[i] += 1;
+
+                                int top_left = left;
+                                int bot_left = left;
+                                bool break_out = false;
+                                for(;;) {
+                                    if (lifo_size(&lifo) < lifo_len) {
+
+                                        if (y > roi->y) {
+                                            row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y - 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y - 1);
+
+                                            bool recurse = false;
+                                            for (int i = top_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                                    context.b_l = bot_left;
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y - 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+
+                                        if (y < (roi->y + roi->h - 1)) {
+                                            row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y + 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y + 1);
+
+                                            bool recurse = false;
+                                            for (int i = bot_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = top_left;
+                                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y + 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+                                    } else {
+                                        blob_perimeter += (right - left + 1) * 2;
+                                    }
+
+                                    if (!lifo_size(&lifo)) {
+                                        break_out = true;
+                                        break;
+                                    }
+
+                                    xylr_t context;
+                                    lifo_dequeue(&lifo, &context);
+                                    x = context.x;
+                                    y = context.y;
+                                    left = context.l;
+                                    right = context.r;
+                                    top_left = context.t_l;
+                                    bot_left = context.b_l;
+                                }
+
+                                if (break_out) {
+                                    break;
+                                }
+                            }
+
+                            rectangle_t rect;
+                            rect.x = corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x; // l
+                            rect.y = corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y; // t
+                            rect.w = corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x - corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x + 1; // r - l + 1
+                            rect.h = corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y - corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y + 1; // b - t + 1
+
+                            if (((rect.w * rect.h) >= area_threshold) && (blob_pixels >= pixels_threshold)) {
+
+                                // http://www.cse.usf.edu/~r1k/MachineVisionBook/MachineVision.files/MachineVision_Chapter2.pdf
+                                // https://www.strchr.com/standard_deviation_in_one_pass
+                                //
+                                // a = sigma(x*x) + (mx*sigma(x)) + (mx*sigma(x)) + (sigma()*mx*mx)
+                                // b = sigma(x*y) + (mx*sigma(y)) + (my*sigma(x)) + (sigma()*mx*my)
+                                // c = sigma(y*y) + (my*sigma(y)) + (my*sigma(y)) + (sigma()*my*my)
+                                //
+                                // blob_a = sigma(x*x)
+                                // blob_b = sigma(x*y)
+                                // blob_c = sigma(y*y)
+                                // blob_cx = sigma(x)
+                                // blob_cy = sigma(y)
+                                // blob_pixels = sigma()
+
+                                float b_mx = blob_cx / ((float) blob_pixels);
+                                float b_my = blob_cy / ((float) blob_pixels);
+                                int mx = fast_roundf(b_mx); // x centroid
+                                int my = fast_roundf(b_my); // y centroid
+                                int small_blob_a = blob_a - ((mx * blob_cx) + (mx * blob_cx)) + (blob_pixels * mx * mx);
+                                int small_blob_b = blob_b - ((mx * blob_cy) + (my * blob_cx)) + (blob_pixels * mx * my);
+                                int small_blob_c = blob_c - ((my * blob_cy) + (my * blob_cy)) + (blob_pixels * my * my);
+
+                                find_blobs_list_lnk_data_t lnk_blob;
+                                memcpy(lnk_blob.corners, corners, FIND_BLOBS_CORNERS_RESOLUTION * sizeof(point_t));
+                                memcpy(&lnk_blob.rect, &rect, sizeof(rectangle_t));
+                                lnk_blob.pixels = blob_pixels;
+                                lnk_blob.perimeter = blob_perimeter;
+                                lnk_blob.code = 1 << code;
+                                lnk_blob.count = 1;
+                                lnk_blob.centroid_x = b_mx;
+                                lnk_blob.centroid_y = b_my;
+                                lnk_blob.rotation = (small_blob_a != small_blob_c) ? (fast_atan2f(2 * small_blob_b, small_blob_a - small_blob_c) / 2.0f) : 0.0f;
+                                lnk_blob.roundness = calc_roundness(small_blob_a, small_blob_b, small_blob_c);
+                                lnk_blob.x_hist_bins_count = 0;
+                                lnk_blob.x_hist_bins = NULL;
+                                lnk_blob.y_hist_bins_count = 0;
+                                lnk_blob.y_hist_bins = NULL;
+                                // These store the current average accumulation.
+                                lnk_blob.centroid_x_acc = lnk_blob.centroid_x * lnk_blob.pixels;
+                                lnk_blob.centroid_y_acc = lnk_blob.centroid_y * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_x = cosf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_y = sinf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.roundness_acc = lnk_blob.roundness * lnk_blob.pixels;
+
+                                if (x_hist_bins) {
+                                    bin_up(x_hist_bins, ptr->w, x_hist_bins_max, &lnk_blob.x_hist_bins, &lnk_blob.x_hist_bins_count);
+                                }
+
+                                if (y_hist_bins) {
+                                    bin_up(y_hist_bins, ptr->h, y_hist_bins_max, &lnk_blob.y_hist_bins, &lnk_blob.y_hist_bins_count);
+                                }
+
+                                bool add_to_list = threshold_cb_arg == NULL;
+                                if (!add_to_list) {
+                                    // Protect ourselves from caught exceptions in the callback
+                                    // code from freeing our fb_alloc() stack.
+                                    fb_alloc_mark();
+                                    fb_alloc_mark_permanent();
+                                    add_to_list = threshold_cb(threshold_cb_arg, &lnk_blob);
+                                    fb_alloc_free_till_mark_past_mark_permanent();
+                                }
+
+                                if (add_to_list) {
+                                    list_push_back(out, &lnk_blob);
+                                } else {
+                                    if (lnk_blob.x_hist_bins) xfree(lnk_blob.x_hist_bins);
+                                    if (lnk_blob.y_hist_bins) xfree(lnk_blob.y_hist_bins);
+                                }
+                            }
+
+                            x = old_x;
+                            y = old_y;
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                for (int y = roi->y, yy = roi->y + roi->h, y_max = yy - 1; y < yy; y += y_stride) {
+                    uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w, x_max = xx - 1; x < xx; x += x_stride) {
+                        if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                        && COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                            int old_x = x;
+                            int old_y = y;
+
+                            float corners_acc[FIND_BLOBS_CORNERS_RESOLUTION];
+                            point_t corners[FIND_BLOBS_CORNERS_RESOLUTION];
+                            int corners_n[FIND_BLOBS_CORNERS_RESOLUTION];
+                            // Ensures that maximum goes all the way to the edge of the image.
+                            for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                corners[i].x = IM_MAX(IM_MIN(x_max * sign(cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), x_max), 0);
+                                corners[i].y = IM_MAX(IM_MIN(y_max * sign(sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), y_max), 0);
+                                corners_acc[i] = (corners[i].x * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                                 (corners[i].y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                corners_n[i] = 1;
+                            }
+
+                            int blob_pixels = 0;
+                            int blob_perimeter = 0;
+                            int blob_cx = 0;
+                            int blob_cy = 0;
+                            long long blob_a = 0;
+                            long long blob_b = 0;
+                            long long blob_c = 0;
+
+                            if (x_hist_bins) memset(x_hist_bins, 0, ptr->w * sizeof(uint16_t));
+                            if (y_hist_bins) memset(y_hist_bins, 0, ptr->h * sizeof(uint16_t));
+
+                            // Scanline Flood Fill Algorithm //
+
+                            for(;;) {
+                                int left = x, right = x;
+                                uint16_t *row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                                uint32_t *bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+
+                                while ((left > roi->x)
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, left - 1))
+                                && COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, left - 1), &lnk_data, invert)) {
+                                    left--;
+                                }
+
+                                while ((right < (roi->x + roi->w - 1))
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, right + 1))
+                                && COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, right + 1), &lnk_data, invert)) {
+                                    right++;
+                                }
+
+                                for (int i = left; i <= right; i++) {
+                                    IMAGE_SET_BINARY_PIXEL_FAST(bmp_row, i);
+                                }
+
+                                int sum = sum_m_to_n(left, right);
+                                int sum_2 = sum_2_m_to_n(left, right);
+                                int cnt = right - left + 1;
+                                int avg = sum / cnt;
+
+                                for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                    int x_new = (cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] > 0) ? left :
+                                                ((cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] == 0) ? avg :
+                                                                                                  right);
+                                    float z = (x_new * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                              (y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                    if (z < corners_acc[i]) {
+                                        corners_acc[i] = z;
+                                        corners[i].x = x_new;
+                                        corners[i].y = y;
+                                        corners_n[i] = 1;
+                                    } else if (z == corners_acc[i]) {
+                                        corners[i].x = cumulative_moving_average(corners[i].x, x_new, corners_n[i]);
+                                        corners[i].y = cumulative_moving_average(corners[i].y, y, corners_n[i]);
+                                        corners_n[i] += 1;
+                                    }
+                                }
+
+                                blob_pixels += cnt;
+                                blob_perimeter += 2;
+                                blob_cx += sum;
+                                blob_cy += y * cnt;
+                                blob_a += sum_2;
+                                blob_b += y * sum;
+                                blob_c += y * y * cnt;
+
+                                if (y_hist_bins) y_hist_bins[y] += cnt;
+                                if (x_hist_bins) for (int i = left; i <= right; i++) x_hist_bins[i] += 1;
+
+                                int top_left = left;
+                                int bot_left = left;
+                                bool break_out = false;
+                                for(;;) {
+                                    if (lifo_size(&lifo) < lifo_len) {
+
+                                        if (y > roi->y) {
+                                            row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y - 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y - 1);
+
+                                            bool recurse = false;
+                                            for (int i = top_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                                    context.b_l = bot_left;
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y - 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+
+                                        if (y < (roi->y + roi->h - 1)) {
+                                            row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y + 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y + 1);
+
+                                            bool recurse = false;
+                                            for (int i = bot_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = top_left;
+                                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y + 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+                                    } else {
+                                        blob_perimeter += (right - left + 1) * 2;
+                                    }
+
+                                    if (!lifo_size(&lifo)) {
+                                        break_out = true;
+                                        break;
+                                    }
+
+                                    xylr_t context;
+                                    lifo_dequeue(&lifo, &context);
+                                    x = context.x;
+                                    y = context.y;
+                                    left = context.l;
+                                    right = context.r;
+                                    top_left = context.t_l;
+                                    bot_left = context.b_l;
+                                }
+
+                                if (break_out) {
+                                    break;
+                                }
+                            }
+
+                            rectangle_t rect;
+                            rect.x = corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x; // l
+                            rect.y = corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y; // t
+                            rect.w = corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x - corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x + 1; // r - l + 1
+                            rect.h = corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y - corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y + 1; // b - t + 1
+
+                            if (((rect.w * rect.h) >= area_threshold) && (blob_pixels >= pixels_threshold)) {
+
+                                // http://www.cse.usf.edu/~r1k/MachineVisionBook/MachineVision.files/MachineVision_Chapter2.pdf
+                                // https://www.strchr.com/standard_deviation_in_one_pass
+                                //
+                                // a = sigma(x*x) + (mx*sigma(x)) + (mx*sigma(x)) + (sigma()*mx*mx)
+                                // b = sigma(x*y) + (mx*sigma(y)) + (my*sigma(x)) + (sigma()*mx*my)
+                                // c = sigma(y*y) + (my*sigma(y)) + (my*sigma(y)) + (sigma()*my*my)
+                                //
+                                // blob_a = sigma(x*x)
+                                // blob_b = sigma(x*y)
+                                // blob_c = sigma(y*y)
+                                // blob_cx = sigma(x)
+                                // blob_cy = sigma(y)
+                                // blob_pixels = sigma()
+
+                                float b_mx = blob_cx / ((float) blob_pixels);
+                                float b_my = blob_cy / ((float) blob_pixels);
+                                int mx = fast_roundf(b_mx); // x centroid
+                                int my = fast_roundf(b_my); // y centroid
+                                int small_blob_a = blob_a - ((mx * blob_cx) + (mx * blob_cx)) + (blob_pixels * mx * mx);
+                                int small_blob_b = blob_b - ((mx * blob_cy) + (my * blob_cx)) + (blob_pixels * mx * my);
+                                int small_blob_c = blob_c - ((my * blob_cy) + (my * blob_cy)) + (blob_pixels * my * my);
+
+                                find_blobs_list_lnk_data_t lnk_blob;
+                                memcpy(lnk_blob.corners, corners, FIND_BLOBS_CORNERS_RESOLUTION * sizeof(point_t));
+                                memcpy(&lnk_blob.rect, &rect, sizeof(rectangle_t));
+                                lnk_blob.pixels = blob_pixels;
+                                lnk_blob.perimeter = blob_perimeter;
+                                lnk_blob.code = 1 << code;
+                                lnk_blob.count = 1;
+                                lnk_blob.centroid_x = b_mx;
+                                lnk_blob.centroid_y = b_my;
+                                lnk_blob.rotation = (small_blob_a != small_blob_c) ? (fast_atan2f(2 * small_blob_b, small_blob_a - small_blob_c) / 2.0f) : 0.0f;
+                                lnk_blob.roundness = calc_roundness(small_blob_a, small_blob_b, small_blob_c);
+                                lnk_blob.x_hist_bins_count = 0;
+                                lnk_blob.x_hist_bins = NULL;
+                                lnk_blob.y_hist_bins_count = 0;
+                                lnk_blob.y_hist_bins = NULL;
+                                // These store the current average accumulation.
+                                lnk_blob.centroid_x_acc = lnk_blob.centroid_x * lnk_blob.pixels;
+                                lnk_blob.centroid_y_acc = lnk_blob.centroid_y * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_x = cosf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_y = sinf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.roundness_acc = lnk_blob.roundness * lnk_blob.pixels;
+
+                                if (x_hist_bins) {
+                                    bin_up(x_hist_bins, ptr->w, x_hist_bins_max, &lnk_blob.x_hist_bins, &lnk_blob.x_hist_bins_count);
+                                }
+
+                                if (y_hist_bins) {
+                                    bin_up(y_hist_bins, ptr->h, y_hist_bins_max, &lnk_blob.y_hist_bins, &lnk_blob.y_hist_bins_count);
+                                }
+
+                                bool add_to_list = threshold_cb_arg == NULL;
+                                if (!add_to_list) {
+                                    // Protect ourselves from caught exceptions in the callback
+                                    // code from freeing our fb_alloc() stack.
+                                    fb_alloc_mark();
+                                    fb_alloc_mark_permanent();
+                                    add_to_list = threshold_cb(threshold_cb_arg, &lnk_blob);
+                                    fb_alloc_free_till_mark_past_mark_permanent();
+                                }
+
+                                if (add_to_list) {
+                                    list_push_back(out, &lnk_blob);
+                                } else {
+                                    if (lnk_blob.x_hist_bins) xfree(lnk_blob.x_hist_bins);
+                                    if (lnk_blob.y_hist_bins) xfree(lnk_blob.y_hist_bins);
+                                }
+                            }
+
+                            x = old_x;
+                            y = old_y;
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                for (int y = roi->y, yy = roi->y + roi->h, y_max = yy - 1; y < yy; y += y_stride) {
+                    pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                    uint32_t *bmp_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+                    for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w, x_max = xx - 1; x < xx; x += x_stride) {
+                        if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row_ptr, x))
+                        && COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                            int old_x = x;
+                            int old_y = y;
+
+                            float corners_acc[FIND_BLOBS_CORNERS_RESOLUTION];
+                            point_t corners[FIND_BLOBS_CORNERS_RESOLUTION];
+                            int corners_n[FIND_BLOBS_CORNERS_RESOLUTION];
+                            // Ensures that maximum goes all the way to the edge of the image.
+                            for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                corners[i].x = IM_MAX(IM_MIN(x_max * sign(cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), x_max), 0);
+                                corners[i].y = IM_MAX(IM_MIN(y_max * sign(sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]), y_max), 0);
+                                corners_acc[i] = (corners[i].x * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                                 (corners[i].y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                corners_n[i] = 1;
+                            }
+
+                            int blob_pixels = 0;
+                            int blob_perimeter = 0;
+                            int blob_cx = 0;
+                            int blob_cy = 0;
+                            long long blob_a = 0;
+                            long long blob_b = 0;
+                            long long blob_c = 0;
+
+                            if (x_hist_bins) memset(x_hist_bins, 0, ptr->w * sizeof(uint16_t));
+                            if (y_hist_bins) memset(y_hist_bins, 0, ptr->h * sizeof(uint16_t));
+
+                            // Scanline Flood Fill Algorithm //
+
+                            for(;;) {
+                                int left = x, right = x;
+                                pixel24_t *row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                                uint32_t *bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y);
+
+                                while ((left > roi->x)
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, left - 1))
+                                && COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, left - 1), &lnk_data, invert)) {
+                                    left--;
+                                }
+
+                                while ((right < (roi->x + roi->w - 1))
+                                && (!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, right + 1))
+                                && COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, right + 1), &lnk_data, invert)) {
+                                    right++;
+                                }
+
+                                for (int i = left; i <= right; i++) {
+                                    IMAGE_SET_BINARY_PIXEL_FAST(bmp_row, i);
+                                }
+
+                                int sum = sum_m_to_n(left, right);
+                                int sum_2 = sum_2_m_to_n(left, right);
+                                int cnt = right - left + 1;
+                                int avg = sum / cnt;
+
+                                for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                                    int x_new = (cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] > 0) ? left :
+                                                ((cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i] == 0) ? avg :
+                                                                                                  right);
+                                    float z = (x_new * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                              (y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                                    if (z < corners_acc[i]) {
+                                        corners_acc[i] = z;
+                                        corners[i].x = x_new;
+                                        corners[i].y = y;
+                                        corners_n[i] = 1;
+                                    } else if (z == corners_acc[i]) {
+                                        corners[i].x = cumulative_moving_average(corners[i].x, x_new, corners_n[i]);
+                                        corners[i].y = cumulative_moving_average(corners[i].y, y, corners_n[i]);
+                                        corners_n[i] += 1;
+                                    }
+                                }
+
+                                blob_pixels += cnt;
+                                blob_perimeter += 2;
+                                blob_cx += sum;
+                                blob_cy += y * cnt;
+                                blob_a += sum_2;
+                                blob_b += y * sum;
+                                blob_c += y * y * cnt;
+
+                                if (y_hist_bins) y_hist_bins[y] += cnt;
+                                if (x_hist_bins) for (int i = left; i <= right; i++) x_hist_bins[i] += 1;
+
+                                int top_left = left;
+                                int bot_left = left;
+                                bool break_out = false;
+                                for(;;) {
+                                    if (lifo_size(&lifo) < lifo_len) {
+
+                                        if (y > roi->y) {
+                                            row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y - 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y - 1);
+
+                                            bool recurse = false;
+                                            for (int i = top_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                                    context.b_l = bot_left;
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y - 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+
+                                        if (y < (roi->y + roi->h - 1)) {
+                                            row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y + 1);
+                                            bmp_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&bmp, y + 1);
+
+                                            bool recurse = false;
+                                            for (int i = bot_left; i <= right; i++) {
+                                                bool ok = true; // Does nothing if thresholding is skipped.
+
+                                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(bmp_row, i))
+                                                && (ok = COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, i), &lnk_data, invert))) {
+                                                    xylr_t context;
+                                                    context.x = x;
+                                                    context.y = y;
+                                                    context.l = left;
+                                                    context.r = right;
+                                                    context.t_l = top_left;
+                                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                                    lifo_enqueue(&lifo, &context);
+                                                    x = i;
+                                                    y = y + 1;
+                                                    recurse = true;
+                                                    break;
+                                                }
+
+                                                blob_perimeter += (!ok) && (i != left) && (i != right);
+                                            }
+                                            if (recurse) {
+                                                break;
+                                            }
+                                        } else {
+                                            blob_perimeter += right - left + 1;
+                                        }
+                                    } else {
+                                        blob_perimeter += (right - left + 1) * 2;
+                                    }
+
+                                    if (!lifo_size(&lifo)) {
+                                        break_out = true;
+                                        break;
+                                    }
+
+                                    xylr_t context;
+                                    lifo_dequeue(&lifo, &context);
+                                    x = context.x;
+                                    y = context.y;
+                                    left = context.l;
+                                    right = context.r;
+                                    top_left = context.t_l;
+                                    bot_left = context.b_l;
+                                }
+
+                                if (break_out) {
+                                    break;
+                                }
+                            }
+
+                            rectangle_t rect;
+                            rect.x = corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x; // l
+                            rect.y = corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y; // t
+                            rect.w = corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x - corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x + 1; // r - l + 1
+                            rect.h = corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y - corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y + 1; // b - t + 1
+
+                            if (((rect.w * rect.h) >= area_threshold) && (blob_pixels >= pixels_threshold)) {
+
+                                // http://www.cse.usf.edu/~r1k/MachineVisionBook/MachineVision.files/MachineVision_Chapter2.pdf
+                                // https://www.strchr.com/standard_deviation_in_one_pass
+                                //
+                                // a = sigma(x*x) + (mx*sigma(x)) + (mx*sigma(x)) + (sigma()*mx*mx)
+                                // b = sigma(x*y) + (mx*sigma(y)) + (my*sigma(x)) + (sigma()*mx*my)
+                                // c = sigma(y*y) + (my*sigma(y)) + (my*sigma(y)) + (sigma()*my*my)
+                                //
+                                // blob_a = sigma(x*x)
+                                // blob_b = sigma(x*y)
+                                // blob_c = sigma(y*y)
+                                // blob_cx = sigma(x)
+                                // blob_cy = sigma(y)
+                                // blob_pixels = sigma()
+
+                                float b_mx = blob_cx / ((float) blob_pixels);
+                                float b_my = blob_cy / ((float) blob_pixels);
+                                int mx = fast_roundf(b_mx); // x centroid
+                                int my = fast_roundf(b_my); // y centroid
+                                int small_blob_a = blob_a - ((mx * blob_cx) + (mx * blob_cx)) + (blob_pixels * mx * mx);
+                                int small_blob_b = blob_b - ((mx * blob_cy) + (my * blob_cx)) + (blob_pixels * mx * my);
+                                int small_blob_c = blob_c - ((my * blob_cy) + (my * blob_cy)) + (blob_pixels * my * my);
+
+                                find_blobs_list_lnk_data_t lnk_blob;
+                                memcpy(lnk_blob.corners, corners, FIND_BLOBS_CORNERS_RESOLUTION * sizeof(point_t));
+                                memcpy(&lnk_blob.rect, &rect, sizeof(rectangle_t));
+                                lnk_blob.pixels = blob_pixels;
+                                lnk_blob.perimeter = blob_perimeter;
+                                lnk_blob.code = 1 << code;
+                                lnk_blob.count = 1;
+                                lnk_blob.centroid_x = b_mx;
+                                lnk_blob.centroid_y = b_my;
+                                lnk_blob.rotation = (small_blob_a != small_blob_c) ? (fast_atan2f(2 * small_blob_b, small_blob_a - small_blob_c) / 2.0f) : 0.0f;
+                                lnk_blob.roundness = calc_roundness(small_blob_a, small_blob_b, small_blob_c);
+                                lnk_blob.x_hist_bins_count = 0;
+                                lnk_blob.x_hist_bins = NULL;
+                                lnk_blob.y_hist_bins_count = 0;
+                                lnk_blob.y_hist_bins = NULL;
+                                // These store the current average accumulation.
+                                lnk_blob.centroid_x_acc = lnk_blob.centroid_x * lnk_blob.pixels;
+                                lnk_blob.centroid_y_acc = lnk_blob.centroid_y * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_x = cosf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.rotation_acc_y = sinf(lnk_blob.rotation) * lnk_blob.pixels;
+                                lnk_blob.roundness_acc = lnk_blob.roundness * lnk_blob.pixels;
+
+                                if (x_hist_bins) {
+                                    bin_up(x_hist_bins, ptr->w, x_hist_bins_max, &lnk_blob.x_hist_bins, &lnk_blob.x_hist_bins_count);
+                                }
+
+                                if (y_hist_bins) {
+                                    bin_up(y_hist_bins, ptr->h, y_hist_bins_max, &lnk_blob.y_hist_bins, &lnk_blob.y_hist_bins_count);
+                                }
+
+                                bool add_to_list = threshold_cb_arg == NULL;
+                                if (!add_to_list) {
+                                    // Protect ourselves from caught exceptions in the callback
+                                    // code from freeing our fb_alloc() stack.
+                                    fb_alloc_mark();
+                                    fb_alloc_mark_permanent();
+                                    add_to_list = threshold_cb(threshold_cb_arg, &lnk_blob);
+                                    fb_alloc_free_till_mark_past_mark_permanent();
+                                }
+
+                                if (add_to_list) {
+                                    list_push_back(out, &lnk_blob);
+                                } else {
+                                    if (lnk_blob.x_hist_bins) xfree(lnk_blob.x_hist_bins);
+                                    if (lnk_blob.y_hist_bins) xfree(lnk_blob.y_hist_bins);
+                                }
+                            }
+
+                            x = old_x;
+                            y = old_y;
+                        }
+                    }
+                }
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+
+        code += 1;
+    }
+
+    lifo_free(&lifo);
+    if (y_hist_bins) fb_free(y_hist_bins);
+    if (x_hist_bins) fb_free(x_hist_bins);
+    fb_free(bmp.data); // bitmap
+
+    if (merge) {
+        for(;;) {
+            bool merge_occured = false;
+
+            list_t out_temp;
+            imlib_list_init(&out_temp, sizeof(find_blobs_list_lnk_data_t));
+
+            while(list_size(out)) {
+                find_blobs_list_lnk_data_t lnk_blob;
+                list_pop_front(out, &lnk_blob);
+
+                for (size_t k = 0, l = list_size(out); k < l; k++) {
+                    find_blobs_list_lnk_data_t tmp_blob;
+                    list_pop_front(out, &tmp_blob);
+
+                    rectangle_t temp;
+                    temp.x = IM_MAX(IM_MIN(tmp_blob.rect.x - margin, INT16_MAX), INT16_MIN);
+                    temp.y = IM_MAX(IM_MIN(tmp_blob.rect.y - margin, INT16_MAX), INT16_MIN);
+                    temp.w = IM_MAX(IM_MIN(tmp_blob.rect.w + (margin * 2), INT16_MAX), 0);
+                    temp.h = IM_MAX(IM_MIN(tmp_blob.rect.h + (margin * 2), INT16_MAX), 0);
+
+                    if (rectangle_overlap(&(lnk_blob.rect), &temp)
+                    && ((merge_cb_arg == NULL) || merge_cb(merge_cb_arg, &lnk_blob, &tmp_blob))) {
+                        // Have to merge these first before merging rects.
+                        if (x_hist_bins_max) merge_bins(lnk_blob.rect.x, lnk_blob.rect.x + lnk_blob.rect.w - 1, &lnk_blob.x_hist_bins, &lnk_blob.x_hist_bins_count,
+                                                        tmp_blob.rect.x, tmp_blob.rect.x + tmp_blob.rect.w - 1, &tmp_blob.x_hist_bins, &tmp_blob.x_hist_bins_count,
+                                                        x_hist_bins_max);
+                        if (y_hist_bins_max) merge_bins(lnk_blob.rect.y, lnk_blob.rect.y + lnk_blob.rect.h - 1, &lnk_blob.y_hist_bins, &lnk_blob.y_hist_bins_count,
+                                                        tmp_blob.rect.y, tmp_blob.rect.y + tmp_blob.rect.h - 1, &tmp_blob.y_hist_bins, &tmp_blob.y_hist_bins_count,
+                                                        y_hist_bins_max);
+                        // Merge corners...
+                        for (int i = 0; i < FIND_BLOBS_CORNERS_RESOLUTION; i++) {
+                            float z_dst = (lnk_blob.corners[i].x * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                          (lnk_blob.corners[i].y * sin_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                            float z_src = (tmp_blob.corners[i].x * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]) +
+                                          (tmp_blob.corners[i].y * cos_table[FIND_BLOBS_ANGLE_RESOLUTION*i]);
+                            if (z_src < z_dst) {
+                                lnk_blob.corners[i].x = tmp_blob.corners[i].x;
+                                lnk_blob.corners[i].y = tmp_blob.corners[i].y;
+                            }
+                        }
+                        // Merge rects...
+                        rectangle_united(&(lnk_blob.rect), &(tmp_blob.rect));
+                        // Merge counters...
+                        lnk_blob.pixels += tmp_blob.pixels; // won't overflow
+                        lnk_blob.perimeter += tmp_blob.perimeter; // won't overflow
+                        lnk_blob.code |= tmp_blob.code; // won't overflow
+                        lnk_blob.count += tmp_blob.count; // won't overflow
+                        // Merge accumulators...
+                        lnk_blob.centroid_x_acc += tmp_blob.centroid_x_acc;
+                        lnk_blob.centroid_y_acc += tmp_blob.centroid_y_acc;
+                        lnk_blob.rotation_acc_x += tmp_blob.rotation_acc_x;
+                        lnk_blob.rotation_acc_y += tmp_blob.rotation_acc_y;
+                        lnk_blob.roundness_acc += tmp_blob.roundness_acc;
+                        // Compute current values...
+                        lnk_blob.centroid_x = lnk_blob.centroid_x_acc / lnk_blob.pixels;
+                        lnk_blob.centroid_y = lnk_blob.centroid_y_acc / lnk_blob.pixels;
+                        lnk_blob.rotation = fast_atan2f(lnk_blob.rotation_acc_y / lnk_blob.pixels,
+                                                        lnk_blob.rotation_acc_x / lnk_blob.pixels);
+                        lnk_blob.roundness = lnk_blob.roundness_acc / lnk_blob.pixels;
+                        merge_occured = true;
+                    } else {
+                        list_push_back(out, &tmp_blob);
+                    }
+                }
+
+                list_push_back(&out_temp, &lnk_blob);
+            }
+
+            list_copy(out, &out_temp);
+
+            if (!merge_occured) {
+                break;
+            }
+        }
+    }
+}
+
+void imlib_flood_fill_int(image_t *out, image_t *img, int x, int y,
+                          int seed_threshold, int floating_threshold,
+                          flood_fill_call_back_t cb, void *data)
+{
+    lifo_t lifo;
+    size_t lifo_len;
+    lifo_alloc_all(&lifo, &lifo_len, sizeof(xylr_t));
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for(int seed_pixel = IMAGE_GET_BINARY_PIXEL(img, x, y);;) {
+                int left = x, right = x;
+                uint32_t *row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+
+                while ((left > 0)
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, left - 1))
+                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, left - 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, left - 1),
+                                      IMAGE_GET_BINARY_PIXEL_FAST(row, left), floating_threshold)) {
+                    left--;
+                }
+
+                while ((right < (img->w - 1))
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, right + 1))
+                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, right + 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, right + 1),
+                                      IMAGE_GET_BINARY_PIXEL_FAST(row, right), floating_threshold)) {
+                    right++;
+                }
+
+                for (int i = left; i <= right; i++) {
+                    IMAGE_SET_BINARY_PIXEL_FAST(out_row, i);
+                }
+
+                int top_left = left;
+                int bot_left = left;
+                bool break_out = false;
+                for(;;) {
+                    if (lifo_size(&lifo) < lifo_len) {
+                        uint32_t *old_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+
+                        if (y > 0) {
+                            row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y - 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y - 1);
+
+                            bool recurse = false;
+                            for (int i = top_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, i),
+                                                      IMAGE_GET_BINARY_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                    context.b_l = bot_left;
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y - 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+
+                        if (y < (img->h - 1)) {
+                            row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y + 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y + 1);
+
+                            bool recurse = false;
+                            for (int i = bot_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row, i),
+                                                      IMAGE_GET_BINARY_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = top_left;
+                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y + 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+                    }
+
+                    if (cb) cb(img, y, left, right, data);
+
+                    if (!lifo_size(&lifo)) {
+                        break_out = true;
+                        break;
+                    }
+
+                    xylr_t context;
+                    lifo_dequeue(&lifo, &context);
+                    x = context.x;
+                    y = context.y;
+                    left = context.l;
+                    right = context.r;
+                    top_left = context.t_l;
+                    bot_left = context.b_l;
+                }
+
+                if (break_out) {
+                    break;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for(int seed_pixel = IMAGE_GET_GRAYSCALE_PIXEL(img, x, y);;) {
+                int left = x, right = x;
+                uint8_t *row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint32_t *out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+
+                while ((left > 0)
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, left - 1))
+                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left - 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left - 1),
+                                         IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left), floating_threshold)) {
+                    left--;
+                }
+
+                while ((right < (img->w - 1))
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, right + 1))
+                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right + 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right + 1),
+                                         IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right), floating_threshold)) {
+                    right++;
+                }
+
+                for (int i = left; i <= right; i++) {
+                    IMAGE_SET_BINARY_PIXEL_FAST(out_row, i);
+                }
+
+                int top_left = left;
+                int bot_left = left;
+                bool break_out = false;
+                for(;;) {
+                    if (lifo_size(&lifo) < lifo_len) {
+                        uint8_t *old_row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+
+                        if (y > 0) {
+                            row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y - 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y - 1);
+
+                            bool recurse = false;
+                            for (int i = top_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i),
+                                                         IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                    context.b_l = bot_left;
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y - 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+
+                        if (y < (img->h - 1)) {
+                            row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y + 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y + 1);
+
+                            bool recurse = false;
+                            for (int i = bot_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i),
+                                                         IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = top_left;
+                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y + 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+                    }
+
+                    if (cb) cb(img, y, left, right, data);
+
+                    if (!lifo_size(&lifo)) {
+                        break_out = true;
+                        break;
+                    }
+
+                    xylr_t context;
+                    lifo_dequeue(&lifo, &context);
+                    x = context.x;
+                    y = context.y;
+                    left = context.l;
+                    right = context.r;
+                    top_left = context.t_l;
+                    bot_left = context.b_l;
+                }
+
+                if (break_out) {
+                    break;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for(int seed_pixel = IMAGE_GET_RGB565_PIXEL(img, x, y);;) {
+                int left = x, right = x;
+                uint16_t *row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint32_t *out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+
+                while ((left > 0)
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, left - 1))
+                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, left - 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, left - 1),
+                                      IMAGE_GET_RGB565_PIXEL_FAST(row, left), floating_threshold)) {
+                    left--;
+                }
+
+                while ((right < (img->w - 1))
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, right + 1))
+                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, right + 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, right + 1),
+                                      IMAGE_GET_RGB565_PIXEL_FAST(row, right), floating_threshold)) {
+                    right++;
+                }
+
+                for (int i = left; i <= right; i++) {
+                    IMAGE_SET_BINARY_PIXEL_FAST(out_row, i);
+                }
+
+                int top_left = left;
+                int bot_left = left;
+                bool break_out = false;
+                for(;;) {
+                    if (lifo_size(&lifo) < lifo_len) {
+                        uint16_t *old_row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+
+                        if (y > 0) {
+                            row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y - 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y - 1);
+
+                            bool recurse = false;
+                            for (int i = top_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, i),
+                                                      IMAGE_GET_RGB565_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                    context.b_l = bot_left;
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y - 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+
+                        if (y < (img->h - 1)) {
+                            row = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y + 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y + 1);
+
+                            bool recurse = false;
+                            for (int i = bot_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row, i),
+                                                      IMAGE_GET_RGB565_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = top_left;
+                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y + 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+                    }
+
+                    if (cb) cb(img, y, left, right, data);
+
+                    if (!lifo_size(&lifo)) {
+                        break_out = true;
+                        break;
+                    }
+
+                    xylr_t context;
+                    lifo_dequeue(&lifo, &context);
+                    x = context.x;
+                    y = context.y;
+                    left = context.l;
+                    right = context.r;
+                    top_left = context.t_l;
+                    bot_left = context.b_l;
+                }
+
+                if (break_out) {
+                    break;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for(int seed_pixel = IMAGE_GET_RGB888_PIXEL(img, x, y);;) {
+                int left = x, right = x;
+                pixel24_t *row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                uint32_t *out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+
+                while ((left > 0)
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, left - 1))
+                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, left - 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, left - 1),
+                                      IMAGE_GET_RGB888_PIXEL_FAST(row, left), floating_threshold)) {
+                    left--;
+                }
+
+                while ((right < (img->w - 1))
+                && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, right + 1))
+                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, right + 1), seed_pixel, seed_threshold)
+                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, right + 1),
+                                      IMAGE_GET_RGB888_PIXEL_FAST(row, right), floating_threshold)) {
+                    right++;
+                }
+
+                for (int i = left; i <= right; i++) {
+                    IMAGE_SET_BINARY_PIXEL_FAST(out_row, i);
+                }
+
+                int top_left = left;
+                int bot_left = left;
+                bool break_out = false;
+                for(;;) {
+                    if (lifo_size(&lifo) < lifo_len) {
+                        pixel24_t *old_row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+
+                        if (y > 0) {
+                            row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y - 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y - 1);
+
+                            bool recurse = false;
+                            for (int i = top_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, i),
+                                                      IMAGE_GET_RGB888_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = i + 1; // Don't test the same pixel again...
+                                    context.b_l = bot_left;
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y - 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+
+                        if (y < (img->h - 1)) {
+                            row = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y + 1);
+                            out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y + 1);
+
+                            bool recurse = false;
+                            for (int i = bot_left; i <= right; i++) {
+                                if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                                && COLOR_BOUND_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row, i),
+                                                      IMAGE_GET_RGB888_PIXEL_FAST(old_row, i), floating_threshold)) {
+                                    xylr_t context;
+                                    context.x = x;
+                                    context.y = y;
+                                    context.l = left;
+                                    context.r = right;
+                                    context.t_l = top_left;
+                                    context.b_l = i + 1; // Don't test the same pixel again...
+                                    lifo_enqueue(&lifo, &context);
+                                    x = i;
+                                    y = y + 1;
+                                    recurse = true;
+                                    break;
+                                }
+                            }
+                            if (recurse) {
+                                break;
+                            }
+                        }
+                    }
+
+                    if (cb) cb(img, y, left, right, data);
+
+                    if (!lifo_size(&lifo)) {
+                        break_out = true;
+                        break;
+                    }
+
+                    xylr_t context;
+                    lifo_dequeue(&lifo, &context);
+                    x = context.x;
+                    y = context.y;
+                    left = context.l;
+                    right = context.r;
+                    top_left = context.t_l;
+                    bot_left = context.b_l;
+                }
+
+                if (break_out) {
+                    break;
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    lifo_free(&lifo);
+}
diff --git a/github_source/minicv2/src/bmp.c b/github_source/minicv2/src/bmp.c
new file mode 100644
index 0000000..2b94804
--- /dev/null
+++ b/github_source/minicv2/src/bmp.c
@@ -0,0 +1,391 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * BMP reader/writer.
+ */
+
+#include "imlib.h"
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+
+#include <stdlib.h>
+// #include "py/obj.h"
+// #include "py/runtime.h"
+
+#include "xalloc.h"
+#include "ff_wrapper.h"
+
+// This function inits the geometry values of an image (opens file).
+bool bmp_read_geometry(FIL *fp, image_t *img, const char *path, bmp_read_settings_t *rs)
+{
+    int is_ps_image = 0;
+    read_byte_expect(fp, 'B');
+    read_byte_expect(fp, 'M');
+
+    uint32_t file_size;
+    read_long(fp, &file_size);
+    read_word_ignore(fp);
+    read_word_ignore(fp);
+
+    uint32_t header_size;
+    read_long(fp, &header_size);
+    if (file_size <= header_size) ff_file_corrupted(fp);
+
+    uint32_t data_size = file_size - header_size;
+    if (data_size % 4)
+    {
+        uint32_t tmp_uint32 = data_size - 2;
+        if(tmp_uint32 % 4 == 0)
+        {
+            is_ps_image = 1;
+        }
+        else
+        {
+            ff_file_corrupted(fp);
+        }
+    }
+
+    uint32_t header_type;
+    read_long(fp, &header_type);
+    if ((header_type != 40) // BITMAPINFOHEADER
+    && (header_type != 52) // BITMAPV2INFOHEADER
+    && (header_type != 56) // BITMAPV3INFOHEADER
+    && (header_type != 108) // BITMAPV4HEADER
+    && (header_type != 124)) ff_unsupported_format(fp); // BITMAPV5HEADER
+    read_long(fp, (uint32_t*) &rs->bmp_w);
+    read_long(fp, (uint32_t*) &rs->bmp_h);
+    if ((rs->bmp_w == 0) || (rs->bmp_h == 0)) ff_file_corrupted(fp);
+    img->w = abs(rs->bmp_w);
+    img->h = abs(rs->bmp_h);
+
+    read_word_expect(fp, 1);
+    read_word(fp, &rs->bmp_bpp);
+    if ((rs->bmp_bpp != 8) && (rs->bmp_bpp != 16) && (rs->bmp_bpp != 24)) {
+        ff_unsupported_format(fp);
+    }
+    // img->pixfmt = (rs->bmp_bpp == 8) ? PIXFORMAT_GRAYSCALE : PIXFORMAT_RGB565;
+    switch (rs->bmp_bpp)
+    {
+    case 8:
+        img->pixfmt = PIXFORMAT_GRAYSCALE;
+        break;
+    case 16:
+        img->pixfmt = PIXFORMAT_RGB565;
+        break;
+    case 24:
+        img->pixfmt = PIXFORMAT_RGB888;
+        break;
+    }
+    read_long(fp, &rs->bmp_fmt);
+    if ((rs->bmp_fmt != 0) && (rs->bmp_fmt != 3)) ff_unsupported_format(fp);
+
+    read_long_ignore(fp);
+    read_long_ignore(fp);
+    read_long_ignore(fp);
+    read_long_ignore(fp);
+    read_long_ignore(fp);
+
+    if (rs->bmp_bpp == 8) {
+        if (rs->bmp_fmt != 0) ff_unsupported_format(fp);
+        if (header_type >= 52) { // Skip past the remaining BITMAPV2INFOHEADER bytes.
+            for (int i = 0; i < 3; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 56) { // Skip past the remaining BITMAPV3INFOHEADER bytes.
+            for (int i = 0; i < 1; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 108) { // Skip past the remaining BITMAPV4HEADER bytes.
+            for (int i = 0; i < 13; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 124) { // Skip past the remaining BITMAPV5HEADER bytes.
+            for (int i = 0; i < 4; i++) read_long_ignore(fp);
+        }
+        // Color Table (1024 bytes)
+        for (int i = 0; i < 256; i++) {
+            read_long_expect(fp, ((i) << 16) | ((i) << 8) | i);
+        }
+    } else if (rs->bmp_bpp == 16) {
+        if (rs->bmp_fmt != 3) ff_unsupported_format(fp);
+        // Bit Masks (12 bytes)
+        read_long_expect(fp, 0x1F << 11);
+        read_long_expect(fp, 0x3F << 5);
+        read_long_expect(fp, 0x1F);
+        if (header_type >= 56) { // Skip past the remaining BITMAPV3INFOHEADER bytes.
+            for (int i = 0; i < 1; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 108) { // Skip past the remaining BITMAPV4HEADER bytes.
+            for (int i = 0; i < 13; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 124) { // Skip past the remaining BITMAPV5HEADER bytes.
+            for (int i = 0; i < 4; i++) read_long_ignore(fp);
+        }
+    } else if (rs->bmp_bpp == 24) {
+        if (rs->bmp_fmt == 3) {
+            // Bit Masks (12 bytes)
+            read_long_expect(fp, 0xFF << 16);
+            read_long_expect(fp, 0xFF << 8);
+            read_long_expect(fp, 0xFF);
+        } else if (header_type >= 52) { // Skip past the remaining BITMAPV2INFOHEADER bytes.
+            for (int i = 0; i < 3; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 56) { // Skip past the remaining BITMAPV3INFOHEADER bytes.
+            for (int i = 0; i < 1; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 108) { // Skip past the remaining BITMAPV4HEADER bytes.
+            for (int i = 0; i < 13; i++) read_long_ignore(fp);
+        }
+        if (header_type >= 124) { // Skip past the remaining BITMAPV5HEADER bytes.
+            for (int i = 0; i < 4; i++) read_long_ignore(fp);
+        }
+    }
+
+    rs->bmp_row_bytes = (((img->w * rs->bmp_bpp) + 31) / 32) * 4;
+    if(is_ps_image)
+    {
+        if ((data_size - 2) != (rs->bmp_row_bytes * img->h)) ff_file_corrupted(fp);
+    }
+    else
+    {
+        if (data_size != (rs->bmp_row_bytes * img->h)) ff_file_corrupted(fp);
+    }
+    return (rs->bmp_h >= 0);
+}
+
+// This function reads the pixel values of an image.
+void bmp_read_pixels(FIL *fp, image_t *img, int n_lines, bmp_read_settings_t *rs)
+{
+    if (rs->bmp_bpp == 8) {
+        if ((rs->bmp_h < 0) && (rs->bmp_w >= 0) && (img->w == rs->bmp_row_bytes)) {
+            read_data(fp, img->pixels, n_lines * img->w);
+        } else {
+            for (int i = 0; i < n_lines; i++) {
+                for (int j = 0; j < rs->bmp_row_bytes; j++) {
+                    uint8_t pixel;
+                    read_byte(fp, &pixel);
+                    if (j < img->w) {
+                        if (rs->bmp_h < 0) { // vertical flip (BMP file perspective)
+                            if (rs->bmp_w < 0) { // horizontal flip (BMP file perspective)
+                                IM_SET_GS_PIXEL(img, (img->w-j-1), i, pixel);
+                            } else {
+                                IM_SET_GS_PIXEL(img, j, i, pixel);
+                            }
+                        } else {
+                            if (rs->bmp_w < 0) {
+                                IM_SET_GS_PIXEL(img, (img->w-j-1), (img->h-i-1), pixel);
+                            } else {
+                                IM_SET_GS_PIXEL(img, j, (img->h-i-1), pixel);
+                            }
+                        }
+                    }
+                }
+            }
+        }
+    } else if (rs->bmp_bpp == 16) {
+        for (int i = 0; i < n_lines; i++) {
+            for (int j = 0, jj = rs->bmp_row_bytes / 2; j < jj; j++) {
+                uint16_t pixel;
+                read_word(fp, &pixel);
+                if (j < img->w) {
+                    if (rs->bmp_h < 0) { // vertical flip (BMP file perspective)
+                        if (rs->bmp_w < 0) { // horizontal flip (BMP file perspective)
+                            IM_SET_RGB565_PIXEL(img, (img->w-j-1), i, pixel);
+                        } else {
+                            IM_SET_RGB565_PIXEL(img, j, i, pixel);
+                        }
+                    } else {
+                        if (rs->bmp_w < 0) {
+                            IM_SET_RGB565_PIXEL(img, (img->w-j-1), (img->h-i-1), pixel);
+                        } else {
+                            IM_SET_RGB565_PIXEL(img, j, (img->h-i-1), pixel);
+                        }
+                    }
+                }
+            }
+        }
+    } else if (rs->bmp_bpp == 24) {
+        for (int i = 0; i < n_lines; i++) {
+            for (int j = 0, jj = rs->bmp_row_bytes / 3; j < jj; j++) {
+                uint8_t b, g, r;
+                read_byte(fp, &b);
+                read_byte(fp, &g);
+                read_byte(fp, &r);
+                int pixel = COLOR_R8_G8_B8_TO_RGB888(r, g, b);
+                if (j < img->w) {
+                    if (rs->bmp_h < 0) { // vertical flip
+                        if (rs->bmp_w < 0) { // horizontal flip
+                            IM_SET_RGB888_PIXEL(img, (img->w-j-1), i, pixel);
+                        } else {
+                            IM_SET_RGB888_PIXEL(img, j, i, pixel);
+                        }
+                    } else {
+                        if (rs->bmp_w < 0) {
+                            IM_SET_RGB888_PIXEL(img, (img->w-j-1), (img->h-i-1), pixel);
+                        } else {
+                            IM_SET_RGB888_PIXEL(img, j, (img->h-i-1), pixel);
+                        }
+                    }
+                }
+            }
+            for (int j = 0, jj = rs->bmp_row_bytes % 3; j < jj; j++) {
+                read_byte_ignore(fp);
+            }
+        }
+    }
+}
+
+void bmp_read(image_t *img, const char *path)
+{
+    FIL fp;
+    bmp_read_settings_t rs;
+    file_read_open(&fp, path);
+    // file_buffer_on(&fp);
+    bmp_read_geometry(&fp, img, path, &rs);
+    if(img->is_data_alloc){
+        img->pixels = xrealloc(img->pixels, img->w * img->h * img->bpp);
+    }else{
+        img->pixels = xalloc(img->w * img->h * img->bpp);
+        img->is_data_alloc = true;
+    }
+    bmp_read_pixels(&fp, img, img->h, &rs);
+    // file_buffer_off(&fp);
+    file_close(&fp);
+}
+
+void bmp_write_subimg(image_t *img, const char *path, rectangle_t *r)
+{
+    rectangle_t rect;
+    if(!r)
+    {
+        rectangle_t tmp_rect;
+        rectangle_init(&tmp_rect, 0, 0, img->w, img->h);
+        if (!rectangle_subimg(img, &tmp_rect, &rect)) {
+            ERR_PRINT("OSError: No intersection!");
+        }
+    }
+    else
+    {
+        if (!rectangle_subimg(img, r, &rect)) {
+            ERR_PRINT("OSError: No intersection!");
+        }
+    }
+    FIL fp;
+    file_write_open(&fp, path);
+    // file_buffer_on(&fp);
+    if (IM_IS_GS(img)) {
+        const int row_bytes = (((rect.w * 8) + 31) / 32) * 4;
+        const int data_size = (row_bytes * rect.h);
+        const int waste = (row_bytes / sizeof(uint8_t)) - rect.w;
+        // File Header (14 bytes)
+        write_byte(&fp, 'B');
+        write_byte(&fp, 'M');
+        write_long(&fp, 14 + 40 + 1024 + data_size);
+        write_word(&fp, 0);
+        write_word(&fp, 0);
+        write_long(&fp, 14 + 40 + 1024);
+        // Info Header (40 bytes)
+        write_long(&fp, 40);
+        write_long(&fp, rect.w);
+        write_long(&fp, -rect.h); // store the image flipped (correctly)
+        write_word(&fp, 1);
+        write_word(&fp, 8);
+        write_long(&fp, 0);
+        write_long(&fp, data_size);
+        write_long(&fp, 0);
+        write_long(&fp, 0);
+        write_long(&fp, 0);
+        write_long(&fp, 0);
+        // Color Table (1024 bytes)
+        for (int i = 0; i < 256; i++) {
+            write_long(&fp, ((i) << 16) | ((i) << 8) | i);
+        }
+        if ((rect.x == 0) && (rect.w == img->w) && (img->w == row_bytes)) {
+            write_data(&fp, // Super Fast - Zoom, Zoom!
+                       img->pixels + (rect.y * img->w),
+                       rect.w * rect.h);
+        } else {
+            for (int i = 0; i < rect.h; i++) {
+                write_data(&fp, img->pixels+((rect.y+i)*img->w)+rect.x, rect.w);
+                for (int j = 0; j < waste; j++) {
+                    write_byte(&fp, 0);
+                }
+            }
+        }
+    } else if(IM_IS_RGB565(img)) {
+        const int row_bytes = (((rect.w * 16) + 31) / 32) * 4;
+        const int data_size = (row_bytes * rect.h);
+        const int waste = (row_bytes / sizeof(uint16_t)) - rect.w;
+        // File Header (14 bytes)
+        write_byte(&fp, 'B');                                               //表示文件类型
+        write_byte(&fp, 'M');
+        write_long(&fp, 14 + 40 + 12 + data_size);                          //表示文件的大小
+        write_word(&fp, 0);                                                 //保留位，必须设置为0；
+        write_word(&fp, 0);                                                 //保留位，必须设置为0；
+        write_long(&fp, 14 + 40 + 12);                                      //4字节的偏移，表示从文件头到位图数据的偏移
+        // Info Header (40 bytes)
+        write_long(&fp, 40);                                                //信息头的大小，即40；
+        write_long(&fp, rect.w);                                            //以像素为单位说明图像的宽度；
+        write_long(&fp, -rect.h); // store the image flipped (correctly)    //以像素为单位说明图像的高度，同时如果为正，说明位图倒立
+        write_word(&fp, 1);                                                 //为目标设备说明颜色平面数，总被设置为1；
+        write_word(&fp, 16);                                                //说明比特数/像素数，值有1、2、4、8、16、24、32；
+        write_long(&fp, 3);                                                 //说明图像的压缩类型，最常用的就是0（BI_RGB），表示不压缩；
+        write_long(&fp, data_size);                                         //说明位图数据的大小，当用BI_RGB格式时，可以设置为0
+        write_long(&fp, 0);                                                 //表示水平分辨率，单位是像素/米，有符号整数；
+        write_long(&fp, 0);                                                 //表示垂直分辨率，单位是像素/米，有符号整数；
+        write_long(&fp, 0);                                                 //说明位图使用的调色板中的颜色索引数，为0说明使用所有；
+        write_long(&fp, 0);                                                 //说明对图像显示有重要影响的颜色索引数，为0说明都重要；
+        // Bit Masks (12 bytes)
+        write_long(&fp, 0x1F << 11);                                        //调色板
+        write_long(&fp, 0x3F << 5);
+        write_long(&fp, 0x1F);
+        for (int i = 0; i < rect.h; i++) {
+            for (int j = 0; j < rect.w; j++) {
+                write_word(&fp, IM_GET_RGB565_PIXEL(img, (rect.x + j), (rect.y + i)));
+            }
+            for (int j = 0; j < waste; j++) {
+                write_word(&fp, 0);
+            }
+        }
+    }else if(IM_IS_RGB888(img)) {
+        const int row_bytes = (((rect.w * 24) + 31) / 32) * 4;
+        const int data_size = (row_bytes * rect.h);
+        const int waste = row_bytes - rect.w * 24;
+        // File Header (14 bytes)
+        write_byte(&fp, 'B');              //0x42
+        write_byte(&fp, 'M');               //0x4d
+        write_long(&fp, 14 + 40 + data_size);
+        write_word(&fp, 0);
+        write_word(&fp, 0);
+        write_long(&fp, 14 + 40);
+        // Info Header (40 bytes)
+        write_long(&fp, 40);
+        write_long(&fp, rect.w);
+        write_long(&fp, -rect.h); // store the image flipped (correctly)
+        write_word(&fp, 1);
+        write_word(&fp, 24);
+        write_long(&fp, 0);         //说明图像的压缩类型，最常用的就是0（BI_RGB），表示不压缩；
+        write_long(&fp, data_size);
+        write_long(&fp, 0);
+        write_long(&fp, 0);
+        write_long(&fp, 0);
+        write_long(&fp, 0);
+        for (int i = 0; i < rect.h; i++) {
+            for (int j = 0; j < rect.w; j++) {
+                pixel24_t pixel_tmp = IM_GET_RGB888_PIXEL_(img, (rect.x + j), (rect.y + i));
+                int tmp_r = pixel_tmp.red;
+                pixel_tmp.red = pixel_tmp.blue;
+                pixel_tmp.blue = tmp_r;
+                write_data(&fp, &pixel_tmp, 3);
+            }
+            for (int j = 0; j < waste; j++) {
+                write_byte(&fp, 0);
+            }
+        }
+    }
+    // file_buffer_off(&fp);
+
+    file_close(&fp);
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
diff --git a/github_source/minicv2/src/clahe.c b/github_source/minicv2/src/clahe.c
new file mode 100644
index 0000000..d65e298
--- /dev/null
+++ b/github_source/minicv2/src/clahe.c
@@ -0,0 +1,450 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Contrast Limited Adaptive Histogram Equalization.
+ */
+#include "imlib.h"
+#define BYTE_IMAGE
+
+/*
+ * ANSI C code from the article
+ * "Contrast Limited Adaptive Histogram Equalization"
+ * by Karel Zuiderveld, karel@cv.ruu.nl
+ * in "Graphics Gems IV", Academic Press, 1994
+ *
+ *
+ *  These functions implement Contrast Limited Adaptive Histogram Equalization.
+ *  The main routine (CLAHE) expects an input image that is stored contiguously in
+ *  memory;  the CLAHE output image overwrites the original input image and has the
+ *  same minimum and maximum values (which must be provided by the user).
+ *  This implementation assumes that the X- and Y image resolutions are an integer
+ *  multiple of the X- and Y sizes of the contextual regions. A check on various other
+ *  error conditions is performed.
+ *
+ *  #define the symbol BYTE_IMAGE to make this implementation suitable for
+ *  8-bit images. The maximum number of contextual regions can be redefined
+ *  by changing uiMAX_REG_X and/or uiMAX_REG_Y; the use of more than 256
+ *  contextual regions is not recommended.
+ *
+ *  The code is ANSI-C and is also C++ compliant.
+ *
+ *  Author: Karel Zuiderveld, Computer Vision Research Group,
+ *           Utrecht, The Netherlands (karel@cv.ruu.nl)
+ */
+
+#ifdef BYTE_IMAGE
+typedef unsigned char kz_pixel_t;        /* for 8 bit-per-pixel images */
+#define uiNR_OF_GREY (256)
+#else
+typedef unsigned short kz_pixel_t;       /* for 12 bit-per-pixel images (default) */
+# define uiNR_OF_GREY (4096)
+#endif
+
+/******** Prototype of CLAHE function. Put this in a separate include file. *****/
+int CLAHE(kz_pixel_t* pImage, unsigned int uiXRes, unsigned int uiYRes, kz_pixel_t Min,
+          kz_pixel_t Max, unsigned int uiNrX, unsigned int uiNrY,
+          unsigned int uiNrBins, float fCliplimit);
+
+/*********************** Local prototypes ************************/
+static void ClipHistogram (unsigned long*, unsigned int, unsigned long);
+static void MakeHistogram (kz_pixel_t*, unsigned int, unsigned int, unsigned int,
+                           unsigned long*, unsigned int, kz_pixel_t*);
+static void MapHistogram (unsigned long*, kz_pixel_t, kz_pixel_t,
+                          unsigned int, unsigned long);
+static void MakeLut (kz_pixel_t*, kz_pixel_t, kz_pixel_t, unsigned int);
+static void Interpolate (kz_pixel_t*, int, unsigned long*, unsigned long*,
+                         unsigned long*, unsigned long*, unsigned int, unsigned int, kz_pixel_t*);
+
+/**************  Start of actual code **************/
+const unsigned int uiMAX_REG_X = 16;      /* max. # contextual regions in x-direction */
+const unsigned int uiMAX_REG_Y = 16;      /* max. # contextual regions in y-direction */
+
+/************************** main function CLAHE ******************/
+int CLAHE (kz_pixel_t* pImage, unsigned int uiXRes, unsigned int uiYRes,
+           kz_pixel_t Min, kz_pixel_t Max, unsigned int uiNrX, unsigned int uiNrY,
+           unsigned int uiNrBins, float fCliplimit)
+/*   pImage - Pointer to the input/output image
+ *   uiXRes - Image resolution in the X direction
+ *   uiYRes - Image resolution in the Y direction
+ *   Min - Minimum greyvalue of input image (also becomes minimum of output image)
+ *   Max - Maximum greyvalue of input image (also becomes maximum of output image)
+ *   uiNrX - Number of contextial regions in the X direction (min 2, max uiMAX_REG_X)
+ *   uiNrY - Number of contextial regions in the Y direction (min 2, max uiMAX_REG_Y)
+ *   uiNrBins - Number of greybins for histogram ("dynamic range")
+ *   float fCliplimit - Normalized cliplimit (higher values give more contrast)
+ * The number of "effective" greylevels in the output image is set by uiNrBins; selecting
+ * a small value (eg. 128) speeds up processing and still produce an output image of
+ * good quality. The output image will have the same minimum and maximum value as the input
+ * image. A clip limit smaller than 1 results in standard (non-contrast limited) AHE.
+ */
+{
+    unsigned int uiX, uiY;                /* counters */
+    unsigned int uiXSize, uiYSize, uiSubX, uiSubY; /* size of context. reg. and subimages */
+    unsigned int uiXL, uiXR, uiYU, uiYB;  /* auxiliary variables interpolation routine */
+    unsigned long ulClipLimit, ulNrPixels;/* clip limit and region pixel count */
+    kz_pixel_t* pImPointer;               /* pointer to image */
+    kz_pixel_t aLUT[uiNR_OF_GREY];        /* lookup table used for scaling of input image */
+    unsigned long* pulHist, *pulMapArray; /* pointer to histogram and mappings*/
+    unsigned long* pulLU, *pulLB, *pulRU, *pulRB; /* auxiliary pointers interpolation */
+
+    if (uiNrX > uiMAX_REG_X) return -1;   /* # of regions x-direction too large */
+    if (uiNrY > uiMAX_REG_Y) return -2;   /* # of regions y-direction too large */
+    if (uiXRes % uiNrX) return -3;        /* x-resolution no multiple of uiNrX */
+    if (uiYRes % uiNrY) return -4;        /* y-resolution no multiple of uiNrY */
+    if (Max >= uiNR_OF_GREY) return -5;   /* maximum too large */
+    if (Min >= Max) return -6;            /* minimum equal or larger than maximum */
+    if (uiNrX < 2 || uiNrY < 2) return -7;/* at least 4 contextual regions required */
+    if (fCliplimit == 1.0) return 0;      /* is OK, immediately returns original image. */
+    if (uiNrBins == 0) uiNrBins = 128;    /* default value when not specified */
+
+    pulMapArray=(unsigned long *)xalloc(sizeof(unsigned long)*uiNrX*uiNrY*uiNrBins);
+    if (pulMapArray == 0) return -8;      /* Not enough memory! (try reducing uiNrBins) */
+
+    uiXSize = uiXRes/uiNrX; uiYSize = uiYRes/uiNrY;  /* Actual size of contextual regions */
+    ulNrPixels = (unsigned long)uiXSize * (unsigned long)uiYSize;
+
+    if(fCliplimit > 0.0) {                /* Calculate actual cliplimit  */
+       ulClipLimit = (unsigned long) (fCliplimit * (uiXSize * uiYSize) / uiNrBins);
+       ulClipLimit = (ulClipLimit < 1UL) ? 1UL : ulClipLimit;
+    }
+    else ulClipLimit = 1UL<<14;           /* Large value, do not clip (AHE) */
+    MakeLut(aLUT, Min, Max, uiNrBins);    /* Make lookup table for mapping of greyvalues */
+    /* Calculate greylevel mappings for each contextual region */
+    for (uiY = 0, pImPointer = pImage; uiY < uiNrY; uiY++) {
+        for (uiX = 0; uiX < uiNrX; uiX++, pImPointer += uiXSize) {
+            pulHist = &pulMapArray[uiNrBins * (uiY * uiNrX + uiX)];
+            MakeHistogram(pImPointer,uiXRes,uiXSize,uiYSize,pulHist,uiNrBins,aLUT);
+            ClipHistogram(pulHist, uiNrBins, ulClipLimit);
+            MapHistogram(pulHist, Min, Max, uiNrBins, ulNrPixels);
+        }
+        pImPointer += (uiYSize - 1) * uiXRes;             /* skip lines, set pointer */
+    }
+
+    /* Interpolate greylevel mappings to get CLAHE image */
+    for (pImPointer = pImage, uiY = 0; uiY <= uiNrY; uiY++) {
+        if (uiY == 0) {                                   /* special case: top row */
+            uiSubY = uiYSize >> 1;  uiYU = 0; uiYB = 0;
+        }
+        else {
+            if (uiY == uiNrY) {                           /* special case: bottom row */
+                uiSubY = (uiYSize+1) >> 1;        uiYU = uiNrY-1;  uiYB = uiYU;
+            }
+            else {                                        /* default values */
+                uiSubY = uiYSize; uiYU = uiY - 1; uiYB = uiYU + 1;
+            }
+        }
+        for (uiX = 0; uiX <= uiNrX; uiX++) {
+            if (uiX == 0) {                               /* special case: left column */
+                uiSubX = uiXSize >> 1; uiXL = 0; uiXR = 0;
+            }
+            else {
+                if (uiX == uiNrX) {                       /* special case: right column */
+                    uiSubX = (uiXSize+1) >> 1;  uiXL = uiNrX - 1; uiXR = uiXL;
+                }
+                else {                                    /* default values */
+                    uiSubX = uiXSize; uiXL = uiX - 1; uiXR = uiXL + 1;
+                }
+            }
+
+            pulLU = &pulMapArray[uiNrBins * (uiYU * uiNrX + uiXL)];
+            pulRU = &pulMapArray[uiNrBins * (uiYU * uiNrX + uiXR)];
+            pulLB = &pulMapArray[uiNrBins * (uiYB * uiNrX + uiXL)];
+            pulRB = &pulMapArray[uiNrBins * (uiYB * uiNrX + uiXR)];
+            Interpolate(pImPointer,uiXRes,pulLU,pulRU,pulLB,pulRB,uiSubX,uiSubY,aLUT);
+            pImPointer += uiSubX;                         /* set pointer on next matrix */
+        }
+        pImPointer += (uiSubY - 1) * uiXRes;
+    }
+    xfree(pulMapArray);                                            /* free space for histograms */
+    return 0;                                             /* return status OK */
+}
+
+void ClipHistogram (unsigned long* pulHistogram, unsigned int
+                    uiNrGreylevels, unsigned long ulClipLimit)
+/* This function performs clipping of the histogram and redistribution of bins.
+ * The histogram is clipped and the number of excess pixels is counted. Afterwards
+ * the excess pixels are equally redistributed across the whole histogram (providing
+ * the bin count is smaller than the cliplimit).
+ */
+{
+    unsigned long* pulBinPointer, *pulEndPointer, *pulHisto;
+    unsigned long ulNrExcess, ulUpper, ulBinIncr, ulStepSize, i;
+    long lBinExcess;
+
+    ulNrExcess = 0;  pulBinPointer = pulHistogram;
+    for (i = 0; i < uiNrGreylevels; i++) { /* calculate total number of excess pixels */
+        lBinExcess = (long) pulBinPointer[i] - (long) ulClipLimit;
+        if (lBinExcess > 0) ulNrExcess += lBinExcess;   /* excess in current bin */
+    };
+
+    /* Second part: clip histogram and redistribute excess pixels in each bin */
+    ulBinIncr = ulNrExcess / uiNrGreylevels;            /* average binincrement */
+    ulUpper =  ulClipLimit - ulBinIncr;    /* Bins larger than ulUpper set to cliplimit */
+
+    for (i = 0; i < uiNrGreylevels; i++) {
+      if (pulHistogram[i] > ulClipLimit) pulHistogram[i] = ulClipLimit; /* clip bin */
+      else {
+          if (pulHistogram[i] > ulUpper) {              /* high bin count */
+              ulNrExcess -= pulHistogram[i] - ulUpper; pulHistogram[i]=ulClipLimit;
+          }
+          else {                                        /* low bin count */
+              ulNrExcess -= ulBinIncr; pulHistogram[i] += ulBinIncr;
+          }
+       }
+    }
+
+    while (ulNrExcess) { /* Redistribute remaining excess  */
+        pulEndPointer = &pulHistogram[uiNrGreylevels]; pulHisto = pulHistogram;
+
+        while (ulNrExcess && pulHisto < pulEndPointer) {
+            ulStepSize = uiNrGreylevels / ulNrExcess;
+            if (ulStepSize < 1) ulStepSize = 1;         /* stepsize at least 1 */
+            for (pulBinPointer=pulHisto; pulBinPointer < pulEndPointer && ulNrExcess;
+                 pulBinPointer += ulStepSize) {
+                if (*pulBinPointer < ulClipLimit) {
+                    (*pulBinPointer)++;  ulNrExcess--;  /* reduce excess */
+                }
+            }
+            pulHisto++;  /* restart redistributing on other bin location */
+        }
+    }
+}
+
+void MakeHistogram (kz_pixel_t* pImage, unsigned int uiXRes,
+                    unsigned int uiSizeX, unsigned int uiSizeY,
+                    unsigned long* pulHistogram,
+                    unsigned int uiNrGreylevels, kz_pixel_t* pLookupTable)
+/* This function classifies the greylevels present in the array image into
+ * a greylevel histogram. The pLookupTable specifies the relationship
+ * between the greyvalue of the pixel (typically between 0 and 4095) and
+ * the corresponding bin in the histogram (usually containing only 128 bins).
+ */
+{
+    kz_pixel_t* pImagePointer;
+    unsigned int i;
+
+    for (i = 0; i < uiNrGreylevels; i++) pulHistogram[i] = 0L; /* clear histogram */
+
+    for (i = 0; i < uiSizeY; i++) {
+                pImagePointer = &pImage[uiSizeX];
+                while (pImage < pImagePointer) pulHistogram[pLookupTable[*pImage++]]++;
+                pImagePointer += uiXRes;
+                pImage = &pImagePointer[-(int)uiSizeX]; /* go to bdeginning of next row */
+    }
+}
+
+void MapHistogram (unsigned long* pulHistogram, kz_pixel_t Min, kz_pixel_t Max,
+                   unsigned int uiNrGreylevels, unsigned long ulNrOfPixels)
+/* This function calculates the equalized lookup table (mapping) by
+ * cumulating the input histogram. Note: lookup table is rescaled in range [Min..Max].
+ */
+{
+    unsigned int i;  unsigned long ulSum = 0;
+    const float fScale = ((float)(Max - Min)) / ulNrOfPixels;
+    const unsigned long ulMin = (unsigned long) Min;
+
+    for (i = 0; i < uiNrGreylevels; i++) {
+                ulSum += pulHistogram[i]; pulHistogram[i]=(unsigned long)(ulMin+ulSum*fScale);
+                if (pulHistogram[i] > Max) pulHistogram[i] = Max;
+    }
+}
+
+void MakeLut (kz_pixel_t * pLUT, kz_pixel_t Min, kz_pixel_t Max, unsigned int uiNrBins)
+/* To speed up histogram clipping, the input image [Min,Max] is scaled down to
+ * [0,uiNrBins-1]. This function calculates the LUT.
+ */
+{
+    int i;
+    const kz_pixel_t BinSize = (kz_pixel_t) (1 + (Max - Min) / uiNrBins);
+
+    for (i = Min; i <= Max; i++)  pLUT[i] = (i - Min) / BinSize;
+}
+
+void Interpolate (kz_pixel_t * pImage, int uiXRes, unsigned long * pulMapLU,
+                  unsigned long * pulMapRU, unsigned long * pulMapLB,  unsigned long * pulMapRB,
+                  unsigned int uiXSize, unsigned int uiYSize, kz_pixel_t * pLUT)
+/* pImage      - pointer to input/output image
+ * uiXRes      - resolution of image in x-direction
+ * pulMap*     - mappings of greylevels from histograms
+ * uiXSize     - uiXSize of image submatrix
+ * uiYSize     - uiYSize of image submatrix
+ * pLUT        - lookup table containing mapping greyvalues to bins
+ * This function calculates the new greylevel assignments of pixels within a submatrix
+ * of the image with size uiXSize and uiYSize. This is done by a bilinear interpolation
+ * between four different mappings in order to eliminate boundary artifacts.
+ * It uses a division; since division is often an expensive operation, I added code to
+ * perform a logical shift instead when feasible.
+ */
+{
+    const unsigned int uiIncr = uiXRes-uiXSize; /* Pointer increment after processing row */
+    kz_pixel_t GreyValue; unsigned int uiNum = uiXSize*uiYSize; /* Normalization factor */
+
+    unsigned int uiXCoef, uiYCoef, uiXInvCoef, uiYInvCoef, uiShift = 0;
+
+    if (uiNum & (uiNum - 1)) /* If uiNum is not a power of two, use division */
+    for (uiYCoef = 0, uiYInvCoef = uiYSize; uiYCoef < uiYSize;
+         uiYCoef++, uiYInvCoef--,pImage+=uiIncr) {
+        for (uiXCoef = 0, uiXInvCoef = uiXSize; uiXCoef < uiXSize;
+             uiXCoef++, uiXInvCoef--) {
+            GreyValue = pLUT[*pImage];             /* get histogram bin value */
+            *pImage++ = (kz_pixel_t ) ((uiYInvCoef * (uiXInvCoef*pulMapLU[GreyValue]
+                                      + uiXCoef * pulMapRU[GreyValue])
+                                      + uiYCoef * (uiXInvCoef * pulMapLB[GreyValue]
+                                      + uiXCoef * pulMapRB[GreyValue])) / uiNum);
+        }
+    }
+    else {                   /* avoid the division and use a right shift instead */
+        while (uiNum >>= 1) uiShift++;             /* Calculate 2log of uiNum */
+        for (uiYCoef = 0, uiYInvCoef = uiYSize; uiYCoef < uiYSize;
+             uiYCoef++, uiYInvCoef--,pImage+=uiIncr) {
+             for (uiXCoef = 0, uiXInvCoef = uiXSize; uiXCoef < uiXSize;
+               uiXCoef++, uiXInvCoef--) {
+               GreyValue = pLUT[*pImage];         /* get histogram bin value */
+               *pImage++ = (kz_pixel_t)((uiYInvCoef* (uiXInvCoef * pulMapLU[GreyValue]
+                                      + uiXCoef * pulMapRU[GreyValue])
+                                      + uiYCoef * (uiXInvCoef * pulMapLB[GreyValue]
+                                      + uiXCoef * pulMapRB[GreyValue])) >> uiShift);
+            }
+        }
+    }
+}
+
+void imlib_clahe_histeq(image_t *img, float clip_limit, image_t *mask)
+{
+    int xTileSize = IM_MAX(uiMAX_REG_X >> (10 - IM_MIN(IM_LOG2_32(img->w), 10)), 2);
+    int yTileSize = IM_MAX(uiMAX_REG_Y >> (10 - IM_MIN(IM_LOG2_32(img->h), 10)), 2);
+    int pImageW = img->w + ((img->w % xTileSize) ? (xTileSize - (img->w % xTileSize)) : 0);
+    int pImageH = img->h + ((img->h % yTileSize) ? (yTileSize - (img->h % yTileSize)) : 0);
+    int xOffset = (pImageW - img->w) / 2;
+    int yOffset = (pImageH - img->h) / 2;
+
+    image_t temp;
+    temp.w = img->w;
+    temp.h = img->h;
+    temp.pixfmt = img->pixfmt;
+    temp.data = xalloc0(pImageW * pImageH * sizeof(kz_pixel_t));
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset,
+                        COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset,
+                        IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset,
+                        COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x)));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset,
+                        COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x)));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    CLAHE((kz_pixel_t *) temp.data,
+          pImageW, pImageH,
+          COLOR_GRAYSCALE_MIN, COLOR_GRAYSCALE_MAX,
+          xTileSize, yTileSize,
+          COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN + 1,
+          clip_limit);
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x,
+                        COLOR_GRAYSCALE_TO_BINARY(IMAGE_GET_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset)));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x,
+                        IMAGE_GET_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x,
+                        imlib_yuv_to_rgb(IMAGE_GET_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset),
+                                         COLOR_RGB565_TO_U(pixel),
+                                         COLOR_RGB565_TO_V(pixel)));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *clahe_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&temp, y + yOffset);
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x,
+                        imlib_yuv_to_rgb888(IMAGE_GET_GRAYSCALE_PIXEL_FAST(clahe_row_ptr, x + xOffset),
+                                         COLOR_RGB888_TO_U(pixel),
+                                         COLOR_RGB888_TO_V(pixel)));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    xfree(temp.data);
+}
diff --git a/github_source/minicv2/src/collections.c b/github_source/minicv2/src/collections.c
new file mode 100644
index 0000000..84da627
--- /dev/null
+++ b/github_source/minicv2/src/collections.c
@@ -0,0 +1,535 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Common data structures.
+ */
+#include "imlib.h"
+#define CHAR_BITS (sizeof(char) * 8)
+#define CHAR_MASK (CHAR_BITS - 1)
+#define CHAR_SHIFT IM_LOG2(CHAR_MASK)
+
+////////////
+// bitmap //
+////////////
+
+void bitmap_alloc(bitmap_t *ptr, size_t size)
+{
+    ptr->size = size;
+    ptr->data = (char *) fb_alloc0(((size + CHAR_MASK) >> CHAR_SHIFT) * sizeof(char), FB_ALLOC_NO_HINT);
+}
+
+void bitmap_free(bitmap_t *ptr)
+{
+    if (ptr->data) {
+        fb_free(ptr->data);
+    }
+}
+
+void bitmap_clear(bitmap_t *ptr)
+{
+    memset(ptr->data, 0, ((ptr->size + CHAR_MASK) >> CHAR_SHIFT) * sizeof(char));
+}
+
+void bitmap_bit_set(bitmap_t *ptr, size_t index)
+{
+    ptr->data[index >> CHAR_SHIFT] |= 1 << (index & CHAR_MASK);
+}
+
+bool bitmap_bit_get(bitmap_t *ptr, size_t index)
+{
+    return (ptr->data[index >> CHAR_SHIFT] >> (index & CHAR_MASK)) & 1;
+}
+
+//////////
+// lifo //
+//////////
+
+void lifo_alloc(lifo_t *ptr, size_t size, size_t data_len)
+{
+    ptr->len = 0;
+    ptr->size = size;
+    ptr->data_len = data_len;
+    ptr->data = (char *) fb_alloc(size * data_len, FB_ALLOC_NO_HINT);
+}
+
+void lifo_alloc_all(lifo_t *ptr, size_t *size, size_t data_len)
+{
+    uint32_t tmp_size;
+    ptr->data = (char *) fb_alloc_all(&tmp_size, FB_ALLOC_NO_HINT);
+    ptr->data_len = data_len;
+    ptr->size = tmp_size / data_len;
+    ptr->len = 0;
+    *size = ptr->size;
+}
+
+void lifo_free(lifo_t *ptr)
+{
+    if (ptr->data) {
+        fb_free(ptr->data);
+    }
+}
+
+void lifo_clear(lifo_t *ptr)
+{
+    ptr->len = 0;
+}
+
+size_t lifo_size(lifo_t *ptr)
+{
+    return ptr->len;
+}
+
+bool lifo_is_not_empty(lifo_t *ptr)
+{
+    return ptr->len;
+}
+
+bool lifo_is_not_full(lifo_t *ptr)
+{
+    return ptr->len != ptr->size;
+}
+
+void lifo_enqueue(lifo_t *ptr, void *data)
+{
+    memcpy(ptr->data + (ptr->len * ptr->data_len), data, ptr->data_len);
+
+    ptr->len += 1;
+}
+
+void lifo_dequeue(lifo_t *ptr, void *data)
+{
+    if (data) {
+        memcpy(data, ptr->data + ((ptr->len - 1) * ptr->data_len), ptr->data_len);
+    }
+
+    ptr->len -= 1;
+}
+
+void lifo_poke(lifo_t *ptr, void *data)
+{
+    memcpy(ptr->data + (ptr->len * ptr->data_len), data, ptr->data_len);
+}
+
+void lifo_peek(lifo_t *ptr, void *data)
+{
+    memcpy(data, ptr->data + ((ptr->len - 1) * ptr->data_len), ptr->data_len);
+}
+
+//////////
+// fifo //
+//////////
+
+void fifo_alloc(fifo_t *ptr, size_t size, size_t data_len)
+{
+    ptr->head_ptr = 0;
+    ptr->tail_ptr = 0;
+    ptr->len = 0;
+    ptr->size = size;
+    ptr->data_len = data_len;
+    ptr->data = (char *) fb_alloc(size * data_len, FB_ALLOC_NO_HINT);
+}
+
+void fifo_alloc_all(fifo_t *ptr, size_t *size, size_t data_len)
+{
+    uint32_t tmp_size;
+    ptr->data = (char *) fb_alloc_all(&tmp_size, FB_ALLOC_NO_HINT);
+    ptr->data_len = data_len;
+    ptr->size = tmp_size / data_len;
+    ptr->len = 0;
+    ptr->tail_ptr = 0;
+    ptr->head_ptr = 0;
+    *size = ptr->size;
+}
+
+void fifo_free(fifo_t *ptr)
+{
+    if (ptr->data) {
+        fb_free(ptr->data);
+    }
+}
+
+void fifo_clear(fifo_t *ptr)
+{
+    ptr->head_ptr = 0;
+    ptr->tail_ptr = 0;
+    ptr->len = 0;
+}
+
+size_t fifo_size(fifo_t *ptr)
+{
+    return ptr->len;
+}
+
+bool fifo_is_not_empty(fifo_t *ptr)
+{
+    return ptr->len;
+}
+
+bool fifo_is_not_full(fifo_t *ptr)
+{
+    return ptr->len != ptr->size;
+}
+
+void fifo_enqueue(fifo_t *ptr, void *data)
+{
+    memcpy(ptr->data + (ptr->head_ptr * ptr->data_len), data, ptr->data_len);
+
+    size_t temp = ptr->head_ptr + 1;
+
+    if (temp == ptr->size) {
+        temp = 0;
+    }
+
+    ptr->head_ptr = temp;
+    ptr->len += 1;
+}
+
+void fifo_dequeue(fifo_t *ptr, void *data)
+{
+    if (data) {
+        memcpy(data, ptr->data + (ptr->tail_ptr * ptr->data_len), ptr->data_len);
+    }
+
+    size_t temp = ptr->tail_ptr + 1;
+
+    if (temp == ptr->size) {
+        temp = 0;
+    }
+
+    ptr->tail_ptr = temp;
+    ptr->len -= 1;
+}
+
+void fifo_poke(fifo_t *ptr, void *data)
+{
+    memcpy(ptr->data + (ptr->head_ptr * ptr->data_len), data, ptr->data_len);
+}
+
+void fifo_peek(fifo_t *ptr, void *data)
+{
+    memcpy(data, ptr->data + (ptr->tail_ptr * ptr->data_len), ptr->data_len);
+}
+
+//////////
+// list //
+//////////
+
+void imlib_list_init(list_t *ptr, size_t data_len)
+{
+    ptr->head_ptr = NULL;
+    ptr->tail_ptr = NULL;
+    ptr->size = 0;
+    ptr->data_len = data_len;
+}
+void list_init(list_t *ptr, size_t data_len)
+{
+    ptr->head_ptr = NULL;
+    ptr->tail_ptr = NULL;
+    ptr->size = 0;
+    ptr->data_len = data_len;
+}
+
+void list_copy(list_t *dst, list_t *src)
+{
+    memcpy(dst, src, sizeof(list_t));
+}
+
+void list_free(list_t *ptr)
+{
+    for (list_lnk_t *i = ptr->head_ptr; i; ) {
+        list_lnk_t *j = i->next_ptr;
+        xfree(i);
+        i = j;
+    }
+}
+
+void list_clear(list_t *ptr)
+{
+    list_free(ptr);
+
+    ptr->head_ptr = NULL;
+    ptr->tail_ptr = NULL;
+    ptr->size = 0;
+}
+
+size_t list_size(list_t *ptr)
+{
+    return ptr->size;
+}
+
+void list_push_front(list_t *ptr, void *data)
+{
+    list_lnk_t *tmp = (list_lnk_t *) xalloc(sizeof(list_lnk_t) + ptr->data_len);
+    memcpy(tmp->data, data, ptr->data_len);
+
+    if (ptr->size++) {
+        tmp->next_ptr = ptr->head_ptr;
+        tmp->prev_ptr = NULL;
+        ptr->head_ptr->prev_ptr = tmp;
+        ptr->head_ptr = tmp;
+    } else {
+        tmp->next_ptr = NULL;
+        tmp->prev_ptr = NULL;
+        ptr->head_ptr = tmp;
+        ptr->tail_ptr = tmp;
+    }
+}
+
+void list_push_back(list_t *ptr, void *data)
+{
+    list_lnk_t *tmp = (list_lnk_t *) xalloc(sizeof(list_lnk_t) + ptr->data_len);
+    memcpy(tmp->data, data, ptr->data_len);
+
+    if (ptr->size++) {
+        tmp->next_ptr = NULL;
+        tmp->prev_ptr = ptr->tail_ptr;
+        ptr->tail_ptr->next_ptr = tmp;
+        ptr->tail_ptr = tmp;
+    } else {
+        tmp->next_ptr = NULL;
+        tmp->prev_ptr = NULL;
+        ptr->head_ptr = tmp;
+        ptr->tail_ptr = tmp;
+    }
+}
+
+void list_pop_front(list_t *ptr, void *data)
+{
+    list_lnk_t *tmp = ptr->head_ptr;
+
+    if (data) {
+        memcpy(data, tmp->data, ptr->data_len);
+    }
+
+    if (tmp->next_ptr) {
+        tmp->next_ptr->prev_ptr = NULL;
+    }
+    ptr->head_ptr = tmp->next_ptr;
+    ptr->size -= 1;
+    xfree(tmp);
+}
+
+void list_pop_back(list_t *ptr, void *data)
+{
+    list_lnk_t *tmp = ptr->tail_ptr;
+
+    if (data) {
+        memcpy(data, tmp->data, ptr->data_len);
+    }
+
+    tmp->prev_ptr->next_ptr = NULL;
+    ptr->tail_ptr = tmp->prev_ptr;
+    ptr->size -= 1;
+    xfree(tmp);
+}
+
+void list_get_front(list_t *ptr, void *data)
+{
+    memcpy(data, ptr->head_ptr->data, ptr->data_len);
+}
+
+void list_get_back(list_t *ptr, void *data)
+{
+    memcpy(data, ptr->tail_ptr->data, ptr->data_len);
+}
+
+void list_set_front(list_t *ptr, void *data)
+{
+    memcpy(ptr->head_ptr->data, data, ptr->data_len);
+}
+
+void list_set_back(list_t *ptr, void *data)
+{
+    memcpy(ptr->tail_ptr->data, data, ptr->data_len);
+}
+
+void list_insert(list_t *ptr, void *data, size_t index)
+{
+    if (index == 0) {
+        list_push_front(ptr, data);
+    } else if (index >= ptr->size) {
+        list_push_back(ptr, data);
+    } else if (index < (ptr->size >> 1)) {
+
+        list_lnk_t *i = ptr->head_ptr;
+
+        while (index) {
+            i = i->next_ptr;
+            index -= 1;
+        }
+
+        list_lnk_t *tmp = (list_lnk_t *) xalloc(sizeof(list_lnk_t) + ptr->data_len);
+        memcpy(tmp->data, data, ptr->data_len);
+
+        tmp->next_ptr = i;
+        tmp->prev_ptr = i->prev_ptr;
+        i->prev_ptr->next_ptr = tmp;
+        i->prev_ptr = tmp;
+        ptr->size += 1;
+
+    } else {
+
+        list_lnk_t *i = ptr->tail_ptr;
+        index = ptr->size - index - 1;
+
+        while (index) {
+            i = i->prev_ptr;
+            index -= 1;
+        }
+
+        list_lnk_t *tmp = (list_lnk_t *) xalloc(sizeof(list_lnk_t) + ptr->data_len);
+        memcpy(tmp->data, data, ptr->data_len);
+
+        tmp->next_ptr = i;
+        tmp->prev_ptr = i->prev_ptr;
+        i->prev_ptr->next_ptr = tmp;
+        i->prev_ptr = tmp;
+        ptr->size += 1;
+    }
+}
+
+void list_remove(list_t *ptr, void *data, size_t index)
+{
+    if (index == 0) {
+        list_pop_front(ptr, data);
+    } else if (index >= (ptr->size - 1)) {
+        list_pop_back(ptr, data);
+    } else if (index < (ptr->size >> 1)) {
+
+        list_lnk_t *i = ptr->head_ptr;
+
+        while (index) {
+            i = i->next_ptr;
+            index -= 1;
+        }
+
+        if (data) {
+            memcpy(data, i->data, ptr->data_len);
+        }
+
+        i->prev_ptr->next_ptr = i->next_ptr;
+        i->next_ptr->prev_ptr = i->prev_ptr;
+        ptr->size -= 1;
+        xfree(i);
+
+    } else {
+
+        list_lnk_t *i = ptr->tail_ptr;
+        index = ptr->size - index - 1;
+
+        while (index) {
+            i = i->prev_ptr;
+            index -= 1;
+        }
+
+        if (data) {
+            memcpy(data, i->data, ptr->data_len);
+        }
+
+        i->prev_ptr->next_ptr = i->next_ptr;
+        i->next_ptr->prev_ptr = i->prev_ptr;
+        ptr->size -= 1;
+        xfree(i);
+    }
+}
+
+void list_get(list_t *ptr, void *data, size_t index)
+{
+    if (index == 0) {
+        list_get_front(ptr, data);
+    } else if (index >= (ptr->size - 1)) {
+        list_get_back(ptr, data);
+    } else if (index < (ptr->size >> 1)) {
+
+        list_lnk_t *i = ptr->head_ptr;
+
+        while (index) {
+            i = i->next_ptr;
+            index -= 1;
+        }
+
+        memcpy(data, i->data, ptr->data_len);
+
+    } else {
+
+        list_lnk_t *i = ptr->tail_ptr;
+        index = ptr->size - index - 1;
+
+        while (index) {
+            i = i->prev_ptr;
+            index -= 1;
+        }
+
+        memcpy(data, i->data, ptr->data_len);
+    }
+}
+
+void list_set(list_t *ptr, void *data, size_t index)
+{
+    if (index == 0) {
+        list_set_front(ptr, data);
+    } else if (index >= (ptr->size - 1)) {
+        list_set_back(ptr, data);
+    } else if (index < (ptr->size >> 1)) {
+
+        list_lnk_t *i = ptr->head_ptr;
+
+        while (index) {
+            i = i->next_ptr;
+            index -= 1;
+        }
+
+        memcpy(i->data, data, ptr->data_len);
+
+    } else {
+
+        list_lnk_t *i = ptr->tail_ptr;
+        index = ptr->size - index - 1;
+
+        while (index) {
+            i = i->prev_ptr;
+            index -= 1;
+        }
+
+        memcpy(i->data, data, ptr->data_len);
+    }
+}
+
+//////////////
+// iterator //
+//////////////
+
+list_lnk_t *iterator_start_from_head(list_t *ptr)
+{
+    return ptr->head_ptr;
+}
+
+list_lnk_t *iterator_start_from_tail(list_t *ptr)
+{
+    return ptr->tail_ptr;
+}
+
+list_lnk_t *iterator_next(list_lnk_t *lnk)
+{
+    return lnk->next_ptr;
+}
+
+list_lnk_t *iterator_prev(list_lnk_t *lnk)
+{
+    return lnk->prev_ptr;
+}
+
+void iterator_get(list_t *ptr, list_lnk_t *lnk, void *data)
+{
+    memcpy(data, lnk->data, ptr->data_len);
+}
+
+void iterator_set(list_t *ptr, list_lnk_t *lnk, void *data)
+{
+    memcpy(lnk->data, data, ptr->data_len);
+}
diff --git a/github_source/minicv2/src/dmtx.c b/github_source/minicv2/src/dmtx.c
new file mode 100644
index 0000000..ebcbf2d
--- /dev/null
+++ b/github_source/minicv2/src/dmtx.c
@@ -0,0 +1,6413 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Data Matrix Encoding/Decoding Library.
+ */
+#include <float.h>
+#include <stdio.h>
+#include "imlib.h"
+#ifdef IMLIB_ENABLE_DATAMATRICES
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#define perror(str)
+#define fprintf(stream, format, ...)
+#define free(ptr) ({ umm_free(ptr); })
+#define malloc(size) ({ void *_r = umm_malloc(size); if(!_r) fb_alloc_fail(); _r; })
+#define realloc(ptr, size) ({ void *_r = umm_realloc((ptr), (size)); if(!_r) fb_alloc_fail(); _r; })
+#define calloc(num, item_size) ({ void *_r = umm_calloc((num), (item_size)); if(!_r) fb_alloc_fail(); _r; })
+#define assert(expression)
+#define sqrt(x) fast_sqrtf(x)
+#define sqrtf(x) fast_sqrtf(x)
+#define floor(x) fast_floorf(x)
+#define floorf(x) fast_floorf(x)
+#define ceil(x) fast_ceilf(x)
+#define ceilf(x) fast_ceilf(x)
+#define round(x) fast_roundf(x)
+#define roundf(x) fast_roundf(x)
+#define atan(x) fast_atanf(x)
+#define atanf(x) fast_atanf(x)
+#define atan2(y, x) fast_atan2f((y), (x))
+#define atan2f(y, x) fast_atan2f((y), (x))
+#define exp(x) fast_expf(x)
+#define expf(x) fast_expf(x)
+#define cbrt(x) fast_cbrtf(x)
+#define cbrtf(x) fast_cbrtf(x)
+#define fabs(x) fast_fabsf(x)
+#define fabsf(x) fast_fabsf(x)
+#define log(x) fast_log(x)
+#define logf(x) fast_log(x)
+#undef log2
+#define log2(x) fast_log2(x)
+#undef log2f
+#define log2f(x) fast_log2(x)
+#define cos(x) cosf(x)
+#define sin(x) sinf(x)
+#define acos(x) acosf(x)
+#define asin(x) asinf(x)
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtx.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtx.h
+ * \brief Main libdmtx header
+ */
+
+#ifndef M_PI
+#define M_PI      3.14159265358979323846
+#endif
+
+#ifndef M_PI_2
+#define M_PI_2    1.57079632679489661923
+#endif
+
+#define DmtxVersion              "0.7.5"
+
+#define DmtxUndefined                 -1
+
+#define DmtxPassFail        unsigned int
+#define DmtxPass                       1
+#define DmtxFail                       0
+
+#define DmtxBoolean         unsigned int
+#define DmtxTrue                       1
+#define DmtxFalse                      0
+
+#define DmtxFormatMatrix               0
+#define DmtxFormatMosaic               1
+
+#define DmtxSymbolSquareCount         24
+#define DmtxSymbolRectCount            6
+
+#define DmtxModuleOff               0x00
+#define DmtxModuleOnRed             0x01
+#define DmtxModuleOnGreen           0x02
+#define DmtxModuleOnBlue            0x04
+#define DmtxModuleOnRGB             0x07  /* OnRed | OnGreen | OnBlue */
+#define DmtxModuleOn                0x07
+#define DmtxModuleUnsure            0x08
+#define DmtxModuleAssigned          0x10
+#define DmtxModuleVisited           0x20
+#define DmtxModuleData              0x40
+
+#define DMTX_CHECK_BOUNDS(l,i) (assert((i) >= 0 && (i) < (l)->length && (l)->length <= (l)->capacity))
+
+typedef enum {
+   DmtxSchemeAutoFast        = -2,
+   DmtxSchemeAutoBest        = -1,
+   DmtxSchemeAscii           =  0,
+   DmtxSchemeC40,
+   DmtxSchemeText,
+   DmtxSchemeX12,
+   DmtxSchemeEdifact,
+   DmtxSchemeBase256
+} DmtxScheme;
+
+typedef enum {
+   DmtxSymbolRectAuto        = -3,
+   DmtxSymbolSquareAuto      = -2,
+   DmtxSymbolShapeAuto       = -1,
+   DmtxSymbol10x10           =  0,
+   DmtxSymbol12x12,
+   DmtxSymbol14x14,
+   DmtxSymbol16x16,
+   DmtxSymbol18x18,
+   DmtxSymbol20x20,
+   DmtxSymbol22x22,
+   DmtxSymbol24x24,
+   DmtxSymbol26x26,
+   DmtxSymbol32x32,
+   DmtxSymbol36x36,
+   DmtxSymbol40x40,
+   DmtxSymbol44x44,
+   DmtxSymbol48x48,
+   DmtxSymbol52x52,
+   DmtxSymbol64x64,
+   DmtxSymbol72x72,
+   DmtxSymbol80x80,
+   DmtxSymbol88x88,
+   DmtxSymbol96x96,
+   DmtxSymbol104x104,
+   DmtxSymbol120x120,
+   DmtxSymbol132x132,
+   DmtxSymbol144x144,
+   DmtxSymbol8x18,
+   DmtxSymbol8x32,
+   DmtxSymbol12x26,
+   DmtxSymbol12x36,
+   DmtxSymbol16x36,
+   DmtxSymbol16x48
+} DmtxSymbolSize;
+
+typedef enum {
+   DmtxDirNone               = 0x00,
+   DmtxDirUp                 = 0x01 << 0,
+   DmtxDirLeft               = 0x01 << 1,
+   DmtxDirDown               = 0x01 << 2,
+   DmtxDirRight              = 0x01 << 3,
+   DmtxDirHorizontal         = DmtxDirLeft  | DmtxDirRight,
+   DmtxDirVertical           = DmtxDirUp    | DmtxDirDown,
+   DmtxDirRightUp            = DmtxDirRight | DmtxDirUp,
+   DmtxDirLeftDown           = DmtxDirLeft  | DmtxDirDown
+} DmtxDirection;
+
+typedef enum {
+   DmtxSymAttribSymbolRows,
+   DmtxSymAttribSymbolCols,
+   DmtxSymAttribDataRegionRows,
+   DmtxSymAttribDataRegionCols,
+   DmtxSymAttribHorizDataRegions,
+   DmtxSymAttribVertDataRegions,
+   DmtxSymAttribMappingMatrixRows,
+   DmtxSymAttribMappingMatrixCols,
+   DmtxSymAttribInterleavedBlocks,
+   DmtxSymAttribBlockErrorWords,
+   DmtxSymAttribBlockMaxCorrectable,
+   DmtxSymAttribSymbolDataWords,
+   DmtxSymAttribSymbolErrorWords,
+   DmtxSymAttribSymbolMaxCorrectable
+} DmtxSymAttribute;
+
+typedef enum {
+   /* Encoding properties */
+   DmtxPropScheme            = 100,
+   DmtxPropSizeRequest,
+   DmtxPropMarginSize,
+   DmtxPropModuleSize,
+   /* Decoding properties */
+   DmtxPropEdgeMin           = 200,
+   DmtxPropEdgeMax,
+   DmtxPropScanGap,
+   DmtxPropSquareDevn,
+   DmtxPropSymbolSize,
+   DmtxPropEdgeThresh,
+   /* Image properties */
+   DmtxPropWidth             = 300,
+   DmtxPropHeight,
+   DmtxPropPixelPacking,
+   DmtxPropBitsPerPixel,
+   DmtxPropBytesPerPixel,
+   DmtxPropRowPadBytes,
+   DmtxPropRowSizeBytes,
+   DmtxPropImageFlip,
+   DmtxPropChannelCount,
+   /* Image modifiers */
+   DmtxPropXmin              = 400,
+   DmtxPropXmax,
+   DmtxPropYmin,
+   DmtxPropYmax,
+   DmtxPropScale
+} DmtxProperty;
+
+typedef enum {
+   /* Custom format */
+   DmtxPackCustom            = 100,
+   /* 1 bpp */
+   DmtxPack1bppK             = 200,
+   /* 8 bpp grayscale */
+   DmtxPack8bppK             = 300,
+   /* 16 bpp formats */
+   DmtxPack16bppRGB          = 400,
+   DmtxPack16bppRGBX,
+   DmtxPack16bppXRGB,
+   DmtxPack16bppBGR,
+   DmtxPack16bppBGRX,
+   DmtxPack16bppXBGR,
+   DmtxPack16bppYCbCr,
+   /* 24 bpp formats */
+   DmtxPack24bppRGB          = 500,
+   DmtxPack24bppBGR,
+   DmtxPack24bppYCbCr,
+   /* 32 bpp formats */
+   DmtxPack32bppRGBX         = 600,
+   DmtxPack32bppXRGB,
+   DmtxPack32bppBGRX,
+   DmtxPack32bppXBGR,
+   DmtxPack32bppCMYK
+} DmtxPackOrder;
+
+typedef enum {
+  DmtxFlipNone               = 0x00,
+  DmtxFlipX                  = 0x01 << 0,
+  DmtxFlipY                  = 0x01 << 1
+} DmtxFlip;
+
+typedef float DmtxMatrix3[3][3];
+
+/**
+ * @struct DmtxPixelLoc
+ * @brief DmtxPixelLoc
+ */
+typedef struct DmtxPixelLoc_struct {
+   int X;
+   int Y;
+} DmtxPixelLoc;
+
+/**
+ * @struct DmtxVector2
+ * @brief DmtxVector2
+ */
+typedef struct DmtxVector2_struct {
+   float          X;
+   float          Y;
+} DmtxVector2;
+
+/**
+ * @struct DmtxRay2
+ * @brief DmtxRay2
+ */
+typedef struct DmtxRay2_struct {
+   float          tMin;
+   float          tMax;
+   DmtxVector2     p;
+   DmtxVector2     v;
+} DmtxRay2;
+
+typedef unsigned char DmtxByte;
+
+/**
+ * @struct DmtxByteList
+ * @brief DmtxByteList
+ * Use signed int for length fields instead of size_t to play nicely with RS
+ * arithmetic
+ */
+typedef struct DmtxByteList_struct DmtxByteList;
+struct DmtxByteList_struct
+{
+   int length;
+   int capacity;
+   DmtxByte *b;
+};
+
+/**
+ * @struct DmtxImage
+ * @brief DmtxImage
+ */
+typedef struct DmtxImage_struct {
+   int             width;
+   int             height;
+   int             pixelPacking;
+   int             bitsPerPixel;
+   int             bytesPerPixel;
+   int             rowPadBytes;
+   int             rowSizeBytes;
+   int             imageFlip;
+   int             channelCount;
+   int             channelStart[4];
+   int             bitsPerChannel[4];
+   unsigned char  *pxl;
+} DmtxImage;
+
+/**
+ * @struct DmtxPointFlow
+ * @brief DmtxPointFlow
+ */
+typedef struct DmtxPointFlow_struct {
+   int             plane;
+   int             arrive;
+   int             depart;
+   int             mag;
+   DmtxPixelLoc    loc;
+} DmtxPointFlow;
+
+/**
+ * @struct DmtxBestLine
+ * @brief DmtxBestLine
+ */
+typedef struct DmtxBestLine_struct {
+   int             angle;
+   int             hOffset;
+   int             mag;
+   int             stepBeg;
+   int             stepPos;
+   int             stepNeg;
+   int             distSq;
+   float          devn;
+   DmtxPixelLoc    locBeg;
+   DmtxPixelLoc    locPos;
+   DmtxPixelLoc    locNeg;
+} DmtxBestLine;
+
+/**
+ * @struct DmtxRegion
+ * @brief DmtxRegion
+ */
+typedef struct DmtxRegion_struct {
+
+   /* Trail blazing values */
+   int             jumpToPos;     /* */
+   int             jumpToNeg;     /* */
+   int             stepsTotal;    /* */
+   DmtxPixelLoc    finalPos;      /* */
+   DmtxPixelLoc    finalNeg;      /* */
+   DmtxPixelLoc    boundMin;      /* */
+   DmtxPixelLoc    boundMax;      /* */
+   DmtxPointFlow   flowBegin;     /* */
+
+   /* Orientation values */
+   int             polarity;      /* */
+   int             stepR;
+   int             stepT;
+   DmtxPixelLoc    locR;          /* remove if stepR works above */
+   DmtxPixelLoc    locT;          /* remove if stepT works above */
+
+   /* Region fitting values */
+   int             leftKnown;     /* known == 1; unknown == 0 */
+   int             leftAngle;     /* hough angle of left edge */
+   DmtxPixelLoc    leftLoc;       /* known (arbitrary) location on left edge */
+   DmtxBestLine    leftLine;      /* */
+   int             bottomKnown;   /* known == 1; unknown == 0 */
+   int             bottomAngle;   /* hough angle of bottom edge */
+   DmtxPixelLoc    bottomLoc;     /* known (arbitrary) location on bottom edge */
+   DmtxBestLine    bottomLine;    /* */
+   int             topKnown;      /* known == 1; unknown == 0 */
+   int             topAngle;      /* hough angle of top edge */
+   DmtxPixelLoc    topLoc;        /* known (arbitrary) location on top edge */
+   int             rightKnown;    /* known == 1; unknown == 0 */
+   int             rightAngle;    /* hough angle of right edge */
+   DmtxPixelLoc    rightLoc;      /* known (arbitrary) location on right edge */
+
+   /* Region calibration values */
+   int             onColor;       /* */
+   int             offColor;      /* */
+   int             sizeIdx;       /* Index of arrays that store Data Matrix constants */
+   int             symbolRows;    /* Number of total rows in symbol including alignment patterns */
+   int             symbolCols;    /* Number of total columns in symbol including alignment patterns */
+   int             mappingRows;   /* Number of data rows in symbol */
+   int             mappingCols;   /* Number of data columns in symbol */
+
+   /* Transform values */
+   DmtxMatrix3     raw2fit;       /* 3x3 transformation from raw image to fitted barcode grid */
+   DmtxMatrix3     fit2raw;       /* 3x3 transformation from fitted barcode grid to raw image */
+} DmtxRegion;
+
+/**
+ * @struct DmtxMessage
+ * @brief DmtxMessage
+ */
+typedef struct DmtxMessage_struct {
+   size_t          arraySize;     /* mappingRows * mappingCols */
+   size_t          codeSize;      /* Size of encoded data (data words + error words) */
+   size_t          outputSize;    /* Size of buffer used to hold decoded data */
+   int             outputIdx;     /* Internal index used to store output progress */
+   int             padCount;
+   unsigned char  *array;         /* Pointer to internal representation of Data Matrix modules */
+   unsigned char  *code;          /* Pointer to internal storage of code words (data and error) */
+   unsigned char  *output;        /* Pointer to internal storage of decoded output */
+} DmtxMessage;
+
+/**
+ * @struct DmtxScanGrid
+ * @brief DmtxScanGrid
+ */
+typedef struct DmtxScanGrid_struct {
+   /* set once */
+   int             minExtent;     /* Smallest cross size used in scan */
+   int             maxExtent;     /* Size of bounding grid region (2^N - 1) */
+   int             xOffset;       /* Offset to obtain image X coordinate */
+   int             yOffset;       /* Offset to obtain image Y coordinate */
+   int             xMin;          /* Minimum X in image coordinate system */
+   int             xMax;          /* Maximum X in image coordinate system */
+   int             yMin;          /* Minimum Y in image coordinate system */
+   int             yMax;          /* Maximum Y in image coordinate system */
+
+   /* reset for each level */
+   int             total;         /* Total number of crosses at this size */
+   int             extent;        /* Length/width of cross in pixels */
+   int             jumpSize;      /* Distance in pixels between cross centers */
+   int             pixelTotal;    /* Total pixel count within an individual cross path */
+   int             startPos;      /* X and Y coordinate of first cross center in pattern */
+
+   /* reset for each cross */
+   int             pixelCount;    /* Progress (pixel count) within current cross pattern */
+   int             xCenter;       /* X center of current cross pattern */
+   int             yCenter;       /* Y center of current cross pattern */
+} DmtxScanGrid;
+
+/**
+ * @struct DmtxDecode
+ * @brief DmtxDecode
+ */
+typedef struct DmtxDecode_struct {
+   /* Options */
+   int             edgeMin;
+   int             edgeMax;
+   int             scanGap;
+   float          squareDevn;
+   int             sizeIdxExpected;
+   int             edgeThresh;
+
+   /* Image modifiers */
+   int             xMin;
+   int             xMax;
+   int             yMin;
+   int             yMax;
+   int             scale;
+
+   /* Internals */
+/* int             cacheComplete; */
+   unsigned char  *cache;
+   DmtxImage      *image;
+   DmtxScanGrid    grid;
+} DmtxDecode;
+
+/* dmtxdecode.c */
+extern DmtxDecode *dmtxDecodeCreate(DmtxImage *img, int scale);
+extern DmtxPassFail dmtxDecodeDestroy(DmtxDecode **dec);
+extern DmtxPassFail dmtxDecodeSetProp(DmtxDecode *dec, int prop, int value);
+extern int dmtxDecodeGetProp(DmtxDecode *dec, int prop);
+extern /*@exposed@*/ unsigned char *dmtxDecodeGetCache(DmtxDecode *dec, int x, int y);
+extern DmtxPassFail dmtxDecodeGetPixelValue(DmtxDecode *dec, int x, int y, int channel, /*@out@*/ int *value);
+extern DmtxMessage *dmtxDecodeMatrixRegion(DmtxDecode *dec, DmtxRegion *reg, int fix);
+extern DmtxMessage *dmtxDecodeMosaicRegion(DmtxDecode *dec, DmtxRegion *reg, int fix);
+
+/* dmtxregion.c */
+extern DmtxRegion *dmtxRegionCreate(DmtxRegion *reg);
+extern DmtxPassFail dmtxRegionDestroy(DmtxRegion **reg);
+extern DmtxRegion *dmtxRegionFindNext(DmtxDecode *dec, int max_iterations, int *current_iterations);
+extern DmtxRegion *dmtxRegionScanPixel(DmtxDecode *dec, int x, int y);
+extern DmtxPassFail dmtxRegionUpdateCorners(DmtxDecode *dec, DmtxRegion *reg, DmtxVector2 p00,
+      DmtxVector2 p10, DmtxVector2 p11, DmtxVector2 p01);
+extern DmtxPassFail dmtxRegionUpdateXfrms(DmtxDecode *dec, DmtxRegion *reg);
+
+/* dmtxmessage.c */
+extern DmtxMessage *dmtxMessageCreate(int sizeIdx, int symbolFormat);
+extern DmtxPassFail dmtxMessageDestroy(DmtxMessage **msg);
+
+/* dmtximage.c */
+extern DmtxImage *dmtxImageCreate(unsigned char *pxl, int width, int height, int pack);
+extern DmtxPassFail dmtxImageDestroy(DmtxImage **img);
+extern DmtxPassFail dmtxImageSetChannel(DmtxImage *img, int channelStart, int bitsPerChannel);
+extern DmtxPassFail dmtxImageSetProp(DmtxImage *img, int prop, int value);
+extern int dmtxImageGetProp(DmtxImage *img, int prop);
+extern int dmtxImageGetByteOffset(DmtxImage *img, int x, int y);
+extern DmtxPassFail dmtxImageGetPixelValue(DmtxImage *img, int x, int y, int channel, /*@out@*/ int *value);
+extern DmtxPassFail dmtxImageSetPixelValue(DmtxImage *img, int x, int y, int channel, int value);
+extern DmtxBoolean dmtxImageContainsInt(DmtxImage *img, int margin, int x, int y);
+extern DmtxBoolean dmtxImageContainsFloat(DmtxImage *img, float x, float y);
+
+/* dmtxvector2.c */
+extern DmtxVector2 *dmtxVector2AddTo(DmtxVector2 *v1, const DmtxVector2 *v2);
+extern DmtxVector2 *dmtxVector2Add(/*@out@*/ DmtxVector2 *vOut, const DmtxVector2 *v1, const DmtxVector2 *v2);
+extern DmtxVector2 *dmtxVector2SubFrom(DmtxVector2 *v1, const DmtxVector2 *v2);
+extern DmtxVector2 *dmtxVector2Sub(/*@out@*/ DmtxVector2 *vOut, const DmtxVector2 *v1, const DmtxVector2 *v2);
+extern DmtxVector2 *dmtxVector2ScaleBy(DmtxVector2 *v, float s);
+extern DmtxVector2 *dmtxVector2Scale(/*@out@*/ DmtxVector2 *vOut, const DmtxVector2 *v, float s);
+extern float dmtxVector2Cross(const DmtxVector2 *v1, const DmtxVector2 *v2);
+extern float dmtxVector2Norm(DmtxVector2 *v);
+extern float dmtxVector2Dot(const DmtxVector2 *v1, const DmtxVector2 *v2);
+extern float dmtxVector2Mag(const DmtxVector2 *v);
+extern float dmtxDistanceFromRay2(const DmtxRay2 *r, const DmtxVector2 *q);
+extern float dmtxDistanceAlongRay2(const DmtxRay2 *r, const DmtxVector2 *q);
+extern DmtxPassFail dmtxRay2Intersect(/*@out@*/ DmtxVector2 *point, const DmtxRay2 *p0, const DmtxRay2 *p1);
+extern DmtxPassFail dmtxPointAlongRay2(/*@out@*/ DmtxVector2 *point, const DmtxRay2 *r, float t);
+
+/* dmtxmatrix3.c */
+extern void dmtxMatrix3Copy(/*@out@*/ DmtxMatrix3 m0, DmtxMatrix3 m1);
+extern void dmtxMatrix3Identity(/*@out@*/ DmtxMatrix3 m);
+extern void dmtxMatrix3Translate(/*@out@*/ DmtxMatrix3 m, float tx, float ty);
+extern void dmtxMatrix3Rotate(/*@out@*/ DmtxMatrix3 m, float angle);
+extern void dmtxMatrix3Scale(/*@out@*/ DmtxMatrix3 m, float sx, float sy);
+extern void dmtxMatrix3Shear(/*@out@*/ DmtxMatrix3 m, float shx, float shy);
+extern void dmtxMatrix3LineSkewTop(/*@out@*/ DmtxMatrix3 m, float b0, float b1, float sz);
+extern void dmtxMatrix3LineSkewTopInv(/*@out@*/ DmtxMatrix3 m, float b0, float b1, float sz);
+extern void dmtxMatrix3LineSkewSide(/*@out@*/ DmtxMatrix3 m, float b0, float b1, float sz);
+extern void dmtxMatrix3LineSkewSideInv(/*@out@*/ DmtxMatrix3 m, float b0, float b1, float sz);
+extern void dmtxMatrix3Multiply(/*@out@*/ DmtxMatrix3 mOut, DmtxMatrix3 m0, DmtxMatrix3 m1);
+extern void dmtxMatrix3MultiplyBy(DmtxMatrix3 m0, DmtxMatrix3 m1);
+extern int dmtxMatrix3VMultiply(/*@out@*/ DmtxVector2 *vOut, DmtxVector2 *vIn, DmtxMatrix3 m);
+extern int dmtxMatrix3VMultiplyBy(DmtxVector2 *v, DmtxMatrix3 m);
+extern void dmtxMatrix3Print(DmtxMatrix3 m);
+
+/* dmtxsymbol.c */
+extern int dmtxSymbolModuleStatus(DmtxMessage *mapping, int sizeIdx, int row, int col);
+extern int dmtxGetSymbolAttribute(int attribute, int sizeIdx);
+extern int dmtxGetBlockDataSize(int sizeIdx, int blockIdx);
+
+/* dmtxbytelist.c */
+extern DmtxByteList dmtxByteListBuild(DmtxByte *storage, int capacity);
+extern void dmtxByteListInit(DmtxByteList *list, int length, DmtxByte value, DmtxPassFail *passFail);
+extern void dmtxByteListClear(DmtxByteList *list);
+extern DmtxBoolean dmtxByteListHasCapacity(DmtxByteList *list);
+extern void dmtxByteListCopy(DmtxByteList *dst, const DmtxByteList *src, DmtxPassFail *passFail);
+extern void dmtxByteListPush(DmtxByteList *list, DmtxByte value, DmtxPassFail *passFail);
+extern DmtxByte dmtxByteListPop(DmtxByteList *list, DmtxPassFail *passFail);
+extern void dmtxByteListPrint(DmtxByteList *list, char *prefix);
+
+extern char *dmtxVersion(void);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxstatic.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxstatic.h
+ * \brief Static header
+ */
+
+#define DmtxAlmostZero          0.000001
+#define DmtxAlmostInfinity            -1
+
+#define DmtxValueC40Latch            230
+#define DmtxValueTextLatch           239
+#define DmtxValueX12Latch            238
+#define DmtxValueEdifactLatch        240
+#define DmtxValueBase256Latch        231
+
+#define DmtxValueCTXUnlatch   254
+#define DmtxValueEdifactUnlatch       31
+
+#define DmtxValueAsciiPad            129
+#define DmtxValueAsciiUpperShift     235
+#define DmtxValueCTXShift1      0
+#define DmtxValueCTXShift2      1
+#define DmtxValueCTXShift3      2
+#define DmtxValueFNC1                232
+#define DmtxValueStructuredAppend    233
+#define DmtxValue05Macro             236
+#define DmtxValue06Macro             237
+#define DmtxValueECI                 241
+
+#define DmtxC40TextBasicSet            0
+#define DmtxC40TextShift1              1
+#define DmtxC40TextShift2              2
+#define DmtxC40TextShift3              3
+
+#define DmtxUnlatchExplicit            0
+#define DmtxUnlatchImplicit            1
+
+#define DmtxChannelValid            0x00
+#define DmtxChannelUnsupportedChar  0x01 << 0
+#define DmtxChannelCannotUnlatch    0x01 << 1
+
+#undef min
+#define min(X,Y) (((X) < (Y)) ? (X) : (Y))
+
+#undef max
+#define max(X,Y) (((X) > (Y)) ? (X) : (Y))
+
+typedef enum {
+   DmtxRangeGood,
+   DmtxRangeBad,
+   DmtxRangeEnd
+} DmtxRange;
+
+typedef enum {
+   DmtxEdgeTop               = 0x01 << 0,
+   DmtxEdgeBottom            = 0x01 << 1,
+   DmtxEdgeLeft              = 0x01 << 2,
+   DmtxEdgeRight             = 0x01 << 3
+} DmtxEdge;
+
+typedef enum {
+   DmtxMaskBit8              = 0x01 << 0,
+   DmtxMaskBit7              = 0x01 << 1,
+   DmtxMaskBit6              = 0x01 << 2,
+   DmtxMaskBit5              = 0x01 << 3,
+   DmtxMaskBit4              = 0x01 << 4,
+   DmtxMaskBit3              = 0x01 << 5,
+   DmtxMaskBit2              = 0x01 << 6,
+   DmtxMaskBit1              = 0x01 << 7
+} DmtxMaskBit;
+
+/**
+ * @struct DmtxFollow
+ * @brief DmtxFollow
+ */
+typedef struct DmtxFollow_struct {
+   unsigned char  *ptr;
+   unsigned char   neighbor;
+   int             step;
+   DmtxPixelLoc    loc;
+} DmtxFollow;
+
+/**
+ * @struct DmtxBresLine
+ * @brief DmtxBresLine
+ */
+typedef struct DmtxBresLine_struct {
+   int             xStep;
+   int             yStep;
+   int             xDelta;
+   int             yDelta;
+   int             steep;
+   int             xOut;
+   int             yOut;
+   int             travel;
+   int             outward;
+   int             error;
+   DmtxPixelLoc    loc;
+   DmtxPixelLoc    loc0;
+   DmtxPixelLoc    loc1;
+} DmtxBresLine;
+
+typedef struct C40TextState_struct {
+   int             shift;
+   DmtxBoolean     upperShift;
+} C40TextState;
+
+/* dmtxregion.c */
+static float RightAngleTrueness(DmtxVector2 c0, DmtxVector2 c1, DmtxVector2 c2, float angle);
+static DmtxPointFlow MatrixRegionSeekEdge(DmtxDecode *dec, DmtxPixelLoc loc0);
+static DmtxPassFail MatrixRegionOrientation(DmtxDecode *dec, DmtxRegion *reg, DmtxPointFlow flowBegin);
+static long DistanceSquared(DmtxPixelLoc a, DmtxPixelLoc b);
+static int ReadModuleColor(DmtxDecode *dec, DmtxRegion *reg, int symbolRow, int symbolCol, int sizeIdx, int colorPlane);
+
+static DmtxPassFail MatrixRegionFindSize(DmtxDecode *dec, DmtxRegion *reg);
+static int CountJumpTally(DmtxDecode *dec, DmtxRegion *reg, int xStart, int yStart, DmtxDirection dir);
+static DmtxPointFlow GetPointFlow(DmtxDecode *dec, int colorPlane, DmtxPixelLoc loc, int arrive);
+static DmtxPointFlow FindStrongestNeighbor(DmtxDecode *dec, DmtxPointFlow center, int sign);
+static DmtxFollow FollowSeek(DmtxDecode *dec, DmtxRegion *reg, int seek);
+static DmtxFollow FollowSeekLoc(DmtxDecode *dec, DmtxPixelLoc loc);
+static DmtxFollow FollowStep(DmtxDecode *dec, DmtxRegion *reg, DmtxFollow followBeg, int sign);
+static DmtxFollow FollowStep2(DmtxDecode *dec, DmtxFollow followBeg, int sign);
+static DmtxPassFail TrailBlazeContinuous(DmtxDecode *dec, DmtxRegion *reg, DmtxPointFlow flowBegin, int maxDiagonal);
+static int TrailBlazeGapped(DmtxDecode *dec, DmtxRegion *reg, DmtxBresLine line, int streamDir);
+static int TrailClear(DmtxDecode *dec, DmtxRegion *reg, int clearMask);
+static DmtxBestLine FindBestSolidLine(DmtxDecode *dec, DmtxRegion *reg, int step0, int step1, int streamDir, int houghAvoid);
+static DmtxBestLine FindBestSolidLine2(DmtxDecode *dec, DmtxPixelLoc loc0, int tripSteps, int sign, int houghAvoid);
+static DmtxPassFail FindTravelLimits(DmtxDecode *dec, DmtxRegion *reg, DmtxBestLine *line);
+static DmtxPassFail MatrixRegionAlignCalibEdge(DmtxDecode *dec, DmtxRegion *reg, int whichEdge);
+static DmtxBresLine BresLineInit(DmtxPixelLoc loc0, DmtxPixelLoc loc1, DmtxPixelLoc locInside);
+static DmtxPassFail BresLineGetStep(DmtxBresLine line, DmtxPixelLoc target, int *travel, int *outward);
+static DmtxPassFail BresLineStep(DmtxBresLine *line, int travel, int outward);
+/*static void WriteDiagnosticImage(DmtxDecode *dec, DmtxRegion *reg, char *imagePath);*/
+
+/* dmtxdecode.c */
+static void TallyModuleJumps(DmtxDecode *dec, DmtxRegion *reg, int tally[][24], int xOrigin, int yOrigin, int mapWidth, int mapHeight, DmtxDirection dir);
+static DmtxPassFail PopulateArrayFromMatrix(DmtxDecode *dec, DmtxRegion *reg, DmtxMessage *msg);
+
+/* dmtxdecodescheme.c */
+static void DecodeDataStream(DmtxMessage *msg, int sizeIdx, unsigned char *outputStart);
+static int GetEncodationScheme(unsigned char cw);
+static void PushOutputWord(DmtxMessage *msg, int value);
+static void PushOutputC40TextWord(DmtxMessage *msg, C40TextState *state, int value);
+static void PushOutputMacroHeader(DmtxMessage *msg, int macroType);
+static void PushOutputMacroTrailer(DmtxMessage *msg);
+static unsigned char *DecodeSchemeAscii(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd);
+static unsigned char *DecodeSchemeC40Text(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd, DmtxScheme encScheme);
+static unsigned char *DecodeSchemeX12(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd);
+static unsigned char *DecodeSchemeEdifact(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd);
+static unsigned char *DecodeSchemeBase256(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd);
+
+/* dmtxplacemod.c */
+static int ModulePlacementEcc200(unsigned char *modules, unsigned char *codewords, int sizeIdx, int moduleOnColor);
+static void PatternShapeStandard(unsigned char *modules, int mappingRows, int mappingCols, int row, int col, unsigned char *codeword, int moduleOnColor);
+static void PatternShapeSpecial1(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor);
+static void PatternShapeSpecial2(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor);
+static void PatternShapeSpecial3(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor);
+static void PatternShapeSpecial4(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor);
+static void PlaceModule(unsigned char *modules, int mappingRows, int mappingCols, int row, int col,
+      unsigned char *codeword, int mask, int moduleOnColor);
+
+/* dmtxreedsol.c */
+static DmtxPassFail RsDecode(unsigned char *code, int sizeIdx, int fix);
+static DmtxBoolean RsComputeSyndromes(DmtxByteList *syn, const DmtxByteList *rec, int blockErrorWords);
+static DmtxBoolean RsFindErrorLocatorPoly(DmtxByteList *elp, const DmtxByteList *syn, int errorWordCount, int maxCorrectable);
+static DmtxBoolean RsFindErrorLocations(DmtxByteList *loc, const DmtxByteList *elp);
+static DmtxPassFail RsRepairErrors(DmtxByteList *rec, const DmtxByteList *loc, const DmtxByteList *elp, const DmtxByteList *syn);
+
+/* dmtxscangrid.c */
+static DmtxScanGrid InitScanGrid(DmtxDecode *dec);
+static int PopGridLocation(DmtxScanGrid *grid, /*@out@*/ DmtxPixelLoc *locPtr);
+static int GetGridCoordinates(DmtxScanGrid *grid, /*@out@*/ DmtxPixelLoc *locPtr);
+static void SetDerivedFields(DmtxScanGrid *grid);
+
+/* dmtximage.c */
+static int GetBitsPerPixel(int pack);
+
+/* dmtxencodebase256.c */
+static unsigned char UnRandomize255State(unsigned char value, int idx);
+
+static const int dmtxNeighborNone = 8;
+static const int dmtxPatternX[] = { -1,  0,  1,  1,  1,  0, -1, -1 };
+static const int dmtxPatternY[] = { -1, -1, -1,  0,  1,  1,  1,  0 };
+static const DmtxPointFlow dmtxBlankEdge = { 0, 0, 0, DmtxUndefined, { -1, -1 } };
+
+/*@ +charint @*/
+
+static int rHvX[] =
+    {  256,  256,  256,  256,  255,  255,  255,  254,  254,  253,  252,  251,  250,  249,  248,
+       247,  246,  245,  243,  242,  241,  239,  237,  236,  234,  232,  230,  228,  226,  224,
+       222,  219,  217,  215,  212,  210,  207,  204,  202,  199,  196,  193,  190,  187,  184,
+       181,  178,  175,  171,  168,  165,  161,  158,  154,  150,  147,  143,  139,  136,  132,
+       128,  124,  120,  116,  112,  108,  104,  100,   96,   92,   88,   83,   79,   75,   71,
+        66,   62,   58,   53,   49,   44,   40,   36,   31,   27,   22,   18,   13,    9,    4,
+         0,   -4,   -9,  -13,  -18,  -22,  -27,  -31,  -36,  -40,  -44,  -49,  -53,  -58,  -62,
+       -66,  -71,  -75,  -79,  -83,  -88,  -92,  -96, -100, -104, -108, -112, -116, -120, -124,
+      -128, -132, -136, -139, -143, -147, -150, -154, -158, -161, -165, -168, -171, -175, -178,
+      -181, -184, -187, -190, -193, -196, -199, -202, -204, -207, -210, -212, -215, -217, -219,
+      -222, -224, -226, -228, -230, -232, -234, -236, -237, -239, -241, -242, -243, -245, -246,
+      -247, -248, -249, -250, -251, -252, -253, -254, -254, -255, -255, -255, -256, -256, -256 };
+
+static int rHvY[] =
+    {    0,    4,    9,   13,   18,   22,   27,   31,   36,   40,   44,   49,   53,   58,   62,
+        66,   71,   75,   79,   83,   88,   92,   96,  100,  104,  108,  112,  116,  120,  124,
+       128,  132,  136,  139,  143,  147,  150,  154,  158,  161,  165,  168,  171,  175,  178,
+       181,  184,  187,  190,  193,  196,  199,  202,  204,  207,  210,  212,  215,  217,  219,
+       222,  224,  226,  228,  230,  232,  234,  236,  237,  239,  241,  242,  243,  245,  246,
+       247,  248,  249,  250,  251,  252,  253,  254,  254,  255,  255,  255,  256,  256,  256,
+       256,  256,  256,  256,  255,  255,  255,  254,  254,  253,  252,  251,  250,  249,  248,
+       247,  246,  245,  243,  242,  241,  239,  237,  236,  234,  232,  230,  228,  226,  224,
+       222,  219,  217,  215,  212,  210,  207,  204,  202,  199,  196,  193,  190,  187,  184,
+       181,  178,  175,  171,  168,  165,  161,  158,  154,  150,  147,  143,  139,  136,  132,
+       128,  124,  120,  116,  112,  108,  104,  100,   96,   92,   88,   83,   79,   75,   71,
+        66,   62,   58,   53,   49,   44,   40,   36,   31,   27,   22,   18,   13,    9,    4 };
+
+/*@ -charint @*/
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtx.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtx.c
+ * \brief Main libdmtx source file
+ */
+
+#ifndef CALLBACK_POINT_PLOT
+#define CALLBACK_POINT_PLOT(a,b,c,d)
+#endif
+
+#ifndef CALLBACK_POINT_XFRM
+#define CALLBACK_POINT_XFRM(a,b,c,d)
+#endif
+
+#ifndef CALLBACK_MODULE
+#define CALLBACK_MODULE(a,b,c,d,e)
+#endif
+
+#ifndef CALLBACK_MATRIX
+#define CALLBACK_MATRIX(a)
+#endif
+
+#ifndef CALLBACK_FINAL
+#define CALLBACK_FINAL(a,b)
+#endif
+
+extern char *
+dmtxVersion(void)
+{
+   return DmtxVersion;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxencodebase256.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2011 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxencodebase256.c
+ * \brief Base 256 encoding rules
+ */
+
+/**
+ * \brief  Unrandomize 255 state
+ * \param  value
+ * \param  idx
+ * \return Unrandomized value
+ */
+static unsigned char
+UnRandomize255State(unsigned char value, int idx)
+{
+   int pseudoRandom;
+   int tmp;
+
+   pseudoRandom = ((149 * idx) % 255) + 1;
+   tmp = value - pseudoRandom;
+   if(tmp < 0)
+      tmp += 256;
+
+   assert(tmp >= 0 && tmp < 256);
+
+   return (unsigned char)tmp;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxdecode.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ * Copyright 2009 Mackenzie Straight. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxdecode.c
+ * \brief Decode regions
+ */
+
+/**
+ * \brief  Initialize decode struct with default values
+ * \param  img
+ * \return Initialized DmtxDecode struct
+ */
+extern DmtxDecode *
+dmtxDecodeCreate(DmtxImage *img, int scale)
+{
+   DmtxDecode *dec;
+   int width, height;
+
+   dec = (DmtxDecode *)calloc(1, sizeof(DmtxDecode));
+   if(dec == NULL)
+      return NULL;
+
+   width = dmtxImageGetProp(img, DmtxPropWidth) / scale;
+   height = dmtxImageGetProp(img, DmtxPropHeight) / scale;
+
+   dec->edgeMin = DmtxUndefined;
+   dec->edgeMax = DmtxUndefined;
+   dec->scanGap = 1;
+   dec->squareDevn = cos(50 * (M_PI/180));
+   dec->sizeIdxExpected = DmtxSymbolShapeAuto;
+   dec->edgeThresh = 10;
+
+   dec->xMin = 0;
+   dec->xMax = width - 1;
+   dec->yMin = 0;
+   dec->yMax = height - 1;
+   dec->scale = scale;
+
+   dec->cache = (unsigned char *)calloc(width * height, sizeof(unsigned char));
+   if(dec->cache == NULL) {
+      free(dec);
+      return NULL;
+   }
+
+   dec->image = img;
+   dec->grid = InitScanGrid(dec);
+
+   return dec;
+}
+
+/**
+ * \brief  Deinitialize decode struct
+ * \param  dec
+ * \return void
+ */
+extern DmtxPassFail
+dmtxDecodeDestroy(DmtxDecode **dec)
+{
+   if(dec == NULL || *dec == NULL)
+      return DmtxFail;
+
+   if((*dec)->cache != NULL)
+      free((*dec)->cache);
+
+   free(*dec);
+
+   *dec = NULL;
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Set decoding behavior property
+ * \param  dec
+ * \param  prop
+ * \param  value
+ * \return DmtxPass | DmtxFail
+ */
+extern DmtxPassFail
+dmtxDecodeSetProp(DmtxDecode *dec, int prop, int value)
+{
+   switch(prop) {
+      case DmtxPropEdgeMin:
+         dec->edgeMin = value;
+         break;
+      case DmtxPropEdgeMax:
+         dec->edgeMax = value;
+         break;
+      case DmtxPropScanGap:
+         dec->scanGap = value; /* XXX Should this be scaled? */
+         break;
+      case DmtxPropSquareDevn:
+         dec->squareDevn = cos(value * (M_PI/180.0));
+         break;
+      case DmtxPropSymbolSize:
+         dec->sizeIdxExpected = value;
+         break;
+      case DmtxPropEdgeThresh:
+         dec->edgeThresh = value;
+         break;
+      /* Min and Max values arrive unscaled */
+      case DmtxPropXmin:
+         dec->xMin = value / dec->scale;
+         break;
+      case DmtxPropXmax:
+         dec->xMax = value / dec->scale;
+         break;
+      case DmtxPropYmin:
+         dec->yMin = value / dec->scale;
+         break;
+      case DmtxPropYmax:
+         dec->yMax = value / dec->scale;
+         break;
+      default:
+         break;
+   }
+
+   if(dec->squareDevn <= 0.0 || dec->squareDevn >= 1.0)
+      return DmtxFail;
+
+   if(dec->scanGap < 1)
+      return DmtxFail;
+
+   if(dec->edgeThresh < 1 || dec->edgeThresh > 100)
+      return DmtxFail;
+
+   /* Reinitialize scangrid in case any inputs changed */
+   dec->grid = InitScanGrid(dec);
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Get decoding behavior property
+ * \param  dec
+ * \param  prop
+ * \return value
+ */
+extern int
+dmtxDecodeGetProp(DmtxDecode *dec, int prop)
+{
+   switch(prop) {
+      case DmtxPropEdgeMin:
+         return dec->edgeMin;
+      case DmtxPropEdgeMax:
+         return dec->edgeMax;
+      case DmtxPropScanGap:
+         return dec->scanGap;
+      case DmtxPropSquareDevn:
+         return (int)(acos(dec->squareDevn) * 180.0/M_PI);
+      case DmtxPropSymbolSize:
+         return dec->sizeIdxExpected;
+      case DmtxPropEdgeThresh:
+         return dec->edgeThresh;
+      case DmtxPropXmin:
+         return dec->xMin;
+      case DmtxPropXmax:
+         return dec->xMax;
+      case DmtxPropYmin:
+         return dec->yMin;
+      case DmtxPropYmax:
+         return dec->yMax;
+      case DmtxPropScale:
+         return dec->scale;
+      case DmtxPropWidth:
+         return dmtxImageGetProp(dec->image, DmtxPropWidth) / dec->scale;
+      case DmtxPropHeight:
+         return dmtxImageGetProp(dec->image, DmtxPropHeight) / dec->scale;
+      default:
+         break;
+   }
+
+   return DmtxUndefined;
+}
+
+/**
+ * \brief  Returns xxx
+ * \param  img
+ * \param  Scaled x coordinate
+ * \param  Scaled y coordinate
+ * \return Scaled pixel offset
+ */
+extern unsigned char *
+dmtxDecodeGetCache(DmtxDecode *dec, int x, int y)
+{
+//   int width, height;
+
+   assert(dec != NULL);
+
+/* if(dec.cacheComplete == DmtxFalse)
+      CacheImage(); */
+
+// Scale is always 1, so we can do it quicker
+//   width = dmtxDecodeGetProp(dec, DmtxPropWidth);
+//   height = dmtxDecodeGetProp(dec, DmtxPropHeight);
+
+   if(x < 0 || x >= dec->image->width || y < 0 || y >= dec->image->height)
+      return NULL;
+
+   return &(dec->cache[y * dec->image->width + x]);
+}
+
+/**
+ *
+ *
+ */
+extern DmtxPassFail
+dmtxDecodeGetPixelValue(DmtxDecode *dec, int x, int y, int channel, int *value)
+{
+   int xUnscaled, yUnscaled;
+   DmtxPassFail err;
+
+   xUnscaled = x * dec->scale;
+   yUnscaled = y * dec->scale;
+
+/* Remove spherical lens distortion */
+/* int width, height;
+   float radiusPow2, radiusPow4;
+   float factor;
+   DmtxVector2 pointShifted;
+   DmtxVector2 correctedPoint;
+
+   width = dmtxImageGetProp(img, DmtxPropWidth);
+   height = dmtxImageGetProp(img, DmtxPropHeight);
+
+   pointShifted.X = point.X - width/2.0;
+   pointShifted.Y = point.Y - height/2.0;
+
+   radiusPow2 = pointShifted.X * pointShifted.X + pointShifted.Y * pointShifted.Y;
+   radiusPow4 = radiusPow2 * radiusPow2;
+
+   factor = 1 + (k1 * radiusPow2) + (k2 * radiusPow4);
+
+   correctedPoint.X = pointShifted.X * factor + width/2.0;
+   correctedPoint.Y = pointShifted.Y * factor + height/2.0;
+
+   return correctedPoint; */
+
+   err = dmtxImageGetPixelValue(dec->image, xUnscaled, yUnscaled, channel, value);
+
+   return err;
+}
+
+/**
+ * \brief  Fill the region covered by the quadrilateral given by (p0,p1,p2,p3) in the cache.
+ */
+static void
+CacheFillQuad(DmtxDecode *dec, DmtxPixelLoc p0, DmtxPixelLoc p1, DmtxPixelLoc p2, DmtxPixelLoc p3)
+{
+   DmtxBresLine lines[4];
+   DmtxPixelLoc pEmpty = { 0, 0 };
+   unsigned char *cache;
+   int *scanlineMin, *scanlineMax;
+   int minY, maxY, sizeY, posY, posX;
+   int i, idx;
+
+   lines[0] = BresLineInit(p0, p1, pEmpty);
+   lines[1] = BresLineInit(p1, p2, pEmpty);
+   lines[2] = BresLineInit(p2, p3, pEmpty);
+   lines[3] = BresLineInit(p3, p0, pEmpty);
+
+   minY = dec->yMax;
+   maxY = 0;
+
+   minY = min(minY, p0.Y); maxY = max(maxY, p0.Y);
+   minY = min(minY, p1.Y); maxY = max(maxY, p1.Y);
+   minY = min(minY, p2.Y); maxY = max(maxY, p2.Y);
+   minY = min(minY, p3.Y); maxY = max(maxY, p3.Y);
+
+   sizeY = maxY - minY + 1;
+
+   scanlineMin = (int *)malloc(sizeY * sizeof(int));
+   scanlineMax = (int *)calloc(sizeY, sizeof(int));
+
+   assert(scanlineMin); /* XXX handle this better */
+   assert(scanlineMax); /* XXX handle this better */
+
+   for(i = 0; i < sizeY; i++)
+      scanlineMin[i] = dec->xMax;
+
+   for(i = 0; i < 4; i++) {
+      while(lines[i].loc.X != lines[i].loc1.X || lines[i].loc.Y != lines[i].loc1.Y) {
+         idx = lines[i].loc.Y - minY;
+         scanlineMin[idx] = min(scanlineMin[idx], lines[i].loc.X);
+         scanlineMax[idx] = max(scanlineMax[idx], lines[i].loc.X);
+         BresLineStep(lines + i, 1, 0);
+      }
+   }
+
+   for(posY = minY; posY < maxY && posY < dec->yMax; posY++) {
+      idx = posY - minY;
+      for(posX = scanlineMin[idx]; posX < scanlineMax[idx] && posX < dec->xMax; posX++) {
+         cache = dmtxDecodeGetCache(dec, posX, posY);
+         if(cache != NULL)
+            *cache |= 0x80;
+      }
+   }
+
+   free(scanlineMin);
+   free(scanlineMax);
+}
+
+/**
+ * \brief  Convert fitted Data Matrix region into a decoded message
+ * \param  dec
+ * \param  reg
+ * \param  fix
+ * \return Decoded message
+ */
+extern DmtxMessage *
+dmtxDecodeMatrixRegion(DmtxDecode *dec, DmtxRegion *reg, int fix)
+{
+   DmtxMessage *msg;
+   DmtxVector2 topLeft, topRight, bottomLeft, bottomRight;
+   DmtxPixelLoc pxTopLeft, pxTopRight, pxBottomLeft, pxBottomRight;
+
+   msg = dmtxMessageCreate(reg->sizeIdx, DmtxFormatMatrix);
+   if(msg == NULL)
+      return NULL;
+
+   if(PopulateArrayFromMatrix(dec, reg, msg) != DmtxPass) {
+      dmtxMessageDestroy(&msg);
+      return NULL;
+   }
+
+   /* maybe place remaining logic into new dmtxDecodePopulatedArray()
+      function so other people can pass in their own arrays */
+
+   ModulePlacementEcc200(msg->array, msg->code,
+         reg->sizeIdx, DmtxModuleOnRed | DmtxModuleOnGreen | DmtxModuleOnBlue);
+
+   if(RsDecode(msg->code, reg->sizeIdx, fix) == DmtxFail)
+   {
+      dmtxMessageDestroy(&msg);
+      return NULL;
+   }
+
+   topLeft.X = bottomLeft.X = topLeft.Y = topRight.Y = -0.1;
+   topRight.X = bottomRight.X = bottomLeft.Y = bottomRight.Y = 1.1;
+
+   dmtxMatrix3VMultiplyBy(&topLeft, reg->fit2raw);
+   dmtxMatrix3VMultiplyBy(&topRight, reg->fit2raw);
+   dmtxMatrix3VMultiplyBy(&bottomLeft, reg->fit2raw);
+   dmtxMatrix3VMultiplyBy(&bottomRight, reg->fit2raw);
+
+   pxTopLeft.X = (int)(0.5 + topLeft.X);
+   pxTopLeft.Y = (int)(0.5 + topLeft.Y);
+   pxBottomLeft.X = (int)(0.5 + bottomLeft.X);
+   pxBottomLeft.Y = (int)(0.5 + bottomLeft.Y);
+   pxTopRight.X = (int)(0.5 + topRight.X);
+   pxTopRight.Y = (int)(0.5 + topRight.Y);
+   pxBottomRight.X = (int)(0.5 + bottomRight.X);
+   pxBottomRight.Y = (int)(0.5 + bottomRight.Y);
+
+   CacheFillQuad(dec, pxTopLeft, pxTopRight, pxBottomRight, pxBottomLeft);
+
+   DecodeDataStream(msg, reg->sizeIdx, NULL);
+
+   return msg;
+}
+
+/**
+ * \brief  Convert fitted Data Mosaic region into a decoded message
+ * \param  dec
+ * \param  reg
+ * \param  fix
+ * \return Decoded message
+ */
+extern DmtxMessage *
+dmtxDecodeMosaicRegion(DmtxDecode *dec, DmtxRegion *reg, int fix)
+{
+   int offset;
+   int colorPlane;
+   DmtxMessage *oMsg, *rMsg, *gMsg, *bMsg;
+
+   colorPlane = reg->flowBegin.plane;
+
+   /**
+    * Consider performing a color cube fit here to identify exact RGB of
+    * all 6 "cube-like" corners based on pixels located within region. Then
+    * force each sample pixel to the "cube-like" corner based o which one
+    * is nearest "sqrt(dr^2+dg^2+db^2)" (except sqrt is unnecessary).
+    * colorPlane = reg->flowBegin.plane;
+    *
+    * To find RGB values of primary colors, perform something like a
+    * histogram except instead of going from black to color N, go from
+    * (127,127,127) to color. Use color bins along with distance to
+    * identify value. An additional method will be required to get actual
+    * RGB instead of just a plane in 3D. */
+
+   reg->flowBegin.plane = 0; /* kind of a hack */
+   rMsg = dmtxDecodeMatrixRegion(dec, reg, fix);
+
+   reg->flowBegin.plane = 1; /* kind of a hack */
+   gMsg = dmtxDecodeMatrixRegion(dec, reg, fix);
+
+   reg->flowBegin.plane = 2; /* kind of a hack */
+   bMsg = dmtxDecodeMatrixRegion(dec, reg, fix);
+
+   reg->flowBegin.plane = colorPlane;
+
+   oMsg = dmtxMessageCreate(reg->sizeIdx, DmtxFormatMosaic);
+
+   if(oMsg == NULL || rMsg == NULL || gMsg == NULL || bMsg == NULL) {
+      dmtxMessageDestroy(&oMsg);
+      dmtxMessageDestroy(&rMsg);
+      dmtxMessageDestroy(&gMsg);
+      dmtxMessageDestroy(&bMsg);
+      return NULL;
+   }
+
+   offset = 0;
+   memcpy(oMsg->output + offset, rMsg->output, rMsg->outputIdx);
+   offset += rMsg->outputIdx;
+   memcpy(oMsg->output + offset, gMsg->output, gMsg->outputIdx);
+   offset += gMsg->outputIdx;
+   memcpy(oMsg->output + offset, bMsg->output, bMsg->outputIdx);
+   offset += bMsg->outputIdx;
+
+   oMsg->outputIdx = offset;
+
+   dmtxMessageDestroy(&rMsg);
+   dmtxMessageDestroy(&gMsg);
+   dmtxMessageDestroy(&bMsg);
+
+   return oMsg;
+}
+
+/**
+ *
+ *
+ */
+extern unsigned char *
+dmtxDecodeCreateDiagnostic(DmtxDecode *dec, int *totalBytes, int *headerBytes, int style)
+{
+   int i, row, col;
+   int width, height;
+   int widthDigits, heightDigits;
+   int count, channelCount;
+   int rgb[3];
+   float shade;
+   unsigned char *pnm, *output, *cache;
+
+   width = dmtxDecodeGetProp(dec, DmtxPropWidth);
+   height = dmtxDecodeGetProp(dec, DmtxPropHeight);
+   channelCount = dmtxImageGetProp(dec->image, DmtxPropChannelCount);
+
+   style = 1; /* this doesn't mean anything yet */
+
+   /* Count width digits */
+   for(widthDigits = 0, i = width; i > 0; i /= 10)
+      widthDigits++;
+
+   /* Count height digits */
+   for(heightDigits = 0, i = height; i > 0; i /= 10)
+      heightDigits++;
+
+   *headerBytes = widthDigits + heightDigits + 9;
+   *totalBytes = *headerBytes + width * height * 3;
+
+   pnm = (unsigned char *)malloc(*totalBytes);
+   if(pnm == NULL)
+      return NULL;
+
+#ifdef _VISUALC_
+   count = sprintf_s((char *)pnm, *headerBytes + 1, "P6\n%d %d\n255\n", width, height);
+#else
+   count = snprintf((char *)pnm, *headerBytes + 1, "P6\n%d %d\n255\n", width, height);
+#endif
+
+   if(count != *headerBytes) {
+      free(pnm);
+      return NULL;
+   }
+
+   output = pnm + (*headerBytes);
+   for(row = height - 1; row >= 0; row--) {
+      for(col = 0; col < width; col++) {
+         cache = dmtxDecodeGetCache(dec, col, row);
+         if(cache == NULL) {
+            rgb[0] = 0;
+            rgb[1] = 0;
+            rgb[2] = 128;
+         }
+         else if(*cache & 0x40) {
+            rgb[0] = 255;
+            rgb[1] = 0;
+            rgb[2] = 0;
+         }
+         else {
+            shade = (*cache & 0x80) ? 0.0 : 0.7;
+            for(i = 0; i < 3; i++) {
+               if(i < channelCount)
+                  dmtxDecodeGetPixelValue(dec, col, row, i, &rgb[i]);
+               else
+                  dmtxDecodeGetPixelValue(dec, col, row, 0, &rgb[i]);
+
+               rgb[i] += (int)(shade * (float)(255 - rgb[i]) + 0.5);
+               if(rgb[i] > 255)
+                  rgb[i] = 255;
+            }
+         }
+         *(output++) = (unsigned char)rgb[0];
+         *(output++) = (unsigned char)rgb[1];
+         *(output++) = (unsigned char)rgb[2];
+      }
+   }
+   assert(output == pnm + *totalBytes);
+
+   return pnm;
+}
+
+/**
+ * \brief  Increment counters used to determine module values
+ * \param  img
+ * \param  reg
+ * \param  tally
+ * \param  xOrigin
+ * \param  yOrigin
+ * \param  mapWidth
+ * \param  mapHeight
+ * \param  dir
+ * \return void
+ */
+static void
+TallyModuleJumps(DmtxDecode *dec, DmtxRegion *reg, int tally[][24], int xOrigin, int yOrigin, int mapWidth, int mapHeight, DmtxDirection dir)
+{
+   int extent, weight;
+   int travelStep;
+   int symbolRow, symbolCol;
+   int mapRow, mapCol;
+   int lineStart, lineStop;
+   int travelStart, travelStop;
+   int *line, *travel;
+   int jumpThreshold;
+   int darkOnLight;
+   int color;
+   int statusPrev, statusModule;
+   int tPrev, tModule;
+
+   assert(dir == DmtxDirUp || dir == DmtxDirLeft || dir == DmtxDirDown || dir == DmtxDirRight);
+
+   travelStep = (dir == DmtxDirUp || dir == DmtxDirRight) ? 1 : -1;
+
+   /* Abstract row and column progress using pointers to allow grid
+      traversal in all 4 directions using same logic */
+
+   if((dir & DmtxDirHorizontal) != 0x00) {
+      line = &symbolRow;
+      travel = &symbolCol;
+      extent = mapWidth;
+      lineStart = yOrigin;
+      lineStop = yOrigin + mapHeight;
+      travelStart = (travelStep == 1) ? xOrigin - 1 : xOrigin + mapWidth;
+      travelStop = (travelStep == 1) ? xOrigin + mapWidth : xOrigin - 1;
+   }
+   else {
+      assert(dir & DmtxDirVertical);
+      line = &symbolCol;
+      travel = &symbolRow;
+      extent = mapHeight;
+      lineStart = xOrigin;
+      lineStop = xOrigin + mapWidth;
+      travelStart = (travelStep == 1) ? yOrigin - 1: yOrigin + mapHeight;
+      travelStop = (travelStep == 1) ? yOrigin + mapHeight : yOrigin - 1;
+   }
+
+
+   darkOnLight = (int)(reg->offColor > reg->onColor);
+   jumpThreshold = abs((int)(0.4 * (reg->offColor - reg->onColor) + 0.5));
+
+   assert(jumpThreshold >= 0);
+
+   for(*line = lineStart; *line < lineStop; (*line)++) {
+
+      /* Capture tModule for each leading border module as normal but
+         decide status based on predictable barcode border pattern */
+
+      *travel = travelStart;
+      color = ReadModuleColor(dec, reg, symbolRow, symbolCol, reg->sizeIdx, reg->flowBegin.plane);
+      tModule = (darkOnLight) ? reg->offColor - color : color - reg->offColor;
+
+      statusModule = (travelStep == 1 || (*line & 0x01) == 0) ? DmtxModuleOnRGB : DmtxModuleOff;
+
+      weight = extent;
+
+      while((*travel += travelStep) != travelStop) {
+
+         tPrev = tModule;
+         statusPrev = statusModule;
+
+         /* For normal data-bearing modules capture color and decide
+            module status based on comparison to previous "known" module */
+
+         color = ReadModuleColor(dec, reg, symbolRow, symbolCol, reg->sizeIdx, reg->flowBegin.plane);
+         tModule = (darkOnLight) ? reg->offColor - color : color - reg->offColor;
+
+         if(statusPrev == DmtxModuleOnRGB) {
+            if(tModule < tPrev - jumpThreshold)
+               statusModule = DmtxModuleOff;
+            else
+               statusModule = DmtxModuleOnRGB;
+         }
+         else if(statusPrev == DmtxModuleOff) {
+            if(tModule > tPrev + jumpThreshold)
+               statusModule = DmtxModuleOnRGB;
+            else
+               statusModule = DmtxModuleOff;
+         }
+
+         mapRow = symbolRow - yOrigin;
+         mapCol = symbolCol - xOrigin;
+         assert(mapRow < 24 && mapCol < 24);
+
+         if(statusModule == DmtxModuleOnRGB)
+            tally[mapRow][mapCol] += (2 * weight);
+
+         weight--;
+      }
+
+      assert(weight == 0);
+   }
+}
+
+/**
+ * \brief  Populate array with codeword values based on module colors
+ * \param  msg
+ * \param  img
+ * \param  reg
+ * \return DmtxPass | DmtxFail
+ */
+static DmtxPassFail
+PopulateArrayFromMatrix(DmtxDecode *dec, DmtxRegion *reg, DmtxMessage *msg)
+{
+   int weightFactor;
+   int mapWidth, mapHeight;
+   int xRegionTotal, yRegionTotal;
+   int xRegionCount, yRegionCount;
+   int xOrigin, yOrigin;
+   int mapCol, mapRow;
+   int colTmp, rowTmp, idx;
+   int *tally_temp = malloc(sizeof(int) * 24 * 24); int (*tally)[24] = (int (*)[24]) tally_temp; // [24][24]; /* Large enough to map largest single region */
+
+/* memset(msg->array, 0x00, msg->arraySize); */
+
+   /* Capture number of regions present in barcode */
+   xRegionTotal = dmtxGetSymbolAttribute(DmtxSymAttribHorizDataRegions, reg->sizeIdx);
+   yRegionTotal = dmtxGetSymbolAttribute(DmtxSymAttribVertDataRegions, reg->sizeIdx);
+
+   /* Capture region dimensions (not including border modules) */
+   mapWidth = dmtxGetSymbolAttribute(DmtxSymAttribDataRegionCols, reg->sizeIdx);
+   mapHeight = dmtxGetSymbolAttribute(DmtxSymAttribDataRegionRows, reg->sizeIdx);
+
+   weightFactor = 2 * (mapHeight + mapWidth + 2);
+   assert(weightFactor > 0);
+
+   /* Tally module changes for each region in each direction */
+   for(yRegionCount = 0; yRegionCount < yRegionTotal; yRegionCount++) {
+
+      /* Y location of mapping region origin in symbol coordinates */
+      yOrigin = yRegionCount * (mapHeight + 2) + 1;
+
+      for(xRegionCount = 0; xRegionCount < xRegionTotal; xRegionCount++) {
+
+         /* X location of mapping region origin in symbol coordinates */
+         xOrigin = xRegionCount * (mapWidth + 2) + 1;
+
+         memset(tally, 0x00, 24 * 24 * sizeof(int));
+         TallyModuleJumps(dec, reg, tally, xOrigin, yOrigin, mapWidth, mapHeight, DmtxDirUp);
+         TallyModuleJumps(dec, reg, tally, xOrigin, yOrigin, mapWidth, mapHeight, DmtxDirLeft);
+         TallyModuleJumps(dec, reg, tally, xOrigin, yOrigin, mapWidth, mapHeight, DmtxDirDown);
+         TallyModuleJumps(dec, reg, tally, xOrigin, yOrigin, mapWidth, mapHeight, DmtxDirRight);
+
+         /* Decide module status based on final tallies */
+         for(mapRow = 0; mapRow < mapHeight; mapRow++) {
+            for(mapCol = 0; mapCol < mapWidth; mapCol++) {
+
+               rowTmp = (yRegionCount * mapHeight) + mapRow;
+               rowTmp = yRegionTotal * mapHeight - rowTmp - 1;
+               colTmp = (xRegionCount * mapWidth) + mapCol;
+               idx = (rowTmp * xRegionTotal * mapWidth) + colTmp;
+
+               if(tally[mapRow][mapCol]/(float)weightFactor >= 0.5)
+                  msg->array[idx] = DmtxModuleOnRGB;
+               else
+                  msg->array[idx] = DmtxModuleOff;
+
+               msg->array[idx] |= DmtxModuleAssigned;
+            }
+         }
+      }
+   }
+
+   free(tally_temp);
+
+   return DmtxPass;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxdecodescheme.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxdecodescheme.c
+ */
+
+/**
+ * \brief  Translate encoded data stream into final output
+ * \param  msg
+ * \param  sizeIdx
+ * \param  outputStart
+ * \return void
+ */
+static void
+DecodeDataStream(DmtxMessage *msg, int sizeIdx, unsigned char *outputStart)
+{
+   DmtxBoolean macro = DmtxFalse;
+   DmtxScheme encScheme;
+   unsigned char *ptr, *dataEnd;
+
+   msg->output = (outputStart == NULL) ? msg->output : outputStart;
+   msg->outputIdx = 0;
+
+   ptr = msg->code;
+   dataEnd = ptr + dmtxGetSymbolAttribute(DmtxSymAttribSymbolDataWords, sizeIdx);
+
+   /* Print macro header if first codeword triggers it */
+   if(*ptr == DmtxValue05Macro || *ptr == DmtxValue06Macro) {
+      PushOutputMacroHeader(msg, *ptr);
+      macro = DmtxTrue;
+   }
+
+   while(ptr < dataEnd) {
+
+      encScheme = GetEncodationScheme(*ptr);
+      if(encScheme != DmtxSchemeAscii)
+         ptr++;
+
+      switch(encScheme) {
+         case DmtxSchemeAscii:
+            ptr = DecodeSchemeAscii(msg, ptr, dataEnd);
+            break;
+         case DmtxSchemeC40:
+         case DmtxSchemeText:
+            ptr = DecodeSchemeC40Text(msg, ptr, dataEnd, encScheme);
+            break;
+         case DmtxSchemeX12:
+            ptr = DecodeSchemeX12(msg, ptr, dataEnd);
+            break;
+         case DmtxSchemeEdifact:
+            ptr = DecodeSchemeEdifact(msg, ptr, dataEnd);
+            break;
+         case DmtxSchemeBase256:
+            ptr = DecodeSchemeBase256(msg, ptr, dataEnd);
+            break;
+         default:
+            /* error */
+            break;
+      }
+   }
+
+   /* Print macro trailer if required */
+   if(macro == DmtxTrue)
+      PushOutputMacroTrailer(msg);
+}
+
+/**
+ * \brief  Determine next encodation scheme
+ * \param  encScheme
+ * \param  cw
+ * \return Pointer to next undecoded codeword
+ */
+static int
+GetEncodationScheme(unsigned char cw)
+{
+   DmtxScheme encScheme;
+
+   switch(cw) {
+      case DmtxValueC40Latch:
+         encScheme = DmtxSchemeC40;
+         break;
+      case DmtxValueTextLatch:
+         encScheme = DmtxSchemeText;
+         break;
+      case DmtxValueX12Latch:
+         encScheme = DmtxSchemeX12;
+         break;
+      case DmtxValueEdifactLatch:
+         encScheme = DmtxSchemeEdifact;
+         break;
+      case DmtxValueBase256Latch:
+         encScheme = DmtxSchemeBase256;
+         break;
+      default:
+         encScheme = DmtxSchemeAscii;
+         break;
+   }
+
+   return encScheme;
+}
+
+/**
+ *
+ *
+ */
+static void
+PushOutputWord(DmtxMessage *msg, int value)
+{
+   assert(value >= 0 && value < 256);
+
+   msg->output[msg->outputIdx++] = (unsigned char)value;
+}
+
+/**
+ *
+ *
+ */
+static void
+PushOutputC40TextWord(DmtxMessage *msg, C40TextState *state, int value)
+{
+   assert(value >= 0 && value < 256);
+
+   msg->output[msg->outputIdx] = (unsigned char)value;
+
+   if(state->upperShift == DmtxTrue) {
+      assert(value < 128);
+      msg->output[msg->outputIdx] += 128;
+   }
+
+   msg->outputIdx++;
+
+   state->shift = DmtxC40TextBasicSet;
+   state->upperShift = DmtxFalse;
+}
+
+/**
+ *
+ *
+ */
+static void
+PushOutputMacroHeader(DmtxMessage *msg, int macroType)
+{
+   PushOutputWord(msg, '[');
+   PushOutputWord(msg, ')');
+   PushOutputWord(msg, '>');
+   PushOutputWord(msg, 30); /* ASCII RS */
+   PushOutputWord(msg, '0');
+
+   assert(macroType == DmtxValue05Macro || macroType == DmtxValue06Macro);
+   if(macroType == DmtxValue05Macro)
+      PushOutputWord(msg, '5');
+   else
+      PushOutputWord(msg, '6');
+
+   PushOutputWord(msg, 29); /* ASCII GS */
+}
+
+/**
+ *
+ *
+ */
+static void
+PushOutputMacroTrailer(DmtxMessage *msg)
+{
+   PushOutputWord(msg, 30); /* ASCII RS */
+   PushOutputWord(msg, 4);  /* ASCII EOT */
+}
+
+/**
+ * \brief  Decode stream assuming standard ASCII encodation
+ * \param  msg
+ * \param  ptr
+ * \param  dataEnd
+ * \return Pointer to next undecoded codeword
+ */
+static unsigned char *
+DecodeSchemeAscii(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd)
+{
+   int upperShift;
+   int codeword, digits;
+
+   upperShift = DmtxFalse;
+
+   while(ptr < dataEnd) {
+
+      codeword = (int)(*ptr);
+
+      if(GetEncodationScheme(*ptr) != DmtxSchemeAscii)
+         return ptr;
+      else
+         ptr++;
+
+      if(upperShift == DmtxTrue) {
+         PushOutputWord(msg, codeword + 127);
+         upperShift = DmtxFalse;
+      }
+      else if(codeword == DmtxValueAsciiUpperShift) {
+         upperShift = DmtxTrue;
+      }
+      else if(codeword == DmtxValueAsciiPad) {
+         assert(dataEnd >= ptr);
+         assert(dataEnd - ptr <= INT_MAX);
+         msg->padCount = (int)(dataEnd - ptr);
+         return dataEnd;
+      }
+      else if(codeword <= 128) {
+         PushOutputWord(msg, codeword - 1);
+      }
+      else if(codeword <= 229) {
+         digits = codeword - 130;
+         PushOutputWord(msg, digits/10 + '0');
+         PushOutputWord(msg, digits - (digits/10)*10 + '0');
+      }
+   }
+
+   return ptr;
+}
+
+/**
+ * \brief  Decode stream assuming C40 or Text encodation
+ * \param  msg
+ * \param  ptr
+ * \param  dataEnd
+ * \param  encScheme
+ * \return Pointer to next undecoded codeword
+ */
+static unsigned char *
+DecodeSchemeC40Text(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd, DmtxScheme encScheme)
+{
+   int i;
+   int packed;
+   int c40Values[3];
+   C40TextState state;
+
+   state.shift = DmtxC40TextBasicSet;
+   state.upperShift = DmtxFalse;
+
+   assert(encScheme == DmtxSchemeC40 || encScheme == DmtxSchemeText);
+
+   /* Unlatch is implied if only one codeword remains */
+   if(dataEnd - ptr < 2)
+      return ptr;
+
+   while(ptr < dataEnd) {
+
+      /* FIXME Also check that ptr+1 is safe to access */
+      packed = (*ptr << 8) | *(ptr+1);
+      c40Values[0] = ((packed - 1)/1600);
+      c40Values[1] = ((packed - 1)/40) % 40;
+      c40Values[2] =  (packed - 1) % 40;
+      ptr += 2;
+
+      for(i = 0; i < 3; i++) {
+         if(state.shift == DmtxC40TextBasicSet) { /* Basic set */
+            if(c40Values[i] <= 2) {
+               state.shift = c40Values[i] + 1;
+            }
+            else if(c40Values[i] == 3) {
+               PushOutputC40TextWord(msg, &state, ' ');
+            }
+            else if(c40Values[i] <= 13) {
+               PushOutputC40TextWord(msg, &state, c40Values[i] - 13 + '9'); /* 0-9 */
+            }
+            else if(c40Values[i] <= 39) {
+               if(encScheme == DmtxSchemeC40) {
+                  PushOutputC40TextWord(msg, &state, c40Values[i] - 39 + 'Z'); /* A-Z */
+               }
+               else if(encScheme == DmtxSchemeText) {
+                  PushOutputC40TextWord(msg, &state, c40Values[i] - 39 + 'z'); /* a-z */
+               }
+            }
+         }
+         else if(state.shift == DmtxC40TextShift1) { /* Shift 1 set */
+            PushOutputC40TextWord(msg, &state, c40Values[i]); /* ASCII 0 - 31 */
+         }
+         else if(state.shift == DmtxC40TextShift2) { /* Shift 2 set */
+            if(c40Values[i] <= 14) {
+               PushOutputC40TextWord(msg, &state, c40Values[i] + 33); /* ASCII 33 - 47 */
+            }
+            else if(c40Values[i] <= 21) {
+               PushOutputC40TextWord(msg, &state, c40Values[i] + 43); /* ASCII 58 - 64 */
+            }
+            else if(c40Values[i] <= 26) {
+               PushOutputC40TextWord(msg, &state, c40Values[i] + 69); /* ASCII 91 - 95 */
+            }
+            else if(c40Values[i] == 27) {
+               PushOutputC40TextWord(msg, &state, 0x1d); /* FNC1 -- XXX depends on position? */
+            }
+            else if(c40Values[i] == 30) {
+               state.upperShift = DmtxTrue;
+               state.shift = DmtxC40TextBasicSet;
+            }
+         }
+         else if(state.shift == DmtxC40TextShift3) { /* Shift 3 set */
+            if(encScheme == DmtxSchemeC40) {
+               PushOutputC40TextWord(msg, &state, c40Values[i] + 96);
+            }
+            else if(encScheme == DmtxSchemeText) {
+               if(c40Values[i] == 0)
+                  PushOutputC40TextWord(msg, &state, c40Values[i] + 96);
+               else if(c40Values[i] <= 26)
+                  PushOutputC40TextWord(msg, &state, c40Values[i] - 26 + 'Z'); /* A-Z */
+               else
+                  PushOutputC40TextWord(msg, &state, c40Values[i] - 31 + 127); /* { | } ~ DEL */
+            }
+         }
+      }
+
+      /* Unlatch if codeword 254 follows 2 codewords in C40/Text encodation */
+      if(*ptr == DmtxValueCTXUnlatch)
+         return ptr + 1;
+
+      /* Unlatch is implied if only one codeword remains */
+      if(dataEnd - ptr < 2)
+         return ptr;
+   }
+
+   return ptr;
+}
+
+/**
+ * \brief  Decode stream assuming X12 encodation
+ * \param  msg
+ * \param  ptr
+ * \param  dataEnd
+ * \return Pointer to next undecoded codeword
+ */
+static unsigned char *
+DecodeSchemeX12(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd)
+{
+   int i;
+   int packed;
+   int x12Values[3];
+
+   /* Unlatch is implied if only one codeword remains */
+   if(dataEnd - ptr < 2)
+      return ptr;
+
+   while(ptr < dataEnd) {
+
+      /* FIXME Also check that ptr+1 is safe to access */
+      packed = (*ptr << 8) | *(ptr+1);
+      x12Values[0] = ((packed - 1)/1600);
+      x12Values[1] = ((packed - 1)/40) % 40;
+      x12Values[2] =  (packed - 1) % 40;
+      ptr += 2;
+
+      for(i = 0; i < 3; i++) {
+         if(x12Values[i] == 0)
+            PushOutputWord(msg, 13);
+         else if(x12Values[i] == 1)
+            PushOutputWord(msg, 42);
+         else if(x12Values[i] == 2)
+            PushOutputWord(msg, 62);
+         else if(x12Values[i] == 3)
+            PushOutputWord(msg, 32);
+         else if(x12Values[i] <= 13)
+            PushOutputWord(msg, x12Values[i] + 44);
+         else if(x12Values[i] <= 90)
+            PushOutputWord(msg, x12Values[i] + 51);
+      }
+
+      /* Unlatch if codeword 254 follows 2 codewords in C40/Text encodation */
+      if(*ptr == DmtxValueCTXUnlatch)
+         return ptr + 1;
+
+      /* Unlatch is implied if only one codeword remains */
+      if(dataEnd - ptr < 2)
+         return ptr;
+   }
+
+   return ptr;
+}
+
+/**
+ * \brief  Decode stream assuming EDIFACT encodation
+ * \param  msg
+ * \param  ptr
+ * \param  dataEnd
+ * \return Pointer to next undecoded codeword
+ */
+static unsigned char *
+DecodeSchemeEdifact(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd)
+{
+   int i;
+   unsigned char unpacked[4];
+
+   /* Unlatch is implied if fewer than 3 codewords remain */
+   if(dataEnd - ptr < 3)
+      return ptr;
+
+   while(ptr < dataEnd) {
+
+      /* FIXME Also check that ptr+2 is safe to access -- shouldn't be a
+         problem because I'm guessing you can guarantee there will always
+         be at least 3 error codewords */
+      unpacked[0] = (*ptr & 0xfc) >> 2;
+      unpacked[1] = (*ptr & 0x03) << 4 | (*(ptr+1) & 0xf0) >> 4;
+      unpacked[2] = (*(ptr+1) & 0x0f) << 2 | (*(ptr+2) & 0xc0) >> 6;
+      unpacked[3] = *(ptr+2) & 0x3f;
+
+      for(i = 0; i < 4; i++) {
+
+         /* Advance input ptr (4th value comes from already-read 3rd byte) */
+         if(i < 3)
+            ptr++;
+
+         /* Test for unlatch condition */
+         if(unpacked[i] == DmtxValueEdifactUnlatch) {
+            assert(msg->output[msg->outputIdx] == 0); /* XXX dirty why? */
+            return ptr;
+         }
+
+         PushOutputWord(msg, unpacked[i] ^ (((unpacked[i] & 0x20) ^ 0x20) << 1));
+      }
+
+      /* Unlatch is implied if fewer than 3 codewords remain */
+      if(dataEnd - ptr < 3)
+         return ptr;
+   }
+
+   return ptr;
+
+/* XXX the following version should be safer, but requires testing before replacing the old version
+   int bits = 0;
+   int bitCount = 0;
+   int value;
+
+   while(ptr < dataEnd) {
+
+      if(bitCount < 6) {
+         bits = (bits << 8) | *(ptr++);
+         bitCount += 8;
+      }
+
+      value = bits >> (bitCount - 6);
+      bits -= (value << (bitCount - 6));
+      bitCount -= 6;
+
+      if(value == 0x1f) {
+         assert(bits == 0); // should be padded with zero-value bits
+         return ptr;
+      }
+      PushOutputWord(msg, value ^ (((value & 0x20) ^ 0x20) << 1));
+
+      // Unlatch implied if just completed triplet and 1 or 2 words are left
+      if(bitCount == 0 && dataEnd - ptr - 1 > 0 && dataEnd - ptr - 1 < 3)
+         return ptr;
+   }
+
+   assert(bits == 0); // should be padded with zero-value bits
+   assert(bitCount == 0); // should be padded with zero-value bits
+   return ptr;
+*/
+}
+
+/**
+ * \brief  Decode stream assuming Base 256 encodation
+ * \param  msg
+ * \param  ptr
+ * \param  dataEnd
+ * \return Pointer to next undecoded codeword
+ */
+static unsigned char *
+DecodeSchemeBase256(DmtxMessage *msg, unsigned char *ptr, unsigned char *dataEnd)
+{
+   int d0, d1;
+   int idx;
+   unsigned char *ptrEnd;
+
+   /* Find positional index used for unrandomizing */
+   assert(ptr + 1 >= msg->code);
+   assert(ptr + 1 - msg->code <= INT_MAX);
+   idx = (int)(ptr + 1 - msg->code);
+
+   d0 = UnRandomize255State(*(ptr++), idx++);
+   if(d0 == 0) {
+      ptrEnd = dataEnd;
+   }
+   else if(d0 <= 249) {
+      ptrEnd = ptr + d0;
+   }
+   else {
+      d1 = UnRandomize255State(*(ptr++), idx++);
+      ptrEnd = ptr + (d0 - 249) * 250 + d1;
+   }
+
+   if(ptrEnd > dataEnd)
+      fb_alloc_fail(); // exit(40); /* XXX needs cleaner error handling */
+
+   while(ptr < ptrEnd)
+      PushOutputWord(msg, UnRandomize255State(*(ptr++), idx++));
+
+   return ptr;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxmessage.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxmessage.c
+ * \brief Data message handling
+ */
+
+/**
+ * \brief  Allocate memory for message
+ * \param  sizeIdx
+ * \param  symbolFormat DmtxFormatMatrix | DmtxFormatMosaic
+ * \return Address of allocated memory
+ */
+extern DmtxMessage *
+dmtxMessageCreate(int sizeIdx, int symbolFormat)
+{
+   DmtxMessage *message;
+   int mappingRows, mappingCols;
+
+   assert(symbolFormat == DmtxFormatMatrix || symbolFormat == DmtxFormatMosaic);
+
+   mappingRows = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixRows, sizeIdx);
+   mappingCols = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixCols, sizeIdx);
+
+   message = (DmtxMessage *)calloc(1, sizeof(DmtxMessage));
+   if(message == NULL)
+      return NULL;
+
+   message->arraySize = sizeof(unsigned char) * mappingRows * mappingCols;
+
+   message->array = (unsigned char *)calloc(1, message->arraySize);
+   if(message->array == NULL) {
+      perror("Calloc failed");
+      dmtxMessageDestroy(&message);
+      return NULL;
+   }
+
+   message->codeSize = sizeof(unsigned char) *
+         dmtxGetSymbolAttribute(DmtxSymAttribSymbolDataWords, sizeIdx) +
+         dmtxGetSymbolAttribute(DmtxSymAttribSymbolErrorWords, sizeIdx);
+
+   if(symbolFormat == DmtxFormatMosaic)
+      message->codeSize *= 3;
+
+   message->code = (unsigned char *)calloc(message->codeSize, sizeof(unsigned char));
+   if(message->code == NULL) {
+      perror("Calloc failed");
+      dmtxMessageDestroy(&message);
+      return NULL;
+   }
+
+   /* XXX not sure if this is the right place or even the right approach.
+      Trying to allocate memory for the decoded data stream and will
+      initially assume that decoded data will not be larger than 2x encoded data */
+   message->outputSize = sizeof(unsigned char) * message->codeSize * 10;
+   message->output = (unsigned char *)calloc(message->outputSize, sizeof(unsigned char));
+   if(message->output == NULL) {
+      perror("Calloc failed");
+      dmtxMessageDestroy(&message);
+      return NULL;
+   }
+
+   return message;
+}
+
+/**
+ * \brief  Free memory previously allocated for message
+ * \param  message
+ * \return void
+ */
+extern DmtxPassFail
+dmtxMessageDestroy(DmtxMessage **msg)
+{
+   if(msg == NULL || *msg == NULL)
+      return DmtxFail;
+
+   if((*msg)->array != NULL)
+      free((*msg)->array);
+
+   if((*msg)->code != NULL)
+      free((*msg)->code);
+
+   if((*msg)->output != NULL)
+      free((*msg)->output);
+
+   free(*msg);
+
+   *msg = NULL;
+
+   return DmtxPass;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxregion.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxregion.c
+ * \brief Detect barcode regions
+ */
+
+#define DMTX_HOUGH_RES 180
+
+/**
+ * \brief  Create copy of existing region struct
+ * \param  None
+ * \return Initialized DmtxRegion struct
+ */
+extern DmtxRegion *
+dmtxRegionCreate(DmtxRegion *reg)
+{
+   DmtxRegion *regCopy;
+
+   regCopy = (DmtxRegion *)malloc(sizeof(DmtxRegion));
+   if(regCopy == NULL)
+      return NULL;
+
+   memcpy(regCopy, reg, sizeof(DmtxRegion));
+
+   return regCopy;
+}
+
+/**
+ * \brief  Destroy region struct
+ * \param  reg
+ * \return void
+ */
+extern DmtxPassFail
+dmtxRegionDestroy(DmtxRegion **reg)
+{
+   if(reg == NULL || *reg == NULL)
+      return DmtxFail;
+
+   free(*reg);
+
+   *reg = NULL;
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Find next barcode region
+ * \param  dec Pointer to DmtxDecode information struct
+ * \return Detected region (if found)
+ */
+extern DmtxRegion *
+dmtxRegionFindNext(DmtxDecode *dec, int max_iterations, int *current_iterations)
+{
+   int locStatus;
+   DmtxPixelLoc loc;
+   DmtxRegion   *reg;
+
+   /* Continue until we find a region or run out of chances */
+   for(; *current_iterations < max_iterations; *current_iterations += 1) {
+      locStatus = PopGridLocation(&(dec->grid), &loc);
+      if(locStatus == DmtxRangeEnd)
+         break;
+
+      /* Scan location for presence of valid barcode region */
+      reg = dmtxRegionScanPixel(dec, loc.X, loc.Y);
+      if(reg != NULL)
+         return reg;
+   }
+
+   return NULL;
+}
+
+/**
+ * \brief  Scan individual pixel for presence of barcode edge
+ * \param  dec Pointer to DmtxDecode information struct
+ * \param  loc Pixel location
+ * \return Detected region (if any)
+ */
+extern DmtxRegion *
+dmtxRegionScanPixel(DmtxDecode *dec, int x, int y)
+{
+   unsigned char *cache;
+   DmtxRegion reg;
+   DmtxPointFlow flowBegin;
+   DmtxPixelLoc loc;
+
+   loc.X = x;
+   loc.Y = y;
+
+   cache = dmtxDecodeGetCache(dec, loc.X, loc.Y);
+   if(cache == NULL)
+      return NULL;
+
+   if((int)(*cache & 0x80) != 0x00)
+      return NULL;
+
+   /* Test for presence of any reasonable edge at this location */
+   flowBegin = MatrixRegionSeekEdge(dec, loc);
+   if(flowBegin.mag < (int)(dec->edgeThresh * 7.65 + 0.5))
+      return NULL;
+
+   memset(&reg, 0x00, sizeof(DmtxRegion));
+
+   /* Determine barcode orientation */
+   if(MatrixRegionOrientation(dec, &reg, flowBegin) == DmtxFail)
+      return NULL;
+   if(dmtxRegionUpdateXfrms(dec, &reg) == DmtxFail)
+      return NULL;
+
+   /* Define top edge */
+   if(MatrixRegionAlignCalibEdge(dec, &reg, DmtxEdgeTop) == DmtxFail)
+      return NULL;
+   if(dmtxRegionUpdateXfrms(dec, &reg) == DmtxFail)
+      return NULL;
+
+   /* Define right edge */
+   if(MatrixRegionAlignCalibEdge(dec, &reg, DmtxEdgeRight) == DmtxFail)
+      return NULL;
+   if(dmtxRegionUpdateXfrms(dec, &reg) == DmtxFail)
+      return NULL;
+
+   CALLBACK_MATRIX(&reg);
+
+   /* Calculate the best fitting symbol size */
+   if(MatrixRegionFindSize(dec, &reg) == DmtxFail)
+      return NULL;
+
+   /* Found a valid matrix region */
+   return dmtxRegionCreate(&reg);
+}
+
+/**
+ *
+ *
+ */
+static DmtxPointFlow
+MatrixRegionSeekEdge(DmtxDecode *dec, DmtxPixelLoc loc)
+{
+   int i;
+   int strongIdx;
+   int channelCount;
+   DmtxPointFlow flow, flowPlane[3];
+   DmtxPointFlow flowPos, flowPosBack;
+   DmtxPointFlow flowNeg, flowNegBack;
+
+   channelCount = dec->image->channelCount;
+
+   /* Find whether red, green, or blue shows the strongest edge */
+   strongIdx = 0;
+   for(i = 0; i < channelCount; i++) {
+      flowPlane[i] = GetPointFlow(dec, i, loc, dmtxNeighborNone);
+      if(i > 0 && flowPlane[i].mag > flowPlane[strongIdx].mag)
+         strongIdx = i;
+   }
+
+   if(flowPlane[strongIdx].mag < 10)
+      return dmtxBlankEdge;
+
+   flow = flowPlane[strongIdx];
+
+   flowPos = FindStrongestNeighbor(dec, flow, +1);
+   flowNeg = FindStrongestNeighbor(dec, flow, -1);
+   if(flowPos.mag != 0 && flowNeg.mag != 0) {
+      flowPosBack = FindStrongestNeighbor(dec, flowPos, -1);
+      flowNegBack = FindStrongestNeighbor(dec, flowNeg, +1);
+      if(flowPos.arrive == (flowPosBack.arrive+4)%8 &&
+            flowNeg.arrive == (flowNegBack.arrive+4)%8) {
+         flow.arrive = dmtxNeighborNone;
+         CALLBACK_POINT_PLOT(flow.loc, 1, 1, 1);
+         return flow;
+      }
+   }
+
+   return dmtxBlankEdge;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPassFail
+MatrixRegionOrientation(DmtxDecode *dec, DmtxRegion *reg, DmtxPointFlow begin)
+{
+   int cross;
+   int minArea;
+   int scale;
+   int symbolShape;
+   int maxDiagonal;
+   DmtxPassFail err;
+   DmtxBestLine line1x, line2x;
+   DmtxBestLine line2n, line2p;
+   DmtxFollow fTmp;
+
+   if(dec->sizeIdxExpected == DmtxSymbolSquareAuto ||
+         (dec->sizeIdxExpected >= DmtxSymbol10x10 &&
+         dec->sizeIdxExpected <= DmtxSymbol144x144))
+      symbolShape = DmtxSymbolSquareAuto;
+   else if(dec->sizeIdxExpected == DmtxSymbolRectAuto ||
+         (dec->sizeIdxExpected >= DmtxSymbol8x18 &&
+         dec->sizeIdxExpected <= DmtxSymbol16x48))
+      symbolShape = DmtxSymbolRectAuto;
+   else
+      symbolShape = DmtxSymbolShapeAuto;
+
+   if(dec->edgeMax != DmtxUndefined) {
+      if(symbolShape == DmtxSymbolRectAuto)
+         maxDiagonal = (int)(1.23 * dec->edgeMax + 0.5); /* sqrt(5/4) + 10% */
+      else
+         maxDiagonal = (int)(1.56 * dec->edgeMax + 0.5); /* sqrt(2) + 10% */
+   }
+   else {
+      maxDiagonal = DmtxUndefined;
+   }
+
+   /* Follow to end in both directions */
+   err = TrailBlazeContinuous(dec, reg, begin, maxDiagonal);
+   if(err == DmtxFail || reg->stepsTotal < 40) {
+      TrailClear(dec, reg, 0x40);
+      return DmtxFail;
+   }
+
+   /* Filter out region candidates that are smaller than expected */
+   if(dec->edgeMin != DmtxUndefined) {
+      scale = dmtxDecodeGetProp(dec, DmtxPropScale);
+
+      if(symbolShape == DmtxSymbolSquareAuto)
+         minArea = (dec->edgeMin * dec->edgeMin)/(scale * scale);
+      else
+         minArea = (2 * dec->edgeMin * dec->edgeMin)/(scale * scale);
+
+      if((reg->boundMax.X - reg->boundMin.X) * (reg->boundMax.Y - reg->boundMin.Y) < minArea) {
+         TrailClear(dec, reg, 0x40);
+         return DmtxFail;
+      }
+   }
+
+   line1x = FindBestSolidLine(dec, reg, 0, 0, +1, DmtxUndefined);
+   if(line1x.mag < 5) {
+      TrailClear(dec, reg, 0x40);
+      return DmtxFail;
+   }
+
+   err = FindTravelLimits(dec, reg, &line1x);
+   if(line1x.distSq < 100 || line1x.devn * 10 >= sqrt((float)line1x.distSq)) {
+      TrailClear(dec, reg, 0x40);
+      return DmtxFail;
+   }
+   assert(line1x.stepPos >= line1x.stepNeg);
+
+   fTmp = FollowSeek(dec, reg, line1x.stepPos + 5);
+   line2p = FindBestSolidLine(dec, reg, fTmp.step, line1x.stepNeg, +1, line1x.angle);
+
+   fTmp = FollowSeek(dec, reg, line1x.stepNeg - 5);
+   line2n = FindBestSolidLine(dec, reg, fTmp.step, line1x.stepPos, -1, line1x.angle);
+   if(max(line2p.mag, line2n.mag) < 5)
+      return DmtxFail;
+
+   if(line2p.mag > line2n.mag) {
+      line2x = line2p;
+      err = FindTravelLimits(dec, reg, &line2x);
+      if(line2x.distSq < 100 || line2x.devn * 10 >= sqrt((float)line2x.distSq))
+         return DmtxFail;
+
+      cross = ((line1x.locPos.X - line1x.locNeg.X) * (line2x.locPos.Y - line2x.locNeg.Y)) -
+            ((line1x.locPos.Y - line1x.locNeg.Y) * (line2x.locPos.X - line2x.locNeg.X));
+      if(cross > 0) {
+         /* Condition 2 */
+         reg->polarity = +1;
+         reg->locR = line2x.locPos;
+         reg->stepR = line2x.stepPos;
+         reg->locT = line1x.locNeg;
+         reg->stepT = line1x.stepNeg;
+         reg->leftLoc = line1x.locBeg;
+         reg->leftAngle = line1x.angle;
+         reg->bottomLoc = line2x.locBeg;
+         reg->bottomAngle = line2x.angle;
+         reg->leftLine = line1x;
+         reg->bottomLine = line2x;
+      }
+      else {
+         /* Condition 3 */
+         reg->polarity = -1;
+         reg->locR = line1x.locNeg;
+         reg->stepR = line1x.stepNeg;
+         reg->locT = line2x.locPos;
+         reg->stepT = line2x.stepPos;
+         reg->leftLoc = line2x.locBeg;
+         reg->leftAngle = line2x.angle;
+         reg->bottomLoc = line1x.locBeg;
+         reg->bottomAngle = line1x.angle;
+         reg->leftLine = line2x;
+         reg->bottomLine = line1x;
+      }
+   }
+   else {
+      line2x = line2n;
+      err = FindTravelLimits(dec, reg, &line2x);
+      if(line2x.distSq < 100 || line2x.devn / sqrt((float)line2x.distSq) >= 0.1)
+         return DmtxFail;
+
+      cross = ((line1x.locNeg.X - line1x.locPos.X) * (line2x.locNeg.Y - line2x.locPos.Y)) -
+            ((line1x.locNeg.Y - line1x.locPos.Y) * (line2x.locNeg.X - line2x.locPos.X));
+      if(cross > 0) {
+         /* Condition 1 */
+         reg->polarity = -1;
+         reg->locR = line2x.locNeg;
+         reg->stepR = line2x.stepNeg;
+         reg->locT = line1x.locPos;
+         reg->stepT = line1x.stepPos;
+         reg->leftLoc = line1x.locBeg;
+         reg->leftAngle = line1x.angle;
+         reg->bottomLoc = line2x.locBeg;
+         reg->bottomAngle = line2x.angle;
+         reg->leftLine = line1x;
+         reg->bottomLine = line2x;
+      }
+      else {
+         /* Condition 4 */
+         reg->polarity = +1;
+         reg->locR = line1x.locPos;
+         reg->stepR = line1x.stepPos;
+         reg->locT = line2x.locNeg;
+         reg->stepT = line2x.stepNeg;
+         reg->leftLoc = line2x.locBeg;
+         reg->leftAngle = line2x.angle;
+         reg->bottomLoc = line1x.locBeg;
+         reg->bottomAngle = line1x.angle;
+         reg->leftLine = line2x;
+         reg->bottomLine = line1x;
+      }
+   }
+/* CALLBACK_POINT_PLOT(reg->locR, 2, 1, 1);
+   CALLBACK_POINT_PLOT(reg->locT, 2, 1, 1); */
+
+   reg->leftKnown = reg->bottomKnown = 1;
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+static long
+DistanceSquared(DmtxPixelLoc a, DmtxPixelLoc b)
+{
+   long xDelta, yDelta;
+
+   xDelta = a.X - b.X;
+   yDelta = a.Y - b.Y;
+
+   return (xDelta * xDelta) + (yDelta * yDelta);
+}
+
+/**
+ *
+ *
+ */
+extern DmtxPassFail
+dmtxRegionUpdateCorners(DmtxDecode *dec, DmtxRegion *reg, DmtxVector2 p00,
+      DmtxVector2 p10, DmtxVector2 p11, DmtxVector2 p01)
+{
+   float xMax, yMax;
+   float tx, ty, phi, shx, scx, scy, skx, sky;
+   float dimOT, dimOR, dimTX, dimRX, ratio;
+   DmtxVector2 vOT, vOR, vTX, vRX, vTmp;
+   DmtxMatrix3 m, mtxy, mphi, mshx, mscx, mscy, mscxy, msky, mskx;
+
+   xMax = (float)(dmtxDecodeGetProp(dec, DmtxPropWidth) - 1);
+   yMax = (float)(dmtxDecodeGetProp(dec, DmtxPropHeight) - 1);
+
+   if(p00.X < 0.0 || p00.Y < 0.0 || p00.X > xMax || p00.Y > yMax ||
+         p01.X < 0.0 || p01.Y < 0.0 || p01.X > xMax || p01.Y > yMax ||
+         p10.X < 0.0 || p10.Y < 0.0 || p10.X > xMax || p10.Y > yMax)
+      return DmtxFail;
+
+   dimOT = dmtxVector2Mag(dmtxVector2Sub(&vOT, &p01, &p00)); /* XXX could use MagSquared() */
+   dimOR = dmtxVector2Mag(dmtxVector2Sub(&vOR, &p10, &p00));
+   dimTX = dmtxVector2Mag(dmtxVector2Sub(&vTX, &p11, &p01));
+   dimRX = dmtxVector2Mag(dmtxVector2Sub(&vRX, &p11, &p10));
+
+   /* Verify that sides are reasonably long */
+   if(dimOT <= 8.0 || dimOR <= 8.0 || dimTX <= 8.0 || dimRX <= 8.0)
+      return DmtxFail;
+
+   /* Verify that the 4 corners define a reasonably fat quadrilateral */
+   ratio = dimOT / dimRX;
+   if(ratio <= 0.5 || ratio >= 2.0)
+      return DmtxFail;
+
+   ratio = dimOR / dimTX;
+   if(ratio <= 0.5 || ratio >= 2.0)
+      return DmtxFail;
+
+   /* Verify this is not a bowtie shape */
+   if(dmtxVector2Cross(&vOR, &vRX) <= 0.0 ||
+         dmtxVector2Cross(&vOT, &vTX) >= 0.0)
+      return DmtxFail;
+
+   if(RightAngleTrueness(p00, p10, p11, M_PI_2) <= dec->squareDevn)
+      return DmtxFail;
+   if(RightAngleTrueness(p10, p11, p01, M_PI_2) <= dec->squareDevn)
+      return DmtxFail;
+
+   /* Calculate values needed for transformations */
+   tx = -1 * p00.X;
+   ty = -1 * p00.Y;
+   dmtxMatrix3Translate(mtxy, tx, ty);
+
+   phi = atan2(vOT.X, vOT.Y);
+   dmtxMatrix3Rotate(mphi, phi);
+   dmtxMatrix3Multiply(m, mtxy, mphi);
+
+   dmtxMatrix3VMultiply(&vTmp, &p10, m);
+   shx = -vTmp.Y / vTmp.X;
+   dmtxMatrix3Shear(mshx, 0.0, shx);
+   dmtxMatrix3MultiplyBy(m, mshx);
+
+   scx = 1.0/vTmp.X;
+   dmtxMatrix3Scale(mscx, scx, 1.0);
+   dmtxMatrix3MultiplyBy(m, mscx);
+
+   dmtxMatrix3VMultiply(&vTmp, &p11, m);
+   scy = 1.0/vTmp.Y;
+   dmtxMatrix3Scale(mscy, 1.0, scy);
+   dmtxMatrix3MultiplyBy(m, mscy);
+
+   dmtxMatrix3VMultiply(&vTmp, &p11, m);
+   skx = vTmp.X;
+   dmtxMatrix3LineSkewSide(mskx, 1.0, skx, 1.0);
+   dmtxMatrix3MultiplyBy(m, mskx);
+
+   dmtxMatrix3VMultiply(&vTmp, &p01, m);
+   sky = vTmp.Y;
+   dmtxMatrix3LineSkewTop(msky, sky, 1.0, 1.0);
+   dmtxMatrix3Multiply(reg->raw2fit, m, msky);
+
+   /* Create inverse matrix by reverse (avoid straight matrix inversion) */
+   dmtxMatrix3LineSkewTopInv(msky, sky, 1.0, 1.0);
+   dmtxMatrix3LineSkewSideInv(mskx, 1.0, skx, 1.0);
+   dmtxMatrix3Multiply(m, msky, mskx);
+
+   dmtxMatrix3Scale(mscxy, 1.0/scx, 1.0/scy);
+   dmtxMatrix3MultiplyBy(m, mscxy);
+
+   dmtxMatrix3Shear(mshx, 0.0, -shx);
+   dmtxMatrix3MultiplyBy(m, mshx);
+
+   dmtxMatrix3Rotate(mphi, -phi);
+   dmtxMatrix3MultiplyBy(m, mphi);
+
+   dmtxMatrix3Translate(mtxy, -tx, -ty);
+   dmtxMatrix3Multiply(reg->fit2raw, m, mtxy);
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+extern DmtxPassFail
+dmtxRegionUpdateXfrms(DmtxDecode *dec, DmtxRegion *reg)
+{
+   float radians;
+   DmtxRay2 rLeft, rBottom, rTop, rRight;
+   DmtxVector2 p00, p10, p11, p01;
+
+   assert(reg->leftKnown != 0 && reg->bottomKnown != 0);
+
+   /* Build ray representing left edge */
+   rLeft.p.X = (float)reg->leftLoc.X;
+   rLeft.p.Y = (float)reg->leftLoc.Y;
+   radians = reg->leftAngle * (M_PI/DMTX_HOUGH_RES);
+   rLeft.v.X = cos(radians);
+   rLeft.v.Y = sin(radians);
+   rLeft.tMin = 0.0;
+   rLeft.tMax = dmtxVector2Norm(&rLeft.v);
+
+   /* Build ray representing bottom edge */
+   rBottom.p.X = (float)reg->bottomLoc.X;
+   rBottom.p.Y = (float)reg->bottomLoc.Y;
+   radians = reg->bottomAngle * (M_PI/DMTX_HOUGH_RES);
+   rBottom.v.X = cos(radians);
+   rBottom.v.Y = sin(radians);
+   rBottom.tMin = 0.0;
+   rBottom.tMax = dmtxVector2Norm(&rBottom.v);
+
+   /* Build ray representing top edge */
+   if(reg->topKnown != 0) {
+      rTop.p.X = (float)reg->topLoc.X;
+      rTop.p.Y = (float)reg->topLoc.Y;
+      radians = reg->topAngle * (M_PI/DMTX_HOUGH_RES);
+      rTop.v.X = cos(radians);
+      rTop.v.Y = sin(radians);
+      rTop.tMin = 0.0;
+      rTop.tMax = dmtxVector2Norm(&rTop.v);
+   }
+   else {
+      rTop.p.X = (float)reg->locT.X;
+      rTop.p.Y = (float)reg->locT.Y;
+      radians = reg->bottomAngle * (M_PI/DMTX_HOUGH_RES);
+      rTop.v.X = cos(radians);
+      rTop.v.Y = sin(radians);
+      rTop.tMin = 0.0;
+      rTop.tMax = rBottom.tMax;
+   }
+
+   /* Build ray representing right edge */
+   if(reg->rightKnown != 0) {
+      rRight.p.X = (float)reg->rightLoc.X;
+      rRight.p.Y = (float)reg->rightLoc.Y;
+      radians = reg->rightAngle * (M_PI/DMTX_HOUGH_RES);
+      rRight.v.X = cos(radians);
+      rRight.v.Y = sin(radians);
+      rRight.tMin = 0.0;
+      rRight.tMax = dmtxVector2Norm(&rRight.v);
+   }
+   else {
+      rRight.p.X = (float)reg->locR.X;
+      rRight.p.Y = (float)reg->locR.Y;
+      radians = reg->leftAngle * (M_PI/DMTX_HOUGH_RES);
+      rRight.v.X = cos(radians);
+      rRight.v.Y = sin(radians);
+      rRight.tMin = 0.0;
+      rRight.tMax = rLeft.tMax;
+   }
+
+   /* Calculate 4 corners, real or imagined */
+   if(dmtxRay2Intersect(&p00, &rLeft, &rBottom) == DmtxFail)
+      return DmtxFail;
+
+   if(dmtxRay2Intersect(&p10, &rBottom, &rRight) == DmtxFail)
+      return DmtxFail;
+
+   if(dmtxRay2Intersect(&p11, &rRight, &rTop) == DmtxFail)
+      return DmtxFail;
+
+   if(dmtxRay2Intersect(&p01, &rTop, &rLeft) == DmtxFail)
+      return DmtxFail;
+
+   if(dmtxRegionUpdateCorners(dec, reg, p00, p10, p11, p01) != DmtxPass)
+      return DmtxFail;
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+static float
+RightAngleTrueness(DmtxVector2 c0, DmtxVector2 c1, DmtxVector2 c2, float angle)
+{
+   DmtxVector2 vA, vB;
+   DmtxMatrix3 m;
+
+   dmtxVector2Norm(dmtxVector2Sub(&vA, &c0, &c1));
+   dmtxVector2Norm(dmtxVector2Sub(&vB, &c2, &c1));
+
+   dmtxMatrix3Rotate(m, angle);
+   dmtxMatrix3VMultiplyBy(&vB, m);
+
+   return dmtxVector2Dot(&vA, &vB);
+}
+
+void Matrix3VMultFast(DmtxVector2 *vIn, DmtxMatrix3 m)
+{
+   float w;
+   float x, y;
+
+   w = vIn->X*m[0][2] + vIn->Y*m[1][2] + m[2][2];
+   if(fabsf(w) <= DmtxAlmostZero) {
+      vIn->X = FLT_MAX;
+      vIn->Y = FLT_MAX;
+      return;
+   }
+
+   x = (vIn->X*m[0][0] + vIn->Y*m[1][0] + m[2][0])/w;
+   y = (vIn->X*m[0][1] + vIn->Y*m[1][1] + m[2][1])/w;
+   vIn->X = x; vIn->Y = y;
+   return;
+}
+
+/**
+ * \brief  Read color of Data Matrix module location
+ * \param  dec
+ * \param  reg
+ * \param  symbolRow
+ * \param  symbolCol
+ * \param  sizeIdx
+ * \return Averaged module color
+ */
+static int
+ReadModuleColor(DmtxDecode *dec, DmtxRegion *reg, int symbolRow, int symbolCol,
+      int sizeIdx, int colorPlane)
+{
+   int err;
+   int i;
+   int symbolRows, symbolCols;
+   int color, colorTmp;
+   float sampleX[] = { 0.5, 0.4, 0.5, 0.6, 0.5 };
+   float sampleY[] = { 0.5, 0.5, 0.4, 0.5, 0.6 };
+   DmtxVector2 p;
+
+   symbolRows = dmtxGetSymbolAttribute(DmtxSymAttribSymbolRows, sizeIdx);
+   symbolCols = dmtxGetSymbolAttribute(DmtxSymAttribSymbolCols, sizeIdx);
+
+   color = colorTmp = 0;
+    if (dec->image->channelCount == 1) // quicker for grayscale
+    {
+        int x, y;
+        for(i = 0; i < 5; i++) {
+
+           p.X = (1.0/symbolCols) * (symbolCol + sampleX[i]);
+           p.Y = (1.0/symbolRows) * (symbolRow + sampleY[i]);
+
+//           dmtxMatrix3VMultiplyBy(&p, reg->fit2raw);
+            Matrix3VMultFast(&p, reg->fit2raw);
+            x = (int)(p.X + 0.5f);
+            y = (int)(p.Y + 0.5f);
+            if (x >= 0 && y >= 0 && x < dec->image->width && y < dec->image->height)
+                colorTmp = dec->image->pxl[(dec->image->height - 1 - y) * dec->image->rowSizeBytes + x];
+ //          err = dmtxDecodeGetPixelValue(dec, (int)(p.X + 0.5), (int)(p.Y + 0.5),
+ //                colorPlane, &colorTmp);
+           color += colorTmp;
+        }
+    }
+    else
+    {
+       for(i = 0; i < 5; i++) {
+
+          p.X = (1.0/symbolCols) * (symbolCol + sampleX[i]);
+          p.Y = (1.0/symbolRows) * (symbolRow + sampleY[i]);
+
+          dmtxMatrix3VMultiplyBy(&p, reg->fit2raw);
+
+          err = dmtxDecodeGetPixelValue(dec, (int)(p.X + 0.5), (int)(p.Y + 0.5),
+                colorPlane, &colorTmp);
+          color += colorTmp;
+       }
+    }
+
+   return color/5;
+}
+
+/**
+ * \brief  Determine barcode size, expressed in modules
+ * \param  image
+ * \param  reg
+ * \return DmtxPass | DmtxFail
+ */
+static DmtxPassFail
+MatrixRegionFindSize(DmtxDecode *dec, DmtxRegion *reg)
+{
+   int row, col;
+   int sizeIdxBeg, sizeIdxEnd;
+   int sizeIdx, bestSizeIdx;
+   int symbolRows, symbolCols;
+   int jumpCount, errors;
+   int color;
+   int colorOnAvg, bestColorOnAvg;
+   int colorOffAvg, bestColorOffAvg;
+   int contrast, bestContrast;
+   DmtxImage *img;
+
+   img = dec->image;
+   bestSizeIdx = DmtxUndefined;
+   bestContrast = 0;
+   bestColorOnAvg = bestColorOffAvg = 0;
+
+   if(dec->sizeIdxExpected == DmtxSymbolShapeAuto) {
+      sizeIdxBeg = 0;
+      sizeIdxEnd = DmtxSymbolSquareCount + DmtxSymbolRectCount;
+   }
+   else if(dec->sizeIdxExpected == DmtxSymbolSquareAuto) {
+      sizeIdxBeg = 0;
+      sizeIdxEnd = DmtxSymbolSquareCount;
+   }
+   else if(dec->sizeIdxExpected == DmtxSymbolRectAuto) {
+      sizeIdxBeg = DmtxSymbolSquareCount;
+      sizeIdxEnd = DmtxSymbolSquareCount + DmtxSymbolRectCount;
+   }
+   else {
+      sizeIdxBeg = dec->sizeIdxExpected;
+      sizeIdxEnd = dec->sizeIdxExpected + 1;
+   }
+
+   /* Test each barcode size to find best contrast in calibration modules */
+   for(sizeIdx = sizeIdxBeg; sizeIdx < sizeIdxEnd; sizeIdx++) {
+
+      symbolRows = dmtxGetSymbolAttribute(DmtxSymAttribSymbolRows, sizeIdx);
+      symbolCols = dmtxGetSymbolAttribute(DmtxSymAttribSymbolCols, sizeIdx);
+      colorOnAvg = colorOffAvg = 0;
+
+      /* Sum module colors along horizontal calibration bar */
+      row = symbolRows - 1;
+      for(col = 0; col < symbolCols; col++) {
+         color = ReadModuleColor(dec, reg, row, col, sizeIdx, reg->flowBegin.plane);
+         if((col & 0x01) != 0x00)
+            colorOffAvg += color;
+         else
+            colorOnAvg += color;
+      }
+
+      /* Sum module colors along vertical calibration bar */
+      col = symbolCols - 1;
+      for(row = 0; row < symbolRows; row++) {
+         color = ReadModuleColor(dec, reg, row, col, sizeIdx, reg->flowBegin.plane);
+         if((row & 0x01) != 0x00)
+            colorOffAvg += color;
+         else
+            colorOnAvg += color;
+      }
+
+      colorOnAvg = (colorOnAvg * 2)/(symbolRows + symbolCols);
+      colorOffAvg = (colorOffAvg * 2)/(symbolRows + symbolCols);
+
+      contrast = abs(colorOnAvg - colorOffAvg);
+      if(contrast < 20)
+         continue;
+
+      if(contrast > bestContrast) {
+         bestContrast = contrast;
+         bestSizeIdx = sizeIdx;
+         bestColorOnAvg = colorOnAvg;
+         bestColorOffAvg = colorOffAvg;
+      }
+   }
+
+   /* If no sizes produced acceptable contrast then call it quits */
+   if(bestSizeIdx == DmtxUndefined || bestContrast < 20)
+      return DmtxFail;
+
+   reg->sizeIdx = bestSizeIdx;
+   reg->onColor = bestColorOnAvg;
+   reg->offColor = bestColorOffAvg;
+
+   reg->symbolRows = dmtxGetSymbolAttribute(DmtxSymAttribSymbolRows, reg->sizeIdx);
+   reg->symbolCols = dmtxGetSymbolAttribute(DmtxSymAttribSymbolCols, reg->sizeIdx);
+   reg->mappingRows = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixRows, reg->sizeIdx);
+   reg->mappingCols = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixCols, reg->sizeIdx);
+
+   /* Tally jumps on horizontal calibration bar to verify sizeIdx */
+   jumpCount = CountJumpTally(dec, reg, 0, reg->symbolRows - 1, DmtxDirRight);
+   errors = abs(1 + jumpCount - reg->symbolCols);
+   if(jumpCount < 0 || errors > 2)
+      return DmtxFail;
+
+   /* Tally jumps on vertical calibration bar to verify sizeIdx */
+   jumpCount = CountJumpTally(dec, reg, reg->symbolCols - 1, 0, DmtxDirUp);
+   errors = abs(1 + jumpCount - reg->symbolRows);
+   if(jumpCount < 0 || errors > 2)
+      return DmtxFail;
+
+   /* Tally jumps on horizontal finder bar to verify sizeIdx */
+   errors = CountJumpTally(dec, reg, 0, 0, DmtxDirRight);
+   if(jumpCount < 0 || errors > 2)
+      return DmtxFail;
+
+   /* Tally jumps on vertical finder bar to verify sizeIdx */
+   errors = CountJumpTally(dec, reg, 0, 0, DmtxDirUp);
+   if(errors < 0 || errors > 2)
+      return DmtxFail;
+
+   /* Tally jumps on surrounding whitespace, else fail */
+   errors = CountJumpTally(dec, reg, 0, -1, DmtxDirRight);
+   if(errors < 0 || errors > 2)
+      return DmtxFail;
+
+   errors = CountJumpTally(dec, reg, -1, 0, DmtxDirUp);
+   if(errors < 0 || errors > 2)
+      return DmtxFail;
+
+   errors = CountJumpTally(dec, reg, 0, reg->symbolRows, DmtxDirRight);
+   if(errors < 0 || errors > 2)
+      return DmtxFail;
+
+   errors = CountJumpTally(dec, reg, reg->symbolCols, 0, DmtxDirUp);
+   if(errors < 0 || errors > 2)
+      return DmtxFail;
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Count the number of number of transitions between light and dark
+ * \param  img
+ * \param  reg
+ * \param  xStart
+ * \param  yStart
+ * \param  dir
+ * \return Jump count
+ */
+static int
+CountJumpTally(DmtxDecode *dec, DmtxRegion *reg, int xStart, int yStart, DmtxDirection dir)
+{
+   int x, xInc = 0;
+   int y, yInc = 0;
+   int state = DmtxModuleOn;
+   int jumpCount = 0;
+   int jumpThreshold;
+   int tModule, tPrev;
+   int darkOnLight;
+   int color;
+
+   assert(xStart == 0 || yStart == 0);
+   assert(dir == DmtxDirRight || dir == DmtxDirUp);
+
+   if(dir == DmtxDirRight)
+      xInc = 1;
+   else
+      yInc = 1;
+
+   if(xStart == -1 || xStart == reg->symbolCols ||
+         yStart == -1 || yStart == reg->symbolRows)
+      state = DmtxModuleOff;
+
+   darkOnLight = (int)(reg->offColor > reg->onColor);
+   jumpThreshold = abs((int)(0.4 * (reg->onColor - reg->offColor) + 0.5));
+   color = ReadModuleColor(dec, reg, yStart, xStart, reg->sizeIdx, reg->flowBegin.plane);
+   tModule = (darkOnLight) ? reg->offColor - color : color - reg->offColor;
+
+   for(x = xStart + xInc, y = yStart + yInc;
+         (dir == DmtxDirRight && x < reg->symbolCols) ||
+         (dir == DmtxDirUp && y < reg->symbolRows);
+         x += xInc, y += yInc) {
+
+      tPrev = tModule;
+      color = ReadModuleColor(dec, reg, y, x, reg->sizeIdx, reg->flowBegin.plane);
+      tModule = (darkOnLight) ? reg->offColor - color : color - reg->offColor;
+
+      if(state == DmtxModuleOff) {
+         if(tModule > tPrev + jumpThreshold) {
+            jumpCount++;
+            state = DmtxModuleOn;
+         }
+      }
+      else {
+         if(tModule < tPrev - jumpThreshold) {
+            jumpCount++;
+            state = DmtxModuleOff;
+         }
+      }
+   }
+
+   return jumpCount;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPointFlow
+GetPointFlow(DmtxDecode *dec, int colorPlane, DmtxPixelLoc loc, int arrive)
+{
+   static const int coefficient[] = {  0,  1,  2,  1,  0, -1, -2, -1 };
+   int err;
+   int patternIdx, coefficientIdx;
+   int compass, compassMax;
+   int mag[4] = { 0 };
+   int xAdjust, yAdjust;
+   int color, colorPattern[8];
+   DmtxPointFlow flow;
+
+    // check boundary conditions outside of the loop
+    if (loc.X <= 0 || loc.Y <= 0 || loc.X >= dec->image->width-1 || loc.Y >= dec->image->height-1)
+        return dmtxBlankEdge; // one or more pixels are past an edge
+    if (dec->image->channelCount == 1) // grayscale, do it quicker
+    {
+        uint8_t *s;
+        s = &dec->image->pxl[(dec->image->height - 1 - loc.Y) * dec->image->rowSizeBytes + loc.X];
+        for (patternIdx=0; patternIdx < 8; patternIdx++)
+        {
+            colorPattern[patternIdx] = s[dmtxPatternX[patternIdx] - dmtxPatternY[patternIdx] * dec->image->rowSizeBytes];
+        }
+    }
+    else
+    {
+       for(patternIdx = 0; patternIdx < 8; patternIdx++) {
+          xAdjust = loc.X + dmtxPatternX[patternIdx];
+          yAdjust = loc.Y + dmtxPatternY[patternIdx];
+          err = dmtxDecodeGetPixelValue(dec, xAdjust, yAdjust, colorPlane,
+                &colorPattern[patternIdx]);
+          if(err == DmtxFail)
+             return dmtxBlankEdge;
+       }
+    }
+
+   /* Calculate this pixel's flow intensity for each direction (-45, 0, 45, 90) */
+   compassMax = 0;
+   for(compass = 0; compass < 4; compass++) {
+
+      /* Add portion from each position in the convolution matrix pattern */
+      for(patternIdx = 0; patternIdx < 8; patternIdx++) {
+
+         color = colorPattern[patternIdx];
+         coefficientIdx = (patternIdx - compass + 8) % 8;
+//         if(coefficient[coefficientIdx] == 0)
+//            continue;
+
+         mag[compass] += color * coefficient[coefficientIdx];
+      }
+
+      /* Identify strongest compass flow */
+      if(compass != 0 && abs(mag[compass]) > abs(mag[compassMax]))
+         compassMax = compass;
+   }
+
+   /* Convert signed compass direction into unique flow directions (0-7) */
+   flow.plane = colorPlane;
+   flow.arrive = arrive;
+   flow.depart = (mag[compassMax] > 0) ? compassMax + 4 : compassMax;
+   flow.mag = abs(mag[compassMax]);
+   flow.loc = loc;
+
+   return flow;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPointFlow
+FindStrongestNeighbor(DmtxDecode *dec, DmtxPointFlow center, int sign)
+{
+   int i;
+   int strongIdx;
+   int attempt, attemptDiff;
+   int occupied;
+   unsigned char *cache;
+   DmtxPixelLoc loc;
+   DmtxPointFlow flow[8];
+
+   attempt = (sign < 0) ? center.depart : (center.depart+4)%8;
+
+   occupied = 0;
+   strongIdx = DmtxUndefined;
+   for(i = 0; i < 8; i++) {
+
+      loc.X = center.loc.X + dmtxPatternX[i];
+      loc.Y = center.loc.Y + dmtxPatternY[i];
+
+      cache = dmtxDecodeGetCache(dec, loc.X, loc.Y);
+      if(cache == NULL)
+         continue;
+
+      if((int)(*cache & 0x80) != 0x00) {
+         if(++occupied > 2)
+            return dmtxBlankEdge;
+         else
+            continue;
+      }
+
+      attemptDiff = abs(attempt - i);
+      if(attemptDiff > 4)
+         attemptDiff = 8 - attemptDiff;
+      if(attemptDiff > 1)
+         continue;
+
+      flow[i] = GetPointFlow(dec, center.plane, loc, i);
+
+      if(strongIdx == DmtxUndefined || flow[i].mag > flow[strongIdx].mag ||
+            (flow[i].mag == flow[strongIdx].mag && ((i & 0x01) != 0))) {
+         strongIdx = i;
+      }
+   }
+
+   return (strongIdx == DmtxUndefined) ? dmtxBlankEdge : flow[strongIdx];
+}
+
+/**
+ *
+ *
+ */
+static DmtxFollow
+FollowSeek(DmtxDecode *dec, DmtxRegion *reg, int seek)
+{
+   int i;
+   int sign;
+   DmtxFollow follow;
+
+   follow.loc = reg->flowBegin.loc;
+   follow.step = 0;
+   follow.ptr = dmtxDecodeGetCache(dec, follow.loc.X, follow.loc.Y);
+   assert(follow.ptr != NULL);
+   follow.neighbor = *follow.ptr;
+
+   sign = (seek > 0) ? +1 : -1;
+   for(i = 0; i != seek; i += sign) {
+      follow = FollowStep(dec, reg, follow, sign);
+      assert(follow.ptr != NULL);
+      assert(abs(follow.step) <= reg->stepsTotal);
+   }
+
+   return follow;
+}
+
+/**
+ *
+ *
+ */
+static DmtxFollow
+FollowSeekLoc(DmtxDecode *dec, DmtxPixelLoc loc)
+{
+   DmtxFollow follow;
+
+   follow.loc = loc;
+   follow.step = 0;
+   follow.ptr = dmtxDecodeGetCache(dec, follow.loc.X, follow.loc.Y);
+   assert(follow.ptr != NULL);
+   follow.neighbor = *follow.ptr;
+
+   return follow;
+}
+
+
+/**
+ *
+ *
+ */
+static DmtxFollow
+FollowStep(DmtxDecode *dec, DmtxRegion *reg, DmtxFollow followBeg, int sign)
+{
+   int patternIdx;
+   int stepMod;
+   int factor;
+   DmtxFollow follow;
+
+   assert(abs(sign) == 1);
+   assert((int)(followBeg.neighbor & 0x40) != 0x00);
+
+   factor = reg->stepsTotal + 1;
+   if(sign > 0)
+      stepMod = (factor + (followBeg.step % factor)) % factor;
+   else
+      stepMod = (factor - (followBeg.step % factor)) % factor;
+
+   /* End of positive trail -- magic jump */
+   if(sign > 0 && stepMod == reg->jumpToNeg) {
+      follow.loc = reg->finalNeg;
+   }
+   /* End of negative trail -- magic jump */
+   else if(sign < 0 && stepMod == reg->jumpToPos) {
+      follow.loc = reg->finalPos;
+   }
+   /* Trail in progress -- normal jump */
+   else {
+      patternIdx = (sign < 0) ? followBeg.neighbor & 0x07 : ((followBeg.neighbor & 0x38) >> 3);
+      follow.loc.X = followBeg.loc.X + dmtxPatternX[patternIdx];
+      follow.loc.Y = followBeg.loc.Y + dmtxPatternY[patternIdx];
+   }
+
+   follow.step = followBeg.step + sign;
+   follow.ptr = dmtxDecodeGetCache(dec, follow.loc.X, follow.loc.Y);
+   assert(follow.ptr != NULL);
+   follow.neighbor = *follow.ptr;
+
+   return follow;
+}
+
+/**
+ *
+ *
+ */
+static DmtxFollow
+FollowStep2(DmtxDecode *dec, DmtxFollow followBeg, int sign)
+{
+   int patternIdx;
+   DmtxFollow follow;
+
+   assert(abs(sign) == 1);
+   assert((int)(followBeg.neighbor & 0x40) != 0x00);
+
+   patternIdx = (sign < 0) ? followBeg.neighbor & 0x07 : ((followBeg.neighbor & 0x38) >> 3);
+   follow.loc.X = followBeg.loc.X + dmtxPatternX[patternIdx];
+   follow.loc.Y = followBeg.loc.Y + dmtxPatternY[patternIdx];
+
+   follow.step = followBeg.step + sign;
+   follow.ptr = dmtxDecodeGetCache(dec, follow.loc.X, follow.loc.Y);
+   assert(follow.ptr != NULL);
+   follow.neighbor = *follow.ptr;
+
+   return follow;
+}
+
+/**
+ * vaiiiooo
+ * --------
+ * 0x80 v = visited bit
+ * 0x40 a = assigned bit
+ * 0x38 u = 3 bits points upstream 0-7
+ * 0x07 d = 3 bits points downstream 0-7
+ */
+static DmtxPassFail
+TrailBlazeContinuous(DmtxDecode *dec, DmtxRegion *reg, DmtxPointFlow flowBegin, int maxDiagonal)
+{
+   int posAssigns, negAssigns, clears;
+   int sign;
+   int steps;
+   unsigned char *cache, *cacheNext, *cacheBeg;
+   DmtxPointFlow flow, flowNext;
+   DmtxPixelLoc boundMin, boundMax;
+
+   boundMin = boundMax = flowBegin.loc;
+   cacheBeg = dmtxDecodeGetCache(dec, flowBegin.loc.X, flowBegin.loc.Y);
+   if(cacheBeg == NULL)
+      return DmtxFail;
+   *cacheBeg = (0x80 | 0x40); /* Mark location as visited and assigned */
+
+   reg->flowBegin = flowBegin;
+
+   posAssigns = negAssigns = 0;
+   for(sign = 1; sign >= -1; sign -= 2) {
+
+      flow = flowBegin;
+      cache = cacheBeg;
+
+      for(steps = 0; ; steps++) {
+
+         if(maxDiagonal != DmtxUndefined && (boundMax.X - boundMin.X > maxDiagonal ||
+               boundMax.Y - boundMin.Y > maxDiagonal))
+            break;
+
+         /* Find the strongest eligible neighbor */
+         flowNext = FindStrongestNeighbor(dec, flow, sign);
+         if(flowNext.mag < 50)
+            break;
+
+         /* Get the neighbor's cache location */
+         cacheNext = dmtxDecodeGetCache(dec, flowNext.loc.X, flowNext.loc.Y);
+         if(cacheNext == NULL)
+            break;
+         assert(!(*cacheNext & 0x80));
+
+         /* Mark departure from current location. If flowing downstream
+          * (sign < 0) then departure vector here is the arrival vector
+          * of the next location. Upstream flow uses the opposite rule. */
+         *cache |= (sign < 0) ? flowNext.arrive : flowNext.arrive << 3;
+
+         /* Mark known direction for next location */
+         /* If testing downstream (sign < 0) then next upstream is opposite of next arrival */
+         /* If testing upstream (sign > 0) then next downstream is opposite of next arrival */
+         *cacheNext = (sign < 0) ? (((flowNext.arrive + 4)%8) << 3) : ((flowNext.arrive + 4)%8);
+         *cacheNext |= (0x80 | 0x40); /* Mark location as visited and assigned */
+         if(sign > 0)
+            posAssigns++;
+         else
+            negAssigns++;
+         cache = cacheNext;
+         flow = flowNext;
+
+         if(flow.loc.X > boundMax.X)
+            boundMax.X = flow.loc.X;
+         else if(flow.loc.X < boundMin.X)
+            boundMin.X = flow.loc.X;
+         if(flow.loc.Y > boundMax.Y)
+            boundMax.Y = flow.loc.Y;
+         else if(flow.loc.Y < boundMin.Y)
+            boundMin.Y = flow.loc.Y;
+
+/*       CALLBACK_POINT_PLOT(flow.loc, (sign > 0) ? 2 : 3, 1, 2); */
+      }
+
+      if(sign > 0) {
+         reg->finalPos = flow.loc;
+         reg->jumpToNeg = steps;
+      }
+      else {
+         reg->finalNeg = flow.loc;
+         reg->jumpToPos = steps;
+      }
+   }
+   reg->stepsTotal = reg->jumpToPos + reg->jumpToNeg;
+   reg->boundMin = boundMin;
+   reg->boundMax = boundMax;
+
+   /* Clear "visited" bit from trail */
+   clears = TrailClear(dec, reg, 0x80);
+   assert(posAssigns + negAssigns == clears - 1);
+
+   /* XXX clean this up ... redundant test above */
+   if(maxDiagonal != DmtxUndefined && (boundMax.X - boundMin.X > maxDiagonal ||
+         boundMax.Y - boundMin.Y > maxDiagonal))
+      return DmtxFail;
+
+   return DmtxPass;
+}
+
+/**
+ * recives bresline, and follows strongest neighbor unless it involves
+ * ratcheting bresline inward or backward (although back + outward is allowed).
+ *
+ */
+static int
+TrailBlazeGapped(DmtxDecode *dec, DmtxRegion *reg, DmtxBresLine line, int streamDir)
+{
+   unsigned char *beforeCache, *afterCache;
+   DmtxBoolean onEdge;
+   int distSq, distSqMax;
+   int travel, outward;
+   int xDiff, yDiff;
+   int steps;
+   int stepDir, dirMap[] = { 0, 1, 2, 7, 8, 3, 6, 5, 4 };
+   DmtxPassFail err;
+   DmtxPixelLoc beforeStep, afterStep;
+   DmtxPointFlow flow, flowNext;
+   DmtxPixelLoc loc0;
+   int xStep, yStep;
+
+   loc0 = line.loc;
+   flow = GetPointFlow(dec, reg->flowBegin.plane, loc0, dmtxNeighborNone);
+   distSqMax = (line.xDelta * line.xDelta) + (line.yDelta * line.yDelta);
+   steps = 0;
+   onEdge = DmtxTrue;
+
+   beforeStep = loc0;
+   beforeCache = dmtxDecodeGetCache(dec, loc0.X, loc0.Y);
+   if(beforeCache == NULL)
+      return DmtxFail;
+   else
+      *beforeCache = 0x00; /* probably should just overwrite one direction */
+
+   do {
+      if(onEdge == DmtxTrue) {
+         flowNext = FindStrongestNeighbor(dec, flow, streamDir);
+         if(flowNext.mag == DmtxUndefined)
+            break;
+
+         err = BresLineGetStep(line, flowNext.loc, &travel, &outward);
+         if(flowNext.mag < 50 || outward < 0 || (outward == 0 && travel < 0)) {
+            onEdge = DmtxFalse;
+         }
+         else {
+            BresLineStep(&line, travel, outward);
+            flow = flowNext;
+         }
+      }
+
+      if(onEdge == DmtxFalse) {
+         BresLineStep(&line, 1, 0);
+         flow = GetPointFlow(dec, reg->flowBegin.plane, line.loc, dmtxNeighborNone);
+         if(flow.mag > 50)
+            onEdge = DmtxTrue;
+      }
+
+      afterStep = line.loc;
+      afterCache = dmtxDecodeGetCache(dec, afterStep.X, afterStep.Y);
+      if(afterCache == NULL)
+         break;
+
+      /* Determine step direction using pure magic */
+      xStep = afterStep.X - beforeStep.X;
+      yStep = afterStep.Y - beforeStep.Y;
+      assert(abs(xStep) <= 1 && abs(yStep) <= 1);
+      stepDir = dirMap[3 * yStep + xStep + 4];
+      assert(stepDir != 8);
+
+      if(streamDir < 0) {
+         *beforeCache |= (0x40 | stepDir);
+         *afterCache = (((stepDir + 4)%8) << 3);
+      }
+      else {
+         *beforeCache |= (0x40 | (stepDir << 3));
+         *afterCache = ((stepDir + 4)%8);
+      }
+
+      /* Guaranteed to have taken one step since top of loop */
+      xDiff = line.loc.X - loc0.X;
+      yDiff = line.loc.Y - loc0.Y;
+      distSq = (xDiff * xDiff) + (yDiff * yDiff);
+
+      beforeStep = line.loc;
+      beforeCache = afterCache;
+      steps++;
+
+   } while(distSq < distSqMax);
+
+   return steps;
+}
+
+/**
+ *
+ *
+ */
+static int
+TrailClear(DmtxDecode *dec, DmtxRegion *reg, int clearMask)
+{
+   int clears;
+   DmtxFollow follow;
+
+   assert((clearMask | 0xff) == 0xff);
+
+   /* Clear "visited" bit from trail */
+   clears = 0;
+   follow = FollowSeek(dec, reg, 0);
+   while(abs(follow.step) <= reg->stepsTotal) {
+      assert((int)(*follow.ptr & clearMask) != 0x00);
+      *follow.ptr &= (clearMask ^ 0xff);
+      follow = FollowStep(dec, reg, follow, +1);
+      clears++;
+   }
+
+   return clears;
+}
+
+/**
+ *
+ *
+ */
+static DmtxBestLine
+FindBestSolidLine(DmtxDecode *dec, DmtxRegion *reg, int step0, int step1, int streamDir, int houghAvoid)
+{
+   int *hough_temp = calloc(3 * DMTX_HOUGH_RES, sizeof(int)); int (*hough)[DMTX_HOUGH_RES] = (int (*)[DMTX_HOUGH_RES]) hough_temp; // [3][DMTX_HOUGH_RES] = { { 0 } };
+   int houghMin, houghMax;
+   char *houghTest = malloc(DMTX_HOUGH_RES); // [DMTX_HOUGH_RES];
+   int i;
+   int step;
+   int sign;
+   int tripSteps;
+   int angleBest;
+   int hOffset, hOffsetBest;
+   int xDiff, yDiff;
+   int dH;
+   DmtxRay2 rH;
+   DmtxFollow follow;
+   DmtxBestLine line;
+   DmtxPixelLoc rHp;
+
+   memset(&line, 0x00, sizeof(DmtxBestLine));
+   memset(&rH, 0x00, sizeof(DmtxRay2));
+   angleBest = 0;
+   hOffset = hOffsetBest = 0;
+
+   /* Always follow path flowing away from the trail start */
+   if(step0 != 0) {
+      if(step0 > 0) {
+         sign = +1;
+         tripSteps = (step1 - step0 + reg->stepsTotal) % reg->stepsTotal;
+      }
+      else {
+         sign = -1;
+         tripSteps = (step0 - step1 + reg->stepsTotal) % reg->stepsTotal;
+      }
+      if(tripSteps == 0)
+         tripSteps = reg->stepsTotal;
+   }
+   else if(step1 != 0) {
+      sign = (step1 > 0) ? +1 : -1;
+      tripSteps = abs(step1);
+   }
+   else if(step1 == 0) {
+      sign = +1;
+      tripSteps = reg->stepsTotal;
+   }
+   assert(sign == streamDir);
+
+   follow = FollowSeek(dec, reg, step0);
+   rHp = follow.loc;
+
+   line.stepBeg = line.stepPos = line.stepNeg = step0;
+   line.locBeg = follow.loc;
+   line.locPos = follow.loc;
+   line.locNeg = follow.loc;
+
+   /* Predetermine which angles to test */
+   for(i = 0; i < DMTX_HOUGH_RES; i++) {
+      if(houghAvoid == DmtxUndefined) {
+         houghTest[i] = 1;
+      }
+      else {
+         houghMin = (houghAvoid + DMTX_HOUGH_RES/6) % DMTX_HOUGH_RES;
+         houghMax = (houghAvoid - DMTX_HOUGH_RES/6 + DMTX_HOUGH_RES) % DMTX_HOUGH_RES;
+         if(houghMin > houghMax)
+            houghTest[i] = (i > houghMin || i < houghMax) ? 1 : 0;
+         else
+            houghTest[i] = (i > houghMin && i < houghMax) ? 1 : 0;
+      }
+   }
+
+   /* Test each angle for steps along path */
+   for(step = 0; step < tripSteps; step++) {
+
+      xDiff = follow.loc.X - rHp.X;
+      yDiff = follow.loc.Y - rHp.Y;
+
+      /* Increment Hough accumulator */
+      for(i = 0; i < DMTX_HOUGH_RES; i++) {
+
+         if((int)houghTest[i] == 0)
+            continue;
+
+         dH = (rHvX[i] * yDiff) - (rHvY[i] * xDiff);
+         if(dH >= -384 && dH <= 384) {
+
+            if(dH > 128)
+               hOffset = 2;
+            else if(dH >= -128)
+               hOffset = 1;
+            else
+               hOffset = 0;
+
+            hough[hOffset][i]++;
+
+            /* New angle takes over lead */
+            if(hough[hOffset][i] > hough[hOffsetBest][angleBest]) {
+               angleBest = i;
+               hOffsetBest = hOffset;
+            }
+         }
+      }
+
+/*    CALLBACK_POINT_PLOT(follow.loc, (sign > 1) ? 4 : 3, 1, 2); */
+
+      follow = FollowStep(dec, reg, follow, sign);
+   }
+
+   line.angle = angleBest;
+   line.hOffset = hOffsetBest;
+   line.mag = hough[hOffsetBest][angleBest];
+
+   free(houghTest);
+   free(hough_temp);
+
+   return line;
+}
+
+/**
+ *
+ *
+ */
+static DmtxBestLine
+FindBestSolidLine2(DmtxDecode *dec, DmtxPixelLoc loc0, int tripSteps, int sign, int houghAvoid)
+{
+   int *hough_temp = calloc(3 * DMTX_HOUGH_RES, sizeof(int)); int (*hough)[DMTX_HOUGH_RES] = (int (*)[DMTX_HOUGH_RES]) hough_temp; // [3][DMTX_HOUGH_RES] = { { 0 } };
+   int houghMin, houghMax;
+   char *houghTest = malloc(DMTX_HOUGH_RES); // [DMTX_HOUGH_RES];
+   int i;
+   int step;
+   int angleBest;
+   int hOffset, hOffsetBest;
+   int xDiff, yDiff;
+   int dH;
+   DmtxRay2 rH;
+   DmtxBestLine line;
+   DmtxPixelLoc rHp;
+   DmtxFollow follow;
+
+   memset(&line, 0x00, sizeof(DmtxBestLine));
+   memset(&rH, 0x00, sizeof(DmtxRay2));
+   angleBest = 0;
+   hOffset = hOffsetBest = 0;
+
+   follow = FollowSeekLoc(dec, loc0);
+   rHp = line.locBeg = line.locPos = line.locNeg = follow.loc;
+   line.stepBeg = line.stepPos = line.stepNeg = 0;
+
+   /* Predetermine which angles to test */
+   for(i = 0; i < DMTX_HOUGH_RES; i++) {
+      if(houghAvoid == DmtxUndefined) {
+         houghTest[i] = 1;
+      }
+      else {
+         houghMin = (houghAvoid + DMTX_HOUGH_RES/6) % DMTX_HOUGH_RES;
+         houghMax = (houghAvoid - DMTX_HOUGH_RES/6 + DMTX_HOUGH_RES) % DMTX_HOUGH_RES;
+         if(houghMin > houghMax)
+            houghTest[i] = (i > houghMin || i < houghMax) ? 1 : 0;
+         else
+            houghTest[i] = (i > houghMin && i < houghMax) ? 1 : 0;
+      }
+   }
+
+   /* Test each angle for steps along path */
+   for(step = 0; step < tripSteps; step++) {
+
+      xDiff = follow.loc.X - rHp.X;
+      yDiff = follow.loc.Y - rHp.Y;
+
+      /* Increment Hough accumulator */
+      for(i = 0; i < DMTX_HOUGH_RES; i++) {
+
+         if((int)houghTest[i] == 0)
+            continue;
+
+         dH = (rHvX[i] * yDiff) - (rHvY[i] * xDiff);
+         if(dH >= -384 && dH <= 384) {
+            if(dH > 128)
+               hOffset = 2;
+            else if(dH >= -128)
+               hOffset = 1;
+            else
+               hOffset = 0;
+
+            hough[hOffset][i]++;
+
+            /* New angle takes over lead */
+            if(hough[hOffset][i] > hough[hOffsetBest][angleBest]) {
+               angleBest = i;
+               hOffsetBest = hOffset;
+            }
+         }
+      }
+
+/*    CALLBACK_POINT_PLOT(follow.loc, (sign > 1) ? 4 : 3, 1, 2); */
+
+      follow = FollowStep2(dec, follow, sign);
+   }
+
+   line.angle = angleBest;
+   line.hOffset = hOffsetBest;
+   line.mag = hough[hOffsetBest][angleBest];
+
+   free(houghTest);
+   free(hough_temp);
+
+   return line;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPassFail
+FindTravelLimits(DmtxDecode *dec, DmtxRegion *reg, DmtxBestLine *line)
+{
+   int i;
+   int distSq, distSqMax;
+   int xDiff, yDiff;
+   int posRunning, negRunning;
+   int posTravel, negTravel;
+   int posWander, posWanderMin, posWanderMax, posWanderMinLock, posWanderMaxLock;
+   int negWander, negWanderMin, negWanderMax, negWanderMinLock, negWanderMaxLock;
+   int cosAngle, sinAngle;
+   DmtxFollow followPos, followNeg;
+   DmtxPixelLoc loc0, posMax, negMax;
+
+   /* line->stepBeg is already known to sit on the best Hough line */
+   followPos = followNeg = FollowSeek(dec, reg, line->stepBeg);
+   loc0 = followPos.loc;
+
+   cosAngle = rHvX[line->angle];
+   sinAngle = rHvY[line->angle];
+
+   distSqMax = 0;
+   posMax = negMax = followPos.loc;
+
+   posTravel = negTravel = 0;
+   posWander = posWanderMin = posWanderMax = posWanderMinLock = posWanderMaxLock = 0;
+   negWander = negWanderMin = negWanderMax = negWanderMinLock = negWanderMaxLock = 0;
+
+   for(i = 0; i < reg->stepsTotal/2; i++) {
+
+      posRunning = (int)(i < 10 || abs(posWander) < abs(posTravel));
+      negRunning = (int)(i < 10 || abs(negWander) < abs(negTravel));
+
+      if(posRunning != 0) {
+         xDiff = followPos.loc.X - loc0.X;
+         yDiff = followPos.loc.Y - loc0.Y;
+         posTravel = (cosAngle * xDiff) + (sinAngle * yDiff);
+         posWander = (cosAngle * yDiff) - (sinAngle * xDiff);
+
+         if(posWander >= -3*256 && posWander <= 3*256) {
+            distSq = DistanceSquared(followPos.loc, negMax);
+            if(distSq > distSqMax) {
+               posMax = followPos.loc;
+               distSqMax = distSq;
+               line->stepPos = followPos.step;
+               line->locPos = followPos.loc;
+               posWanderMinLock = posWanderMin;
+               posWanderMaxLock = posWanderMax;
+            }
+         }
+         else {
+            posWanderMin = min(posWanderMin, posWander);
+            posWanderMax = max(posWanderMax, posWander);
+         }
+      }
+      else if(!negRunning) {
+         break;
+      }
+
+      if(negRunning != 0) {
+         xDiff = followNeg.loc.X - loc0.X;
+         yDiff = followNeg.loc.Y - loc0.Y;
+         negTravel = (cosAngle * xDiff) + (sinAngle * yDiff);
+         negWander = (cosAngle * yDiff) - (sinAngle * xDiff);
+
+         if(negWander >= -3*256 && negWander < 3*256) {
+            distSq = DistanceSquared(followNeg.loc, posMax);
+            if(distSq > distSqMax) {
+               negMax = followNeg.loc;
+               distSqMax = distSq;
+               line->stepNeg = followNeg.step;
+               line->locNeg = followNeg.loc;
+               negWanderMinLock = negWanderMin;
+               negWanderMaxLock = negWanderMax;
+            }
+         }
+         else {
+            negWanderMin = min(negWanderMin, negWander);
+            negWanderMax = max(negWanderMax, negWander);
+         }
+      }
+      else if(!posRunning) {
+         break;
+      }
+
+/*  CALLBACK_POINT_PLOT(followPos.loc, 2, 1, 2);
+    CALLBACK_POINT_PLOT(followNeg.loc, 4, 1, 2); */
+
+      followPos = FollowStep(dec, reg, followPos, +1);
+      followNeg = FollowStep(dec, reg, followNeg, -1);
+   }
+   line->devn = max(posWanderMaxLock - posWanderMinLock, negWanderMaxLock - negWanderMinLock)/256;
+   line->distSq = distSqMax;
+
+/* CALLBACK_POINT_PLOT(posMax, 2, 1, 1);
+   CALLBACK_POINT_PLOT(negMax, 2, 1, 1); */
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPassFail
+MatrixRegionAlignCalibEdge(DmtxDecode *dec, DmtxRegion *reg, int edgeLoc)
+{
+   int streamDir;
+   int steps;
+   int avoidAngle;
+   int symbolShape;
+   DmtxVector2 pTmp;
+   DmtxPixelLoc loc0, loc1, locOrigin;
+   DmtxBresLine line;
+   DmtxFollow follow;
+   DmtxBestLine bestLine;
+
+   /* Determine pixel coordinates of origin */
+   pTmp.X = 0.0;
+   pTmp.Y = 0.0;
+   dmtxMatrix3VMultiplyBy(&pTmp, reg->fit2raw);
+   locOrigin.X = (int)(pTmp.X + 0.5);
+   locOrigin.Y = (int)(pTmp.Y + 0.5);
+
+   if(dec->sizeIdxExpected == DmtxSymbolSquareAuto ||
+         (dec->sizeIdxExpected >= DmtxSymbol10x10 &&
+         dec->sizeIdxExpected <= DmtxSymbol144x144))
+      symbolShape = DmtxSymbolSquareAuto;
+   else if(dec->sizeIdxExpected == DmtxSymbolRectAuto ||
+         (dec->sizeIdxExpected >= DmtxSymbol8x18 &&
+         dec->sizeIdxExpected <= DmtxSymbol16x48))
+      symbolShape = DmtxSymbolRectAuto;
+   else
+      symbolShape = DmtxSymbolShapeAuto;
+
+   /* Determine end locations of test line */
+   if(edgeLoc == DmtxEdgeTop) {
+      streamDir = reg->polarity * -1;
+      avoidAngle = reg->leftLine.angle;
+      follow = FollowSeekLoc(dec, reg->locT);
+      pTmp.X = 0.8;
+      pTmp.Y = (symbolShape == DmtxSymbolRectAuto) ? 0.2 : 0.6;
+   }
+   else {
+      assert(edgeLoc == DmtxEdgeRight);
+      streamDir = reg->polarity;
+      avoidAngle = reg->bottomLine.angle;
+      follow = FollowSeekLoc(dec, reg->locR);
+      pTmp.X = (symbolShape == DmtxSymbolSquareAuto) ? 0.7 : 0.9;
+      pTmp.Y = 0.8;
+   }
+
+   dmtxMatrix3VMultiplyBy(&pTmp, reg->fit2raw);
+   loc1.X = (int)(pTmp.X + 0.5);
+   loc1.Y = (int)(pTmp.Y + 0.5);
+
+   loc0 = follow.loc;
+   line = BresLineInit(loc0, loc1, locOrigin);
+   steps = TrailBlazeGapped(dec, reg, line, streamDir);
+
+   bestLine = FindBestSolidLine2(dec, loc0, steps, streamDir, avoidAngle);
+   if(bestLine.mag < 5) {
+      ;
+   }
+
+   if(edgeLoc == DmtxEdgeTop) {
+      reg->topKnown = 1;
+      reg->topAngle = bestLine.angle;
+      reg->topLoc = bestLine.locBeg;
+   }
+   else {
+      reg->rightKnown = 1;
+      reg->rightAngle = bestLine.angle;
+      reg->rightLoc = bestLine.locBeg;
+   }
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+static DmtxBresLine
+BresLineInit(DmtxPixelLoc loc0, DmtxPixelLoc loc1, DmtxPixelLoc locInside)
+{
+   int cp;
+   DmtxBresLine line;
+   DmtxPixelLoc *locBeg, *locEnd;
+
+   /* XXX Verify that loc0 and loc1 are inbounds */
+
+   /* Values that stay the same after initialization */
+   line.loc0 = loc0;
+   line.loc1 = loc1;
+   line.xStep = (loc0.X < loc1.X) ? +1 : -1;
+   line.yStep = (loc0.Y < loc1.Y) ? +1 : -1;
+   line.xDelta = abs(loc1.X - loc0.X);
+   line.yDelta = abs(loc1.Y - loc0.Y);
+   line.steep = (int)(line.yDelta > line.xDelta);
+
+   /* Take cross product to determine outward step */
+   if(line.steep != 0) {
+      /* Point first vector up to get correct sign */
+      if(loc0.Y < loc1.Y) {
+         locBeg = &loc0;
+         locEnd = &loc1;
+      }
+      else {
+         locBeg = &loc1;
+         locEnd = &loc0;
+      }
+      cp = (((locEnd->X - locBeg->X) * (locInside.Y - locEnd->Y)) -
+            ((locEnd->Y - locBeg->Y) * (locInside.X - locEnd->X)));
+
+      line.xOut = (cp > 0) ? +1 : -1;
+      line.yOut = 0;
+   }
+   else {
+      /* Point first vector left to get correct sign */
+      if(loc0.X > loc1.X) {
+         locBeg = &loc0;
+         locEnd = &loc1;
+      }
+      else {
+         locBeg = &loc1;
+         locEnd = &loc0;
+      }
+      cp = (((locEnd->X - locBeg->X) * (locInside.Y - locEnd->Y)) -
+            ((locEnd->Y - locBeg->Y) * (locInside.X - locEnd->X)));
+
+      line.xOut = 0;
+      line.yOut = (cp > 0) ? +1 : -1;
+   }
+
+   /* Values that change while stepping through line */
+   line.loc = loc0;
+   line.travel = 0;
+   line.outward = 0;
+   line.error = (line.steep) ? line.yDelta/2 : line.xDelta/2;
+
+/* CALLBACK_POINT_PLOT(loc0, 3, 1, 1);
+   CALLBACK_POINT_PLOT(loc1, 3, 1, 1); */
+
+   return line;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPassFail
+BresLineGetStep(DmtxBresLine line, DmtxPixelLoc target, int *travel, int *outward)
+{
+   /* Determine necessary step along and outward from Bresenham line */
+   if(line.steep != 0) {
+      *travel = (line.yStep > 0) ? target.Y - line.loc.Y : line.loc.Y - target.Y;
+      BresLineStep(&line, *travel, 0);
+      *outward = (line.xOut > 0) ? target.X - line.loc.X : line.loc.X - target.X;
+      assert(line.yOut == 0);
+   }
+   else {
+      *travel = (line.xStep > 0) ? target.X - line.loc.X : line.loc.X - target.X;
+      BresLineStep(&line, *travel, 0);
+      *outward = (line.yOut > 0) ? target.Y - line.loc.Y : line.loc.Y - target.Y;
+      assert(line.xOut == 0);
+   }
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+static DmtxPassFail
+BresLineStep(DmtxBresLine *line, int travel, int outward)
+{
+   int i;
+   DmtxBresLine lineNew;
+
+   lineNew = *line;
+
+   assert(abs(travel) < 2);
+   assert(abs(outward) >= 0);
+
+   /* Perform forward step */
+   if(travel > 0) {
+      lineNew.travel++;
+      if(lineNew.steep != 0) {
+         lineNew.loc.Y += lineNew.yStep;
+         lineNew.error -= lineNew.xDelta;
+         if(lineNew.error < 0) {
+            lineNew.loc.X += lineNew.xStep;
+            lineNew.error += lineNew.yDelta;
+         }
+      }
+      else {
+         lineNew.loc.X += lineNew.xStep;
+         lineNew.error -= lineNew.yDelta;
+         if(lineNew.error < 0) {
+            lineNew.loc.Y += lineNew.yStep;
+            lineNew.error += lineNew.xDelta;
+         }
+      }
+   }
+   else if(travel < 0) {
+      lineNew.travel--;
+      if(lineNew.steep != 0) {
+         lineNew.loc.Y -= lineNew.yStep;
+         lineNew.error += lineNew.xDelta;
+         if(lineNew.error >= lineNew.yDelta) {
+            lineNew.loc.X -= lineNew.xStep;
+            lineNew.error -= lineNew.yDelta;
+         }
+      }
+      else {
+         lineNew.loc.X -= lineNew.xStep;
+         lineNew.error += lineNew.yDelta;
+         if(lineNew.error >= lineNew.xDelta) {
+            lineNew.loc.Y -= lineNew.yStep;
+            lineNew.error -= lineNew.xDelta;
+         }
+      }
+   }
+
+   for(i = 0; i < outward; i++) {
+      /* Outward steps */
+      lineNew.outward++;
+      lineNew.loc.X += lineNew.xOut;
+      lineNew.loc.Y += lineNew.yOut;
+   }
+
+   *line = lineNew;
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+#ifdef NOTDEFINED
+static void
+WriteDiagnosticImage(DmtxDecode *dec, DmtxRegion *reg, char *imagePath)
+{
+   int row, col;
+   int width, height;
+   unsigned char *cache;
+   int rgb[3];
+   FILE *fp;
+   DmtxVector2 p;
+   DmtxImage *img;
+
+   assert(reg != NULL);
+
+   fp = fopen(imagePath, "wb");
+   if(fp == NULL) {
+      exit(3);
+   }
+
+   width = dmtxDecodeGetProp(dec, DmtxPropWidth);
+   height = dmtxDecodeGetProp(dec->image, DmtxPropHeight);
+
+   img = dmtxImageCreate(NULL, width, height, DmtxPack24bppRGB);
+
+   /* Populate image */
+   for(row = 0; row < height; row++) {
+      for(col = 0; col < width; col++) {
+
+         cache = dmtxDecodeGetCache(dec, col, row);
+         if(cache == NULL) {
+            rgb[0] = 0;
+            rgb[1] = 0;
+            rgb[2] = 128;
+         }
+         else {
+            dmtxDecodeGetPixelValue(dec, col, row, 0, &rgb[0]);
+            dmtxDecodeGetPixelValue(dec, col, row, 1, &rgb[1]);
+            dmtxDecodeGetPixelValue(dec, col, row, 2, &rgb[2]);
+
+            p.X = col;
+            p.Y = row;
+            dmtxMatrix3VMultiplyBy(&p, reg->raw2fit);
+
+            if(p.X < 0.0 || p.X > 1.0 || p.Y < 0.0 || p.Y > 1.0) {
+               rgb[0] = 0;
+               rgb[1] = 0;
+               rgb[2] = 128;
+            }
+            else if(p.X + p.Y > 1.0) {
+               rgb[0] += (0.4 * (255 - rgb[0]));
+               rgb[1] += (0.4 * (255 - rgb[1]));
+               rgb[2] += (0.4 * (255 - rgb[2]));
+            }
+         }
+
+         dmtxImageSetRgb(img, col, row, rgb);
+      }
+   }
+
+   /* Write additional markers */
+   rgb[0] = 255;
+   rgb[1] = 0;
+   rgb[2] = 0;
+   dmtxImageSetRgb(img, reg->topLoc.X, reg->topLoc.Y, rgb);
+   dmtxImageSetRgb(img, reg->rightLoc.X, reg->rightLoc.Y, rgb);
+
+   /* Write image to PNM file */
+   fprintf(fp, "P6\n%d %d\n255\n", width, height);
+   for(row = height - 1; row >= 0; row--) {
+      for(col = 0; col < width; col++) {
+         dmtxImageGetRgb(img, col, row, rgb);
+         fwrite(rgb, sizeof(char), 3, fp);
+      }
+   }
+
+   dmtxImageDestroy(&img);
+
+   fclose(fp);
+}
+#endif
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxsymbol.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxsymbol.c
+ * \brief Data Matrix symbol attributes
+ */
+
+/**
+ * \brief  Retrieve property based on symbol size
+ * \param  attribute
+ * \param  sizeIdx
+ * \return Attribute value
+ */
+extern int
+dmtxGetSymbolAttribute(int attribute, int sizeIdx)
+{
+   static const int symbolRows[] = { 10, 12, 14, 16, 18, 20,  22,  24,  26,
+                                                 32, 36, 40,  44,  48,  52,
+                                                 64, 72, 80,  88,  96, 104,
+                                                        120, 132, 144,
+                                                  8,  8, 12,  12,  16,  16 };
+
+   static const int symbolCols[] = { 10, 12, 14, 16, 18, 20,  22,  24,  26,
+                                                 32, 36, 40,  44,  48,  52,
+                                                 64, 72, 80,  88,  96, 104,
+                                                        120, 132, 144,
+                                                 18, 32, 26,  36,  36,  48 };
+
+   static const int dataRegionRows[] = { 8, 10, 12, 14, 16, 18, 20, 22, 24,
+                                                    14, 16, 18, 20, 22, 24,
+                                                    14, 16, 18, 20, 22, 24,
+                                                            18, 20, 22,
+                                                     6,  6, 10, 10, 14, 14 };
+
+   static const int dataRegionCols[] = { 8, 10, 12, 14, 16, 18, 20, 22, 24,
+                                                    14, 16, 18, 20, 22, 24,
+                                                    14, 16, 18, 20, 22, 24,
+                                                            18, 20, 22,
+                                                    16, 14, 24, 16, 16, 22 };
+
+   static const int horizDataRegions[] = { 1, 1, 1, 1, 1, 1, 1, 1, 1,
+                                                    2, 2, 2, 2, 2, 2,
+                                                    4, 4, 4, 4, 4, 4,
+                                                          6, 6, 6,
+                                                    1, 2, 1, 2, 2, 2 };
+
+   static const int interleavedBlocks[] = { 1, 1, 1, 1, 1, 1, 1,  1, 1,
+                                                     1, 1, 1, 1,  1, 2,
+                                                     2, 4, 4, 4,  4, 6,
+                                                           6, 8, 10,
+                                                     1, 1, 1, 1,  1, 1 };
+
+   static const int symbolDataWords[] = { 3, 5, 8,  12,   18,   22,   30,   36,  44,
+                                                    62,   86,  114,  144,  174, 204,
+                                                   280,  368,  456,  576,  696, 816,
+                                                              1050, 1304, 1558,
+                                                     5,   10,   16,   22,   32,  49 };
+
+   static const int blockErrorWords[] = { 5, 7, 10, 12, 14, 18, 20, 24, 28,
+                                                    36, 42, 48, 56, 68, 42,
+                                                    56, 36, 48, 56, 68, 56,
+                                                            68, 62, 62,
+                                                     7, 11, 14, 18, 24, 28 };
+
+   static const int blockMaxCorrectable[] = { 2, 3, 5,  6,  7,  9,  10,  12,  14,
+                                                       18, 21, 24,  28,  34,  21,
+                                                       28, 18, 24,  28,  34,  28,
+                                                               34,  31,  31,
+                                                   3,  5,  7,   9,  12,  14 };
+
+   if(sizeIdx < 0 || sizeIdx >= DmtxSymbolSquareCount + DmtxSymbolRectCount)
+      return DmtxUndefined;
+
+   switch(attribute) {
+      case DmtxSymAttribSymbolRows:
+         return symbolRows[sizeIdx];
+      case DmtxSymAttribSymbolCols:
+         return symbolCols[sizeIdx];
+      case DmtxSymAttribDataRegionRows:
+         return dataRegionRows[sizeIdx];
+      case DmtxSymAttribDataRegionCols:
+         return dataRegionCols[sizeIdx];
+      case DmtxSymAttribHorizDataRegions:
+         return horizDataRegions[sizeIdx];
+      case DmtxSymAttribVertDataRegions:
+         return (sizeIdx < DmtxSymbolSquareCount) ? horizDataRegions[sizeIdx] : 1;
+      case DmtxSymAttribMappingMatrixRows:
+         return dataRegionRows[sizeIdx] *
+               dmtxGetSymbolAttribute(DmtxSymAttribVertDataRegions, sizeIdx);
+      case DmtxSymAttribMappingMatrixCols:
+         return dataRegionCols[sizeIdx] * horizDataRegions[sizeIdx];
+      case DmtxSymAttribInterleavedBlocks:
+         return interleavedBlocks[sizeIdx];
+      case DmtxSymAttribBlockErrorWords:
+         return blockErrorWords[sizeIdx];
+      case DmtxSymAttribBlockMaxCorrectable:
+         return blockMaxCorrectable[sizeIdx];
+      case DmtxSymAttribSymbolDataWords:
+         return symbolDataWords[sizeIdx];
+      case DmtxSymAttribSymbolErrorWords:
+         return blockErrorWords[sizeIdx] * interleavedBlocks[sizeIdx];
+      case DmtxSymAttribSymbolMaxCorrectable:
+         return blockMaxCorrectable[sizeIdx] * interleavedBlocks[sizeIdx];
+   }
+
+   return DmtxUndefined;
+}
+
+/**
+ * \brief  Retrieve data size for a specific symbol size and block number
+ * \param  sizeIdx
+ * \param  blockIdx
+ * \return Attribute value
+ */
+extern int
+dmtxGetBlockDataSize(int sizeIdx, int blockIdx)
+{
+   int symbolDataWords;
+   int interleavedBlocks;
+   int count;
+
+   symbolDataWords = dmtxGetSymbolAttribute(DmtxSymAttribSymbolDataWords, sizeIdx);
+   interleavedBlocks = dmtxGetSymbolAttribute(DmtxSymAttribInterleavedBlocks, sizeIdx);
+
+   if(symbolDataWords < 1 || interleavedBlocks < 1)
+      return DmtxUndefined;
+
+   count = (int)(symbolDataWords/interleavedBlocks);
+
+   return (sizeIdx == DmtxSymbol144x144 && blockIdx < 8) ? count + 1 : count;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxplacemod.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxplacemod.c
+ * \brief Data Matrix module placement
+ */
+
+/**
+ * receives symbol row and col and returns status
+ * DmtxModuleOn / !DmtxModuleOn (DmtxModuleOff)
+ * DmtxModuleAssigned
+ * DmtxModuleVisited
+ * DmtxModuleData / !DmtxModuleData (DmtxModuleAlignment)
+ * row and col are expressed in symbol coordinates, so (0,0) is the intersection of the "L"
+ */
+int
+dmtxSymbolModuleStatus(DmtxMessage *message, int sizeIdx, int symbolRow, int symbolCol)
+{
+   int symbolRowReverse;
+   int mappingRow, mappingCol;
+   int dataRegionRows, dataRegionCols;
+   int symbolRows, mappingCols;
+
+   dataRegionRows = dmtxGetSymbolAttribute(DmtxSymAttribDataRegionRows, sizeIdx);
+   dataRegionCols = dmtxGetSymbolAttribute(DmtxSymAttribDataRegionCols, sizeIdx);
+   symbolRows = dmtxGetSymbolAttribute(DmtxSymAttribSymbolRows, sizeIdx);
+   mappingCols = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixCols, sizeIdx);
+
+   symbolRowReverse = symbolRows - symbolRow - 1;
+   mappingRow = symbolRowReverse - 1 - 2 * (symbolRowReverse / (dataRegionRows+2));
+   mappingCol = symbolCol - 1 - 2 * (symbolCol / (dataRegionCols+2));
+
+   /* Solid portion of alignment patterns */
+   if(symbolRow % (dataRegionRows+2) == 0 ||
+         symbolCol % (dataRegionCols+2) == 0)
+      return (DmtxModuleOnRGB | (!DmtxModuleData));
+
+   /* Horinzontal calibration bars */
+   if((symbolRow+1) % (dataRegionRows+2) == 0)
+      return (((symbolCol & 0x01) ? 0 : DmtxModuleOnRGB) | (!DmtxModuleData));
+
+   /* Vertical calibration bars */
+   if((symbolCol+1) % (dataRegionCols+2) == 0)
+      return (((symbolRow & 0x01) ? 0 : DmtxModuleOnRGB) | (!DmtxModuleData));
+
+   /* Data modules */
+   return (message->array[mappingRow * mappingCols + mappingCol] | DmtxModuleData);
+}
+
+/**
+ * \brief  Logical relationship between bit and module locations
+ * \param  modules
+ * \param  codewords
+ * \param  sizeIdx
+ * \param  moduleOnColor
+ * \return Number of codewords read
+ */
+static int
+ModulePlacementEcc200(unsigned char *modules, unsigned char *codewords, int sizeIdx, int moduleOnColor)
+{
+   int row, col, chr;
+   int mappingRows, mappingCols;
+
+   assert(moduleOnColor & (DmtxModuleOnRed | DmtxModuleOnGreen | DmtxModuleOnBlue));
+
+   mappingRows = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixRows, sizeIdx);
+   mappingCols = dmtxGetSymbolAttribute(DmtxSymAttribMappingMatrixCols, sizeIdx);
+
+   /* Start in the nominal location for the 8th bit of the first character */
+   chr = 0;
+   row = 4;
+   col = 0;
+
+   do {
+      /* Repeatedly first check for one of the special corner cases */
+      if((row == mappingRows) && (col == 0))
+         PatternShapeSpecial1(modules, mappingRows, mappingCols, &(codewords[chr++]), moduleOnColor);
+      else if((row == mappingRows-2) && (col == 0) && (mappingCols%4 != 0))
+         PatternShapeSpecial2(modules, mappingRows, mappingCols, &(codewords[chr++]), moduleOnColor);
+      else if((row == mappingRows-2) && (col == 0) && (mappingCols%8 == 4))
+         PatternShapeSpecial3(modules, mappingRows, mappingCols, &(codewords[chr++]), moduleOnColor);
+      else if((row == mappingRows+4) && (col == 2) && (mappingCols%8 == 0))
+         PatternShapeSpecial4(modules, mappingRows, mappingCols, &(codewords[chr++]), moduleOnColor);
+
+      /* Sweep upward diagonally, inserting successive characters */
+      do {
+         if((row < mappingRows) && (col >= 0) &&
+               !(modules[row*mappingCols+col] & DmtxModuleVisited))
+            PatternShapeStandard(modules, mappingRows, mappingCols, row, col, &(codewords[chr++]), moduleOnColor);
+         row -= 2;
+         col += 2;
+      } while ((row >= 0) && (col < mappingCols));
+      row += 1;
+      col += 3;
+
+      /* Sweep downward diagonally, inserting successive characters */
+      do {
+         if((row >= 0) && (col < mappingCols) &&
+               !(modules[row*mappingCols+col] & DmtxModuleVisited))
+            PatternShapeStandard(modules, mappingRows, mappingCols, row, col, &(codewords[chr++]), moduleOnColor);
+         row += 2;
+         col -= 2;
+      } while ((row < mappingRows) && (col >= 0));
+      row += 3;
+      col += 1;
+      /* ... until the entire modules array is scanned */
+   } while ((row < mappingRows) || (col < mappingCols));
+
+   /* If lower righthand corner is untouched then fill in the fixed pattern */
+   if(!(modules[mappingRows * mappingCols - 1] &
+         DmtxModuleVisited)) {
+
+      modules[mappingRows * mappingCols - 1] |= moduleOnColor;
+      modules[(mappingRows * mappingCols) - mappingCols - 2] |= moduleOnColor;
+   } /* XXX should this fixed pattern also be used in reading somehow? */
+
+   /* XXX compare that chr == region->dataSize here */
+   return chr; /* XXX number of codewords read off */
+}
+
+/**
+ * \brief  XXX
+ * \param  modules
+ * \param  mappingRows
+ * \param  mappingCols
+ * \param  row
+ * \param  col
+ * \param  codeword
+ * \param  moduleOnColor
+ * \return void
+ */
+static void
+PatternShapeStandard(unsigned char *modules, int mappingRows, int mappingCols, int row, int col, unsigned char *codeword, int moduleOnColor)
+{
+   PlaceModule(modules, mappingRows, mappingCols, row-2, col-2, codeword, DmtxMaskBit1, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row-2, col-1, codeword, DmtxMaskBit2, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row-1, col-2, codeword, DmtxMaskBit3, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row-1, col-1, codeword, DmtxMaskBit4, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row-1, col,   codeword, DmtxMaskBit5, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row,   col-2, codeword, DmtxMaskBit6, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row,   col-1, codeword, DmtxMaskBit7, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, row,   col,   codeword, DmtxMaskBit8, moduleOnColor);
+}
+
+/**
+ * \brief  XXX
+ * \param  modules
+ * \param  mappingRows
+ * \param  mappingCols
+ * \param  codeword
+ * \param  moduleOnColor
+ * \return void
+ */
+static void
+PatternShapeSpecial1(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor)
+{
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, 0, codeword, DmtxMaskBit1, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, 1, codeword, DmtxMaskBit2, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, 2, codeword, DmtxMaskBit3, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-2, codeword, DmtxMaskBit4, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-1, codeword, DmtxMaskBit5, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 1, mappingCols-1, codeword, DmtxMaskBit6, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 2, mappingCols-1, codeword, DmtxMaskBit7, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 3, mappingCols-1, codeword, DmtxMaskBit8, moduleOnColor);
+}
+
+/**
+ * \brief  XXX
+ * \param  modules
+ * \param  mappingRows
+ * \param  mappingCols
+ * \param  codeword
+ * \param  moduleOnColor
+ * \return void
+ */
+static void
+PatternShapeSpecial2(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor)
+{
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-3, 0, codeword, DmtxMaskBit1, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-2, 0, codeword, DmtxMaskBit2, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, 0, codeword, DmtxMaskBit3, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-4, codeword, DmtxMaskBit4, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-3, codeword, DmtxMaskBit5, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-2, codeword, DmtxMaskBit6, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-1, codeword, DmtxMaskBit7, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 1, mappingCols-1, codeword, DmtxMaskBit8, moduleOnColor);
+}
+
+/**
+ * \brief  XXX
+ * \param  modules
+ * \param  mappingRows
+ * \param  mappingCols
+ * \param  codeword
+ * \param  moduleOnColor
+ * \return void
+ */
+static void
+PatternShapeSpecial3(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor)
+{
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-3, 0, codeword, DmtxMaskBit1, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-2, 0, codeword, DmtxMaskBit2, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, 0, codeword, DmtxMaskBit3, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-2, codeword, DmtxMaskBit4, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-1, codeword, DmtxMaskBit5, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 1, mappingCols-1, codeword, DmtxMaskBit6, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 2, mappingCols-1, codeword, DmtxMaskBit7, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 3, mappingCols-1, codeword, DmtxMaskBit8, moduleOnColor);
+}
+
+/**
+ * \brief  XXX
+ * \param  modules
+ * \param  mappingRows
+ * \param  mappingCols
+ * \param  codeword
+ * \param  moduleOnColor
+ * \return void
+ */
+static void
+PatternShapeSpecial4(unsigned char *modules, int mappingRows, int mappingCols, unsigned char *codeword, int moduleOnColor)
+{
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, 0, codeword, DmtxMaskBit1, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, mappingRows-1, mappingCols-1, codeword, DmtxMaskBit2, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-3, codeword, DmtxMaskBit3, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-2, codeword, DmtxMaskBit4, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 0, mappingCols-1, codeword, DmtxMaskBit5, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 1, mappingCols-3, codeword, DmtxMaskBit6, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 1, mappingCols-2, codeword, DmtxMaskBit7, moduleOnColor);
+   PlaceModule(modules, mappingRows, mappingCols, 1, mappingCols-1, codeword, DmtxMaskBit8, moduleOnColor);
+}
+
+/**
+ * \brief  XXX
+ * \param  modules
+ * \param  mappingRows
+ * \param  mappingCols
+ * \param  row
+ * \param  col
+ * \param  codeword
+ * \param  mask
+ * \param  moduleOnColor
+ * \return void
+ */
+static void
+PlaceModule(unsigned char *modules, int mappingRows, int mappingCols, int row, int col, unsigned char *codeword, int mask, int moduleOnColor)
+{
+   if(row < 0) {
+      row += mappingRows;
+      col += 4 - ((mappingRows+4)%8);
+   }
+   if(col < 0) {
+      col += mappingCols;
+      row += 4 - ((mappingCols+4)%8);
+   }
+
+   /* If module has already been assigned then we are decoding the pattern into codewords */
+   if((modules[row*mappingCols+col] & DmtxModuleAssigned) != 0) {
+      if((modules[row*mappingCols+col] & moduleOnColor) != 0)
+         *codeword |= mask;
+      else
+         *codeword &= (0xff ^ mask);
+   }
+   /* Otherwise we are encoding the codewords into a pattern */
+   else {
+      if((*codeword & mask) != 0x00)
+         modules[row*mappingCols+col] |= moduleOnColor;
+
+      modules[row*mappingCols+col] |= DmtxModuleAssigned;
+   }
+
+   modules[row*mappingCols+col] |= DmtxModuleVisited;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxreedsol.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2011 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * ---------------------------------------------------------
+ * Portions of this file were derived from the Reed-Solomon
+ * encoder/decoder released by Simon Rockliff in June 1991.
+ * ---------------------------------------------------------
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxreedsol.c
+ */
+
+/**
+ * TODO:
+ *   o try doxygen using using the JavaDoc style and JAVADOC_AUTOBRIEF = YES
+ *   o switch doxygen to simplified syntax, and using "\file" instead of "@file"
+ */
+
+#define NN                      255
+#define MAX_ERROR_WORD_COUNT     68
+
+/* GF add (a + b) */
+#define GfAdd(a,b) \
+   ((a) ^ (b))
+
+/* GF multiply (a * b) */
+#define GfMult(a,b) \
+   (((a) == 0 || (b) == 0) ? 0 : antilog301[(log301[(a)] + log301[(b)]) % NN])
+
+/* GF multiply by antilog (a * alpha**b) */
+#define GfMultAntilog(a,b) \
+   (((a) == 0) ? 0 : antilog301[(log301[(a)] + (b)) % NN])
+
+/* GF(256) log values using primitive polynomial 301 */
+static DmtxByte log301[] =
+   { 255,   0,   1, 240,   2, 225, 241,  53,   3,  38, 226, 133, 242,  43,  54, 210,
+       4, 195,  39, 114, 227, 106, 134,  28, 243, 140,  44,  23,  55, 118, 211, 234,
+       5, 219, 196,  96,  40, 222, 115, 103, 228,  78, 107, 125, 135,   8,  29, 162,
+     244, 186, 141, 180,  45,  99,  24,  49,  56,  13, 119, 153, 212, 199, 235,  91,
+       6,  76, 220, 217, 197,  11,  97, 184,  41,  36, 223, 253, 116, 138, 104, 193,
+     229,  86,  79, 171, 108, 165, 126, 145, 136,  34,   9,  74,  30,  32, 163,  84,
+     245, 173, 187, 204, 142,  81, 181, 190,  46,  88, 100, 159,  25, 231,  50, 207,
+      57, 147,  14,  67, 120, 128, 154, 248, 213, 167, 200,  63, 236, 110,  92, 176,
+       7, 161,  77, 124, 221, 102, 218,  95, 198,  90,  12, 152,  98,  48, 185, 179,
+      42, 209,  37, 132, 224,  52, 254, 239, 117, 233, 139,  22, 105,  27, 194, 113,
+     230, 206,  87, 158,  80, 189, 172, 203, 109, 175, 166,  62, 127, 247, 146,  66,
+     137, 192,  35, 252,  10, 183,  75, 216,  31,  83,  33,  73, 164, 144,  85, 170,
+     246,  65, 174,  61, 188, 202, 205, 157, 143, 169,  82,  72, 182, 215, 191, 251,
+      47, 178,  89, 151, 101,  94, 160, 123,  26, 112, 232,  21,  51, 238, 208, 131,
+      58,  69, 148,  18,  15,  16,  68,  17, 121, 149, 129,  19, 155,  59, 249,  70,
+     214, 250, 168,  71, 201, 156,  64,  60, 237, 130, 111,  20,  93, 122, 177, 150 };
+
+/* GF(256) antilog values using primitive polynomial 301 */
+static DmtxByte antilog301[] =
+   {   1,   2,   4,   8,  16,  32,  64, 128,  45,  90, 180,  69, 138,  57, 114, 228,
+     229, 231, 227, 235, 251, 219, 155,  27,  54, 108, 216, 157,  23,  46,  92, 184,
+      93, 186,  89, 178,  73, 146,   9,  18,  36,  72, 144,  13,  26,  52, 104, 208,
+     141,  55, 110, 220, 149,   7,  14,  28,  56, 112, 224, 237, 247, 195, 171, 123,
+     246, 193, 175, 115, 230, 225, 239, 243, 203, 187,  91, 182,  65, 130,  41,  82,
+     164, 101, 202, 185,  95, 190,  81, 162, 105, 210, 137,  63, 126, 252, 213, 135,
+      35,  70, 140,  53, 106, 212, 133,  39,  78, 156,  21,  42,  84, 168, 125, 250,
+     217, 159,  19,  38,  76, 152,  29,  58, 116, 232, 253, 215, 131,  43,  86, 172,
+     117, 234, 249, 223, 147,  11,  22,  44,  88, 176,  77, 154,  25,  50, 100, 200,
+     189,  87, 174, 113, 226, 233, 255, 211, 139,  59, 118, 236, 245, 199, 163, 107,
+     214, 129,  47,  94, 188,  85, 170, 121, 242, 201, 191,  83, 166,  97, 194, 169,
+     127, 254, 209, 143,  51, 102, 204, 181,  71, 142,  49,  98, 196, 165, 103, 206,
+     177,  79, 158,  17,  34,  68, 136,  61, 122, 244, 197, 167,  99, 198, 161, 111,
+     222, 145,  15,  30,  60, 120, 240, 205, 183,  67, 134,  33,  66, 132,  37,  74,
+     148,   5,  10,  20,  40,  80, 160, 109, 218, 153,  31,  62, 124, 248, 221, 151,
+       3,   6,  12,  24,  48,  96, 192, 173, 119, 238, 241, 207, 179,  75, 150,   0 };
+
+/**
+ * Decode xyz.
+ * More detailed description.
+ * \param code
+ * \param sizeIdx
+ * \param fix
+ * \return Function success (DmtxPass|DmtxFail)
+ */
+#undef CHKPASS
+#define CHKPASS { if(passFail == DmtxFail) return DmtxFail; }
+static DmtxPassFail
+RsDecode(unsigned char *code, int sizeIdx, int fix)
+{
+   int i;
+   int blockStride, blockIdx;
+   int blockDataWords, blockErrorWords, blockTotalWords, blockMaxCorrectable;
+   int symbolDataWords, symbolErrorWords, symbolTotalWords;
+   DmtxBoolean error, repairable;
+   DmtxPassFail passFail;
+   unsigned char *word;
+   DmtxByte elpStorage[MAX_ERROR_WORD_COUNT];
+   DmtxByte synStorage[MAX_ERROR_WORD_COUNT+1];
+   DmtxByte recStorage[NN];
+   DmtxByte locStorage[NN];
+   DmtxByteList elp = dmtxByteListBuild(elpStorage, sizeof(elpStorage));
+   DmtxByteList syn = dmtxByteListBuild(synStorage, sizeof(synStorage));
+   DmtxByteList rec = dmtxByteListBuild(recStorage, sizeof(recStorage));
+   DmtxByteList loc = dmtxByteListBuild(locStorage, sizeof(locStorage));
+
+   blockStride = dmtxGetSymbolAttribute(DmtxSymAttribInterleavedBlocks, sizeIdx);
+   blockErrorWords = dmtxGetSymbolAttribute(DmtxSymAttribBlockErrorWords, sizeIdx);
+   blockMaxCorrectable = dmtxGetSymbolAttribute(DmtxSymAttribBlockMaxCorrectable, sizeIdx);
+   symbolDataWords = dmtxGetSymbolAttribute(DmtxSymAttribSymbolDataWords, sizeIdx);
+   symbolErrorWords = dmtxGetSymbolAttribute(DmtxSymAttribSymbolErrorWords, sizeIdx);
+   symbolTotalWords = symbolDataWords + symbolErrorWords;
+
+   /* For each interleaved block */
+   for(blockIdx = 0; blockIdx < blockStride; blockIdx++)
+   {
+      /* Data word count depends on blockIdx due to special case at 144x144 */
+      blockDataWords = dmtxGetBlockDataSize(sizeIdx, blockIdx);
+      blockTotalWords = blockErrorWords + blockDataWords;
+
+      /* Populate received list (rec) with data and error codewords */
+      dmtxByteListInit(&rec, 0, 0, &passFail); CHKPASS;
+
+      /* Start with final error word and work backward */
+      word = code + symbolTotalWords + blockIdx - blockStride;
+      for(i = 0; i < blockErrorWords; i++)
+      {
+         dmtxByteListPush(&rec, *word, &passFail); CHKPASS;
+         word -= blockStride;
+      }
+
+      /* Start with final data word and work backward */
+      word = code + blockIdx + (blockStride * (blockDataWords - 1));
+      for(i = 0; i < blockDataWords; i++)
+      {
+         dmtxByteListPush(&rec, *word, &passFail); CHKPASS;
+         word -= blockStride;
+      }
+
+      /* Compute syndromes (syn) */
+      error = RsComputeSyndromes(&syn, &rec, blockErrorWords);
+
+      /* Error(s) detected: Attempt repair */
+      if(error)
+      {
+         /* Find error locator polynomial (elp) */
+         repairable = RsFindErrorLocatorPoly(&elp, &syn, blockErrorWords, blockMaxCorrectable);
+         if(!repairable)
+            return DmtxFail;
+
+         /* Find error positions (loc) */
+         repairable = RsFindErrorLocations(&loc, &elp);
+         if(!repairable)
+            return DmtxFail;
+
+         /* Find error values and repair */
+         RsRepairErrors(&rec, &loc, &elp, &syn);
+      }
+
+      /*
+       * Overwrite output with correct/corrected values
+       */
+
+      /* Start with first data word and work forward */
+      word = code + blockIdx;
+      for(i = 0; i < blockDataWords; i++)
+      {
+         *word = dmtxByteListPop(&rec, &passFail); CHKPASS;
+         word += blockStride;
+      }
+
+      /* Start with first error word and work forward */
+      word = code + symbolDataWords + blockIdx;
+      for(i = 0; i < blockErrorWords; i++)
+      {
+         *word = dmtxByteListPop(&rec, &passFail); CHKPASS;
+         word += blockStride;
+      }
+   }
+
+   return DmtxPass;
+}
+
+/**
+ * Populate generator polynomial.
+ * Assume we have received bits grouped into mm-bit symbols in rec[i],
+ * i=0..(nn-1),  and rec[i] is index form (ie as powers of alpha). We first
+ * compute the 2*tt syndromes by substituting alpha**i into rec(X) and
+ * evaluating, storing the syndromes in syn[i], i=1..2tt (leave syn[0] zero).
+ * \param syn
+ * \param rec
+ * \param blockErrorWords
+ * \return Are error(s) present? (DmtxPass|DmtxFail)
+ */
+/* XXX this CHKPASS isn't doing what we want ... really need a error reporting strategy */
+#undef CHKPASS
+#define CHKPASS { if(passFail == DmtxFail) return DmtxTrue; }
+static DmtxBoolean
+RsComputeSyndromes(DmtxByteList *syn, const DmtxByteList *rec, int blockErrorWords)
+{
+   int i, j;
+   DmtxPassFail passFail;
+   DmtxBoolean error = DmtxFalse;
+
+   /* Initialize all coefficients to 0 */
+   dmtxByteListInit(syn, blockErrorWords + 1, 0, &passFail); CHKPASS;
+
+   for(i = 1; i < syn->length; i++)
+   {
+      /* Calculate syndrome at i */
+      for(j = 0; j < rec->length; j++) /* alternatively: j < blockTotalWords */
+         syn->b[i] = GfAdd(syn->b[i], GfMultAntilog(rec->b[j], i*j));
+
+      /* Non-zero syndrome indicates presence of error(s) */
+      if(syn->b[i] != 0)
+         error = DmtxTrue;
+   }
+
+   return error;
+}
+
+/**
+ * Find the error location polynomial using Berlekamp-Massey.
+ * More detailed description.
+ * \param elpOut
+ * \param syn
+ * \param errorWordCount
+ * \param maxCorrectable
+ * \return Is block repairable? (DmtxTrue|DmtxFalse)
+ */
+/* XXX this CHKPASS isn't doing what we want ... really need a error reporting strategy */
+#undef CHKPASS
+#define CHKPASS { if(passFail == DmtxFail) { free(elpStorage_temp); return DmtxFalse; } }
+static DmtxBoolean
+RsFindErrorLocatorPoly(DmtxByteList *elpOut, const DmtxByteList *syn, int errorWordCount, int maxCorrectable)
+{
+   int i, iNext, j;
+   int m, mCmp, lambda;
+   DmtxByte disTmp, disStorage[MAX_ERROR_WORD_COUNT+1];
+   DmtxByte *elpStorage_temp = malloc(sizeof(DmtxByte) * (MAX_ERROR_WORD_COUNT+2) * MAX_ERROR_WORD_COUNT); DmtxByte (*elpStorage)[MAX_ERROR_WORD_COUNT] = (DmtxByte (*)[MAX_ERROR_WORD_COUNT]) elpStorage_temp; // [MAX_ERROR_WORD_COUNT+2][MAX_ERROR_WORD_COUNT];
+   DmtxByteList dis, elp[MAX_ERROR_WORD_COUNT+2];
+   DmtxPassFail passFail;
+
+   dis = dmtxByteListBuild(disStorage, sizeof(disStorage));
+   dmtxByteListInit(&dis, 0, 0, &passFail); CHKPASS;
+
+   for(i = 0; i < MAX_ERROR_WORD_COUNT + 2; i++)
+   {
+      elp[i] = dmtxByteListBuild(elpStorage[i], sizeof(elpStorage[i]));
+      dmtxByteListInit(&elp[i], 0, 0, &passFail); CHKPASS;
+   }
+
+   /* iNext = 0 */
+   dmtxByteListPush(&elp[0], 1, &passFail); CHKPASS;
+   dmtxByteListPush(&dis, 1, &passFail); CHKPASS;
+
+   /* iNext = 1 */
+   dmtxByteListPush(&elp[1], 1, &passFail); CHKPASS;
+   dmtxByteListPush(&dis, syn->b[1], &passFail); CHKPASS;
+
+   for(iNext = 2, i = 1; /* explicit break */; i = iNext++)
+   {
+      if(dis.b[i] == 0)
+      {
+         /* Simple case: Copy directly from previous iteration */
+         dmtxByteListCopy(&elp[iNext], &elp[i], &passFail); CHKPASS;
+      }
+      else
+      {
+         /* Find earlier iteration (m) that provides maximal (m - lambda) */
+         for(m = 0, mCmp = 1; mCmp < i; mCmp++)
+            if(dis.b[mCmp] != 0 && (mCmp - elp[mCmp].length) >= (m - elp[m].length))
+               m = mCmp;
+
+         /* Calculate error location polynomial elp[i] (set 1st term) */
+         for(lambda = elp[m].length - 1, j = 0; j <= lambda; j++)
+            elp[iNext].b[j+i-m] = antilog301[(NN - log301[dis.b[m]] +
+                  log301[dis.b[i]] + log301[elp[m].b[j]]) % NN];
+
+         /* Calculate error location polynomial elp[i] (add 2nd term) */
+         for(lambda = elp[i].length - 1, j = 0; j <= lambda; j++)
+            elp[iNext].b[j] = GfAdd(elp[iNext].b[j], elp[i].b[j]);
+
+         elp[iNext].length = max(elp[i].length, elp[m].length + i - m);
+      }
+
+      lambda = elp[iNext].length - 1;
+      if(i == errorWordCount || i >= lambda + maxCorrectable)
+         break;
+
+      /* Calculate discrepancy dis.b[i] */
+      for(disTmp = syn->b[iNext], j = 1; j <= lambda; j++)
+         disTmp = GfAdd(disTmp, GfMult(syn->b[iNext-j], elp[iNext].b[j]));
+
+      assert(dis.length == iNext);
+      dmtxByteListPush(&dis, disTmp, &passFail); CHKPASS;
+   }
+
+   dmtxByteListCopy(elpOut, &elp[iNext], &passFail); CHKPASS;
+
+   free(elpStorage_temp);
+
+   return (lambda <= maxCorrectable) ? DmtxTrue : DmtxFalse;
+}
+
+/**
+ * Find roots of the error locator polynomial (Chien Search).
+ * If the degree of elp is <= tt, we substitute alpha**i, i=1..n into the elp
+ * to get the roots, hence the inverse roots, the error location numbers.
+ * If the number of errors located does not equal the degree of the elp, we
+ * have more than tt errors and cannot correct them.
+ * \param loc
+ * \param elp
+ * \return Is block repairable? (DmtxTrue|DmtxFalse)
+ */
+#undef CHKPASS
+#define CHKPASS { if(passFail == DmtxFail) return DmtxFalse; }
+static DmtxBoolean
+RsFindErrorLocations(DmtxByteList *loc, const DmtxByteList *elp)
+{
+   int i, j;
+   int lambda = elp->length - 1;
+   DmtxPassFail passFail;
+   DmtxByte q, regStorage[MAX_ERROR_WORD_COUNT];
+   DmtxByteList reg = dmtxByteListBuild(regStorage, sizeof(regStorage));
+
+   dmtxByteListCopy(&reg, elp, &passFail); CHKPASS;
+   dmtxByteListInit(loc, 0, 0, &passFail); CHKPASS;
+
+   for(i = 1; i <= NN; i++)
+   {
+      for(q = 1, j = 1; j <= lambda; j++)
+      {
+         reg.b[j] = GfMultAntilog(reg.b[j], j);
+         q = GfAdd(q, reg.b[j]);
+      }
+
+      if(q == 0)
+      {
+         dmtxByteListPush(loc, NN - i, &passFail); CHKPASS;
+      }
+   }
+
+   return (loc->length == lambda) ? DmtxTrue : DmtxFalse;
+}
+
+/**
+ * Find the error values and repair.
+ * Solve for the error value at the error location and correct the error. The
+ * procedure is that found in Lin and Costello.
+ * For the cases where the number of errors is known to be too large to
+ * correct, the information symbols as received are output (the advantage of
+ * systematic encoding is that hopefully some of the information symbols will
+ * be okay and that if we are in luck, the errors are in the parity part of
+ * the transmitted codeword).
+ * \param rec
+ * \param loc
+ * \param elp
+ * \param syn
+ */
+#undef CHKPASS
+#define CHKPASS { if(passFail == DmtxFail) return DmtxFail; }
+static DmtxPassFail
+RsRepairErrors(DmtxByteList *rec, const DmtxByteList *loc, const DmtxByteList *elp, const DmtxByteList *syn)
+{
+   int i, j, q;
+   int lambda = elp->length - 1;
+   DmtxPassFail passFail;
+   DmtxByte zVal, root, err;
+   DmtxByte zStorage[MAX_ERROR_WORD_COUNT+1];
+   DmtxByteList z = dmtxByteListBuild(zStorage, sizeof(zStorage));
+
+   /* Form polynomial z(x) */
+   dmtxByteListPush(&z, 1, &passFail); CHKPASS;
+   for(i = 1; i <= lambda; i++)
+   {
+      for(zVal = GfAdd(syn->b[i], elp->b[i]), j = 1; j < i; j++)
+         zVal= GfAdd(zVal, GfMult(elp->b[i-j], syn->b[j]));
+      dmtxByteListPush(&z, zVal, &passFail); CHKPASS;
+   }
+
+   for(i = 0; i < lambda; i++)
+   {
+      /* Calculate numerator of error term */
+      root = NN - loc->b[i];
+
+      for(err = 1, j = 1; j <= lambda; j++)
+         err = GfAdd(err, GfMultAntilog(z.b[j], j * root));
+
+      if(err == 0)
+         continue;
+
+      /* Calculate denominator of error term */
+      for(q = 0, j = 0; j < lambda; j++)
+      {
+         if(j != i)
+            q += log301[1 ^ antilog301[(loc->b[j] + root) % NN]];
+      }
+      q %= NN;
+
+      err = GfMultAntilog(err, NN - q);
+      rec->b[loc->b[i]] = GfAdd(rec->b[loc->b[i]], err);
+   }
+
+   return DmtxPass;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxscangrid.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxscangrid.c
+ * \brief Scan grid tracking
+ */
+
+/**
+ * \brief  Initialize scan grid pattern
+ * \param  dec
+ * \return Initialized grid
+ */
+static DmtxScanGrid
+InitScanGrid(DmtxDecode *dec)
+{
+   int scale, smallestFeature;
+   int xExtent, yExtent, maxExtent;
+   int extent;
+   DmtxScanGrid grid;
+
+   memset(&grid, 0x00, sizeof(DmtxScanGrid));
+
+   scale = dmtxDecodeGetProp(dec, DmtxPropScale);
+   smallestFeature = dmtxDecodeGetProp(dec, DmtxPropScanGap) / scale;
+
+   grid.xMin = dmtxDecodeGetProp(dec, DmtxPropXmin);
+   grid.xMax = dmtxDecodeGetProp(dec, DmtxPropXmax);
+   grid.yMin = dmtxDecodeGetProp(dec, DmtxPropYmin);
+   grid.yMax = dmtxDecodeGetProp(dec, DmtxPropYmax);
+
+   /* Values that get set once */
+   xExtent = grid.xMax - grid.xMin;
+   yExtent = grid.yMax - grid.yMin;
+   maxExtent = (xExtent > yExtent) ? xExtent : yExtent;
+
+   assert(maxExtent > 1);
+
+   for(extent = 1; extent < maxExtent; extent = ((extent + 1) * 2) - 1)
+      if(extent <= smallestFeature)
+         grid.minExtent = extent;
+
+   grid.maxExtent = extent;
+
+   grid.xOffset = (grid.xMin + grid.xMax - grid.maxExtent) / 2;
+   grid.yOffset = (grid.yMin + grid.yMax - grid.maxExtent) / 2;
+
+   /* Values that get reset for every level */
+   grid.total = 1;
+   grid.extent = grid.maxExtent;
+
+   SetDerivedFields(&grid);
+
+   return grid;
+}
+
+/**
+ * \brief  Return the next good location (which may be the current location),
+ *         and advance grid progress one position beyond that. If no good
+ *         locations remain then return DmtxRangeEnd.
+ * \param  grid
+ * \return void
+ */
+static int
+PopGridLocation(DmtxScanGrid *grid, DmtxPixelLoc *locPtr)
+{
+   int locStatus;
+
+   do {
+      locStatus = GetGridCoordinates(grid, locPtr);
+
+      /* Always leave grid pointing at next available location */
+      grid->pixelCount++;
+
+   } while(locStatus == DmtxRangeBad);
+
+   return locStatus;
+}
+
+/**
+ * \brief  Extract current grid position in pixel coordinates and return
+ *         whether location is good, bad, or end
+ * \param  grid
+ * \return Pixel location
+ */
+static int
+GetGridCoordinates(DmtxScanGrid *grid, DmtxPixelLoc *locPtr)
+{
+   int count, half, quarter;
+   DmtxPixelLoc loc;
+
+   /* Initially pixelCount may fall beyond acceptable limits. Update grid
+    * state before testing coordinates */
+
+   /* Jump to next cross pattern horizontally if current column is done */
+   if(grid->pixelCount >= grid->pixelTotal) {
+      grid->pixelCount = 0;
+      grid->xCenter += grid->jumpSize;
+   }
+
+   /* Jump to next cross pattern vertically if current row is done */
+   if(grid->xCenter > grid->maxExtent) {
+      grid->xCenter = grid->startPos;
+      grid->yCenter += grid->jumpSize;
+   }
+
+   /* Increment level when vertical step goes too far */
+   if(grid->yCenter > grid->maxExtent) {
+      grid->total *= 4;
+      grid->extent /= 2;
+      SetDerivedFields(grid);
+   }
+
+   if(grid->extent == 0 || grid->extent < grid->minExtent) {
+      locPtr->X = locPtr->Y = -1;
+      return DmtxRangeEnd;
+   }
+
+   count = grid->pixelCount;
+
+   assert(count < grid->pixelTotal);
+
+   if(count == grid->pixelTotal - 1) {
+      /* center pixel */
+      loc.X = grid->xCenter;
+      loc.Y = grid->yCenter;
+   }
+   else {
+      half = grid->pixelTotal / 2;
+      quarter = half / 2;
+
+      /* horizontal portion */
+      if(count < half) {
+         loc.X = grid->xCenter + ((count < quarter) ? (count - quarter) : (half - count));
+         loc.Y = grid->yCenter;
+      }
+      /* vertical portion */
+      else {
+         count -= half;
+         loc.X = grid->xCenter;
+         loc.Y = grid->yCenter + ((count < quarter) ? (count - quarter) : (half - count));
+      }
+   }
+
+   loc.X += grid->xOffset;
+   loc.Y += grid->yOffset;
+
+   *locPtr = loc;
+
+   if(loc.X < grid->xMin || loc.X > grid->xMax ||
+         loc.Y < grid->yMin || loc.Y > grid->yMax)
+      return DmtxRangeBad;
+
+   return DmtxRangeGood;
+}
+
+/**
+ * \brief  Update derived fields based on current state
+ * \param  grid
+ * \return void
+ */
+static void
+SetDerivedFields(DmtxScanGrid *grid)
+{
+   grid->jumpSize = grid->extent + 1;
+   grid->pixelTotal = 2 * grid->extent - 1;
+   grid->startPos = grid->extent / 2;
+   grid->pixelCount = 0;
+   grid->xCenter = grid->yCenter = grid->startPos;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtximage.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtximage.c
+ * \brief Image handling
+ */
+
+/**
+ * libdmtx stores image data as a large one-dimensional array of packed pixels,
+ * reading from the array when scanning barcodes and writing to it when creating
+ * a barcode. Beyond this interaction the calling program is responsible for
+ * populating and dispatching pixels between the image array and the outside
+ * world, whether that means loading an image from a file, acquiring camera
+ * input, displaying output to a screen, saving to disk, etc...
+ *
+ * By default, libdmtx treats the first pixel of an image array as the top-left
+ * corner of the physical image, with the final pixel landing at the bottom-
+ * right. However, if mapping a pixel buffer this way produces an inverted
+ * image the calling program can specify DmtxFlipY at image creation time to
+ * remove the inversion. This has a negligible effect on performance since it
+ * only modifies the pixel mapping math, and does not alter any pixel data.
+ *
+ * Regardless of how an image is stored internally, all libdmtx functions
+ * consider coordinate (0,0) to mathematically represent the bottom-left pixel
+ * location of an image using a right-handed coordinate system.
+ *
+ *                (0,HEIGHT-1)        (WIDTH-1,HEIGHT-1)
+ *
+ *          array pos = 0,1,2,3,...-----------+
+ *                      |                     |
+ *                      |                     |
+ *                      |       libdmtx       |
+ *                      |        image        |
+ *                      |     coordinates     |
+ *                      |                     |
+ *                      |                     |
+ *                      +---------...,N-2,N-1,N = array pos
+ *
+ *                    (0,0)              (WIDTH-1,0)
+ *
+ * Notes:
+ *   - OpenGL pixel arrays obtained with glReadPixels() are stored
+ *     bottom-to-top; use DmtxFlipY
+ *   - Many popular image formats (e.g., PNG, GIF) store rows
+ *     top-to-bottom; use DmtxFlipNone
+ */
+
+/**
+ * \brief  XXX
+ * \param  XXX
+ * \return XXX
+ */
+extern DmtxImage *
+dmtxImageCreate(unsigned char *pxl, int width, int height, int pack)
+{
+   DmtxPassFail err;
+   DmtxImage *img;
+
+   if(pxl == NULL || width < 1 || height < 1)
+      return NULL;
+
+   img = (DmtxImage *)calloc(1, sizeof(DmtxImage));
+   if(img == NULL)
+      return NULL;
+
+   img->pxl = pxl;
+   img->width = width;
+   img->height = height;
+   img->pixelPacking = pack;
+   img->bitsPerPixel = GetBitsPerPixel(pack);
+   img->bytesPerPixel = img->bitsPerPixel/8;
+   img->rowPadBytes = 0;
+   img->rowSizeBytes = img->width * img->bytesPerPixel + img->rowPadBytes;
+   img->imageFlip = DmtxFlipNone;
+
+   /* Leave channelStart[] and bitsPerChannel[] with zeros from calloc */
+   img->channelCount = 0;
+
+   switch(pack) {
+      case DmtxPackCustom:
+         break;
+      case DmtxPack1bppK:
+         err = dmtxImageSetChannel(img, 0, 1);
+         return NULL; /* unsupported packing order */
+/*       break; */
+      case DmtxPack8bppK:
+         err = dmtxImageSetChannel(img, 0, 8);
+         break;
+      case DmtxPack16bppRGB:
+      case DmtxPack16bppBGR:
+      case DmtxPack16bppYCbCr:
+         err = dmtxImageSetChannel(img,  0, 5);
+         err = dmtxImageSetChannel(img,  5, 5);
+         err = dmtxImageSetChannel(img, 10, 5);
+         break;
+      case DmtxPack24bppRGB:
+      case DmtxPack24bppBGR:
+      case DmtxPack24bppYCbCr:
+      case DmtxPack32bppRGBX:
+      case DmtxPack32bppBGRX:
+         err = dmtxImageSetChannel(img,  0, 8);
+         err = dmtxImageSetChannel(img,  8, 8);
+         err = dmtxImageSetChannel(img, 16, 8);
+         break;
+      case DmtxPack16bppRGBX:
+      case DmtxPack16bppBGRX:
+         err = dmtxImageSetChannel(img,  0, 5);
+         err = dmtxImageSetChannel(img,  5, 5);
+         err = dmtxImageSetChannel(img, 10, 5);
+         break;
+      case DmtxPack16bppXRGB:
+      case DmtxPack16bppXBGR:
+         err = dmtxImageSetChannel(img,  1, 5);
+         err = dmtxImageSetChannel(img,  6, 5);
+         err = dmtxImageSetChannel(img, 11, 5);
+         break;
+      case DmtxPack32bppXRGB:
+      case DmtxPack32bppXBGR:
+         err = dmtxImageSetChannel(img,  8, 8);
+         err = dmtxImageSetChannel(img, 16, 8);
+         err = dmtxImageSetChannel(img, 24, 8);
+         break;
+      case DmtxPack32bppCMYK:
+         err = dmtxImageSetChannel(img,  0, 8);
+         err = dmtxImageSetChannel(img,  8, 8);
+         err = dmtxImageSetChannel(img, 16, 8);
+         err = dmtxImageSetChannel(img, 24, 8);
+         break;
+      default:
+         return NULL;
+   }
+
+   return img;
+}
+
+/**
+ * \brief  Free libdmtx image memory
+ * \param  img pointer to img location
+ * \return DmtxFail | DmtxPass
+ */
+extern DmtxPassFail
+dmtxImageDestroy(DmtxImage **img)
+{
+   if(img == NULL || *img == NULL)
+      return DmtxFail;
+
+   free(*img);
+
+   *img = NULL;
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+extern DmtxPassFail
+dmtxImageSetChannel(DmtxImage *img, int channelStart, int bitsPerChannel)
+{
+   if(img->channelCount >= 4) /* IMAGE_MAX_CHANNEL */
+      return DmtxFail;
+
+   /* New channel extends beyond pixel data */
+/* if(channelStart + bitsPerChannel > img->bitsPerPixel)
+      return DmtxFail; */
+
+   img->bitsPerChannel[img->channelCount] = bitsPerChannel;
+   img->channelStart[img->channelCount] = channelStart;
+   (img->channelCount)++;
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Set image property
+ * \param  img pointer to image
+ * \return image width
+ */
+extern DmtxPassFail
+dmtxImageSetProp(DmtxImage *img, int prop, int value)
+{
+   if(img == NULL)
+      return DmtxFail;
+
+   switch(prop) {
+      case DmtxPropRowPadBytes:
+         img->rowPadBytes = value;
+         img->rowSizeBytes = img->width * (img->bitsPerPixel/8) + img->rowPadBytes;
+         break;
+      case DmtxPropImageFlip:
+         img->imageFlip = value;
+         break;
+      default:
+         break;
+   }
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Get image width
+ * \param  img pointer to image
+ * \return image width
+ */
+extern int
+dmtxImageGetProp(DmtxImage *img, int prop)
+{
+   if(img == NULL)
+      return DmtxUndefined;
+
+   switch(prop) {
+      case DmtxPropWidth:
+         return img->width;
+      case DmtxPropHeight:
+         return img->height;
+      case DmtxPropPixelPacking:
+         return img->pixelPacking;
+      case DmtxPropBitsPerPixel:
+         return img->bitsPerPixel;
+      case DmtxPropBytesPerPixel:
+         return img->bytesPerPixel;
+      case DmtxPropRowPadBytes:
+         return img->rowPadBytes;
+      case DmtxPropRowSizeBytes:
+         return img->rowSizeBytes;
+      case DmtxPropImageFlip:
+         return img->imageFlip;
+      case DmtxPropChannelCount:
+         return img->channelCount;
+      default:
+         break;
+   }
+
+   return DmtxUndefined;
+}
+
+/**
+ * \brief  Returns pixel offset for image
+ * \param  img
+ * \param  x coordinate
+ * \param  y coordinate
+ * \return pixel byte offset
+ */
+extern int
+dmtxImageGetByteOffset(DmtxImage *img, int x, int y)
+{
+   assert(img != NULL);
+   assert(!(img->imageFlip & DmtxFlipX)); /* DmtxFlipX is not an option */
+
+   if(dmtxImageContainsInt(img, 0, x, y) == DmtxFalse)
+      return DmtxUndefined;
+
+   if(img->imageFlip & DmtxFlipY)
+      return (y * img->rowSizeBytes + x * img->bytesPerPixel);
+
+   return ((img->height - y - 1) * img->rowSizeBytes + x * img->bytesPerPixel);
+}
+
+/**
+ *
+ *
+ */
+extern DmtxPassFail
+dmtxImageGetPixelValue(DmtxImage *img, int x, int y, int channel, int *value)
+{
+   int offset;
+/* unsigned char *pixelPtr;
+   int pixelValue;
+   int mask;
+   int bitShift; */
+
+   assert(img != NULL);
+   assert(channel < img->channelCount);
+
+   offset = dmtxImageGetByteOffset(img, x, y);
+   if(offset == DmtxUndefined)
+      return DmtxFail;
+
+   switch(img->bitsPerChannel[channel]) {
+      case 1:
+/*       assert(img->bitsPerPixel == 1);
+         mask = 0x01 << (7 - offset%8);
+         *value = (img->pxl[offset/8] & mask) ? 255 : 0; */
+         break;
+      case 5:
+         /* XXX might be expensive if we want to scale perfect 0-255 range */
+/*       assert(img->bitsPerPixel == 16);
+         pixelPtr = img->pxl + (offset * (img->bitsPerPixel/8));
+         pixelValue = (*pixelPtr << 8) | (*(pixelPtr+1));
+         bitShift = img->bitsPerPixel - 5 - img->channelStart[channel];
+         mask = 0x1f << bitShift;
+         *value = (((pixelValue & mask) >> bitShift) << 3); */
+         break;
+      case 8:
+         assert(img->channelStart[channel] % 8 == 0);
+         assert(img->bitsPerPixel % 8 == 0);
+         *value = img->pxl[offset + channel];
+         break;
+   }
+
+   return DmtxPass;
+}
+
+/**
+ *
+ *
+ */
+extern DmtxPassFail
+dmtxImageSetPixelValue(DmtxImage *img, int x, int y, int channel, int value)
+{
+   int offset;
+/* unsigned char *pixelPtr; */
+/* int pixelValue; */
+/* int mask; */
+/* int bitShift; */
+
+   assert(img != NULL);
+   assert(channel < img->channelCount);
+
+   offset = dmtxImageGetByteOffset(img, x, y);
+   if(offset == DmtxUndefined)
+      return DmtxFail;
+
+   switch(img->bitsPerChannel[channel]) {
+      case 1:
+/*       assert(img->bitsPerPixel == 1);
+         mask = 0x01 << (7 - offset%8);
+         *value = (img->pxl[offset/8] & mask) ? 255 : 0; */
+         break;
+      case 5:
+         /* XXX might be expensive if we want to scale perfect 0-255 range */
+/*       assert(img->bitsPerPixel == 16);
+         pixelPtr = img->pxl + (offset * (img->bitsPerPixel/8));
+         pixelValue = (*pixelPtr << 8) | (*(pixelPtr+1));
+         bitShift = img->bitsPerPixel - 5 - img->channelStart[channel];
+         mask = 0x1f << bitShift;
+         *value = (((pixelValue & mask) >> bitShift) << 3); */
+         break;
+      case 8:
+         assert(img->channelStart[channel] % 8 == 0);
+         assert(img->bitsPerPixel % 8 == 0);
+         img->pxl[offset + channel] = value;
+         break;
+   }
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Test whether image contains a coordinate expressed in integers
+ * \param  img
+ * \param  margin width
+ * \param  x coordinate
+ * \param  y coordinate
+ * \return DmtxTrue | DmtxFalse
+ */
+extern DmtxBoolean
+dmtxImageContainsInt(DmtxImage *img, int margin, int x, int y)
+{
+   assert(img != NULL);
+
+   if(x - margin >= 0 && x + margin < img->width &&
+         y - margin >= 0 && y + margin < img->height)
+      return DmtxTrue;
+
+   return DmtxFalse;
+}
+
+/**
+ * \brief  Test whether image contains a coordinate expressed in floating points
+ * \param  img
+ * \param  x coordinate
+ * \param  y coordinate
+ * \return DmtxTrue | DmtxFalse
+ */
+extern DmtxBoolean
+dmtxImageContainsFloat(DmtxImage *img, float x, float y)
+{
+   assert(img != NULL);
+
+   if(x >= 0.0 && x < (float)img->width && y >= 0.0 && y < (float)img->height)
+      return DmtxTrue;
+
+   return DmtxFalse;
+}
+
+/**
+ *
+ *
+ */
+static int
+GetBitsPerPixel(int pack)
+{
+   switch(pack) {
+      case DmtxPack1bppK:
+         return 1;
+      case DmtxPack8bppK:
+         return 8;
+      case DmtxPack16bppRGB:
+      case DmtxPack16bppRGBX:
+      case DmtxPack16bppXRGB:
+      case DmtxPack16bppBGR:
+      case DmtxPack16bppBGRX:
+      case DmtxPack16bppXBGR:
+      case DmtxPack16bppYCbCr:
+         return 16;
+      case DmtxPack24bppRGB:
+      case DmtxPack24bppBGR:
+      case DmtxPack24bppYCbCr:
+         return  24;
+      case DmtxPack32bppRGBX:
+      case DmtxPack32bppXRGB:
+      case DmtxPack32bppBGRX:
+      case DmtxPack32bppXBGR:
+      case DmtxPack32bppCMYK:
+         return  32;
+      default:
+         break;
+   }
+
+   return DmtxUndefined;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxbytelist.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2010 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file file.c
+ */
+
+/**
+ *
+ *
+ */
+extern DmtxByteList
+dmtxByteListBuild(DmtxByte *storage, int capacity)
+{
+   DmtxByteList list;
+
+   list.b = storage;
+   list.capacity = capacity;
+   list.length = 0;
+
+   return list;
+}
+
+/**
+ *
+ *
+ */
+extern void
+dmtxByteListInit(DmtxByteList *list, int length, DmtxByte value, DmtxPassFail *passFail)
+{
+   if(length > list->capacity)
+   {
+      *passFail = DmtxFail;
+   }
+   else
+   {
+      list->length = length;
+      memset(list->b, value, sizeof(DmtxByte) * list->capacity);
+      *passFail = DmtxPass;
+   }
+}
+
+/**
+ *
+ *
+ */
+extern void
+dmtxByteListClear(DmtxByteList *list)
+{
+   memset(list->b, 0x00, sizeof(DmtxByte) * list->capacity);
+   list->length = 0;
+}
+
+/**
+ *
+ *
+ */
+extern DmtxBoolean
+dmtxByteListHasCapacity(DmtxByteList *list)
+{
+   return (list->length < list->capacity) ? DmtxTrue : DmtxFalse;
+}
+
+/**
+ *
+ *
+ */
+extern void
+dmtxByteListCopy(DmtxByteList *dst, const DmtxByteList *src, DmtxPassFail *passFail)
+{
+   int length;
+
+   if(dst->capacity < src->length)
+   {
+      *passFail = DmtxFail; /* dst must be large enough to hold src data */
+   }
+   else
+   {
+      /* Copy as many bytes as dst can hold or src can provide (smaller of two) */
+      length = (dst->capacity < src->capacity) ? dst->capacity : src->capacity;
+
+      dst->length = src->length;
+      memcpy(dst->b, src->b, sizeof(unsigned char) * length);
+      *passFail = DmtxPass;
+   }
+}
+
+/**
+ *
+ *
+ */
+extern void
+dmtxByteListPush(DmtxByteList *list, DmtxByte value, DmtxPassFail *passFail)
+{
+   if(list->length >= list->capacity)
+   {
+      *passFail = DmtxFail;
+   }
+   else
+   {
+      list->b[list->length++] = value;
+      *passFail = DmtxPass;
+   }
+}
+
+/**
+ *
+ *
+ */
+extern DmtxByte
+dmtxByteListPop(DmtxByteList *list, DmtxPassFail *passFail)
+{
+   *passFail = (list->length > 0) ? DmtxPass : DmtxFail;
+
+   return list->b[--(list->length)];
+}
+
+/**
+ *
+ *
+ */
+extern void
+dmtxByteListPrint(DmtxByteList *list, char *prefix)
+{
+   int i;
+
+   if(prefix != NULL)
+      fprintf(stdout, "%s", prefix);
+
+   for(i = 0; i < list->length; i++)
+      fprintf(stdout, " %d", list->b[i]);
+
+   fputc('\n', stdout);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxvector2.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+* libdmtx - Data Matrix Encoding/Decoding Library
+* Copyright 2008, 2009 Mike Laughton. All rights reserved.
+*
+* See LICENSE file in the main project directory for full
+* terms of use and distribution.
+*
+* Contact: Mike Laughton <mike@dragonflylogic.com>
+*
+* \file dmtxvector2.c
+* \brief 2D Vector math
+*/
+
+/**
+*
+*
+*/
+extern DmtxVector2 *
+dmtxVector2AddTo(DmtxVector2 *v1, const DmtxVector2 *v2)
+{
+  v1->X += v2->X;
+  v1->Y += v2->Y;
+
+  return v1;
+}
+
+/**
+*
+*
+*/
+extern DmtxVector2 *
+dmtxVector2Add(DmtxVector2 *vOut, const DmtxVector2 *v1, const DmtxVector2 *v2)
+{
+  *vOut = *v1;
+
+  return dmtxVector2AddTo(vOut, v2);
+}
+
+/**
+*
+*
+*/
+extern DmtxVector2 *
+dmtxVector2SubFrom(DmtxVector2 *v1, const DmtxVector2 *v2)
+{
+  v1->X -= v2->X;
+  v1->Y -= v2->Y;
+
+  return v1;
+}
+
+/**
+*
+*
+*/
+extern DmtxVector2 *
+dmtxVector2Sub(DmtxVector2 *vOut, const DmtxVector2 *v1, const DmtxVector2 *v2)
+{
+  *vOut = *v1;
+
+  return dmtxVector2SubFrom(vOut, v2);
+}
+
+/**
+*
+*
+*/
+extern DmtxVector2 *
+dmtxVector2ScaleBy(DmtxVector2 *v, float s)
+{
+  v->X *= s;
+  v->Y *= s;
+
+  return v;
+}
+
+/**
+*
+*
+*/
+extern DmtxVector2 *
+dmtxVector2Scale(DmtxVector2 *vOut, const DmtxVector2 *v, float s)
+{
+  *vOut = *v;
+
+  return dmtxVector2ScaleBy(vOut, s);
+}
+
+/**
+*
+*
+*/
+extern float
+dmtxVector2Cross(const DmtxVector2 *v1, const DmtxVector2 *v2)
+{
+  return (v1->X * v2->Y) - (v1->Y * v2->X);
+}
+
+/**
+*
+*
+*/
+extern float
+dmtxVector2Norm(DmtxVector2 *v)
+{
+  float mag;
+
+  mag = dmtxVector2Mag(v);
+
+  if(mag <= DmtxAlmostZero)
+     return -1.0; /* XXX this doesn't look clean */
+
+  dmtxVector2ScaleBy(v, 1/mag);
+
+  return mag;
+}
+
+/**
+*
+*
+*/
+extern float
+dmtxVector2Dot(const DmtxVector2 *v1, const DmtxVector2 *v2)
+{
+  return (v1->X * v2->X) + (v1->Y * v2->Y);
+}
+
+/**
+*
+*
+*/
+extern float
+dmtxVector2Mag(const DmtxVector2 *v)
+{
+  return sqrt(v->X * v->X + v->Y * v->Y);
+}
+
+/**
+*
+*
+*/
+extern float
+dmtxDistanceFromRay2(const DmtxRay2 *r, const DmtxVector2 *q)
+{
+  DmtxVector2 vSubTmp;
+
+  /* Assumes that v is a unit vector */
+  assert(fabs(1.0 - dmtxVector2Mag(&(r->v))) <= DmtxAlmostZero);
+
+  return dmtxVector2Cross(&(r->v), dmtxVector2Sub(&vSubTmp, q, &(r->p)));
+}
+
+/**
+*
+*
+*/
+extern float
+dmtxDistanceAlongRay2(const DmtxRay2 *r, const DmtxVector2 *q)
+{
+  DmtxVector2 vSubTmp;
+
+#ifdef DEBUG
+  /* Assumes that v is a unit vector */
+  if(fabs(1.0 - dmtxVector2Mag(&(r->v))) > DmtxAlmostZero) {
+     ; /* XXX big error goes here */
+  }
+#endif
+
+  return dmtxVector2Dot(dmtxVector2Sub(&vSubTmp, q, &(r->p)), &(r->v));
+}
+
+/**
+*
+*
+*/
+extern DmtxPassFail
+dmtxRay2Intersect(DmtxVector2 *point, const DmtxRay2 *p0, const DmtxRay2 *p1)
+{
+  float numer, denom;
+  DmtxVector2 w;
+
+  denom = dmtxVector2Cross(&(p1->v), &(p0->v));
+  if(fabs(denom) <= DmtxAlmostZero)
+     return DmtxFail;
+
+  dmtxVector2Sub(&w, &(p1->p), &(p0->p));
+  numer = dmtxVector2Cross(&(p1->v), &w);
+
+  return dmtxPointAlongRay2(point, p0, numer/denom);
+}
+
+/**
+*
+*
+*/
+extern DmtxPassFail
+dmtxPointAlongRay2(DmtxVector2 *point, const DmtxRay2 *r, float t)
+{
+  DmtxVector2 vTmp;
+
+  /* Ray should always have unit length of 1 */
+  assert(fabs(1.0 - dmtxVector2Mag(&(r->v))) <= DmtxAlmostZero);
+
+  dmtxVector2Scale(&vTmp, &(r->v), t);
+  dmtxVector2Add(point, &(r->p), &vTmp);
+
+  return DmtxPass;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "dmtxmatrix3.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/**
+ * libdmtx - Data Matrix Encoding/Decoding Library
+ * Copyright 2008, 2009 Mike Laughton. All rights reserved.
+ *
+ * See LICENSE file in the main project directory for full
+ * terms of use and distribution.
+ *
+ * Contact: Mike Laughton <mike@dragonflylogic.com>
+ *
+ * \file dmtxmatrix3.c
+ * \brief 2D Matrix (3x3) math
+ */
+
+/**
+ * \brief  Copy matrix contents
+ * \param  m0 Copy target
+ * \param  m1 Copy source
+ * \return void
+ */
+extern void
+dmtxMatrix3Copy(DmtxMatrix3 m0, DmtxMatrix3 m1)
+{
+   memcpy(m0, m1, sizeof(DmtxMatrix3));
+}
+
+/**
+ * \brief  Generate identity transformation matrix
+ * \param  m Generated matrix
+ * \return void
+ *
+ *      | 1  0  0 |
+ *  m = | 0  1  0 |
+ *      | 0  0  1 |
+ *
+ *                  Transform "m"
+ *            (doesn't change anything)
+ *                       |\
+ *  (0,1)  x----o     +--+ \    (0,1)  x----o
+ *         |    |     |     \          |    |
+ *         |    |     |     /          |    |
+ *         +----*     +--+ /           +----*
+ *  (0,0)     (1,0)      |/     (0,0)     (1,0)
+ *
+ */
+extern void
+dmtxMatrix3Identity(DmtxMatrix3 m)
+{
+   static DmtxMatrix3 tmp = { {1, 0, 0},
+                              {0, 1, 0},
+                              {0, 0, 1} };
+   dmtxMatrix3Copy(m, tmp);
+}
+
+/**
+ * \brief  Generate translate transformation matrix
+ * \param  m Generated matrix
+ * \param  tx
+ * \param  ty
+ * \return void
+ *
+ *      | 1  0  0 |
+ *  m = | 0  1  0 |
+ *      | tx ty 1 |
+ *
+ *                  Transform "m"
+ *                      _____    (tx,1+ty)  x----o  (1+tx,1+ty)
+ *                      \   |               |    |
+ *  (0,1)  x----o       /   |      (0,1)  +-|--+ |
+ *         |    |      /  /\|             | +----*  (1+tx,ty)
+ *         |    |      \ /                |    |
+ *         +----*       `                 +----+
+ *  (0,0)     (1,0)                (0,0)     (1,0)
+ *
+ */
+void dmtxMatrix3Translate(DmtxMatrix3 m, float tx, float ty)
+{
+   dmtxMatrix3Identity(m);
+   m[2][0] = tx;
+   m[2][1] = ty;
+}
+
+/**
+ * \brief  Generate rotate transformation
+ * \param  m Generated matrix
+ * \param  angle
+ * \return void
+ *
+ *     |  cos(a)  sin(a)  0 |
+ * m = | -sin(a)  cos(a)  0 |
+ *     |  0       0       1 |
+ *                                       o
+ *                  Transform "m"      /   `
+ *                       ___         /       `
+ *  (0,1)  x----o      |/   \       x          *  (cos(a),sin(a))
+ *         |    |      '--   |       `        /
+ *         |    |        ___/          `    /  a
+ *         +----*                        `+  - - - - - -
+ *  (0,0)     (1,0)                     (0,0)
+ *
+ */
+extern void
+dmtxMatrix3Rotate(DmtxMatrix3 m, float angle)
+{
+   float sinAngle, cosAngle;
+
+   sinAngle = sin(angle);
+   cosAngle = cos(angle);
+
+   dmtxMatrix3Identity(m);
+   m[0][0] = cosAngle;
+   m[0][1] = sinAngle;
+   m[1][0] = -sinAngle;
+   m[1][1] = cosAngle;
+}
+
+/**
+ * \brief  Generate scale transformation matrix
+ * \param  m Generated matrix
+ * \param  sx
+ * \param  sy
+ * \return void
+ *
+ *     | sx 0  0 |
+ * m = | 0  sy 0 |
+ *     | 0  0  1 |
+ *
+ *                  Transform "m"
+ *                      _____     (0,sy)  x-------o (sx,sy)
+ *                      \   |             |       |
+ *  (0,1)  x----o       /   |      (0,1)  +----+  |
+ *         |    |      /  /\|             |    |  |
+ *         |    |      \ /                |    |  |
+ *         +----*       `                 +----+--*
+ *  (0,0)     (1,0)                (0,0)            (sx,0)
+ *
+ */
+extern void
+dmtxMatrix3Scale(DmtxMatrix3 m, float sx, float sy)
+{
+   dmtxMatrix3Identity(m);
+   m[0][0] = sx;
+   m[1][1] = sy;
+}
+
+/**
+ * \brief  Generate shear transformation matrix
+ * \param  m Generated matrix
+ * \param  shx
+ * \param  shy
+ * \return void
+ *
+ *     | 0    shy  0 |
+ * m = | shx  0    0 |
+ *     | 0    0    1 |
+ */
+extern void
+dmtxMatrix3Shear(DmtxMatrix3 m, float shx, float shy)
+{
+   dmtxMatrix3Identity(m);
+   m[1][0] = shx;
+   m[0][1] = shy;
+}
+
+/**
+ * \brief  Generate top line skew transformation
+ * \param  m
+ * \param  b0
+ * \param  b1
+ * \param  sz
+ * \return void
+ *
+ *     | b1/b0    0    (b1-b0)/(sz*b0) |
+ * m = |   0    sz/b0         0        |
+ *     |   0      0           1        |
+ *
+ *     (sz,b1)  o
+ *             /|    Transform "m"
+ *            / |
+ *           /  |        +--+
+ *          /   |        |  |
+ * (0,b0)  x    |        |  |
+ *         |    |      +-+  +-+
+ * (0,sz)  +----+       \    /    (0,sz)  x----o
+ *         |    |        \  /             |    |
+ *         |    |         \/              |    |
+ *         +----+                         +----+
+ *  (0,0)    (sz,0)                (0,0)    (sz,0)
+ *
+ */
+extern void
+dmtxMatrix3LineSkewTop(DmtxMatrix3 m, float b0, float b1, float sz)
+{
+   assert(b0 >= DmtxAlmostZero);
+
+   dmtxMatrix3Identity(m);
+   m[0][0] = b1/b0;
+   m[1][1] = sz/b0;
+   m[0][2] = (b1 - b0)/(sz*b0);
+}
+
+/**
+ * \brief  Generate top line skew transformation (inverse)
+ * \param  m
+ * \param  b0
+ * \param  b1
+ * \param  sz
+ * \return void
+ */
+extern void
+dmtxMatrix3LineSkewTopInv(DmtxMatrix3 m, float b0, float b1, float sz)
+{
+   assert(b1 >= DmtxAlmostZero);
+
+   dmtxMatrix3Identity(m);
+   m[0][0] = b0/b1;
+   m[1][1] = b0/sz;
+   m[0][2] = (b0 - b1)/(sz*b1);
+}
+
+/**
+ * \brief  Generate side line skew transformation
+ * \param  m
+ * \param  b0
+ * \param  b1
+ * \param  sz
+ * \return void
+ */
+extern void
+dmtxMatrix3LineSkewSide(DmtxMatrix3 m, float b0, float b1, float sz)
+{
+   assert(b0 >= DmtxAlmostZero);
+
+   dmtxMatrix3Identity(m);
+   m[0][0] = sz/b0;
+   m[1][1] = b1/b0;
+   m[1][2] = (b1 - b0)/(sz*b0);
+}
+
+/**
+ * \brief  Generate side line skew transformation (inverse)
+ * \param  m
+ * \param  b0
+ * \param  b1
+ * \param  sz
+ * \return void
+ */
+extern void
+dmtxMatrix3LineSkewSideInv(DmtxMatrix3 m, float b0, float b1, float sz)
+{
+   assert(b1 >= DmtxAlmostZero);
+
+   dmtxMatrix3Identity(m);
+   m[0][0] = b0/sz;
+   m[1][1] = b0/b1;
+   m[1][2] = (b0 - b1)/(sz*b1);
+}
+
+/**
+ * \brief  Multiply two matrices to create a third
+ * \param  mOut
+ * \param  m0
+ * \param  m1
+ * \return void
+ */
+extern void
+dmtxMatrix3Multiply(DmtxMatrix3 mOut, DmtxMatrix3 m0, DmtxMatrix3 m1)
+{
+   int i, j, k;
+   float val;
+
+   for(i = 0; i < 3; i++) {
+      for(j = 0; j < 3; j++) {
+         val = 0.0;
+         for(k = 0; k < 3; k++) {
+            val += m0[i][k] * m1[k][j];
+         }
+         mOut[i][j] = val;
+      }
+   }
+}
+
+/**
+ * \brief  Multiply two matrices in place
+ * \param  m0
+ * \param  m1
+ * \return void
+ */
+extern void
+dmtxMatrix3MultiplyBy(DmtxMatrix3 m0, DmtxMatrix3 m1)
+{
+   DmtxMatrix3 mTmp;
+
+   dmtxMatrix3Copy(mTmp, m0);
+   dmtxMatrix3Multiply(m0, mTmp, m1);
+}
+
+/**
+ * \brief  Multiply vector and matrix
+ * \param  vOut Vector (output)
+ * \param  vIn Vector (input)
+ * \param  m Matrix to be multiplied
+ * \return DmtxPass | DmtxFail
+ */
+extern int
+dmtxMatrix3VMultiply(DmtxVector2 *vOut, DmtxVector2 *vIn, DmtxMatrix3 m)
+{
+   float w;
+
+   w = vIn->X*m[0][2] + vIn->Y*m[1][2] + m[2][2];
+   if(fabs(w) <= DmtxAlmostZero) {
+      vOut->X = FLT_MAX;
+      vOut->Y = FLT_MAX;
+      return DmtxFail;
+   }
+
+   vOut->X = (vIn->X*m[0][0] + vIn->Y*m[1][0] + m[2][0])/w;
+   vOut->Y = (vIn->X*m[0][1] + vIn->Y*m[1][1] + m[2][1])/w;
+
+   return DmtxPass;
+}
+
+/**
+ * \brief  Multiply vector and matrix in place
+ * \param  v Vector (input and output)
+ * \param  m Matrix to be multiplied
+ * \return DmtxPass | DmtxFail
+ */
+extern int
+dmtxMatrix3VMultiplyBy(DmtxVector2 *v, DmtxMatrix3 m)
+{
+   int success;
+   DmtxVector2 vOut;
+
+   success = dmtxMatrix3VMultiply(&vOut, v, m);
+   *v = vOut;
+
+   return success;
+}
+
+/**
+ * \brief  Print matrix contents to STDOUT
+ * \param  m
+ * \return void
+ */
+extern void
+dmtxMatrix3Print(DmtxMatrix3 m)
+{
+   fprintf(stdout, "%8.8f\t%8.8f\t%8.8f\n", m[0][0], m[0][1], m[0][2]);
+   fprintf(stdout, "%8.8f\t%8.8f\t%8.8f\n", m[1][0], m[1][1], m[1][2]);
+   fprintf(stdout, "%8.8f\t%8.8f\t%8.8f\n", m[2][0], m[2][1], m[2][2]);
+   fprintf(stdout, "\n");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void imlib_find_datamatrices(list_t *out, image_t *ptr, rectangle_t *roi, int effort)
+{
+    uint8_t *grayscale_image = (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->data : fb_alloc(roi->w * roi->h, FB_ALLOC_NO_HINT);
+
+    if (ptr->pixfmt != PIXFORMAT_GRAYSCALE) {
+        image_t img;
+        img.w = roi->w;
+        img.h = roi->h;
+        img.pixfmt = PIXFORMAT_GRAYSCALE;
+        img.data = grayscale_image;
+        img.size = img.w * img.h;
+        imlib_pixfmt_to(&img, ptr, roi);
+      //   imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+    }
+
+    umm_init_x(fb_avail());
+
+    DmtxImage *image = dmtxImageCreate(grayscale_image,
+                                       (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->w : roi->w,
+                                       (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->h : roi->h,
+                                       DmtxPack8bppK);
+
+    DmtxDecode *decode = dmtxDecodeCreate(image, 1);
+    dmtxDecodeSetProp(decode, DmtxPropXmin, (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? roi->x : 0);
+    dmtxDecodeSetProp(decode, DmtxPropYmin, (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? roi->y : 0);
+    dmtxDecodeSetProp(decode, DmtxPropXmax, ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? roi->x : 0) + (roi->w - 1));
+    dmtxDecodeSetProp(decode, DmtxPropYmax, ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? roi->y : 0) + (roi->h - 1));
+
+    imlib_list_init(out, sizeof(find_datamatrices_list_lnk_data_t));
+
+    int max_iterations = effort;
+    int current_iterations = 0;
+    for (DmtxRegion *region = dmtxRegionFindNext(decode, max_iterations, &current_iterations); region; region = dmtxRegionFindNext(decode, max_iterations, &current_iterations)) {
+        DmtxMessage *message = dmtxDecodeMatrixRegion(decode, region, DmtxUndefined);
+
+        if (message) {
+            find_datamatrices_list_lnk_data_t lnk_data;
+
+            DmtxVector2 p[4];
+
+            p[0].X = p[0].Y = p[1].Y = p[3].X = 0.0;
+            p[1].X = p[3].Y = p[2].X = p[2].Y = 1.0;
+
+            dmtxMatrix3VMultiplyBy(&p[0], region->fit2raw);
+            dmtxMatrix3VMultiplyBy(&p[1], region->fit2raw);
+            dmtxMatrix3VMultiplyBy(&p[2], region->fit2raw);
+            dmtxMatrix3VMultiplyBy(&p[3], region->fit2raw);
+
+            int height = dmtxDecodeGetProp(decode, DmtxPropHeight);
+
+            rectangle_init(&(lnk_data.rect),
+                           fast_roundf(p[0].X) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x),
+                           height - 1 - fast_roundf(p[0].Y) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y), 0, 0);
+
+            for (size_t k = 1, l = (sizeof(p) / sizeof(p[0])); k < l; k++) {
+                rectangle_t temp;
+                rectangle_init(&temp, fast_roundf(p[k].X) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x),
+                        height - 1 - fast_roundf(p[k].Y) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y), 0, 0);
+                rectangle_united(&(lnk_data.rect), &temp);
+            }
+
+            // Add corners...
+            lnk_data.corners[0].x =              fast_roundf(p[3].X) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x); // top-left
+            lnk_data.corners[0].y = height - 1 - fast_roundf(p[3].Y) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y); // top-left
+            lnk_data.corners[1].x =              fast_roundf(p[2].X) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x); // top-right
+            lnk_data.corners[1].y = height - 1 - fast_roundf(p[2].Y) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y); // top-right
+            lnk_data.corners[2].x =              fast_roundf(p[1].X) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x); // bottom-right
+            lnk_data.corners[2].y = height - 1 - fast_roundf(p[1].Y) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y); // bottom-right
+            lnk_data.corners[3].x =              fast_roundf(p[0].X) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x); // bottom-left
+            lnk_data.corners[3].y = height - 1 - fast_roundf(p[0].Y) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y); // bottom-left
+
+            // Payload is NOT already null terminated.
+            lnk_data.payload_len = message->outputIdx;
+            lnk_data.payload = xalloc(message->outputIdx);
+            memcpy(lnk_data.payload, message->output, message->outputIdx);
+
+            int rotate = fast_roundf((((2 * M_PI) + fast_atan2f(p[1].Y - p[0].Y, p[1].X - p[0].X)) * 180) / M_PI);
+            if(rotate >= 360) rotate -= 360;
+
+            lnk_data.rotation = rotate;
+            lnk_data.rows = dmtxGetSymbolAttribute(DmtxSymAttribSymbolRows, region->sizeIdx);
+            lnk_data.columns = dmtxGetSymbolAttribute(DmtxSymAttribSymbolCols, region->sizeIdx);
+            lnk_data.capacity = dmtxGetSymbolAttribute(DmtxSymAttribSymbolDataWords, region->sizeIdx);
+            lnk_data.padding = message->padCount;
+
+            list_push_back(out, &lnk_data);
+
+            dmtxMessageDestroy(&message);
+        }
+
+        dmtxRegionDestroy(&region);
+    }
+
+    dmtxDecodeDestroy(&decode);
+    dmtxImageDestroy(&image);
+
+    fb_free(NULL); // umm_init_x();
+    if (ptr->pixfmt != PIXFORMAT_GRAYSCALE) {
+        fb_free(grayscale_image); // grayscale_image;
+    }
+}
+
+#pragma GCC diagnostic pop
+#endif //IMLIB_ENABLE_DATAMATRICES
diff --git a/github_source/minicv2/src/draw.c b/github_source/minicv2/src/draw.c
new file mode 100644
index 0000000..c4fa337
--- /dev/null
+++ b/github_source/minicv2/src/draw.c
@@ -0,0 +1,8226 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Basic drawing functions.
+ */
+#include "font.h"
+#include "imlib.h"
+#include "unaligned_memcpy.h"
+
+// #ifdef IMLIB_ENABLE_DMA2D
+// #include STM32_HAL_H
+// #include "dma.h"
+// #endif
+
+void* imlib_compute_row_ptr(const image_t *img, int y) {
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            return IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            return IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+        }
+        case PIXFORMAT_RGB565: {
+            return IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+        }
+        case PIXFORMAT_RGB888: {
+            return IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+        }
+        default: {
+            // This shouldn't happen, at least we return a valid memory block
+            return img->data;
+        }
+    }
+}
+inline int imlib_get_pixel(image_t *img, int x, int y)
+{
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            return IMAGE_GET_BINARY_PIXEL(img, x, y);
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            return IMAGE_GET_GRAYSCALE_PIXEL(img, x, y);
+        }
+        case PIXFORMAT_RGB565: {
+            return IMAGE_GET_RGB565_PIXEL(img, x, y);
+        }
+        case PIXFORMAT_RGB888: {
+            return pixel24232(IMAGE_GET_RGB888_PIXEL(img, x, y));
+        }
+        default: {
+            return -1;
+        }
+    }
+}
+inline int imlib_get_pixel_fast(image_t *img, const void *row_ptr, int x)
+{
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            return IMAGE_GET_BINARY_PIXEL_FAST((uint32_t*)row_ptr, x);
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            return IMAGE_GET_GRAYSCALE_PIXEL_FAST((uint8_t*)row_ptr, x);
+        }
+        case PIXFORMAT_RGB565: {
+            return IMAGE_GET_RGB565_PIXEL_FAST((uint16_t*)row_ptr, x);
+        }
+        case PIXFORMAT_RGB888: {
+            return pixel24232(IMAGE_GET_RGB888_PIXEL_FAST((pixel24_t*)row_ptr, x));
+        }
+        default: {
+            return -1;
+        }
+    }
+}
+
+
+// Set pixel (handles boundary check and image type check).
+void imlib_set_pixel(image_t *img, int x, int y, int p)
+{
+    if ((0 <= x) && (x < img->w) && (0 <= y) && (y < img->h)) {
+        switch (img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                IMAGE_PUT_BINARY_PIXEL(img, x, y, p);
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                IMAGE_PUT_GRAYSCALE_PIXEL(img, x, y, p);
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                IMAGE_PUT_RGB565_PIXEL(img, x, y, p);
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                IMAGE_PUT_RGB888_PIXEL(img, x, y, p);
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+}
+
+// https://stackoverflow.com/questions/1201200/fast-algorithm-for-drawing-filled-circles
+static void point_fill(image_t *img, int cx, int cy, int r0, int r1, int c)
+{
+    for (int y = r0; y <= r1; y++) {
+        for (int x = r0; x <= r1; x++) {
+            if (((x * x) + (y * y)) <= (r0 * r0)) {
+                imlib_set_pixel(img, cx + x, cy + y, c);
+            }
+        }
+    }
+}
+
+// https://rosettacode.org/wiki/Bitmap/Bresenham%27s_line_algorithm#C
+void imlib_draw_line(image_t *img, int x0, int y0, int x1, int y1, int c, int thickness)
+{
+    if (thickness > 0) {
+        int thickness0 = (thickness - 0) / 2;
+        int thickness1 = (thickness - 1) / 2;
+        int dx = abs(x1 - x0), sx = (x0 < x1) ? 1 : -1;
+        int dy = abs(y1 - y0), sy = (y0 < y1) ? 1 : -1;
+        int err = ((dx > dy) ? dx : -dy) / 2;
+
+        for (;;) {
+            point_fill(img, x0, y0, -thickness0, thickness1, c);
+            if ((x0 == x1) && (y0 == y1)) break;
+            int e2 = err;
+            if (e2 > -dx) { err -= dy; x0 += sx; }
+            if (e2 <  dy) { err += dx; y0 += sy; }
+        }
+    }
+}
+
+static void xLine(image_t *img, int x1, int x2, int y, int c)
+{
+    while (x1 <= x2) imlib_set_pixel(img, x1++, y, c);
+}
+
+static void yLine(image_t *img, int x, int y1, int y2, int c)
+{
+    while (y1 <= y2) imlib_set_pixel(img, x, y1++, c);
+}
+
+void imlib_draw_rectangle(image_t *img, int rx, int ry, int rw, int rh, int c, int thickness, bool fill)
+{
+    if (fill) {
+
+        for (int y = ry, yy = ry + rh; y < yy; y++) {
+            for (int x = rx, xx = rx + rw; x < xx; x++) {
+                imlib_set_pixel(img, x, y, c);
+            }
+        }
+
+    } else if (thickness > 0) {
+        int thickness0 = (thickness - 0) / 2;
+        int thickness1 = (thickness - 1) / 2;
+
+        for (int i = rx - thickness0, j = rx + rw + thickness1, k = ry + rh - 1; i < j; i++) {
+            yLine(img, i, ry - thickness0, ry + thickness1, c);
+            yLine(img, i, k - thickness0, k + thickness1, c);
+        }
+
+        for (int i = ry - thickness0, j = ry + rh + thickness1, k = rx + rw - 1; i < j; i++) {
+            xLine(img, rx - thickness0, rx + thickness1, i, c);
+            xLine(img, k - thickness0, k + thickness1, i, c);
+        }
+    }
+}
+
+// https://stackoverflow.com/questions/27755514/circle-with-thickness-drawing-algorithm
+void imlib_draw_circle(image_t *img, int cx, int cy, int r, int c, int thickness, bool fill)
+{
+    if (fill) {
+        point_fill(img, cx, cy, -r, r, c);
+    } else if (thickness > 0) {
+        int thickness0 = (thickness - 0) / 2;
+        int thickness1 = (thickness - 1) / 2;
+
+        int xo = r + thickness0;
+        int xi = IM_MAX(r - thickness1, 0);
+        int xi_tmp = xi;
+        int y = 0;
+        int erro = 1 - xo;
+        int erri = 1 - xi;
+
+        while(xo >= y) {
+            xLine(img, cx + xi, cx + xo, cy + y,  c);
+            yLine(img, cx + y,  cy + xi, cy + xo, c);
+            xLine(img, cx - xo, cx - xi, cy + y,  c);
+            yLine(img, cx - y,  cy + xi, cy + xo, c);
+            xLine(img, cx - xo, cx - xi, cy - y,  c);
+            yLine(img, cx - y,  cy - xo, cy - xi, c);
+            xLine(img, cx + xi, cx + xo, cy - y,  c);
+            yLine(img, cx + y,  cy - xo, cy - xi, c);
+
+            y++;
+
+            if (erro < 0) {
+                erro += 2 * y + 1;
+            } else {
+                xo--;
+                erro += 2 * (y - xo + 1);
+            }
+
+            if (y > xi_tmp) {
+                xi = y;
+            } else {
+                if (erri < 0) {
+                    erri += 2 * y + 1;
+                } else {
+                    xi--;
+                    erri += 2 * (y - xi + 1);
+                }
+            }
+        }
+    }
+}
+void imlib_draw_cross(image_t *img, int x, int y, int c, int size, int thickness)
+{
+    imlib_draw_line(img, x - size, y        , x + size, y        , c, thickness);
+    imlib_draw_line(img, x        , y - size, x        , y + size, c, thickness);
+}
+// https://scratch.mit.edu/projects/50039326/
+static void scratch_draw_pixel(image_t *img, int x0, int y0, int dx, int dy, float shear_dx, float shear_dy, int r0, int r1, int c)
+{
+    point_fill(img, x0 + dx, y0 + dy + (int)fast_roundf((dx * shear_dy) / shear_dx), r0, r1, c);
+}
+
+// https://scratch.mit.edu/projects/50039326/
+static void scratch_draw_line(image_t *img, int x0, int y0, int dx, int dy0, int dy1, float shear_dx, float shear_dy, int c)
+{
+    int y = y0 + (int)fast_roundf((dx * shear_dy) / shear_dx);
+    yLine(img, x0 + dx, y + dy0, y + dy1, c);
+}
+
+// https://scratch.mit.edu/projects/50039326/
+static void scratch_draw_sheared_ellipse(image_t *img, int x0, int y0, int width, int height, bool filled, float shear_dx, float shear_dy, int c, int thickness)
+{
+    int thickness0 = (thickness - 0) / 2;
+    int thickness1 = (thickness - 1) / 2;
+    if (((thickness > 0) || filled) && (shear_dx != 0)) {
+        int a_squared = width * width;
+        int four_a_squared = a_squared * 4;
+        int b_squared = height * height;
+        int four_b_squared = b_squared * 4;
+
+        int x = 0;
+        int y = height;
+        int sigma = (2 * b_squared) + (a_squared * (1 - (2 * height)));
+
+        while ((b_squared * x) <= (a_squared * y)) {
+            if (filled) {
+                scratch_draw_line(img, x0, y0, x, -y, y, shear_dx, shear_dy, c);
+                scratch_draw_line(img, x0, y0, -x, -y, y, shear_dx, shear_dy, c);
+            } else {
+                scratch_draw_pixel(img, x0, y0, x, y, shear_dx, shear_dy, -thickness0, thickness1, c);
+                scratch_draw_pixel(img, x0, y0, -x, y, shear_dx, shear_dy, -thickness0, thickness1, c);
+                scratch_draw_pixel(img, x0, y0, x, -y, shear_dx, shear_dy, -thickness0, thickness1, c);
+                scratch_draw_pixel(img, x0, y0, -x, -y, shear_dx, shear_dy, -thickness0, thickness1, c);
+            }
+
+            if (sigma >= 0) {
+                sigma += four_a_squared * (1 - y);
+                y -= 1;
+            }
+
+            sigma += b_squared * ((4 * x) + 6);
+            x += 1;
+        }
+
+        x = width;
+        y = 0;
+        sigma = (2 * a_squared) + (b_squared * (1 - (2 * width)));
+
+        while ((a_squared * y) <= (b_squared * x)) {
+            if (filled) {
+                scratch_draw_line(img, x0, y0, x, -y, y, shear_dx, shear_dy, c);
+                scratch_draw_line(img, x0, y0, -x, -y, y, shear_dx, shear_dy, c);
+            } else {
+                scratch_draw_pixel(img, x0, y0, x, y, shear_dx, shear_dy, -thickness0, thickness1, c);
+                scratch_draw_pixel(img, x0, y0, -x, y, shear_dx, shear_dy, -thickness0, thickness1, c);
+                scratch_draw_pixel(img, x0, y0, x, -y, shear_dx, shear_dy, -thickness0, thickness1, c);
+                scratch_draw_pixel(img, x0, y0, -x, -y, shear_dx, shear_dy, -thickness0, thickness1, c);
+            }
+
+            if (sigma >= 0) {
+                sigma += four_b_squared * (1 - x);
+                x -= 1;
+            }
+
+            sigma += a_squared * ((4 * y) + 6);
+            y += 1;
+        }
+    }
+}
+
+// https://scratch.mit.edu/projects/50039326/
+static void scratch_draw_rotated_ellipse(image_t *img, int x, int y, int x_axis, int y_axis, int rotation, bool filled, int c, int thickness)
+{
+    if ((x_axis > 0) && (y_axis > 0)) {
+        if ((x_axis == y_axis) || (rotation == 0)) {
+            scratch_draw_sheared_ellipse(img, x, y, x_axis / 2, y_axis / 2, filled, 1, 0, c, thickness);
+        } else if (rotation == 90) {
+            scratch_draw_sheared_ellipse(img, x, y, y_axis / 2, x_axis / 2, filled, 1, 0, c, thickness);
+        } else {
+
+            // Avoid rotations above 90.
+            if (rotation > 90) {
+                rotation -= 90;
+                int temp = x_axis;
+                x_axis = y_axis;
+                y_axis = temp;
+            }
+
+            // Avoid rotations above 45.
+            if (rotation > 45) {
+                rotation -= 90;
+                int temp = x_axis;
+                x_axis = y_axis;
+                y_axis = temp;
+            }
+
+            float theta = fast_atanf(IM_DIV(y_axis, x_axis) * (-tanf(IM_DEG2RAD(rotation))));
+            float shear_dx = (x_axis * cosf(theta) * cosf(IM_DEG2RAD(rotation))) - (y_axis * sinf(theta) * sinf(IM_DEG2RAD(rotation)));
+            float shear_dy = (x_axis * cosf(theta) * sinf(IM_DEG2RAD(rotation))) + (y_axis * sinf(theta) * cosf(IM_DEG2RAD(rotation)));
+            float shear_x_axis = fast_fabsf(shear_dx);
+            float shear_y_axis = IM_DIV((y_axis * x_axis), shear_x_axis);
+            scratch_draw_sheared_ellipse(img, x, y, fast_floorf(shear_x_axis / 2), fast_floorf(shear_y_axis / 2), filled, shear_dx, shear_dy, c, thickness);
+        }
+    }
+}
+
+void imlib_draw_ellipse(image_t *img, int cx, int cy, int rx, int ry, int rotation, int c, int thickness, bool fill)
+{
+    int r = rotation % 180;
+    if (r < 0) r += 180;
+
+    scratch_draw_rotated_ellipse(img, cx, cy, rx * 2, ry * 2, r, fill, c, thickness);
+}
+
+// char rotation == 0, 90, 180, 360, etc.
+// string rotation == 0, 90, 180, 360, etc.
+void imlib_draw_string(image_t *img, int x_off, int y_off, const char *str, int c, float scale, int x_spacing, int y_spacing, bool mono_space,
+                       int char_rotation, bool char_hmirror, bool char_vflip, int string_rotation, bool string_hmirror, bool string_vflip)
+{
+    char_rotation %= 360;
+    if (char_rotation < 0) char_rotation += 360;
+    char_rotation = (char_rotation / 90) * 90;
+
+    string_rotation %= 360;
+    if (string_rotation < 0) string_rotation += 360;
+    string_rotation = (string_rotation / 90) * 90;
+
+    bool char_swap_w_h = (char_rotation == 90) || (char_rotation == 270);
+    bool char_upsidedown = (char_rotation == 180) || (char_rotation == 270);
+
+    if (string_hmirror) x_off -= fast_floorf(font[0].w * scale) - 1;
+    if (string_vflip) y_off -= fast_floorf(font[0].h * scale) - 1;
+
+    int org_x_off = x_off;
+    int org_y_off = y_off;
+    const int anchor = x_off;
+
+    for(char ch, last = '\0'; (ch = *str); str++, last = ch) {
+
+        if ((last == '\r') && (ch == '\n')) { // handle "\r\n" strings
+            continue;
+        }
+
+        if ((ch == '\n') || (ch == '\r')) { // handle '\n' or '\r' strings
+            x_off = anchor;
+            y_off += (string_vflip ? -1 : +1) * (fast_floorf((char_swap_w_h ? font[0].w : font[0].h) * scale) + y_spacing); // newline height == space height
+            continue;
+        }
+
+        if ((ch < ' ') || (ch > '~')) { // handle unknown characters
+            continue;
+        }
+
+        const glyph_t *g = &font[ch - ' '];
+
+        if (!mono_space) {
+            // Find the first pixel set and offset to that.
+            bool exit = false;
+
+            if (!char_swap_w_h) {
+                for (int x = 0, xx = g->w; x < xx; x++) {
+                    for (int y = 0, yy = g->h; y < yy; y++) {
+                        if (g->data[(char_upsidedown ^ char_vflip) ? (g->h - 1 - y) : y] &
+                            (1 << ((char_upsidedown ^ char_hmirror ^ string_hmirror) ? x : (g->w - 1 - x)))) {
+                            x_off += (string_hmirror ? +1 : -1) * fast_floorf(x * scale);
+                            exit = true;
+                            break;
+                        }
+                    }
+
+                    if (exit) break;
+                }
+            } else {
+                for (int y = g->h - 1; y >= 0; y--) {
+                    for (int x = 0, xx = g->w; x < xx; x++) {
+                        if (g->data[(char_upsidedown ^ char_vflip) ? (g->h - 1 - y) : y] &
+                            (1 << ((char_upsidedown ^ char_hmirror ^ string_hmirror) ? x : (g->w - 1 - x)))) {
+                            x_off += (string_hmirror ? +1 : -1) * fast_floorf((g->h - 1 - y) * scale);
+                            exit = true;
+                            break;
+                        }
+                    }
+
+                    if (exit) break;
+                }
+            }
+        }
+
+        for (int y = 0, yy = fast_floorf(g->h * scale); y < yy; y++) {
+            for (int x = 0, xx = fast_floorf(g->w * scale); x < xx; x++) {
+                if (g->data[fast_floorf(y / scale)] & (1 << (g->w - 1 - fast_floorf(x / scale)))) {
+                    int16_t x_tmp = x_off + (char_hmirror ? (xx - x - 1) : x), y_tmp = y_off + (char_vflip ? (yy - y - 1) : y);
+                    point_rotate(x_tmp, y_tmp, IM_DEG2RAD(char_rotation), x_off + (xx / 2), y_off + (yy / 2), &x_tmp, &y_tmp);
+                    point_rotate(x_tmp, y_tmp, IM_DEG2RAD(string_rotation), org_x_off, org_y_off, &x_tmp, &y_tmp);
+                    imlib_set_pixel(img, x_tmp, y_tmp, c);
+                }
+            }
+        }
+
+        if (mono_space) {
+            x_off += (string_hmirror ? -1 : +1) * (fast_floorf((char_swap_w_h ? g->h : g->w) * scale) + x_spacing);
+        } else {
+            // Find the last pixel set and offset to that.
+            bool exit = false;
+
+            if (!char_swap_w_h) {
+                for (int x = g->w - 1; x >= 0; x--) {
+                    for (int y = g->h - 1; y >= 0; y--) {
+                        if (g->data[(char_upsidedown ^ char_vflip) ? (g->h - 1 - y) : y] &
+                            (1 << ((char_upsidedown ^ char_hmirror ^ string_hmirror) ? x : (g->w - 1 - x)))) {
+                            x_off += (string_hmirror ? -1 : +1) * (fast_floorf((x + 2) * scale) + x_spacing);
+                            exit = true;
+                            break;
+                        }
+                    }
+
+                    if (exit) break;
+                }
+            } else {
+                for (int y = 0, yy = g->h; y < yy; y++) {
+                    for (int x = g->w - 1; x >= 0; x--) {
+                        if (g->data[(char_upsidedown ^ char_vflip) ? (g->h - 1 - y) : y] &
+                            (1 << ((char_upsidedown ^ char_hmirror ^ string_hmirror) ? x : (g->w - 1 - x)))) {
+                            x_off += (string_hmirror ? -1 : +1) * (fast_floorf(((g->h - 1 - y) + 2) * scale) + x_spacing);
+                            exit = true;
+                            break;
+                        }
+                    }
+
+                    if (exit) break;
+                }
+            }
+
+            if (!exit) x_off += (string_hmirror ? -1 : +1) * fast_floorf(scale * 3); // space char
+        }
+    }
+}
+
+void imlib_draw_row_setup(imlib_draw_row_data_t *data)
+{
+    image_t temp;
+    temp.w = data->dst_img->w;
+    temp.h = data->dst_img->h;
+    temp.pixfmt = data->src_img_pixfmt;
+
+    // Image Row Size should be the width of the destination image
+    // but with the bpp of the source image.
+    size_t image_row_size = image_size(&temp) / data->dst_img->h;
+
+    data->toggle = 0;
+    data->row_buffer[0] = fb_alloc(image_row_size, FB_ALLOC_NO_HINT);
+
+#ifdef IMLIB_ENABLE_DMA2D
+
+#else
+    data->row_buffer[1] = data->row_buffer[0];
+#endif
+
+    int alpha = data->alpha, max = 256;
+
+    if (data->dst_img->pixfmt == PIXFORMAT_RGB565) {
+        alpha >>= 3; // 5-bit alpha for RGB565
+        max = 32;
+    }
+
+    // Set smuad_alpha and smuad_alpha_palette even if we don't use them with DMA2D as we may have
+    // to fallback to using them if the draw_image calls imlib_draw_row_put_row_buffer().
+    data->smuad_alpha = data->black_background ? alpha : ((alpha << 16) | (max - alpha));
+
+    if (data->alpha_palette) {
+        data->smuad_alpha_palette = fb_alloc(256 * sizeof(uint32_t), FB_ALLOC_NO_HINT);
+
+        for (int i = 0, a = alpha; i < 256; i++) {
+            int new_alpha = fast_roundf((a * data->alpha_palette[i]) / 255.f);
+            data->smuad_alpha_palette[i] = data->black_background ? new_alpha : ((new_alpha << 16) | (max - new_alpha));
+        }
+    } else {
+        data->smuad_alpha_palette = NULL;
+    }
+}
+
+void imlib_draw_row_teardown(imlib_draw_row_data_t *data)
+{
+    if (data->smuad_alpha_palette) fb_free(data->smuad_alpha_palette);
+#ifdef IMLIB_ENABLE_DMA2D
+#endif
+    fb_free(data->row_buffer[0]); // data->row_buffer[0]
+}
+
+#ifdef IMLIB_ENABLE_DMA2D
+#endif
+
+void *imlib_draw_row_get_row_buffer(imlib_draw_row_data_t *data)
+{
+    void *result = data->row_buffer[data->toggle];
+    data->toggle = !data->toggle;
+    return result;
+}
+
+void imlib_draw_row_put_row_buffer(imlib_draw_row_data_t *data, void *row_buffer)
+{
+    data->row_buffer[data->toggle] = row_buffer;
+    data->toggle = !data->toggle;
+#ifdef IMLIB_ENABLE_DMA2D
+#endif
+}
+
+// Draws (x_end - x_start) pixels.
+// src width must be equal to dst width.
+void imlib_draw_row(int x_start, int x_end, int y_row, imlib_draw_row_data_t *data)
+{
+    #define BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha) \
+    ({ \
+        __typeof__ (src_pixel) _src_pixel = (src_pixel); \
+        __typeof__ (dst_pixel) _dst_pixel = (dst_pixel); \
+        __typeof__ (smuad_alpha) _smuad_alpha = (smuad_alpha); \
+        const long mask_r = 0x7c007c00, mask_g = 0x07e007e0, mask_b = 0x001f001f; \
+        uint32_t rgb = (_src_pixel << 16) | _dst_pixel; \
+        long rb = ((rgb >> 1) & mask_r) | (rgb & mask_b); \
+        long g = rgb & mask_g; \
+        int rb_out = __SMUAD(_smuad_alpha, rb) >> 5; \
+        int g_out = __SMUAD(_smuad_alpha, g) >> 5; \
+        ((rb_out << 1) & 0xf800) | (g_out & 0x07e0) | (rb_out & 0x001f); \
+    })
+
+    #define BLEND_RGB566_0(src_pixel, smuad_alpha) \
+    ({ \
+        __typeof__ (src_pixel) _src_pixel = (src_pixel); \
+        __typeof__ (smuad_alpha) _smuad_alpha = (smuad_alpha); \
+        int rb_out = ((_src_pixel & 0xf81f) * _smuad_alpha) >> 5; \
+        int g_out = ((_src_pixel & 0x7e0) * _smuad_alpha) >> 5; \
+        (rb_out & 0xf81f) | (g_out & 0x7e0); \
+    })
+    #define BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha) \
+    ({ \
+        __typeof__ (src_pixel) _src_pixel = (src_pixel); \
+        __typeof__ (dst_pixel) _dst_pixel = (dst_pixel); \
+        __typeof__ (smuad_alpha) _smuad_alpha = (smuad_alpha); \
+        int rgb_out = 0;\
+        uint8_t *_rgb_s = (uint8_t*)&_src_pixel;\
+        uint8_t *_rgb_d = (uint8_t*)&_dst_pixel;\
+        uint8_t *_rgb_o = (uint8_t*)&rgb_out;\
+        uint16_t *_smuad_alpha_tmp = (uint16_t*)&_smuad_alpha;\
+        _rgb_o[0] = ((_rgb_s[0] * _smuad_alpha_tmp[0] + _rgb_d[0] * _smuad_alpha_tmp[1]) >> 8);\
+        _rgb_o[1] = ((_rgb_s[1] * _smuad_alpha_tmp[0] + _rgb_d[1] * _smuad_alpha_tmp[1]) >> 8);\
+        _rgb_o[2] = ((_rgb_s[2] * _smuad_alpha_tmp[0] + _rgb_d[2] * _smuad_alpha_tmp[1]) >> 8);\
+        rgb_out;\
+    })
+
+    #define BLEND_RGB888_0(src_pixel, smuad_alpha) \
+    ({ \
+        __typeof__ (src_pixel) _src_pixel = (src_pixel); \
+        __typeof__ (smuad_alpha) _smuad_alpha = (smuad_alpha); \
+        int rgb_out = 0;\
+        uint8_t *_rgb_s = (uint8_t*)&_src_pixel;\
+        uint8_t *_rgb_o = (uint8_t*)&rgb_out;\
+        uint16_t *_smuad_alpha_tmp = (uint16_t*)&_smuad_alpha;\
+        _rgb_o[0] = ((_rgb_s[0] * _smuad_alpha_tmp[0]) >> 8);\
+        _rgb_o[1] = ((_rgb_s[1] * _smuad_alpha_tmp[0]) >> 8);\
+        _rgb_o[2] = ((_rgb_s[2] * _smuad_alpha_tmp[0]) >> 8);\
+        rgb_out;\
+    })
+
+    #define COLOR_GRAYSCALE_BINARY_MIN_LSL16 (COLOR_GRAYSCALE_BINARY_MIN << 16)
+    #define COLOR_GRAYSCALE_BINARY_MAX_LSL16 (COLOR_GRAYSCALE_BINARY_MAX << 16)
+
+    switch (data->dst_img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *dst32 = data->dst_row_override ?
+                ((uint32_t *) data->dst_row_override) : IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(data->dst_img, y_row);
+            switch (data->src_img_pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *src32 = (uint32_t *) data->row_buffer[!data->toggle];
+                    if (data->smuad_alpha_palette) {
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = (pixel ? COLOR_GRAYSCALE_BINARY_MAX_LSL16 : COLOR_GRAYSCALE_BINARY_MIN_LSL16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = pixel ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN;
+                                    pixel = ((smuad_alpha * smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            uint32_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            pal0 = COLOR_RGB565_TO_Y(pal0) << 16;
+                            pal255 = COLOR_RGB565_TO_Y(pal255) << 16;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = (pixel ? pal255 : pal0) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = pixel ? pal255 : pal0;
+                                    pixel = ((smuad_alpha * smuad_pixel) >> 24) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint16_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            pal0 = COLOR_RGB565_TO_Y(pal0) > 127;
+                            pal255 = COLOR_RGB565_TO_Y(pal255) > 127;
+                            switch ((pal0 << 1) | (pal255 << 0)) {
+                                case 0: {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, 0);
+                                    }
+                                    break;
+                                }
+                                case 1: {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                    break;
+                                }
+                                case 2: {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = !IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                    break;
+                                }
+                                case 3: {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, 1);
+                                    }
+                                    break;
+                                }
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = (IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_GRAYSCALE_BINARY_MAX_LSL16 : COLOR_GRAYSCALE_BINARY_MIN_LSL16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    int pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN;
+                                    int pixel = ((smuad_alpha * smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint32_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            pal0 = COLOR_RGB565_TO_Y(pal0) << 16;
+                            pal255 = COLOR_RGB565_TO_Y(pal255) << 16;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = (IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    int pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0;
+                                    int pixel = ((smuad_alpha * smuad_pixel) >> 24) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        }
+                        // More desirable results are produced by alpha blending with 8-bits.
+                        // if (!data->color_palette) {
+                        //     for (int x = x_start; x < x_end; x++) {
+                        //         int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) & IMAGE_GET_BINARY_PIXEL_FAST(dst32, x);
+                        //         IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                        //     }
+                        // } else {
+                        //     const uint16_t *color_palette = data->color_palette;
+                        //     uint16_t pal0 = color_palette[0], pal255 = color_palette[255];
+                        //     pal0 = COLOR_RGB565_TO_Y(pal0) > 127;
+                        //     pal255 = COLOR_RGB565_TO_Y(pal255) > 127;
+                        //     switch ((pal0 << 1) | (pal255 << 0)) {
+                        //         case 0: {
+                        //             for (int x = x_start; x < x_end; x++) {
+                        //                 IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, 0);
+                        //             }
+                        //             break;
+                        //         }
+                        //         case 1: {
+                        //             for (int x = x_start; x < x_end; x++) {
+                        //                 int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) & IMAGE_GET_BINARY_PIXEL_FAST(dst32, x);
+                        //                 IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                        //             }
+                        //             break;
+                        //         }
+                        //         case 2: {
+                        //             for (int x = x_start; x < x_end; x++) {
+                        //                 int pixel = !(IMAGE_GET_BINARY_PIXEL_FAST(src32, x) | IMAGE_GET_BINARY_PIXEL_FAST(dst32, x));
+                        //                 IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                        //             }
+                        //             break;
+                        //         }
+                        //         case 3: {
+                        //             for (int x = x_start; x < x_end; x++) {
+                        //                 IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, 1);
+                        //             }
+                        //             break;
+                        //         }
+                        //     }
+                        // }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *src8 = ((uint8_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->smuad_alpha_palette) {
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    pixel = color_palette[pixel];
+                                    pixel = COLOR_RGB565_TO_Y(pixel);
+                                    long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    pixel = color_palette[pixel];
+                                    pixel = COLOR_RGB565_TO_Y(pixel);
+                                    pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                int pixel = *src8++ > 127;
+                                IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            for (int x = x_start; x < x_end; x++) {
+                                int pixel = color_palette[*src8++];
+                                pixel = COLOR_RGB565_TO_Y(pixel) > 127;
+                                IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = (*src8++ << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    int pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = ((smuad_alpha * (*src8++)) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = color_palette[*src8++];
+                                    pixel = COLOR_RGB565_TO_Y(pixel);
+                                    long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                    pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = color_palette[*src8++];
+                                    pixel = COLOR_RGB565_TO_Y(pixel);
+                                    pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *src16 = ((uint16_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                    pixel = COLOR_RGB565_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_R8(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                    pixel = COLOR_RGB565_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_R8(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_R8(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_G8(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                    pixel = COLOR_RGB565_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_G8(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_G8(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_B8(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                    pixel = COLOR_RGB565_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_B8(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_B8(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                        pixel = ((smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *src24 = ((pixel24_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB888_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(pixel)]);
+                                    pixel = COLOR_RGB888_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(pixel)]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB888_TO_R8(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(pixel)]);
+                                    pixel = COLOR_RGB888_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_R8(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_R8(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(pixel)]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB888_TO_G8(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(pixel)]);
+                                    pixel = COLOR_RGB888_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_G8(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_G8(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(pixel)]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        long smuad_pixel = (pixel << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel];
+                                        pixel = ((smuad_alpha * pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB888_TO_B8(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(pixel)]);
+                                    pixel = COLOR_RGB888_TO_Y(pixel) > 127;
+                                    IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_B8(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_B8(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | (IMAGE_GET_BINARY_PIXEL_FAST(dst32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN);
+                                        pixel = (__SMUAD(smuad_alpha, smuad_pixel) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(pixel)]);
+                                        pixel = ((smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8) > 127;
+                                        IMAGE_PUT_BINARY_PIXEL_FAST(dst32, x, pixel);
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+
+                default: {
+                    break;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *dst8 = (data->dst_row_override ? ((uint8_t *) data->dst_row_override) : IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(data->dst_img, y_row)) + x_start;
+            switch (data->src_img_pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *src32 = (uint32_t *) data->row_buffer[!data->toggle];
+                    if (data->smuad_alpha_palette) {
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = (pixel ? COLOR_GRAYSCALE_BINARY_MAX_LSL16 : COLOR_GRAYSCALE_BINARY_MIN_LSL16) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = pixel ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN;
+                                    *dst8++ = (smuad_alpha * smuad_pixel) >> 8;
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            uint32_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            pal0 = COLOR_RGB565_TO_Y(pal0) << 16;
+                            pal255 = COLOR_RGB565_TO_Y(pal255) << 16;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = (pixel ? pal255 : pal0) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    long smuad_pixel = pixel ? pal255 : pal0;
+                                    *dst8++ = (smuad_alpha * smuad_pixel) >> 24;
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst8++ = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN;
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint16_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            pal0 = COLOR_RGB565_TO_Y(pal0);
+                            pal255 = COLOR_RGB565_TO_Y(pal255);
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst8++ = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0;
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = (IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_GRAYSCALE_BINARY_MAX_LSL16 : COLOR_GRAYSCALE_BINARY_MIN_LSL16) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_GRAYSCALE_BINARY_MAX : COLOR_GRAYSCALE_BINARY_MIN;
+                                    *dst8++ = (smuad_alpha * smuad_pixel) >> 8;
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint32_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            pal0 = COLOR_RGB565_TO_Y(pal0) << 16;
+                            pal255 = COLOR_RGB565_TO_Y(pal255) << 16;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = (IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0;
+                                    *dst8++ = (smuad_alpha * smuad_pixel) >> 24;
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *src8 = ((uint8_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->smuad_alpha_palette) {
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    long smuad_pixel = (pixel << 16) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    *dst8++ = (smuad_alpha * pixel) >> 8;
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    pixel = color_palette[pixel];
+                                    long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[pixel];
+                                    pixel = color_palette[pixel];
+                                    *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            unaligned_memcpy(dst8 , src8, (x_end - x_start) * sizeof(uint8_t));
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            for (int x = x_start; x < x_end; x++) {
+                                int pixel = color_palette[*src8++];
+                                *dst8++ = COLOR_RGB565_TO_Y(pixel);
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    long smuad_pixel = (*src8++ << 16) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    *dst8++ = (smuad_alpha * (*src8++)) >> 8;
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = color_palette[*src8++];
+                                    long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                    *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = color_palette[*src8++];
+                                    *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *src16 = ((uint16_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst8++ = COLOR_RGB565_TO_Y(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                    *dst8++ = COLOR_RGB565_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst8++ = COLOR_RGB565_TO_R8(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                    *dst8++ = COLOR_RGB565_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_R8(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_R8(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst8++ = COLOR_RGB565_TO_G8(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                    *dst8++ = COLOR_RGB565_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_G8(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_G8(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        int pixel_y = COLOR_RGB565_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = color_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst8++ = COLOR_RGB565_TO_B8(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                    *dst8++ = COLOR_RGB565_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        long smuad_pixel = (COLOR_RGB565_TO_B8(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_B8(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                        long smuad_pixel = (COLOR_RGB565_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = *src16++;
+                                        pixel = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *src24 = ((pixel24_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_Y(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB565_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst8++ = COLOR_RGB888_TO_Y(pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(pixel)]);
+                                    *dst8++ = COLOR_RGB888_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(pixel)]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_R8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst8++ = COLOR_RGB888_TO_R8(pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(pixel)]);
+                                    *dst8++ = COLOR_RGB888_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_R8(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_R8(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(pixel)]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_G8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst8++ = COLOR_RGB888_TO_G8(pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(pixel)]);
+                                    *dst8++ = COLOR_RGB888_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_G8(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_G8(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(pixel)]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        long smuad_pixel = (pixel_y << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        *dst8++ = (smuad_alpha * pixel_y) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        int pixel_y = COLOR_RGB888_TO_B8(pixel);
+                                        long smuad_alpha = smuad_alpha_palette[pixel_y];
+                                        pixel = pixel24232(color_palette[pixel_y]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst8++ = COLOR_RGB888_TO_B8(pixel);
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(pixel)]);
+                                    *dst8++ = COLOR_RGB888_TO_Y(pixel);
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        long smuad_pixel = (COLOR_RGB888_TO_B8(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_B8(pixel)) >> 8;
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(pixel)]);
+                                        long smuad_pixel = (COLOR_RGB888_TO_Y(pixel) << 16) | *dst8;
+                                        *dst8++ = __SMUAD(smuad_alpha, smuad_pixel) >> 8;
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int pixel = pixel24232(*src24++);
+                                        pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(pixel)]);
+                                        *dst8++ = (smuad_alpha * COLOR_RGB888_TO_Y(pixel)) >> 8;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *dst16 = (data->dst_row_override ? ((uint16_t *) data->dst_row_override) : IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(data->dst_img, y_row)) + x_start;
+            switch (data->src_img_pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *src32 = (uint32_t *) data->row_buffer[!data->toggle];
+                    if (data->smuad_alpha_palette) {
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? COLOR_RGB565_BINARY_MAX : COLOR_RGB565_BINARY_MIN;
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? COLOR_RGB565_BINARY_MAX : COLOR_RGB565_BINARY_MIN;
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            uint16_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? pal255 : pal0;
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? pal255 : pal0;
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst16++ = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_RGB565_BINARY_MAX : COLOR_RGB565_BINARY_MIN;
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint16_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst16++ = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0;
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_RGB565_BINARY_MAX : COLOR_RGB565_BINARY_MIN;
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_RGB565_BINARY_MAX : COLOR_RGB565_BINARY_MIN;
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            uint16_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0;
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pal255 : pal0;
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *src8 = ((uint8_t *) data->row_buffer[!data->toggle]) + x_start;
+#ifdef IMLIB_ENABLE_DMA2D
+                    if (data->dma2d_enabled) {
+                        if (!data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                        #if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
+                        SCB_CleanDCache_by_Addr((uint32_t *) src8, (x_end - x_start) * sizeof(uint8_t));
+                        SCB_CleanInvalidateDCache_by_Addr((uint32_t *) dst16, (x_end - x_start) * sizeof(uint16_t));
+                        #endif
+                        HAL_DMA2D_BlendingStart(&data->dma2d, (uint32_t) src8, (uint32_t) dst16, (uint32_t) dst16, x_end - x_start, 1);
+                        if (data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                    } else if (data->smuad_alpha_palette) {
+#else
+                    if (data->smuad_alpha_palette) {
+#endif
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = color_palette[src_pixel];
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = color_palette[src_pixel];
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                int pixel = *src8++;
+                                *dst16++ = COLOR_Y_TO_RGB565(pixel);
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst16++ = color_palette[*src8++];
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        } else {
+                            const uint16_t *color_palette = data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = color_palette[*src8++];
+                                    int dst_pixel = *dst16;
+                                    *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = color_palette[*src8++];
+                                    *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *src16 = ((uint16_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        long smuad_alpha = smuad_alpha_palette[COLOR_RGB565_TO_Y(src_pixel)];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        long smuad_alpha = smuad_alpha_palette[COLOR_RGB565_TO_Y(src_pixel)];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_Y(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_Y(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                unaligned_memcpy(dst16, src16, (x_end - x_start) * sizeof(uint16_t));
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst16++ = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+#ifdef IMLIB_ENABLE_DMA2D
+                                if (data->dma2d_enabled) {
+                                    if (!data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                                    #if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
+                                    SCB_CleanDCache_by_Addr((uint32_t *) src16, (x_end - x_start) * sizeof(uint16_t));
+                                    SCB_CleanInvalidateDCache_by_Addr((uint32_t *) dst16, (x_end - x_start) * sizeof(uint16_t));
+                                    #endif
+                                    HAL_DMA2D_BlendingStart(&data->dma2d, (uint32_t) src16, (uint32_t) dst16, (uint32_t) dst16, x_end - x_start, 1);
+                                    if (data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                                } else if (!data->black_background) {
+#else
+                                if (!data->black_background) {
+#endif
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_Y(src_pixel)];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_Y(src_pixel)];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_R8(pixel);
+                                    *dst16++ = COLOR_Y_TO_RGB565(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst16++ = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_R8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_R8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_R8(src_pixel)];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_R8(src_pixel)];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_G8(pixel);
+                                    *dst16++ = COLOR_Y_TO_RGB565(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst16++ = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_G8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_G8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_G8(src_pixel)];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_G8(src_pixel)];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = color_palette[src_pixel_y];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_B8(pixel);
+                                    *dst16++ = COLOR_Y_TO_RGB565(pixel);
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst16++ = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_B8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_B8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            } else {
+                                const uint16_t *color_palette = data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_B8(src_pixel)];
+                                        int dst_pixel = *dst16;
+                                        *dst16++ = BLEND_RGB566(src_pixel, dst_pixel, smuad_alpha);
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = color_palette[COLOR_RGB565_TO_B8(src_pixel)];
+                                        *dst16++ = BLEND_RGB566_0(src_pixel, smuad_alpha);
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *dst24 = (data->dst_row_override ? ((pixel24_t *) data->dst_row_override) : IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(data->dst_img, y_row)) + x_start;
+            switch (data->src_img_pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    uint32_t *src32 = (uint32_t *) data->row_buffer[!data->toggle];
+                    if (data->smuad_alpha_palette) {
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? COLOR_RGB888_BINARY_MAX : COLOR_RGB888_BINARY_MIN;
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? COLOR_RGB888_BINARY_MAX : COLOR_RGB888_BINARY_MIN;
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        } else {
+                            const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                            uint32_t alpha_pal0 = smuad_alpha_palette[0], alpha_pal255 = smuad_alpha_palette[255];
+                            pixel24_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? pixel24232(pal255) : pixel24232(pal0);
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x);
+                                    long smuad_alpha = pixel ? alpha_pal255 : alpha_pal0;
+                                    int src_pixel = pixel ? pixel24232(pal255) : pixel24232(pal0);
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst24++ = pixel32224(IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_RGB888_BINARY_MAX : COLOR_RGB888_BINARY_MIN);
+                            }
+                        } else {
+                            const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                            pixel24_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst24++ = pixel32224(IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pixel24232(pal255) : pixel24232(pal0));
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_RGB888_BINARY_MAX : COLOR_RGB888_BINARY_MIN;
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? COLOR_RGB888_BINARY_MAX : COLOR_RGB888_BINARY_MIN;
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        } else {
+                            const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                            pixel24_t pal0 = color_palette[0], pal255 = color_palette[255];
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pixel24232(pal255) : pixel24232(pal0);
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = IMAGE_GET_BINARY_PIXEL_FAST(src32, x) ? pixel24232(pal255) : pixel24232(pal0);
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    uint8_t *src8 = ((uint8_t *) data->row_buffer[!data->toggle]) + x_start;
+#ifdef IMLIB_ENABLE_DMA2D
+                    if (data->dma2d_enabled) {
+                        if (!data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                        #if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
+                        SCB_CleanDCache_by_Addr((uint32_t *) src8, (x_end - x_start) * sizeof(uint8_t));
+                        SCB_CleanInvalidateDCache_by_Addr((uint32_t *) dst24, (x_end - x_start) * sizeof(uint16_t));
+                        #endif
+                        HAL_DMA2D_BlendingStart(&data->dma2d, (uint32_t) src8, (uint32_t) dst24, (uint32_t) dst24, x_end - x_start, 1);
+                        if (data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                    } else if (data->smuad_alpha_palette) {
+#else
+                    if (data->smuad_alpha_palette) {
+#endif
+                        const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        } else {
+                            const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = pixel24232(color_palette[src_pixel]);
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    long smuad_alpha = smuad_alpha_palette[src_pixel];
+                                    src_pixel = pixel24232(color_palette[src_pixel]);
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        }
+                    } else if (data->alpha == 256) {
+                        if (!data->color_palette) {
+                            for (int x = x_start; x < x_end; x++) {
+                                int pixel = *src8++;
+                                *dst24++ = pixel32224(COLOR_Y_TO_RGB888(pixel));
+                            }
+                        } else {
+                            const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                            for (int x = x_start; x < x_end; x++) {
+                                *dst24++ = color_palette[*src8++];
+                            }
+                        }
+                    } else {
+                        long smuad_alpha = data->smuad_alpha;
+                        if (!data->color_palette) {
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = *src8++;
+                                    src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        } else {
+                            const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                            if (!data->black_background) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = pixel24232(color_palette[*src8++]);
+                                    int dst_pixel = pixel24232(*dst24);
+                                    *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                }
+                            } else {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int src_pixel = pixel24232(color_palette[*src8++]);
+                                    *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    uint16_t *src16 = ((uint16_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        long smuad_alpha = smuad_alpha_palette[COLOR_RGB565_TO_Y(src_pixel)];
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        long smuad_alpha = smuad_alpha_palette[COLOR_RGB565_TO_Y(src_pixel)];
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_Y(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_Y(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                unaligned_memcpy(dst24, src16, (x_end - x_start) * sizeof(pixel24_t));
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst24++ = color_palette[COLOR_RGB565_TO_Y(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+#ifdef IMLIB_ENABLE_DMA2D
+                                if (data->dma2d_enabled) {
+                                    if (!data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                                    #if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
+                                    SCB_CleanDCache_by_Addr((uint32_t *) src16, (x_end - x_start) * sizeof(uint16_t));
+                                    SCB_CleanInvalidateDCache_by_Addr((uint32_t *) dst24, (x_end - x_start) * sizeof(uint16_t));
+                                    #endif
+                                    HAL_DMA2D_BlendingStart(&data->dma2d, (uint32_t) src16, (uint32_t) dst24, (uint32_t) dst24, x_end - x_start, 1);
+                                    if (data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                                } else if (!data->black_background) {
+#else
+                                if (!data->black_background) {
+#endif
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_Y(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_Y(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_R8(pixel);
+                                    *dst24++ = pixel32224(COLOR_Y_TO_RGB565(pixel));
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst24++ = color_palette[COLOR_RGB565_TO_R8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_R8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_R8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_R8(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_R8(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_G8(pixel);
+                                    *dst24++ = pixel32224(COLOR_Y_TO_RGB565(pixel));
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst24++ = color_palette[COLOR_RGB565_TO_G8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_G8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_G8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_G8(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_G8(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel_y);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        int src_pixel_y = COLOR_RGB565_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    pixel = COLOR_RGB565_TO_B8(pixel);
+                                    *dst24++ = pixel32224(COLOR_Y_TO_RGB565(pixel));
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = *src16++;
+                                    *dst24++ = color_palette[COLOR_RGB565_TO_B8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_B8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = COLOR_RGB565_TO_B8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB565(src_pixel);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_B8(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = *src16++;
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB565_TO_B8(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    pixel24_t *src24 = ((pixel24_t *) data->row_buffer[!data->toggle]) + x_start;
+                    if (data->rgb_channel < 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        long smuad_alpha = smuad_alpha_palette[COLOR_RGB888_TO_Y(src_pixel)];
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        long smuad_alpha = smuad_alpha_palette[COLOR_RGB888_TO_Y(src_pixel)];
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_Y(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_Y(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                unaligned_memcpy(dst24, src24, (x_end - x_start) * sizeof(pixel24_t));
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst24++ = color_palette[COLOR_RGB888_TO_Y(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+#ifdef IMLIB_ENABLE_DMA2D
+                                if (data->dma2d_enabled) {
+                                    if (!data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                                    #if defined(MCU_SERIES_F7) || defined(MCU_SERIES_H7)
+                                    SCB_CleanDCache_by_Addr((uint32_t *) src16, (x_end - x_start) * sizeof(uint16_t));
+                                    SCB_CleanInvalidateDCache_by_Addr((uint32_t *) dst24, (x_end - x_start) * sizeof(uint16_t));
+                                    #endif
+                                    HAL_DMA2D_BlendingStart(&data->dma2d, (uint32_t) src16, (uint32_t) dst24, (uint32_t) dst24, x_end - x_start, 1);
+                                    if (data->callback) HAL_DMA2D_PollForTransfer(&data->dma2d, 1000);
+                                } else if (!data->black_background) {
+#else
+                                if (!data->black_background) {
+#endif
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_Y(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 0) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel_y);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel_y);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_R8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB565_TO_R8(pixel);
+                                    *dst24++ = pixel32224(COLOR_Y_TO_RGB888(pixel));
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst24++ = color_palette[COLOR_RGB888_TO_R8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = COLOR_RGB888_TO_R8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = COLOR_RGB888_TO_R8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_R8(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 1) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel_y);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel_y);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_G8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB888_TO_G8(pixel);
+                                    *dst24++ = pixel32224(COLOR_Y_TO_RGB888(pixel));
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst24++ = color_palette[COLOR_RGB888_TO_G8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = COLOR_RGB888_TO_G8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = COLOR_RGB888_TO_G8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_G8(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    } else if (data->rgb_channel == 2) {
+                        if (data->smuad_alpha_palette) {
+                            const uint32_t *smuad_alpha_palette = data->smuad_alpha_palette;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel_y);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel_y);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        int src_pixel_y = COLOR_RGB888_TO_B8(src_pixel);
+                                        long smuad_alpha = smuad_alpha_palette[src_pixel_y];
+                                        src_pixel = pixel24232(color_palette[src_pixel_y]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        } else if (data->alpha == 256) {
+                            if (!data->color_palette) {
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    pixel = COLOR_RGB888_TO_B8(pixel);
+                                    *dst24++ = pixel32224(COLOR_Y_TO_RGB888(pixel));
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                for (int x = x_start; x < x_end; x++) {
+                                    int pixel = pixel24232(*src24++);
+                                    *dst24++ = color_palette[COLOR_RGB888_TO_B8(pixel)];
+                                }
+                            }
+                        } else {
+                            long smuad_alpha = data->smuad_alpha;
+                            if (!data->color_palette) {
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = COLOR_RGB888_TO_B8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = COLOR_RGB888_TO_B8(src_pixel);
+                                        src_pixel = COLOR_Y_TO_RGB888(src_pixel);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            } else {
+                                const pixel24_t *color_palette = (pixel24_t*)data->color_palette;
+                                if (!data->black_background) {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(src_pixel)]);
+                                        int dst_pixel = pixel24232(*dst24);
+                                        *dst24++ = pixel32224(BLEND_RGB888(src_pixel, dst_pixel, smuad_alpha));
+                                    }
+                                } else {
+                                    for (int x = x_start; x < x_end; x++) {
+                                        int src_pixel = pixel24232(*src24++);
+                                        src_pixel = pixel24232(color_palette[COLOR_RGB888_TO_B8(src_pixel)]);
+                                        *dst24++ = pixel32224(BLEND_RGB888_0(src_pixel, smuad_alpha));
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+            break;
+        }
+        // Only bayer copying/cropping is supported.
+        case PIXFORMAT_BAYER_ANY: {
+            uint8_t *dst8 = (data->dst_row_override
+                ? ((uint8_t *) data->dst_row_override)
+                : IMAGE_COMPUTE_BAYER_PIXEL_ROW_PTR(data->dst_img, y_row)) + x_start;
+            uint8_t *src8 = ((uint8_t *) data->row_buffer[!data->toggle]) + x_start;
+            unaligned_memcpy(dst8, src8, (x_end - x_start) * sizeof(uint8_t));
+            break;
+        }
+        // Only yuv422 copying/cropping is supported.
+        case PIXFORMAT_YUV_ANY: {
+            uint16_t *dst16 = (data->dst_row_override
+                ? ((uint16_t *) data->dst_row_override)
+                : IMAGE_COMPUTE_YUV_PIXEL_ROW_PTR(data->dst_img, y_row)) + x_start;
+            uint16_t *src16 = ((uint16_t *) data->row_buffer[!data->toggle]) + x_start;
+            unaligned_memcpy(dst16, src16, (x_end - x_start) * sizeof(uint16_t));
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    if (data->callback) {
+        ((imlib_draw_row_callback_t) data->callback)(x_start, x_end, y_row, data);
+    }
+
+    #undef COLOR_GRAYSCALE_BINARY_MIN_LSL16
+    #undef COLOR_GRAYSCALE_BINARY_MAX_LSL16
+    #undef BLEND_RGB888_0
+    #undef BLEND_RGB888
+    #undef BLEND_RGB566_0
+    #undef BLEND_RGB566
+}
+
+// False == Image is black, True == rect valid
+//是lcd的函数，暂时可以不处理
+bool imlib_draw_image_rectangle(image_t *dst_img, image_t *src_img, int dst_x_start, int dst_y_start, float x_scale, float y_scale, rectangle_t *roi,
+                                int alpha, const uint8_t *alpha_palette, image_hint_t hint,
+                                int *x0, int *x1, int *y0, int *y1)
+{
+    if (!alpha) {
+        return false;
+    }
+
+    if (alpha_palette) {
+        int i = 0;
+        while ((i < 256) && (!alpha_palette[i])) i++;
+        if (i == 256) { // zero alpha palette
+            return false;
+        }
+    }
+
+    int src_width_scaled = fast_floorf(fast_fabsf(x_scale) * (roi ? roi->w : src_img->w));
+    int src_height_scaled = fast_floorf(fast_fabsf(y_scale) * (roi ? roi->h : src_img->h));
+
+    // Center src if hint is set.
+    if (hint & IMAGE_HINT_CENTER) {
+        dst_x_start -= src_width_scaled / 2;
+        dst_y_start -= src_height_scaled / 2;
+    }
+
+    // Clamp start x to image bounds.
+    int src_x_start = 0;
+    if (dst_x_start < 0) {
+        src_x_start -= dst_x_start; // this is an add because dst_x_start is negative
+        dst_x_start = 0;
+    }
+
+    if (dst_x_start >= dst_img->w) {
+        return false;
+    }
+
+    int src_x_dst_width = src_width_scaled - src_x_start;
+
+    if (src_x_dst_width <= 0) {
+        return false;
+    }
+
+    // Clamp start y to image bounds.
+    int src_y_start = 0;
+    if (dst_y_start < 0) {
+        src_y_start -= dst_y_start; // this is an add because dst_y_start is negative
+        dst_y_start = 0;
+    }
+
+    if (dst_y_start >= dst_img->h) {
+        return false;
+    }
+
+    int src_y_dst_height = src_height_scaled - src_y_start;
+
+    if (src_y_dst_height <= 0) {
+        return false;
+    }
+
+    // Clamp end x to image bounds.
+    int dst_x_end = dst_x_start + src_x_dst_width;
+    if (dst_x_end > dst_img->w) dst_x_end = dst_img->w;
+
+    // Clamp end y to image bounds.
+    int dst_y_end = dst_y_start + src_y_dst_height;
+    if (dst_y_end > dst_img->h) dst_y_end = dst_img->h;
+
+    *x0 = dst_x_start;
+    *x1 = dst_x_end;
+    *y0 = dst_y_start;
+    *y1 = dst_y_end;
+
+    return true;
+}
+
+void imlib_draw_image_rgb565(image_t *img, image_t *other, int x_off, int y_off, float x_scale, float y_scale, float alpha, image_t *mask)
+{
+    float over_xscale = IM_DIV(1.0, x_scale), over_yscale = IM_DIV(1.0f, y_scale);
+
+    for (int y = 0, yy = fast_roundf(other->h * y_scale); y < yy; y++) {
+        int other_y = fast_roundf(y * over_yscale);
+
+        for (int x = 0, xx = fast_roundf(other->w * x_scale); x < xx; x++) {
+            int other_x = fast_roundf(x * over_xscale);
+
+            if ((!mask) || image_get_mask_pixel(mask, other_x, other_y)) {
+                int pixel = imlib_get_pixel(other, other_x, other_y);
+                if(alpha == 1) {
+                    uint8_t r = COLOR_RGB565_TO_R8(pixel);
+                    uint8_t g = COLOR_RGB565_TO_G8(pixel);
+                    uint8_t b = COLOR_RGB565_TO_B8(pixel);
+                    uint16_t c=COLOR_R8_G8_B8_TO_RGB565(r>255?255:r,g>255?255:g, b>255?255:b);
+                    imlib_set_pixel(img, x_off + x, y_off + y, c);
+                } else {
+                    int pixel2=imlib_get_pixel(img, x_off + x, y_off + y);
+
+                    uint8_t t_r = COLOR_RGB565_TO_R8(pixel);
+                    uint8_t t_g = COLOR_RGB565_TO_G8(pixel);
+                    uint8_t t_b = COLOR_RGB565_TO_B8(pixel);
+
+                    float tmp = ((uint16_t)(((t_r)) | (t_g) | (t_b)) / (256.0));
+                    
+                    float t_alpha = alpha * tmp; // 0.01 ~ 0.00001
+
+                    float beta = 1 - t_alpha;
+                    uint16_t r=(uint16_t)(((float)(uint16_t)COLOR_RGB565_TO_R8(pixel))*t_alpha+((float)(uint16_t)COLOR_RGB565_TO_R8(pixel2))*beta);
+                    uint16_t g=(uint16_t)(((float)(uint16_t)COLOR_RGB565_TO_G8(pixel))*t_alpha+((float)(uint16_t)COLOR_RGB565_TO_G8(pixel2))*beta);
+                    uint16_t b=(uint16_t)(((float)(uint16_t)COLOR_RGB565_TO_B8(pixel))*t_alpha+((float)(uint16_t)COLOR_RGB565_TO_B8(pixel2))*beta);
+                    uint16_t c=COLOR_R8_G8_B8_TO_RGB565(r>255?255:r,g>255?255:g,b>255?255:b);
+                    imlib_set_pixel(img, x_off + x, y_off + y,c);
+
+                }
+            }
+        }
+    }
+}
+/**
+ * @brief 快速贴图融合算法,贴图与被贴图像需要相同,使用临近插值算法
+ * 
+ * @param img       被贴图像
+ * @param other     贴图图像
+ * @param x_off     x 轴起始位置
+ * @param y_off     y 轴起始位置
+ * @param x_scale   缩放系数
+ * @param y_scale   缩放系数
+ * @param alpha     贴图融合系数
+ * @param mask      掩码图像
+ */
+void imlib_draw_image_fast(image_t *img, image_t *other, int x_off, int y_off, float x_scale, float y_scale, float alpha, image_t *mask)
+{
+    float over_xscale = IM_DIV(1.0, x_scale), over_yscale = IM_DIV(1.0f, y_scale);
+    int alpha_int = (int)(alpha * 2048), alpha_int_2 = 2048 - alpha_int;
+    int other_y, other_x;
+
+    switch (img->pixfmt)
+    {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = fast_roundf(other->h * y_scale); y < yy; y++) {
+                other_y = fast_roundf(y * over_yscale);
+
+                for (int x = 0, xx = fast_roundf(other->w * x_scale); x < xx; x++) {
+                    other_x = fast_roundf(x * over_xscale);
+
+                    if ((!mask) || image_get_mask_pixel(mask, other_x, other_y)) {
+                        uint32_t pixel_32 = IMAGE_GET_BINARY_PIXEL(other, other_x, other_y);
+                        if(alpha == 1) {
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_BINARY_PIXEL(img, (x_off + x), (y_off + y), pixel_32);
+                            }
+                        } else {
+                            uint32_t pixel2_32 = IMAGE_GET_BINARY_PIXEL(img, (x_off + x), (y_off + y));
+                            pixel_32 = (uint32_t)(pixel_32 * alpha_int + pixel2_32 * alpha_int_2) >> 11;
+                            pixel_32 = pixel_32 > 1024 ? COLOR_BINARY_MAX : COLOR_BINARY_MIN;
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_BINARY_PIXEL(img, (x_off + x), (y_off + y), pixel_32);
+                            }
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = fast_roundf(other->h * y_scale); y < yy; y++) {
+                other_y = fast_roundf(y * over_yscale);
+
+                for (int x = 0, xx = fast_roundf(other->w * x_scale); x < xx; x++) {
+                    other_x = fast_roundf(x * over_xscale);
+
+                    if ((!mask) || image_get_mask_pixel(mask, other_x, other_y)) {
+                        uint8_t pixel_8 = IMAGE_GET_GRAYSCALE_PIXEL(other, other_x, other_y);
+                        if(alpha == 1) {
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_GRAYSCALE_PIXEL(img, (x_off + x), (y_off + y), pixel_8);
+                            }
+                        } else {
+                            uint8_t pixel2_8 = IMAGE_GET_GRAYSCALE_PIXEL(img, (x_off + x), (y_off + y));
+                            pixel_8 = (uint32_t)(pixel_8 * alpha_int + pixel2_8 * alpha_int_2) >> 11;
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_GRAYSCALE_PIXEL(img, (x_off + x), (y_off + y), pixel_8);
+                            }
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = fast_roundf(other->h * y_scale); y < yy; y++) {
+                other_y = fast_roundf(y * over_yscale);
+
+                for (int x = 0, xx = fast_roundf(other->w * x_scale); x < xx; x++) {
+                    other_x = fast_roundf(x * over_xscale);
+
+                    if ((!mask) || image_get_mask_pixel(mask, other_x, other_y)) {
+                        uint16_t pixel_16 = IMAGE_GET_RGB565_PIXEL(other, other_x, other_y);
+                        if(alpha == 1) {
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_RGB565_PIXEL(img, (x_off + x), (y_off + y), pixel_16);
+                            }
+                        } else {
+                            uint16_t pixel2_16 = IMAGE_GET_RGB565_PIXEL(img, (x_off + x), (y_off + y));
+
+                            uint8_t r = ((uint32_t)((uint8_t)COLOR_RGB565_TO_R8(pixel_16) * alpha_int + (uint8_t)COLOR_RGB565_TO_R8(pixel2_16) * alpha_int_2)) >> 11;
+                            uint8_t g = ((uint32_t)((uint8_t)COLOR_RGB565_TO_G8(pixel_16) * alpha_int + (uint8_t)COLOR_RGB565_TO_G8(pixel2_16) * alpha_int_2)) >> 11;
+                            uint8_t b = ((uint32_t)((uint8_t)COLOR_RGB565_TO_B8(pixel_16) * alpha_int + (uint8_t)COLOR_RGB565_TO_B8(pixel2_16) * alpha_int_2)) >> 11;
+                            
+                            pixel_16 = COLOR_R8_G8_B8_TO_RGB565(r, g, b);
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_RGB565_PIXEL(img, (x_off + x), (y_off + y), pixel_16);
+                            }
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = fast_roundf(other->h * y_scale); y < yy; y++) {
+                other_y = fast_roundf(y * over_yscale);
+
+                for (int x = 0, xx = fast_roundf(other->w * x_scale); x < xx; x++) {
+                    other_x = fast_roundf(x * over_xscale);
+
+                    if ((!mask) || image_get_mask_pixel(mask, other_x, other_y)) {
+                        pixel24_t pixel_24 = IMAGE_GET_RGB888_PIXEL_(other, other_x, other_y);
+                        if(alpha == 1) {
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_RGB888_PIXEL_(img, (x_off + x), (y_off + y), pixel_24);
+                            }
+                        } else {
+                            pixel24_t pixel2_24 = IMAGE_GET_RGB888_PIXEL_(img, (x_off + x), (y_off + y));
+
+                            pixel_24.red    = ((uint32_t)(pixel_24.red    * alpha_int + pixel2_24.red     * alpha_int_2)) >> 11;
+                            pixel_24.green  = ((uint32_t)(pixel_24.green  * alpha_int + pixel2_24.green   * alpha_int_2)) >> 11;
+                            pixel_24.blue   = ((uint32_t)(pixel_24.blue   * alpha_int + pixel2_24.blue    * alpha_int_2)) >> 11;
+                            
+                            if ((0 <= (x_off + x)) && ((x_off + x) < img->w) && (0 <= (y_off + y)) && ((y_off + y) < img->h)) {
+                                IMAGE_PUT_RGB888_PIXEL_(img, (x_off + x), (y_off + y), pixel_24);
+                            }
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+/**
+ * @brief 绘制一个 image ，其左上角从位置x，y开始。 您可以单独传递x，y，也可以传递给元组(x，y)。
+ * 这种方法非常灵活，不需要在目标图像上绘制的图像具有相同的宽度/高度/或像素格式(灰度/RGB565)。 该方法还可以自动处理从目标图像边缘绘制的裁剪像素。
+ * 
+ * @param dst_img 目标图像
+ * @param src_img 传入图像
+ * @param dst_x_start 开始的x位置
+ * @param dst_y_start  开始的y位置
+ * @param x_scale 是一个浮点值，通过它可以在x方向上缩放图像。如果此值为负，则图像将水平翻转。
+ * @param y_scale 是一个浮点值，通过它可以在y方向上缩放图像。如果此值为负，则图像将垂直翻转。
+ * @param roi 是要绘制的源图像的感兴趣区域矩形元组 (x, y, w, h)。 这允许您仅提取 ROI 中的像素以在目标图像上进行缩放和绘制。
+ * @param rgb_channel 是从 RGB565 图像（如果传递）中提取并渲染到目标图像上的 RGB 通道（0=R，G=1，B=2）。 
+ *                      例如，如果您传递 rgb_channel=1 这将提取源 RGB565 图像的绿色通道并在目标图像上以灰度方式绘制该通道。
+ * @param alpha 控制另一幅图像与这幅图像的混合程度。 alpha 应该是0到256之间的一个整数值。接近零的值会将更多其他图像混合到该图像中，而接近256的值则相反。
+ * @param color_palette 如果不是 -1 可以是 sensor.PALETTE_RAINBOW、sensor.PALETTE_IRONBOW，或总共 256 像素的 RGB565 图像，用作任何源图像的灰度值的颜色查找表。 如果使用，这将在 rgb_channel 提取之后应用。
+ * @param alpha_palette 如果不是 -1 可以是总共 256 像素的 GRAYSCALE 图像，用作 alpha 调色板， 以像素级别调制正在绘制的源图像的``alpha``值，允许您根据像素的灰度值精确控制像素的 alpha 值。 alpha 查找表中的 255 像素值是不透明的，任何小于 255 的像素值都会变成更透明，直到 0。 如果使用，这将在 rgb_channel 提取之后应用。
+ * @param hint 可以是标志的OR逻辑：
+ * image.AREA: 与最近邻的默认值相比，在缩小时使用区域缩放。
+ * image.BILINEAR: 使用双线性缩放而不是最近邻缩放的默认值。
+ * image.BICUBIC: 使用双三次缩放而不是最近邻缩放的默认值。
+ * image.CENTER: 将要绘制的图像图像居中 (x, y)。
+ * image.EXTRACT_RGB_CHANNEL_FIRST: 在缩放之前进行 rgb_channel 提取。
+ * image.APPLY_COLOR_PALETTE_FIRST: 在缩放之前应用调色板。
+ * image.BLACK_BACKGROUND: 假设目标图像是黑色的。 这加快了绘图速度。
+ * 
+ * @param callback 回调函数
+ * @param dst_row_override 回调参数
+ */
+void imlib_draw_image(image_t *dst_img, image_t *src_img, int dst_x_start, int dst_y_start,
+        float x_scale, float y_scale, rectangle_t *roi,int rgb_channel, int alpha, const uint16_t *color_palette,
+        const uint8_t *alpha_palette, image_hint_t hint, imlib_draw_row_callback_t callback, void *dst_row_override)
+{
+    int dst_delta_x = 1; // positive direction
+    if (x_scale < 0.f) { // flip X
+        dst_delta_x = -1;
+        x_scale = -x_scale;
+    }
+
+    int dst_delta_y = 1; // positive direction
+    if (y_scale < 0.f) { // flip Y
+        dst_delta_y = -1;
+        y_scale = -y_scale;
+    }
+
+    int src_img_w = roi ? roi->w : src_img->w, w_limit = src_img_w - 1, w_limit_m_1 = w_limit - 1;
+    int src_img_h = roi ? roi->h : src_img->h, h_limit = src_img_h - 1, h_limit_m_1 = h_limit - 1;
+
+    int src_width_scaled = fast_floorf(x_scale * src_img_w);
+    int src_height_scaled = fast_floorf(y_scale * src_img_h);
+
+    // Nothing to draw
+    if ((src_width_scaled < 1) || (src_height_scaled < 1)) return;
+
+    // If alpha is 0 then nothing changes.
+    if (alpha == 0) return;
+
+    if (alpha_palette) {
+        int i = 0;
+        while ((i < 256) && (!alpha_palette[i])) i++;
+        if (i == 256) return; // zero alpha palette
+    }
+
+    // Center src if hint is set.
+    if (hint & IMAGE_HINT_CENTER) {
+        dst_x_start -= src_width_scaled / 2;
+        dst_y_start -= src_height_scaled / 2;
+    }
+
+    // Clamp start x to image bounds.
+    int src_x_start = 0;
+    if (dst_x_start < 0) {
+        src_x_start -= dst_x_start; // this is an add becasue dst_x_start is negative
+        dst_x_start = 0;
+    }
+
+    if (dst_x_start >= dst_img->w) return;
+    int src_x_dst_width = src_width_scaled - src_x_start;
+    if (src_x_dst_width <= 0) return;
+
+    // Clamp start y to image bounds.
+    int src_y_start = 0;
+    if (dst_y_start < 0) {
+        src_y_start -= dst_y_start; // this is an add becasue dst_y_start is negative
+        dst_y_start = 0;
+    }
+
+    if (dst_y_start >= dst_img->h) return;
+    int src_y_dst_height = src_height_scaled - src_y_start;
+    if (src_y_dst_height <= 0) return;
+
+    // Clamp end x to image bounds.
+    int dst_x_end = dst_x_start + src_x_dst_width;
+    if (dst_x_end > dst_img->w) dst_x_end = dst_img->w;
+
+    // Clamp end y to image bounds.
+    int dst_y_end = dst_y_start + src_y_dst_height;
+    if (dst_y_end > dst_img->h) dst_y_end = dst_img->h;
+
+    if (dst_delta_x < 0) {
+        // Since we are drawing backwards we have to slide our drawing offset forward by an amount
+        // limited by the size of the drawing area left. E.g. when we hit the right edge we have
+        // advance the offset to prevent the image from sliding.
+        int allowed_offset_width = src_width_scaled - (dst_x_end - dst_x_start);
+        src_x_start = IM_MIN(dst_x_start, allowed_offset_width);
+    }
+
+    // Apply roi offset
+    if (roi) src_x_start += fast_floorf(roi->x * x_scale);
+
+    if (dst_delta_y < 0) {
+        // Since we are drawing backwards we have to slide our drawing offset forward by an amount
+        // limited by the size of the drawing area left. E.g. when we hit the bottom edge we have
+        // advance the offset to prevent the image from sliding.
+        int allowed_offset_height = src_height_scaled - (dst_y_end - dst_y_start);
+        src_y_start = IM_MIN(dst_y_start, allowed_offset_height);
+    }
+
+    // Apply roi offset
+    if (roi) src_y_start += fast_floorf(roi->y * y_scale);
+
+    // For all of the scaling algorithms (nearest neighbor, bilinear, bicubic, and area)
+    // we use a 32-bit fraction instead of a floating point value for iteration. Below,
+    // we calculate an increment which fits in 32-bits. We can then add this value
+    // successively as we loop over the destination pixels and then shift this sum
+    // right by 16 to get the corresponding source pixel. If we want the fractional
+    // position we just have to look at the bottom 16-bits.
+    //
+    // top 16-bits = whole part, bottom 16-bits = fractional part.
+
+    int dst_x_reset = (dst_delta_x < 0) ? (dst_x_end - 1) : dst_x_start;
+    long src_x_frac = fast_floorf(65536.0f / x_scale), src_x_frac_size = (src_x_frac + 0xFFFF) >> 16;
+    long src_x_accum_reset = fast_floorf((src_x_start << 16) / x_scale);
+
+    int dst_y_reset = (dst_delta_y < 0) ? (dst_y_end - 1) : dst_y_start;
+    long src_y_frac = fast_floorf(65536.0f / y_scale), src_y_frac_size = (src_y_frac + 0xFFFF) >> 16;
+    long src_y_accum_reset = fast_floorf((src_y_start << 16) / y_scale);
+
+    // Nearest Neighbor
+    if ((src_x_frac == 65536) && (src_y_frac == 65536)) hint &= ~(IMAGE_HINT_AREA | IMAGE_HINT_BICUBIC | IMAGE_HINT_BILINEAR);
+
+    // Nearest Neighbor
+    if ((hint & IMAGE_HINT_AREA) && (x_scale >= 1.f) && (y_scale >= 1.f)) hint &= ~(IMAGE_HINT_AREA | IMAGE_HINT_BICUBIC | IMAGE_HINT_BILINEAR);
+
+    // Cannot interpolate.
+    if ((src_img_w <= 3) || (src_img_h <= 3)) {
+        if (hint & IMAGE_HINT_BICUBIC) hint |= IMAGE_HINT_BILINEAR;
+        hint &= ~IMAGE_HINT_BICUBIC;
+    }
+
+    // Cannot interpolate.
+    if ((src_img_w <= 1) || (src_img_h <= 1)) hint &= ~(IMAGE_HINT_AREA | IMAGE_HINT_BILINEAR);
+
+    // Bicbuic and bilinear both shift the image right by (0.5, 0.5) so we have to undo that.
+    if (hint & (IMAGE_HINT_BICUBIC | IMAGE_HINT_BILINEAR)) {
+        src_x_accum_reset -= 0x8000;
+        src_y_accum_reset -= 0x8000;
+    }
+
+    // rgb_channel extracted / color_palette applied image
+    image_t new_src_img;
+
+    if (((hint & IMAGE_HINT_EXTRACT_RGB_CHANNEL_FIRST) && (rgb_channel != -1) && src_img->is_color)
+    || ((hint & IMAGE_HINT_APPLY_COLOR_PALETTE_FIRST) && color_palette)) {
+        new_src_img.w = src_img_w; // same width as source image
+        new_src_img.h = src_img_h; // same height as source image
+        if(color_palette){
+            if(src_img->pixfmt == PIXFORMAT_RGB888){
+                new_src_img.pixfmt = PIXFORMAT_RGB888;
+            }else{
+                new_src_img.pixfmt = PIXFORMAT_RGB565;
+            }
+        }else{
+            new_src_img.pixfmt = PIXFORMAT_GRAYSCALE;
+        }
+        new_src_img.data = fb_alloc(image_size(&new_src_img), FB_ALLOC_NO_HINT);
+        imlib_draw_image(&new_src_img, src_img, 0, 0, 1.f, 1.f, NULL, rgb_channel, 256, color_palette, NULL, 0, NULL, NULL);
+        src_img = &new_src_img;
+        rgb_channel = -1;
+        color_palette = NULL;
+    }
+
+    // Special destination?
+    bool is_jpeg = src_img->pixfmt == PIXFORMAT_JPEG;
+    bool is_png = src_img->pixfmt == PIXFORMAT_PNG;
+    int new_not_mutable_pixfmt = 0;
+    // Best format to convert yuv/bayer/jpeg image to.
+    // int new_not_mutable_pixfmt = (rgb_channel != -1) ? PIXFORMAT_RGB565 :
+    //         (color_palette ? PIXFORMAT_GRAYSCALE :
+    //         dst_img->pixfmt);
+    if(rgb_channel != -1)
+    {
+        if(src_img->pixfmt == PIXFORMAT_RGB888)
+        {
+            new_not_mutable_pixfmt = PIXFORMAT_RGB888;
+        }else{
+            new_not_mutable_pixfmt = PIXFORMAT_RGB565;
+        }
+    }else{
+        if(color_palette)
+        {
+            new_not_mutable_pixfmt = PIXFORMAT_GRAYSCALE;
+        }else{
+            new_not_mutable_pixfmt = dst_img->pixfmt;
+        }
+    }
+
+    bool no_scaling_nearest_neighbor = (dst_delta_x == 1)
+            && (dst_x_start == 0) && (src_x_start == 0)
+            && (src_x_frac == 65536) && (src_y_frac == 65536);
+
+    // If we are scaling just make a deep copy.
+    bool is_scaling = (hint & (IMAGE_HINT_AREA | IMAGE_HINT_BICUBIC | IMAGE_HINT_BILINEAR))
+            || (!no_scaling_nearest_neighbor);
+
+    // Otherwise, we only have to do a deep copy if the image is growing.
+    size_t src_img_row_bytes = image_size(src_img) / src_img->h;
+    size_t dst_img_row_bytes = image_size(dst_img) / dst_img->h;
+
+    // Do we need to convert the image?
+    bool is_bayer_color_conversion = src_img->is_bayer && !dst_img->is_bayer;
+    bool is_yuv_color_conversion = src_img->is_yuv && !dst_img->is_yuv;
+    bool is_color_conversion = is_bayer_color_conversion || is_yuv_color_conversion;
+
+    // Force a deep copy if we cannot use the image in-place.
+    bool need_deep_copy = (dst_img->data == src_img->data)
+            && (is_scaling || (src_img_row_bytes < dst_img_row_bytes) || is_color_conversion);
+
+    // Force a deep copy if we are scaling.
+    bool is_color_conversion_scaling = is_color_conversion && is_scaling;
+
+    // Make a deep copy of the source image.
+    if (need_deep_copy || is_color_conversion_scaling || is_jpeg || is_png) {
+        new_src_img.w = src_img->w; // same width as source image
+        new_src_img.h = src_img->h; // same height as source image
+
+        if (!src_img->is_mutable) {
+            new_src_img.pixfmt = new_not_mutable_pixfmt;
+            size_t size = image_size(&new_src_img);
+            new_src_img.data = fb_alloc(size, FB_ALLOC_NO_HINT);
+
+            switch (new_src_img.pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    if (src_img->is_bayer) {
+                        imlib_debayer_image(&new_src_img, src_img);
+                    } else if (src_img->is_yuv) {
+                        imlib_deyuv_image(&new_src_img, src_img);
+                    } else if (is_jpeg) {
+                        jpeg_decompress(&new_src_img, src_img);
+                    } else if (is_png) {
+                        png_decompress(&new_src_img, src_img);
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    if (src_img->is_bayer) {
+                        imlib_debayer_image(&new_src_img, src_img);
+                    } else if (src_img->is_yuv) {
+                        imlib_deyuv_image(&new_src_img, src_img);
+                    } else if (is_jpeg) {
+                        jpeg_decompress(&new_src_img, src_img);
+                    } else if (is_png) {
+                        png_decompress(&new_src_img, src_img);
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    if (src_img->is_bayer) {
+                        imlib_debayer_image(&new_src_img, src_img);
+                    } else if (src_img->is_yuv) {
+                        imlib_deyuv_image(&new_src_img, src_img);
+                    } else if (is_jpeg) {
+                        jpeg_decompress(&new_src_img, src_img);
+                    } else if (is_png) {
+                        png_decompress(&new_src_img, src_img);
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    if (src_img->is_bayer) {
+                        imlib_debayer_image(&new_src_img, src_img);
+                    } else if (src_img->is_yuv) {
+                        imlib_deyuv_image(&new_src_img, src_img);
+                    } else if (is_jpeg) {
+                        jpeg_decompress(&new_src_img, src_img);
+                    } else if (is_png) {
+                        png_decompress(&new_src_img, src_img);
+                    }
+                    break;
+                }
+                case PIXFORMAT_BAYER_ANY:
+                case PIXFORMAT_YUV_ANY: {
+                    memcpy(new_src_img.data, src_img->data, size);
+                    break;
+                }
+                default : {
+                    if (is_png) {
+                       png_decompress(&new_src_img, src_img);
+                    }
+                    break;
+                }
+            }
+        } else {
+            new_src_img.pixfmt = src_img->pixfmt;
+            size_t size = image_size(&new_src_img);
+            new_src_img.data = fb_alloc(size, FB_ALLOC_NO_HINT);
+            memcpy(new_src_img.data, src_img->data, size);
+        }
+
+        src_img = &new_src_img;
+    }
+
+    imlib_draw_row_data_t imlib_draw_row_data;
+    imlib_draw_row_data.dst_img = dst_img;
+    imlib_draw_row_data.src_img_pixfmt = (!src_img->is_mutable) ? new_not_mutable_pixfmt : src_img->pixfmt;
+    imlib_draw_row_data.rgb_channel = rgb_channel;
+    imlib_draw_row_data.alpha = alpha;
+    imlib_draw_row_data.color_palette = color_palette;
+    imlib_draw_row_data.alpha_palette = alpha_palette;
+    imlib_draw_row_data.black_background = hint & IMAGE_HINT_BLACK_BACKGROUND;
+    imlib_draw_row_data.callback = callback;
+    imlib_draw_row_data.dst_row_override = dst_row_override;
+    #ifdef IMLIB_ENABLE_DMA2D
+    imlib_draw_row_data.dma2d_request = (alpha != 256) || alpha_palette ||
+        (hint & (IMAGE_HINT_AREA | IMAGE_HINT_BICUBIC | IMAGE_HINT_BILINEAR));
+    #endif
+
+    imlib_draw_row_setup(&imlib_draw_row_data);
+
+    // Y loop iteration variables
+    int dst_y = dst_y_reset;
+    long src_y_accum = src_y_accum_reset;
+    int next_src_y_index = src_y_accum >> 16;
+    int y = dst_y_start;
+    bool y_not_done = y < dst_y_end;
+
+    if (hint & IMAGE_HINT_AREA) {
+        // The area scaling algorithm runs in fast mode if the image is being scaled down by
+        // 1, 2, 3, 4, 5, etc. or slow mode if it's a fractional scale.
+        
+        // In fast mode area scaling is just the sum of the specified area. No weighting of pixels
+        // is required to get the job done.
+        
+        // In slow mode we need to weight pixels that lie on the edges of the area scale rectangle.
+        // This prevents making the inner loop of the algorithm tight.
+        // 
+        if ((!(src_x_frac & 0xFFFF)) && (!(src_y_frac & 0xFFFF))) { // fast
+            switch (src_img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index;
+                        int src_y_index_end = src_y_index + src_y_frac_size;
+                        if (src_y_index_end > src_img_h) src_y_index_end = src_img_h;
+                        int height = src_y_index_end - src_y_index;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint32_t *dst_row_ptr = (uint32_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_end = src_x_index + src_x_frac_size;
+                            if (src_x_index_end > src_img_w) src_x_index_end = src_img_w;
+                            int width = src_x_index_end - src_x_index;
+
+                            uint32_t area = width * height;
+                            uint32_t acc = 0;
+
+                            for (int i = src_y_index; i < src_y_index_end; i++) {
+                                uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, i);
+                                for (int j = src_x_index; j < src_x_index_end; j++) {
+                                    acc += IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, j);
+                                }
+                            }
+
+                            int pixel = (acc + (area >> 1)) / area;
+
+                            IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index;
+                        int src_y_index_end = src_y_index + src_y_frac_size;
+                        if (src_y_index_end > src_img_h) src_y_index_end = src_img_h;
+                        int height = src_y_index_end - src_y_index;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint8_t *dst_row_ptr = (uint8_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_end = src_x_index + src_x_frac_size;
+                            if (src_x_index_end > src_img_w) src_x_index_end = src_img_w;
+                            int width = src_x_index_end - src_x_index;
+
+                            uint32_t area = width * height;
+                            uint32_t acc = 0;
+
+                            if (width < 4) {
+                                for (int i = src_y_index; i < src_y_index_end; i++) {
+                                    uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, i) + src_x_index;
+                                    int n = width;
+#if defined(ARM_MATH_DSP)
+                                    uint16_t *src_row_ptr16 = (uint16_t *) src_row_ptr;
+
+                                    for (; n > 1; n -= 2) {
+                                        uint16_t pixels = *src_row_ptr16++;
+                                        acc = __USADA8(pixels, 0, acc);
+                                    }
+
+                                    src_row_ptr = (uint8_t *) src_row_ptr16;
+#endif
+                                    for (; n > 0; n -= 1)  {
+                                        acc += *src_row_ptr++;
+                                    }
+                                }
+                            } else {
+                                for (int i = src_y_index; i < src_y_index_end; i++) {
+                                    uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, i) + src_x_index;
+                                    int n = width;
+#if defined(ARM_MATH_DSP)
+                                    uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                    for (; n > 3; n -= 4) {
+                                        uint32_t pixels = *src_row_ptr32++;
+                                        acc = __USADA8(pixels, 0, acc);
+                                    }
+
+                                    src_row_ptr = (uint8_t *) src_row_ptr32;
+#endif
+                                    for (; n > 0; n -= 1)  {
+                                        acc += *src_row_ptr++;
+                                    }
+                                }
+                            }
+
+                            int pixel = (acc + (area >> 1)) / area;
+
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index;
+                        int src_y_index_end = src_y_index + src_y_frac_size;
+                        if (src_y_index_end > src_img_h) src_y_index_end = src_img_h;
+                        int height = src_y_index_end - src_y_index;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint16_t *dst_row_ptr = (uint16_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_end = src_x_index + src_x_frac_size;
+                            if (src_x_index_end > src_img_w) src_x_index_end = src_img_w;
+                            int width = src_x_index_end - src_x_index;
+
+                            uint32_t area = width * height;
+                            uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+                            for (int i = src_y_index; i < src_y_index_end; i++) {
+                                uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, i) + src_x_index;
+                                int n = width;
+#if defined(ARM_MATH_DSP)
+                                uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                for (; n > 1; n -= 2) {
+                                    uint32_t pixels = *src_row_ptr32++;
+
+                                    long r = (pixels >> 11) & 0x1F001F;
+                                    r_acc = __USADA8(r, 0, r_acc);
+
+                                    long g = (pixels >> 5) & 0x3F003F;
+                                    g_acc = __USADA8(g, 0, g_acc);
+
+                                    long b = pixels & 0x1F001F;
+                                    b_acc = __USADA8(b, 0, b_acc);
+                                }
+
+                                src_row_ptr = (uint16_t *) src_row_ptr32;
+#endif
+                                for (; n > 0; n -= 1)  {
+                                    int pixel = *src_row_ptr++;
+                                    r_acc += COLOR_RGB565_TO_R5(pixel);
+                                    g_acc += COLOR_RGB565_TO_G6(pixel);
+                                    b_acc += COLOR_RGB565_TO_B5(pixel);
+                                }
+                            }
+
+                            r_acc = (r_acc + (area >> 1)) / area;
+                            g_acc = (g_acc + (area >> 1)) / area;
+                            b_acc = (b_acc + (area >> 1)) / area;
+
+                            int pixel = COLOR_R5_G6_B5_TO_RGB565(r_acc, g_acc, b_acc);
+
+                            IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index;
+                        int src_y_index_end = src_y_index + src_y_frac_size;
+                        if (src_y_index_end > src_img_h) src_y_index_end = src_img_h;
+                        int height = src_y_index_end - src_y_index;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_end = src_x_index + src_x_frac_size;
+                            if (src_x_index_end > src_img_w) src_x_index_end = src_img_w;
+                            int width = src_x_index_end - src_x_index;
+
+                            uint32_t area = width * height;
+                            uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+                            for (int i = src_y_index; i < src_y_index_end; i++) {
+                                pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, i) + src_x_index;
+                                int n = width;
+#if defined(ARM_MATH_DSP)
+                                uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                for (; n > 1; n -= 2) {
+                                    uint32_t pixels = *src_row_ptr32++;
+
+                                    long r = (pixels >> 11) & 0x1F001F;
+                                    r_acc = __USADA8(r, 0, r_acc);
+
+                                    long g = (pixels >> 5) & 0x3F003F;
+                                    g_acc = __USADA8(g, 0, g_acc);
+
+                                    long b = pixels & 0x1F001F;
+                                    b_acc = __USADA8(b, 0, b_acc);
+                                }
+
+                                src_row_ptr = (uint16_t *) src_row_ptr32;
+#endif
+                                for (; n > 0; n -= 1)  {
+                                    int pixel = pixel24232(*src_row_ptr++);
+                                    r_acc += COLOR_RGB888_TO_R8(pixel);
+                                    g_acc += COLOR_RGB888_TO_G8(pixel);
+                                    b_acc += COLOR_RGB888_TO_B8(pixel);
+                                }
+                            }
+
+                            r_acc = (r_acc + (area >> 1)) / area;
+                            g_acc = (g_acc + (area >> 1)) / area;
+                            b_acc = (b_acc + (area >> 1)) / area;
+
+                            int pixel = COLOR_R8_G8_B8_TO_RGB888(r_acc, g_acc, b_acc);
+
+                            IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        } else { // slow
+            switch (src_img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index, src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_end = src_y_index + src_y_frac_size - 1; // inclusive end
+
+                        int t_y_weight = 256 - ((src_y_accum >> 8) & 0xFF);
+                        int b_y_weight = ((src_y_accum + src_y_frac) >> 8) & 0xFF;
+                        // Since src_y_index_end is inclusive this should be 256 when there's perfect overlap.
+                        if (!b_y_weight) b_y_weight = 256;
+
+                        // Handle end being off the edge.
+                        if (src_y_index_end > h_limit) {
+                            src_y_index_end = h_limit;
+                            // Either we don't need end of we chopped off the last part.
+                            if (src_y_index_end == src_y_index) b_y_weight = 0;
+                            else b_y_weight = 256; // max out if we chopped off
+                        }
+
+                        int y_height_m_2 = src_y_index_end - src_y_index - 1;
+
+                        uint32_t *t_src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index);
+                        uint32_t *b_src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_end);
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint32_t *dst_row_ptr = (uint32_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index, src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_end = src_x_index + src_x_frac_size - 1; // inclusive end
+
+                            int l_x_weight = 256 - ((src_x_accum >> 8) & 0xFF);
+                            int r_x_weight = ((src_x_accum + src_x_frac) >> 8) & 0xFF;
+                            // Since src_x_index_end is inclusive this should be 256 when there's perfect overlap.
+                            if (!r_x_weight) r_x_weight = 256;
+
+                            // Handle end being off the edge.
+                            if (src_x_index_end > w_limit) {
+                                src_x_index_end = w_limit;
+                                // Either we don't need end of we chopped off the last part.
+                                if (src_x_index_end == src_x_index) r_x_weight = 0;
+                                else r_x_weight = 256; // max out if we chopped off
+                            }
+
+                            int x_width_m_2 = src_x_index_end - src_x_index - 1;
+
+                            int t_l_weight = t_y_weight * l_x_weight;
+                            int t_r_weight = t_y_weight * r_x_weight;
+                            int b_l_weight = b_y_weight * l_x_weight;
+                            int b_r_weight = b_y_weight * r_x_weight;
+
+                            uint32_t area = t_l_weight + t_r_weight + b_l_weight + b_r_weight;
+                            uint32_t acc = 0;
+
+                            // sum corners
+
+                            acc += IMAGE_GET_BINARY_PIXEL_FAST(t_src_row_ptr, src_x_index) * t_l_weight;
+                            acc += IMAGE_GET_BINARY_PIXEL_FAST(t_src_row_ptr, src_x_index_end) * t_r_weight;
+                            acc += IMAGE_GET_BINARY_PIXEL_FAST(b_src_row_ptr, src_x_index) * b_l_weight;
+                            acc += IMAGE_GET_BINARY_PIXEL_FAST(b_src_row_ptr, src_x_index_end) * b_r_weight;
+
+                            area = (area + 255) >> 8;
+                            acc = (acc + 128) >> 8;
+
+                            if (x_width_m_2 > 0) { // sum top/bot
+                                area += x_width_m_2 * (t_y_weight + b_y_weight);
+                                for (int i = src_x_index_p_1; i < src_x_index_end; i++) {
+                                    acc += IMAGE_GET_BINARY_PIXEL_FAST(t_src_row_ptr, i) * t_y_weight;
+                                    acc += IMAGE_GET_BINARY_PIXEL_FAST(b_src_row_ptr, i) * b_y_weight;
+                                }
+                            }
+
+                            if (y_height_m_2 > 0) { // sum left/right
+                                area += y_height_m_2 * (l_x_weight + r_x_weight);
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, i);
+                                    acc += IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, src_x_index) * l_x_weight;
+                                    acc += IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, src_x_index_end) * r_x_weight;
+                                }
+                            }
+
+                            area = (area + 255) >> 8;
+                            acc = (acc + 128) >> 8;
+
+                            if ((x_width_m_2 > 0) && (y_height_m_2 > 0)) { // sum middle
+                                area += x_width_m_2 * y_height_m_2;
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, i);
+                                    for (int j = src_x_index_p_1; j < src_x_index_end; j++) {
+                                        acc += IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, j);
+                                    }
+                                }
+                            }
+
+                            int pixel = (acc + (area >> 1)) / area;
+
+                            IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index, src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_end = src_y_index + src_y_frac_size - 1; // inclusive end
+
+                        int t_y_weight = 256 - ((src_y_accum >> 8) & 0xFF);
+                        int b_y_weight = ((src_y_accum + src_y_frac) >> 8) & 0xFF;
+                        // Since src_y_index_end is inclusive this should be 256 when there's perfect overlap.
+                        if (!b_y_weight) b_y_weight = 256;
+
+                        // Handle end being off the edge.
+                        if (src_y_index_end > h_limit) {
+                            src_y_index_end = h_limit;
+                            // Either we don't need end of we chopped off the last part.
+                            if (src_y_index_end == src_y_index) b_y_weight = 0;
+                            else b_y_weight = 256; // max out if we chopped off
+                        }
+
+                        int y_height_m_2 = src_y_index_end - src_y_index - 1;
+
+                        uint8_t *t_src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index);
+                        uint8_t *b_src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_end);
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint8_t *dst_row_ptr = (uint8_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index, src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_end = src_x_index + src_x_frac_size - 1; // inclusive end
+
+                            int l_x_weight = 256 - ((src_x_accum >> 8) & 0xFF);
+                            int r_x_weight = ((src_x_accum + src_x_frac) >> 8) & 0xFF;
+                            // Since src_x_index_end is inclusive this should be 256 when there's perfect overlap.
+                            if (!r_x_weight) r_x_weight = 256;
+
+                            // Handle end being off the edge.
+                            if (src_x_index_end > w_limit) {
+                                src_x_index_end = w_limit;
+                                // Either we don't need end of we chopped off the last part.
+                                if (src_x_index_end == src_x_index) r_x_weight = 0;
+                                else r_x_weight = 256; // max out if we chopped off
+                            }
+
+                            int x_width_m_2 = src_x_index_end - src_x_index - 1;
+
+                            int t_l_weight = t_y_weight * l_x_weight;
+                            int t_r_weight = t_y_weight * r_x_weight;
+                            int b_l_weight = b_y_weight * l_x_weight;
+                            int b_r_weight = b_y_weight * r_x_weight;
+
+                            uint32_t area = t_l_weight + t_r_weight + b_l_weight + b_r_weight;
+                            uint32_t acc = 0;
+
+                            // sum corners
+
+                            acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(t_src_row_ptr, src_x_index) * t_l_weight;
+                            acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(t_src_row_ptr, src_x_index_end) * t_r_weight;
+                            acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(b_src_row_ptr, src_x_index) * b_l_weight;
+                            acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(b_src_row_ptr, src_x_index_end) * b_r_weight;
+
+                            area = (area + 255) >> 8;
+                            acc = (acc + 128) >> 8;
+
+                            if (x_width_m_2 > 0) { // sum top/bot
+                                area += x_width_m_2 * (t_y_weight + b_y_weight);
+                                uint8_t *t_src_row_ptr_tmp = t_src_row_ptr + src_x_index_p_1;
+                                uint8_t *b_src_row_ptr_tmp = b_src_row_ptr + src_x_index_p_1;
+                                for (int i = src_x_index_p_1; i < src_x_index_end; i++) {
+                                    acc += *t_src_row_ptr_tmp++ * t_y_weight;
+                                    acc += *b_src_row_ptr_tmp++ * b_y_weight;
+                                }
+                            }
+
+                            if (y_height_m_2 > 0) { // sum left/right
+                                area += y_height_m_2 * (l_x_weight + r_x_weight);
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, i);
+                                    acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, src_x_index) * l_x_weight;
+                                    acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, src_x_index_end) * r_x_weight;
+                                }
+                            }
+
+                            area = (area + 255) >> 8;
+                            acc = (acc + 128) >> 8;
+
+                            if ((x_width_m_2 > 0) && (y_height_m_2 > 0)) { // sum middle
+                                area += x_width_m_2 * y_height_m_2;
+                                if (x_width_m_2 < 4) {
+                                    for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                        uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, i) + src_x_index_p_1;
+                                        int n = x_width_m_2;
+#if defined(ARM_MATH_DSP)
+                                        uint16_t *src_row_ptr16 = (uint16_t *) src_row_ptr;
+
+                                        for (; n > 1; n -= 2) {
+                                            uint16_t pixels = *src_row_ptr16++;
+                                            acc = __USADA8(pixels, 0, acc);
+                                        }
+
+                                        src_row_ptr = (uint8_t *) src_row_ptr16;
+#endif
+                                        for (; n > 0; n -= 1)  {
+                                            acc += *src_row_ptr++;
+                                        }
+                                    }
+                                } else {
+                                    for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                        uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, i) + src_x_index_p_1;
+                                        int n = x_width_m_2;
+#if defined(ARM_MATH_DSP)
+                                        uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                        for (; n > 4; n -= 4) {
+                                            uint32_t pixels = *src_row_ptr32++;
+                                            acc = __USADA8(pixels, 0, acc);
+                                        }
+
+                                        src_row_ptr = (uint8_t *) src_row_ptr32;
+#endif
+                                        for (; n > 0; n -= 1)  {
+                                            acc += *src_row_ptr++;
+                                        }
+                                    }
+                                }
+                            }
+
+                            int pixel = (acc + (area >> 1)) / area;
+
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    while (y_not_done) {
+                        int src_y_index = next_src_y_index, src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_end = src_y_index + src_y_frac_size - 1; // inclusive end
+
+                        int t_y_weight = 128 - ((src_y_accum >> 9) & 0x7F);
+                        int b_y_weight = ((src_y_accum + src_y_frac) >> 9) & 0x7F;
+                        // Since src_y_index_end is inclusive this should be 128 when there's perfect overlap.
+                        if (!b_y_weight) b_y_weight = 128;
+
+                        // Handle end being off the edge.
+                        if (src_y_index_end > h_limit) {
+                            src_y_index_end = h_limit;
+                            // Either we don't need end of we chopped off the last part.
+                            if (src_y_index_end == src_y_index) b_y_weight = 0;
+                            else b_y_weight = 128; // max out if we chopped off
+                        }
+
+                        int y_height_m_2 = src_y_index_end - src_y_index - 1;
+                        long smlad_y_weight = (t_y_weight << 16) | b_y_weight;
+
+                        uint16_t *t_src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index);
+                        uint16_t *b_src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_end);
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint16_t *dst_row_ptr = (uint16_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index, src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_end = src_x_index + src_x_frac_size - 1; // inclusive end
+
+                            int l_x_weight = 128 - ((src_x_accum >> 9) & 0x7F);
+                            int r_x_weight = ((src_x_accum + src_x_frac) >> 9) & 0x7F;
+                            // Since src_x_index_end is inclusive this should be 128 when there's perfect overlap.
+                            if (!r_x_weight) r_x_weight = 128;
+
+                            // Handle end being off the edge.
+                            if (src_x_index_end > w_limit) {
+                                src_x_index_end = w_limit;
+                                // Either we don't need end of we chopped off the last part.
+                                if (src_x_index_end == src_x_index) r_x_weight = 0;
+                                else r_x_weight = 128; // max out if we chopped off
+                            }
+
+                            int x_width_m_2 = src_x_index_end - src_x_index - 1;
+                            long smlad_x_weight = (l_x_weight << 16) | r_x_weight;
+
+                            long t_smlad_x_weight = smlad_x_weight * t_y_weight;
+                            long b_smlad_x_weight = smlad_x_weight * b_y_weight;
+                            long t_b_smlad_x_weight_sum = __QADD16(t_smlad_x_weight, b_smlad_x_weight);
+
+                            uint32_t area = __SMUAD(t_b_smlad_x_weight_sum, 0x0010001);
+                            uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+                            // sum corners
+
+                            int t_l_pixel = IMAGE_GET_RGB565_PIXEL_FAST(t_src_row_ptr, src_x_index);
+                            int t_r_pixel = IMAGE_GET_RGB565_PIXEL_FAST(t_src_row_ptr, src_x_index_end);
+                            int t_pixels = (t_l_pixel << 16) | t_r_pixel;
+
+                            long t_r = (t_pixels >> 11) & 0x1F001F;
+                            r_acc = __SMLAD(t_r, t_smlad_x_weight, r_acc);
+
+                            long t_g = (t_pixels >> 5) & 0x3F003F;
+                            g_acc = __SMLAD(t_g, t_smlad_x_weight, g_acc);
+
+                            long t_b = t_pixels & 0x1F001F;
+                            b_acc = __SMLAD(t_b, t_smlad_x_weight, b_acc);
+
+                            int b_l_pixel = IMAGE_GET_RGB565_PIXEL_FAST(b_src_row_ptr, src_x_index);
+                            int b_r_pixel = IMAGE_GET_RGB565_PIXEL_FAST(b_src_row_ptr, src_x_index_end);
+                            int b_pixels = (b_l_pixel << 16) | b_r_pixel;
+
+                            long b_r = (b_pixels >> 11) & 0x1F001F;
+                            r_acc = __SMLAD(b_r, b_smlad_x_weight, r_acc);
+
+                            long b_g = (b_pixels >> 5) & 0x3F003F;
+                            g_acc = __SMLAD(b_g, b_smlad_x_weight, g_acc);
+
+                            long b_b = b_pixels & 0x1F001F;
+                            b_acc = __SMLAD(b_b, b_smlad_x_weight, b_acc);
+
+                            area = (area + 127) >> 7;
+                            r_acc = (r_acc + 64) >> 7;
+                            g_acc = (g_acc + 64) >> 7;
+                            b_acc = (b_acc + 64) >> 7;
+
+                            if (x_width_m_2 > 0) { // sum top/bot
+                                area += x_width_m_2 * (t_y_weight + b_y_weight);
+                                uint16_t *t_src_row_ptr_tmp = t_src_row_ptr + src_x_index_p_1;
+                                uint16_t *b_src_row_ptr_tmp = b_src_row_ptr + src_x_index_p_1;
+                                for (int i = src_x_index_p_1; i < src_x_index_end; i++) {
+                                    int t_y_pixel = *t_src_row_ptr_tmp++;
+                                    int b_y_pixel = *b_src_row_ptr_tmp++;
+                                    int pixels = (t_y_pixel << 16) | b_y_pixel;
+
+                                    long r = (pixels >> 11) & 0x1F001F;
+                                    r_acc = __SMLAD(r, smlad_y_weight, r_acc);
+
+                                    long g = (pixels >> 5) & 0x3F003F;
+                                    g_acc = __SMLAD(g, smlad_y_weight, g_acc);
+
+                                    long b = pixels & 0x1F001F;
+                                    b_acc = __SMLAD(b, smlad_y_weight, b_acc);
+                                }
+                            }
+
+                            if (y_height_m_2 > 0) { // sum left/right
+                                area += y_height_m_2 * (l_x_weight + r_x_weight);
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, i);
+                                    int l_x_pixel = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, src_x_index);
+                                    int r_x_pixel = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, src_x_index_end);
+                                    int pixels = (l_x_pixel << 16) | r_x_pixel;
+
+                                    long r = (pixels >> 11) & 0x1F001F;
+                                    r_acc = __SMLAD(r, smlad_x_weight, r_acc);
+
+                                    long g = (pixels >> 5) & 0x3F003F;
+                                    g_acc = __SMLAD(g, smlad_x_weight, g_acc);
+
+                                    long b = pixels & 0x1F001F;
+                                    b_acc = __SMLAD(b, smlad_x_weight, b_acc);
+                                }
+                            }
+
+                            area = (area + 127) >> 7;
+                            r_acc = (r_acc + 64) >> 7;
+                            g_acc = (g_acc + 64) >> 7;
+                            b_acc = (b_acc + 64) >> 7;
+
+                            if ((x_width_m_2 > 0) && (y_height_m_2 > 0)) { // sum middle
+                                area += x_width_m_2 * y_height_m_2;
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, i) + src_x_index_p_1;
+                                    int n = x_width_m_2;
+#if defined(ARM_MATH_DSP)
+                                    uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                    for (; n > 1; n -= 2) {
+                                        uint32_t pixels = *src_row_ptr32++;
+
+                                        long r = (pixels >> 11) & 0x1F001F;
+                                        r_acc = __USADA8(r, 0, r_acc);
+
+                                        long g = (pixels >> 5) & 0x3F003F;
+                                        g_acc = __USADA8(g, 0, g_acc);
+
+                                        long b = pixels & 0x1F001F;
+                                        b_acc = __USADA8(b, 0, b_acc);
+                                    }
+
+                                    src_row_ptr = (uint16_t *) src_row_ptr32;
+#endif
+                                    for (; n > 0; n -= 1)  {
+                                        int pixel = *src_row_ptr++;
+                                        r_acc += COLOR_RGB565_TO_R5(pixel);
+                                        g_acc += COLOR_RGB565_TO_G6(pixel);
+                                        b_acc += COLOR_RGB565_TO_B5(pixel);
+                                    }
+                                }
+                            }
+
+                            r_acc = (r_acc + (area >> 1)) / area;
+                            g_acc = (g_acc + (area >> 1)) / area;
+                            b_acc = (b_acc + (area >> 1)) / area;
+
+                            int pixel = COLOR_R5_G6_B5_TO_RGB565(r_acc, g_acc, b_acc);
+
+                            IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    while (y_not_done) {
+#if 1
+                        int src_y_index = next_src_y_index, src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_end = src_y_index + src_y_frac_size - 1; // inclusive end
+
+                        int t_y_weight = 256 - ((src_y_accum >> 8) & 0xFF);
+                        int b_y_weight = ((src_y_accum + src_y_frac) >> 8) & 0xFF;
+                        // Since src_y_index_end is inclusive this should be 128 when there's perfect overlap.
+                        if (!b_y_weight) b_y_weight = 256;
+
+                        // Handle end being off the edge.
+                        if (src_y_index_end > h_limit) {
+                            src_y_index_end = h_limit;
+                            // Either we don't need end of we chopped off the last part.
+                            if (src_y_index_end == src_y_index) b_y_weight = 0;
+                            else b_y_weight = 256; // max out if we chopped off
+                        }
+
+                        int y_height_m_2 = src_y_index_end - src_y_index - 1;
+                        // long smlad_y_weight = (t_y_weight << 16) | b_y_weight;
+
+                        pixel24_t *t_src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+                        pixel24_t *b_src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_end);
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index, src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_end = src_x_index + src_x_frac_size - 1; // inclusive end
+
+                            int l_x_weight = 256 - ((src_x_accum >> 8) & 0xFF);
+                            int r_x_weight = ((src_x_accum + src_x_frac) >> 8) & 0xFF;
+                            // Since src_x_index_end is inclusive this should be 128 when there's perfect overlap.
+                            if (!r_x_weight) r_x_weight = 256;
+
+                            // Handle end being off the edge.
+                            if (src_x_index_end > w_limit) {
+                                src_x_index_end = w_limit;
+                                // Either we don't need end of we chopped off the last part.
+                                if (src_x_index_end == src_x_index) r_x_weight = 0;
+                                else r_x_weight = 256; // max out if we chopped off
+                            }
+
+                            int x_width_m_2 = src_x_index_end - src_x_index - 1;
+                            long smlad_x_weight0 = l_x_weight;
+                            long smlad_x_weight1 = r_x_weight;
+                            // long smlad_x_weight = (l_x_weight << 16) | r_x_weight;
+
+                            long t_smlad_x_weight0 = smlad_x_weight0 * t_y_weight;
+                            long t_smlad_x_weight1 = smlad_x_weight1 * t_y_weight;
+
+                            long b_smlad_x_weight0 = smlad_x_weight0 * b_y_weight;
+                            long b_smlad_x_weight1 = smlad_x_weight1 * b_y_weight;
+
+                            long t_b_smlad_x_weight_sum0 = t_smlad_x_weight0 +  b_smlad_x_weight0;
+                            long t_b_smlad_x_weight_sum1 = t_smlad_x_weight1 +  b_smlad_x_weight1;
+
+                            uint32_t area = t_b_smlad_x_weight_sum0 + t_b_smlad_x_weight_sum1;
+
+                            uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+                            // sum corners
+
+                            int t_l_pixel = IMAGE_GET_RGB888_PIXEL_FAST(t_src_row_ptr, src_x_index);
+                            int t_r_pixel = IMAGE_GET_RGB888_PIXEL_FAST(t_src_row_ptr, src_x_index_end);
+
+                            r_acc = COLOR_RGB888_TO_R8(t_l_pixel) * t_smlad_x_weight0 + COLOR_RGB888_TO_R8(t_r_pixel) * t_smlad_x_weight1 + r_acc;
+                            g_acc = COLOR_RGB888_TO_G8(t_l_pixel) * t_smlad_x_weight0 + COLOR_RGB888_TO_G8(t_r_pixel) * t_smlad_x_weight1 + g_acc;
+                            b_acc = COLOR_RGB888_TO_B8(t_l_pixel) * t_smlad_x_weight0 + COLOR_RGB888_TO_B8(t_r_pixel) * t_smlad_x_weight1 + b_acc;
+
+                            int b_l_pixel = IMAGE_GET_RGB888_PIXEL_FAST(b_src_row_ptr, src_x_index);
+                            int b_r_pixel = IMAGE_GET_RGB888_PIXEL_FAST(b_src_row_ptr, src_x_index_end);
+
+                            r_acc = COLOR_RGB888_TO_R8(b_l_pixel) * b_smlad_x_weight0 + COLOR_RGB888_TO_R8(b_r_pixel) * b_smlad_x_weight1 + r_acc;
+                            g_acc = COLOR_RGB888_TO_G8(b_l_pixel) * b_smlad_x_weight0 + COLOR_RGB888_TO_G8(b_r_pixel) * b_smlad_x_weight1 + g_acc;
+                            b_acc = COLOR_RGB888_TO_B8(b_l_pixel) * b_smlad_x_weight0 + COLOR_RGB888_TO_B8(b_r_pixel) * b_smlad_x_weight1 + b_acc;
+                            area = (area + 127) >> 7;
+                            r_acc = (r_acc + 64) >> 7;
+                            g_acc = (g_acc + 64) >> 7;
+                            b_acc = (b_acc + 64) >> 7;
+
+                            if (x_width_m_2 > 0) { // sum top/bot
+                                area += x_width_m_2 * (t_y_weight + b_y_weight);
+                                pixel24_t *t_src_row_ptr_tmp = t_src_row_ptr + src_x_index_p_1;
+                                pixel24_t *b_src_row_ptr_tmp = b_src_row_ptr + src_x_index_p_1;
+                                for (int i = src_x_index_p_1; i < src_x_index_end; i++) {
+                                    int t_y_pixel = pixel24232(*t_src_row_ptr_tmp++);
+                                    int b_y_pixel = pixel24232(*b_src_row_ptr_tmp++);
+                                    r_acc = COLOR_RGB888_TO_R8(t_y_pixel) * t_y_weight + COLOR_RGB888_TO_R8(b_y_pixel) * b_y_weight + r_acc;
+                                    g_acc = COLOR_RGB888_TO_G8(t_y_pixel) * t_y_weight + COLOR_RGB888_TO_G8(b_y_pixel) * b_y_weight + g_acc;
+                                    b_acc = COLOR_RGB888_TO_B8(t_y_pixel) * t_y_weight + COLOR_RGB888_TO_B8(b_y_pixel) * b_y_weight + b_acc;
+
+                                }
+                            }
+
+                            if (y_height_m_2 > 0) { // sum left/right
+                                area += y_height_m_2 * (l_x_weight + r_x_weight);
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, i);
+                                    int l_x_pixel = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, src_x_index);
+                                    int r_x_pixel = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, src_x_index_end);
+                                    r_acc = COLOR_RGB888_TO_R8(l_x_pixel) * l_x_weight + COLOR_RGB888_TO_R8(r_x_pixel) * r_x_weight + r_acc;
+                                    g_acc = COLOR_RGB888_TO_G8(l_x_pixel) * l_x_weight + COLOR_RGB888_TO_G8(r_x_pixel) * r_x_weight + g_acc;
+                                    b_acc = COLOR_RGB888_TO_B8(l_x_pixel) * l_x_weight + COLOR_RGB888_TO_B8(r_x_pixel) * r_x_weight + b_acc;
+                                }
+                            }
+
+                            area = (area + 127) >> 7;
+                            r_acc = (r_acc + 64) >> 7;
+                            g_acc = (g_acc + 64) >> 7;
+                            b_acc = (b_acc + 64) >> 7;
+
+                            if ((x_width_m_2 > 0) && (y_height_m_2 > 0)) { // sum middle
+                                area += x_width_m_2 * y_height_m_2;
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, i) + src_x_index_p_1;
+                                    int n = x_width_m_2;
+#if defined(ARM_MATH_DSP)
+                                    uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                    for (; n > 1; n -= 2) {
+                                        uint32_t pixels = *src_row_ptr32++;
+
+                                        long r = (pixels >> 11) & 0x1F001F;
+                                        r_acc = __USADA8(r, 0, r_acc);
+
+                                        long g = (pixels >> 5) & 0x3F003F;
+                                        g_acc = __USADA8(g, 0, g_acc);
+
+                                        long b = pixels & 0x1F001F;
+                                        b_acc = __USADA8(b, 0, b_acc);
+                                    }
+
+                                    src_row_ptr = (uint16_t *) src_row_ptr32;
+#endif
+                                    for (; n > 0; n -= 1)  {
+                                        int pixel = pixel24232(*src_row_ptr++);
+                                        r_acc += COLOR_RGB888_TO_R8(pixel);
+                                        g_acc += COLOR_RGB888_TO_G8(pixel);
+                                        b_acc += COLOR_RGB888_TO_B8(pixel);
+                                    }
+                                }
+                            }
+
+                            r_acc = (r_acc + (area >> 1)) / area;
+                            g_acc = (g_acc + (area >> 1)) / area;
+                            b_acc = (b_acc + (area >> 1)) / area;
+
+                            int pixel = COLOR_R8_G8_B8_TO_RGB888(r_acc, g_acc, b_acc);
+
+                            IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+#else
+                        int src_y_index = next_src_y_index, src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_end = src_y_index + src_y_frac_size - 1; // inclusive end
+
+                        int t_y_weight = 128 - ((src_y_accum >> 9) & 0x7F);
+                        int b_y_weight = ((src_y_accum + src_y_frac) >> 9) & 0x7F;
+                        // Since src_y_index_end is inclusive this should be 128 when there's perfect overlap.
+                        if (!b_y_weight) b_y_weight = 128;
+
+                        // Handle end being off the edge.
+                        if (src_y_index_end > h_limit) {
+                            src_y_index_end = h_limit;
+                            // Either we don't need end of we chopped off the last part.
+                            if (src_y_index_end == src_y_index) b_y_weight = 0;
+                            else b_y_weight = 128; // max out if we chopped off
+                        }
+
+                        int y_height_m_2 = src_y_index_end - src_y_index - 1;
+                        // long smlad_y_weight = (t_y_weight << 16) | b_y_weight;
+
+                        pixel24_t *t_src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+                        pixel24_t *b_src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_end);
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index, src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_end = src_x_index + src_x_frac_size - 1; // inclusive end
+
+                            int l_x_weight = 128 - ((src_x_accum >> 9) & 0x7F);
+                            int r_x_weight = ((src_x_accum + src_x_frac) >> 9) & 0x7F;
+                            // Since src_x_index_end is inclusive this should be 128 when there's perfect overlap.
+                            if (!r_x_weight) r_x_weight = 128;
+
+                            // Handle end being off the edge.
+                            if (src_x_index_end > w_limit) {
+                                src_x_index_end = w_limit;
+                                // Either we don't need end of we chopped off the last part.
+                                if (src_x_index_end == src_x_index) r_x_weight = 0;
+                                else r_x_weight = 128; // max out if we chopped off
+                            }
+
+                            int x_width_m_2 = src_x_index_end - src_x_index - 1;
+                            long smlad_x_weight = (l_x_weight << 16) | r_x_weight;
+
+                            long t_smlad_x_weight = smlad_x_weight * t_y_weight;
+                            long b_smlad_x_weight = smlad_x_weight * b_y_weight;
+                            long t_b_smlad_x_weight_sum = __QADD16(t_smlad_x_weight, b_smlad_x_weight);
+
+                            uint32_t area = __SMUAD(t_b_smlad_x_weight_sum, 0x10001);
+                            uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+                            // sum corners
+
+                            int t_l_pixel = IMAGE_GET_RGB888_PIXEL_FAST(t_src_row_ptr, src_x_index);
+                            int t_r_pixel = IMAGE_GET_RGB888_PIXEL_FAST(t_src_row_ptr, src_x_index_end);
+                            int t_pixels = (t_l_pixel << 16) | t_r_pixel;
+
+                            long t_r = (t_pixels >> 11) & 0x1F001F;
+                            r_acc = __SMLAD(t_r, t_smlad_x_weight, r_acc);
+
+                            long t_g = (t_pixels >> 5) & 0x3F003F;
+                            g_acc = __SMLAD(t_g, t_smlad_x_weight, g_acc);
+
+                            long t_b = t_pixels & 0x1F001F;
+                            b_acc = __SMLAD(t_b, t_smlad_x_weight, b_acc);
+
+                            int b_l_pixel = IMAGE_GET_RGB888_PIXEL_FAST(b_src_row_ptr, src_x_index);
+                            int b_r_pixel = IMAGE_GET_RGB888_PIXEL_FAST(b_src_row_ptr, src_x_index_end);
+                            int b_pixels = (b_l_pixel << 16) | b_r_pixel;
+
+                            long b_r = (b_pixels >> 11) & 0x1F001F;
+                            r_acc = __SMLAD(b_r, b_smlad_x_weight, r_acc);
+
+                            long b_g = (b_pixels >> 5) & 0x3F003F;
+                            g_acc = __SMLAD(b_g, b_smlad_x_weight, g_acc);
+
+                            long b_b = b_pixels & 0x1F001F;
+                            b_acc = __SMLAD(b_b, b_smlad_x_weight, b_acc);
+
+                            area = (area + 127) >> 7;
+                            r_acc = (r_acc + 64) >> 7;
+                            g_acc = (g_acc + 64) >> 7;
+                            b_acc = (b_acc + 64) >> 7;
+
+                            if (x_width_m_2 > 0) { // sum top/bot
+                                area += x_width_m_2 * (t_y_weight + b_y_weight);
+                                pixel24_t *t_src_row_ptr_tmp = t_src_row_ptr + src_x_index_p_1;
+                                pixel24_t *b_src_row_ptr_tmp = b_src_row_ptr + src_x_index_p_1;
+                                for (int i = src_x_index_p_1; i < src_x_index_end; i++) {
+                                    int t_y_pixel = pixel24232(*t_src_row_ptr_tmp++);
+                                    int b_y_pixel = pixel24232(*b_src_row_ptr_tmp++);
+
+                                    int pixels = (t_y_pixel << 16) | b_y_pixel;
+
+                                    long r = (pixels >> 11) & 0x1F001F;
+                                    r_acc = __SMLAD(r, smlad_y_weight, r_acc);
+
+                                    long g = (pixels >> 5) & 0x3F003F;
+                                    g_acc = __SMLAD(g, smlad_y_weight, g_acc);
+
+                                    long b = pixels & 0x1F001F;
+                                    b_acc = __SMLAD(b, smlad_y_weight, b_acc);
+                                }
+                            }
+
+                            if (y_height_m_2 > 0) { // sum left/right
+                                area += y_height_m_2 * (l_x_weight + r_x_weight);
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, i);
+                                    int l_x_pixel = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, src_x_index);
+                                    int r_x_pixel = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, src_x_index_end);
+
+                                    int pixels = (l_x_pixel << 16) | r_x_pixel;
+
+                                    long r = (pixels >> 11) & 0x1F001F;
+                                    r_acc = __SMLAD(r, smlad_x_weight, r_acc);
+
+                                    long g = (pixels >> 5) & 0x3F003F;
+                                    g_acc = __SMLAD(g, smlad_x_weight, g_acc);
+
+                                    long b = pixels & 0x1F001F;
+                                    b_acc = __SMLAD(b, smlad_x_weight, b_acc);
+                                }
+                            }
+
+                            area = (area + 127) >> 7;
+                            r_acc = (r_acc + 64) >> 7;
+                            g_acc = (g_acc + 64) >> 7;
+                            b_acc = (b_acc + 64) >> 7;
+
+                            if ((x_width_m_2 > 0) && (y_height_m_2 > 0)) { // sum middle
+                                area += x_width_m_2 * y_height_m_2;
+                                for (int i = src_y_index_p_1; i < src_y_index_end; i++) {
+                                    pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, i) + src_x_index_p_1;
+                                    int n = x_width_m_2;
+#if defined(ARM_MATH_DSP)
+                                    uint32_t *src_row_ptr32 = (uint32_t *) src_row_ptr;
+
+                                    for (; n > 1; n -= 2) {
+                                        uint32_t pixels = *src_row_ptr32++;
+
+                                        long r = (pixels >> 11) & 0x1F001F;
+                                        r_acc = __USADA8(r, 0, r_acc);
+
+                                        long g = (pixels >> 5) & 0x3F003F;
+                                        g_acc = __USADA8(g, 0, g_acc);
+
+                                        long b = pixels & 0x1F001F;
+                                        b_acc = __USADA8(b, 0, b_acc);
+                                    }
+
+                                    src_row_ptr = (uint16_t *) src_row_ptr32;
+#endif
+                                    for (; n > 0; n -= 1)  {
+                                        int pixel = pixel24232(*src_row_ptr++);
+                                        r_acc += COLOR_RGB888_TO_R8(pixel);
+                                        g_acc += COLOR_RGB888_TO_G8(pixel);
+                                        b_acc += COLOR_RGB888_TO_B8(pixel);
+                                    }
+                                }
+                            }
+
+                            r_acc = (r_acc + (area >> 1)) / area;
+                            g_acc = (g_acc + (area >> 1)) / area;
+                            b_acc = (b_acc + (area >> 1)) / area;
+
+                            int pixel = COLOR_R8_G8_B8_TO_RGB888(r_acc, g_acc, b_acc);
+
+                            IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+#endif
+                    } // while y
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+    } else if (hint & IMAGE_HINT_BICUBIC) {
+        // Implements the traditional bicubic interpolation algorithm which uses
+        // a 4x4 filter block with the current pixel centered at (1,1) (C below).
+        // However, instead of floating point math, it uses integer (fixed point).
+        // The Cortex-M4/M7 has a hardware floating point unit, so doing FP math
+        // doesn't take any extra time, but it does take extra time to convert
+        // the integer pixels to floating point and back to integers again.
+        // So this allows it to execute more quickly in pure integer math.
+        //
+        // +---+---+---+---+
+        // | x | x | x | x |
+        // +---+---+---+---+
+        // | x | C | x | x |
+        // +---+---+---+---+
+        // | x | x | x | x |
+        // +---+---+---+---+
+        // | x | x | x | x |
+        // +---+---+---+---+
+        //
+        switch (src_img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint32_t *src_row_ptr_0, *src_row_ptr_1, *src_row_ptr_2, *src_row_ptr_3;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = src_row_ptr_2 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_3 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, 1);
+                    } else if (src_y_index == 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_2 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, 1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, 2);
+                    } else if (src_y_index == h_limit_m_1) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, h_limit_m_1);
+                        src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else if (src_y_index >= h_limit) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 4 neighboring rows
+                        int src_y_index_m_1 = src_y_index - 1;
+                        int src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_p_2 = src_y_index + 2;
+                        src_row_ptr_0 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_2 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_p_2);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // 15-bit fraction to fit a square of it in 32-bits
+                        // pre-calculate the ^1, ^2, and ^3 of the fraction
+                        int dy = ((src_y_accum >> 1) & 0x7FFF);
+                        int dy2 = (dy * dy) >> 15;
+                        int dy3 = (dy2 * dy) >> 15;
+                        long smuad_dy_dy2 = (dy << 16) | dy2;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint32_t *dst_row_ptr = (uint32_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_m_1 = src_x_index - 1;
+                            int src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_p_2 = src_x_index + 2;
+                            int pixel_x_offests[4];
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = pixel_x_offests[2] = 0;
+                                pixel_x_offests[3] = 1;
+                            } else if (src_x_index == 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = 0;
+                                pixel_x_offests[2] = 1;
+                                pixel_x_offests[3] = 2;
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = w_limit_m_1;
+                                pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else { // get 4 neighboring rows
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = src_x_index;
+                                pixel_x_offests[2] = src_x_index_p_1;
+                                pixel_x_offests[3] = src_x_index_p_2;
+                            }
+
+                            int d[4];
+
+                            for (int z = 0; z < 4; z++) { // bicubic x step (-1 to +2)
+                                int pixel_0 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr_0, pixel_x_offests[z]) * 0xFF; // more res
+                                int pixel_1 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr_1, pixel_x_offests[z]) * 0xFF; // more res
+                                int pixel_2 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr_2, pixel_x_offests[z]) * 0xFF; // more res
+                                int pixel_3 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr_3, pixel_x_offests[z]) * 0xFF; // more res
+
+                                int a0 = pixel_2 - pixel_0;
+                                int a1 = (pixel_0 << 1) + (pixel_2 << 2) - (5 * pixel_1) - pixel_3;
+                                int a2 = (3 * (pixel_1 - pixel_2)) + pixel_3 - pixel_0;
+                                long smuad_a0_a1 = __PKHBT(a1, a0, 16);
+                                int pixel_1_avg = (pixel_1 << 16) | 0x8000;
+
+                                d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_a0_a1, (dy3 * a2) + pixel_1_avg)) >> 16;
+                            } // for z
+
+                            int d0 = d[0], d1 = d[1], d2 = d[2], d3 = d[3];
+                            int a0 = d2 - d0;
+                            int a1 = (d0 << 1) + (d2 << 2) - (5 * d1) - d3;
+                            int a2 = (3 * (d1 - d2)) + d3 - d0;
+                            long smuad_a0_a1 = __PKHBT(a1, a0, 16);
+                            int d1_avg = (d1 << 16) | 0x8000;
+
+                            do { // Cache the results of getting the source pixels
+                                // 15-bit fraction to fit a square of it in 32-bits
+                                // pre-calculate the ^1, ^2, and ^3 of the fraction
+                                int dx = ((src_x_accum >> 1) & 0x7FFF);
+                                int dx2 = (dx * dx) >> 15;
+                                int dx3 = (dx2 * dx) >> 15;
+                                long smuad_dx_dx2 = (dx << 16) | dx2;
+
+                                int pixel = __SMLAD(smuad_dx_dx2, smuad_a0_a1, (dx3 * a2) + d1_avg);
+
+                                // clamp output
+                                pixel = __USAT_ASR(pixel, 1, 23);
+
+                                IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint8_t *src_row_ptr_0, *src_row_ptr_1, *src_row_ptr_2, *src_row_ptr_3;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = src_row_ptr_2 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_3 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, 1);
+                    } else if (src_y_index == 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_2 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, 1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, 2);
+                    } else if (src_y_index == h_limit_m_1) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, h_limit_m_1);
+                        src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else if (src_y_index >= h_limit) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 4 neighboring rows
+                        int src_y_index_m_1 = src_y_index - 1;
+                        int src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_p_2 = src_y_index + 2;
+                        src_row_ptr_0 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_2 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_p_2);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // 15-bit fraction to fit a square of it in 32-bits
+                        // pre-calculate the ^1, ^2, and ^3 of the fraction
+                        int dy = ((src_y_accum >> 1) & 0x7FFF);
+                        int dy2 = (dy * dy) >> 15;
+                        int dy3 = (dy2 * dy) >> 15;
+                        long smuad_dy_dy2 = (dy << 16) | dy2;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint8_t *dst_row_ptr = (uint8_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_m_1 = src_x_index - 1;
+// Concept code showing off how to do 4 operations in parallel. Not useful however because of overflows
+// in the 8-bit accumulators - the final image looks bad. Might be workable for lower bit-depth images.
+#if 0
+                            int pixel_row_0, pixel_row_1, pixel_row_2, pixel_row_3;
+                            // Column 0 = Bits[7:0]
+                            // Column 1 = Bits[15:8]
+                            // Column 2 = Bits[23:16]
+                            // Column 3 = Bits[31:24]
+
+                            if (src_x_index < 0) {
+                                pixel_row_0 = ((*src_row_ptr_0) * 0x010101) | ((*(src_row_ptr_0 + 1)) << 24);
+                                pixel_row_1 = ((*src_row_ptr_1) * 0x010101) | ((*(src_row_ptr_1 + 1)) << 24);
+                                pixel_row_2 = ((*src_row_ptr_2) * 0x010101) | ((*(src_row_ptr_2 + 1)) << 24);
+                                pixel_row_3 = ((*src_row_ptr_3) * 0x010101) | ((*(src_row_ptr_3 + 1)) << 24);
+                            } else if (src_x_index == 0) {
+                                pixel_row_0 = ((*src_row_ptr_0) * 0x0101) | ((*((uint16_t *) (src_row_ptr_0 + 1))) << 16);
+                                pixel_row_1 = ((*src_row_ptr_1) * 0x0101) | ((*((uint16_t *) (src_row_ptr_1 + 1))) << 16);
+                                pixel_row_2 = ((*src_row_ptr_2) * 0x0101) | ((*((uint16_t *) (src_row_ptr_2 + 1))) << 16);
+                                pixel_row_3 = ((*src_row_ptr_3) * 0x0101) | ((*((uint16_t *) (src_row_ptr_3 + 1))) << 16);
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_row_0 = (*((uint16_t *) (src_row_ptr_0 + src_x_index_m_1))) | ((*(src_row_ptr_0 + w_limit)) * 0x01010000);
+                                pixel_row_1 = (*((uint16_t *) (src_row_ptr_1 + src_x_index_m_1))) | ((*(src_row_ptr_1 + w_limit)) * 0x01010000);
+                                pixel_row_2 = (*((uint16_t *) (src_row_ptr_2 + src_x_index_m_1))) | ((*(src_row_ptr_2 + w_limit)) * 0x01010000);
+                                pixel_row_3 = (*((uint16_t *) (src_row_ptr_3 + src_x_index_m_1))) | ((*(src_row_ptr_3 + w_limit)) * 0x01010000);
+                            } else if (src_x_index >= w_limit) {
+                                pixel_row_0 = (*(src_row_ptr_0 + src_x_index_m_1)) | ((*(src_row_ptr_0 + w_limit)) * 0x01010100);
+                                pixel_row_1 = (*(src_row_ptr_1 + src_x_index_m_1)) | ((*(src_row_ptr_1 + w_limit)) * 0x01010100);
+                                pixel_row_2 = (*(src_row_ptr_2 + src_x_index_m_1)) | ((*(src_row_ptr_2 + w_limit)) * 0x01010100);
+                                pixel_row_3 = (*(src_row_ptr_3 + src_x_index_m_1)) | ((*(src_row_ptr_3 + w_limit)) * 0x01010100);
+                            } else { // get 4 neighboring rows
+                                pixel_row_0 = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_1 = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_2 = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_3 = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                            }
+
+                            // Need 8-bit signed (0x7F max).
+                            pixel_row_0 = __UHADD8(pixel_row_0, 0);
+                            pixel_row_1 = __UHADD8(pixel_row_1, 0);
+                            pixel_row_2 = __UHADD8(pixel_row_2, 0);
+                            pixel_row_3 = __UHADD8(pixel_row_3, 0);
+
+                            // Need 1/3 gaurd bits.
+                            pixel_row_0 = __UHADD8(pixel_row_0, 0);
+                            pixel_row_1 = __UHADD8(pixel_row_1, 0);
+                            pixel_row_2 = __UHADD8(pixel_row_2, 0);
+                            pixel_row_3 = __UHADD8(pixel_row_3, 0);
+
+                            // Need 2/3 gaurd bits.
+                            pixel_row_0 = __UHADD8(pixel_row_0, 0);
+                            pixel_row_1 = __UHADD8(pixel_row_1, 0);
+                            pixel_row_2 = __UHADD8(pixel_row_2, 0);
+                            pixel_row_3 = __UHADD8(pixel_row_3, 0);
+
+                            // Need 3/3 gaurd bits.
+                            pixel_row_0 = __UHADD8(pixel_row_0, 0);
+                            pixel_row_1 = __UHADD8(pixel_row_1, 0);
+                            pixel_row_2 = __UHADD8(pixel_row_2, 0);
+                            pixel_row_3 = __UHADD8(pixel_row_3, 0);
+
+                            long temp0 = __QADD8(pixel_row_2, pixel_row_2);
+                            long temp1 = __QADD8(pixel_row_1, pixel_row_1);
+                            long temp2 = __QSUB8(pixel_row_1, pixel_row_2);
+
+                            long a0_col = __QSUB8(pixel_row_2, pixel_row_0);
+                            long a1_col = __QSUB8(__QSUB8(__QADD8(__QADD8(pixel_row_0, pixel_row_0), __QADD8(temp0, temp0)), __QADD8(__QADD8(temp1, temp1), pixel_row_1)), pixel_row_3);
+                            long a2_col = __QSUB8(__QADD8(__QADD8(__QADD8(temp2, temp2), temp2), pixel_row_3), pixel_row_0);
+
+                            long a0_col_2_0 = __SXTB16(a0_col);
+                            long a1_col_2_0 = __SXTB16(a1_col);
+                            long a2_col_2_0 = __SXTB16(a2_col);
+
+                            long smuad_a0_a1_0 = __PKHBT(a1_col_2_0, a0_col_2_0, 16);
+                            long pixel_1_avg_0 = ((pixel_row_1 & 0xff) << 16) | 0x8000;
+                            int d0 = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_a0_a1_0, __SMLAD(dy3, a2_col_2_0, pixel_1_avg_0))) >> 16;
+
+                            long smuad_a0_a1_2 = __PKHTB(a0_col_2_0, a1_col_2_0, 16);
+                            long pixel_1_avg_2 = (pixel_row_1 & 0xff0000) | 0x8000;
+                            int d2 = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_a0_a1_2, __SMLADX(dy3, a2_col_2_0, pixel_1_avg_2))) >> 16;
+
+                            long a0_col_3_1 = __SXTB16_RORn(a0_col, 8);
+                            long a1_col_3_1 = __SXTB16_RORn(a1_col, 8);
+                            long a2_col_3_1 = __SXTB16_RORn(a2_col, 8);
+
+                            long smuad_a0_a1_1 = __PKHBT(a1_col_3_1, a0_col_3_1, 16);
+                            long pixel_1_avg_1 = ((pixel_row_1 << 8) & 0xff0000) | 0x8000;
+                            int d1 = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_a0_a1_1, __SMLAD(dy3, a2_col_3_1, pixel_1_avg_1))) >> 16;
+
+                            long smuad_a0_a1_3 = __PKHTB(a0_col_3_1, a1_col_3_1, 16);
+                            long pixel_1_avg_3 = ((pixel_row_1 >> 8) & 0xff0000) | 0x8000;
+                            int d3 = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_a0_a1_3, __SMLADX(dy3, a2_col_3_1, pixel_1_avg_3))) >> 16;
+#else
+                            int src_x_index_p_1 = src_x_index + 1;
+                            int src_x_index_p_2 = src_x_index + 2;
+                            int pixel_x_offests[4];
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = pixel_x_offests[2] = 0;
+                                pixel_x_offests[3] = 1;
+                            } else if (src_x_index == 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = 0;
+                                pixel_x_offests[2] = 1;
+                                pixel_x_offests[3] = 2;
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = w_limit_m_1;
+                                pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else { // get 4 neighboring rows
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = src_x_index;
+                                pixel_x_offests[2] = src_x_index_p_1;
+                                pixel_x_offests[3] = src_x_index_p_2;
+                            }
+
+                            int d[4];
+
+                            for (int z = 0; z < 4; z++) { // bicubic x step (-1 to +2)
+                                int pixel_0 = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr_0, pixel_x_offests[z]);
+                                int pixel_1 = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr_1, pixel_x_offests[z]);
+                                int pixel_2 = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr_2, pixel_x_offests[z]);
+                                int pixel_3 = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr_3, pixel_x_offests[z]);
+
+                                int a0 = pixel_2 - pixel_0;
+                                int a1 = (pixel_0 << 1) + (pixel_2 << 2) - (5 * pixel_1) - pixel_3;
+                                int a2 = (3 * (pixel_1 - pixel_2)) + pixel_3 - pixel_0;
+                                long smuad_a0_a1 = __PKHBT(a1, a0, 16);
+                                int pixel_1_avg = (pixel_1 << 16) | 0x8000;
+
+                                d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_a0_a1, (dy3 * a2) + pixel_1_avg)) >> 16;
+                            } // for z
+
+                            int d0 = d[0], d1 = d[1], d2 = d[2], d3 = d[3];
+#endif
+                            int a0 = d2 - d0;
+                            int a1 = (d0 << 1) + (d2 << 2) - (5 * d1) - d3;
+                            int a2 = (3 * (d1 - d2)) + d3 - d0;
+                            long smuad_a0_a1 = __PKHBT(a1, a0, 16);
+                            int d1_avg = (d1 << 16) | 0x8000;
+
+                            do { // Cache the results of getting the source pixels
+                                // 15-bit fraction to fit a square of it in 32-bits
+                                // pre-calculate the ^1, ^2, and ^3 of the fraction
+                                int dx = ((src_x_accum >> 1) & 0x7FFF);
+                                int dx2 = (dx * dx) >> 15;
+                                int dx3 = (dx2 * dx) >> 15;
+                                long smuad_dx_dx2 = (dx << 16) | dx2;
+
+                                int pixel = __SMLAD(smuad_dx_dx2, smuad_a0_a1, (dx3 * a2) + d1_avg);
+
+                                // clamp output
+                                pixel = __USAT_ASR(pixel, 8, 16);
+
+                                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint16_t *src_row_ptr_0, *src_row_ptr_1, *src_row_ptr_2, *src_row_ptr_3;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = src_row_ptr_2 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, 1);
+                    } else if (src_y_index == 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_2 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, 1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, 2);
+                    } else if (src_y_index == h_limit_m_1) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, h_limit_m_1);
+                        src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else if (src_y_index >= h_limit) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 4 neighboring rows
+                        int src_y_index_m_1 = src_y_index - 1;
+                        int src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_p_2 = src_y_index + 2;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_2 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_p_2);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // 15-bit fraction to fit a square of it in 32-bits
+                        // pre-calculate the ^1, ^2, and ^3 of the fraction
+                        int dy = ((src_y_accum >> 1) & 0x7FFF);
+                        int dy2 = (dy * dy) >> 15;
+                        int dy3 = (dy2 * dy) >> 15;
+                        long smuad_dy_dy2 = (dy << 16) | dy2;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint16_t *dst_row_ptr = (uint16_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_m_1 = src_x_index - 1;
+                            int src_x_index_p_1 = src_x_index + 1;
+#if defined(ARM_MATH_DSP)
+                            uint32_t pixel_row_0[2], pixel_row_1[2], pixel_row_2[2], pixel_row_3[2];
+                            // Column 0 = Bits[15:0]
+                            // Column 1 = Bits[31:16]
+
+                            if (src_x_index < 0) {
+                                pixel_row_0[0] = (*src_row_ptr_0) * 0x10001;
+                                pixel_row_0[1] = __PKHBT(pixel_row_0[0], *(src_row_ptr_0 + 1), 16);
+                                pixel_row_1[0] = (*src_row_ptr_1) * 0x10001;
+                                pixel_row_1[1] = __PKHBT(pixel_row_1[0], *(src_row_ptr_1 + 1), 16);
+                                pixel_row_2[0] = (*src_row_ptr_2) * 0x10001;
+                                pixel_row_2[1] = __PKHBT(pixel_row_2[0], *(src_row_ptr_2 + 1), 16);
+                                pixel_row_3[0] = (*src_row_ptr_3) * 0x10001;
+                                pixel_row_3[1] = __PKHBT(pixel_row_3[0], *(src_row_ptr_3 + 1), 16);
+                            } else if (src_x_index == 0) {
+                                pixel_row_0[0] = (*src_row_ptr_0) * 0x10001;
+                                pixel_row_0[1] = *((uint32_t *) (src_row_ptr_0 + 1));
+                                pixel_row_1[0] = (*src_row_ptr_1) * 0x10001;
+                                pixel_row_1[1] = *((uint32_t *) (src_row_ptr_1 + 1));
+                                pixel_row_2[0] = (*src_row_ptr_2) * 0x10001;
+                                pixel_row_2[1] = *((uint32_t *) (src_row_ptr_2 + 1));
+                                pixel_row_3[0] = (*src_row_ptr_3) * 0x10001;
+                                pixel_row_3[1] = *((uint32_t *) (src_row_ptr_3 + 1));
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = (*(src_row_ptr_0 + w_limit)) * 0x10001;
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = (*(src_row_ptr_1 + w_limit)) * 0x10001;
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = (*(src_row_ptr_2 + w_limit)) * 0x10001;
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = (*(src_row_ptr_3 + w_limit)) * 0x10001;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = (pixel_row_0[0] >> 16) * 0x10001;
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = (pixel_row_1[0] >> 16) * 0x10001;
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = (pixel_row_2[0] >> 16) * 0x10001;
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = (pixel_row_3[0] >> 16) * 0x10001;
+                            } else { // get 4 neighboring rows
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = *((uint32_t *) (src_row_ptr_0 + src_x_index_p_1));
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = *((uint32_t *) (src_row_ptr_1 + src_x_index_p_1));
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = *((uint32_t *) (src_row_ptr_2 + src_x_index_p_1));
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = *((uint32_t *) (src_row_ptr_3 + src_x_index_p_1));
+                            }
+
+                            int r_d[4], g_d[4], b_d[4];
+
+                            for (int z = 0; z < 2; z++) { // dual bicubic x step (-1 to +2)
+
+                                long r_pixel_row_0 = (pixel_row_0[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_1 = (pixel_row_1[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_2 = (pixel_row_2[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_3 = (pixel_row_3[z] >> 11) & 0x1f001f;
+
+                                uint32_t r_a0_col = __QSUB16(r_pixel_row_2, r_pixel_row_0);
+                                uint32_t r_a1_col = __QSUB16(__QSUB16(__QADD16(r_pixel_row_0 << 1, r_pixel_row_2 << 2), r_pixel_row_1 * 5), r_pixel_row_3);
+                                uint32_t r_a2_col = __QSUB16(__QADD16(__QSUB16(r_pixel_row_1 * 3, r_pixel_row_2 * 3), r_pixel_row_3), r_pixel_row_0);
+
+                                long r_smuad_a0_a1_0 = __PKHBT(r_a1_col, r_a0_col, 16);
+                                long r_pixel_1_avg_0 =  (r_pixel_row_1 << 16) | 0x8000;
+                                r_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, r_smuad_a0_a1_0, __SMLAD(dy3, r_a2_col, r_pixel_1_avg_0))) >> 16;
+
+                                long r_smuad_a0_a1_1 = __PKHTB(r_a0_col, r_a1_col, 16);
+                                long r_pixel_1_avg_1 = __PKHTB(r_pixel_row_1, 0x8000, 0);
+                                r_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, r_smuad_a0_a1_1, __SMLADX(dy3, r_a2_col, r_pixel_1_avg_1))) >> 16;
+
+                                long g_pixel_row_0 = (pixel_row_0[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_1 = (pixel_row_1[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_2 = (pixel_row_2[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_3 = (pixel_row_3[z] >> 5) & 0x3f003f;
+
+                                uint32_t g_a0_col = __QSUB16(g_pixel_row_2, g_pixel_row_0);
+                                uint32_t g_a1_col = __QSUB16(__QSUB16(__QADD16(g_pixel_row_0 << 1, g_pixel_row_2 << 2), g_pixel_row_1 * 5), g_pixel_row_3);
+                                uint32_t g_a2_col = __QSUB16(__QADD16(__QSUB16(g_pixel_row_1 * 3, g_pixel_row_2 * 3), g_pixel_row_3), g_pixel_row_0);
+
+                                long g_smuad_a0_a1_0 = __PKHBT(g_a1_col, g_a0_col, 16);
+                                long g_pixel_1_avg_0 =  (g_pixel_row_1 << 16) | 0x8000;
+                                g_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, g_smuad_a0_a1_0, __SMLAD(dy3, g_a2_col, g_pixel_1_avg_0))) >> 16;
+
+                                long g_smuad_a0_a1_1 = __PKHTB(g_a0_col, g_a1_col, 16);
+                                long g_pixel_1_avg_1 = __PKHTB(g_pixel_row_1, 0x8000, 0);
+                                g_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, g_smuad_a0_a1_1, __SMLADX(dy3, g_a2_col, g_pixel_1_avg_1))) >> 16;
+
+                                long b_pixel_row_0 = pixel_row_0[z] & 0x1f001f;
+                                long b_pixel_row_1 = pixel_row_1[z] & 0x1f001f;
+                                long b_pixel_row_2 = pixel_row_2[z] & 0x1f001f;
+                                long b_pixel_row_3 = pixel_row_3[z] & 0x1f001f;
+
+                                uint32_t b_a0_col = __QSUB16(b_pixel_row_2, b_pixel_row_0);
+                                uint32_t b_a1_col = __QSUB16(__QSUB16(__QADD16(b_pixel_row_0 << 1, b_pixel_row_2 << 2), b_pixel_row_1 * 5), b_pixel_row_3);
+                                uint32_t b_a2_col = __QSUB16(__QADD16(__QSUB16(b_pixel_row_1 * 3, b_pixel_row_2 * 3), b_pixel_row_3), b_pixel_row_0);
+
+                                long b_smuad_a0_a1_0 = __PKHBT(b_a1_col, b_a0_col, 16);
+                                long b_pixel_1_avg_0 =  (b_pixel_row_1 << 16) | 0x8000;
+                                b_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, b_smuad_a0_a1_0, __SMLAD(dy3, b_a2_col, b_pixel_1_avg_0))) >> 16;
+
+                                long b_smuad_a0_a1_1 = __PKHTB(b_a0_col, b_a1_col, 16);
+                                long b_pixel_1_avg_1 = __PKHTB(b_pixel_row_1, 0x8000, 0);
+                                b_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, b_smuad_a0_a1_1, __SMLADX(dy3, b_a2_col, b_pixel_1_avg_1))) >> 16;
+                            } // for z
+#else
+                            int src_x_index_p_2 = src_x_index + 2;
+                            int pixel_x_offests[4];
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = pixel_x_offests[2] = 0;
+                                pixel_x_offests[3] = 1;
+                            } else if (src_x_index == 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = 0;
+                                pixel_x_offests[2] = 1;
+                                pixel_x_offests[3] = 2;
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = w_limit_m_1;
+                                pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else { // get 4 neighboring rows
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = src_x_index;
+                                pixel_x_offests[2] = src_x_index_p_1;
+                                pixel_x_offests[3] = src_x_index_p_2;
+                            }
+
+                            int r_d[4], g_d[4], b_d[4];
+
+                            for (int z = 0; z < 4; z++) { // bicubic x step (-1 to +2)
+                                int pixel_0 = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr_0, pixel_x_offests[z]);
+                                int pixel_1 = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr_1, pixel_x_offests[z]);
+                                int pixel_2 = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr_2, pixel_x_offests[z]);
+                                int pixel_3 = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr_3, pixel_x_offests[z]);
+
+                                int r0 = pixel_0 >> 11;
+                                int r1 = pixel_1 >> 11;
+                                int r2 = pixel_2 >> 11;
+                                int r3 = pixel_3 >> 11;
+
+                                int r_a0 = r2 - r0;
+                                int r_a1 = (r0 << 1) + (r2 << 2) - (5 * r1) - r3;
+                                int r_a2 = (3 * (r1 - r2)) + r3 - r0;
+                                long smuad_r_a0_r_a1 = __PKHBT(r_a1, r_a0, 16);
+                                int r1_avg = (r1 << 16) | 0x8000;
+
+                                r_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_r_a0_r_a1, (dy3 * r_a2) + r1_avg)) >> 16;
+
+                                int g0 = (pixel_0 >> 5) & 0x3F;
+                                int g1 = (pixel_1 >> 5) & 0x3F;
+                                int g2 = (pixel_2 >> 5) & 0x3F;
+                                int g3 = (pixel_3 >> 5) & 0x3F;
+
+                                int g_a0 = g2 - g0;
+                                int g_a1 = (g0 << 1) + (g2 << 2) - (5 * g1) - g3;
+                                int g_a2 = (3 * (g1 - g2)) + g3 - g0;
+                                long smuad_g_a0_g_a1 = __PKHBT(g_a1, g_a0, 16);
+                                int g1_avg = (g1 << 16) | 0x8000;
+
+                                g_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_g_a0_g_a1, (dy3 * g_a2) + g1_avg)) >> 16;
+
+                                int b0 = pixel_0 & 0x1F;
+                                int b1 = pixel_1 & 0x1F;
+                                int b2 = pixel_2 & 0x1F;
+                                int b3 = pixel_3 & 0x1F;
+
+                                int b_a0 = b2 - b0;
+                                int b_a1 = (b0 << 1) + (b2 << 2) - (5 * b1) - b3;
+                                int b_a2 = (3 * (b1 - b2)) + b3 - b0;
+                                long smuad_b_a0_b_a1 = __PKHBT(b_a1, b_a0, 16);
+                                int b1_avg = (b1 << 16) | 0x8000;
+
+                                b_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_b_a0_b_a1, (dy3 * b_a2) + b1_avg)) >> 16;
+                            } // for z
+#endif
+                            int r_d0 = r_d[0], r_d1 = r_d[1], r_d2 = r_d[2], r_d3 = r_d[3];
+                            int r_a0 = r_d2 - r_d0;
+                            int r_a1 = (r_d0 << 1) + (r_d2 << 2) - (5 * r_d1) - r_d3;
+                            int r_a2 = (3 * (r_d1 - r_d2)) + r_d3 - r_d0;
+                            long smuad_r_a0_r_a1 = __PKHBT(r_a1, r_a0, 16);
+                            int r_d1_avg = (r_d1 << 16) | 0x8000;
+
+                            int g_d0 = g_d[0], g_d1 = g_d[1], g_d2 = g_d[2], g_d3 = g_d[3];
+                            int g_a0 = g_d2 - g_d0;
+                            int g_a1 = (g_d0 << 1) + (g_d2 << 2) - (5 * g_d1) - g_d3;
+                            int g_a2 = (3 * (g_d1 - g_d2)) + g_d3 - g_d0;
+                            long smuad_g_a0_g_a1 = __PKHBT(g_a1, g_a0, 16);
+                            int g_d1_avg = (g_d1 << 16) | 0x8000;
+
+                            int b_d0 = b_d[0], b_d1 = b_d[1], b_d2 = b_d[2], b_d3 = b_d[3];
+                            int b_a0 = b_d2 - b_d0;
+                            int b_a1 = (b_d0 << 1) + (b_d2 << 2) - (5 * b_d1) - b_d3;
+                            int b_a2 = (3 * (b_d1 - b_d2)) + b_d3 - b_d0;
+                            long smuad_b_a0_b_a1 = __PKHBT(b_a1, b_a0, 16);
+                            int b_d1_avg = (b_d1 << 16) | 0x8000;
+
+                            do { // Cache the results of getting the source pixels
+                                // 15-bit fraction to fit a square of it in 32-bits
+                                // pre-calculate the ^1, ^2, and ^3 of the fraction
+                                int dx = ((src_x_accum >> 1) & 0x7FFF);
+                                int dx2 = (dx * dx) >> 15;
+                                int dx3 = (dx2 * dx) >> 15;
+                                long smuad_dx_dx2 = (dx << 16) | dx2;
+
+                                long r_pixel = __SMLAD(smuad_dx_dx2, smuad_r_a0_r_a1, (dx3 * r_a2) + r_d1_avg);
+
+                                // clamp output
+                                r_pixel = __USAT_ASR(r_pixel, 5, 16);
+
+                                long g_pixel = __SMLAD(smuad_dx_dx2, smuad_g_a0_g_a1, (dx3 * g_a2) + g_d1_avg);
+
+                                // clamp output
+                                g_pixel = __USAT_ASR(g_pixel, 6, 16);
+
+                                long b_pixel = __SMLAD(smuad_dx_dx2, smuad_b_a0_b_a1, (dx3 * b_a2) + b_d1_avg);
+
+                                // clamp output
+                                b_pixel = __USAT_ASR(b_pixel, 5, 16);
+
+                                int pixel = COLOR_R5_G6_B5_TO_RGB565(r_pixel, g_pixel, b_pixel);
+
+                                IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                while (y_not_done) {
+#if 1
+                    int src_y_index = next_src_y_index;
+                    pixel24_t *src_row_ptr_0, *src_row_ptr_1, *src_row_ptr_2, *src_row_ptr_3;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = src_row_ptr_2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 1);
+                    } else if (src_y_index == 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 2);
+                    } else if (src_y_index == h_limit_m_1) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit_m_1);
+                        src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else if (src_y_index >= h_limit) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 4 neighboring rows
+                        int src_y_index_m_1 = src_y_index - 1;
+                        int src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_p_2 = src_y_index + 2;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_p_2);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // 15-bit fraction to fit a square of it in 32-bits
+                        // pre-calculate the ^1, ^2, and ^3 of the fraction
+                        int dy = ((src_y_accum >> 1) & 0x7FFF);
+                        int dy2 = (dy * dy) >> 15;
+                        int dy3 = (dy2 * dy) >> 15;
+                        // long smuad_dy_dy2 = (dy << 16) | dy2;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_m_1 = src_x_index - 1;
+                            int src_x_index_p_1 = src_x_index + 1;
+#if defined(ARM_MATH_DSP)
+                            uint32_t pixel_row_0[2], pixel_row_1[2], pixel_row_2[2], pixel_row_3[2];
+                            // Column 0 = Bits[15:0]
+                            // Column 1 = Bits[31:16]
+
+                            if (src_x_index < 0) {
+                                pixel_row_0[0] = (*src_row_ptr_0) * 0x10001;
+                                pixel_row_0[1] = __PKHBT(pixel_row_0[0], *(src_row_ptr_0 + 1), 16);
+                                pixel_row_1[0] = (*src_row_ptr_1) * 0x10001;
+                                pixel_row_1[1] = __PKHBT(pixel_row_1[0], *(src_row_ptr_1 + 1), 16);
+                                pixel_row_2[0] = (*src_row_ptr_2) * 0x10001;
+                                pixel_row_2[1] = __PKHBT(pixel_row_2[0], *(src_row_ptr_2 + 1), 16);
+                                pixel_row_3[0] = (*src_row_ptr_3) * 0x10001;
+                                pixel_row_3[1] = __PKHBT(pixel_row_3[0], *(src_row_ptr_3 + 1), 16);
+                            } else if (src_x_index == 0) {
+                                pixel_row_0[0] = (*src_row_ptr_0) * 0x10001;
+                                pixel_row_0[1] = *((uint32_t *) (src_row_ptr_0 + 1));
+                                pixel_row_1[0] = (*src_row_ptr_1) * 0x10001;
+                                pixel_row_1[1] = *((uint32_t *) (src_row_ptr_1 + 1));
+                                pixel_row_2[0] = (*src_row_ptr_2) * 0x10001;
+                                pixel_row_2[1] = *((uint32_t *) (src_row_ptr_2 + 1));
+                                pixel_row_3[0] = (*src_row_ptr_3) * 0x10001;
+                                pixel_row_3[1] = *((uint32_t *) (src_row_ptr_3 + 1));
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = (*(src_row_ptr_0 + w_limit)) * 0x10001;
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = (*(src_row_ptr_1 + w_limit)) * 0x10001;
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = (*(src_row_ptr_2 + w_limit)) * 0x10001;
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = (*(src_row_ptr_3 + w_limit)) * 0x10001;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = (pixel_row_0[0] >> 16) * 0x10001;
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = (pixel_row_1[0] >> 16) * 0x10001;
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = (pixel_row_2[0] >> 16) * 0x10001;
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = (pixel_row_3[0] >> 16) * 0x10001;
+                            } else { // get 4 neighboring rows
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = *((uint32_t *) (src_row_ptr_0 + src_x_index_p_1));
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = *((uint32_t *) (src_row_ptr_1 + src_x_index_p_1));
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = *((uint32_t *) (src_row_ptr_2 + src_x_index_p_1));
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = *((uint32_t *) (src_row_ptr_3 + src_x_index_p_1));
+                            }
+
+                            int r_d[4], g_d[4], b_d[4];
+
+                            for (int z = 0; z < 2; z++) { // dual bicubic x step (-1 to +2)
+
+                                long r_pixel_row_0 = (pixel_row_0[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_1 = (pixel_row_1[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_2 = (pixel_row_2[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_3 = (pixel_row_3[z] >> 11) & 0x1f001f;
+
+                                uint32_t r_a0_col = __QSUB16(r_pixel_row_2, r_pixel_row_0);
+                                uint32_t r_a1_col = __QSUB16(__QSUB16(__QADD16(r_pixel_row_0 << 1, r_pixel_row_2 << 2), r_pixel_row_1 * 5), r_pixel_row_3);
+                                uint32_t r_a2_col = __QSUB16(__QADD16(__QSUB16(r_pixel_row_1 * 3, r_pixel_row_2 * 3), r_pixel_row_3), r_pixel_row_0);
+
+                                long r_smuad_a0_a1_0 = __PKHBT(r_a1_col, r_a0_col, 16);
+                                long r_pixel_1_avg_0 =  (r_pixel_row_1 << 16) | 0x8000;
+                                r_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, r_smuad_a0_a1_0, __SMLAD(dy3, r_a2_col, r_pixel_1_avg_0))) >> 16;
+
+                                long r_smuad_a0_a1_1 = __PKHTB(r_a0_col, r_a1_col, 16);
+                                long r_pixel_1_avg_1 = __PKHTB(r_pixel_row_1, 0x8000, 0);
+                                r_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, r_smuad_a0_a1_1, __SMLADX(dy3, r_a2_col, r_pixel_1_avg_1))) >> 16;
+
+                                long g_pixel_row_0 = (pixel_row_0[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_1 = (pixel_row_1[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_2 = (pixel_row_2[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_3 = (pixel_row_3[z] >> 5) & 0x3f003f;
+
+                                uint32_t g_a0_col = __QSUB16(g_pixel_row_2, g_pixel_row_0);
+                                uint32_t g_a1_col = __QSUB16(__QSUB16(__QADD16(g_pixel_row_0 << 1, g_pixel_row_2 << 2), g_pixel_row_1 * 5), g_pixel_row_3);
+                                uint32_t g_a2_col = __QSUB16(__QADD16(__QSUB16(g_pixel_row_1 * 3, g_pixel_row_2 * 3), g_pixel_row_3), g_pixel_row_0);
+
+                                long g_smuad_a0_a1_0 = __PKHBT(g_a1_col, g_a0_col, 16);
+                                long g_pixel_1_avg_0 =  (g_pixel_row_1 << 16) | 0x8000;
+                                g_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, g_smuad_a0_a1_0, __SMLAD(dy3, g_a2_col, g_pixel_1_avg_0))) >> 16;
+
+                                long g_smuad_a0_a1_1 = __PKHTB(g_a0_col, g_a1_col, 16);
+                                long g_pixel_1_avg_1 = __PKHTB(g_pixel_row_1, 0x8000, 0);
+                                g_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, g_smuad_a0_a1_1, __SMLADX(dy3, g_a2_col, g_pixel_1_avg_1))) >> 16;
+
+                                long b_pixel_row_0 = pixel_row_0[z] & 0x1f001f;
+                                long b_pixel_row_1 = pixel_row_1[z] & 0x1f001f;
+                                long b_pixel_row_2 = pixel_row_2[z] & 0x1f001f;
+                                long b_pixel_row_3 = pixel_row_3[z] & 0x1f001f;
+
+                                uint32_t b_a0_col = __QSUB16(b_pixel_row_2, b_pixel_row_0);
+                                uint32_t b_a1_col = __QSUB16(__QSUB16(__QADD16(b_pixel_row_0 << 1, b_pixel_row_2 << 2), b_pixel_row_1 * 5), b_pixel_row_3);
+                                uint32_t b_a2_col = __QSUB16(__QADD16(__QSUB16(b_pixel_row_1 * 3, b_pixel_row_2 * 3), b_pixel_row_3), b_pixel_row_0);
+
+                                long b_smuad_a0_a1_0 = __PKHBT(b_a1_col, b_a0_col, 16);
+                                long b_pixel_1_avg_0 =  (b_pixel_row_1 << 16) | 0x8000;
+                                b_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, b_smuad_a0_a1_0, __SMLAD(dy3, b_a2_col, b_pixel_1_avg_0))) >> 16;
+
+                                long b_smuad_a0_a1_1 = __PKHTB(b_a0_col, b_a1_col, 16);
+                                long b_pixel_1_avg_1 = __PKHTB(b_pixel_row_1, 0x8000, 0);
+                                b_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, b_smuad_a0_a1_1, __SMLADX(dy3, b_a2_col, b_pixel_1_avg_1))) >> 16;
+                            } // for z
+#else
+                            int src_x_index_p_2 = src_x_index + 2;
+                            int pixel_x_offests[4];
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = pixel_x_offests[2] = 0;
+                                pixel_x_offests[3] = 1;
+                            } else if (src_x_index == 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = 0;
+                                pixel_x_offests[2] = 1;
+                                pixel_x_offests[3] = 2;
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = w_limit_m_1;
+                                pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else { // get 4 neighboring rows
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = src_x_index;
+                                pixel_x_offests[2] = src_x_index_p_1;
+                                pixel_x_offests[3] = src_x_index_p_2;
+                            }
+
+                            int r_d[4], g_d[4], b_d[4];
+
+                            for (int z = 0; z < 4; z++) { // bicubic x step (-1 to +2)
+                                int pixel_0 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_0, pixel_x_offests[z]);
+                                int pixel_1 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_1, pixel_x_offests[z]);
+                                int pixel_2 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_2, pixel_x_offests[z]);
+                                int pixel_3 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_3, pixel_x_offests[z]);
+
+                                int r0 = COLOR_RGB888_TO_R8(pixel_0);
+                                int r1 = COLOR_RGB888_TO_R8(pixel_1);
+                                int r2 = COLOR_RGB888_TO_R8(pixel_2);
+                                int r3 = COLOR_RGB888_TO_R8(pixel_3);
+
+                                int r_a0 = r2 - r0;
+                                int r_a1 = (r0 << 1) + (r2 << 2) - (5 * r1) - r3;
+                                int r_a2 = (3 * (r1 - r2)) + r3 - r0;
+                                // long smuad_r_a0_r_a1 = __PKHBT(r_a1, r_a0, 16);
+                                int r1_avg = (r1 << 16) | 0x8000;
+
+                                r_d[z] = (dy * r_a0 + dy2 * r_a1 + ((dy3 * r_a2) + r1_avg)) >> 16;
+                                // r_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_r_a0_r_a1, (dy3 * r_a2) + r1_avg)) >> 16;
+
+                                int g0 = COLOR_RGB888_TO_G8(pixel_0);
+                                int g1 = COLOR_RGB888_TO_G8(pixel_1);
+                                int g2 = COLOR_RGB888_TO_G8(pixel_2);
+                                int g3 = COLOR_RGB888_TO_G8(pixel_3);
+
+                                int g_a0 = g2 - g0;
+                                int g_a1 = (g0 << 1) + (g2 << 2) - (5 * g1) - g3;
+                                int g_a2 = (3 * (g1 - g2)) + g3 - g0;
+                                // long smuad_g_a0_g_a1 = __PKHBT(g_a1, g_a0, 16);
+                                int g1_avg = (g1 << 16) | 0x8000;
+
+                                g_d[z] = (dy * g_a0 + dy2 * g_a1 + ((dy3 * g_a2) + g1_avg)) >> 16;
+                                // g_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_g_a0_g_a1, (dy3 * g_a2) + g1_avg)) >> 16;
+
+                                int b0 = COLOR_RGB888_TO_B8(pixel_0);
+                                int b1 = COLOR_RGB888_TO_B8(pixel_1);
+                                int b2 = COLOR_RGB888_TO_B8(pixel_2);
+                                int b3 = COLOR_RGB888_TO_B8(pixel_3);
+
+                                int b_a0 = b2 - b0;
+                                int b_a1 = (b0 << 1) + (b2 << 2) - (5 * b1) - b3;
+                                int b_a2 = (3 * (b1 - b2)) + b3 - b0;
+                                // long smuad_b_a0_b_a1 = __PKHBT(b_a1, b_a0, 16);
+                                int b1_avg = (b1 << 16) | 0x8000;
+
+                                b_d[z] = (dy * b_a0 + dy2 * b_a1 + ((dy3 * b_a2) + b1_avg)) >> 16;
+                                // b_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_b_a0_b_a1, (dy3 * b_a2) + b1_avg)) >> 16;
+                            } // for z
+#endif
+                            int r_d0 = r_d[0], r_d1 = r_d[1], r_d2 = r_d[2], r_d3 = r_d[3];
+                            int r_a0 = r_d2 - r_d0;
+                            int r_a1 = (r_d0 << 1) + (r_d2 << 2) - (5 * r_d1) - r_d3;
+                            int r_a2 = (3 * (r_d1 - r_d2)) + r_d3 - r_d0;
+                            // long smuad_r_a0_r_a1 = __PKHBT(r_a1, r_a0, 16);
+                            int r_d1_avg = (r_d1 << 16) | 0x8000;
+
+                            int g_d0 = g_d[0], g_d1 = g_d[1], g_d2 = g_d[2], g_d3 = g_d[3];
+                            int g_a0 = g_d2 - g_d0;
+                            int g_a1 = (g_d0 << 1) + (g_d2 << 2) - (5 * g_d1) - g_d3;
+                            int g_a2 = (3 * (g_d1 - g_d2)) + g_d3 - g_d0;
+                            // long smuad_g_a0_g_a1 = __PKHBT(g_a1, g_a0, 16);
+                            int g_d1_avg = (g_d1 << 16) | 0x8000;
+
+                            int b_d0 = b_d[0], b_d1 = b_d[1], b_d2 = b_d[2], b_d3 = b_d[3];
+                            int b_a0 = b_d2 - b_d0;
+                            int b_a1 = (b_d0 << 1) + (b_d2 << 2) - (5 * b_d1) - b_d3;
+                            int b_a2 = (3 * (b_d1 - b_d2)) + b_d3 - b_d0;
+                            // long smuad_b_a0_b_a1 = __PKHBT(b_a1, b_a0, 16);
+                            int b_d1_avg = (b_d1 << 16) | 0x8000;
+
+                            do { // Cache the results of getting the source pixels
+                                // 15-bit fraction to fit a square of it in 32-bits
+                                // pre-calculate the ^1, ^2, and ^3 of the fraction
+                                int dx = ((src_x_accum >> 1) & 0x7FFF);
+                                int dx2 = (dx * dx) >> 15;
+                                int dx3 = (dx2 * dx) >> 15;
+                                // long smuad_dx_dx2 = (dx << 16) | dx2;
+
+                                long r_pixel = dx * r_a0 + dx2 * r_a1 + (dx3 * r_a2) + r_d1_avg;
+                                // long r_pixel = __SMLAD(smuad_dx_dx2, smuad_r_a0_r_a1, (dx3 * r_a2) + r_d1_avg);
+
+                                // clamp output
+                                r_pixel = __USAT_ASR(r_pixel, 8, 16);
+
+                                long g_pixel = dx * g_a0 + dx2 * g_a1 + (dx3 * g_a2) + g_d1_avg;
+                                // long g_pixel = __SMLAD(smuad_dx_dx2, smuad_g_a0_g_a1, (dx3 * g_a2) + g_d1_avg);
+
+                                // clamp output
+                                g_pixel = __USAT_ASR(g_pixel, 8, 16);
+
+                                long b_pixel = dx * b_a0 + dx2 * b_a1 + (dx3 * b_a2) + b_d1_avg;
+                                // long b_pixel = __SMLAD(smuad_dx_dx2, smuad_b_a0_b_a1, (dx3 * b_a2) + b_d1_avg);
+
+                                // clamp output
+                                b_pixel = __USAT_ASR(b_pixel, 8, 16);
+
+                                int pixel = COLOR_R8_G8_B8_TO_RGB888(r_pixel, g_pixel, b_pixel);
+
+                                IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+#else
+                    int src_y_index = next_src_y_index;
+                    pixel24_t *src_row_ptr_0, *src_row_ptr_1, *src_row_ptr_2, *src_row_ptr_3;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = src_row_ptr_2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 1);
+                    } else if (src_y_index == 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 0);
+                        src_row_ptr_2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 2);
+                    } else if (src_y_index == h_limit_m_1) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit_m_1);
+                        src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else if (src_y_index >= h_limit) {
+                        int src_y_index_m_1 = src_y_index - 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = src_row_ptr_2 = src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 4 neighboring rows
+                        int src_y_index_m_1 = src_y_index - 1;
+                        int src_y_index_p_1 = src_y_index + 1;
+                        int src_y_index_p_2 = src_y_index + 2;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_m_1);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                        src_row_ptr_3 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_p_2);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // 15-bit fraction to fit a square of it in 32-bits
+                        // pre-calculate the ^1, ^2, and ^3 of the fraction
+                        int dy = ((src_y_accum >> 1) & 0x7FFF);
+                        int dy2 = (dy * dy) >> 15;
+                        int dy3 = (dy2 * dy) >> 15;
+                        long smuad_dy_dy2 = (dy << 16) | dy2;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int src_x_index_m_1 = src_x_index - 1;
+                            int src_x_index_p_1 = src_x_index + 1;
+#if defined(ARM_MATH_DSP)
+                            uint32_t pixel_row_0[2], pixel_row_1[2], pixel_row_2[2], pixel_row_3[2];
+                            // Column 0 = Bits[15:0]
+                            // Column 1 = Bits[31:16]
+
+                            if (src_x_index < 0) {
+                                pixel_row_0[0] = (*src_row_ptr_0) * 0x10001;
+                                pixel_row_0[1] = __PKHBT(pixel_row_0[0], *(src_row_ptr_0 + 1), 16);
+                                pixel_row_1[0] = (*src_row_ptr_1) * 0x10001;
+                                pixel_row_1[1] = __PKHBT(pixel_row_1[0], *(src_row_ptr_1 + 1), 16);
+                                pixel_row_2[0] = (*src_row_ptr_2) * 0x10001;
+                                pixel_row_2[1] = __PKHBT(pixel_row_2[0], *(src_row_ptr_2 + 1), 16);
+                                pixel_row_3[0] = (*src_row_ptr_3) * 0x10001;
+                                pixel_row_3[1] = __PKHBT(pixel_row_3[0], *(src_row_ptr_3 + 1), 16);
+                            } else if (src_x_index == 0) {
+                                pixel_row_0[0] = (*src_row_ptr_0) * 0x10001;
+                                pixel_row_0[1] = *((uint32_t *) (src_row_ptr_0 + 1));
+                                pixel_row_1[0] = (*src_row_ptr_1) * 0x10001;
+                                pixel_row_1[1] = *((uint32_t *) (src_row_ptr_1 + 1));
+                                pixel_row_2[0] = (*src_row_ptr_2) * 0x10001;
+                                pixel_row_2[1] = *((uint32_t *) (src_row_ptr_2 + 1));
+                                pixel_row_3[0] = (*src_row_ptr_3) * 0x10001;
+                                pixel_row_3[1] = *((uint32_t *) (src_row_ptr_3 + 1));
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = (*(src_row_ptr_0 + w_limit)) * 0x10001;
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = (*(src_row_ptr_1 + w_limit)) * 0x10001;
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = (*(src_row_ptr_2 + w_limit)) * 0x10001;
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = (*(src_row_ptr_3 + w_limit)) * 0x10001;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = (pixel_row_0[0] >> 16) * 0x10001;
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = (pixel_row_1[0] >> 16) * 0x10001;
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = (pixel_row_2[0] >> 16) * 0x10001;
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = (pixel_row_3[0] >> 16) * 0x10001;
+                            } else { // get 4 neighboring rows
+                                pixel_row_0[0] = *((uint32_t *) (src_row_ptr_0 + src_x_index_m_1));
+                                pixel_row_0[1] = *((uint32_t *) (src_row_ptr_0 + src_x_index_p_1));
+                                pixel_row_1[0] = *((uint32_t *) (src_row_ptr_1 + src_x_index_m_1));
+                                pixel_row_1[1] = *((uint32_t *) (src_row_ptr_1 + src_x_index_p_1));
+                                pixel_row_2[0] = *((uint32_t *) (src_row_ptr_2 + src_x_index_m_1));
+                                pixel_row_2[1] = *((uint32_t *) (src_row_ptr_2 + src_x_index_p_1));
+                                pixel_row_3[0] = *((uint32_t *) (src_row_ptr_3 + src_x_index_m_1));
+                                pixel_row_3[1] = *((uint32_t *) (src_row_ptr_3 + src_x_index_p_1));
+                            }
+
+                            int r_d[4], g_d[4], b_d[4];
+
+                            for (int z = 0; z < 2; z++) { // dual bicubic x step (-1 to +2)
+
+                                long r_pixel_row_0 = (pixel_row_0[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_1 = (pixel_row_1[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_2 = (pixel_row_2[z] >> 11) & 0x1f001f;
+                                long r_pixel_row_3 = (pixel_row_3[z] >> 11) & 0x1f001f;
+
+                                uint32_t r_a0_col = __QSUB16(r_pixel_row_2, r_pixel_row_0);
+                                uint32_t r_a1_col = __QSUB16(__QSUB16(__QADD16(r_pixel_row_0 << 1, r_pixel_row_2 << 2), r_pixel_row_1 * 5), r_pixel_row_3);
+                                uint32_t r_a2_col = __QSUB16(__QADD16(__QSUB16(r_pixel_row_1 * 3, r_pixel_row_2 * 3), r_pixel_row_3), r_pixel_row_0);
+
+                                long r_smuad_a0_a1_0 = __PKHBT(r_a1_col, r_a0_col, 16);
+                                long r_pixel_1_avg_0 =  (r_pixel_row_1 << 16) | 0x8000;
+                                r_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, r_smuad_a0_a1_0, __SMLAD(dy3, r_a2_col, r_pixel_1_avg_0))) >> 16;
+
+                                long r_smuad_a0_a1_1 = __PKHTB(r_a0_col, r_a1_col, 16);
+                                long r_pixel_1_avg_1 = __PKHTB(r_pixel_row_1, 0x8000, 0);
+                                r_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, r_smuad_a0_a1_1, __SMLADX(dy3, r_a2_col, r_pixel_1_avg_1))) >> 16;
+
+                                long g_pixel_row_0 = (pixel_row_0[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_1 = (pixel_row_1[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_2 = (pixel_row_2[z] >> 5) & 0x3f003f;
+                                long g_pixel_row_3 = (pixel_row_3[z] >> 5) & 0x3f003f;
+
+                                uint32_t g_a0_col = __QSUB16(g_pixel_row_2, g_pixel_row_0);
+                                uint32_t g_a1_col = __QSUB16(__QSUB16(__QADD16(g_pixel_row_0 << 1, g_pixel_row_2 << 2), g_pixel_row_1 * 5), g_pixel_row_3);
+                                uint32_t g_a2_col = __QSUB16(__QADD16(__QSUB16(g_pixel_row_1 * 3, g_pixel_row_2 * 3), g_pixel_row_3), g_pixel_row_0);
+
+                                long g_smuad_a0_a1_0 = __PKHBT(g_a1_col, g_a0_col, 16);
+                                long g_pixel_1_avg_0 =  (g_pixel_row_1 << 16) | 0x8000;
+                                g_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, g_smuad_a0_a1_0, __SMLAD(dy3, g_a2_col, g_pixel_1_avg_0))) >> 16;
+
+                                long g_smuad_a0_a1_1 = __PKHTB(g_a0_col, g_a1_col, 16);
+                                long g_pixel_1_avg_1 = __PKHTB(g_pixel_row_1, 0x8000, 0);
+                                g_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, g_smuad_a0_a1_1, __SMLADX(dy3, g_a2_col, g_pixel_1_avg_1))) >> 16;
+
+                                long b_pixel_row_0 = pixel_row_0[z] & 0x1f001f;
+                                long b_pixel_row_1 = pixel_row_1[z] & 0x1f001f;
+                                long b_pixel_row_2 = pixel_row_2[z] & 0x1f001f;
+                                long b_pixel_row_3 = pixel_row_3[z] & 0x1f001f;
+
+                                uint32_t b_a0_col = __QSUB16(b_pixel_row_2, b_pixel_row_0);
+                                uint32_t b_a1_col = __QSUB16(__QSUB16(__QADD16(b_pixel_row_0 << 1, b_pixel_row_2 << 2), b_pixel_row_1 * 5), b_pixel_row_3);
+                                uint32_t b_a2_col = __QSUB16(__QADD16(__QSUB16(b_pixel_row_1 * 3, b_pixel_row_2 * 3), b_pixel_row_3), b_pixel_row_0);
+
+                                long b_smuad_a0_a1_0 = __PKHBT(b_a1_col, b_a0_col, 16);
+                                long b_pixel_1_avg_0 =  (b_pixel_row_1 << 16) | 0x8000;
+                                b_d[z*2] = ((int32_t) __SMLAD(smuad_dy_dy2, b_smuad_a0_a1_0, __SMLAD(dy3, b_a2_col, b_pixel_1_avg_0))) >> 16;
+
+                                long b_smuad_a0_a1_1 = __PKHTB(b_a0_col, b_a1_col, 16);
+                                long b_pixel_1_avg_1 = __PKHTB(b_pixel_row_1, 0x8000, 0);
+                                b_d[(z*2)+1] = ((int32_t) __SMLAD(smuad_dy_dy2, b_smuad_a0_a1_1, __SMLADX(dy3, b_a2_col, b_pixel_1_avg_1))) >> 16;
+                            } // for z
+#else
+                            int src_x_index_p_2 = src_x_index + 2;
+                            int pixel_x_offests[4];
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = pixel_x_offests[2] = 0;
+                                pixel_x_offests[3] = 1;
+                            } else if (src_x_index == 0) {
+                                pixel_x_offests[0] = pixel_x_offests[1] = 0;
+                                pixel_x_offests[2] = 1;
+                                pixel_x_offests[3] = 2;
+                            } else if (src_x_index == w_limit_m_1) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = w_limit_m_1;
+                                pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else if (src_x_index >= w_limit) {
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = pixel_x_offests[2] = pixel_x_offests[3] = w_limit;
+                            } else { // get 4 neighboring rows
+                                pixel_x_offests[0] = src_x_index_m_1;
+                                pixel_x_offests[1] = src_x_index;
+                                pixel_x_offests[2] = src_x_index_p_1;
+                                pixel_x_offests[3] = src_x_index_p_2;
+                            }
+
+                            int r_d[4], g_d[4], b_d[4];
+
+                            for (int z = 0; z < 4; z++) { // bicubic x step (-1 to +2)
+                                int pixel_0 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_0, pixel_x_offests[z]);
+                                int pixel_1 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_1, pixel_x_offests[z]);
+                                int pixel_2 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_2, pixel_x_offests[z]);
+                                int pixel_3 = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr_3, pixel_x_offests[z]);
+
+                                int r0 = pixel_0 >> 11;
+                                int r1 = pixel_1 >> 11;
+                                int r2 = pixel_2 >> 11;
+                                int r3 = pixel_3 >> 11;
+
+                                int r_a0 = r2 - r0;
+                                int r_a1 = (r0 << 1) + (r2 << 2) - (5 * r1) - r3;
+                                int r_a2 = (3 * (r1 - r2)) + r3 - r0;
+                                long smuad_r_a0_r_a1 = __PKHBT(r_a1, r_a0, 16);
+                                int r1_avg = (r1 << 16) | 0x8000;
+
+                                r_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_r_a0_r_a1, (dy3 * r_a2) + r1_avg)) >> 16;
+
+                                int g0 = (pixel_0 >> 5) & 0x3F;
+                                int g1 = (pixel_1 >> 5) & 0x3F;
+                                int g2 = (pixel_2 >> 5) & 0x3F;
+                                int g3 = (pixel_3 >> 5) & 0x3F;
+
+                                int g_a0 = g2 - g0;
+                                int g_a1 = (g0 << 1) + (g2 << 2) - (5 * g1) - g3;
+                                int g_a2 = (3 * (g1 - g2)) + g3 - g0;
+                                long smuad_g_a0_g_a1 = __PKHBT(g_a1, g_a0, 16);
+                                int g1_avg = (g1 << 16) | 0x8000;
+
+                                g_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_g_a0_g_a1, (dy3 * g_a2) + g1_avg)) >> 16;
+
+                                int b0 = pixel_0 & 0x1F;
+                                int b1 = pixel_1 & 0x1F;
+                                int b2 = pixel_2 & 0x1F;
+                                int b3 = pixel_3 & 0x1F;
+
+                                int b_a0 = b2 - b0;
+                                int b_a1 = (b0 << 1) + (b2 << 2) - (5 * b1) - b3;
+                                int b_a2 = (3 * (b1 - b2)) + b3 - b0;
+                                long smuad_b_a0_b_a1 = __PKHBT(b_a1, b_a0, 16);
+                                int b1_avg = (b1 << 16) | 0x8000;
+
+                                b_d[z] = ((int32_t) __SMLAD(smuad_dy_dy2, smuad_b_a0_b_a1, (dy3 * b_a2) + b1_avg)) >> 16;
+                            } // for z
+#endif
+                            int r_d0 = r_d[0], r_d1 = r_d[1], r_d2 = r_d[2], r_d3 = r_d[3];
+                            int r_a0 = r_d2 - r_d0;
+                            int r_a1 = (r_d0 << 1) + (r_d2 << 2) - (5 * r_d1) - r_d3;
+                            int r_a2 = (3 * (r_d1 - r_d2)) + r_d3 - r_d0;
+                            long smuad_r_a0_r_a1 = __PKHBT(r_a1, r_a0, 16);
+                            int r_d1_avg = (r_d1 << 16) | 0x8000;
+
+                            int g_d0 = g_d[0], g_d1 = g_d[1], g_d2 = g_d[2], g_d3 = g_d[3];
+                            int g_a0 = g_d2 - g_d0;
+                            int g_a1 = (g_d0 << 1) + (g_d2 << 2) - (5 * g_d1) - g_d3;
+                            int g_a2 = (3 * (g_d1 - g_d2)) + g_d3 - g_d0;
+                            long smuad_g_a0_g_a1 = __PKHBT(g_a1, g_a0, 16);
+                            int g_d1_avg = (g_d1 << 16) | 0x8000;
+
+                            int b_d0 = b_d[0], b_d1 = b_d[1], b_d2 = b_d[2], b_d3 = b_d[3];
+                            int b_a0 = b_d2 - b_d0;
+                            int b_a1 = (b_d0 << 1) + (b_d2 << 2) - (5 * b_d1) - b_d3;
+                            int b_a2 = (3 * (b_d1 - b_d2)) + b_d3 - b_d0;
+                            long smuad_b_a0_b_a1 = __PKHBT(b_a1, b_a0, 16);
+                            int b_d1_avg = (b_d1 << 16) | 0x8000;
+
+                            do { // Cache the results of getting the source pixels
+                                // 15-bit fraction to fit a square of it in 32-bits
+                                // pre-calculate the ^1, ^2, and ^3 of the fraction
+                                int dx = ((src_x_accum >> 1) & 0x7FFF);
+                                int dx2 = (dx * dx) >> 15;
+                                int dx3 = (dx2 * dx) >> 15;
+                                long smuad_dx_dx2 = (dx << 16) | dx2;
+
+                                long r_pixel = __SMLAD(smuad_dx_dx2, smuad_r_a0_r_a1, (dx3 * r_a2) + r_d1_avg);
+
+                                // clamp output
+                                r_pixel = __USAT_ASR(r_pixel, 5, 16);
+
+                                long g_pixel = __SMLAD(smuad_dx_dx2, smuad_g_a0_g_a1, (dx3 * g_a2) + g_d1_avg);
+
+                                // clamp output
+                                g_pixel = __USAT_ASR(g_pixel, 6, 16);
+
+                                long b_pixel = __SMLAD(smuad_dx_dx2, smuad_b_a0_b_a1, (dx3 * b_a2) + b_d1_avg);
+
+                                // clamp output
+                                b_pixel = __USAT_ASR(b_pixel, 5, 16);
+
+                                int pixel = COLOR_R8_G8_B8_TO_RGB888(r_pixel, g_pixel, b_pixel);
+
+                                IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+#endif
+                } // while y
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    } else if (hint & IMAGE_HINT_BILINEAR) {
+        // Implements the traditional bilinear interpolation algorithm which uses
+        // a 2x2 filter block with the current pixel centered at (0,0) (C below).
+        // However, instead of floating point math, it uses integer (fixed point).
+        // The Cortex-M4/M7 has a hardware floating point unit, so doing FP math
+        // doesn't take any extra time, but it does take extra time to convert
+        // the integer pixels to floating point and back to integers again.
+        // So this allows it to execute more quickly in pure integer math.
+        //
+        // +---+---+
+        // | C | x |
+        // +---+---+
+        // | x | x |
+        // +---+---+
+        //
+        switch (src_img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint32_t *src_row_ptr_0, *src_row_ptr_1;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, 0);
+                    } else if (src_y_index >= h_limit) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 2 neighboring rows
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        uint32_t * src_row_ptr = ((src_y_accum >> 15) & 0x1) ? src_row_ptr_1 : src_row_ptr_0;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint32_t *dst_row_ptr = (uint32_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel_0, pixel_1;
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_0 = pixel_1 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, 0);
+                            } else if (src_x_index >= w_limit) {
+                                pixel_0 = pixel_1 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, w_limit);
+                            } else { // get 4 neighboring pixels
+                                int src_x_index_p_1 = src_x_index + 1;
+                                pixel_0 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, src_x_index);
+                                pixel_1 = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, src_x_index_p_1);
+                            }
+
+                            do { // Cache the results of getting the source pixels
+                                int pixel = ((src_x_accum >> 15) & 0x1) ? pixel_1 : pixel_0;
+
+                                IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint8_t *src_row_ptr_0, *src_row_ptr_1;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, 0);
+                    } else if (src_y_index >= h_limit) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 2 neighboring rows
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // used to mix pixels vertically
+                        long smuad_y = (src_y_accum >> 8) & 0xff;
+                        smuad_y |= (256 - smuad_y) << 16;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint8_t *dst_row_ptr = (uint8_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel_00, pixel_10, pixel_01, pixel_11;
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_00 = pixel_10 = src_row_ptr_0[0];
+                                pixel_01 = pixel_11 = src_row_ptr_1[0];
+                            } else if (src_x_index >= w_limit) {
+                                pixel_00 = pixel_10 = src_row_ptr_0[w_limit];
+                                pixel_01 = pixel_11 = src_row_ptr_1[w_limit];
+                            } else { // get 4 neighboring pixels
+                                int src_x_index_p_1 = src_x_index + 1;
+                                pixel_00 = src_row_ptr_0[src_x_index]; pixel_10 = src_row_ptr_0[src_x_index_p_1];
+                                pixel_01 = src_row_ptr_1[src_x_index]; pixel_11 = src_row_ptr_1[src_x_index_p_1];
+                            }
+
+                            long vertical_avg_0 = (pixel_00 << 16) | pixel_01;
+                            int pixel_l = __SMLAD(smuad_y, vertical_avg_0, 128) >> 8; // vertically average
+
+                            long vertical_avg_1 = (pixel_10 << 16) | pixel_11;
+                            int pixel_r = __SMLAD(smuad_y, vertical_avg_1, 128) >> 8; // vertically average
+
+                            long horizontal_avg = (pixel_l << 16) | pixel_r;
+
+                            do { // Cache the results of getting the source pixels
+                                // used to mix pixels horizontally
+                                long smuad_x = (src_x_accum >> 8) & 0xff;
+                                smuad_x |= (256 - smuad_x) << 16;
+
+                                int pixel = __SMLAD(smuad_x, horizontal_avg, 128) >> 8; // horizontally average
+
+                                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint16_t *src_row_ptr_0, *src_row_ptr_1;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, 0);
+                    } else if (src_y_index >= h_limit) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 2 neighboring rows
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // used to mix pixels vertically
+                        long smuad_y = (src_y_accum >> 11) & 0x1f;
+                        smuad_y |= (32 - smuad_y) << 16;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint16_t *dst_row_ptr = (uint16_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel_00, pixel_10, pixel_01, pixel_11;
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_00 = pixel_10 = src_row_ptr_0[0];
+                                pixel_01 = pixel_11 = src_row_ptr_1[0];
+                            } else if (src_x_index >= w_limit) {
+                                pixel_00 = pixel_10 = src_row_ptr_0[w_limit];
+                                pixel_01 = pixel_11 = src_row_ptr_1[w_limit];
+                            } else { // get 4 neighboring pixels
+                                int src_x_index_p_1 = src_x_index + 1;
+                                pixel_00 = src_row_ptr_0[src_x_index]; pixel_10 = src_row_ptr_0[src_x_index_p_1];
+                                pixel_01 = src_row_ptr_1[src_x_index]; pixel_11 = src_row_ptr_1[src_x_index_p_1];
+                            }
+
+                            const long mask_r = 0x7c007c00, mask_g = 0x07e007e0, mask_b = 0x001f001f;
+                            const long avg_rb = 0x4010, avg_g = 0x200;
+
+                            uint32_t rgb_l = (pixel_00 << 16) | pixel_01;
+                            long rb_l = ((rgb_l >> 1) & mask_r) | (rgb_l & mask_b);
+                            long g_l = rgb_l & mask_g;
+                            int rb_out_l = (__SMLAD(smuad_y, rb_l, avg_rb) >> 5) & 0x7c1f;
+                            int g_out_l = (__SMLAD(smuad_y, g_l, avg_g) >> 5) & 0x07e0;
+
+                            uint32_t rgb_r = (pixel_10 << 16) | pixel_11;
+                            long rb_r = ((rgb_r >> 1) & mask_r) | (rgb_r & mask_b);
+                            long g_r = rgb_r & mask_g;
+                            int rb_out_r = (__SMLAD(smuad_y, rb_r, avg_rb) >> 5) & 0x7c1f;
+                            int g_out_r = (__SMLAD(smuad_y, g_r, avg_g) >> 5) & 0x07e0;
+
+                            long rb = (rb_out_l << 16) | rb_out_r;
+                            long g = (g_out_l << 16) | g_out_r;
+
+                            do { // Cache the results of getting the source pixels
+                                // used to mix pixels horizontally
+                                long smuad_x = (src_x_accum >> 11) & 0x1f;
+                                smuad_x |= (32 - smuad_x) << 16;
+
+                                int rb_out = __SMLAD(smuad_x, rb, avg_rb) >> 5;
+                                int g_out = __SMLAD(smuad_x, g, avg_g) >> 5;
+                                int pixel = ((rb_out << 1) & 0xf800) | (g_out & 0x07e0) | (rb_out & 0x001f);
+
+                                IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_RGB888: {        //add success!
+                while (y_not_done) {
+#if 1
+                    int src_y_index = next_src_y_index;
+                    pixel24_t *src_row_ptr_0, *src_row_ptr_1;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 0);
+                    } else if (src_y_index >= h_limit) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 2 neighboring rows
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // used to mix pixels vertically
+                        long smuad_y1 = (src_y_accum >> 8) & 0xff;
+                        long smuad_y0 = (256 - smuad_y1);
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {        //先对y方向进行插值，然后再对x方向插值请                                                                                                                                  
+                            int src_x_index = next_src_x_index;
+                            int pixel_00, pixel_10, pixel_01, pixel_11;
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_00 = pixel_10 = pixel24232(src_row_ptr_0[0]);
+                                pixel_01 = pixel_11 = pixel24232(src_row_ptr_1[0]);
+                            } else if (src_x_index >= w_limit) {
+                                pixel_00 = pixel_10 = pixel24232(src_row_ptr_0[w_limit]);
+                                pixel_01 = pixel_11 = pixel24232(src_row_ptr_1[w_limit]);
+                            } else { // get 4 neighboring pixels
+                                int src_x_index_p_1 = src_x_index + 1;
+                                pixel_00 = pixel24232(src_row_ptr_0[src_x_index]); pixel_10 = pixel24232(src_row_ptr_0[src_x_index_p_1]);
+                                pixel_01 = pixel24232(src_row_ptr_1[src_x_index]); pixel_11 = pixel24232(src_row_ptr_1[src_x_index_p_1]);
+                            }
+
+                            const long avg_r = 128, avg_g = 128, avg_b = 128;
+
+                            uint8_t l_piex_r_tmp0 = COLOR_RGB888_TO_R8(pixel_00), l_piex_r_tmp1 = COLOR_RGB888_TO_R8(pixel_01);
+                            uint8_t l_piex_g_tmp0 = COLOR_RGB888_TO_G8(pixel_00), l_piex_g_tmp1 = COLOR_RGB888_TO_G8(pixel_01);
+                            uint8_t l_piex_b_tmp0 = COLOR_RGB888_TO_B8(pixel_00), l_piex_b_tmp1 = COLOR_RGB888_TO_B8(pixel_01);
+
+
+                            uint8_t l_piex_r_tmp2 = ((smuad_y0 * l_piex_r_tmp0 + smuad_y1 * l_piex_r_tmp1 + avg_r) >> 8);
+                            uint8_t l_piex_g_tmp2 = ((smuad_y0 * l_piex_g_tmp0 + smuad_y1 * l_piex_g_tmp1 + avg_g) >> 8);
+                            uint8_t l_piex_b_tmp2 = ((smuad_y0 * l_piex_b_tmp0 + smuad_y1 * l_piex_b_tmp1 + avg_b) >> 8);
+
+                            uint8_t r_piex_r_tmp0 = COLOR_RGB888_TO_R8(pixel_10), r_piex_r_tmp1 = COLOR_RGB888_TO_R8(pixel_11);
+                            uint8_t r_piex_g_tmp0 = COLOR_RGB888_TO_G8(pixel_10), r_piex_g_tmp1 = COLOR_RGB888_TO_G8(pixel_11);
+                            uint8_t r_piex_b_tmp0 = COLOR_RGB888_TO_B8(pixel_10), r_piex_b_tmp1 = COLOR_RGB888_TO_B8(pixel_11);
+
+                            uint8_t r_piex_r_tmp2 = ((smuad_y0 * r_piex_r_tmp0 + smuad_y1 * r_piex_r_tmp1 + avg_r) >> 8);
+                            uint8_t r_piex_g_tmp2 = ((smuad_y0 * r_piex_g_tmp0 + smuad_y1 * r_piex_g_tmp1 + avg_g) >> 8);
+                            uint8_t r_piex_b_tmp2 = ((smuad_y0 * r_piex_b_tmp0 + smuad_y1 * r_piex_b_tmp1 + avg_b) >> 8);
+
+
+                            do { // Cache the results of getting the source pixels
+                                // used to mix pixels horizontally
+                                long smuad_x1 = (src_x_accum >> 8) & 0xff;
+                                long smuad_x0 = 256 - smuad_x0;
+
+                                uint8_t _piex_r_tmp3 = ((smuad_x0 * l_piex_r_tmp2 + smuad_x1 * r_piex_r_tmp2 + avg_r) >> 8);
+                                uint8_t _piex_g_tmp3 = ((smuad_x0 * l_piex_g_tmp2 + smuad_x1 * r_piex_g_tmp2 + avg_g) >> 8);
+                                uint8_t _piex_b_tmp3 = ((smuad_x0 * l_piex_b_tmp2 + smuad_x1 * r_piex_b_tmp2 + avg_b) >> 8);
+
+                                IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, COLOR_R8_G8_B8_TO_RGB888(_piex_r_tmp3, _piex_g_tmp3, _piex_b_tmp3));
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x            结束完行
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+#else
+                    int src_y_index = next_src_y_index;
+                    pixel24_t *src_row_ptr_0, *src_row_ptr_1;
+
+                    // keep row pointers in bounds
+                    if (src_y_index < 0) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, 0);
+                    } else if (src_y_index >= h_limit) {
+                        src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, h_limit);
+                    } else { // get 2 neighboring rows
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index_p_1);
+                    }
+
+                    do { // Cache the results of getting the source rows
+                        // used to mix pixels vertically
+                        long smuad_y = (src_y_accum >> 11) & 0x1f;
+                        smuad_y |= (32 - smuad_y) << 16;
+
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel_00, pixel_10, pixel_01, pixel_11;
+
+                            // keep pixels in bounds
+                            if (src_x_index < 0) {
+                                pixel_00 = pixel_10 = pixel24232(src_row_ptr_0[0]);
+                                pixel_01 = pixel_11 = pixel24232(src_row_ptr_1[0]);
+                            } else if (src_x_index >= w_limit) {
+                                pixel_00 = pixel_10 = pixel24232(src_row_ptr_0[w_limit]);
+                                pixel_01 = pixel_11 = pixel24232(src_row_ptr_1[w_limit]);
+                            } else { // get 4 neighboring pixels
+                                int src_x_index_p_1 = src_x_index + 1;
+                                pixel_00 = pixel24232(src_row_ptr_0[src_x_index]); pixel_10 = pixel24232(src_row_ptr_0[src_x_index_p_1]);
+                                pixel_01 = pixel24232(src_row_ptr_1[src_x_index]); pixel_11 = pixel24232(src_row_ptr_1[src_x_index_p_1]);
+                            }
+
+                            const long mask_r = 0x0000ff00, mask_g = 0x00ff0000, mask_b = 0xff000000;
+                            const long avg_rb = 0x4010, avg_g = 0x200;
+
+                            uint32_t rgb_l = (pixel_00 << 16) | pixel_01;           //左像素
+                            long rb_l = ((rgb_l >> 1) & mask_r) | (rgb_l & mask_b);
+                            long g_l = rgb_l & mask_g;
+                            int rb_out_l = (__SMLAD(smuad_y, rb_l, avg_rb) >> 5) & 0x7c1f;
+                            int g_out_l = (__SMLAD(smuad_y, g_l, avg_g) >> 5) & 0x07e0;
+
+                            uint32_t rgb_r = (pixel_10 << 16) | pixel_11;           //右像素
+                            long rb_r = ((rgb_r >> 1) & mask_r) | (rgb_r & mask_b);
+                            long g_r = rgb_r & mask_g;
+                            int rb_out_r = (__SMLAD(smuad_y, rb_r, avg_rb) >> 5) & 0x7c1f;
+                            int g_out_r = (__SMLAD(smuad_y, g_r, avg_g) >> 5) & 0x07e0;
+
+                            long rb = (rb_out_l << 16) | rb_out_r;
+                            long g = (g_out_l << 16) | g_out_r;
+
+                            do { // Cache the results of getting the source pixels
+                                // used to mix pixels horizontally
+                                long smuad_x = (src_x_accum >> 11) & 0x1f;
+                                smuad_x |= (32 - smuad_x) << 16;
+
+                                int rb_out = __SMLAD(smuad_x, rb, avg_rb) >> 5;
+                                int g_out = __SMLAD(smuad_x, g, avg_g) >> 5;
+                                int pixel = ((rb_out << 1) & 0xf800) | (g_out & 0x07e0) | (rb_out & 0x001f);
+
+                                IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+#endif
+                } // while y
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    } else if (no_scaling_nearest_neighbor) { // copy
+        if (dst_img->data == src_img->data) { // In-Place
+            switch (src_img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    while (y_not_done) {
+                        uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint32_t *dst_row_ptr = (uint32_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, next_src_x_index);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE:
+                // Re-use grayscale for bayer.
+                case PIXFORMAT_BAYER_ANY: {
+                    while (y_not_done) {
+                        uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint8_t *dst_row_ptr = (uint8_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, next_src_x_index);
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB565:
+                // Re-use RGB565 for yuv.
+                case PIXFORMAT_YUV_ANY: {
+                    while (y_not_done) {
+                        uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint16_t *dst_row_ptr = (uint16_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int pixel = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, next_src_x_index);
+                            IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    while (y_not_done) {
+                        pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int pixel = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, next_src_x_index);
+                            IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                            // Increment offsets
+                            dst_x += dst_delta_x;
+                            src_x_accum += src_x_frac;
+                            next_src_x_index = src_x_accum >> 16;
+                            x_not_done = ++x < dst_x_end;
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        } else { // Out-of-Place
+            switch (src_img->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    while (y_not_done) {
+                        uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        imlib_draw_row_put_row_buffer(&imlib_draw_row_data, src_row_ptr);
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    while (y_not_done) {
+                        uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        imlib_draw_row_put_row_buffer(&imlib_draw_row_data, src_row_ptr);
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    while (y_not_done) {
+                        uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        imlib_draw_row_put_row_buffer(&imlib_draw_row_data, src_row_ptr);
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_RGB888: {
+                    while (y_not_done) {
+                        pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                        imlib_draw_row_put_row_buffer(&imlib_draw_row_data, src_row_ptr);
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_BAYER_ANY: {
+                    while (y_not_done) {
+                        switch (new_not_mutable_pixfmt) {
+                            case PIXFORMAT_MUTABLE_ANY: {
+                                imlib_debayer_line(dst_x_start, dst_x_end, next_src_y_index,
+                                                   imlib_draw_row_get_row_buffer(&imlib_draw_row_data),
+                                                   new_not_mutable_pixfmt, src_img);
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_ANY: { // Bayer images have the same shape as GRAYSCALE.
+                                uint8_t *src_row_ptr = IMAGE_COMPUTE_BAYER_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                                imlib_draw_row_put_row_buffer(&imlib_draw_row_data, src_row_ptr);
+                                break;
+                            }
+                            default : {
+                                break;
+                            }
+                        }
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                case PIXFORMAT_YUV_ANY: {
+                    while (y_not_done) {
+                        switch (new_not_mutable_pixfmt) {
+                            case PIXFORMAT_MUTABLE_ANY: {
+                                imlib_deyuv_line(dst_x_start, dst_x_end, next_src_y_index,
+                                                 imlib_draw_row_get_row_buffer(&imlib_draw_row_data),
+                                                 new_not_mutable_pixfmt, src_img);
+                                break;
+                            }
+                            case PIXFORMAT_YUV_ANY: { // YUV images have the same shape as RGB565.
+                                uint16_t *src_row_ptr = IMAGE_COMPUTE_YUV_PIXEL_ROW_PTR(src_img, next_src_y_index);
+                                imlib_draw_row_put_row_buffer(&imlib_draw_row_data, src_row_ptr);
+                                break;
+                            }
+                            default : {
+                                break;
+                            }
+                        }
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } // while y
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+    } else { // nearest neighbor
+        switch (src_img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src_img, src_y_index);
+
+                    do { // Cache the results of getting the source row
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint32_t *dst_row_ptr = (uint32_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, src_x_index);
+
+                            do { // Cache the results of getting the source pixel
+                                IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE:
+            // Re-use grayscale for bayer.
+            case PIXFORMAT_BAYER_ANY: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src_img, src_y_index);
+
+                    do { // Cache the results of getting the source row
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint8_t *dst_row_ptr = (uint8_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, src_x_index);
+
+                            do { // Cache the results of getting the source pixel
+                                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_RGB565:
+            // Re-use RGB565 for yuv.
+            case PIXFORMAT_YUV_ANY: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src_img, src_y_index);
+
+                    do { // Cache the results of getting the source row
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        uint16_t *dst_row_ptr = (uint16_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, src_x_index);
+
+                            do { // Cache the results of getting the source pixel
+                                IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                while (y_not_done) {
+                    int src_y_index = next_src_y_index;
+                    pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src_img, src_y_index);
+
+                    do { // Cache the results of getting the source row
+                        // Must be called per loop to get the address of the temp buffer to blend with
+                        pixel24_t *dst_row_ptr = (pixel24_t *) imlib_draw_row_get_row_buffer(&imlib_draw_row_data);
+
+                        // X loop iteration variables
+                        int dst_x = dst_x_reset;
+                        long src_x_accum = src_x_accum_reset;
+                        int next_src_x_index = src_x_accum >> 16;
+                        int x = dst_x_start;
+                        bool x_not_done = x < dst_x_end;
+
+                        while (x_not_done) {
+                            int src_x_index = next_src_x_index;
+                            int pixel = IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, src_x_index);
+
+                            do { // Cache the results of getting the source pixel
+                                IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x, pixel);
+
+                                // Increment offsets
+                                dst_x += dst_delta_x;
+                                src_x_accum += src_x_frac;
+                                next_src_x_index = src_x_accum >> 16;
+                                x_not_done = ++x < dst_x_end;
+                            } while (x_not_done && (src_x_index == next_src_x_index));
+                        } // while x
+
+                        imlib_draw_row(dst_x_start, dst_x_end, dst_y, &imlib_draw_row_data);
+
+                        // Increment offsets
+                        dst_y += dst_delta_y;
+                        src_y_accum += src_y_frac;
+                        next_src_y_index = src_y_accum >> 16;
+                        y_not_done = ++y < dst_y_end;
+                    } while (y_not_done && (src_y_index == next_src_y_index));
+                } // while y
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+
+    imlib_draw_row_teardown(&imlib_draw_row_data);
+    if (&new_src_img == src_img) fb_free(new_src_img.data);
+}
+
+#ifdef IMLIB_ENABLE_FLOOD_FILL
+void imlib_flood_fill(image_t *img, int x, int y,
+                      float seed_threshold, float floating_threshold,
+                      int c, bool invert, bool clear_background, image_t *mask)
+{
+    if ((0 <= x) && (x < img->w) && (0 <= y) && (y < img->h)) {
+        image_t out;
+        out.w = img->w;
+        out.h = img->h;
+        out.pixfmt = PIXFORMAT_BINARY;
+        // out.data = fb_alloc0(image_size(&out), FB_ALLOC_NO_HINT);
+        out.data = xalloc0(image_size(&out));
+
+        if (mask) {
+            for (int y = 0, yy = out.h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                for (int x = 0, xx = out.w; x < xx; x++) {
+                    if (image_get_mask_pixel(mask, x, y)) IMAGE_SET_BINARY_PIXEL_FAST(row_ptr, x);
+                }
+            }
+        }
+
+        int color_seed_threshold = 0;
+        int color_floating_threshold = 0;
+
+        switch (img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                color_seed_threshold = fast_floorf(seed_threshold * COLOR_BINARY_MAX);
+                color_floating_threshold = fast_floorf(floating_threshold * COLOR_BINARY_MAX);
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                color_seed_threshold = fast_floorf(seed_threshold * COLOR_GRAYSCALE_MAX);
+                color_floating_threshold = fast_floorf(floating_threshold * COLOR_GRAYSCALE_MAX);
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                color_seed_threshold = COLOR_R5_G6_B5_TO_RGB565(fast_floorf(seed_threshold * COLOR_R5_MAX),
+                                                                fast_floorf(seed_threshold * COLOR_G6_MAX),
+                                                                fast_floorf(seed_threshold * COLOR_B5_MAX));
+                color_floating_threshold = COLOR_R5_G6_B5_TO_RGB565(fast_floorf(floating_threshold * COLOR_R5_MAX),
+                                                                    fast_floorf(floating_threshold * COLOR_G6_MAX),
+                                                                    fast_floorf(floating_threshold * COLOR_B5_MAX));
+
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                color_seed_threshold = COLOR_R8_G8_B8_TO_RGB888(fast_roundf(seed_threshold * COLOR_R8_MAX),
+                                                                fast_roundf(seed_threshold * COLOR_G8_MAX),
+                                                                fast_roundf(seed_threshold * COLOR_B8_MAX));
+                color_floating_threshold = COLOR_R8_G8_B8_TO_RGB888(fast_roundf(floating_threshold * COLOR_R8_MAX),
+                                                                    fast_roundf(floating_threshold * COLOR_G8_MAX),
+                                                                    fast_roundf(floating_threshold * COLOR_B8_MAX));
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+
+        imlib_flood_fill_int(&out, img, x, y, color_seed_threshold, color_floating_threshold, NULL, NULL);
+
+        switch (img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                for (int y = 0, yy = out.h; y < yy; y++) {
+                    uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                    for (int x = 0, xx = out.w; x < xx; x++) {
+                        if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, c);
+                        } else if (clear_background) {
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, 0);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                for (int y = 0, yy = out.h; y < yy; y++) {
+                    uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                    for (int x = 0, xx = out.w; x < xx; x++) {
+                        if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, c);
+                        } else if (clear_background) {
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, 0);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                for (int y = 0, yy = out.h; y < yy; y++) {
+                    uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                    for (int x = 0, xx = out.w; x < xx; x++) {
+                        if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+                            IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, c);
+                        } else if (clear_background) {
+                            IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, 0);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                for (int y = 0, yy = out.h; y < yy; y++) {
+                    pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                    for (int x = 0, xx = out.w; x < xx; x++) {
+                        if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+                            IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x, c);
+                        } else if (clear_background) {
+                            IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x, 0);
+                        }
+                    }
+                }
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+
+        // fb_free(out.data);
+        xfree(out.data);
+    }
+}
+#endif // IMLIB_ENABLE_FLOOD_FILL
diff --git a/github_source/minicv2/src/edge.c b/github_source/minicv2/src/edge.c
new file mode 100644
index 0000000..498d4ae
--- /dev/null
+++ b/github_source/minicv2/src/edge.c
@@ -0,0 +1,157 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Edge Detection.
+ */
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include "imlib.h"
+// #include "fb_alloc.h"
+#ifdef IMLIB_ENABLE_BINARY_OPS
+
+typedef struct gvec {
+    uint16_t t;
+    uint16_t g;
+} gvec_t;
+
+void imlib_edge_simple(image_t *src, rectangle_t *roi, int low_thresh, int high_thresh)
+{
+    imlib_morph(src, 1, kernel_high_pass_3, 1.0f, 0.0f, false, 0, false, NULL);
+    list_t thresholds;
+    imlib_list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+    color_thresholds_list_lnk_data_t lnk_data;
+    lnk_data.LMin=low_thresh;
+    lnk_data.LMax=high_thresh;
+    list_push_back(&thresholds, &lnk_data);
+    imlib_binary(src, src, &thresholds, false, false, NULL);
+    list_free(&thresholds);
+    imlib_erode(src, 1, 2, NULL);
+}
+
+void imlib_edge_canny(image_t *src, rectangle_t *roi, int low_thresh, int high_thresh)
+{
+    int w = src->w;
+
+    gvec_t *gm = xalloc(roi->w*roi->h*sizeof*gm);
+
+    //1. Noise Reduction with a Gaussian filter
+    imlib_sepconv3(src, kernel_gauss_3, 1.0f/16.0f, 0.0f);
+
+    //2. Finding Image Gradients
+    for (int gy=1, y=roi->y+1; y<roi->y+roi->h-1; y++, gy++) {
+        for (int gx=1, x=roi->x+1; x<roi->x+roi->w-1; x++, gx++) {
+            int vx=0, vy=0;
+            // sobel kernel in the horizontal direction
+            vx  = src->data [(y-1)*w+x-1]
+                - src->data [(y-1)*w+x+1]
+                + (src->data[(y+0)*w+x-1]<<1)
+                - (src->data[(y+0)*w+x+1]<<1)
+                + src->data [(y+1)*w+x-1]
+                - src->data [(y+1)*w+x+1];
+
+            // sobel kernel in the vertical direction
+            vy  = src->data [(y-1)*w+x-1]
+                + (src->data[(y-1)*w+x+0]<<1)
+                + src->data [(y-1)*w+x+1]
+                - src->data [(y+1)*w+x-1]
+                - (src->data[(y+1)*w+x+0]<<1)
+                - src->data [(y+1)*w+x+1];
+
+            // Find magnitude
+            int g = (int) fast_sqrtf(vx*vx + vy*vy);
+            // Find the direction and round angle to 0, 45, 90 or 135
+            int t = (int) fast_fabsf((atan2f(vy, vx)*180.0f/M_PI));
+            if (t < 22) {
+                t = 0;
+            } else if (t < 67) {
+                t = 45;
+            } else if (t < 112) {
+                t = 90;
+            } else if (t < 160) {
+                t = 135;
+            } else if (t <= 180) {
+                t = 0;
+            }
+
+            gm[gy*roi->w+gx].t = t;
+            gm[gy*roi->w+gx].g = g;
+        }
+    }
+
+    // 3. Hysteresis Thresholding
+    // 4. Non-maximum Suppression and output
+    for (int gy=0, y=roi->y; y<roi->y+roi->h; y++, gy++) {
+        for (int gx=0, x=roi->x; x<roi->x+roi->w; x++, gx++) {
+            int i = y*w+x;
+            gvec_t *va=NULL, *vb=NULL, *vc = &gm[gy*roi->w+gx];
+
+            // Clear the borders
+            if (y == (roi->y) || y == (roi->y+roi->h-1) ||
+                x == (roi->x) || x == (roi->x+roi->w-1)) {
+                src->data[i] = 0;
+                continue;
+            }
+
+            if (vc->g < low_thresh) {
+                // Not an edge
+                src->data[i] = 0;
+                continue;
+            // Check if strong or weak edge
+            } else if (vc->g >= high_thresh ||
+                       gm[(gy-1)*roi->w+(gx-1)].g >= high_thresh ||
+                       gm[(gy-1)*roi->w+(gx+0)].g >= high_thresh ||
+                       gm[(gy-1)*roi->w+(gx+1)].g >= high_thresh ||
+                       gm[(gy+0)*roi->w+(gx-1)].g >= high_thresh ||
+                       gm[(gy+0)*roi->w+(gx+1)].g >= high_thresh ||
+                       gm[(gy+1)*roi->w+(gx-1)].g >= high_thresh ||
+                       gm[(gy+1)*roi->w+(gx+0)].g >= high_thresh ||
+                       gm[(gy+1)*roi->w+(gx+1)].g >= high_thresh) {
+                vc->g = vc->g;
+            } else { // Not an edge
+                src->data[i] = 0;
+                continue;
+            }
+
+            switch (vc->t) {
+                case 0: {
+                    va = &gm[(gy+0)*roi->w+(gx-1)];
+                    vb = &gm[(gy+0)*roi->w+(gx+1)];
+                    break;
+                }
+
+                case 45: {
+                    va = &gm[(gy+1)*roi->w+(gx-1)];
+                    vb = &gm[(gy-1)*roi->w+(gx+1)];
+                    break;
+                }
+
+                case 90: {
+                    va = &gm[(gy+1)*roi->w+(gx+0)];
+                    vb = &gm[(gy-1)*roi->w+(gx+0)];
+                    break;
+                }
+
+                case 135: {
+                    va = &gm[(gy+1)*roi->w+(gx+1)];
+                    vb = &gm[(gy-1)*roi->w+(gx-1)];
+                    break;
+                }
+            }
+
+            if (!(vc->g > va->g && vc->g > vb->g)) {
+                src->data[i] = 0;
+            } else {
+                src->data[i] = 255;
+            }
+        }
+    }
+
+    xfree(gm);
+}
+#endif
diff --git a/github_source/minicv2/src/eye.c b/github_source/minicv2/src/eye.c
new file mode 100644
index 0000000..fc5e2b9
--- /dev/null
+++ b/github_source/minicv2/src/eye.c
@@ -0,0 +1,137 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Pupil localization using image gradients. See Fabian Timm's paper for details.
+ */
+#include "imlib.h"
+#include "xalloc.h"
+#include "fmath.h"
+
+static void find_gradients(image_t *src, array_t *gradients, int x_off, int y_off, int box_w, int box_h)
+{
+    for (int y=y_off; y<y_off+box_h-3; y++) {
+        for (int x=x_off; x<x_off+box_w-3; x++) {
+            int vx=0, vy=0, w=src->w;
+            // sobel_kernel
+            vx  = src->data[(y+0)*w+x+0]
+                - src->data[(y+0)*w+x+2]
+                + (src->data[(y+1)*w+x+0]<<1)
+                - (src->data[(y+1)*w+x+2]<<1)
+                + src->data[(y+2)*w+x+0]
+                - src->data[(y+2)*w+x+2];
+
+            // sobel_kernel
+            vy  = src->data[(y+0)*w+x+0]
+                + (src->data[(y+0)*w+x+1]<<1)
+                + src->data[(y+0)*w+x+2]
+                - src->data[(y+2)*w+x+0]
+                - (src->data[(y+2)*w+x+1]<<1)
+                - src->data[(y+2)*w+x+2];
+
+            float m = fast_sqrtf(vx*vx+vy*vy);
+            if (m>200) {
+                vec_t *v = xalloc(sizeof(vec_t));
+                v->m = m;
+                v->x = vx/m;
+                v->y = vy/m;
+                v->cx = x+1;
+                v->cy = y+1;
+                array_push_back(gradients, v);
+            }
+        }
+    }
+}
+
+// TODO use the gradients median not average
+static void filter_gradients(array_t *gradients)
+{
+    float total_m=0.0f;
+    for (int i=0; i<array_length(gradients); i++) {
+        vec_t *v = (vec_t *) array_at(gradients, i);
+        total_m += v->m;
+    }
+
+    float avg_m = total_m/array_length(gradients);
+
+    for (int i=0; i<array_length(gradients); i++) {
+        vec_t *v = (vec_t *) array_at(gradients, i);
+        float diff =(v->m-avg_m) * (v->m-avg_m);
+        if (fast_sqrtf(diff)>100) {
+            array_erase(gradients, i);
+        }
+    }
+}
+
+static void find_iris(image_t *src, array_t *gradients, int x_off, int y_off, int box_w, int box_h, point_t *e)
+{
+    int max_x=0;
+    int max_y=0;
+    float max_dot = 0.0f;
+
+    for (int y=y_off; y<y_off+box_h; y++) {
+        for (int x=x_off; x<x_off+box_w; x++) {
+            float sum_dot=0.0f;
+            for (int i=0; i<array_length(gradients); i++) {
+                // get gradient vector  g
+                vec_t *v = (vec_t *) array_at(gradients, i);
+
+                // get vector from gradient to centor d
+                vec_t d ={x-v->cx, y-v->cy};
+
+                // normalize d vector
+                float m = fast_sqrtf(d.x*d.x+d.y*d.y);
+                d.x = d.x/m;
+                d.y = d.y/m;
+
+                // compute the dot product d.g
+                float t = (d.x*v->x)+(d.y*v->y);
+
+                // d,g should point the same direction
+                if (t>0.0) {
+                    // dark centres are more likely to be pupils than
+                    // bright centres, so we use the grayscale value as weight.
+                    sum_dot += t*t*(255-src->data[y*src->w+x]);
+                }
+            }
+            sum_dot=sum_dot/array_length(gradients);
+
+            if (sum_dot > max_dot) {
+                max_dot = sum_dot;
+                max_x = x;
+                max_y = y;
+            }
+        }
+    }
+
+    e->x = max_x;
+    e->y = max_y;
+}
+
+// This function should be called on an ROI detected with the eye Haar cascade.
+void imlib_find_iris(image_t *src, point_t *iris, rectangle_t *roi)
+{
+    array_t *iris_gradients;
+    array_alloc(&iris_gradients, xfree);
+
+    // Tune these offsets to skip eyebrows and reduce window size
+    int box_w = roi->w-((int)(0.15f*roi->w));
+    int box_h = roi->h-((int)(0.40f*roi->h));
+    int x_off = roi->x+((int)(0.15f*roi->w));
+    int y_off = roi->y+((int)(0.40f*roi->h));
+
+    // find gradients with strong magnitudes
+    find_gradients(src, iris_gradients,  x_off, y_off, box_w, box_h);
+
+    // filter gradients
+    filter_gradients(iris_gradients);
+
+    // search for iriss
+    find_iris(src, iris_gradients, x_off, y_off, box_w, box_h, iris);
+
+    array_free(iris_gradients);
+}
diff --git a/github_source/minicv2/src/fast.c b/github_source/minicv2/src/fast.c
new file mode 100644
index 0000000..79448ef
--- /dev/null
+++ b/github_source/minicv2/src/fast.c
@@ -0,0 +1,6071 @@
+/*
+ * NOTE: This code is mostly auto-generated.
+ * See https://www.edwardrosten.com/work/fast.html
+ *
+ * Copyright (c) 2006, 2008, 2009, 2010 Edward Rosten 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.
+ * 	*Neither the name of the University of Cambridge nor the names of 
+ * 	 its 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 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.
+ */
+#include <stdio.h>
+#include "imlib.h"
+#include "xalloc.h"
+#include "fb_alloc.h"
+// #include "gc.h"
+
+#ifdef IMLIB_ENABLE_FAST
+
+#define MAX_ROW         (480)
+#define MAX_CORNERS     (2000)
+#define Compare(X, Y) ((X)>=(Y))
+
+typedef struct {
+    uint16_t x;
+    uint16_t y;
+    uint16_t score;
+} corner_t;
+
+static int pixel[16];
+static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, int b);
+static void fast9_score(image_t *image, corner_t *corners, int num_corners, int b);
+static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints);
+
+static kp_t *alloc_keypoint(uint16_t x, uint16_t y, uint16_t score)
+{
+    // Note must set keypoint descriptor to zeros
+    kp_t *kpt = xalloc0(sizeof*kpt);
+    kpt->x = x;
+    kpt->y = y;
+    kpt->score = score;
+    return kpt;
+}
+
+static void make_offsets(int pixel[], int row_stride)
+{
+        pixel[0] = 0 + row_stride * 3;
+        pixel[1] = 1 + row_stride * 3;
+        pixel[2] = 2 + row_stride * 2;
+        pixel[3] = 3 + row_stride * 1;
+        pixel[4] = 3 + row_stride * 0;
+        pixel[5] = 3 + row_stride * -1;
+        pixel[6] = 2 + row_stride * -2;
+        pixel[7] = 1 + row_stride * -3;
+        pixel[8] = 0 + row_stride * -3;
+        pixel[9] = -1 + row_stride * -3;
+        pixel[10] = -2 + row_stride * -2;
+        pixel[11] = -3 + row_stride * -1;
+        pixel[12] = -3 + row_stride * 0;
+        pixel[13] = -3 + row_stride * 1;
+        pixel[14] = -2 + row_stride * 2;
+        pixel[15] = -1 + row_stride * 3;
+}
+
+void fast_detect(image_t *image, array_t *keypoints, int threshold, rectangle_t *roi)
+{
+    int num_corners=0;
+    make_offsets(pixel, image->w);
+
+    // Find corners
+    corner_t *corners = fast9_detect(image, roi, &num_corners, threshold);
+    if (num_corners) {
+        // Score corners
+        fast9_score(image, corners, num_corners, threshold);
+        // Non-max suppression
+        nonmax_suppression(corners, num_corners, keypoints);
+    }
+
+    // Free corners;
+    fb_free(corners);
+}
+
+static void nonmax_suppression(corner_t *corners, int num_corners, array_t *keypoints)
+{
+    // gc_info_t info;
+
+	int last_row;
+	int16_t row_start[MAX_ROW+1];
+	const int sz = num_corners;
+
+	/* Point above points (roughly) to the pixel above
+       the one of interest, if there is a feature there.*/
+	int point_above = 0;
+	int point_below = 0;
+
+	/* Find where each row begins (the corners are output in raster scan order).
+       A beginning of -1 signifies that there are no corners on that row. */
+	last_row  = corners[sz-1].y;
+
+	for(int i=0; i<last_row+1; i++) {
+		row_start[i] = -1;
+    }
+
+    for (int i=0, prev_row=-1; i<sz; i++) {
+        corner_t *c = &corners[i];
+        if (c->y != prev_row) {
+            row_start[c->y] = i;
+            prev_row = c->y;
+        }
+    }
+
+    for(int i=0; i<sz; i++) {
+        corner_t pos = corners[i];
+        uint16_t score = pos.score;
+
+        /*Check left */
+        if (i > 0) {
+            if (corners[i-1].x == pos.x-1 && corners[i-1].y == pos.y && Compare(corners[i-1].score, score)) {
+                goto nonmax;
+            }
+        }
+
+        /*Check right*/
+        if (i < (sz - 1)) {
+            if (corners[i+1].x == pos.x+1 && corners[i+1].y == pos.y && Compare(corners[i+1].score, score)) {
+                goto nonmax;
+            }
+        }
+
+        /*Check above (if there is a valid row above)*/
+        if (pos.y != 0 && row_start[pos.y - 1] != -1)  {
+            /*Make sure that current point_above is one row above.*/
+            if(corners[point_above].y < pos.y - 1)
+                point_above = row_start[pos.y-1];
+
+            /*Make point_above point to the first of the pixels above the current point, if it exists.*/
+            for (; corners[point_above].y < pos.y && corners[point_above].x < pos.x - 1; point_above++) {
+
+            }
+
+            for (int j=point_above; corners[j].y < pos.y && corners[j].x <= pos.x + 1; j++) {
+                int x = corners[j].x;
+                if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(corners[j].score, score))
+                    goto nonmax;
+            }
+        }
+
+        /*Check below (if there is anything below)*/
+        if (pos.y != last_row && row_start[pos.y + 1] != -1 && point_below < sz) /*Nothing below*/ {
+            if (corners[point_below].y < pos.y + 1)
+                point_below = row_start[pos.y+1];
+
+            /* Make point below point to one of the pixels belowthe current point, if it exists.*/
+            for (; point_below < sz && corners[point_below].y == pos.y+1 && corners[point_below].x < pos.x - 1; point_below++) {
+            }
+
+            for (int j=point_below; j < sz && corners[j].y == pos.y+1 && corners[j].x <= pos.x + 1; j++) {
+                int x = corners[j].x;
+                if( (x == pos.x - 1 || x ==pos.x || x == pos.x+1) && Compare(corners[j].score, score))
+                    goto nonmax;
+            }
+        }
+
+        // gc_info(&info);
+        #define MIN_MEM (10*1024)
+        // Allocate keypoints until we're almost out of memory
+        // if (info.free < MIN_MEM) {
+        //     // Try collecting memory
+        //     gc_collect();
+        //     // If it didn't work break
+        //     gc_info(&info);
+        //     if (info.free < MIN_MEM) {
+        //         break;
+        //     }
+        // }
+
+        #undef MIN_MEM
+        array_push_back(keypoints, alloc_keypoint(pos.x, pos.y, pos.score));
+        nonmax:
+        ;
+    }
+}
+
+static int fast9_corner_score(const uint8_t *p, int bstart)
+{    
+    int bmin = bstart;
+    int bmax = 255;
+    int b = (bmax + bmin)/2;
+    
+    /*Compute the score using binary search*/
+	for(;;)
+    {
+		int cb = *p + b;
+		int c_b= *p - b;
+
+
+        if( p[pixel[0]] > cb)
+         if( p[pixel[1]] > cb)
+          if( p[pixel[2]] > cb)
+           if( p[pixel[3]] > cb)
+            if( p[pixel[4]] > cb)
+             if( p[pixel[5]] > cb)
+              if( p[pixel[6]] > cb)
+               if( p[pixel[7]] > cb)
+                if( p[pixel[8]] > cb)
+                 goto is_a_corner;
+                else
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else if( p[pixel[7]] < c_b)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else if( p[pixel[14]] < c_b)
+                 if( p[pixel[8]] < c_b)
+                  if( p[pixel[9]] < c_b)
+                   if( p[pixel[10]] < c_b)
+                    if( p[pixel[11]] < c_b)
+                     if( p[pixel[12]] < c_b)
+                      if( p[pixel[13]] < c_b)
+                       if( p[pixel[15]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else if( p[pixel[6]] < c_b)
+               if( p[pixel[15]] > cb)
+                if( p[pixel[13]] > cb)
+                 if( p[pixel[14]] > cb)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else if( p[pixel[13]] < c_b)
+                 if( p[pixel[7]] < c_b)
+                  if( p[pixel[8]] < c_b)
+                   if( p[pixel[9]] < c_b)
+                    if( p[pixel[10]] < c_b)
+                     if( p[pixel[11]] < c_b)
+                      if( p[pixel[12]] < c_b)
+                       if( p[pixel[14]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                if( p[pixel[7]] < c_b)
+                 if( p[pixel[8]] < c_b)
+                  if( p[pixel[9]] < c_b)
+                   if( p[pixel[10]] < c_b)
+                    if( p[pixel[11]] < c_b)
+                     if( p[pixel[12]] < c_b)
+                      if( p[pixel[13]] < c_b)
+                       if( p[pixel[14]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else if( p[pixel[13]] < c_b)
+                if( p[pixel[7]] < c_b)
+                 if( p[pixel[8]] < c_b)
+                  if( p[pixel[9]] < c_b)
+                   if( p[pixel[10]] < c_b)
+                    if( p[pixel[11]] < c_b)
+                     if( p[pixel[12]] < c_b)
+                      if( p[pixel[14]] < c_b)
+                       if( p[pixel[15]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else if( p[pixel[5]] < c_b)
+              if( p[pixel[14]] > cb)
+               if( p[pixel[12]] > cb)
+                if( p[pixel[13]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      if( p[pixel[10]] > cb)
+                       if( p[pixel[11]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else if( p[pixel[12]] < c_b)
+                if( p[pixel[6]] < c_b)
+                 if( p[pixel[7]] < c_b)
+                  if( p[pixel[8]] < c_b)
+                   if( p[pixel[9]] < c_b)
+                    if( p[pixel[10]] < c_b)
+                     if( p[pixel[11]] < c_b)
+                      if( p[pixel[13]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else if( p[pixel[14]] < c_b)
+               if( p[pixel[7]] < c_b)
+                if( p[pixel[8]] < c_b)
+                 if( p[pixel[9]] < c_b)
+                  if( p[pixel[10]] < c_b)
+                   if( p[pixel[11]] < c_b)
+                    if( p[pixel[12]] < c_b)
+                     if( p[pixel[13]] < c_b)
+                      if( p[pixel[6]] < c_b)
+                       goto is_a_corner;
+                      else
+                       if( p[pixel[15]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               if( p[pixel[6]] < c_b)
+                if( p[pixel[7]] < c_b)
+                 if( p[pixel[8]] < c_b)
+                  if( p[pixel[9]] < c_b)
+                   if( p[pixel[10]] < c_b)
+                    if( p[pixel[11]] < c_b)
+                     if( p[pixel[12]] < c_b)
+                      if( p[pixel[13]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      if( p[pixel[10]] > cb)
+                       if( p[pixel[11]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else if( p[pixel[12]] < c_b)
+               if( p[pixel[7]] < c_b)
+                if( p[pixel[8]] < c_b)
+                 if( p[pixel[9]] < c_b)
+                  if( p[pixel[10]] < c_b)
+                   if( p[pixel[11]] < c_b)
+                    if( p[pixel[13]] < c_b)
+                     if( p[pixel[14]] < c_b)
+                      if( p[pixel[6]] < c_b)
+                       goto is_a_corner;
+                      else
+                       if( p[pixel[15]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else if( p[pixel[4]] < c_b)
+             if( p[pixel[13]] > cb)
+              if( p[pixel[11]] > cb)
+               if( p[pixel[12]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      if( p[pixel[10]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      if( p[pixel[10]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else if( p[pixel[11]] < c_b)
+               if( p[pixel[5]] < c_b)
+                if( p[pixel[6]] < c_b)
+                 if( p[pixel[7]] < c_b)
+                  if( p[pixel[8]] < c_b)
+                   if( p[pixel[9]] < c_b)
+                    if( p[pixel[10]] < c_b)
+                     if( p[pixel[12]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else if( p[pixel[13]] < c_b)
+              if( p[pixel[7]] < c_b)
+               if( p[pixel[8]] < c_b)
+                if( p[pixel[9]] < c_b)
+                 if( p[pixel[10]] < c_b)
+                  if( p[pixel[11]] < c_b)
+                   if( p[pixel[12]] < c_b)
+                    if( p[pixel[6]] < c_b)
+                     if( p[pixel[5]] < c_b)
+                      goto is_a_corner;
+                     else
+                      if( p[pixel[14]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                    else
+                     if( p[pixel[14]] < c_b)
+                      if( p[pixel[15]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              if( p[pixel[5]] < c_b)
+               if( p[pixel[6]] < c_b)
+                if( p[pixel[7]] < c_b)
+                 if( p[pixel[8]] < c_b)
+                  if( p[pixel[9]] < c_b)
+                   if( p[pixel[10]] < c_b)
+                    if( p[pixel[11]] < c_b)
+                     if( p[pixel[12]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      if( p[pixel[10]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      if( p[pixel[10]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else if( p[pixel[11]] < c_b)
+              if( p[pixel[7]] < c_b)
+               if( p[pixel[8]] < c_b)
+                if( p[pixel[9]] < c_b)
+                 if( p[pixel[10]] < c_b)
+                  if( p[pixel[12]] < c_b)
+                   if( p[pixel[13]] < c_b)
+                    if( p[pixel[6]] < c_b)
+                     if( p[pixel[5]] < c_b)
+                      goto is_a_corner;
+                     else
+                      if( p[pixel[14]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                    else
+                     if( p[pixel[14]] < c_b)
+                      if( p[pixel[15]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+           else if( p[pixel[3]] < c_b)
+            if( p[pixel[10]] > cb)
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else if( p[pixel[10]] < c_b)
+             if( p[pixel[7]] < c_b)
+              if( p[pixel[8]] < c_b)
+               if( p[pixel[9]] < c_b)
+                if( p[pixel[11]] < c_b)
+                 if( p[pixel[6]] < c_b)
+                  if( p[pixel[5]] < c_b)
+                   if( p[pixel[4]] < c_b)
+                    goto is_a_corner;
+                   else
+                    if( p[pixel[12]] < c_b)
+                     if( p[pixel[13]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                  else
+                   if( p[pixel[12]] < c_b)
+                    if( p[pixel[13]] < c_b)
+                     if( p[pixel[14]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[12]] < c_b)
+                   if( p[pixel[13]] < c_b)
+                    if( p[pixel[14]] < c_b)
+                     if( p[pixel[15]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            if( p[pixel[10]] > cb)
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     if( p[pixel[9]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else if( p[pixel[10]] < c_b)
+             if( p[pixel[7]] < c_b)
+              if( p[pixel[8]] < c_b)
+               if( p[pixel[9]] < c_b)
+                if( p[pixel[11]] < c_b)
+                 if( p[pixel[12]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[5]] < c_b)
+                    if( p[pixel[4]] < c_b)
+                     goto is_a_corner;
+                    else
+                     if( p[pixel[13]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                   else
+                    if( p[pixel[13]] < c_b)
+                     if( p[pixel[14]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                  else
+                   if( p[pixel[13]] < c_b)
+                    if( p[pixel[14]] < c_b)
+                     if( p[pixel[15]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+          else if( p[pixel[2]] < c_b)
+           if( p[pixel[9]] > cb)
+            if( p[pixel[10]] > cb)
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else if( p[pixel[9]] < c_b)
+            if( p[pixel[7]] < c_b)
+             if( p[pixel[8]] < c_b)
+              if( p[pixel[10]] < c_b)
+               if( p[pixel[6]] < c_b)
+                if( p[pixel[5]] < c_b)
+                 if( p[pixel[4]] < c_b)
+                  if( p[pixel[3]] < c_b)
+                   goto is_a_corner;
+                  else
+                   if( p[pixel[11]] < c_b)
+                    if( p[pixel[12]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[11]] < c_b)
+                   if( p[pixel[12]] < c_b)
+                    if( p[pixel[13]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[11]] < c_b)
+                  if( p[pixel[12]] < c_b)
+                   if( p[pixel[13]] < c_b)
+                    if( p[pixel[14]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[11]] < c_b)
+                 if( p[pixel[12]] < c_b)
+                  if( p[pixel[13]] < c_b)
+                   if( p[pixel[14]] < c_b)
+                    if( p[pixel[15]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           if( p[pixel[9]] > cb)
+            if( p[pixel[10]] > cb)
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    if( p[pixel[8]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else if( p[pixel[9]] < c_b)
+            if( p[pixel[7]] < c_b)
+             if( p[pixel[8]] < c_b)
+              if( p[pixel[10]] < c_b)
+               if( p[pixel[11]] < c_b)
+                if( p[pixel[6]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[4]] < c_b)
+                   if( p[pixel[3]] < c_b)
+                    goto is_a_corner;
+                   else
+                    if( p[pixel[12]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                  else
+                   if( p[pixel[12]] < c_b)
+                    if( p[pixel[13]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[12]] < c_b)
+                   if( p[pixel[13]] < c_b)
+                    if( p[pixel[14]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[12]] < c_b)
+                  if( p[pixel[13]] < c_b)
+                   if( p[pixel[14]] < c_b)
+                    if( p[pixel[15]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+         else if( p[pixel[1]] < c_b)
+          if( p[pixel[8]] > cb)
+           if( p[pixel[9]] > cb)
+            if( p[pixel[10]] > cb)
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[2]] > cb)
+               if( p[pixel[3]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else if( p[pixel[8]] < c_b)
+           if( p[pixel[7]] < c_b)
+            if( p[pixel[9]] < c_b)
+             if( p[pixel[6]] < c_b)
+              if( p[pixel[5]] < c_b)
+               if( p[pixel[4]] < c_b)
+                if( p[pixel[3]] < c_b)
+                 if( p[pixel[2]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[10]] < c_b)
+                   if( p[pixel[11]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[10]] < c_b)
+                  if( p[pixel[11]] < c_b)
+                   if( p[pixel[12]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[10]] < c_b)
+                 if( p[pixel[11]] < c_b)
+                  if( p[pixel[12]] < c_b)
+                   if( p[pixel[13]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[10]] < c_b)
+                if( p[pixel[11]] < c_b)
+                 if( p[pixel[12]] < c_b)
+                  if( p[pixel[13]] < c_b)
+                   if( p[pixel[14]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[10]] < c_b)
+               if( p[pixel[11]] < c_b)
+                if( p[pixel[12]] < c_b)
+                 if( p[pixel[13]] < c_b)
+                  if( p[pixel[14]] < c_b)
+                   if( p[pixel[15]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           goto is_not_a_corner;
+         else
+          if( p[pixel[8]] > cb)
+           if( p[pixel[9]] > cb)
+            if( p[pixel[10]] > cb)
+             if( p[pixel[11]] > cb)
+              if( p[pixel[12]] > cb)
+               if( p[pixel[13]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[15]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[2]] > cb)
+               if( p[pixel[3]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[7]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else if( p[pixel[8]] < c_b)
+           if( p[pixel[7]] < c_b)
+            if( p[pixel[9]] < c_b)
+             if( p[pixel[10]] < c_b)
+              if( p[pixel[6]] < c_b)
+               if( p[pixel[5]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[3]] < c_b)
+                  if( p[pixel[2]] < c_b)
+                   goto is_a_corner;
+                  else
+                   if( p[pixel[11]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[11]] < c_b)
+                   if( p[pixel[12]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[11]] < c_b)
+                  if( p[pixel[12]] < c_b)
+                   if( p[pixel[13]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[11]] < c_b)
+                 if( p[pixel[12]] < c_b)
+                  if( p[pixel[13]] < c_b)
+                   if( p[pixel[14]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[11]] < c_b)
+                if( p[pixel[12]] < c_b)
+                 if( p[pixel[13]] < c_b)
+                  if( p[pixel[14]] < c_b)
+                   if( p[pixel[15]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           goto is_not_a_corner;
+        else if( p[pixel[0]] < c_b)
+         if( p[pixel[1]] > cb)
+          if( p[pixel[8]] > cb)
+           if( p[pixel[7]] > cb)
+            if( p[pixel[9]] > cb)
+             if( p[pixel[6]] > cb)
+              if( p[pixel[5]] > cb)
+               if( p[pixel[4]] > cb)
+                if( p[pixel[3]] > cb)
+                 if( p[pixel[2]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[10]] > cb)
+                   if( p[pixel[11]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[10]] > cb)
+                  if( p[pixel[11]] > cb)
+                   if( p[pixel[12]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[10]] > cb)
+                 if( p[pixel[11]] > cb)
+                  if( p[pixel[12]] > cb)
+                   if( p[pixel[13]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[10]] > cb)
+                if( p[pixel[11]] > cb)
+                 if( p[pixel[12]] > cb)
+                  if( p[pixel[13]] > cb)
+                   if( p[pixel[14]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[10]] > cb)
+               if( p[pixel[11]] > cb)
+                if( p[pixel[12]] > cb)
+                 if( p[pixel[13]] > cb)
+                  if( p[pixel[14]] > cb)
+                   if( p[pixel[15]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else if( p[pixel[8]] < c_b)
+           if( p[pixel[9]] < c_b)
+            if( p[pixel[10]] < c_b)
+             if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[2]] < c_b)
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           goto is_not_a_corner;
+         else if( p[pixel[1]] < c_b)
+          if( p[pixel[2]] > cb)
+           if( p[pixel[9]] > cb)
+            if( p[pixel[7]] > cb)
+             if( p[pixel[8]] > cb)
+              if( p[pixel[10]] > cb)
+               if( p[pixel[6]] > cb)
+                if( p[pixel[5]] > cb)
+                 if( p[pixel[4]] > cb)
+                  if( p[pixel[3]] > cb)
+                   goto is_a_corner;
+                  else
+                   if( p[pixel[11]] > cb)
+                    if( p[pixel[12]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[11]] > cb)
+                   if( p[pixel[12]] > cb)
+                    if( p[pixel[13]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[11]] > cb)
+                  if( p[pixel[12]] > cb)
+                   if( p[pixel[13]] > cb)
+                    if( p[pixel[14]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[11]] > cb)
+                 if( p[pixel[12]] > cb)
+                  if( p[pixel[13]] > cb)
+                   if( p[pixel[14]] > cb)
+                    if( p[pixel[15]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else if( p[pixel[9]] < c_b)
+            if( p[pixel[10]] < c_b)
+             if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else if( p[pixel[2]] < c_b)
+           if( p[pixel[3]] > cb)
+            if( p[pixel[10]] > cb)
+             if( p[pixel[7]] > cb)
+              if( p[pixel[8]] > cb)
+               if( p[pixel[9]] > cb)
+                if( p[pixel[11]] > cb)
+                 if( p[pixel[6]] > cb)
+                  if( p[pixel[5]] > cb)
+                   if( p[pixel[4]] > cb)
+                    goto is_a_corner;
+                   else
+                    if( p[pixel[12]] > cb)
+                     if( p[pixel[13]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                  else
+                   if( p[pixel[12]] > cb)
+                    if( p[pixel[13]] > cb)
+                     if( p[pixel[14]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[12]] > cb)
+                   if( p[pixel[13]] > cb)
+                    if( p[pixel[14]] > cb)
+                     if( p[pixel[15]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else if( p[pixel[10]] < c_b)
+             if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else if( p[pixel[3]] < c_b)
+            if( p[pixel[4]] > cb)
+             if( p[pixel[13]] > cb)
+              if( p[pixel[7]] > cb)
+               if( p[pixel[8]] > cb)
+                if( p[pixel[9]] > cb)
+                 if( p[pixel[10]] > cb)
+                  if( p[pixel[11]] > cb)
+                   if( p[pixel[12]] > cb)
+                    if( p[pixel[6]] > cb)
+                     if( p[pixel[5]] > cb)
+                      goto is_a_corner;
+                     else
+                      if( p[pixel[14]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                    else
+                     if( p[pixel[14]] > cb)
+                      if( p[pixel[15]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else if( p[pixel[13]] < c_b)
+              if( p[pixel[11]] > cb)
+               if( p[pixel[5]] > cb)
+                if( p[pixel[6]] > cb)
+                 if( p[pixel[7]] > cb)
+                  if( p[pixel[8]] > cb)
+                   if( p[pixel[9]] > cb)
+                    if( p[pixel[10]] > cb)
+                     if( p[pixel[12]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else if( p[pixel[11]] < c_b)
+               if( p[pixel[12]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      if( p[pixel[10]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      if( p[pixel[10]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              if( p[pixel[5]] > cb)
+               if( p[pixel[6]] > cb)
+                if( p[pixel[7]] > cb)
+                 if( p[pixel[8]] > cb)
+                  if( p[pixel[9]] > cb)
+                   if( p[pixel[10]] > cb)
+                    if( p[pixel[11]] > cb)
+                     if( p[pixel[12]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else if( p[pixel[4]] < c_b)
+             if( p[pixel[5]] > cb)
+              if( p[pixel[14]] > cb)
+               if( p[pixel[7]] > cb)
+                if( p[pixel[8]] > cb)
+                 if( p[pixel[9]] > cb)
+                  if( p[pixel[10]] > cb)
+                   if( p[pixel[11]] > cb)
+                    if( p[pixel[12]] > cb)
+                     if( p[pixel[13]] > cb)
+                      if( p[pixel[6]] > cb)
+                       goto is_a_corner;
+                      else
+                       if( p[pixel[15]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else if( p[pixel[14]] < c_b)
+               if( p[pixel[12]] > cb)
+                if( p[pixel[6]] > cb)
+                 if( p[pixel[7]] > cb)
+                  if( p[pixel[8]] > cb)
+                   if( p[pixel[9]] > cb)
+                    if( p[pixel[10]] > cb)
+                     if( p[pixel[11]] > cb)
+                      if( p[pixel[13]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else if( p[pixel[12]] < c_b)
+                if( p[pixel[13]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      if( p[pixel[10]] < c_b)
+                       if( p[pixel[11]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               if( p[pixel[6]] > cb)
+                if( p[pixel[7]] > cb)
+                 if( p[pixel[8]] > cb)
+                  if( p[pixel[9]] > cb)
+                   if( p[pixel[10]] > cb)
+                    if( p[pixel[11]] > cb)
+                     if( p[pixel[12]] > cb)
+                      if( p[pixel[13]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else if( p[pixel[5]] < c_b)
+              if( p[pixel[6]] > cb)
+               if( p[pixel[15]] < c_b)
+                if( p[pixel[13]] > cb)
+                 if( p[pixel[7]] > cb)
+                  if( p[pixel[8]] > cb)
+                   if( p[pixel[9]] > cb)
+                    if( p[pixel[10]] > cb)
+                     if( p[pixel[11]] > cb)
+                      if( p[pixel[12]] > cb)
+                       if( p[pixel[14]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else if( p[pixel[13]] < c_b)
+                 if( p[pixel[14]] < c_b)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                if( p[pixel[7]] > cb)
+                 if( p[pixel[8]] > cb)
+                  if( p[pixel[9]] > cb)
+                   if( p[pixel[10]] > cb)
+                    if( p[pixel[11]] > cb)
+                     if( p[pixel[12]] > cb)
+                      if( p[pixel[13]] > cb)
+                       if( p[pixel[14]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else if( p[pixel[6]] < c_b)
+               if( p[pixel[7]] > cb)
+                if( p[pixel[14]] > cb)
+                 if( p[pixel[8]] > cb)
+                  if( p[pixel[9]] > cb)
+                   if( p[pixel[10]] > cb)
+                    if( p[pixel[11]] > cb)
+                     if( p[pixel[12]] > cb)
+                      if( p[pixel[13]] > cb)
+                       if( p[pixel[15]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else if( p[pixel[7]] < c_b)
+                if( p[pixel[8]] < c_b)
+                 goto is_a_corner;
+                else
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[13]] > cb)
+                if( p[pixel[7]] > cb)
+                 if( p[pixel[8]] > cb)
+                  if( p[pixel[9]] > cb)
+                   if( p[pixel[10]] > cb)
+                    if( p[pixel[11]] > cb)
+                     if( p[pixel[12]] > cb)
+                      if( p[pixel[14]] > cb)
+                       if( p[pixel[15]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[12]] > cb)
+               if( p[pixel[7]] > cb)
+                if( p[pixel[8]] > cb)
+                 if( p[pixel[9]] > cb)
+                  if( p[pixel[10]] > cb)
+                   if( p[pixel[11]] > cb)
+                    if( p[pixel[13]] > cb)
+                     if( p[pixel[14]] > cb)
+                      if( p[pixel[6]] > cb)
+                       goto is_a_corner;
+                      else
+                       if( p[pixel[15]] > cb)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      if( p[pixel[10]] < c_b)
+                       if( p[pixel[11]] < c_b)
+                        goto is_a_corner;
+                       else
+                        goto is_not_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             if( p[pixel[11]] > cb)
+              if( p[pixel[7]] > cb)
+               if( p[pixel[8]] > cb)
+                if( p[pixel[9]] > cb)
+                 if( p[pixel[10]] > cb)
+                  if( p[pixel[12]] > cb)
+                   if( p[pixel[13]] > cb)
+                    if( p[pixel[6]] > cb)
+                     if( p[pixel[5]] > cb)
+                      goto is_a_corner;
+                     else
+                      if( p[pixel[14]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                    else
+                     if( p[pixel[14]] > cb)
+                      if( p[pixel[15]] > cb)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      if( p[pixel[10]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      if( p[pixel[10]] < c_b)
+                       goto is_a_corner;
+                      else
+                       goto is_not_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+           else
+            if( p[pixel[10]] > cb)
+             if( p[pixel[7]] > cb)
+              if( p[pixel[8]] > cb)
+               if( p[pixel[9]] > cb)
+                if( p[pixel[11]] > cb)
+                 if( p[pixel[12]] > cb)
+                  if( p[pixel[6]] > cb)
+                   if( p[pixel[5]] > cb)
+                    if( p[pixel[4]] > cb)
+                     goto is_a_corner;
+                    else
+                     if( p[pixel[13]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                   else
+                    if( p[pixel[13]] > cb)
+                     if( p[pixel[14]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                  else
+                   if( p[pixel[13]] > cb)
+                    if( p[pixel[14]] > cb)
+                     if( p[pixel[15]] > cb)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else if( p[pixel[10]] < c_b)
+             if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     if( p[pixel[9]] < c_b)
+                      goto is_a_corner;
+                     else
+                      goto is_not_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+          else
+           if( p[pixel[9]] > cb)
+            if( p[pixel[7]] > cb)
+             if( p[pixel[8]] > cb)
+              if( p[pixel[10]] > cb)
+               if( p[pixel[11]] > cb)
+                if( p[pixel[6]] > cb)
+                 if( p[pixel[5]] > cb)
+                  if( p[pixel[4]] > cb)
+                   if( p[pixel[3]] > cb)
+                    goto is_a_corner;
+                   else
+                    if( p[pixel[12]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                  else
+                   if( p[pixel[12]] > cb)
+                    if( p[pixel[13]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[12]] > cb)
+                   if( p[pixel[13]] > cb)
+                    if( p[pixel[14]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[12]] > cb)
+                  if( p[pixel[13]] > cb)
+                   if( p[pixel[14]] > cb)
+                    if( p[pixel[15]] > cb)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else if( p[pixel[9]] < c_b)
+            if( p[pixel[10]] < c_b)
+             if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    if( p[pixel[8]] < c_b)
+                     goto is_a_corner;
+                    else
+                     goto is_not_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+         else
+          if( p[pixel[8]] > cb)
+           if( p[pixel[7]] > cb)
+            if( p[pixel[9]] > cb)
+             if( p[pixel[10]] > cb)
+              if( p[pixel[6]] > cb)
+               if( p[pixel[5]] > cb)
+                if( p[pixel[4]] > cb)
+                 if( p[pixel[3]] > cb)
+                  if( p[pixel[2]] > cb)
+                   goto is_a_corner;
+                  else
+                   if( p[pixel[11]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                 else
+                  if( p[pixel[11]] > cb)
+                   if( p[pixel[12]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[11]] > cb)
+                  if( p[pixel[12]] > cb)
+                   if( p[pixel[13]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[11]] > cb)
+                 if( p[pixel[12]] > cb)
+                  if( p[pixel[13]] > cb)
+                   if( p[pixel[14]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[11]] > cb)
+                if( p[pixel[12]] > cb)
+                 if( p[pixel[13]] > cb)
+                  if( p[pixel[14]] > cb)
+                   if( p[pixel[15]] > cb)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else if( p[pixel[8]] < c_b)
+           if( p[pixel[9]] < c_b)
+            if( p[pixel[10]] < c_b)
+             if( p[pixel[11]] < c_b)
+              if( p[pixel[12]] < c_b)
+               if( p[pixel[13]] < c_b)
+                if( p[pixel[14]] < c_b)
+                 if( p[pixel[15]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[2]] < c_b)
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[4]] < c_b)
+                 if( p[pixel[5]] < c_b)
+                  if( p[pixel[6]] < c_b)
+                   if( p[pixel[7]] < c_b)
+                    goto is_a_corner;
+                   else
+                    goto is_not_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           goto is_not_a_corner;
+        else
+         if( p[pixel[7]] > cb)
+          if( p[pixel[8]] > cb)
+           if( p[pixel[9]] > cb)
+            if( p[pixel[6]] > cb)
+             if( p[pixel[5]] > cb)
+              if( p[pixel[4]] > cb)
+               if( p[pixel[3]] > cb)
+                if( p[pixel[2]] > cb)
+                 if( p[pixel[1]] > cb)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[10]] > cb)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[10]] > cb)
+                  if( p[pixel[11]] > cb)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[10]] > cb)
+                 if( p[pixel[11]] > cb)
+                  if( p[pixel[12]] > cb)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[10]] > cb)
+                if( p[pixel[11]] > cb)
+                 if( p[pixel[12]] > cb)
+                  if( p[pixel[13]] > cb)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[10]] > cb)
+               if( p[pixel[11]] > cb)
+                if( p[pixel[12]] > cb)
+                 if( p[pixel[13]] > cb)
+                  if( p[pixel[14]] > cb)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             if( p[pixel[10]] > cb)
+              if( p[pixel[11]] > cb)
+               if( p[pixel[12]] > cb)
+                if( p[pixel[13]] > cb)
+                 if( p[pixel[14]] > cb)
+                  if( p[pixel[15]] > cb)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           goto is_not_a_corner;
+         else if( p[pixel[7]] < c_b)
+          if( p[pixel[8]] < c_b)
+           if( p[pixel[9]] < c_b)
+            if( p[pixel[6]] < c_b)
+             if( p[pixel[5]] < c_b)
+              if( p[pixel[4]] < c_b)
+               if( p[pixel[3]] < c_b)
+                if( p[pixel[2]] < c_b)
+                 if( p[pixel[1]] < c_b)
+                  goto is_a_corner;
+                 else
+                  if( p[pixel[10]] < c_b)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                else
+                 if( p[pixel[10]] < c_b)
+                  if( p[pixel[11]] < c_b)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+               else
+                if( p[pixel[10]] < c_b)
+                 if( p[pixel[11]] < c_b)
+                  if( p[pixel[12]] < c_b)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+              else
+               if( p[pixel[10]] < c_b)
+                if( p[pixel[11]] < c_b)
+                 if( p[pixel[12]] < c_b)
+                  if( p[pixel[13]] < c_b)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+             else
+              if( p[pixel[10]] < c_b)
+               if( p[pixel[11]] < c_b)
+                if( p[pixel[12]] < c_b)
+                 if( p[pixel[13]] < c_b)
+                  if( p[pixel[14]] < c_b)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+            else
+             if( p[pixel[10]] < c_b)
+              if( p[pixel[11]] < c_b)
+               if( p[pixel[12]] < c_b)
+                if( p[pixel[13]] < c_b)
+                 if( p[pixel[14]] < c_b)
+                  if( p[pixel[15]] < c_b)
+                   goto is_a_corner;
+                  else
+                   goto is_not_a_corner;
+                 else
+                  goto is_not_a_corner;
+                else
+                 goto is_not_a_corner;
+               else
+                goto is_not_a_corner;
+              else
+               goto is_not_a_corner;
+             else
+              goto is_not_a_corner;
+           else
+            goto is_not_a_corner;
+          else
+           goto is_not_a_corner;
+         else
+          goto is_not_a_corner;
+
+		is_a_corner:
+			bmin=b;
+			goto end_if;
+
+		is_not_a_corner:
+			bmax=b;
+			goto end_if;
+
+		end_if:
+
+		if(bmin == bmax - 1 || bmin == bmax)
+			return bmin;
+		b = (bmin + bmax) / 2;
+    }
+}
+
+static void fast9_score(image_t *image, corner_t *corners, int num_corners, int b)
+{
+    for (int i=0; i<num_corners; i++) {
+        corner_t *c = &corners[i];
+        c->score = fast9_corner_score(image->pixels + c->y*image->w + c->x, b);
+    }
+}
+
+static corner_t *fast9_detect(image_t *image, rectangle_t *roi, int *n_corners, int b)
+{
+    int num_corners = 0;
+    // Try to alloc MAX_CORNERS or the actual max corners we can alloc.
+    int max_corners = IM_MIN(MAX_CORNERS, (fb_avail() / sizeof(corner_t)));
+    corner_t *corners = (corner_t*) fb_alloc(max_corners * sizeof(corner_t), FB_ALLOC_NO_HINT);
+
+    for(int y=roi->y+3; y<roi->y+roi->h-3; y++) {
+        for(int x=roi->x+3; x<roi->x+roi->w-3; x++) {
+            const uint8_t *p = image->pixels+(y * image->w + x);
+			int cb = *p + b;
+			int c_b= *p - b;
+            if(p[pixel[0]] > cb)
+             if(p[pixel[1]] > cb)
+              if(p[pixel[2]] > cb)
+               if(p[pixel[3]] > cb)
+                if(p[pixel[4]] > cb)
+                 if(p[pixel[5]] > cb)
+                  if(p[pixel[6]] > cb)
+                   if(p[pixel[7]] > cb)
+                    if(p[pixel[8]] > cb)
+                     {}
+                    else
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      continue;
+                   else if(p[pixel[7]] < c_b)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      continue;
+                    else if(p[pixel[14]] < c_b)
+                     if(p[pixel[8]] < c_b)
+                      if(p[pixel[9]] < c_b)
+                       if(p[pixel[10]] < c_b)
+                        if(p[pixel[11]] < c_b)
+                         if(p[pixel[12]] < c_b)
+                          if(p[pixel[13]] < c_b)
+                           if(p[pixel[15]] < c_b)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      continue;
+                    else
+                     continue;
+                  else if(p[pixel[6]] < c_b)
+                   if(p[pixel[15]] > cb)
+                    if(p[pixel[13]] > cb)
+                     if(p[pixel[14]] > cb)
+                      {}
+                     else
+                      continue;
+                    else if(p[pixel[13]] < c_b)
+                     if(p[pixel[7]] < c_b)
+                      if(p[pixel[8]] < c_b)
+                       if(p[pixel[9]] < c_b)
+                        if(p[pixel[10]] < c_b)
+                         if(p[pixel[11]] < c_b)
+                          if(p[pixel[12]] < c_b)
+                           if(p[pixel[14]] < c_b)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    if(p[pixel[7]] < c_b)
+                     if(p[pixel[8]] < c_b)
+                      if(p[pixel[9]] < c_b)
+                       if(p[pixel[10]] < c_b)
+                        if(p[pixel[11]] < c_b)
+                         if(p[pixel[12]] < c_b)
+                          if(p[pixel[13]] < c_b)
+                           if(p[pixel[14]] < c_b)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      continue;
+                    else
+                     continue;
+                   else if(p[pixel[13]] < c_b)
+                    if(p[pixel[7]] < c_b)
+                     if(p[pixel[8]] < c_b)
+                      if(p[pixel[9]] < c_b)
+                       if(p[pixel[10]] < c_b)
+                        if(p[pixel[11]] < c_b)
+                         if(p[pixel[12]] < c_b)
+                          if(p[pixel[14]] < c_b)
+                           if(p[pixel[15]] < c_b)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else if(p[pixel[5]] < c_b)
+                  if(p[pixel[14]] > cb)
+                   if(p[pixel[12]] > cb)
+                    if(p[pixel[13]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          if(p[pixel[10]] > cb)
+                           if(p[pixel[11]] > cb)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     continue;
+                   else if(p[pixel[12]] < c_b)
+                    if(p[pixel[6]] < c_b)
+                     if(p[pixel[7]] < c_b)
+                      if(p[pixel[8]] < c_b)
+                       if(p[pixel[9]] < c_b)
+                        if(p[pixel[10]] < c_b)
+                         if(p[pixel[11]] < c_b)
+                          if(p[pixel[13]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else if(p[pixel[14]] < c_b)
+                   if(p[pixel[7]] < c_b)
+                    if(p[pixel[8]] < c_b)
+                     if(p[pixel[9]] < c_b)
+                      if(p[pixel[10]] < c_b)
+                       if(p[pixel[11]] < c_b)
+                        if(p[pixel[12]] < c_b)
+                         if(p[pixel[13]] < c_b)
+                          if(p[pixel[6]] < c_b)
+                           {}
+                          else
+                           if(p[pixel[15]] < c_b)
+                            {}
+                           else
+                            continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   if(p[pixel[6]] < c_b)
+                    if(p[pixel[7]] < c_b)
+                     if(p[pixel[8]] < c_b)
+                      if(p[pixel[9]] < c_b)
+                       if(p[pixel[10]] < c_b)
+                        if(p[pixel[11]] < c_b)
+                         if(p[pixel[12]] < c_b)
+                          if(p[pixel[13]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          if(p[pixel[10]] > cb)
+                           if(p[pixel[11]] > cb)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else if(p[pixel[12]] < c_b)
+                   if(p[pixel[7]] < c_b)
+                    if(p[pixel[8]] < c_b)
+                     if(p[pixel[9]] < c_b)
+                      if(p[pixel[10]] < c_b)
+                       if(p[pixel[11]] < c_b)
+                        if(p[pixel[13]] < c_b)
+                         if(p[pixel[14]] < c_b)
+                          if(p[pixel[6]] < c_b)
+                           {}
+                          else
+                           if(p[pixel[15]] < c_b)
+                            {}
+                           else
+                            continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else if(p[pixel[4]] < c_b)
+                 if(p[pixel[13]] > cb)
+                  if(p[pixel[11]] > cb)
+                   if(p[pixel[12]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          if(p[pixel[10]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          if(p[pixel[10]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    continue;
+                  else if(p[pixel[11]] < c_b)
+                   if(p[pixel[5]] < c_b)
+                    if(p[pixel[6]] < c_b)
+                     if(p[pixel[7]] < c_b)
+                      if(p[pixel[8]] < c_b)
+                       if(p[pixel[9]] < c_b)
+                        if(p[pixel[10]] < c_b)
+                         if(p[pixel[12]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else if(p[pixel[13]] < c_b)
+                  if(p[pixel[7]] < c_b)
+                   if(p[pixel[8]] < c_b)
+                    if(p[pixel[9]] < c_b)
+                     if(p[pixel[10]] < c_b)
+                      if(p[pixel[11]] < c_b)
+                       if(p[pixel[12]] < c_b)
+                        if(p[pixel[6]] < c_b)
+                         if(p[pixel[5]] < c_b)
+                          {}
+                         else
+                          if(p[pixel[14]] < c_b)
+                           {}
+                          else
+                           continue;
+                        else
+                         if(p[pixel[14]] < c_b)
+                          if(p[pixel[15]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  if(p[pixel[5]] < c_b)
+                   if(p[pixel[6]] < c_b)
+                    if(p[pixel[7]] < c_b)
+                     if(p[pixel[8]] < c_b)
+                      if(p[pixel[9]] < c_b)
+                       if(p[pixel[10]] < c_b)
+                        if(p[pixel[11]] < c_b)
+                         if(p[pixel[12]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          if(p[pixel[10]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          if(p[pixel[10]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else if(p[pixel[11]] < c_b)
+                  if(p[pixel[7]] < c_b)
+                   if(p[pixel[8]] < c_b)
+                    if(p[pixel[9]] < c_b)
+                     if(p[pixel[10]] < c_b)
+                      if(p[pixel[12]] < c_b)
+                       if(p[pixel[13]] < c_b)
+                        if(p[pixel[6]] < c_b)
+                         if(p[pixel[5]] < c_b)
+                          {}
+                         else
+                          if(p[pixel[14]] < c_b)
+                           {}
+                          else
+                           continue;
+                        else
+                         if(p[pixel[14]] < c_b)
+                          if(p[pixel[15]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+               else if(p[pixel[3]] < c_b)
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else if(p[pixel[10]] < c_b)
+                 if(p[pixel[7]] < c_b)
+                  if(p[pixel[8]] < c_b)
+                   if(p[pixel[9]] < c_b)
+                    if(p[pixel[11]] < c_b)
+                     if(p[pixel[6]] < c_b)
+                      if(p[pixel[5]] < c_b)
+                       if(p[pixel[4]] < c_b)
+                        {}
+                       else
+                        if(p[pixel[12]] < c_b)
+                         if(p[pixel[13]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                      else
+                       if(p[pixel[12]] < c_b)
+                        if(p[pixel[13]] < c_b)
+                         if(p[pixel[14]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      if(p[pixel[12]] < c_b)
+                       if(p[pixel[13]] < c_b)
+                        if(p[pixel[14]] < c_b)
+                         if(p[pixel[15]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         if(p[pixel[9]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else if(p[pixel[10]] < c_b)
+                 if(p[pixel[7]] < c_b)
+                  if(p[pixel[8]] < c_b)
+                   if(p[pixel[9]] < c_b)
+                    if(p[pixel[11]] < c_b)
+                     if(p[pixel[12]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[5]] < c_b)
+                        if(p[pixel[4]] < c_b)
+                         {}
+                        else
+                         if(p[pixel[13]] < c_b)
+                          {}
+                         else
+                          continue;
+                       else
+                        if(p[pixel[13]] < c_b)
+                         if(p[pixel[14]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                      else
+                       if(p[pixel[13]] < c_b)
+                        if(p[pixel[14]] < c_b)
+                         if(p[pixel[15]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+              else if(p[pixel[2]] < c_b)
+               if(p[pixel[9]] > cb)
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else if(p[pixel[9]] < c_b)
+                if(p[pixel[7]] < c_b)
+                 if(p[pixel[8]] < c_b)
+                  if(p[pixel[10]] < c_b)
+                   if(p[pixel[6]] < c_b)
+                    if(p[pixel[5]] < c_b)
+                     if(p[pixel[4]] < c_b)
+                      if(p[pixel[3]] < c_b)
+                       {}
+                      else
+                       if(p[pixel[11]] < c_b)
+                        if(p[pixel[12]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      if(p[pixel[11]] < c_b)
+                       if(p[pixel[12]] < c_b)
+                        if(p[pixel[13]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[11]] < c_b)
+                      if(p[pixel[12]] < c_b)
+                       if(p[pixel[13]] < c_b)
+                        if(p[pixel[14]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[11]] < c_b)
+                     if(p[pixel[12]] < c_b)
+                      if(p[pixel[13]] < c_b)
+                       if(p[pixel[14]] < c_b)
+                        if(p[pixel[15]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                continue;
+              else
+               if(p[pixel[9]] > cb)
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        if(p[pixel[8]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else if(p[pixel[9]] < c_b)
+                if(p[pixel[7]] < c_b)
+                 if(p[pixel[8]] < c_b)
+                  if(p[pixel[10]] < c_b)
+                   if(p[pixel[11]] < c_b)
+                    if(p[pixel[6]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[4]] < c_b)
+                       if(p[pixel[3]] < c_b)
+                        {}
+                       else
+                        if(p[pixel[12]] < c_b)
+                         {}
+                        else
+                         continue;
+                      else
+                       if(p[pixel[12]] < c_b)
+                        if(p[pixel[13]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      if(p[pixel[12]] < c_b)
+                       if(p[pixel[13]] < c_b)
+                        if(p[pixel[14]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[12]] < c_b)
+                      if(p[pixel[13]] < c_b)
+                       if(p[pixel[14]] < c_b)
+                        if(p[pixel[15]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                continue;
+             else if(p[pixel[1]] < c_b)
+              if(p[pixel[8]] > cb)
+               if(p[pixel[9]] > cb)
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[2]] > cb)
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 continue;
+               else
+                continue;
+              else if(p[pixel[8]] < c_b)
+               if(p[pixel[7]] < c_b)
+                if(p[pixel[9]] < c_b)
+                 if(p[pixel[6]] < c_b)
+                  if(p[pixel[5]] < c_b)
+                   if(p[pixel[4]] < c_b)
+                    if(p[pixel[3]] < c_b)
+                     if(p[pixel[2]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[10]] < c_b)
+                       if(p[pixel[11]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[10]] < c_b)
+                      if(p[pixel[11]] < c_b)
+                       if(p[pixel[12]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[10]] < c_b)
+                     if(p[pixel[11]] < c_b)
+                      if(p[pixel[12]] < c_b)
+                       if(p[pixel[13]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[10]] < c_b)
+                    if(p[pixel[11]] < c_b)
+                     if(p[pixel[12]] < c_b)
+                      if(p[pixel[13]] < c_b)
+                       if(p[pixel[14]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[10]] < c_b)
+                   if(p[pixel[11]] < c_b)
+                    if(p[pixel[12]] < c_b)
+                     if(p[pixel[13]] < c_b)
+                      if(p[pixel[14]] < c_b)
+                       if(p[pixel[15]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 continue;
+               else
+                continue;
+              else
+               continue;
+             else
+              if(p[pixel[8]] > cb)
+               if(p[pixel[9]] > cb)
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[15]] > cb)
+                      {}
+                     else
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[2]] > cb)
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[7]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 continue;
+               else
+                continue;
+              else if(p[pixel[8]] < c_b)
+               if(p[pixel[7]] < c_b)
+                if(p[pixel[9]] < c_b)
+                 if(p[pixel[10]] < c_b)
+                  if(p[pixel[6]] < c_b)
+                   if(p[pixel[5]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[3]] < c_b)
+                      if(p[pixel[2]] < c_b)
+                       {}
+                      else
+                       if(p[pixel[11]] < c_b)
+                        {}
+                       else
+                        continue;
+                     else
+                      if(p[pixel[11]] < c_b)
+                       if(p[pixel[12]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[11]] < c_b)
+                      if(p[pixel[12]] < c_b)
+                       if(p[pixel[13]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[11]] < c_b)
+                     if(p[pixel[12]] < c_b)
+                      if(p[pixel[13]] < c_b)
+                       if(p[pixel[14]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[11]] < c_b)
+                    if(p[pixel[12]] < c_b)
+                     if(p[pixel[13]] < c_b)
+                      if(p[pixel[14]] < c_b)
+                       if(p[pixel[15]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                continue;
+              else
+               continue;
+            else if(p[pixel[0]] < c_b)
+             if(p[pixel[1]] > cb)
+              if(p[pixel[8]] > cb)
+               if(p[pixel[7]] > cb)
+                if(p[pixel[9]] > cb)
+                 if(p[pixel[6]] > cb)
+                  if(p[pixel[5]] > cb)
+                   if(p[pixel[4]] > cb)
+                    if(p[pixel[3]] > cb)
+                     if(p[pixel[2]] > cb)
+                      {}
+                     else
+                      if(p[pixel[10]] > cb)
+                       if(p[pixel[11]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[10]] > cb)
+                      if(p[pixel[11]] > cb)
+                       if(p[pixel[12]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[10]] > cb)
+                     if(p[pixel[11]] > cb)
+                      if(p[pixel[12]] > cb)
+                       if(p[pixel[13]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[10]] > cb)
+                    if(p[pixel[11]] > cb)
+                     if(p[pixel[12]] > cb)
+                      if(p[pixel[13]] > cb)
+                       if(p[pixel[14]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[10]] > cb)
+                   if(p[pixel[11]] > cb)
+                    if(p[pixel[12]] > cb)
+                     if(p[pixel[13]] > cb)
+                      if(p[pixel[14]] > cb)
+                       if(p[pixel[15]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 continue;
+               else
+                continue;
+              else if(p[pixel[8]] < c_b)
+               if(p[pixel[9]] < c_b)
+                if(p[pixel[10]] < c_b)
+                 if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[2]] < c_b)
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 continue;
+               else
+                continue;
+              else
+               continue;
+             else if(p[pixel[1]] < c_b)
+              if(p[pixel[2]] > cb)
+               if(p[pixel[9]] > cb)
+                if(p[pixel[7]] > cb)
+                 if(p[pixel[8]] > cb)
+                  if(p[pixel[10]] > cb)
+                   if(p[pixel[6]] > cb)
+                    if(p[pixel[5]] > cb)
+                     if(p[pixel[4]] > cb)
+                      if(p[pixel[3]] > cb)
+                       {}
+                      else
+                       if(p[pixel[11]] > cb)
+                        if(p[pixel[12]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      if(p[pixel[11]] > cb)
+                       if(p[pixel[12]] > cb)
+                        if(p[pixel[13]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[11]] > cb)
+                      if(p[pixel[12]] > cb)
+                       if(p[pixel[13]] > cb)
+                        if(p[pixel[14]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[11]] > cb)
+                     if(p[pixel[12]] > cb)
+                      if(p[pixel[13]] > cb)
+                       if(p[pixel[14]] > cb)
+                        if(p[pixel[15]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else if(p[pixel[9]] < c_b)
+                if(p[pixel[10]] < c_b)
+                 if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                continue;
+              else if(p[pixel[2]] < c_b)
+               if(p[pixel[3]] > cb)
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[7]] > cb)
+                  if(p[pixel[8]] > cb)
+                   if(p[pixel[9]] > cb)
+                    if(p[pixel[11]] > cb)
+                     if(p[pixel[6]] > cb)
+                      if(p[pixel[5]] > cb)
+                       if(p[pixel[4]] > cb)
+                        {}
+                       else
+                        if(p[pixel[12]] > cb)
+                         if(p[pixel[13]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                      else
+                       if(p[pixel[12]] > cb)
+                        if(p[pixel[13]] > cb)
+                         if(p[pixel[14]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      if(p[pixel[12]] > cb)
+                       if(p[pixel[13]] > cb)
+                        if(p[pixel[14]] > cb)
+                         if(p[pixel[15]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else if(p[pixel[10]] < c_b)
+                 if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else if(p[pixel[3]] < c_b)
+                if(p[pixel[4]] > cb)
+                 if(p[pixel[13]] > cb)
+                  if(p[pixel[7]] > cb)
+                   if(p[pixel[8]] > cb)
+                    if(p[pixel[9]] > cb)
+                     if(p[pixel[10]] > cb)
+                      if(p[pixel[11]] > cb)
+                       if(p[pixel[12]] > cb)
+                        if(p[pixel[6]] > cb)
+                         if(p[pixel[5]] > cb)
+                          {}
+                         else
+                          if(p[pixel[14]] > cb)
+                           {}
+                          else
+                           continue;
+                        else
+                         if(p[pixel[14]] > cb)
+                          if(p[pixel[15]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else if(p[pixel[13]] < c_b)
+                  if(p[pixel[11]] > cb)
+                   if(p[pixel[5]] > cb)
+                    if(p[pixel[6]] > cb)
+                     if(p[pixel[7]] > cb)
+                      if(p[pixel[8]] > cb)
+                       if(p[pixel[9]] > cb)
+                        if(p[pixel[10]] > cb)
+                         if(p[pixel[12]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else if(p[pixel[11]] < c_b)
+                   if(p[pixel[12]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          if(p[pixel[10]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          if(p[pixel[10]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  if(p[pixel[5]] > cb)
+                   if(p[pixel[6]] > cb)
+                    if(p[pixel[7]] > cb)
+                     if(p[pixel[8]] > cb)
+                      if(p[pixel[9]] > cb)
+                       if(p[pixel[10]] > cb)
+                        if(p[pixel[11]] > cb)
+                         if(p[pixel[12]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else if(p[pixel[4]] < c_b)
+                 if(p[pixel[5]] > cb)
+                  if(p[pixel[14]] > cb)
+                   if(p[pixel[7]] > cb)
+                    if(p[pixel[8]] > cb)
+                     if(p[pixel[9]] > cb)
+                      if(p[pixel[10]] > cb)
+                       if(p[pixel[11]] > cb)
+                        if(p[pixel[12]] > cb)
+                         if(p[pixel[13]] > cb)
+                          if(p[pixel[6]] > cb)
+                           {}
+                          else
+                           if(p[pixel[15]] > cb)
+                            {}
+                           else
+                            continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else if(p[pixel[14]] < c_b)
+                   if(p[pixel[12]] > cb)
+                    if(p[pixel[6]] > cb)
+                     if(p[pixel[7]] > cb)
+                      if(p[pixel[8]] > cb)
+                       if(p[pixel[9]] > cb)
+                        if(p[pixel[10]] > cb)
+                         if(p[pixel[11]] > cb)
+                          if(p[pixel[13]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else if(p[pixel[12]] < c_b)
+                    if(p[pixel[13]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          if(p[pixel[10]] < c_b)
+                           if(p[pixel[11]] < c_b)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   if(p[pixel[6]] > cb)
+                    if(p[pixel[7]] > cb)
+                     if(p[pixel[8]] > cb)
+                      if(p[pixel[9]] > cb)
+                       if(p[pixel[10]] > cb)
+                        if(p[pixel[11]] > cb)
+                         if(p[pixel[12]] > cb)
+                          if(p[pixel[13]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else if(p[pixel[5]] < c_b)
+                  if(p[pixel[6]] > cb)
+                   if(p[pixel[15]] < c_b)
+                    if(p[pixel[13]] > cb)
+                     if(p[pixel[7]] > cb)
+                      if(p[pixel[8]] > cb)
+                       if(p[pixel[9]] > cb)
+                        if(p[pixel[10]] > cb)
+                         if(p[pixel[11]] > cb)
+                          if(p[pixel[12]] > cb)
+                           if(p[pixel[14]] > cb)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else if(p[pixel[13]] < c_b)
+                     if(p[pixel[14]] < c_b)
+                      {}
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    if(p[pixel[7]] > cb)
+                     if(p[pixel[8]] > cb)
+                      if(p[pixel[9]] > cb)
+                       if(p[pixel[10]] > cb)
+                        if(p[pixel[11]] > cb)
+                         if(p[pixel[12]] > cb)
+                          if(p[pixel[13]] > cb)
+                           if(p[pixel[14]] > cb)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else if(p[pixel[6]] < c_b)
+                   if(p[pixel[7]] > cb)
+                    if(p[pixel[14]] > cb)
+                     if(p[pixel[8]] > cb)
+                      if(p[pixel[9]] > cb)
+                       if(p[pixel[10]] > cb)
+                        if(p[pixel[11]] > cb)
+                         if(p[pixel[12]] > cb)
+                          if(p[pixel[13]] > cb)
+                           if(p[pixel[15]] > cb)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      continue;
+                    else
+                     continue;
+                   else if(p[pixel[7]] < c_b)
+                    if(p[pixel[8]] < c_b)
+                     {}
+                    else
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      continue;
+                   else
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[13]] > cb)
+                    if(p[pixel[7]] > cb)
+                     if(p[pixel[8]] > cb)
+                      if(p[pixel[9]] > cb)
+                       if(p[pixel[10]] > cb)
+                        if(p[pixel[11]] > cb)
+                         if(p[pixel[12]] > cb)
+                          if(p[pixel[14]] > cb)
+                           if(p[pixel[15]] > cb)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[12]] > cb)
+                   if(p[pixel[7]] > cb)
+                    if(p[pixel[8]] > cb)
+                     if(p[pixel[9]] > cb)
+                      if(p[pixel[10]] > cb)
+                       if(p[pixel[11]] > cb)
+                        if(p[pixel[13]] > cb)
+                         if(p[pixel[14]] > cb)
+                          if(p[pixel[6]] > cb)
+                           {}
+                          else
+                           if(p[pixel[15]] > cb)
+                            {}
+                           else
+                            continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          if(p[pixel[10]] < c_b)
+                           if(p[pixel[11]] < c_b)
+                            {}
+                           else
+                            continue;
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 if(p[pixel[11]] > cb)
+                  if(p[pixel[7]] > cb)
+                   if(p[pixel[8]] > cb)
+                    if(p[pixel[9]] > cb)
+                     if(p[pixel[10]] > cb)
+                      if(p[pixel[12]] > cb)
+                       if(p[pixel[13]] > cb)
+                        if(p[pixel[6]] > cb)
+                         if(p[pixel[5]] > cb)
+                          {}
+                         else
+                          if(p[pixel[14]] > cb)
+                           {}
+                          else
+                           continue;
+                        else
+                         if(p[pixel[14]] > cb)
+                          if(p[pixel[15]] > cb)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          if(p[pixel[10]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          if(p[pixel[10]] < c_b)
+                           {}
+                          else
+                           continue;
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+               else
+                if(p[pixel[10]] > cb)
+                 if(p[pixel[7]] > cb)
+                  if(p[pixel[8]] > cb)
+                   if(p[pixel[9]] > cb)
+                    if(p[pixel[11]] > cb)
+                     if(p[pixel[12]] > cb)
+                      if(p[pixel[6]] > cb)
+                       if(p[pixel[5]] > cb)
+                        if(p[pixel[4]] > cb)
+                         {}
+                        else
+                         if(p[pixel[13]] > cb)
+                          {}
+                         else
+                          continue;
+                       else
+                        if(p[pixel[13]] > cb)
+                         if(p[pixel[14]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                      else
+                       if(p[pixel[13]] > cb)
+                        if(p[pixel[14]] > cb)
+                         if(p[pixel[15]] > cb)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else if(p[pixel[10]] < c_b)
+                 if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         if(p[pixel[9]] < c_b)
+                          {}
+                         else
+                          continue;
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+              else
+               if(p[pixel[9]] > cb)
+                if(p[pixel[7]] > cb)
+                 if(p[pixel[8]] > cb)
+                  if(p[pixel[10]] > cb)
+                   if(p[pixel[11]] > cb)
+                    if(p[pixel[6]] > cb)
+                     if(p[pixel[5]] > cb)
+                      if(p[pixel[4]] > cb)
+                       if(p[pixel[3]] > cb)
+                        {}
+                       else
+                        if(p[pixel[12]] > cb)
+                         {}
+                        else
+                         continue;
+                      else
+                       if(p[pixel[12]] > cb)
+                        if(p[pixel[13]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                     else
+                      if(p[pixel[12]] > cb)
+                       if(p[pixel[13]] > cb)
+                        if(p[pixel[14]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[12]] > cb)
+                      if(p[pixel[13]] > cb)
+                       if(p[pixel[14]] > cb)
+                        if(p[pixel[15]] > cb)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else if(p[pixel[9]] < c_b)
+                if(p[pixel[10]] < c_b)
+                 if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        if(p[pixel[8]] < c_b)
+                         {}
+                        else
+                         continue;
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                continue;
+             else
+              if(p[pixel[8]] > cb)
+               if(p[pixel[7]] > cb)
+                if(p[pixel[9]] > cb)
+                 if(p[pixel[10]] > cb)
+                  if(p[pixel[6]] > cb)
+                   if(p[pixel[5]] > cb)
+                    if(p[pixel[4]] > cb)
+                     if(p[pixel[3]] > cb)
+                      if(p[pixel[2]] > cb)
+                       {}
+                      else
+                       if(p[pixel[11]] > cb)
+                        {}
+                       else
+                        continue;
+                     else
+                      if(p[pixel[11]] > cb)
+                       if(p[pixel[12]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[11]] > cb)
+                      if(p[pixel[12]] > cb)
+                       if(p[pixel[13]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[11]] > cb)
+                     if(p[pixel[12]] > cb)
+                      if(p[pixel[13]] > cb)
+                       if(p[pixel[14]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[11]] > cb)
+                    if(p[pixel[12]] > cb)
+                     if(p[pixel[13]] > cb)
+                      if(p[pixel[14]] > cb)
+                       if(p[pixel[15]] > cb)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  continue;
+                else
+                 continue;
+               else
+                continue;
+              else if(p[pixel[8]] < c_b)
+               if(p[pixel[9]] < c_b)
+                if(p[pixel[10]] < c_b)
+                 if(p[pixel[11]] < c_b)
+                  if(p[pixel[12]] < c_b)
+                   if(p[pixel[13]] < c_b)
+                    if(p[pixel[14]] < c_b)
+                     if(p[pixel[15]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                    else
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[2]] < c_b)
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[4]] < c_b)
+                     if(p[pixel[5]] < c_b)
+                      if(p[pixel[6]] < c_b)
+                       if(p[pixel[7]] < c_b)
+                        {}
+                       else
+                        continue;
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 continue;
+               else
+                continue;
+              else
+               continue;
+            else
+             if(p[pixel[7]] > cb)
+              if(p[pixel[8]] > cb)
+               if(p[pixel[9]] > cb)
+                if(p[pixel[6]] > cb)
+                 if(p[pixel[5]] > cb)
+                  if(p[pixel[4]] > cb)
+                   if(p[pixel[3]] > cb)
+                    if(p[pixel[2]] > cb)
+                     if(p[pixel[1]] > cb)
+                      {}
+                     else
+                      if(p[pixel[10]] > cb)
+                       {}
+                      else
+                       continue;
+                    else
+                     if(p[pixel[10]] > cb)
+                      if(p[pixel[11]] > cb)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[10]] > cb)
+                     if(p[pixel[11]] > cb)
+                      if(p[pixel[12]] > cb)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[10]] > cb)
+                    if(p[pixel[11]] > cb)
+                     if(p[pixel[12]] > cb)
+                      if(p[pixel[13]] > cb)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[10]] > cb)
+                   if(p[pixel[11]] > cb)
+                    if(p[pixel[12]] > cb)
+                     if(p[pixel[13]] > cb)
+                      if(p[pixel[14]] > cb)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 if(p[pixel[10]] > cb)
+                  if(p[pixel[11]] > cb)
+                   if(p[pixel[12]] > cb)
+                    if(p[pixel[13]] > cb)
+                     if(p[pixel[14]] > cb)
+                      if(p[pixel[15]] > cb)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+               else
+                continue;
+              else
+               continue;
+             else if(p[pixel[7]] < c_b)
+              if(p[pixel[8]] < c_b)
+               if(p[pixel[9]] < c_b)
+                if(p[pixel[6]] < c_b)
+                 if(p[pixel[5]] < c_b)
+                  if(p[pixel[4]] < c_b)
+                   if(p[pixel[3]] < c_b)
+                    if(p[pixel[2]] < c_b)
+                     if(p[pixel[1]] < c_b)
+                      {}
+                     else
+                      if(p[pixel[10]] < c_b)
+                       {}
+                      else
+                       continue;
+                    else
+                     if(p[pixel[10]] < c_b)
+                      if(p[pixel[11]] < c_b)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                   else
+                    if(p[pixel[10]] < c_b)
+                     if(p[pixel[11]] < c_b)
+                      if(p[pixel[12]] < c_b)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                  else
+                   if(p[pixel[10]] < c_b)
+                    if(p[pixel[11]] < c_b)
+                     if(p[pixel[12]] < c_b)
+                      if(p[pixel[13]] < c_b)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                 else
+                  if(p[pixel[10]] < c_b)
+                   if(p[pixel[11]] < c_b)
+                    if(p[pixel[12]] < c_b)
+                     if(p[pixel[13]] < c_b)
+                      if(p[pixel[14]] < c_b)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                else
+                 if(p[pixel[10]] < c_b)
+                  if(p[pixel[11]] < c_b)
+                   if(p[pixel[12]] < c_b)
+                    if(p[pixel[13]] < c_b)
+                     if(p[pixel[14]] < c_b)
+                      if(p[pixel[15]] < c_b)
+                       {}
+                      else
+                       continue;
+                     else
+                      continue;
+                    else
+                     continue;
+                   else
+                    continue;
+                  else
+                   continue;
+                 else
+                  continue;
+               else
+                continue;
+              else
+               continue;
+             else
+              continue;
+
+            // Add corner
+            corners[num_corners].x = x;
+            corners[num_corners].y = y;
+
+            if (++num_corners == max_corners) {
+                goto done;
+            }
+		}
+    }
+
+done:
+    *n_corners = num_corners;
+    return corners;
+}
+#endif //IMLIB_ENABLE_FAST
diff --git a/github_source/minicv2/src/fb_alloc.c b/github_source/minicv2/src/fb_alloc.c
new file mode 100644
index 0000000..8115054
--- /dev/null
+++ b/github_source/minicv2/src/fb_alloc.c
@@ -0,0 +1,452 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Interface for using extra frame buffer RAM as a stack.
+ *
+ */
+// #include "py/obj.h"
+// #include "py/runtime.h"
+#include "fb_alloc.h"
+// #include "framebuffer.h"
+#include "omv_boardconfig.h"
+#include "imlib_config.h"
+#include "xalloc.h"
+#include <stdio.h>
+#include <string.h>
+#include "imlib_io.h"
+#define true 1
+#define false 0
+#define bool uint8_t
+
+#ifdef USE_FB_ALLOC
+
+uint32_t fb_size[100];
+size_t fb_point[100];
+uint32_t fb_size_idx;
+uint32_t fb_alloc_num;
+
+char *fb_alloc_stack_pointer()
+{
+    return NULL;
+}
+void fb_alloc_fail()
+{
+    imlib_printf(0, "MemoryError :Out of fast Frame Buffer Stack Memory! Please reduce the resolution of the image you are running this algorithm on to bypass this issue!");
+}
+void fb_alloc_init0()
+{
+    fb_size[0] = OMV_FB_ALLOC_SIZE;
+    fb_size_idx = 1;
+    fb_alloc_num = 0;
+}
+void fb_alloc_close0()
+{
+
+}
+uint32_t fb_avail()
+{
+    return fb_size[0];
+}
+void fb_alloc_mark()
+{
+    fb_alloc_num = 0;
+}
+void fb_alloc_free_till_mark()
+{
+
+}
+void fb_alloc_mark_permanent() // tag memory that should not be popped on exception
+{
+
+}
+void fb_alloc_free_till_mark_past_mark_permanent() // frees past marked permanent allocations
+{
+
+}
+void *fb_alloc(uint32_t size, int hints)
+{
+    uint8_t *tmp = xalloc(size);
+    fb_size[0] -= size;
+    fb_size[fb_size_idx] = size;
+    fb_point[fb_size_idx] = tmp;
+    fb_size_idx ++;
+    fb_alloc_num ++;
+    return tmp;
+}
+void *fb_alloc0(uint32_t size, int hints)
+{
+    uint8_t *tmp = xalloc0(size);
+    fb_size[0] -= size;
+    fb_size[fb_size_idx] = size;
+    fb_point[fb_size_idx] = tmp;
+    fb_size_idx ++;
+    fb_alloc_num ++;
+    return tmp;
+}
+void *fb_alloc_all(uint32_t *size, int hints) // returns pointer and sets size
+{
+    uint8_t *tmp = xalloc(fb_size[0]);
+    fb_size[fb_size_idx] = size;
+    fb_point[fb_size_idx] = tmp;
+    fb_size_idx ++;
+    *size = fb_size[0];
+    fb_size[0] = 0;
+    fb_alloc_num ++;
+    return tmp;
+}
+void *fb_alloc0_all(uint32_t *size, int hints) // returns pointer and sets size
+{
+    uint8_t *tmp = xalloc0(fb_size[0]);
+    fb_size[fb_size_idx] = size;
+    fb_point[fb_size_idx] = tmp;
+    fb_size_idx ++;
+    *size = fb_size[0];
+    fb_size[0] = 0;
+    fb_alloc_num ++;
+    return tmp;
+}
+void fb_free(void *msm)
+{
+    fb_size_idx --;
+    if(NULL == msm)
+    {
+        uint8_t *tmp = fb_point[fb_size_idx];
+        xfree(tmp);
+    }
+    else
+    {
+        xfree(msm);
+    }
+    fb_size[0] += fb_size[fb_size_idx];
+}
+void fb_free_all()
+{
+    for (;fb_alloc_num != 0; fb_alloc_num--)
+    {
+        fb_free(NULL);
+    }
+}
+
+
+
+
+#else
+#ifndef __DCACHE_PRESENT
+#define FB_ALLOC_ALIGNMENT 32 // Use 32-byte alignment on MCUs with no cache for DMA buffer alignment.
+#else
+#define FB_ALLOC_ALIGNMENT __SCB_DCACHE_LINE_SIZE
+#endif
+
+static char* _fballoc_start = NULL;
+static char* _fballoc = NULL;
+static char* pointer = NULL;
+
+static int alloc_num = 0;
+
+
+#if defined(FB_ALLOC_STATS)
+static uint32_t alloc_bytes;
+static uint32_t alloc_bytes_peak;
+#endif
+
+// #if defined(OMV_FB_OVERLAY_MEMORY)
+// #define FB_OVERLAY_MEMORY_FLAG 0x1
+// extern char _fballoc_overlay_end, _fballoc_overlay_start;
+// static char *pointer_overlay = &_fballoc_overlay_end;
+// #endif
+
+// fb_alloc_free_till_mark() will not free past this.
+// Use fb_alloc_free_till_mark_permanent() instead.
+#define FB_PERMANENT_FLAG 0x2
+
+char *fb_alloc_stack_pointer()
+{
+    return pointer;
+}
+
+void fb_alloc_fail()
+{
+    ERR_PRINT("MemoryError :Out of fast Frame Buffer Stack Memory! Please reduce the resolution of \
+                                the image you are running this algorithm on to bypass this issue!");
+}
+
+void fb_alloc_init0()
+{
+    _fballoc_start = (char*)xalloc(OMV_FB_ALLOC_SIZE);
+    _fballoc = _fballoc_start + OMV_FB_ALLOC_SIZE - sizeof(uint32_t);
+    pointer = _fballoc;
+}
+/**
+ * @brief fb_realloc_init1
+ * Functional description:
+ *  Reprogram the memory used by the fb_alloc module .
+ *  Previously used data is not saved !
+ * @param size 
+ *  will be alloc memory!
+ */
+void fb_realloc_init1(uint32_t size)
+{
+    if(NULL == _fballoc_start)
+    {
+        _fballoc_start = (char*)xalloc(size);
+        _fballoc = _fballoc_start + size - sizeof(uint32_t);
+        pointer = _fballoc;
+    }
+    else
+    {
+        xfree(_fballoc_start);
+        _fballoc_start = (char*)xalloc(size);
+        _fballoc = _fballoc_start + size - sizeof(uint32_t);
+        pointer = _fballoc;
+    }
+}
+
+void fb_alloc_close0()
+{
+    xfree(_fballoc_start);
+    _fballoc_start = NULL;
+    _fballoc = NULL;
+    pointer = NULL;
+
+}
+
+
+uint32_t fb_avail()
+{
+    uint32_t temp = pointer - _fballoc_start - sizeof(uint32_t);
+    return (temp < sizeof(uint32_t)) ? 0 : temp;
+}
+
+void fb_alloc_mark()
+{
+    char *new_pointer = pointer - sizeof(uint32_t);
+
+    // Check if allocation overwrites the framebuffer pixels
+    if (new_pointer < _fballoc_start) {
+        fb_alloc_fail();
+        // nlr_raise_for_fb_alloc_mark(mp_obj_new_exception_msg(&mp_type_MemoryError,
+        //     MP_ERROR_TEXT("Out of fast Frame Buffer Stack Memory!"
+        //     " Please reduce the resolution of the image you are running this algorithm on to bypass this issue!")));
+    }
+
+    // fb_alloc does not allow regions which are a size of 0 to be alloced,
+    // meaning that the value below is always 8 or more but never 4. So,
+    // we will use a size value of 4 as a marker in the alloc stack.
+    *((uint32_t *) new_pointer) = sizeof(uint32_t); // Save size.
+    pointer = new_pointer;
+    #if defined(FB_ALLOC_STATS)
+    alloc_bytes = 0;
+    alloc_bytes_peak = 0;
+    #endif
+    DEBUG_PRINT("start a flage!");
+}
+
+static void int_fb_alloc_free_till_mark(bool free_permanent)
+{
+    // Previously there was a marks counting method used to provide a semaphore lock for this code:
+    //
+    // https://github.com/openmv/openmv/commit/c982617523766018fda70c15818f643ee8b1fd33
+    //
+    // This does not really help you in complex memory allocation operations where you want to be
+    // able to unwind things until after a certain point. It also did not handle preventing
+    // fb_alloc_free_till_mark() from running in recursive call situations (see find_blobs()).
+    while (pointer < _fballoc) {
+        uint32_t size = *((uint32_t *) pointer);
+        if ((!free_permanent) && (size & FB_PERMANENT_FLAG)) return;
+        size &= ~FB_PERMANENT_FLAG;
+        // #if defined(OMV_FB_OVERLAY_MEMORY)
+        // if (size & FB_OVERLAY_MEMORY_FLAG) { // Check for fast flag.
+        //     size &= ~FB_OVERLAY_MEMORY_FLAG; // Remove it.
+        //     pointer_overlay += size - sizeof(uint32_t);
+        // }
+        // #endif
+        pointer += size; // Get size and pop.
+        if (size == sizeof(uint32_t)) break; // Break on first marker.
+    }
+    #if defined(FB_ALLOC_STATS)
+    printf("fb_alloc peak memory: %lu\n", alloc_bytes_peak);
+    #endif
+    DEBUG_PRINT("free a flage!");
+}
+
+void fb_alloc_free_till_mark()
+{
+    int_fb_alloc_free_till_mark(false);
+}
+
+void fb_alloc_mark_permanent()
+{
+    if (pointer < _fballoc) *((uint32_t *) pointer) |= FB_PERMANENT_FLAG;
+}
+
+void fb_alloc_free_till_mark_past_mark_permanent()
+{
+    int_fb_alloc_free_till_mark(true);
+}
+
+// returns null pointer without error if size==0
+void *fb_alloc(uint32_t size, int hints)
+{
+    if (!size) {
+        return NULL;
+    }
+
+    size = ((size + sizeof(uint32_t) - 1) / sizeof(uint32_t)) * sizeof(uint32_t); // Round Up
+
+    if (hints & FB_ALLOC_CACHE_ALIGN) {
+        size = ((size + FB_ALLOC_ALIGNMENT - 1) / FB_ALLOC_ALIGNMENT) * FB_ALLOC_ALIGNMENT;
+        size += FB_ALLOC_ALIGNMENT - sizeof(uint32_t);
+    }
+
+    char *result = pointer - size;
+    char *new_pointer = result - sizeof(uint32_t);
+
+    // Check if allocation overwrites the framebuffer pixels
+    if (new_pointer < _fballoc_start) {
+        fb_alloc_fail();
+    }
+
+    // size is always 4/8/12/etc. so the value below must be 8 or more.
+    *((uint32_t *) new_pointer) = size + sizeof(uint32_t); // Save size.
+    pointer = new_pointer;
+
+    #if defined(FB_ALLOC_STATS)
+    alloc_bytes += size;
+    if (alloc_bytes > alloc_bytes_peak) {
+        alloc_bytes_peak = alloc_bytes;
+    }
+    printf("fb_alloc %lu bytes\n", size);
+    #endif
+
+    // #if defined(OMV_FB_OVERLAY_MEMORY)
+    // if ((!(hints & FB_ALLOC_PREFER_SIZE))
+    // && (((uint32_t) (pointer_overlay - &_fballoc_overlay_start)) >= size)) {
+    //     // Return overlay memory instead.
+    //     pointer_overlay -= size;
+    //     result = pointer_overlay;
+    //     *new_pointer |= FB_OVERLAY_MEMORY_FLAG; // Add flag.
+    // }
+    // #endif
+
+    if (hints & FB_ALLOC_CACHE_ALIGN) {
+        int offset = ((size_t) result) % FB_ALLOC_ALIGNMENT;
+        if (offset) {
+            result += FB_ALLOC_ALIGNMENT - offset;
+        }
+    }
+    DEBUG_PRINT("mem num:%d pointer:%p size:%d", ++ alloc_num, pointer, size);
+    return result;
+}
+
+// returns null pointer without error if passed size==0
+void *fb_alloc0(uint32_t size, int hints)
+{
+    void *mem = fb_alloc(size, hints);
+    memset(mem, 0, size); // does nothing if size is zero.
+    return mem;
+}
+
+void *fb_alloc_all(uint32_t *size, int hints)
+{
+    uint32_t temp = pointer - _fballoc_start - sizeof(uint32_t);
+
+    if (temp < sizeof(uint32_t)) {
+        *size = 0;
+        return NULL;
+    }
+
+    // #if defined(OMV_FB_OVERLAY_MEMORY)
+    // if (!(hints & FB_ALLOC_PREFER_SIZE)) {
+    //     *size = (uint32_t) (pointer_overlay - &_fballoc_overlay_start);
+    //     temp = IM_MIN(temp, *size);
+    // }
+    // #endif
+
+    *size = (temp / sizeof(uint32_t)) * sizeof(uint32_t); // Round Down
+
+    char *result = pointer - *size;
+    char *new_pointer = result - sizeof(uint32_t);
+
+    // size is always 4/8/12/etc. so the value below must be 8 or more.
+    *((uint32_t *) new_pointer) = *size + sizeof(uint32_t); // Save size.
+    pointer = new_pointer;
+
+    #if defined(FB_ALLOC_STATS)
+    alloc_bytes += *size;
+    if (alloc_bytes > alloc_bytes_peak) {
+        alloc_bytes_peak = alloc_bytes;
+    }
+    printf("fb_alloc_all %lu bytes\n", *size);
+    #endif
+
+    // #if defined(OMV_FB_OVERLAY_MEMORY)
+    // if (!(hints & FB_ALLOC_PREFER_SIZE)) {
+    //     // Return overlay memory instead.
+    //     pointer_overlay -= *size;
+    //     result = pointer_overlay;
+    //     *new_pointer |= FB_OVERLAY_MEMORY_FLAG; // Add flag.
+    // }
+    // #endif
+
+    if (hints & FB_ALLOC_CACHE_ALIGN) {
+        int offset = ((size_t) result) % FB_ALLOC_ALIGNMENT;
+        if (offset) {
+            int inc = FB_ALLOC_ALIGNMENT - offset;
+            result += inc;
+            *size -= inc;
+        }
+        *size = (*size / FB_ALLOC_ALIGNMENT) * FB_ALLOC_ALIGNMENT;
+    }
+    DEBUG_PRINT("alloc all mem,num:%d", ++ alloc_num);
+    return result;
+}
+
+// returns null pointer without error if returned size==0
+void *fb_alloc0_all(uint32_t *size, int hints)
+{
+    void *mem = fb_alloc_all(size, hints);
+    memset(mem, 0, *size); // does nothing if size is zero.
+    return mem;
+}
+
+void fb_free(void *msm)
+{
+    if (pointer < _fballoc) {
+        uint32_t size = *((uint32_t *) pointer);
+        size &= ~FB_PERMANENT_FLAG;
+        // #if defined(OMV_FB_OVERLAY_MEMORY)
+        // if (size & FB_OVERLAY_MEMORY_FLAG) { // Check for fast flag.
+        //     size &= ~FB_OVERLAY_MEMORY_FLAG; // Remove it.
+        //     pointer_overlay += size - sizeof(uint32_t);
+        // }
+        // #endif
+        #if defined(FB_ALLOC_STATS)
+        alloc_bytes -= size;
+        #endif
+        pointer += size; // Get size and pop.
+        DEBUG_PRINT("free num:%d size:%d  pointer:%p", -- alloc_num, size, pointer);
+    }
+}
+
+void fb_free_all()
+{
+    while (pointer < _fballoc) {
+        uint32_t size = *((uint32_t *) pointer);
+        size &= ~FB_PERMANENT_FLAG;
+        // #if defined(OMV_FB_OVERLAY_MEMORY)
+        // if (size & FB_OVERLAY_MEMORY_FLAG) { // Check for fast flag.
+        //     size &= ~FB_OVERLAY_MEMORY_FLAG; // Remove it.
+        //     pointer_overlay += size - sizeof(uint32_t);
+        // }
+        // #endif
+        #if defined(FB_ALLOC_STATS)
+        alloc_bytes -= size;
+        #endif
+        pointer += size; // Get size and pop.
+    }
+    DEBUG_PRINT("free all mem!");
+}
+
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/src/ff_wrapper.c b/github_source/minicv2/src/ff_wrapper.c
new file mode 100644
index 0000000..4ef127b
--- /dev/null
+++ b/github_source/minicv2/src/ff_wrapper.c
@@ -0,0 +1,742 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * File System Helper Functions
+ *
+ */
+#include "imlib_config.h"
+
+
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+#include <stdio.h>
+#include <unistd.h>
+#include <string.h>
+// #include "py/runtime.h"
+// #include "extmod/vfs.h"
+// #include "extmod/vfs_fat.h"
+
+#include "common.h"
+#include "fb_alloc.h"
+#include "ff_wrapper.h"
+#define FF_MIN(x,y) (((x)<(y))?(x):(y))
+
+#if 0
+
+static void ff_fail(FIL *fp, uint32_t res)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT(ffs_strerror(res)));
+}
+
+static void ff_read_fail(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Failed to read requested bytes!"));
+}
+
+static void ff_write_fail(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Failed to write requested bytes!"));
+}
+
+ static void ff_expect_fail(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Unexpected value read!"));
+}
+
+ void ff_unsupported_format(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Unsupported format!"));
+}
+
+ void ff_file_corrupted(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("File corrupted!"));
+}
+
+ void ff_not_equal(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Images not equal!"));
+}
+
+ void ff_no_intersection(FIL *fp)
+{
+    if (fp) fclose(fp);
+    // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("No intersection!"));
+}
+
+void file_read_open(FIL *fp, const char *path)
+{
+    *fp = fopen(path, "rb");
+    if(NULL == *fp) ff_fail(fp, 0);
+    // FRESULT res = f_open_helper(fp, path, FA_READ|FA_OPEN_EXISTING);
+    // if (res != FR_OK) ff_fail(fp, res);
+}
+
+void file_write_open(FIL *fp, const char *path)
+{
+    *fp = fopen(path, "wb");
+    if(NULL == *fp) ff_fail(fp, 0);
+    // FRESULT res = f_open_helper(fp, path, FA_WRITE|FA_CREATE_ALWAYS);
+    // if (res != FR_OK) ff_fail(fp, res);
+}
+
+void file_close(FIL *fp)
+{
+    if(NULL != *fp)
+    {
+        fclose(*fp);
+    }
+    // FRESULT res = f_close(fp);
+    // if (res != FR_OK) ff_fail(fp, res);
+}
+
+void file_seek(FIL *fp, size_t offset)
+{
+    fseek(*fp, offset, SEEK_SET);
+    // FRESULT res = f_lseek(fp, offset);
+    // if (res != FR_OK) ff_fail(fp, res);
+}
+
+void file_truncate(FIL *fp)
+{
+    // FRESULT res = f_truncate(fp);
+    // if (res != FR_OK) ff_fail(fp, res);
+}
+
+void file_sync(FIL *fp)
+{
+    int fd = fileno(*fp); 
+    fsync(fd);
+    // FRESULT res = f_sync(fp);
+    // if (res != FR_OK) ff_fail(fp, res);
+}
+
+// These wrapper functions are used for backward compatibility with
+// OpenMV code using vanilla FatFS. Note: Extracted from cc3200 ftp.c
+
+// FATFS *lookup_path(const TCHAR **path) {
+    // mp_vfs_mount_t *fs = mp_vfs_lookup_path(*path, path);
+    // if (fs == MP_VFS_NONE || fs == MP_VFS_ROOT) {
+    //     return NULL;
+    // }
+    // // here we assume that the mounted device is FATFS
+    // return &((fs_user_mount_t*)MP_OBJ_TO_PTR(fs->obj))->fatfs;
+}
+
+// FRESULT f_open_helper(FIL *fp, const TCHAR *path, BYTE mode) {
+//     FATFS *fs = lookup_path(&path);
+//     if (fs == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     return f_open(fs, fp, path, mode);
+// }
+
+// FRESULT f_opendir_helper(FF_DIR *dp, const TCHAR *path) {
+//     FATFS *fs = lookup_path(&path);
+//     if (fs == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     return f_opendir(fs, dp, path);
+// }
+
+// FRESULT f_stat_helper(const TCHAR *path, FILINFO *fno) {
+//     FATFS *fs = lookup_path(&path);
+//     if (fs == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     return f_stat(fs, path, fno);
+// }
+
+// FRESULT f_mkdir_helper(const TCHAR *path) {
+//     FATFS *fs = lookup_path(&path);
+//     if (fs == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     return f_mkdir(fs, path);
+// }
+
+// FRESULT f_unlink_helper(const TCHAR *path) {
+//     FATFS *fs = lookup_path(&path);
+//     if (fs == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     return f_unlink(fs, path);
+// }
+
+// FRESULT f_rename_helper(const TCHAR *path_old, const TCHAR *path_new) {
+//     FATFS *fs_old = lookup_path(&path_old);
+//     if (fs_old == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     FATFS *fs_new = lookup_path(&path_new);
+//     if (fs_new == NULL) {
+//         return FR_NO_PATH;
+//     }
+//     if (fs_old != fs_new) {
+//         return FR_NO_PATH;
+//     }
+//     return f_rename(fs_new, path_old, path_new);
+// }
+// When a sector boundary is encountered while writing a file and there are
+// more than 512 bytes left to write FatFs will detect that it can bypass
+// its internal write buffer and pass the data buffer passed to it directly
+// to the disk write function. However, the disk write function needs the
+// buffer to be aligned to a 4-byte boundary. FatFs doesn't know this and
+// will pass an unaligned buffer if we don't fix the issue. To fix this problem
+// we use a temporary buffer to fix the alignment and to speed everything up.
+
+// We use this temporary buffer for both reads and writes. The buffer allows us
+// to do multi-block reads and writes which signifcantly speed things up.
+
+static uint32_t file_buffer_offset = 0;
+static uint8_t *file_buffer_pointer = 0;
+static uint32_t file_buffer_size = 0;
+static uint32_t file_buffer_index = 0;
+
+void file_buffer_init0()
+{
+    file_buffer_offset = 0;
+    file_buffer_pointer = 0;
+    file_buffer_size = 0;
+    file_buffer_index = 0;
+}
+
+OMV_ATTR_ALWAYS_INLINE static void file_fill(FIL *fp)
+{
+    if (file_buffer_index == file_buffer_size) {
+        file_buffer_pointer -= file_buffer_offset;
+        file_buffer_size += file_buffer_offset;
+        file_buffer_offset = 0;
+        file_buffer_index = 0;
+        uint32_t file_remaining = fsize(*fp) - ftell(*fp);
+        uint32_t can_do = FF_MIN(file_buffer_size, file_remaining);
+        uint8_t bytes;
+        uint32_t res = fread(*fp, file_buffer_pointer, can_do, &bytes);
+        // FRESULT res = fread(*fp, file_buffer_pointer, can_do, &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        // if (bytes != can_do) ff_read_fail(fp);
+    }
+}
+
+OMV_ATTR_ALWAYS_INLINE static void file_flush(FIL *fp)
+{
+    if (file_buffer_index == file_buffer_size) {
+        uint8_t bytes;
+        uint32_t res = fwrite(*fp, file_buffer_pointer, file_buffer_index, &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        if (bytes != file_buffer_index) ff_write_fail(*fp);
+        file_buffer_pointer -= file_buffer_offset;
+        file_buffer_size += file_buffer_offset;
+        file_buffer_offset = 0;
+        file_buffer_index = 0;
+    }
+}
+
+uint32_t file_tell_w_buf(FIL *fp)
+{
+    if (fp->flag & FA_READ) {
+        return ftell(*fp) - file_buffer_size + file_buffer_index;
+    } else {
+        return ftell(*fp) + file_buffer_index;
+    }
+}
+
+uint32_t file_size_w_buf(FIL *fp)
+{
+    if (fp->flag & FA_READ) {
+        return fsize(*fp);
+    } else {
+        return fsize(*fp) + file_buffer_index;
+    }
+}
+
+void file_buffer_on(FIL *fp)
+{
+    file_buffer_offset = ftell(*fp) % 4;
+    file_buffer_pointer = fb_alloc_all(&file_buffer_size, FB_ALLOC_PREFER_SIZE) + file_buffer_offset;
+    if (!file_buffer_size) {
+        // mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("No memory!"));
+    }
+    file_buffer_size -= file_buffer_offset;
+    file_buffer_index = 0;
+    if (fp->flag & FA_READ) {
+        uint32_t file_remaining = fsize(*fp) - ftell(*fp);
+        uint32_t can_do = FF_MIN(file_buffer_size, file_remaining);
+        uint8_t bytes;
+        uint32_t res = fread(*fp, file_buffer_pointer, can_do, &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        // if (bytes != can_do) ff_read_fail(fp);
+    }
+}
+
+void file_buffer_off(FIL *fp)
+{
+    if ((fp->flag & FA_WRITE) && file_buffer_index) {
+        uint8_t bytes;
+        uint32_t res = fwrite(*fp, file_buffer_pointer, file_buffer_index, &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        // if (bytes != file_buffer_index) ff_write_fail(fp);
+    }
+    file_buffer_pointer = 0;
+    fb_free(NULL);
+}
+
+void read_byte(FIL *fp, uint8_t *value)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // via massive reads. So much so that the time wasted by
+        // all these operations does not cost us.
+        for (size_t i = 0; i < sizeof(*value); i++) {
+            file_fill(fp);
+            ((uint8_t *) value)[i] = file_buffer_pointer[file_buffer_index++];
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fread(*fp, value, sizeof(*value), &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        // if (bytes != sizeof(*value)) ff_read_fail(fp);
+    }
+}
+
+void read_byte_expect(FIL *fp, uint8_t value)
+{
+    uint8_t compare;
+    read_byte(fp, &compare);
+    if (value != compare) ff_expect_fail(fp);
+}
+
+void read_byte_ignore(FIL *fp)
+{
+    uint8_t trash;
+    read_byte(fp, &trash);
+}
+
+void read_word(FIL *fp, uint16_t *value)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // via massive reads. So much so that the time wasted by
+        // all these operations does not cost us.
+        for (size_t i = 0; i < sizeof(*value); i++) {
+            file_fill(fp);
+            ((uint8_t *) value)[i] = file_buffer_pointer[file_buffer_index++];
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fread(*fp, value, sizeof(*value), &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        // if (bytes != sizeof(*value)) ff_read_fail(fp);
+    }
+}
+
+void read_word_expect(FIL *fp, uint16_t value)
+{
+    uint16_t compare;
+    read_word(fp, &compare);
+    if (value != compare) ff_expect_fail(fp);
+}
+
+void read_word_ignore(FIL *fp)
+{
+    uint16_t trash;
+    read_word(fp, &trash);
+}
+
+void read_long(FIL *fp, uint32_t *value)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // via massive reads. So much so that the time wasted by
+        // all these operations does not cost us.
+        for (size_t i = 0; i < sizeof(*value); i++) {
+            file_fill(fp);
+            ((uint8_t *) value)[i] = file_buffer_pointer[file_buffer_index++];
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fread(*fp, value, sizeof(*value), &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        // if (bytes != sizeof(*value)) ff_read_fail(fp);
+    }
+}
+
+void read_long_expect(FIL *fp, uint32_t value)
+{
+    uint32_t compare;
+    read_long(fp, &compare);
+    if (value != compare) ff_expect_fail(fp);
+}
+
+void read_long_ignore(FIL *fp)
+{
+    uint32_t trash;
+    read_long(fp, &trash);
+}
+
+void read_data(FIL *fp, void *data, size_t size)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // via massive reads. So much so that the time wasted by
+        // all these operations does not cost us.
+        while (size) {
+            file_fill(fp);
+            uint32_t file_buffer_space_left = file_buffer_size - file_buffer_index;
+            uint32_t can_do = FF_MIN(size, file_buffer_space_left);
+            memcpy(data, file_buffer_pointer+file_buffer_index, can_do);
+            file_buffer_index += can_do;
+            data += can_do;
+            size -= can_do;
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fread(*fp, data, size, &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        if (bytes != size) ff_read_fail(fp);
+    }
+}
+
+void write_byte(FIL *fp, uint8_t value)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // before a write to the SD card. So much so that the time wasted by
+        // all these operations does not cost us.
+        for (size_t i = 0; i < sizeof(value); i++) {
+            file_buffer_pointer[file_buffer_index++] = ((uint8_t *) &value)[i];
+            file_flush(fp);
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fwrite(*fp, &value, sizeof(value), &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        if (bytes != sizeof(value)) ff_write_fail(fp);
+    }
+}
+
+void write_word(FIL *fp, uint16_t value)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // before a write to the SD card. So much so that the time wasted by
+        // all these operations does not cost us.
+        for (size_t i = 0; i < sizeof(value); i++) {
+            file_buffer_pointer[file_buffer_index++] = ((uint8_t *) &value)[i];
+            file_flush(fp);
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fwrite(*fp, &value, sizeof(value), &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        if (bytes != sizeof(value)) ff_write_fail(fp);
+    }
+}
+
+void write_long(FIL *fp, uint32_t value)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // before a write to the SD card. So much so that the time wasted by
+        // all these operations does not cost us.
+        for (size_t i = 0; i < sizeof(value); i++) {
+            file_buffer_pointer[file_buffer_index++] = ((uint8_t *) &value)[i];
+            file_flush(fp);
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fwrite(*fp, &value, sizeof(value), &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        if (bytes != sizeof(value)) ff_write_fail(fp);
+    }
+}
+
+void write_data(FIL *fp, const void *data, size_t size)
+{
+    if (file_buffer_pointer) {
+        // We get a massive speed boost by buffering up as much data as possible
+        // before a write to the SD card. So much so that the time wasted by
+        // all these operations does not cost us.
+        while (size) {
+            uint32_t file_buffer_space_left = file_buffer_size - file_buffer_index;
+            uint32_t can_do = FF_MIN(size, file_buffer_space_left);
+            memcpy(file_buffer_pointer+file_buffer_index, data, can_do);
+            file_buffer_index += can_do;
+            data += can_do;
+            size -= can_do;
+            file_flush(fp);
+        }
+    } else {
+        uint8_t bytes;
+        uint32_t res = fwrite(*fp, data, size, &bytes);
+        // if (res != FR_OK) ff_fail(fp, res);
+        if (bytes != size) ff_write_fail(fp);
+    }
+}
+
+
+#else
+#include "imlib_io.h"
+
+int ff_unsupported_format(FIL *fp)
+{
+    if (*fp) fclose(*fp);
+    *fp = NULL;
+    ERR_PRINT("ff_unsupported_format");
+    return 0;
+}
+
+int ff_file_corrupted(FIL *fp)
+{
+    if (*fp) fclose(*fp);
+    *fp = NULL;
+    ERR_PRINT("ff_file_corrupted!\n");
+    return 0;
+}
+int ff_not_equal(FIL *fp)
+{
+    if (*fp) fclose(*fp);
+    *fp = NULL;
+    ERR_PRINT("ff_not_equal!\n");
+    return 0;
+}
+
+int ff_no_intersection(FIL *fp)
+{
+    if (*fp) fclose(*fp);
+    *fp = NULL;
+    ERR_PRINT("ff_no_intersection!\n");
+    return 0;
+}
+int file_read_open(FIL *fp, const char *path)
+{
+    *fp = fopen(path, "rb");
+    if(NULL == *fp)
+    {
+        LOG_PRINT("%s,not exit!", path);
+    }
+    return 0;
+}
+int file_write_open(FIL *fp, const char *path)
+{
+    *fp = fopen(path, "wb");
+    return 0;
+}
+
+int file_close(FIL *fp)
+{
+    fclose(*fp);
+    return 0;
+}
+int file_seek(FIL *fp, size_t offset)
+{
+    fseek(*fp, offset, SEEK_SET);
+    return 0;
+}
+int file_truncate(FIL *fp)
+{
+    return -1;
+}
+int file_sync(FIL *fp)
+{
+    int fd = fileno(*fp); 
+    fsync(fd);
+    return 0;
+}
+
+long file_fsize(FIL *fp)
+{
+    long n;
+    fpos_t fpos;        //当前位置
+    fgetpos(*fp, &fpos); //获取当前位置
+    fseek(*fp, 0, SEEK_END);
+    n = ftell(*fp);
+    fsetpos(*fp, &fpos); //恢复之前的位置
+    return n;
+}
+
+static uint32_t file_buffer_offset = 0;
+static uint8_t *file_buffer_pointer = 0;
+static uint32_t file_buffer_size = 0;
+static uint32_t file_buffer_index = 0;
+
+int file_buffer_init0()
+{
+    file_buffer_offset = 0;
+    file_buffer_pointer = 0;
+    file_buffer_size = 0;
+    file_buffer_index = 0;
+    return 0;
+}
+
+
+
+
+
+
+int file_buffer_on(FIL *fp) // does fb_alloc_all
+{
+    file_buffer_offset = ftell(*fp) % 4;
+    file_buffer_pointer = fb_alloc_all(&file_buffer_size, FB_ALLOC_PREFER_SIZE) + file_buffer_offset;
+    if (!file_buffer_size) {
+        // mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("No memory!"));
+        ERR_PRINT("MemoryError: No memory!");
+        // printf("%s:%d,No memory!\n", __FUNCTION__, __LINE__);
+    }
+    file_buffer_size -= file_buffer_offset;
+    file_buffer_index = 0;
+    // if (fp->flag & FA_READ) {
+    //     uint32_t file_remaining = fsize(*fp) - ftell(*fp);
+    //     uint32_t can_do = FF_MIN(file_buffer_size, file_remaining);
+    //     uint8_t bytes;
+    //     uint32_t res = fread(*fp, file_buffer_pointer, can_do, &bytes);
+    //     // if (res != FR_OK) ff_fail(fp, res);
+    //     // if (bytes != can_do) ff_read_fail(fp);
+    // }
+    return 0;
+}
+uint32_t file_tell_w_buf(FIL *fp) // valid between on and off
+{
+    return -1;
+}
+uint32_t file_size_w_buf(FIL *fp) // valid between on and off
+{
+    return -1;
+}
+int file_buffer_off(FIL *fp) // does fb_free
+{
+    return -1;
+}
+int read_byte(FIL *fp, uint8_t *value)
+{
+    int num;
+    num = fread(value, 1, 1, *fp);
+    if(num != 1)
+    {
+        ERR_PRINT("file error!\n");
+    }
+    return num;
+}
+int read_byte_expect(FIL *fp, uint8_t value)
+{
+    int num;
+    uint8_t str_s;
+    num = fread(&str_s, 1, 1, *fp);
+    if(str_s != value)
+    {
+        ERR_PRINT("file error!\n");
+        return -1;
+    }
+    return num;
+}
+int read_byte_ignore(FIL *fp)
+{
+    int num;
+    uint32_t str_s;
+    num = fread(&str_s, 1, 1, *fp);
+    if(num != 1)
+    {
+        ERR_PRINT("file error!\n");
+    }
+    return num;
+}
+int read_word(FIL *fp, uint16_t *value)
+{
+    int num;
+    num = fread(value, 2, 1, *fp);
+    if(num != 1)
+    {
+        ERR_PRINT("file error!\n");
+    }
+    return num;
+}
+int read_word_expect(FIL *fp, uint16_t value)
+{
+    int num;
+    uint16_t str_s;
+    num = fread(&str_s, 2, 1, *fp);
+    if(str_s != value)
+    {
+        ERR_PRINT("file error!\n");
+        return -1;
+    }
+    return num;
+}
+int read_word_ignore(FIL *fp)
+{
+    int num;
+    uint16_t str_s;
+    num = fread(&str_s, 2, 1, *fp);
+    if(num != 1)
+    {
+        ERR_PRINT("file error!\n");
+        return -1;
+    }
+    return num;
+}
+int read_long(FIL *fp, uint32_t *value)
+{
+    int num;
+    num = fread(value, 4, 1, *fp);
+    if(num != 1)
+    {
+        ERR_PRINT("file error!\n");
+        return -1;
+    }
+    return num;
+}
+int read_long_expect(FIL *fp, uint32_t value)
+{
+    int num;
+    uint32_t str_s;
+    num = fread(&str_s, 4, 1, *fp);
+    if(str_s != value)
+    {
+        ERR_PRINT("file error!\n");
+        return -1;
+    }
+    return num;
+}
+int read_long_ignore(FIL *fp)
+{
+    uint32_t str_s;
+    return fread(&str_s, 4, 1, *fp);
+}
+int read_data(FIL *fp, void *data, size_t size)
+{
+    return fread(data, 1, size, *fp);
+
+}
+
+
+int write_byte(FIL *fp, uint8_t value)
+{
+    return fwrite(&value, 1, 1, *fp);
+}
+int write_word(FIL *fp, uint16_t value)
+{
+    return fwrite(&value, 2, 1, *fp);
+}
+int write_long(FIL *fp, uint32_t value)
+{
+    return  fwrite(&value, 4, 1, *fp);
+}
+int write_data(FIL *fp, const void *data, size_t size)
+{
+    return fwrite(data, 1, size, *fp);
+}
+
+
+
+#endif
+
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
\ No newline at end of file
diff --git a/github_source/minicv2/src/fft.c b/github_source/minicv2/src/fft.c
new file mode 100644
index 0000000..4eeda75
--- /dev/null
+++ b/github_source/minicv2/src/fft.c
@@ -0,0 +1,775 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * FFT LIB - can do 1024 point real FFTs and 512 point complex FFTs
+ *
+ */
+// #include "py/runtime.h"
+// #include "py/obj.h"
+// #include <arm_math.h>
+#include "fb_alloc.h"
+#include "ff_wrapper.h"
+#include "common.h"
+#include "fft.h"
+// http://processors.wiki.ti.com/index.php/Efficient_FFT_Computation_of_Real_Input
+
+const static float fft_cos_table[512] = {
+     1.000000f,  0.999981f,  0.999925f,  0.999831f,  0.999699f,  0.999529f,  0.999322f,  0.999078f,
+     0.998795f,  0.998476f,  0.998118f,  0.997723f,  0.997290f,  0.996820f,  0.996313f,  0.995767f,
+     0.995185f,  0.994565f,  0.993907f,  0.993212f,  0.992480f,  0.991710f,  0.990903f,  0.990058f,
+     0.989177f,  0.988258f,  0.987301f,  0.986308f,  0.985278f,  0.984210f,  0.983105f,  0.981964f,
+     0.980785f,  0.979570f,  0.978317f,  0.977028f,  0.975702f,  0.974339f,  0.972940f,  0.971504f,
+     0.970031f,  0.968522f,  0.966976f,  0.965394f,  0.963776f,  0.962121f,  0.960431f,  0.958703f,
+     0.956940f,  0.955141f,  0.953306f,  0.951435f,  0.949528f,  0.947586f,  0.945607f,  0.943593f,
+     0.941544f,  0.939459f,  0.937339f,  0.935184f,  0.932993f,  0.930767f,  0.928506f,  0.926210f,
+     0.923880f,  0.921514f,  0.919114f,  0.916679f,  0.914210f,  0.911706f,  0.909168f,  0.906596f,
+     0.903989f,  0.901349f,  0.898674f,  0.895966f,  0.893224f,  0.890449f,  0.887640f,  0.884797f,
+     0.881921f,  0.879012f,  0.876070f,  0.873095f,  0.870087f,  0.867046f,  0.863973f,  0.860867f,
+     0.857729f,  0.854558f,  0.851355f,  0.848120f,  0.844854f,  0.841555f,  0.838225f,  0.834863f,
+     0.831470f,  0.828045f,  0.824589f,  0.821103f,  0.817585f,  0.814036f,  0.810457f,  0.806848f,
+     0.803208f,  0.799537f,  0.795837f,  0.792107f,  0.788346f,  0.784557f,  0.780737f,  0.776888f,
+     0.773010f,  0.769103f,  0.765167f,  0.761202f,  0.757209f,  0.753187f,  0.749136f,  0.745058f,
+     0.740951f,  0.736817f,  0.732654f,  0.728464f,  0.724247f,  0.720003f,  0.715731f,  0.711432f,
+     0.707107f,  0.702755f,  0.698376f,  0.693971f,  0.689541f,  0.685084f,  0.680601f,  0.676093f,
+     0.671559f,  0.667000f,  0.662416f,  0.657807f,  0.653173f,  0.648514f,  0.643832f,  0.639124f,
+     0.634393f,  0.629638f,  0.624859f,  0.620057f,  0.615232f,  0.610383f,  0.605511f,  0.600616f,
+     0.595699f,  0.590760f,  0.585798f,  0.580814f,  0.575808f,  0.570781f,  0.565732f,  0.560662f,
+     0.555570f,  0.550458f,  0.545325f,  0.540171f,  0.534998f,  0.529804f,  0.524590f,  0.519356f,
+     0.514103f,  0.508830f,  0.503538f,  0.498228f,  0.492898f,  0.487550f,  0.482184f,  0.476799f,
+     0.471397f,  0.465976f,  0.460539f,  0.455084f,  0.449611f,  0.444122f,  0.438616f,  0.433094f,
+     0.427555f,  0.422000f,  0.416430f,  0.410843f,  0.405241f,  0.399624f,  0.393992f,  0.388345f,
+     0.382683f,  0.377007f,  0.371317f,  0.365613f,  0.359895f,  0.354164f,  0.348419f,  0.342661f,
+     0.336890f,  0.331106f,  0.325310f,  0.319502f,  0.313682f,  0.307850f,  0.302006f,  0.296151f,
+     0.290285f,  0.284408f,  0.278520f,  0.272621f,  0.266713f,  0.260794f,  0.254866f,  0.248928f,
+     0.242980f,  0.237024f,  0.231058f,  0.225084f,  0.219101f,  0.213110f,  0.207111f,  0.201105f,
+     0.195090f,  0.189069f,  0.183040f,  0.177004f,  0.170962f,  0.164913f,  0.158858f,  0.152797f,
+     0.146730f,  0.140658f,  0.134581f,  0.128498f,  0.122411f,  0.116319f,  0.110222f,  0.104122f,
+     0.098017f,  0.091909f,  0.085797f,  0.079682f,  0.073565f,  0.067444f,  0.061321f,  0.055195f,
+     0.049068f,  0.042938f,  0.036807f,  0.030675f,  0.024541f,  0.018407f,  0.012272f,  0.006136f,
+     0.000000f, -0.006136f, -0.012272f, -0.018407f, -0.024541f, -0.030675f, -0.036807f, -0.042938f,
+    -0.049068f, -0.055195f, -0.061321f, -0.067444f, -0.073565f, -0.079682f, -0.085797f, -0.091909f,
+    -0.098017f, -0.104122f, -0.110222f, -0.116319f, -0.122411f, -0.128498f, -0.134581f, -0.140658f,
+    -0.146730f, -0.152797f, -0.158858f, -0.164913f, -0.170962f, -0.177004f, -0.183040f, -0.189069f,
+    -0.195090f, -0.201105f, -0.207111f, -0.213110f, -0.219101f, -0.225084f, -0.231058f, -0.237024f,
+    -0.242980f, -0.248928f, -0.254866f, -0.260794f, -0.266713f, -0.272621f, -0.278520f, -0.284408f,
+    -0.290285f, -0.296151f, -0.302006f, -0.307850f, -0.313682f, -0.319502f, -0.325310f, -0.331106f,
+    -0.336890f, -0.342661f, -0.348419f, -0.354164f, -0.359895f, -0.365613f, -0.371317f, -0.377007f,
+    -0.382683f, -0.388345f, -0.393992f, -0.399624f, -0.405241f, -0.410843f, -0.416430f, -0.422000f,
+    -0.427555f, -0.433094f, -0.438616f, -0.444122f, -0.449611f, -0.455084f, -0.460539f, -0.465976f,
+    -0.471397f, -0.476799f, -0.482184f, -0.487550f, -0.492898f, -0.498228f, -0.503538f, -0.508830f,
+    -0.514103f, -0.519356f, -0.524590f, -0.529804f, -0.534998f, -0.540171f, -0.545325f, -0.550458f,
+    -0.555570f, -0.560662f, -0.565732f, -0.570781f, -0.575808f, -0.580814f, -0.585798f, -0.590760f,
+    -0.595699f, -0.600616f, -0.605511f, -0.610383f, -0.615232f, -0.620057f, -0.624859f, -0.629638f,
+    -0.634393f, -0.639124f, -0.643832f, -0.648514f, -0.653173f, -0.657807f, -0.662416f, -0.667000f,
+    -0.671559f, -0.676093f, -0.680601f, -0.685084f, -0.689541f, -0.693971f, -0.698376f, -0.702755f,
+    -0.707107f, -0.711432f, -0.715731f, -0.720003f, -0.724247f, -0.728464f, -0.732654f, -0.736817f,
+    -0.740951f, -0.745058f, -0.749136f, -0.753187f, -0.757209f, -0.761202f, -0.765167f, -0.769103f,
+    -0.773010f, -0.776888f, -0.780737f, -0.784557f, -0.788346f, -0.792107f, -0.795837f, -0.799537f,
+    -0.803208f, -0.806848f, -0.810457f, -0.814036f, -0.817585f, -0.821103f, -0.824589f, -0.828045f,
+    -0.831470f, -0.834863f, -0.838225f, -0.841555f, -0.844854f, -0.848120f, -0.851355f, -0.854558f,
+    -0.857729f, -0.860867f, -0.863973f, -0.867046f, -0.870087f, -0.873095f, -0.876070f, -0.879012f,
+    -0.881921f, -0.884797f, -0.887640f, -0.890449f, -0.893224f, -0.895966f, -0.898674f, -0.901349f,
+    -0.903989f, -0.906596f, -0.909168f, -0.911706f, -0.914210f, -0.916679f, -0.919114f, -0.921514f,
+    -0.923880f, -0.926210f, -0.928506f, -0.930767f, -0.932993f, -0.935184f, -0.937339f, -0.939459f,
+    -0.941544f, -0.943593f, -0.945607f, -0.947586f, -0.949528f, -0.951435f, -0.953306f, -0.955141f,
+    -0.956940f, -0.958703f, -0.960431f, -0.962121f, -0.963776f, -0.965394f, -0.966976f, -0.968522f,
+    -0.970031f, -0.971504f, -0.972940f, -0.974339f, -0.975702f, -0.977028f, -0.978317f, -0.979570f,
+    -0.980785f, -0.981964f, -0.983105f, -0.984210f, -0.985278f, -0.986308f, -0.987301f, -0.988258f,
+    -0.989177f, -0.990058f, -0.990903f, -0.991710f, -0.992480f, -0.993212f, -0.993907f, -0.994565f,
+    -0.995185f, -0.995767f, -0.996313f, -0.996820f, -0.997290f, -0.997723f, -0.998118f, -0.998476f,
+    -0.998795f, -0.999078f, -0.999322f, -0.999529f, -0.999699f, -0.999831f, -0.999925f, -0.999981f
+};
+
+OMV_ATTR_ALWAYS_INLINE static float get_cos(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return fft_cos_table[k << (9 - N_pow2)];
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_ai(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (-get_cos(k, N_pow2));
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_bi(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (+get_cos(k, N_pow2));
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_a_star_i(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (+get_cos(k, N_pow2));
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_b_star_i(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (-get_cos(k, N_pow2));
+}
+
+//// For samples 0 to (n/2)-1 --- Note: clog2(n/2) = N_pow2
+//OMV_ATTR_ALWAYS_INLINE static float get_hann_l_side(int k, int N_pow2)
+//{
+//    return 0.5 * (1 - get_cos(k, N_pow2));
+//}
+
+//// For samples (n/2) to n-1 --- Note: clog2(n/2) = N_pow2
+//OMV_ATTR_ALWAYS_INLINE static float get_hann_r_side(int k, int N_pow2)
+//{
+//    return 0.5 * (1 - get_cos((2 << N_pow2) - k - 1, N_pow2));
+//}
+
+const static float fft_sin_table[512] = {
+     0.000000f,  0.006136f,  0.012272f,  0.018407f,  0.024541f,  0.030675f,  0.036807f,  0.042938f,
+     0.049068f,  0.055195f,  0.061321f,  0.067444f,  0.073565f,  0.079682f,  0.085797f,  0.091909f,
+     0.098017f,  0.104122f,  0.110222f,  0.116319f,  0.122411f,  0.128498f,  0.134581f,  0.140658f,
+     0.146730f,  0.152797f,  0.158858f,  0.164913f,  0.170962f,  0.177004f,  0.183040f,  0.189069f,
+     0.195090f,  0.201105f,  0.207111f,  0.213110f,  0.219101f,  0.225084f,  0.231058f,  0.237024f,
+     0.242980f,  0.248928f,  0.254866f,  0.260794f,  0.266713f,  0.272621f,  0.278520f,  0.284408f,
+     0.290285f,  0.296151f,  0.302006f,  0.307850f,  0.313682f,  0.319502f,  0.325310f,  0.331106f,
+     0.336890f,  0.342661f,  0.348419f,  0.354164f,  0.359895f,  0.365613f,  0.371317f,  0.377007f,
+     0.382683f,  0.388345f,  0.393992f,  0.399624f,  0.405241f,  0.410843f,  0.416430f,  0.422000f,
+     0.427555f,  0.433094f,  0.438616f,  0.444122f,  0.449611f,  0.455084f,  0.460539f,  0.465976f,
+     0.471397f,  0.476799f,  0.482184f,  0.487550f,  0.492898f,  0.498228f,  0.503538f,  0.508830f,
+     0.514103f,  0.519356f,  0.524590f,  0.529804f,  0.534998f,  0.540171f,  0.545325f,  0.550458f,
+     0.555570f,  0.560662f,  0.565732f,  0.570781f,  0.575808f,  0.580814f,  0.585798f,  0.590760f,
+     0.595699f,  0.600616f,  0.605511f,  0.610383f,  0.615232f,  0.620057f,  0.624859f,  0.629638f,
+     0.634393f,  0.639124f,  0.643832f,  0.648514f,  0.653173f,  0.657807f,  0.662416f,  0.667000f,
+     0.671559f,  0.676093f,  0.680601f,  0.685084f,  0.689541f,  0.693971f,  0.698376f,  0.702755f,
+     0.707107f,  0.711432f,  0.715731f,  0.720003f,  0.724247f,  0.728464f,  0.732654f,  0.736817f,
+     0.740951f,  0.745058f,  0.749136f,  0.753187f,  0.757209f,  0.761202f,  0.765167f,  0.769103f,
+     0.773010f,  0.776888f,  0.780737f,  0.784557f,  0.788346f,  0.792107f,  0.795837f,  0.799537f,
+     0.803208f,  0.806848f,  0.810457f,  0.814036f,  0.817585f,  0.821103f,  0.824589f,  0.828045f,
+     0.831470f,  0.834863f,  0.838225f,  0.841555f,  0.844854f,  0.848120f,  0.851355f,  0.854558f,
+     0.857729f,  0.860867f,  0.863973f,  0.867046f,  0.870087f,  0.873095f,  0.876070f,  0.879012f,
+     0.881921f,  0.884797f,  0.887640f,  0.890449f,  0.893224f,  0.895966f,  0.898674f,  0.901349f,
+     0.903989f,  0.906596f,  0.909168f,  0.911706f,  0.914210f,  0.916679f,  0.919114f,  0.921514f,
+     0.923880f,  0.926210f,  0.928506f,  0.930767f,  0.932993f,  0.935184f,  0.937339f,  0.939459f,
+     0.941544f,  0.943593f,  0.945607f,  0.947586f,  0.949528f,  0.951435f,  0.953306f,  0.955141f,
+     0.956940f,  0.958703f,  0.960431f,  0.962121f,  0.963776f,  0.965394f,  0.966976f,  0.968522f,
+     0.970031f,  0.971504f,  0.972940f,  0.974339f,  0.975702f,  0.977028f,  0.978317f,  0.979570f,
+     0.980785f,  0.981964f,  0.983105f,  0.984210f,  0.985278f,  0.986308f,  0.987301f,  0.988258f,
+     0.989177f,  0.990058f,  0.990903f,  0.991710f,  0.992480f,  0.993212f,  0.993907f,  0.994565f,
+     0.995185f,  0.995767f,  0.996313f,  0.996820f,  0.997290f,  0.997723f,  0.998118f,  0.998476f,
+     0.998795f,  0.999078f,  0.999322f,  0.999529f,  0.999699f,  0.999831f,  0.999925f,  0.999981f,
+     1.000000f,  0.999981f,  0.999925f,  0.999831f,  0.999699f,  0.999529f,  0.999322f,  0.999078f,
+     0.998795f,  0.998476f,  0.998118f,  0.997723f,  0.997290f,  0.996820f,  0.996313f,  0.995767f,
+     0.995185f,  0.994565f,  0.993907f,  0.993212f,  0.992480f,  0.991710f,  0.990903f,  0.990058f,
+     0.989177f,  0.988258f,  0.987301f,  0.986308f,  0.985278f,  0.984210f,  0.983105f,  0.981964f,
+     0.980785f,  0.979570f,  0.978317f,  0.977028f,  0.975702f,  0.974339f,  0.972940f,  0.971504f,
+     0.970031f,  0.968522f,  0.966976f,  0.965394f,  0.963776f,  0.962121f,  0.960431f,  0.958703f,
+     0.956940f,  0.955141f,  0.953306f,  0.951435f,  0.949528f,  0.947586f,  0.945607f,  0.943593f,
+     0.941544f,  0.939459f,  0.937339f,  0.935184f,  0.932993f,  0.930767f,  0.928506f,  0.926210f,
+     0.923880f,  0.921514f,  0.919114f,  0.916679f,  0.914210f,  0.911706f,  0.909168f,  0.906596f,
+     0.903989f,  0.901349f,  0.898674f,  0.895966f,  0.893224f,  0.890449f,  0.887640f,  0.884797f,
+     0.881921f,  0.879012f,  0.876070f,  0.873095f,  0.870087f,  0.867046f,  0.863973f,  0.860867f,
+     0.857729f,  0.854558f,  0.851355f,  0.848120f,  0.844854f,  0.841555f,  0.838225f,  0.834863f,
+     0.831470f,  0.828045f,  0.824589f,  0.821103f,  0.817585f,  0.814036f,  0.810457f,  0.806848f,
+     0.803208f,  0.799537f,  0.795837f,  0.792107f,  0.788346f,  0.784557f,  0.780737f,  0.776888f,
+     0.773010f,  0.769103f,  0.765167f,  0.761202f,  0.757209f,  0.753187f,  0.749136f,  0.745058f,
+     0.740951f,  0.736817f,  0.732654f,  0.728464f,  0.724247f,  0.720003f,  0.715731f,  0.711432f,
+     0.707107f,  0.702755f,  0.698376f,  0.693971f,  0.689541f,  0.685084f,  0.680601f,  0.676093f,
+     0.671559f,  0.667000f,  0.662416f,  0.657807f,  0.653173f,  0.648514f,  0.643832f,  0.639124f,
+     0.634393f,  0.629638f,  0.624859f,  0.620057f,  0.615232f,  0.610383f,  0.605511f,  0.600616f,
+     0.595699f,  0.590760f,  0.585798f,  0.580814f,  0.575808f,  0.570781f,  0.565732f,  0.560662f,
+     0.555570f,  0.550458f,  0.545325f,  0.540171f,  0.534998f,  0.529804f,  0.524590f,  0.519356f,
+     0.514103f,  0.508830f,  0.503538f,  0.498228f,  0.492898f,  0.487550f,  0.482184f,  0.476799f,
+     0.471397f,  0.465976f,  0.460539f,  0.455084f,  0.449611f,  0.444122f,  0.438616f,  0.433094f,
+     0.427555f,  0.422000f,  0.416430f,  0.410843f,  0.405241f,  0.399624f,  0.393992f,  0.388345f,
+     0.382683f,  0.377007f,  0.371317f,  0.365613f,  0.359895f,  0.354164f,  0.348419f,  0.342661f,
+     0.336890f,  0.331106f,  0.325310f,  0.319502f,  0.313682f,  0.307850f,  0.302006f,  0.296151f,
+     0.290285f,  0.284408f,  0.278520f,  0.272621f,  0.266713f,  0.260794f,  0.254866f,  0.248928f,
+     0.242980f,  0.237024f,  0.231058f,  0.225084f,  0.219101f,  0.213110f,  0.207111f,  0.201105f,
+     0.195090f,  0.189069f,  0.183040f,  0.177004f,  0.170962f,  0.164913f,  0.158858f,  0.152797f,
+     0.146730f,  0.140658f,  0.134581f,  0.128498f,  0.122411f,  0.116319f,  0.110222f,  0.104122f,
+     0.098017f,  0.091909f,  0.085797f,  0.079682f,  0.073565f,  0.067444f,  0.061321f,  0.055195f,
+     0.049068f,  0.042938f,  0.036807f,  0.030675f,  0.024541f,  0.018407f,  0.012272f,  0.006136f
+};
+
+OMV_ATTR_ALWAYS_INLINE static float get_sin(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return fft_sin_table[k << (9 - N_pow2)];
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_ar(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (1 - get_sin(k, N_pow2));
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_br(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (1 + get_sin(k, N_pow2));
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_a_star_r(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (1 - get_sin(k, N_pow2));
+}
+
+OMV_ATTR_ALWAYS_INLINE static float get_b_star_r(int k, int N_pow2) // N=512 -> N=pow2=9
+{
+    return 0.5 * (1 + get_sin(k, N_pow2));
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+// You give the FFT N real and imaginary pairs where each pair is an even/odd
+// real value from 2N data. The FFT will then output N real and imaginary pairs
+// and you can use the below function to unpack that into 2N real and imaginary
+// pairs the FFT would normally output with 2N data.
+
+// Unpack 2N data from N point fft
+// in = N real and complex floats
+// out = 2N real and complex floats
+static void unpack_fft(float *in, float *out, int N_pow2)
+{
+    for (int k = 0, l = 2 << N_pow2, m = l << 1; k < l; k += 2) {
+        int k_r = k+0;
+        int k_i = k+1;
+        int N_k_r = ((!k)?0:(l-k))+0;
+        int N_k_i = ((!k)?0:(l-k))+1;
+        int N2_K_r = ((!k)?0:(m-k))+0;
+        int N2_K_i = ((!k)?0:(m-k))+1;
+        int k_2 = k >> 1;
+        // real
+        out[k_r] = (in[k_r] * get_ar(k_2, N_pow2)) -
+                   (in[k_i] * get_ai(k_2, N_pow2)) +
+                   (in[N_k_r] * get_br(k_2, N_pow2)) +
+                   (in[N_k_i] * get_bi(k_2, N_pow2));
+        // imaginary
+        out[k_i] = (in[k_i] * get_ar(k_2, N_pow2)) +
+                   (in[k_r] * get_ai(k_2, N_pow2)) +
+                   (in[N_k_r] * get_bi(k_2, N_pow2)) -
+                   (in[N_k_i] * get_br(k_2, N_pow2));
+        if (k > 0) {
+            // real conj
+            out[N2_K_r] = out[k_r];
+            // imaginary conj
+            out[N2_K_i] = -out[k_i];
+        }
+    }
+    out[(2 << N_pow2)+0] = in[0+0] - in[0+1];
+    out[(2 << N_pow2)+1] = 0;
+}
+
+// The IFFT takes N real and imaginary pairs to generate N real and imaginary
+// outputs with the imaginary part set to zero. To be more efficent this function
+// packs 2N data into an N IFFT so that the N real and imaginary outputs have
+// even/odd real values.
+
+// Pack 2N data to N point fft
+// in = 2N real and complex floats
+// out = N real and complex floats
+static void pack_fft(float *in, float *out, int N_pow2)
+{
+    for (int k = 0, l = 2 << N_pow2; k < l; k += 2) {
+        int k_r = k+0;
+        int k_i = k+1;
+        int N_k_r = (l-k)+0;
+        int N_k_i = (l-k)+1;
+        int k_2 = k >> 1;
+        // real
+        out[k_r] = (in[k_r] * get_a_star_r(k_2, N_pow2)) -
+                   (in[k_i] * get_a_star_i(k_2, N_pow2)) +
+                   (in[N_k_r] * get_b_star_r(k_2, N_pow2)) +
+                   (in[N_k_i] * get_b_star_i(k_2, N_pow2));
+        // imaginary
+        out[k_i] = (in[k_i] * get_a_star_r(k_2, N_pow2)) +
+                   (in[k_r] * get_a_star_i(k_2, N_pow2)) +
+                   (in[N_k_r] * get_b_star_i(k_2, N_pow2)) -
+                   (in[N_k_i] * get_b_star_r(k_2, N_pow2));
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+OMV_ATTR_ALWAYS_INLINE static int int_flog2(int x) // floor log 2
+{
+    return 31 - __CLZ(x);
+}
+
+OMV_ATTR_ALWAYS_INLINE static int int_clog2(int x) // ceiling log 2
+{
+    int y = int_flog2(x);
+    return (x - (1 << y)) ? (y + 1) : y;
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+// Input even numbered index
+// Output even numbered index
+OMV_ATTR_ALWAYS_INLINE static int bit_reverse(int index, int N_pow2)
+{
+    return __RBIT(index) >> (30 - N_pow2);
+}
+
+OMV_ATTR_ALWAYS_INLINE static void swap(float *a, float *b)
+{
+    float tmp = *b;
+    *b = *a;
+    *a = tmp;
+}
+
+//OMV_ATTR_ALWAYS_INLINE static float get_hann(int k, int N_pow2)
+//{
+//    if (k < (1 << N_pow2)) {
+//        return get_hann_l_side(k, N_pow2);
+//    } else {
+//        return get_hann_r_side(k, N_pow2);
+//    }
+//}
+
+// Copies 2N real pairs (or pad with zero) from in to out while bit reversing
+// their indexes.
+
+static void prepare_real_input(uint8_t *in, int in_len, float *out, int N_pow2)
+{
+    for (int k = 0, l = 2 << N_pow2; k < l; k += 2) {
+        int m = bit_reverse(k, N_pow2);
+        out[m+0] = ((k+0) < in_len) ? in[k+0] : 0;
+        out[m+1] = ((k+1) < in_len) ? in[k+1] : 0;
+//        // Apply Hann Window (this is working on real numbers)
+//        out[m+0] *= get_hann(k+0, N_pow2);
+//        out[m+1] *= get_hann(k+1, N_pow2);
+    }
+}
+
+static void prepare_real_input_again(float *in, int in_len, float *out, int N_pow2)
+{
+    for (int k = 0, l = 2 << N_pow2; k < l; k += 2) {
+        int m = bit_reverse(k, N_pow2);
+        out[m+0] = ((k+0) < in_len) ? in[(k*2)+0] : 0;
+        out[m+1] = ((k+1) < in_len) ? in[(k*2)+2] : 0;
+//        // Apply Hann Window (this is working on real numbers)
+//        out[m+0] *= get_hann(k+0, N_pow2);
+//        out[m+1] *= get_hann(k+1, N_pow2);
+    }
+}
+
+//// This works on complex numbers...
+//static void apply_hann_window(float *inout, int N_pow2, int stride)
+//{
+//    for (int k = 0, l = 2 << N_pow2; k < l; k += 2) {
+//        inout[(k*stride)+0] *= get_hann(k>>1, N_pow2-1);
+//        inout[(k*stride)+1] *= get_hann(k>>1, N_pow2-1);
+//    }
+//}
+
+// Copies N complex pairs from in to out while bit reversing their indexes. The
+// in and out arrays may be the same.
+
+static void prepare_complex_input(float *in, float *out, int N_pow2, int stride)
+{
+    if(in == out) {
+        for (int k = 0, l = 2 << N_pow2; k < l; k += 2) {
+            int m = bit_reverse(k, N_pow2);
+            if (k < m) {
+                swap(out+(m*stride)+0, in+(k*stride)+0);
+                swap(out+(m*stride)+1, in+(k*stride)+1);
+            }
+        }
+    } else {
+        for (int k = 0, l = 2 << N_pow2; k < l; k += 2) {
+            int m = bit_reverse(k, N_pow2);
+            out[(m*stride)+0] = in[(k*stride)+0];
+            out[(m*stride)+1] = in[(k*stride)+1];
+        }
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+// Performs the fft in place.
+static void do_fft(float *inout, int N_pow2, int stride)
+{
+    int N = 2 << N_pow2;
+    for (int N_pow2_i = 1; N_pow2_i <= N_pow2; N_pow2_i++) {
+        int N_mul2 = 2 << N_pow2_i;
+        int N_div2 = 1 << N_pow2_i;
+        for (int i = 0; i < N; i += N_mul2) {
+            for (int j = i, k = 0, l = i + N_div2, m = N >> N_pow2_i; j < l; j += 2, k += m) {
+                int x0_r = (j*stride)+0;
+                int x0_i = (j*stride)+1;
+                int x1_r = ((j+N_div2)*stride)+0;
+                int x1_i = ((j+N_div2)*stride)+1;
+                float tmp_r = (inout[x1_r] * get_cos(k, N_pow2)) +
+                              (inout[x1_i] * get_sin(k, N_pow2));
+                float tmp_i = (inout[x1_i] * get_cos(k, N_pow2)) -
+                              (inout[x1_r] * get_sin(k, N_pow2));
+                inout[x1_r] = inout[x0_r] - tmp_r;
+                inout[x1_i] = inout[x0_i] - tmp_i;
+                inout[x0_r] += tmp_r;
+                inout[x0_i] += tmp_i;
+            }
+        }
+    }
+}
+
+// Performs the ifft in place.
+static void do_ifft(float *inout, int N_pow2, int stride)
+{
+    int N = 2 << N_pow2;
+    for (int N_pow2_i = 1; N_pow2_i <= N_pow2; N_pow2_i++) {
+        int N_mul2 = 2 << N_pow2_i;
+        int N_div2 = 1 << N_pow2_i;
+        for (int i = 0; i < N; i += N_mul2) {
+            for (int j = i, k = 0, l = i + N_div2, m = N >> N_pow2_i; j < l; j += 2, k += m) {
+                int x0_r = (j*stride)+0;
+                int x0_i = (j*stride)+1;
+                int x1_r = ((j+N_div2)*stride)+0;
+                int x1_i = ((j+N_div2)*stride)+1;
+                float tmp_r = (inout[x1_r] * get_cos(k, N_pow2)) -
+                              (inout[x1_i] * get_sin(k, N_pow2));
+                float tmp_i = (inout[x1_i] * get_cos(k, N_pow2)) +
+                              (inout[x1_r] * get_sin(k, N_pow2));
+                inout[x1_r] = inout[x0_r] - tmp_r;
+                inout[x1_i] = inout[x0_i] - tmp_i;
+                inout[x0_r] += tmp_r;
+                inout[x0_i] += tmp_i;
+            }
+        }
+    }
+
+    float div = 1.0 / (N >> 1);
+    for (int i = 0; i < N; i += 2) {
+        inout[(i*stride)+0] *= div;
+        inout[(i*stride)+1] *= div;
+    }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void fft1d_alloc(fft1d_controller_t *controller, uint8_t *buf, int len)
+{
+    controller->d_pointer = buf;
+    controller->d_len = len;
+    controller->pow2 = int_clog2(len);
+    controller->data = fb_alloc((2 << controller->pow2) * sizeof(float), FB_ALLOC_NO_HINT);
+}
+
+void fft1d_dealloc(void *msm)
+{
+    fb_free(msm);
+}
+
+void fft1d_run(fft1d_controller_t *controller)
+{
+    // We can speed up the FFT by packing data into both the real and imaginary
+    // values. This results in having to do an FFT of half the size normally.
+
+    float *h_buffer = fb_alloc((1 << controller->pow2) * sizeof(float), FB_ALLOC_NO_HINT);
+    prepare_real_input(controller->d_pointer, controller->d_len,
+                       h_buffer, controller->pow2 - 1);
+    do_fft(h_buffer, controller->pow2 - 1, 1);
+    unpack_fft(h_buffer, controller->data, controller->pow2 - 1);
+    fb_free(h_buffer);
+}
+
+void ifft1d_run(fft1d_controller_t *controller)
+{
+    // We can speed up the FFT by packing data into both the real and imaginary
+    // values. This results in having to do an FFT of half the size normally.
+
+    float *h_buffer = fb_alloc((1 << controller->pow2) * sizeof(float), FB_ALLOC_NO_HINT);
+    pack_fft(controller->data, h_buffer, controller->pow2 - 1);
+    prepare_complex_input(h_buffer, h_buffer,
+                          controller->pow2 - 1, 1);
+    do_ifft(h_buffer, controller->pow2 - 1, 1);
+    memset(controller->data, 0, (2 << controller->pow2) * sizeof(float));
+    memcpy(controller->data, h_buffer, (1 << controller->pow2) * sizeof(float));
+    fb_free(h_buffer);
+}
+
+void fft1d_mag(fft1d_controller_t *controller)
+{
+    for (int i = 0, j = 2 << controller->pow2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = fast_sqrtf((tmp_r*tmp_r)+(tmp_i*tmp_i));
+        controller->data[i + 1] = 0;
+    }
+}
+
+void fft1d_phase(fft1d_controller_t *controller)
+{
+    for (int i = 0, j = 2 << controller->pow2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI*1.5) : (M_PI*0.5));
+        controller->data[i + 1] = 0;
+    }
+}
+
+void fft1d_log(fft1d_controller_t *controller)
+{
+    for (int i = 0, j = 2 << controller->pow2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = fast_log(fast_sqrtf((tmp_r*tmp_r)+(tmp_i*tmp_i)));
+        controller->data[i + 1] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI*1.5) : (M_PI*0.5));
+    }
+}
+
+void fft1d_exp(fft1d_controller_t *controller)
+{
+    for (int i = 0, j = 2 << controller->pow2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = fast_expf(tmp_r) * cosf(tmp_i);
+        controller->data[i + 1] = fast_expf(tmp_r) * sinf(tmp_i);
+    }
+}
+
+void fft1d_swap(fft1d_controller_t *controller)
+{
+    for (int i = 0, j = ((1 << controller->pow2) / 2) * 2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = controller->data[j + i + 0];
+        controller->data[i + 1] = controller->data[j + i + 1];
+        controller->data[j + i + 0] = tmp_r;
+        controller->data[j + i + 1] = tmp_i;
+    }
+}
+
+void fft1d_run_again(fft1d_controller_t *controller)
+{
+    // We can speed up the FFT by packing data into both the real and imaginary
+    // values. This results in having to do an FFT of half the size normally.
+
+    float *h_buffer = fb_alloc((1 << controller->pow2) * sizeof(float), FB_ALLOC_NO_HINT);
+    prepare_real_input_again(controller->data, 1 << controller->pow2,
+                             h_buffer, controller->pow2 - 1);
+    do_fft(h_buffer, controller->pow2 - 1, 1);
+    unpack_fft(h_buffer, controller->data, controller->pow2 - 1);
+    fb_free(h_buffer);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
+void fft2d_alloc(fft2d_controller_t *controller, image_t *img, rectangle_t *r)
+{
+    controller->img = img;
+    if (!rectangle_subimg(controller->img, r, &controller->r)) {
+        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("No intersection!"));
+    }
+
+    controller->w_pow2 = int_clog2(controller->r.w);
+    controller->h_pow2 = int_clog2(controller->r.h);
+
+    controller->data =
+    fb_alloc0(2 * (1 << controller->w_pow2) * (1 << controller->h_pow2) * sizeof(float), FB_ALLOC_NO_HINT);
+}
+
+void fft2d_dealloc(void *msm)
+{
+    fb_free(msm);
+}
+
+void fft2d_run(fft2d_controller_t *controller)
+{
+    // This section copies image data into the fft buffer. It takes care of
+    // extracting the grey channel from RGB images if necessary. The code
+    // also handles dealing with a rect less than the image size.
+    for (int i = 0; i < controller->r.h; i++) {
+        // Get image data into buffer.
+        uint8_t *tmp = fb_alloc(controller->r.w * sizeof(uint8_t), FB_ALLOC_NO_HINT);
+        for (int j = 0; j < controller->r.w; j++) {
+            if (IM_IS_GS(controller->img)) {
+                tmp[j] = IM_GET_GS_PIXEL(controller->img,
+                    controller->r.x + j, controller->r.y + i);
+            } else {
+                tmp[j] = COLOR_RGB565_TO_Y(IM_GET_RGB565_PIXEL(controller->img,
+                    controller->r.x + j, controller->r.y + i));
+            }
+        }
+        // Do FFT on image data and copy to main buffer.
+        fft1d_controller_t fft1d_controller_i;
+        fft1d_alloc(&fft1d_controller_i, tmp, controller->r.w);
+        fft1d_run(&fft1d_controller_i);
+        memcpy(controller->data + (i * (2 << controller->w_pow2)),
+               fft1d_controller_i.data, (2 << fft1d_controller_i.pow2) * sizeof(float));
+        fft1d_dealloc(fft1d_controller_i.data);
+        // Free image data buffer.
+        fb_free(tmp);
+    }
+
+    // The above operates on the rows and this fft operates on the columns. To
+    // avoid having to transpose the array the fft takes a stride input.
+    for (int i = 0, ii = 2 << controller->w_pow2; i < ii; i += 2) {
+        float *p = controller->data + i;
+//        apply_hann_window(p, controller->h_pow2, (1 << controller->w_pow2));
+        prepare_complex_input(p, p, controller->h_pow2, (1 << controller->w_pow2));
+        do_fft(p, controller->h_pow2, (1 << controller->w_pow2));
+    }
+}
+
+void ifft2d_run(fft2d_controller_t *controller)
+{
+    // Do columns...
+    for (int i = 0, ii = 2 << controller->w_pow2; i < ii; i += 2) {
+        float *p = controller->data + i;
+        prepare_complex_input(p, p, controller->h_pow2, (1 << controller->w_pow2));
+        do_ifft(p, controller->h_pow2, (1 << controller->w_pow2));
+    }
+
+    // Do rows...
+    for (int i = 0, ii = 1 << controller->h_pow2; i < ii; i++) {
+        fft1d_controller_t fft1d_controller_i;
+        fft1d_controller_i.pow2 = controller->w_pow2;
+        fft1d_controller_i.data = controller->data + (i * (2 << controller->w_pow2));
+        ifft1d_run(&fft1d_controller_i);
+    }
+}
+
+void fft2d_mag(fft2d_controller_t *controller)
+{
+    for (int i = 0, j = (1 << controller->h_pow2) * (1 << controller->w_pow2) * 2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = fast_sqrtf((tmp_r*tmp_r)+(tmp_i*tmp_i));
+        controller->data[i + 1] = 0;
+    }
+}
+
+void fft2d_phase(fft2d_controller_t *controller)
+{
+    for (int i = 0, j = (1 << controller->h_pow2) * (1 << controller->w_pow2) * 2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI*1.5) : (M_PI*0.5));
+        controller->data[i + 1] = 0;
+    }
+}
+
+void fft2d_log(fft2d_controller_t *controller)
+{
+    for (int i = 0, j = (1 << controller->h_pow2) * (1 << controller->w_pow2) * 2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = fast_log(fast_sqrtf((tmp_r*tmp_r)+(tmp_i*tmp_i)));
+        controller->data[i + 1] = tmp_r ? fast_atan2f(tmp_i, tmp_r) : ((tmp_i < 0) ? (M_PI*1.5) : (M_PI*0.5));
+    }
+}
+
+void fft2d_exp(fft2d_controller_t *controller)
+{
+    for (int i = 0, j = (1 << controller->h_pow2) * (1 << controller->w_pow2) * 2; i < j; i += 2) {
+        float tmp_r = controller->data[i + 0];
+        float tmp_i = controller->data[i + 1];
+        controller->data[i + 0] = fast_expf(tmp_r) * cosf(tmp_i);
+        controller->data[i + 1] = fast_expf(tmp_r) * sinf(tmp_i);
+    }
+}
+
+void fft2d_swap(fft2d_controller_t *controller)
+{
+    // Do rows...
+    for (int i = 0, ii = 1 << controller->h_pow2; i < ii; i++) {
+        fft1d_controller_t fft1d_controller_i;
+        fft1d_controller_i.pow2 = controller->w_pow2;
+        fft1d_controller_i.data = controller->data + (i * (2 << controller->w_pow2));
+        fft1d_swap(&fft1d_controller_i);
+    }
+
+    // Do columns...
+    for (int x = 0, xx = 2 << controller->w_pow2; x < xx; x += 2) {
+        for (int y = 0, yy = (1 << controller->h_pow2) / 2; y < yy; y++) {
+            int i = (y * (2 << controller->w_pow2)) + x;
+            int j = yy * (2 << controller->w_pow2);
+            float tmp_r = controller->data[i + 0];
+            float tmp_i = controller->data[i + 1];
+            controller->data[i + 0] = controller->data[j + i + 0];
+            controller->data[i + 1] = controller->data[j + i + 1];
+            controller->data[j + i + 0] = tmp_r;
+            controller->data[j + i + 1] = tmp_i;
+        }
+    }
+}
+
+void fft2d_linpolar(fft2d_controller_t *controller)
+{
+    int w = 1 << controller->w_pow2;
+    int h = 1 << controller->h_pow2;
+    int s = h * w * 2 * sizeof(float);
+    float *tmp = fb_alloc(s, FB_ALLOC_NO_HINT);
+    memcpy(tmp, controller->data, s);
+    memset(controller->data, 0, s);
+
+    float w_2 = w / 2.0f;
+    float h_2 = h / 2.0f;
+    float rho_scale = fast_sqrtf((w_2 * w_2) + (h_2 * h_2)) / h;
+    float theta_scale = 360.0f / w;
+
+    for (int y = 0; y < h; y++) {
+        float *row_ptr = controller->data + (y * w * 2);
+        float rho = y * rho_scale;
+        for (int x = 0; x < w; x++) {
+            int sourceX, sourceY;
+            int theta = 630 - fast_roundf(x * theta_scale);
+            if (theta >= 360) theta -= 360;
+            sourceX = fast_roundf((rho * cos_table[theta]) + w_2);
+            sourceY = fast_roundf((rho * sin_table[theta]) + h_2);
+            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                float *ptr = tmp + (sourceY * w * 2);
+                row_ptr[(x * 2) + 0] = ptr[(sourceX * 2) + 0];
+                row_ptr[(x * 2) + 1] = ptr[(sourceX * 2) + 1];
+            }
+        }
+    }
+
+    fb_free(tmp);
+}
+
+void fft2d_logpolar(fft2d_controller_t *controller)
+{
+    int w = 1 << controller->w_pow2;
+    int h = 1 << controller->h_pow2;
+    int s = h * w * 2 * sizeof(float);
+    float *tmp = fb_alloc(s, FB_ALLOC_NO_HINT);
+    memcpy(tmp, controller->data, s);
+    memset(controller->data, 0, s);
+
+    float w_2 = w / 2.0f;
+    float h_2 = h / 2.0f;
+    float rho_scale = fast_log(fast_sqrtf((w_2 * w_2) + (h_2 * h_2))) / h;
+    float theta_scale = 360.0f / w;
+
+    for (int y = 0; y < h; y++) {
+        float *row_ptr = controller->data + (y * w * 2);
+        float rho = y * rho_scale;
+        for (int x = 0; x < w; x++) {
+            int sourceX, sourceY;
+            int theta = 630 - fast_roundf(x * theta_scale);
+            if (theta >= 360) theta -= 360;
+            sourceX = fast_roundf((fast_expf(rho) * cos_table[theta]) + w_2);
+            sourceY = fast_roundf((fast_expf(rho) * sin_table[theta]) + h_2);
+            if ((0 <= sourceX) && (sourceX < w) && (0 <= sourceY) && (sourceY < h)) {
+                float *ptr = tmp + (sourceY * w * 2);
+                row_ptr[(x * 2) + 0] = ptr[(sourceX * 2) + 0];
+                row_ptr[(x * 2) + 1] = ptr[(sourceX * 2) + 1];
+            }
+        }
+    }
+
+    fb_free(tmp);
+}
+
+void fft2d_run_again(fft2d_controller_t *controller)
+{
+    for (int i = 0, ii = 1 << controller->h_pow2; i < ii; i++) {
+        fft1d_controller_t fft1d_controller_i;
+        fft1d_controller_i.pow2 = controller->w_pow2;
+        fft1d_controller_i.data = controller->data + (i * (2 << controller->w_pow2));
+        fft1d_run_again(&fft1d_controller_i);
+    }
+
+    // The above operates on the rows and this fft operates on the columns. To
+    // avoid having to transpose the array the fft takes a stride input.
+    for (int i = 0, ii = 2 << controller->w_pow2; i < ii; i += 2) {
+        float *p = controller->data + i;
+//        apply_hann_window(p, controller->h_pow2, (1 << controller->w_pow2));
+        prepare_complex_input(p, p, controller->h_pow2, (1 << controller->w_pow2));
+        do_fft(p, controller->h_pow2, (1 << controller->w_pow2));
+    }
+}
diff --git a/github_source/minicv2/src/filter.c b/github_source/minicv2/src/filter.c
new file mode 100644
index 0000000..c17d7b5
--- /dev/null
+++ b/github_source/minicv2/src/filter.c
@@ -0,0 +1,2569 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image filtering functions.
+ */
+#include "fsort.h"
+#include "imlib.h"
+
+void imlib_histeq(image_t *img, image_t *mask)
+{
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            int a = img->w * img->h;
+            float s = (COLOR_BINARY_MAX - COLOR_BINARY_MIN) / ((float) a);
+            uint32_t *hist = fb_alloc0((COLOR_BINARY_MAX - COLOR_BINARY_MIN + 1) * sizeof(uint32_t), FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    hist[IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x) - COLOR_BINARY_MIN] += 1;
+                }
+            }
+
+            for (int i = 0, sum = 0, ii = COLOR_BINARY_MAX - COLOR_BINARY_MIN + 1; i < ii; i++) {
+                sum += hist[i];
+                hist[i] = sum;
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x,
+                        fast_floorf((s * hist[pixel - COLOR_BINARY_MIN]) + COLOR_BINARY_MIN));
+                }
+            }
+
+            fb_free(hist);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            int a = img->w * img->h;
+            float s = (COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN) / ((float) a);
+            uint32_t *hist = fb_alloc0((COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN + 1) * sizeof(uint32_t), FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    hist[IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x) - COLOR_GRAYSCALE_MIN] += 1;
+                }
+            }
+
+            for (int i = 0, sum = 0, ii = COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN + 1; i < ii; i++) {
+                sum += hist[i];
+                hist[i] = sum;
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x,
+                        fast_floorf((s * hist[pixel - COLOR_GRAYSCALE_MIN]) + COLOR_GRAYSCALE_MIN));
+                }
+            }
+
+            fb_free(hist);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            int a = img->w * img->h;
+            float s = (COLOR_Y_MAX - COLOR_Y_MIN) / ((float) a);
+            uint32_t *hist = fb_alloc0((COLOR_Y_MAX - COLOR_Y_MIN + 1) * sizeof(uint32_t), FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    hist[COLOR_RGB565_TO_Y(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x)) - COLOR_Y_MIN] += 1;
+                }
+            }
+
+            for (int i = 0, sum = 0, ii = COLOR_Y_MAX - COLOR_Y_MIN + 1; i < ii; i++) {
+                sum += hist[i];
+                hist[i] = sum;
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x);
+                    int r = COLOR_RGB565_TO_R8(pixel);
+                    int g = COLOR_RGB565_TO_G8(pixel);
+                    int b = COLOR_RGB565_TO_B8(pixel);
+                    uint8_t y, u, v;
+                    y = (uint8_t)(((r * 9770) + (g * 19182) + (b * 3736)) >> 15); // .299*r + .587*g + .114*b
+                    u = (uint8_t)(((b << 14) - (r * 5529) - (g * 10855)) >> 15);  // -0.168736*r + -0.331264*g + 0.5*b
+                    v = (uint8_t)(((r << 14) - (g * 13682) - (b * 2664)) >> 15);  // 0.5*r + -0.418688*g + -0.081312*b
+                    IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, imlib_yuv_to_rgb(fast_floorf(s * hist[y]), u,v));
+                }
+            }
+
+            fb_free(hist);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            int a = img->w * img->h;
+            float s = (COLOR_Y_MAX - COLOR_Y_MIN) / ((float) a);
+            uint32_t *hist = fb_alloc0((COLOR_Y_MAX - COLOR_Y_MIN + 1) * sizeof(uint32_t), FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    hist[COLOR_RGB888_TO_Y(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x)) - COLOR_Y_MIN] += 1;
+                }
+            }
+
+            for (int i = 0, sum = 0, ii = COLOR_Y_MAX - COLOR_Y_MIN + 1; i < ii; i++) {
+                sum += hist[i];
+                hist[i] = sum;
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) continue;
+                    int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x);
+                    int r = COLOR_RGB888_TO_R8(pixel);
+                    int g = COLOR_RGB888_TO_G8(pixel);
+                    int b = COLOR_RGB888_TO_B8(pixel);
+                    uint8_t y, u, v;
+                    y = (uint8_t)(((r * 9770) + (g * 19182) + (b * 3736)) >> 15); // .299*r + .587*g + .114*b
+                    u = (uint8_t)(((b << 14) - (r * 5529) - (g * 10855)) >> 15);  // -0.168736*r + -0.331264*g + 0.5*b
+                    v = (uint8_t)(((r << 14) - (g * 13682) - (b * 2664)) >> 15);  // 0.5*r + -0.418688*g + -0.081312*b
+                    IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x, imlib_yuv_to_rgb888(fast_floorf(s * hist[y]), u,v));
+                }
+            }
+
+            fb_free(hist);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+// ksize == 0 -> 1x1 kernel
+// ksize == 1 -> 3x3 kernel
+// ...
+// ksize == n -> ((n*2)+1)x((n*2)+1) kernel
+//
+// To speed up this filter, we can help in two ways:
+// 1) For the 'center portion' of the image area, we don't need to check
+//   the x+y values against the boundary conditions on each pixel.
+// 2) In that same region we can take advantage of the filter property being
+//   the sum of all of the pixels by subtracting the last left edge values
+//   and adding the new right edge values instead of re-calculating the sum
+//   of every pixel. This will allow very large filters to be used without
+//   much change in performance.
+//
+#ifdef IMLIB_ENABLE_MEAN
+void imlib_mean_filter(image_t *img, const int ksize, bool threshold, int offset, bool invert, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+
+    int32_t over32_n = 65536 / (((ksize*2)+1)*((ksize*2)+1));
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                int pixel, acc = 0;
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y + j);
+                            acc -= IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr, x - ksize - 1);
+                            acc += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr, x + ksize);
+                        }
+                    } else {
+                        acc = 0;
+
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+
+                    pixel = (int)((acc * over32_n)>>16);
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                int pixel, acc = 0;
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j<= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y+j);
+                            acc -= IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                            acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr, x+ksize); 
+                        }
+                    } else {
+                        acc = 0;
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                                for (int k = -ksize; k <= ksize; k++) {
+                                acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+
+                    pixel = (int)((acc * over32_n)>>16);
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_GRAYSCALE_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_GRAYSCALE_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            int pixel, r, g, b, r_acc, g_acc, b_acc;
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                r_acc = g_acc = b_acc = 0;
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                       for (int j= -ksize; j<=ksize; j++) {
+                           uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y+j);
+                           // subtract last left-most pixel from the sums
+                           pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                           r_acc -= COLOR_RGB565_TO_R5(pixel);
+                           g_acc -= COLOR_RGB565_TO_G6(pixel);
+                           b_acc -= COLOR_RGB565_TO_B5(pixel);
+                           // add new right edge pixel to the sums
+                           pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr, x+ksize);
+                           r_acc += COLOR_RGB565_TO_R5(pixel);
+                           g_acc += COLOR_RGB565_TO_G6(pixel);
+                           b_acc += COLOR_RGB565_TO_B5(pixel);
+                        }
+                    } else { // check bounds and do full sum calculations
+                        r_acc = g_acc = b_acc = 0;
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                            IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                r_acc += COLOR_RGB565_TO_R5(pixel);
+                                g_acc += COLOR_RGB565_TO_G6(pixel);
+                                b_acc += COLOR_RGB565_TO_B5(pixel);
+                            }
+                        }
+                    }
+                    int pixel;
+                    r = (int)((r_acc * over32_n)>>16);
+                    g = (int)((g_acc * over32_n)>>16);
+                    b = (int)((b_acc * over32_n)>>16);
+                    pixel = COLOR_R5_G6_B5_TO_RGB565(r, g, b);
+                     
+                    if (threshold) {
+                        if (((COLOR_RGB565_TO_Y(pixel) - offset) < COLOR_RGB565_TO_Y(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB565_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB565_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            int pixel, r, g, b, r_acc, g_acc, b_acc;
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                r_acc = g_acc = b_acc = 0;
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                       for (int j= -ksize; j<=ksize; j++) {
+                           pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y+j);
+                           // subtract last left-most pixel from the sums
+                           pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                           r_acc -= COLOR_RGB888_TO_R8(pixel);
+                           g_acc -= COLOR_RGB888_TO_G8(pixel);
+                           b_acc -= COLOR_RGB888_TO_B8(pixel);
+                           // add new right edge pixel to the sums
+                           pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr, x+ksize);
+                           r_acc += COLOR_RGB888_TO_R8(pixel);
+                           g_acc += COLOR_RGB888_TO_G8(pixel);
+                           b_acc += COLOR_RGB888_TO_B8(pixel);
+                        }
+                    } else { // check bounds and do full sum calculations
+                        r_acc = g_acc = b_acc = 0;
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                            IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                r_acc += COLOR_RGB888_TO_R8(pixel);
+                                g_acc += COLOR_RGB888_TO_G8(pixel);
+                                b_acc += COLOR_RGB888_TO_B8(pixel);
+                            }
+                        }
+                    }
+                    int pixel;
+                    r = (int)((r_acc * over32_n)>>16);
+                    g = (int)((g_acc * over32_n)>>16);
+                    b = (int)((b_acc * over32_n)>>16);
+                    pixel = COLOR_R8_G8_B8_TO_RGB888(r, g, b);
+                     
+                    if (threshold) {
+                        if (((COLOR_RGB888_TO_Y(pixel) - offset) < COLOR_RGB888_TO_Y(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB888_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB888_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+#endif // IMLIB_ENABLE_MEAN
+
+#ifdef IMLIB_ENABLE_MEDIAN
+static uint8_t hist_median(uint8_t *data, int len, const int cutoff)
+{
+int i;
+#if defined(ARM_MATH_CM7) || defined(ARM_MATH_CM4)
+uint32_t oldsum=0, sum32 = 0;
+
+    for (i=0; i<len; i+=4) { // work 4 at time with SIMD
+        sum32 = __USADA8(*(uint32_t *)&data[i], 0, sum32);
+        if (sum32 >= cutoff) { // within this group
+            while (oldsum < cutoff && i < len)
+                oldsum += data[i++];
+            break;
+        } // if we're at the last 4 values
+        oldsum = sum32;
+    } // for each group of 4 elements
+#else // generic C version
+int sum = 0;
+    for (i=0; i<len && sum < cutoff; i++) {
+        sum += data[i];
+    }
+#endif
+    return i-1;
+} /* hist_median() */
+
+void imlib_median_filter(image_t *img, const int ksize, float percentile, bool threshold, int offset, bool invert, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+
+    const int n = ((ksize*2)+1)*((ksize*2)+1);
+    const int median_cutoff = fast_floorf(percentile * (float)n);
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            int sum = 0;
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y <img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y+j);
+                            sum -= IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                            sum += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr, x+ksize);
+                        }
+                    } else {
+                        sum = 0;
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                sum += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+                    int pixel = (sum >= median_cutoff);
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            uint8_t *data = fb_alloc(64, FB_ALLOC_NO_HINT);
+            uint8_t pixel;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        // update histogram edges
+                        for (int j=-ksize; j<= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y+j);
+                            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                            data[pixel >> 2]--; // remove old pixels
+                            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr, x+ksize);
+                            data[pixel >> 2]++; // add new pixels                            
+                        } // for j
+                    } else { // slow way
+                        memset(data, 0, 64);
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            data[pixel >> 2]++;
+                            }
+                        }
+                    }
+
+                    pixel = hist_median(data, 64, median_cutoff); // find the median
+                    pixel <<= 2; // scale it back up
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_GRAYSCALE_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_GRAYSCALE_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(data);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            uint8_t *r_data = fb_alloc(32, FB_ALLOC_NO_HINT);
+            uint8_t *g_data = fb_alloc(64, FB_ALLOC_NO_HINT);
+            uint8_t *b_data = fb_alloc(32, FB_ALLOC_NO_HINT);
+            uint8_t r, g, b;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y+j);
+                            int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                            r_data[COLOR_RGB565_TO_R5(pixel)]--; // remove left pixel
+                            g_data[COLOR_RGB565_TO_G6(pixel)]--;
+                            b_data[COLOR_RGB565_TO_B5(pixel)]--;
+                            pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr, x+ksize);
+                            r_data[COLOR_RGB565_TO_R5(pixel)]++; // add right pixel
+                            g_data[COLOR_RGB565_TO_G6(pixel)]++;
+                            b_data[COLOR_RGB565_TO_B5(pixel)]++;
+                        }
+                    } else { // need to check bounds
+                        memset(r_data, 0, 32); memset(g_data, 0, 64); memset(b_data, 0, 32);
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                r_data[COLOR_RGB565_TO_R5(pixel)]++;
+                                g_data[COLOR_RGB565_TO_G6(pixel)]++;
+                                b_data[COLOR_RGB565_TO_B5(pixel)]++;
+                            }
+                        }
+                    }
+
+                    r = hist_median(r_data, 32, median_cutoff);
+                    g = hist_median(g_data, 64, median_cutoff);
+                    b = hist_median(b_data, 32, median_cutoff);
+
+                    int pixel = COLOR_R5_G6_B5_TO_RGB565(r, g, b);
+
+                    if (threshold) {
+                        if (((COLOR_RGB565_TO_Y(pixel) - offset) < COLOR_RGB565_TO_Y(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB565_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB565_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            fb_free(b_data);
+            fb_free(g_data);
+            fb_free(r_data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            uint8_t *r_data = fb_alloc(256, FB_ALLOC_NO_HINT);
+            uint8_t *g_data = fb_alloc(256, FB_ALLOC_NO_HINT);
+            uint8_t *b_data = fb_alloc(256, FB_ALLOC_NO_HINT);
+            uint8_t r, g, b;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y+j);
+                            int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr, x-ksize-1);
+                            r_data[COLOR_RGB888_TO_R8(pixel)]--; // remove left pixel
+                            g_data[COLOR_RGB888_TO_G8(pixel)]--;
+                            b_data[COLOR_RGB888_TO_B8(pixel)]--;
+                            pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr, x+ksize);
+                            r_data[COLOR_RGB888_TO_R8(pixel)]++; // add right pixel
+                            g_data[COLOR_RGB888_TO_G8(pixel)]++;
+                            b_data[COLOR_RGB888_TO_B8(pixel)]++;
+                        }
+                    } else { // need to check bounds
+                        memset(r_data, 0, 32); memset(g_data, 0, 64); memset(b_data, 0, 32);
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                r_data[COLOR_RGB888_TO_R8(pixel)]++;
+                                g_data[COLOR_RGB888_TO_G8(pixel)]++;
+                                b_data[COLOR_RGB888_TO_B8(pixel)]++;
+                            }
+                        }
+                    }
+
+                    r = hist_median(r_data, 256, median_cutoff);
+                    g = hist_median(g_data, 256, median_cutoff);
+                    b = hist_median(b_data, 256, median_cutoff);
+
+                    int pixel = COLOR_R8_G8_B8_TO_RGB888(r, g, b);
+
+                    if (threshold) {
+                        if (((COLOR_RGB888_TO_Y(pixel) - offset) < COLOR_RGB888_TO_Y(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB888_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB888_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            fb_free(b_data);
+            fb_free(g_data);
+            fb_free(r_data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+#endif // IMLIB_ENABLE_MEDIAN
+
+#ifdef IMLIB_ENABLE_MODE
+static uint8_t find_mode(uint8_t *bins, int len)
+{
+int i, j;
+uint8_t mode = 0, mcount = 0;
+    for(i=0; i<len; i+=4) {
+        if (*(uint32_t *)&bins[i] == 0)
+            continue; // skip empty bins quickly
+        for (j=i; j<i+4; j++) {
+            if (bins[j] > mcount) {
+                mcount = bins[j];
+                mode = j;
+            }
+        }
+    }
+    return mode;
+} /* find_mode() */
+
+void imlib_mode_filter(image_t *img, const int ksize, bool threshold, int offset, bool invert, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+    const uint8_t n2 = (((ksize*2)+1)*((ksize*2)+1))/2;
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            int bins = 0;
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,y+j);
+                                bins -= IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,x-ksize-1);
+                                bins += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,x+ksize);
+                        }
+                    } else {
+                        bins = 0;
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+                            for (int k = -ksize; k <= ksize; k++) {
+                                bins += IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+
+                    uint8_t pixel = (bins > n2);
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            // fb_free(NULL);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            uint8_t *bins = fb_alloc((COLOR_GRAYSCALE_MAX-COLOR_GRAYSCALE_MIN+1), FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+                uint8_t pixel = 0, mode = 0;
+                int mcount = -1;
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+                    if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t m, *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,y+j);
+                            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x-ksize-1);
+                            m = --bins[pixel];
+                            if (pixel == mode) {
+                                if (m < n2)
+                                    mcount = 256; // need to search later
+                                else
+                                    mcount = m; // we're still the mode
+                            }
+                            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+ksize);
+                            m = ++bins[pixel];
+                            if (m > mcount) {
+                                mcount = m;
+                                mode = pixel;
+                            }
+                        }
+                        if (mcount == 256) { // need to find max
+                            mode = find_mode(bins, 256);
+                            mcount = bins[mode];
+                        }
+                    } else { // slow way
+                        mcount = -1;
+                        memset(bins, 0, (COLOR_GRAYSCALE_MAX-COLOR_GRAYSCALE_MIN+1));
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                bins[pixel]++;
+
+                                if (bins[pixel] > mcount) {
+                                    mcount = bins[pixel];
+                                    mode = pixel;
+                                }
+                            }
+                        }
+                    }
+                    pixel = mode;
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_GRAYSCALE_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_GRAYSCALE_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(bins);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            uint8_t *r_bins = fb_alloc((COLOR_R5_MAX-COLOR_R5_MIN+1), FB_ALLOC_NO_HINT);
+            uint8_t *g_bins = fb_alloc((COLOR_G6_MAX-COLOR_G6_MIN+1), FB_ALLOC_NO_HINT);
+            uint8_t *b_bins = fb_alloc((COLOR_B5_MAX-COLOR_B5_MIN+1), FB_ALLOC_NO_HINT);
+            int r_pixel, g_pixel, b_pixel;
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+                int r_mcount=0, g_mcount=0, b_mcount=0;
+                int pixel, r_mode, g_mode, b_mode;
+                r_mode = g_mode = b_mode = 0;
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                    for (int j = -ksize; j <= ksize; j++) {
+                        uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y + j);
+                        pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr, x - ksize -1);
+                        r_pixel = COLOR_RGB565_TO_R5(pixel);
+                        g_pixel = COLOR_RGB565_TO_G6(pixel);
+                        b_pixel = COLOR_RGB565_TO_B5(pixel);
+                        r_bins[r_pixel]--;
+                        g_bins[g_pixel]--;
+                        b_bins[b_pixel]--;
+                        if (r_pixel == r_mode) {
+                            if (r_bins[r_pixel] < n2)
+                                r_mcount = 256; // need to search later
+                            else
+                                r_mcount = r_bins[r_pixel]; // we're still the mode
+                        }
+                        if (g_pixel == g_mode) {
+                            if (g_bins[g_pixel] < n2)
+                                g_mcount = 256; // need to search later
+                            else
+                                g_mcount = g_bins[g_pixel]; // we're still the mode
+                        }
+                        if (b_pixel == b_mode) {
+                            if (b_bins[b_pixel] < n2)
+                                b_mcount = 256; // need to search later
+                            else
+                                b_mcount = b_bins[b_pixel]; // we're still the mode
+                        }
+
+                        pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr, x + ksize);
+                        r_pixel = COLOR_RGB565_TO_R5(pixel);
+                        g_pixel = COLOR_RGB565_TO_G6(pixel);
+                        b_pixel = COLOR_RGB565_TO_B5(pixel);
+                        r_bins[r_pixel]++;
+                        g_bins[g_pixel]++;
+                        b_bins[b_pixel]++;
+                        if (r_bins[r_pixel] > r_mcount) {
+                            r_mcount = r_bins[r_pixel];
+                            r_mode = r_pixel;
+                        }
+
+                        if (g_bins[g_pixel] > g_mcount) {
+                            g_mcount = g_bins[g_pixel];
+                            g_mode = g_pixel;
+                        }
+
+                        if (b_bins[b_pixel] > b_mcount) {
+                            b_mcount = b_bins[b_pixel];
+                            b_mode = b_pixel;
+                        }
+                    } // for j
+                    if (r_mcount == 256) { // need to find max
+                        r_mode = find_mode(r_bins, 32);
+                        r_mcount = r_bins[r_mode];
+                    }
+                    if (g_mcount == 256) { // need to find max
+                        g_mode = find_mode(g_bins, 64);
+                        g_mcount = g_bins[g_mode];
+                    }
+                    if (b_mcount == 256) { // need to find max
+                        b_mode = find_mode(b_bins, 32);
+                        b_mcount = r_bins[b_mode];
+                    }
+                } else { // slower way 
+                    memset(r_bins, 0, (COLOR_R5_MAX-COLOR_R5_MIN+1));
+                    memset(g_bins, 0, (COLOR_G6_MAX-COLOR_G6_MIN+1));
+                    memset(b_bins, 0, (COLOR_B5_MAX-COLOR_B5_MIN+1));
+                    r_mcount = g_mcount = b_mcount = 0;
+                    for (int j = -ksize; j <= ksize; j++) {
+                        uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                            IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                        for (int k = -ksize; k <= ksize; k++) {
+                            pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            r_pixel = COLOR_RGB565_TO_R5(pixel);
+                            g_pixel = COLOR_RGB565_TO_G6(pixel);
+                            b_pixel = COLOR_RGB565_TO_B5(pixel);
+                            r_bins[r_pixel]++;
+                            g_bins[g_pixel]++;
+                            b_bins[b_pixel]++;
+
+                            if (r_bins[r_pixel] > r_mcount) {
+                                r_mcount = r_bins[r_pixel];
+                                r_mode = r_pixel;
+                            }
+
+                            if (g_bins[g_pixel] > g_mcount) {
+                                g_mcount = g_bins[g_pixel];
+                                g_mode = g_pixel;
+                            }
+
+                            if (b_bins[b_pixel] > b_mcount) {
+                                b_mcount = b_bins[b_pixel];
+                                b_mode = b_pixel;
+                            }
+                        } // for k
+                    } // for j
+                    } // slow/fast way
+                    pixel = COLOR_R5_G6_B5_TO_RGB565(r_mode, g_mode, b_mode);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(b_bins);
+            fb_free(g_bins);
+            fb_free(r_bins);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            uint8_t *r_bins = fb_alloc((COLOR_R8_MAX-COLOR_R8_MIN+1), FB_ALLOC_NO_HINT);
+            uint8_t *g_bins = fb_alloc((COLOR_G8_MAX-COLOR_G8_MIN+1), FB_ALLOC_NO_HINT);
+            uint8_t *b_bins = fb_alloc((COLOR_B8_MAX-COLOR_B8_MIN+1), FB_ALLOC_NO_HINT);
+            int r_pixel, g_pixel, b_pixel;
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+                int r_mcount=0, g_mcount=0, b_mcount=0;
+                int pixel, r_mode, g_mode, b_mode;
+                r_mode = g_mode = b_mode = 0;
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                if (!mask && x > ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                    for (int j = -ksize; j <= ksize; j++) {
+                        pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y + j);
+                        pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr, x - ksize -1);
+                        r_pixel = COLOR_RGB888_TO_R8(pixel);
+                        g_pixel = COLOR_RGB888_TO_G8(pixel);
+                        b_pixel = COLOR_RGB888_TO_B8(pixel);
+                        r_bins[r_pixel]--;
+                        g_bins[g_pixel]--;
+                        b_bins[b_pixel]--;
+                        if (r_pixel == r_mode) {
+                            if (r_bins[r_pixel] < n2)
+                                r_mcount = 256; // need to search later
+                            else
+                                r_mcount = r_bins[r_pixel]; // we're still the mode
+                        }
+                        if (g_pixel == g_mode) {
+                            if (g_bins[g_pixel] < n2)
+                                g_mcount = 256; // need to search later
+                            else
+                                g_mcount = g_bins[g_pixel]; // we're still the mode
+                        }
+                        if (b_pixel == b_mode) {
+                            if (b_bins[b_pixel] < n2)
+                                b_mcount = 256; // need to search later
+                            else
+                                b_mcount = b_bins[b_pixel]; // we're still the mode
+                        }
+
+                        pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr, x + ksize);
+                        r_pixel = COLOR_RGB888_TO_R8(pixel);
+                        g_pixel = COLOR_RGB888_TO_G8(pixel);
+                        b_pixel = COLOR_RGB888_TO_B8(pixel);
+                        r_bins[r_pixel]++;
+                        g_bins[g_pixel]++;
+                        b_bins[b_pixel]++;
+                        if (r_bins[r_pixel] > r_mcount) {
+                            r_mcount = r_bins[r_pixel];
+                            r_mode = r_pixel;
+                        }
+
+                        if (g_bins[g_pixel] > g_mcount) {
+                            g_mcount = g_bins[g_pixel];
+                            g_mode = g_pixel;
+                        }
+
+                        if (b_bins[b_pixel] > b_mcount) {
+                            b_mcount = b_bins[b_pixel];
+                            b_mode = b_pixel;
+                        }
+                    } // for j
+                    if (r_mcount == 256) { // need to find max
+                        r_mode = find_mode(r_bins, 256);
+                        r_mcount = r_bins[r_mode];
+                    }
+                    if (g_mcount == 256) { // need to find max
+                        g_mode = find_mode(g_bins, 256);
+                        g_mcount = g_bins[g_mode];
+                    }
+                    if (b_mcount == 256) { // need to find max
+                        b_mode = find_mode(b_bins, 256);
+                        b_mcount = r_bins[b_mode];
+                    }
+                } else { // slower way 
+                    memset(r_bins, 0, (COLOR_R5_MAX-COLOR_R8_MIN+1));
+                    memset(g_bins, 0, (COLOR_G6_MAX-COLOR_G8_MIN+1));
+                    memset(b_bins, 0, (COLOR_B5_MAX-COLOR_B8_MIN+1));
+                    r_mcount = g_mcount = b_mcount = 0;
+                    for (int j = -ksize; j <= ksize; j++) {
+                        pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                            IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                        for (int k = -ksize; k <= ksize; k++) {
+                            pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            r_pixel = COLOR_RGB888_TO_R8(pixel);
+                            g_pixel = COLOR_RGB888_TO_G8(pixel);
+                            b_pixel = COLOR_RGB888_TO_B8(pixel);
+                            r_bins[r_pixel]++;
+                            g_bins[g_pixel]++;
+                            b_bins[b_pixel]++;
+
+                            if (r_bins[r_pixel] > r_mcount) {
+                                r_mcount = r_bins[r_pixel];
+                                r_mode = r_pixel;
+                            }
+
+                            if (g_bins[g_pixel] > g_mcount) {
+                                g_mcount = g_bins[g_pixel];
+                                g_mode = g_pixel;
+                            }
+
+                            if (b_bins[b_pixel] > b_mcount) {
+                                b_mcount = b_bins[b_pixel];
+                                b_mode = b_pixel;
+                            }
+                        } // for k
+                    } // for j
+                    } // slow/fast way
+                    pixel = COLOR_R8_G8_B8_TO_RGB888(r_mode, g_mode, b_mode);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(b_bins);
+            fb_free(g_bins);
+            fb_free(r_bins);
+            fb_free(buf.data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+#endif // IMLIB_ENABLE_MODE
+
+#ifdef IMLIB_ENABLE_MIDPOINT
+void imlib_midpoint_filter(image_t *img, const int ksize, float bias, bool threshold, int offset, bool invert, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+    uint8_t *u8BiasTable;
+    float max_bias = bias, min_bias = 1.0f - bias;
+
+    u8BiasTable = fb_alloc(256, FB_ALLOC_NO_HINT);
+    for (int i=0; i<256; i++) {
+        u8BiasTable[i] = (uint8_t)fast_floorf((float)i * bias);
+    }
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int min = COLOR_BINARY_MAX, max = COLOR_BINARY_MIN;
+
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,x+k);
+                                min &= pixel;
+                                max |= pixel;
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                min &= pixel;
+                                max |= pixel;
+                            }
+                        }
+                    }
+
+                    int pixel = fast_floorf((min*min_bias)+(max*max_bias));
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int min = COLOR_GRAYSCALE_MAX, max = COLOR_GRAYSCALE_MIN;
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+k);
+                                if (pixel < min) min = pixel;
+                                else if (pixel > max) max = pixel;
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                if (pixel < min) min = pixel;
+                                else if (pixel > max) max = pixel;
+                            }
+                        }
+                    }
+
+                    int pixel = min + u8BiasTable[max-min];
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_GRAYSCALE_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_GRAYSCALE_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int r_min = COLOR_R5_MAX, r_max = COLOR_R5_MIN;
+                    int g_min = COLOR_G6_MAX, g_max = COLOR_G6_MIN;
+                    int b_min = COLOR_B5_MAX, b_max = COLOR_B5_MIN;
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+k);
+                                int r_pixel = COLOR_RGB565_TO_R5(pixel);
+                                int g_pixel = COLOR_RGB565_TO_G6(pixel);
+                                int b_pixel = COLOR_RGB565_TO_B5(pixel);
+                                if (r_pixel < r_min) r_min = r_pixel;
+                                else if (r_pixel > r_max) r_max = r_pixel;
+                                if (g_pixel < g_min) g_min = g_pixel;
+                                else if (g_pixel > g_max) g_max = g_pixel;
+                                if (b_pixel < b_min) b_min = b_pixel;
+                                else if (b_pixel > b_max) b_max = b_pixel;
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                int r_pixel = COLOR_RGB565_TO_R5(pixel);
+                                int g_pixel = COLOR_RGB565_TO_G6(pixel);
+                                int b_pixel = COLOR_RGB565_TO_B5(pixel);
+                                if (r_pixel < r_min) r_min = r_pixel;
+                                else if (r_pixel > r_max) r_max = r_pixel;
+                                if (g_pixel < g_min) g_min = g_pixel;
+                                else if (g_pixel > g_max) g_max = g_pixel;
+                                if (b_pixel < b_min) b_min = b_pixel;
+                                else if (b_pixel > b_max) b_max = b_pixel;
+                            }
+                        }
+                    }
+
+                    r_min += u8BiasTable[r_max-r_min];
+                    g_min += u8BiasTable[g_max-g_min];
+                    b_min += u8BiasTable[b_max-b_min];
+                    int pixel = COLOR_R5_G6_B5_TO_RGB565(r_min, g_min, b_min);
+
+                    if (threshold) {
+                        if (((COLOR_RGB565_TO_Y(pixel) - offset) < COLOR_RGB565_TO_Y(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB565_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB565_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int r_min = COLOR_R5_MAX, r_max = COLOR_R5_MIN;
+                    int g_min = COLOR_G6_MAX, g_max = COLOR_G6_MIN;
+                    int b_min = COLOR_B5_MAX, b_max = COLOR_B5_MIN;
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,x+k);
+                                int r_pixel = COLOR_RGB888_TO_R8(pixel);
+                                int g_pixel = COLOR_RGB888_TO_G8(pixel);
+                                int b_pixel = COLOR_RGB888_TO_B8(pixel);
+                                if (r_pixel < r_min) r_min = r_pixel;
+                                else if (r_pixel > r_max) r_max = r_pixel;
+                                if (g_pixel < g_min) g_min = g_pixel;
+                                else if (g_pixel > g_max) g_max = g_pixel;
+                                if (b_pixel < b_min) b_min = b_pixel;
+                                else if (b_pixel > b_max) b_max = b_pixel;
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                int r_pixel = COLOR_RGB888_TO_R8(pixel);
+                                int g_pixel = COLOR_RGB888_TO_G8(pixel);
+                                int b_pixel = COLOR_RGB888_TO_B8(pixel);
+                                if (r_pixel < r_min) r_min = r_pixel;
+                                else if (r_pixel > r_max) r_max = r_pixel;
+                                if (g_pixel < g_min) g_min = g_pixel;
+                                else if (g_pixel > g_max) g_max = g_pixel;
+                                if (b_pixel < b_min) b_min = b_pixel;
+                                else if (b_pixel > b_max) b_max = b_pixel;
+                            }
+                        }
+                    }
+
+                    r_min += u8BiasTable[r_max-r_min];
+                    g_min += u8BiasTable[g_max-g_min];
+                    b_min += u8BiasTable[b_max-b_min];
+                    int pixel = COLOR_R8_G8_B8_TO_RGB888(r_min, g_min, b_min);
+
+                    if (threshold) {
+                        if (((COLOR_RGB888_TO_Y(pixel) - offset) < COLOR_RGB888_TO_Y(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB888_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB888_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+
+            xfree(buf.data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+    fb_free(u8BiasTable);
+}
+#endif // IMLIB_ENABLE_MIDPOINT
+
+// http://www.fmwconcepts.com/imagemagick/digital_image_filtering.pdf
+
+void imlib_morph(image_t *img, const int ksize, const int *krn, const float m, const int b, bool threshold, int offset, bool invert, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+    const int32_t m_int = (int32_t)(65536.0 * m); // m is 1/kernel_weight
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int acc = 0, ptr = 0;
+
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += krn[ptr++] * IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,x+k);
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += krn[ptr++] * IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+                    int32_t tmp = (acc * m_int) >> 16;
+                    int pixel = tmp + b;
+                    if (pixel < 0) pixel = 0;
+                    else if (pixel > 1) pixel = 1;
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int32_t acc = 0, ptr = 0;
+
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += krn[ptr++] * IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,x+k);
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                acc += krn[ptr++] * IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            }
+                        }
+                    }
+                    int32_t tmp = (acc * m_int)>>16;
+                    int pixel = tmp + b;
+                    if (pixel > COLOR_GRAYSCALE_MAX) pixel = COLOR_GRAYSCALE_MAX;
+                    else if (pixel < 0) pixel = 0;
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_GRAYSCALE_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_GRAYSCALE_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int32_t tmp, r_acc = 0, g_acc = 0, b_acc = 0, ptr = 0;
+
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+k);
+                                r_acc += krn[ptr] * COLOR_RGB565_TO_R5(pixel);
+                                g_acc += krn[ptr] * COLOR_RGB565_TO_G6(pixel);
+                                b_acc += krn[ptr++] * COLOR_RGB565_TO_B5(pixel);
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                r_acc += krn[ptr] * COLOR_RGB565_TO_R5(pixel);
+                                g_acc += krn[ptr] * COLOR_RGB565_TO_G6(pixel);
+                                b_acc += krn[ptr++] * COLOR_RGB565_TO_B5(pixel);
+                            }
+                        }
+                    }
+                    tmp = (r_acc * m_int) >> 16;
+                    r_acc = tmp + b;
+                    if (r_acc > COLOR_R5_MAX) r_acc = COLOR_R5_MAX;
+                    else if (r_acc < 0) r_acc = 0;
+                    tmp = (g_acc * m_int) >> 16;
+                    g_acc = tmp + b;
+                    if (g_acc > COLOR_G6_MAX) g_acc = COLOR_G6_MAX;
+                    else if (g_acc < 0) g_acc = 0;
+                    tmp = (b_acc * m_int) >> 16;
+                    b_acc = tmp + b;
+                    if (b_acc > COLOR_B5_MAX) b_acc = COLOR_B5_MAX;
+                    else if (b_acc < 0) b_acc = 0;
+                    
+                    int pixel = COLOR_R5_G6_B5_TO_RGB565(r_acc, g_acc, b_acc);
+
+                    if (threshold) {
+                        if (((COLOR_RGB565_TO_Y(pixel) - offset) < COLOR_RGB565_TO_Y(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB565_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB565_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int32_t tmp, r_acc = 0, g_acc = 0, b_acc = 0, ptr = 0;
+
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,x+k);
+                                r_acc += krn[ptr] *   COLOR_RGB888_TO_R8(pixel);
+                                g_acc += krn[ptr] *   COLOR_RGB888_TO_G8(pixel);
+                                b_acc += krn[ptr++] * COLOR_RGB888_TO_B8(pixel);
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                r_acc += krn[ptr] *   COLOR_RGB888_TO_R8(pixel);
+                                g_acc += krn[ptr] *   COLOR_RGB888_TO_G8(pixel);
+                                b_acc += krn[ptr++] * COLOR_RGB888_TO_B8(pixel);
+                            }
+                        }
+                    }
+                    tmp = (r_acc * m_int) >> 16;
+                    r_acc = tmp + b;
+                    if (r_acc > COLOR_R8_MAX) r_acc = COLOR_R8_MAX;
+                    else if (r_acc < 0) r_acc = 0;
+                    tmp = (g_acc * m_int) >> 16;
+                    g_acc = tmp + b;
+                    if (g_acc > COLOR_G8_MAX) g_acc = COLOR_G8_MAX;
+                    else if (g_acc < 0) g_acc = 0;
+                    tmp = (b_acc * m_int) >> 16;
+                    b_acc = tmp + b;
+                    if (b_acc > COLOR_B8_MAX) b_acc = COLOR_B8_MAX;
+                    else if (b_acc < 0) b_acc = 0;
+                    
+                    int pixel = COLOR_R8_G8_B8_TO_RGB888(r_acc, g_acc, b_acc);
+
+                    if (threshold) {
+                        if (((COLOR_RGB888_TO_Y(pixel) - offset) < COLOR_RGB888_TO_Y(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB888_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB888_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(buf.data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+#ifdef IMLIB_ENABLE_BILATERAL
+static float gaussian(float x, float sigma)
+{
+    return fast_expf((x * x) / (-2.0f * sigma * sigma)) / (fabsf(sigma) * 2.506628f); // sqrt(2 * PI)
+}
+
+static float distance(int x, int y)
+{
+    return fast_sqrtf((x * x) + (y * y));
+}
+
+void imlib_bilateral_filter(image_t *img, const int ksize, float color_sigma, float space_sigma, bool threshold, int offset, bool invert, image_t *mask)
+{
+    int brows = ksize + 1;
+    image_t buf;
+    buf.w = img->w;
+    buf.h = brows;
+    buf.pixfmt = img->pixfmt;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            buf.data = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            float *gi_lut_ptr = fb_alloc((COLOR_BINARY_MAX - COLOR_BINARY_MIN + 1) * sizeof(float) *2, FB_ALLOC_NO_HINT);
+            float *gi_lut = &gi_lut_ptr[1];
+            float max_color = IM_DIV(1.0f, COLOR_BINARY_MAX - COLOR_BINARY_MIN);
+            for (int i = COLOR_BINARY_MIN; i <= COLOR_BINARY_MAX; i++) {
+                gi_lut[-i] = gi_lut[i] = gaussian(i * max_color, color_sigma);
+            }
+
+            int n = (ksize * 2) + 1;
+            float *gs_lut = fb_alloc(n * n * sizeof(float), FB_ALLOC_NO_HINT);
+
+            float max_space = IM_DIV(1.0f, distance(ksize, ksize));
+            for (int y = -ksize; y <= ksize; y++) {
+                for (int x = -ksize; x <= ksize; x++) {
+                    gs_lut[(n * (y + ksize)) + (x + ksize)] = gaussian(distance(x, y) * max_space, space_sigma);
+                }
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *buf_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int this_pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x);
+                    float i_acc = 0, w_acc = 0;
+                    int ptr = 0;
+                    for (int j = -ksize; j <= ksize; j++) {
+                        uint32_t *k_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img,
+                            IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                        for (int k = -ksize; k <= ksize; k++) {
+                            int pixel = IMAGE_GET_BINARY_PIXEL_FAST(k_row_ptr,
+                                IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                            float w = gi_lut[(this_pixel - pixel)] * gs_lut[ptr++];
+                            i_acc += pixel * w;
+                            w_acc += w;
+                        }
+                    }
+
+                    int pixel = fast_floorf(IM_MIN(IM_DIV(i_acc, w_acc), COLOR_BINARY_MAX));
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_BINARY_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_BINARY_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_BINARY_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(gs_lut);
+            fb_free(gi_lut_ptr);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            buf.data = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            float *gi_lut_ptr = fb_alloc((COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN + 1) * sizeof(float) * 2, FB_ALLOC_NO_HINT);
+            float *gi_lut = &gi_lut_ptr[256]; // point to the middle
+            float max_color = IM_DIV(1.0f, COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN);
+            for (int i = COLOR_GRAYSCALE_MIN; i <= COLOR_GRAYSCALE_MAX; i++) {
+                gi_lut[-i] = gi_lut[i] = gaussian(i * max_color, color_sigma);
+            }
+
+            int n = (ksize * 2) + 1;
+            float *gs_lut = fb_alloc(n * n * sizeof(float), FB_ALLOC_NO_HINT);
+
+            float max_space = IM_DIV(1.0f, distance(ksize, ksize));
+            for (int y = -ksize; y <= ksize; y++) {
+                for (int x = -ksize; x <= ksize; x++) {
+                    gs_lut[(n * (y + ksize)) + (x + ksize)] = gaussian(distance(x, y) * max_space, space_sigma);
+                }
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *buf_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int this_pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                    float i_acc = 0, w_acc = 0;
+                    int ptr = 0;
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr, x+k);
+                                float w = gi_lut[this_pixel - pixel] * gs_lut[ptr++];
+                                i_acc += pixel * w;
+                                w_acc += w;
+                            }
+                        }
+                    } else {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint8_t *k_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                float w = gi_lut[(this_pixel - pixel)] * gs_lut[ptr++];
+                                i_acc += pixel * w;
+                                w_acc += w;
+                            }
+                        }
+                    }
+
+                    int pixel = fast_floorf(IM_MIN(IM_DIV(i_acc, w_acc), COLOR_GRAYSCALE_MAX));
+
+                    if (threshold) {
+                        if (((pixel - offset) < IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x)) ^ invert) {
+                            pixel = COLOR_GRAYSCALE_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_GRAYSCALE_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_GRAYSCALE_LINE_LEN_BYTES(img));
+            }
+
+            fb_free(gs_lut);
+            fb_free(gi_lut_ptr);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            buf.data = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            float *rb_gi_ptr = fb_alloc((COLOR_R5_MAX - COLOR_R5_MIN + 1) * sizeof(float) *2, FB_ALLOC_NO_HINT);
+            float *g_gi_ptr = fb_alloc((COLOR_G6_MAX - COLOR_G6_MIN + 1) * sizeof(float) *2, FB_ALLOC_NO_HINT);
+            float *rb_gi_lut = &rb_gi_ptr[32]; // center
+            float *g_gi_lut = &g_gi_ptr[64];
+
+            float r_max_color = IM_DIV(1.0f, COLOR_R5_MAX - COLOR_R5_MIN);
+            for (int i = COLOR_R5_MIN; i <= COLOR_R5_MAX; i++) {
+                rb_gi_lut[-i] = rb_gi_lut[i] = gaussian(i * r_max_color, color_sigma);
+            }
+
+            float g_max_color = IM_DIV(1.0f, COLOR_G6_MAX - COLOR_G6_MIN);
+            for (int i = COLOR_G6_MIN; i <= COLOR_G6_MAX; i++) {
+                g_gi_lut[-i] = g_gi_lut[i] = gaussian(i * g_max_color, color_sigma);
+            }
+
+            int n = (ksize * 2) + 1;
+            float *gs_lut = fb_alloc(n * n * sizeof(float), FB_ALLOC_NO_HINT);
+
+            float max_space = IM_DIV(1.0f, distance(ksize, ksize));
+            for (int y = -ksize; y <= ksize; y++) {
+                for (int x = -ksize; x <= ksize; x++) {
+                    gs_lut[(n * (y + ksize)) + (x + ksize)] = gaussian(distance(x, y) * max_space, space_sigma);
+                }
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *buf_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int this_pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x);
+                    int r_this_pixel = COLOR_RGB565_TO_R5(this_pixel);
+                    int g_this_pixel = COLOR_RGB565_TO_G6(this_pixel);
+                    int b_this_pixel = COLOR_RGB565_TO_B5(this_pixel);
+                    float r_i_acc = 0, r_w_acc = 0;
+                    float g_i_acc = 0, g_w_acc = 0;
+                    float b_i_acc = 0, b_w_acc = 0;
+                    int ptr = 0;
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,x+k);
+                                int r_pixel = COLOR_RGB565_TO_R5(pixel);
+                                int g_pixel = COLOR_RGB565_TO_G6(pixel);
+                                int b_pixel = COLOR_RGB565_TO_B5(pixel);
+                                float gs = gs_lut[ptr++];
+                                float r_w = rb_gi_lut[(r_this_pixel - r_pixel)] * gs;
+                                float g_w = g_gi_lut[(g_this_pixel - g_pixel)] * gs;
+                                float b_w = rb_gi_lut[(b_this_pixel - b_pixel)] * gs;
+                                r_i_acc += r_pixel * r_w;
+                                r_w_acc += r_w;
+                                g_i_acc += g_pixel * g_w;
+                                g_w_acc += g_w;
+                                b_i_acc += b_pixel * b_w;
+                                b_w_acc += b_w;
+                            }
+                        }
+                    } else { // check boundary conditions
+                        for (int j = -ksize; j <= ksize; j++) {
+                            uint16_t *k_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                int r_pixel = COLOR_RGB565_TO_R5(pixel);
+                                int g_pixel = COLOR_RGB565_TO_G6(pixel);
+                                int b_pixel = COLOR_RGB565_TO_B5(pixel);
+                                float gs = gs_lut[ptr++];
+                                float r_w = rb_gi_lut[(r_this_pixel - r_pixel)] * gs;
+                                float g_w = g_gi_lut[(g_this_pixel - g_pixel)] * gs;
+                                float b_w = rb_gi_lut[(b_this_pixel - b_pixel)] * gs;
+                                r_i_acc += r_pixel * r_w;
+                                r_w_acc += r_w;
+                                g_i_acc += g_pixel * g_w;
+                                g_w_acc += g_w;
+                                b_i_acc += b_pixel * b_w;
+                                b_w_acc += b_w;
+                            }
+                        }
+                    }
+
+                    int pixel = COLOR_R5_G6_B5_TO_RGB565(fast_floorf(IM_MIN(IM_DIV(r_i_acc, r_w_acc), COLOR_R5_MAX)),
+                                                         fast_floorf(IM_MIN(IM_DIV(g_i_acc, g_w_acc), COLOR_G6_MAX)),
+                                                         fast_floorf(IM_MIN(IM_DIV(b_i_acc, b_w_acc), COLOR_B5_MAX)));
+
+                    if (threshold) {
+                        if (((COLOR_RGB565_TO_Y(pixel) - offset) < COLOR_RGB565_TO_Y(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB565_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB565_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB565_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB565_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB565_LINE_LEN_BYTES(img));
+            }
+            fb_free(gs_lut);
+            fb_free(g_gi_ptr);
+            fb_free(rb_gi_ptr);
+            fb_free(buf.data);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            buf.data = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img) * brows, FB_ALLOC_NO_HINT);
+            float *r_gi_ptr = fb_alloc((COLOR_R8_MAX - COLOR_R8_MIN + 1) * sizeof(float) *3, FB_ALLOC_NO_HINT);
+            float *g_gi_ptr = fb_alloc((COLOR_G8_MAX - COLOR_G8_MIN + 1) * sizeof(float) *3, FB_ALLOC_NO_HINT);
+            float *b_gi_ptr = fb_alloc((COLOR_B8_MAX - COLOR_B8_MIN + 1) * sizeof(float) *3, FB_ALLOC_NO_HINT);
+            float *r_gi_lut = &r_gi_ptr[256]; // center
+            float *g_gi_lut = &g_gi_ptr[256];
+            float *b_gi_lut = &b_gi_ptr[256]; // center
+
+            float r_max_color = IM_DIV(1.0f, COLOR_R8_MAX - COLOR_R8_MIN);
+            for (int i = COLOR_R8_MIN; i <= COLOR_R8_MAX; i++) {
+                r_gi_lut[-i] = r_gi_lut[i] = gaussian(i * r_max_color, color_sigma);
+            }
+
+            float g_max_color = IM_DIV(1.0f, COLOR_G8_MAX - COLOR_G8_MIN);
+            for (int i = COLOR_G8_MIN; i <= COLOR_G8_MAX; i++) {
+                g_gi_lut[-i] = g_gi_lut[i] = gaussian(i * g_max_color, color_sigma);
+            }
+
+            float b_max_color = IM_DIV(1.0f, COLOR_B8_MAX - COLOR_B8_MIN);
+            for (int i = COLOR_B8_MIN; i <= COLOR_B8_MAX; i++) {
+                b_gi_lut[-i] = b_gi_lut[i] = gaussian(i * b_max_color, color_sigma);
+            }
+
+            int n = (ksize * 2) + 1;
+            float *gs_lut = fb_alloc(n * n * sizeof(float), FB_ALLOC_NO_HINT);
+
+            float max_space = IM_DIV(1.0f, distance(ksize, ksize));
+            for (int y = -ksize; y <= ksize; y++) {
+                for (int x = -ksize; x <= ksize; x++) {
+                    gs_lut[(n * (y + ksize)) + (x + ksize)] = gaussian(distance(x, y) * max_space, space_sigma);
+                }
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *buf_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows));
+
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (mask && (!image_get_mask_pixel(mask, x, y))) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                        continue; // Short circuit.
+                    }
+
+                    int this_pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x);
+                    int r_this_pixel = COLOR_RGB888_TO_R8(this_pixel);
+                    int g_this_pixel = COLOR_RGB888_TO_G8(this_pixel);
+                    int b_this_pixel = COLOR_RGB888_TO_B8(this_pixel);
+                    float r_i_acc = 0, r_w_acc = 0;
+                    float g_i_acc = 0, g_w_acc = 0;
+                    float b_i_acc = 0, b_w_acc = 0;
+                    int ptr = 0;
+                    if (x >= ksize && x < img->w-ksize && y >= ksize && y < img->h-ksize) {
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,y+j);
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,x+k);
+                                int r_pixel = COLOR_RGB888_TO_R8(pixel);
+                                int g_pixel = COLOR_RGB888_TO_G8(pixel);
+                                int b_pixel = COLOR_RGB888_TO_B8(pixel);
+                                float gs = gs_lut[ptr++];
+                                float r_w = r_gi_lut[(r_this_pixel - r_pixel)] * gs;
+                                float g_w = g_gi_lut[(g_this_pixel - g_pixel)] * gs;
+                                float b_w = r_gi_lut[(b_this_pixel - b_pixel)] * gs;
+                                r_i_acc += r_pixel * r_w;
+                                r_w_acc += r_w;
+                                g_i_acc += g_pixel * g_w;
+                                g_w_acc += g_w;
+                                b_i_acc += b_pixel * b_w;
+                                b_w_acc += b_w;
+                            }
+                        }
+                    } else { // check boundary conditions
+                        for (int j = -ksize; j <= ksize; j++) {
+                            pixel24_t *k_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img,
+                                IM_MIN(IM_MAX(y + j, 0), (img->h - 1)));
+
+                            for (int k = -ksize; k <= ksize; k++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(k_row_ptr,
+                                    IM_MIN(IM_MAX(x + k, 0), (img->w - 1)));
+                                int r_pixel = COLOR_RGB888_TO_R8(pixel);
+                                int g_pixel = COLOR_RGB888_TO_G8(pixel);
+                                int b_pixel = COLOR_RGB888_TO_B8(pixel);
+                                float gs = gs_lut[ptr++];
+                                float r_w = r_gi_lut[(r_this_pixel - r_pixel)] * gs;
+                                float g_w = g_gi_lut[(g_this_pixel - g_pixel)] * gs;
+                                float b_w = r_gi_lut[(b_this_pixel - b_pixel)] * gs;
+                                r_i_acc += r_pixel * r_w;
+                                r_w_acc += r_w;
+                                g_i_acc += g_pixel * g_w;
+                                g_w_acc += g_w;
+                                b_i_acc += b_pixel * b_w;
+                                b_w_acc += b_w;
+                            }
+                        }
+                    }
+
+                    int pixel = COLOR_R8_G8_B8_TO_RGB888(fast_floorf(IM_MIN(IM_DIV(r_i_acc, r_w_acc), COLOR_R5_MAX)),
+                                                         fast_floorf(IM_MIN(IM_DIV(g_i_acc, g_w_acc), COLOR_G6_MAX)),
+                                                         fast_floorf(IM_MIN(IM_DIV(b_i_acc, b_w_acc), COLOR_B5_MAX)));
+
+                    if (threshold) {
+                        if (((COLOR_RGB888_TO_Y(pixel) - offset) < COLOR_RGB888_TO_Y(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x))) ^ invert) {
+                            pixel = COLOR_RGB888_BINARY_MAX;
+                        } else {
+                            pixel = COLOR_RGB888_BINARY_MIN;
+                        }
+                    }
+
+                    IMAGE_PUT_RGB888_PIXEL_FAST(buf_row_ptr, x, pixel);
+                }
+
+                if (y >= ksize) { // Transfer buffer lines...
+                    memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, (y - ksize)),
+                           IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, ((y - ksize) % brows)),
+                           IMAGE_RGB888_LINE_LEN_BYTES(img));
+                }
+            }
+
+            // Copy any remaining lines from the buffer image...
+            for (int y = IM_MAX(img->h - ksize, 0), yy = img->h; y < yy; y++) {
+                memcpy(IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y),
+                       IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(&buf, (y % brows)),
+                       IMAGE_RGB888_LINE_LEN_BYTES(img));
+            }
+            fb_free(gs_lut);
+            fb_free(b_gi_ptr);
+            fb_free(g_gi_ptr);
+            fb_free(r_gi_ptr);
+            fb_free(buf.data);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+#endif // IMLIB_ENABLE_BILATERAL
+
+#ifdef IMLIB_ENABLE_CARTOON
+typedef struct imlib_cartoon_filter_mean_state {
+    int r_acc, g_acc, b_acc, pixels;
+} imlib_cartoon_filter_mean_state_t;
+
+static void imlib_cartoon_filter_mean(image_t *img, int line, int l, int r, void *data)
+{
+    imlib_cartoon_filter_mean_state_t *state = (imlib_cartoon_filter_mean_state_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                state->g_acc += IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, i);
+                state->pixels += 1;
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                state->g_acc += IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, i);
+                state->pixels += 1;
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, i);
+                state->r_acc += COLOR_RGB565_TO_R5(pixel);
+                state->g_acc += COLOR_RGB565_TO_G6(pixel);
+                state->b_acc += COLOR_RGB565_TO_B5(pixel);
+                state->pixels += 1;
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, i);
+                state->r_acc += COLOR_RGB888_TO_R8(pixel);
+                state->g_acc += COLOR_RGB888_TO_G8(pixel);
+                state->b_acc += COLOR_RGB888_TO_B8(pixel);
+                state->pixels += 1;
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+typedef struct imlib_cartoon_filter_fill_state {
+    int mean;
+} imlib_cartoon_filter_fill_state_t;
+
+static void imlib_cartoon_filter_fill(image_t *img, int line, int l, int r, void *data)
+{
+    imlib_cartoon_filter_fill_state_t *state = (imlib_cartoon_filter_fill_state_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, i, state->mean);
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, i, state->mean);
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, i, state->mean);
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = l; i <= r; i++) {
+                IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, i, state->mean);
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_cartoon_filter(image_t *img, float seed_threshold, float floating_threshold, image_t *mask)
+{
+    image_t mean_image, fill_image;
+
+    mean_image.w = img->w;
+    mean_image.h = img->h;
+    mean_image.pixfmt = PIXFORMAT_BINARY;
+    mean_image.pixels = fb_alloc0(image_size(&mean_image), FB_ALLOC_NO_HINT);
+
+    fill_image.w = img->w;
+    fill_image.h = img->h;
+    fill_image.pixfmt = PIXFORMAT_BINARY;
+    fill_image.pixels = fb_alloc0(image_size(&fill_image), FB_ALLOC_NO_HINT);
+
+    if (mask) {
+        for (int y = 0, yy = fill_image.h; y < yy; y++) {
+            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&fill_image, y);
+            for (int x = 0, xx = fill_image.w; x < xx; x++) {
+                if (image_get_mask_pixel(mask, x, y)) IMAGE_SET_BINARY_PIXEL_FAST(row_ptr, x);
+            }
+        }
+    }
+
+    int color_seed_threshold = 0;
+    int color_floating_threshold = 0;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            color_seed_threshold = fast_floorf(seed_threshold * COLOR_BINARY_MAX);
+            color_floating_threshold = fast_floorf(floating_threshold * COLOR_BINARY_MAX);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            color_seed_threshold = fast_floorf(seed_threshold * COLOR_GRAYSCALE_MAX);
+            color_floating_threshold = fast_floorf(floating_threshold * COLOR_GRAYSCALE_MAX);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            color_seed_threshold = COLOR_R5_G6_B5_TO_RGB565(fast_floorf(seed_threshold * COLOR_R5_MAX),
+                                                            fast_floorf(seed_threshold * COLOR_G6_MAX),
+                                                            fast_floorf(seed_threshold * COLOR_B5_MAX));
+            color_floating_threshold = COLOR_R5_G6_B5_TO_RGB565(fast_floorf(floating_threshold * COLOR_R5_MAX),
+                                                                fast_floorf(floating_threshold * COLOR_G6_MAX),
+                                                                fast_floorf(floating_threshold * COLOR_B5_MAX));
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            color_seed_threshold = COLOR_R8_G8_B8_TO_RGB888(fast_floorf(seed_threshold * COLOR_R8_MAX),
+                                                            fast_floorf(seed_threshold * COLOR_G8_MAX),
+                                                            fast_floorf(seed_threshold * COLOR_B8_MAX));
+            color_floating_threshold = COLOR_R8_G8_B8_TO_RGB888(fast_floorf(floating_threshold * COLOR_R8_MAX),
+                                                                fast_floorf(floating_threshold * COLOR_G8_MAX),
+                                                                fast_floorf(floating_threshold * COLOR_B8_MAX));
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    for (int y = 0, yy = img->h; y < yy; y++) {
+        uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&mean_image, y);
+        for (int x = 0, xx = img->w; x < xx; x++) {
+            if (!IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x)) {
+
+                imlib_cartoon_filter_mean_state_t mean_state;
+                memset(&mean_state, 0, sizeof(imlib_cartoon_filter_mean_state_t));
+                imlib_flood_fill_int(&mean_image, img, x, y, color_seed_threshold, color_floating_threshold,
+                                     imlib_cartoon_filter_mean, &mean_state);
+
+                imlib_cartoon_filter_fill_state_t fill_state;
+                memset(&fill_state, 0, sizeof(imlib_cartoon_filter_fill_state_t));
+
+                switch (img->pixfmt) {
+                    case PIXFORMAT_BINARY: {
+                        fill_state.mean = mean_state.g_acc / mean_state.pixels;
+                        break;
+                    }
+                    case PIXFORMAT_GRAYSCALE: {
+                        fill_state.mean = mean_state.g_acc / mean_state.pixels;
+                        break;
+                    }
+                    case PIXFORMAT_RGB565: {
+                        fill_state.mean = COLOR_R5_G6_B5_TO_RGB565(mean_state.r_acc / mean_state.pixels,
+                                                                   mean_state.g_acc / mean_state.pixels,
+                                                                   mean_state.b_acc / mean_state.pixels);
+                        break;
+                    }
+                    case PIXFORMAT_RGB888: {
+                        fill_state.mean = COLOR_R8_G8_B8_TO_RGB888(mean_state.r_acc / mean_state.pixels,
+                                                                   mean_state.g_acc / mean_state.pixels,
+                                                                   mean_state.b_acc / mean_state.pixels);
+                        break;
+                    }
+                    default: {
+                        break;
+                    }
+                }
+
+                imlib_flood_fill_int(&fill_image, img, x, y, color_seed_threshold, color_floating_threshold,
+                                     imlib_cartoon_filter_fill, &fill_state);
+            }
+        }
+    }
+
+    fb_free(fill_image.pixels);
+    fb_free(mean_image.pixels);
+}
+#endif // IMLIB_ENABLE_CARTOON
diff --git a/github_source/minicv2/src/fmath.c b/github_source/minicv2/src/fmath.c
new file mode 100644
index 0000000..63ea274
--- /dev/null
+++ b/github_source/minicv2/src/fmath.c
@@ -0,0 +1,266 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Fast approximate math functions.
+ */
+#include "fmath.h"
+#include "common.h"
+
+#ifndef M_PI
+#define M_PI    3.14159265f
+#define M_PI_2  1.57079632f
+#define M_PI_4  0.78539816f
+#endif
+
+const float __atanf_lut[4] = {
+    -0.0443265554792128f,    //p7
+    -0.3258083974640975f,    //p3
+    +0.1555786518463281f,    //p5
+    +0.9997878412794807f     //p1
+};
+#ifdef __ARM_ARCH
+#undef __ARM_ARCH
+#endif
+#if (__ARM_ARCH < 7)
+float OMV_ATTR_ALWAYS_INLINE fast_sqrtf(float x)
+{
+    return sqrtf(x);
+}
+
+int OMV_ATTR_ALWAYS_INLINE fast_floorf(float x)
+{
+    return (int)floorf(x);
+}
+
+int OMV_ATTR_ALWAYS_INLINE fast_ceilf(float x)
+{
+    return (int)ceilf(x);
+}
+
+int OMV_ATTR_ALWAYS_INLINE fast_roundf(float x)
+{
+    return (int)roundf(x);
+}
+
+float OMV_ATTR_ALWAYS_INLINE fast_fabsf(float x)
+{
+    return fabsf(x);
+}
+#else
+float OMV_ATTR_ALWAYS_INLINE fast_sqrtf(float x)
+{
+    asm volatile (
+            "vsqrt.f32  %[r], %[x]\n"
+            : [r] "=t" (x)
+            : [x] "t"  (x));
+    return x;
+}
+
+int OMV_ATTR_ALWAYS_INLINE fast_floorf(float x)
+{
+    int i;
+    asm volatile (
+            "vcvt.S32.f32  %[r], %[x]\n"
+            : [r] "=t" (i)
+            : [x] "t"  (x));
+    return i;
+}
+
+int OMV_ATTR_ALWAYS_INLINE fast_ceilf(float x)
+{
+    int i;
+    x += 0.9999f;
+    asm volatile (
+            "vcvt.S32.f32  %[r], %[x]\n"
+            : [r] "=t" (i)
+            : [x] "t"  (x));
+    return i;
+}
+
+int OMV_ATTR_ALWAYS_INLINE fast_roundf(float x)
+{
+    int i;
+    asm volatile (
+            "vcvtr.s32.f32  %[r], %[x]\n"
+            : [r] "=t" (i)
+            : [x] "t"  (x));
+    return i;
+}
+
+float OMV_ATTR_ALWAYS_INLINE fast_fabsf(float x)
+{
+    asm volatile (
+            "vabs.f32  %[r], %[x]\n"
+            : [r] "=t" (x)
+            : [x] "t"  (x));
+    return x;
+}
+
+#endif
+
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wstrict-aliasing"
+typedef union{
+    uint32_t l;
+    struct {
+        uint32_t m : 20;
+        uint32_t e : 11;
+        uint32_t s : 1;
+    };
+}exp_t;
+
+float fast_expf(float x)
+{
+    exp_t e;
+    e.l = (uint32_t)(1512775 * x + 1072632447);
+    // IEEE binary32 format
+    e.e = (e.e -1023 + 127) &0xFF; // rebase
+
+    uint32_t packed = (e.s << 31) | (e.e << 23) | e.m <<3;
+    return *((float*)&packed);
+}
+#pragma GCC diagnostic pop
+
+/*
+ * From Hackers Delight:
+ * This is a very approximate but very fast version of acbrt. It is just eight
+ * integer instructions (shift rights and adds), plus instructions to load the constant.
+ * 1/3 is approximated as 1/4 + 1/16 + 1/64 + 1/256 + ... + 1/65536.
+ * The constant 0x2a511cd0 balances the relative error at +-0.0321.
+ */
+float fast_cbrtf(float x)
+{
+   union {int ix; float x;} v;
+   v.x = x;                // x can be viewed as int.
+   v.ix = v.ix/4 + v.ix/16; // Approximate divide by 3.
+   v.ix = v.ix + v.ix/16;
+   v.ix = v.ix + v.ix/256;
+   v.ix = 0x2a511cd0 + v.ix;  // Initial guess.
+   return v.x;
+}
+
+inline float fast_atanf(float xx)
+{
+    float x, y, z;
+    int sign;
+
+    x = xx;
+
+    /* make argument positive and save the sign */
+    if( xx < 0.0f )
+    {
+        sign = -1;
+        x = -xx;
+    }
+    else
+    {
+        sign = 1;
+        x = xx;
+    }
+    /* range reduction */
+    if( x > 2.414213562373095f )  /* tan 3pi/8 */
+    {
+        y = M_PI_2;
+        x = -( 1.0f/x );
+    }
+
+    else if( x > 0.4142135623730950f ) /* tan pi/8 */
+    {
+        y = M_PI_4;
+        x = (x-1.0f)/(x+1.0f);
+    }
+    else
+        y = 0.0f;
+
+    z = x * x;
+    y +=
+        ((( 8.05374449538e-2f  * z
+          - 1.38776856032E-1f) * z
+          + 1.99777106478E-1f) * z
+          - 3.33329491539E-1f) * z * x + x;
+
+    if( sign < 0 )
+        y = -y;
+
+    return( y );
+}
+
+float fast_atan2f(float y, float x)
+{
+  if(x > 0 && y >= 0)
+    return fast_atanf(y/x);
+
+  if(x < 0 && y >= 0)
+    return M_PI - fast_atanf(-y/x);
+
+  if(x < 0 && y < 0)
+    return M_PI + fast_atanf(y/x);
+
+  if(x > 0 && y < 0)
+    return 2*M_PI - fast_atanf(-y/x);
+
+  return (y == 0) ? 0 : ((y > 0) ? M_PI : -M_PI);
+}
+
+float fast_log2(float x)
+{
+  union { float f; uint32_t i; } vx = { x };
+  union { uint32_t i; float f; } mx = { (vx.i & 0x007FFFFF) | 0x3f000000 };
+  float y = vx.i;
+  y *= 1.1920928955078125e-7f;
+
+  return y - 124.22551499f - 1.498030302f * mx.f
+           - 1.72587999f / (0.3520887068f + mx.f);
+}
+
+float fast_log(float x)
+{
+  return 0.69314718f * fast_log2 (x);
+}
+
+float fast_powf(float a, float b)
+{
+    union { float d; int x; } u = { a };
+    u.x = (int)((b * (u.x - 1064866805)) + 1064866805);
+    return u.d;
+}
+
+void fast_get_min_max(float *data, size_t data_len, float *p_min, float *p_max)
+{
+    float min = FLT_MAX, max = -FLT_MAX;
+
+    for (size_t i = 0; i < data_len; i++) {
+        float temp = data[i];
+
+        if (temp < min) {
+            min = temp;
+        }
+
+        if (temp > max) {
+            max = temp;
+        }
+    }
+
+    *p_min = min;
+    *p_max = max;
+}
+
+#include <stdlib.h>
+#include <time.h>
+
+void fmath_init()
+{
+    srand((unsigned int)time(0));
+}
+
+uint32_t rng_randint(uint32_t min, uint32_t max)
+{
+    uint32_t tmp = max - min;
+    tmp = rand() % tmp + min;
+    return tmp;
+}
diff --git a/github_source/minicv2/src/font.c b/github_source/minicv2/src/font.c
new file mode 100644
index 0000000..359ef36
--- /dev/null
+++ b/github_source/minicv2/src/font.c
@@ -0,0 +1,1077 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Font data.
+ *
+ * Size: 8 Style: Normal
+ * Included characters:
+ *  !"#$%&'()*+,-./0123456789:;<=>?\x0040ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~
+ * Antialiasing: yes
+ * Type: monospaced
+ * Encoding: ASMO-708
+ * Unicode bom: no
+ *
+ * Preset name: Monochrome
+ * Data block size: 8 bit(s), uint8_t
+ * RLE compression enabled: no
+ * Conversion type: Monochrome, Diffuse Dither 128
+ * Bits per pixel: 1
+ *
+ * Preprocess:
+ *  main scan direction: top_to_bottom
+ *  line scan direction: forward
+ *  inverse: yes
+ */
+#include "font.h"
+const glyph_t font[95] = {
+  // character: ' '
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '!'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x10,
+  0x00,
+  0x00}},
+  // character: '"'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x18,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '#'
+  {8, 10, {0x00,
+  0x00,
+  0x24,
+  0x7c,
+  0x24,
+  0x48,
+  0x7c,
+  0x48,
+  0x00,
+  0x00}},
+  // character: '$'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x1c,
+  0x20,
+  0x18,
+  0x04,
+  0x38,
+  0x08,
+  0x00}},
+  // character: '%'
+  {8, 10, {0x00,
+  0x00,
+  0x24,
+  0x58,
+  0x28,
+  0x14,
+  0x1a,
+  0x24,
+  0x00,
+  0x00}},
+  // character: '&'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x28,
+  0x30,
+  0x34,
+  0x2c,
+  0x1c,
+  0x00,
+  0x00}},
+  // character: '''
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x10,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '('
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x08,
+  0x00}},
+  // character: ')'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x20,
+  0x00}},
+  // character: '*'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x38,
+  0x28,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '+'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x10,
+  0x10,
+  0x7c,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: ','
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x10,
+  0x20,
+  0x00}},
+  // character: '-'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x18,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '.'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x10,
+  0x00,
+  0x00}},
+  // character: '/'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x08,
+  0x10,
+  0x10,
+  0x10,
+  0x20,
+  0x20,
+  0x00}},
+  // character: '0'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x24,
+  0x24,
+  0x24,
+  0x24,
+  0x18,
+  0x00,
+  0x00}},
+  // character: '1'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x18,
+  0x08,
+  0x08,
+  0x08,
+  0x08,
+  0x00,
+  0x00}},
+  // character: '2'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x24,
+  0x04,
+  0x08,
+  0x10,
+  0x3c,
+  0x00,
+  0x00}},
+  // character: '3'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x04,
+  0x18,
+  0x04,
+  0x04,
+  0x38,
+  0x00,
+  0x00}},
+  // character: '4'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x18,
+  0x28,
+  0x3c,
+  0x08,
+  0x08,
+  0x00,
+  0x00}},
+  // character: '5'
+  {8, 10, {0x00,
+  0x00,
+  0x1c,
+  0x10,
+  0x18,
+  0x04,
+  0x04,
+  0x18,
+  0x00,
+  0x00}},
+  // character: '6'
+  {8, 10, {0x00,
+  0x00,
+  0x0c,
+  0x10,
+  0x38,
+  0x24,
+  0x24,
+  0x18,
+  0x00,
+  0x00}},
+  // character: '7'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x08,
+  0x08,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: '8'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x24,
+  0x18,
+  0x24,
+  0x24,
+  0x18,
+  0x00,
+  0x00}},
+  // character: '9'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x24,
+  0x24,
+  0x3c,
+  0x08,
+  0x30,
+  0x00,
+  0x00}},
+  // character: ':'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x10,
+  0x00,
+  0x00,
+  0x10,
+  0x00,
+  0x00}},
+  // character: ';'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x10,
+  0x00,
+  0x00,
+  0x10,
+  0x20,
+  0x00}},
+  // character: '<'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x38,
+  0x40,
+  0x38,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '='
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x3c,
+  0x00,
+  0x3c,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '>'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x30,
+  0x08,
+  0x30,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '?'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x08,
+  0x08,
+  0x10,
+  0x00,
+  0x10,
+  0x00,
+  0x00}},
+  // character: '\x0040'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x44,
+  0x9a,
+  0xaa,
+  0xaa,
+  0xb4,
+  0x40,
+  0x38}},
+  // character: 'A'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x28,
+  0x28,
+  0x28,
+  0x7c,
+  0x44,
+  0x00,
+  0x00}},
+  // character: 'B'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x24,
+  0x38,
+  0x24,
+  0x24,
+  0x38,
+  0x00,
+  0x00}},
+  // character: 'C'
+  {8, 10, {0x00,
+  0x00,
+  0x1c,
+  0x20,
+  0x20,
+  0x20,
+  0x20,
+  0x1c,
+  0x00,
+  0x00}},
+  // character: 'D'
+  {8, 10, {0x00,
+  0x00,
+  0x78,
+  0x44,
+  0x44,
+  0x44,
+  0x44,
+  0x78,
+  0x00,
+  0x00}},
+  // character: 'E'
+  {8, 10, {0x00,
+  0x00,
+  0x3c,
+  0x20,
+  0x38,
+  0x20,
+  0x20,
+  0x3c,
+  0x00,
+  0x00}},
+  // character: 'F'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x20,
+  0x30,
+  0x20,
+  0x20,
+  0x20,
+  0x00,
+  0x00}},
+  // character: 'G'
+  {8, 10, {0x00,
+  0x00,
+  0x1c,
+  0x20,
+  0x20,
+  0x24,
+  0x24,
+  0x1c,
+  0x00,
+  0x00}},
+  // character: 'H'
+  {8, 10, {0x00,
+  0x00,
+  0x44,
+  0x44,
+  0x7c,
+  0x44,
+  0x44,
+  0x44,
+  0x00,
+  0x00}},
+  // character: 'I'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'J'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x08,
+  0x08,
+  0x08,
+  0x08,
+  0x30,
+  0x00,
+  0x00}},
+  // character: 'K'
+  {8, 10, {0x00,
+  0x00,
+  0x24,
+  0x28,
+  0x30,
+  0x30,
+  0x28,
+  0x24,
+  0x00,
+  0x00}},
+  // character: 'L'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x20,
+  0x20,
+  0x20,
+  0x20,
+  0x38,
+  0x00,
+  0x00}},
+  // character: 'M'
+  {8, 10, {0x00,
+  0x00,
+  0x44,
+  0x6c,
+  0x6c,
+  0x54,
+  0x54,
+  0x44,
+  0x00,
+  0x00}},
+  // character: 'N'
+  {8, 10, {0x00,
+  0x00,
+  0x42,
+  0x62,
+  0x52,
+  0x4a,
+  0x46,
+  0x42,
+  0x00,
+  0x00}},
+  // character: 'O'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x44,
+  0x44,
+  0x44,
+  0x44,
+  0x38,
+  0x00,
+  0x00}},
+  // character: 'P'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x24,
+  0x24,
+  0x38,
+  0x20,
+  0x20,
+  0x00,
+  0x00}},
+  // character: 'Q'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x44,
+  0x44,
+  0x44,
+  0x44,
+  0x38,
+  0x10,
+  0x08}},
+  // character: 'R'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x24,
+  0x24,
+  0x38,
+  0x28,
+  0x24,
+  0x00,
+  0x00}},
+  // character: 'S'
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x20,
+  0x20,
+  0x18,
+  0x08,
+  0x30,
+  0x00,
+  0x00}},
+  // character: 'T'
+  {8, 10, {0x00,
+  0x00,
+  0x38,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'U'
+  {8, 10, {0x00,
+  0x00,
+  0x44,
+  0x44,
+  0x44,
+  0x44,
+  0x44,
+  0x38,
+  0x00,
+  0x00}},
+  // character: 'V'
+  {8, 10, {0x00,
+  0x00,
+  0x44,
+  0x44,
+  0x28,
+  0x28,
+  0x28,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'W'
+  {8, 10, {0x00,
+  0x00,
+  0x82,
+  0x92,
+  0xaa,
+  0xaa,
+  0xaa,
+  0x44,
+  0x00,
+  0x00}},
+  // character: 'X'
+  {8, 10, {0x00,
+  0x00,
+  0x44,
+  0x28,
+  0x10,
+  0x10,
+  0x28,
+  0x44,
+  0x00,
+  0x00}},
+  // character: 'Y'
+  {8, 10, {0x00,
+  0x00,
+  0x44,
+  0x28,
+  0x28,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'Z'
+  {8, 10, {0x00,
+  0x00,
+  0x3c,
+  0x04,
+  0x08,
+  0x10,
+  0x20,
+  0x3c,
+  0x00,
+  0x00}},
+  // character: '['
+  {8, 10, {0x00,
+  0x00,
+  0x18,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x18,
+  0x00}},
+  // character: '\'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x20,
+  0x10,
+  0x10,
+  0x10,
+  0x08,
+  0x08,
+  0x00}},
+  // character: ']'
+  {8, 10, {0x00,
+  0x00,
+  0x30,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x30,
+  0x00}},
+  // character: '^'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x28,
+  0x28,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: '_'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x78,
+  0x00}},
+  // character: '`'
+  {8, 10, {0x00,
+  0x10,
+  0x08,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00}},
+  // character: 'a'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x30,
+  0x08,
+  0x18,
+  0x38,
+  0x00,
+  0x00}},
+  // character: 'b'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x20,
+  0x38,
+  0x24,
+  0x24,
+  0x38,
+  0x00,
+  0x00}},
+  // character: 'c'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x18,
+  0x20,
+  0x20,
+  0x18,
+  0x00,
+  0x00}},
+  // character: 'd'
+  {8, 10, {0x00,
+  0x00,
+  0x04,
+  0x04,
+  0x1c,
+  0x24,
+  0x24,
+  0x1c,
+  0x00,
+  0x00}},
+  // character: 'e'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x38,
+  0x38,
+  0x20,
+  0x18,
+  0x00,
+  0x00}},
+  // character: 'f'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x10,
+  0x18,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'g'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x1c,
+  0x24,
+  0x1c,
+  0x04,
+  0x38,
+  0x00}},
+  // character: 'h'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x20,
+  0x38,
+  0x24,
+  0x24,
+  0x24,
+  0x00,
+  0x00}},
+  // character: 'i'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x00,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'j'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x00,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x20,
+  0x00}},
+  // character: 'k'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x20,
+  0x28,
+  0x30,
+  0x30,
+  0x28,
+  0x00,
+  0x00}},
+  // character: 'l'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x08,
+  0x00,
+  0x00}},
+  // character: 'm'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0xec,
+  0x92,
+  0x92,
+  0x92,
+  0x00,
+  0x00}},
+  // character: 'n'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x38,
+  0x24,
+  0x24,
+  0x24,
+  0x00,
+  0x00}},
+  // character: 'o'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x18,
+  0x24,
+  0x24,
+  0x18,
+  0x00,
+  0x00}},
+  // character: 'p'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x38,
+  0x24,
+  0x24,
+  0x38,
+  0x20,
+  0x00}},
+  // character: 'q'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x1c,
+  0x24,
+  0x24,
+  0x1c,
+  0x04,
+  0x00}},
+  // character: 'r'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x18,
+  0x10,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 's'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x18,
+  0x20,
+  0x18,
+  0x30,
+  0x00,
+  0x00}},
+  // character: 't'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x10,
+  0x18,
+  0x10,
+  0x10,
+  0x08,
+  0x00,
+  0x00}},
+  // character: 'u'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x24,
+  0x24,
+  0x24,
+  0x1c,
+  0x00,
+  0x00}},
+  // character: 'v'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x28,
+  0x28,
+  0x10,
+  0x10,
+  0x00,
+  0x00}},
+  // character: 'w'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x54,
+  0x54,
+  0x54,
+  0x28,
+  0x00,
+  0x00}},
+  // character: 'x'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x28,
+  0x10,
+  0x10,
+  0x28,
+  0x00,
+  0x00}},
+  // character: 'y'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x28,
+  0x28,
+  0x10,
+  0x10,
+  0x20,
+  0x00}},
+  // character: 'z'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x18,
+  0x08,
+  0x10,
+  0x18,
+  0x00,
+  0x00}},
+  // character: '{'
+  {8, 10, {0x00,
+  0x00,
+  0x08,
+  0x10,
+  0x10,
+  0x20,
+  0x10,
+  0x10,
+  0x08,
+  0x00}},
+  // character: '|'
+  {8, 10, {0x00,
+  0x00,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x10,
+  0x00}},
+  // character: '}'
+  {8, 10, {0x00,
+  0x00,
+  0x20,
+  0x10,
+  0x10,
+  0x08,
+  0x10,
+  0x10,
+  0x20,
+  0x00}},
+  // character: '~'
+  {8, 10, {0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x00,
+  0x28,
+  0x50,
+  0x00,
+  0x00,
+  0x00}}
+};
diff --git a/github_source/minicv2/src/font_ttf.c b/github_source/minicv2/src/font_ttf.c
new file mode 100644
index 0000000..5e2eb15
--- /dev/null
+++ b/github_source/minicv2/src/font_ttf.c
@@ -0,0 +1,559 @@
+
+#include "font_ttf.h"
+/*
+ * Name Envy-Code-B-10pt-1.ttf (8 * 10)
+ * Included characters:
+ *  !"#$%&'()*+,-./0123456789:;<=>?\x0040ABCDEFGHIJKLMNOPQRSTUVWXYZ[\]^_`abcdefghijklmnopqrstuvwxyz{|}~
+ * Preprocess:
+ *  main scan direction: top_to_bottom
+ *  line scan direction: forward
+ */
+static uint8_t ascii[] = {
+	/* 0x20 [ ] */
+		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x21 [!] */
+		0x00,0x10,0x10,0x10,0x10,0x10,0x10,0x00,0x10,0x10,0x00,0x00,
+	/* 0x22 ["] */
+		0x00,0x48,0x48,0x48,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x23 [#] */
+		0x00,0x00,0x00,0x28,0x7C,0x28,0x28,0x7C,0x28,0x00,0x00,0x00,
+	/* 0x24 [$] */
+		0x00,0x10,0x3C,0x50,0x50,0x30,0x18,0x14,0x14,0x78,0x10,0x00,
+	/* 0x25 [%] */
+		0x00,0x00,0x30,0x49,0x32,0x04,0x08,0x10,0x26,0x49,0x06,0x00,
+	/* 0x26 [&] */
+        0x00,0x00,0x78,0x48,0x50,0x66,0xA4,0x94,0x88,0x76,0x00,0x00,
+	/* 0x27 ['] */
+		0x00,0x10,0x10,0x10,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x28 [(] */
+		0x08,0x10,0x10,0x20,0x20,0x20,0x20,0x20,0x20,0x10,0x10,0x08,
+	/* 0x29 [)] */
+		0x20,0x10,0x10,0x08,0x08,0x08,0x08,0x08,0x08,0x10,0x10,0x20,
+	/* 0x2A [*] */
+		0x00,0x10,0x54,0x38,0x54,0x10,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x2B [+] */
+		0x00,0x00,0x00,0x10,0x10,0x7C,0x10,0x10,0x00,0x00,0x00,0x00,
+	/* 0x2C [,] */
+		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x18,0x18,0x30,0x00,
+	/* 0x2D [-] */
+		0x00,0x00,0x00,0x00,0x00,0x7C,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x2E [.] */
+		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,
+	/* 0x2F [/] */
+		0x00,0x04,0x04,0x08,0x08,0x10,0x10,0x20,0x20,0x40,0x40,0x00,
+	/* 0x30 [0] */
+		0x00,0x38,0x44,0x44,0x4C,0x54,0x64,0x44,0x44,0x38,0x00,0x00,
+	/* 0x31 [1] */
+		0x00,0x10,0x30,0x10,0x10,0x10,0x10,0x10,0x10,0x38,0x00,0x00,
+	/* 0x32 [2] */
+		0x00,0x38,0x44,0x04,0x08,0x10,0x20,0x40,0x40,0x7C,0x00,0x00,
+	/* 0x33 [3] */
+		0x00,0x38,0x44,0x04,0x04,0x18,0x04,0x04,0x44,0x38,0x00,0x00,
+	/* 0x34 [4] */
+		0x00,0x08,0x18,0x28,0x28,0x48,0x48,0x7C,0x08,0x08,0x00,0x00,
+	/* 0x35 [5] */
+		0x00,0x7C,0x40,0x40,0x40,0x78,0x04,0x04,0x04,0x78,0x00,0x00,
+	/* 0x36 [6] */
+		0x00,0x08,0x10,0x20,0x40,0x78,0x44,0x44,0x44,0x38,0x00,0x00,
+	/* 0x37 [7] */
+		0x00,0x7C,0x04,0x04,0x08,0x08,0x10,0x10,0x20,0x20,0x00,0x00,
+	/* 0x38 [8] */
+		0x00,0x38,0x44,0x44,0x44,0x38,0x44,0x44,0x44,0x38,0x00,0x00,
+	/* 0x39 [9] */
+		0x00,0x38,0x44,0x44,0x44,0x38,0x08,0x10,0x20,0x40,0x00,0x00,
+	/* 0x3A [:] */
+		0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x30,0x30,0x00,0x00,
+	/* 0x3B [;] */
+		0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x30,0x30,0x60,0x00,
+	/* 0x3C [<] */
+		0x00,0x00,0x08,0x10,0x20,0x40,0x20,0x10,0x08,0x00,0x00,0x00,
+	/* 0x3D [=] */
+		0x00,0x00,0x00,0x00,0xFC,0x00,0xFC,0x00,0x00,0x00,0x00,0x00,
+	/* 0x3E [>] */
+		0x00,0x00,0x40,0x20,0x10,0x08,0x10,0x20,0x40,0x00,0x00,0x00,
+	/* 0x3F [?] */
+		0x00,0x38,0x44,0x44,0x04,0x08,0x10,0x00,0x10,0x10,0x00,0x00,
+	/* 0x40 [@] */
+		0x00,0x38,0x44,0x82,0x9A,0xAA,0xAA,0xAA,0xAA,0x9C,0x80,0x40,
+	/* 0x41 [A] */
+		0x00,0x38,0x44,0x44,0x44,0x7C,0x44,0x44,0x44,0x44,0x00,0x00,
+	/* 0x42 [B] */
+		0x00,0x78,0x44,0x44,0x44,0x78,0x44,0x44,0x44,0x78,0x00,0x00,
+	/* 0x43 [C] */
+		0x00,0x1C,0x20,0x40,0x40,0x40,0x40,0x40,0x20,0x1C,0x00,0x00,
+	/* 0x44 [D] */
+		0x00,0x70,0x48,0x44,0x44,0x44,0x44,0x44,0x48,0x70,0x00,0x00,
+	/* 0x45 [E] */
+		0x00,0x7C,0x40,0x40,0x40,0x78,0x40,0x40,0x40,0x7C,0x00,0x00,
+	/* 0x46 [F] */
+		0x00,0x7C,0x40,0x40,0x40,0x78,0x40,0x40,0x40,0x40,0x00,0x00,
+	/* 0x47 [G] */
+		0x00,0x1C,0x20,0x40,0x40,0x4C,0x44,0x44,0x24,0x1C,0x00,0x00,
+	/* 0x48 [H] */
+		0x00,0x44,0x44,0x44,0x44,0x7C,0x44,0x44,0x44,0x44,0x00,0x00,
+	/* 0x49 [I] */
+		0x00,0x7C,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x7C,0x00,0x00,
+	/* 0x4A [J] */
+		0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x44,0x38,0x00,0x00,
+	/* 0x4B [K] */
+		0x00,0x44,0x44,0x48,0x50,0x60,0x50,0x48,0x44,0x44,0x00,0x00,
+	/* 0x4C [L] */
+		0x00,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x7C,0x00,0x00,
+	/* 0x4D [M] */
+		0x00,0x44,0x44,0x6C,0x6C,0x54,0x54,0x44,0x44,0x44,0x00,0x00,
+	/* 0x4E [N] */
+		0x00,0x44,0x44,0x64,0x64,0x54,0x54,0x4C,0x4C,0x44,0x00,0x00,
+	/* 0x4F [O] */
+		0x00,0x38,0x44,0x44,0x44,0x44,0x44,0x44,0x44,0x38,0x00,0x00,
+	/* 0x50 [P] */
+		0x00,0x78,0x44,0x44,0x44,0x78,0x40,0x40,0x40,0x40,0x00,0x00,
+	/* 0x51 [Q] */
+		0x00,0x38,0x44,0x44,0x44,0x44,0x44,0x44,0x48,0x34,0x04,0x00,
+	/* 0x52 [R] */
+		0x00,0x78,0x44,0x44,0x44,0x78,0x50,0x48,0x44,0x44,0x00,0x00,
+	/* 0x53 [S] */
+		0x00,0x3C,0x40,0x40,0x20,0x10,0x08,0x04,0x04,0x78,0x00,0x00,
+	/* 0x54 [T] */
+		0x00,0x7C,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x00,0x00,
+	/* 0x55 [U] */
+		0x00,0x44,0x44,0x44,0x44,0x44,0x44,0x44,0x44,0x38,0x00,0x00,
+	/* 0x56 [V] */
+		0x00,0x44,0x44,0x44,0x44,0x28,0x28,0x28,0x10,0x10,0x00,0x00,
+	/* 0x57 [W] */
+		0x00,0x44,0x44,0x44,0x44,0x44,0x54,0x54,0x54,0x28,0x00,0x00,
+	/* 0x58 [X] */
+		0x00,0x44,0x44,0x28,0x28,0x10,0x28,0x28,0x44,0x44,0x00,0x00,
+	/* 0x59 [Y] */
+		0x00,0x44,0x44,0x44,0x28,0x28,0x10,0x10,0x10,0x10,0x00,0x00,
+	/* 0x5A [Z] */
+		0x00,0x7C,0x04,0x04,0x08,0x10,0x20,0x40,0x40,0x7C,0x00,0x00,
+	/* 0x5B [[] */
+		0x38,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x20,0x38,
+	/* 0x5C [\] */
+		0x00,0x40,0x40,0x20,0x20,0x10,0x10,0x08,0x08,0x04,0x04,0x00,
+	/* 0x5D []] */
+		0x38,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x38,
+	/* 0x5E [^] */
+		0x00,0x10,0x10,0x28,0x28,0x44,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x5F [_] */
+		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x7E,0x00,
+	/* 0x60 [`] */
+		0x00,0x30,0x18,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
+	/* 0x61 [a] */
+		0x00,0x00,0x00,0x38,0x04,0x04,0x3C,0x44,0x44,0x3C,0x00,0x00,
+	/* 0x62 [b] */
+		0x40,0x40,0x40,0x78,0x44,0x44,0x44,0x44,0x44,0x78,0x00,0x00,
+	/* 0x63 [c] */
+		0x00,0x00,0x00,0x1C,0x20,0x40,0x40,0x40,0x20,0x1C,0x00,0x00,
+	/* 0x64 [d] */
+		0x04,0x04,0x04,0x3C,0x44,0x44,0x44,0x44,0x44,0x3C,0x00,0x00,
+	/* 0x65 [e] */
+		0x00,0x00,0x00,0x38,0x44,0x44,0x7C,0x40,0x40,0x3C,0x00,0x00,
+	/* 0x66 [f] */
+		0x00,0x1C,0x20,0x20,0x78,0x20,0x20,0x20,0x20,0x20,0x00,0x00,
+	/* 0x67 [g] */
+		0x00,0x00,0x00,0x3C,0x44,0x44,0x44,0x44,0x3C,0x04,0x04,0x7C,
+	/* 0x68 [h] */
+		0x00,0x40,0x40,0x58,0x64,0x44,0x44,0x44,0x44,0x44,0x00,0x00,
+	/* 0x69 [i] */
+		0x00,0x10,0x00,0x30,0x10,0x10,0x10,0x10,0x10,0x10,0x00,0x00,
+	/* 0x6A [j] */
+		0x00,0x08,0x00,0x18,0x08,0x08,0x08,0x08,0x08,0x08,0x08,0x30,
+	/* 0x6B [k] */
+		0x00,0x40,0x40,0x44,0x48,0x50,0x60,0x50,0x48,0x44,0x00,0x00,
+	/* 0x6C [l] */
+		0x00,0x30,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x00,0x00,
+	/* 0x6D [m] */
+		0x00,0x00,0x00,0x68,0x54,0x54,0x54,0x54,0x54,0x54,0x00,0x00,
+	/* 0x6E [n] */
+		0x00,0x00,0x00,0x58,0x64,0x44,0x44,0x44,0x44,0x44,0x00,0x00,
+	/* 0x6F [o] */
+		0x00,0x00,0x00,0x38,0x44,0x44,0x44,0x44,0x44,0x38,0x00,0x00,
+	/* 0x70 [p] */
+		0x00,0x00,0x00,0x78,0x44,0x44,0x44,0x44,0x44,0x78,0x40,0x40,
+	/* 0x71 [q] */
+		0x00,0x00,0x00,0x3C,0x44,0x44,0x44,0x44,0x44,0x3C,0x04,0x04,
+	/* 0x72 [r] */
+		0x00,0x00,0x00,0x58,0x64,0x40,0x40,0x40,0x40,0x40,0x00,0x00,
+	/* 0x73 [s] */
+		0x00,0x00,0x00,0x3C,0x40,0x40,0x38,0x04,0x04,0x78,0x00,0x00,
+	/* 0x74 [t] */
+		0x00,0x20,0x20,0x78,0x20,0x20,0x20,0x20,0x20,0x1C,0x00,0x00,
+	/* 0x75 [u] */
+		0x00,0x00,0x00,0x44,0x44,0x44,0x44,0x44,0x4C,0x34,0x00,0x00,
+	/* 0x76 [v] */
+		0x00,0x00,0x00,0x44,0x44,0x44,0x28,0x28,0x10,0x10,0x00,0x00,
+	/* 0x77 [w] */
+		0x00,0x00,0x00,0x44,0x44,0x44,0x54,0x54,0x54,0x28,0x00,0x00,
+	/* 0x78 [x] */
+		0x00,0x00,0x00,0x44,0x44,0x28,0x10,0x28,0x44,0x44,0x00,0x00,
+	/* 0x79 [y] */
+		0x00,0x00,0x00,0x44,0x44,0x44,0x28,0x28,0x28,0x10,0x10,0x20,
+	/* 0x7A [z] */
+		0x00,0x00,0x00,0x7C,0x04,0x08,0x10,0x20,0x40,0x7C,0x00,0x00,
+	/* 0x7B [{] */
+		0x06,0x08,0x08,0x08,0x10,0x60,0x10,0x08,0x08,0x08,0x08,0x06,
+	/* 0x7C [|] */
+		0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,0x10,
+	/* 0x7D [}] */
+		0x60,0x10,0x10,0x10,0x08,0x06,0x08,0x10,0x10,0x10,0x10,0x60,
+	/* 0x7E [~] */
+		0x00,0x00,0x00,0x00,0x24,0x54,0x48,0x00,0x00,0x00,0x00,0x00,
+};
+
+struct font
+{
+  /* data */
+  uint8_t width;
+  uint8_t high;
+  uint8_t index;
+  uint8_t source;
+  void *this;
+} font_config = {
+  8, 12, ASCII, BuildIn, ascii
+};
+
+static inline void font_init(uint8_t width, uint8_t high, uint8_t index, uint8_t source_type, void *font_offset)
+{
+  struct font tmp = { width, high, index, source_type, font_offset};
+  font_config = tmp;
+}
+
+// #include "vfs_wrapper.h"
+// #include "nlr.h"
+
+void font_free()
+{
+  switch (font_config.index)
+  {
+    case UTF8:
+    case Unicode:
+        if (font_config.source == FileIn)
+        {
+            file_close(font_config.this);
+        }
+    case GBK:
+    case GB2312:
+    case ASCII:
+    default:
+      font_init(8, 12, ASCII, BuildIn, ascii);
+      break;
+  }
+}
+
+void font_load(uint8_t index, uint8_t width, uint8_t high, uint8_t source_type, void *src_addr)
+{
+
+    switch (index)
+    {
+    case UTF8:
+        if (src_addr == NULL)
+        {
+            font_init(8, 12, ASCII, BuildIn, ascii);
+            break;
+        }
+        font_init(width, high, UTF8, source_type, src_addr);
+    break;
+    default:
+    case Unicode:
+    case GBK:
+    case GB2312:
+    case ASCII:
+        font_init(8, 12, ASCII, BuildIn, ascii);
+    break;
+    }
+}
+
+int font_get_utf8_size(const uint8_t pInput)
+{
+   uint8_t c = pInput;
+   // 0xxxxxxx 1
+   // 10xxxxxx -1
+   // 110xxxxx 2
+   // 1110xxxx 3
+   // 11110xxx 4
+   // 111110xx 5
+    // 1111110x 6
+    if(c< 0x80) return 1;
+    if(c>=0x80 && c<0xC0) return -1;
+    if(c>=0xC0 && c<0xE0) return 2;
+    if(c>=0xE0 && c<0xF0) return 3;
+    if(c>=0xF0 && c<0xF8) return 4;
+    if(c>=0xF8 && c<0xFC) return 5;
+    if(c>=0xFC) return 6;
+    return 0;
+}
+
+int font_utf8_to_unicode(const uint8_t* pInput, uint64_t *Unic)
+{  
+    // assert(pInput != NULL && Unic != NULL);
+
+    char b1, b2, b3, b4, b5, b6;
+
+    *Unic = 0x0;
+    int utfbytes = font_get_utf8_size(*pInput);
+    uint8_t *pOutput = (uint8_t *) Unic;
+
+    switch ( utfbytes )
+    {  
+        case 1:  
+            *pOutput     = *pInput;
+            break;  
+        case 2:  
+            b1 = *pInput;
+            b2 = *(pInput + 1);
+            if ( (b2 & 0xE0) != 0x80 )
+                return 0;  
+            *pOutput     = (b1 << 6) + (b2 & 0x3F);
+            *(pOutput+1) = (b1 >> 2) & 0x07;
+            break;
+        case 3:
+            b1 = *pInput;
+            b2 = *(pInput + 1);
+            b3 = *(pInput + 2);
+            if ( ((b2 & 0xC0) != 0x80) || ((b3 & 0xC0) != 0x80) )
+                return 0;
+            *pOutput     = (b2 << 6) + (b3 & 0x3F);
+            *(pOutput+1) = (b1 << 4) + ((b2 >> 2) & 0x0F);
+            break;
+        case 4:
+            b1 = *pInput;
+            b2 = *(pInput + 1);
+            b3 = *(pInput + 2);
+            b4 = *(pInput + 3);
+            if ( ((b2 & 0xC0) != 0x80) || ((b3 & 0xC0) != 0x80)
+                    || ((b4 & 0xC0) != 0x80) )
+                return 0;
+            *pOutput     = (b3 << 6) + (b4 & 0x3F);
+            *(pOutput+1) = (b2 << 4) + ((b3 >> 2) & 0x0F);
+            *(pOutput+2) = ((b1 << 2) & 0x1C)  + ((b2 >> 4) & 0x03);
+            break;
+        case 5:
+            b1 = *pInput;
+            b2 = *(pInput + 1);
+            b3 = *(pInput + 2);
+            b4 = *(pInput + 3);
+            b5 = *(pInput + 4);
+            if ( ((b2 & 0xC0) != 0x80) || ((b3 & 0xC0) != 0x80)
+                    || ((b4 & 0xC0) != 0x80) || ((b5 & 0xC0) != 0x80) )
+                return 0;
+            *pOutput     = (b4 << 6) + (b5 & 0x3F);
+            *(pOutput+1) = (b3 << 4) + ((b4 >> 2) & 0x0F);
+            *(pOutput+2) = (b2 << 2) + ((b3 >> 4) & 0x03);
+            *(pOutput+3) = (b1 << 6);
+            break;
+        case 6:
+            b1 = *pInput;
+            b2 = *(pInput + 1);
+            b3 = *(pInput + 2);
+            b4 = *(pInput + 3);
+            b5 = *(pInput + 4);
+            b6 = *(pInput + 5);
+            if ( ((b2 & 0xC0) != 0x80) || ((b3 & 0xC0) != 0x80)
+                    || ((b4 & 0xC0) != 0x80) || ((b5 & 0xC0) != 0x80)
+                    || ((b6 & 0xC0) != 0x80) )
+                return 0;
+            *pOutput     = (b5 << 6) + (b6 & 0x3F);
+            *(pOutput+1) = (b5 << 4) + ((b6 >> 2) & 0x0F);
+            *(pOutput+2) = (b3 << 2) + ((b4 >> 4) & 0x03);
+            *(pOutput+3) = ((b1 << 6) & 0x40) + (b2 & 0x3F);
+            break;
+        default:
+            return 0;
+            break;
+    }  
+
+    return utfbytes;
+}
+
+void imlib_draw_font(image_t *img, int x_off, int y_off, int c, float scale, uint8_t font_h, uint8_t font_w, const uint8_t *font)
+{
+    // It will be replaced by *.SVG.
+    /* font ↑ ↓ ↝ →
+        01 02 03 04 
+        05 06 07 08
+        09 10 11 12
+        13 14 15 16
+        1. ↓ 01 05 09 13
+        2. → 01 02 03 04
+        3. Got it?
+    */
+    for (int y = 0, yy = fast_roundf(font_h * scale); y < yy; y++) {
+        uint8_t pos = fast_roundf(y / scale);
+        uint32_t tmp = font[pos];
+        for (uint8_t i = 1; i < font_h / 8; i++) {
+            tmp <<= 8, tmp |= font[pos + i * font_h];
+        }
+        for (uint8_t x = 0, xx = fast_roundf(font_w * scale); x < xx; x++) {
+            if (tmp & (1 << (font_w - 1 - fast_roundf(x / scale)))) {
+                imlib_set_pixel(img, (x_off + x), (y_off + y), c);
+            }
+        }
+    }
+}
+
+
+void imlib_draw_utf8_string(image_t *img, int x_off, int y_off, const char *str, int c, float scale, int x_spacing, int y_spacing, bool mono_space) {
+  const uint8_t font_len = (font_config.width / 8) * font_config.high;
+  const uint8_t *string = (uint8_t*)str;
+  int len = strlen(str);
+
+  // mp_buffer_info_t bufinfo;
+  // mp_get_buffer_raise(str, &bufinfo, MP_BUFFER_READ);
+
+  for(int i = 0, pos = 0, bytes = 0; i < len; i += bytes, pos += 1) {
+
+    uint64_t offset = 0;
+    bytes = font_utf8_to_unicode(string + i, &offset);
+    // printk("utfbytes %d offset %llu\r\n", bytes, offset);
+    if (bytes <= 0 || offset <= 0) { // unicode len
+      break;
+    }
+
+    uint8_t buffer[font_len];
+    
+    switch (font_config.source)
+    {
+        case FileIn:
+        /*******************************************************************************************/
+            // file_seek_raise(font_config.this, offset * font_len, 0);
+            // read_data_raise(font_config.this, buffer, font_len);
+        /*******************************************************************************************/
+            break;
+        case ArrayIn:
+            // printk("%d %p %p %p", font_len, buffer, font_config.this, &font_config.this[offset * font_len]);
+            // memcpy(buffer, &font_config.this[offset * font_len], font_len);
+            /*******************************************************************************************/
+            // sys_spiffs_read(font_config.this + offset * font_len, font_len, buffer);
+            /*******************************************************************************************/
+            break;
+        default:
+            break;
+    }
+
+    const uint8_t *font = buffer;
+
+    if (!mono_space) {
+        // Find the first pixel set and offset to that.
+        bool exit = false;
+
+        for (int x = 0, xx = font_config.width; x < xx; x++) {
+            for (int y = 0, yy = font_config.high; y < yy; y++) {
+                if (font[y] & (1 << (font_config.width - 1 - x))) {
+                    x_off -= fast_roundf(x * scale);
+                    exit = true;
+                    break;
+                }
+            }
+
+            if (exit) break;
+        }
+    }
+
+    imlib_draw_font(img, x_off, y_off, c, scale, font_config.high, font_config.width, font);
+
+    if (mono_space) {
+        x_off += fast_roundf(font_config.width * scale) + x_spacing;
+    } else {
+        // Find the last pixel set and offset to that.
+        bool exit = false;
+
+        for (int x = font_config.width - 1; x >= 0; x--) {
+            for (int y = font_config.high - 1; y >= 0; y--) {
+                if (font[y] & (1 << (font_config.width - 1 - x))) {
+                    x_off += fast_roundf((x + 2) * scale) + x_spacing;
+                    exit = true;
+                    break;
+                }
+            }
+
+            if (exit) break;
+        }
+
+        if (!exit) x_off += fast_roundf(scale * 3); // space char
+    }
+  }
+}
+
+void imlib_draw_ascii_string(image_t *img, int x_off, int y_off, const char *str, int c, float scale, int x_spacing, int y_spacing, bool mono_space) {
+    const uint8_t font_len = (font_config.width / 8) * font_config.high;
+    const int anchor = x_off;
+
+    for(char ch, last = '\0'; (ch = *str); str++, last = ch) {
+
+        if ((last == '\r') && (ch == '\n')) { // handle "\r\n" strings
+            continue;
+        }
+
+        if ((ch == '\n') || (ch == '\r')) { // handle '\n' or '\r' strings
+            x_off = anchor;
+            y_off += fast_roundf(font_config.high * scale) + y_spacing; // newline height == space height
+            continue;
+        }
+
+        if ((ch < ' ') || (ch > '~')) { // handle unknown characters
+            imlib_draw_rectangle(img,
+                x_off + (fast_roundf(scale * 3) / 2),
+                y_off + (fast_roundf(scale * 3) / 2),
+                fast_roundf(font_config.high * scale) - ((fast_roundf(scale * 3) / 2) * 2),
+                fast_roundf(font_config.width * scale) - ((fast_roundf(scale * 3) / 2) * 2),
+                c, fast_roundf(scale), false);
+            continue;
+        }
+
+        const uint8_t *font = &ascii[(ch - ' ') * font_len];
+        
+        if (!mono_space) {
+            // Find the first pixel set and offset to that.
+            bool exit = false;
+
+            for (int x = 0, xx = font_config.width; x < xx; x++) {
+                for (int y = 0, yy = font_config.high; y < yy; y++) {
+                    if (font[y] & (1 << (font_config.width - 1 - x))) {
+                        x_off -= fast_roundf(x * scale);
+                        exit = true;
+                        break;
+                    }
+                }
+
+                if (exit) break;
+            }
+        }
+
+        imlib_draw_font(img, x_off, y_off, c, scale, font_config.high, font_config.width, font);
+
+        if (mono_space) {
+            x_off += fast_roundf(font_config.width * scale) + x_spacing;
+        } else {
+            // Find the last pixel set and offset to that.
+            bool exit = false;
+
+            for (int x = font_config.width - 1; x >= 0; x--) {
+                for (int y = font_config.high - 1; y >= 0; y--) {
+                    if (font[y] & (1 << (font_config.width - 1 - x))) {
+                        x_off += fast_roundf((x + 2) * scale) + x_spacing;
+                        exit = true;
+                        break;
+                    }
+                }
+
+                if (exit) break;
+            }
+
+            if (!exit) x_off += fast_roundf(scale * 3); // space char
+        }
+    }
+}
+void *protocol = NULL;
+void imlib_draw_string_ttf(image_t *img, int x_off, int y_off, const char *str, int c, float scale, int x_spacing, int y_spacing, bool mono_space)
+{
+  // 检查字库文件是否有效  
+  if(font_config.source == FileIn && protocol == NULL){
+    font_init(8, 12, ASCII, BuildIn, ascii);
+  }
+  if (font_config.index == ASCII) {
+    imlib_draw_ascii_string(img, x_off, y_off, str, c, scale, x_spacing, y_spacing, mono_space);
+  } else if (font_config.index == UTF8) {
+    imlib_draw_utf8_string(img, x_off, y_off, str, c, scale, x_spacing, y_spacing, mono_space);
+  }
+}
\ No newline at end of file
diff --git a/github_source/minicv2/src/fsort.c b/github_source/minicv2/src/fsort.c
new file mode 100644
index 0000000..2c6824f
--- /dev/null
+++ b/github_source/minicv2/src/fsort.c
@@ -0,0 +1,309 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Fast 9 and 25 bin sort.
+ *
+ */
+#include <stdlib.h>
+#include "fsort.h"
+
+// http://pages.ripco.net/~jgamble/nw.html
+
+static void cmpswp(int *a, int *b)
+{
+    if ((*b) < (*a)) {
+        int tmp = *a;
+        *a = *b;
+        *b = tmp;
+    }
+}
+
+// Network for N=9, using Best Known Arrangement.
+
+// There are 25 comparators in this network,
+// grouped into 9 parallel operations.
+
+// [[0,1],[3,4],[6,7]]
+// [[1,2],[4,5],[7,8]]
+// [[0,1],[3,4],[6,7],[2,5]]
+// [[0,3],[1,4],[5,8]]
+// [[3,6],[4,7],[2,5]]
+// [[0,3],[1,4],[5,7],[2,6]]
+// [[1,3],[4,6]]
+// [[2,4],[5,6]]
+// [[2,3]]
+
+// This is graphed in 17 columns.
+
+static void fsort9(int *data)
+{
+    cmpswp(data+0, data+1);
+    cmpswp(data+3, data+4);
+    cmpswp(data+6, data+7);
+
+    cmpswp(data+1, data+2);
+    cmpswp(data+4, data+5);
+    cmpswp(data+7, data+8);
+
+    cmpswp(data+0, data+1);
+    cmpswp(data+3, data+4);
+    cmpswp(data+6, data+7);
+    cmpswp(data+2, data+5);
+
+    cmpswp(data+0, data+3);
+    cmpswp(data+1, data+4);
+    cmpswp(data+5, data+8);
+
+    cmpswp(data+3, data+6);
+    cmpswp(data+4, data+7);
+    cmpswp(data+2, data+5);
+
+    cmpswp(data+0, data+3);
+    cmpswp(data+1, data+4);
+    cmpswp(data+5, data+7);
+    cmpswp(data+2, data+6);
+
+    cmpswp(data+1, data+3);
+    cmpswp(data+4, data+6);
+
+    cmpswp(data+2, data+4);
+    cmpswp(data+5, data+6);
+
+    cmpswp(data+2, data+3);
+}
+
+// Network for N=25, using Bose-Nelson Algorithm.
+
+// There are 154 comparators in this network,
+// grouped into 27 parallel operations.
+
+// [[1,2],[4,5],[7,8],[10,11],[13,14],[16,17],[19,20],[21,22],[23,24]]
+// [[0,2],[3,5],[6,8],[9,11],[12,14],[15,17],[18,20],[21,23],[22,24]]
+// [[0,1],[3,4],[2,5],[6,7],[9,10],[8,11],[12,13],[15,16],[14,17],[18,19],[22,23],[20,24]]
+// [[0,3],[1,4],[6,9],[7,10],[5,11],[12,15],[13,16],[18,22],[19,23],[17,24]]
+// [[2,4],[1,3],[8,10],[7,9],[0,6],[14,16],[13,15],[18,21],[20,23],[11,24]]
+// [[2,3],[8,9],[1,7],[4,10],[14,15],[19,21],[20,22],[16,23]]
+// [[2,8],[1,6],[3,9],[5,10],[20,21],[12,19],[15,22],[17,23]]
+// [[2,7],[4,9],[12,18],[13,20],[14,21],[16,22],[10,23]]
+// [[2,6],[5,9],[4,7],[14,20],[13,18],[17,22],[11,23]]
+// [[3,6],[5,8],[14,19],[16,20],[17,21],[0,13],[9,22]]
+// [[5,7],[4,6],[14,18],[15,19],[17,20],[0,12],[8,21],[10,22]]
+// [[5,6],[15,18],[17,19],[1,14],[7,20],[11,22]]
+// [[16,18],[2,15],[1,12],[6,19],[8,20],[11,21]]
+// [[17,18],[2,14],[3,16],[7,19],[10,20]]
+// [[2,13],[4,17],[5,18],[8,19],[11,20]]
+// [[2,12],[5,17],[4,16],[3,13],[9,19]]
+// [[5,16],[3,12],[4,14],[10,19]]
+// [[5,15],[4,12],[11,19],[9,16],[10,17]]
+// [[5,14],[8,15],[11,18],[10,16]]
+// [[5,13],[7,14],[11,17]]
+// [[5,12],[6,13],[8,14],[11,16]]
+// [[6,12],[8,13],[10,14],[11,15]]
+// [[7,12],[9,13],[11,14]]
+// [[8,12],[11,13]]
+// [[9,12]]
+// [[10,12]]
+// [[11,12]]
+
+// This is graphed in 89 columns.
+
+static void fsort25(int *data)
+{
+    cmpswp(data+1,  data+2);
+    cmpswp(data+4,  data+5);
+    cmpswp(data+7,  data+8);
+    cmpswp(data+10, data+11);
+    cmpswp(data+13, data+14);
+    cmpswp(data+16, data+17);
+    cmpswp(data+19, data+20);
+    cmpswp(data+21, data+22);
+    cmpswp(data+23, data+24);
+
+    cmpswp(data+0,  data+2);
+    cmpswp(data+3,  data+5);
+    cmpswp(data+6,  data+8);
+    cmpswp(data+9,  data+11);
+    cmpswp(data+12, data+14);
+    cmpswp(data+15, data+17);
+    cmpswp(data+18, data+20);
+    cmpswp(data+21, data+23);
+    cmpswp(data+22, data+24);
+
+    cmpswp(data+0,  data+1);
+    cmpswp(data+3,  data+4);
+    cmpswp(data+2,  data+5);
+    cmpswp(data+6,  data+7);
+    cmpswp(data+9,  data+10);
+    cmpswp(data+8,  data+11);
+    cmpswp(data+12, data+13);
+    cmpswp(data+15, data+16);
+    cmpswp(data+14, data+17);
+    cmpswp(data+18, data+19);
+    cmpswp(data+22, data+23);
+    cmpswp(data+20, data+24);
+
+    cmpswp(data+0,  data+3);
+    cmpswp(data+1,  data+4);
+    cmpswp(data+6,  data+9);
+    cmpswp(data+7,  data+10);
+    cmpswp(data+5,  data+11);
+    cmpswp(data+12, data+15);
+    cmpswp(data+13, data+16);
+    cmpswp(data+18, data+22);
+    cmpswp(data+19, data+23);
+    cmpswp(data+17, data+24);
+
+    cmpswp(data+2,  data+4);
+    cmpswp(data+1,  data+3);
+    cmpswp(data+8,  data+10);
+    cmpswp(data+7,  data+9);
+    cmpswp(data+0,  data+6);
+    cmpswp(data+14, data+16);
+    cmpswp(data+13, data+15);
+    cmpswp(data+18, data+21);
+    cmpswp(data+20, data+23);
+    cmpswp(data+11, data+24);
+
+    cmpswp(data+2,  data+3);
+    cmpswp(data+8,  data+9);
+    cmpswp(data+1,  data+7);
+    cmpswp(data+4,  data+10);
+    cmpswp(data+14, data+15);
+    cmpswp(data+19, data+21);
+    cmpswp(data+20, data+22);
+    cmpswp(data+16, data+23);
+
+    cmpswp(data+2,  data+8);
+    cmpswp(data+1,  data+6);
+    cmpswp(data+3,  data+9);
+    cmpswp(data+5,  data+10);
+    cmpswp(data+20, data+21);
+    cmpswp(data+12, data+19);
+    cmpswp(data+15, data+22);
+    cmpswp(data+17, data+23);
+
+    cmpswp(data+2,  data+7);
+    cmpswp(data+4,  data+9);
+    cmpswp(data+12, data+18);
+    cmpswp(data+13, data+20);
+    cmpswp(data+14, data+21);
+    cmpswp(data+16, data+22);
+    cmpswp(data+10, data+23);
+
+    cmpswp(data+2,  data+6);
+    cmpswp(data+5,  data+9);
+    cmpswp(data+4,  data+7);
+    cmpswp(data+14, data+20);
+    cmpswp(data+13, data+18);
+    cmpswp(data+17, data+22);
+    cmpswp(data+11, data+23);
+
+    cmpswp(data+3,  data+6);
+    cmpswp(data+5,  data+8);
+    cmpswp(data+14, data+19);
+    cmpswp(data+16, data+20);
+    cmpswp(data+17, data+21);
+    cmpswp(data+0,  data+13);
+    cmpswp(data+9,  data+22);
+
+    cmpswp(data+5,  data+7);
+    cmpswp(data+4,  data+6);
+    cmpswp(data+14, data+18);
+    cmpswp(data+15, data+19);
+    cmpswp(data+17, data+20);
+    cmpswp(data+0,  data+12);
+    cmpswp(data+8,  data+21);
+    cmpswp(data+10, data+22);
+
+    cmpswp(data+5,  data+6);
+    cmpswp(data+15, data+18);
+    cmpswp(data+17, data+19);
+    cmpswp(data+1,  data+14);
+    cmpswp(data+7,  data+20);
+    cmpswp(data+11, data+22);
+
+    cmpswp(data+16, data+18);
+    cmpswp(data+2,  data+15);
+    cmpswp(data+1,  data+12);
+    cmpswp(data+6,  data+19);
+    cmpswp(data+8,  data+20);
+    cmpswp(data+11, data+21);
+
+    cmpswp(data+17, data+18);
+    cmpswp(data+2,  data+14);
+    cmpswp(data+3,  data+16);
+    cmpswp(data+7,  data+19);
+    cmpswp(data+10, data+20);
+
+    cmpswp(data+2,  data+13);
+    cmpswp(data+4,  data+17);
+    cmpswp(data+5,  data+18);
+    cmpswp(data+8,  data+19);
+    cmpswp(data+11, data+20);
+
+    cmpswp(data+2,  data+12);
+    cmpswp(data+5,  data+17);
+    cmpswp(data+4,  data+16);
+    cmpswp(data+3,  data+13);
+    cmpswp(data+9,  data+19);
+
+    cmpswp(data+5,  data+16);
+    cmpswp(data+3,  data+12);
+    cmpswp(data+4,  data+14);
+    cmpswp(data+10, data+19);
+
+    cmpswp(data+5,  data+15);
+    cmpswp(data+4,  data+12);
+    cmpswp(data+11, data+19);
+    cmpswp(data+9,  data+16);
+    cmpswp(data+10, data+17);
+
+    cmpswp(data+5,  data+14);
+    cmpswp(data+8,  data+15);
+    cmpswp(data+11, data+18);
+    cmpswp(data+10, data+16);
+
+    cmpswp(data+5,  data+13);
+    cmpswp(data+7,  data+14);
+    cmpswp(data+11, data+17);
+
+    cmpswp(data+5,  data+12);
+    cmpswp(data+6,  data+13);
+    cmpswp(data+8,  data+14);
+    cmpswp(data+11, data+16);
+
+    cmpswp(data+6,  data+12);
+    cmpswp(data+8,  data+13);
+    cmpswp(data+10, data+14);
+    cmpswp(data+11, data+15);
+
+    cmpswp(data+7,  data+12);
+    cmpswp(data+9,  data+13);
+    cmpswp(data+11, data+14);
+
+    cmpswp(data+8,  data+12);
+    cmpswp(data+11, data+13);
+
+    cmpswp(data+9, data+12);
+
+    cmpswp(data+10, data+12);
+
+    cmpswp(data+11, data+12);
+}
+
+static int fsort_compare(const void *a, const void *b)
+{
+    return (*((int *) a)) - (*((int *) b));
+}
+
+void fsort(int *data, int n)
+{
+    switch(n) {
+        case 1: return;
+        case 9: fsort9(data); return;
+        case 25: fsort25(data); return;
+        default: qsort(data, n, sizeof(int), fsort_compare);
+    }
+}
diff --git a/github_source/minicv2/src/gif.c b/github_source/minicv2/src/gif.c
new file mode 100644
index 0000000..04c3108
--- /dev/null
+++ b/github_source/minicv2/src/gif.c
@@ -0,0 +1,136 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * A simple GIF encoder.
+ */
+#include "imlib.h"
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+
+#include "fb_alloc.h"
+#include "ff_wrapper.h"
+#define BLOCK_SIZE (126) // (2^7) - 2 // (DO NOT CHANGE!)
+
+void gif_open(FIL *fp, int width, int height, bool color, bool loop)
+{
+    file_buffer_on(fp);
+
+    write_data(fp, "GIF89a", 6);
+    write_word(fp, width);
+    write_word(fp, height);
+    write_data(fp, (uint8_t []) {0xF6, 0x00, 0x00}, 3);
+
+    if (color) {
+        for (int i=0; i<128; i++) {
+            int red =   ((((i & 0x60) >> 5) * 255) + 1.5) / 3;
+            int green = ((((i & 0x1C) >> 2) * 255) + 3.5) / 7;
+            int blue =   (((i & 0x3)        * 255) + 1.5) / 3;
+            write_data(fp, (uint8_t []) {red, green, blue}, 3);
+        }
+    } else {
+        for (int i=0; i<128; i++) {
+            int gray = ((i * 255) + 63.5) / 127;
+            write_data(fp, (uint8_t []) {gray, gray, gray}, 3);
+        }
+    }
+
+    if (loop) {
+        write_data(fp, (uint8_t []) {'!', 0xFF, 0x0B}, 3);
+        write_data(fp, "NETSCAPE2.0", 11);
+        write_data(fp, (uint8_t []) {0x03, 0x01, 0x00, 0x00, 0x00}, 5);
+    }
+
+    file_buffer_off(fp);
+}
+
+void gif_add_frame(FIL *fp, image_t *img, uint16_t delay)
+{
+    file_buffer_on(fp);
+
+    if (delay) {
+        write_data(fp, (uint8_t []) {'!', 0xF9, 0x04, 0x04}, 4);
+        write_word(fp, delay);
+        write_word(fp, 0); // end
+    }
+
+    write_byte(fp, 0x2C);
+    write_long(fp, 0);
+    write_word(fp, img->w);
+    write_word(fp, img->h);
+    write_data(fp, (uint8_t []) {0x00, 0x07}, 2); // 7-bits
+
+    int bytes  = img->h * img->w;
+    int blocks = (bytes + BLOCK_SIZE - 1) / BLOCK_SIZE;
+
+    if (IM_IS_GS(img)) {
+        for (int y=0; y<blocks; y++) {
+            int block_size = IM_MIN(BLOCK_SIZE, bytes - (y*BLOCK_SIZE));
+            write_byte(fp, 1 + block_size);
+            write_byte(fp, 0x80); // clear code
+            for (int x=0; x<block_size; x++) {
+                write_byte(fp, img->pixels[(y*BLOCK_SIZE)+x]>>1);
+            }
+        }
+    } else if (IM_IS_RGB565(img)) {
+        for (int y=0; y<blocks; y++) {
+            int block_size = IM_MIN(BLOCK_SIZE, bytes - (y*BLOCK_SIZE));
+            write_byte(fp, 1 + block_size);
+            write_byte(fp, 0x80); // clear code
+            for (int x=0; x<block_size; x++) {
+                int pixel = ((uint16_t *) img->pixels)[(y*BLOCK_SIZE)+x];
+                int red = COLOR_RGB565_TO_R5(pixel)>>3;
+                int green = COLOR_RGB565_TO_G6(pixel)>>3;
+                int blue = COLOR_RGB565_TO_B5(pixel)>>3;
+                write_byte(fp, (red<<5) | (green<<2) | blue);
+            }
+        }
+    } else if (IM_IS_RGB888(img)) {
+        for (int y=0; y<blocks; y++) {
+            int block_size = IM_MIN(BLOCK_SIZE, bytes - (y*BLOCK_SIZE));
+            write_byte(fp, 1 + block_size);
+            write_byte(fp, 0x80); // clear code
+            for (int x=0; x<block_size; x++) {
+                pixel24_t pixel = ((pixel24_t *) img->pixels)[(y*BLOCK_SIZE)+x];
+                int red = COLOR_RGB888_TO_R8(pixel)>>3;
+                int green = COLOR_RGB888_TO_G8(pixel)>>3;
+                int blue = COLOR_RGB888_TO_B8(pixel)>>3;
+                write_byte(fp, (red<<5) | (green<<2) | blue);
+            }
+        }
+    } else if (img->is_bayer || img->is_yuv) {
+        for (int y=0; y<blocks; y++) {
+            int block_size = IM_MIN(BLOCK_SIZE, bytes - (y*BLOCK_SIZE));
+            write_byte(fp, 1 + block_size);
+            write_byte(fp, 0x80); // clear code
+            uint16_t pixels[block_size];
+            if (img->is_bayer) {
+                imlib_debayer_line(0, block_size, y, pixels, PIXFORMAT_RGB565, img);
+            } else {
+                imlib_deyuv_line(0, block_size, y, pixels, PIXFORMAT_RGB565, img);
+            }
+            for (int x=0; x<block_size; x++) {
+                int r = COLOR_RGB565_TO_R8(pixels[x]);
+                int g = COLOR_RGB565_TO_G8(pixels[x]);
+                int b = COLOR_RGB565_TO_B8(pixels[x]);
+                r >>=3; g >>=3; b >>=3;
+                write_byte(fp, (r<<5) | (g<<2) | b);
+            }
+        }
+    }
+
+    write_data(fp, (uint8_t []) {0x01, 0x81, 0x00}, 3); // end code
+
+    file_buffer_off(fp);
+}
+
+void gif_close(FIL *fp)
+{
+    write_byte(fp, ';');
+    file_close(fp);
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
diff --git a/github_source/minicv2/src/haar.c b/github_source/minicv2/src/haar.c
new file mode 100644
index 0000000..4d1a85d
--- /dev/null
+++ b/github_source/minicv2/src/haar.c
@@ -0,0 +1,304 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Viola-Jones object detector implementation.
+ * Based on the work of Francesco Comaschi (f.comaschi@tue.nl)
+ */
+#include <stdio.h>
+// #include "py/obj.h"
+// #include "py/nlr.h"
+
+// #include "ff.h"
+#include "ff_wrapper.h"
+#include "xalloc.h"
+#include "imlib.h"
+// built-in cascades
+#include "cascade.h"
+
+static int eval_weak_classifier(cascade_t *cascade, point_t pt, int t_idx, int w_idx, int r_idx)
+{
+    int32_t sumw=0;
+    mw_image_t *sum = cascade->sum;
+
+    /* The node threshold is multiplied by the standard deviation of the sub window */
+    int32_t t = cascade->tree_thresh_array[t_idx] * cascade->std;
+
+    for (int i=0; i<cascade->num_rectangles_array[t_idx]; i++) {
+        int x = cascade->rectangles_array[r_idx + (i<<2) + 0];
+        int y = cascade->rectangles_array[r_idx + (i<<2) + 1];
+        int w = cascade->rectangles_array[r_idx + (i<<2) + 2];
+        int h = cascade->rectangles_array[r_idx + (i<<2) + 3];
+        // Lookup the feature
+        sumw += imlib_integral_mw_lookup(sum, pt.x+x, y, w, h) * (cascade->weights_array[w_idx + i]<<12);
+    }
+
+    if (sumw >= t) {
+        return cascade->alpha2_array[t_idx];
+    }
+
+    return cascade->alpha1_array[t_idx];
+}
+
+static int run_cascade_classifier(cascade_t* cascade, point_t pt)
+{
+    int win_w = cascade->window.w;
+    int win_h = cascade->window.h;
+    uint32_t n = (win_w * win_h);
+    uint32_t i_s = imlib_integral_mw_lookup (cascade->sum, pt.x, 0, win_w, win_h);
+    uint32_t i_sq = imlib_integral_mw_lookup(cascade->ssq, pt.x, 0, win_w, win_h);
+    uint32_t m = i_s/n;
+    uint32_t v = i_sq/n-(m*m);
+
+    // Skip homogeneous regions.
+    if (v<(50*50)) {
+        return 0;
+    }
+
+    cascade->std = fast_sqrtf(i_sq*n-(i_s*i_s));
+    for (int i=0, w_idx=0, r_idx=0, t_idx=0; i<cascade->n_stages; i++) {
+        int stage_sum = 0;
+        for (int j=0; j<cascade->stages_array[i]; j++, t_idx++) {
+            // Send the shifted window to a haar filter
+            stage_sum += eval_weak_classifier(cascade, pt, t_idx, w_idx, r_idx);
+            w_idx += cascade->num_rectangles_array[t_idx];
+            r_idx += cascade->num_rectangles_array[t_idx] * 4;
+        }
+        // If the sum is below the stage threshold, no objects were detected
+        if (stage_sum < (cascade->threshold * cascade->stages_thresh_array[i])) {
+            return 0;
+        }
+    }
+    return 1;
+}
+
+array_t *imlib_detect_objects(image_t *image, cascade_t *cascade, rectangle_t *roi)
+{
+    // Integral images
+    mw_image_t sum;
+    mw_image_t ssq;
+
+    // Detected objects array
+    array_t *objects;
+
+    // Allocate the objects array
+    array_alloc(&objects, xfree);
+
+    // Set cascade image pointers
+    cascade->img = image;
+    cascade->sum = &sum;
+    cascade->ssq = &ssq;
+
+    // Set scanning step.
+    // Viola and Jones achieved best results using a scaling factor
+    // of 1.25 and a scanning factor proportional to the current scale.
+    // Start with a step of 5% of the image width and reduce at each scaling step
+    cascade->step = (roi->w*50)/1000;
+
+    // Make sure step is less than window height + 1
+    if (cascade->step > cascade->window.h) {
+        cascade->step = cascade->window.h;
+    }
+
+    // Allocate integral images
+    imlib_integral_mw_alloc(&sum, roi->w, cascade->window.h+1);
+    imlib_integral_mw_alloc(&ssq, roi->w, cascade->window.h+1);
+
+    // Iterate over the image pyramid
+    for(float factor=1.0f; ; factor *= cascade->scale_factor) {
+        // Set the scaled width and height
+        int szw = roi->w/factor;
+        int szh = roi->h/factor;
+
+        // Break if scaled image is smaller than feature size
+        if (szw < cascade->window.w || szh < cascade->window.h) {
+            break;
+        }
+
+        // Set the integral images scale
+        imlib_integral_mw_scale(roi, &sum, szw, szh);
+        imlib_integral_mw_scale(roi, &ssq, szw, szh);
+
+        // Compute new scaled integral images
+        imlib_integral_mw_ss(image, &sum, &ssq, roi);
+
+        // Scale the scanning step
+        cascade->step = cascade->step/factor;
+        cascade->step = (cascade->step == 0) ? 1 : cascade->step;
+
+        // Process image at the current scale
+        // When filter window shifts to borders, some margin need to be kept
+        int y2 = szh - cascade->window.h;
+        int x2 = szw - cascade->window.w;
+
+        // Shift the filter window over the image.
+        for (int y=0; y<y2; y+=cascade->step) {
+            for (int x=0; x<x2; x+=cascade->step) {
+                point_t p = {x, y};
+                // If an object is detected, record the coordinates of the filter window
+                if (run_cascade_classifier(cascade, p) > 0) {
+                    array_push_back(objects,
+                        rectangle_alloc(fast_roundf(x*factor) + roi->x, fast_roundf(y*factor) + roi->y,
+                        fast_roundf(cascade->window.w*factor), fast_roundf(cascade->window.h*factor)));
+                }
+            }
+
+            // If not last line, shift integral images
+            if ((y+cascade->step) < y2) {
+                imlib_integral_mw_shift_ss(image, &sum, &ssq, roi, cascade->step);
+            }
+        }
+    }
+
+    imlib_integral_mw_free(&ssq);
+    imlib_integral_mw_free(&sum);
+
+    if (array_length(objects) > 1)   {
+        // Merge objects detected at different scales
+        objects = rectangle_merge(objects);
+    }
+
+    return objects;
+}
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+int imlib_load_cascade_from_file(cascade_t *cascade, const char *path)
+{
+    int i;
+    FIL fp;
+    // FRESULT res=FR_OK;
+
+    file_read_open(&fp, path);
+    file_buffer_on(&fp);
+
+    /* read detection window size */
+    read_data(&fp, &cascade->window, sizeof(cascade->window));
+
+    /* read num stages */
+    read_data(&fp, &cascade->n_stages, sizeof(cascade->n_stages));
+
+    cascade->stages_array = xalloc (sizeof(*cascade->stages_array) * cascade->n_stages);
+    cascade->stages_thresh_array = xalloc (sizeof(*cascade->stages_thresh_array) * cascade->n_stages);
+    if (cascade->stages_array == NULL ||
+        cascade->stages_thresh_array == NULL) {
+        // res = 20;
+        goto error;
+    }
+
+    /* read num features in each stages */
+    read_data(&fp, cascade->stages_array, sizeof(uint8_t) * cascade->n_stages);
+
+    /* sum num of features in each stages*/
+    for (i=0, cascade->n_features=0; i<cascade->n_stages; i++) {
+        cascade->n_features += cascade->stages_array[i];
+    }
+
+    /* alloc features thresh array, alpha1, alpha 2,rects weights and rects*/
+    cascade->tree_thresh_array = xalloc (sizeof(*cascade->tree_thresh_array) * cascade->n_features);
+    cascade->alpha1_array = xalloc (sizeof(*cascade->alpha1_array) * cascade->n_features);
+    cascade->alpha2_array = xalloc (sizeof(*cascade->alpha2_array) * cascade->n_features);
+    cascade->num_rectangles_array = xalloc (sizeof(*cascade->num_rectangles_array) * cascade->n_features);
+
+    if (cascade->tree_thresh_array == NULL ||
+        cascade->alpha1_array   == NULL ||
+        cascade->alpha2_array   == NULL ||
+        cascade->num_rectangles_array == NULL) {
+        // res = 20;
+        goto error;
+    }
+
+    /* read stages thresholds */
+    read_data(&fp, cascade->stages_thresh_array, sizeof(int16_t)*cascade->n_stages);
+
+    /* read features thresholds */
+    read_data(&fp, cascade->tree_thresh_array, sizeof(*cascade->tree_thresh_array)*cascade->n_features);
+
+    /* read alpha 1 */
+    read_data(&fp, cascade->alpha1_array, sizeof(*cascade->alpha1_array)*cascade->n_features);
+
+    /* read alpha 2 */
+    read_data(&fp, cascade->alpha2_array, sizeof(*cascade->alpha2_array)*cascade->n_features);
+
+    /* read num rectangles per feature*/
+    read_data(&fp, cascade->num_rectangles_array, sizeof(*cascade->num_rectangles_array)*cascade->n_features);
+
+    /* sum num of recatngles per feature*/
+    for (i=0, cascade->n_rectangles=0; i<cascade->n_features; i++) {
+        cascade->n_rectangles += cascade->num_rectangles_array[i];
+    }
+
+    cascade->weights_array = xalloc (sizeof(*cascade->weights_array) * cascade->n_rectangles);
+    cascade->rectangles_array = xalloc (sizeof(*cascade->rectangles_array) * cascade->n_rectangles * 4);
+
+    if (cascade->weights_array  == NULL ||
+        cascade->rectangles_array == NULL) {
+        // res = 20;
+        goto error;
+    }
+
+    /* read rectangles weights */
+    read_data(&fp, cascade->weights_array, sizeof(*cascade->weights_array)*cascade->n_rectangles);
+
+    /* read rectangles num rectangles * 4 points */
+    read_data(&fp, cascade->rectangles_array, sizeof(*cascade->rectangles_array)*cascade->n_rectangles *4);
+
+error:
+    file_buffer_off(&fp);
+    file_close(&fp);
+    return 0;
+}
+#endif //(IMLIB_ENABLE_IMAGE_FILE_IO)
+
+int imlib_load_cascade(cascade_t *cascade, const char *path)
+{
+    // built-in cascade
+    if (strcmp(path, "frontalface") == 0) {
+        cascade->window.w            = frontalface_window_w;
+        cascade->window.h            = frontalface_window_h;
+        cascade->n_stages            = frontalface_n_stages;
+        cascade->stages_array        = (uint8_t *)frontalface_stages_array;
+        cascade->stages_thresh_array = (int16_t *)frontalface_stages_thresh_array;
+        cascade->tree_thresh_array   = (int16_t *)frontalface_tree_thresh_array;
+        cascade->alpha1_array        = (int16_t *)frontalface_alpha1_array;
+        cascade->alpha2_array        = (int16_t *)frontalface_alpha2_array;
+        cascade->num_rectangles_array= (int8_t  *)frontalface_num_rectangles_array;
+        cascade->weights_array       = (int8_t  *)frontalface_weights_array;
+        cascade->rectangles_array    = (int8_t  *)frontalface_rectangles_array;
+    } else if (strcmp(path, "eye") == 0) {
+        cascade->window.w            = eye_window_w;
+        cascade->window.h            = eye_window_h;
+        cascade->n_stages            = eye_n_stages;
+        cascade->stages_array        = (uint8_t *)eye_stages_array;
+        cascade->stages_thresh_array = (int16_t *)eye_stages_thresh_array;
+        cascade->tree_thresh_array   = (int16_t *)eye_tree_thresh_array;
+        cascade->alpha1_array        = (int16_t *)eye_alpha1_array;
+        cascade->alpha2_array        = (int16_t *)eye_alpha2_array;
+        cascade->num_rectangles_array= (int8_t  *)eye_num_rectangles_array;
+        cascade->weights_array       = (int8_t  *)eye_weights_array;
+        cascade->rectangles_array    = (int8_t  *)eye_rectangles_array;
+    } else {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        // xml cascade
+        return imlib_load_cascade_from_file(cascade, path);
+        #else
+        return -1;
+        #endif
+    }
+
+    int i;
+    // sum the number of features in all stages
+    for (i=0, cascade->n_features=0; i<cascade->n_stages; i++) {
+        cascade->n_features += cascade->stages_array[i];
+    }
+
+    // sum the number of recatngles in all features
+    for (i=0, cascade->n_rectangles=0; i<cascade->n_features; i++) {
+        cascade->n_rectangles += cascade->num_rectangles_array[i];
+    }
+    // return FR_OK;
+    return 0;
+}
diff --git a/github_source/minicv2/src/hog.c b/github_source/minicv2/src/hog.c
new file mode 100644
index 0000000..c74367a
--- /dev/null
+++ b/github_source/minicv2/src/hog.c
@@ -0,0 +1,136 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * HoG.
+ * See Histograms of Oriented Gradients (Navneet Dalal and Bill Triggs)
+ */
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include "imlib.h"
+#include "fb_alloc.h"
+#include "xalloc.h"
+
+#ifdef IMLIB_ENABLE_HOG
+#define N_BINS      (9)
+typedef struct bin {
+    int d;
+    int m;
+} bin_t;
+
+int bin_array_comp(const void *obj0, const void *obj1)
+{
+    const bin_t *b0 = obj0;
+    const bin_t *b1 = obj1;
+    if (b0->m < b1->m)
+        return -1;
+    if (b0->m > b1->m)
+        return 1;
+
+    return 0;
+}
+
+void imlib_find_hog(image_t *src, rectangle_t *roi, int cell_size)
+{
+    int s = src->w;
+    int w = roi->x+roi->w-1;
+    int h = roi->y+roi->h-1;
+
+    int block_size = cell_size * 2;
+    int x_cells = (roi->w/cell_size);
+    int y_cells = (roi->h/cell_size);
+
+    // TODO: Assert row->w/h >= cell_size *2;
+    float *hog = fb_alloc0(x_cells * y_cells * N_BINS * sizeof*hog, FB_ALLOC_NO_HINT);
+
+    //2. Finding Image Gradients
+    for (int y=roi->y, hog_index=0; y<h; y+=block_size) {
+        for (int x=roi->x; x<w; x+=block_size) {
+            float k = 0.0f;
+            for (int cy=0; cy<block_size; cy++) {
+                for (int cx=0; cx<block_size; cx++) {
+                    if ((y+cy) > 0 && (y+cy) < h && (x+cx) > 0 && (x+cx) < w) {
+                        // Find horizontal/vertical direction
+                        int vx = src->data[(y+cy+0)*s+(x+cx+1)] - src->data[(y+cy-0)*s+(x+cx-1)];
+                        int vy = src->data[(y+cy+1)*s+(x+cx+0)] - src->data[(y+cy-1)*s+(x+cx-0)];
+                        // Find magnitude
+                        float m = fast_sqrtf(vx*vx + vy*vy);
+                        if(((int) m) > 1) {
+                            k += m*m;
+                            // Find and quantize gradient degree
+                            // TODO atan2f is swapped for visualization
+                            int t = ((int) fast_fabsf((atan2f(vx, vy)*180.0f/M_PI))) / 20;
+                            t = (t == 9)? 0 : t;
+
+                            // hog[((cy/cell_size) * x_cells + (cx/cell_size)) * N_BINS + t] += m;
+                            hog[hog_index + (((cy/8)*2+(cx/8)) * N_BINS) + t] += m;
+                        }
+                    }
+                }
+            }
+
+            // Normalize the last block
+            k = sqrtf(k);
+            for (int i=hog_index; i<(hog_index+(N_BINS*4)); i++) {
+                    hog[i] = hog[i]/k;
+            }
+
+            hog_index += (N_BINS*4);
+        }
+    }
+
+    memset(src->pixels, 0, src->w*src->h);
+
+    array_t *gds;
+    bin_t bins[9];
+    array_alloc(&gds, NULL);
+
+    for (int i=0; i<N_BINS; i++) {
+        array_push_back(gds, &bins[i]);
+    }
+
+    int l = cell_size/2;
+    // Note cells are not ordered histograms of 4 cells
+    for (int by=0, hog_index=0; by<y_cells; by+=2) {
+        for (int bx=0; bx<x_cells; bx+=2) {
+            for (int y=0; y<2; y++) {
+                for (int x=0; x<2; x++) {
+                    // Sort and draw bins
+                    for (int i=hog_index; i<hog_index+N_BINS; i++) {
+                        int m = (int)(hog[i]*255);
+                        if (m > 255) {
+                            m = 255;
+                        } else if (m < 0) {
+                            m = 0;
+                        }
+                        bin_t *bin = array_at(gds, (i%N_BINS));
+                        bin->m = m;
+                        bin->d = ((i%N_BINS)*20);
+                    }
+
+                    array_sort(gds, bin_array_comp);
+
+                    int x1 = (x+bx) * cell_size + l;
+                    int y1 = (y+by) * cell_size + l;
+                    for (int i=0; i<N_BINS; i++) {
+                        bin_t *bin = array_at(gds, i);
+                        int x2 = l * cos_table[bin->d];
+                        int y2 = l * sin_table[bin->d];
+                        imlib_draw_line(src, (x1 - x2), (y1 + y2), (x1 + x2), (y1 - y2), bin->m, 1);
+                    }
+
+                    hog_index += N_BINS;
+                }
+            }
+        }
+    }
+
+    xfree(gds);
+    fb_free(hog);
+}
+#endif // IMLIB_ENABLE_HOG
diff --git a/github_source/minicv2/src/hough.c b/github_source/minicv2/src/hough.c
new file mode 100644
index 0000000..efc703f
--- /dev/null
+++ b/github_source/minicv2/src/hough.c
@@ -0,0 +1,954 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Hough Transform feature extraction.
+ */
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_FIND_LINES
+void imlib_find_lines(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                      uint32_t threshold, unsigned int theta_margin, unsigned int rho_margin)
+{
+    int r_diag_len, r_diag_len_div, theta_size, r_size, hough_divide = 1; // divides theta and rho accumulators
+
+    for (;;) { // shrink to fit...
+        r_diag_len = fast_roundf(fast_sqrtf((roi->w * roi->w) + (roi->h * roi->h)));
+        r_diag_len_div = (r_diag_len + hough_divide - 1) / hough_divide;
+        theta_size = 1 + ((180 + hough_divide - 1) / hough_divide) + 1; // left & right padding
+        r_size = (r_diag_len_div * 2) + 1; // -r_diag_len to +r_diag_len
+        if ((sizeof(uint32_t) * theta_size * r_size) <= fb_avail()) break;
+        hough_divide = hough_divide << 1; // powers of 2...
+        if (hough_divide > 4) fb_alloc_fail(); // support 1, 2, 4
+    }
+
+    uint32_t *acc = fb_alloc0(sizeof(uint32_t) * theta_size * r_size, FB_ALLOC_NO_HINT);
+
+    switch (ptr->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    int mag = (abs(x_acc) + abs(y_acc)) / 2;
+                    if (mag < 126)
+                    	continue;
+
+                    int theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+                    if (theta < 0) theta += 180;
+                    int rho = (fast_roundf(((x - roi->x) * cos_table[theta]) +
+                                ((y - roi->y) * sin_table[theta])) / hough_divide) + r_diag_len_div;
+                    int acc_index = (rho * theta_size) + ((theta / hough_divide) + 1); // add offset
+                    acc[acc_index] += mag;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ptr->w;
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x - 1);
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + 1);
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ptr->w;
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x - 1);
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + 1);
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ptr->w;
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x - 1);
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + 1);
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ptr->w;
+
+                    int mag = (abs(x_acc) + abs(y_acc)) / 2;
+                    if (mag < 126)
+                    	continue;
+
+                    int theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+                    if (theta < 0) theta += 180;
+                    int rho = (fast_roundf(((x - roi->x) * cos_table[theta]) +
+                                ((y - roi->y) * sin_table[theta])) / hough_divide) + r_diag_len_div;
+                    int acc_index = (rho * theta_size) + ((theta / hough_divide) + 1); // add offset
+                    acc[acc_index] += mag;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ptr->w;
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ptr->w;
+
+                    int mag = (abs(x_acc) + abs(y_acc)) / 2;
+                    if (mag < 126)
+                    	continue;
+
+                    int theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+                    if (theta < 0) theta += 180;
+                    int rho = (fast_roundf(((x - roi->x) * cos_table[theta]) +
+                                ((y - roi->y) * sin_table[theta])) / hough_divide) + r_diag_len_div;
+                    int acc_index = (rho * theta_size) + ((theta / hough_divide) + 1); // add offset
+                    acc[acc_index] += mag;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ptr->w;
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ptr->w;
+
+                    int mag = (abs(x_acc) + abs(y_acc)) / 2;
+                    if (mag < 126)
+                    	continue;
+
+                    int theta = (int)fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+                    if (theta < 0) theta += 180;
+                    int rho = (fast_roundf(((x - roi->x) * cos_table[theta]) +
+                                ((y - roi->y) * sin_table[theta])) / hough_divide) + r_diag_len_div;
+                    int acc_index = (rho * theta_size) + ((theta / hough_divide) + 1); // add offset
+                    acc[acc_index] += mag;
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    imlib_list_init(out, sizeof(find_lines_list_lnk_data_t));
+
+    for (int y = 1, yy = r_size - 1; y < yy; y++) {
+        uint32_t *row_ptr = acc + (theta_size * y);
+
+        for (int x = 1, xx = theta_size - 1; x < xx; x++) {
+            if ((row_ptr[x] >= threshold)
+            &&  (row_ptr[x] >= row_ptr[x-theta_size-1])
+            &&  (row_ptr[x] >= row_ptr[x-theta_size])
+            &&  (row_ptr[x] >= row_ptr[x-theta_size+1])
+            &&  (row_ptr[x] >= row_ptr[x-1])
+            &&  (row_ptr[x] >= row_ptr[x+1])
+            &&  (row_ptr[x] >= row_ptr[x+theta_size-1])
+            &&  (row_ptr[x] >= row_ptr[x+theta_size])
+            &&  (row_ptr[x] >= row_ptr[x+theta_size+1])) {
+
+                find_lines_list_lnk_data_t lnk_line;
+                memset(&lnk_line, 0, sizeof(find_lines_list_lnk_data_t));
+
+                lnk_line.magnitude = row_ptr[x];
+                lnk_line.theta = (x - 1) * hough_divide; // remove offset
+                lnk_line.rho = (y - r_diag_len_div) * hough_divide;
+
+                list_push_back(out, &lnk_line);
+            }
+        }
+    }
+
+    fb_free(acc); // acc
+
+    for (;;) { // Merge overlapping.
+        bool merge_occured = false;
+
+        list_t out_temp;
+        imlib_list_init(&out_temp, sizeof(find_lines_list_lnk_data_t));
+
+        while (list_size(out)) {
+            find_lines_list_lnk_data_t lnk_line;
+            list_pop_front(out, &lnk_line);
+
+            for (size_t k = 0, l = list_size(out); k < l; k++) {
+                find_lines_list_lnk_data_t tmp_line;
+                list_pop_front(out, &tmp_line);
+
+                int theta_0_temp = lnk_line.theta;
+                int theta_1_temp = tmp_line.theta;
+                int rho_0_temp = lnk_line.rho;
+                int rho_1_temp = tmp_line.rho;
+
+                if (rho_0_temp < 0) {
+                    rho_0_temp = -rho_0_temp;
+                    theta_0_temp += 180;
+                }
+
+                if (rho_1_temp < 0) {
+                    rho_1_temp = -rho_1_temp;
+                    theta_1_temp += 180;
+                }
+
+                int theta_diff = abs(theta_0_temp - theta_1_temp);
+                int theta_diff_2 = (theta_diff >= 180) ? (360 - theta_diff) : theta_diff;
+
+                bool theta_merge = theta_diff_2 < theta_margin;
+                bool rho_merge = abs(rho_0_temp - rho_1_temp) < rho_margin;
+
+                if (theta_merge && rho_merge) {
+                    uint32_t magnitude = lnk_line.magnitude + tmp_line.magnitude;
+                    float sin_mean = ((sin_table[theta_0_temp] * lnk_line.magnitude)
+                            + (sin_table[theta_1_temp] * tmp_line.magnitude)) / magnitude;
+                    float cos_mean = ((cos_table[theta_0_temp] * lnk_line.magnitude)
+                            + (cos_table[theta_1_temp] * tmp_line.magnitude)) / magnitude;
+
+                    lnk_line.theta = fast_roundf(fast_atan2f(sin_mean, cos_mean) * 57.295780) % 360; // * (180 / PI)
+                    if (lnk_line.theta < 0) lnk_line.theta += 360;
+                    lnk_line.rho = fast_roundf(((rho_0_temp * lnk_line.magnitude) + (rho_1_temp * tmp_line.magnitude)) / magnitude);
+                    lnk_line.magnitude = magnitude / 2;
+
+                    if (lnk_line.theta >= 180) {
+                        lnk_line.rho = -lnk_line.rho;
+                        lnk_line.theta -= 180;
+                    }
+
+                    merge_occured = true;
+                } else {
+                    list_push_back(out, &tmp_line);
+                }
+            }
+
+            list_push_back(&out_temp, &lnk_line);
+        }
+
+        list_copy(out, &out_temp);
+
+        if (!merge_occured) {
+            break;
+        }
+    }
+
+    for (size_t i = 0, j = list_size(out); i < j; i++) {
+        find_lines_list_lnk_data_t lnk_line;
+        list_pop_front(out, &lnk_line);
+
+        if ((45 <= lnk_line.theta) && (lnk_line.theta < 135)) {
+            // y = (r - x cos(t)) / sin(t)
+            lnk_line.line.x1 = 0;
+            lnk_line.line.y1 = fast_roundf((lnk_line.rho - (lnk_line.line.x1 * cos_table[lnk_line.theta])) / sin_table[lnk_line.theta]);
+            lnk_line.line.x2 = roi->w - 1;
+            lnk_line.line.y2 = fast_roundf((lnk_line.rho - (lnk_line.line.x2 * cos_table[lnk_line.theta])) / sin_table[lnk_line.theta]);
+        } else {
+            // x = (r - y sin(t)) / cos(t);
+            lnk_line.line.y1 = 0;
+            lnk_line.line.x1 = fast_roundf((lnk_line.rho - (lnk_line.line.y1 * sin_table[lnk_line.theta])) / cos_table[lnk_line.theta]);
+            lnk_line.line.y2 = roi->h - 1;
+            lnk_line.line.x2 = fast_roundf((lnk_line.rho - (lnk_line.line.y2 * sin_table[lnk_line.theta])) / cos_table[lnk_line.theta]);
+        }
+
+        if(lb_clip_line(&lnk_line.line, 0, 0, roi->w, roi->h)) {
+            lnk_line.line.x1 += roi->x;
+            lnk_line.line.y1 += roi->y;
+            lnk_line.line.x2 += roi->x;
+            lnk_line.line.y2 += roi->y;
+
+            // Move rho too.
+            lnk_line.rho += fast_roundf((roi->x * cos_table[lnk_line.theta]) + (roi->y * sin_table[lnk_line.theta]));
+            list_push_back(out, &lnk_line);
+        }
+    }
+}
+#endif //IMLIB_ENABLE_FIND_LINES
+
+#ifdef IMLIB_ENABLE_FIND_LINE_SEGMENTS
+// Note this function is not used anymore, see lsd.c
+void imlib_find_line_segments(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                              uint32_t threshold, unsigned int theta_margin, unsigned int rho_margin,
+                              uint32_t segment_threshold)
+{
+    const unsigned int max_theta_diff = 15;
+    const unsigned int max_gap_pixels = 5;
+
+    list_t temp_out;
+    imlib_find_lines(&temp_out, ptr, roi, x_stride, y_stride, threshold, theta_margin, rho_margin);
+    imlib_list_init(out, sizeof(find_lines_list_lnk_data_t));
+
+    const int r_diag_len = fast_roundf(fast_sqrtf((roi->w * roi->w) + (roi->h * roi->h))) * 2;
+    int *theta_buffer = fb_alloc(sizeof(int) * r_diag_len, FB_ALLOC_NO_HINT);
+    uint32_t *mag_buffer = fb_alloc(sizeof(uint32_t) * r_diag_len, FB_ALLOC_NO_HINT);
+    point_t *point_buffer = fb_alloc(sizeof(point_t) * r_diag_len, FB_ALLOC_NO_HINT);
+
+    for (size_t i = 0; list_size(&temp_out); i++) {
+        find_lines_list_lnk_data_t lnk_data;
+        list_pop_front(&temp_out, &lnk_data);
+
+        list_t line_out;
+        imlib_list_init(&line_out, sizeof(find_lines_list_lnk_data_t));
+
+        for (int k = -2; k <= 2; k += 2) {
+            line_t l;
+
+            if (abs(lnk_data.line.x2 - lnk_data.line.x1) >= abs(lnk_data.line.y2 - lnk_data.line.y1)) {
+                // the line is more horizontal than vertical
+                l.x1 = lnk_data.line.x1;
+                l.y1 = lnk_data.line.y1 + k;
+                l.x2 = lnk_data.line.x2;
+                l.y2 = lnk_data.line.y2 + k;
+            } else {
+                // the line is more vertical than horizontal
+                l.x1 = lnk_data.line.x1 + k;
+                l.y1 = lnk_data.line.y1;
+                l.x2 = lnk_data.line.x2 + k;
+                l.y2 = lnk_data.line.y2;
+            }
+
+            if(!lb_clip_line(&l, 0, 0, ptr->w, ptr->h)) {
+                continue;
+            }
+
+            find_lines_list_lnk_data_t tmp_line;
+            tmp_line.magnitude = lnk_data.magnitude;
+            tmp_line.theta = lnk_data.theta;
+            tmp_line.rho = lnk_data.rho;
+
+            size_t index = trace_line(ptr, &l, theta_buffer, mag_buffer, point_buffer);
+            unsigned int max_gap = 0;
+
+            for (size_t j = 0; j < index; j++) {
+                int theta_diff = abs(tmp_line.theta - theta_buffer[j]);
+                int theta_diff_2 = (theta_diff >= 90) ? (180 - theta_diff) : theta_diff;
+                bool ok = (mag_buffer[j] >= segment_threshold) && (theta_diff_2 <= max_theta_diff);
+
+                if (!max_gap) {
+                    if (ok) {
+                        max_gap = max_gap_pixels + 1; // (start) auto connect segments max_gap_pixels px apart...
+                        tmp_line.line.x1 = point_buffer[j].x;
+                        tmp_line.line.y1 = point_buffer[j].y;
+                        tmp_line.line.x2 = point_buffer[j].x;
+                        tmp_line.line.y2 = point_buffer[j].y;
+                    }
+                } else {
+                    if (ok) {
+                        max_gap = max_gap_pixels + 1; // (reset) auto connect segments max_gap_pixels px apart...
+                        tmp_line.line.x2 = point_buffer[j].x;
+                        tmp_line.line.y2 = point_buffer[j].y;
+                    } else if (!--max_gap) {
+                        list_push_back(&line_out, &tmp_line);
+                    }
+                }
+            }
+
+            if (max_gap) {
+                list_push_back(&line_out, &tmp_line);
+            }
+        }
+
+        merge_alot(&line_out, max_gap_pixels + 1, max_theta_diff);
+
+        while (list_size(&line_out)) {
+            find_lines_list_lnk_data_t lnk_line;
+            list_pop_front(&line_out, &lnk_line);
+            list_push_back(out, &lnk_line);
+        }
+    }
+
+    merge_alot(out, max_gap_pixels + 1, max_theta_diff);
+
+    fb_free(point_buffer); // point_buffer
+    fb_free(mag_buffer); // mag_buffer
+    fb_free(theta_buffer); // theta_buffer
+}
+#endif //IMLIB_ENABLE_FIND_LINE_SEGMENTS
+
+#ifdef IMLIB_ENABLE_FIND_CIRCLES
+void imlib_find_circles(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                        uint32_t threshold, unsigned int x_margin, unsigned int y_margin, unsigned int r_margin,
+                        unsigned int r_min, unsigned int r_max, unsigned int r_step)
+{
+    uint16_t *theta_acc = fb_alloc0(sizeof(uint16_t) * roi->w * roi->h, FB_ALLOC_NO_HINT);
+    uint16_t *magnitude_acc = fb_alloc0(sizeof(uint16_t) * roi->w * roi->h, FB_ALLOC_NO_HINT);
+
+    switch (ptr->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+                    int theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 360; // * (180 / PI)
+                    if (theta < 0) theta += 360;
+                    int magnitude = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+                    int index = (roi->w * (y - roi->y)) + (x - roi->x);
+
+                    theta_acc[index] = theta;
+                    magnitude_acc[index] = magnitude;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ptr->w;
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x - 1);
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + 1);
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ptr->w;
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x - 1);
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + 1);
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ptr->w;
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x - 1);
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + 1);
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ptr->w;
+
+                    int theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 360; // * (180 / PI)
+                    if (theta < 0) theta += 360;
+                    int magnitude = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+                    int index = (roi->w * (y - roi->y)) + (x - roi->x);
+
+                    theta_acc[index] = theta;
+                    magnitude_acc[index] = magnitude;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ptr->w;
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ptr->w;
+
+                    int theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 360; // * (180 / PI)
+                    if (theta < 0) theta += 360;
+                    int magnitude = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+                    int index = (roi->w * (y - roi->y)) + (x - roi->x);
+
+                    theta_acc[index] = theta;
+                    magnitude_acc[index] = magnitude;
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = roi->y + 1, yy = roi->y + roi->h - 1; y < yy; y += y_stride) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                for (int x = roi->x + (y % x_stride) + 1, xx = roi->x + roi->w - 1; x < xx; x += x_stride) {
+                    int pixel; // Sobel Algorithm Below
+                    int x_acc = 0;
+                    int y_acc = 0;
+
+                    row_ptr -= ptr->w;
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[0,0] -> pixel * +1
+                    y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                                         // x[0,1] -> pixel * 0
+                    y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[0,2] -> pixel * -1
+                    y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                         // y[1,0] -> pixel * 0
+
+                    // pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                    // x[1,1] -> pixel * 0
+                    // y[1,1] -> pixel * 0
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                         // y[1,2] -> pixel * 0
+
+                    row_ptr += ptr->w;
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x - 1));
+                    x_acc += pixel * +1; // x[2,0] -> pixel * +1
+                    y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                                         // x[2,1] -> pixel * 0
+                    y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+                    pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + 1));
+                    x_acc += pixel * -1; // x[2,2] -> pixel * -1
+                    y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+                    row_ptr -= ptr->w;
+
+                    int theta = (int)fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 360; // * (180 / PI)
+                    if (theta < 0) theta += 360;
+                    int magnitude = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+                    int index = (roi->w * (y - roi->y)) + (x - roi->x);
+
+                    theta_acc[index] = theta;
+                    magnitude_acc[index] = magnitude;
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    // Theta Direction (% 180)
+    //
+    // 0,0         X_MAX
+    //
+    //     090
+    // 000     000
+    //     090
+    //
+    // Y_MAX
+
+    // Theta Direction (% 360)
+    //
+    // 0,0         X_MAX
+    //
+    //     090
+    // 000     180
+    //     270
+    //
+    // Y_MAX
+
+    imlib_list_init(out, sizeof(find_circles_list_lnk_data_t));
+
+    for (int r = r_min, rr = r_max; r < rr; r += r_step) { // ignore r = 0/1
+        int a_size, b_size, hough_divide = 1; // divides a and b accumulators
+        int hough_shift = 0;
+        int w_size = roi->w - (2 * r);
+        int h_size = roi->h - (2 * r);
+
+        for (;;) { // shrink to fit...
+            a_size = 1 + ((w_size + hough_divide - 1) / hough_divide) + 1; // left & right padding
+            b_size = 1 + ((h_size + hough_divide - 1) / hough_divide) + 1; // top & bottom padding
+            if ((sizeof(uint32_t) * a_size * b_size) <= fb_avail()) break;
+            hough_divide = hough_divide << 1; // powers of 2...
+            hough_shift++;
+            if (hough_divide > 4) fb_alloc_fail(); // support 1, 2, 4
+        }
+
+        uint32_t *acc = fb_alloc0(sizeof(uint32_t) * a_size * b_size, FB_ALLOC_NO_HINT);
+        int16_t *rcos = fb_alloc(sizeof(int16_t)*360, FB_ALLOC_NO_HINT);
+        int16_t *rsin = fb_alloc(sizeof(int16_t)*360, FB_ALLOC_NO_HINT);
+        for (int i=0; i<360; i++)
+        {
+            rcos[i] = (int16_t)roundf(r * cos_table[i]);
+            rsin[i] = (int16_t)roundf(r * sin_table[i]);
+        }
+
+        for (int y = 0, yy = roi->h; y < yy; y++) {
+            for (int x = 0, xx = roi->w; x < xx; x++) {
+                int index = (roi->w * y) + x;
+                int theta = theta_acc[index];
+                int magnitude = magnitude_acc[index];
+                if (!magnitude) continue;
+
+                // We have to do the below step twice because the gradient may be pointing inside or outside the circle.
+                // Only graidents pointing inside of the circle sum up to produce a large magnitude.
+                for (;;) { // Hi to lo edge direction
+                    int a = x + rcos[theta] - r;
+                    if ((a < 0) || (w_size <= a)) break; // circle doesn't fit in the window
+                    int b = y + rsin[theta] - r;
+                    if ((b < 0) || (h_size <= b)) break; // circle doesn't fit in the window
+                    int acc_index = (((b >> hough_shift) + 1) * a_size) + ((a >> hough_shift) + 1); // add offset
+
+                    int acc_value = acc[acc_index] += magnitude;
+                    acc[acc_index] = acc_value;
+                    break;
+                }
+
+                for (;;) { // Lo to hi edge direction
+                    int a = x - rcos[theta] - r;
+                    if ((a < 0) || (w_size <= a)) break; // circle doesn't fit in the window
+                    int b = y - rsin[theta] - r;
+                    if ((b < 0) || (h_size <= b)) break; // circle doesn't fit in the window
+                    int acc_index = (((b >> hough_shift) + 1) * a_size) + ((a >> hough_shift) + 1); // add offset
+
+                    int acc_value = acc[acc_index] += magnitude;
+                    acc[acc_index] = acc_value;
+                    break;
+                }
+            }
+        }
+
+        for (int y = 1, yy = b_size - 1; y < yy; y++) {
+            uint32_t *row_ptr = acc + (a_size * y);
+            uint32_t val;
+            for (int x = 1, xx = a_size - 1; x < xx; x++) {
+                val = row_ptr[x];
+                if ((val >= threshold)
+                &&  (val >= row_ptr[x-a_size-1])
+                &&  (val >= row_ptr[x-a_size])
+                &&  (val >= row_ptr[x-a_size+1])
+                &&  (val >= row_ptr[x-1])
+                &&  (val >= row_ptr[x+1])
+                &&  (val >= row_ptr[x+a_size-1])
+                &&  (val >= row_ptr[x+a_size])
+                &&  (val >= row_ptr[x+a_size+1])) {
+
+                    find_circles_list_lnk_data_t lnk_data;
+                    lnk_data.magnitude = val;
+                    lnk_data.p.x = ((x - 1) << hough_shift) + r + roi->x; // remove offset
+                    lnk_data.p.y = ((y - 1) << hough_shift) + r + roi->y; // remove offset
+                    lnk_data.r = r;
+
+                    list_push_back(out, &lnk_data);
+                    if (val > row_ptr[x+1])
+                       x++; // can skip the next pixel
+                }
+            }
+        }
+
+        fb_free(rsin); // rsin
+        fb_free(rcos); // rcos
+        fb_free(acc); // acc
+    }
+
+    fb_free(magnitude_acc); // magnitude_acc
+    fb_free(theta_acc); // theta_acc
+
+    for (;;) { // Merge overlapping.
+        bool merge_occured = false;
+
+        list_t out_temp;
+        imlib_list_init(&out_temp, sizeof(find_circles_list_lnk_data_t));
+
+        while (list_size(out)) {
+            find_circles_list_lnk_data_t lnk_data;
+            list_pop_front(out, &lnk_data);
+
+            for (size_t k = 0, l = list_size(out); k < l; k++) {
+                find_circles_list_lnk_data_t tmp_data;
+                list_pop_front(out, &tmp_data);
+
+                bool x_diff_ok = abs(lnk_data.p.x - tmp_data.p.x) < x_margin;
+                bool y_diff_ok = abs(lnk_data.p.y - tmp_data.p.y) < y_margin;
+                bool r_diff_ok = abs(lnk_data.r - tmp_data.r) < r_margin;
+
+                if (x_diff_ok && y_diff_ok && r_diff_ok) {
+                    uint32_t magnitude = lnk_data.magnitude + tmp_data.magnitude;
+                    lnk_data.p.x = ((lnk_data.p.x * lnk_data.magnitude) + (tmp_data.p.x * tmp_data.magnitude)) / magnitude;
+                    lnk_data.p.y = ((lnk_data.p.y * lnk_data.magnitude) + (tmp_data.p.y * tmp_data.magnitude)) / magnitude;
+                    lnk_data.r = ((lnk_data.r * lnk_data.magnitude) + (tmp_data.r * tmp_data.magnitude)) / magnitude;
+                    lnk_data.magnitude = magnitude / 2;
+                    merge_occured = true;
+                } else {
+                    list_push_back(out, &tmp_data);
+                }
+            }
+
+            list_push_back(&out_temp, &lnk_data);
+        }
+
+        list_copy(out, &out_temp);
+
+        if (!merge_occured) {
+            break;
+        }
+    }
+}
+#endif //IMLIB_ENABLE_FIND_CIRCLES
diff --git a/github_source/minicv2/src/imlib.c b/github_source/minicv2/src/imlib.c
new file mode 100644
index 0000000..8ea644c
--- /dev/null
+++ b/github_source/minicv2/src/imlib.c
@@ -0,0 +1,1803 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image library.
+ */
+#include <stdlib.h>
+// #include "py/obj.h"
+// #include "py/runtime.h"
+
+#include "font.h"
+#include "array.h"
+// #include "ff_wrapper.h"
+#include "imlib.h"
+#include "common.h"
+#include "omv_boardconfig.h"
+
+
+void imlib_init_all()
+{
+    #if (OMV_HARDWARE_JPEG == 1)
+    imlib_jpeg_compress_init();
+    #endif
+    fb_alloc_init0();
+    fmath_init();
+}
+
+void imlib_deinit_all()
+{
+    #ifdef IMLIB_ENABLE_DMA2D
+    imlib_draw_row_deinit_all();
+    #endif
+    #if (OMV_HARDWARE_JPEG == 1)
+    imlib_jpeg_compress_deinit();
+    #endif
+    fb_alloc_close0();
+}
+
+/////////////////
+// Point Stuff //
+/////////////////
+
+void point_init(point_t *ptr, int x, int y)
+{
+    ptr->x = x;
+    ptr->y = y;
+}
+
+void point_copy(point_t *dst, point_t *src)
+{
+    memcpy(dst, src, sizeof(point_t));
+}
+
+bool point_equal_fast(point_t *ptr0, point_t *ptr1)
+{
+    return !memcmp(ptr0, ptr1, sizeof(point_t));
+}
+
+int point_quadrance(point_t *ptr0, point_t *ptr1)
+{
+    int delta_x = ptr0->x - ptr1->x;
+    int delta_y = ptr0->y - ptr1->y;
+    return (delta_x * delta_x) + (delta_y * delta_y);
+}
+
+int point_quadrance_i(point_t *ptr0, point_t *ptr1)
+{
+    int delta_m = point_quadrance(ptr0, ptr1);
+    return (int)fast_sqrtf((float)delta_m);
+}
+
+void point_rotate(int x, int y, float r, int center_x, int center_y, int16_t *new_x, int16_t *new_y)
+{
+    x -= center_x;
+    y -= center_y;
+    *new_x = (x * cosf(r)) - (y * sinf(r)) + center_x;
+    *new_y = (x * sinf(r)) + (y * cosf(r)) + center_y;
+}
+
+void point_min_area_rectangle(point_t *corners, point_t *new_corners, int corners_len) // Corners need to be sorted!
+{
+    int i_min = 0;
+    int i_min_area = INT_MAX;
+    int i_x0 = 0, i_y0 = 0;
+    int i_x1 = 0, i_y1 = 0;
+    int i_x2 = 0, i_y2 = 0;
+    int i_x3 = 0, i_y3 = 0;
+    float i_r = 0;
+
+    // This algorithm aligns the 4 edges produced by the 4 corners to the x axis and then computes the
+    // min area rect for each alignment. The smallest rect is choosen and then re-rotated and returned.
+    for (int i = 0; i < corners_len; i++) {
+        int16_t x0 = corners[i].x, y0 = corners[i].y;
+        int x_diff = corners[(i+1)%corners_len].x - corners[i].x;
+        int y_diff = corners[(i+1)%corners_len].y - corners[i].y;
+        float r = -fast_atan2f(y_diff, x_diff);
+
+        int16_t x1[corners_len-1];
+        int16_t y1[corners_len-1];
+        for (int j = 0, jj = corners_len - 1; j < jj; j++) {
+            point_rotate(corners[(i+j+1)%corners_len].x, corners[(i+j+1)%corners_len].y, r, x0, y0, x1 + j, y1 + j);
+        }
+
+        int minx = x0;
+        int maxx = x0;
+        int miny = y0;
+        int maxy = y0;
+        for (int j = 0, jj = corners_len - 1; j < jj; j++) {
+            minx = IM_MIN(minx, x1[j]);
+            maxx = IM_MAX(maxx, x1[j]);
+            miny = IM_MIN(miny, y1[j]);
+            maxy = IM_MAX(maxy, y1[j]);
+        }
+
+        int area = (maxx - minx + 1) * (maxy - miny + 1);
+        if (area < i_min_area) {
+            i_min = i;
+            i_min_area = area;
+            i_x0 = minx, i_y0 = miny;
+            i_x1 = maxx, i_y1 = miny;
+            i_x2 = maxx, i_y2 = maxy;
+            i_x3 = minx, i_y3 = maxy;
+            i_r = r;
+        }
+    }
+
+    point_rotate(i_x0, i_y0, -i_r, corners[i_min].x, corners[i_min].y, &new_corners[0].x, &new_corners[0].y);
+    point_rotate(i_x1, i_y1, -i_r, corners[i_min].x, corners[i_min].y, &new_corners[1].x, &new_corners[1].y);
+    point_rotate(i_x2, i_y2, -i_r, corners[i_min].x, corners[i_min].y, &new_corners[2].x, &new_corners[2].y);
+    point_rotate(i_x3, i_y3, -i_r, corners[i_min].x, corners[i_min].y, &new_corners[3].x, &new_corners[3].y);
+}
+
+////////////////
+// Line Stuff //
+////////////////
+
+// http://www.skytopia.com/project/articles/compsci/clipping.html
+bool lb_clip_line(line_t *l, int x, int y, int w, int h) // line is drawn if this returns true
+{
+    int xdelta = l->x2 - l->x1, ydelta = l->y2 - l->y1, p[4], q[4];
+    float umin = 0, umax = 1;
+
+    p[0] = -(xdelta);
+    p[1] = +(xdelta);
+    p[2] = -(ydelta);
+    p[3] = +(ydelta);
+
+    q[0] = l->x1 - (x);
+    q[1] = (x + w - 1) - l->x1;
+    q[2] = l->y1 - (y);
+    q[3] = (y + h - 1) - l->y1;
+
+    for (int i = 0; i < 4; i++) {
+        if (p[i]) {
+            float u = ((float) q[i]) / ((float) p[i]);
+
+            if (p[i] < 0) { // outside to inside
+                if (u > umax) return false;
+                if (u > umin) umin = u;
+            }
+
+            if (p[i] > 0) { // inside to outside
+                if (u < umin) return false;
+                if (u < umax) umax = u;
+            }
+
+        } else if (q[i] < 0) {
+            return false;
+        }
+    }
+
+    if (umax < umin) return false;
+
+    int x1_c = l->x1 + (xdelta * umin);
+    int y1_c = l->y1 + (ydelta * umin);
+    int x2_c = l->x1 + (xdelta * umax);
+    int y2_c = l->y1 + (ydelta * umax);
+    l->x1 = x1_c;
+    l->y1 = y1_c;
+    l->x2 = x2_c;
+    l->y2 = y2_c;
+
+    return true;
+}
+
+/////////////////////
+// Rectangle Stuff //
+/////////////////////
+
+void rectangle_init(rectangle_t *ptr, int x, int y, int w, int h)
+{
+    ptr->x = x;
+    ptr->y = y;
+    ptr->w = w;
+    ptr->h = h;
+}
+
+void rectangle_copy(rectangle_t *dst, rectangle_t *src)
+{
+    memcpy(dst, src, sizeof(rectangle_t));
+}
+
+bool rectangle_equal_fast(rectangle_t *ptr0, rectangle_t *ptr1)
+{
+    return !memcmp(ptr0, ptr1, sizeof(rectangle_t));
+}
+
+bool rectangle_overlap(rectangle_t *ptr0, rectangle_t *ptr1)
+{
+    int x0 = ptr0->x;
+    int y0 = ptr0->y;
+    int w0 = ptr0->w;
+    int h0 = ptr0->h;
+    int x1 = ptr1->x;
+    int y1 = ptr1->y;
+    int w1 = ptr1->w;
+    int h1 = ptr1->h;
+    return (x0 < (x1 + w1)) && (y0 < (y1 + h1)) && (x1 < (x0 + w0)) && (y1 < (y0 + h0));
+}
+
+void rectangle_intersected(rectangle_t *dst, rectangle_t *src)
+{
+    int leftX = IM_MAX(dst->x, src->x);
+    int topY = IM_MAX(dst->y, src->y);
+    int rightX = IM_MIN(dst->x + dst->w, src->x + src->w);
+    int bottomY = IM_MIN(dst->y + dst->h, src->y + src->h);
+    dst->x = leftX;
+    dst->y = topY;
+    dst->w = rightX - leftX;
+    dst->h = bottomY - topY;
+}
+
+void rectangle_united(rectangle_t *dst, rectangle_t *src)
+{
+    int leftX = IM_MIN(dst->x, src->x);
+    int topY = IM_MIN(dst->y, src->y);
+    int rightX = IM_MAX(dst->x + dst->w, src->x + src->w);
+    int bottomY = IM_MAX(dst->y + dst->h, src->y + src->h);
+    dst->x = leftX;
+    dst->y = topY;
+    dst->w = rightX - leftX;
+    dst->h = bottomY - topY;
+}
+
+/////////////////
+// Image Stuff //
+/////////////////
+
+void imlib_image_init(image_t *ptr, int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels)
+{
+    ptr->w = w;
+    ptr->h = h;
+    ptr->pixfmt = pixfmt;
+    ptr->size   = size;
+    ptr->pixels = pixels;
+    ptr->is_data_alloc = false;
+}
+
+image_t* imlib_image_create(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels, bool is_data_alloc)
+{
+    image_t *ptr = xalloc(sizeof(image_t));
+    ptr->w = w;
+    ptr->h = h;
+    ptr->pixfmt = pixfmt;
+    ptr->size   = size;
+    ptr->pixels = pixels;
+    ptr->is_data_alloc = is_data_alloc;
+    if(ptr->is_data_alloc)
+    {
+        ptr->size = image_size(ptr);
+        ptr->pixels = xalloc(ptr->size);
+        ptr->is_data_alloc = is_data_alloc;
+    }
+    return ptr;
+}
+image_t* imlib_image_create_fb_buff(int w, int h, pixformat_t pixfmt, uint32_t size, void *pixels, bool is_data_alloc)
+{
+    image_t *ptr = fb_alloc(sizeof(image_t), 0);
+    ptr->w = w;
+    ptr->h = h;
+    ptr->pixfmt = pixfmt;
+    ptr->size   = size;
+    ptr->pixels = pixels;
+    ptr->is_data_alloc = is_data_alloc;
+    if(ptr->is_data_alloc)
+    {
+        ptr->size = image_size(ptr);
+        ptr->pixels = fb_alloc(ptr->size, 0);
+        ptr->is_data_alloc = is_data_alloc;
+    }
+    return ptr;
+}
+void imlib_image_destroy_fb_buff(image_t **obj)
+{
+    if (*obj)
+    {
+        if ((*obj)->is_data_alloc)
+        {
+            fb_free((*obj)->data);
+            (*obj)->data = NULL;
+        }
+        fb_free(*obj);
+        *obj = NULL;
+    }
+}
+void imlib_image_destroy(image_t **obj)
+{
+    if (*obj)
+    {
+        if ((*obj)->is_data_alloc)
+        {
+            xfree((*obj)->data);
+            (*obj)->data = NULL;
+        }
+        xfree(*obj);
+        *obj = NULL;
+    }
+}
+void image_copy(image_t *dst, image_t *src)
+{
+    memcpy(dst, src, sizeof(image_t));
+}
+
+size_t image_size(image_t *ptr)
+{
+    switch (ptr->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            return IMAGE_BINARY_LINE_LEN_BYTES(ptr) * ptr->h;
+        }
+        case PIXFORMAT_GRAYSCALE:
+        case PIXFORMAT_BAYER_ANY: { // re-use
+            return IMAGE_GRAYSCALE_LINE_LEN_BYTES(ptr) * ptr->h;
+        }
+        case PIXFORMAT_RGB565:
+        case PIXFORMAT_YUV_ANY: { // re-use
+            return IMAGE_RGB565_LINE_LEN_BYTES(ptr) * ptr->h;
+        }
+        case PIXFORMAT_COMPRESSED_ANY: {
+            return ptr->size;
+        }
+        case PIXFORMAT_RGB888: {
+            return IMAGE_RGB888_LINE_LEN_BYTES(ptr) * ptr->h;
+        }
+        default: {
+            return 0;
+        }
+    }
+}
+
+bool image_get_mask_pixel(image_t *ptr, int x, int y)
+{
+    if ((0 <= x) && (x < ptr->w) && (0 <= y) && (y < ptr->h)) {
+        switch (ptr->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                return IMAGE_GET_BINARY_PIXEL(ptr, x, y);
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                return COLOR_GRAYSCALE_TO_BINARY(IMAGE_GET_GRAYSCALE_PIXEL(ptr, x, y));
+            }
+            case PIXFORMAT_RGB565: {
+                return COLOR_RGB565_TO_BINARY(IMAGE_GET_RGB565_PIXEL(ptr, x, y));
+            }
+            case PIXFORMAT_RGB888: {
+                return COLOR_RGB888_TO_BINARY(IMAGE_GET_RGB888_PIXEL(ptr, x, y));
+            }
+            default: {
+                return false;
+            }
+        }
+    }
+
+    return false;
+}
+
+// Gamma uncompress
+extern const float xyz_table[256];
+
+const int8_t kernel_gauss_3[3*3] = {
+     1, 2, 1,
+     2, 4, 2,
+     1, 2, 1,
+};
+
+const int8_t kernel_gauss_5[5*5] = {
+    1,  4,  6,  4, 1,
+    4, 16, 24, 16, 4,
+    6, 24, 36, 24, 6,
+    4, 16, 24, 16, 4,
+    1,  4,  6,  4, 1
+};
+
+const int kernel_laplacian_3[3*3] = {
+     -1, -1, -1,
+     -1,  8, -1,
+     -1, -1, -1
+};
+
+const int kernel_high_pass_3[3*3] = {
+    -1, -1, -1,
+    -1, +8, -1,
+    -1, -1, -1
+};
+
+// This function fills a grayscale image from an array of floating point numbers that are scaled
+// between min and max. The image w*h must equal the floating point array w*h.
+void imlib_fill_image_from_float(image_t *img, int w, int h, float *data, float min, float max,
+                                 bool mirror, bool flip, bool dst_transpose, bool src_transpose)
+{
+    float tmp = min;
+    min = (min < max) ? min : max;
+    max = (max > tmp) ? max : tmp;
+
+    float diff = 255.f / (max - min);
+    int w_1 = w - 1;
+    int h_1 = h - 1;
+
+    if (!src_transpose) {
+        for (int y = 0; y < h; y++) {
+            int y_dst = flip ? (h_1 - y) : y;
+            float *raw_row = data + (y * w);
+            uint8_t *row_pointer = ((uint8_t *) img->data) + (y_dst * w);
+            uint8_t *t_row_pointer = ((uint8_t *) img->data) + y_dst;
+
+            for (int x = 0; x < w; x++) {
+                int x_dst = mirror ? (w_1 - x) : x;
+                float raw = raw_row[x];
+
+                if (raw < min) {
+                    raw = min;
+                }
+
+                if (raw > max) {
+                    raw = max;
+                }
+
+                int pixel = fast_roundf((raw - min) * diff);
+                pixel = __USAT(pixel, 8);
+
+                if (!dst_transpose) {
+                    row_pointer[x_dst] = pixel;
+                } else {
+                    t_row_pointer[x_dst * h] = pixel;
+                }
+            }
+        }
+    } else {
+        for (int x = 0; x < w; x++) {
+            int x_dst = mirror ? (w_1 - x) : x;
+            float *raw_row = data + (x * h);
+            uint8_t *t_row_pointer = ((uint8_t *) img->data) + (x_dst * h);
+            uint8_t *row_pointer = ((uint8_t *) img->data) + x_dst;
+
+            for (int y = 0; y < h; y++) {
+                int y_dst = flip ? (h_1 - y) : y;
+                float raw = raw_row[y];
+
+                if (raw < min) {
+                    raw = min;
+                }
+
+                if (raw > max) {
+                    raw = max;
+                }
+
+                int pixel = fast_roundf((raw - min) * diff);
+                pixel = __USAT(pixel, 8);
+
+                if (!dst_transpose) {
+                    row_pointer[y_dst * w] = pixel;
+                } else {
+                    t_row_pointer[y_dst] = pixel;
+                }
+            }
+        }
+    }
+}
+
+int8_t imlib_rgb565_to_l(uint16_t pixel)
+{
+    float r_lin = xyz_table[COLOR_RGB565_TO_R8(pixel)];
+    float g_lin = xyz_table[COLOR_RGB565_TO_G8(pixel)];
+    float b_lin = xyz_table[COLOR_RGB565_TO_B8(pixel)];
+
+    float y = ((r_lin * 0.2126f) + (g_lin * 0.7152f) + (b_lin * 0.0722f)) * (1.0f / 100.000f);
+
+    y = (y>0.008856f) ? fast_cbrtf(y) : ((y * 7.787037f) + 0.137931f);
+
+    return IM_LIMIT(fast_floorf(116 * y) - 16, COLOR_L_MIN, COLOR_L_MAX);
+}
+
+int8_t imlib_rgb565_to_a(uint16_t pixel)
+{
+    float r_lin = xyz_table[COLOR_RGB565_TO_R8(pixel)];
+    float g_lin = xyz_table[COLOR_RGB565_TO_G8(pixel)];
+    float b_lin = xyz_table[COLOR_RGB565_TO_B8(pixel)];
+
+    float x = ((r_lin * 0.4124f) + (g_lin * 0.3576f) + (b_lin * 0.1805f)) * (1.0f / 095.047f);
+    float y = ((r_lin * 0.2126f) + (g_lin * 0.7152f) + (b_lin * 0.0722f)) * (1.0f / 100.000f);
+
+    x = (x>0.008856f) ? fast_cbrtf(x) : ((x * 7.787037f) + 0.137931f);
+    y = (y>0.008856f) ? fast_cbrtf(y) : ((y * 7.787037f) + 0.137931f);
+
+    return IM_LIMIT(fast_floorf(500 * (x-y)), COLOR_A_MIN, COLOR_A_MAX);
+}
+
+int8_t imlib_rgb565_to_b(uint16_t pixel)
+{
+    float r_lin = xyz_table[COLOR_RGB565_TO_R8(pixel)];
+    float g_lin = xyz_table[COLOR_RGB565_TO_G8(pixel)];
+    float b_lin = xyz_table[COLOR_RGB565_TO_B8(pixel)];
+
+    float y = ((r_lin * 0.2126f) + (g_lin * 0.7152f) + (b_lin * 0.0722f)) * (1.0f / 100.000f);
+    float z = ((r_lin * 0.0193f) + (g_lin * 0.1192f) + (b_lin * 0.9505f)) * (1.0f / 108.883f);
+
+    y = (y>0.008856f) ? fast_cbrtf(y) : ((y * 7.787037f) + 0.137931f);
+    z = (z>0.008856f) ? fast_cbrtf(z) : ((z * 7.787037f) + 0.137931f);
+
+    return IM_LIMIT(fast_floorf(200 * (y-z)), COLOR_B_MIN, COLOR_B_MAX);
+}
+int8_t imlib_rgb888_to_l(uint32_t pixel)
+{
+    float r_lin = xyz_table[COLOR_RGB888_TO_R8(pixel)];
+    float g_lin = xyz_table[COLOR_RGB888_TO_G8(pixel)];
+    float b_lin = xyz_table[COLOR_RGB888_TO_B8(pixel)];
+
+    float y = ((r_lin * 0.2126f) + (g_lin * 0.7152f) + (b_lin * 0.0722f)) * (1.0f / 100.000f);
+
+    y = (y>0.008856f) ? fast_cbrtf(y) : ((y * 7.787037f) + 0.137931f);
+
+    return IM_LIMIT(fast_floorf(116 * y) - 16, COLOR_L_MIN, COLOR_L_MAX);
+}
+
+int8_t imlib_rgb888_to_a(uint32_t pixel)
+{
+    float r_lin = xyz_table[COLOR_RGB888_TO_R8(pixel)];
+    float g_lin = xyz_table[COLOR_RGB888_TO_G8(pixel)];
+    float b_lin = xyz_table[COLOR_RGB888_TO_B8(pixel)];
+
+    float x = ((r_lin * 0.4124f) + (g_lin * 0.3576f) + (b_lin * 0.1805f)) * (1.0f / 095.047f);
+    float y = ((r_lin * 0.2126f) + (g_lin * 0.7152f) + (b_lin * 0.0722f)) * (1.0f / 100.000f);
+
+    x = (x>0.008856f) ? fast_cbrtf(x) : ((x * 7.787037f) + 0.137931f);
+    y = (y>0.008856f) ? fast_cbrtf(y) : ((y * 7.787037f) + 0.137931f);
+
+    return IM_LIMIT(fast_floorf(500 * (x-y)), COLOR_A_MIN, COLOR_A_MAX);
+}
+
+int8_t imlib_rgb888_to_b(uint32_t pixel)
+{
+    float r_lin = xyz_table[COLOR_RGB888_TO_R8(pixel)];
+    float g_lin = xyz_table[COLOR_RGB888_TO_G8(pixel)];
+    float b_lin = xyz_table[COLOR_RGB888_TO_B8(pixel)];
+
+    float y = ((r_lin * 0.2126f) + (g_lin * 0.7152f) + (b_lin * 0.0722f)) * (1.0f / 100.000f);
+    float z = ((r_lin * 0.0193f) + (g_lin * 0.1192f) + (b_lin * 0.9505f)) * (1.0f / 108.883f);
+
+    y = (y>0.008856f) ? fast_cbrtf(y) : ((y * 7.787037f) + 0.137931f);
+    z = (z>0.008856f) ? fast_cbrtf(z) : ((z * 7.787037f) + 0.137931f);
+
+    return IM_LIMIT(fast_floorf(200 * (y-z)), COLOR_B_MIN, COLOR_B_MAX);
+}
+// https://en.wikipedia.org/wiki/Lab_color_space -> CIELAB-CIEXYZ conversions
+// https://en.wikipedia.org/wiki/SRGB -> Specification of the transformation
+uint16_t imlib_lab_to_rgb(uint8_t l, int8_t a, int8_t b)
+{
+    float x = ((l + 16) * 0.008621f) + (a * 0.002f);
+    float y = ((l + 16) * 0.008621f);
+    float z = ((l + 16) * 0.008621f) - (b * 0.005f);
+
+    x = ((x > 0.206897f) ? (x*x*x) : ((0.128419f * x) - 0.017713f)) * 095.047f;
+    y = ((y > 0.206897f) ? (y*y*y) : ((0.128419f * y) - 0.017713f)) * 100.000f;
+    z = ((z > 0.206897f) ? (z*z*z) : ((0.128419f * z) - 0.017713f)) * 108.883f;
+
+    float r_lin = ((x * +3.2406f) + (y * -1.5372f) + (z * -0.4986f)) / 100.0f;
+    float g_lin = ((x * -0.9689f) + (y * +1.8758f) + (z * +0.0415f)) / 100.0f;
+    float b_lin = ((x * +0.0557f) + (y * -0.2040f) + (z * +1.0570f)) / 100.0f;
+
+    r_lin = (r_lin>0.0031308f) ? ((1.055f*powf(r_lin, 0.416666f))-0.055f) : (r_lin*12.92f);
+    g_lin = (g_lin>0.0031308f) ? ((1.055f*powf(g_lin, 0.416666f))-0.055f) : (g_lin*12.92f);
+    b_lin = (b_lin>0.0031308f) ? ((1.055f*powf(b_lin, 0.416666f))-0.055f) : (b_lin*12.92f);
+
+    uint32_t red   = IM_MAX(IM_MIN(fast_floorf(r_lin * COLOR_R8_MAX), COLOR_R8_MAX), COLOR_R8_MIN);
+    uint32_t green = IM_MAX(IM_MIN(fast_floorf(g_lin * COLOR_G8_MAX), COLOR_G8_MAX), COLOR_G8_MIN);
+    uint32_t blue  = IM_MAX(IM_MIN(fast_floorf(b_lin * COLOR_B8_MAX), COLOR_B8_MAX), COLOR_B8_MIN);
+
+    return COLOR_R8_G8_B8_TO_RGB565(red, green, blue);
+}
+uint32_t imlib_lab_to_rgb888(uint8_t l, int8_t a, int8_t b)
+{
+    float x = ((l + 16) * 0.008621f) + (a * 0.002f);
+    float y = ((l + 16) * 0.008621f);
+    float z = ((l + 16) * 0.008621f) - (b * 0.005f);
+
+    x = ((x > 0.206897f) ? (x*x*x) : ((0.128419f * x) - 0.017713f)) * 095.047f;
+    y = ((y > 0.206897f) ? (y*y*y) : ((0.128419f * y) - 0.017713f)) * 100.000f;
+    z = ((z > 0.206897f) ? (z*z*z) : ((0.128419f * z) - 0.017713f)) * 108.883f;
+
+    float r_lin = ((x * +3.2406f) + (y * -1.5372f) + (z * -0.4986f)) / 100.0f;
+    float g_lin = ((x * -0.9689f) + (y * +1.8758f) + (z * +0.0415f)) / 100.0f;
+    float b_lin = ((x * +0.0557f) + (y * -0.2040f) + (z * +1.0570f)) / 100.0f;
+
+    r_lin = (r_lin>0.0031308f) ? ((1.055f*powf(r_lin, 0.416666f))-0.055f) : (r_lin*12.92f);
+    g_lin = (g_lin>0.0031308f) ? ((1.055f*powf(g_lin, 0.416666f))-0.055f) : (g_lin*12.92f);
+    b_lin = (b_lin>0.0031308f) ? ((1.055f*powf(b_lin, 0.416666f))-0.055f) : (b_lin*12.92f);
+
+    uint32_t red   = IM_MAX(IM_MIN(fast_floorf(r_lin * COLOR_R8_MAX), COLOR_R8_MAX), COLOR_R8_MIN);
+    uint32_t green = IM_MAX(IM_MIN(fast_floorf(g_lin * COLOR_G8_MAX), COLOR_G8_MAX), COLOR_G8_MIN);
+    uint32_t blue  = IM_MAX(IM_MIN(fast_floorf(b_lin * COLOR_B8_MAX), COLOR_B8_MAX), COLOR_B8_MIN);
+
+    return COLOR_R8_G8_B8_TO_RGB888(red, green, blue);
+}
+// https://en.wikipedia.org/wiki/YCbCr -> JPEG Conversion
+uint16_t imlib_yuv_to_rgb(uint8_t y, int8_t u, int8_t v)
+{
+    uint32_t r = IM_MAX(IM_MIN(y + ((91881 * v) >> 16), COLOR_R8_MAX), COLOR_R8_MIN);
+    uint32_t g = IM_MAX(IM_MIN(y - (((22554 * u) + (46802 * v)) >> 16), COLOR_G8_MAX), COLOR_G8_MIN);
+    uint32_t b = IM_MAX(IM_MIN(y + ((116130 * u) >> 16), COLOR_B8_MAX), COLOR_B8_MIN);
+
+    return COLOR_R8_G8_B8_TO_RGB565(r, g, b);
+}
+uint32_t imlib_yuv_to_rgb888(uint8_t y, int8_t u, int8_t v)
+{
+    uint32_t r = IM_MAX(IM_MIN(y + ((91881 * v) >> 16), COLOR_R8_MAX), COLOR_R8_MIN);
+    uint32_t g = IM_MAX(IM_MIN(y - (((22554 * u) + (46802 * v)) >> 16), COLOR_G8_MAX), COLOR_G8_MIN);
+    uint32_t b = IM_MAX(IM_MIN(y + ((116130 * u) >> 16), COLOR_B8_MAX), COLOR_B8_MIN);
+
+    return COLOR_R8_G8_B8_TO_RGB888(r, g, b);
+}
+////////////////////////////////////////////////////////////////////////////////
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+static save_image_format_t imblib_parse_extension(image_t *img, const char *path)
+{
+    size_t l = strlen(path);
+    const char *p = path + l;
+    if (l >= 5) {
+               if (((p[-1] == 'g') || (p[-1] == 'G'))
+               &&  ((p[-2] == 'e') || (p[-2] == 'E'))
+               &&  ((p[-3] == 'p') || (p[-3] == 'P'))
+               &&  ((p[-4] == 'j') || (p[-4] == 'J'))
+               &&  ((p[-5] == '.') || (p[-5] == '.'))) {
+                    // Will convert to JPG if not.
+                    return FORMAT_JPG;
+        }
+    }
+    if (l >= 4) {
+               if (((p[-1] == 'g') || (p[-1] == 'G'))
+               &&  ((p[-2] == 'p') || (p[-2] == 'P'))
+               &&  ((p[-3] == 'j') || (p[-3] == 'J'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    // Will convert to JPG if not.
+                    return FORMAT_JPG;
+        } else if (((p[-1] == 'g') || (p[-1] == 'G'))
+               &&  ((p[-2] == 'n') || (p[-2] == 'N'))
+               &&  ((p[-3] == 'p') || (p[-3] == 'P'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    // Will convert to PNG if not.
+                    return FORMAT_PNG;
+        } else if (((p[-1] == 'p') || (p[-1] == 'P'))
+               &&  ((p[-2] == 'm') || (p[-2] == 'M'))
+               &&  ((p[-3] == 'b') || (p[-3] == 'B'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    if (IM_IS_JPEG(img) || IM_IS_BAYER(img)) {
+                        ERR_PRINT("OSError:Image is not BMP!");
+                        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image is not BMP!"));
+                    }
+                    return FORMAT_BMP;
+        } else if (((p[-1] == 'm') || (p[-1] == 'M'))
+               &&  ((p[-2] == 'p') || (p[-2] == 'P'))
+               &&  ((p[-3] == 'p') || (p[-3] == 'P'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    if (!IM_IS_RGB565(img)) {
+                        ERR_PRINT("OSError:Image is not PPM!");
+                        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image is not PPM!"));
+                    }
+                    return FORMAT_PNM;
+        } else if (((p[-1] == 'm') || (p[-1] == 'M'))
+               &&  ((p[-2] == 'p') || (p[-2] == 'P'))
+               &&  ((p[-3] == 'p') || (p[-3] == 'P'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    if (!IM_IS_RGB888(img)) {
+                        ERR_PRINT("OSError:Image is not PPM!");
+                        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image is not PPM!"));
+                    }
+                    return FORMAT_PNM;
+        } else if (((p[-1] == 'm') || (p[-1] == 'M'))
+               &&  ((p[-2] == 'g') || (p[-2] == 'G'))
+               &&  ((p[-3] == 'p') || (p[-3] == 'P'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    if (!IM_IS_GS(img)) {
+                        ERR_PRINT("OSError:Image is not PGM!");
+                        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image is not PGM!"));
+                    }
+                    return FORMAT_PNM;
+        } else if (((p[-1] == 'w') || (p[-1] == 'W'))
+               &&  ((p[-2] == 'a') || (p[-2] == 'A'))
+               &&  ((p[-3] == 'r') || (p[-3] == 'R'))
+               &&  ((p[-4] == '.') || (p[-4] == '.'))) {
+                    if (!IM_IS_BAYER(img)) {
+                        ERR_PRINT("OSError:Image is not BAYER!");
+                        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image is not BAYER!"));
+                    }
+                    return FORMAT_RAW;
+        }
+
+    }
+    return FORMAT_DONT_CARE;
+}
+
+bool imlib_read_geometry(FIL *fp, image_t *img, const char *path, img_read_settings_t *rs)
+{
+    file_read_open(fp, path);
+    char magic[4];
+    read_data(fp, &magic, 4);
+    file_close(fp);
+
+    bool vflipped = false;
+    if ((magic[0]=='P')
+    && ((magic[1]=='2') || (magic[1]=='3')
+    ||  (magic[1]=='5') || (magic[1]=='6'))) { // PPM
+        rs->format = FORMAT_PNM;
+        file_read_open(fp, path);
+        file_buffer_on(fp); // REMEMBER TO TURN THIS OFF LATER!
+        ppm_read_geometry(fp, img, path, &rs->ppm_rs);
+    } else if ((magic[0]=='B') && (magic[1]=='M')) { // BMP
+        rs->format = FORMAT_BMP;
+        file_read_open(fp, path);
+        file_buffer_on(fp); // REMEMBER TO TURN THIS OFF LATER!
+        vflipped = bmp_read_geometry(fp, img, path, &rs->bmp_rs);
+    } else if ((magic[0]==0xFF) && (magic[1]==0xD8)) { // JPG
+        rs->format = FORMAT_JPG;
+        file_read_open(fp, path);
+        // Do not use file_buffer_on() here.
+        jpeg_read_geometry(fp, img, path, &rs->jpg_rs);
+        file_buffer_on(fp); // REMEMBER TO TURN THIS OFF LATER!
+    } else if ((magic[0]==0x89) && (magic[1]==0x50) && (magic[2]==0x4E) && (magic[3]==0x47)) { // PNG
+        rs->format = FORMAT_PNG;
+        file_read_open(fp, path);
+        // Do not use file_buffer_on() here.
+        png_read_geometry(fp, img, path, &rs->png_rs);
+        file_buffer_on(fp); // REMEMBER TO TURN THIS OFF LATER!
+    } else {
+        ff_unsupported_format(NULL);
+    }
+    imblib_parse_extension(img, path); // Enforce extension!
+    return vflipped;
+}
+
+static void imlib_read_pixels(FIL *fp, image_t *img, int n_lines, img_read_settings_t *rs)
+{
+    switch (rs->format) {
+        case FORMAT_BMP:
+            bmp_read_pixels(fp, img, n_lines, &rs->bmp_rs);
+            break;
+        case FORMAT_PNM:
+            ppm_read_pixels(fp, img, n_lines, &rs->ppm_rs);
+            break;
+        default: // won't happen
+            break;
+    }
+}
+#endif  //IMLIB_ENABLE_IMAGE_FILE_IO
+
+void imlib_image_operation(image_t *img, const char *path, image_t *other, int scalar, line_op_t op, void *data)
+{
+    if (path) {
+        #if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+        uint32_t size = fb_avail() / 2;
+        void *alloc = fb_alloc(size, FB_ALLOC_NO_HINT); // We have to do this before the read.
+        // This code reads a window of an image in at a time and then executes
+        // the line operation on each line in that window before moving to the
+        // next window. The vflipped part is here because BMP files can be saved
+        // vertically flipped resulting in us reading the image backwards.
+        FIL fp;
+        image_t temp;
+        img_read_settings_t rs;
+        bool vflipped = imlib_read_geometry(&fp, &temp, path, &rs);
+        if (!IM_EQUAL(img, &temp)) {
+            // f_close(&fp);
+            file_close(&fp);
+            ERR_PRINT("OSError:Images not equal!");
+            // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Images not equal!"));
+        }
+        // When processing vertically flipped images the read function will fill
+        // the window up from the bottom. The read function assumes that the
+        // window is equal to an image in size. However, since this is not the
+        // case we shrink the window size to how many lines we're buffering.
+        temp.pixels = alloc;
+        // Set the max buffer height to image height.
+        temp.h = IM_MIN(img->h, (size / (temp.w * temp.bpp)));
+        // This should never happen unless someone forgot to free.
+        if ((!temp.pixels) || (!temp.h)) {
+            ERR_PRINT("OSError:Not enough memory available!");
+            // mp_raise_msg(&mp_type_MemoryError, MP_ERROR_TEXT("Not enough memory available!"));
+        }
+        for (int i=0; i<img->h; i+=temp.h) { // goes past end
+            int lines = IM_MIN(temp.h, img->h-i);
+            imlib_read_pixels(&fp, &temp, lines, &rs);
+            for (int j=0; j<lines; j++) {
+                if (!vflipped) {
+                    op(img, i+j, temp.pixels+(temp.w*temp.bpp*j), data, false);
+                } else {
+                    op(img, (img->h-i-lines)+j, temp.pixels+(temp.w*temp.bpp*j), data, true);
+                }
+            }
+        }
+        file_buffer_off(&fp);
+        file_close(&fp);
+        fb_free(alloc);
+        #else
+        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Image I/O is not supported"));
+        #endif
+    } else if (other) {
+        if (!IM_EQUAL(img, other)) {
+            // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Images not equal!"));
+        }
+        switch (img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(other, i), data, false);
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(other, i), data, false);
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(other, i), data, false);
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(other, i), data, false);
+                }
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    } else {
+        switch (img->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                uint32_t *row_ptr = fb_alloc(IMAGE_BINARY_LINE_LEN_BYTES(img), FB_ALLOC_NO_HINT);
+
+                for (int i=0, ii=img->w; i<ii; i++) {
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, i, scalar);
+                }
+
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, row_ptr, data, false);
+                }
+
+                fb_free(row_ptr);
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                uint8_t *row_ptr = fb_alloc(IMAGE_GRAYSCALE_LINE_LEN_BYTES(img), FB_ALLOC_NO_HINT);
+
+                for (int i=0, ii=img->w; i<ii; i++) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, i, scalar);
+                }
+
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, row_ptr, data, false);
+                }
+
+                fb_free(row_ptr);
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                uint16_t *row_ptr = fb_alloc(IMAGE_RGB565_LINE_LEN_BYTES(img), FB_ALLOC_NO_HINT);
+
+                for (int i=0, ii=img->w; i<ii; i++) {
+                    IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, i, scalar);
+                }
+
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, row_ptr, data, false);
+                }
+
+                fb_free(row_ptr);
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                pixel24_t *row_ptr = fb_alloc(IMAGE_RGB888_LINE_LEN_BYTES(img), FB_ALLOC_NO_HINT);
+
+                for (int i=0, ii=img->w; i<ii; i++) {
+                    IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, i, scalar);
+                }
+
+                for (int i=0, ii=img->h; i<ii; i++) {
+                    op(img, i, row_ptr, data, false);
+                }
+
+                fb_free(row_ptr);
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+}
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+void imlib_load_image(image_t *img, const char *path)
+{
+    FIL fp;
+    file_read_open(&fp, path);
+    char magic[4];
+    read_data(&fp, &magic, 4);
+    file_close(&fp);
+
+    if ((magic[0]=='P')
+    && ((magic[1]=='2') || (magic[1]=='3')
+    ||  (magic[1]=='5') || (magic[1]=='6'))) { // PPM
+        ppm_read(img, path);
+    } else if ((magic[0]=='B') && (magic[1]=='M')) { // BMP
+        bmp_read(img, path);
+    } else if ((magic[0]==0xFF) && (magic[1]==0xD8)) { // JPEG
+        jpeg_read(img, path);
+    } else if ((magic[0]==0x89) && (magic[1]==0x50) && (magic[2]==0x4E) && (magic[3]==0x47)) { // PNG
+        png_read(img, path);
+    } else {
+        ff_unsupported_format(NULL);
+    }
+    imblib_parse_extension(img, path); // Enforce extension!
+}
+
+void imlib_save_image(image_t *img, const char *path, rectangle_t *roi, int quality)
+{
+    switch (imblib_parse_extension(img, path)) {
+        case FORMAT_BMP:
+            bmp_write_subimg(img, path, roi);
+            break;
+        case FORMAT_PNM:
+            ppm_write_subimg(img, path, roi);
+            break;
+        case FORMAT_RAW: {
+            FIL fp;
+            file_write_open(&fp, path);
+            write_data(&fp, img->pixels, img->w * img->h);
+            file_close(&fp);
+            break;
+        }
+        case FORMAT_JPG:
+            jpeg_write(img, path, quality);
+            break;
+        case FORMAT_PNG:
+            png_write(img, path);
+            break;
+        case FORMAT_DONT_CARE:
+            // Path doesn't have an extension.
+            if (IM_IS_JPEG(img)) {
+                char *new_path = strcat(strcpy(fb_alloc(strlen(path)+5, FB_ALLOC_NO_HINT), path), ".jpg");
+                jpeg_write(img, new_path, quality);
+                fb_free(NULL);
+            } else if (img->pixfmt == PIXFORMAT_PNG) {
+                char *new_path = strcat(strcpy(fb_alloc(strlen(path)+5, FB_ALLOC_NO_HINT), path), ".png");
+                png_write(img, new_path);
+                fb_free(NULL);
+            } else if (IM_IS_BAYER(img)) {
+                FIL fp;
+                char *new_path = strcat(strcpy(fb_alloc(strlen(path)+5, FB_ALLOC_NO_HINT), path), ".raw");
+                file_write_open(&fp, new_path);
+                write_data(&fp, img->pixels, img->w * img->h);
+                file_close(&fp);
+                fb_free(NULL);
+            } else { // RGB or GS, save as BMP.
+                char *new_path = strcat(strcpy(fb_alloc(strlen(path)+5, FB_ALLOC_NO_HINT), path), ".bmp");
+                bmp_write_subimg(img, new_path, roi);
+                fb_free(NULL);
+            }
+            break;
+    }
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
+
+////////////////////////////////////////////////////////////////////////////////
+
+void imlib_zero(image_t *img, image_t *mask, bool invert)
+{
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (image_get_mask_pixel(mask, x, y) ^ invert) {
+                        IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, 0);
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (image_get_mask_pixel(mask, x, y) ^ invert) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, 0);
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (image_get_mask_pixel(mask, x, y) ^ invert) {
+                        IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, 0);
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    if (image_get_mask_pixel(mask, x, y) ^ invert) {
+                        IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x, 0);
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+#ifdef IMLIB_ENABLE_LENS_CORR
+// A simple algorithm for correcting lens distortion.
+// See http://www.tannerhelland.com/4743/simple-algorithm-correcting-lens-distortion/
+void imlib_lens_corr(image_t *img, float strength, float zoom, float x_corr, float y_corr)
+{
+    int w = img->w;
+    int h = img->h;
+    int halfWidth = w / 2;
+    int halfHeight = h / 2;
+    float maximum_diameter = fast_sqrtf((w * w) + (h * h));
+    float lens_corr_diameter = strength / maximum_diameter;
+    zoom = 1 / zoom;
+
+    // Convert percentage offset to pixels from center of image
+    int x_off = w * x_corr;
+    int y_off = h * y_corr;
+
+    // Create a tmp copy of the image to pull pixels from.
+    size_t size = image_size(img);
+    void *data = fb_alloc(size, FB_ALLOC_NO_HINT);
+    memcpy(data, img->data, size);
+    memset(img->data, 0, size);
+
+    int maximum_radius = fast_ceilf(maximum_diameter / 2) + 1; // +1 inclusive of final value
+    float *precalculated_table = fb_alloc(maximum_radius * sizeof(float), FB_ALLOC_NO_HINT);
+
+    for(int i=0; i < maximum_radius; i++) {
+        float r = lens_corr_diameter * i;
+        precalculated_table[i] = (fast_atanf(r) / r) * zoom;
+    }
+
+    int down_adj = halfHeight + y_off;
+    int up_adj = h - 1 - halfHeight + y_off;
+    int right_adj = halfWidth + x_off;
+    int left_adj = w - 1 - halfWidth + x_off;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *tmp = (uint32_t *) data;
+
+            for (int y = 0; y < halfHeight; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                uint32_t *row_ptr2 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, h-1-y);
+                int newY = y - halfHeight;
+                int newY2 = newY * newY;
+
+                for (int x = 0; x < halfWidth; x++) {
+                    int newX = x - halfWidth;
+                    int newX2 = newX * newX;
+                    float precalculated = precalculated_table[(int)fast_sqrtf(newX2 + newY2)];
+                    int sourceY = fast_roundf(precalculated * newY); // rounding is necessary
+                    int sourceX = fast_roundf(precalculated * newX); // rounding is necessary
+                    int sourceY_down = down_adj + sourceY;
+                    int sourceY_up = up_adj - sourceY;
+                    int sourceX_right = right_adj + sourceX;
+                    int sourceX_left = left_adj - sourceX;
+
+                    // plot the 4 symmetrical pixels
+                    // top 2 pixels
+                    if (sourceY_down >= 0 && sourceY_down < h) {
+                        uint32_t *ptr = tmp + (((w + UINT32_T_MASK) >> UINT32_T_SHIFT) * sourceY_down);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            uint8_t pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX_right);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, pixel);
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            uint8_t pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX_left);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, w - 1 - x, pixel);
+                        }
+                    }
+
+                    // bottom 2 pixels
+                    if (sourceY_up >= 0 && sourceY_up < h) {
+                        uint32_t *ptr = tmp + (((w + UINT32_T_MASK) >> UINT32_T_SHIFT) * sourceY_up);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            uint8_t pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX_right);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr2, x, pixel);
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            uint8_t pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX_left);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr2, w - 1 - x, pixel);
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *tmp = (uint8_t *) data;
+
+            for (int y = 0; y < halfHeight; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                uint8_t *row_ptr2 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, h-1-y);
+                int newY = y - halfHeight;
+                int newY2 = newY * newY;
+
+                for (int x = 0; x < halfWidth; x++) {
+                    int newX = x - halfWidth;
+                    int newX2 = newX * newX;
+                    float precalculated = precalculated_table[(int)fast_sqrtf(newX2 + newY2)];
+                    int sourceY = fast_roundf(precalculated * newY); // rounding is necessary
+                    int sourceX = fast_roundf(precalculated * newX); // rounding is necessary
+                    int sourceY_down = down_adj + sourceY;
+                    int sourceY_up = up_adj - sourceY;
+                    int sourceX_right = right_adj + sourceX;
+                    int sourceX_left = left_adj - sourceX;
+
+                    // plot the 4 symmetrical pixels
+                    // top 2 pixels
+                    if (sourceY_down >= 0 && sourceY_down < h) {
+                        uint8_t *ptr = tmp + (w * sourceY_down);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            row_ptr[x] = ptr[sourceX_right];
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            row_ptr[w - 1 - x] = ptr[sourceX_left];
+                        }
+                    }
+
+                    // bottom 2 pixels
+                    if (sourceY_up >= 0 && sourceY_up < h) {
+                        uint8_t *ptr = tmp + (w * sourceY_up);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            row_ptr2[x] = ptr[sourceX_right];
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            row_ptr2[w - 1 - x] = ptr[sourceX_left];
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *tmp = (uint16_t *) data;
+
+            for (int y = 0; y < halfHeight; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                uint16_t *row_ptr2 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, h-1-y);
+                int newY = y - halfHeight;
+                int newY2 = newY * newY;
+
+                for (int x = 0; x < halfWidth; x++) {
+                    int newX = x - halfWidth;
+                    int newX2 = newX * newX;
+                    float precalculated = precalculated_table[(int)fast_sqrtf(newX2 + newY2)];
+                    int sourceY = fast_roundf(precalculated * newY); // rounding is necessary
+                    int sourceX = fast_roundf(precalculated * newX); // rounding is necessary
+                    int sourceY_down = down_adj + sourceY;
+                    int sourceY_up = up_adj - sourceY;
+                    int sourceX_right = right_adj + sourceX;
+                    int sourceX_left = left_adj - sourceX;
+
+                    // plot the 4 symmetrical pixels
+                    // top 2 pixels
+                    if (sourceY_down >= 0 && sourceY_down < h) {
+                        uint16_t *ptr = tmp + (w * sourceY_down);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            row_ptr[x] = ptr[sourceX_right];
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            row_ptr[w - 1 - x] = ptr[sourceX_left];
+                        }
+                    }
+
+                    // bottom 2 pixels
+                    if (sourceY_up >= 0 && sourceY_up < h) {
+                        uint16_t *ptr = tmp + (w * sourceY_up);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            row_ptr2[x] = ptr[sourceX_right];
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            row_ptr2[w - 1 - x] = ptr[sourceX_left];
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *tmp = (pixel24_t *) data;
+
+            for (int y = 0; y < halfHeight; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                pixel24_t *row_ptr2 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, h-1-y);
+                int newY = y - halfHeight;
+                int newY2 = newY * newY;
+
+                for (int x = 0; x < halfWidth; x++) {
+                    int newX = x - halfWidth;
+                    int newX2 = newX * newX;
+                    float precalculated = precalculated_table[(int)fast_sqrtf(newX2 + newY2)];
+                    int sourceY = fast_roundf(precalculated * newY); // rounding is necessary
+                    int sourceX = fast_roundf(precalculated * newX); // rounding is necessary
+                    int sourceY_down = down_adj + sourceY;
+                    int sourceY_up = up_adj - sourceY;
+                    int sourceX_right = right_adj + sourceX;
+                    int sourceX_left = left_adj - sourceX;
+
+                    // plot the 4 symmetrical pixels
+                    // top 2 pixels
+                    if (sourceY_down >= 0 && sourceY_down < h) {
+                        pixel24_t *ptr = tmp + (w * sourceY_down);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            row_ptr[x] = ptr[sourceX_right];
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            row_ptr[w - 1 - x] = ptr[sourceX_left];
+                        }
+                    }
+
+                    // bottom 2 pixels
+                    if (sourceY_up >= 0 && sourceY_up < h) {
+                        pixel24_t *ptr = tmp + (w * sourceY_up);
+
+                        if (sourceX_right >= 0 && sourceX_right < w) {
+                            row_ptr2[x] = ptr[sourceX_right];
+                        }
+
+                        if (sourceX_left >= 0 && sourceX_left < w) {
+                            row_ptr2[w - 1 - x] = ptr[sourceX_left];
+                        }
+                    }
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+    fb_free(precalculated_table); // precalculated_table
+    fb_free(data); // data
+}
+#endif //IMLIB_ENABLE_LENS_CORR
+
+////////////////////////////////////////////////////////////////////////////////
+
+int imlib_image_mean(image_t *src, int *r_mean, int *g_mean, int *b_mean)
+{
+    int r_s = 0;
+    int g_s = 0;
+    int b_s = 0;
+    int n = src->w * src->h;
+
+    switch (src->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            // Can't run this on a binary image.
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int i=0; i<n; i++) {
+                r_s += src->pixels[i];
+            }
+            *r_mean = r_s/n;
+            *g_mean = r_s/n;
+            *b_mean = r_s/n;
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int i=0; i<n; i++) {
+                uint16_t p = ((uint16_t*)src->pixels)[i];
+                r_s += COLOR_RGB565_TO_R8(p);
+                g_s += COLOR_RGB565_TO_G8(p);
+                b_s += COLOR_RGB565_TO_B8(p);
+            }
+            *r_mean = r_s/n;
+            *g_mean = g_s/n;
+            *b_mean = b_s/n;
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int i=0; i<n; i++) {
+                pixel24_t p = ((pixel24_t*)src->pixels)[i];
+                r_s += COLOR_RGB888_TO_R8(pixel24232(p));
+                g_s += COLOR_RGB888_TO_G8(pixel24232(p));
+                b_s += COLOR_RGB888_TO_B8(pixel24232(p));
+            }
+            *r_mean = r_s/n;
+            *g_mean = g_s/n;
+            *b_mean = b_s/n;
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    return 0;
+}
+
+// One pass standard deviation.
+int imlib_image_std(image_t *src)
+{
+    int w=src->w;
+    int h=src->h;
+    int n=w*h;
+    uint8_t *data=src->pixels;
+
+    uint32_t s=0, sq=0;
+    for (int i=0; i<n; i+=2) {
+        s += data[i+0]+data[i+1];
+        uint32_t tmp = __PKHBT(data[i+0], data[i+1], 16);
+        sq = __SMLAD(tmp, tmp, sq);
+    }
+
+    if (n%2) {
+        s += data[n-1];
+        sq += data[n-1]*data[n-1];
+    }
+
+    /* mean */
+    int m = s/n;
+
+    /* variance */
+    uint32_t v = sq/n-(m*m);
+
+    /* std */
+    return fast_sqrtf(v);
+}
+
+void imlib_sepconv3(image_t *img, const int8_t *krn, const float m, const int b)
+{
+    int ksize = 3;
+    // TODO: Support RGB
+    int *buffer = fb_alloc(img->w * sizeof(*buffer) * 2, FB_ALLOC_NO_HINT);
+
+    // NOTE: This doesn't deal with borders right now. Adding if
+    // statements in the inner loop will slow it down significantly.
+    for (int y=0; y<img->h-ksize; y++) {
+        for (int x=0; x<img->w; x++) {
+            int acc=0;
+            //if (IM_X_INSIDE(img, x+k) && IM_Y_INSIDE(img, y+j))
+            acc = __SMLAD(krn[0], IM_GET_GS_PIXEL(img, x, y + 0), acc);
+            acc = __SMLAD(krn[1], IM_GET_GS_PIXEL(img, x, y + 1), acc);
+            acc = __SMLAD(krn[2], IM_GET_GS_PIXEL(img, x, y + 2), acc);
+            buffer[((y%2)*img->w) + x] = acc;
+        }
+        if (y > 0) {
+            // flush buffer
+            for (int x=0; x<img->w-ksize; x++) {
+                int acc = 0;
+                acc = __SMLAD(krn[0], buffer[((y-1)%2) * img->w + x + 0], acc);
+                acc = __SMLAD(krn[1], buffer[((y-1)%2) * img->w + x + 1], acc);
+                acc = __SMLAD(krn[2], buffer[((y-1)%2) * img->w + x + 2], acc);
+                acc = (acc * m) + b; // scale, offset, and clamp
+                acc = IM_MAX(IM_MIN(acc, IM_MAX_GS), 0);
+                IM_SET_GS_PIXEL(img, (x+1), (y), acc);
+            }
+        }
+    }
+    fb_free(buffer);
+}
+
+
+
+
+// 下面的函数是 maixpy 的一些函数 有一些定制函数
+
+
+typedef struct xylf
+{
+    int16_t x, y, l, r;
+}
+xylf_t;
+
+
+size_t __imlib_flood_fill_int(image_t *out, image_t *img, int x, int y,
+                          int seed_threshold, int floating_threshold,
+                          flood_fill_call_back_t cb, void *data)
+{
+    lifo_t lifo;
+    size_t lifo_len;
+    lifo_alloc_all(&lifo, &lifo_len, sizeof(xylf_t));
+	size_t count = 0;
+
+    for(int seed_pixel = IMAGE_GET_GRAYSCALE_PIXEL(img, x, y);;) {
+        int left = x, right = x;
+        uint8_t *row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+        uint32_t *out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y);
+
+        while ((left > 0)
+        && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, left - 1))
+        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left - 1), seed_pixel, seed_threshold)
+        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left - 1),
+                                    IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, left), floating_threshold)) {
+            left--;
+        }
+
+        while ((right < (img->w - 1))
+        && (!IMAGE_GET_BINARY_PIXEL_FAST(out_row, right + 1))
+        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right + 1), seed_pixel, seed_threshold)
+        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right + 1),
+                                    IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, right), floating_threshold)) {
+            right++;
+        }
+
+        for (int i = left; i <= right; i++) {
+            IMAGE_SET_BINARY_PIXEL_FAST(out_row, i);
+        }
+        count += (right-left+1);
+
+        bool break_out = false;
+        for(;;) {
+            if (lifo_size(&lifo) < lifo_len) {
+                uint8_t *old_row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+
+                if (y > 0) {
+                    row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y - 1);
+                    out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y - 1);
+
+                    bool recurse = false;
+                    for (int i = left; i <= right; i++) {
+                        if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i),
+                                                    IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row, i), floating_threshold)) {
+                            xylf_t context;
+                            context.x = x;
+                            context.y = y;
+                            context.l = left;
+                            context.r = right;
+                            lifo_enqueue(&lifo, &context);
+                            x = i;
+                            y = y - 1;
+                            recurse = true;
+                            break;
+                        }
+                    }
+                    if (recurse) {
+                        break;
+                    }
+                }
+
+                if (y < (img->h - 1)) {
+                    row = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y + 1);
+                    out_row = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(out, y + 1);
+
+                    bool recurse = false;
+                    for (int i = left; i <= right; i++) {
+                        if ((!IMAGE_GET_BINARY_PIXEL_FAST(out_row, i))
+                        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i), seed_pixel, seed_threshold)
+                        && COLOR_BOUND_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row, i),
+                                                    IMAGE_GET_GRAYSCALE_PIXEL_FAST(old_row, i), floating_threshold)) {
+                            xylf_t context;
+                            context.x = x;
+                            context.y = y;
+                            context.l = left;
+                            context.r = right;
+                            lifo_enqueue(&lifo, &context);
+                            x = i;
+                            y = y + 1;
+                            recurse = true;
+                            break;
+                        }
+                    }
+                    if (recurse) {
+                        break;
+                    }
+                }
+            }
+
+            if (cb) cb(img, y, left, right, data);
+
+            if (!lifo_size(&lifo)) {
+                break_out = true;
+                break;
+            }
+
+            xylf_t context;
+            lifo_dequeue(&lifo, &context);
+            x = context.x;
+            y = context.y;
+            left = context.l;
+            right = context.r;
+        }
+
+        if (break_out) {
+            break;
+        }
+    }
+
+
+    lifo_free(&lifo);
+	return count;
+}
+
+
+
+// #ifdef IMLIB_ENABLE_FLOOD_FILL
+
+size_t __imlib_flood_fill(image_t *img, int x, int y,
+                      float seed_threshold, float floating_threshold,
+                      int c, bool invert, bool clear_background, image_t *mask)
+{
+	size_t count = 0;
+    if ((0 <= x) && (x < img->w) && (0 <= y) && (y < img->h)) {
+        image_t out;
+        out.w = img->w;
+        out.h = img->h;
+        out.pixfmt = PIXFORMAT_BINARY;
+        out.data = fb_alloc0(image_size(&out), FB_ALLOC_NO_HINT);
+
+        if (mask) {
+            for (int y = 0, yy = out.h; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                for (int x = 0, xx = out.w; x < xx; x++) {
+                    if (image_get_mask_pixel(mask, x, y)) IMAGE_SET_BINARY_PIXEL_FAST(row_ptr, x);
+                }
+            }
+        }
+
+        int color_seed_threshold = 0;
+        int color_floating_threshold = 0;
+
+        switch(img->pixfmt) {
+        //     case PIXFORMAT_BINARY: {
+        //         color_seed_threshold = fast_roundf(seed_threshold * COLOR_BINARY_MAX);
+        //         color_floating_threshold = fast_roundf(floating_threshold * COLOR_BINARY_MAX);
+        //         break;
+        //     }
+            case PIXFORMAT_GRAYSCALE: {
+                color_seed_threshold = fast_roundf(seed_threshold * COLOR_GRAYSCALE_MAX);
+                color_floating_threshold = fast_roundf(floating_threshold * COLOR_GRAYSCALE_MAX);
+                break;
+            }
+        //     case PIXFORMAT_RGB565: {
+        //         color_seed_threshold = COLOR_R5_G6_B5_TO_RGB565(fast_roundf(seed_threshold * COLOR_R5_MAX),
+        //                                                         fast_roundf(seed_threshold * COLOR_G6_MAX),
+        //                                                         fast_roundf(seed_threshold * COLOR_B5_MAX));
+        //         color_floating_threshold = COLOR_R5_G6_B5_TO_RGB565(fast_roundf(floating_threshold * COLOR_R5_MAX),
+        //                                                             fast_roundf(floating_threshold * COLOR_G6_MAX),
+        //                                                             fast_roundf(floating_threshold * COLOR_B5_MAX));
+        //         break;
+        //     }
+            default: {
+                break;
+            }
+        }
+
+        count = __imlib_flood_fill_int(&out, img, x, y, color_seed_threshold, color_floating_threshold, NULL, NULL);
+
+        switch(img->bpp) {
+        //     case PIXFORMAT_BINARY: {
+        //         for (int y = 0, yy = out.h; y < yy; y++) {
+        //             uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+        //             uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+        //             for (int x = 0, xx = out.w; x < xx; x++) {
+        //                 if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+        //                     IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, c);
+        //                 } else if (clear_background) {
+        //                     IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, 0);
+        //                 }
+        //             }
+        //         }
+        //         break;
+        //     }
+            case PIXFORMAT_GRAYSCALE: {
+                for (int y = 0, yy = out.h; y < yy; y++) {
+                    uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                    uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+                    for (int x = 0, xx = out.w; x < xx; x++) {
+                        if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, c);
+                        } else if (clear_background) {
+                            IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, 0);
+                        }
+                    }
+                }
+                break;
+            }
+        //     case PIXFORMAT_RGB565: {
+        //         for (int y = 0, yy = out.h; y < yy; y++) {
+        //             uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+        //             uint32_t *out_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(&out, y);
+        //             for (int x = 0, xx = out.w; x < xx; x++) {
+        //                 if (IMAGE_GET_BINARY_PIXEL_FAST(out_row_ptr, x) ^ invert) {
+        //                     IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, c);
+        //                 } else if (clear_background) {
+        //                     IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, 0);
+        //                 }
+        //             }
+        //         }
+        //         break;
+        //     }
+            default: {
+                break;
+            }
+        }
+
+        fb_free(out.data);
+    }
+	return count;
+}
+// #endif // IMLIB_ENABLE_FLOOD_FILL
+
+
+
+// #ifndef OMV_MINIMUM
+//输入灰度图像，找出面积最大的连通域
+#define MAX_DOMAIN_CNT 254
+
+static void _get_hv_pixel(image_t* img, uint16_t* h0, uint16_t* h1, \
+						uint16_t* h2, uint16_t* v0, uint16_t* v1, uint16_t* v2){
+	uint8_t* data = img->pixels;
+	uint16_t w = img->w;
+	uint16_t h = img->h;
+
+	uint16_t minx=w;
+	uint16_t miny=h;
+	uint16_t maxx=0;
+	uint16_t maxy=0;
+	uint16_t _h1=0; uint16_t _h2=0; uint16_t _v1=0; uint16_t _v2=0;
+
+	for (int y = 0, yy = img->h; y < yy; y++) {
+		//uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+		uint32_t *img_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+		for (int x = 0, xx = img->w; x < xx; x++) {
+			if (IMAGE_GET_BINARY_PIXEL_FAST(img_row_ptr, x) ) {
+				if(y<miny) miny=y; else if(y>maxy) maxy=y;
+				if(x<minx) minx=x; else if(x>maxx) maxx=x;
+				if(y==0) _h1+=1;   else if(y==h-1) _h2+=1;
+				if(x==0) _v1+=1;   else if(x==w-1) _v2+=1;
+			}
+		}
+	}
+
+	*h0 = maxx-minx+1;
+	*v0 = maxy-miny+1;
+	*h1 = _h1; *h2 = _h2;
+	*v1 = _v1; *v2 = _v2;
+
+	return;
+}
+
+
+
+#define EDGE_GATE 0.7
+void imlib_find_domain(image_t* img, image_t** dst, float edge_gate)
+{
+	if(img->pixfmt != PIXFORMAT_GRAYSCALE)
+		imlib_printf(0, "only support grayscale pic");
+
+	uint16_t w = img->w;
+	uint16_t h = img->h;
+	uint8_t* pic = img->pixels;
+
+	uint16_t domian_cnt[MAX_DOMAIN_CNT];
+	uint8_t p_x[MAX_DOMAIN_CNT];
+	uint8_t p_y[MAX_DOMAIN_CNT];
+	for(int i=0; i < MAX_DOMAIN_CNT; i++) {
+		domian_cnt[i] = 0;
+	}
+
+	uint8_t color_idx = 0;
+
+	for(int y=0; y<h; y++) {
+		if(color_idx>=MAX_DOMAIN_CNT)
+			break;
+		for(int x=0; x<w; x++){
+			int oft = x+y*w;
+			if(pic[oft] > color_idx){
+				domian_cnt[color_idx] = __imlib_flood_fill(img, x, y, 0, 0,color_idx+1, 0, 0, NULL);
+				p_x[color_idx] = x;
+				p_y[color_idx] = y;
+				//printf("(%d, %d) -> %d, count=%d\r\n",x,y,color_idx+1,domian_cnt[color_idx]);
+				color_idx += 1;
+
+			}
+		}
+	}
+
+	int maxcnt = 0;
+	int maxidx = -1;
+	int max2cnt = 0;
+	int max2idx = -1;
+	for(int i=0; i< MAX_DOMAIN_CNT; i++){
+		if(domian_cnt[i]>maxcnt) {
+			max2cnt= maxcnt;
+			max2idx= maxidx;
+			maxcnt = domian_cnt[i];
+			maxidx = i;
+		} else if(domian_cnt[i]>max2cnt) {
+			max2cnt = domian_cnt[i];
+			max2idx = i;
+		}
+	}
+	//printf("max domain idx=%d, cnt=%d\r\n",maxidx, maxcnt);
+	if(maxcnt == 0) { //没有连通域
+        *dst = NULL;
+		return ;
+	} else if (max2cnt<w+h) { //只有一块连通域, 或者第二块连通域面积过小
+        image_t *out = imlib_image_create(img->w, img->h, PIXFORMAT_BINARY, NULL, NULL, true);
+
+		__imlib_flood_fill_int(out, img, p_x[maxidx], p_y[maxidx], 0, 0, NULL, NULL);
+        *dst = out;
+		return ;
+	} else { //有超过两块较大的连通域
+		image_t out0, out1;
+		out0.w = out1.w = img->w;
+		out0.h = out1.h = img->h;
+		out0.pixfmt = out1.pixfmt = PIXFORMAT_BINARY;
+		out0.data = fb_alloc0(image_size(&out0), FB_ALLOC_NO_HINT);
+		out1.data = fb_alloc0(image_size(&out1), FB_ALLOC_NO_HINT);
+		__imlib_flood_fill_int(&out0, img, p_x[maxidx], p_y[maxidx], 0, 0, NULL, NULL);
+		__imlib_flood_fill_int(&out1, img, p_x[max2idx], p_y[max2idx], 0, 0, NULL, NULL);
+		uint16_t r0_h0,r0_h1,r0_h2; //水平方向像素范围，上边界像素数，下边界像素数
+		uint16_t r0_v0,r0_v1,r0_v2; //
+		uint16_t r1_h0,r1_h1,r1_h2; //水平方向像素范围，上边界像素数，下边界像素数
+		uint16_t r1_v0,r1_v1,r1_v2; //
+		_get_hv_pixel(&out0, &r0_h0,&r0_h1,&r0_h2, &r0_v0,&r0_v1,&r0_v2);
+		_get_hv_pixel(&out1, &r1_h0,&r1_h1,&r1_h2, &r1_v0,&r1_v1,&r1_v2);
+		uint16_t r0_h, r0_v, r1_h, r1_v;
+		r0_h = r0_h1>r0_h2 ? r0_h1 : r0_h2;
+		r1_h = r1_h1>r1_h2 ? r1_h1 : r1_h2;
+		r0_v = r0_v1>r0_v2 ? r0_v1 : r0_v2;
+		r1_v = r1_v1>r1_v2 ? r1_v1 : r1_v2;
+		float r0_hrate, r0_vrate, r1_hrate, r1_vrate;
+		r0_hrate = 1.0*r0_h/r0_h0;	r0_vrate = 1.0*r0_v/r0_v0;
+		r1_hrate = 1.0*r1_h/r1_h0;	r1_vrate = 1.0*r1_v/r1_v0;
+		// printf("r0cnt=%04d; h0=%03d, h1=%03d, h2=%03d; v0=%03d, v1=%03d, v2=%03d; hrate=%.3f, vrate=%.3f\r\n",
+			//  maxcnt, r0_h0, r0_h1, r0_h2, r0_v0, r0_v1, r0_v2, r0_hrate, r0_vrate );
+		// printf("r1cnt=%04d; h0=%03d, h1=%03d, h2=%03d; v0=%03d, v1=%03d, v2=%03d; hrate=%.3f, vrate=%.3f\r\n",
+			//  max2cnt, r1_h0, r1_h1, r1_h2, r1_v0, r1_v1, r1_v2, r1_hrate, r1_vrate );
+		int r_flag = -1;
+		if(r0_hrate < edge_gate || r0_vrate < edge_gate) { //r0是线
+			r_flag = 0; //使用r0
+		} else if(r1_hrate < edge_gate || r1_vrate < edge_gate) { //r0不是线,r1是线
+			r_flag = 1;
+		} else { //两个都不是线，选面积大的
+			r_flag = 0;
+		}
+		// printf("rflag=%d\r\n\r\n", r_flag);
+
+        image_t *out = imlib_image_create(w, h, PIXFORMAT_BINARY, NULL, NULL, true);
+        // image_copy(out, r_flag ? &out1 : &out0);
+        memcpy(out->data, r_flag?out1.data:out0.data, image_size(&out0));
+		// uint8_t* data = xalloc(image_size(&out0));
+		// mp_obj_t image = py_image(w, h, PIXFORMAT_BINARY, data);
+		// memcpy(((py_image_obj_t *)image)->_cobj.data, r_flag?out1.data:out0.data, image_size(&out0));
+		fb_free(NULL);
+		fb_free(NULL);
+        *dst = out;
+		return ;
+	}
+}
\ No newline at end of file
diff --git a/github_source/minicv2/src/imlib_io.c b/github_source/minicv2/src/imlib_io.c
new file mode 100644
index 0000000..6271e78
--- /dev/null
+++ b/github_source/minicv2/src/imlib_io.c
@@ -0,0 +1,89 @@
+#include "imlib_io.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include "imlib_config.h"
+
+#ifdef IMLIB_ENABLE_PRINT
+
+static int _out_level = 1;
+
+int imlib_printf(int level, char *fmt, ...)
+{
+    static char sprint_buf[1024];
+
+    va_list args;
+    int n = 0;
+    if (level > _out_level) return n;
+    va_start(args, fmt);
+    n = vsprintf(sprint_buf, fmt, args);
+    va_end(args);
+    switch (level)
+    {
+    case 0:
+        fprintf(stderr, "%s", sprint_buf);
+        abort();
+        break;
+    case 1:
+        fprintf(stdout, "%s", sprint_buf);
+        break;
+    case 2:
+        fprintf(stdout, "%s", sprint_buf);
+        break;
+    case 3:
+        fprintf(stdout, "%s", sprint_buf);
+        break;
+    case 4:
+        fprintf(stdout, "%s", sprint_buf);
+        break;
+    case 5:
+        fprintf(stdout, "%s", sprint_buf);
+        break;
+    default:
+        break;
+    }
+    return n;
+}
+
+void imlib_set_print_out_level(int le)
+{
+    _out_level = le;
+}
+
+#else
+
+int imlib_printf(int level, char *fmt, ...)
+{
+
+}
+
+void imlib_set_print_out_level(int le)
+{
+
+}
+
+#endif
+
+#include "imlib.h"
+
+void imlib_printf_image_info(void *img)
+{
+    image_t *imlib_img = (image_t *)img;
+    switch (imlib_img->pixfmt)
+    {
+    case PIXFORMAT_GRAYSCALE:
+        printf("imlib image info:\n\t\twidth:%d height:%d mode:PIXFORMAT_GRAYSCALE size:%d pixels:%p is_data_alloc:%d \n", imlib_img->w, imlib_img->h, imlib_img->size, imlib_img->pixels, imlib_img->is_data_alloc);
+        break;
+    case PIXFORMAT_RGB565:
+        printf("imlib image info:\n\t\twidth:%d height:%d mode:PIXFORMAT_RGB565 size:%d pixels:%p is_data_alloc:%d \n", imlib_img->w, imlib_img->h, imlib_img->size, imlib_img->pixels, imlib_img->is_data_alloc);
+        break;
+    case PIXFORMAT_RGB888:
+        printf("imlib image info:\n\t\twidth:%d height:%d mode:PIXFORMAT_RGB888 size:%d pixels:%p is_data_alloc:%d \n", imlib_img->w, imlib_img->h, imlib_img->size, imlib_img->pixels, imlib_img->is_data_alloc);
+        break;
+    default:
+        printf("image is not info\n");
+        break;
+    }
+}
+
+
diff --git a/github_source/minicv2/src/imlib_resize.c b/github_source/minicv2/src/imlib_resize.c
new file mode 100644
index 0000000..6ab1073
--- /dev/null
+++ b/github_source/minicv2/src/imlib_resize.c
@@ -0,0 +1,743 @@
+// #include <stdint.h>
+// // *********************************************************************
+// // * 函数名称: BspDouToFix
+// // * 功能描述: 将指定的浮点数 转化为 定点数
+// // * 算法描述: 无
+// // * 输入参数:  ucType 0表示无符号 1表示有符号
+// // *           ucInteger 表示整数占几个bit
+// // *           ucdecimal 表示小数占几个bit
+// // *           dbDou 为待转化的浮点数
+// // * 输出参数: 无
+// // * 返 回 值: 转化后的定点数
+// // *********************************************************************
+
+// #define VOID void
+// #define UCHAR int
+// #define DOUBLE double
+// #define UINT64 uint64_t
+ 
+// VOID BspDouToFix(UCHAR ucType, UCHAR ucInteger, UCHAR ucdecimal, DOUBLE dbDou, UINT64 *pllfix)
+// {
+//     UINT64 lltemp = 0;
+//     DOUBLE dbtemp = 0;
+     
+//     dbtemp = dbDou;
+//     if(dbtemp < 0) /* 有符号正数 或者 无符号数 */
+//     {
+//         lltemp = (UINT64)(-dbDou*(1<<ucdecimal));
+//         *pllfix = (UINT64)((UINT64)(1)<<(ucType + ucInteger + ucdecimal)) -    lltemp;    
+//     }
+//     else if(dbtemp > 0)   /* 有符号负数 */
+//         {
+//             *pllfix = (UINT64)(dbDou * (1<<ucdecimal));
+//         }
+//         else
+//         {
+//             *pllfix = 0;
+//         }
+// }
+
+#include "imlib.h"
+
+
+float F_BiCubic(float x){
+	float w = abs(x);
+	if(w < 1){
+		return (1 - 2 * (w * w)  +  (w * w * w));
+	}
+	else if(w < 2){
+		return (4 - 8 * w + 5 * (w * w) - (w * w * w));
+	}
+	else{
+		return 0;
+	}
+}
+/**
+ * @brief 
+ * 
+ * @param src 
+ * @param dst 
+ * @param hist 
+ * 双线型插值算法
+ * https://blog.csdn.net/qq_37577735/article/details/80041586
+ */
+void imlib_image_resize(image_t *dst, image_t *src, int hist)
+{
+	#define GET_SITE_PIXEL_FAST(index_n, scale) \
+	({ \
+		__typeof__ (index_n) _index_n = (index_n); \
+		__typeof__ (scale) _scale = (scale); \
+		fast_roundf(_index_n * _scale);\
+	})
+
+	int dst_x_index = 0, dst_y_index = 0;
+	int src_x_index = 0, src_y_index = 0;
+	float h_scale = 1.f * src->h / dst->h;
+	float w_scale = 1.f * src->w / dst->w;
+
+	if (hist & IMAGE_HINT_AREA)	//临近插值
+	{
+		switch (src->pixfmt)
+		{
+		case PIXFORMAT_BINARY:{
+			uint32_t *dst32, *src32;
+			for (dst_y_index = 0; dst_y_index < dst->h; dst_y_index ++)
+			{
+				dst32 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+				src_y_index = GET_SITE_PIXEL_FAST(dst_y_index, h_scale);
+				src32 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, src_y_index);
+				for (dst_x_index = 0; dst_x_index < dst->w; dst_x_index ++)
+				{
+					src_x_index = GET_SITE_PIXEL_FAST(dst_x_index, w_scale);
+					IMAGE_PUT_BINARY_PIXEL_FAST(dst32, dst_x_index, IMAGE_GET_BINARY_PIXEL_FAST(src32, src_x_index));
+				}
+			}
+			break;
+		}
+		case PIXFORMAT_GRAYSCALE:{
+			uint8_t *dst8, *src8;
+			for (dst_y_index = 0; dst_y_index < dst->h; dst_y_index ++)
+			{
+				dst8 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, dst_y_index);
+				src_y_index = GET_SITE_PIXEL_FAST(dst_y_index, h_scale);
+				src8 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, src_y_index);
+				for (dst_x_index = 0; dst_x_index < dst->w; dst_x_index ++)
+				{
+					int src_x_index = GET_SITE_PIXEL_FAST(dst_x_index, w_scale);
+					IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst8, dst_x_index, IMAGE_GET_GRAYSCALE_PIXEL_FAST(src8, src_x_index));
+				}
+			}
+			break;
+		}
+		case PIXFORMAT_RGB565:{
+			uint16_t *dst16, *src16;
+			for (dst_y_index = 0; dst_y_index < dst->h; dst_y_index ++)
+			{
+				dst16 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, dst_y_index);
+				src_y_index = GET_SITE_PIXEL_FAST(dst_y_index, h_scale);
+				src16 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, src_y_index);
+				for (dst_x_index = 0; dst_x_index < dst->w; dst_x_index ++)
+				{
+					src_x_index = GET_SITE_PIXEL_FAST(dst_x_index, w_scale);
+					IMAGE_PUT_RGB565_PIXEL_FAST(dst16, dst_x_index, IMAGE_GET_RGB565_PIXEL_FAST(src16, src_x_index));
+				}
+			}
+			break;
+		}
+		case PIXFORMAT_RGB888:{
+			pixel24_t *dst24, *src24;
+			for (dst_y_index = 0; dst_y_index < dst->h; dst_y_index ++)
+			{
+				dst24 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, dst_y_index);
+				src_y_index = GET_SITE_PIXEL_FAST(dst_y_index, h_scale);
+				src24 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, src_y_index);
+				for (dst_x_index = 0; dst_x_index < dst->w; dst_x_index ++)
+				{
+					src_x_index = GET_SITE_PIXEL_FAST(dst_x_index, w_scale);
+					IMAGE_PUT_RGB888_PIXEL_FAST_(dst24, dst_x_index, IMAGE_GET_RGB888_PIXEL_FAST_(src24, src_x_index));
+				}
+			}
+			break;
+		}
+		default:
+		{
+			return;
+		}
+		}
+	}else if(hist & IMAGE_HINT_BILINEAR){ //双线性缩放
+        // +---+---+
+        // | C | x |
+        // +---+---+
+        // | x | x |
+        // +---+---+
+		switch (src->pixfmt){
+			case PIXFORMAT_BINARY:{
+				//For binary images, linear interpolation does not make much sense
+				int src_x_index, src_y_index;
+				uint32_t *dst32, *src32;
+				for (dst_y_index = 0; dst_y_index < dst->h; dst_y_index ++){
+					dst32 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+					src_y_index = GET_SITE_PIXEL_FAST(dst_y_index, h_scale);
+					src32 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, src_y_index);
+					for (dst_x_index = 0; dst_x_index < dst->w; dst_x_index ++){
+						src_x_index = GET_SITE_PIXEL_FAST(dst_x_index, w_scale);
+						IMAGE_PUT_BINARY_PIXEL_FAST(dst32, dst_x_index, IMAGE_GET_BINARY_PIXEL_FAST(src32, src_x_index));
+					}
+				}
+				break;
+			}
+			case PIXFORMAT_GRAYSCALE:{
+				uint8_t *src_row_ptr_0, *src_row_ptr_1;
+				int w_limit = src->w - 2;
+				int h_limit = src->h - 2;
+				for (dst_y_index = 0; dst_y_index < dst->h; ++ dst_y_index){
+					uint8_t *dst_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, dst_y_index);
+					float f_src_y_index = (float)((dst_y_index + 0.5) * h_scale - 0.5);
+					src_y_index = fast_floorf(f_src_y_index);
+					f_src_y_index = f_src_y_index - src_y_index;
+					if(src_y_index <= 0){
+						src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, 0);
+					}
+					else if(src_y_index >= h_limit){
+						src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, src_y_index);
+					}
+					else{
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, src_y_index_p_1);
+					}
+					short cbufy[2];									
+					cbufy[0] = IM_MAX(IM_MIN((1.f - f_src_y_index) * 2048, 2048), 0);	
+					cbufy[1] = 2048 - cbufy[0];								
+					for (dst_x_index = 0; dst_x_index < dst->w; ++ dst_x_index){
+						float f_src_x_index = (float)((dst_x_index + 0.5) * w_scale - 0.5);
+						src_x_index = fast_floorf(f_src_x_index);
+						f_src_x_index = f_src_x_index - src_x_index;
+						short cbufx[2];									
+						cbufx[0] = IM_MAX(IM_MIN((1.f - f_src_x_index) * 2048, 2048), 0);	
+						cbufx[1] = 2048 - cbufx[0];	
+						int pixel_00, pixel_10, pixel_01, pixel_11;
+						if (src_x_index < 0) {
+							pixel_00 = pixel_10 = src_row_ptr_0[0];
+							pixel_01 = pixel_11 = src_row_ptr_1[0];
+						} else if (src_x_index >= w_limit) {
+							pixel_00 = pixel_10 = src_row_ptr_0[src_x_index];
+							pixel_01 = pixel_11 = src_row_ptr_1[src_x_index];
+						} else { // get 4 neighboring pixels
+							int src_x_index_p_1 = src_x_index + 1;
+							pixel_00 = src_row_ptr_0[src_x_index]; pixel_10 = src_row_ptr_0[src_x_index_p_1];
+							pixel_01 = src_row_ptr_1[src_x_index]; pixel_11 = src_row_ptr_1[src_x_index_p_1];
+						}
+						int pixel = (pixel_00 * cbufx[0] * cbufy[0] +
+									 pixel_01 * cbufx[0] * cbufy[1] + 
+									 pixel_10 * cbufx[1] * cbufy[0] + 
+									 pixel_11 * cbufx[1] * cbufy[1]) >> 22;
+						IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+					}
+				}
+				break;
+			}
+			case PIXFORMAT_RGB565:{
+				uint16_t *src_row_ptr_0, *src_row_ptr_1;
+				int w_limit = src->w - 2;
+				int h_limit = src->h - 2;
+				for (dst_y_index = 0; dst_y_index < dst->h; ++ dst_y_index){
+					uint16_t *dst_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, dst_y_index);
+					float f_src_y_index = (float)((dst_y_index + 0.5) * h_scale - 0.5);
+					src_y_index = fast_floorf(f_src_y_index);
+					f_src_y_index = f_src_y_index - src_y_index;
+					if(src_y_index <= 0){
+						src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, 0);
+					}
+					else if(src_y_index >= h_limit){
+						src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, src_y_index);
+					}
+					else{
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, src_y_index_p_1);
+					}
+					short cbufy[2];									
+					cbufy[0] = IM_MAX(IM_MIN((1.f - f_src_y_index) * 2048, 2048), 0);	
+					cbufy[1] = 2048 - cbufy[0];	
+					for (dst_x_index = 0; dst_x_index < dst->w; ++ dst_x_index){
+						float f_src_x_index = (float)((dst_x_index + 0.5) * w_scale - 0.5);
+						src_x_index = fast_floorf(f_src_x_index);
+						f_src_x_index = f_src_x_index - src_x_index;
+						short cbufx[2];									
+						cbufx[0] = IM_MAX(IM_MIN((1.f - f_src_x_index) * 2048, 2048), 0);	
+						cbufx[1] = 2048 - cbufx[0];	
+
+						uint16_t pixel_00, pixel_10, pixel_01, pixel_11;
+						
+						if (src_x_index <= 0) {
+							pixel_00 = pixel_10 = src_row_ptr_0[0];
+							pixel_01 = pixel_11 = src_row_ptr_1[0];
+						} else if (src_x_index >= w_limit) {
+							pixel_00 = pixel_10 = src_row_ptr_0[src_x_index];
+							pixel_01 = pixel_11 = src_row_ptr_1[src_x_index];
+						} else { // get 4 neighboring pixels
+							int src_x_index_p_1 = src_x_index + 1;
+							pixel_00 = src_row_ptr_0[src_x_index]; pixel_10 = src_row_ptr_0[src_x_index_p_1];
+							pixel_01 = src_row_ptr_1[src_x_index]; pixel_11 = src_row_ptr_1[src_x_index_p_1];
+						}
+						int pixel_r = (COLOR_RGB565_TO_R8(pixel_00) * cbufx[0] * cbufy[0] +
+									   COLOR_RGB565_TO_R8(pixel_01) * cbufx[0] * cbufy[1] + 
+									   COLOR_RGB565_TO_R8(pixel_10) * cbufx[1] * cbufy[0] + 
+									   COLOR_RGB565_TO_R8(pixel_11) * cbufx[1] * cbufy[1]) >> 22;
+						int pixel_g = (COLOR_RGB565_TO_G8(pixel_00) * cbufx[0] * cbufy[0] +
+									   COLOR_RGB565_TO_G8(pixel_01) * cbufx[0] * cbufy[1] + 
+									   COLOR_RGB565_TO_G8(pixel_10) * cbufx[1] * cbufy[0] + 
+									   COLOR_RGB565_TO_G8(pixel_11) * cbufx[1] * cbufy[1]) >> 22;
+						int pixel_b = (COLOR_RGB565_TO_B8(pixel_00) * cbufx[0] * cbufy[0] +
+									   COLOR_RGB565_TO_B8(pixel_01) * cbufx[0] * cbufy[1] + 
+									   COLOR_RGB565_TO_B8(pixel_10) * cbufx[1] * cbufy[0] + 
+									   COLOR_RGB565_TO_B8(pixel_11) * cbufx[1] * cbufy[1]) >> 22;
+						IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x_index, COLOR_R8_G8_B8_TO_RGB565(pixel_r, pixel_g, pixel_b));
+					}
+				}
+				break;
+			}
+			case PIXFORMAT_RGB888:{
+				pixel24_t *src_row_ptr_0, *src_row_ptr_1;
+				int w_limit = src->w - 2;
+				int h_limit = src->h - 2;
+				for (dst_y_index = 0; dst_y_index < dst->h; ++ dst_y_index){
+					pixel24_t *dst_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, dst_y_index);
+					float f_src_y_index = (float)((dst_y_index + 0.5) * h_scale - 0.5);
+					src_y_index = fast_floorf(f_src_y_index);
+					f_src_y_index = f_src_y_index - src_y_index;
+					if(src_y_index <= 0){
+						src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, 0);
+					}
+					else if(src_y_index >= h_limit){
+						src_row_ptr_0 = src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, src_y_index);
+					}
+					else{
+                        int src_y_index_p_1 = src_y_index + 1;
+                        src_row_ptr_0 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, src_y_index);
+                        src_row_ptr_1 = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, src_y_index_p_1);
+					}
+					short cbufy[2];									
+					cbufy[0] = IM_MAX(IM_MIN((1.f - f_src_y_index) * 2048, 2048), 0);	
+					cbufy[1] = 2048 - cbufy[0];								
+					for (dst_x_index = 0; dst_x_index < dst->w; ++ dst_x_index){
+						float f_src_x_index = (float)((dst_x_index + 0.5) * w_scale - 0.5);
+						src_x_index = fast_floorf(f_src_x_index);
+						f_src_x_index = f_src_x_index - src_x_index;
+						short cbufx[2];									
+						cbufx[0] = IM_MAX(IM_MIN((1.f - f_src_x_index) * 2048, 2048), 0);	
+						cbufx[1] = 2048 - cbufx[0];	
+						pixel24_t pixel_00, pixel_10, pixel_01, pixel_11;
+						if (src_x_index <= 0) {
+							pixel_00 = pixel_10 = src_row_ptr_0[0];
+							pixel_01 = pixel_11 = src_row_ptr_1[0];
+						} else if (src_x_index >= w_limit) {
+							pixel_00 = pixel_10 = src_row_ptr_0[src_x_index];
+							pixel_01 = pixel_11 = src_row_ptr_1[src_x_index];
+						} else { // get 4 neighboring pixels
+							int src_x_index_p_1 = src_x_index + 1;
+							pixel_00 = src_row_ptr_0[src_x_index]; pixel_10 = src_row_ptr_0[src_x_index_p_1];
+							pixel_01 = src_row_ptr_1[src_x_index]; pixel_11 = src_row_ptr_1[src_x_index_p_1];
+						}
+						int pixel_r = (pixel_00.red * cbufx[0] * cbufy[0] +
+									   pixel_01.red * cbufx[0] * cbufy[1] + 
+									   pixel_10.red * cbufx[1] * cbufy[0] + 
+									   pixel_11.red * cbufx[1] * cbufy[1]) >> 22;
+						int pixel_g = (pixel_00.green * cbufx[0] * cbufy[0] +
+									   pixel_01.green * cbufx[0] * cbufy[1] + 
+									   pixel_10.green * cbufx[1] * cbufy[0] + 
+									   pixel_11.green * cbufx[1] * cbufy[1]) >> 22;
+						int pixel_b = (pixel_00.blue * cbufx[0] * cbufy[0] +
+									   pixel_01.blue * cbufx[0] * cbufy[1] + 
+									   pixel_10.blue * cbufx[1] * cbufy[0] + 
+									   pixel_11.blue * cbufx[1] * cbufy[1]) >> 22;
+						IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x_index, COLOR_R8_G8_B8_TO_RGB888(pixel_r, pixel_g, pixel_b));
+					}
+				}
+				break;
+			}
+			default:{
+				return;
+			}
+		}
+
+	}else if(hist & IMAGE_HINT_BICUBIC){  //三线性缩放
+        // +---+---+---+---+
+        // | x | x | x | x |
+        // +---+---+---+---+
+        // | x | C | x | x |
+        // +---+---+---+---+
+        // | x | x | x | x |
+        // +---+---+---+---+
+        // | x | x | x | x |
+        // +---+---+---+---+
+		//目前忽略这个实现
+		switch (src->pixfmt)
+		{
+			case PIXFORMAT_BINARY:{
+				int src_x_index, src_y_index;
+				uint32_t *dst32, *src32;
+				for (dst_y_index = 0; dst_y_index < dst->h; dst_y_index ++)
+				{
+					dst32 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+					src_y_index = GET_SITE_PIXEL_FAST(dst_y_index, h_scale);
+					src32 = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, src_y_index);
+					for (dst_x_index = 0; dst_x_index < dst->w; dst_x_index ++)
+					{
+						src_x_index = GET_SITE_PIXEL_FAST(dst_x_index, w_scale);
+						IMAGE_PUT_BINARY_PIXEL_FAST(dst32, dst_x_index, IMAGE_GET_BINARY_PIXEL_FAST(src32, src_x_index));
+					}
+				}
+				break;
+			}
+			case PIXFORMAT_GRAYSCALE:{
+
+
+				break;
+			}
+			case PIXFORMAT_RGB565:{
+
+
+				break;
+			}
+			case PIXFORMAT_RGB888:{
+
+
+				break;
+			}
+		
+		default:
+			break;
+		}
+	}
+
+#undef GET_SITE_PIXEL_FAST
+}
+
+/*
+//https://www.cnblogs.com/GoldBeetle/archive/2018/09/17/9662871.html
+int is_in_array(short x, short y, short height, short width)
+{
+    if (x >= 0 && x < width && y >= 0 && y < height)
+        return 1;
+    else
+        return 0;
+}
+
+void bilinera_interpolation(short** in_array, short height, short width, 
+                            short** out_array, short out_height, short out_width)
+{
+    double h_times = (double)out_height / (double)height,
+           w_times = (double)out_width / (double)width;
+    short  x1, y1, x2, y2, f11, f12, f21, f22;
+    double x, y;
+
+    for (int i = 0; i < out_height; i++){
+        for (int j = 0; j < out_width; j++){
+            x = j / w_times;
+            y = i / h_times;
+            x1 = (short)(x - 1);
+            x2 = (short)(x + 1);
+            y1 = (short)(y + 1);
+            y2 = (short)(y - 1);
+            f11 = is_in_array(x1, y1, height, width) ? in_array[y1][x1] : 0;
+            f12 = is_in_array(x1, y2, height, width) ? in_array[y2][x1] : 0;
+            f21 = is_in_array(x2, y1, height, width) ? in_array[y1][x2] : 0;
+            f22 = is_in_array(x2, y2, height, width) ? in_array[y2][x2] : 0;
+            out_array[i][j] = (short)(((f11 * (x2 - x) * (y2 - y)) +
+                                       (f21 * (x - x1) * (y2 - y)) +
+                                       (f12 * (x2 - x) * (y - y1)) +
+                                       (f22 * (x - x1) * (y - y1))) / ((x2 - x1) * (y2 - y1)));
+        }
+    }
+}
+
+
+
+
+
+void TruncToInt32 (int &ival, float fval)
+{
+    undefined ival = *(int *)&fval;
+
+// 提取尾数
+// 注意实际的尾数前面还有一个被省略掉的1
+int mantissa = (ival & 0x07fffff) | 0x800000;
+
+// 提取指数
+// 以23分界，指数大于23则左移，否则右移
+// 由于指数用偏移表示，所以23+127=150
+int exponent = 150 - ((ival >> 23) & 0xff);
+
+if (exponent < 0)
+ival = (mantissa << -exponent);
+else
+ival = (mantissa >> exponent);
+
+// 如果小于0，则将结果取反
+if ((*(int *)&fval) & 0x80000000)
+ival = -ival;
+}
+
+
+#include<opencv2\imgproc\imgproc.hpp>
+#include<opencv2\highgui\highgui.hpp>
+#include<opencv2\core\core.hpp>
+#include<iostream>
+#include<cmath>
+using namespace std;
+using namespace cv;
+float BiCubicPloy(float x);
+//BiCubic基函数
+ 
+float BiCubicPloy(float x)
+{
+	float abs_x = abs(x);//取x的绝对值
+	float a = -0.5;
+	if (abs_x <= 1.0)
+	{
+		return (a + 2)*pow(abs_x, 3) - (a + 3)*pow(abs_x, 2) + 1;
+	}
+	else if (abs_x < 2.0)
+	{
+		return a*pow(abs_x, 3) - 5 * a*pow(abs_x, 2) + 8 * a*abs_x - 4 * a;
+	}
+	else
+		return 0.0;
+}
+ 
+Mat BiCubicInter(Mat &srcImage, double kx, double ky)
+{
+	//获取输出图像的分辨率
+	int nRows = cvRound(srcImage.rows*kx);
+	int nCols = cvRound(srcImage.cols*ky);
+	Mat resultImage(nRows, nCols, srcImage.type());
+	for (int i = 0; i < nRows; i++)
+	{
+		for (int j = 0; j < nCols; j++)
+		{
+			//获取目标图像(i,j)在原图中的坐标
+			int xm = i / kx;
+			int ym = j / ky;
+ 
+			//取出映射到原图的整数部分
+			int xi = (int)xm;
+			int yi = (int)ym;
+ 
+			//取出映射到原图中的点的四周的16个点的坐标
+			int x0 = xi - 1;
+			int y0 = yi - 1;
+			int x1 = xi;
+			int y1 = yi ;
+			int x2 = xi + 1;
+			int y2 = yi + 1;
+			int x3 = xi + 2;
+			int y3 = yi + 2;
+			if ((x0 >= 0) && (x3 < srcImage.rows) && (y0 >= 0) && (y3 < srcImage.cols))
+			{
+				//求出行和列所对应的系数
+				float dist_x0 = BiCubicPloy(xm - x0);
+				float dist_x1 = BiCubicPloy(xm - x1);
+				float dist_x2 = BiCubicPloy(xm - x2);
+				float dist_x3 = BiCubicPloy(xm - x3);
+				float dist_y0 = BiCubicPloy(ym - y0);
+				float dist_y1 = BiCubicPloy(ym - y1);
+				float dist_y2 = BiCubicPloy(ym - y2);
+				float dist_y3 = BiCubicPloy(ym - y3);
+ 
+				//k_i_j=k_i*k_j
+				float dist_x0y0 = dist_x0 * dist_y0;
+				float dist_x0y1 = dist_x0 * dist_y1;
+				float dist_x0y2 = dist_x0 * dist_y2;
+				float dist_x0y3 = dist_x0 * dist_y3;
+				float dist_x1y0 = dist_x1 * dist_y0;
+				float dist_x1y1 = dist_x1 * dist_y1;
+				float dist_x1y2 = dist_x1 * dist_y2;
+				float dist_x1y3 = dist_x1 * dist_y3;
+				float dist_x2y0 = dist_x2 * dist_y0;
+				float dist_x2y1 = dist_x2 * dist_y1;
+				float dist_x2y2 = dist_x2 * dist_y2;
+				float dist_x2y3 = dist_x2 * dist_y3;
+				float dist_x3y0 = dist_x3 * dist_y0;
+				float dist_x3y1 = dist_x3 * dist_y1;
+				float dist_x3y2 = dist_x3 * dist_y2;
+				float dist_x3y3 = dist_x3 * dist_y3;
+ 
+				resultImage.at<Vec3b>(i, j) = (srcImage.at<Vec3b>(x0, y0)*dist_x0y0 +
+												srcImage.at<Vec3b>(x0, y1)*dist_x0y1 +
+												srcImage.at<Vec3b>(x0, y2)*dist_x0y2 +
+												srcImage.at<Vec3b>(x0, y3)*dist_x0y3 +
+												srcImage.at<Vec3b>(x1, y0)*dist_x1y0 +
+												srcImage.at<Vec3b>(x1, y1)*dist_x1y1 +
+												srcImage.at<Vec3b>(x1, y2)*dist_x1y2 +
+												srcImage.at<Vec3b>(x1, y3)*dist_x1y3 +
+												srcImage.at<Vec3b>(x2, y0)*dist_x2y0 +
+												srcImage.at<Vec3b>(x2, y1)*dist_x2y1 +
+												srcImage.at<Vec3b>(x2, y2)*dist_x2y2 +
+												srcImage.at<Vec3b>(x2, y3)*dist_x2y3 +
+												srcImage.at<Vec3b>(x3, y0)*dist_x3y0 +
+												srcImage.at<Vec3b>(x3, y1)*dist_x3y1 +
+												srcImage.at<Vec3b>(x3, y2)*dist_x3y2 +
+												srcImage.at<Vec3b>(x3, y3)*dist_x3y3  );
+			}
+		}
+	}
+	return resultImage;
+}
+int main()
+{
+	Mat srcImage = imread("lakeWater.jpg");
+	if (!srcImage.data)
+	{
+		printf("image could not load...\n");
+		return -1;
+	}
+	imshow("srcImage", srcImage);
+	Mat resultImage = BiCubicInter(srcImage, 0.5, 0.5);
+	imshow("resultImage", resultImage);
+	waitKey(0);
+	return 0;
+}
+
+
+
+
+typedef unsigned char  BYTE;
+typedef unsigned short WORD;
+typedef unsigned long  DWORD;
+typedef long LONG;
+
+typedef struct tagBITMAPFILEHEADER{
+	WORD   bfType;          //must be 0x4D42
+	WORD   bfSizeLow;       //the size of the whole bitmap file,low 16bits.
+    WORD   bfSizeHigh;      //the size of the whole bitmap file,high 16bits.
+	WORD   bfReserved1;     //reserved
+	WORD   bfReserved2;     //reserved
+	WORD   bfOffBitsLow;    //the sum bits of BITMAPFILEHEADER,BITMAPINFOHEADER and RGBQUAD;the index byte of the image data,low 16bits.
+    WORD   bfOffBitsHigh;   //the sum bits of BITMAPFILEHEADER,BITMAPINFOHEADER and RGBQUAD;the index byte of the image data,high 16bits.
+}BITMAPFILEHEADER;
+
+typedef struct tagBITMAPINFOHEADER {
+    DWORD      biSize;          //the size of this struct.it is 40 bytes.
+    LONG       biWidth;         //the width of image data. the unit is pixel.
+    LONG       biHeight;        //the height of image data. the unit is pixel.
+    WORD       biPlanes;        //must be 1.
+    WORD       biBitCount;      //the bit count of each pixel.usually be 1,4,8,or 24.
+    DWORD      biCompression;   //is this image compressed.0 indicates no compression.
+    DWORD      biSizeImage;     //the size of image data, the unit is byte.
+    LONG       biXPelsPerMeter; //resolution in X direction.
+    LONG       biYPelsPerMeter; //resolution in Y direction.
+    DWORD      biClrUsed;       //the number of colors.0 represents the default value.(2^).
+    DWORD      biClrImportant;  //the number of important colors.0 means all important colors.
+} BITMAPINFOHEADER;
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <malloc.h>
+#include <string.h>
+
+#include "bitmapfile.h"
+
+#define DST_WIDTH 3840   //width of the destination image
+#define DST_HEIGHT 2160  //height of the destination image
+
+#define WIDTHBYTE(bits) ((bits+31)/32*4)
+
+void NearestInterpolation(double dSrcX,double dSrcY,int iDesX,int iDesY,int iSrcWidth,int iSrcHeight,BYTE* pSrcMemData,BYTE* pDesMemData,int iSrcMemWidth,int iDesMemWidth);
+
+void main()
+{
+	BITMAPFILEHEADER SrcFileHead, DesFileHead;
+	BITMAPINFOHEADER SrcInfoHead, DesInfoHead;
+
+	FILE* pSrcFile=0;
+	FILE* pDesFile=0;
+
+	//open source image file
+	errno_t SrcFileOpenError;
+	SrcFileOpenError = fopen_s(&pSrcFile,"../SrcPic.bmp","rb");
+	if (SrcFileOpenError != 0)
+	{
+		printf("fail to open source image file");
+		return;
+	}
+
+	//read bit map file header
+	fread(&SrcFileHead,sizeof(BITMAPFILEHEADER),1,pSrcFile);
+	if (SrcFileHead.bfType != 0x4D42)
+	{
+		printf("source file is not bmp file");
+		return;
+	}
+	//read bit map information header
+	fread(&SrcInfoHead,sizeof(BITMAPINFOHEADER),1,pSrcFile);
+
+	//allocate memory space for source image
+	int SrcWidth = SrcInfoHead.biWidth;
+	int SrcHeight = SrcInfoHead.biHeight;
+	//the actual number of bytes per row of the source image
+	int SrcWidthMemByte = WIDTHBYTE(SrcWidth * SrcInfoHead.biBitCount);
+	int SrcTotalMemByte = SrcHeight * SrcWidthMemByte;
+	BYTE* pSrcData = (BYTE*)malloc(SrcTotalMemByte);
+	memset(pSrcData,0,SrcTotalMemByte);
+	fread(pSrcData, 1, SrcTotalMemByte, pSrcFile);
+
+	//allocate memory space for destination image
+	int DesWidth = DST_WIDTH;
+	int DesHeight = DST_HEIGHT;
+	//the actual number of bytes per row of the destination image
+	int DesWidthMemByte = WIDTHBYTE(DesWidth* SrcInfoHead.biBitCount);
+	int DesTotalMemByte = DesHeight * DesWidthMemByte;
+	BYTE* pDesData = (BYTE*)malloc(DesTotalMemByte);
+	memset(pDesData,0,DesTotalMemByte);
+
+	//width and height ratio of source image and destination image
+	double dFactorWidth = (double)SrcWidth / DesWidth;
+	double dFactorHeight = (double)SrcHeight / DesHeight;
+
+	//interpolation
+	for(int y = 0; y < DesHeight; y++)
+		for (int x = 0; x < DesWidth; x++)
+		{
+			double dSrcImageX = x * dFactorWidth;
+			double dSrcImageY = y * dFactorHeight;
+			//nearest interpolation
+			NearestInterpolation(dSrcImageX, dSrcImageY, x, y, SrcWidth, SrcHeight, pSrcData, pDesData, SrcWidthMemByte, DesWidthMemByte);
+		}
+
+	//destination image bit map file header
+	DesFileHead = SrcFileHead;
+	DWORD bfSize = (SrcFileHead.bfOffBitsHigh << 16) + SrcFileHead.bfOffBitsLow + DesTotalMemByte;
+	DesFileHead.bfSizeLow = bfSize & 0xFFFF;
+	DesFileHead.bfSizeHigh = bfSize >> 16;
+	//destination image bit map information header
+	DesInfoHead = SrcInfoHead;
+	DesInfoHead.biWidth = DesWidth;
+	DesInfoHead.biHeight = DesHeight;
+	DesInfoHead.biSizeImage = DesTotalMemByte;
+	//open destination image file
+	errno_t DesFileOpenError;
+	DesFileOpenError = fopen_s(&pDesFile, "../DesPic.bmp", "wb");
+	if (DesFileOpenError != 0)
+	{
+		printf("fail to open destination image file");
+		return;
+	}
+	//write destination image into bitmapfile
+	fwrite(&DesFileHead,1,sizeof(BITMAPFILEHEADER), pDesFile);
+	fwrite(&DesInfoHead,1,sizeof(BITMAPINFOHEADER), pDesFile);
+	fwrite(pDesData,1, DesTotalMemByte, pDesFile);
+
+	fclose(pSrcFile);
+	fclose(pDesFile);
+
+	printf("finish image scale\n");
+	return;
+}
+
+void NearestInterpolation(double dSrcX,double dSrcY,int iDesX,int iDesY,int iSrcWidth,int iSrcHeight,BYTE* pSrcMemData,BYTE* pDesMemData,int iSrcMemWidth,int iDesMemWidth)
+{
+	//source image pixel position
+	int iSrcX = dSrcX + 0.5;
+	int iSrcY = dSrcY + 0.5;
+	//image boundary processing
+	if (iSrcX > (iSrcWidth-1))
+	{
+		iSrcX = iSrcWidth - 1;
+	}
+	if (iSrcY > (iSrcHeight - 1))
+	{
+		iSrcY = iSrcHeight - 1;
+	}
+	int iSrcPixelPoint = iSrcY * iSrcMemWidth + iSrcX * 3;
+
+	//destination image
+	int iDesPixelPoint = iDesY * iDesMemWidth + iDesX * 3;
+	pDesMemData[iDesPixelPoint] = pSrcMemData[iSrcPixelPoint];
+	pDesMemData[iDesPixelPoint+1] = pSrcMemData[iSrcPixelPoint+1];
+	pDesMemData[iDesPixelPoint+2] = pSrcMemData[iSrcPixelPoint+2];
+
+	return;
+}
+*/
\ No newline at end of file
diff --git a/github_source/minicv2/src/ini.c b/github_source/minicv2/src/ini.c
new file mode 100644
index 0000000..991de5e
--- /dev/null
+++ b/github_source/minicv2/src/ini.c
@@ -0,0 +1,793 @@
+#ifdef ENABLE_OPENMV_INI
+
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Initialization file parser.
+ */
+#include <stddef.h>
+#include <stdbool.h>
+#include <string.h>
+#include "ini.h"
+
+/*-------------------------------------------------------------------------
+  _isppace.c - part of ctype.h 
+
+             Written By -  Sandeep Dutta . sandeep.dutta@usa.net (1999)
+
+   This library is free software; you can redistribute it and/or modify it
+   under the terms of the GNU Library General Public License as published by the
+   Free Software Foundation; either version 2, or (at your option) any
+   later version.
+
+   This library is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Library General Public License for more details.
+
+   You should have received a copy of the GNU Library General Public License
+   along with this program; if not, write to the Free Software
+   Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+   In other words, you are welcome to use, share and improve this program.
+   You are forbidden to forbid anyone else to use, share and improve
+   what you give them.   Help stamp out software-hoarding!  
+-------------------------------------------------------------------------*/
+
+char ini_isspace (unsigned char c) 
+{
+  if ( c == ' '
+    || c == '\f'
+    || c == '\n'
+    || c == '\r'
+    || c == '\t'
+    || c == '\v' )
+      return 1;
+
+  return 0;
+}
+
+/*
+ * atoi.c --
+ *
+ *      Source code for the "atoi" library procedure.
+ *
+ * Copyright 1988 Regents of the University of California
+ * Permission to use, copy, modify, and distribute this
+ * software and its documentation for any purpose and without
+ * fee is hereby granted, provided that the above copyright
+ * notice appear in all copies.  The University of California
+ * makes no representations about the suitability of this
+ * software for any purpose.  It is provided "as is" without
+ * express or implied warranty.
+ */
+
+/*
+ *----------------------------------------------------------------------
+ *
+ * atoi --
+ *
+ *      Convert an ASCII string into an integer.
+ *
+ * Results:
+ *      The return value is the integer equivalent of string.  If there
+ *      are no decimal digits in string, then 0 is returned.
+ *
+ * Side effects:
+ *      None.
+ *
+ *----------------------------------------------------------------------
+ */
+
+int
+ini_atoi(string)
+    const char *string;         /* String of ASCII digits, possibly
+                                 * preceded by white space.  For bases
+                                 * greater than 10, either lower- or
+                                 * upper-case digits may be used.
+                                 */
+{
+    register int result = 0;
+    register unsigned int digit;
+    int sign;
+
+    /*
+     * Skip any leading blanks.
+     */
+
+    while (ini_isspace(*string)) {
+        string += 1;
+    }
+
+    /*
+     * Check for a sign.
+     */
+
+    if (*string == '-') {
+        sign = 1;
+        string += 1;
+    } else {
+        sign = 0;
+        if (*string == '+') {
+            string += 1;
+        }
+    }
+
+    for (;*string; string++) {
+        digit = *string - '0';
+        if ((digit < 0) || (digit > 9)) {
+            break;
+        }
+        result = (10*result) + digit;
+    }
+
+    if (sign) {
+        return -result;
+    }
+    return result;
+}
+
+bool ini_is_true(const char *value)
+{
+    int i = ini_atoi(value);
+    if (i) return true;
+    if (strlen(value) != 4) return false;
+    if ((value[0] != 'T') && (value[0] != 't')) return false;
+    if ((value[1] != 'R') && (value[1] != 'r')) return false;
+    if ((value[2] != 'U') && (value[2] != 'u')) return false;
+    if ((value[3] != 'E') && (value[3] != 'e')) return false;
+    return true;
+}
+
+/*
+ * Copyright (c) 2000-2002 Opsycon AB  (www.opsycon.se)
+ * 
+ * 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.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *	This product includes software developed by Opsycon AB.
+ * 4. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *
+ */
+
+/**  ini_fgetc(fp) -- get char from stream */
+
+// int
+// ini_fgetc(FIL *fp)
+// {
+//     char c;
+//     UINT b;
+
+//     if (f_read (fp, &c, 1, &b) != FR_OK || b != 1)
+//         return (EOF);
+//     return (c);
+// }
+
+/*
+ * Copyright (c) 2000-2002 Opsycon AB  (www.opsycon.se)
+ * 
+ * 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.
+ * 3. All advertising materials mentioning features or use of this software
+ *    must display the following acknowledgement:
+ *	This product includes software developed by Opsycon AB.
+ * 4. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
+ *
+ */
+
+/**  char *ini_fgets(dst,max,fp) -- get string from stream */
+
+char *
+ini_fgets(char *dst, int max, FIL *fp)
+{
+    char *p;
+    int c=EOF;
+
+    /* get max bytes or upto a newline */
+
+    for (p = dst, max--; max > 0; max--) {
+        if ((c = fgetc(*fp)) == EOF)
+            break;
+        *p++ = c;
+        if (c == '\n')
+            break;
+    }
+    *p = 0;
+    if (p == dst || c == EOF)
+        return NULL;
+    return (p);
+}
+
+/* inih -- simple .INI file parser
+
+inih is released under the New BSD license (see LICENSE.txt). Go to the project
+home page for more info:
+
+https://github.com/benhoyt/inih
+
+*/
+
+#if defined(_MSC_VER) && !defined(_CRT_SECURE_NO_WARNINGS)
+#define _CRT_SECURE_NO_WARNINGS
+#endif
+
+#include <ctype.h>
+#include <string.h>
+
+#if !INI_USE_STACK
+#include <stdlib.h>
+#endif
+
+#define MAX_SECTION 50
+#define MAX_NAME 50
+
+/* Used by ini_parse_string() to keep track of string parsing state. */
+typedef struct {
+    const char* ptr;
+    size_t num_left;
+} ini_parse_string_ctx;
+
+/* Strip whitespace chars off end of given string, in place. Return s. */
+static char* rstrip(char* s)
+{
+    char* p = s + strlen(s);
+    while (p > s && ini_isspace((unsigned char)(*--p)))
+        *p = '\0';
+    return s;
+}
+
+/* Return pointer to first non-whitespace char in given string. */
+static char* lskip(const char* s)
+{
+    while (*s && ini_isspace((unsigned char)(*s)))
+        s++;
+    return (char*)s;
+}
+
+/* Return pointer to first char (of chars) or inline comment in given string,
+   or pointer to null at end of string if neither found. Inline comment must
+   be prefixed by a whitespace character to register as a comment. */
+static char* find_chars_or_comment(const char* s, const char* chars)
+{
+#if INI_ALLOW_INLINE_COMMENTS
+    int was_space = 0;
+    while (*s && (!chars || !strchr(chars, *s)) &&
+           !(was_space && strchr(INI_INLINE_COMMENT_PREFIXES, *s))) {
+        was_space = ini_isspace((unsigned char)(*s));
+        s++;
+    }
+#else
+    while (*s && (!chars || !strchr(chars, *s))) {
+        s++;
+    }
+#endif
+    return (char*)s;
+}
+
+/* Version of strncpy that ensures dest (size bytes) is null-terminated. */
+static char* strncpy0(char* dest, const char* src, size_t size)
+{
+    strncpy(dest, src, size - 1);
+    dest[size - 1] = '\0';
+    return dest;
+}
+
+/* See documentation in header file. */
+int ini_parse_stream(ini_reader reader, void* stream, ini_handler handler,
+                     void* user)
+{
+    /* Uses a fair bit of stack (use heap instead if you need to) */
+#if INI_USE_STACK
+    char line[INI_MAX_LINE];
+    int max_line = INI_MAX_LINE;
+#else
+    char* line;
+    int max_line = INI_INITIAL_ALLOC;
+#endif
+#if INI_ALLOW_REALLOC
+    char* new_line;
+    int offset;
+#endif
+    char section[MAX_SECTION] = "";
+    char prev_name[MAX_NAME] = "";
+
+    char* start;
+    char* end;
+    char* name;
+    char* value;
+    int lineno = 0;
+    int error = 0;
+
+#if !INI_USE_STACK
+    line = (char*)xalloc(INI_INITIAL_ALLOC);
+    if (!line) {
+        return -2;
+    }
+#endif
+
+#if INI_HANDLER_LINENO
+#define HANDLER(u, s, n, v) handler(u, s, n, v, lineno)
+#else
+#define HANDLER(u, s, n, v) handler(u, s, n, v)
+#endif
+
+    /* Scan through stream line by line */
+    while (reader(line, max_line, stream) != NULL) {
+#if INI_ALLOW_REALLOC
+        offset = strlen(line);
+        while (offset == max_line - 1 && line[offset - 1] != '\n') {
+            max_line *= 2;
+            if (max_line > INI_MAX_LINE)
+                max_line = INI_MAX_LINE;
+            new_line = xrealloc(line, max_line);
+            if (!new_line) {
+                xfree(line);
+                return -2;
+            }
+            line = new_line;
+            if (reader(line + offset, max_line - offset, stream) == NULL)
+                break;
+            if (max_line >= INI_MAX_LINE)
+                break;
+            offset += strlen(line + offset);
+        }
+#endif
+
+        lineno++;
+
+        start = line;
+#if INI_ALLOW_BOM
+        if (lineno == 1 && (unsigned char)start[0] == 0xEF &&
+                           (unsigned char)start[1] == 0xBB &&
+                           (unsigned char)start[2] == 0xBF) {
+            start += 3;
+        }
+#endif
+        start = lskip(rstrip(start));
+
+        if (*start == ';' || *start == '#') {
+            /* Per Python configparser, allow both ; and # comments at the
+               start of a line */
+        }
+#if INI_ALLOW_MULTILINE
+        else if (*prev_name && *start && start > line) {
+            /* Non-blank line with leading whitespace, treat as continuation
+               of previous name's value (as per Python configparser). */
+            if (!HANDLER(user, section, prev_name, start) && !error)
+                error = lineno;
+        }
+#endif
+        else if (*start == '[') {
+            /* A "[section]" line */
+            end = find_chars_or_comment(start + 1, "]");
+            if (*end == ']') {
+                *end = '\0';
+                strncpy0(section, start + 1, sizeof(section));
+                *prev_name = '\0';
+            }
+            else if (!error) {
+                /* No ']' found on section line */
+                error = lineno;
+            }
+        }
+        else if (*start) {
+            /* Not a comment, must be a name[=:]value pair */
+            end = find_chars_or_comment(start, "=:");
+            if (*end == '=' || *end == ':') {
+                *end = '\0';
+                name = rstrip(start);
+                value = end + 1;
+#if INI_ALLOW_INLINE_COMMENTS
+                end = find_chars_or_comment(value, NULL);
+                if (*end)
+                    *end = '\0';
+#endif
+                value = lskip(value);
+                rstrip(value);
+
+                /* Valid name[=:]value pair found, call handler */
+                strncpy0(prev_name, name, sizeof(prev_name));
+                if (!HANDLER(user, section, name, value) && !error)
+                    error = lineno;
+            }
+            else if (!error) {
+                /* No '=' or ':' found on name[=:]value line */
+                error = lineno;
+            }
+        }
+
+#if INI_STOP_ON_FIRST_ERROR
+        if (error)
+            break;
+#endif
+    }
+
+#if !INI_USE_STACK
+    xfree(line);
+#endif
+
+    return error;
+}
+
+/* See documentation in header file. */
+int ini_parse_file(FIL* file, ini_handler handler, void* user)
+{
+    return ini_parse_stream((ini_reader)ini_fgets, file, handler, user);
+}
+
+/* See documentation in header file. */
+int ini_parse(FATFS *fs, const char* filename, ini_handler handler, void* user)
+{
+    FIL file;
+    int error;
+
+    FRESULT res = f_open(fs, &file, filename, FA_READ | FA_OPEN_EXISTING);
+    if (res != FR_OK)
+        return -1;
+    error = ini_parse_file(&file, handler, user);
+    res = f_close(&file);
+    if (res != FR_OK)
+        return -1;
+    return error;
+}
+
+/* An ini_reader function to read the next line from a string buffer. This
+   is the ini_fgets() equivalent used by ini_parse_string(). */
+static char* ini_reader_string(char* str, int num, void* stream) {
+    ini_parse_string_ctx* ctx = (ini_parse_string_ctx*)stream;
+    const char* ctx_ptr = ctx->ptr;
+    size_t ctx_num_left = ctx->num_left;
+    char* strp = str;
+    char c;
+
+    if (ctx_num_left == 0 || num < 2)
+        return NULL;
+
+    while (num > 1 && ctx_num_left != 0) {
+        c = *ctx_ptr++;
+        ctx_num_left--;
+        *strp++ = c;
+        if (c == '\n')
+            break;
+        num--;
+    }
+
+    *strp = '\0';
+    ctx->ptr = ctx_ptr;
+    ctx->num_left = ctx_num_left;
+    return str;
+}
+
+/* See documentation in header file. */
+int ini_parse_string(const char* string, ini_handler handler, void* user) {
+    ini_parse_string_ctx ctx;
+
+    ctx.ptr = string;
+    ctx.num_left = strlen(string);
+    return ini_parse_stream((ini_reader)ini_reader_string, &ctx, handler,
+                            user);
+}
+
+#else
+/**
+ * Copyright (c) 2016 rxi
+ *
+ * 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.
+ */
+//还未接入到 openmv 的环境中,但是可以先使用 linux 环境
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+
+#include "ini.h"
+
+struct ini_t {
+  char *data;
+  char *end;
+};
+
+
+/* Case insensitive string compare */
+static int strcmpci(const char *a, const char *b) {
+  for (;;) {
+    int d = tolower(*a) - tolower(*b);
+    if (d != 0 || !*a) {
+      return d;
+    }
+    a++, b++;
+  }
+}
+
+/* Returns the next string in the split data */
+static char* next(ini_t *ini, char *p) {
+  p += strlen(p);
+  while (p < ini->end && *p == '\0') {
+    p++;
+  }
+  return p;
+}
+
+static void trim_back(ini_t *ini, char *p) {
+  while (p >= ini->data && (*p == ' ' || *p == '\t' || *p == '\r')) {
+    *p-- = '\0';
+  }
+}
+
+static char* discard_line(ini_t *ini, char *p) {
+  while (p < ini->end && *p != '\n') {
+    *p++ = '\0';
+  }
+  return p;
+}
+
+
+static char *unescape_quoted_value(ini_t *ini, char *p) {
+  /* Use `q` as write-head and `p` as read-head, `p` is always ahead of `q`
+   * as escape sequences are always larger than their resultant data */
+  char *q = p;
+  p++;
+  while (p < ini->end && *p != '"' && *p != '\r' && *p != '\n') {
+    if (*p == '\\') {
+      /* Handle escaped char */
+      p++;
+      switch (*p) {
+        default   : *q = *p;    break;
+        case 'r'  : *q = '\r';  break;
+        case 'n'  : *q = '\n';  break;
+        case 't'  : *q = '\t';  break;
+        case '\r' :
+        case '\n' :
+        case '\0' : goto end;
+      }
+
+    } else {
+      /* Handle normal char */
+      *q = *p;
+    }
+    q++, p++;
+  }
+end:
+  return q;
+}
+
+
+/* Splits data in place into strings containing section-headers, keys and
+ * values using one or more '\0' as a delimiter. Unescapes quoted values */
+static void split_data(ini_t *ini) {
+  char *value_start, *line_start;
+  char *p = ini->data;
+
+  while (p < ini->end) {
+    switch (*p) {
+      case '\r':
+      case '\n':
+      case '\t':
+      case ' ':
+        *p = '\0';
+        /* Fall through */
+
+      case '\0':
+        p++;
+        break;
+
+      case '[':
+        p += strcspn(p, "]\n");
+        *p = '\0';
+        break;
+
+      case ';':
+        p = discard_line(ini, p);
+        break;
+
+      default:
+        line_start = p;
+        p += strcspn(p, "=\n");
+
+        /* Is line missing a '='? */
+        if (*p != '=') {
+          p = discard_line(ini, line_start);
+          break;
+        }
+        trim_back(ini, p - 1);
+
+        /* Replace '=' and whitespace after it with '\0' */
+        do {
+          *p++ = '\0';
+        } while (*p == ' ' || *p == '\r' || *p == '\t');
+
+        /* Is a value after '=' missing? */
+        if (*p == '\n' || *p == '\0') {
+          p = discard_line(ini, line_start);
+          break;
+        }
+
+        if (*p == '"') {
+          /* Handle quoted string value */
+          value_start = p;
+          p = unescape_quoted_value(ini, p);
+
+          /* Was the string empty? */
+          if (p == value_start) {
+            p = discard_line(ini, line_start);
+            break;
+          }
+
+          /* Discard the rest of the line after the string value */
+          p = discard_line(ini, p);
+
+        } else {
+          /* Handle normal value */
+          p += strcspn(p, "\n");
+          trim_back(ini, p - 1);
+        }
+        break;
+    }
+  }
+}
+
+
+
+ini_t* ini_load(const char *filename) {
+  ini_t *ini = NULL;
+  FILE *fp = NULL;
+  int n, sz;
+
+  /* Init ini struct */
+  ini = malloc(sizeof(*ini));
+  if (!ini) {
+    goto fail;
+  }
+  memset(ini, 0, sizeof(*ini));
+
+  /* Open file */
+  fp = fopen(filename, "rb");
+  if (!fp) {
+    goto fail;
+  }
+
+  /* Get file size */
+  fseek(fp, 0, SEEK_END);
+  sz = ftell(fp);
+  rewind(fp);
+
+  /* Load file content into memory, null terminate, init end var */
+  ini->data = malloc(sz + 1);
+  ini->data[sz] = '\0';
+  ini->end = ini->data  + sz;
+  n = fread(ini->data, 1, sz, fp);
+  if (n != sz) {
+    goto fail;
+  }
+
+  /* Prepare data */
+  split_data(ini);
+
+  /* Clean up and return */
+  fclose(fp);
+  return ini;
+
+fail:
+  if (fp) fclose(fp);
+  if (ini) ini_free(ini);
+  return NULL;
+}
+
+
+void ini_free(ini_t *ini) {
+  free(ini->data);
+  free(ini);
+}
+
+
+const char* ini_get(ini_t *ini, const char *section, const char *key) {
+  char *current_section = "";
+  char *val;
+  char *p = ini->data;
+
+  if (*p == '\0') {
+    p = next(ini, p);
+  }
+
+  while (p < ini->end) {
+    if (*p == '[') {
+      /* Handle section */
+      current_section = p + 1;
+
+    } else {
+      /* Handle key */
+      val = next(ini, p);
+      if (!section || !strcmpci(section, current_section)) {
+        if (!strcmpci(p, key)) {
+          return val;
+        }
+      }
+      p = val;
+    }
+
+    p = next(ini, p);
+  }
+
+  return NULL;
+}
+
+
+int ini_sget(
+  ini_t *ini, const char *section, const char *key,
+  const char *scanfmt, void *dst
+) {
+  const char *val = ini_get(ini, section, key);
+  if (!val) {
+    return 0;
+  }
+  if (scanfmt) {
+    sscanf(val, scanfmt, dst);
+  } else {
+    *((const char**) dst) = val;
+  }
+  return 1;
+}
+
+
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/src/integral.c b/github_source/minicv2/src/integral.c
new file mode 100644
index 0000000..bfcd870
--- /dev/null
+++ b/github_source/minicv2/src/integral.c
@@ -0,0 +1,118 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Integral image.
+ */
+#include <stdlib.h>
+#include <string.h>
+// #include <arm_math.h>
+#include "imlib.h"
+#include "fb_alloc.h"
+
+void imlib_integral_image_alloc(i_image_t *sum, int w, int h)
+{
+    sum->w = w;
+    sum->h = h;
+    sum->data = fb_alloc(w * h * sizeof(*sum->data), FB_ALLOC_NO_HINT);
+}
+
+void imlib_integral_image_free(i_image_t *sum)
+{
+    // 1 allocation
+    fb_free(sum->data);
+}
+
+void imlib_integral_image(image_t *src, i_image_t *sum)
+{
+    typeof(*src->data) *img_data = src->data;
+    typeof(*sum->data) *sum_data = sum->data;
+
+    // Compute first column to avoid branching
+    for (int s=0, x=0; x<src->w; x++) {
+        /* sum of the current row (integer) */
+        s += img_data[x];
+        sum_data[x] = s;
+    }
+
+    for (int y=1; y<src->h; y++) {
+        /* loop over the number of columns */
+        for (int s=0, x=0; x<src->w; x++) {
+            /* sum of the current row (integer) */
+            s += img_data[y*src->w+x];
+            sum_data[y*src->w+x] = s+sum_data[(y-1)*src->w+x];
+        }
+    }
+}
+
+void imlib_integral_image_scaled(image_t *src, i_image_t *sum)
+{
+    typeof(*src->data) *img_data = src->data;
+    typeof(*sum->data) *sum_data = sum->data;
+
+    int x_ratio = (int)((src->w<<16)/sum->w) +1;
+    int y_ratio = (int)((src->h<<16)/sum->h) +1;
+
+    // Compute first column to avoid branching
+    for (int s=0, x=0; x<sum->w; x++) {
+        int sx = (x*x_ratio)>>16;
+        /* sum of the current row (integer) */
+        s += img_data[sx];
+        sum_data[x] = s;
+    }
+
+    for (int y=1; y<sum->h; y++) {
+        int sy = (y*y_ratio)>>16;
+        /* loop over the number of columns */
+        for (int s=0, x=0; x<sum->w; x++) {
+            int sx = (x*x_ratio)>>16;
+
+            /* sum of the current row (integer) */
+            s += img_data[sy*src->w+sx];
+            sum_data[y*sum->w+x] = s+sum_data[(y-1)*sum->w+x];
+        }
+    }
+}
+
+void imlib_integral_image_sq(image_t *src, i_image_t *sum)
+{
+    typeof(*src->data) *img_data = src->data;
+    typeof(*sum->data) *sum_data = sum->data;
+
+    // Compute first column to avoid branching
+    for (uint32_t s=0, x=0; x<src->w; x++) {
+        /* sum of the current row (integer) */
+        s += img_data[x] * img_data[x];
+        sum_data[x] = s;
+    }
+
+    for (uint32_t y=1; y<src->h; y++) {
+        /* loop over the number of columns */
+        for (uint32_t s=0, x=0; x<src->w; x++) {
+            /* sum of the current row (integer) */
+            s += img_data[y*src->w+x] * img_data[y*src->w+x];
+            sum_data[y*src->w+x] = s+sum_data[(y-1)*src->w+x];
+        }
+    }
+
+}
+
+uint32_t imlib_integral_lookup(i_image_t *sum, int x, int y, int w, int h)
+{
+#define PIXEL_AT(x,y)\
+    (sum->data[((y)-1)*sum->w+((x)-1)])
+    if (x==0 && y==0) {
+        return PIXEL_AT(w,h);
+    } else if (y==0) {
+        return PIXEL_AT(w+x, h) - PIXEL_AT(x, h);
+    } else if (x==0) {
+        return PIXEL_AT(w, h+y) - PIXEL_AT(w, y);
+    } else {
+        return PIXEL_AT(w+x, h+y) + PIXEL_AT(x, y) - PIXEL_AT(w+x, y) - PIXEL_AT(x, h+y);
+    }
+#undef  PIXEL_AT
+}
diff --git a/github_source/minicv2/src/integral_mw.c b/github_source/minicv2/src/integral_mw.c
new file mode 100644
index 0000000..2ba4929
--- /dev/null
+++ b/github_source/minicv2/src/integral_mw.c
@@ -0,0 +1,313 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * An integral image using a moving window.
+ *
+ * The high level steps are:
+ *  1) Start with an array of pointers[n] where n = feature height.
+ *  2) Compute the first n lines of the integral image.
+ *  3) Do some processing with the integral image.
+ *  4) Call integral_mw_image_shift(n)
+ *
+ *  This will shift the pointers by n and calculate n new lines, example:
+ *  Assuming feature height is 4:
+ *      mw_i_image[0] -> mem[0]
+ *      mw_i_image[1] -> mem[1]
+ *      mw_i_image[2] -> mem[2]
+ *      mw_i_image[3] -> mem[3]
+ *
+ *  After shifting by 1 line, it looks like this:
+ *      mw_i_image[0] -> mem[1]
+ *      mw_i_image[1] -> mem[2]
+ *      mw_i_image[2] -> mem[3]
+ *      mw_i_image[3] -> mem[0]
+ *  Line 3 will be computed as normal using line 2 which now
+ *  points to the last integral image line computed initially.
+ *
+ *  After shifting by second line, it looks like this:
+ *      mw_i_image[0] -> mem[2]
+ *      mw_i_image[1] -> mem[3]
+ *      mw_i_image[2] -> mem[0]
+ *      mw_i_image[3] -> mem[1]
+ *  Line 3 will be computed as usual using line 2 which now
+ *  points to the last integral image line computed in the previous shift.
+ *
+ * Notes:
+ *  The mw integral must Not be shifted more than image_height - feature_height, s_lines
+ *  must be < feature_height-1 to keep at least one row for integral image calculations.
+ *
+ *  This only requires (image_width * (feature_height+1) * 4) bytes. Assuming a 24x24
+ *  feature, the required memory is 320*25*4 (i.e. ~32KBs) instead of 320*240*4 (300KBs).
+ *
+ *  Functions without a suffix compute/shift summed images, _sq suffix compute/shift
+ *  summed squared images, and _ss compute/shift both summed and squared in a single pass.
+ */
+#include <stdlib.h>
+#include <stdio.h>
+#include <string.h>
+#include "imlib.h"
+// #include "fb_alloc.h"
+
+// This macro swaps two pointers.
+#define SWAP_PTRS(a, b)  \
+    ({ __typeof__ (a) _t;\
+       (_t) = ( a);  \
+       ( a) = ( b);  \
+       ( b) = (_t); })
+
+void imlib_integral_mw_alloc(mw_image_t *sum, int w, int h)
+{
+    sum->w = w;
+    sum->h = h;
+    sum->y_offs = 0;
+    sum->x_ratio = (1<<16)+1;
+    sum->y_ratio = (1<<16)+1;
+    sum->data = xalloc(h * sizeof(*sum->data));
+    // swap is used when shifting the image pointers
+    // to avoid overwriting the image rows in sum->data
+    sum->swap = xalloc(h * sizeof(*sum->data));
+
+    for (int i=0; i<h; i++) {
+        sum->data[i] = xalloc(w * sizeof(**sum->data));
+    }
+}
+
+void imlib_integral_mw_free(mw_image_t *sum)
+{
+    for (int i=0; i<sum->h; i++) {
+        xfree(sum->data[i]);  // Free h lines
+    }
+    xfree(sum->data);  // Free data
+    xfree(sum->swap);  // Free swap
+}
+
+void imlib_integral_mw_scale(rectangle_t *roi, mw_image_t *sum, int w, int h)
+{
+    // Set new width
+    // Note: height doesn't change
+    sum->w = w;
+    // Reset y offset
+    sum->y_offs = 0;
+    // Set scaling ratios
+    sum->x_ratio = (int)((roi->w<<16)/w)+1;
+    sum->y_ratio = (int)((roi->h<<16)/h)+1;
+}
+
+void imlib_integral_mw(image_t *src, mw_image_t *sum)
+{
+    // Image pointers
+    typeof(*sum->data) *sum_data = sum->data;
+
+    // Compute the first row to avoid branching
+    for (int sx, s=0, x=0; x<sum->w; x++) {
+        // X offset
+        sx = (x*sum->x_ratio)>>16;
+
+        // Accumulate row data
+        s += IM_TO_GS_PIXEL(src, sx, 0);
+        sum_data[0][x] = s;
+    }
+
+    // Compute the remaining rows
+    for (int sy, y=1; y<sum->h; y++) {
+        // Y offset
+        sy = (y*sum->y_ratio)>>16;
+
+        // Sum the current row
+        for (int sx, s=0, x=0; x<sum->w; x++) {
+            // X offset
+            sx = (x*sum->x_ratio)>>16;
+
+            // Accumulate row data
+            s += IM_TO_GS_PIXEL(src, sx, sy);
+            sum_data[y][x] = s + sum_data[y-1][x];
+        }
+    }
+
+    sum->y_offs = sum->h;
+}
+
+void imlib_integral_mw_sq(image_t *src, mw_image_t *sum)
+{
+    // Image pointers
+    typeof(*sum->data) *sum_data = sum->data;
+
+    // Compute the first row to avoid branching
+    for (int sx, s=0, x=0; x<sum->w; x++) {
+        // X offset
+        sx = (x*sum->x_ratio)>>16;
+
+        // Accumulate row data
+        s += IM_TO_GS_PIXEL(src, sx, 0) * IM_TO_GS_PIXEL(src, sx, 0);
+        sum_data[0][x] = s;
+    }
+
+    // Compute the remaining rows
+    for (int sy, y=1; y<sum->h; y++) {
+        // Y offset
+        sy = (y*sum->y_ratio)>>16;
+
+        // Sum the current row
+        for (int sx, s=0, x=0; x<sum->w; x++) {
+            // X offset
+            sx = (x*sum->x_ratio)>>16;
+
+            // Accumulate row data
+            s += IM_TO_GS_PIXEL(src, sx, sy) * IM_TO_GS_PIXEL(src, sx, sy);
+            sum_data[y][x] = s + sum_data[y-1][x];
+        }
+    }
+
+    sum->y_offs = sum->h;
+}
+
+void imlib_integral_mw_shift(image_t *src, mw_image_t *sum, int n)
+{
+    // Shift integral image rows by n lines
+    for (int y=0; y<sum->h; y++) {
+        sum->swap[y] = sum->data[(y+n) % sum->h];
+    }
+
+    // Swap the data and swap pointers
+    SWAP_PTRS(sum->data, sum->swap);
+
+    // Pointer to the current sum data
+    typeof(*sum->data) *sum_data = sum->data;
+
+    // Compute the last n lines
+    for (int sy, y=(sum->h - n); y<sum->h; y++, sum->y_offs++) {
+        // Y offset
+        sy = (sum->y_offs*sum->y_ratio)>>16;
+
+        // Sum the current row
+        for (int sx, s=0, x=0; x<sum->w; x++) {
+            // X offset
+            sx = (x*sum->x_ratio)>>16;
+
+            // Accumulate row data
+            s += IM_TO_GS_PIXEL(src, sx, sy);
+            sum_data[y][x] = s + sum_data[y-1][x];
+        }
+    }
+}
+
+void imlib_integral_mw_shift_sq(image_t *src, mw_image_t *sum, int n)
+{
+    // Shift integral image rows by n lines
+    for (int y=0; y<sum->h; y++) {
+        sum->swap[y] = sum->data[(y+n) % sum->h];
+    }
+
+    // Swap data and swap pointers
+    SWAP_PTRS(sum->data, sum->swap);
+
+    // Pointer to the current sum data
+    typeof(*sum->data) *sum_data = sum->data;
+
+    // Compute the last n lines
+    for (int sy, y=(sum->h - n); y<sum->h; y++, sum->y_offs++) {
+        // The y offset is set to the last line + 1
+        sy = (sum->y_offs*sum->y_ratio)>>16;
+
+        // Sum the current row
+        for (int sx, s=0, x=0; x<sum->w; x++) {
+            // X offset
+            sx = (x*sum->x_ratio)>>16;
+
+            // Accumulate row data
+            s += IM_TO_GS_PIXEL(src, sx, sy) * IM_TO_GS_PIXEL(src, sx, sy);
+            sum_data[y][x] = (s + sum_data[y-1][x]);
+        }
+    }
+}
+
+void imlib_integral_mw_ss(image_t *src, mw_image_t *sum, mw_image_t *ssq, rectangle_t *roi)
+{
+    // Image data pointers
+    typeof(*sum->data) *sum_data = sum->data;
+    typeof(*sum->data) *ssq_data = ssq->data;
+
+    // Compute the first row to avoid branching
+    for (int sx, s=0, sq=0, x=0; x<sum->w; x++) {
+        // X offset
+        sx = roi->x+((x*sum->x_ratio)>>16);
+
+        // Accumulate row data
+        s  += IM_TO_GS_PIXEL(src, sx, roi->y);
+        sq += IM_TO_GS_PIXEL(src, sx, roi->y) * IM_TO_GS_PIXEL(src, sx, roi->y);
+
+        sum_data[0][x] = s;
+        ssq_data[0][x] = sq;
+    }
+
+    // Compute the last n lines
+    for (int sy, y=1; y<sum->h; y++) {
+        // Y offset
+        sy = roi->y+((y*sum->y_ratio)>>16);
+
+        // Sum the current row
+        for (int sx, s=0, sq=0, x=0; x<sum->w; x++) {
+            // X offset
+            sx = roi->x+((x*sum->x_ratio)>>16);
+
+            // Accumulate row data
+            s  += IM_TO_GS_PIXEL(src, sx, sy);
+            sq += IM_TO_GS_PIXEL(src, sx, sy) * IM_TO_GS_PIXEL(src, sx, sy);
+
+            sum_data[y][x] = s + sum_data[y-1][x];
+            ssq_data[y][x] = sq + ssq_data[y-1][x];
+        }
+    }
+
+    sum->y_offs = sum->h;
+    ssq->y_offs = sum->h;
+}
+
+void imlib_integral_mw_shift_ss(image_t *src, mw_image_t *sum, mw_image_t *ssq, rectangle_t *roi, int n)
+{
+    // Shift integral image rows by n lines
+    for (int y=0; y<sum->h; y++) {
+        sum->swap[y] = sum->data[(y+n) % sum->h];
+        ssq->swap[y] = ssq->data[(y+n) % ssq->h];
+    }
+
+    // Swap the data and swap pointers
+    SWAP_PTRS(sum->data, sum->swap);
+    SWAP_PTRS(ssq->data, ssq->swap);
+
+    // Pointer to the current sum and ssq data
+    typeof(*sum->data) *sum_data = sum->data;
+    typeof(*ssq->data) *ssq_data = ssq->data;
+
+    // Compute the last n lines
+    for (int sy, y=(sum->h - n); y<sum->h; y++, sum->y_offs++, ssq->y_offs++) {
+        // The y offset is set to the last line + 1
+        sy = roi->y+((sum->y_offs*sum->y_ratio)>>16);
+
+        // Sum of the current row
+        for (int sx, s=0, sq=0, x=0; x<sum->w; x++) {
+            // X offset
+            sx = roi->x+((x*sum->x_ratio)>>16);
+
+            // Accumulate row data
+            s  += IM_TO_GS_PIXEL(src, sx, sy);
+            sq += IM_TO_GS_PIXEL(src, sx, sy) * IM_TO_GS_PIXEL(src, sx, sy);
+
+            sum_data[y][x] = s  + sum_data[y-1][x];
+            ssq_data[y][x] = sq + ssq_data[y-1][x];
+        }
+    }
+}
+
+long imlib_integral_mw_lookup(mw_image_t *sum, int x, int y, int w, int h)
+{
+#define PIXEL_AT(x,y)\
+    (sum->data[(y)][x])
+    return PIXEL_AT(w+x, h+y) + PIXEL_AT(x, y) - PIXEL_AT(w+x, y) - PIXEL_AT(x, h+y);
+#undef  PIXEL_AT
+}
diff --git a/github_source/minicv2/src/isp.c b/github_source/minicv2/src/isp.c
new file mode 100644
index 0000000..deb032b
--- /dev/null
+++ b/github_source/minicv2/src/isp.c
@@ -0,0 +1,1152 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2023 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2023 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * AWB Functions
+ */
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_ISP_OPS
+
+static void imlib_rgb_avg(image_t *img, uint32_t *r_out, uint32_t *g_out, uint32_t *b_out) {
+    uint32_t area = img->w * img->h;
+    uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_RGB565: {
+            uint16_t *ptr = (uint16_t *) img->data;
+            long n = area; // must be signed for count down loop
+
+            #if defined(ARM_MATH_DSP)
+            uint32_t *ptr32 = (uint32_t *) ptr;
+
+            for (; n > 1; n -= 2) {
+                uint32_t pixels = *ptr32++;
+
+                long r = (pixels >> 11) & 0x1F001F;
+                r_acc = __USADA8(r, 0, r_acc);
+
+                long g = (pixels >> 5) & 0x3F003F;
+                g_acc = __USADA8(g, 0, g_acc);
+
+                long b = pixels & 0x1F001F;
+                b_acc = __USADA8(b, 0, b_acc);
+            }
+
+            ptr = (uint16_t *) ptr32;
+            #endif
+
+            for (; n > 0; n -= 1) {
+                int pixel = *ptr++;
+                r_acc += COLOR_RGB565_TO_R5(pixel);
+                g_acc += COLOR_RGB565_TO_G6(pixel);
+                b_acc += COLOR_RGB565_TO_B5(pixel);
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_BGGR: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        g_acc = __USADA8(g, 0, g_acc);
+
+                        long b = __UXTB16_RORn(pixels, 8);
+                        b_acc = __USADA8(b, 0, b_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            b_acc += *ptr++;
+                        } else {
+                            g_acc += *ptr++;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long r = __UXTB16_RORn(pixels, 0);
+                        r_acc = __USADA8(r, 0, r_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        g_acc = __USADA8(g, 0, g_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            g_acc += *ptr++;
+                        } else {
+                            r_acc += *ptr++;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_GBRG: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long b = __UXTB16_RORn(pixels, 0);
+                        b_acc = __USADA8(b, 0, b_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        g_acc = __USADA8(g, 0, g_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            g_acc += *ptr++;
+                        } else {
+                            b_acc += *ptr++;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        g_acc = __USADA8(g, 0, g_acc);
+
+                        long r = __UXTB16_RORn(pixels, 8);
+                        r_acc = __USADA8(r, 0, r_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            r_acc += *ptr++;
+                        } else {
+                            g_acc += *ptr++;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_GRBG: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long r = __UXTB16_RORn(pixels, 0);
+                        r_acc = __USADA8(r, 0, r_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        g_acc = __USADA8(g, 0, g_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            g_acc += *ptr++;
+                        } else {
+                            r_acc += *ptr++;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        g_acc = __USADA8(g, 0, g_acc);
+
+                        long b = __UXTB16_RORn(pixels, 8);
+                        b_acc = __USADA8(b, 0, b_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            b_acc += *ptr++;
+                        } else {
+                            g_acc += *ptr++;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_RGGB: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        g_acc = __USADA8(g, 0, g_acc);
+
+                        long r = __UXTB16_RORn(pixels, 8);
+                        r_acc = __USADA8(r, 0, r_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            r_acc += *ptr++;
+                        } else {
+                            g_acc += *ptr++;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long b = __UXTB16_RORn(pixels, 0);
+                        b_acc = __USADA8(b, 0, b_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        g_acc = __USADA8(g, 0, g_acc);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            g_acc += *ptr++;
+                        } else {
+                            b_acc += *ptr++;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    if (img->is_bayer) {
+        *r_out = ((r_acc * 4) + (area >> 1)) / area;
+        *g_out = ((g_acc * 2) + (area >> 1)) / area;
+        *b_out = ((b_acc * 4) + (area >> 1)) / area;
+    } else {
+        *r_out = ((r_acc * 2) + (area >> 1)) / area;
+        *g_out = (g_acc + (area >> 1)) / area;
+        *b_out = ((b_acc * 2) + (area >> 1)) / area;
+    }
+}
+
+static void imlib_rgb_max(image_t *img, uint32_t *r_out, uint32_t *g_out, uint32_t *b_out) {
+    uint32_t area = img->w * img->h;
+    uint32_t r_acc = 0, g_acc = 0, b_acc = 0;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_RGB565: {
+            uint16_t *ptr = (uint16_t *) img->data;
+            long n = area; // must be signed for count down loop
+
+            #if defined(ARM_MATH_DSP)
+            uint32_t *ptr32 = (uint32_t *) ptr;
+
+            for (; n > 1; n -= 2) {
+                uint32_t pixels = *ptr32++;
+
+                long r = (pixels >> 11) & 0x1F001F;
+                long r_tmp = __USUB8(r, r_acc); (void) r_tmp;
+                r_acc = __SEL(r, r_acc);
+
+                long g = (pixels >> 5) & 0x3F003F;
+                long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                g_acc = __SEL(g, g_acc);
+
+                long b = pixels & 0x1F001F;
+                long b_tmp = __USUB8(b, b_acc); (void) b_tmp;
+                b_acc = __SEL(b, b_acc);
+            }
+
+            long r_tmp = r_acc >> 16;
+            long r_tmp2 = __USUB8(r_tmp, r_acc); (void) r_tmp2;
+            r_acc = __SEL(r_tmp, r_acc) & 0xff;
+
+            long g_tmp = g_acc >> 16;
+            long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+            g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+            long b_tmp = b_acc >> 16;
+            long b_tmp2 = __USUB8(b_tmp, b_acc); (void) b_tmp2;
+            b_acc = __SEL(b_tmp, b_acc) & 0xff;
+
+            ptr = (uint16_t *) ptr32;
+            #endif
+
+            for (; n > 0; n -= 1) {
+                int pixel = *ptr++;
+                int r = COLOR_RGB565_TO_R5(pixel);
+                r_acc = (r > r_acc) ? r : r_acc;
+                int g = COLOR_RGB565_TO_G6(pixel);
+                g_acc = (g > g_acc) ? g : g_acc;
+                int b = COLOR_RGB565_TO_B5(pixel);
+                b_acc = (b > b_acc) ? b : b_acc;
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_BGGR: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+
+                        long b = __UXTB16_RORn(pixels, 8);
+                        long b_tmp = __USUB8(b, b_acc); (void) b_tmp;
+                        b_acc = __SEL(b, b_acc);
+                    }
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    long b_tmp = b_acc >> 16;
+                    long b_tmp2 = __USUB8(b_tmp, b_acc); (void) b_tmp2;
+                    b_acc = __SEL(b_tmp, b_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int b = *ptr++;
+                            b_acc = (b > b_acc) ? b : b_acc;
+                        } else {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long r = __UXTB16_RORn(pixels, 0);
+                        long r_tmp = __USUB8(r, r_acc); (void) r_tmp;
+                        r_acc = __SEL(r, r_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+                    }
+
+                    long r_tmp = r_acc >> 16;
+                    long r_tmp2 = __USUB8(r_tmp, r_acc); (void) r_tmp2;
+                    r_acc = __SEL(r_tmp, r_acc) & 0xff;
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        } else {
+                            int r = *ptr++;
+                            r_acc = (r > r_acc) ? r : r_acc;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_GBRG: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long b = __UXTB16_RORn(pixels, 0);
+                        long b_tmp = __USUB8(b, b_acc); (void) b_tmp;
+                        b_acc = __SEL(b, b_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+                    }
+
+                    long b_tmp = b_acc >> 16;
+                    long b_tmp2 = __USUB8(b_tmp, b_acc); (void) b_tmp2;
+                    b_acc = __SEL(b_tmp, b_acc) & 0xff;
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        } else {
+                            int b = *ptr++;
+                            b_acc = (b > b_acc) ? b : b_acc;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+
+                        long r = __UXTB16_RORn(pixels, 8);
+                        long r_tmp = __USUB8(r, r_acc); (void) r_tmp;
+                        r_acc = __SEL(r, r_acc);
+                    }
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    long r_tmp = r_acc >> 16;
+                    long r_tmp2 = __USUB8(r_tmp, r_acc); (void) r_tmp2;
+                    r_acc = __SEL(r_tmp, r_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int r = *ptr++;
+                            r_acc = (r > r_acc) ? r : r_acc;
+                        } else {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_GRBG: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long r = __UXTB16_RORn(pixels, 0);
+                        long r_tmp = __USUB8(r, r_acc); (void) r_tmp;
+                        r_acc = __SEL(r, r_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+                    }
+
+                    long r_tmp = r_acc >> 16;
+                    long r_tmp2 = __USUB8(r_tmp, r_acc); (void) r_tmp2;
+                    r_acc = __SEL(r_tmp, r_acc) & 0xff;
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        } else {
+                            int r = *ptr++;
+                            r_acc = (r > r_acc) ? r : r_acc;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+
+                        long b = __UXTB16_RORn(pixels, 8);
+                        long b_tmp = __USUB8(b, b_acc); (void) b_tmp;
+                        b_acc = __SEL(b, b_acc);
+                    }
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    long b_tmp = b_acc >> 16;
+                    long b_tmp2 = __USUB8(b_tmp, b_acc); (void) b_tmp2;
+                    b_acc = __SEL(b_tmp, b_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int b = *ptr++;
+                            b_acc = (b > b_acc) ? b : b_acc;
+                        } else {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_RGGB: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long g = __UXTB16_RORn(pixels, 0);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+
+                        long r = __UXTB16_RORn(pixels, 8);
+                        long r_tmp = __USUB8(r, r_acc); (void) r_tmp;
+                        r_acc = __SEL(r, r_acc);
+                    }
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    long r_tmp = r_acc >> 16;
+                    long r_tmp2 = __USUB8(r_tmp, r_acc); (void) r_tmp2;
+                    r_acc = __SEL(r_tmp, r_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int r = *ptr++;
+                            r_acc = (r > r_acc) ? r : r_acc;
+                        } else {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        }
+                    }
+                } else {
+                    int n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32++;
+
+                        long b = __UXTB16_RORn(pixels, 0);
+                        long b_tmp = __USUB8(b, b_acc); (void) b_tmp;
+                        b_acc = __SEL(b, b_acc);
+
+                        long g = __UXTB16_RORn(pixels, 8);
+                        long g_tmp = __USUB8(g, g_acc); (void) g_tmp;
+                        g_acc = __SEL(g, g_acc);
+                    }
+
+                    long b_tmp = b_acc >> 16;
+                    long b_tmp2 = __USUB8(b_tmp, b_acc); (void) b_tmp2;
+                    b_acc = __SEL(b_tmp, b_acc) & 0xff;
+
+                    long g_tmp = g_acc >> 16;
+                    long g_tmp2 = __USUB8(g_tmp, g_acc); (void) g_tmp2;
+                    g_acc = __SEL(g_tmp, g_acc) & 0xff;
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1) {
+                        if (n % 2) {
+                            int g = *ptr++;
+                            g_acc = (g > g_acc) ? g : g_acc;
+                        } else {
+                            int b = *ptr++;
+                            b_acc = (b > b_acc) ? b : b_acc;
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    if (img->is_bayer) {
+        *r_out = r_acc;
+        *g_out = g_acc;
+        *b_out = b_acc;
+    } else {
+        *r_out = r_acc * 2;
+        *g_out = g_acc;
+        *b_out = b_acc * 2;
+    }
+}
+
+void imlib_awb(image_t *img, bool max) {
+    uint32_t area = img->w * img->h;
+    uint32_t r_out, g_out, b_out;
+
+    if (max) {
+        imlib_rgb_max(img, &r_out, &g_out, &b_out); // white patch algorithm
+    } else {
+        imlib_rgb_avg(img, &r_out, &g_out, &b_out); // gray world algorithm
+    }
+
+    int red_gain = IM_DIV(g_out * 32, r_out);
+    red_gain = IM_MIN(red_gain, 128);
+    int blue_gain = IM_DIV(g_out * 32, b_out);
+    blue_gain = IM_MIN(blue_gain, 128);
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_RGB565: {
+            uint16_t *ptr = (uint16_t *) img->data;
+            long n = area; // must be signed for count down loop
+
+            #if defined(ARM_MATH_DSP)
+            uint32_t *ptr32 = (uint32_t *) ptr;
+
+            for (; n > 1; n -= 2) {
+                long pixels = *ptr32;
+                long r_pixels = (__USAT16(((pixels >> 11) & 0x1F001F) * red_gain, 10) << 6) & 0xF800F800;
+                long g_pixels = pixels & 0x7E007E0;
+                long b_pixels = (__USAT16((pixels & 0x1F001F) * blue_gain, 10) >> 5) & 0x1F001F;
+                *ptr32++ = r_pixels | g_pixels | b_pixels;
+            }
+
+            ptr = (uint16_t *) ptr32;
+            #endif
+
+            for (; n > 0; n -= 1) {
+                int pixel = *ptr;
+                int r = __USAT_ASR(COLOR_RGB565_TO_R5(pixel) * red_gain, 5, 5);
+                int g = COLOR_RGB565_TO_G6(pixel);
+                int b = __USAT_ASR(COLOR_RGB565_TO_B5(pixel) * blue_gain, 5, 5);
+                *ptr++ = COLOR_R5_G6_B5_TO_RGB565(r, g, b);
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_BGGR: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long b = __USAT16(__UXTB16_RORn(pixels, 8) * blue_gain, 13) << 3;
+                        long tmp = __USUB8(0xFF00FF, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, b);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (n % 2) {
+                            *ptr = __USAT_ASR(*ptr * blue_gain, 8, 5);
+                        }
+                    }
+                } else {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long r = __USAT16(__UXTB16_RORn(pixels, 0) * red_gain, 13) >> 5;
+                        long tmp = __USUB8(0xFF00FF00, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, r);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (!(n % 2)) {
+                            *ptr = __USAT_ASR(*ptr * red_gain, 8, 5);
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_GBRG: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long b = __USAT16(__UXTB16_RORn(pixels, 0) * blue_gain, 13) >> 5;
+                        long tmp = __USUB8(0xFF00FF00, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, b);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (!(n % 2)) {
+                            *ptr = __USAT_ASR(*ptr * blue_gain, 8, 5);
+                        }
+                    }
+                } else {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long r = __USAT16(__UXTB16_RORn(pixels, 8) * red_gain, 13) << 3;
+                        long tmp = __USUB8(0xFF00FF, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, r);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (n % 2) {
+                            *ptr = __USAT_ASR(*ptr * red_gain, 8, 5);
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_GRBG: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long r = __USAT16(__UXTB16_RORn(pixels, 0) * red_gain, 13) >> 5;
+                        long tmp = __USUB8(0xFF00FF00, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, r);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (!(n % 2)) {
+                            *ptr = __USAT_ASR(*ptr * red_gain, 8, 5);
+                        }
+                    }
+                } else {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long b = __USAT16(__UXTB16_RORn(pixels, 8) * blue_gain, 13) << 3;
+                        long tmp = __USUB8(0xFF00FF, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, b);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (n % 2) {
+                            *ptr = __USAT_ASR(*ptr * blue_gain, 8, 5);
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        case PIXFORMAT_BAYER_RGGB: {
+            uint8_t *ptr = (uint8_t *) img->data;
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                if (y % 2) {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long r = __USAT16(__UXTB16_RORn(pixels, 8) * red_gain, 13) << 3;
+                        long tmp = __USUB8(0xFF00FF, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, r);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (!(n % 2)) {
+                            *ptr = __USAT_ASR(*ptr * red_gain, 8, 5);
+                        }
+                    }
+                } else {
+                    long n = img->w;
+
+                    #if defined(ARM_MATH_DSP)
+                    uint32_t *ptr32 = (uint32_t *) ptr;
+
+                    for (; n > 3; n -= 4) {
+                        uint32_t pixels = *ptr32;
+                        long b = __USAT16(__UXTB16_RORn(pixels, 0) * blue_gain, 13) >> 5;
+                        long tmp = __USUB8(0xFF00FF00, pixels); (void) tmp;
+                        *ptr32++ = __SEL(pixels, b);
+                    }
+
+                    ptr = (uint8_t *) ptr32;
+                    #endif
+
+                    for (; n > 0; n -= 1, ptr++) {
+                        if (!(n % 2)) {
+                            *ptr = __USAT_ASR(*ptr * blue_gain, 8, 5);
+                        }
+                    }
+                }
+            }
+
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_ccm(image_t *img, float *ccm, bool offset) {
+    float rr = ccm[0], rg = ccm[3], rb = ccm[6], ro = 0.f;
+    float gr = ccm[1], gg = ccm[4], gb = ccm[7], go = 0.f;
+    float br = ccm[2], bg = ccm[5], bb = ccm[8], bo = 0.f;
+
+    if (offset) {
+        ro = ccm[9];
+        go = ccm[10];
+        bo = ccm[11];
+    }
+
+    int i_rr = IM_MIN(fast_roundf(rr * 64), 1024);
+    int i_rg = IM_MIN(fast_roundf(rg * 32), 512);
+    int i_rb = IM_MIN(fast_roundf(rb * 64), 1024);
+
+    int i_gr = IM_MIN(fast_roundf(gr * 64), 1024);
+    int i_gg = IM_MIN(fast_roundf(gg * 32), 512);
+    int i_gb = IM_MIN(fast_roundf(gb * 64), 1024);
+
+    int i_br = IM_MIN(fast_roundf(br * 64), 1024);
+    int i_bg = IM_MIN(fast_roundf(bg * 32), 512);
+    int i_bb = IM_MIN(fast_roundf(bb * 64), 1024);
+
+    int i_ro = IM_MIN(fast_roundf(ro * 64), 1024);
+    int i_go = IM_MIN(fast_roundf(go * 32), 512);
+    int i_bo = IM_MIN(fast_roundf(bo * 64), 1024);
+
+    #if defined(ARM_MATH_DSP)
+    long smuad_rr_rb = __PKHBT(i_rb, i_rr, 16);
+    long smuad_gr_gb = __PKHBT(i_gb, i_gr, 16);
+    long smuad_br_bb = __PKHBT(i_bb, i_br, 16);
+    #endif
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_RGB565: {
+            uint16_t *ptr = (uint16_t *) img->data;
+            long n = img->w * img->h; // must be signed for count down loop
+
+            if (offset) {
+                for (; n > 0; n -= 1) {
+                    int pixel = *ptr;
+                    int g = COLOR_RGB565_TO_G6(pixel);
+                    #if defined(ARM_MATH_DSP)
+                    // This code is only slightly faster than the non-DSP version...
+                    int r_b = __PKHBT(pixel & 0x1F, pixel, 5);
+                    int new_r = __USAT_ASR(__SMLAD(r_b, smuad_rr_rb, (i_rg * g) + i_ro), 5, 6);
+                    int new_g = __USAT_ASR(__SMLAD(r_b, smuad_gr_gb, (i_gg * g) + i_go), 6, 5);
+                    int new_b = __USAT_ASR(__SMLAD(r_b, smuad_br_bb, (i_bg * g) + i_bo), 5, 6);
+                    #else
+                    int r = COLOR_RGB565_TO_R5(pixel);
+                    int b = COLOR_RGB565_TO_B5(pixel);
+                    int new_r = __USAT_ASR((i_rr * r) + (i_rg * g) + (i_rb * b) + i_ro, 5, 6);
+                    int new_g = __USAT_ASR((i_gr * r) + (i_gg * g) + (i_gb * b) + i_go, 6, 5);
+                    int new_b = __USAT_ASR((i_br * r) + (i_bg * g) + (i_bb * b) + i_bo, 5, 6);
+                    #endif
+                    *ptr++ = COLOR_R5_G6_B5_TO_RGB565(new_r, new_g, new_b);
+                }
+            } else {
+                for (; n > 0; n -= 1) {
+                    int pixel = *ptr;
+                    int g = COLOR_RGB565_TO_G6(pixel);
+                    #if defined(ARM_MATH_DSP)
+                    // This code is only slightly faster than the non-DSP version...
+                    int r_b = __PKHBT(pixel & 0x1F, pixel, 5);
+                    int new_r = __USAT_ASR(__SMLAD(r_b, smuad_rr_rb, i_rg * g), 5, 6);
+                    int new_g = __USAT_ASR(__SMLAD(r_b, smuad_gr_gb, i_gg * g), 6, 5);
+                    int new_b = __USAT_ASR(__SMLAD(r_b, smuad_br_bb, i_bg * g), 5, 6);
+                    #else
+                    int r = COLOR_RGB565_TO_R5(pixel);
+                    int b = COLOR_RGB565_TO_B5(pixel);
+                    int new_r = __USAT_ASR((i_rr * r) + (i_rg * g) + (i_rb * b), 5, 6);
+                    int new_g = __USAT_ASR((i_gr * r) + (i_gg * g) + (i_gb * b), 6, 5);
+                    int new_b = __USAT_ASR((i_br * r) + (i_bg * g) + (i_bb * b), 5, 6);
+                    #endif
+                    *ptr++ = COLOR_R5_G6_B5_TO_RGB565(new_r, new_g, new_b);
+                }
+            }
+
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_gamma(image_t *img, float gamma, float contrast, float brightness) {
+    gamma = IM_DIV(1.0, gamma);
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            float pScale = COLOR_BINARY_MAX - COLOR_BINARY_MIN;
+            float pDiv = 1 / pScale;
+            int *p_lut = fb_alloc((COLOR_BINARY_MAX - COLOR_BINARY_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_BINARY_MIN; i <= COLOR_BINARY_MAX; i++) {
+                int p = ((fast_powf(i * pDiv, gamma) * contrast) + brightness) * pScale;
+                p_lut[i] = IM_MIN(IM_MAX(p, COLOR_BINARY_MIN), COLOR_BINARY_MAX);
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, x);
+                    int p = p_lut[dataPixel];
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, x, p);
+                }
+            }
+
+            fb_free();
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE:
+        case PIXFORMAT_BAYER_ANY:
+        case PIXFORMAT_YUV_ANY: {
+            float pScale = COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN;
+            float pDiv = 1 / pScale;
+            int *p_lut = fb_alloc((COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_GRAYSCALE_MIN; i <= COLOR_GRAYSCALE_MAX; i++) {
+                int p = ((fast_powf(i * pDiv, gamma) * contrast) + brightness) * pScale;
+                p_lut[i] = IM_MIN(IM_MAX(p, COLOR_GRAYSCALE_MIN), COLOR_GRAYSCALE_MAX);
+            }
+
+            uint8_t *ptr = (uint8_t *) img->data;
+            int n = img->w * img->h;
+
+            if (img->bpp == 2) {
+                for (; n > 0; n--, ptr += 2) {
+                    *ptr = p_lut[*ptr];
+                }
+            } else {
+                for (; n > 0; n--, ptr += 1) {
+                    *ptr = p_lut[*ptr];
+                }
+            }
+
+            fb_free();
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            float rScale = COLOR_R5_MAX - COLOR_R5_MIN;
+            float gScale = COLOR_G6_MAX - COLOR_G6_MIN;
+            float bScale = COLOR_B5_MAX - COLOR_B5_MIN;
+            float rDiv = 1 / rScale;
+            float gDiv = 1 / gScale;
+            float bDiv = 1 / bScale;
+            int *r_lut = fb_alloc((COLOR_R5_MAX - COLOR_R5_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+            int *g_lut = fb_alloc((COLOR_G6_MAX - COLOR_G6_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+            int *b_lut = fb_alloc((COLOR_B5_MAX - COLOR_B5_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_R5_MIN; i <= COLOR_R5_MAX; i++) {
+                int r = ((fast_powf(i * rDiv, gamma) * contrast) + brightness) * rScale;
+                r_lut[i] = IM_MIN(IM_MAX(r, COLOR_R5_MIN), COLOR_R5_MAX);
+            }
+
+            for (int i = COLOR_G6_MIN; i <= COLOR_G6_MAX; i++) {
+                int g = ((fast_powf(i * gDiv, gamma) * contrast) + brightness) * gScale;
+                g_lut[i] = IM_MIN(IM_MAX(g, COLOR_G6_MIN), COLOR_G6_MAX);
+            }
+
+            for (int i = COLOR_B5_MIN; i <= COLOR_B5_MAX; i++) {
+                int b = ((fast_powf(i * bDiv, gamma) * contrast) + brightness) * bScale;
+                b_lut[i] = IM_MIN(IM_MAX(b, COLOR_B5_MIN), COLOR_B5_MAX);
+            }
+
+            uint16_t *ptr = (uint16_t *) img->data;
+            int n = img->w * img->h;
+
+            for (; n > 0; n--) {
+                int dataPixel = *ptr;
+                int r = r_lut[COLOR_RGB565_TO_R5(dataPixel)];
+                int g = g_lut[COLOR_RGB565_TO_G6(dataPixel)];
+                int b = b_lut[COLOR_RGB565_TO_B5(dataPixel)];
+                *ptr++ = COLOR_R5_G6_B5_TO_RGB565(r, g, b);
+            }
+
+            fb_free();
+            fb_free();
+            fb_free();
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+#endif // IMLIB_ENABLE_ISP_OPS
\ No newline at end of file
diff --git a/github_source/minicv2/src/jpeg.c b/github_source/minicv2/src/jpeg.c
new file mode 100644
index 0000000..ae22abd
--- /dev/null
+++ b/github_source/minicv2/src/jpeg.c
@@ -0,0 +1,1948 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Minimalistic JPEG baseline encoder.
+ * Ported from public domain JPEG writer by Jon Olick - http://jonolick.com
+ * DCT implementation is based on Arai, Agui, and Nakajima's algorithm for scaled DCT.
+ */
+#include <stdio.h>
+
+#include "ff_wrapper.h"
+#include "imlib.h"
+#include "omv_boardconfig.h"
+#include "arm_compat.h"
+
+#define TIME_JPEG   (0)
+#if (TIME_JPEG == 1)
+// #include "py/mphal.h"
+#endif
+
+#define MCU_W                       (8)
+#define MCU_H                       (8)
+#define JPEG_444_GS_MCU_SIZE        ((MCU_W) * (MCU_H))
+#define JPEG_444_YCBCR_MCU_SIZE     ((JPEG_444_GS_MCU_SIZE) * 3)
+
+// Expand 4 bits to 32 for binary to grayscale - process 4 pixels at a time
+#if (OMV_HARDWARE_JPEG == 1)
+#define JPEG_BINARY_0 0x00
+#define JPEG_BINARY_1 0xFF
+static const uint32_t jpeg_expand[16] = {0x0, 0xff, 0xff00, 0xffff, 0xff0000,
+    0xff00ff, 0xffff00, 0xffffff, 0xff000000, 0xff0000ff, 0xff00ff00,
+    0xff00ffff, 0xffff0000, 0xffff00ff, 0xffffff00, 0xffffffff};
+#else
+#define JPEG_BINARY_0 0x80
+#define JPEG_BINARY_1 0x7F
+static const uint32_t jpeg_expand[16] = {0x80808080, 0x8080807f, 0x80807f80, 0x80807f7f, 0x807f8080,
+    0x807f807f, 0x807f7f80, 0x807f7f7f, 0x7f808080, 0x7f80807f, 0x7f807f80,
+    0x7f807f7f, 0x7f7f8080, 0x7f7f807f, 0x7f7f7f80, 0x7f7f7f7f};
+#endif
+
+static void jpeg_get_mcu(image_t *src, int x_offset, int y_offset, int dx, int dy, int8_t *Y0, int8_t *CB, int8_t *CR)
+{
+    switch (src->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            if ((dx != MCU_W) || (dy != MCU_H)) { // partial MCU, fill with 0's to start
+                memset(Y0, 0, JPEG_444_GS_MCU_SIZE);
+            }
+
+            for (int y = y_offset, yy = y + dy; y < yy; y++) {
+                uint32_t *rp = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, y);
+                uint8_t pixels = rp[x_offset >> UINT32_T_SHIFT] >> (x_offset & UINT32_T_MASK);
+
+                if (dx == MCU_W) {
+                    *((uint32_t *) Y0) = jpeg_expand[pixels & 0xf];
+                    *(((uint32_t *) Y0) + 1) = jpeg_expand[pixels >> 4];
+                } else if (dx >= 4) {
+                    *((uint32_t *) Y0) = jpeg_expand[pixels & 0xf];
+
+                    if (dx >= 6) {
+                        *(((uint16_t *) Y0) + 2) = jpeg_expand[pixels >> 4];
+
+                        if (dx & 1) {
+                            Y0[6] = (pixels & 0x40) ? JPEG_BINARY_1 : JPEG_BINARY_0;
+                        }
+                    } else if (dx & 1) {
+                        Y0[4] = (pixels & 0x10) ? JPEG_BINARY_1 : JPEG_BINARY_0;
+                    }
+                } else if (dx >= 2) {
+                    *((uint16_t *) Y0) = jpeg_expand[pixels & 0x3];
+
+                    if (dx & 1) {
+                        Y0[2] = (pixels & 0x4) ? JPEG_BINARY_1 : JPEG_BINARY_0;
+                    }
+                } else {
+                    *Y0 = (pixels & 0x1) ? JPEG_BINARY_1 : JPEG_BINARY_0;
+                }
+
+                Y0 += MCU_W;
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            if ((dx != MCU_W) || (dy != MCU_H)) { // partial MCU, fill with 0's to start
+                memset(Y0, 0, JPEG_444_GS_MCU_SIZE);
+            }
+
+            for (int y = y_offset, yy = y + dy; y < yy; y++) {
+                uint8_t *rp = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, y) + x_offset;
+
+                #if (OMV_HARDWARE_JPEG == 0)
+                    if (dx == MCU_W) {
+                        *((uint32_t *) Y0) = *((uint32_t *) rp) ^ 0x80808080;
+                        *(((uint32_t *) Y0) + 1) = *(((uint32_t *) rp) + 1) ^ 0x80808080;
+                    } else if (dx >= 4) {
+                        *((uint32_t *) Y0) = *((uint32_t *) rp) ^ 0x80808080;
+
+                        if (dx >= 6) {
+                            *(((uint16_t *) Y0) + 2) = *(((uint16_t *) rp) + 2) ^ 0x8080;
+
+                            if (dx & 1) {
+                                Y0[6] = rp[6] ^ 0x80;
+                            }
+                        } else if (dx & 1) {
+                            Y0[4] = rp[4] ^ 0x80;
+                        }
+                    } else if (dx >= 2) {
+                        *((uint16_t *) Y0) = *((uint16_t *) rp) ^ 0x8080;
+
+                        if (dx & 1) {
+                            Y0[2] = rp[2] ^ 0x80;
+                        }
+                    } else {
+                        *Y0 = *rp ^ 0x80;
+                    }
+                #else
+                    if (dx == MCU_W) {
+                        *((uint32_t *) Y0) = *((uint32_t *) rp);
+                        *(((uint32_t *) Y0) + 1) = *(((uint32_t *) rp) + 1);
+                    } else if (dx >= 4) {
+                        *((uint32_t *) Y0) = *((uint32_t *) rp);
+
+                        if (dx >= 6) {
+                            *(((uint16_t *) Y0) + 2) = *(((uint16_t *) rp) + 2);
+
+                            if (dx & 1) {
+                                Y0[6] = rp[6];
+                            }
+                        } else if (dx & 1) {
+                            Y0[4] = rp[4];
+                        }
+                    } else if (dx >= 2) {
+                        *((uint16_t *) Y0) = *((uint16_t *) rp);
+
+                        if (dx & 1) {
+                            Y0[2] = rp[2];
+                        }
+                    } else {
+                        *Y0 = *rp;
+                    }
+                #endif
+
+                Y0 += MCU_W;
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {//printf("input rgb565\n");
+            if ((dx != MCU_W) || (dy != MCU_H)) { // partial MCU, fill with 0's to start
+                memset(Y0, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CB, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CR, 0, JPEG_444_GS_MCU_SIZE);
+            }
+
+            for (int y = y_offset, yy = y + dy, index = 0; y < yy; y++) {
+                uint32_t *rp = (uint32_t *) (IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, y) + x_offset);
+                for (int x = 0, xx = dx - 1; x < xx; x += 2, index += 2) {
+                    int pixels = *rp++;
+                    // if(pixels!=0xffffffff)
+                    int r_pixels = ((pixels >> 8) & 0xf800f8) | ((pixels >> 13) & 0x70007);
+                    int g_pixels = ((pixels >> 3) & 0xfc00fc) | ((pixels >> 9) & 0x30003);
+                    int b_pixels = ((pixels << 3) & 0xf800f8) | ((pixels >> 2) & 0x70007);
+
+                    int y = ((r_pixels * 38) + (g_pixels * 75) + (b_pixels * 15)) >> 7;
+
+                    #if (OMV_HARDWARE_JPEG == 0)
+                    y ^= 0x800080;
+                    #endif
+
+                    Y0[index] = y, Y0[index + 1] = y >> 16;
+
+                    int u = __SSUB16(b_pixels * 64, (r_pixels * 21) + (g_pixels * 43)) >> 7;
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    u ^= 0x800080;
+                    #endif
+
+                    CB[index] = u, CB[index + 1] = u >> 16;
+
+                    int v = __SSUB16(r_pixels * 64, (g_pixels * 54) + (b_pixels * 10)) >> 7;
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    v ^= 0x800080;
+                    #endif
+
+                    CR[index] = v, CR[index + 1] = v >> 16;
+                }
+
+                if (dx & 1) {
+                    int pixel = *((uint16_t *) rp);
+                    int r = COLOR_RGB565_TO_R8(pixel);
+                    int g = COLOR_RGB565_TO_G8(pixel);
+                    int b = COLOR_RGB565_TO_B8(pixel);
+
+                    int y0 = COLOR_RGB888_TO_Y_(r, g, b);
+
+                    #if (OMV_HARDWARE_JPEG == 0)
+                    y0 ^= 0x80;
+                    #endif
+
+                    Y0[index] = y0;
+
+                    int cb = COLOR_RGB888_TO_U_(r, g, b);
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    cb ^= 0x80;
+                    #endif
+
+                    CB[index] = cb;
+
+                    int cr = COLOR_RGB888_TO_V_(r, g, b);
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    cr ^= 0x80;
+                    #endif
+
+                    CR[index++] = cr;
+                }
+
+                index += MCU_W - dx;
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {//printf("input rgb888\n");
+            if ((dx != MCU_W) || (dy != MCU_H)) { // partial MCU, fill with 0's to start
+                memset(Y0, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CB, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CR, 0, JPEG_444_GS_MCU_SIZE);
+            }
+
+            for (int y = y_offset, yy = y + dy, index = 0; y < yy; y++) {
+                pixel24_t *rp = (pixel24_t *) (IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, y) + x_offset);
+                for (int x = 0, xx = dx - 1; x < xx; x += 2, index += 2) {
+                    uint16_t rgb565_1 = COLOR_R8_G8_B8_TO_RGB565((rp)->red, (rp)->green, (rp)->blue);
+                    rp++;
+                    uint16_t rgb565_2 = COLOR_R8_G8_B8_TO_RGB565((rp)->red, (rp)->green, (rp)->blue);
+                    rp++;
+                    int pixels = rgb565_2 << 16 | rgb565_1;
+                    int r_pixels = ((pixels >> 8) & 0xf800f8) | ((pixels >> 13) & 0x70007);
+                    int g_pixels = ((pixels >> 3) & 0xfc00fc) | ((pixels >> 9) & 0x30003);
+                    int b_pixels = ((pixels << 3) & 0xf800f8) | ((pixels >> 2) & 0x70007);
+                    int y = ((r_pixels * 38) + (g_pixels * 75) + (b_pixels * 15)) >> 7;
+                    #if (OMV_HARDWARE_JPEG == 0)
+                    y ^= 0x800080;
+                    #endif
+
+                    Y0[index] = y, Y0[index + 1] = y >> 16;
+
+                    int u = __SSUB16(b_pixels * 64, (r_pixels * 21) + (g_pixels * 43)) >> 7;
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    u ^= 0x800080;
+                    #endif
+
+                    CB[index] = u, CB[index + 1] = u >> 16;
+
+                    int v = __SSUB16(r_pixels * 64, (g_pixels * 54) + (b_pixels * 10)) >> 7;
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    v ^= 0x800080;
+                    #endif
+
+                    CR[index] = v, CR[index + 1] = v >> 16;
+                }
+
+                if (dx & 1) {
+                    uint16_t rgb565_1 = COLOR_R8_G8_B8_TO_RGB565((rp)->red, (rp)->green, (rp)->blue);
+                    int pixel = rgb565_1;
+                    int r = COLOR_RGB565_TO_R8(pixel);
+                    int g = COLOR_RGB565_TO_G8(pixel);
+                    int b = COLOR_RGB565_TO_B8(pixel);
+
+                    int y0 = COLOR_RGB888_TO_Y_(r, g, b);
+
+                    #if (OMV_HARDWARE_JPEG == 0)
+                    y0 ^= 0x80;
+                    #endif
+
+                    Y0[index] = y0;
+
+                    int cb = COLOR_RGB888_TO_U_(r, g, b);
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    cb ^= 0x80;
+                    #endif
+
+                    CB[index] = cb;
+
+                    int cr = COLOR_RGB888_TO_V_(r, g, b);
+
+                    #if (OMV_HARDWARE_JPEG == 1)
+                    cr ^= 0x80;
+                    #endif
+
+                    CR[index++] = cr;
+                }
+
+                index += MCU_W - dx;
+            }
+            break;
+        }
+        case PIXFORMAT_YUV_ANY: {
+            if ((dx != MCU_W) || (dy != MCU_H)) { // partial MCU, fill with 0's to start
+                memset(Y0, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CB, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CR, 0, JPEG_444_GS_MCU_SIZE);
+            }
+
+            int shift = (src->pixfmt == PIXFORMAT_YUV422) ? 24 : 8;
+
+            for (int y = y_offset, yy = y + dy, index = 0; y < yy; y++) {
+                uint32_t *rp = (uint32_t *) (IMAGE_COMPUTE_YUV_PIXEL_ROW_PTR(src, y) + x_offset);
+
+                for (int x = 0, xx = dx - 1; x < xx; x += 2, index += 2) {
+                    int pixels = *rp++;
+
+                    #if (OMV_HARDWARE_JPEG == 0)
+                    pixels ^= 0x80808080;
+                    #endif
+
+                    Y0[index] = pixels, Y0[index + 1] = pixels >> 16;
+
+                    int cb = pixels >> shift;
+                    CB[index] = cb, CB[index + 1] = cb;
+
+                    int cr = pixels >> (32 - shift);
+                    CR[index] = cr, CR[index + 1] = cr;
+                }
+
+                if (dx & 1) {
+                    int pixel = *((uint16_t *) rp);
+
+                    #if (OMV_HARDWARE_JPEG == 0)
+                    pixel ^= 0x8080;
+                    #endif
+
+                    Y0[index] = pixel;
+
+                    if (index % MCU_W) {
+                        if (shift == 8) {
+                            CR[index] = CR[index - 1];
+                            CB[index++] = pixel >> 8;
+                        } else {
+                            CB[index] = CB[index - 1];
+                            CR[index++] = pixel >> 8;
+                        }
+                    } else {
+                        if (shift == 8) {
+                            CB[index] = pixel >> 8;
+                            #if (OMV_HARDWARE_JPEG == 0)
+                            CR[index++] = 0;
+                            #else
+                            CR[index++] = 0x80;
+                            #endif
+                        } else {
+                            #if (OMV_HARDWARE_JPEG == 0)
+                            CB[index] = 0;
+                            #else
+                            CB[index] = 0x80;
+                            #endif
+                            CR[index++] = pixel >> 8;
+                        }
+                    }
+                }
+
+                index += MCU_W - dx;
+            }
+            break;
+        }
+        case PIXFORMAT_BAYER_ANY: {
+            if ((dx != MCU_W) || (dy != MCU_H)) { // partial MCU, fill with 0's to start
+                memset(Y0, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CB, 0, JPEG_444_GS_MCU_SIZE);
+                memset(CR, 0, JPEG_444_GS_MCU_SIZE);
+            }
+
+            int src_w = src->w, w_limit = src_w - 1, w_limit_m_1 = w_limit - 1;
+            int src_h = src->h, h_limit = src_h - 1, h_limit_m_1 = h_limit - 1;
+
+            if (x_offset && y_offset && (x_offset < (src_w - MCU_W)) && (y_offset < (src_h - MCU_H))) {
+                for (int y = y_offset - 1, yy = y + MCU_H - 1, index_e = 0, index_o = MCU_W; y < yy; y += 2,
+                        index_e += MCU_W,
+                        index_o += MCU_W) {
+                    uint8_t *rowptr_grgr_0 = src->data + (y * src_w);
+                    uint8_t *rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+                    uint8_t *rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+                    uint8_t *rowptr_bgbg_3 = rowptr_grgr_2 + src_w;
+
+                    for (int x = x_offset - 1, xx = x + MCU_W - 1; x < xx; x += 2, index_e += 2, index_o += 2) {
+                        uint32_t row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x));
+                        uint32_t row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x));
+                        uint32_t row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x));
+                        uint32_t row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x));
+
+                        int r_pixels_0, g_pixels_0, b_pixels_0;
+
+                        switch (src->pixfmt) {
+                            case PIXFORMAT_BAYER_BGGR: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                                g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                                b_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                                #else
+
+                                int r0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int r2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                                r_pixels_0 = (r2 << 16) | ((r0 + r2) >> 1);
+
+                                int g0 = (row_grgr_0 >> 8) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 8) & 0xFF;
+                                g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                                int b1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                b_pixels_0 = (b1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GBRG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                                g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                                b_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                                #else
+
+                                int r0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int r2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                                r_pixels_0 = r0 | (((r0 + r2) >> 1) << 16);
+
+                                int g0 = (row_grgr_0 >> 16) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 16) & 0xFF;
+                                g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                                int b1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                b_pixels_0 = b1 | (row_bgbg_1 & 0xFF0000);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GRBG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                                g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                                b_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                                #else
+
+                                int r1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                r_pixels_0 = r1 | (row_bgbg_1 & 0xFF0000);
+
+                                int g0 = (row_grgr_0 >> 16) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 16) & 0xFF;
+                                g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                                int b0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int b2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                                b_pixels_0 = b0 | (((b0 + b2) >> 1) << 16);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_RGGB: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                                g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                                b_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                                #else
+
+                                int r1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                r_pixels_0 = (r1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                                int g0 = (row_grgr_0 >> 8) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 8) & 0xFF;
+                                g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                                int b0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int b2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                                b_pixels_0 = (b2 << 16) | ((b0 + b2) >> 1);
+
+                                #endif
+                                break;
+                            }
+                            default: {
+                                r_pixels_0 = 0;
+                                g_pixels_0 = 0;
+                                b_pixels_0 = 0;
+                                break;
+                            }
+                        }
+
+                        int y0 = ((r_pixels_0 * 38) + (g_pixels_0 * 75) + (b_pixels_0 * 15)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 0)
+                        y0 ^= 0x800080;
+                        #endif
+
+                        Y0[index_e] = y0, Y0[index_e + 1] = y0 >> 16;
+
+                        int u0 = __SSUB16(b_pixels_0 * 64, (r_pixels_0 * 21) + (g_pixels_0 * 43)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        u0 ^= 0x800080;
+                        #endif
+
+                        CB[index_e] = u0, CB[index_e + 1] = u0 >> 16;
+
+                        int v0 = __SSUB16(r_pixels_0 * 64, (g_pixels_0 * 54) + (b_pixels_0 * 10)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        v0 ^= 0x800080;
+                        #endif
+
+                        CR[index_e] = v0, CR[index_e + 1] = v0 >> 16;
+
+                        int r_pixels_1, g_pixels_1, b_pixels_1;
+
+                        switch (src->pixfmt) {
+                            case PIXFORMAT_BAYER_BGGR: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                                g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                                b_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                                #else
+
+                                int r2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                r_pixels_1 = (row_grgr_2 & 0xFF0000) | r2;
+
+                                int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                                g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                                int b1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                                int b3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                                b_pixels_1 = (((b1 + b3) >> 1) << 16) | b1;
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GBRG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                                g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                                b_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                                #else
+
+                                int r2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                r_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (r2 << 16);
+
+                                int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                                g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                                int b1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                                int b3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                                b_pixels_1 = ((b1 + b3) >> 1) | (b3 << 16);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GRBG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                                g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                                b_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                                #else
+
+                                int r1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                                int r3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                                r_pixels_1 = ((r1 + r3) >> 1) | (r3 << 16);
+
+                                int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                                g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                                int b2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                b_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (b2 << 16);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_RGGB: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                                g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                                b_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                                #else
+
+                                int r1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                                int r3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                                r_pixels_1 = (((r1 + r3) >> 1) << 16) | r1;
+
+                                int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                                g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                                int b2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                b_pixels_1 = (row_grgr_2 & 0xFF0000) | b2;
+
+                                #endif
+                                break;
+                            }
+                            default: {
+                                r_pixels_1 = 0;
+                                g_pixels_1 = 0;
+                                b_pixels_1 = 0;
+                                break;
+                            }
+                        }
+
+                        int y1 = ((r_pixels_1 * 38) + (g_pixels_1 * 75) + (b_pixels_1 * 15)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 0)
+                        y1 ^= 0x800080;
+                        #endif
+
+                        Y0[index_o] = y1, Y0[index_o + 1] = y1 >> 16;
+
+                        int u1 = __SSUB16(b_pixels_1 * 64, (r_pixels_1 * 21) + (g_pixels_1 * 43)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        u1 ^= 0x800080;
+                        #endif
+
+                        CB[index_o] = u1, CB[index_o + 1] = u1 >> 16;
+
+                        int v1 = __SSUB16(r_pixels_1 * 64, (g_pixels_1 * 54) + (b_pixels_1 * 10)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        v1 ^= 0x800080;
+                        #endif
+
+                        CR[index_o] = v1, CR[index_o + 1] = v1 >> 16;
+                    }
+                }
+            } else {
+                // If dy is odd this loop will produce 1 extra boundary row in the MCU.
+                // This is okay given the boundary checking code below.
+                for (int y = y_offset, yy = y + dy, index_e = 0, index_o = MCU_W; y < yy; y += 2) {
+                    uint8_t *rowptr_grgr_0, *rowptr_bgbg_1, *rowptr_grgr_2, *rowptr_bgbg_3;
+
+                    // keep row pointers in bounds
+                    if (y == 0) {
+                        rowptr_bgbg_1 = src->data;
+                        rowptr_grgr_2 = rowptr_bgbg_1 + ((src_h >= 2) ? src_w : 0);
+                        rowptr_bgbg_3 = rowptr_bgbg_1 + ((src_h >= 3) ? (src_w * 2) : 0);
+                        rowptr_grgr_0 = rowptr_grgr_2;
+                    } else if (y == h_limit_m_1) {
+                        rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+                        rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+                        rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+                        rowptr_bgbg_3 = rowptr_bgbg_1;
+                    } else if (y >= h_limit) {
+                        rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+                        rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+                        rowptr_grgr_2 = rowptr_grgr_0;
+                        rowptr_bgbg_3 = rowptr_bgbg_1;
+                    } else { // get 4 neighboring rows
+                        rowptr_grgr_0 = src->data + ((y - 1) * src_w);
+                        rowptr_bgbg_1 = rowptr_grgr_0 + src_w;
+                        rowptr_grgr_2 = rowptr_bgbg_1 + src_w;
+                        rowptr_bgbg_3 = rowptr_grgr_2 + src_w;
+                    }
+
+                    // If dx is odd this loop will produce 1 extra boundary column in the MCU.
+                    // This is okay given the boundary checking code below.
+                    for (int x = x_offset, xx = x + dx; x < xx; x += 2, index_e += 2, index_o += 2) {
+                        uint32_t row_grgr_0, row_bgbg_1, row_grgr_2, row_bgbg_3;
+
+                        // keep pixels in bounds
+                        if (x == 0) {
+                            if (src_w >= 4) {
+                                row_grgr_0 = *((uint32_t *) rowptr_grgr_0);
+                                row_bgbg_1 = *((uint32_t *) rowptr_bgbg_1);
+                                row_grgr_2 = *((uint32_t *) rowptr_grgr_2);
+                                row_bgbg_3 = *((uint32_t *) rowptr_bgbg_3);
+                            } else if (src_w >= 3) {
+                                row_grgr_0 = *((uint16_t *) rowptr_grgr_0) | (*(rowptr_grgr_0 + 2) << 16);
+                                row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1) | (*(rowptr_bgbg_1 + 2) << 16);
+                                row_grgr_2 = *((uint16_t *) rowptr_grgr_2) | (*(rowptr_grgr_2 + 2) << 16);
+                                row_bgbg_3 = *((uint16_t *) rowptr_bgbg_3) | (*(rowptr_bgbg_3 + 2) << 16);
+                            } else if (src_w >= 2) {
+                                row_grgr_0 = *((uint16_t *) rowptr_grgr_0);
+                                row_grgr_0 = (row_grgr_0 << 16) | row_grgr_0;
+                                row_bgbg_1 = *((uint16_t *) rowptr_bgbg_1);
+                                row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                                row_grgr_2 = *((uint16_t *) rowptr_grgr_2);
+                                row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                                row_bgbg_3 = *((uint16_t *) rowptr_bgbg_3);
+                                row_bgbg_3 = (row_bgbg_3 << 16) | row_bgbg_3;
+                            } else {
+                                row_grgr_0 = *(rowptr_grgr_0) * 0x01010101;
+                                row_bgbg_1 = *(rowptr_bgbg_1) * 0x01010101;
+                                row_grgr_2 = *(rowptr_grgr_2) * 0x01010101;
+                                row_bgbg_3 = *(rowptr_bgbg_3) * 0x01010101;
+                            }
+                            // The starting point needs to be offset by 1. The below patterns are actually
+                            // rgrg, gbgb, rgrg, and gbgb. So, shift left and backfill the missing border pixel.
+                            row_grgr_0 = (row_grgr_0 << 8) | __UXTB_RORn(row_grgr_0, 8);
+                            row_bgbg_1 = (row_bgbg_1 << 8) | __UXTB_RORn(row_bgbg_1, 8);
+                            row_grgr_2 = (row_grgr_2 << 8) | __UXTB_RORn(row_grgr_2, 8);
+                            row_bgbg_3 = (row_bgbg_3 << 8) | __UXTB_RORn(row_bgbg_3, 8);
+                        } else if (x == w_limit_m_1) {
+                            row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x - 2));
+                            row_grgr_0 = (row_grgr_0 >> 8) | ((row_grgr_0 << 8) & 0xff000000);
+                            row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 2));
+                            row_bgbg_1 = (row_bgbg_1 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+                            row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 2));
+                            row_grgr_2 = (row_grgr_2 >> 8) | ((row_grgr_2 << 8) & 0xff000000);
+                            row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x - 2));
+                            row_bgbg_3 = (row_bgbg_3 >> 8) | ((row_bgbg_1 << 8) & 0xff000000);
+                        } else if (x >= w_limit) {
+                            row_grgr_0 = *((uint16_t *) (rowptr_grgr_0 + x - 1));
+                            row_grgr_0 = (row_grgr_0 << 16) | row_grgr_0;
+                            row_bgbg_1 = *((uint16_t *) (rowptr_bgbg_1 + x - 1));
+                            row_bgbg_1 = (row_bgbg_1 << 16) | row_bgbg_1;
+                            row_grgr_2 = *((uint16_t *) (rowptr_grgr_2 + x - 1));
+                            row_grgr_2 = (row_grgr_2 << 16) | row_grgr_2;
+                            row_bgbg_3 = *((uint16_t *) (rowptr_bgbg_3 + x - 1));
+                            row_bgbg_3 = (row_bgbg_3 << 16) | row_bgbg_3;
+                        } else { // get 4 neighboring rows
+                            row_grgr_0 = *((uint32_t *) (rowptr_grgr_0 + x - 1));
+                            row_bgbg_1 = *((uint32_t *) (rowptr_bgbg_1 + x - 1));
+                            row_grgr_2 = *((uint32_t *) (rowptr_grgr_2 + x - 1));
+                            row_bgbg_3 = *((uint32_t *) (rowptr_bgbg_3 + x - 1));
+                        }
+
+                        int r_pixels_0, g_pixels_0, b_pixels_0;
+
+                        switch (src->pixfmt) {
+                            case PIXFORMAT_BAYER_BGGR: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                                g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                                b_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                                #else
+
+                                int r0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int r2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                                r_pixels_0 = (r2 << 16) | ((r0 + r2) >> 1);
+
+                                int g0 = (row_grgr_0 >> 8) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 8) & 0xFF;
+                                g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                                int b1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                b_pixels_0 = (b1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GBRG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                                g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                                b_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                                #else
+
+                                int r0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int r2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                                r_pixels_0 = r0 | (((r0 + r2) >> 1) << 16);
+
+                                int g0 = (row_grgr_0 >> 16) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 16) & 0xFF;
+                                g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                                int b1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                b_pixels_0 = b1 | (row_bgbg_1 & 0xFF0000);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GRBG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16(__UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16)));
+                                g_pixels_0 = __UXTB16_RORn(__UHADD8(row_1g, __PKHBT(row_1g, row_02, 8)), 8);
+                                b_pixels_0 = __UXTB16_RORn(__UHADD8(row_02, __PKHBT(row_02, row_02, 16)), 8);
+                                #else
+
+                                int r1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                r_pixels_0 = r1 | (row_bgbg_1 & 0xFF0000);
+
+                                int g0 = (row_grgr_0 >> 16) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 16) & 0xFF;
+                                g_pixels_0 = ((row_bgbg_1 >> 8) & 0xFF) | (((((g0 + g2) >> 1) + g1) >> 1) << 16);
+
+                                int b0 = (((row_grgr_0 >> 8) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int b2 = (((row_grgr_0 >> 24) & 0xFF) + ((row_grgr_2 >> 24) & 0xFF)) >> 1;
+                                b_pixels_0 = b0 | (((b0 + b2) >> 1) << 16);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_RGGB: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_02 = __UHADD8(row_grgr_0, row_grgr_2);
+                                int row_1g = __UHADD8(row_bgbg_1, __PKHTB(row_bgbg_1, row_bgbg_1, 16));
+
+                                r_pixels_0 = __UXTB16_RORn(__UHADD8(row_bgbg_1, __PKHBT(row_bgbg_1, row_bgbg_1, 16)), 8);
+                                g_pixels_0 = __UXTB16(__UHADD8(row_1g, __PKHTB(row_1g, row_02, 8)));
+                                b_pixels_0 = __UXTB16(__UHADD8(row_02, __PKHTB(row_02, row_02, 16)));
+                                #else
+
+                                int r1 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_1 >> 8) & 0xFF)) >> 1;
+                                r_pixels_0 = (r1 << 16) | ((row_bgbg_1 >> 8) & 0xFF);
+
+                                int g0 = (row_grgr_0 >> 8) & 0xFF;
+                                int g1 = (((row_bgbg_1 >> 16) & 0xFF) + (row_bgbg_1 & 0xFF)) >> 1;
+                                int g2 = (row_grgr_2 >> 8) & 0xFF;
+                                g_pixels_0 = (row_bgbg_1 & 0xFF0000) | ((((g0 + g2) >> 1) + g1) >> 1);
+
+                                int b0 = ((row_grgr_0 & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int b2 = (((row_grgr_0 >> 16) & 0xFF) + ((row_grgr_2 >> 16) & 0xFF)) >> 1;
+                                b_pixels_0 = (b2 << 16) | ((b0 + b2) >> 1);
+
+                                #endif
+                                break;
+                            }
+                            default: {
+                                r_pixels_0 = 0;
+                                g_pixels_0 = 0;
+                                b_pixels_0 = 0;
+                                break;
+                            }
+                        }
+
+                        int y0 = ((r_pixels_0 * 38) + (g_pixels_0 * 75) + (b_pixels_0 * 15)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 0)
+                        y0 ^= 0x800080;
+                        #endif
+
+                        Y0[index_e] = y0, Y0[index_e + 1] = y0 >> 16;
+
+                        int u0 = __SSUB16(b_pixels_0 * 64, (r_pixels_0 * 21) + (g_pixels_0 * 43)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        u0 ^= 0x800080;
+                        #endif
+
+                        CB[index_e] = u0, CB[index_e + 1] = u0 >> 16;
+
+                        int v0 = __SSUB16(r_pixels_0 * 64, (g_pixels_0 * 54) + (b_pixels_0 * 10)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        v0 ^= 0x800080;
+                        #endif
+
+                        CR[index_e] = v0, CR[index_e + 1] = v0 >> 16;
+
+                        int r_pixels_1, g_pixels_1, b_pixels_1;
+
+                        switch (src->pixfmt) {
+                            case PIXFORMAT_BAYER_BGGR: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                                g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                                b_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                                #else
+
+                                int r2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                r_pixels_1 = (row_grgr_2 & 0xFF0000) | r2;
+
+                                int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                                g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                                int b1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                                int b3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                                b_pixels_1 = (((b1 + b3) >> 1) << 16) | b1;
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GBRG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                                g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                                b_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                                #else
+
+                                int r2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                r_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (r2 << 16);
+
+                                int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                                g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                                int b1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                                int b3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                                b_pixels_1 = ((b1 + b3) >> 1) | (b3 << 16);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_GRBG: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16(__UHADD8(row_13, __PKHTB(row_13, row_13, 16)));
+                                g_pixels_1 = __UXTB16(__UHADD8(row_2g, __PKHTB(row_2g, row_13, 8)));
+                                b_pixels_1 = __UXTB16_RORn(__UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16)), 8);
+                                #else
+
+                                int r1 = ((row_bgbg_1 & 0xFF) + (row_bgbg_3 & 0xFF)) >> 1;
+                                int r3 = (((row_bgbg_1 >> 16) & 0xFF) + ((row_bgbg_3 >> 16) & 0xFF)) >> 1;
+                                r_pixels_1 = ((r1 + r3) >> 1) | (r3 << 16);
+
+                                int g1 = (row_bgbg_1 >> 8) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 8) & 0xFF;
+                                g_pixels_1 = ((((g1 + g3) >> 1) + g2) >> 1) | (row_grgr_2 & 0xFF0000);
+
+                                int b2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                b_pixels_1 = ((row_grgr_2 >> 8) & 0xFF) | (b2 << 16);
+
+                                #endif
+                                break;
+                            }
+                            case PIXFORMAT_BAYER_RGGB: {
+                                #if defined(ARM_MATH_DSP)
+                                int row_13 = __UHADD8(row_bgbg_1, row_bgbg_3);
+                                int row_2g = __UHADD8(row_grgr_2, __PKHBT(row_grgr_2, row_grgr_2, 16));
+
+                                r_pixels_1 = __UXTB16_RORn(__UHADD8(row_13, __PKHBT(row_13, row_13, 16)), 8);
+                                g_pixels_1 = __UXTB16_RORn(__UHADD8(row_2g, __PKHBT(row_2g, row_13, 8)), 8);
+                                b_pixels_1 = __UXTB16(__UHADD8(row_grgr_2, __PKHTB(row_grgr_2, row_grgr_2, 16)));
+                                #else
+
+                                int r1 = (((row_bgbg_1 >> 8) & 0xFF) + ((row_bgbg_3 >> 8) & 0xFF)) >> 1;
+                                int r3 = (((row_bgbg_1 >> 24) & 0xFF) + ((row_bgbg_3 >> 24) & 0xFF)) >> 1;
+                                r_pixels_1 = (((r1 + r3) >> 1) << 16) | r1;
+
+                                int g1 = (row_bgbg_1 >> 16) & 0xFF;
+                                int g2 = (((row_grgr_2 >> 24) & 0xFF) + ((row_grgr_2 >> 8) & 0xFF)) >> 1;
+                                int g3 = (row_bgbg_3 >> 16) & 0xFF;
+                                g_pixels_1 = (((((g1 + g3) >> 1) + g2) >> 1) << 16) | ((row_grgr_2 >> 8) & 0xFF);
+
+                                int b2 = (((row_grgr_2 >> 16) & 0xFF) + (row_grgr_2 & 0xFF)) >> 1;
+                                b_pixels_1 = (row_grgr_2 & 0xFF0000) | b2;
+
+                                #endif
+                                break;
+                            }
+                            default: {
+                                r_pixels_1 = 0;
+                                g_pixels_1 = 0;
+                                b_pixels_1 = 0;
+                                break;
+                            }
+                        }
+
+                        int y1 = ((r_pixels_1 * 38) + (g_pixels_1 * 75) + (b_pixels_1 * 15)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 0)
+                        y1 ^= 0x800080;
+                        #endif
+
+                        Y0[index_o] = y1, Y0[index_o + 1] = y1 >> 16;
+
+                        int u1 = __SSUB16(b_pixels_1 * 64, (r_pixels_1 * 21) + (g_pixels_1 * 43)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        u1 ^= 0x800080;
+                        #endif
+
+                        CB[index_o] = u1, CB[index_o + 1] = u1 >> 16;
+
+                        int v1 = __SSUB16(r_pixels_1 * 64, (g_pixels_1 * 54) + (b_pixels_1 * 10)) >> 7;
+
+                        #if (OMV_HARDWARE_JPEG == 1)
+                        v1 ^= 0x800080;
+                        #endif
+
+                        CR[index_o] = v1, CR[index_o + 1] = v1 >> 16;
+                    }
+
+                    int inc = (MCU_W * 2) - (((dx + 1) / 2) * 2); // Handle boundary column.
+                    index_e += inc;
+                    index_o += inc;
+                }
+            }
+            break;
+        }
+    }
+}
+
+#if (OMV_HARDWARE_JPEG == 1)
+
+#else
+
+// Software JPEG implementation.
+#define FIX_0_382683433  ((int32_t)   98)
+#define FIX_0_541196100  ((int32_t)  139)
+#define FIX_0_707106781  ((int32_t)  181)
+#define FIX_1_306562965  ((int32_t)  334)
+
+#define DESCALE(x, y)   (x>>y)
+#define MULTIPLY(x, y)  DESCALE((x) * (y), 8)
+
+typedef struct {
+    int idx;
+    int length;
+    uint8_t *buf;
+    int bitc, bitb;
+    bool realloc;
+    bool overflow;
+} jpeg_buf_t;
+
+// Quantization tables
+static float fdtbl_Y[64], fdtbl_UV[64];
+static uint8_t YTable[64], UVTable[64];
+
+static const uint8_t s_jpeg_ZigZag[] = {
+    0,  1,   5,  6, 14, 15, 27, 28,
+    2,  4,   7, 13, 16, 26, 29, 42,
+    3,  8,  12, 17, 25, 30, 41, 43,
+    9,  11, 18, 24, 31, 40, 44, 53,
+    10, 19, 23, 32, 39, 45, 52, 54,
+    20, 22, 33, 38, 46, 51, 55, 60,
+    21, 34, 37, 47, 50, 56, 59, 61,
+    35, 36, 48, 49, 57, 58, 62, 63
+};
+
+static const uint8_t YQT[] = {
+    16, 11, 10, 16, 24,  40,  51,  61,
+    12, 12, 14, 19, 26,  58,  60,  55,
+    14, 13, 16, 24, 40,  57,  69,  56,
+    14, 17, 22, 29, 51,  87,  80,  62,
+    18, 22, 37, 56, 68,  109, 103, 77,
+    24, 35, 55, 64, 81,  104, 113, 92,
+    49, 64, 78, 87, 103, 121, 120, 101,
+    72, 92, 95, 98, 112, 100, 103, 99
+};
+
+static const uint8_t UVQT[] = {
+    17,18,24,47,99,99,99,99,
+    18,21,26,66,99,99,99,99,
+    24,26,56,99,99,99,99,99,
+    47,66,99,99,99,99,99,99,
+    99,99,99,99,99,99,99,99,
+    99,99,99,99,99,99,99,99,
+    99,99,99,99,99,99,99,99,
+    99,99,99,99,99,99,99,99
+};
+
+static const float aasf[] = {
+    1.0f, 1.387039845f, 1.306562965f, 1.175875602f,
+    1.0f, 0.785694958f, 0.541196100f, 0.275899379f
+};
+
+
+static const uint8_t std_dc_luminance_nrcodes[] = {0,0,1,5,1,1,1,1,1,1,0,0,0,0,0,0,0};
+static const uint8_t std_dc_luminance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};
+static const uint8_t std_ac_luminance_nrcodes[] = {0,0,2,1,3,3,2,4,3,5,5,4,4,0,0,1,0x7d};
+static const uint8_t std_ac_luminance_values[] = {
+    0x01,0x02,0x03,0x00,0x04,0x11,0x05,0x12,0x21,0x31,0x41,0x06,0x13,0x51,0x61,0x07,0x22,0x71,0x14,0x32,0x81,0x91,0xa1,0x08,
+    0x23,0x42,0xb1,0xc1,0x15,0x52,0xd1,0xf0,0x24,0x33,0x62,0x72,0x82,0x09,0x0a,0x16,0x17,0x18,0x19,0x1a,0x25,0x26,0x27,0x28,
+    0x29,0x2a,0x34,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,0x59,
+    0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x83,0x84,0x85,0x86,0x87,0x88,0x89,
+    0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,0xb5,0xb6,
+    0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,0xe1,0xe2,
+    0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf1,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa
+};
+
+static const uint8_t std_dc_chrominance_nrcodes[] = {0,0,3,1,1,1,1,1,1,1,1,1,0,0,0,0,0};
+static const uint8_t std_dc_chrominance_values[] = {0,1,2,3,4,5,6,7,8,9,10,11};
+static const uint8_t std_ac_chrominance_nrcodes[] = {0,0,2,1,2,4,4,3,4,7,5,4,4,0,1,2,0x77};
+static const uint8_t std_ac_chrominance_values[] = {
+    0x00,0x01,0x02,0x03,0x11,0x04,0x05,0x21,0x31,0x06,0x12,0x41,0x51,0x07,0x61,0x71,0x13,0x22,0x32,0x81,0x08,0x14,0x42,0x91,
+    0xa1,0xb1,0xc1,0x09,0x23,0x33,0x52,0xf0,0x15,0x62,0x72,0xd1,0x0a,0x16,0x24,0x34,0xe1,0x25,0xf1,0x17,0x18,0x19,0x1a,0x26,
+    0x27,0x28,0x29,0x2a,0x35,0x36,0x37,0x38,0x39,0x3a,0x43,0x44,0x45,0x46,0x47,0x48,0x49,0x4a,0x53,0x54,0x55,0x56,0x57,0x58,
+    0x59,0x5a,0x63,0x64,0x65,0x66,0x67,0x68,0x69,0x6a,0x73,0x74,0x75,0x76,0x77,0x78,0x79,0x7a,0x82,0x83,0x84,0x85,0x86,0x87,
+    0x88,0x89,0x8a,0x92,0x93,0x94,0x95,0x96,0x97,0x98,0x99,0x9a,0xa2,0xa3,0xa4,0xa5,0xa6,0xa7,0xa8,0xa9,0xaa,0xb2,0xb3,0xb4,
+    0xb5,0xb6,0xb7,0xb8,0xb9,0xba,0xc2,0xc3,0xc4,0xc5,0xc6,0xc7,0xc8,0xc9,0xca,0xd2,0xd3,0xd4,0xd5,0xd6,0xd7,0xd8,0xd9,0xda,
+    0xe2,0xe3,0xe4,0xe5,0xe6,0xe7,0xe8,0xe9,0xea,0xf2,0xf3,0xf4,0xf5,0xf6,0xf7,0xf8,0xf9,0xfa
+};
+
+// Huffman tables
+static const uint16_t YDC_HT[12][2] = { {0,2},{2,3},{3,3},{4,3},{5,3},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9}};
+static const uint16_t UVDC_HT[12][2] = { {0,2},{1,2},{2,2},{6,3},{14,4},{30,5},{62,6},{126,7},{254,8},{510,9},{1022,10},{2046,11}};
+static const uint16_t YAC_HT[256][2] = {
+    {0x000A, 0x0004},{0x0000, 0x0002},{0x0001, 0x0002},{0x0004, 0x0003},{0x000B, 0x0004},{0x001A, 0x0005},{0x0078, 0x0007},{0x00F8, 0x0008},
+    {0x03F6, 0x000A},{0xFF82, 0x0010},{0xFF83, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x000C, 0x0004},{0x001B, 0x0005},{0x0079, 0x0007},{0x01F6, 0x0009},{0x07F6, 0x000B},{0xFF84, 0x0010},{0xFF85, 0x0010},
+    {0xFF86, 0x0010},{0xFF87, 0x0010},{0xFF88, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x001C, 0x0005},{0x00F9, 0x0008},{0x03F7, 0x000A},{0x0FF4, 0x000C},{0xFF89, 0x0010},{0xFF8A, 0x0010},{0xFF8B, 0x0010},
+    {0xFF8C, 0x0010},{0xFF8D, 0x0010},{0xFF8E, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x003A, 0x0006},{0x01F7, 0x0009},{0x0FF5, 0x000C},{0xFF8F, 0x0010},{0xFF90, 0x0010},{0xFF91, 0x0010},{0xFF92, 0x0010},
+    {0xFF93, 0x0010},{0xFF94, 0x0010},{0xFF95, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x003B, 0x0006},{0x03F8, 0x000A},{0xFF96, 0x0010},{0xFF97, 0x0010},{0xFF98, 0x0010},{0xFF99, 0x0010},{0xFF9A, 0x0010},
+    {0xFF9B, 0x0010},{0xFF9C, 0x0010},{0xFF9D, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x007A, 0x0007},{0x07F7, 0x000B},{0xFF9E, 0x0010},{0xFF9F, 0x0010},{0xFFA0, 0x0010},{0xFFA1, 0x0010},{0xFFA2, 0x0010},
+    {0xFFA3, 0x0010},{0xFFA4, 0x0010},{0xFFA5, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x007B, 0x0007},{0x0FF6, 0x000C},{0xFFA6, 0x0010},{0xFFA7, 0x0010},{0xFFA8, 0x0010},{0xFFA9, 0x0010},{0xFFAA, 0x0010},
+    {0xFFAB, 0x0010},{0xFFAC, 0x0010},{0xFFAD, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x00FA, 0x0008},{0x0FF7, 0x000C},{0xFFAE, 0x0010},{0xFFAF, 0x0010},{0xFFB0, 0x0010},{0xFFB1, 0x0010},{0xFFB2, 0x0010},
+    {0xFFB3, 0x0010},{0xFFB4, 0x0010},{0xFFB5, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01F8, 0x0009},{0x7FC0, 0x000F},{0xFFB6, 0x0010},{0xFFB7, 0x0010},{0xFFB8, 0x0010},{0xFFB9, 0x0010},{0xFFBA, 0x0010},
+    {0xFFBB, 0x0010},{0xFFBC, 0x0010},{0xFFBD, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01F9, 0x0009},{0xFFBE, 0x0010},{0xFFBF, 0x0010},{0xFFC0, 0x0010},{0xFFC1, 0x0010},{0xFFC2, 0x0010},{0xFFC3, 0x0010},
+    {0xFFC4, 0x0010},{0xFFC5, 0x0010},{0xFFC6, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01FA, 0x0009},{0xFFC7, 0x0010},{0xFFC8, 0x0010},{0xFFC9, 0x0010},{0xFFCA, 0x0010},{0xFFCB, 0x0010},{0xFFCC, 0x0010},
+    {0xFFCD, 0x0010},{0xFFCE, 0x0010},{0xFFCF, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x03F9, 0x000A},{0xFFD0, 0x0010},{0xFFD1, 0x0010},{0xFFD2, 0x0010},{0xFFD3, 0x0010},{0xFFD4, 0x0010},{0xFFD5, 0x0010},
+    {0xFFD6, 0x0010},{0xFFD7, 0x0010},{0xFFD8, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x03FA, 0x000A},{0xFFD9, 0x0010},{0xFFDA, 0x0010},{0xFFDB, 0x0010},{0xFFDC, 0x0010},{0xFFDD, 0x0010},{0xFFDE, 0x0010},
+    {0xFFDF, 0x0010},{0xFFE0, 0x0010},{0xFFE1, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x07F8, 0x000B},{0xFFE2, 0x0010},{0xFFE3, 0x0010},{0xFFE4, 0x0010},{0xFFE5, 0x0010},{0xFFE6, 0x0010},{0xFFE7, 0x0010},
+    {0xFFE8, 0x0010},{0xFFE9, 0x0010},{0xFFEA, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0xFFEB, 0x0010},{0xFFEC, 0x0010},{0xFFED, 0x0010},{0xFFEE, 0x0010},{0xFFEF, 0x0010},{0xFFF0, 0x0010},{0xFFF1, 0x0010},
+    {0xFFF2, 0x0010},{0xFFF3, 0x0010},{0xFFF4, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x07F9, 0x000B},{0xFFF5, 0x0010},{0xFFF6, 0x0010},{0xFFF7, 0x0010},{0xFFF8, 0x0010},{0xFFF9, 0x0010},{0xFFFA, 0x0010},{0xFFFB, 0x0010},
+    {0xFFFC, 0x0010},{0xFFFD, 0x0010},{0xFFFE, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+};
+
+static const uint16_t UVAC_HT[256][2] = {
+    {0x0000, 0x0002},{0x0001, 0x0002},{0x0004, 0x0003},{0x000A, 0x0004},{0x0018, 0x0005},{0x0019, 0x0005},{0x0038, 0x0006},{0x0078, 0x0007},
+    {0x01F4, 0x0009},{0x03F6, 0x000A},{0x0FF4, 0x000C},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x000B, 0x0004},{0x0039, 0x0006},{0x00F6, 0x0008},{0x01F5, 0x0009},{0x07F6, 0x000B},{0x0FF5, 0x000C},{0xFF88, 0x0010},
+    {0xFF89, 0x0010},{0xFF8A, 0x0010},{0xFF8B, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x001A, 0x0005},{0x00F7, 0x0008},{0x03F7, 0x000A},{0x0FF6, 0x000C},{0x7FC2, 0x000F},{0xFF8C, 0x0010},{0xFF8D, 0x0010},
+    {0xFF8E, 0x0010},{0xFF8F, 0x0010},{0xFF90, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x001B, 0x0005},{0x00F8, 0x0008},{0x03F8, 0x000A},{0x0FF7, 0x000C},{0xFF91, 0x0010},{0xFF92, 0x0010},{0xFF93, 0x0010},
+    {0xFF94, 0x0010},{0xFF95, 0x0010},{0xFF96, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x003A, 0x0006},{0x01F6, 0x0009},{0xFF97, 0x0010},{0xFF98, 0x0010},{0xFF99, 0x0010},{0xFF9A, 0x0010},{0xFF9B, 0x0010},
+    {0xFF9C, 0x0010},{0xFF9D, 0x0010},{0xFF9E, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x003B, 0x0006},{0x03F9, 0x000A},{0xFF9F, 0x0010},{0xFFA0, 0x0010},{0xFFA1, 0x0010},{0xFFA2, 0x0010},{0xFFA3, 0x0010},
+    {0xFFA4, 0x0010},{0xFFA5, 0x0010},{0xFFA6, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x0079, 0x0007},{0x07F7, 0x000B},{0xFFA7, 0x0010},{0xFFA8, 0x0010},{0xFFA9, 0x0010},{0xFFAA, 0x0010},{0xFFAB, 0x0010},
+    {0xFFAC, 0x0010},{0xFFAD, 0x0010},{0xFFAE, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x007A, 0x0007},{0x07F8, 0x000B},{0xFFAF, 0x0010},{0xFFB0, 0x0010},{0xFFB1, 0x0010},{0xFFB2, 0x0010},{0xFFB3, 0x0010},
+    {0xFFB4, 0x0010},{0xFFB5, 0x0010},{0xFFB6, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x00F9, 0x0008},{0xFFB7, 0x0010},{0xFFB8, 0x0010},{0xFFB9, 0x0010},{0xFFBA, 0x0010},{0xFFBB, 0x0010},{0xFFBC, 0x0010},
+    {0xFFBD, 0x0010},{0xFFBE, 0x0010},{0xFFBF, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01F7, 0x0009},{0xFFC0, 0x0010},{0xFFC1, 0x0010},{0xFFC2, 0x0010},{0xFFC3, 0x0010},{0xFFC4, 0x0010},{0xFFC5, 0x0010},
+    {0xFFC6, 0x0010},{0xFFC7, 0x0010},{0xFFC8, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01F8, 0x0009},{0xFFC9, 0x0010},{0xFFCA, 0x0010},{0xFFCB, 0x0010},{0xFFCC, 0x0010},{0xFFCD, 0x0010},{0xFFCE, 0x0010},
+    {0xFFCF, 0x0010},{0xFFD0, 0x0010},{0xFFD1, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01F9, 0x0009},{0xFFD2, 0x0010},{0xFFD3, 0x0010},{0xFFD4, 0x0010},{0xFFD5, 0x0010},{0xFFD6, 0x0010},{0xFFD7, 0x0010},
+    {0xFFD8, 0x0010},{0xFFD9, 0x0010},{0xFFDA, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x01FA, 0x0009},{0xFFDB, 0x0010},{0xFFDC, 0x0010},{0xFFDD, 0x0010},{0xFFDE, 0x0010},{0xFFDF, 0x0010},{0xFFE0, 0x0010},
+    {0xFFE1, 0x0010},{0xFFE2, 0x0010},{0xFFE3, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x07F9, 0x000B},{0xFFE4, 0x0010},{0xFFE5, 0x0010},{0xFFE6, 0x0010},{0xFFE7, 0x0010},{0xFFE8, 0x0010},{0xFFE9, 0x0010},
+    {0xFFEA, 0x0010},{0xFFEB, 0x0010},{0xFFEC, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x0000, 0x0000},{0x3FE0, 0x000E},{0xFFED, 0x0010},{0xFFEE, 0x0010},{0xFFEF, 0x0010},{0xFFF0, 0x0010},{0xFFF1, 0x0010},{0xFFF2, 0x0010},
+    {0xFFF3, 0x0010},{0xFFF4, 0x0010},{0xFFF5, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+    {0x03FA, 0x000A},{0x7FC3, 0x000F},{0xFFF6, 0x0010},{0xFFF7, 0x0010},{0xFFF8, 0x0010},{0xFFF9, 0x0010},{0xFFFA, 0x0010},{0xFFFB, 0x0010},
+    {0xFFFC, 0x0010},{0xFFFD, 0x0010},{0xFFFE, 0x0010},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},{0x0000, 0x0000},
+};
+
+// Macro to write variable length codes to the output stream more efficiently
+#define STORECODE(pOut, iLen, ulCode, ulAcc, iNewLen) \
+        if (iLen+iNewLen > 32) { while (iLen >= 8) \
+                        {unsigned char c = (unsigned char)(ulAcc >> 24); *pOut++ = c; \
+        if (c == 0xff) { *pOut++ = 0;} ulAcc <<= 8; iLen -= 8; }} \
+        iLen += iNewLen; ulAcc |= (ulCode << (32-iLen));
+
+//
+// See if we're close to filling up the output buffer
+// If so, allocate more space now so that we don't have
+// to check on every byte written
+//
+// If we're out of space and the realloc option is not available
+// return true to indicate that encoding has to halt
+//
+static int jpeg_check_highwater(jpeg_buf_t *jpeg_buf)
+{
+    if ((jpeg_buf->idx+1) >= jpeg_buf->length - 256) {
+        if (jpeg_buf->realloc == false) {
+            // Can't realloc buffer
+            jpeg_buf->overflow = true;
+            return 1; // failure
+        }
+        jpeg_buf->length += 1024;
+        jpeg_buf->buf = xrealloc(jpeg_buf->buf, jpeg_buf->length);
+    }
+    return 0; // ok
+} /* jpeg_check_highwater() */
+
+//
+// Restore buffer pointer variables from local copies
+//
+void jpeg_restore_buf(jpeg_buf_t *jpeg_buf, uint8_t *pOut, int iBitCount, uint32_t ulBits)
+{
+    uint8_t c;
+    while (iBitCount >= 8) {
+        c = (uint8_t)(ulBits >> 24);
+        *pOut++ = c;
+        if (c == 0xff) {
+            *pOut++ = 0;
+        }
+        ulBits <<= 8; iBitCount -= 8;
+    }
+    jpeg_buf->idx = (int)(pOut - jpeg_buf->buf);
+    jpeg_buf->bitb = ulBits >> 8;
+    jpeg_buf->bitc = iBitCount;
+
+} /* jpeg_restore_buf() */
+
+static void jpeg_put_char(jpeg_buf_t *jpeg_buf, char c)
+{
+    if ((jpeg_buf->idx+1) >= jpeg_buf->length) {
+        if (jpeg_buf->realloc == false) {
+            // Can't realloc buffer
+            jpeg_buf->overflow = true;
+            return;
+        }
+        jpeg_buf->length += 1024;
+        jpeg_buf->buf = xrealloc(jpeg_buf->buf, jpeg_buf->length);
+    }
+
+    jpeg_buf->buf[jpeg_buf->idx++]=c;
+}
+
+static void jpeg_put_bytes(jpeg_buf_t *jpeg_buf, const void *data, int size)
+{
+    if ((jpeg_buf->idx+size) >= jpeg_buf->length) {
+        if (jpeg_buf->realloc == false) {
+            // Can't realloc buffer
+            jpeg_buf->overflow = true;
+            return;
+        }
+        jpeg_buf->length += 1024;
+        jpeg_buf->buf = xrealloc(jpeg_buf->buf, jpeg_buf->length);
+    }
+
+    memcpy(jpeg_buf->buf+jpeg_buf->idx, data, size);
+    jpeg_buf->idx += size;
+}
+
+static void jpeg_writeBits(jpeg_buf_t *jpeg_buf, const uint16_t *bs)
+{
+    jpeg_buf->bitc += bs[1];
+    jpeg_buf->bitb |= bs[0] << (24 - jpeg_buf->bitc);
+
+    while (jpeg_buf->bitc > 7) {
+        uint8_t c = (jpeg_buf->bitb >> 16) & 255;
+        jpeg_put_char(jpeg_buf, c);
+        if(c == 255) {
+            jpeg_put_char(jpeg_buf, 0);
+        }
+        jpeg_buf->bitb <<= 8;
+        jpeg_buf->bitc -= 8;
+    }
+}
+
+//Huffman-encoded magnitude value
+static void jpeg_calcBits(int val, uint16_t bits[2]) {
+    int t1=val;
+    if (val<0) {
+        t1 = -val;
+        val = val-1;
+    }
+    bits[1] = 32-__CLZ(t1);
+    bits[0] = val & ((1<<bits[1])-1);
+}
+
+static int jpeg_processDU(jpeg_buf_t *jpeg_buf, int8_t *CDU, float *fdtbl, int DC, const uint16_t (*HTDC)[2], const uint16_t (*HTAC)[2])
+{
+    int DU[64];
+    int DUQ[64];
+    int z1, z2, z3, z4, z5, z11, z13;
+    int t0, t1, t2, t3, t4, t5, t6, t7, t10, t11, t12, t13;
+    const uint16_t EOB[2] = { HTAC[0x00][0], HTAC[0x00][1] };
+    const uint16_t M16zeroes[2] = { HTAC[0xF0][0], HTAC[0xF0][1] };
+
+    // DCT rows
+    for (int i=8, *p=DU; i>0; i--, p+=8, CDU+=8) {
+        t0 = CDU[0] + CDU[7];
+        t1 = CDU[1] + CDU[6];
+        t2 = CDU[2] + CDU[5];
+        t3 = CDU[3] + CDU[4];
+
+        t7 = CDU[0] - CDU[7];
+        t6 = CDU[1] - CDU[6];
+        t5 = CDU[2] - CDU[5];
+        t4 = CDU[3] - CDU[4];
+
+        // Even part
+        t10 = t0 + t3;
+        t13 = t0 - t3;
+        t11 = t1 + t2;
+        t12 = t1 - t2;
+        z1 = MULTIPLY(t12 + t13, FIX_0_707106781); // c4
+
+        p[0] = t10 + t11;
+        p[4] = t10 - t11;
+        p[2] = t13 + z1;
+        p[6] = t13 - z1;
+
+        // Odd part
+        t10 = t4 + t5;// phase 2
+        t11 = t5 + t6;
+        t12 = t6 + t7;
+
+        // The rotator is modified from fig 4-8 to avoid extra negations.
+        z5 = MULTIPLY(t10 - t12, FIX_0_382683433); // c6
+        z2 = MULTIPLY(t10, FIX_0_541196100) + z5; // 1.306562965f-c6
+        z4 = MULTIPLY(t12, FIX_1_306562965) + z5; // 1.306562965f+c6
+        z3 = MULTIPLY(t11, FIX_0_707106781); // c4
+        z11 = t7 + z3;    // phase 5
+        z13 = t7 - z3;
+
+        p[5] = z13 + z2;// phase 6
+        p[3] = z13 - z2;
+        p[1] = z11 + z4;
+        p[7] = z11 - z4;
+    }
+
+    // DCT columns
+    for (int i=8, *p=DU; i>0; i--, p++) {
+        t0 = p[0]  + p[56];
+        t1 = p[8]  + p[48];
+        t2 = p[16] + p[40];
+        t3 = p[24] + p[32];
+
+        t7 = p[0]  - p[56];
+        t6 = p[8]  - p[48];
+        t5 = p[16] - p[40];
+        t4 = p[24] - p[32];
+
+        // Even part
+        t10 = t0 + t3;	// phase 2
+        t13 = t0 - t3;
+        t11 = t1 + t2;
+        t12 = t1 - t2;
+        z1 = MULTIPLY(t12 + t13, FIX_0_707106781); // c4
+
+        p[0] = t10 + t11; 		// phase 3
+        p[32] = t10 - t11;
+        p[16] = t13 + z1; 		// phase 5
+        p[48] = t13 - z1;
+
+        // Odd part
+        t10 = t4 + t5; 		// phase 2
+        t11 = t5 + t6;
+        t12 = t6 + t7;
+
+        // The rotator is modified from fig 4-8 to avoid extra negations.
+        z5 = MULTIPLY(t10 - t12, FIX_0_382683433); // c6
+        z2 = MULTIPLY(t10, FIX_0_541196100) + z5; // 1.306562965f-c6
+        z4 = MULTIPLY(t12, FIX_1_306562965) + z5; // 1.306562965f+c6
+        z3 = MULTIPLY(t11, FIX_0_707106781); // c4
+        z11 = t7 + z3;		// phase 5
+        z13 = t7 - z3;
+
+        p[40] = z13 + z2;// phase 6
+        p[24] = z13 - z2;
+        p[8] = z11 + z4;
+        p[56] = z11 - z4;
+    }
+
+    // first non-zero element in reverse order
+    int end0pos = 0;
+    // Quantize/descale/zigzag the coefficients
+    for(int i=0; i<64; ++i) {
+		DUQ[s_jpeg_ZigZag[i]] = fast_roundf(DU[i]*fdtbl[i]);
+        if (s_jpeg_ZigZag[i] > end0pos && DUQ[s_jpeg_ZigZag[i]]) {
+            end0pos = s_jpeg_ZigZag[i];
+        }
+    }
+
+    if (jpeg_check_highwater(jpeg_buf)) // check if we're getting close to the end of the buffer
+       return 0; // stop encoding, we've run out of space
+    // Use local vars to speed up buffer access
+    // and a macro (STORECODE) to manipulate the local vars
+    uint8_t *pOut, iBitCount; // output pointer and bit count
+    uint32_t ulBits; // accumulated bits
+    pOut = &jpeg_buf->buf[jpeg_buf->idx];
+    iBitCount = jpeg_buf->bitc; // current stored bits
+    ulBits = (jpeg_buf->bitb << 8); // bit pattern shifted up to bit 31
+
+    // Encode DC
+    int diff = DUQ[0] - DC;
+    if (diff == 0) {
+        STORECODE(pOut, iBitCount, HTDC[0][0], ulBits, HTDC[0][1])
+    } else {
+        uint16_t bits[2];
+        jpeg_calcBits(diff, bits);
+        STORECODE(pOut, iBitCount, HTDC[bits[1]][0], ulBits, HTDC[bits[1]][1])
+        STORECODE(pOut, iBitCount, bits[0], ulBits, bits[1])
+    }
+
+    // Encode ACs
+    if(end0pos == 0) {
+        STORECODE(pOut, iBitCount, EOB[0], ulBits, EOB[1])
+        jpeg_restore_buf(jpeg_buf, pOut, iBitCount, ulBits);
+        return DUQ[0];
+    }
+
+    for(int i = 1; i <= end0pos; ++i) {
+        int startpos = i;
+        for (; DUQ[i]==0 && i<=end0pos ; ++i) {
+        }
+        int nrzeroes = i-startpos;
+        if ( nrzeroes >= 16 ) {
+            int lng = nrzeroes>>4;
+            for (int nrmarker=1; nrmarker <= lng; ++nrmarker) {
+                STORECODE(pOut, iBitCount, M16zeroes[0], ulBits, M16zeroes[1])
+            } // for
+            nrzeroes &= 15;
+        }
+        uint16_t bits[2];
+        jpeg_calcBits(DUQ[i], bits);
+        STORECODE(pOut, iBitCount, HTAC[(nrzeroes<<4)+bits[1]][0], ulBits, HTAC[(nrzeroes<<4)+bits[1]][1])
+        STORECODE(pOut, iBitCount, bits[0], ulBits, bits[1])
+    }
+    if(end0pos != 63) {
+        STORECODE(pOut, iBitCount, EOB[0], ulBits, EOB[1])
+    }
+    jpeg_restore_buf(jpeg_buf, pOut, iBitCount, ulBits);
+    return DUQ[0];
+}
+
+static void jpeg_init(int quality)
+{
+    static int q =0;
+
+    quality = quality < 50 ? 5000 / quality : 200 - quality * 2;
+
+    // If quality changed, update quantization matrix
+    if (q != quality) {
+        q = quality;
+        for(int i = 0; i < 64; ++i) {
+            int yti = (YQT[i]*quality+50)/100;
+            YTable[s_jpeg_ZigZag[i]] = yti < 1 ? 1 : yti > 255 ? 255 : yti;
+            int uvti  = (UVQT[i]*quality+50)/100;
+            UVTable[s_jpeg_ZigZag[i]] = uvti < 1 ? 1 : uvti > 255 ? 255 : uvti;
+        }
+
+        for(int r = 0, k = 0; r < 8; ++r) {
+            for(int c = 0; c < 8; ++c, ++k) {
+                fdtbl_Y[k]  = 1.0f / (aasf[r] * aasf[c] * YTable [s_jpeg_ZigZag[k]] * 8.0f);
+                fdtbl_UV[k] = 1.0f / (aasf[r] * aasf[c] * UVTable[s_jpeg_ZigZag[k]] * 8.0f);
+            }
+        }
+    }
+}
+
+static void jpeg_write_headers(jpeg_buf_t *jpeg_buf, int w, int h, int bpp, jpeg_subsample_t jpeg_subsample)
+{
+    // Number of components (1 or 3)
+    uint8_t nr_comp = (bpp == 1)? 1 : 3;
+
+    // JPEG headers
+    uint8_t m_soi[] = {
+        0xFF, 0xD8          // SOI
+    };
+
+    uint8_t m_app0[] =  {
+        0xFF, 0xE0,         // APP0
+        0x00, 0x10,  'J',  'F',  'I',  'F', 0x00, 0x01,
+        0x01, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x00
+    };
+
+    uint8_t m_dqt[] = {
+        0xFF, 0xDB,         // DQT
+        (bpp*65+2)>>8,      // Header length MSB
+        (bpp*65+2)&0xFF,    // Header length LSB
+    };
+
+    uint8_t m_sof0[] = {
+        0xFF, 0xC0,         // SOF0
+        (nr_comp*3+8)>>8,   // Header length MSB
+        (nr_comp*3+8)&0xFF, // Header length LSB
+        0x08,               // Bits per sample
+        h>>8, h&0xFF,       // Height
+        w>>8, w&0xFF,       // Width
+        nr_comp,            // Number of components
+    };
+
+    uint8_t m_dht[] = {
+        0xFF, 0xC4,         // DHT
+        (bpp*208+2)>>8,     // Header length MSB
+        (bpp*208+2)&0xFF,   // Header length LSB
+    };
+
+    uint8_t m_sos[] = {
+        0xFF, 0xDA,         // SOS
+        (nr_comp*2+6)>>8,   // Header length MSB
+        (nr_comp*2+6)&0xFF, // Header length LSB
+        nr_comp,            // Number of components
+    };
+
+    // Write SOI marker
+    jpeg_put_bytes(jpeg_buf, m_soi, sizeof(m_soi));
+    // Write APP0 marker
+    jpeg_put_bytes(jpeg_buf, m_app0, sizeof(m_app0));
+
+    // Write DQT marker
+    jpeg_put_bytes(jpeg_buf, m_dqt, sizeof(m_dqt));
+    // Write Y quantization table (index, table)
+    jpeg_put_char (jpeg_buf, 0);
+    jpeg_put_bytes(jpeg_buf, YTable, sizeof(YTable));
+
+    if (bpp > 1) {
+        // Write UV quantization table (index, table)
+        jpeg_put_char (jpeg_buf, 1);
+        jpeg_put_bytes(jpeg_buf, UVTable, sizeof(UVTable));
+    }
+
+    // Write SOF0 marker
+    jpeg_put_bytes(jpeg_buf, m_sof0, sizeof(m_sof0));
+    for (int i=0; i<nr_comp; i++) {
+        // Component ID, HV sampling, q table idx
+        jpeg_put_bytes(jpeg_buf, (uint8_t [3]){i+1, (i==0 && bpp==2)? jpeg_subsample:0x11, (i>0)}, 3);
+
+    }
+
+    // Write DHT marker
+    jpeg_put_bytes(jpeg_buf, m_dht, sizeof(m_dht));
+
+    // Write DHT-YDC
+    jpeg_put_char (jpeg_buf, 0x00);
+    jpeg_put_bytes(jpeg_buf, std_dc_luminance_nrcodes+1, sizeof(std_dc_luminance_nrcodes)-1);
+    jpeg_put_bytes(jpeg_buf, std_dc_luminance_values, sizeof(std_dc_luminance_values));
+
+    // Write DHT-YAC
+    jpeg_put_char (jpeg_buf, 0x10);
+    jpeg_put_bytes(jpeg_buf, std_ac_luminance_nrcodes+1, sizeof(std_ac_luminance_nrcodes)-1);
+    jpeg_put_bytes(jpeg_buf, std_ac_luminance_values, sizeof(std_ac_luminance_values));
+
+    if (bpp > 1) {
+        // Write DHT-UDC
+        jpeg_put_char (jpeg_buf, 0x01);
+        jpeg_put_bytes(jpeg_buf, std_dc_chrominance_nrcodes+1, sizeof(std_dc_chrominance_nrcodes)-1);
+        jpeg_put_bytes(jpeg_buf, std_dc_chrominance_values, sizeof(std_dc_chrominance_values));
+
+        // Write DHT-UAC
+        jpeg_put_char (jpeg_buf, 0x11);
+        jpeg_put_bytes(jpeg_buf, std_ac_chrominance_nrcodes+1, sizeof(std_ac_chrominance_nrcodes)-1);
+        jpeg_put_bytes(jpeg_buf, std_ac_chrominance_values, sizeof(std_ac_chrominance_values));
+    }
+
+    // Write SOS marker
+    jpeg_put_bytes(jpeg_buf, m_sos, sizeof(m_sos));
+    for (int i=0; i<nr_comp; i++) {
+        jpeg_put_bytes(jpeg_buf, (uint8_t [2]){i+1, (i==0)? 0x00:0x11}, 2);
+    }
+
+    // Spectral selection
+    jpeg_put_bytes(jpeg_buf, (uint8_t [3]){0x00, 0x3F, 0x0}, 3);
+}
+
+bool jpeg_compress(image_t *src, image_t *dst, int quality, bool realloc)
+{
+    #if (TIME_JPEG==1)
+    mp_uint_t start = mp_hal_ticks_ms();
+    #endif
+
+    if (!dst->data) {
+        uint32_t size=0;
+        // dst->data = fb_alloc_all(&size, FB_ALLOC_PREFER_SIZE | FB_ALLOC_CACHE_ALIGN);
+        printf("w:%d   h:%d   will alloc :%d\n", src->w, src->h , src->h * src->w * 4);
+        dst->data = xalloc(src->h * src->w * 4);
+        dst->size = IMLIB_IMAGE_MAX_SIZE(src->h * src->w * 4);
+        dst->is_data_alloc = 1;
+    }
+
+    if (src->is_compressed) {
+        return true;
+    }
+
+    // JPEG buffer
+    jpeg_buf_t jpeg_buf = {
+        .idx = 0,
+        .buf = dst->pixels,
+        .length = dst->size,
+        .bitc = 0,
+        .bitb = 0,
+        .realloc = realloc,
+        .overflow = false,
+    };
+
+    // Initialize quantization tables
+    jpeg_init(quality);
+
+    jpeg_subsample_t jpeg_subsample = JPEG_SUBSAMPLE_1x1;
+
+    if (src->is_color) {
+        if (quality <= 35) {
+            jpeg_subsample = JPEG_SUBSAMPLE_2x2;
+        } else if (quality < 60) {
+            jpeg_subsample = JPEG_SUBSAMPLE_2x1;
+        }
+    }
+
+    jpeg_write_headers(&jpeg_buf, src->w, src->h, src->is_color ? 2 : 1, jpeg_subsample);
+
+    int DCY = 0, DCU = 0, DCV = 0;
+
+    switch (jpeg_subsample) {
+        case JPEG_SUBSAMPLE_1x1: {
+            int8_t YDU[JPEG_444_GS_MCU_SIZE];
+            int8_t UDU[JPEG_444_GS_MCU_SIZE];
+            int8_t VDU[JPEG_444_GS_MCU_SIZE];
+
+            for (int y_offset = 0; y_offset < src->h; y_offset += MCU_H) {
+                int dy = src->h - y_offset;
+                if (dy > MCU_H) {
+                    dy = MCU_H;
+                }
+
+                for (int x_offset = 0; x_offset < src->w; x_offset += MCU_W) {
+                    int dx = src->w - x_offset;
+                    if (dx > MCU_W) {
+                        dx = MCU_W;
+                    }
+
+                    jpeg_get_mcu(src, x_offset, y_offset, dx, dy, YDU, UDU, VDU);
+                    DCY = jpeg_processDU(&jpeg_buf, YDU, fdtbl_Y, DCY, YDC_HT, YAC_HT);
+
+                    if (src->is_color) {
+                        DCU = jpeg_processDU(&jpeg_buf, UDU, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);
+                        DCV = jpeg_processDU(&jpeg_buf, VDU, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);
+                    }
+                }
+
+                if (jpeg_buf.overflow) {
+                    return true;
+                }
+            }
+            break;
+        }
+        case JPEG_SUBSAMPLE_2x1: { // color only
+            int8_t YDU[JPEG_444_GS_MCU_SIZE * 2];
+            int8_t UDU[JPEG_444_GS_MCU_SIZE * 2];
+            int8_t VDU[JPEG_444_GS_MCU_SIZE * 2];
+            int8_t UDU_avg[JPEG_444_GS_MCU_SIZE];
+            int8_t VDU_avg[JPEG_444_GS_MCU_SIZE];
+
+            for (int y_offset = 0; y_offset < src->h; y_offset += MCU_H) {
+                int dy = src->h - y_offset;
+                if (dy > MCU_H) {
+                    dy = MCU_H;
+                }
+
+                for (int x_offset = 0; x_offset < src->w; ) {
+                    for (int i = 0; i < (JPEG_444_GS_MCU_SIZE * 2); i += JPEG_444_GS_MCU_SIZE, x_offset += MCU_W) {
+                        int dx = src->w - x_offset;
+                        if (dx > MCU_W) {
+                            dx = MCU_W;
+                        }
+
+                        if (dx > 0) {
+                            jpeg_get_mcu(src, x_offset, y_offset, dx, dy, YDU + i, UDU + i, VDU + i);
+                        } else {
+                            memset(YDU + i, 0, JPEG_444_GS_MCU_SIZE);
+                            memset(UDU + i, 0, JPEG_444_GS_MCU_SIZE);
+                            memset(VDU + i, 0, JPEG_444_GS_MCU_SIZE);
+                        }
+
+                        DCY = jpeg_processDU(&jpeg_buf, YDU + i, fdtbl_Y, DCY, YDC_HT, YAC_HT);
+                    }
+
+                    // horizontal subsampling of U & V
+                    int8_t *UDUp0 = UDU;
+                    int8_t *VDUp0 = VDU;
+                    int8_t *UDUp1 = UDUp0 + JPEG_444_GS_MCU_SIZE;
+                    int8_t *VDUp1 = VDUp0 + JPEG_444_GS_MCU_SIZE;
+                    for (int j = 0; j < JPEG_444_GS_MCU_SIZE; j += MCU_W) {
+                        for (int i = 0; i < MCU_W; i += 2) {
+                            UDU_avg[j+(i/2)] = (UDUp0[i]+UDUp0[i+1]) / 2;
+                            VDU_avg[j+(i/2)] = (VDUp0[i]+VDUp0[i+1]) / 2;
+                            UDU_avg[j+(i/2)+(MCU_W/2)] = (UDUp1[i]+UDUp1[i+1]) / 2;
+                            VDU_avg[j+(i/2)+(MCU_W/2)] = (VDUp1[i]+VDUp1[i+1]) / 2;
+                        }
+                        UDUp0 += MCU_W;
+                        VDUp0 += MCU_W;
+                        UDUp1 += MCU_W;
+                        VDUp1 += MCU_W;
+                    }
+
+                    DCU = jpeg_processDU(&jpeg_buf, UDU_avg, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);
+                    DCV = jpeg_processDU(&jpeg_buf, VDU_avg, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);
+                }
+
+                if (jpeg_buf.overflow) {
+                    return true;
+                }
+            }
+            break;
+        }
+        case JPEG_SUBSAMPLE_2x2: { // color only
+            int8_t YDU[JPEG_444_GS_MCU_SIZE * 4];
+            int8_t UDU[JPEG_444_GS_MCU_SIZE * 4];
+            int8_t VDU[JPEG_444_GS_MCU_SIZE * 4];
+            int8_t UDU_avg[JPEG_444_GS_MCU_SIZE];
+            int8_t VDU_avg[JPEG_444_GS_MCU_SIZE];
+
+            for (int y_offset = 0; y_offset < src->h; ) {
+                for (int x_offset = 0; x_offset < src->w; ) {
+                    for (int j = 0; j < (JPEG_444_GS_MCU_SIZE * 4); j += (JPEG_444_GS_MCU_SIZE * 2), y_offset += MCU_H) {
+                        int dy = src->h - y_offset;
+                        if (dy > MCU_H) {
+                            dy = MCU_H;
+                        }
+
+                        for (int i = 0; i < (JPEG_444_GS_MCU_SIZE * 2); i += JPEG_444_GS_MCU_SIZE, x_offset += MCU_W) {
+                            int dx = src->w - x_offset;
+                            if (dx > MCU_W) {
+                                dx = MCU_W;
+                            }
+
+                            if ((dx > 0) && (dy > 0)) {
+                                jpeg_get_mcu(src, x_offset, y_offset, dx, dy, YDU + i + j, UDU + i + j, VDU + i + j);
+                            } else {
+                                memset(YDU + i + j, 0, JPEG_444_GS_MCU_SIZE);
+                                memset(UDU + i + j, 0, JPEG_444_GS_MCU_SIZE);
+                                memset(VDU + i + j, 0, JPEG_444_GS_MCU_SIZE);
+                            }
+
+                            DCY = jpeg_processDU(&jpeg_buf, YDU + i + j, fdtbl_Y, DCY, YDC_HT, YAC_HT);
+                        }
+
+                        // Reset back two columns.
+                        x_offset -= (MCU_W * 2);
+                    }
+
+                    // Advance to the next columns.
+                    x_offset += (MCU_W * 2);
+
+                    // Reset back two rows.
+                    y_offset -= (MCU_H * 2);
+
+                    // horizontal and vertical subsampling of U & V
+                    int8_t *UDUp0 = UDU;
+                    int8_t *VDUp0 = VDU;
+                    int8_t *UDUp1 = UDUp0 + JPEG_444_GS_MCU_SIZE;
+                    int8_t *VDUp1 = VDUp0 + JPEG_444_GS_MCU_SIZE;
+                    int8_t *UDUp2 = UDUp1 + JPEG_444_GS_MCU_SIZE;
+                    int8_t *VDUp2 = VDUp1 + JPEG_444_GS_MCU_SIZE;
+                    int8_t *UDUp3 = UDUp2 + JPEG_444_GS_MCU_SIZE;
+                    int8_t *VDUp3 = VDUp2 + JPEG_444_GS_MCU_SIZE;
+                    for (int j = 0, k = JPEG_444_GS_MCU_SIZE / 2; k < JPEG_444_GS_MCU_SIZE; j += MCU_W, k += MCU_W) {
+                        for (int i = 0; i < MCU_W; i += 2) {
+                            UDU_avg[j+(i/2)] = (UDUp0[i]+UDUp0[i+1]+UDUp0[i+MCU_W]+UDUp0[i+1+MCU_W]) / 4;
+                            VDU_avg[j+(i/2)] = (VDUp0[i]+VDUp0[i+1]+VDUp0[i+MCU_W]+VDUp0[i+1+MCU_W]) / 4;
+                            UDU_avg[j+(i/2)+(MCU_W/2)] = (UDUp1[i]+UDUp1[i+1]+UDUp1[i+MCU_W]+UDUp1[i+1+MCU_W]) / 4;
+                            VDU_avg[j+(i/2)+(MCU_W/2)] = (VDUp1[i]+VDUp1[i+1]+VDUp1[i+MCU_W]+VDUp1[i+1+MCU_W]) / 4;
+                            UDU_avg[k+(i/2)] = (UDUp2[i]+UDUp2[i+1]+UDUp2[i+MCU_W]+UDUp2[i+1+MCU_W]) / 4;
+                            VDU_avg[k+(i/2)] = (VDUp2[i]+VDUp2[i+1]+VDUp2[i+MCU_W]+VDUp2[i+1+MCU_W]) / 4;
+                            UDU_avg[k+(i/2)+(MCU_W/2)] = (UDUp3[i]+UDUp3[i+1]+UDUp3[i+MCU_W]+UDUp3[i+1+MCU_W]) / 4;
+                            VDU_avg[k+(i/2)+(MCU_W/2)] = (VDUp3[i]+VDUp3[i+1]+VDUp3[i+MCU_W]+VDUp3[i+1+MCU_W]) / 4;
+                        }
+                        UDUp0 += MCU_W * 2;
+                        VDUp0 += MCU_W * 2;
+                        UDUp1 += MCU_W * 2;
+                        VDUp1 += MCU_W * 2;
+                        UDUp2 += MCU_W * 2;
+                        VDUp2 += MCU_W * 2;
+                        UDUp3 += MCU_W * 2;
+                        VDUp3 += MCU_W * 2;
+                    }
+
+                    DCU = jpeg_processDU(&jpeg_buf, UDU_avg, fdtbl_UV, DCU, UVDC_HT, UVAC_HT);
+                    DCV = jpeg_processDU(&jpeg_buf, VDU_avg, fdtbl_UV, DCV, UVDC_HT, UVAC_HT);
+                }
+
+                if (jpeg_buf.overflow) {
+                    return true;
+                }
+
+                // Advance to the next rows.
+                y_offset += (MCU_H * 2);
+            }
+            break;
+        }
+    }
+
+    // Do the bit alignment of the EOI marker
+    static const uint16_t fillBits[] = {0x7F, 7};
+    jpeg_writeBits(&jpeg_buf, fillBits);
+
+    // EOI
+    jpeg_put_char(&jpeg_buf, 0xFF);
+    jpeg_put_char(&jpeg_buf, 0xD9);
+
+    dst->size = jpeg_buf.idx;
+    dst->data = jpeg_buf.buf;
+
+    #if (TIME_JPEG==1)
+    printf("time: %lums\n", mp_hal_ticks_ms() - start);
+    #endif
+
+    return false;
+}
+
+#endif // (OMV_HARDWARE_JPEG == 1)
+
+int jpeg_clean_trailing_bytes(int size, uint8_t *data)
+{
+    while ((size > 1) && ((data[size-2] != 0xFF) || (data[size-1] != 0xD9))) {
+        size -= 1;
+    }
+
+    return size;
+}
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+// This function inits the geometry values of an image.
+void jpeg_read_geometry(FIL *fp, image_t *img, const char *path, jpg_read_settings_t *rs)
+{
+    for (;;) {
+        uint16_t header;
+        read_word(fp, &header);
+        header = __REV16(header);
+        if ((0xFFD0 <= header) && (header <= 0xFFD9)) {
+            continue;
+        } else if (((0xFFC0 <= header) && (header <= 0xFFCF))
+                || ((0xFFDA <= header) && (header <= 0xFFDF))
+                || ((0xFFE0 <= header) && (header <= 0xFFEF))
+                || ((0xFFF0 <= header) && (header <= 0xFFFE)))
+        {
+            uint16_t size;
+            read_word(fp, &size);
+            size = __REV16(size);
+            if (((0xFFC0 <= header) && (header <= 0xFFC3))
+             || ((0xFFC5 <= header) && (header <= 0xFFC7))
+             || ((0xFFC9 <= header) && (header <= 0xFFCB))
+             || ((0xFFCD <= header) && (header <= 0xFFCF)))
+            {
+                read_byte_ignore(fp);
+                uint16_t height;
+                read_word(fp, &height);
+                height = __REV16(height);
+
+                uint16_t width;
+                read_word(fp, &width);
+                width = __REV16(width);
+
+                rs->jpg_w   = width;
+                rs->jpg_h   = height;
+                rs->jpg_size = IMLIB_IMAGE_MAX_SIZE(file_fsize(fp));
+
+                img->w      = rs->jpg_w;
+                img->h      = rs->jpg_h;
+                img->size   = rs->jpg_size;
+                img->pixfmt = PIXFORMAT_JPEG;
+                return;
+            } else {
+                file_seek(fp, ftell(*fp) + size - 2);
+            }
+        } else {
+            ff_file_corrupted(fp);
+        }
+    }
+}
+
+// This function reads the pixel values of an image.
+void jpeg_read_pixels(FIL *fp, image_t *img)
+{
+    file_seek(fp, 0);
+    read_data(fp, img->pixels, img->size);
+}
+
+void jpeg_read(image_t *img, const char *path)
+{
+    FIL fp;
+    jpg_read_settings_t rs;
+
+    file_read_open(&fp, path);
+
+    // Do not use file_buffer_on() here.
+    jpeg_read_geometry(&fp, img, path, &rs);
+
+    if (!img->pixels) {
+        img->pixels = xalloc(img->size);
+        img->is_data_alloc = 1;
+    }
+
+    jpeg_read_pixels(&fp, img);
+    file_close(&fp);
+}
+
+void jpeg_write(image_t *img, const char *path, int quality)
+{
+    FIL fp;
+    file_write_open(&fp, path);
+    if (IM_IS_JPEG(img)) {
+        write_data(&fp, img->pixels, img->size);
+    } else {
+        image_t out = { .w=img->w, .h=img->h, .pixfmt=PIXFORMAT_JPEG, .size=0, .pixels=NULL }; // alloc in jpeg compress
+        // When jpeg_compress needs more memory than in currently allocated it
+        // will try to realloc. MP will detect that the pointer is outside of
+        // the heap and return NULL which will cause an out of memory error.
+        jpeg_compress(img, &out, quality, false);
+        write_data(&fp, out.pixels, out.size);
+        // fb_free(NULL); // frees alloc in jpeg_compress()
+        xfree(out.data);
+    }
+    file_close(&fp);
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO)
diff --git a/github_source/minicv2/src/jpegd.c b/github_source/minicv2/src/jpegd.c
new file mode 100644
index 0000000..33177b7
--- /dev/null
+++ b/github_source/minicv2/src/jpegd.c
@@ -0,0 +1,2910 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Baseline JPEG decoder.
+ */
+#include "ff_wrapper.h"
+#include "imlib.h"
+#include "omv_boardconfig.h"
+#include "arm_compat.h"
+#define TIME_JPEG      (0)
+#if (TIME_JPEG == 1)
+// #include "py/mphal.h"
+// #include <stdio.h>
+#endif
+#include "imlib.h"
+
+static bool jpeg_is_progressive(image_t *img)
+{
+    uint8_t *data = img->data;
+    for (uint32_t i=0; i<img->size;) {
+        uint8_t marker = data[i++];
+        if (marker == 0xFF) {
+            continue;
+        } else if (marker == 0xD8)  { //SOI
+            continue;
+        } else if (marker == 0xC0)  { //SOF0/baseline
+            return false;
+        } else if (marker == 0xC2)  {  //SOF2/progressive
+            return true;
+        } else if (marker == 0xC2)  {  //EOI
+            return false;
+        } else if (marker == 0xDD)  {  //DRI 4 bytes payload.
+            i += 4;
+        } else if (marker >= 0xd0 && marker <= 0xd7) { //RSTn
+            continue;
+        } else if (i+2 < img->size) {    // Other markers, variable size payload.
+            i += __REV16(*((uint16_t*)(&data[i])));
+        } else {
+            return false;
+        }
+    }
+    return false;
+}
+
+#if 0 //(OMV_HARDWARE_JPEG == 1)
+
+#else
+/* Software JPEG decoder */
+#define FILE_HIGHWATER      1536
+#define JPEG_FILE_BUF_SIZE  2048
+#define HUFF_TABLEN         273
+#define HUFF11SIZE          (1 << 11)
+#define DC_TABLE_SIZE       1024
+#define DCTSIZE             64
+#define MAX_MCU_COUNT       6
+#define MAX_COMPS_IN_SCAN   4
+#define MAX_BUFFERED_PIXELS 2048
+
+// Decoder options
+#define JPEG_AUTO_ROTATE    1
+#define JPEG_SCALE_HALF     2
+#define JPEG_SCALE_QUARTER  4
+#define JPEG_SCALE_EIGHTH   8
+#define JPEG_LE_PIXELS      16
+#define JPEG_EXIF_THUMBNAIL 32
+#define JPEG_LUMA_ONLY      64
+
+#define MCU0                (DCTSIZE * 0)
+#define MCU1                (DCTSIZE * 1)
+#define MCU2                (DCTSIZE * 2)
+#define MCU3                (DCTSIZE * 3)
+#define MCU4                (DCTSIZE * 4)
+#define MCU5                (DCTSIZE * 5)
+
+// Pixel types (defaults to little endian RGB565)
+enum {
+    RGB565_LITTLE_ENDIAN = 0,
+    RGB565_BIG_ENDIAN,
+    EIGHT_BIT_GRAYSCALE,
+    ONE_BIT_GRAYSCALE,
+    FOUR_BIT_DITHERED,
+    TWO_BIT_DITHERED,
+    ONE_BIT_DITHERED,
+    INVALID_PIXEL_TYPE,
+    RGB888_LITTLE_ENDIAN,
+    RGB888_BIG_ENDIAN
+};
+
+enum {
+    JPEG_MEM_RAM=0,
+    JPEG_MEM_FLASH
+};
+
+// Error codes returned by getLastError()
+enum {
+    JPEG_SUCCESS = 0,
+    JPEG_INVALID_PARAMETER,
+    JPEG_DECODE_ERROR,
+    JPEG_UNSUPPORTED_FEATURE,
+    JPEG_INVALID_FILE
+};
+
+typedef struct buffered_bits {
+    unsigned char *pBuf; // buffer pointer
+    uint32_t ulBits;     // buffered bits
+    uint32_t ulBitOff;   // current bit offset
+} BUFFERED_BITS;
+
+typedef struct jpeg_file_tag {
+    int32_t iPos;   // current file position
+    int32_t iSize;  // file size
+    uint8_t *pData; // memory file pointer
+    void *fHandle;  // class pointer to File/SdFat or whatever you want
+} JPEGFILE;
+
+typedef struct jpeg_draw_tag {
+    int x, y;            // upper left corner of current MCU
+    int iWidth, iHeight; // size of this MCU
+    int iBpp;            // bit depth of the pixels (8 or 16)
+    uint16_t *pPixels;   // 16-bit pixels
+    void *pUser;
+} JPEGDRAW;
+
+// Callback function prototypes
+typedef int32_t (JPEG_READ_CALLBACK) (JPEGFILE *pFile, uint8_t *pBuf, int32_t iLen);
+typedef int32_t (JPEG_SEEK_CALLBACK) (JPEGFILE *pFile, int32_t iPosition);
+typedef int (JPEG_DRAW_CALLBACK) (JPEGDRAW *pDraw);
+typedef void * (JPEG_OPEN_CALLBACK) (const char *szFilename, int32_t *pFileSize);
+typedef void (JPEG_CLOSE_CALLBACK) (void *pHandle);
+
+/* JPEG color component info */
+typedef struct _jpegcompinfo {
+    // These values are fixed over the whole image
+    // For compression, they must be supplied by the user interface
+    // for decompression, they are read from the SOF marker.
+    unsigned char component_needed; /*  do we need the value of this component? */
+    unsigned char component_id;     /* identifier for this component (0..255) */
+    unsigned char component_index;  /* its index in SOF or cinfo->comp_info[] */
+    // unsigned char h_samp_factor; /* horizontal sampling factor (1..4) */
+    // unsigned char v_samp_factor; /* vertical sampling factor (1..4) */
+    unsigned char quant_tbl_no;     /* quantization table selector (0..3) */
+    // These values may vary between scans
+    // For compression, they must be supplied by the user interface
+    // for decompression, they are read from the SOS marker.
+    unsigned char dc_tbl_no; /* DC entropy table selector (0..3) */
+    unsigned char ac_tbl_no; /* AC entropy table selector (0..3) */
+    // These values are computed during compression or decompression startup
+    // int true_comp_width; /* component's image width in samples */
+    // int true_comp_height; /* component's image height in samples */
+    // the above are the logical dimensions of the downsampled image
+    // These values are computed before starting a scan of the component
+    // int MCU_width; /* number of blocks per MCU, horizontally */
+    // int MCU_height; /* number of blocks per MCU, vertically */
+    // int MCU_blocks; /* MCU_width * MCU_height */
+    // int downsampled_width; /* image width in samples, after expansion */
+    // int downsampled_height; /* image height in samples, after expansion */
+    // the above are the true_comp_xxx values rounded up to multiples of
+    // the MCU dimensions; these are the working dimensions of the array
+    // as it is passed through the DCT or IDCT step.  NOTE: these values
+    // differ depending on whether the component is interleaved or not!!
+    // This flag is used only for decompression.  In cases where some of the
+    // components will be ignored (eg grayscale output from YCbCr image),
+    // we can skip IDCT etc. computations for the unused components.
+} JPEGCOMPINFO;
+
+//
+// our private structure to hold a JPEG image decode state
+//
+typedef struct jpeg_image_tag {
+    int iWidth, iHeight;           // image size
+    int iThumbWidth, iThumbHeight; // thumbnail size (if present)
+    int iThumbData;                // offset to image data
+    int iXOffset, iYOffset;        // placement on the display
+    void *pUser;
+    uint8_t ucBpp, ucSubSample, ucHuffTableUsed;
+    uint8_t ucMode, ucOrientation, ucHasThumb, b11Bit;
+    uint8_t ucComponentsInScan, cApproxBitsLow, cApproxBitsHigh;
+    uint8_t iScanStart, iScanEnd, ucFF, ucNumComponents;
+    uint8_t ucACTable, ucDCTable, ucMaxACCol, ucMaxACRow;
+    uint8_t ucMemType, ucPixelType;
+    int iEXIF;                   // Offset to EXIF 'TIFF' file
+    int iError;
+    int iOptions;
+    int iVLCOff;                 // current VLC data offset
+    int iVLCSize;                // current quantity of data in the VLC buffer
+    int iResInterval, iResCount; // restart interval
+    int iMaxMCUs;                // max MCUs of pixels per JPEGDraw call
+    JPEG_READ_CALLBACK *pfnRead;
+    JPEG_SEEK_CALLBACK *pfnSeek;
+    JPEG_DRAW_CALLBACK *pfnDraw;
+    JPEG_OPEN_CALLBACK *pfnOpen;
+    JPEG_CLOSE_CALLBACK *pfnClose;
+    JPEGCOMPINFO JPCI[MAX_COMPS_IN_SCAN]; /* Max color components */
+    JPEGFILE JPEGFile;
+    BUFFERED_BITS bb;
+    uint8_t *pImage;
+    uint8_t *pDitherBuffer;                 // provided externally to do Floyd-Steinberg dithering
+    uint16_t usPixels[MAX_BUFFERED_PIXELS];
+    int16_t sMCUs[DCTSIZE * MAX_MCU_COUNT]; // 4:2:0 needs 6 DCT blocks per MCU
+    int16_t sQuantTable[DCTSIZE * 4];       // quantization tables
+    uint8_t ucFileBuf[JPEG_FILE_BUF_SIZE];  // holds temp data and pixel stack
+    uint8_t ucHuffDC[DC_TABLE_SIZE * 2];    // up to 2 'short' tables
+    uint16_t usHuffAC[HUFF11SIZE * 2];
+} JPEGIMAGE;
+
+int JPEG_openRAM(JPEGIMAGE *pJPEG, uint8_t *pData, int iDataSize, uint8_t *pImage);
+int JPEG_openFile(JPEGIMAGE *pJPEG, const char *szFilename, JPEG_DRAW_CALLBACK *pfnDraw);
+int JPEG_getWidth(JPEGIMAGE *pJPEG);
+int JPEG_getHeight(JPEGIMAGE *pJPEG);
+int JPEG_decode(JPEGIMAGE *pJPEG, int x, int y, int iOptions);
+int JPEG_decodeDither(JPEGIMAGE *pJPEG, uint8_t *pDither, int iOptions);
+void JPEG_close(JPEGIMAGE *pJPEG);
+int JPEG_getLastError(JPEGIMAGE *pJPEG);
+int JPEG_getOrientation(JPEGIMAGE *pJPEG);
+int JPEG_getBpp(JPEGIMAGE *pJPEG);
+int JPEG_getSubSample(JPEGIMAGE *pJPEG);
+int JPEG_hasThumb(JPEGIMAGE *pJPEG);
+int JPEG_getThumbWidth(JPEGIMAGE *pJPEG);
+int JPEG_getThumbHeight(JPEGIMAGE *pJPEG);
+int JPEG_getLastError(JPEGIMAGE *pJPEG);
+void JPEG_setPixelType(JPEGIMAGE *pJPEG, int iType); // defaults to little endian
+void JPEG_setMaxOutputSize(JPEGIMAGE *pJPEG, int iMaxMCUs);
+
+// Due to unaligned memory causing an exception, we have to do these macros the slow way
+#define INTELSHORT(p)  (*(uint16_t *) p)
+#define INTELLONG(p)   (*(uint32_t *) p)
+#define MOTOSHORT(p)   __builtin_bswap16(*(uint16_t *) p)
+#define MOTOLONG(p)    __builtin_bswap32(*(uint32_t *) p)
+
+// Must be a 32-bit target processor
+#define REGISTER_WIDTH 32
+
+#define TIME_JPEG      (0)
+#if (TIME_JPEG == 1)
+// #include "py/mphal.h"
+#endif
+
+//
+// forward references
+static int JPEGInit(JPEGIMAGE *pJPEG);
+static int JPEGParseInfo(JPEGIMAGE *pPage, int bExtractThumb);
+static void JPEGGetMoreData(JPEGIMAGE *pPage);
+static int DecodeJPEG(JPEGIMAGE *pImage);
+static int32_t readRAM(JPEGFILE *pFile, uint8_t *pBuf, int32_t iLen);
+static int32_t seekMem(JPEGFILE *pFile, int32_t iPosition);
+
+/* JPEG tables */
+// zigzag ordering of DCT coefficients
+static const unsigned char cZigZag[64] = {
+    0,  1,  5,  6,  14, 15, 27, 28,
+    2,  4,  7,  13, 16, 26, 29, 42,
+    3,  8,  12, 17, 25, 30, 41, 43,
+    9,  11, 18, 24, 31, 40, 44, 53,
+    10, 19, 23, 32, 39, 45, 52, 54,
+    20, 22, 33, 38, 46, 51, 55, 60,
+    21, 34, 37, 47, 50, 56, 59, 61,
+    35, 36, 48, 49, 57, 58, 62, 63
+};
+
+// un-zigzag ordering
+static const unsigned char cZigZag2[64] = {
+    0,  1,  8,  16, 9,  2 , 3,  10,
+    17, 24, 32, 25, 18, 11, 4,  5,
+    12, 19, 26, 33, 40, 48, 41, 34,
+    27, 20, 13, 6,  7,  14, 21, 28,
+    35, 42, 49, 56, 57, 50, 43, 36,
+    29, 22, 15, 23, 30, 37, 44, 51,
+    58, 59, 52, 45, 38, 31, 39, 46,
+    53, 60, 61, 54, 47, 55, 62, 63
+};
+
+// For AA&N IDCT method, multipliers are equal to quantization
+// coefficients scaled by scalefactor[row]*scalefactor[col], where
+// scalefactor[0] = 1
+// scalefactor[k] = cos(k*PI/16) * sqrt(2)    for k=1..7
+// For integer operation, the multiplier table is to be scaled by
+// IFAST_SCALE_BITS.
+static const int iScaleBits[64] = {
+    16384, 22725, 21407, 19266, 16384, 12873, 8867,  4520,
+    22725, 31521, 29692, 26722, 22725, 17855, 12299, 6270,
+    21407, 29692, 27969, 25172, 21407, 16819, 11585, 5906,
+    19266, 26722, 25172, 22654, 19266, 15137, 10426, 5315,
+    16384, 22725, 21407, 19266, 16384, 12873, 8867,  4520,
+    12873, 17855, 16819, 15137, 12873, 10114, 6967,  3552,
+    8867,  12299, 11585, 10426, 8867,  6967,  4799,  2446,
+    4520,  6270,  5906,  5315,  4520,  3552,  2446,  1247
+};
+
+// Range clip and shift for RGB565 output
+// input value is 0 to 255, then another 256 for overflow to FF, then 512 more for negative values wrapping around
+// Trims a few instructions off the final output stage
+static const uint8_t ucRangeTable[] = {
+    0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87, 0x88, 0x89, 0x8a, 0x8b, 0x8c, 0x8d, 0x8e, 0x8f,
+    0x90, 0x91, 0x92, 0x93, 0x94, 0x95, 0x96, 0x97, 0x98, 0x99, 0x9a, 0x9b, 0x9c, 0x9d, 0x9e, 0x9f,
+    0xa0, 0xa1, 0xa2, 0xa3, 0xa4, 0xa5, 0xa6, 0xa7, 0xa8, 0xa9, 0xaa, 0xab, 0xac, 0xad, 0xae, 0xaf,
+    0xb0, 0xb1, 0xb2, 0xb3, 0xb4, 0xb5, 0xb6, 0xb7, 0xb8, 0xb9, 0xba, 0xbb, 0xbc, 0xbd, 0xbe, 0xbf,
+    0xc0, 0xc1, 0xc2, 0xc3, 0xc4, 0xc5, 0xc6, 0xc7, 0xc8, 0xc9, 0xca, 0xcb, 0xcc, 0xcd, 0xce, 0xcf,
+    0xd0, 0xd1, 0xd2, 0xd3, 0xd4, 0xd5, 0xd6, 0xd7, 0xd8, 0xd9, 0xda, 0xdb, 0xdc, 0xdd, 0xde, 0xdf,
+    0xe0, 0xe1, 0xe2, 0xe3, 0xe4, 0xe5, 0xe6, 0xe7, 0xe8, 0xe9, 0xea, 0xeb, 0xec, 0xed, 0xee, 0xef,
+    0xf0, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7, 0xf8, 0xf9, 0xfa, 0xfb, 0xfc, 0xfd, 0xfe, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0a, 0x0b, 0x0c, 0x0d, 0x0e, 0x0f,
+    0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1a, 0x1b, 0x1c, 0x1d, 0x1e, 0x1f,
+    0x20, 0x21, 0x22, 0x23, 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2a, 0x2b, 0x2c, 0x2d, 0x2e, 0x2f,
+    0x30, 0x31, 0x32, 0x33, 0x34, 0x35, 0x36, 0x37, 0x38, 0x39, 0x3a, 0x3b, 0x3c, 0x3d, 0x3e, 0x3f,
+    0x40, 0x41, 0x42, 0x43, 0x44, 0x45, 0x46, 0x47, 0x48, 0x49, 0x4a, 0x4b, 0x4c, 0x4d, 0x4e, 0x4f,
+    0x50, 0x51, 0x52, 0x53, 0x54, 0x55, 0x56, 0x57, 0x58, 0x59, 0x5a, 0x5b, 0x5c, 0x5d, 0x5e, 0x5f,
+    0x60, 0x61, 0x62, 0x63, 0x64, 0x65, 0x66, 0x67, 0x68, 0x69, 0x6a, 0x6b, 0x6c, 0x6d, 0x6e, 0x6f,
+    0x70, 0x71, 0x72, 0x73, 0x74, 0x75, 0x76, 0x77, 0x78, 0x79, 0x7a, 0x7b, 0x7c, 0x7d, 0x7e, 0x7f
+};
+
+static const uint16_t usGrayTo565[] = {
+    0x0000, 0x0000, 0x0000, 0x0000, 0x0020, 0x0020, 0x0020, 0x0020,
+    0x0841, 0x0841, 0x0841, 0x0841, 0x0861, 0x0861, 0x0861, 0x0861,
+    0x1082, 0x1082, 0x1082, 0x1082, 0x10a2, 0x10a2, 0x10a2, 0x10a2,
+    0x18c3, 0x18c3, 0x18c3, 0x18c3, 0x18e3, 0x18e3, 0x18e3, 0x18e3,
+    0x2104, 0x2104, 0x2104, 0x2104, 0x2124, 0x2124, 0x2124, 0x2124,
+    0x2945, 0x2945, 0x2945, 0x2945, 0x2965, 0x2965, 0x2965, 0x2965,
+    0x3186, 0x3186, 0x3186, 0x3186, 0x31a6, 0x31a6, 0x31a6, 0x31a6,
+    0x39c7, 0x39c7, 0x39c7, 0x39c7, 0x39e7, 0x39e7, 0x39e7, 0x39e7,
+    0x4208, 0x4208, 0x4208, 0x4208, 0x4228, 0x4228, 0x4228, 0x4228,
+    0x4a49, 0x4a49, 0x4a49, 0x4a49, 0x4a69, 0x4a69, 0x4a69, 0x4a69,
+    0x528a, 0x528a, 0x528a, 0x528a, 0x52aa, 0x52aa, 0x52aa, 0x52aa,
+    0x5acb, 0x5acb, 0x5acb, 0x5acb, 0x5aeb, 0x5aeb, 0x5aeb, 0x5aeb,
+    0x630c, 0x630c, 0x630c, 0x630c, 0x632c, 0x632c, 0x632c, 0x632c,
+    0x6b4d, 0x6b4d, 0x6b4d, 0x6b4d, 0x6b6d, 0x6b6d, 0x6b6d, 0x6b6d,
+    0x738e, 0x738e, 0x738e, 0x738e, 0x73ae, 0x73ae, 0x73ae, 0x73ae,
+    0x7bcf, 0x7bcf, 0x7bcf, 0x7bcf, 0x7bef, 0x7bef, 0x7bef, 0x7bef,
+    0x8410, 0x8410, 0x8410, 0x8410, 0x8430, 0x8430, 0x8430, 0x8430,
+    0x8c51, 0x8c51, 0x8c51, 0x8c51, 0x8c71, 0x8c71, 0x8c71, 0x8c71,
+    0x9492, 0x9492, 0x9492, 0x9492, 0x94b2, 0x94b2, 0x94b2, 0x94b2,
+    0x9cd3, 0x9cd3, 0x9cd3, 0x9cd3, 0x9cf3, 0x9cf3, 0x9cf3, 0x9cf3,
+    0xa514, 0xa514, 0xa514, 0xa514, 0xa534, 0xa534, 0xa534, 0xa534,
+    0xad55, 0xad55, 0xad55, 0xad55, 0xad75, 0xad75, 0xad75, 0xad75,
+    0xb596, 0xb596, 0xb596, 0xb596, 0xb5b6, 0xb5b6, 0xb5b6, 0xb5b6,
+    0xbdd7, 0xbdd7, 0xbdd7, 0xbdd7, 0xbdf7, 0xbdf7, 0xbdf7, 0xbdf7,
+    0xc618, 0xc618, 0xc618, 0xc618, 0xc638, 0xc638, 0xc638, 0xc638,
+    0xce59, 0xce59, 0xce59, 0xce59, 0xce79, 0xce79, 0xce79, 0xce79,
+    0xd69a, 0xd69a, 0xd69a, 0xd69a, 0xd6ba, 0xd6ba, 0xd6ba, 0xd6ba,
+    0xdedb, 0xdedb, 0xdedb, 0xdedb, 0xdefb, 0xdefb, 0xdefb, 0xdefb,
+    0xe71c, 0xe71c, 0xe71c, 0xe71c, 0xe73c, 0xe73c, 0xe73c, 0xe73c,
+    0xef5d, 0xef5d, 0xef5d, 0xef5d, 0xef7d, 0xef7d, 0xef7d, 0xef7d,
+    0xf79e, 0xf79e, 0xf79e, 0xf79e, 0xf7be, 0xf7be, 0xf7be, 0xf7be,
+    0xffdf, 0xffdf, 0xffdf, 0xffdf, 0xffff, 0xffff, 0xffff, 0xffff};
+
+// Memory initialization
+int JPEG_openRAM(JPEGIMAGE *pJPEG, uint8_t *pData, int iDataSize, uint8_t *pImage)
+{
+    memset(pJPEG, 0, sizeof(JPEGIMAGE));
+    pJPEG->ucMemType = JPEG_MEM_RAM;
+    pJPEG->pfnRead   = readRAM;
+    pJPEG->pfnSeek   = seekMem;
+    pJPEG->pImage    = pImage;
+    pJPEG->pfnOpen   = NULL;
+    pJPEG->pfnClose  = NULL;
+    pJPEG->JPEGFile.iSize = iDataSize;
+    pJPEG->JPEGFile.pData = pData;
+    pJPEG->iMaxMCUs  = 1000; // set to an unnaturally high value to start
+    return JPEGInit(pJPEG);
+}
+
+int JPEG_getLastError(JPEGIMAGE *pJPEG)
+{
+    return pJPEG->iError;
+}
+
+int JPEG_getWidth(JPEGIMAGE *pJPEG)
+{
+    return pJPEG->iWidth;
+}
+
+int JPEG_getHeight(JPEGIMAGE *pJPEG)
+{
+    return pJPEG->iHeight;
+}
+
+int JPEG_getOrientation(JPEGIMAGE *pJPEG)
+{
+    return (int) pJPEG->ucOrientation;
+}
+
+int JPEG_getBpp(JPEGIMAGE *pJPEG)
+{
+    return (int) pJPEG->ucBpp;
+}
+
+int JPEG_getSubSample(JPEGIMAGE *pJPEG)
+{
+    return (int) pJPEG->ucSubSample;
+}
+
+int JPEG_hasThumb(JPEGIMAGE *pJPEG)
+{
+    return (int) pJPEG->ucHasThumb;
+}
+
+int JPEG_getThumbWidth(JPEGIMAGE *pJPEG)
+{
+    return pJPEG->iThumbWidth;
+}
+int JPEG_getThumbHeight(JPEGIMAGE *pJPEG)
+{
+    return pJPEG->iThumbHeight;
+}
+
+void JPEG_setPixelType(JPEGIMAGE *pJPEG, int iType)
+{
+    pJPEG->ucPixelType = (uint8_t) iType;
+}
+
+void JPEG_setMaxOutputSize(JPEGIMAGE *pJPEG, int iMaxMCUs)
+{
+    if (iMaxMCUs < 1) {
+        iMaxMCUs = 1; // don't allow invalid value
+    }
+    pJPEG->iMaxMCUs = iMaxMCUs;
+}
+
+int JPEG_decode(JPEGIMAGE *pJPEG, int x, int y, int iOptions)
+{
+    pJPEG->iXOffset = x;
+    pJPEG->iYOffset = y;
+    pJPEG->iOptions = iOptions;
+    return DecodeJPEG(pJPEG);
+}
+
+int JPEG_decodeDither(JPEGIMAGE *pJPEG, uint8_t *pDither, int iOptions)
+{
+    pJPEG->iOptions = iOptions;
+    pJPEG->pDitherBuffer = pDither;
+    return DecodeJPEG(pJPEG);
+}
+
+// Helper functions for memory based images
+static int32_t readRAM(JPEGFILE *pFile, uint8_t *pBuf, int32_t iLen)
+{
+    int32_t iBytesRead;
+
+    iBytesRead = iLen;
+    if ((pFile->iSize - pFile->iPos) < iLen) {
+        iBytesRead = pFile->iSize - pFile->iPos;
+    }
+    if (iBytesRead <= 0) {
+        return 0;
+    }
+    memcpy(pBuf, &pFile->pData[pFile->iPos], iBytesRead);
+    pFile->iPos += iBytesRead;
+    return iBytesRead;
+}
+
+static int32_t seekMem(JPEGFILE *pFile, int32_t iPosition)
+{
+    if (iPosition < 0) {
+        iPosition = 0;
+    } else if (iPosition >= pFile->iSize) {
+        iPosition = pFile->iSize - 1;
+    }
+    pFile->iPos = iPosition;
+    return iPosition;
+}
+
+// The following functions are written in plain C and have no
+// 3rd party dependencies, not even the C runtime library
+//
+// Initialize a JPEG file and callback access from a file on SD or memory
+// returns 1 for success, 0 for failure
+// Fills in the basic image info fields of the JPEGIMAGE structure
+static int JPEGInit(JPEGIMAGE *pJPEG)
+{
+    return JPEGParseInfo(pJPEG, 0); // gather info for image
+}
+
+// Unpack the Huffman tables
+static int JPEGGetHuffTables(uint8_t *pBuf, int iLen, JPEGIMAGE *pJPEG)
+{
+    int i, j, iOffset, iTableOffset;
+    uint8_t ucTable, *pHuffVals;
+
+    iOffset   = 0;
+    pHuffVals = (uint8_t *) pJPEG->usPixels; // temp holding area to save RAM
+    while (iLen > 17) {
+        // while there are tables to copy (we may have combined more than 1 table together)
+        ucTable = pBuf[iOffset++];           // get table index
+        if (ucTable & 0x10) {
+            // convert AC offset of 0x10 into offset of 4
+            ucTable ^= 0x14;
+        }
+        pJPEG->ucHuffTableUsed |= (1 << ucTable); // mark this table as being defined
+        if (ucTable <= 7) {
+            // tables are 0-3, AC+DC
+            iTableOffset = ucTable * HUFF_TABLEN;
+            j = 0; // total bits
+            for (i = 0; i < 16; i++) {
+                j += pBuf[iOffset];
+                pHuffVals[iTableOffset + i] = pBuf[iOffset++];
+            }
+            iLen -= 17; // subtract length of bit lengths
+            if (j == 0 || j > 256 || j > iLen) {
+                // bogus bit lengths
+                return -1;
+            }
+            iTableOffset += 16;
+            for (i = 0; i < j; i++) {
+                // copy huffman table
+                pHuffVals[iTableOffset + i] = pBuf[iOffset++];
+            }
+            iLen -= j;
+        }
+    }
+    return 0;
+}
+
+// Expand the Huffman tables for fast decoding
+// returns 1 for success, 0 for failure
+static int JPEGMakeHuffTables(JPEGIMAGE *pJPEG, int bThumbnail)
+{
+    int code, repeat, count, codestart;
+    int j;
+    int iLen, iTable;
+    uint16_t *pTable, *pShort, *pLong;
+    uint8_t *pHuffVals, *pucTable, *pucShort, *pucLong;
+    uint32_t ul, *pLongTable;
+    int iBitNum; // current code bit length
+    int cc;      // code
+    uint8_t *p, *pBits, ucCode;
+    int iMaxLength, iMaxMask;
+    int iTablesUsed;
+
+    iTablesUsed = 0;
+    pHuffVals   = (uint8_t *) pJPEG->usPixels;
+    for (j = 0; j < 4; j++) {
+        if (pJPEG->ucHuffTableUsed & (1 << j)) {
+            iTablesUsed++;
+        }
+    }
+    // first do DC components (up to 4 tables of 12-bit codes)
+    // we can save time and memory for the DC codes by knowing that there exist short codes (<= 6 bits)
+    // and long codes (>6 bits, but the first 5 bits are 1's).  This allows us to create 2 tables: a 6-bit
+    // and 7 or 8-bit to handle any DC codes
+    iMaxLength = 12;   // assume DC codes can be 12-bits
+    iMaxMask   = 0x7f; // lower 7 bits after truncate 5 leading 1's
+    for (iTable = 0; iTable < 4; iTable++) {
+        if (pJPEG->ucHuffTableUsed & (1 << iTable)) {
+            //         pJPEG->huffdcFast[iTable] = (int *)PILIOAlloc(0x180); // short table = 128 bytes, long table =
+            // 256 bytes
+            pucShort = &pJPEG->ucHuffDC[iTable * DC_TABLE_SIZE];
+            //         pJPEG->huffdc[iTable] = pJPEG->huffdcFast[iTable] + 0x20; // 0x20 longs = 128 bytes
+            pucLong  = &pJPEG->ucHuffDC[iTable * DC_TABLE_SIZE + 128];
+            pBits    = &pHuffVals[iTable * HUFF_TABLEN];
+            p  = pBits;
+            p += 16;             // point to bit data
+            cc = 0;              // start with a code of 0
+            for (iBitNum = 1; iBitNum <= 16; iBitNum++) {
+                iLen = *pBits++; // get number of codes for this bit length
+                if (iBitNum > iMaxLength && iLen > 0) {
+                    // we can't handle codes longer a certain length
+                    return 0;
+                }
+                while (iLen) {
+                    //               if (iBitNum > 6) // do long table
+                    if ((cc >> (iBitNum - 5)) == 0x1f) {
+                        // first 5 bits are 1 - use long table
+                        count     = iMaxLength - iBitNum;
+                        codestart = cc << count;
+                        pucTable  = &pucLong[codestart & iMaxMask]; // use lower 7/8 bits of code
+                    } else {
+                        // do short table
+                        count     = 6 - iBitNum;
+                        if (count < 0) {
+                            return 0; // DEBUG - something went wrong
+                        }
+                        codestart = cc << count;
+                        pucTable  = &pucShort[codestart];
+                    }
+                    ucCode = *p++;  // get actual huffman code
+                    // does precalculating the DC value save time on ARM?
+                    if (ucCode != 0 && (ucCode + iBitNum) <= 6 && pJPEG->ucMode != 0xc2) {
+                        // we can fit the magnitude value in the code lookup (not for progressive)
+                        int k, iLoop;
+                        unsigned char ucCoeff;
+                        unsigned char *d    = &pucTable[512];
+                        unsigned char ucMag = ucCode;
+                        ucCode |= ((iBitNum + ucCode) << 4); // add magnitude bits to length
+                        repeat  = 1 << ucMag;
+                        iLoop   = 1 << (count - ucMag);
+                        for (j = 0; j < repeat; j++) {
+                            // calcuate the magnitude coeff already
+                            if (j & 1 << (ucMag - 1)) {
+                                // positive number
+                                ucCoeff = (unsigned char) j;
+                            } else {
+                                // negative number
+                                ucCoeff = (unsigned char) (j - ((1 << ucMag) - 1));
+                            }
+                            for (k = 0; k < iLoop; k++) {
+                                *d++ = ucCoeff;
+                            } // for k
+                        }     // for j
+                    } else {
+                        ucCode |= (iBitNum << 4);
+                    }
+                    if (count) {
+                        // do it as dwords to save time
+                        repeat = (1 << count);
+                        memset(pucTable, ucCode, repeat);
+                    } else {
+                        pucTable[0] = ucCode;
+                    }
+                    cc++;
+                    iLen--;
+                }
+                cc <<= 1;
+            }
+        } // if table defined
+    }
+    // now do AC components (up to 4 tables of 16-bit codes)
+    // We split the codes into a short table (9 bits or less) and a long table (first 5 bits are 1)
+    for (iTable = 0; iTable < 4; iTable++) {
+        if (pJPEG->ucHuffTableUsed & (1 << (iTable + 4))) {
+            // if this table is defined
+            pBits  = &pHuffVals[(iTable + 4) * HUFF_TABLEN];
+            p      = pBits;
+            p     += 16;         // point to bit data
+            pShort = &pJPEG->usHuffAC[iTable * HUFF11SIZE];
+            pLong  = &pJPEG->usHuffAC[iTable * HUFF11SIZE + 1024];
+            cc     = 0;          // start with a code of 0
+            // construct the decode table
+            for (iBitNum = 1; iBitNum <= 16; iBitNum++) {
+                iLen = *pBits++; // get number of codes for this bit length
+                while (iLen) {
+                    if ((cc >> (iBitNum - 6)) == 0x3f) {
+                        // first 6 bits are 1 - use long table
+                        count     = 16 - iBitNum;
+                        codestart = cc << count;
+                        pTable    = &pLong[codestart & 0x3ff]; // use lower 10 bits of code
+                    } else {
+                        count = 10 - iBitNum;
+                        if (count < 0) {
+                            // an 11/12-bit? code - that doesn't fit our optimized
+                            // scheme, see if we can do a bigger table version
+                            if (count == -1 && iTablesUsed <= 4) {
+                                return 0;
+                            } else {
+                                return 0; // DEBUG - fatal error, more than 2 big tables we currently don't support
+                            }
+                        }
+                        codestart = cc << count;
+                        pTable    = &pShort[codestart]; // 10 bits or shorter
+                    }
+                    code = *p++;                        // get actual huffman code
+                    if (bThumbnail && code != 0) {
+                        // add "extra" bits to code length since we skip these codes
+                        // get rid of extra bits in code and add increment (1) for AC index
+                        code = ((iBitNum + (code & 0xf)) << 8) | ((code >> 4) + 1);
+                    } else {
+                        code |= (iBitNum << 8);
+                    }
+                    if (count) {
+                        // do it as dwords to save time
+                        repeat     = 1 << (count - 1); // store as dwords (/2)
+                        ul         = code | (code << 16);
+                        pLongTable = (uint32_t *) pTable;
+                        for (j = 0; j < repeat; j++) {
+                            *pLongTable++ = ul;
+                        }
+                    } else {
+                        pTable[0] = (unsigned short) code;
+                    }
+                    cc++;
+                    iLen--;
+                }
+                cc <<= 1;
+            } // for each bit length
+        }     // if table defined
+    }
+    return 1;
+}
+
+// TIFFSHORT
+// read a 16-bit unsigned integer from the given pointer
+// and interpret the data as big endian (Motorola) or little endian (Intel)
+static uint16_t TIFFSHORT(unsigned char *p, int bMotorola)
+{
+    unsigned short s;
+
+    if (bMotorola) {
+        s = *p * 0x100 + *(p + 1); // big endian (AKA Motorola byte order)
+    } else {
+        s = *p + *(p + 1) * 0x100; // little endian (AKA Intel byte order)
+    }
+    return s;
+}
+
+// TIFFLONG
+// read a 32-bit unsigned integer from the given pointer
+// and interpret the data as big endian (Motorola) or little endian (Intel)
+static uint32_t TIFFLONG(unsigned char *p, int bMotorola)
+{
+    uint32_t l;
+
+    if (bMotorola) {
+        l = *p * 0x1000000 + *(p + 1) * 0x10000 + *(p + 2) * 0x100 + *(p + 3); // big endian
+    } else {
+        l = *p + *(p + 1) * 0x100 + *(p + 2) * 0x10000 + *(p + 3) * 0x1000000; // little endian
+    }
+    return l;
+}
+
+// TIFFVALUE
+// read an integer value encoded in a TIFF TAG (12-byte structure)
+// and interpret the data as big endian (Motorola) or little endian (Intel)
+static int TIFFVALUE(unsigned char *p, int bMotorola)
+{
+    int i, iType;
+
+    iType = TIFFSHORT(p + 2, bMotorola);
+    /* If pointer to a list of items, must be a long */
+    if (TIFFSHORT(p + 4, bMotorola) > 1) {
+        iType = 4;
+    }
+    switch (iType) {
+        case 3:  /* Short */
+            i = TIFFSHORT(p + 8, bMotorola);
+            break;
+        case 4:  /* Long */
+        case 7:  // undefined (treat it as a long since it's usually a multibyte buffer)
+            i = TIFFLONG(p + 8, bMotorola);
+            break;
+        case 6:  // signed byte
+            i = (signed char) p[8];
+            break;
+        case 2:  /* ASCII */
+        case 5:  /* Unsigned Rational */
+        case 10: /* Signed Rational */
+            i = TIFFLONG(p + 8, bMotorola);
+            break;
+        default: /* to suppress compiler warning */
+            i = 0;
+            break;
+    }
+    return i;
+
+}
+
+static void GetTIFFInfo(JPEGIMAGE *pPage, int bMotorola, int iOffset)
+{
+    int iTag, iTagCount, i;
+    uint8_t *cBuf = pPage->ucFileBuf;
+
+    iTagCount = TIFFSHORT(&cBuf[iOffset], bMotorola); /* Number of tags in this dir */
+    if (iTagCount < 1 || iTagCount > 256) {
+        // invalid tag count
+        return;                                       /* Bad header info */
+    }
+    /*--- Search the TIFF tags ---*/
+    for (i = 0; i < iTagCount; i++) {
+        unsigned char *p = &cBuf[iOffset + (i * 12) + 2];
+        iTag = TIFFSHORT(p, bMotorola);  /* current tag value */
+        if (iTag == 274) {
+            // orientation tag
+            pPage->ucOrientation = TIFFVALUE(p, bMotorola);
+        } else if (iTag == 256) {
+            // width of thumbnail
+            pPage->iThumbWidth = TIFFVALUE(p, bMotorola);
+        } else if (iTag == 257) {
+            // height of thumbnail
+            pPage->iThumbHeight = TIFFVALUE(p, bMotorola);
+        } else if (iTag == 513) {
+            // offset to JPEG data
+            pPage->iThumbData = TIFFVALUE(p, bMotorola);
+        }
+    }
+}
+
+static int JPEGGetSOS(JPEGIMAGE *pJPEG, int *iOff)
+{
+    int16_t sLen;
+    int iOffset = *iOff;
+    int i, j;
+    uint8_t uc,c,cc;
+    uint8_t *buf = pJPEG->ucFileBuf;
+
+    sLen     = MOTOSHORT(&buf[iOffset]);
+    iOffset += 2;
+
+    // Assume no components in this scan
+    for (i = 0; i < 4; i++) {
+        pJPEG->JPCI[i].component_needed = 0;
+    }
+
+    uc    = buf[iOffset++]; // get number of components
+    pJPEG->ucComponentsInScan = uc;
+    sLen -= 3;
+    if (uc < 1 || uc > MAX_COMPS_IN_SCAN || sLen != (uc * 2 + 3)) {
+        // check length of data packet
+        return 1; // error
+    }
+    for (i = 0; i < uc; i++) {
+        cc    = buf[iOffset++];
+        c     = buf[iOffset++];
+        sLen -= 2;
+        for (j = 0; j < 4; j++) {
+            // search for component id
+            if (pJPEG->JPCI[j].component_id == cc) {
+                break;
+            }
+        }
+        if (j == 4) {
+            // error, not found
+            return 1;
+        }
+        if ((c & 0xf) > 3 || (c & 0xf0) > 0x30) {
+            return 1; // bogus table numbers
+        }
+        pJPEG->JPCI[j].dc_tbl_no = c >> 4;
+        pJPEG->JPCI[j].ac_tbl_no = c & 0xf;
+        pJPEG->JPCI[j].component_needed = 1; // mark this component as being included in the scan
+    }
+    pJPEG->iScanStart = buf[iOffset++];      // Get the scan start (or lossless predictor) for this scan
+    pJPEG->iScanEnd   = buf[iOffset++];      // Get the scan end for this scan
+    c     = buf[iOffset++];                  // successive approximation bits
+    pJPEG->cApproxBitsLow  = c & 0xf;        // also point transform in lossless mode
+    pJPEG->cApproxBitsHigh = c >> 4;
+
+    *iOff = iOffset;
+    return 0;
+
+}
+
+// Remove markers from the data stream to allow faster decode
+// Stuffed zeros and restart interval markers aren't needed to properly decode
+// the data, but they make reading VLC data slower, so I pull them out first
+static int JPEGFilter(uint8_t *pBuf, uint8_t *d, int iLen, uint8_t *bFF)
+{
+    // since we have the entire jpeg buffer in memory already, we can just change it in place
+    unsigned char c, *s, *pEnd, *pStart;
+
+    pStart = d;
+    s = pBuf;
+    pEnd   = &s[iLen - 1]; // stop just shy of the end to not miss a final marker/stuffed 0
+    if (*bFF) {
+        // last byte was a FF, check the next one
+        if (s[0] == 0) {
+            // stuffed 0, keep the FF
+            *d++ = 0xff;
+        }
+        s++;
+        *bFF = 0;
+    }
+    while (s < pEnd) {
+        c = *d++ = *s++;
+        if (c == 0xff) {
+            // marker or stuffed zeros?
+            if (s[0] != 0) {
+                // it's a marker, skip both
+                d--;
+            }
+            s++; // for stuffed 0's, store the FF, skip the 00
+        }
+    }
+    if (s == pEnd) {
+        // need to test the last byte
+        c = s[0];
+        if (c == 0xff) {
+            // last byte is FF, take care of it next time through
+            *bFF = 1;          // take care of it next time through
+        } else {
+            *d++ = c;          // nope, just store it
+        }
+    }
+    return (int) (d - pStart); // filtered output length
+}
+
+// Read and filter more VLC data for decoding
+static void JPEGGetMoreData(JPEGIMAGE *pPage)
+{
+    int iDelta = pPage->iVLCSize - pPage->iVLCOff;
+    // move any existing data down
+    if (iDelta >= (JPEG_FILE_BUF_SIZE - 64) || iDelta < 0) {
+        return; // buffer is already full; no need to read more data
+    }
+    if (pPage->iVLCOff != 0) {
+        memcpy(pPage->ucFileBuf, &pPage->ucFileBuf[pPage->iVLCOff], pPage->iVLCSize - pPage->iVLCOff);
+        pPage->iVLCSize -= pPage->iVLCOff;
+        pPage->iVLCOff   = 0;
+        pPage->bb.pBuf   = pPage->ucFileBuf; // reset VLC source pointer too
+    }
+    if (pPage->JPEGFile.iPos < pPage->JPEGFile.iSize && pPage->iVLCSize < JPEG_FILE_BUF_SIZE - 64) {
+        int i;
+        // Try to read enough to fill the buffer
+        // max length we can read
+        i = (*pPage->pfnRead)(&pPage->JPEGFile, &pPage->ucFileBuf[pPage->iVLCSize], JPEG_FILE_BUF_SIZE - pPage->iVLCSize);
+        // Filter out the markers
+        pPage->iVLCSize += JPEGFilter(&pPage->ucFileBuf[pPage->iVLCSize], &pPage->ucFileBuf[pPage->iVLCSize], i, &pPage->ucFF);
+    }
+}
+
+// Parse the JPEG header, gather necessary info to decode the image
+// Returns 1 for success, 0 for failure
+static int JPEGParseInfo(JPEGIMAGE *pPage, int bExtractThumb)
+{
+    int iBytesRead;
+    int i, iOffset, iTableOffset;
+    uint8_t ucTable, *s = pPage->ucFileBuf;
+    uint16_t usMarker, usLen = 0;
+    int iFilePos = 0;
+
+    if (bExtractThumb) {
+        // seek to the start of the thumbnail image
+        iFilePos = pPage->iThumbData;
+        (*pPage->pfnSeek)(&pPage->JPEGFile, iFilePos);
+    }
+    iBytesRead = (*pPage->pfnRead)(&pPage->JPEGFile, s, JPEG_FILE_BUF_SIZE);
+    if (iBytesRead < 256) {
+        // a JPEG file this tiny? probably bad
+        pPage->iError = JPEG_INVALID_FILE;
+        return 0;
+    }
+    iFilePos += iBytesRead;
+    if (MOTOSHORT(pPage->ucFileBuf) != 0xffd8) {
+        pPage->iError = JPEG_INVALID_FILE;
+        return 0; // not a JPEG file
+    }
+    iOffset  = 2; /* Start at offset of first marker */
+    usMarker = 0; /* Search for SOFx (start of frame) marker */
+    while (usMarker != 0xffda && iOffset < pPage->JPEGFile.iSize) {
+        if (iOffset >= JPEG_FILE_BUF_SIZE / 2) {
+            // too close to the end, read more data
+            // Do we need to seek first?
+            if (iOffset >= JPEG_FILE_BUF_SIZE) {
+                iFilePos  += (iOffset - iBytesRead);
+                iOffset    = 0;
+                (*pPage->pfnSeek)(&pPage->JPEGFile, iFilePos);
+                iBytesRead = 0; // throw away any old data
+            }
+            // move existing bytes down
+            if (iOffset) {
+                memcpy(pPage->ucFileBuf, &pPage->ucFileBuf[iOffset], iBytesRead - iOffset);
+                iBytesRead -= iOffset;
+                iOffset     = 0;
+            }
+            i = (*pPage->pfnRead)(&pPage->JPEGFile, &pPage->ucFileBuf[iBytesRead], JPEG_FILE_BUF_SIZE - iBytesRead);
+            iFilePos += i;
+            iBytesRead += i;
+        }
+        usMarker = MOTOSHORT(&s[iOffset]);
+        iOffset += 2;
+        usLen    = MOTOSHORT(&s[iOffset]); // marker length
+
+        if (usMarker < 0xffc0 || usMarker == 0xffff) {
+            // invalid marker, could be generated by "Arles Image Web Page Creator" or Accusoft
+            iOffset++;
+            continue; // skip 1 byte and try to resync
+        }
+        switch (usMarker) {
+            case 0xffc1:
+            case 0xffc2:
+            case 0xffc3:
+                pPage->iError = JPEG_UNSUPPORTED_FEATURE;
+                return 0; // currently unsupported modes
+
+            case 0xffe1:  // App1 (EXIF?)
+                if (s[iOffset + 2] == 'E' && s[iOffset + 3] == 'x'
+                        && (s[iOffset + 8] == 'M' || s[iOffset + 8] == 'I')) {
+                    // the EXIF data we want
+                    int bMotorola, IFD, iTagCount;
+                    pPage->iEXIF = iFilePos - iBytesRead + iOffset + 8; // start of TIFF file
+                    // Get the orientation value (if present)
+                    bMotorola    = (s[iOffset + 8] == 'M');
+                    IFD = TIFFLONG(&s[iOffset + 12], bMotorola);
+                    iTagCount    = TIFFSHORT(&s[iOffset + 16], bMotorola);
+                    GetTIFFInfo(pPage, bMotorola, IFD + iOffset + 8);
+                    // The second IFD defines the thumbnail (if present)
+                    if (iTagCount >= 1 && iTagCount < 32) {
+                        // valid number of tags for EXIF data 'page'
+                        // point to next IFD
+                        IFD += (12 * iTagCount) + 2;
+                        IFD  = TIFFLONG(&s[IFD + iOffset + 8], bMotorola);
+                        if (IFD != 0) {
+                            // Thumbnail present?
+                            pPage->ucHasThumb  = 1;
+                            GetTIFFInfo(pPage, bMotorola, IFD + iOffset + 8); // info for second 'page' of TIFF
+                            pPage->iThumbData += iOffset + 8;                 // absolute offset in the file
+                        }
+                    }
+                }
+                break;
+            case 0xffc0:                         // SOFx - start of frame
+                pPage->ucMode  = (uint8_t) usMarker;
+                pPage->ucBpp   = s[iOffset + 2]; // bits per sample
+                pPage->iHeight = MOTOSHORT(&s[iOffset + 3]);
+                pPage->iWidth  = MOTOSHORT(&s[iOffset + 5]);
+                pPage->ucNumComponents = s[iOffset + 7];
+                pPage->ucBpp   = pPage->ucBpp * pPage->ucNumComponents; // Bpp = number of components * bits per sample
+                if (pPage->ucNumComponents == 1) {
+                    pPage->ucSubSample = 0;                             // use this to differentiate from color 1:1
+                } else {
+                    usLen   -= 8;
+                    iOffset += 8;
+                    for (i = 0; i < pPage->ucNumComponents; i++) {
+                        uint8_t ucSamp;
+                        pPage->JPCI[i].component_id    = s[iOffset++];
+                        pPage->JPCI[i].component_index = (unsigned char) i;
+                        ucSamp = s[iOffset++]; // get the h+v sampling factor
+                        if (i == 0) {
+                            // Y component?
+                            pPage->ucSubSample = ucSamp;
+                        }
+                        pPage->JPCI[i].quant_tbl_no = s[iOffset++]; // quantization table number
+                        usLen -= 3;
+                    }
+                }
+                break;
+            case 0xffdd: // Restart Interval
+                if (usLen == 4) {
+                    pPage->iResInterval = MOTOSHORT(&s[iOffset + 2]);
+                }
+                break;
+            case 0xffc4: /* M_DHT */ // get Huffman tables
+                iOffset += 2;        // skip length
+                usLen   -= 2;        // subtract length length
+                if (JPEGGetHuffTables(&s[iOffset], usLen, pPage) != 0) {
+                    // bad tables?
+                    pPage->iError = JPEG_DECODE_ERROR;
+                    return 0;               // error
+                }
+                break;
+            case 0xffdb:                    /* M_DQT */
+                /* Get the quantization tables */
+                /* first byte has PPPPNNNN where P = precision and N = table number 0-3 */
+                iOffset += 2;               // skip length
+                usLen   -= 2;               // subtract length length
+                while (usLen > 0) {
+                    ucTable = s[iOffset++]; // table number
+                    if ((ucTable & 0xf) > 3) {
+                        // invalid table number
+                        pPage->iError = JPEG_DECODE_ERROR;
+                        return 0;
+                    }
+                    iTableOffset = (ucTable & 0xf) * DCTSIZE;
+                    if (ucTable & 0xf0) {
+                        // if word precision
+                        for (i = 0; i < DCTSIZE; i++) {
+                            pPage->sQuantTable[i + iTableOffset] = MOTOSHORT(&s[iOffset]);
+                            iOffset += 2;
+                        }
+                        usLen -= (DCTSIZE * 2 + 1);
+                    } else {
+                        // byte precision
+                        for (i = 0; i < DCTSIZE; i++) {
+                            pPage->sQuantTable[i + iTableOffset] = (unsigned short) s[iOffset++];
+                        }
+                        usLen -= (DCTSIZE + 1);
+                    }
+                }
+                break;
+        } // switch on JPEG marker
+        iOffset += usLen;
+    }     // while
+    if (usMarker == 0xffda) {
+        // start of image
+        if (pPage->ucBpp != 8) {
+            // need to match up table IDs
+            iOffset -= usLen;
+            JPEGGetSOS(pPage, &iOffset); // get Start-Of-Scan info for decoding
+        }
+        if (!JPEGMakeHuffTables(pPage, 0)) {
+            //int bThumbnail) DEBUG
+            pPage->iError = JPEG_UNSUPPORTED_FEATURE;
+            return 0;
+        }
+        // Now the offset points to the start of compressed data
+        i = JPEGFilter(&pPage->ucFileBuf[iOffset], pPage->ucFileBuf, iBytesRead - iOffset, &pPage->ucFF);
+        pPage->iVLCOff  = 0;
+        pPage->iVLCSize = i;
+        JPEGGetMoreData(pPage); // read more VLC data
+        return 1;
+    }
+    pPage->iError = JPEG_DECODE_ERROR;
+    return 0;
+}
+
+// Fix and reorder the quantization table for faster decoding.*
+static void JPEGFixQuantD(JPEGIMAGE *pJPEG)
+{
+    int iTable, iTableOffset;
+    signed short sTemp[DCTSIZE];
+    int i;
+    uint16_t *p;
+
+    for (iTable = 0; iTable < pJPEG->ucNumComponents; iTable++) {
+        iTableOffset = iTable * DCTSIZE;
+        p = (uint16_t *) &pJPEG->sQuantTable[iTableOffset];
+        for (i = 0; i < DCTSIZE; i++) {
+            sTemp[i] = p[cZigZag[i]];
+        }
+        memcpy(&pJPEG->sQuantTable[iTableOffset], sTemp, DCTSIZE * sizeof(short)); // copy back to original spot
+
+        // Prescale for DCT multiplication
+        p = (uint16_t *) &pJPEG->sQuantTable[iTableOffset];
+        for (i = 0; i < DCTSIZE; i++) {
+            p[i] = (uint16_t) ((p[i] * iScaleBits[i]) >> 12);
+        }
+    }
+}
+
+// Decode the 64 coefficients of the current DCT block
+static int JPEGDecodeMCU(JPEGIMAGE *pJPEG, int iMCU, int *iDCPredictor)
+{
+    uint32_t ulCode, ulTemp;
+    uint8_t *pZig;
+    signed char cCoeff;
+    unsigned short *pFast;
+    unsigned char ucHuff, *pucFast;
+    uint32_t usHuff;           // this prevents an unnecessary & 65535 for shorts
+    uint32_t ulBitOff, ulBits; // local copies to allow compiler to use register vars
+    uint8_t *pBuf, *pEnd, *pEnd2;
+    signed short *pMCU = &pJPEG->sMCUs[iMCU];
+    uint8_t ucMaxACCol, ucMaxACRow;
+
+    #define MIN_DCT_THRESHOLD 8
+
+    ulBitOff = pJPEG->bb.ulBitOff;
+    ulBits   = pJPEG->bb.ulBits;
+    pBuf     = pJPEG->bb.pBuf;
+
+    pZig     = (unsigned char *) &cZigZag2[1];
+    pEnd     = (unsigned char *) &cZigZag2[64];
+
+    if (ulBitOff > (REGISTER_WIDTH - 17)) {
+        // need to get more data
+        pBuf     += (ulBitOff >> 3);
+        ulBitOff &= 7;
+        ulBits    = MOTOLONG(pBuf);
+    }
+    if (pJPEG->iOptions & (JPEG_SCALE_QUARTER | JPEG_SCALE_EIGHTH)) {
+        // reduced size DCT
+        pMCU[1] = pMCU[8] = pMCU[9] = 0;
+        pEnd2   = (uint8_t *) &cZigZag2[5];  // we only need to store the 4 elements we care about
+    } else {
+        memset(pMCU, 0, 64 * sizeof(short)); // pre-fill with zero since we may skip coefficients
+        pEnd2 = (uint8_t *) &cZigZag2[64];
+    }
+    ucMaxACCol = ucMaxACRow = 0;
+    pZig    = (unsigned char *) &cZigZag2[1];
+    pEnd    = (unsigned char *) &cZigZag2[64];
+
+    // get the DC component
+    pucFast = &pJPEG->ucHuffDC[pJPEG->ucDCTable * DC_TABLE_SIZE];
+    ulCode  = (ulBits >> (REGISTER_WIDTH - 12 - ulBitOff)) & 0xfff; // get as lower 12 bits
+    if (ulCode >= 0xf80) {
+        // it's a long code
+        ulCode = (ulCode & 0xff);                                   // point to long table and trim to 7-bits + 0x80
+                                                                    // offset into long table
+    } else {
+        ulCode >>= 6;                                               // it's a short code, use first 6 bits only
+    }
+    ucHuff    = pucFast[ulCode];
+    cCoeff    = (signed char) pucFast[ulCode + 512];                // get pre-calculated extra bits for "small" values
+    if (ucHuff == 0) {
+        // invalid code
+        return -1;
+    }
+    ulBitOff += (ucHuff >> 4); // add the Huffman length
+    ucHuff   &= 0xf;           // get the actual code (SSSS)
+    if (ucHuff) {
+        // if there is a change to the DC value
+        // get the 'extra' bits
+        if (cCoeff) {
+            (*iDCPredictor) += cCoeff;
+        } else {
+            if (ulBitOff > (REGISTER_WIDTH - 17)) {
+                // need to get more data
+                pBuf     += (ulBitOff >> 3);
+                ulBitOff &= 7;
+                ulBits    = MOTOLONG(pBuf);
+            }
+            ulCode    = ulBits << ulBitOff;
+            ulTemp    = ~(uint32_t) (((int32_t) ulCode) >> 31); // slide sign bit across other 31 bits
+            ulCode  >>= (REGISTER_WIDTH - ucHuff);
+            ulCode   -= ulTemp >> (REGISTER_WIDTH - ucHuff);
+            ulBitOff += ucHuff;                                 // add bit length
+            (*iDCPredictor) += (int) ulCode;
+        }
+    }
+    pMCU[0] = (short) *iDCPredictor; // store in MCU[0]
+    // Now get the other 63 AC coefficients
+    pFast   = &pJPEG->usHuffAC[pJPEG->ucACTable * HUFF11SIZE];
+    if (pJPEG->b11Bit) {
+        // 11-bit "slow" tables used
+        while (pZig < pEnd) {
+            if (ulBitOff > (REGISTER_WIDTH - 17)) {
+                // need to get more data
+                pBuf     += (ulBitOff >> 3);
+                ulBitOff &= 7;
+                ulBits    = MOTOLONG(pBuf);
+            }
+            ulCode = (ulBits >> (REGISTER_WIDTH - 16 - ulBitOff)) & 0xffff; // get as lower 16 bits
+            if (ulCode >= 0xf000) {
+                // first 4 bits = 1, use long table
+                ulCode = (ulCode & 0x1fff);
+            } else {
+                ulCode >>= 4; // use lower 12 bits (short table)
+            }
+            usHuff    = pFast[ulCode];
+            if (usHuff == 0) {
+                // invalid code
+                return -1;
+            }
+            ulBitOff += (usHuff >> 8); // add length
+            usHuff   &= 0xff;          // get code (RRRR/SSSS)
+            if (usHuff == 0) {
+                // no more AC components
+                goto mcu_done;
+            }
+            if (ulBitOff > (REGISTER_WIDTH - 17)) {
+                // need to get more data
+                pBuf     += (ulBitOff >> 3);
+                ulBitOff &= 7;
+                ulBits    = MOTOLONG(pBuf);
+            }
+            pZig   += (usHuff >> 4); // get the skip amount (RRRR)
+            usHuff &= 0xf;           // get (SSSS) - extra length
+            if (pZig < pEnd && usHuff) {
+                // && piHisto)
+                ulCode      = ulBits << ulBitOff;
+                // slide sign bit across other 63 bits
+                ulTemp      = ~(uint32_t) (((int32_t) ulCode) >> (REGISTER_WIDTH - 1));
+                ulCode    >>= (REGISTER_WIDTH - usHuff);
+                ulCode     -= ulTemp >> (REGISTER_WIDTH - usHuff);
+                ucMaxACCol |= 1 << (*pZig & 7);                             // keep track of occupied columns
+                if (*pZig >= 0x20) {
+                    // if more than 4 rows used in a col, mark it
+                    ucMaxACRow |= 1 << (*pZig & 7);                         // keep track of the max AC term
+                                                                            // row
+                }
+                pMCU[*pZig] = (signed short) ulCode;                        // store AC coefficient (already
+                                                                            // reordered)
+            }
+            ulBitOff += usHuff;                                             // add (SSSS) extra length
+            pZig++;
+        } // while
+    } else {
+        // 10-bit "fast" tables used
+        while (pZig < pEnd) {
+            if (ulBitOff > (REGISTER_WIDTH - 17)) {
+                // need to get more data
+                pBuf     += (ulBitOff >> 3);
+                ulBitOff &= 7;
+                ulBits    = MOTOLONG(pBuf);
+            }
+            ulCode = (ulBits >> (REGISTER_WIDTH - 16 - ulBitOff)) & 0xffff; // get as lower 16 bits
+            if (ulCode >= 0xfc00) {
+                // first 6 bits = 1, use long table
+                ulCode = (ulCode & 0x7ff);                                  // (ulCode & 0x3ff) + 0x400;
+            } else {
+                ulCode >>= 6;                                               // use lower 10 bits (short table)
+            }
+            usHuff    = pFast[ulCode];
+            if (usHuff == 0) {
+                // invalid code
+                return -1;
+            }
+            ulBitOff += (usHuff >> 8); // add length
+            usHuff   &= 0xff;          // get code (RRRR/SSSS)
+            if (usHuff == 0) {
+                // no more AC components
+                goto mcu_done;
+            }
+            if (ulBitOff > (REGISTER_WIDTH - 17)) {
+                // need to get more data
+                pBuf     += (ulBitOff >> 3);
+                ulBitOff &= 7;
+                ulBits    = MOTOLONG(pBuf);
+            }
+            pZig   += (usHuff >> 4);                                                    // get the skip amount (RRRR)
+            usHuff &= 0xf;                                                              // get (SSSS) - extra length
+            if (pZig < pEnd2 && usHuff) {
+                ulCode      = ulBits << ulBitOff;
+                ulTemp      = ~(uint32_t) (((int32_t) ulCode) >> (REGISTER_WIDTH - 1)); // slide sign bit across other
+                                                                                        // 63 bits
+                ulCode    >>= (REGISTER_WIDTH - usHuff);
+                ulCode     -= ulTemp >> (REGISTER_WIDTH - usHuff);
+                ucMaxACCol |= 1 << (*pZig & 7);                                         // keep track of occupied
+                                                                                        // columns
+                if (*pZig >= 0x20) {
+                    // if more than 4 rows used in a col, mark it
+                    ucMaxACRow |= 1 << (*pZig & 7);                                     // keep track of the max AC term
+                                                                                        // row
+                }
+                pMCU[*pZig] = (signed short) ulCode;                                    // store AC coefficient (already
+                                                                                        // reordered)
+            }
+            ulBitOff += usHuff;                                                         // add (SSSS) extra length
+            pZig++;
+        } // while
+    } // 10-bit tables
+mcu_done:
+    pJPEG->bb.pBuf     = pBuf;
+    pJPEG->iVLCOff     = (int) (pBuf - pJPEG->ucFileBuf);
+    pJPEG->bb.ulBitOff = ulBitOff;
+    pJPEG->bb.ulBits   = ulBits;
+    pJPEG->ucMaxACCol  = ucMaxACCol;
+    pJPEG->ucMaxACRow  = ucMaxACRow; // DEBUG
+    return 0;
+}
+
+// Inverse DCT
+static void JPEGIDCT(JPEGIMAGE *pJPEG, int iMCUOffset, int iQuantTable, int iACFlags)
+{
+    int iRow;
+    unsigned char ucColMask;
+    int iCol;
+    signed int tmp6,tmp7,tmp10,tmp11,tmp12,tmp13;
+    signed int z5,z10,z11,z12,z13;
+    signed int tmp0,tmp1,tmp2,tmp3,tmp4,tmp5;
+    signed short *pQuant;
+    unsigned char *pOutput;
+    unsigned char ucMaxACRow, ucMaxACCol;
+    int16_t *pMCUSrc = &pJPEG->sMCUs[iMCUOffset];
+
+    ucMaxACRow = (unsigned char) (iACFlags >> 8);
+    ucMaxACCol = iACFlags & 0xff;
+
+    // my shortcut method appears to violate patent 20020080052
+    // but the patent is invalidated by prior art:
+    // http://netilium.org/~mad/dtj/DTJ/DTJK04/
+    pQuant = &pJPEG->sQuantTable[iQuantTable * DCTSIZE];
+    if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+        // special case
+        /* Column 0 */
+        tmp4 = pMCUSrc[0] * pQuant[0];
+        tmp5 = pMCUSrc[8] * pQuant[8];
+        tmp0 = tmp4 + tmp5;
+        tmp2 = tmp4 - tmp5;
+        /* Column 1 */
+        tmp4 = pMCUSrc[1] * pQuant[1];
+        tmp5 = pMCUSrc[9] * pQuant[9];
+        tmp1 = tmp4 + tmp5;
+        tmp3 = tmp4 - tmp5;
+        /* Pass 2: process 2 rows, store into output array. */
+        /* Row 0 */
+        pOutput    = (unsigned char *) pMCUSrc; // store output pixels back into MCU
+        pOutput[0] = ucRangeTable[(((tmp0 + tmp1) >> 5) & 0x3ff)];
+        pOutput[1] = ucRangeTable[(((tmp0 - tmp1) >> 5) & 0x3ff)];
+        /* Row 1 */
+        pOutput[2] = ucRangeTable[(((tmp2 + tmp3) >> 5) & 0x3ff)];
+        pOutput[3] = ucRangeTable[(((tmp2 - tmp3) >> 5) & 0x3ff)];
+        return;
+    }
+    // do columns first
+    ucColMask = ucMaxACCol | 1; // column 0 must always be calculated
+    for (iCol = 0; iCol < 8 && ucColMask; iCol++) {
+        if (ucColMask & (1 << iCol)) {
+            // column has data in it
+            ucColMask &= ~(1 << iCol); // unmark this col after use
+            if (!(ucMaxACRow & (1 << iCol))) {
+                // simpler calculations if only half populated
+                // even part
+                tmp10 = pMCUSrc[iCol] * pQuant[iCol];
+                tmp1  = pMCUSrc[iCol + 16] * pQuant[iCol + 16]; // get 2nd row
+                tmp12 = ((tmp1 * 106) >> 8);                    // used to be 362 - 1 (256)
+                tmp0  = tmp10 + tmp1;
+                tmp3  = tmp10 - tmp1;
+                tmp1  = tmp10 + tmp12;
+                tmp2  = tmp10 - tmp12;
+                // odd part
+                tmp4  = pMCUSrc[iCol + 8] * pQuant[iCol + 8]; // get 1st row
+                tmp5  = pMCUSrc[iCol + 24];
+                if (tmp5) {
+                    // this value is usually 0
+                    tmp5 *= pQuant[iCol + 24];            // get 3rd row
+                    tmp7  = tmp4 + tmp5;
+                    tmp11 = (((tmp4 - tmp5) * 362) >> 8); // 362>>8 = 1.414213562
+                    z5    = (((tmp4 - tmp5) * 473) >> 8); // 473>>8 = 1.8477
+                    tmp12 = ((-tmp5 * -669) >> 8) + z5;   // -669>>8 = -2.6131259
+                    tmp6  = tmp12 - tmp7;
+                    tmp5  = tmp11 - tmp6;
+                    tmp10 = ((tmp4 * 277) >> 8) - z5;     // 277>>8 = 1.08239
+                    tmp4  = tmp10 + tmp5;
+                } else {
+                    // simpler case when we only have 1 odd row to calculate
+                    tmp7 = tmp4;
+                    tmp5 = (145 * tmp4) >> 8;
+                    tmp6 = (217 * tmp4) >> 8;
+                    tmp4 = (-51 * tmp4) >> 8;
+                }
+                pMCUSrc[iCol] = (short) (tmp0 + tmp7);      // row0
+                pMCUSrc[iCol + 8]  = (short) (tmp1 + tmp6); // row 1
+                pMCUSrc[iCol + 16] = (short) (tmp2 + tmp5); // row 2
+                pMCUSrc[iCol + 24] = (short) (tmp3 - tmp4); // row 3
+                pMCUSrc[iCol + 32] = (short) (tmp3 + tmp4); // row 4
+                pMCUSrc[iCol + 40] = (short) (tmp2 - tmp5); // row 5
+                pMCUSrc[iCol + 48] = (short) (tmp1 - tmp6); // row 6
+                pMCUSrc[iCol + 56] = (short) (tmp0 - tmp7); // row 7
+            } else {
+                // need to do full column calculation
+                // even part
+                tmp0 = pMCUSrc[iCol] * pQuant[iCol];
+                tmp2 = pMCUSrc[iCol + 32]; // get 4th row
+                if (tmp2) {
+                    // 4th row is most likely 0
+                    tmp2  = tmp2 * pQuant[iCol + 32];
+                    tmp10 = tmp0 + tmp2;
+                    tmp11 = tmp0 - tmp2;
+                } else {
+                    tmp10 = tmp11 = tmp0;
+                }
+                tmp1 = pMCUSrc[iCol + 16] * pQuant[iCol + 16]; // get 2nd row
+                tmp3 = pMCUSrc[iCol + 48];                     // get 6th row
+                if (tmp3) {
+                    // 6th row is most likely 0
+                    tmp3  = tmp3 * pQuant[iCol + 48];
+                    tmp13 = tmp1 + tmp3;
+                    tmp12 = (((tmp1 - tmp3) * 362) >> 8) - tmp13;  // 362>>8 = 1.414213562
+                } else {
+                    tmp13 = tmp1;
+                    tmp12 = ((tmp1 * 362) >> 8) - tmp1;
+                }
+                tmp0 = tmp10 + tmp13;
+                tmp3 = tmp10 - tmp13;
+                tmp1 = tmp11 + tmp12;
+                tmp2 = tmp11 - tmp12;
+                // odd part
+                tmp5 = pMCUSrc[iCol + 24] * pQuant[iCol + 24]; // get 3rd row
+                tmp6 = pMCUSrc[iCol + 40];                     // get 5th row
+                if (tmp6) {
+                    // very likely that row 5 = 0
+                    tmp6 = tmp6 * pQuant[iCol + 40];
+                    z13  = tmp6 + tmp5;
+                    z10  = tmp6 - tmp5;
+                } else {
+                    z13 = tmp5;
+                    z10 = -tmp5;
+                }
+                tmp4 = pMCUSrc[iCol + 8] * pQuant[iCol + 8]; // get 1st row
+                tmp7 = pMCUSrc[iCol + 56];                   // get 7th row
+                if (tmp7) {
+                    // very likely that row 7 = 0
+                    tmp7 = tmp7 * pQuant[iCol + 56];
+                    z11  = tmp4 + tmp7;
+                    z12  = tmp4 - tmp7;
+                } else {
+                    z11 = z12 = tmp4;
+                }
+                tmp7  = z11 + z13;
+                tmp11 = (((z11 - z13) * 362) >> 8);         // 362>>8 = 1.414213562
+                z5    = (((z10 + z12) * 473) >> 8);         // 473>>8 = 1.8477
+                tmp12 = ((z10 * -669) >> 8) + z5;           // -669>>8 = -2.6131259
+                tmp6  = tmp12 - tmp7;
+                tmp5  = tmp11 - tmp6;
+                tmp10 = ((z12 * 277) >> 8) - z5;            // 277>>8 = 1.08239
+                tmp4  = tmp10 + tmp5;
+                pMCUSrc[iCol] = (short) (tmp0 + tmp7);      // row0
+                pMCUSrc[iCol + 8]  = (short) (tmp1 + tmp6); // row 1
+                pMCUSrc[iCol + 16] = (short) (tmp2 + tmp5); // row 2
+                pMCUSrc[iCol + 24] = (short) (tmp3 - tmp4); // row 3
+                pMCUSrc[iCol + 32] = (short) (tmp3 + tmp4); // row 4
+                pMCUSrc[iCol + 40] = (short) (tmp2 - tmp5); // row 5
+                pMCUSrc[iCol + 48] = (short) (tmp1 - tmp6); // row 6
+                pMCUSrc[iCol + 56] = (short) (tmp0 - tmp7); // row 7
+            } // full calculation needed
+        } // if column has data in it
+    } // for each column
+      // now do rows
+    pOutput = (unsigned char *) pMCUSrc; // store output pixels back into MCU
+    for (iRow = 0; iRow < 64; iRow += 8) {
+        // all rows must be calculated
+        // even part
+        if (ucMaxACCol < 0x10) {
+            // quick and dirty calculation (right 4 columns are all 0's)
+            if (ucMaxACCol < 0x04) {
+                // very likely case (1 or 2 columns occupied)
+                // even part
+                tmp0 = tmp1 = tmp2 = tmp3 = pMCUSrc[iRow + 0];
+                // odd part
+                tmp7 = pMCUSrc[iRow + 1];
+                tmp6 = (tmp7 * 217) >> 8;   // * 0.8477
+                tmp5 = (tmp7 * 145) >> 8;   // * 0.5663
+                tmp4 = -((tmp7 * 51) >> 8); // * -0.199
+            } else {
+                tmp10 = pMCUSrc[iRow + 0];
+                tmp13 = pMCUSrc[iRow + 2];
+                tmp12 = ((tmp13 * 106) >> 8); // 2-6 * 1.414
+                tmp0  = tmp10 + tmp13;
+                tmp3  = tmp10 - tmp13;
+                tmp1  = tmp10 + tmp12;
+                tmp2  = tmp10 - tmp12;
+                // odd part
+                z13   = pMCUSrc[iRow + 3];
+                z11   = pMCUSrc[iRow + 1];
+                tmp7  = z11 + z13;
+                tmp11 = ((z11 - z13) * 362) >> 8; // * 1.414
+                z5    = ((z11 - z13) * 473) >> 8; // * 1.8477
+                tmp10 = ((z11 * 277) >> 8) - z5;  // * 1.08239
+                tmp12 = ((z13 * 669) >> 8) + z5;  // * 2.61312
+                tmp6  = tmp12 - tmp7;
+                tmp5  = tmp11 - tmp6;
+                tmp4  = tmp10 + tmp5;
+            }
+        } else {
+            // need to do the full calculation
+            tmp10 = pMCUSrc[iRow + 0] + pMCUSrc[iRow + 4];
+            tmp11 = pMCUSrc[iRow + 0] - pMCUSrc[iRow + 4];
+            tmp13 = pMCUSrc[iRow + 2] + pMCUSrc[iRow + 6];
+            tmp12 = (((pMCUSrc[iRow + 2] - pMCUSrc[iRow + 6]) * 362) >> 8) - tmp13; // 2-6 * 1.414
+            tmp0  = tmp10 + tmp13;
+            tmp3  = tmp10 - tmp13;
+            tmp1  = tmp11 + tmp12;
+            tmp2  = tmp11 - tmp12;
+            // odd part
+            z13   = pMCUSrc[iRow + 5] + pMCUSrc[iRow + 3];
+            z10   = pMCUSrc[iRow + 5] - pMCUSrc[iRow + 3];
+            z11   = pMCUSrc[iRow + 1] + pMCUSrc[iRow + 7];
+            z12   = pMCUSrc[iRow + 1] - pMCUSrc[iRow + 7];
+            tmp7  = z11 + z13;
+            tmp11 = ((z11 - z13) * 362) >> 8; // * 1.414
+            z5    = ((z10 + z12) * 473) >> 8; // * 1.8477
+            tmp10 = ((z12 * 277) >> 8) - z5;  // * 1.08239
+            tmp12 = ((z10 * -669) >> 8) + z5; // * 2.61312
+            tmp6  = tmp12 - tmp7;
+            tmp5  = tmp11 - tmp6;
+            tmp4  = tmp10 + tmp5;
+        }
+        // final output stage - scale down and range limit
+        pOutput[0] = ucRangeTable[(((tmp0 + tmp7) >> 5) & 0x3ff)];
+        pOutput[1] = ucRangeTable[(((tmp1 + tmp6) >> 5) & 0x3ff)];
+        pOutput[2] = ucRangeTable[(((tmp2 + tmp5) >> 5) & 0x3ff)];
+        pOutput[3] = ucRangeTable[(((tmp3 - tmp4) >> 5) & 0x3ff)];
+        pOutput[4] = ucRangeTable[(((tmp3 + tmp4) >> 5) & 0x3ff)];
+        pOutput[5] = ucRangeTable[(((tmp2 - tmp5) >> 5) & 0x3ff)];
+        pOutput[6] = ucRangeTable[(((tmp1 - tmp6) >> 5) & 0x3ff)];
+        pOutput[7] = ucRangeTable[(((tmp0 - tmp7) >> 5) & 0x3ff)];
+        pOutput   += 8;
+    } // for each row
+}
+
+// render grayscale MCU as either 1-bit or RGB565
+static void JPEGPutMCUGray(JPEGIMAGE *pJPEG, int x, int y)
+{
+    int i, j, xcount, ycount;
+    uint8_t *pSrc = (uint8_t *)&pJPEG->sMCUs[0];
+
+    // For odd-sized JPEGs, don't draw past the edge of the image bounds
+    xcount = ycount = 8;
+    if (x + 8 > pJPEG->iWidth) xcount = pJPEG->iWidth & 7;
+    if (y + 8 > pJPEG->iHeight) ycount = pJPEG->iHeight & 7;
+    if (pJPEG->ucPixelType == ONE_BIT_GRAYSCALE) {
+        const int iPitch = ((pJPEG->iWidth + 31) >> 3) & 0xfffc;
+        uint8_t *pDest = (uint8_t *) &pJPEG->pImage[(y * iPitch) + (x >> 3)];
+
+        for (i = 0; i < ycount; i++) {
+            // do up to 8 rows
+            uint8_t ucPixels = 0;
+            for (j = 0; j < xcount; j++) {
+                if (pSrc[j] > 127) {
+                    ucPixels |= (1 << j);
+                }
+            }
+            pDest[0] = ucPixels; // one byte holds the 8 pixels
+            pSrc    += 8;
+            pDest   += iPitch; // next line
+        }
+    } else { // must be RGB565 output
+        const int iPitch = pJPEG->iWidth;
+        uint16_t *usDest = (uint16_t *)&pJPEG->pImage[(y * iPitch * 2) + x*2];
+
+        for (i=0; i<ycount; i++) // do up to 8 rows
+        {
+            for (j=0; j<xcount; j++) {
+                *usDest++ = usGrayTo565[*pSrc++];
+            }
+            pSrc += (8-xcount);
+            usDest -= xcount;
+            usDest += iPitch; // next line
+        }
+    } // RGB565
+}
+
+static void JPEGPutMCU8BitGray(JPEGIMAGE *pJPEG, int x, int y)
+{
+    int i, j, xcount, ycount;
+    const int iPitch = pJPEG->iWidth;
+    uint8_t *pDest, *pSrc = (uint8_t *) &pJPEG->sMCUs[0];
+    pDest = (uint8_t *) &pJPEG->pImage[(y * iPitch) + x];
+    if (pJPEG->ucSubSample <= 0x11) {
+        // single Y
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            // special handling of 1/2 size (pixel averaging)
+            int pix;
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    pix      = (pSrc[0] + pSrc[1] + pSrc[8] + pSrc[9] + 2) >> 2; // average 2x2 block
+                    pDest[j] = (uint8_t) pix;
+                    pSrc    += 2;
+                }
+                pSrc  += 8; // skip extra line
+                pDest += iPitch;
+            }
+            return;
+        }
+        xcount = ycount = 8; // debug
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            xcount = ycount = 2;
+        } else if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            xcount = ycount = 1;
+        }
+        if ((x + 8) > pJPEG->iWidth) xcount = pJPEG->iWidth & 7;
+        if ((y + 8) > pJPEG->iHeight) ycount = pJPEG->iHeight & 7;
+        for (i = 0; i < ycount; i++) {
+            // do up to 8 rows
+            for (j = 0; j < xcount; j++) {
+                *pDest++ = *pSrc++;
+            }
+            pSrc += (8 - xcount);
+            pDest -= xcount;
+            pDest += iPitch; // next line
+        }
+        return;
+    } // single Y source
+    if (pJPEG->ucSubSample == 0x21) {
+        // stacked horizontally
+        if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            // only 2 pixels emitted
+            pDest[0] = pSrc[0];
+            pDest[1] = pSrc[128];
+            return;
+        } /* 1/8 */
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    int pix;
+                    pix = (pSrc[j * 2] + pSrc[j * 2 + 1] + pSrc[j * 2 + 8] + pSrc[j * 2 + 9] + 2) >> 2;
+                    pDest[j] = (uint8_t) pix;
+                    pix = (pSrc[j * 2 + 128] + pSrc[j * 2 + 129] + pSrc[j * 2 + 136] + pSrc[j * 2 + 137] + 2) >> 2;
+                    pDest[j + 4] = (uint8_t) pix;
+                }
+                pSrc  += 16;
+                pDest += iPitch;
+            }
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            // each MCU contributes a 2x2 block
+            pDest[0] = pSrc[0]; // Y0
+            pDest[1] = pSrc[1];
+            pDest[iPitch] = pSrc[2];
+            pDest[iPitch + 1] = pSrc[3];
+
+            pDest[2] = pSrc[128]; // Y`
+            pDest[3] = pSrc[129];
+            pDest[iPitch + 2] = pSrc[130];
+            pDest[iPitch + 3] = pSrc[131];
+            return;
+        }
+        for (i = 0; i < 8; i++) {
+            for (j = 0; j < 8; j++) {
+                pDest[j]     = pSrc[j];
+                pDest[j + 8] = pSrc[128 + j];
+            }
+            pSrc  += 8;
+            pDest += iPitch;
+        }
+    } // 0x21
+    if (pJPEG->ucSubSample == 0x12) {
+        // stacked vertically
+        if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            // only 2 pixels emitted
+            pDest[0] = pSrc[0];
+            pDest[iPitch] = pSrc[128];
+            return;
+        } /* 1/8 */
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    int pix;
+                    pix = (pSrc[j * 2] + pSrc[j * 2 + 1] + pSrc[j * 2 + 8] + pSrc[j * 2 + 9] + 2) >> 2;
+                    pDest[j] = (uint8_t) pix;
+                    pix = (pSrc[j * 2 + 128] + pSrc[j * 2 + 129] + pSrc[j * 2 + 136] + pSrc[j * 2 + 137] + 2) >> 2;
+                    pDest[4 * iPitch + j] = (uint8_t) pix;
+                }
+                pSrc  += 16;
+                pDest += iPitch;
+            }
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            // each MCU contributes a 2x2 block
+            pDest[0] = pSrc[0]; // Y0
+            pDest[1] = pSrc[1];
+            pDest[iPitch] = pSrc[2];
+            pDest[iPitch + 1]     = pSrc[3];
+
+            pDest[iPitch * 2]     = pSrc[128]; // Y`
+            pDest[iPitch * 2 + 1] = pSrc[129];
+            pDest[iPitch * 3]     = pSrc[130];
+            pDest[iPitch * 3 + 1] = pSrc[131];
+            return;
+        }
+        for (i = 0; i < 8; i++) {
+            for (j = 0; j < 8; j++) {
+                pDest[j] = pSrc[j];
+                pDest[8 * iPitch + j] = pSrc[128 + j];
+            }
+            pSrc  += 8;
+            pDest += iPitch;
+        }
+    } // 0x12
+    if (pJPEG->ucSubSample == 0x22) {
+        if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            // each MCU contributes 1 pixel
+            pDest[0] = pSrc[0];            // Y0
+            pDest[1] = pSrc[128];          // Y1
+            pDest[iPitch] = pSrc[256];     // Y2
+            pDest[iPitch + 1] = pSrc[384]; // Y3
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            // each MCU contributes 2x2 pixels
+            pDest[0] = pSrc[0]; // Y0
+            pDest[1] = pSrc[1];
+            pDest[iPitch] = pSrc[2];
+            pDest[iPitch + 1] = pSrc[3];
+
+            pDest[2] = pSrc[128]; // Y1
+            pDest[3] = pSrc[129];
+            pDest[iPitch + 2]     = pSrc[130];
+            pDest[iPitch + 3]     = pSrc[131];
+
+            pDest[iPitch * 2]     = pSrc[256]; // Y2
+            pDest[iPitch * 2 + 1] = pSrc[257];
+            pDest[iPitch * 3]     = pSrc[258];
+            pDest[iPitch * 3 + 1] = pSrc[259];
+
+            pDest[iPitch * 2 + 2] = pSrc[384]; // Y3
+            pDest[iPitch * 2 + 3] = pSrc[385];
+            pDest[iPitch * 3 + 2] = pSrc[386];
+            pDest[iPitch * 3 + 3] = pSrc[387];
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    int pix;
+                    pix = (pSrc[j * 2] + pSrc[j * 2 + 1] + pSrc[j * 2 + 8] + pSrc[j * 2 + 9] + 2) >> 2;
+                    pDest[j] = (uint8_t) pix;                  // Y0
+                    pix = (pSrc[j * 2 + 128] + pSrc[j * 2 + 129] + pSrc[j * 2 + 136] + pSrc[j * 2 + 137] + 2) >> 2;
+                    pDest[j + 4] = (uint8_t) pix;              // Y1
+                    pix = (pSrc[j * 2 + 256] + pSrc[j * 2 + 257] + pSrc[j * 2 + 264] + pSrc[j * 2 + 265] + 2) >> 2;
+                    pDest[iPitch * 4 + j] = (uint8_t) pix;     // Y2
+                    pix = (pSrc[j * 2 + 384] + pSrc[j * 2 + 385] + pSrc[j * 2 + 392] + pSrc[j * 2 + 393] + 2) >> 2;
+                    pDest[iPitch * 4 + j + 4] = (uint8_t) pix; // Y3
+                }
+                pSrc  += 16;
+                pDest += iPitch;
+            }
+            return;
+        }
+        xcount = ycount = 16;
+        if ((x + 16) > pJPEG->iWidth) xcount = pJPEG->iWidth & 15;
+        if ((y + 16) > pJPEG->iHeight) ycount = pJPEG->iHeight & 15;
+        // The source MCUs are 64 bytes of data at offsets of 0, 128, 256, 384
+        // The 4 8x8 MCUs are looping through using a single pass of x/y by
+        // using the 0/8 bit of the coordinate to adjust the source data offset
+        for (i = 0; i < ycount; i++) {
+            for (j = 0; j < xcount; j++) {
+                pDest[j] = pSrc[j+((i&8)*24)+((j&8)*15)];
+            }
+            pSrc  += 8;
+            pDest += iPitch;
+        }
+    } // 0x22
+}
+
+static void JPEGPutMCU1BitGray(JPEGIMAGE *pJPEG, int x, int y)
+{
+    int i, j, xcount, ycount;
+    const int iPitch = ((pJPEG->iWidth + 31) >> 3) & 0xfffc;
+    uint8_t *pDest, *pSrc = (uint8_t *) &pJPEG->sMCUs[0];
+    pDest = (uint8_t *) &pJPEG->pImage[(y * iPitch) + (x >> 3)];
+    if (pJPEG->ucSubSample <= 0x11) {
+        // single Y
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            // special handling of 1/2 size (pixel averaging)
+            int pix;
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    pix      = (pSrc[0] + pSrc[1] + pSrc[8] + pSrc[9] + 2) >> 2; // average 2x2 block
+                    pDest[j] = (uint8_t) pix;
+                    pSrc    += 2;
+                }
+                pSrc  += 8; // skip extra line
+                pDest += iPitch;
+            }
+            return;
+        }
+        xcount = ycount = 8; // debug
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            xcount = ycount = 2;
+        } else if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            xcount = ycount = 1;
+        }
+        for (i = 0; i < ycount; i++) {
+            // do up to 8 rows
+            uint8_t ucPixels = 0;
+            for (j = 0; j < xcount; j++) {
+                if (pSrc[j] > 127) {
+                    ucPixels |= (1 << j);
+                }
+            }
+            pDest[0] = ucPixels;
+            pSrc    += xcount;
+            pDest   += iPitch; // next line
+        }
+        return;
+    } // single Y source
+    if (pJPEG->ucSubSample == 0x21) {
+        // stacked horizontally
+        if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            // only 2 pixels emitted
+            pDest[0] = pSrc[0];
+            pDest[1] = pSrc[128];
+            return;
+        } /* 1/8 */
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    int pix;
+                    pix = (pSrc[j * 2] + pSrc[j * 2 + 1] + pSrc[j * 2 + 8] + pSrc[j * 2 + 9] + 2) >> 2;
+                    pDest[j] = (uint8_t) pix;
+                    pix = (pSrc[j * 2 + 128] + pSrc[j * 2 + 129] + pSrc[j * 2 + 136] + pSrc[j * 2 + 137] + 2) >> 2;
+                    pDest[j + 4] = (uint8_t) pix;
+                }
+                pSrc  += 16;
+                pDest += iPitch;
+            }
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            // each MCU contributes a 2x2 block
+            pDest[0] = pSrc[0]; // Y0
+            pDest[1] = pSrc[1];
+            pDest[iPitch] = pSrc[2];
+            pDest[iPitch + 1] = pSrc[3];
+
+            pDest[2] = pSrc[128]; // Y`
+            pDest[3] = pSrc[129];
+            pDest[iPitch + 2] = pSrc[130];
+            pDest[iPitch + 3] = pSrc[131];
+            return;
+        }
+        for (i = 0; i < 8; i++) {
+            uint8_t uc0 = 0, uc1 = 0;
+            for (j = 0; j < 8; j++) {
+                if (pSrc[j] > 127) {
+                    uc0 |= (1 << j);
+                }
+                if (pSrc[128 + j] > 127) {
+                    uc1 |= (1 << j);
+                }
+            }
+            pDest[0] = uc0;
+            pDest[1] = uc1;
+            pSrc    += 8;
+            pDest   += iPitch;
+        }
+    } // 0x21
+    if (pJPEG->ucSubSample == 0x12) {
+        // stacked vertically
+        if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            // only 2 pixels emitted
+            pDest[0] = pSrc[0];
+            pDest[iPitch] = pSrc[128];
+            return;
+        } /* 1/8 */
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    int pix;
+                    pix = (pSrc[j * 2] + pSrc[j * 2 + 1] + pSrc[j * 2 + 8] + pSrc[j * 2 + 9] + 2) >> 2;
+                    pDest[j] = (uint8_t) pix;
+                    pix = (pSrc[j * 2 + 128] + pSrc[j * 2 + 129] + pSrc[j * 2 + 136] + pSrc[j * 2 + 137] + 2) >> 2;
+                    pDest[4 * iPitch + j] = (uint8_t) pix;
+                }
+                pSrc  += 16;
+                pDest += iPitch;
+            }
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            // each MCU contributes a 2x2 block
+            pDest[0] = pSrc[0]; // Y0
+            pDest[1] = pSrc[1];
+            pDest[iPitch] = pSrc[2];
+            pDest[iPitch + 1]     = pSrc[3];
+
+            pDest[iPitch * 2]     = pSrc[128]; // Y`
+            pDest[iPitch * 2 + 1] = pSrc[129];
+            pDest[iPitch * 3]     = pSrc[130];
+            pDest[iPitch * 3 + 1] = pSrc[131];
+            return;
+        }
+        for (i = 0; i < 8; i++) {
+            uint8_t uc0 = 0, uc1 = 0;
+            for (j = 0; j < 8; j++) {
+                if (pSrc[j] > 127) {
+                    uc0 |= (1 << j);
+                }
+                if (pSrc[128 + j] > 127) {
+                    uc1 |= (1 << j);
+                }
+            }
+            pDest[0] = uc0;
+            pDest[8 * iPitch] = uc1;
+            pSrc    += 8;
+            pDest   += iPitch;
+        }
+    } // 0x12
+    if (pJPEG->ucSubSample == 0x22) {
+        if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+            // each MCU contributes 1 pixel
+            pDest[0] = pSrc[0];            // Y0
+            pDest[1] = pSrc[128];          // Y1
+            pDest[iPitch] = pSrc[256];     // Y2
+            pDest[iPitch + 1] = pSrc[384]; // Y3
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+            // each MCU contributes 2x2 pixels
+            pDest[0] = pSrc[0]; // Y0
+            pDest[1] = pSrc[1];
+            pDest[iPitch] = pSrc[2];
+            pDest[iPitch + 1] = pSrc[3];
+
+            pDest[2] = pSrc[128]; // Y1
+            pDest[3] = pSrc[129];
+            pDest[iPitch + 2]     = pSrc[130];
+            pDest[iPitch + 3]     = pSrc[131];
+
+            pDest[iPitch * 2]     = pSrc[256]; // Y2
+            pDest[iPitch * 2 + 1] = pSrc[257];
+            pDest[iPitch * 3]     = pSrc[258];
+            pDest[iPitch * 3 + 1] = pSrc[259];
+
+            pDest[iPitch * 2 + 2] = pSrc[384]; // Y3
+            pDest[iPitch * 2 + 3] = pSrc[385];
+            pDest[iPitch * 3 + 2] = pSrc[386];
+            pDest[iPitch * 3 + 3] = pSrc[387];
+            return;
+        }
+        if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+            for (i = 0; i < 4; i++) {
+                for (j = 0; j < 4; j++) {
+                    int pix;
+                    pix = (pSrc[j * 2] + pSrc[j * 2 + 1] + pSrc[j * 2 + 8] + pSrc[j * 2 + 9] + 2) >> 2;
+                    pDest[j] = (uint8_t) pix;                  // Y0
+                    pix = (pSrc[j * 2 + 128] + pSrc[j * 2 + 129] + pSrc[j * 2 + 136] + pSrc[j * 2 + 137] + 2) >> 2;
+                    pDest[j + 4] = (uint8_t) pix;              // Y1
+                    pix = (pSrc[j * 2 + 256] + pSrc[j * 2 + 257] + pSrc[j * 2 + 264] + pSrc[j * 2 + 265] + 2) >> 2;
+                    pDest[iPitch * 4 + j] = (uint8_t) pix;     // Y2
+                    pix = (pSrc[j * 2 + 384] + pSrc[j * 2 + 385] + pSrc[j * 2 + 392] + pSrc[j * 2 + 393] + 2) >> 2;
+                    pDest[iPitch * 4 + j + 4] = (uint8_t) pix; // Y3
+                }
+                pSrc  += 16;
+                pDest += iPitch;
+            }
+            return;
+        }
+        for (i = 0; i < 8; i++) {
+            uint8_t uc00 = 0, uc10 = 0, uc01 = 0, uc11 = 0;
+            for (j = 0; j < 8; j++) {
+                if (pSrc[j] > 127) {
+                    uc00 |= (1 << j);     // Y0
+                }
+                if (pSrc[j + 128] > 127) {
+                    uc10 |= (1 << j);     // Y1
+                }
+                if (pSrc[j + 256] > 127) {
+                    uc01 |= (1 << j);     // Y2
+                }
+                if (pSrc[j + 384] > 127) {
+                    uc11 |= (1 << j);     // Y3
+                }
+            }
+            pDest[0] = uc00;              // Y0
+            pDest[1] = uc10;              // Y1
+            pDest[iPitch * 8] = uc01;     // Y2
+            pDest[iPitch * 8 + 1] = uc11; // Y3
+            pSrc    += 8;
+            pDest   += iPitch;
+        }
+    } // 0x22
+}
+
+static void JPEGPixelLE(uint16_t *pDest, int iY, int iCb, int iCr)
+{
+    uint32_t ulPixel;
+    uint32_t ulCbCr = (iCb | (iCr << 16));
+    uint32_t ulTmp;                                   // for green calc
+    ulTmp    = -1409;
+    ulTmp    = (ulTmp & 0xffff) | (-2925 << 16);
+    ulCbCr   = __SSUB16(ulCbCr, 0x00800080);          // dual 16-bit subtraction
+    ulPixel  = __SMLAD(ulCbCr, ulTmp, iY) >> 14;      // G
+    ulPixel  = __USAT16(ulPixel, 6) << 5;             // range limit to 6 bits
+    ulTmp    = __SMLAD(7258, ulCbCr, iY) >> 15;       // Blue
+    ulTmp    = __USAT16(ulTmp, 5);                    // range limit to 5 bits
+    ulPixel |= ulTmp;                                 // now we have G + B
+    ulTmp    = __SMLAD(5742, ulCbCr >> 16, iY) >> 15; // Red
+    ulTmp    = __USAT16(ulTmp, 5);                    // range limit to 5 bits
+    ulPixel |= (ulTmp << 11);                         // now we have R + G + B
+    pDest[0] = (uint16_t) ulPixel;
+}
+
+static void JPEGPixel2LE(uint16_t *pDest, int iY1, int iY2, int iCb, int iCr)
+{
+    uint32_t ulPixel1, ulPixel2;
+    uint32_t ulCbCr = (iCb | (iCr << 16));
+    uint32_t ulTmp2, ulTmp;                             // for green calc
+    ulTmp     = -1409;
+    ulTmp     = (ulTmp & 0xffff) | (-2925 << 16);
+    ulCbCr    = __SSUB16(ulCbCr, 0x00800080);           // dual 16-bit subtraction
+    ulPixel1  = __SMLAD(ulCbCr, ulTmp, iY1) >> 14;      // G for pixel 1
+    ulPixel2  = __SMLAD(ulCbCr, ulTmp, iY2) >> 14;      // G for pixel 2
+    ulPixel1 |= (ulPixel2 << 16);
+    ulPixel1  = __USAT16(ulPixel1, 6) << 5;             // range limit both to 6 bits
+    ulTmp     = __SMLAD(7258, ulCbCr, iY1) >> 15;       // Blue 1
+    ulTmp2    = __SMLAD(7258, ulCbCr, iY2) >> 15;       // Blue 2
+    ulTmp     = __USAT16(ulTmp | (ulTmp2 << 16), 5);    // range limit both to 5 bits
+    ulPixel1 |= ulTmp;                                  // now we have G + B
+    ulTmp     = __SMLAD(5742, ulCbCr >> 16, iY1) >> 15; // Red 1
+    ulTmp2    = __SMLAD(5742, ulCbCr >> 16, iY2) >> 15; // Red 2
+    ulTmp     = __USAT16(ulTmp | (ulTmp2 << 16), 5);    // range limit both to 5 bits
+    ulPixel1 |= (ulTmp << 11);                          // now we have R + G + B
+    *(uint32_t *) &pDest[0] = ulPixel1;
+}
+
+static void JPEGPutMCU11(JPEGIMAGE *pJPEG, int x, int y)
+{
+    int iCr, iCb;
+    signed int Y;
+    int iCol;
+    int iRow;
+    const int iPitch = pJPEG->iWidth;
+    uint8_t *pY, *pCr, *pCb;
+    uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2];
+
+    pY  = (unsigned char *) &pJPEG->sMCUs[0 * DCTSIZE];
+    pCb = (unsigned char *) &pJPEG->sMCUs[1 * DCTSIZE];
+    pCr = (unsigned char *) &pJPEG->sMCUs[2 * DCTSIZE];
+
+    if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+        for (iRow = 0; iRow < 4; iRow++) {
+            // up to 8 rows to do
+            for (iCol = 0; iCol < 4; iCol++) {
+                // up to 4x2 cols to do
+                iCr  = (pCr[0] + pCr[1] + pCr[8] + pCr[9] + 2) >> 2;
+                iCb  = (pCb[0] + pCb[1] + pCb[8] + pCb[9] + 2) >> 2;
+                Y    = (pY[0] + pY[1] + pY[8] + pY[9]) << 10;
+                JPEGPixelLE(pOutput + iCol, Y, iCb, iCr);
+                pCr += 2;
+                pCb += 2;
+                pY  += 2;
+            } // for col
+            pCr     += 8;
+            pCb     += 8;
+            pY      += 8;
+            pOutput += iPitch;
+        } // for row
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+        // special case for 1/8 scaling
+        // only 4 pixels to draw, so no looping needed
+        iCr = pCr[0];
+        iCb = pCb[0];
+        Y   = (int) (pY[0]) << 12;
+        JPEGPixelLE(pOutput, Y, iCb, iCr);
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+        // special case for 1/4 scaling
+        iCr = *pCr++;
+        iCb = *pCb++;
+        Y   = (int) (*pY++) << 12;
+        JPEGPixelLE(pOutput, Y, iCb, iCr);
+        iCr = *pCr++;
+        iCb = *pCb++;
+        Y   = (int) (*pY++) << 12;
+        JPEGPixelLE(pOutput + 1, Y, iCb, iCr);
+        iCr = *pCr++;
+        iCb = *pCb++;
+        Y   = (int) (*pY++) << 12;
+        JPEGPixelLE(pOutput + iPitch, Y, iCb, iCr);
+        iCr = *pCr++;
+        iCb = *pCb++;
+        Y   = (int) (*pY++) << 12;
+        JPEGPixelLE(pOutput + 1 + iPitch, Y, iCb, iCr);
+        return;
+    }
+    for (iRow = 0; iRow < 8; iRow++) {
+        // up to 8 rows to do
+        for (iCol = 0; iCol < 8; iCol++) {
+            // up to 4x2 cols to do
+            iCr = *pCr++;
+            iCb = *pCb++;
+            Y   = (int) (*pY++) << 12;
+            JPEGPixelLE(pOutput + iCol, Y, iCb, iCr);
+        } // for col
+        pOutput += iPitch;
+    }     // for row
+}         /* JPEGPutMCU11() */
+
+static void JPEGPutMCU22(JPEGIMAGE *pJPEG, int x, int y)
+{
+    uint32_t Cr,Cb;
+    signed int Y1, Y2, Y3, Y4;
+    int iRow, iRowLimit, iCol, iXCount1, iXCount2, iYCount;
+    unsigned char *pY, *pCr, *pCb;
+    const int iPitch = pJPEG->iWidth;
+    int bUseOdd1, bUseOdd2; // special case where 24bpp odd sized image can clobber first column
+    uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2];
+
+    pY  = (unsigned char *) &pJPEG->sMCUs[0 * DCTSIZE];
+    pCb = (unsigned char *) &pJPEG->sMCUs[4 * DCTSIZE];
+    pCr = (unsigned char *) &pJPEG->sMCUs[5 * DCTSIZE];
+
+    if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+        // special handling of 1/2 size (pixel averaging)
+        for (iRow = 0; iRow < 4; iRow++) {
+            // 16x16 becomes 8x8 of 2x2 pixels
+            for (iCol = 0; iCol < 4; iCol++) {
+                Y1 = (pY[iCol * 2] + pY[iCol * 2 + 1] + pY[iCol * 2 + 8] + pY[iCol * 2 + 9]) << 10;
+                Cb = pCb[iCol];
+                Cr = pCr[iCol];
+                JPEGPixelLE(pOutput + iCol, Y1, Cb, Cr); // top left
+                Y1 = (pY[iCol * 2 + (DCTSIZE * 2)] + pY[iCol * 2 + 1 + (DCTSIZE * 2)]
+                        + pY[iCol * 2 + 8 + (DCTSIZE * 2)] + pY[iCol * 2 + 9 + (DCTSIZE * 2)]) << 10;
+                Cb = pCb[iCol + 4];
+                Cr = pCr[iCol + 4];
+                JPEGPixelLE(pOutput + iCol + 4, Y1, Cb, Cr); // top right
+                Y1 = (pY[iCol * 2 + (DCTSIZE * 4)] + pY[iCol * 2 + 1 + (DCTSIZE * 4)]
+                        + pY[iCol * 2 + 8 + (DCTSIZE * 4)] + pY[iCol * 2 + 9 + (DCTSIZE * 4)]) << 10;
+                Cb = pCb[iCol + 32];
+                Cr = pCr[iCol + 32];
+                JPEGPixelLE(pOutput + iCol + iPitch * 4, Y1, Cb, Cr); // bottom left
+                Y1 = (pY[iCol * 2 + (DCTSIZE * 6)] + pY[iCol * 2 + 1 + (DCTSIZE * 6)]
+                        + pY[iCol * 2 + 8 + (DCTSIZE * 6)] + pY[iCol * 2 + 9 + (DCTSIZE * 6)]) << 10;
+                Cb = pCb[iCol + 32 + 4];
+                Cr = pCr[iCol + 32 + 4];
+                JPEGPixelLE(pOutput + iCol + 4 + iPitch * 4, Y1, Cb, Cr); // bottom right
+            }
+            pY      += 8;
+            pCb     += 8;
+            pCr     += 8;
+            pOutput += iPitch;
+        }
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+        Y1 = pY[0] << 12;  // scale to level of conversion table
+        Cb = pCb[0];
+        Cr = pCr[0];
+        JPEGPixelLE(pOutput, Y1, Cb, Cr);
+        // top right block
+        Y1 = pY[DCTSIZE * 2] << 12; // scale to level of conversion table
+        JPEGPixelLE(pOutput + 1, Y1, Cb, Cr);
+        // bottom left block
+        Y1 = pY[DCTSIZE * 4] << 12; // scale to level of conversion table
+        JPEGPixelLE(pOutput + iPitch, Y1, Cb, Cr);
+        // bottom right block
+        Y1 = pY[DCTSIZE * 6] << 12; // scale to level of conversion table
+        JPEGPixelLE(pOutput + 1 + iPitch, Y1, Cb, Cr);
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+        // special case of 1/4
+        for (iRow = 0; iRow < 2; iRow++) {
+            for (iCol = 0; iCol < 2; iCol++) {
+                // top left block
+                Y1 = pY[iCol] << 12;  // scale to level of conversion table
+                Cb = pCb[0];
+                Cr = pCr[0];
+                JPEGPixelLE(pOutput + iCol, Y1, Cb, Cr);
+                // top right block
+                Y1 = pY[iCol + (DCTSIZE * 2)] << 12; // scale to level of conversion table
+                Cb = pCb[1];
+                Cr = pCr[1];
+                JPEGPixelLE(pOutput + 2 + iCol, Y1, Cb, Cr);
+                // bottom left block
+                Y1 = pY[iCol + DCTSIZE * 4] << 12;  // scale to level of conversion table
+                Cb = pCb[2];
+                Cr = pCr[2];
+                JPEGPixelLE(pOutput + iPitch * 2 + iCol, Y1, Cb, Cr);
+                // bottom right block
+                Y1 = pY[iCol + DCTSIZE * 6] << 12; // scale to level of conversion table
+                Cb = pCb[3];
+                Cr = pCr[3];
+                JPEGPixelLE(pOutput + iPitch * 2 + 2 + iCol, Y1, Cb, Cr);
+            } // for each column
+            pY += 2; // skip 1 line of source pixels
+            pOutput += iPitch;
+        }
+        return;
+    }
+    /* Convert YCC pixels into RGB pixels and store in output image */
+    iYCount  = 4;
+    iRowLimit = 16; // assume all rows possible to draw
+    if ((y + 15) >= pJPEG->iHeight) {
+        iRowLimit = pJPEG->iHeight & 15;
+        if (iRowLimit < 8)
+            iYCount = iRowLimit >> 1;
+    }
+    bUseOdd1 = bUseOdd2 = 1; // assume odd column can be used
+    if ((x + 15) >= pJPEG->iWidth) {
+        iCol = (((pJPEG->iWidth & 15) + 1) >> 1);
+        if (iCol >= 4) {
+            iXCount1 = 4;
+            iXCount2 = iCol - 4;
+            if (pJPEG->iWidth & 1 && (iXCount2 * 2) + 8 + (x * 16) > pJPEG->iWidth) {
+                bUseOdd2 = 0;
+            }
+        } else {
+            iXCount1 = iCol;
+            iXCount2 = 0;
+            if (pJPEG->iWidth & 1 && (iXCount1 * 2) + (x * 16) > pJPEG->iWidth) {
+                bUseOdd1 = 0;
+            }
+        }
+    } else {
+        iXCount1 = iXCount2 = 4;
+    }
+    for (iRow = 0; iRow < iYCount; iRow++) {
+        // up to 4 rows to do
+        for (iCol = 0; iCol < iXCount1; iCol++) {
+            // up to 4 cols to do
+            // for top left block
+            Y1   = pY[iCol * 2];
+            Y2   = pY[iCol * 2 + 1];
+            Y3   = pY[iCol * 2 + 8];
+            Y4   = pY[iCol * 2 + 9];
+            Y1 <<= 12;  // scale to level of conversion table
+            Y2 <<= 12;
+            Y3 <<= 12;
+            Y4 <<= 12;
+            Cb   = pCb[iCol];
+            Cr   = pCr[iCol];
+            if (bUseOdd1 || iCol != (iXCount1 - 1)) {
+                // only render if it won't go off the right edge
+                JPEGPixel2LE(pOutput + (iCol << 1), Y1, Y2, Cb, Cr);
+                JPEGPixel2LE(pOutput + iPitch + (iCol << 1), Y3, Y4, Cb, Cr);
+            } else {
+                JPEGPixelLE(pOutput + (iCol << 1), Y1, Cb, Cr);
+                JPEGPixelLE(pOutput + iPitch + (iCol << 1), Y3, Cb, Cr);
+            }
+            // for top right block
+            if (iCol < iXCount2) {
+                Y1   = pY[iCol * 2 + DCTSIZE * 2];
+                Y2   = pY[iCol * 2 + 1 + DCTSIZE * 2];
+                Y3   = pY[iCol * 2 + 8 + DCTSIZE * 2];
+                Y4   = pY[iCol * 2 + 9 + DCTSIZE * 2];
+                Y1 <<= 12;  // scale to level of conversion table
+                Y2 <<= 12;
+                Y3 <<= 12;
+                Y4 <<= 12;
+                Cb   = pCb[iCol + 4];
+                Cr   = pCr[iCol + 4];
+                if (bUseOdd2 || iCol != (iXCount2 - 1)) {
+                    // only render if it won't go off the right edge
+                    JPEGPixel2LE(pOutput + 8 + (iCol << 1), Y1, Y2, Cb, Cr);
+                    JPEGPixel2LE(pOutput + iPitch + 8 + (iCol << 1), Y3, Y4, Cb, Cr);
+                } else {
+                    JPEGPixelLE(pOutput + 8 + (iCol << 1), Y1, Cb, Cr);
+                    JPEGPixelLE(pOutput + iPitch + 8 + (iCol << 1), Y3, Cb, Cr);
+                }
+            }
+            if (iRowLimit > 8) {
+            // for bottom left block
+            Y1   = pY[iCol * 2 + DCTSIZE * 4];
+            Y2   = pY[iCol * 2 + 1 + DCTSIZE * 4];
+            Y3   = pY[iCol * 2 + 8 + DCTSIZE * 4];
+            Y4   = pY[iCol * 2 + 9 + DCTSIZE * 4];
+            Y1 <<= 12;  // scale to level of conversion table
+            Y2 <<= 12;
+            Y3 <<= 12;
+            Y4 <<= 12;
+            Cb   = pCb[iCol + 32];
+            Cr   = pCr[iCol + 32];
+            if (bUseOdd1 || iCol != (iXCount1 - 1)) {
+                // only render if it won't go off the right edge
+                JPEGPixel2LE(pOutput + iPitch * 8 + (iCol << 1), Y1, Y2, Cb, Cr);
+                JPEGPixel2LE(pOutput + iPitch * 9 + (iCol << 1), Y3, Y4, Cb, Cr);
+            } else {
+                JPEGPixelLE(pOutput + iPitch * 8 + (iCol << 1), Y1, Cb, Cr);
+                JPEGPixelLE(pOutput + iPitch * 9 + (iCol << 1), Y3, Cb, Cr);
+            }
+            // for bottom right block
+            if (iCol < iXCount2) {
+                Y1   = pY[iCol * 2 + DCTSIZE * 6];
+                Y2   = pY[iCol * 2 + 1 + DCTSIZE * 6];
+                Y3   = pY[iCol * 2 + 8 + DCTSIZE * 6];
+                Y4   = pY[iCol * 2 + 9 + DCTSIZE * 6];
+                Y1 <<= 12;  // scale to level of conversion table
+                Y2 <<= 12;
+                Y3 <<= 12;
+                Y4 <<= 12;
+                Cb   = pCb[iCol + 36];
+                Cr   = pCr[iCol + 36];
+                if (bUseOdd2 || iCol != (iXCount2 - 1)) {
+                    // only render if it won't go off the right edge
+                    JPEGPixel2LE(pOutput + iPitch * 8 + 8 + (iCol << 1), Y1, Y2, Cb, Cr);
+                    JPEGPixel2LE(pOutput + iPitch * 9 + 8 + (iCol << 1), Y3, Y4, Cb, Cr);
+                } else {
+                    JPEGPixelLE(pOutput + iPitch * 8 + 8 + (iCol << 1), Y1, Cb, Cr);
+                    JPEGPixelLE(pOutput + iPitch * 9 + 8 + (iCol << 1), Y3, Cb, Cr);
+                }
+            }
+            } // row limit > 8
+        } // for each column
+        pY      += 16; // skip to next line of source pixels
+        pCb     += 8;
+        pCr     += 8;
+        pOutput += iPitch * 2;
+    }
+}
+
+static void JPEGPutMCU12(JPEGIMAGE *pJPEG, int x, int y)
+{
+    uint32_t Cr,Cb;
+    signed int Y1, Y2;
+    int iRow, iCol, iXCount, iYCount;
+    uint8_t *pY, *pCr, *pCb;
+    const int iPitch  = pJPEG->iWidth;
+    uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2];
+
+    pY  = (uint8_t *) &pJPEG->sMCUs[0 * DCTSIZE];
+    pCb = (uint8_t *) &pJPEG->sMCUs[2 * DCTSIZE];
+    pCr = (uint8_t *) &pJPEG->sMCUs[3 * DCTSIZE];
+
+    if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+        for (iRow = 0; iRow < 4; iRow++) {
+            for (iCol = 0; iCol < 4; iCol++) {
+                Y1   = (pY[0] + pY[1] + pY[8] + pY[9]) << 10;
+                Cb   = (pCb[0] + pCb[1] + 1) >> 1;
+                Cr   = (pCr[0] + pCr[1] + 1) >> 1;
+                JPEGPixelLE(pOutput + iCol, Y1, Cb, Cr);
+                Y1   = (pY[DCTSIZE * 2] + pY[DCTSIZE * 2 + 1] + pY[DCTSIZE * 2 + 8] + pY[DCTSIZE * 2 + 9]) << 10;
+                Cb   = (pCb[32] + pCb[33] + 1) >> 1;
+                Cr   = (pCr[32] + pCr[33] + 1) >> 1;
+                JPEGPixelLE(pOutput + iCol + iPitch, Y1, Cb, Cr);
+                pCb += 2;
+                pCr += 2;
+                pY  += 2;
+            }
+            pY += 8;
+            pOutput += iPitch * 2;
+        }
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+        Y1 = pY[0] << 12;
+        Y2 = pY[DCTSIZE * 2] << 12;
+        Cb = pCb[0];
+        Cr = pCr[0];
+        JPEGPixelLE(pOutput, Y1, Cb, Cr);
+        JPEGPixelLE(pOutput + iPitch, Y2, Cb, Cr);
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+        // draw a 2x4 block
+        Y1  = pY[0] << 12;
+        Y2  = pY[2] << 12;
+        Cb  = pCb[0];
+        Cr  = pCr[0];
+        JPEGPixelLE(pOutput, Y1, Cb, Cr);
+        JPEGPixelLE(pOutput + iPitch, Y2, Cb, Cr);
+        Y1  = pY[1] << 12;
+        Y2  = pY[3] << 12;
+        Cb  = pCb[1];
+        Cr  = pCr[1];
+        JPEGPixelLE(pOutput + 1, Y1, Cb, Cr);
+        JPEGPixelLE(pOutput + 1 + iPitch, Y2, Cb, Cr);
+        pY += DCTSIZE * 2; // next Y block below
+        Y1  = pY[0] << 12;
+        Y2  = pY[2] << 12;
+        Cb  = pCb[2];
+        Cr  = pCr[2];
+        JPEGPixelLE(pOutput + iPitch * 2, Y1, Cb, Cr);
+        JPEGPixelLE(pOutput + iPitch * 3, Y2, Cb, Cr);
+        Y1  = pY[1] << 12;
+        Y2  = pY[3] << 12;
+        Cb  = pCb[3];
+        Cr  = pCr[3];
+        JPEGPixelLE(pOutput + 1 + iPitch * 2, Y1, Cb, Cr);
+        JPEGPixelLE(pOutput + 1 + iPitch * 3, Y2, Cb, Cr);
+        return;
+    }
+    /* Convert YCC pixels into RGB pixels and store in output image */
+    iYCount = 16;
+    iXCount = 8;
+    for (iRow = 0; iRow < iYCount; iRow += 2) {
+        // up to 16 rows to do
+        for (iCol = 0; iCol < iXCount; iCol++) {
+            // up to 8 cols to do
+            Y1   = pY[iCol];
+            Y2   = pY[iCol + 8];
+            Y1 <<= 12;  // scale to level of conversion table
+            Y2 <<= 12;
+            Cb   = pCb[iCol];
+            Cr   = pCr[iCol];
+            JPEGPixelLE(pOutput + iCol, Y1, Cb, Cr);
+            JPEGPixelLE(pOutput + iPitch + iCol, Y2, Cb, Cr);
+        }
+        pY += 16; // skip to next 2 lines of source pixels
+        if (iRow == 6) {
+            // next MCU block, skip ahead to correct spot
+            pY += (128 - 64);
+        }
+        pCb     += 8;
+        pCr     += 8;
+        pOutput += iPitch * 2; // next 2 lines of dest pixels
+    }
+}
+
+static void JPEGPutMCU21(JPEGIMAGE *pJPEG, int x, int y)
+{
+    int iCr, iCb;
+    signed int Y1, Y2;
+    int iCol;
+    int iRow;
+    uint8_t *pY, *pCr, *pCb;
+    const int iPitch  = pJPEG->iWidth;
+    uint16_t *pOutput = (uint16_t *) &pJPEG->pImage[(y * iPitch * 2) + x * 2];
+
+    pY  = (uint8_t *) &pJPEG->sMCUs[0 * DCTSIZE];
+    pCb = (uint8_t *) &pJPEG->sMCUs[2 * DCTSIZE];
+    pCr = (uint8_t *) &pJPEG->sMCUs[3 * DCTSIZE];
+
+    if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+        for (iRow = 0; iRow < 4; iRow++) {
+            for (iCol = 0; iCol < 4; iCol++) {
+                // left block
+                iCr = (pCr[0] + pCr[8] + 1) >> 1;
+                iCb = (pCb[0] + pCb[8] + 1) >> 1;
+                Y1  = (signed int) (pY[0] + pY[1] + pY[8] + pY[9]) << 10;
+                JPEGPixelLE(pOutput + iCol, Y1, iCb, iCr);
+                // right block
+                iCr = (pCr[4] + pCr[12] + 1) >> 1;
+                iCb = (pCb[4] + pCb[12] + 1) >> 1;
+                Y1  = (signed int) (pY[128] + pY[129] + pY[136] + pY[137]) << 10;
+                JPEGPixelLE(pOutput + iCol + 4, Y1, iCb, iCr);
+                pCb++;
+                pCr++;
+                pY += 2;
+            }
+            pCb     += 12;
+            pCr     += 12;
+            pY      += 8;
+            pOutput += iPitch;
+        }
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+        // draw 2 pixels
+        iCr = pCr[0];
+        iCb = pCb[0];
+        Y1  = (signed int) (pY[0]) << 12;
+        Y2  = (signed int) (pY[DCTSIZE * 2]) << 12;
+        JPEGPixel2LE(pOutput, Y1, Y2, iCb, iCr);
+        return;
+    }
+    if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+        // draw 4x2 pixels
+        // top left
+        iCr = pCr[0];
+        iCb = pCb[0];
+        Y1  = (signed int) (pY[0]) << 12;
+        Y2  = (signed int) (pY[1]) << 12;
+        JPEGPixel2LE(pOutput, Y1, Y2, iCb, iCr);
+        // top right
+        iCr = pCr[1];
+        iCb = pCb[1];
+        Y1  = (signed int) pY[DCTSIZE * 2] << 12;
+        Y2  = (signed int) pY[DCTSIZE * 2 + 1] << 12;
+        JPEGPixel2LE(pOutput + 2, Y1, Y2, iCb, iCr);
+        // bottom left
+        iCr = pCr[2];
+        iCb = pCb[2];
+        Y1  = (signed int) (pY[2]) << 12;
+        Y2  = (signed int) (pY[3]) << 12;
+        JPEGPixel2LE(pOutput + iPitch, Y1, Y2, iCb, iCr);
+        // bottom right
+        iCr = pCr[3];
+        iCb = pCb[3];
+        Y1  = (signed int) pY[DCTSIZE * 2 + 2] << 12;
+        Y2  = (signed int) pY[DCTSIZE * 2 + 3] << 12;
+        JPEGPixel2LE(pOutput + iPitch + 2, Y1, Y2, iCb, iCr);
+        return;
+    }
+    /* Convert YCC pixels into RGB pixels and store in output image */
+    for (iRow = 0; iRow < 8; iRow++) {
+        // up to 8 rows to do
+        for (iCol = 0; iCol < 4; iCol++) {
+            // up to 4x2 cols to do
+            // left block
+            iCr = *pCr++;
+            iCb = *pCb++;
+            Y1  = (signed int) (*pY++) << 12;
+            Y2  = (signed int) (*pY++) << 12;
+            JPEGPixel2LE(pOutput + iCol * 2, Y1, Y2, iCb, iCr);
+            // right block
+            iCr = pCr[3];
+            iCb = pCb[3];
+            Y1  = (signed int) pY[126] << 12;
+            Y2  = (signed int) pY[127] << 12;
+            JPEGPixel2LE(pOutput + 8 + iCol * 2, Y1, Y2, iCb, iCr);
+        } // for col
+        pCb     += 4;
+        pCr     += 4;
+        pOutput += iPitch;
+    } // for row
+}
+
+// Decode the image
+// returns 0 for error, 1 for success
+static int DecodeJPEG(JPEGIMAGE *pJPEG)
+{
+    int cx, cy, x, y, mcuCX, mcuCY;
+    int iLum0, iLum1, iLum2, iLum3, iCr, iCb;
+    signed int iDCPred0, iDCPred1, iDCPred2;
+    int i, iQuant1, iQuant2, iQuant3, iErr;
+    uint8_t c;
+    int iMCUCount, /*xoff, iPitch,*/ bThumbnail = 0;
+    int bContinue = 1; // early exit if the DRAW callback wants to stop
+    uint32_t l, *pl;
+    unsigned char cDCTable0, cACTable0, cDCTable1, cACTable1, cDCTable2, cACTable2;
+    int iMaxFill = 16, iScaleShift = 0;
+
+    // Requested the Exif thumbnail
+    if (pJPEG->iOptions & JPEG_EXIF_THUMBNAIL) {
+        if (pJPEG->iThumbData == 0 || pJPEG->iThumbWidth == 0) {
+            // doesn't exist
+            pJPEG->iError = JPEG_INVALID_PARAMETER;
+            return 0;
+        }
+        if (!JPEGParseInfo(pJPEG, 1)) {
+            // parse the embedded thumbnail file header
+            return 0; // something went wrong
+        }
+    }
+    // Fast downscaling options
+    if (pJPEG->iOptions & JPEG_SCALE_HALF) {
+        iScaleShift = 1;
+    } else if (pJPEG->iOptions & JPEG_SCALE_QUARTER) {
+        iScaleShift = 2;
+        iMaxFill    = 1;
+    } else if (pJPEG->iOptions & JPEG_SCALE_EIGHTH) {
+        iScaleShift = 3;
+        iMaxFill    = 1;
+        bThumbnail  = 1;
+    }
+
+    // reorder and fix the quantization table for decoding
+    JPEGFixQuantD(pJPEG);
+    pJPEG->bb.ulBits   = MOTOLONG(&pJPEG->ucFileBuf[0]); // preload first 4 bytes
+    pJPEG->bb.pBuf     = pJPEG->ucFileBuf;
+    pJPEG->bb.ulBitOff = 0;
+
+    cDCTable0 = pJPEG->JPCI[0].dc_tbl_no;
+    cACTable0 = pJPEG->JPCI[0].ac_tbl_no;
+    cDCTable1 = pJPEG->JPCI[1].dc_tbl_no;
+    cACTable1 = pJPEG->JPCI[1].ac_tbl_no;
+    cDCTable2 = pJPEG->JPCI[2].dc_tbl_no;
+    cACTable2 = pJPEG->JPCI[2].ac_tbl_no;
+    iDCPred0  = iDCPred1 = iDCPred2 = mcuCX = mcuCY = 0;
+
+    switch (pJPEG->ucSubSample) {
+        // set up the parameters for the different subsampling options
+        case 0x00:                            // fake value to handle grayscale
+        case 0x01:                            // fake value to handle sRGB/CMYK
+        case 0x11:
+            cx    = (pJPEG->iWidth + 7) >> 3; // number of MCU blocks
+            cy    = (pJPEG->iHeight + 7) >> 3;
+            iCr   = MCU1;
+            iCb   = MCU2;
+            mcuCX = mcuCY = 8;
+            break;
+        case 0x12:
+            cx    = (pJPEG->iWidth + 7) >> 3; // number of MCU blocks
+            cy    = (pJPEG->iHeight + 15) >> 4;
+            iCr   = MCU2;
+            iCb   = MCU3;
+            mcuCX = 8;
+            mcuCY = 16;
+            break;
+        case 0x21:
+            cx    = (pJPEG->iWidth + 15) >> 4; // number of MCU blocks
+            cy    = (pJPEG->iHeight + 7) >> 3;
+            iCr   = MCU2;
+            iCb   = MCU3;
+            mcuCX = 16;
+            mcuCY = 8;
+            break;
+        case 0x22:
+            cx    = (pJPEG->iWidth + 15) >> 4; // number of MCU blocks
+            cy    = (pJPEG->iHeight + 15) >> 4;
+            iCr   = MCU4;
+            iCb   = MCU5;
+            mcuCX = mcuCY = 16;
+            break;
+        default: // to suppress compiler warning
+            cx    = cy = 0;
+            iCr   = iCb = 0;
+            break;
+    }
+    // Scale down the MCUs by the requested amount
+    mcuCX   >>= iScaleShift;
+    mcuCY   >>= iScaleShift;
+
+    iQuant1   = pJPEG->sQuantTable[pJPEG->JPCI[0].quant_tbl_no * DCTSIZE]; // DC quant values
+    iQuant2   = pJPEG->sQuantTable[pJPEG->JPCI[1].quant_tbl_no * DCTSIZE];
+    iQuant3   = pJPEG->sQuantTable[pJPEG->JPCI[2].quant_tbl_no * DCTSIZE];
+    // luminance values are always in these positions
+    iLum0     = MCU0;
+    iLum1     = MCU1;
+    iLum2     = MCU2;
+    iLum3     = MCU3;
+    iErr      = 0;
+    pJPEG->iResCount = pJPEG->iResInterval;
+    // Calculate how many MCUs we can fit in the pixel buffer to maximize LCD drawing speed
+    iMCUCount = MAX_BUFFERED_PIXELS / (mcuCX * mcuCY);
+    if (pJPEG->ucPixelType == EIGHT_BIT_GRAYSCALE) {
+        iMCUCount *= 2; // each pixel is only 1 byte
+    }
+    if (iMCUCount > cx) {
+        iMCUCount = cx; // don't go wider than the image
+    }
+    if (iMCUCount > pJPEG->iMaxMCUs) {
+        // did the user set an upper bound on how many pixels per JPEGDraw callback?
+        iMCUCount = pJPEG->iMaxMCUs;
+    }
+    if (pJPEG->ucPixelType > EIGHT_BIT_GRAYSCALE) {
+        // dithered, override the max MCU count
+        iMCUCount = cx; // do the whole row
+    }
+    for (y = 0; y < cy && bContinue; y++) {
+        for (x = 0; x < cx && bContinue && iErr == 0; x++) {
+            pJPEG->ucACTable = cACTable0;
+            pJPEG->ucDCTable = cDCTable0;
+            // do the first luminance component
+            iErr = JPEGDecodeMCU(pJPEG, iLum0, &iDCPred0);
+            if (pJPEG->ucMaxACCol == 0 || bThumbnail) {
+                // no AC components, save some time
+                pl = (uint32_t *) &pJPEG->sMCUs[iLum0];
+                c  = ucRangeTable[((iDCPred0 * iQuant1) >> 5) & 0x3ff];
+                l  = c | ((uint32_t) c << 8) | ((uint32_t) c << 16) | ((uint32_t) c << 24);
+                // dct stores byte values
+                for (i = 0; i < iMaxFill; i++) {
+                    // 8x8 bytes = 16 longs
+                    pl[i] = l;
+                }
+            } else {
+                // first quantization table
+                JPEGIDCT(pJPEG, iLum0, pJPEG->JPCI[0].quant_tbl_no, (pJPEG->ucMaxACCol | (pJPEG->ucMaxACRow << 8)));
+            }
+            // do the second luminance component
+            if (pJPEG->ucSubSample > 0x11) {
+                // subsampling
+                iErr |= JPEGDecodeMCU(pJPEG, iLum1, &iDCPred0);
+                if (pJPEG->ucMaxACCol == 0 || bThumbnail) {
+                    // no AC components, save some time
+                    c  = ucRangeTable[((iDCPred0 * iQuant1) >> 5) & 0x3ff];
+                    l  = c | ((uint32_t) c << 8) | ((uint32_t) c << 16) | ((uint32_t) c << 24);
+                    // dct stores byte values
+                    pl = (uint32_t *) &pJPEG->sMCUs[iLum1];
+                    for (i = 0; i < iMaxFill; i++) {
+                        // 8x8 bytes = 16 longs
+                        pl[i] = l;
+                    }
+                } else {
+                    // first quantization table
+                    JPEGIDCT(pJPEG, iLum1, pJPEG->JPCI[0].quant_tbl_no, (pJPEG->ucMaxACCol | (pJPEG->ucMaxACRow << 8)));
+                }
+                if (pJPEG->ucSubSample == 0x22) {
+                    iErr |= JPEGDecodeMCU(pJPEG, iLum2, &iDCPred0);
+                    if (pJPEG->ucMaxACCol == 0 || bThumbnail) {
+                        // no AC components, save some time
+                        c  = ucRangeTable[((iDCPred0 * iQuant1) >> 5) & 0x3ff];
+                        l  = c | ((uint32_t) c << 8) | ((uint32_t) c << 16) | ((uint32_t) c << 24);
+                        // dct stores byte values
+                        pl = (uint32_t *) &pJPEG->sMCUs[iLum2];
+                        for (i = 0; i < iMaxFill; i++) {
+                            // 8x8 bytes = 16 longs
+                            pl[i] = l;
+                        }
+                    } else {
+                        // first quantization table
+                        JPEGIDCT(pJPEG, iLum2, pJPEG->JPCI[0].quant_tbl_no, (pJPEG->ucMaxACCol | (pJPEG->ucMaxACRow << 8)));
+                    }
+                    iErr |= JPEGDecodeMCU(pJPEG, iLum3, &iDCPred0);
+                    if (pJPEG->ucMaxACCol == 0 || bThumbnail) {
+                        // no AC components, save some time
+                        c  = ucRangeTable[((iDCPred0 * iQuant1) >> 5) & 0x3ff];
+                        l  = c | ((uint32_t) c << 8) | ((uint32_t) c << 16) | ((uint32_t) c << 24);
+                        // dct stores byte values
+                        pl = (uint32_t *) &pJPEG->sMCUs[iLum3];
+                        for (i = 0; i < iMaxFill; i++) {
+                            // 8x8 bytes = 16 longs
+                            pl[i] = l;
+                        }
+                    } else {
+                        // first quantization table
+                        JPEGIDCT(pJPEG, iLum3, pJPEG->JPCI[0].quant_tbl_no, (pJPEG->ucMaxACCol | (pJPEG->ucMaxACRow << 8)));
+                    }
+                } // if 2:2 subsampling
+            } // if subsampling used
+            if (pJPEG->ucSubSample && pJPEG->ucNumComponents == 3) {
+                // if color (not CMYK)
+                // first chroma
+                pJPEG->ucACTable = cACTable1;
+                pJPEG->ucDCTable = cDCTable1;
+                iErr |= JPEGDecodeMCU(pJPEG, iCr, &iDCPred1);
+                if (pJPEG->ucMaxACCol == 0 || bThumbnail) {
+                    // no AC components, save some time
+                    c  = ucRangeTable[((iDCPred1 * iQuant2) >> 5) & 0x3ff];
+                    l  = c | ((uint32_t) c << 8) | ((uint32_t) c << 16) | ((uint32_t) c << 24);
+                    // dct stores byte values
+                    pl = (uint32_t *) &pJPEG->sMCUs[iCr];
+                    for (i = 0; i < iMaxFill; i++) {
+                        // 8x8 bytes = 16 longs
+                        pl[i] = l;
+                    }
+                } else {
+                    // second quantization table
+                    JPEGIDCT(pJPEG, iCr, pJPEG->JPCI[1].quant_tbl_no, (pJPEG->ucMaxACCol | (pJPEG->ucMaxACRow << 8)));
+                }
+                // second chroma
+                pJPEG->ucACTable = cACTable2;
+                pJPEG->ucDCTable = cDCTable2;
+                iErr |= JPEGDecodeMCU(pJPEG, iCb, &iDCPred2);
+                if (pJPEG->ucMaxACCol == 0 || bThumbnail) {
+                    // no AC components, save some time
+                    c  = ucRangeTable[((iDCPred2 * iQuant3) >> 5) & 0x3ff];
+                    l  = c | ((uint32_t) c << 8) | ((uint32_t) c << 16) | ((uint32_t) c << 24);
+                    // dct stores byte values
+                    pl = (uint32_t *) &pJPEG->sMCUs[iCb];
+                    for (i = 0; i < iMaxFill; i++) {
+                        // 8x8 bytes = 16 longs
+                        pl[i] = l;
+                    }
+                } else {
+                    JPEGIDCT(pJPEG, iCb, pJPEG->JPCI[2].quant_tbl_no, (pJPEG->ucMaxACCol | (pJPEG->ucMaxACRow << 8)));
+                }
+            } // if color components present
+            if (pJPEG->ucPixelType == EIGHT_BIT_GRAYSCALE) {
+                JPEGPutMCU8BitGray(pJPEG, x * mcuCX, y * mcuCY);
+            } else if (pJPEG->ucPixelType == ONE_BIT_GRAYSCALE) {
+                JPEGPutMCU1BitGray(pJPEG, x * mcuCX, y * mcuCY);
+            } else {
+                switch (pJPEG->ucSubSample) {
+                    case 0x00: // grayscale
+                        JPEGPutMCUGray(pJPEG, x * mcuCX, y * mcuCY);
+                        break; // not used
+                    case 0x11:
+                        JPEGPutMCU11(pJPEG, x * mcuCX, y * mcuCY);
+                        break;
+                    case 0x12:
+                        JPEGPutMCU12(pJPEG, x * mcuCX, y * mcuCY);
+                        break;
+                    case 0x21:
+                        JPEGPutMCU21(pJPEG, x * mcuCX, y * mcuCY);
+                        break;
+                    case 0x22:
+                        JPEGPutMCU22(pJPEG, x * mcuCX, y * mcuCY);
+                        break;
+                } // switch on color option
+            }
+            if (pJPEG->iResInterval) {
+                if (--pJPEG->iResCount == 0) {
+                    pJPEG->iResCount = pJPEG->iResInterval;
+                    iDCPred0 = iDCPred1 = iDCPred2 = 0;                       // reset DC predictors
+                    if (pJPEG->bb.ulBitOff & 7) {
+                        // need to start at the next even byte
+                        // new restart interval starts on byte boundary
+                        pJPEG->bb.ulBitOff += (8 - (pJPEG->bb.ulBitOff & 7));
+                    }
+                } // if restart interval needs to reset
+            } // if there is a restart interval
+              // See if we need to feed it more data
+            if (pJPEG->iVLCOff >= FILE_HIGHWATER) {
+                JPEGGetMoreData(pJPEG); // need more 'filtered' VLC data
+            }
+        } // for x
+    } // for y
+    if (iErr != 0) {
+        pJPEG->iError = JPEG_DECODE_ERROR;
+    }
+    return (iErr == 0);
+}
+
+void jpeg_decompress(image_t *dst, image_t *src)
+{
+    JPEGIMAGE jpg;
+
+    #if (TIME_JPEG == 1)
+    mp_uint_t start = mp_hal_ticks_ms();
+    #endif
+
+    // Supports decoding baseline JPEGs only.
+    if (jpeg_is_progressive(src)) {
+        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Progressive JPEG is not supported."));
+        ERR_PRINT("Progressive JPEG is not supported.");
+    }
+
+    if (JPEG_openRAM(&jpg, src->data, src->size, dst->data) == 0) {
+        // failed to parse the header
+        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("JPEG decoder failed."));
+        ERR_PRINT("JPEG decoder failed.");
+    }
+
+    switch (dst->pixfmt) {
+        case PIXFORMAT_BINARY:
+            // Force 1-bit (binary) output in the draw function.
+            jpg.ucPixelType = ONE_BIT_GRAYSCALE;
+            break;
+        case PIXFORMAT_GRAYSCALE:
+            // Force 8-bit grayscale output.
+            jpg.ucPixelType = EIGHT_BIT_GRAYSCALE;
+            break;
+        case PIXFORMAT_RGB565:
+            // Force output to be RGB565
+            jpg.ucPixelType = RGB565_LITTLE_ENDIAN;
+            break;
+        case PIXFORMAT_RGB888:
+            // Force output to be RGB565
+            jpg.ucPixelType = RGB888_LITTLE_ENDIAN;
+            break;
+        default:
+            // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("Unsupported format."));
+            ERR_PRINT("Unsupported format.");
+    }
+
+    // Set up dest image params
+    jpg.pUser = (void *) dst;
+
+    // Fill buffer with 0's so we only need to write "set" bits
+    memset(dst->data, 0, image_size(dst));
+
+    // Start decoding.
+    if (JPEG_decode(&jpg, 0, 0, 0) == 0) {
+        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("JPEG decoder failed."));
+        ERR_PRINT("JPEG decoder failed.");
+    }
+
+    #if (TIME_JPEG == 1)
+    printf("time: %u ms\n", mp_hal_ticks_ms() - start);
+    #endif
+}
+#endif
diff --git a/github_source/minicv2/src/kmeans.c b/github_source/minicv2/src/kmeans.c
new file mode 100644
index 0000000..76dc82e
--- /dev/null
+++ b/github_source/minicv2/src/kmeans.c
@@ -0,0 +1,141 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Kmeans clustering.
+ */
+#include <float.h>
+#include <limits.h>
+// #include <arm_math.h>
+#include <stdio.h>
+#include "imlib.h"
+#include "array.h"
+#include "xalloc.h"
+
+extern uint32_t rng_randint(uint32_t min, uint32_t max);
+
+static cluster_t *cluster_alloc(int cx, int cy)
+{
+    cluster_t *c=NULL;
+    c = xalloc(sizeof(*c));
+    if (c != NULL) {
+        c->x = cx;
+        c->y = cy;
+        c->w = 0;
+        c->h = 0;
+        array_alloc(&c->points, NULL);
+    }
+    return c;
+}
+
+static void cluster_free(void *c)
+{
+    cluster_t *cl = c;
+    array_free(cl->points);
+    xfree(cl);
+}
+
+static void cluster_reset(array_t *clusters, array_t *points)
+{
+    // Reset all clusters
+    for (int j=0; j<array_length(clusters); j++) {
+         cluster_t *cl = array_at(clusters, j);
+         while (array_length(cl->points)) {
+             array_push_back(points, array_pop_back(cl->points));
+         }
+         array_free(cl->points);
+         array_alloc(&cl->points, NULL);
+    }
+}
+
+static int cluster_update(array_t *clusters)
+{
+    // Update clusters
+    for (int j=0; j<array_length(clusters); j++) {
+        cluster_t *cl = array_at(clusters, j);
+        int cx = cl->x, cy = cl->y;
+        int cl_size = array_length(cl->points);
+
+        // Sum all points in this cluster
+        for (int i=0; i<cl_size; i++) {
+            kp_t *p = array_at(cl->points, i);
+            cl->x += p->x;
+            cl->y += p->y;
+            // Find out the max x and y while we're at it
+            if (p->x > cl->w) {
+                cl->w = p->x;
+            }
+            if (p->y > cl->h) {
+                cl->h = p->y;
+            }
+        }
+
+        // Update centroid
+        cl->x = cl->x/cl_size;
+        cl->y = cl->y/cl_size;
+        // Update cluster size
+        cl->w = (cl->w - cl->x) * 2;
+        cl->h = (cl->h - cl->y) * 2;
+        if (cl->x == cx && cl->y == cy) {
+            // Cluster centroid did not change
+            return 0;
+        }
+    }
+
+    return 1;
+}
+
+static void cluster_points(array_t *clusters, array_t *points, cluster_dist_t dist_func)
+{
+    // Add objects to cluster
+    while (array_length(points)) {
+        float distance = FLT_MAX;
+        cluster_t *cl_nearest = NULL;
+        kp_t *p = array_pop_back(points);
+
+        for (int j=0; j<array_length(clusters); j++) {
+            cluster_t *cl = array_at(clusters, j);
+            float d = dist_func(cl->x, cl->y, p);
+            if (d < distance) {
+                distance = d;
+                cl_nearest = cl;
+            }
+        }
+        // Add pointer to point to cluster.
+        // Note: Objects in the cluster are not free'd
+        array_push_back(cl_nearest->points, p);
+    }
+}
+
+array_t *cluster_kmeans(array_t *points, int k, cluster_dist_t dist_func)
+{
+    // Alloc clusters array
+    array_t *clusters=NULL;
+    array_alloc(&clusters, cluster_free);
+
+    // Select K clusters randomly
+    for (int i=0; i<k; i++) {
+        int pidx = rng_randint(0, array_length(points)-1);
+        kp_t *p = array_at(points, pidx);
+        array_push_back(clusters, cluster_alloc(p->x, p->y));
+    }
+
+    int cl_changed = 1;
+    do {
+        // Reset clusters
+        cluster_reset(clusters, points);
+
+        // Add points to clusters
+        cluster_points(clusters, points, dist_func);
+
+        // Update centroids
+        cl_changed = cluster_update(clusters);
+
+    } while (cl_changed);
+
+    return clusters;
+}
diff --git a/github_source/minicv2/src/lab_tab.c b/github_source/minicv2/src/lab_tab.c
new file mode 100644
index 0000000..e57ed5e
--- /dev/null
+++ b/github_source/minicv2/src/lab_tab.c
@@ -0,0 +1,8197 @@
+#include <stdint.h>
+#ifdef IMLIB_ENABLE_LAB_LUT
+const int8_t lab_table[98304] = {
+    0,    0,   -1,     0,    3,   -9,     1,    8,  -21,     2,   16,  -31,
+    4,   27,  -41,     6,   35,  -48,     8,   41,  -55,    11,   45,  -61,
+   14,   50,  -67,    16,   54,  -73,    19,   58,  -79,    22,   62,  -84,
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+   90,   -8,   89,    90,   -8,   87,    90,   -7,   84,    90,   -7,   80,
+   90,   -6,   75,    90,   -5,   69,    90,   -4,   62,    91,   -3,   55,
+   91,   -2,   48,    91,    0,   40,    91,    1,   32,    91,    3,   24,
+   92,    5,   16,    92,    8,    8,    93,   11,    0,    93,   13,   -8,
+   91,  -10,   89,    91,  -10,   88,    91,   -9,   85,    91,   -9,   81,
+   91,   -8,   76,    91,   -7,   70,    91,   -6,   63,    92,   -5,   57,
+   92,   -4,   49,    92,   -2,   41,    92,    0,   33,    92,    1,   25,
+   93,    3,   17,    93,    6,    9,    94,    8,    1,    94,   11,   -7,
+   92,  -12,   90,    92,  -12,   88,    92,  -11,   86,    92,  -11,   82,
+   92,  -10,   77,    92,   -9,   71,    92,   -8,   65,    93,   -7,   58,
+   93,   -6,   50,    93,   -4,   43,    93,   -2,   34,    93,    0,   27,
+   94,    1,   19,    94,    4,   11,    94,    6,    3,    95,    9,   -5,
+   93,  -14,   91,    93,  -14,   89,    93,  -13,   87,    93,  -13,   83,
+   93,  -12,   78,    93,  -11,   72,    93,  -10,   66,    94,   -9,   59,
+   94,   -8,   51,    94,   -6,   44,    94,   -4,   36,    94,   -2,   28,
+   95,    0,   20,    95,    2,   12,    95,    4,    4,    96,    7,   -4,
+   94,  -16,   92,    94,  -16,   90,    94,  -15,   88,    94,  -15,   84,
+   94,  -14,   79,    94,  -13,   73,    94,  -12,   67,    95,  -11,   60,
+   95,  -10,   53,    95,   -8,   45,    95,   -6,   37,    95,   -4,   29,
+   96,   -2,   21,    96,    0,   13,    96,    2,    5,    97,    5,   -2,
+   95,  -18,   92,    95,  -18,   91,    95,  -17,   89,    95,  -17,   85,
+   95,  -16,   80,    95,  -15,   74,    95,  -14,   68,    96,  -13,   61,
+   96,  -12,   54,    96,  -10,   46,    96,   -8,   38,    96,   -6,   31,
+   97,   -4,   23,    97,   -2,   15,    97,    0,    7,    98,    3,   -1,
+   96,  -20,   93,    96,  -19,   92,    96,  -19,   89,    96,  -19,   86,
+   96,  -18,   81,    96,  -17,   75,    96,  -16,   69,    97,  -15,   62,
+   97,  -14,   55,    97,  -12,   48,    97,  -10,   40,    97,   -8,   32,
+   98,   -6,   24,    98,   -4,   16,    98,   -1,    8,    99,    1,    0,
+   97,  -21,   94,    97,  -21,   92,    97,  -21,   90,    97,  -21,   87,
+   97,  -20,   82,    97,  -19,   76,    98,  -18,   70,    98,  -17,   64,
+   98,  -15,   56,    98,  -14,   49,    98,  -12,   41,    98,  -10,   33,
+   99,   -8,   25,    99,   -6,   18,    99,   -3,   10,   100,    0,    2
+};
+#endif
\ No newline at end of file
diff --git a/github_source/minicv2/src/lbp.c b/github_source/minicv2/src/lbp.c
new file mode 100644
index 0000000..d0f9463
--- /dev/null
+++ b/github_source/minicv2/src/lbp.c
@@ -0,0 +1,122 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * LBPu2 8,2 Operator.
+ * Note: The distance function uses weights optimized for face recognition.
+ * Note: See Timo Ahonen's "Face Recognition with Local Binary Patterns".
+ */
+#include <stdio.h>
+#include <string.h>
+#include <stdlib.h>
+
+#include "imlib.h"
+#include "xalloc.h"
+// #include "ff.h"
+#include "ff_wrapper.h"
+#ifdef IMLIB_ENABLE_FIND_LBP
+
+#define LBP_HIST_SIZE   (59)    //58 uniform hist + 1
+#define LBP_NUM_REGIONS (7)     //7x7 regions
+#define LBP_DESC_SIZE   (LBP_NUM_REGIONS*LBP_NUM_REGIONS*LBP_HIST_SIZE)
+
+const static int8_t lbp_weights [49]= {
+    2, 1, 1, 1, 1, 1, 2,
+    2, 4, 4, 1, 4, 4, 2,
+    1, 1, 1, 0, 1, 1, 1,
+    0, 1, 1, 0, 1, 1, 0,
+    0, 1, 1, 1, 1, 1, 0,
+    0, 1, 1, 2, 1, 1, 0,
+    0, 1, 1, 1, 1, 1, 0,
+};
+
+const static uint8_t uniform_tbl[256] = {
+    0,   1,  2,  3,  4, 58,  5,  6,  7, 58, 58, 58,  8, 58,  9, 10,
+    11, 58, 58, 58, 58, 58, 58, 58, 12, 58, 58, 58, 13, 58, 14, 15,
+    16, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
+    17, 58, 58, 58, 58, 58, 58, 58, 18, 58, 58, 58, 19, 58, 20, 21,
+    22, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
+    58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
+    23, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
+    24, 58, 58, 58, 58, 58, 58, 58, 25, 58, 58, 58, 26, 58, 27, 28,
+    29, 30, 58, 31, 58, 58, 58, 32, 58, 58, 58, 58, 58, 58, 58, 33,
+    58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 34,
+    58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58,
+    58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 35,
+    36, 37, 58, 38, 58, 58, 58, 39, 58, 58, 58, 58, 58, 58, 58, 40,
+    58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 58, 41,
+    42, 43, 58, 44, 58, 58, 58, 45, 58, 58, 58, 58, 58, 58, 58, 46,
+    47, 48, 58, 49, 58, 58, 58, 50, 51, 52, 58, 53, 54, 55, 56, 57
+};
+
+uint8_t *imlib_lbp_desc(image_t *image, rectangle_t *roi)
+{
+    int s = image->w; //stride
+    int RX = roi->w/LBP_NUM_REGIONS;
+    int RY = roi->h/LBP_NUM_REGIONS;
+    uint8_t *data = image->data;
+    uint8_t *desc = xalloc0(LBP_DESC_SIZE);
+
+    for (int y=roi->y; y<(roi->y+roi->h)-3; y++) {
+        int y_idx = ((y-roi->y)/RY)*LBP_NUM_REGIONS;
+        for (int x=roi->x; x<(roi->x+roi->w)-3; x++) {
+            uint8_t lbp=0;
+            uint8_t p = data[(y+1)*s+x+1];
+            int hist_idx = y_idx+(x-roi->x)/RX;
+
+            lbp |= (data[(y+0)*s+x+0] >= p) << 0;
+            lbp |= (data[(y+0)*s+x+1] >= p) << 1;
+            lbp |= (data[(y+0)*s+x+2] >= p) << 2;
+            lbp |= (data[(y+1)*s+x+2] >= p) << 3;
+            lbp |= (data[(y+2)*s+x+2] >= p) << 4;
+            lbp |= (data[(y+2)*s+x+1] >= p) << 5;
+            lbp |= (data[(y+2)*s+x+0] >= p) << 6;
+            lbp |= (data[(y+1)*s+x+0] >= p) << 7;
+
+            desc[hist_idx*LBP_HIST_SIZE+uniform_tbl[lbp]]++;
+        }
+    }
+        return desc;
+}
+
+int imlib_lbp_desc_distance(uint8_t *d0, uint8_t *d1)
+{
+    uint32_t sum = 0;
+    for (int i=0; i<LBP_DESC_SIZE; i++) {
+        int w = lbp_weights[i/LBP_HIST_SIZE];
+        sum += w * ((((d0[i] - d1[i]) * (d0[i] - d1[i]))/IM_MAX((d0[i] + d1[i]),1)));
+    }
+    return sum;
+}
+
+int imlib_lbp_desc_save(FIL *fp, uint8_t *desc)
+{
+    // uint8_t bytes;
+    // Write descriptor
+    return write_data(fp, desc, LBP_DESC_SIZE);
+    // return f_write(*fp, desc, LBP_DESC_SIZE, &bytes);
+}
+
+int imlib_lbp_desc_load(FIL *fp, uint8_t **desc)
+{
+    // uint8_t bytes;
+    int res=0;
+
+    *desc = NULL;
+    uint8_t *hist = xalloc(LBP_DESC_SIZE);
+
+    // Read descriptor
+    res = read_data(fp, hist, LBP_DESC_SIZE);
+    if (res != LBP_DESC_SIZE) {
+        *desc = NULL;
+        xfree(hist);
+    } else {
+        *desc = hist;
+    }
+    return 0;
+}
+#endif //IMLIB_ENABLE_FIND_LBP
diff --git a/github_source/minicv2/src/line.c b/github_source/minicv2/src/line.c
new file mode 100644
index 0000000..7bec7dd
--- /dev/null
+++ b/github_source/minicv2/src/line.c
@@ -0,0 +1,481 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Line functions.
+ */
+#include "imlib.h"
+
+static void pixel_magnitude(image_t *ptr, int x, int y, int *theta, uint32_t *mag)
+{
+    switch (ptr->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+            int pixel; // Sobel Algorithm Below
+            int x_acc = 0;
+            int y_acc = 0;
+
+            if (y != 0) row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +1; // x[0,0] -> pixel * +1
+            y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                                 // x[0,1] -> pixel * 0
+            y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -1; // x[0,2] -> pixel * -1
+            y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+            if (y != 0) row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                 // y[1,0] -> pixel * 0
+
+            // pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+            // x[1,1] -> pixel * 0
+            // y[1,1] -> pixel * 0
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                 // y[1,2] -> pixel * 0
+
+            if (y != (ptr->h - 1)) row_ptr += ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +1; // x[2,0] -> pixel * +1
+            y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                                 // x[2,1] -> pixel * 0
+            y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+            pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -1; // x[2,2] -> pixel * -1
+            y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+            if (y != (ptr->h - 1)) row_ptr -= ((ptr->w + UINT32_T_MASK) >> UINT32_T_SHIFT);
+
+            *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+            if (*theta < 0) *theta += 180;
+            *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+            int pixel; // Sobel Algorithm Below... w/ Scharr...
+            int x_acc = 0;
+            int y_acc = 0;
+
+            if (y != 0) row_ptr -= ptr->w;
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0));
+            x_acc += pixel * +1; // x[0,0] -> pixel * +1
+            y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                 // x[0,1] -> pixel * 0
+            y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1));
+            x_acc += pixel * -1; // x[0,2] -> pixel * -1
+            y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+            if (y != 0) row_ptr += ptr->w;
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0));
+            x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                 // y[1,0] -> pixel * 0
+
+            // pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+            // x[1,1] -> pixel * 0
+            // y[1,1] -> pixel * 0
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1));
+            x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                 // y[1,2] -> pixel * 0
+
+            if (y != (ptr->h - 1)) row_ptr += ptr->w;
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0));
+            x_acc += pixel * +1; // x[2,0] -> pixel * +1
+            y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                 // x[2,1] -> pixel * 0
+            y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+            pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1));
+            x_acc += pixel * -1; // x[2,2] -> pixel * -1
+            y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+            if (y != (ptr->h - 1)) row_ptr -= ptr->w;
+
+            *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+            if (*theta < 0) *theta += 180;
+            *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+            int pixel; // Sobel Algorithm Below... w/ Scharr...
+            int x_acc = 0;
+            int y_acc = 0;
+
+            if (y != 0) row_ptr -= ptr->w;
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +1; // x[0,0] -> pixel * +1
+            y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                                 // x[0,1] -> pixel * 0
+            y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -1; // x[0,2] -> pixel * -1
+            y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+            if (y != 0) row_ptr += ptr->w;
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                 // y[1,0] -> pixel * 0
+
+            // pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+            // x[1,1] -> pixel * 0
+            // y[1,1] -> pixel * 0
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                 // y[1,2] -> pixel * 0
+
+            if (y != (ptr->h - 1)) row_ptr += ptr->w;
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +1; // x[2,0] -> pixel * +1
+            y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                                 // x[2,1] -> pixel * 0
+            y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+            pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -1; // x[2,2] -> pixel * -1
+            y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+            if (y != (ptr->h - 1)) row_ptr -= ptr->w;
+
+            *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+            if (*theta < 0) *theta += 180;
+            *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+            int pixel; // Sobel Algorithm Below... w/ Scharr...
+            int x_acc = 0;
+            int y_acc = 0;
+
+            if (y != 0) row_ptr -= ptr->w;
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +1; // x[0,0] -> pixel * +1
+            y_acc += pixel * +1; // y[0,0] -> pixel * +1
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                                 // x[0,1] -> pixel * 0
+            y_acc += pixel * +2; // y[0,1] -> pixel * +2
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -1; // x[0,2] -> pixel * -1
+            y_acc += pixel * +1; // y[0,2] -> pixel * +1
+
+            if (y != 0) row_ptr += ptr->w;
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +2; // x[1,0] -> pixel * +2
+                                 // y[1,0] -> pixel * 0
+
+            // pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+            // x[1,1] -> pixel * 0
+            // y[1,1] -> pixel * 0
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -2; // x[1,2] -> pixel * -2
+                                 // y[1,2] -> pixel * 0
+
+            if (y != (ptr->h - 1)) row_ptr += ptr->w;
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, IM_MAX(x - 1, 0)));
+            x_acc += pixel * +1; // x[2,0] -> pixel * +1
+            y_acc += pixel * -1; // y[2,0] -> pixel * -1
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x));
+                                 // x[2,1] -> pixel * 0
+            y_acc += pixel * -2; // y[2,1] -> pixel * -2
+
+            pixel = COLOR_RGB888_TO_GRAYSCALE(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, IM_MIN(x + 1, ptr->w - 1)));
+            x_acc += pixel * -1; // x[2,2] -> pixel * -1
+            y_acc += pixel * -1; // y[2,2] -> pixel * -1
+
+            if (y != (ptr->h - 1)) row_ptr -= ptr->w;
+
+            *theta = fast_roundf((x_acc ? fast_atan2f(y_acc, x_acc) : 1.570796f) * 57.295780) % 180; // * (180 / PI)
+            if (*theta < 0) *theta += 180;
+            *mag = fast_roundf(fast_sqrtf((x_acc * x_acc) + (y_acc * y_acc)));
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+// http://www.brackeen.com/vga/source/djgpp20/lines.c.html
+// http://www.brackeen.com/vga/source/bc31/lines.c.html
+static bool merge_line(line_t *big, line_t *small, unsigned int threshold)
+{
+    int dx = big->x2 - big->x1; // the horizontal distance of the line
+    int dy = big->y2 - big->y1; // the vertical distance of the line
+    int dxabs = abs(dx);
+    int dyabs = abs(dy);
+    int sdx = (dx < 0) ? -1 :((dx > 0) ? 1 : 0);
+    int sdy = (dy < 0) ? -1 :((dy > 0) ? 1 : 0);
+    int x = dyabs >> 1; // correct
+    int y = dxabs >> 1; // correct
+    int px = big->x1;
+    int py = big->y1;
+
+    int x_diff_0 = (px - small->x1);
+    int y_diff_0 = (py - small->y1);
+    if (fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))) <= threshold) return true;
+    int x_diff_1 = (px - small->x2);
+    int y_diff_1 = (py - small->y2);
+    if (fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))) <= threshold) return true;
+
+    if (dxabs >= dyabs) { // the line is more horizontal than vertical
+        for(int i = 0; i < dxabs; i++) {
+            y += dyabs;
+
+            if (y >= dxabs) {
+                y -= dxabs;
+                py += sdy;
+            }
+
+            px += sdx;
+
+            x_diff_0 = (px - small->x1);
+            y_diff_0 = (py - small->y1);
+            if (fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))) <= threshold) return true;
+            x_diff_1 = (px - small->x2);
+            y_diff_1 = (py - small->y2);
+            if (fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))) <= threshold) return true;
+        }
+    } else { // the line is more vertical than horizontal
+        for(int i = 0; i < dyabs; i++) {
+            x += dxabs;
+
+            if (x >= dyabs) {
+                x -= dyabs;
+                px += sdx;
+            }
+
+            py += sdy;
+
+            x_diff_0 = (px - small->x1);
+            y_diff_0 = (py - small->y1);
+            if (fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0))) <= threshold) return true;
+            x_diff_1 = (px - small->x2);
+            y_diff_1 = (py - small->y2);
+            if (fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1))) <= threshold) return true;
+        }
+    }
+
+    return false;
+}
+
+void merge_alot(list_t *out, int threshold, int theta_threshold)
+{
+    for (;;) {
+        bool merge_occured = false;
+
+        list_t out_temp;
+        imlib_list_init(&out_temp, sizeof(find_lines_list_lnk_data_t));
+
+        while (list_size(out)) {
+            find_lines_list_lnk_data_t lnk_line;
+            list_pop_front(out, &lnk_line);
+
+            for (size_t k = 0, l = list_size(out); k < l; k++) {
+                find_lines_list_lnk_data_t tmp_line;
+                list_pop_front(out, &tmp_line);
+
+                int x_diff_0 = (lnk_line.line.x2 - lnk_line.line.x1);
+                int y_diff_0 = (lnk_line.line.y2 - lnk_line.line.y1);
+                int length_0 = fast_roundf(fast_sqrtf((x_diff_0 * x_diff_0) + (y_diff_0 * y_diff_0)));
+
+                int x_diff_1 = (tmp_line.line.x2 - tmp_line.line.x1);
+                int y_diff_1 = (tmp_line.line.y2 - tmp_line.line.y1);
+                int length_1 = fast_roundf(fast_sqrtf((x_diff_1 * x_diff_1) + (y_diff_1 * y_diff_1)));
+
+                int theta_diff = abs(lnk_line.theta - tmp_line.theta);
+                int theta_diff_2 = (theta_diff >= 90) ? (180 - theta_diff) : theta_diff;
+
+                if ((theta_diff_2 <= theta_threshold) && merge_line((length_0 > length_1) ?
+                            &lnk_line.line : &tmp_line.line, (length_0 <= length_1) ? &lnk_line.line : &tmp_line.line, threshold)) {
+
+                    if (abs(x_diff_0) >= abs(y_diff_0)) { // the line is more horizontal than vertical
+                        if (x_diff_0 < 0) { // Make sure x slope is positive for the next part.
+                            int temp_x = lnk_line.line.x1;
+                            lnk_line.line.x1 = lnk_line.line.x2;
+                            lnk_line.line.x2 = temp_x;
+                            int temp_y = lnk_line.line.y1;
+                            lnk_line.line.y1 = lnk_line.line.y2;
+                            lnk_line.line.y2 = temp_y;
+                            x_diff_0 = (lnk_line.line.x2 - lnk_line.line.x1);
+                            y_diff_0 = (lnk_line.line.y2 - lnk_line.line.y1);
+                        }
+
+                        if (x_diff_1 < 0) { // Make sure x slope is positive for the next part.
+                            int temp_x = tmp_line.line.x1;
+                            tmp_line.line.x1 = tmp_line.line.x2;
+                            tmp_line.line.x2 = temp_x;
+                            int temp_y = tmp_line.line.y1;
+                            tmp_line.line.y1 = tmp_line.line.y2;
+                            tmp_line.line.y2 = temp_y;
+                            x_diff_1 = (tmp_line.line.x2 - tmp_line.line.x1);
+                            y_diff_1 = (tmp_line.line.y2 - tmp_line.line.y1);
+                        }
+
+                        if (length_0 > length_1) {
+                            int x_min = IM_MIN(lnk_line.line.x1, tmp_line.line.x1);
+                            int x_max = IM_MAX(lnk_line.line.x2, tmp_line.line.x2);
+                            lnk_line.line.y1 = lnk_line.line.y1 - ((y_diff_0 * (lnk_line.line.x1 - x_min)) / x_diff_0);
+                            lnk_line.line.x1 = x_min;
+                            lnk_line.line.y2 = lnk_line.line.y2 + ((y_diff_0 * (x_max - lnk_line.line.x2)) / x_diff_0);
+                            lnk_line.line.x2 = x_max;
+                        } else {
+                            int x_min = IM_MIN(tmp_line.line.x1, lnk_line.line.x1);
+                            int x_max = IM_MAX(tmp_line.line.x2, lnk_line.line.x2);
+                            lnk_line.line.y1 = tmp_line.line.y1 - ((y_diff_0 * (tmp_line.line.x1 - x_min)) / x_diff_0);
+                            lnk_line.line.x1 = x_min;
+                            lnk_line.line.y2 = tmp_line.line.y2 + ((y_diff_0 * (x_max - tmp_line.line.x2)) / x_diff_0);
+                            lnk_line.line.x2 = x_max;
+                        }
+                    } else { // the line is more vertical than horizontal
+                        if (y_diff_0 < 0) { // Make sure y slope is positive for the next part.
+                            int temp_x = lnk_line.line.x1;
+                            lnk_line.line.x1 = lnk_line.line.x2;
+                            lnk_line.line.x2 = temp_x;
+                            int temp_y = lnk_line.line.y1;
+                            lnk_line.line.y1 = lnk_line.line.y2;
+                            lnk_line.line.y2 = temp_y;
+                            x_diff_0 = (lnk_line.line.x2 - lnk_line.line.x1);
+                            y_diff_0 = (lnk_line.line.y2 - lnk_line.line.y1);
+                        }
+
+                        if (y_diff_1 < 0) { // Make sure y slope is positive for the next part.
+                            int temp_x = tmp_line.line.x1;
+                            tmp_line.line.x1 = tmp_line.line.x2;
+                            tmp_line.line.x2 = temp_x;
+                            int temp_y = tmp_line.line.y1;
+                            tmp_line.line.y1 = tmp_line.line.y2;
+                            tmp_line.line.y2 = temp_y;
+                            x_diff_1 = (tmp_line.line.x2 - tmp_line.line.x1);
+                            y_diff_1 = (tmp_line.line.y2 - tmp_line.line.y1);
+                        }
+
+                        if (length_0 > length_1) {
+                            int y_min = IM_MIN(lnk_line.line.y1, tmp_line.line.y1);
+                            int y_max = IM_MAX(lnk_line.line.y2, tmp_line.line.y2);
+                            lnk_line.line.x1 = lnk_line.line.x1 - ((x_diff_0 * (lnk_line.line.y1 - y_min)) / y_diff_0);
+                            lnk_line.line.y1 = y_min;
+                            lnk_line.line.x2 = lnk_line.line.x2 + ((x_diff_0 * (y_max - lnk_line.line.y2)) / y_diff_0);
+                            lnk_line.line.y2 = y_max;
+                        } else {
+                            int y_min = IM_MIN(tmp_line.line.y1, lnk_line.line.y1);
+                            int y_max = IM_MAX(tmp_line.line.y2, lnk_line.line.y2);
+                            lnk_line.line.x1 = tmp_line.line.x1 - ((x_diff_0 * (tmp_line.line.y1 - y_min)) / y_diff_0);
+                            lnk_line.line.y1 = y_min;
+                            lnk_line.line.x2 = tmp_line.line.x2 + ((x_diff_0 * (y_max - tmp_line.line.y2)) / y_diff_0);
+                            lnk_line.line.y2 = y_max;
+                        }
+                    }
+
+                    merge_occured = true;
+                } else {
+                    list_push_back(out, &tmp_line);
+                }
+            }
+
+            list_push_back(&out_temp, &lnk_line);
+        }
+
+        list_copy(out, &out_temp);
+
+        if (!merge_occured) {
+            break;
+        }
+    }
+}
+
+// http://www.brackeen.com/vga/source/djgpp20/lines.c.html
+// http://www.brackeen.com/vga/source/bc31/lines.c.html
+size_t trace_line(image_t *ptr, line_t *l, int *theta_buffer, uint32_t *mag_buffer, point_t *point_buffer)
+{
+    int dx = l->x2 - l->x1; // the horizontal distance of the line
+    int dy = l->y2 - l->y1; // the vertical distance of the line
+    int dxabs = abs(dx);
+    int dyabs = abs(dy);
+    int sdx = (dx < 0) ? -1 :((dx > 0) ? 1 : 0);
+    int sdy = (dy < 0) ? -1 :((dy > 0) ? 1 : 0);
+    int x = dyabs >> 1; // correct
+    int y = dxabs >> 1; // correct
+    int px = l->x1;
+    int py = l->y1;
+
+    size_t index = 0;
+
+    pixel_magnitude(ptr, px, py, theta_buffer + index, mag_buffer + index);
+    point_buffer[index++] = (point_t) {.x = px, .y = py};
+
+    if (dxabs >= dyabs) { // the line is more horizontal than vertical
+        for(int i = 0; i < dxabs; i++) {
+            y += dyabs;
+
+            if (y >= dxabs) {
+                y -= dxabs;
+                py += sdy;
+            }
+
+            px += sdx;
+
+            pixel_magnitude(ptr, px, py, theta_buffer + index, mag_buffer + index);
+            point_buffer[index++] = (point_t) {.x = px, .y = py};
+        }
+    } else { // the line is more vertical than horizontal
+        for(int i = 0; i < dyabs; i++) {
+            x += dxabs;
+
+            if (x >= dyabs) {
+                x -= dyabs;
+                px += sdx;
+            }
+
+            py += sdy;
+
+            pixel_magnitude(ptr, px, py, theta_buffer + index, mag_buffer + index);
+            point_buffer[index++] = (point_t) {.x = px, .y = py};
+        }
+    }
+
+    return index;
+}
diff --git a/github_source/minicv2/src/lodepng.c b/github_source/minicv2/src/lodepng.c
new file mode 100644
index 0000000..6b3a465
--- /dev/null
+++ b/github_source/minicv2/src/lodepng.c
@@ -0,0 +1,6503 @@
+/*
+LodePNG version 20220109
+
+Copyright (c) 2005-2022 Lode Vandevenne
+
+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.
+*/
+
+/*
+The manual and changelog are in the header file "lodepng.h"
+Rename this file to lodepng.cpp to use it for C++, or to lodepng.c to use it for C.
+*/
+
+#include "imlib.h"
+#if defined(IMLIB_ENABLE_PNG_ENCODER) || defined(IMLIB_ENABLE_PNG_DECODER)
+#undef CRC
+#include "lodepng.h"
+
+#ifdef LODEPNG_COMPILE_DISK
+#include <limits.h> /* LONG_MAX */
+#include <stdio.h> /* file handling */
+#endif /* LODEPNG_COMPILE_DISK */
+
+#ifdef LODEPNG_COMPILE_ALLOCATORS
+#include <stdlib.h> /* allocations */
+#endif /* LODEPNG_COMPILE_ALLOCATORS */
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1310) /*Visual Studio: A few warning types are not desired here.*/
+#pragma warning( disable : 4244 ) /*implicit conversions: not warned by gcc -Wall -Wextra and requires too much casts*/
+#pragma warning( disable : 4996 ) /*VS does not like fopen, but fopen_s is not standard C so unusable here*/
+#endif /*_MSC_VER */
+
+const char* LODEPNG_VERSION_STRING = "20220109";
+
+/*
+This source file is built up in the following large parts. The code sections
+with the "LODEPNG_COMPILE_" #defines divide this up further in an intermixed way.
+-Tools for C and common code for PNG and Zlib
+-C Code for Zlib (huffman, deflate, ...)
+-C Code for PNG (file format chunks, adam7, PNG filters, color conversions, ...)
+-The C++ wrapper around all of the above
+*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* // Tools for C, and common code for PNG and Zlib.                       // */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/*The malloc, realloc and free functions defined here with "lodepng_" in front
+of the name, so that you can easily change them to others related to your
+platform if needed. Everything else in the code calls these. Pass
+-DLODEPNG_NO_COMPILE_ALLOCATORS to the compiler, or comment out
+#define LODEPNG_COMPILE_ALLOCATORS in the header, to disable the ones here and
+define them in your own project's source files without needing to change
+lodepng source code. Don't forget to remove "static" if you copypaste them
+from here.*/
+
+#ifdef LODEPNG_COMPILE_ALLOCATORS
+static void* lodepng_malloc(size_t size) {
+#ifdef LODEPNG_MAX_ALLOC
+  if(size > LODEPNG_MAX_ALLOC) return 0;
+#endif
+  return malloc(size);
+}
+
+/* NOTE: when realloc returns NULL, it leaves the original memory untouched */
+static void* lodepng_realloc(void* ptr, size_t new_size) {
+#ifdef LODEPNG_MAX_ALLOC
+  if(new_size > LODEPNG_MAX_ALLOC) return 0;
+#endif
+  return realloc(ptr, new_size);
+}
+
+static void lodepng_free(void* ptr) {
+  free(ptr);
+}
+#else /*LODEPNG_COMPILE_ALLOCATORS*/
+/* TODO: support giving additional void* payload to the custom allocators */
+void* lodepng_malloc(size_t size);
+void* lodepng_realloc(void* ptr, size_t new_size);
+void lodepng_free(void* ptr);
+#endif /*LODEPNG_COMPILE_ALLOCATORS*/
+
+/* convince the compiler to inline a function, for use when this measurably improves performance */
+/* inline is not available in C90, but use it when supported by the compiler */
+#if (defined(__STDC_VERSION__) && (__STDC_VERSION__ >= 199901L)) || (defined(__cplusplus) && (__cplusplus >= 199711L))
+#define LODEPNG_INLINE inline
+#else
+#define LODEPNG_INLINE /* not available */
+#endif
+
+/* restrict is not available in C90, but use it when supported by the compiler */
+#if (defined(__GNUC__) && (__GNUC__ > 3 || (__GNUC__ == 3 && __GNUC_MINOR__ >= 1))) ||\
+    (defined(_MSC_VER) && (_MSC_VER >= 1400)) || \
+    (defined(__WATCOMC__) && (__WATCOMC__ >= 1250) && !defined(__cplusplus))
+#define LODEPNG_RESTRICT __restrict
+#else
+#define LODEPNG_RESTRICT /* not available */
+#endif
+
+/* Replacements for C library functions such as memcpy and strlen, to support platforms
+where a full C library is not available. The compiler can recognize them and compile
+to something as fast. */
+
+static void lodepng_memcpy(void* LODEPNG_RESTRICT dst,
+                           const void* LODEPNG_RESTRICT src, size_t size) {
+  size_t i;
+  for(i = 0; i < size; i++) ((char*)dst)[i] = ((const char*)src)[i];
+}
+
+static void lodepng_memset(void* LODEPNG_RESTRICT dst,
+                           int value, size_t num) {
+  size_t i;
+  for(i = 0; i < num; i++) ((char*)dst)[i] = (char)value;
+}
+
+/* does not check memory out of bounds, do not use on untrusted data */
+static size_t lodepng_strlen(const char* a) {
+  const char* orig = a;
+  /* avoid warning about unused function in case of disabled COMPILE... macros */
+  (void)(&lodepng_strlen);
+  while(*a) a++;
+  return (size_t)(a - orig);
+}
+
+#define LODEPNG_MAX(a, b) (((a) > (b)) ? (a) : (b))
+#define LODEPNG_MIN(a, b) (((a) < (b)) ? (a) : (b))
+#define LODEPNG_ABS(x) ((x) < 0 ? -(x) : (x))
+
+#if defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_DECODER)
+/* Safely check if adding two integers will overflow (no undefined
+behavior, compiler removing the code, etc...) and output result. */
+static int lodepng_addofl(size_t a, size_t b, size_t* result) {
+  *result = a + b; /* Unsigned addition is well defined and safe in C90 */
+  return *result < a;
+}
+#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_DECODER)*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+/* Safely check if multiplying two integers will overflow (no undefined
+behavior, compiler removing the code, etc...) and output result. */
+static int lodepng_mulofl(size_t a, size_t b, size_t* result) {
+  *result = a * b; /* Unsigned multiplication is well defined and safe in C90 */
+  return (a != 0 && *result / a != b);
+}
+
+#ifdef LODEPNG_COMPILE_ZLIB
+/* Safely check if a + b > c, even if overflow could happen. */
+static int lodepng_gtofl(size_t a, size_t b, size_t c) {
+  size_t d;
+  if(lodepng_addofl(a, b, &d)) return 1;
+  return d > c;
+}
+#endif /*LODEPNG_COMPILE_ZLIB*/
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+
+/*
+Often in case of an error a value is assigned to a variable and then it breaks
+out of a loop (to go to the cleanup phase of a function). This macro does that.
+It makes the error handling code shorter and more readable.
+
+Example: if(!uivector_resize(&lz77_encoded, datasize)) ERROR_BREAK(83);
+*/
+#define CERROR_BREAK(errorvar, code){\
+  errorvar = code;\
+  break;\
+}
+
+/*version of CERROR_BREAK that assumes the common case where the error variable is named "error"*/
+#define ERROR_BREAK(code) CERROR_BREAK(error, code)
+
+/*Set error var to the error code, and return it.*/
+#define CERROR_RETURN_ERROR(errorvar, code){\
+  errorvar = code;\
+  return code;\
+}
+
+/*Try the code, if it returns error, also return the error.*/
+#define CERROR_TRY_RETURN(call){\
+  unsigned error = call;\
+  if(error) return error;\
+}
+
+/*Set error var to the error code, and return from the void function.*/
+#define CERROR_RETURN(errorvar, code){\
+  errorvar = code;\
+  return;\
+}
+
+/*
+About uivector, ucvector and string:
+-All of them wrap dynamic arrays or text strings in a similar way.
+-LodePNG was originally written in C++. The vectors replace the std::vectors that were used in the C++ version.
+-The string tools are made to avoid problems with compilers that declare things like strncat as deprecated.
+-They're not used in the interface, only internally in this file as static functions.
+-As with many other structs in this file, the init and cleanup functions serve as ctor and dtor.
+*/
+
+#ifdef LODEPNG_COMPILE_ZLIB
+#ifdef LODEPNG_COMPILE_ENCODER
+/*dynamic vector of unsigned ints*/
+typedef struct uivector {
+  unsigned* data;
+  size_t size; /*size in number of unsigned longs*/
+  size_t allocsize; /*allocated size in bytes*/
+} uivector;
+
+static void uivector_cleanup(void* p) {
+  ((uivector*)p)->size = ((uivector*)p)->allocsize = 0;
+  lodepng_free(((uivector*)p)->data);
+  ((uivector*)p)->data = NULL;
+}
+
+/*returns 1 if success, 0 if failure ==> nothing done*/
+static unsigned uivector_resize(uivector* p, size_t size) {
+  size_t allocsize = size * sizeof(unsigned);
+  if(allocsize > p->allocsize) {
+    size_t newsize = allocsize + (p->allocsize >> 1u);
+    void* data = lodepng_realloc(p->data, newsize);
+    if(data) {
+      p->allocsize = newsize;
+      p->data = (unsigned*)data;
+    }
+    else return 0; /*error: not enough memory*/
+  }
+  p->size = size;
+  return 1; /*success*/
+}
+
+static void uivector_init(uivector* p) {
+  p->data = NULL;
+  p->size = p->allocsize = 0;
+}
+
+/*returns 1 if success, 0 if failure ==> nothing done*/
+static unsigned uivector_push_back(uivector* p, unsigned c) {
+  if(!uivector_resize(p, p->size + 1)) return 0;
+  p->data[p->size - 1] = c;
+  return 1;
+}
+#endif /*LODEPNG_COMPILE_ENCODER*/
+#endif /*LODEPNG_COMPILE_ZLIB*/
+
+/* /////////////////////////////////////////////////////////////////////////// */
+
+/*dynamic vector of unsigned chars*/
+typedef struct ucvector {
+  unsigned char* data;
+  size_t size; /*used size*/
+  size_t allocsize; /*allocated size*/
+} ucvector;
+
+/*returns 1 if success, 0 if failure ==> nothing done*/
+static unsigned ucvector_reserve(ucvector* p, size_t size) {
+  if(size > p->allocsize) {
+    size_t newsize = size + (p->allocsize >> 1u);
+    void* data = lodepng_realloc(p->data, newsize);
+    if(data) {
+      p->allocsize = newsize;
+      p->data = (unsigned char*)data;
+    }
+    else return 0; /*error: not enough memory*/
+  }
+  return 1; /*success*/
+}
+
+/*returns 1 if success, 0 if failure ==> nothing done*/
+static unsigned ucvector_resize(ucvector* p, size_t size) {
+  p->size = size;
+  return ucvector_reserve(p, size);
+}
+
+static ucvector ucvector_init(unsigned char* buffer, size_t size) {
+  ucvector v;
+  v.data = buffer;
+  v.allocsize = v.size = size;
+  return v;
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_PNG
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+
+/*free string pointer and set it to NULL*/
+static void string_cleanup(char** out) {
+  lodepng_free(*out);
+  *out = NULL;
+}
+
+/*also appends null termination character*/
+static char* alloc_string_sized(const char* in, size_t insize) {
+  char* out = (char*)lodepng_malloc(insize + 1);
+  if(out) {
+    lodepng_memcpy(out, in, insize);
+    out[insize] = 0;
+  }
+  return out;
+}
+
+/* dynamically allocates a new string with a copy of the null terminated input text */
+static char* alloc_string(const char* in) {
+  return alloc_string_sized(in, lodepng_strlen(in));
+}
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+#endif /*LODEPNG_COMPILE_PNG*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_PNG)
+static unsigned lodepng_read32bitInt(const unsigned char* buffer) {
+  return (((unsigned)buffer[0] << 24u) | ((unsigned)buffer[1] << 16u) |
+         ((unsigned)buffer[2] << 8u) | (unsigned)buffer[3]);
+}
+#endif /*defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_PNG)*/
+
+#if defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)
+/*buffer must have at least 4 allocated bytes available*/
+static void lodepng_set32bitInt(unsigned char* buffer, unsigned value) {
+  buffer[0] = (unsigned char)((value >> 24) & 0xff);
+  buffer[1] = (unsigned char)((value >> 16) & 0xff);
+  buffer[2] = (unsigned char)((value >>  8) & 0xff);
+  buffer[3] = (unsigned char)((value      ) & 0xff);
+}
+#endif /*defined(LODEPNG_COMPILE_PNG) || defined(LODEPNG_COMPILE_ENCODER)*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / File IO                                                                / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_DISK
+
+/* returns negative value on error. This should be pure C compatible, so no fstat. */
+static long lodepng_filesize(const char* filename) {
+  FILE* file;
+  long size;
+  file = fopen(filename, "rb");
+  if(!file) return -1;
+
+  if(fseek(file, 0, SEEK_END) != 0) {
+    fclose(file);
+    return -1;
+  }
+
+  size = ftell(file);
+  /* It may give LONG_MAX as directory size, this is invalid for us. */
+  if(size == LONG_MAX) size = -1;
+
+  fclose(file);
+  return size;
+}
+
+/* load file into buffer that already has the correct allocated size. Returns error code.*/
+static unsigned lodepng_buffer_file(unsigned char* out, size_t size, const char* filename) {
+  FILE* file;
+  size_t readsize;
+  file = fopen(filename, "rb");
+  if(!file) return 78;
+
+  readsize = fread(out, 1, size, file);
+  fclose(file);
+
+  if(readsize != size) return 78;
+  return 0;
+}
+
+unsigned lodepng_load_file(unsigned char** out, size_t* outsize, const char* filename) {
+  long size = lodepng_filesize(filename);
+  if(size < 0) return 78;
+  *outsize = (size_t)size;
+
+  *out = (unsigned char*)lodepng_malloc((size_t)size);
+  if(!(*out) && size > 0) return 83; /*the above malloc failed*/
+
+  return lodepng_buffer_file(*out, (size_t)size, filename);
+}
+
+/*write given buffer to the file, overwriting the file, it doesn't append to it.*/
+unsigned lodepng_save_file(const unsigned char* buffer, size_t buffersize, const char* filename) {
+  FILE* file;
+  file = fopen(filename, "wb" );
+  if(!file) return 79;
+  fwrite(buffer, 1, buffersize, file);
+  fclose(file);
+  return 0;
+}
+
+#endif /*LODEPNG_COMPILE_DISK*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* // End of common code and tools. Begin of Zlib related code.            // */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_ZLIB
+#ifdef LODEPNG_COMPILE_ENCODER
+
+typedef struct {
+  ucvector* data;
+  unsigned char bp; /*ok to overflow, indicates bit pos inside byte*/
+} LodePNGBitWriter;
+
+static void LodePNGBitWriter_init(LodePNGBitWriter* writer, ucvector* data) {
+  writer->data = data;
+  writer->bp = 0;
+}
+
+/*TODO: this ignores potential out of memory errors*/
+#define WRITEBIT(writer, bit){\
+  /* append new byte */\
+  if(((writer->bp) & 7u) == 0) {\
+    if(!ucvector_resize(writer->data, writer->data->size + 1)) return;\
+    writer->data->data[writer->data->size - 1] = 0;\
+  }\
+  (writer->data->data[writer->data->size - 1]) |= (bit << ((writer->bp) & 7u));\
+  ++writer->bp;\
+}
+
+/* LSB of value is written first, and LSB of bytes is used first */
+static void writeBits(LodePNGBitWriter* writer, unsigned value, size_t nbits) {
+  if(nbits == 1) { /* compiler should statically compile this case if nbits == 1 */
+    WRITEBIT(writer, value);
+  } else {
+    /* TODO: increase output size only once here rather than in each WRITEBIT */
+    size_t i;
+    for(i = 0; i != nbits; ++i) {
+      WRITEBIT(writer, (unsigned char)((value >> i) & 1));
+    }
+  }
+}
+
+/* This one is to use for adding huffman symbol, the value bits are written MSB first */
+static void writeBitsReversed(LodePNGBitWriter* writer, unsigned value, size_t nbits) {
+  size_t i;
+  for(i = 0; i != nbits; ++i) {
+    /* TODO: increase output size only once here rather than in each WRITEBIT */
+    WRITEBIT(writer, (unsigned char)((value >> (nbits - 1u - i)) & 1u));
+  }
+}
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+typedef struct {
+  const unsigned char* data;
+  size_t size; /*size of data in bytes*/
+  size_t bitsize; /*size of data in bits, end of valid bp values, should be 8*size*/
+  size_t bp;
+  unsigned buffer; /*buffer for reading bits. NOTE: 'unsigned' must support at least 32 bits*/
+} LodePNGBitReader;
+
+/* data size argument is in bytes. Returns error if size too large causing overflow */
+static unsigned LodePNGBitReader_init(LodePNGBitReader* reader, const unsigned char* data, size_t size) {
+  size_t temp;
+  reader->data = data;
+  reader->size = size;
+  /* size in bits, return error if overflow (if size_t is 32 bit this supports up to 500MB)  */
+  if(lodepng_mulofl(size, 8u, &reader->bitsize)) return 105;
+  /*ensure incremented bp can be compared to bitsize without overflow even when it would be incremented 32 too much and
+  trying to ensure 32 more bits*/
+  if(lodepng_addofl(reader->bitsize, 64u, &temp)) return 105;
+  reader->bp = 0;
+  reader->buffer = 0;
+  return 0; /*ok*/
+}
+
+/*
+ensureBits functions:
+Ensures the reader can at least read nbits bits in one or more readBits calls,
+safely even if not enough bits are available.
+The nbits parameter is unused but is given for documentation purposes, error
+checking for amount of bits must be done beforehand.
+*/
+
+/*See ensureBits documentation above. This one ensures up to 9 bits */
+static LODEPNG_INLINE void ensureBits9(LodePNGBitReader* reader, size_t nbits) {
+  size_t start = reader->bp >> 3u;
+  size_t size = reader->size;
+  if(start + 1u < size) {
+    reader->buffer = (unsigned)reader->data[start + 0] | ((unsigned)reader->data[start + 1] << 8u);
+    reader->buffer >>= (reader->bp & 7u);
+  } else {
+    reader->buffer = 0;
+    if(start + 0u < size) reader->buffer = reader->data[start + 0];
+    reader->buffer >>= (reader->bp & 7u);
+  }
+  (void)nbits;
+}
+
+/*See ensureBits documentation above. This one ensures up to 17 bits */
+static LODEPNG_INLINE void ensureBits17(LodePNGBitReader* reader, size_t nbits) {
+  size_t start = reader->bp >> 3u;
+  size_t size = reader->size;
+  if(start + 2u < size) {
+    reader->buffer = (unsigned)reader->data[start + 0] | ((unsigned)reader->data[start + 1] << 8u) |
+                     ((unsigned)reader->data[start + 2] << 16u);
+    reader->buffer >>= (reader->bp & 7u);
+  } else {
+    reader->buffer = 0;
+    if(start + 0u < size) reader->buffer |= reader->data[start + 0];
+    if(start + 1u < size) reader->buffer |= ((unsigned)reader->data[start + 1] << 8u);
+    reader->buffer >>= (reader->bp & 7u);
+  }
+  (void)nbits;
+}
+
+/*See ensureBits documentation above. This one ensures up to 25 bits */
+static LODEPNG_INLINE void ensureBits25(LodePNGBitReader* reader, size_t nbits) {
+  size_t start = reader->bp >> 3u;
+  size_t size = reader->size;
+  if(start + 3u < size) {
+    reader->buffer = (unsigned)reader->data[start + 0] | ((unsigned)reader->data[start + 1] << 8u) |
+                     ((unsigned)reader->data[start + 2] << 16u) | ((unsigned)reader->data[start + 3] << 24u);
+    reader->buffer >>= (reader->bp & 7u);
+  } else {
+    reader->buffer = 0;
+    if(start + 0u < size) reader->buffer |= reader->data[start + 0];
+    if(start + 1u < size) reader->buffer |= ((unsigned)reader->data[start + 1] << 8u);
+    if(start + 2u < size) reader->buffer |= ((unsigned)reader->data[start + 2] << 16u);
+    reader->buffer >>= (reader->bp & 7u);
+  }
+  (void)nbits;
+}
+
+/*See ensureBits documentation above. This one ensures up to 32 bits */
+static LODEPNG_INLINE void ensureBits32(LodePNGBitReader* reader, size_t nbits) {
+  size_t start = reader->bp >> 3u;
+  size_t size = reader->size;
+  if(start + 4u < size) {
+    reader->buffer = (unsigned)reader->data[start + 0] | ((unsigned)reader->data[start + 1] << 8u) |
+                     ((unsigned)reader->data[start + 2] << 16u) | ((unsigned)reader->data[start + 3] << 24u);
+    reader->buffer >>= (reader->bp & 7u);
+    reader->buffer |= (((unsigned)reader->data[start + 4] << 24u) << (8u - (reader->bp & 7u)));
+  } else {
+    reader->buffer = 0;
+    if(start + 0u < size) reader->buffer |= reader->data[start + 0];
+    if(start + 1u < size) reader->buffer |= ((unsigned)reader->data[start + 1] << 8u);
+    if(start + 2u < size) reader->buffer |= ((unsigned)reader->data[start + 2] << 16u);
+    if(start + 3u < size) reader->buffer |= ((unsigned)reader->data[start + 3] << 24u);
+    reader->buffer >>= (reader->bp & 7u);
+  }
+  (void)nbits;
+}
+
+/* Get bits without advancing the bit pointer. Must have enough bits available with ensureBits. Max nbits is 31. */
+static LODEPNG_INLINE unsigned peekBits(LodePNGBitReader* reader, size_t nbits) {
+  /* The shift allows nbits to be only up to 31. */
+  return reader->buffer & ((1u << nbits) - 1u);
+}
+
+/* Must have enough bits available with ensureBits */
+static LODEPNG_INLINE void advanceBits(LodePNGBitReader* reader, size_t nbits) {
+  reader->buffer >>= nbits;
+  reader->bp += nbits;
+}
+
+/* Must have enough bits available with ensureBits */
+static LODEPNG_INLINE unsigned readBits(LodePNGBitReader* reader, size_t nbits) {
+  unsigned result = peekBits(reader, nbits);
+  advanceBits(reader, nbits);
+  return result;
+}
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+static unsigned reverseBits(unsigned bits, unsigned num) {
+  /*TODO: implement faster lookup table based version when needed*/
+  unsigned i, result = 0;
+  for(i = 0; i < num; i++) result |= ((bits >> (num - i - 1u)) & 1u) << i;
+  return result;
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Deflate - Huffman                                                      / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#define FIRST_LENGTH_CODE_INDEX 257
+#define LAST_LENGTH_CODE_INDEX 285
+/*256 literals, the end code, some length codes, and 2 unused codes*/
+#define NUM_DEFLATE_CODE_SYMBOLS 288
+/*the distance codes have their own symbols, 30 used, 2 unused*/
+#define NUM_DISTANCE_SYMBOLS 32
+/*the code length codes. 0-15: code lengths, 16: copy previous 3-6 times, 17: 3-10 zeros, 18: 11-138 zeros*/
+#define NUM_CODE_LENGTH_CODES 19
+
+/*the base lengths represented by codes 257-285*/
+static const unsigned LENGTHBASE[29]
+  = {3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 15, 17, 19, 23, 27, 31, 35, 43, 51, 59,
+     67, 83, 99, 115, 131, 163, 195, 227, 258};
+
+/*the extra bits used by codes 257-285 (added to base length)*/
+static const unsigned LENGTHEXTRA[29]
+  = {0, 0, 0, 0, 0, 0, 0,  0,  1,  1,  1,  1,  2,  2,  2,  2,  3,  3,  3,  3,
+      4,  4,  4,   4,   5,   5,   5,   5,   0};
+
+/*the base backwards distances (the bits of distance codes appear after length codes and use their own huffman tree)*/
+static const unsigned DISTANCEBASE[30]
+  = {1, 2, 3, 4, 5, 7, 9, 13, 17, 25, 33, 49, 65, 97, 129, 193, 257, 385, 513,
+     769, 1025, 1537, 2049, 3073, 4097, 6145, 8193, 12289, 16385, 24577};
+
+/*the extra bits of backwards distances (added to base)*/
+static const unsigned DISTANCEEXTRA[30]
+  = {0, 0, 0, 0, 1, 1, 2,  2,  3,  3,  4,  4,  5,  5,   6,   6,   7,   7,   8,
+       8,    9,    9,   10,   10,   11,   11,   12,    12,    13,    13};
+
+/*the order in which "code length alphabet code lengths" are stored as specified by deflate, out of this the huffman
+tree of the dynamic huffman tree lengths is generated*/
+static const unsigned CLCL_ORDER[NUM_CODE_LENGTH_CODES]
+  = {16, 17, 18, 0, 8, 7, 9, 6, 10, 5, 11, 4, 12, 3, 13, 2, 14, 1, 15};
+
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/*
+Huffman tree struct, containing multiple representations of the tree
+*/
+typedef struct HuffmanTree {
+  unsigned* codes; /*the huffman codes (bit patterns representing the symbols)*/
+  unsigned* lengths; /*the lengths of the huffman codes*/
+  unsigned maxbitlen; /*maximum number of bits a single code can get*/
+  unsigned numcodes; /*number of symbols in the alphabet = number of codes*/
+  /* for reading only */
+  unsigned char* table_len; /*length of symbol from lookup table, or max length if secondary lookup needed*/
+  unsigned short* table_value; /*value of symbol from lookup table, or pointer to secondary table if needed*/
+} HuffmanTree;
+
+static void HuffmanTree_init(HuffmanTree* tree) {
+  tree->codes = 0;
+  tree->lengths = 0;
+  tree->table_len = 0;
+  tree->table_value = 0;
+}
+
+static void HuffmanTree_cleanup(HuffmanTree* tree) {
+  lodepng_free(tree->codes);
+  lodepng_free(tree->lengths);
+  lodepng_free(tree->table_len);
+  lodepng_free(tree->table_value);
+}
+
+/* amount of bits for first huffman table lookup (aka root bits), see HuffmanTree_makeTable and huffmanDecodeSymbol.*/
+/* values 8u and 9u work the fastest */
+#define FIRSTBITS 9u
+
+/* a symbol value too big to represent any valid symbol, to indicate reading disallowed huffman bits combination,
+which is possible in case of only 0 or 1 present symbols. */
+#define INVALIDSYMBOL 65535u
+
+/* make table for huffman decoding */
+static unsigned HuffmanTree_makeTable(HuffmanTree* tree) {
+  static const unsigned headsize = 1u << FIRSTBITS; /*size of the first table*/
+  static const unsigned mask = (1u << FIRSTBITS) /*headsize*/ - 1u;
+  size_t i, numpresent, pointer, size; /*total table size*/
+  unsigned* maxlens = (unsigned*)lodepng_malloc(headsize * sizeof(unsigned));
+  if(!maxlens) return 83; /*alloc fail*/
+
+  /* compute maxlens: max total bit length of symbols sharing prefix in the first table*/
+  lodepng_memset(maxlens, 0, headsize * sizeof(*maxlens));
+  for(i = 0; i < tree->numcodes; i++) {
+    unsigned symbol = tree->codes[i];
+    unsigned l = tree->lengths[i];
+    unsigned index;
+    if(l <= FIRSTBITS) continue; /*symbols that fit in first table don't increase secondary table size*/
+    /*get the FIRSTBITS MSBs, the MSBs of the symbol are encoded first. See later comment about the reversing*/
+    index = reverseBits(symbol >> (l - FIRSTBITS), FIRSTBITS);
+    maxlens[index] = LODEPNG_MAX(maxlens[index], l);
+  }
+  /* compute total table size: size of first table plus all secondary tables for symbols longer than FIRSTBITS */
+  size = headsize;
+  for(i = 0; i < headsize; ++i) {
+    unsigned l = maxlens[i];
+    if(l > FIRSTBITS) size += (1u << (l - FIRSTBITS));
+  }
+  tree->table_len = (unsigned char*)lodepng_malloc(size * sizeof(*tree->table_len));
+  tree->table_value = (unsigned short*)lodepng_malloc(size * sizeof(*tree->table_value));
+  if(!tree->table_len || !tree->table_value) {
+    lodepng_free(maxlens);
+    /* freeing tree->table values is done at a higher scope */
+    return 83; /*alloc fail*/
+  }
+  /*initialize with an invalid length to indicate unused entries*/
+  for(i = 0; i < size; ++i) tree->table_len[i] = 16;
+
+  /*fill in the first table for long symbols: max prefix size and pointer to secondary tables*/
+  pointer = headsize;
+  for(i = 0; i < headsize; ++i) {
+    unsigned l = maxlens[i];
+    if(l <= FIRSTBITS) continue;
+    tree->table_len[i] = l;
+    tree->table_value[i] = pointer;
+    pointer += (1u << (l - FIRSTBITS));
+  }
+  lodepng_free(maxlens);
+
+  /*fill in the first table for short symbols, or secondary table for long symbols*/
+  numpresent = 0;
+  for(i = 0; i < tree->numcodes; ++i) {
+    unsigned l = tree->lengths[i];
+    unsigned symbol = tree->codes[i]; /*the huffman bit pattern. i itself is the value.*/
+    /*reverse bits, because the huffman bits are given in MSB first order but the bit reader reads LSB first*/
+    unsigned reverse = reverseBits(symbol, l);
+    if(l == 0) continue;
+    numpresent++;
+
+    if(l <= FIRSTBITS) {
+      /*short symbol, fully in first table, replicated num times if l < FIRSTBITS*/
+      unsigned num = 1u << (FIRSTBITS - l);
+      unsigned j;
+      for(j = 0; j < num; ++j) {
+        /*bit reader will read the l bits of symbol first, the remaining FIRSTBITS - l bits go to the MSB's*/
+        unsigned index = reverse | (j << l);
+        if(tree->table_len[index] != 16) return 55; /*invalid tree: long symbol shares prefix with short symbol*/
+        tree->table_len[index] = l;
+        tree->table_value[index] = i;
+      }
+    } else {
+      /*long symbol, shares prefix with other long symbols in first lookup table, needs second lookup*/
+      /*the FIRSTBITS MSBs of the symbol are the first table index*/
+      unsigned index = reverse & mask;
+      unsigned maxlen = tree->table_len[index];
+      /*log2 of secondary table length, should be >= l - FIRSTBITS*/
+      unsigned tablelen = maxlen - FIRSTBITS;
+      unsigned start = tree->table_value[index]; /*starting index in secondary table*/
+      unsigned num = 1u << (tablelen - (l - FIRSTBITS)); /*amount of entries of this symbol in secondary table*/
+      unsigned j;
+      if(maxlen < l) return 55; /*invalid tree: long symbol shares prefix with short symbol*/
+      for(j = 0; j < num; ++j) {
+        unsigned reverse2 = reverse >> FIRSTBITS; /* l - FIRSTBITS bits */
+        unsigned index2 = start + (reverse2 | (j << (l - FIRSTBITS)));
+        tree->table_len[index2] = l;
+        tree->table_value[index2] = i;
+      }
+    }
+  }
+
+  if(numpresent < 2) {
+    /* In case of exactly 1 symbol, in theory the huffman symbol needs 0 bits,
+    but deflate uses 1 bit instead. In case of 0 symbols, no symbols can
+    appear at all, but such huffman tree could still exist (e.g. if distance
+    codes are never used). In both cases, not all symbols of the table will be
+    filled in. Fill them in with an invalid symbol value so returning them from
+    huffmanDecodeSymbol will cause error. */
+    for(i = 0; i < size; ++i) {
+      if(tree->table_len[i] == 16) {
+        /* As length, use a value smaller than FIRSTBITS for the head table,
+        and a value larger than FIRSTBITS for the secondary table, to ensure
+        valid behavior for advanceBits when reading this symbol. */
+        tree->table_len[i] = (i < headsize) ? 1 : (FIRSTBITS + 1);
+        tree->table_value[i] = INVALIDSYMBOL;
+      }
+    }
+  } else {
+    /* A good huffman tree has N * 2 - 1 nodes, of which N - 1 are internal nodes.
+    If that is not the case (due to too long length codes), the table will not
+    have been fully used, and this is an error (not all bit combinations can be
+    decoded): an oversubscribed huffman tree, indicated by error 55. */
+    for(i = 0; i < size; ++i) {
+      if(tree->table_len[i] == 16) return 55;
+    }
+  }
+
+  return 0;
+}
+
+/*
+Second step for the ...makeFromLengths and ...makeFromFrequencies functions.
+numcodes, lengths and maxbitlen must already be filled in correctly. return
+value is error.
+*/
+static unsigned HuffmanTree_makeFromLengths2(HuffmanTree* tree) {
+  unsigned* blcount;
+  unsigned* nextcode;
+  unsigned error = 0;
+  unsigned bits, n;
+
+  tree->codes = (unsigned*)lodepng_malloc(tree->numcodes * sizeof(unsigned));
+  blcount = (unsigned*)lodepng_malloc((tree->maxbitlen + 1) * sizeof(unsigned));
+  nextcode = (unsigned*)lodepng_malloc((tree->maxbitlen + 1) * sizeof(unsigned));
+  if(!tree->codes || !blcount || !nextcode) error = 83; /*alloc fail*/
+
+  if(!error) {
+    for(n = 0; n != tree->maxbitlen + 1; n++) blcount[n] = nextcode[n] = 0;
+    /*step 1: count number of instances of each code length*/
+    for(bits = 0; bits != tree->numcodes; ++bits) ++blcount[tree->lengths[bits]];
+    /*step 2: generate the nextcode values*/
+    for(bits = 1; bits <= tree->maxbitlen; ++bits) {
+      nextcode[bits] = (nextcode[bits - 1] + blcount[bits - 1]) << 1u;
+    }
+    /*step 3: generate all the codes*/
+    for(n = 0; n != tree->numcodes; ++n) {
+      if(tree->lengths[n] != 0) {
+        tree->codes[n] = nextcode[tree->lengths[n]]++;
+        /*remove superfluous bits from the code*/
+        tree->codes[n] &= ((1u << tree->lengths[n]) - 1u);
+      }
+    }
+  }
+
+  lodepng_free(blcount);
+  lodepng_free(nextcode);
+
+  if(!error) error = HuffmanTree_makeTable(tree);
+  return error;
+}
+
+/*
+given the code lengths (as stored in the PNG file), generate the tree as defined
+by Deflate. maxbitlen is the maximum bits that a code in the tree can have.
+return value is error.
+*/
+static unsigned HuffmanTree_makeFromLengths(HuffmanTree* tree, const unsigned* bitlen,
+                                            size_t numcodes, unsigned maxbitlen) {
+  unsigned i;
+  tree->lengths = (unsigned*)lodepng_malloc(numcodes * sizeof(unsigned));
+  if(!tree->lengths) return 83; /*alloc fail*/
+  for(i = 0; i != numcodes; ++i) tree->lengths[i] = bitlen[i];
+  tree->numcodes = (unsigned)numcodes; /*number of symbols*/
+  tree->maxbitlen = maxbitlen;
+  return HuffmanTree_makeFromLengths2(tree);
+}
+
+#ifdef LODEPNG_COMPILE_ENCODER
+
+/*BPM: Boundary Package Merge, see "A Fast and Space-Economical Algorithm for Length-Limited Coding",
+Jyrki Katajainen, Alistair Moffat, Andrew Turpin, 1995.*/
+
+/*chain node for boundary package merge*/
+typedef struct BPMNode {
+  int weight; /*the sum of all weights in this chain*/
+  unsigned index; /*index of this leaf node (called "count" in the paper)*/
+  struct BPMNode* tail; /*the next nodes in this chain (null if last)*/
+  int in_use;
+} BPMNode;
+
+/*lists of chains*/
+typedef struct BPMLists {
+  /*memory pool*/
+  unsigned memsize;
+  BPMNode* memory;
+  unsigned numfree;
+  unsigned nextfree;
+  BPMNode** freelist;
+  /*two heads of lookahead chains per list*/
+  unsigned listsize;
+  BPMNode** chains0;
+  BPMNode** chains1;
+} BPMLists;
+
+/*creates a new chain node with the given parameters, from the memory in the lists */
+static BPMNode* bpmnode_create(BPMLists* lists, int weight, unsigned index, BPMNode* tail) {
+  unsigned i;
+  BPMNode* result;
+
+  /*memory full, so garbage collect*/
+  if(lists->nextfree >= lists->numfree) {
+    /*mark only those that are in use*/
+    for(i = 0; i != lists->memsize; ++i) lists->memory[i].in_use = 0;
+    for(i = 0; i != lists->listsize; ++i) {
+      BPMNode* node;
+      for(node = lists->chains0[i]; node != 0; node = node->tail) node->in_use = 1;
+      for(node = lists->chains1[i]; node != 0; node = node->tail) node->in_use = 1;
+    }
+    /*collect those that are free*/
+    lists->numfree = 0;
+    for(i = 0; i != lists->memsize; ++i) {
+      if(!lists->memory[i].in_use) lists->freelist[lists->numfree++] = &lists->memory[i];
+    }
+    lists->nextfree = 0;
+  }
+
+  result = lists->freelist[lists->nextfree++];
+  result->weight = weight;
+  result->index = index;
+  result->tail = tail;
+  return result;
+}
+
+/*sort the leaves with stable mergesort*/
+static void bpmnode_sort(BPMNode* leaves, size_t num) {
+  BPMNode* mem = (BPMNode*)lodepng_malloc(sizeof(*leaves) * num);
+  size_t width, counter = 0;
+  for(width = 1; width < num; width *= 2) {
+    BPMNode* a = (counter & 1) ? mem : leaves;
+    BPMNode* b = (counter & 1) ? leaves : mem;
+    size_t p;
+    for(p = 0; p < num; p += 2 * width) {
+      size_t q = (p + width > num) ? num : (p + width);
+      size_t r = (p + 2 * width > num) ? num : (p + 2 * width);
+      size_t i = p, j = q, k;
+      for(k = p; k < r; k++) {
+        if(i < q && (j >= r || a[i].weight <= a[j].weight)) b[k] = a[i++];
+        else b[k] = a[j++];
+      }
+    }
+    counter++;
+  }
+  if(counter & 1) lodepng_memcpy(leaves, mem, sizeof(*leaves) * num);
+  lodepng_free(mem);
+}
+
+/*Boundary Package Merge step, numpresent is the amount of leaves, and c is the current chain.*/
+static void boundaryPM(BPMLists* lists, BPMNode* leaves, size_t numpresent, int c, int num) {
+  unsigned lastindex = lists->chains1[c]->index;
+
+  if(c == 0) {
+    if(lastindex >= numpresent) return;
+    lists->chains0[c] = lists->chains1[c];
+    lists->chains1[c] = bpmnode_create(lists, leaves[lastindex].weight, lastindex + 1, 0);
+  } else {
+    /*sum of the weights of the head nodes of the previous lookahead chains.*/
+    int sum = lists->chains0[c - 1]->weight + lists->chains1[c - 1]->weight;
+    lists->chains0[c] = lists->chains1[c];
+    if(lastindex < numpresent && sum > leaves[lastindex].weight) {
+      lists->chains1[c] = bpmnode_create(lists, leaves[lastindex].weight, lastindex + 1, lists->chains1[c]->tail);
+      return;
+    }
+    lists->chains1[c] = bpmnode_create(lists, sum, lastindex, lists->chains1[c - 1]);
+    /*in the end we are only interested in the chain of the last list, so no
+    need to recurse if we're at the last one (this gives measurable speedup)*/
+    if(num + 1 < (int)(2 * numpresent - 2)) {
+      boundaryPM(lists, leaves, numpresent, c - 1, num);
+      boundaryPM(lists, leaves, numpresent, c - 1, num);
+    }
+  }
+}
+
+unsigned lodepng_huffman_code_lengths(unsigned* lengths, const unsigned* frequencies,
+                                      size_t numcodes, unsigned maxbitlen) {
+  unsigned error = 0;
+  unsigned i;
+  size_t numpresent = 0; /*number of symbols with non-zero frequency*/
+  BPMNode* leaves; /*the symbols, only those with > 0 frequency*/
+
+  if(numcodes == 0) return 80; /*error: a tree of 0 symbols is not supposed to be made*/
+  if((1u << maxbitlen) < (unsigned)numcodes) return 80; /*error: represent all symbols*/
+
+  leaves = (BPMNode*)lodepng_malloc(numcodes * sizeof(*leaves));
+  if(!leaves) return 83; /*alloc fail*/
+
+  for(i = 0; i != numcodes; ++i) {
+    if(frequencies[i] > 0) {
+      leaves[numpresent].weight = (int)frequencies[i];
+      leaves[numpresent].index = i;
+      ++numpresent;
+    }
+  }
+
+  lodepng_memset(lengths, 0, numcodes * sizeof(*lengths));
+
+  /*ensure at least two present symbols. There should be at least one symbol
+  according to RFC 1951 section 3.2.7. Some decoders incorrectly require two. To
+  make these work as well ensure there are at least two symbols. The
+  Package-Merge code below also doesn't work correctly if there's only one
+  symbol, it'd give it the theoretical 0 bits but in practice zlib wants 1 bit*/
+  if(numpresent == 0) {
+    lengths[0] = lengths[1] = 1; /*note that for RFC 1951 section 3.2.7, only lengths[0] = 1 is needed*/
+  } else if(numpresent == 1) {
+    lengths[leaves[0].index] = 1;
+    lengths[leaves[0].index == 0 ? 1 : 0] = 1;
+  } else {
+    BPMLists lists;
+    BPMNode* node;
+
+    bpmnode_sort(leaves, numpresent);
+
+    lists.listsize = maxbitlen;
+    lists.memsize = 2 * maxbitlen * (maxbitlen + 1);
+    lists.nextfree = 0;
+    lists.numfree = lists.memsize;
+    lists.memory = (BPMNode*)lodepng_malloc(lists.memsize * sizeof(*lists.memory));
+    lists.freelist = (BPMNode**)lodepng_malloc(lists.memsize * sizeof(BPMNode*));
+    lists.chains0 = (BPMNode**)lodepng_malloc(lists.listsize * sizeof(BPMNode*));
+    lists.chains1 = (BPMNode**)lodepng_malloc(lists.listsize * sizeof(BPMNode*));
+    if(!lists.memory || !lists.freelist || !lists.chains0 || !lists.chains1) error = 83; /*alloc fail*/
+
+    if(!error) {
+      for(i = 0; i != lists.memsize; ++i) lists.freelist[i] = &lists.memory[i];
+
+      bpmnode_create(&lists, leaves[0].weight, 1, 0);
+      bpmnode_create(&lists, leaves[1].weight, 2, 0);
+
+      for(i = 0; i != lists.listsize; ++i) {
+        lists.chains0[i] = &lists.memory[0];
+        lists.chains1[i] = &lists.memory[1];
+      }
+
+      /*each boundaryPM call adds one chain to the last list, and we need 2 * numpresent - 2 chains.*/
+      for(i = 2; i != 2 * numpresent - 2; ++i) boundaryPM(&lists, leaves, numpresent, (int)maxbitlen - 1, (int)i);
+
+      for(node = lists.chains1[maxbitlen - 1]; node; node = node->tail) {
+        for(i = 0; i != node->index; ++i) ++lengths[leaves[i].index];
+      }
+    }
+
+    lodepng_free(lists.memory);
+    lodepng_free(lists.freelist);
+    lodepng_free(lists.chains0);
+    lodepng_free(lists.chains1);
+  }
+
+  lodepng_free(leaves);
+  return error;
+}
+
+/*Create the Huffman tree given the symbol frequencies*/
+static unsigned HuffmanTree_makeFromFrequencies(HuffmanTree* tree, const unsigned* frequencies,
+                                                size_t mincodes, size_t numcodes, unsigned maxbitlen) {
+  unsigned error = 0;
+  while(!frequencies[numcodes - 1] && numcodes > mincodes) --numcodes; /*trim zeroes*/
+  tree->lengths = (unsigned*)lodepng_malloc(numcodes * sizeof(unsigned));
+  if(!tree->lengths) return 83; /*alloc fail*/
+  tree->maxbitlen = maxbitlen;
+  tree->numcodes = (unsigned)numcodes; /*number of symbols*/
+
+  error = lodepng_huffman_code_lengths(tree->lengths, frequencies, numcodes, maxbitlen);
+  if(!error) error = HuffmanTree_makeFromLengths2(tree);
+  return error;
+}
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+/*get the literal and length code tree of a deflated block with fixed tree, as per the deflate specification*/
+static unsigned generateFixedLitLenTree(HuffmanTree* tree) {
+  unsigned i, error = 0;
+  unsigned* bitlen = (unsigned*)lodepng_malloc(NUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned));
+  if(!bitlen) return 83; /*alloc fail*/
+
+  /*288 possible codes: 0-255=literals, 256=endcode, 257-285=lengthcodes, 286-287=unused*/
+  for(i =   0; i <= 143; ++i) bitlen[i] = 8;
+  for(i = 144; i <= 255; ++i) bitlen[i] = 9;
+  for(i = 256; i <= 279; ++i) bitlen[i] = 7;
+  for(i = 280; i <= 287; ++i) bitlen[i] = 8;
+
+  error = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DEFLATE_CODE_SYMBOLS, 15);
+
+  lodepng_free(bitlen);
+  return error;
+}
+
+/*get the distance code tree of a deflated block with fixed tree, as specified in the deflate specification*/
+static unsigned generateFixedDistanceTree(HuffmanTree* tree) {
+  unsigned i, error = 0;
+  unsigned* bitlen = (unsigned*)lodepng_malloc(NUM_DISTANCE_SYMBOLS * sizeof(unsigned));
+  if(!bitlen) return 83; /*alloc fail*/
+
+  /*there are 32 distance codes, but 30-31 are unused*/
+  for(i = 0; i != NUM_DISTANCE_SYMBOLS; ++i) bitlen[i] = 5;
+  error = HuffmanTree_makeFromLengths(tree, bitlen, NUM_DISTANCE_SYMBOLS, 15);
+
+  lodepng_free(bitlen);
+  return error;
+}
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+/*
+returns the code. The bit reader must already have been ensured at least 15 bits
+*/
+static unsigned huffmanDecodeSymbol(LodePNGBitReader* reader, const HuffmanTree* codetree) {
+  unsigned short code = peekBits(reader, FIRSTBITS);
+  unsigned short l = codetree->table_len[code];
+  unsigned short value = codetree->table_value[code];
+  if(l <= FIRSTBITS) {
+    advanceBits(reader, l);
+    return value;
+  } else {
+    advanceBits(reader, FIRSTBITS);
+    value += peekBits(reader, l - FIRSTBITS);
+    advanceBits(reader, codetree->table_len[value] - FIRSTBITS);
+    return codetree->table_value[value];
+  }
+}
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Inflator (Decompressor)                                                / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/*get the tree of a deflated block with fixed tree, as specified in the deflate specification
+Returns error code.*/
+static unsigned getTreeInflateFixed(HuffmanTree* tree_ll, HuffmanTree* tree_d) {
+  unsigned error = generateFixedLitLenTree(tree_ll);
+  if(error) return error;
+  return generateFixedDistanceTree(tree_d);
+}
+
+/*get the tree of a deflated block with dynamic tree, the tree itself is also Huffman compressed with a known tree*/
+static unsigned getTreeInflateDynamic(HuffmanTree* tree_ll, HuffmanTree* tree_d,
+                                      LodePNGBitReader* reader) {
+  /*make sure that length values that aren't filled in will be 0, or a wrong tree will be generated*/
+  unsigned error = 0;
+  unsigned n, HLIT, HDIST, HCLEN, i;
+
+  /*see comments in deflateDynamic for explanation of the context and these variables, it is analogous*/
+  unsigned* bitlen_ll = 0; /*lit,len code lengths*/
+  unsigned* bitlen_d = 0; /*dist code lengths*/
+  /*code length code lengths ("clcl"), the bit lengths of the huffman tree used to compress bitlen_ll and bitlen_d*/
+  unsigned* bitlen_cl = 0;
+  HuffmanTree tree_cl; /*the code tree for code length codes (the huffman tree for compressed huffman trees)*/
+
+  if(reader->bitsize - reader->bp < 14) return 49; /*error: the bit pointer is or will go past the memory*/
+  ensureBits17(reader, 14);
+
+  /*number of literal/length codes + 257. Unlike the spec, the value 257 is added to it here already*/
+  HLIT =  readBits(reader, 5) + 257;
+  /*number of distance codes. Unlike the spec, the value 1 is added to it here already*/
+  HDIST = readBits(reader, 5) + 1;
+  /*number of code length codes. Unlike the spec, the value 4 is added to it here already*/
+  HCLEN = readBits(reader, 4) + 4;
+
+  bitlen_cl = (unsigned*)lodepng_malloc(NUM_CODE_LENGTH_CODES * sizeof(unsigned));
+  if(!bitlen_cl) return 83 /*alloc fail*/;
+
+  HuffmanTree_init(&tree_cl);
+
+  while(!error) {
+    /*read the code length codes out of 3 * (amount of code length codes) bits*/
+    if(lodepng_gtofl(reader->bp, HCLEN * 3, reader->bitsize)) {
+      ERROR_BREAK(50); /*error: the bit pointer is or will go past the memory*/
+    }
+    for(i = 0; i != HCLEN; ++i) {
+      ensureBits9(reader, 3); /*out of bounds already checked above */
+      bitlen_cl[CLCL_ORDER[i]] = readBits(reader, 3);
+    }
+    for(i = HCLEN; i != NUM_CODE_LENGTH_CODES; ++i) {
+      bitlen_cl[CLCL_ORDER[i]] = 0;
+    }
+
+    error = HuffmanTree_makeFromLengths(&tree_cl, bitlen_cl, NUM_CODE_LENGTH_CODES, 7);
+    if(error) break;
+
+    /*now we can use this tree to read the lengths for the tree that this function will return*/
+    bitlen_ll = (unsigned*)lodepng_malloc(NUM_DEFLATE_CODE_SYMBOLS * sizeof(unsigned));
+    bitlen_d = (unsigned*)lodepng_malloc(NUM_DISTANCE_SYMBOLS * sizeof(unsigned));
+    if(!bitlen_ll || !bitlen_d) ERROR_BREAK(83 /*alloc fail*/);
+    lodepng_memset(bitlen_ll, 0, NUM_DEFLATE_CODE_SYMBOLS * sizeof(*bitlen_ll));
+    lodepng_memset(bitlen_d, 0, NUM_DISTANCE_SYMBOLS * sizeof(*bitlen_d));
+
+    /*i is the current symbol we're reading in the part that contains the code lengths of lit/len and dist codes*/
+    i = 0;
+    while(i < HLIT + HDIST) {
+      unsigned code;
+      ensureBits25(reader, 22); /* up to 15 bits for huffman code, up to 7 extra bits below*/
+      code = huffmanDecodeSymbol(reader, &tree_cl);
+      if(code <= 15) /*a length code*/ {
+        if(i < HLIT) bitlen_ll[i] = code;
+        else bitlen_d[i - HLIT] = code;
+        ++i;
+      } else if(code == 16) /*repeat previous*/ {
+        unsigned replength = 3; /*read in the 2 bits that indicate repeat length (3-6)*/
+        unsigned value; /*set value to the previous code*/
+
+        if(i == 0) ERROR_BREAK(54); /*can't repeat previous if i is 0*/
+
+        replength += readBits(reader, 2);
+
+        if(i < HLIT + 1) value = bitlen_ll[i - 1];
+        else value = bitlen_d[i - HLIT - 1];
+        /*repeat this value in the next lengths*/
+        for(n = 0; n < replength; ++n) {
+          if(i >= HLIT + HDIST) ERROR_BREAK(13); /*error: i is larger than the amount of codes*/
+          if(i < HLIT) bitlen_ll[i] = value;
+          else bitlen_d[i - HLIT] = value;
+          ++i;
+        }
+      } else if(code == 17) /*repeat "0" 3-10 times*/ {
+        unsigned replength = 3; /*read in the bits that indicate repeat length*/
+        replength += readBits(reader, 3);
+
+        /*repeat this value in the next lengths*/
+        for(n = 0; n < replength; ++n) {
+          if(i >= HLIT + HDIST) ERROR_BREAK(14); /*error: i is larger than the amount of codes*/
+
+          if(i < HLIT) bitlen_ll[i] = 0;
+          else bitlen_d[i - HLIT] = 0;
+          ++i;
+        }
+      } else if(code == 18) /*repeat "0" 11-138 times*/ {
+        unsigned replength = 11; /*read in the bits that indicate repeat length*/
+        replength += readBits(reader, 7);
+
+        /*repeat this value in the next lengths*/
+        for(n = 0; n < replength; ++n) {
+          if(i >= HLIT + HDIST) ERROR_BREAK(15); /*error: i is larger than the amount of codes*/
+
+          if(i < HLIT) bitlen_ll[i] = 0;
+          else bitlen_d[i - HLIT] = 0;
+          ++i;
+        }
+      } else /*if(code == INVALIDSYMBOL)*/ {
+        ERROR_BREAK(16); /*error: tried to read disallowed huffman symbol*/
+      }
+      /*check if any of the ensureBits above went out of bounds*/
+      if(reader->bp > reader->bitsize) {
+        /*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol
+        (10=no endcode, 11=wrong jump outside of tree)*/
+        /* TODO: revise error codes 10,11,50: the above comment is no longer valid */
+        ERROR_BREAK(50); /*error, bit pointer jumps past memory*/
+      }
+    }
+    if(error) break;
+
+    if(bitlen_ll[256] == 0) ERROR_BREAK(64); /*the length of the end code 256 must be larger than 0*/
+
+    /*now we've finally got HLIT and HDIST, so generate the code trees, and the function is done*/
+    error = HuffmanTree_makeFromLengths(tree_ll, bitlen_ll, NUM_DEFLATE_CODE_SYMBOLS, 15);
+    if(error) break;
+    error = HuffmanTree_makeFromLengths(tree_d, bitlen_d, NUM_DISTANCE_SYMBOLS, 15);
+
+    break; /*end of error-while*/
+  }
+
+  lodepng_free(bitlen_cl);
+  lodepng_free(bitlen_ll);
+  lodepng_free(bitlen_d);
+  HuffmanTree_cleanup(&tree_cl);
+
+  return error;
+}
+
+/*inflate a block with dynamic of fixed Huffman tree. btype must be 1 or 2.*/
+static unsigned inflateHuffmanBlock(ucvector* out, LodePNGBitReader* reader,
+                                    unsigned btype, size_t max_output_size) {
+  unsigned error = 0;
+  HuffmanTree tree_ll; /*the huffman tree for literal and length codes*/
+  HuffmanTree tree_d; /*the huffman tree for distance codes*/
+  const size_t reserved_size = 260; /* must be at least 258 for max length, and a few extra for adding a few extra literals */
+  int done = 0;
+
+  if(!ucvector_reserve(out, out->size + reserved_size)) return 83; /*alloc fail*/
+
+  HuffmanTree_init(&tree_ll);
+  HuffmanTree_init(&tree_d);
+
+  if(btype == 1) error = getTreeInflateFixed(&tree_ll, &tree_d);
+  else /*if(btype == 2)*/ error = getTreeInflateDynamic(&tree_ll, &tree_d, reader);
+
+
+  while(!error && !done) /*decode all symbols until end reached, breaks at end code*/ {
+    /*code_ll is literal, length or end code*/
+    unsigned code_ll;
+    /* ensure enough bits for 2 huffman code reads (15 bits each): if the first is a literal, a second literal is read at once. This
+    appears to be slightly faster, than ensuring 20 bits here for 1 huffman symbol and the potential 5 extra bits for the length symbol.*/
+    ensureBits32(reader, 30);
+    code_ll = huffmanDecodeSymbol(reader, &tree_ll);
+    if(code_ll <= 255) {
+      /*slightly faster code path if multiple literals in a row*/
+      out->data[out->size++] = (unsigned char)code_ll;
+      code_ll = huffmanDecodeSymbol(reader, &tree_ll);
+    }
+    if(code_ll <= 255) /*literal symbol*/ {
+      out->data[out->size++] = (unsigned char)code_ll;
+    } else if(code_ll >= FIRST_LENGTH_CODE_INDEX && code_ll <= LAST_LENGTH_CODE_INDEX) /*length code*/ {
+      unsigned code_d, distance;
+      unsigned numextrabits_l, numextrabits_d; /*extra bits for length and distance*/
+      size_t start, backward, length;
+
+      /*part 1: get length base*/
+      length = LENGTHBASE[code_ll - FIRST_LENGTH_CODE_INDEX];
+
+      /*part 2: get extra bits and add the value of that to length*/
+      numextrabits_l = LENGTHEXTRA[code_ll - FIRST_LENGTH_CODE_INDEX];
+      if(numextrabits_l != 0) {
+        /* bits already ensured above */
+        ensureBits25(reader, 5);
+        length += readBits(reader, numextrabits_l);
+      }
+
+      /*part 3: get distance code*/
+      ensureBits32(reader, 28); /* up to 15 for the huffman symbol, up to 13 for the extra bits */
+      code_d = huffmanDecodeSymbol(reader, &tree_d);
+      if(code_d > 29) {
+        if(code_d <= 31) {
+          ERROR_BREAK(18); /*error: invalid distance code (30-31 are never used)*/
+        } else /* if(code_d == INVALIDSYMBOL) */{
+          ERROR_BREAK(16); /*error: tried to read disallowed huffman symbol*/
+        }
+      }
+      distance = DISTANCEBASE[code_d];
+
+      /*part 4: get extra bits from distance*/
+      numextrabits_d = DISTANCEEXTRA[code_d];
+      if(numextrabits_d != 0) {
+        /* bits already ensured above */
+        distance += readBits(reader, numextrabits_d);
+      }
+
+      /*part 5: fill in all the out[n] values based on the length and dist*/
+      start = out->size;
+      if(distance > start) ERROR_BREAK(52); /*too long backward distance*/
+      backward = start - distance;
+
+      out->size += length;
+      if(distance < length) {
+        size_t forward;
+        lodepng_memcpy(out->data + start, out->data + backward, distance);
+        start += distance;
+        for(forward = distance; forward < length; ++forward) {
+          out->data[start++] = out->data[backward++];
+        }
+      } else {
+        lodepng_memcpy(out->data + start, out->data + backward, length);
+      }
+    } else if(code_ll == 256) {
+      done = 1; /*end code, finish the loop*/
+    } else /*if(code_ll == INVALIDSYMBOL)*/ {
+      ERROR_BREAK(16); /*error: tried to read disallowed huffman symbol*/
+    }
+    if(out->allocsize - out->size < reserved_size) {
+      if(!ucvector_reserve(out, out->size + reserved_size)) ERROR_BREAK(83); /*alloc fail*/
+    }
+    /*check if any of the ensureBits above went out of bounds*/
+    if(reader->bp > reader->bitsize) {
+      /*return error code 10 or 11 depending on the situation that happened in huffmanDecodeSymbol
+      (10=no endcode, 11=wrong jump outside of tree)*/
+      /* TODO: revise error codes 10,11,50: the above comment is no longer valid */
+      ERROR_BREAK(51); /*error, bit pointer jumps past memory*/
+    }
+    if(max_output_size && out->size > max_output_size) {
+      ERROR_BREAK(109); /*error, larger than max size*/
+    }
+  }
+
+  HuffmanTree_cleanup(&tree_ll);
+  HuffmanTree_cleanup(&tree_d);
+
+  return error;
+}
+
+static unsigned inflateNoCompression(ucvector* out, LodePNGBitReader* reader,
+                                     const LodePNGDecompressSettings* settings) {
+  size_t bytepos;
+  size_t size = reader->size;
+  unsigned LEN, NLEN, error = 0;
+
+  /*go to first boundary of byte*/
+  bytepos = (reader->bp + 7u) >> 3u;
+
+  /*read LEN (2 bytes) and NLEN (2 bytes)*/
+  if(bytepos + 4 >= size) return 52; /*error, bit pointer will jump past memory*/
+  LEN = (unsigned)reader->data[bytepos] + ((unsigned)reader->data[bytepos + 1] << 8u); bytepos += 2;
+  NLEN = (unsigned)reader->data[bytepos] + ((unsigned)reader->data[bytepos + 1] << 8u); bytepos += 2;
+
+  /*check if 16-bit NLEN is really the one's complement of LEN*/
+  if(!settings->ignore_nlen && LEN + NLEN != 65535) {
+    return 21; /*error: NLEN is not one's complement of LEN*/
+  }
+
+  if(!ucvector_resize(out, out->size + LEN)) return 83; /*alloc fail*/
+
+  /*read the literal data: LEN bytes are now stored in the out buffer*/
+  if(bytepos + LEN > size) return 23; /*error: reading outside of in buffer*/
+
+  lodepng_memcpy(out->data + out->size - LEN, reader->data + bytepos, LEN);
+  bytepos += LEN;
+
+  reader->bp = bytepos << 3u;
+
+  return error;
+}
+
+static unsigned lodepng_inflatev(ucvector* out,
+                                 const unsigned char* in, size_t insize,
+                                 const LodePNGDecompressSettings* settings) {
+  unsigned BFINAL = 0;
+  LodePNGBitReader reader;
+  unsigned error = LodePNGBitReader_init(&reader, in, insize);
+
+  if(error) return error;
+
+  while(!BFINAL) {
+    unsigned BTYPE;
+    if(reader.bitsize - reader.bp < 3) return 52; /*error, bit pointer will jump past memory*/
+    ensureBits9(&reader, 3);
+    BFINAL = readBits(&reader, 1);
+    BTYPE = readBits(&reader, 2);
+
+    if(BTYPE == 3) return 20; /*error: invalid BTYPE*/
+    else if(BTYPE == 0) error = inflateNoCompression(out, &reader, settings); /*no compression*/
+    else error = inflateHuffmanBlock(out, &reader, BTYPE, settings->max_output_size); /*compression, BTYPE 01 or 10*/
+    if(!error && settings->max_output_size && out->size > settings->max_output_size) error = 109;
+    if(error) break;
+  }
+
+  return error;
+}
+
+unsigned lodepng_inflate(unsigned char** out, size_t* outsize,
+                         const unsigned char* in, size_t insize,
+                         const LodePNGDecompressSettings* settings) {
+  ucvector v = ucvector_init(*out, *outsize);
+  unsigned error = lodepng_inflatev(&v, in, insize, settings);
+  *out = v.data;
+  *outsize = v.size;
+  return error;
+}
+
+static unsigned inflatev(ucvector* out, const unsigned char* in, size_t insize,
+                        const LodePNGDecompressSettings* settings) {
+  if(settings->custom_inflate) {
+    unsigned error = settings->custom_inflate(&out->data, &out->size, in, insize, settings);
+    out->allocsize = out->size;
+    if(error) {
+      /*the custom inflate is allowed to have its own error codes, however, we translate it to code 110*/
+      error = 110;
+      /*if there's a max output size, and the custom zlib returned error, then indicate that error instead*/
+      if(settings->max_output_size && out->size > settings->max_output_size) error = 109;
+    }
+    return error;
+  } else {
+    return lodepng_inflatev(out, in, insize, settings);
+  }
+}
+
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_ENCODER
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Deflator (Compressor)                                                  / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+static const size_t MAX_SUPPORTED_DEFLATE_LENGTH = 258;
+
+/*search the index in the array, that has the largest value smaller than or equal to the given value,
+given array must be sorted (if no value is smaller, it returns the size of the given array)*/
+static size_t searchCodeIndex(const unsigned* array, size_t array_size, size_t value) {
+  /*binary search (only small gain over linear). TODO: use CPU log2 instruction for getting symbols instead*/
+  size_t left = 1;
+  size_t right = array_size - 1;
+
+  while(left <= right) {
+    size_t mid = (left + right) >> 1;
+    if(array[mid] >= value) right = mid - 1;
+    else left = mid + 1;
+  }
+  if(left >= array_size || array[left] > value) left--;
+  return left;
+}
+
+static void addLengthDistance(uivector* values, size_t length, size_t distance) {
+  /*values in encoded vector are those used by deflate:
+  0-255: literal bytes
+  256: end
+  257-285: length/distance pair (length code, followed by extra length bits, distance code, extra distance bits)
+  286-287: invalid*/
+
+  unsigned length_code = (unsigned)searchCodeIndex(LENGTHBASE, 29, length);
+  unsigned extra_length = (unsigned)(length - LENGTHBASE[length_code]);
+  unsigned dist_code = (unsigned)searchCodeIndex(DISTANCEBASE, 30, distance);
+  unsigned extra_distance = (unsigned)(distance - DISTANCEBASE[dist_code]);
+
+  size_t pos = values->size;
+  /*TODO: return error when this fails (out of memory)*/
+  unsigned ok = uivector_resize(values, values->size + 4);
+  if(ok) {
+    values->data[pos + 0] = length_code + FIRST_LENGTH_CODE_INDEX;
+    values->data[pos + 1] = extra_length;
+    values->data[pos + 2] = dist_code;
+    values->data[pos + 3] = extra_distance;
+  }
+}
+
+/*3 bytes of data get encoded into two bytes. The hash cannot use more than 3
+bytes as input because 3 is the minimum match length for deflate*/
+static const unsigned HASH_NUM_VALUES = 65536;
+static const unsigned HASH_BIT_MASK = 65535; /*HASH_NUM_VALUES - 1, but C90 does not like that as initializer*/
+
+typedef struct Hash {
+  int* head; /*hash value to head circular pos - can be outdated if went around window*/
+  /*circular pos to prev circular pos*/
+  unsigned short* chain;
+  int* val; /*circular pos to hash value*/
+
+  /*TODO: do this not only for zeros but for any repeated byte. However for PNG
+  it's always going to be the zeros that dominate, so not important for PNG*/
+  int* headz; /*similar to head, but for chainz*/
+  unsigned short* chainz; /*those with same amount of zeros*/
+  unsigned short* zeros; /*length of zeros streak, used as a second hash chain*/
+} Hash;
+
+static unsigned hash_init(Hash* hash, unsigned windowsize) {
+  unsigned i;
+  hash->head = (int*)lodepng_malloc(sizeof(int) * HASH_NUM_VALUES);
+  hash->val = (int*)lodepng_malloc(sizeof(int) * windowsize);
+  hash->chain = (unsigned short*)lodepng_malloc(sizeof(unsigned short) * windowsize);
+
+  hash->zeros = (unsigned short*)lodepng_malloc(sizeof(unsigned short) * windowsize);
+  hash->headz = (int*)lodepng_malloc(sizeof(int) * (MAX_SUPPORTED_DEFLATE_LENGTH + 1));
+  hash->chainz = (unsigned short*)lodepng_malloc(sizeof(unsigned short) * windowsize);
+
+  if(!hash->head || !hash->chain || !hash->val  || !hash->headz|| !hash->chainz || !hash->zeros) {
+    return 83; /*alloc fail*/
+  }
+
+  /*initialize hash table*/
+  for(i = 0; i != HASH_NUM_VALUES; ++i) hash->head[i] = -1;
+  for(i = 0; i != windowsize; ++i) hash->val[i] = -1;
+  for(i = 0; i != windowsize; ++i) hash->chain[i] = i; /*same value as index indicates uninitialized*/
+
+  for(i = 0; i <= MAX_SUPPORTED_DEFLATE_LENGTH; ++i) hash->headz[i] = -1;
+  for(i = 0; i != windowsize; ++i) hash->chainz[i] = i; /*same value as index indicates uninitialized*/
+
+  return 0;
+}
+
+static void hash_cleanup(Hash* hash) {
+  lodepng_free(hash->head);
+  lodepng_free(hash->val);
+  lodepng_free(hash->chain);
+
+  lodepng_free(hash->zeros);
+  lodepng_free(hash->headz);
+  lodepng_free(hash->chainz);
+}
+
+
+
+static unsigned getHash(const unsigned char* data, size_t size, size_t pos) {
+  unsigned result = 0;
+  if(pos + 2 < size) {
+    /*A simple shift and xor hash is used. Since the data of PNGs is dominated
+    by zeroes due to the filters, a better hash does not have a significant
+    effect on speed in traversing the chain, and causes more time spend on
+    calculating the hash.*/
+    result ^= ((unsigned)data[pos + 0] << 0u);
+    result ^= ((unsigned)data[pos + 1] << 4u);
+    result ^= ((unsigned)data[pos + 2] << 8u);
+  } else {
+    size_t amount, i;
+    if(pos >= size) return 0;
+    amount = size - pos;
+    for(i = 0; i != amount; ++i) result ^= ((unsigned)data[pos + i] << (i * 8u));
+  }
+  return result & HASH_BIT_MASK;
+}
+
+static unsigned countZeros(const unsigned char* data, size_t size, size_t pos) {
+  const unsigned char* start = data + pos;
+  const unsigned char* end = start + MAX_SUPPORTED_DEFLATE_LENGTH;
+  if(end > data + size) end = data + size;
+  data = start;
+  while(data != end && *data == 0) ++data;
+  /*subtracting two addresses returned as 32-bit number (max value is MAX_SUPPORTED_DEFLATE_LENGTH)*/
+  return (unsigned)(data - start);
+}
+
+/*wpos = pos & (windowsize - 1)*/
+static void updateHashChain(Hash* hash, size_t wpos, unsigned hashval, unsigned short numzeros) {
+  hash->val[wpos] = (int)hashval;
+  if(hash->head[hashval] != -1) hash->chain[wpos] = hash->head[hashval];
+  hash->head[hashval] = (int)wpos;
+
+  hash->zeros[wpos] = numzeros;
+  if(hash->headz[numzeros] != -1) hash->chainz[wpos] = hash->headz[numzeros];
+  hash->headz[numzeros] = (int)wpos;
+}
+
+/*
+LZ77-encode the data. Return value is error code. The input are raw bytes, the output
+is in the form of unsigned integers with codes representing for example literal bytes, or
+length/distance pairs.
+It uses a hash table technique to let it encode faster. When doing LZ77 encoding, a
+sliding window (of windowsize) is used, and all past bytes in that window can be used as
+the "dictionary". A brute force search through all possible distances would be slow, and
+this hash technique is one out of several ways to speed this up.
+*/
+static unsigned encodeLZ77(uivector* out, Hash* hash,
+                           const unsigned char* in, size_t inpos, size_t insize, unsigned windowsize,
+                           unsigned minmatch, unsigned nicematch, unsigned lazymatching) {
+  size_t pos;
+  unsigned i, error = 0;
+  /*for large window lengths, assume the user wants no compression loss. Otherwise, max hash chain length speedup.*/
+  unsigned maxchainlength = windowsize >= 8192 ? windowsize : windowsize / 8u;
+  unsigned maxlazymatch = windowsize >= 8192 ? MAX_SUPPORTED_DEFLATE_LENGTH : 64;
+
+  unsigned usezeros = 1; /*not sure if setting it to false for windowsize < 8192 is better or worse*/
+  unsigned numzeros = 0;
+
+  unsigned offset; /*the offset represents the distance in LZ77 terminology*/
+  unsigned length;
+  unsigned lazy = 0;
+  unsigned lazylength = 0, lazyoffset = 0;
+  unsigned hashval;
+  unsigned current_offset, current_length;
+  unsigned prev_offset;
+  const unsigned char *lastptr, *foreptr, *backptr;
+  unsigned hashpos;
+
+  if(windowsize == 0 || windowsize > 32768) return 60; /*error: windowsize smaller/larger than allowed*/
+  if((windowsize & (windowsize - 1)) != 0) return 90; /*error: must be power of two*/
+
+  if(nicematch > MAX_SUPPORTED_DEFLATE_LENGTH) nicematch = MAX_SUPPORTED_DEFLATE_LENGTH;
+
+  for(pos = inpos; pos < insize; ++pos) {
+    size_t wpos = pos & (windowsize - 1); /*position for in 'circular' hash buffers*/
+    unsigned chainlength = 0;
+
+    hashval = getHash(in, insize, pos);
+
+    if(usezeros && hashval == 0) {
+      if(numzeros == 0) numzeros = countZeros(in, insize, pos);
+      else if(pos + numzeros > insize || in[pos + numzeros - 1] != 0) --numzeros;
+    } else {
+      numzeros = 0;
+    }
+
+    updateHashChain(hash, wpos, hashval, numzeros);
+
+    /*the length and offset found for the current position*/
+    length = 0;
+    offset = 0;
+
+    hashpos = hash->chain[wpos];
+
+    lastptr = &in[insize < pos + MAX_SUPPORTED_DEFLATE_LENGTH ? insize : pos + MAX_SUPPORTED_DEFLATE_LENGTH];
+
+    /*search for the longest string*/
+    prev_offset = 0;
+    for(;;) {
+      if(chainlength++ >= maxchainlength) break;
+      current_offset = (unsigned)(hashpos <= wpos ? wpos - hashpos : wpos - hashpos + windowsize);
+
+      if(current_offset < prev_offset) break; /*stop when went completely around the circular buffer*/
+      prev_offset = current_offset;
+      if(current_offset > 0) {
+        /*test the next characters*/
+        foreptr = &in[pos];
+        backptr = &in[pos - current_offset];
+
+        /*common case in PNGs is lots of zeros. Quickly skip over them as a speedup*/
+        if(numzeros >= 3) {
+          unsigned skip = hash->zeros[hashpos];
+          if(skip > numzeros) skip = numzeros;
+          backptr += skip;
+          foreptr += skip;
+        }
+
+        while(foreptr != lastptr && *backptr == *foreptr) /*maximum supported length by deflate is max length*/ {
+          ++backptr;
+          ++foreptr;
+        }
+        current_length = (unsigned)(foreptr - &in[pos]);
+
+        if(current_length > length) {
+          length = current_length; /*the longest length*/
+          offset = current_offset; /*the offset that is related to this longest length*/
+          /*jump out once a length of max length is found (speed gain). This also jumps
+          out if length is MAX_SUPPORTED_DEFLATE_LENGTH*/
+          if(current_length >= nicematch) break;
+        }
+      }
+
+      if(hashpos == hash->chain[hashpos]) break;
+
+      if(numzeros >= 3 && length > numzeros) {
+        hashpos = hash->chainz[hashpos];
+        if(hash->zeros[hashpos] != numzeros) break;
+      } else {
+        hashpos = hash->chain[hashpos];
+        /*outdated hash value, happens if particular value was not encountered in whole last window*/
+        if(hash->val[hashpos] != (int)hashval) break;
+      }
+    }
+
+    if(lazymatching) {
+      if(!lazy && length >= 3 && length <= maxlazymatch && length < MAX_SUPPORTED_DEFLATE_LENGTH) {
+        lazy = 1;
+        lazylength = length;
+        lazyoffset = offset;
+        continue; /*try the next byte*/
+      }
+      if(lazy) {
+        lazy = 0;
+        if(pos == 0) ERROR_BREAK(81);
+        if(length > lazylength + 1) {
+          /*push the previous character as literal*/
+          if(!uivector_push_back(out, in[pos - 1])) ERROR_BREAK(83 /*alloc fail*/);
+        } else {
+          length = lazylength;
+          offset = lazyoffset;
+          hash->head[hashval] = -1; /*the same hashchain update will be done, this ensures no wrong alteration*/
+          hash->headz[numzeros] = -1; /*idem*/
+          --pos;
+        }
+      }
+    }
+    if(length >= 3 && offset > windowsize) ERROR_BREAK(86 /*too big (or overflown negative) offset*/);
+
+    /*encode it as length/distance pair or literal value*/
+    if(length < 3) /*only lengths of 3 or higher are supported as length/distance pair*/ {
+      if(!uivector_push_back(out, in[pos])) ERROR_BREAK(83 /*alloc fail*/);
+    } else if(length < minmatch || (length == 3 && offset > 4096)) {
+      /*compensate for the fact that longer offsets have more extra bits, a
+      length of only 3 may be not worth it then*/
+      if(!uivector_push_back(out, in[pos])) ERROR_BREAK(83 /*alloc fail*/);
+    } else {
+      addLengthDistance(out, length, offset);
+      for(i = 1; i < length; ++i) {
+        ++pos;
+        wpos = pos & (windowsize - 1);
+        hashval = getHash(in, insize, pos);
+        if(usezeros && hashval == 0) {
+          if(numzeros == 0) numzeros = countZeros(in, insize, pos);
+          else if(pos + numzeros > insize || in[pos + numzeros - 1] != 0) --numzeros;
+        } else {
+          numzeros = 0;
+        }
+        updateHashChain(hash, wpos, hashval, numzeros);
+      }
+    }
+  } /*end of the loop through each character of input*/
+
+  return error;
+}
+
+/* /////////////////////////////////////////////////////////////////////////// */
+
+static unsigned deflateNoCompression(ucvector* out, const unsigned char* data, size_t datasize) {
+  /*non compressed deflate block data: 1 bit BFINAL,2 bits BTYPE,(5 bits): it jumps to start of next byte,
+  2 bytes LEN, 2 bytes NLEN, LEN bytes literal DATA*/
+
+  size_t i, numdeflateblocks = (datasize + 65534u) / 65535u;
+  unsigned datapos = 0;
+  for(i = 0; i != numdeflateblocks; ++i) {
+    unsigned BFINAL, BTYPE, LEN, NLEN;
+    unsigned char firstbyte;
+    size_t pos = out->size;
+
+    BFINAL = (i == numdeflateblocks - 1);
+    BTYPE = 0;
+
+    LEN = 65535;
+    if(datasize - datapos < 65535u) LEN = (unsigned)datasize - datapos;
+    NLEN = 65535 - LEN;
+
+    if(!ucvector_resize(out, out->size + LEN + 5)) return 83; /*alloc fail*/
+
+    firstbyte = (unsigned char)(BFINAL + ((BTYPE & 1u) << 1u) + ((BTYPE & 2u) << 1u));
+    out->data[pos + 0] = firstbyte;
+    out->data[pos + 1] = (unsigned char)(LEN & 255);
+    out->data[pos + 2] = (unsigned char)(LEN >> 8u);
+    out->data[pos + 3] = (unsigned char)(NLEN & 255);
+    out->data[pos + 4] = (unsigned char)(NLEN >> 8u);
+    lodepng_memcpy(out->data + pos + 5, data + datapos, LEN);
+    datapos += LEN;
+  }
+
+  return 0;
+}
+
+/*
+write the lz77-encoded data, which has lit, len and dist codes, to compressed stream using huffman trees.
+tree_ll: the tree for lit and len codes.
+tree_d: the tree for distance codes.
+*/
+static void writeLZ77data(LodePNGBitWriter* writer, const uivector* lz77_encoded,
+                          const HuffmanTree* tree_ll, const HuffmanTree* tree_d) {
+  size_t i = 0;
+  for(i = 0; i != lz77_encoded->size; ++i) {
+    unsigned val = lz77_encoded->data[i];
+    writeBitsReversed(writer, tree_ll->codes[val], tree_ll->lengths[val]);
+    if(val > 256) /*for a length code, 3 more things have to be added*/ {
+      unsigned length_index = val - FIRST_LENGTH_CODE_INDEX;
+      unsigned n_length_extra_bits = LENGTHEXTRA[length_index];
+      unsigned length_extra_bits = lz77_encoded->data[++i];
+
+      unsigned distance_code = lz77_encoded->data[++i];
+
+      unsigned distance_index = distance_code;
+      unsigned n_distance_extra_bits = DISTANCEEXTRA[distance_index];
+      unsigned distance_extra_bits = lz77_encoded->data[++i];
+
+      writeBits(writer, length_extra_bits, n_length_extra_bits);
+      writeBitsReversed(writer, tree_d->codes[distance_code], tree_d->lengths[distance_code]);
+      writeBits(writer, distance_extra_bits, n_distance_extra_bits);
+    }
+  }
+}
+
+/*Deflate for a block of type "dynamic", that is, with freely, optimally, created huffman trees*/
+static unsigned deflateDynamic(LodePNGBitWriter* writer, Hash* hash,
+                               const unsigned char* data, size_t datapos, size_t dataend,
+                               const LodePNGCompressSettings* settings, unsigned final) {
+  unsigned error = 0;
+
+  /*
+  A block is compressed as follows: The PNG data is lz77 encoded, resulting in
+  literal bytes and length/distance pairs. This is then huffman compressed with
+  two huffman trees. One huffman tree is used for the lit and len values ("ll"),
+  another huffman tree is used for the dist values ("d"). These two trees are
+  stored using their code lengths, and to compress even more these code lengths
+  are also run-length encoded and huffman compressed. This gives a huffman tree
+  of code lengths "cl". The code lengths used to describe this third tree are
+  the code length code lengths ("clcl").
+  */
+
+  /*The lz77 encoded data, represented with integers since there will also be length and distance codes in it*/
+  uivector lz77_encoded;
+  HuffmanTree tree_ll; /*tree for lit,len values*/
+  HuffmanTree tree_d; /*tree for distance codes*/
+  HuffmanTree tree_cl; /*tree for encoding the code lengths representing tree_ll and tree_d*/
+  unsigned* frequencies_ll = 0; /*frequency of lit,len codes*/
+  unsigned* frequencies_d = 0; /*frequency of dist codes*/
+  unsigned* frequencies_cl = 0; /*frequency of code length codes*/
+  unsigned* bitlen_lld = 0; /*lit,len,dist code lengths (int bits), literally (without repeat codes).*/
+  unsigned* bitlen_lld_e = 0; /*bitlen_lld encoded with repeat codes (this is a rudimentary run length compression)*/
+  size_t datasize = dataend - datapos;
+
+  /*
+  If we could call "bitlen_cl" the the code length code lengths ("clcl"), that is the bit lengths of codes to represent
+  tree_cl in CLCL_ORDER, then due to the huffman compression of huffman tree representations ("two levels"), there are
+  some analogies:
+  bitlen_lld is to tree_cl what data is to tree_ll and tree_d.
+  bitlen_lld_e is to bitlen_lld what lz77_encoded is to data.
+  bitlen_cl is to bitlen_lld_e what bitlen_lld is to lz77_encoded.
+  */
+
+  unsigned BFINAL = final;
+  size_t i;
+  size_t numcodes_ll, numcodes_d, numcodes_lld, numcodes_lld_e, numcodes_cl;
+  unsigned HLIT, HDIST, HCLEN;
+
+  uivector_init(&lz77_encoded);
+  HuffmanTree_init(&tree_ll);
+  HuffmanTree_init(&tree_d);
+  HuffmanTree_init(&tree_cl);
+  /* could fit on stack, but >1KB is on the larger side so allocate instead */
+  frequencies_ll = (unsigned*)lodepng_malloc(286 * sizeof(*frequencies_ll));
+  frequencies_d = (unsigned*)lodepng_malloc(30 * sizeof(*frequencies_d));
+  frequencies_cl = (unsigned*)lodepng_malloc(NUM_CODE_LENGTH_CODES * sizeof(*frequencies_cl));
+
+  if(!frequencies_ll || !frequencies_d || !frequencies_cl) error = 83; /*alloc fail*/
+
+  /*This while loop never loops due to a break at the end, it is here to
+  allow breaking out of it to the cleanup phase on error conditions.*/
+  while(!error) {
+    lodepng_memset(frequencies_ll, 0, 286 * sizeof(*frequencies_ll));
+    lodepng_memset(frequencies_d, 0, 30 * sizeof(*frequencies_d));
+    lodepng_memset(frequencies_cl, 0, NUM_CODE_LENGTH_CODES * sizeof(*frequencies_cl));
+
+    if(settings->use_lz77) {
+      error = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend, settings->windowsize,
+                         settings->minmatch, settings->nicematch, settings->lazymatching);
+      if(error) break;
+    } else {
+      if(!uivector_resize(&lz77_encoded, datasize)) ERROR_BREAK(83 /*alloc fail*/);
+      for(i = datapos; i < dataend; ++i) lz77_encoded.data[i - datapos] = data[i]; /*no LZ77, but still will be Huffman compressed*/
+    }
+
+    /*Count the frequencies of lit, len and dist codes*/
+    for(i = 0; i != lz77_encoded.size; ++i) {
+      unsigned symbol = lz77_encoded.data[i];
+      ++frequencies_ll[symbol];
+      if(symbol > 256) {
+        unsigned dist = lz77_encoded.data[i + 2];
+        ++frequencies_d[dist];
+        i += 3;
+      }
+    }
+    frequencies_ll[256] = 1; /*there will be exactly 1 end code, at the end of the block*/
+
+    /*Make both huffman trees, one for the lit and len codes, one for the dist codes*/
+    error = HuffmanTree_makeFromFrequencies(&tree_ll, frequencies_ll, 257, 286, 15);
+    if(error) break;
+    /*2, not 1, is chosen for mincodes: some buggy PNG decoders require at least 2 symbols in the dist tree*/
+    error = HuffmanTree_makeFromFrequencies(&tree_d, frequencies_d, 2, 30, 15);
+    if(error) break;
+
+    numcodes_ll = LODEPNG_MIN(tree_ll.numcodes, 286);
+    numcodes_d = LODEPNG_MIN(tree_d.numcodes, 30);
+    /*store the code lengths of both generated trees in bitlen_lld*/
+    numcodes_lld = numcodes_ll + numcodes_d;
+    bitlen_lld = (unsigned*)lodepng_malloc(numcodes_lld * sizeof(*bitlen_lld));
+    /*numcodes_lld_e never needs more size than bitlen_lld*/
+    bitlen_lld_e = (unsigned*)lodepng_malloc(numcodes_lld * sizeof(*bitlen_lld_e));
+    if(!bitlen_lld || !bitlen_lld_e) ERROR_BREAK(83); /*alloc fail*/
+    numcodes_lld_e = 0;
+
+    for(i = 0; i != numcodes_ll; ++i) bitlen_lld[i] = tree_ll.lengths[i];
+    for(i = 0; i != numcodes_d; ++i) bitlen_lld[numcodes_ll + i] = tree_d.lengths[i];
+
+    /*run-length compress bitlen_ldd into bitlen_lld_e by using repeat codes 16 (copy length 3-6 times),
+    17 (3-10 zeroes), 18 (11-138 zeroes)*/
+    for(i = 0; i != numcodes_lld; ++i) {
+      unsigned j = 0; /*amount of repetitions*/
+      while(i + j + 1 < numcodes_lld && bitlen_lld[i + j + 1] == bitlen_lld[i]) ++j;
+
+      if(bitlen_lld[i] == 0 && j >= 2) /*repeat code for zeroes*/ {
+        ++j; /*include the first zero*/
+        if(j <= 10) /*repeat code 17 supports max 10 zeroes*/ {
+          bitlen_lld_e[numcodes_lld_e++] = 17;
+          bitlen_lld_e[numcodes_lld_e++] = j - 3;
+        } else /*repeat code 18 supports max 138 zeroes*/ {
+          if(j > 138) j = 138;
+          bitlen_lld_e[numcodes_lld_e++] = 18;
+          bitlen_lld_e[numcodes_lld_e++] = j - 11;
+        }
+        i += (j - 1);
+      } else if(j >= 3) /*repeat code for value other than zero*/ {
+        size_t k;
+        unsigned num = j / 6u, rest = j % 6u;
+        bitlen_lld_e[numcodes_lld_e++] = bitlen_lld[i];
+        for(k = 0; k < num; ++k) {
+          bitlen_lld_e[numcodes_lld_e++] = 16;
+          bitlen_lld_e[numcodes_lld_e++] = 6 - 3;
+        }
+        if(rest >= 3) {
+          bitlen_lld_e[numcodes_lld_e++] = 16;
+          bitlen_lld_e[numcodes_lld_e++] = rest - 3;
+        }
+        else j -= rest;
+        i += j;
+      } else /*too short to benefit from repeat code*/ {
+        bitlen_lld_e[numcodes_lld_e++] = bitlen_lld[i];
+      }
+    }
+
+    /*generate tree_cl, the huffmantree of huffmantrees*/
+    for(i = 0; i != numcodes_lld_e; ++i) {
+      ++frequencies_cl[bitlen_lld_e[i]];
+      /*after a repeat code come the bits that specify the number of repetitions,
+      those don't need to be in the frequencies_cl calculation*/
+      if(bitlen_lld_e[i] >= 16) ++i;
+    }
+
+    error = HuffmanTree_makeFromFrequencies(&tree_cl, frequencies_cl,
+                                            NUM_CODE_LENGTH_CODES, NUM_CODE_LENGTH_CODES, 7);
+    if(error) break;
+
+    /*compute amount of code-length-code-lengths to output*/
+    numcodes_cl = NUM_CODE_LENGTH_CODES;
+    /*trim zeros at the end (using CLCL_ORDER), but minimum size must be 4 (see HCLEN below)*/
+    while(numcodes_cl > 4u && tree_cl.lengths[CLCL_ORDER[numcodes_cl - 1u]] == 0) {
+      numcodes_cl--;
+    }
+
+    /*
+    Write everything into the output
+
+    After the BFINAL and BTYPE, the dynamic block consists out of the following:
+    - 5 bits HLIT, 5 bits HDIST, 4 bits HCLEN
+    - (HCLEN+4)*3 bits code lengths of code length alphabet
+    - HLIT + 257 code lengths of lit/length alphabet (encoded using the code length
+      alphabet, + possible repetition codes 16, 17, 18)
+    - HDIST + 1 code lengths of distance alphabet (encoded using the code length
+      alphabet, + possible repetition codes 16, 17, 18)
+    - compressed data
+    - 256 (end code)
+    */
+
+    /*Write block type*/
+    writeBits(writer, BFINAL, 1);
+    writeBits(writer, 0, 1); /*first bit of BTYPE "dynamic"*/
+    writeBits(writer, 1, 1); /*second bit of BTYPE "dynamic"*/
+
+    /*write the HLIT, HDIST and HCLEN values*/
+    /*all three sizes take trimmed ending zeroes into account, done either by HuffmanTree_makeFromFrequencies
+    or in the loop for numcodes_cl above, which saves space. */
+    HLIT = (unsigned)(numcodes_ll - 257);
+    HDIST = (unsigned)(numcodes_d - 1);
+    HCLEN = (unsigned)(numcodes_cl - 4);
+    writeBits(writer, HLIT, 5);
+    writeBits(writer, HDIST, 5);
+    writeBits(writer, HCLEN, 4);
+
+    /*write the code lengths of the code length alphabet ("bitlen_cl")*/
+    for(i = 0; i != numcodes_cl; ++i) writeBits(writer, tree_cl.lengths[CLCL_ORDER[i]], 3);
+
+    /*write the lengths of the lit/len AND the dist alphabet*/
+    for(i = 0; i != numcodes_lld_e; ++i) {
+      writeBitsReversed(writer, tree_cl.codes[bitlen_lld_e[i]], tree_cl.lengths[bitlen_lld_e[i]]);
+      /*extra bits of repeat codes*/
+      if(bitlen_lld_e[i] == 16) writeBits(writer, bitlen_lld_e[++i], 2);
+      else if(bitlen_lld_e[i] == 17) writeBits(writer, bitlen_lld_e[++i], 3);
+      else if(bitlen_lld_e[i] == 18) writeBits(writer, bitlen_lld_e[++i], 7);
+    }
+
+    /*write the compressed data symbols*/
+    writeLZ77data(writer, &lz77_encoded, &tree_ll, &tree_d);
+    /*error: the length of the end code 256 must be larger than 0*/
+    if(tree_ll.lengths[256] == 0) ERROR_BREAK(64);
+
+    /*write the end code*/
+    writeBitsReversed(writer, tree_ll.codes[256], tree_ll.lengths[256]);
+
+    break; /*end of error-while*/
+  }
+
+  /*cleanup*/
+  uivector_cleanup(&lz77_encoded);
+  HuffmanTree_cleanup(&tree_ll);
+  HuffmanTree_cleanup(&tree_d);
+  HuffmanTree_cleanup(&tree_cl);
+  lodepng_free(frequencies_ll);
+  lodepng_free(frequencies_d);
+  lodepng_free(frequencies_cl);
+  lodepng_free(bitlen_lld);
+  lodepng_free(bitlen_lld_e);
+
+  return error;
+}
+
+static unsigned deflateFixed(LodePNGBitWriter* writer, Hash* hash,
+                             const unsigned char* data,
+                             size_t datapos, size_t dataend,
+                             const LodePNGCompressSettings* settings, unsigned final) {
+  HuffmanTree tree_ll; /*tree for literal values and length codes*/
+  HuffmanTree tree_d; /*tree for distance codes*/
+
+  unsigned BFINAL = final;
+  unsigned error = 0;
+  size_t i;
+
+  HuffmanTree_init(&tree_ll);
+  HuffmanTree_init(&tree_d);
+
+  error = generateFixedLitLenTree(&tree_ll);
+  if(!error) error = generateFixedDistanceTree(&tree_d);
+
+  if(!error) {
+    writeBits(writer, BFINAL, 1);
+    writeBits(writer, 1, 1); /*first bit of BTYPE*/
+    writeBits(writer, 0, 1); /*second bit of BTYPE*/
+
+    if(settings->use_lz77) /*LZ77 encoded*/ {
+      uivector lz77_encoded;
+      uivector_init(&lz77_encoded);
+      error = encodeLZ77(&lz77_encoded, hash, data, datapos, dataend, settings->windowsize,
+                         settings->minmatch, settings->nicematch, settings->lazymatching);
+      if(!error) writeLZ77data(writer, &lz77_encoded, &tree_ll, &tree_d);
+      uivector_cleanup(&lz77_encoded);
+    } else /*no LZ77, but still will be Huffman compressed*/ {
+      for(i = datapos; i < dataend; ++i) {
+        writeBitsReversed(writer, tree_ll.codes[data[i]], tree_ll.lengths[data[i]]);
+      }
+    }
+    /*add END code*/
+    if(!error) writeBitsReversed(writer,tree_ll.codes[256], tree_ll.lengths[256]);
+  }
+
+  /*cleanup*/
+  HuffmanTree_cleanup(&tree_ll);
+  HuffmanTree_cleanup(&tree_d);
+
+  return error;
+}
+
+static unsigned lodepng_deflatev(ucvector* out, const unsigned char* in, size_t insize,
+                                 const LodePNGCompressSettings* settings) {
+  unsigned error = 0;
+  size_t i, blocksize, numdeflateblocks;
+  Hash hash;
+  LodePNGBitWriter writer;
+
+  LodePNGBitWriter_init(&writer, out);
+
+  if(settings->btype > 2) return 61;
+  else if(settings->btype == 0) return deflateNoCompression(out, in, insize);
+  else if(settings->btype == 1) blocksize = insize;
+  else /*if(settings->btype == 2)*/ {
+    /*on PNGs, deflate blocks of 65-262k seem to give most dense encoding*/
+    blocksize = insize / 8u + 8;
+    if(blocksize < 65536) blocksize = 65536;
+    if(blocksize > 262144) blocksize = 262144;
+  }
+
+  numdeflateblocks = (insize + blocksize - 1) / blocksize;
+  if(numdeflateblocks == 0) numdeflateblocks = 1;
+
+  error = hash_init(&hash, settings->windowsize);
+
+  if(!error) {
+    for(i = 0; i != numdeflateblocks && !error; ++i) {
+      unsigned final = (i == numdeflateblocks - 1);
+      size_t start = i * blocksize;
+      size_t end = start + blocksize;
+      if(end > insize) end = insize;
+
+      if(settings->btype == 1) error = deflateFixed(&writer, &hash, in, start, end, settings, final);
+      else if(settings->btype == 2) error = deflateDynamic(&writer, &hash, in, start, end, settings, final);
+    }
+  }
+
+  hash_cleanup(&hash);
+
+  return error;
+}
+
+unsigned lodepng_deflate(unsigned char** out, size_t* outsize,
+                         const unsigned char* in, size_t insize,
+                         const LodePNGCompressSettings* settings) {
+  ucvector v = ucvector_init(*out, *outsize);
+  unsigned error = lodepng_deflatev(&v, in, insize, settings);
+  *out = v.data;
+  *outsize = v.size;
+  return error;
+}
+
+static unsigned deflate(unsigned char** out, size_t* outsize,
+                        const unsigned char* in, size_t insize,
+                        const LodePNGCompressSettings* settings) {
+  if(settings->custom_deflate) {
+    unsigned error = settings->custom_deflate(out, outsize, in, insize, settings);
+    /*the custom deflate is allowed to have its own error codes, however, we translate it to code 111*/
+    return error ? 111 : 0;
+  } else {
+    return lodepng_deflate(out, outsize, in, insize, settings);
+  }
+}
+
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Adler32                                                                / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+static unsigned update_adler32(unsigned adler, const unsigned char* data, unsigned len) {
+  unsigned s1 = adler & 0xffffu;
+  unsigned s2 = (adler >> 16u) & 0xffffu;
+
+  while(len != 0u) {
+    unsigned i;
+    /*at least 5552 sums can be done before the sums overflow, saving a lot of module divisions*/
+    unsigned amount = len > 5552u ? 5552u : len;
+    len -= amount;
+    for(i = 0; i != amount; ++i) {
+      s1 += (*data++);
+      s2 += s1;
+    }
+    s1 %= 65521u;
+    s2 %= 65521u;
+  }
+
+  return (s2 << 16u) | s1;
+}
+
+/*Return the adler32 of the bytes data[0..len-1]*/
+static unsigned adler32(const unsigned char* data, unsigned len) {
+  return update_adler32(1u, data, len);
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Zlib                                                                   / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+static unsigned lodepng_zlib_decompressv(ucvector* out,
+                                         const unsigned char* in, size_t insize,
+                                         const LodePNGDecompressSettings* settings) {
+  unsigned error = 0;
+  unsigned CM, CINFO, FDICT;
+
+  if(insize < 2) return 53; /*error, size of zlib data too small*/
+  /*read information from zlib header*/
+  if((in[0] * 256 + in[1]) % 31 != 0) {
+    /*error: 256 * in[0] + in[1] must be a multiple of 31, the FCHECK value is supposed to be made that way*/
+    return 24;
+  }
+
+  CM = in[0] & 15;
+  CINFO = (in[0] >> 4) & 15;
+  /*FCHECK = in[1] & 31;*/ /*FCHECK is already tested above*/
+  FDICT = (in[1] >> 5) & 1;
+  /*FLEVEL = (in[1] >> 6) & 3;*/ /*FLEVEL is not used here*/
+
+  if(CM != 8 || CINFO > 7) {
+    /*error: only compression method 8: inflate with sliding window of 32k is supported by the PNG spec*/
+    return 25;
+  }
+  if(FDICT != 0) {
+    /*error: the specification of PNG says about the zlib stream:
+      "The additional flags shall not specify a preset dictionary."*/
+    return 26;
+  }
+
+  error = inflatev(out, in + 2, insize - 2, settings);
+  if(error) return error;
+
+  if(!settings->ignore_adler32) {
+    unsigned ADLER32 = lodepng_read32bitInt(&in[insize - 4]);
+    unsigned checksum = adler32(out->data, (unsigned)(out->size));
+    if(checksum != ADLER32) return 58; /*error, adler checksum not correct, data must be corrupted*/
+  }
+
+  return 0; /*no error*/
+}
+
+
+unsigned lodepng_zlib_decompress(unsigned char** out, size_t* outsize, const unsigned char* in,
+                                 size_t insize, const LodePNGDecompressSettings* settings) {
+  ucvector v = ucvector_init(*out, *outsize);
+  unsigned error = lodepng_zlib_decompressv(&v, in, insize, settings);
+  *out = v.data;
+  *outsize = v.size;
+  return error;
+}
+
+/*expected_size is expected output size, to avoid intermediate allocations. Set to 0 if not known. */
+static unsigned zlib_decompress(unsigned char** out, size_t* outsize, size_t expected_size,
+                                const unsigned char* in, size_t insize, const LodePNGDecompressSettings* settings) {
+  unsigned error;
+  if(settings->custom_zlib) {
+    error = settings->custom_zlib(out, outsize, in, insize, settings);
+    if(error) {
+      /*the custom zlib is allowed to have its own error codes, however, we translate it to code 110*/
+      error = 110;
+      /*if there's a max output size, and the custom zlib returned error, then indicate that error instead*/
+      if(settings->max_output_size && *outsize > settings->max_output_size) error = 109;
+    }
+  } else {
+    ucvector v = ucvector_init(*out, *outsize);
+    if(expected_size) {
+      /*reserve the memory to avoid intermediate reallocations*/
+      ucvector_resize(&v, *outsize + expected_size);
+      v.size = *outsize;
+    }
+    error = lodepng_zlib_decompressv(&v, in, insize, settings);
+    *out = v.data;
+    *outsize = v.size;
+  }
+  return error;
+}
+
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#ifdef LODEPNG_COMPILE_ENCODER
+
+unsigned lodepng_zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in,
+                               size_t insize, const LodePNGCompressSettings* settings) {
+  size_t i;
+  unsigned error;
+  unsigned char* deflatedata = 0;
+  size_t deflatesize = 0;
+
+  error = deflate(&deflatedata, &deflatesize, in, insize, settings);
+
+  *out = NULL;
+  *outsize = 0;
+  if(!error) {
+    *outsize = deflatesize + 6;
+    *out = (unsigned char*)lodepng_malloc(*outsize);
+    if(!*out) error = 83; /*alloc fail*/
+  }
+
+  if(!error) {
+    unsigned ADLER32 = adler32(in, (unsigned)insize);
+    /*zlib data: 1 byte CMF (CM+CINFO), 1 byte FLG, deflate data, 4 byte ADLER32 checksum of the Decompressed data*/
+    unsigned CMF = 120; /*0b01111000: CM 8, CINFO 7. With CINFO 7, any window size up to 32768 can be used.*/
+    unsigned FLEVEL = 0;
+    unsigned FDICT = 0;
+    unsigned CMFFLG = 256 * CMF + FDICT * 32 + FLEVEL * 64;
+    unsigned FCHECK = 31 - CMFFLG % 31;
+    CMFFLG += FCHECK;
+
+    (*out)[0] = (unsigned char)(CMFFLG >> 8);
+    (*out)[1] = (unsigned char)(CMFFLG & 255);
+    for(i = 0; i != deflatesize; ++i) (*out)[i + 2] = deflatedata[i];
+    lodepng_set32bitInt(&(*out)[*outsize - 4], ADLER32);
+  }
+
+  lodepng_free(deflatedata);
+  return error;
+}
+
+/* compress using the default or custom zlib function */
+static unsigned zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in,
+                              size_t insize, const LodePNGCompressSettings* settings) {
+  if(settings->custom_zlib) {
+    unsigned error = settings->custom_zlib(out, outsize, in, insize, settings);
+    /*the custom zlib is allowed to have its own error codes, however, we translate it to code 111*/
+    return error ? 111 : 0;
+  } else {
+    return lodepng_zlib_compress(out, outsize, in, insize, settings);
+  }
+}
+
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+#else /*no LODEPNG_COMPILE_ZLIB*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+static unsigned zlib_decompress(unsigned char** out, size_t* outsize, size_t expected_size,
+                                const unsigned char* in, size_t insize, const LodePNGDecompressSettings* settings) {
+  if(!settings->custom_zlib) return 87; /*no custom zlib function provided */
+  (void)expected_size;
+  return settings->custom_zlib(out, outsize, in, insize, settings);
+}
+#endif /*LODEPNG_COMPILE_DECODER*/
+#ifdef LODEPNG_COMPILE_ENCODER
+static unsigned zlib_compress(unsigned char** out, size_t* outsize, const unsigned char* in,
+                              size_t insize, const LodePNGCompressSettings* settings) {
+  if(!settings->custom_zlib) return 87; /*no custom zlib function provided */
+  return settings->custom_zlib(out, outsize, in, insize, settings);
+}
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+#endif /*LODEPNG_COMPILE_ZLIB*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_ENCODER
+
+/*this is a good tradeoff between speed and compression ratio*/
+#define DEFAULT_WINDOWSIZE 2048
+
+void lodepng_compress_settings_init(LodePNGCompressSettings* settings) {
+  /*compress with dynamic huffman tree (not in the mathematical sense, just not the predefined one)*/
+  settings->btype = 2;
+  settings->use_lz77 = 1;
+  settings->windowsize = DEFAULT_WINDOWSIZE;
+  settings->minmatch = 3;
+  settings->nicematch = 128;
+  settings->lazymatching = 1;
+
+  settings->custom_zlib = 0;
+  settings->custom_deflate = 0;
+  settings->custom_context = 0;
+}
+
+const LodePNGCompressSettings lodepng_default_compress_settings = {2, 1, DEFAULT_WINDOWSIZE, 3, 128, 1, 0, 0, 0};
+
+
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+void lodepng_decompress_settings_init(LodePNGDecompressSettings* settings) {
+  settings->ignore_adler32 = 0;
+  settings->ignore_nlen = 0;
+  settings->max_output_size = 0;
+
+  settings->custom_zlib = 0;
+  settings->custom_inflate = 0;
+  settings->custom_context = 0;
+}
+
+const LodePNGDecompressSettings lodepng_default_decompress_settings = {0, 0, 0, 0, 0, 0};
+
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* // End of Zlib related code. Begin of PNG related code.                 // */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_PNG
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / CRC32                                                                  / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+
+#ifndef LODEPNG_NO_COMPILE_CRC
+/* CRC polynomial: 0xedb88320 */
+static unsigned lodepng_crc32_table[256] = {
+           0u, 1996959894u, 3993919788u, 2567524794u,  124634137u, 1886057615u, 3915621685u, 2657392035u,
+   249268274u, 2044508324u, 3772115230u, 2547177864u,  162941995u, 2125561021u, 3887607047u, 2428444049u,
+   498536548u, 1789927666u, 4089016648u, 2227061214u,  450548861u, 1843258603u, 4107580753u, 2211677639u,
+   325883990u, 1684777152u, 4251122042u, 2321926636u,  335633487u, 1661365465u, 4195302755u, 2366115317u,
+   997073096u, 1281953886u, 3579855332u, 2724688242u, 1006888145u, 1258607687u, 3524101629u, 2768942443u,
+   901097722u, 1119000684u, 3686517206u, 2898065728u,  853044451u, 1172266101u, 3705015759u, 2882616665u,
+   651767980u, 1373503546u, 3369554304u, 3218104598u,  565507253u, 1454621731u, 3485111705u, 3099436303u,
+   671266974u, 1594198024u, 3322730930u, 2970347812u,  795835527u, 1483230225u, 3244367275u, 3060149565u,
+  1994146192u,   31158534u, 2563907772u, 4023717930u, 1907459465u,  112637215u, 2680153253u, 3904427059u,
+  2013776290u,  251722036u, 2517215374u, 3775830040u, 2137656763u,  141376813u, 2439277719u, 3865271297u,
+  1802195444u,  476864866u, 2238001368u, 4066508878u, 1812370925u,  453092731u, 2181625025u, 4111451223u,
+  1706088902u,  314042704u, 2344532202u, 4240017532u, 1658658271u,  366619977u, 2362670323u, 4224994405u,
+  1303535960u,  984961486u, 2747007092u, 3569037538u, 1256170817u, 1037604311u, 2765210733u, 3554079995u,
+  1131014506u,  879679996u, 2909243462u, 3663771856u, 1141124467u,  855842277u, 2852801631u, 3708648649u,
+  1342533948u,  654459306u, 3188396048u, 3373015174u, 1466479909u,  544179635u, 3110523913u, 3462522015u,
+  1591671054u,  702138776u, 2966460450u, 3352799412u, 1504918807u,  783551873u, 3082640443u, 3233442989u,
+  3988292384u, 2596254646u,   62317068u, 1957810842u, 3939845945u, 2647816111u,   81470997u, 1943803523u,
+  3814918930u, 2489596804u,  225274430u, 2053790376u, 3826175755u, 2466906013u,  167816743u, 2097651377u,
+  4027552580u, 2265490386u,  503444072u, 1762050814u, 4150417245u, 2154129355u,  426522225u, 1852507879u,
+  4275313526u, 2312317920u,  282753626u, 1742555852u, 4189708143u, 2394877945u,  397917763u, 1622183637u,
+  3604390888u, 2714866558u,  953729732u, 1340076626u, 3518719985u, 2797360999u, 1068828381u, 1219638859u,
+  3624741850u, 2936675148u,  906185462u, 1090812512u, 3747672003u, 2825379669u,  829329135u, 1181335161u,
+  3412177804u, 3160834842u,  628085408u, 1382605366u, 3423369109u, 3138078467u,  570562233u, 1426400815u,
+  3317316542u, 2998733608u,  733239954u, 1555261956u, 3268935591u, 3050360625u,  752459403u, 1541320221u,
+  2607071920u, 3965973030u, 1969922972u,   40735498u, 2617837225u, 3943577151u, 1913087877u,   83908371u,
+  2512341634u, 3803740692u, 2075208622u,  213261112u, 2463272603u, 3855990285u, 2094854071u,  198958881u,
+  2262029012u, 4057260610u, 1759359992u,  534414190u, 2176718541u, 4139329115u, 1873836001u,  414664567u,
+  2282248934u, 4279200368u, 1711684554u,  285281116u, 2405801727u, 4167216745u, 1634467795u,  376229701u,
+  2685067896u, 3608007406u, 1308918612u,  956543938u, 2808555105u, 3495958263u, 1231636301u, 1047427035u,
+  2932959818u, 3654703836u, 1088359270u,  936918000u, 2847714899u, 3736837829u, 1202900863u,  817233897u,
+  3183342108u, 3401237130u, 1404277552u,  615818150u, 3134207493u, 3453421203u, 1423857449u,  601450431u,
+  3009837614u, 3294710456u, 1567103746u,  711928724u, 3020668471u, 3272380065u, 1510334235u,  755167117u
+};
+
+/*Return the CRC of the bytes buf[0..len-1].*/
+unsigned lodepng_crc32(const unsigned char* data, size_t length) {
+  unsigned r = 0xffffffffu;
+  size_t i;
+  for(i = 0; i < length; ++i) {
+    r = lodepng_crc32_table[(r ^ data[i]) & 0xffu] ^ (r >> 8u);
+  }
+  return r ^ 0xffffffffu;
+}
+#else /* !LODEPNG_NO_COMPILE_CRC */
+unsigned lodepng_crc32(const unsigned char* data, size_t length);
+#endif /* !LODEPNG_NO_COMPILE_CRC */
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Reading and writing PNG color channel bits                             / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/* The color channel bits of less-than-8-bit pixels are read with the MSB of bytes first,
+so LodePNGBitWriter and LodePNGBitReader can't be used for those. */
+
+static unsigned char readBitFromReversedStream(size_t* bitpointer, const unsigned char* bitstream) {
+  unsigned char result = (unsigned char)((bitstream[(*bitpointer) >> 3] >> ((*bitpointer) & 0x7)) & 1);
+  ++(*bitpointer);
+  return result;
+}
+
+/* TODO: make this faster */
+static unsigned readBitsFromReversedStream(size_t* bitpointer, const unsigned char* bitstream, size_t nbits) {
+  unsigned result = 0;
+  size_t i;
+  for(i = 0 ; i < nbits; ++i) {
+    result <<= 1u;
+    result |= (unsigned)readBitFromReversedStream(bitpointer, bitstream);
+  }
+  return result;
+}
+
+static void setBitOfReversedStream(size_t* bitpointer, unsigned char* bitstream, unsigned char bit) {
+  /*the current bit in bitstream may be 0 or 1 for this to work*/
+  if(bit == 0) bitstream[(*bitpointer) >> 3u] &=  (unsigned char)(~(1u << ((*bitpointer) & 7u)));
+  else         bitstream[(*bitpointer) >> 3u] |=  (1u << (7u - ((*bitpointer) & 7u)));
+  ++(*bitpointer);
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / PNG chunks                                                             / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+unsigned lodepng_chunk_length(const unsigned char* chunk) {
+  return lodepng_read32bitInt(&chunk[0]);
+}
+
+void lodepng_chunk_type(char type[5], const unsigned char* chunk) {
+  unsigned i;
+  for(i = 0; i != 4; ++i) type[i] = (char)chunk[4 + i];
+  type[4] = 0; /*null termination char*/
+}
+
+unsigned char lodepng_chunk_type_equals(const unsigned char* chunk, const char* type) {
+  if(lodepng_strlen(type) != 4) return 0;
+  return (chunk[4] == type[0] && chunk[5] == type[1] && chunk[6] == type[2] && chunk[7] == type[3]);
+}
+
+unsigned char lodepng_chunk_ancillary(const unsigned char* chunk) {
+  return((chunk[4] & 32) != 0);
+}
+
+unsigned char lodepng_chunk_private(const unsigned char* chunk) {
+  return((chunk[6] & 32) != 0);
+}
+
+unsigned char lodepng_chunk_safetocopy(const unsigned char* chunk) {
+  return((chunk[7] & 32) != 0);
+}
+
+unsigned char* lodepng_chunk_data(unsigned char* chunk) {
+  return &chunk[8];
+}
+
+const unsigned char* lodepng_chunk_data_const(const unsigned char* chunk) {
+  return &chunk[8];
+}
+
+unsigned lodepng_chunk_check_crc(const unsigned char* chunk) {
+  unsigned length = lodepng_chunk_length(chunk);
+  unsigned CRC = lodepng_read32bitInt(&chunk[length + 8]);
+  /*the CRC is taken of the data and the 4 chunk type letters, not the length*/
+  unsigned checksum = lodepng_crc32(&chunk[4], length + 4);
+  if(CRC != checksum) return 1;
+  else return 0;
+}
+
+void lodepng_chunk_generate_crc(unsigned char* chunk) {
+  unsigned length = lodepng_chunk_length(chunk);
+  unsigned CRC = lodepng_crc32(&chunk[4], length + 4);
+  lodepng_set32bitInt(chunk + 8 + length, CRC);
+}
+
+unsigned char* lodepng_chunk_next(unsigned char* chunk, unsigned char* end) {
+  if(chunk >= end || end - chunk < 12) return end; /*too small to contain a chunk*/
+  if(chunk[0] == 0x89 && chunk[1] == 0x50 && chunk[2] == 0x4e && chunk[3] == 0x47
+    && chunk[4] == 0x0d && chunk[5] == 0x0a && chunk[6] == 0x1a && chunk[7] == 0x0a) {
+    /* Is PNG magic header at start of PNG file. Jump to first actual chunk. */
+    return chunk + 8;
+  } else {
+    size_t total_chunk_length;
+    unsigned char* result;
+    if(lodepng_addofl(lodepng_chunk_length(chunk), 12, &total_chunk_length)) return end;
+    result = chunk + total_chunk_length;
+    if(result < chunk) return end; /*pointer overflow*/
+    return result;
+  }
+}
+
+const unsigned char* lodepng_chunk_next_const(const unsigned char* chunk, const unsigned char* end) {
+  if(chunk >= end || end - chunk < 12) return end; /*too small to contain a chunk*/
+  if(chunk[0] == 0x89 && chunk[1] == 0x50 && chunk[2] == 0x4e && chunk[3] == 0x47
+    && chunk[4] == 0x0d && chunk[5] == 0x0a && chunk[6] == 0x1a && chunk[7] == 0x0a) {
+    /* Is PNG magic header at start of PNG file. Jump to first actual chunk. */
+    return chunk + 8;
+  } else {
+    size_t total_chunk_length;
+    const unsigned char* result;
+    if(lodepng_addofl(lodepng_chunk_length(chunk), 12, &total_chunk_length)) return end;
+    result = chunk + total_chunk_length;
+    if(result < chunk) return end; /*pointer overflow*/
+    return result;
+  }
+}
+
+unsigned char* lodepng_chunk_find(unsigned char* chunk, unsigned char* end, const char type[5]) {
+  for(;;) {
+    if(chunk >= end || end - chunk < 12) return 0; /* past file end: chunk + 12 > end */
+    if(lodepng_chunk_type_equals(chunk, type)) return chunk;
+    chunk = lodepng_chunk_next(chunk, end);
+  }
+}
+
+const unsigned char* lodepng_chunk_find_const(const unsigned char* chunk, const unsigned char* end, const char type[5]) {
+  for(;;) {
+    if(chunk >= end || end - chunk < 12) return 0; /* past file end: chunk + 12 > end */
+    if(lodepng_chunk_type_equals(chunk, type)) return chunk;
+    chunk = lodepng_chunk_next_const(chunk, end);
+  }
+}
+
+unsigned lodepng_chunk_append(unsigned char** out, size_t* outsize, const unsigned char* chunk) {
+  unsigned i;
+  size_t total_chunk_length, new_length;
+  unsigned char *chunk_start, *new_buffer;
+
+  if(lodepng_addofl(lodepng_chunk_length(chunk), 12, &total_chunk_length)) return 77;
+  if(lodepng_addofl(*outsize, total_chunk_length, &new_length)) return 77;
+
+  new_buffer = (unsigned char*)lodepng_realloc(*out, new_length);
+  if(!new_buffer) return 83; /*alloc fail*/
+  (*out) = new_buffer;
+  (*outsize) = new_length;
+  chunk_start = &(*out)[new_length - total_chunk_length];
+
+  for(i = 0; i != total_chunk_length; ++i) chunk_start[i] = chunk[i];
+
+  return 0;
+}
+
+/*Sets length and name and allocates the space for data and crc but does not
+set data or crc yet. Returns the start of the chunk in chunk. The start of
+the data is at chunk + 8. To finalize chunk, add the data, then use
+lodepng_chunk_generate_crc */
+static unsigned lodepng_chunk_init(unsigned char** chunk,
+                                   ucvector* out,
+                                   unsigned length, const char* type) {
+  size_t new_length = out->size;
+  if(lodepng_addofl(new_length, length, &new_length)) return 77;
+  if(lodepng_addofl(new_length, 12, &new_length)) return 77;
+  if(!ucvector_resize(out, new_length)) return 83; /*alloc fail*/
+  *chunk = out->data + new_length - length - 12u;
+
+  /*1: length*/
+  lodepng_set32bitInt(*chunk, length);
+
+  /*2: chunk name (4 letters)*/
+  lodepng_memcpy(*chunk + 4, type, 4);
+
+  return 0;
+}
+
+/* like lodepng_chunk_create but with custom allocsize */
+static unsigned lodepng_chunk_createv(ucvector* out,
+                                      unsigned length, const char* type, const unsigned char* data) {
+  unsigned char* chunk;
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, length, type));
+
+  /*3: the data*/
+  lodepng_memcpy(chunk + 8, data, length);
+
+  /*4: CRC (of the chunkname characters and the data)*/
+  lodepng_chunk_generate_crc(chunk);
+
+  return 0;
+}
+
+unsigned lodepng_chunk_create(unsigned char** out, size_t* outsize,
+                              unsigned length, const char* type, const unsigned char* data) {
+  ucvector v = ucvector_init(*out, *outsize);
+  unsigned error = lodepng_chunk_createv(&v, length, type, data);
+  *out = v.data;
+  *outsize = v.size;
+  return error;
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / Color types, channels, bits                                            / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/*checks if the colortype is valid and the bitdepth bd is allowed for this colortype.
+Return value is a LodePNG error code.*/
+static unsigned checkColorValidity(LodePNGColorType colortype, unsigned bd) {
+  switch(colortype) {
+    case LCT_GREY:       if(!(bd == 1 || bd == 2 || bd == 4 || bd == 8 || bd == 16)) return 37; break;
+    case LCT_RGB:        if(!(                                 bd == 8 || bd == 16)) return 37; break;
+    case LCT_PALETTE:    if(!(bd == 1 || bd == 2 || bd == 4 || bd == 8            )) return 37; break;
+    case LCT_GREY_ALPHA: if(!(                                 bd == 8 || bd == 16)) return 37; break;
+    case LCT_RGBA:       if(!(                                 bd == 8 || bd == 16)) return 37; break;
+    case LCT_CUSTOM:     if(!(                                 bd == 8 || bd == 16)) return 37; break;
+    case LCT_MAX_OCTET_VALUE: return 31; /* invalid color type */
+    default: return 31; /* invalid color type */
+  }
+  return 0; /*allowed color type / bits combination*/
+}
+
+static unsigned getNumColorChannels(LodePNGColorType colortype) {
+  switch(colortype) {
+    case LCT_GREY: return 1;
+    case LCT_RGB: return 3;
+    case LCT_PALETTE: return 1;
+    case LCT_GREY_ALPHA: return 2;
+    case LCT_RGBA: return 4;
+    case LCT_CUSTOM: return 1;
+    case LCT_MAX_OCTET_VALUE: return 0; /* invalid color type */
+    default: return 0; /*invalid color type*/
+  }
+}
+
+static unsigned lodepng_get_bpp_lct(LodePNGColorType colortype, unsigned bitdepth) {
+  /*bits per pixel is amount of channels * bits per channel*/
+  return getNumColorChannels(colortype) * bitdepth;
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+
+void lodepng_color_mode_init(LodePNGColorMode* info) {
+  info->key_defined = 0;
+  info->key_r = info->key_g = info->key_b = 0;
+  info->colortype = LCT_RGBA;
+  info->bitdepth = 8;
+  info->palette = 0;
+  info->palettesize = 0;
+}
+
+/*allocates palette memory if needed, and initializes all colors to black*/
+static void lodepng_color_mode_alloc_palette(LodePNGColorMode* info) {
+  size_t i;
+  /*if the palette is already allocated, it will have size 1024 so no reallocation needed in that case*/
+  /*the palette must have room for up to 256 colors with 4 bytes each.*/
+  if(!info->palette) info->palette = (unsigned char*)lodepng_malloc(1024);
+  if(!info->palette) return; /*alloc fail*/
+  for(i = 0; i != 256; ++i) {
+    /*Initialize all unused colors with black, the value used for invalid palette indices.
+    This is an error according to the PNG spec, but common PNG decoders make it black instead.
+    That makes color conversion slightly faster due to no error handling needed.*/
+    info->palette[i * 4 + 0] = 0;
+    info->palette[i * 4 + 1] = 0;
+    info->palette[i * 4 + 2] = 0;
+    info->palette[i * 4 + 3] = 255;
+  }
+}
+
+void lodepng_color_mode_cleanup(LodePNGColorMode* info) {
+  lodepng_palette_clear(info);
+}
+
+unsigned lodepng_color_mode_copy(LodePNGColorMode* dest, const LodePNGColorMode* source) {
+  lodepng_color_mode_cleanup(dest);
+  lodepng_memcpy(dest, source, sizeof(LodePNGColorMode));
+  if(source->palette) {
+    dest->palette = (unsigned char*)lodepng_malloc(1024);
+    if(!dest->palette && source->palettesize) return 83; /*alloc fail*/
+    lodepng_memcpy(dest->palette, source->palette, source->palettesize * 4);
+  }
+  return 0;
+}
+
+LodePNGColorMode lodepng_color_mode_make(LodePNGColorType colortype, unsigned bitdepth) {
+  LodePNGColorMode result;
+  lodepng_color_mode_init(&result);
+  result.colortype = colortype;
+  result.bitdepth = bitdepth;
+  return result;
+}
+
+static int lodepng_color_mode_equal(const LodePNGColorMode* a, const LodePNGColorMode* b) {
+  size_t i;
+  if(a->colortype != b->colortype) return 0;
+  if(a->bitdepth != b->bitdepth) return 0;
+  if(a->key_defined != b->key_defined) return 0;
+  if(a->key_defined) {
+    if(a->key_r != b->key_r) return 0;
+    if(a->key_g != b->key_g) return 0;
+    if(a->key_b != b->key_b) return 0;
+  }
+  if(a->palettesize != b->palettesize) return 0;
+  for(i = 0; i != a->palettesize * 4; ++i) {
+    if(a->palette[i] != b->palette[i]) return 0;
+  }
+  return 1;
+}
+
+void lodepng_palette_clear(LodePNGColorMode* info) {
+  if(info->palette) lodepng_free(info->palette);
+  info->palette = 0;
+  info->palettesize = 0;
+}
+
+unsigned lodepng_palette_add(LodePNGColorMode* info,
+                             unsigned char r, unsigned char g, unsigned char b, unsigned char a) {
+  if(!info->palette) /*allocate palette if empty*/ {
+    lodepng_color_mode_alloc_palette(info);
+    if(!info->palette) return 83; /*alloc fail*/
+  }
+  if(info->palettesize >= 256) {
+    return 108; /*too many palette values*/
+  }
+  info->palette[4 * info->palettesize + 0] = r;
+  info->palette[4 * info->palettesize + 1] = g;
+  info->palette[4 * info->palettesize + 2] = b;
+  info->palette[4 * info->palettesize + 3] = a;
+  ++info->palettesize;
+  return 0;
+}
+
+/*calculate bits per pixel out of colortype and bitdepth*/
+unsigned lodepng_get_bpp(const LodePNGColorMode* info) {
+  return lodepng_get_bpp_lct(info->colortype, info->bitdepth);
+}
+
+unsigned lodepng_get_channels(const LodePNGColorMode* info) {
+  return getNumColorChannels(info->colortype);
+}
+
+unsigned lodepng_is_greyscale_type(const LodePNGColorMode* info) {
+  return info->colortype == LCT_GREY || info->colortype == LCT_GREY_ALPHA;
+}
+
+unsigned lodepng_is_alpha_type(const LodePNGColorMode* info) {
+  return (info->colortype & 4) != 0; /*4 or 6*/
+}
+
+unsigned lodepng_is_palette_type(const LodePNGColorMode* info) {
+  return info->colortype == LCT_PALETTE;
+}
+
+unsigned lodepng_has_palette_alpha(const LodePNGColorMode* info) {
+  size_t i;
+  for(i = 0; i != info->palettesize; ++i) {
+    if(info->palette[i * 4 + 3] < 255) return 1;
+  }
+  return 0;
+}
+
+unsigned lodepng_can_have_alpha(const LodePNGColorMode* info) {
+  return info->key_defined
+      || lodepng_is_alpha_type(info)
+      || lodepng_has_palette_alpha(info);
+}
+
+static size_t lodepng_get_raw_size_lct(unsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {
+  size_t bpp = lodepng_get_bpp_lct(colortype, bitdepth);
+  size_t n = (size_t)w * (size_t)h;
+  return ((n / 8u) * bpp) + ((n & 7u) * bpp + 7u) / 8u;
+}
+
+size_t lodepng_get_raw_size(unsigned w, unsigned h, const LodePNGColorMode* color) {
+  return lodepng_get_raw_size_lct(w, h, color->colortype, color->bitdepth);
+}
+
+
+#ifdef LODEPNG_COMPILE_PNG
+
+/*in an idat chunk, each scanline is a multiple of 8 bits, unlike the lodepng output buffer,
+and in addition has one extra byte per line: the filter byte. So this gives a larger
+result than lodepng_get_raw_size. Set h to 1 to get the size of 1 row including filter byte. */
+static size_t lodepng_get_raw_size_idat(unsigned w, unsigned h, unsigned bpp) {
+  /* + 1 for the filter byte, and possibly plus padding bits per line. */
+  /* Ignoring casts, the expression is equal to (w * bpp + 7) / 8 + 1, but avoids overflow of w * bpp */
+  size_t line = ((size_t)(w / 8u) * bpp) + 1u + ((w & 7u) * bpp + 7u) / 8u;
+  return (size_t)h * line;
+}
+
+#ifdef LODEPNG_COMPILE_DECODER
+/*Safely checks whether size_t overflow can be caused due to amount of pixels.
+This check is overcautious rather than precise. If this check indicates no overflow,
+you can safely compute in a size_t (but not an unsigned):
+-(size_t)w * (size_t)h * 8
+-amount of bytes in IDAT (including filter, padding and Adam7 bytes)
+-amount of bytes in raw color model
+Returns 1 if overflow possible, 0 if not.
+*/
+static int lodepng_pixel_overflow(unsigned w, unsigned h,
+                                  const LodePNGColorMode* pngcolor, const LodePNGColorMode* rawcolor) {
+  size_t bpp = LODEPNG_MAX(lodepng_get_bpp(pngcolor), lodepng_get_bpp(rawcolor));
+  size_t numpixels, total;
+  size_t line; /* bytes per line in worst case */
+
+  if(lodepng_mulofl((size_t)w, (size_t)h, &numpixels)) return 1;
+  if(lodepng_mulofl(numpixels, 8, &total)) return 1; /* bit pointer with 8-bit color, or 8 bytes per channel color */
+
+  /* Bytes per scanline with the expression "(w / 8u) * bpp) + ((w & 7u) * bpp + 7u) / 8u" */
+  if(lodepng_mulofl((size_t)(w / 8u), bpp, &line)) return 1;
+  if(lodepng_addofl(line, ((w & 7u) * bpp + 7u) / 8u, &line)) return 1;
+
+  if(lodepng_addofl(line, 5, &line)) return 1; /* 5 bytes overhead per line: 1 filterbyte, 4 for Adam7 worst case */
+  if(lodepng_mulofl(line, h, &total)) return 1; /* Total bytes in worst case */
+
+  return 0; /* no overflow */
+}
+#endif /*LODEPNG_COMPILE_DECODER*/
+#endif /*LODEPNG_COMPILE_PNG*/
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+
+static void LodePNGUnknownChunks_init(LodePNGInfo* info) {
+  unsigned i;
+  for(i = 0; i != 3; ++i) info->unknown_chunks_data[i] = 0;
+  for(i = 0; i != 3; ++i) info->unknown_chunks_size[i] = 0;
+}
+
+static void LodePNGUnknownChunks_cleanup(LodePNGInfo* info) {
+  unsigned i;
+  for(i = 0; i != 3; ++i) lodepng_free(info->unknown_chunks_data[i]);
+}
+
+static unsigned LodePNGUnknownChunks_copy(LodePNGInfo* dest, const LodePNGInfo* src) {
+  unsigned i;
+
+  LodePNGUnknownChunks_cleanup(dest);
+
+  for(i = 0; i != 3; ++i) {
+    size_t j;
+    dest->unknown_chunks_size[i] = src->unknown_chunks_size[i];
+    dest->unknown_chunks_data[i] = (unsigned char*)lodepng_malloc(src->unknown_chunks_size[i]);
+    if(!dest->unknown_chunks_data[i] && dest->unknown_chunks_size[i]) return 83; /*alloc fail*/
+    for(j = 0; j < src->unknown_chunks_size[i]; ++j) {
+      dest->unknown_chunks_data[i][j] = src->unknown_chunks_data[i][j];
+    }
+  }
+
+  return 0;
+}
+
+/******************************************************************************/
+
+static void LodePNGText_init(LodePNGInfo* info) {
+  info->text_num = 0;
+  info->text_keys = NULL;
+  info->text_strings = NULL;
+}
+
+static void LodePNGText_cleanup(LodePNGInfo* info) {
+  size_t i;
+  for(i = 0; i != info->text_num; ++i) {
+    string_cleanup(&info->text_keys[i]);
+    string_cleanup(&info->text_strings[i]);
+  }
+  lodepng_free(info->text_keys);
+  lodepng_free(info->text_strings);
+}
+
+static unsigned LodePNGText_copy(LodePNGInfo* dest, const LodePNGInfo* source) {
+  size_t i = 0;
+  dest->text_keys = NULL;
+  dest->text_strings = NULL;
+  dest->text_num = 0;
+  for(i = 0; i != source->text_num; ++i) {
+    CERROR_TRY_RETURN(lodepng_add_text(dest, source->text_keys[i], source->text_strings[i]));
+  }
+  return 0;
+}
+
+static unsigned lodepng_add_text_sized(LodePNGInfo* info, const char* key, const char* str, size_t size) {
+  char** new_keys = (char**)(lodepng_realloc(info->text_keys, sizeof(char*) * (info->text_num + 1)));
+  char** new_strings = (char**)(lodepng_realloc(info->text_strings, sizeof(char*) * (info->text_num + 1)));
+
+  if(new_keys) info->text_keys = new_keys;
+  if(new_strings) info->text_strings = new_strings;
+
+  if(!new_keys || !new_strings) return 83; /*alloc fail*/
+
+  ++info->text_num;
+  info->text_keys[info->text_num - 1] = alloc_string(key);
+  info->text_strings[info->text_num - 1] = alloc_string_sized(str, size);
+  if(!info->text_keys[info->text_num - 1] || !info->text_strings[info->text_num - 1]) return 83; /*alloc fail*/
+
+  return 0;
+}
+
+unsigned lodepng_add_text(LodePNGInfo* info, const char* key, const char* str) {
+  return lodepng_add_text_sized(info, key, str, lodepng_strlen(str));
+}
+
+void lodepng_clear_text(LodePNGInfo* info) {
+  LodePNGText_cleanup(info);
+}
+
+/******************************************************************************/
+
+static void LodePNGIText_init(LodePNGInfo* info) {
+  info->itext_num = 0;
+  info->itext_keys = NULL;
+  info->itext_langtags = NULL;
+  info->itext_transkeys = NULL;
+  info->itext_strings = NULL;
+}
+
+static void LodePNGIText_cleanup(LodePNGInfo* info) {
+  size_t i;
+  for(i = 0; i != info->itext_num; ++i) {
+    string_cleanup(&info->itext_keys[i]);
+    string_cleanup(&info->itext_langtags[i]);
+    string_cleanup(&info->itext_transkeys[i]);
+    string_cleanup(&info->itext_strings[i]);
+  }
+  lodepng_free(info->itext_keys);
+  lodepng_free(info->itext_langtags);
+  lodepng_free(info->itext_transkeys);
+  lodepng_free(info->itext_strings);
+}
+
+static unsigned LodePNGIText_copy(LodePNGInfo* dest, const LodePNGInfo* source) {
+  size_t i = 0;
+  dest->itext_keys = NULL;
+  dest->itext_langtags = NULL;
+  dest->itext_transkeys = NULL;
+  dest->itext_strings = NULL;
+  dest->itext_num = 0;
+  for(i = 0; i != source->itext_num; ++i) {
+    CERROR_TRY_RETURN(lodepng_add_itext(dest, source->itext_keys[i], source->itext_langtags[i],
+                                        source->itext_transkeys[i], source->itext_strings[i]));
+  }
+  return 0;
+}
+
+void lodepng_clear_itext(LodePNGInfo* info) {
+  LodePNGIText_cleanup(info);
+}
+
+static unsigned lodepng_add_itext_sized(LodePNGInfo* info, const char* key, const char* langtag,
+                                        const char* transkey, const char* str, size_t size) {
+  char** new_keys = (char**)(lodepng_realloc(info->itext_keys, sizeof(char*) * (info->itext_num + 1)));
+  char** new_langtags = (char**)(lodepng_realloc(info->itext_langtags, sizeof(char*) * (info->itext_num + 1)));
+  char** new_transkeys = (char**)(lodepng_realloc(info->itext_transkeys, sizeof(char*) * (info->itext_num + 1)));
+  char** new_strings = (char**)(lodepng_realloc(info->itext_strings, sizeof(char*) * (info->itext_num + 1)));
+
+  if(new_keys) info->itext_keys = new_keys;
+  if(new_langtags) info->itext_langtags = new_langtags;
+  if(new_transkeys) info->itext_transkeys = new_transkeys;
+  if(new_strings) info->itext_strings = new_strings;
+
+  if(!new_keys || !new_langtags || !new_transkeys || !new_strings) return 83; /*alloc fail*/
+
+  ++info->itext_num;
+
+  info->itext_keys[info->itext_num - 1] = alloc_string(key);
+  info->itext_langtags[info->itext_num - 1] = alloc_string(langtag);
+  info->itext_transkeys[info->itext_num - 1] = alloc_string(transkey);
+  info->itext_strings[info->itext_num - 1] = alloc_string_sized(str, size);
+
+  return 0;
+}
+
+unsigned lodepng_add_itext(LodePNGInfo* info, const char* key, const char* langtag,
+                           const char* transkey, const char* str) {
+  return lodepng_add_itext_sized(info, key, langtag, transkey, str, lodepng_strlen(str));
+}
+
+/* same as set but does not delete */
+static unsigned lodepng_assign_icc(LodePNGInfo* info, const char* name, const unsigned char* profile, unsigned profile_size) {
+  if(profile_size == 0) return 100; /*invalid ICC profile size*/
+
+  info->iccp_name = alloc_string(name);
+  info->iccp_profile = (unsigned char*)lodepng_malloc(profile_size);
+
+  if(!info->iccp_name || !info->iccp_profile) return 83; /*alloc fail*/
+
+  lodepng_memcpy(info->iccp_profile, profile, profile_size);
+  info->iccp_profile_size = profile_size;
+
+  return 0; /*ok*/
+}
+
+unsigned lodepng_set_icc(LodePNGInfo* info, const char* name, const unsigned char* profile, unsigned profile_size) {
+  if(info->iccp_name) lodepng_clear_icc(info);
+  info->iccp_defined = 1;
+
+  return lodepng_assign_icc(info, name, profile, profile_size);
+}
+
+void lodepng_clear_icc(LodePNGInfo* info) {
+  string_cleanup(&info->iccp_name);
+  lodepng_free(info->iccp_profile);
+  info->iccp_profile = NULL;
+  info->iccp_profile_size = 0;
+  info->iccp_defined = 0;
+}
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+void lodepng_info_init(LodePNGInfo* info) {
+  lodepng_color_mode_init(&info->color);
+  info->interlace_method = 0;
+  info->compression_method = 0;
+  info->filter_method = 0;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  info->background_defined = 0;
+  info->background_r = info->background_g = info->background_b = 0;
+
+  LodePNGText_init(info);
+  LodePNGIText_init(info);
+
+  info->time_defined = 0;
+  info->phys_defined = 0;
+
+  info->gama_defined = 0;
+  info->chrm_defined = 0;
+  info->srgb_defined = 0;
+  info->iccp_defined = 0;
+  info->iccp_name = NULL;
+  info->iccp_profile = NULL;
+
+  LodePNGUnknownChunks_init(info);
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+}
+
+void lodepng_info_cleanup(LodePNGInfo* info) {
+  lodepng_color_mode_cleanup(&info->color);
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  LodePNGText_cleanup(info);
+  LodePNGIText_cleanup(info);
+
+  lodepng_clear_icc(info);
+
+  LodePNGUnknownChunks_cleanup(info);
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+}
+
+unsigned lodepng_info_copy(LodePNGInfo* dest, const LodePNGInfo* source) {
+  lodepng_info_cleanup(dest);
+  lodepng_memcpy(dest, source, sizeof(LodePNGInfo));
+  lodepng_color_mode_init(&dest->color);
+  CERROR_TRY_RETURN(lodepng_color_mode_copy(&dest->color, &source->color));
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  CERROR_TRY_RETURN(LodePNGText_copy(dest, source));
+  CERROR_TRY_RETURN(LodePNGIText_copy(dest, source));
+  if(source->iccp_defined) {
+    CERROR_TRY_RETURN(lodepng_assign_icc(dest, source->iccp_name, source->iccp_profile, source->iccp_profile_size));
+  }
+
+  LodePNGUnknownChunks_init(dest);
+  CERROR_TRY_RETURN(LodePNGUnknownChunks_copy(dest, source));
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+  return 0;
+}
+
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/*index: bitgroup index, bits: bitgroup size(1, 2 or 4), in: bitgroup value, out: octet array to add bits to*/
+static void addColorBits(unsigned char* out, size_t index, unsigned bits, unsigned in) {
+  unsigned m = bits == 1 ? 7 : bits == 2 ? 3 : 1; /*8 / bits - 1*/
+  /*p = the partial index in the byte, e.g. with 4 palettebits it is 0 for first half or 1 for second half*/
+  unsigned p = index & m;
+  in &= (1u << bits) - 1u; /*filter out any other bits of the input value*/
+  in = in << (bits * (m - p));
+  if(p == 0) out[index * bits / 8u] = in;
+  else out[index * bits / 8u] |= in;
+}
+
+typedef struct ColorTree ColorTree;
+
+/*
+One node of a color tree
+This is the data structure used to count the number of unique colors and to get a palette
+index for a color. It's like an octree, but because the alpha channel is used too, each
+node has 16 instead of 8 children.
+*/
+struct ColorTree {
+  ColorTree* children[16]; /*up to 16 pointers to ColorTree of next level*/
+  int index; /*the payload. Only has a meaningful value if this is in the last level*/
+};
+
+static void color_tree_init(ColorTree* tree) {
+  lodepng_memset(tree->children, 0, 16 * sizeof(*tree->children));
+  tree->index = -1;
+}
+
+static void color_tree_cleanup(ColorTree* tree) {
+  int i;
+  for(i = 0; i != 16; ++i) {
+    if(tree->children[i]) {
+      color_tree_cleanup(tree->children[i]);
+      lodepng_free(tree->children[i]);
+    }
+  }
+}
+
+/*returns -1 if color not present, its index otherwise*/
+static int color_tree_get(ColorTree* tree, unsigned char r, unsigned char g, unsigned char b, unsigned char a) {
+  int bit = 0;
+  for(bit = 0; bit < 8; ++bit) {
+    int i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1) + 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1);
+    if(!tree->children[i]) return -1;
+    else tree = tree->children[i];
+  }
+  return tree ? tree->index : -1;
+}
+
+#ifdef LODEPNG_COMPILE_ENCODER
+static int color_tree_has(ColorTree* tree, unsigned char r, unsigned char g, unsigned char b, unsigned char a) {
+  return color_tree_get(tree, r, g, b, a) >= 0;
+}
+#endif /*LODEPNG_COMPILE_ENCODER*/
+
+/*color is not allowed to already exist.
+Index should be >= 0 (it's signed to be compatible with using -1 for "doesn't exist")
+Returns error code, or 0 if ok*/
+static unsigned color_tree_add(ColorTree* tree,
+                               unsigned char r, unsigned char g, unsigned char b, unsigned char a, unsigned index) {
+  int bit;
+  for(bit = 0; bit < 8; ++bit) {
+    int i = 8 * ((r >> bit) & 1) + 4 * ((g >> bit) & 1) + 2 * ((b >> bit) & 1) + 1 * ((a >> bit) & 1);
+    if(!tree->children[i]) {
+      tree->children[i] = (ColorTree*)lodepng_malloc(sizeof(ColorTree));
+      if(!tree->children[i]) return 83; /*alloc fail*/
+      color_tree_init(tree->children[i]);
+    }
+    tree = tree->children[i];
+  }
+  tree->index = (int)index;
+  return 0;
+}
+
+/*put a pixel, given its RGBA color, into image of any color type*/
+static unsigned rgba8ToPixel(unsigned char* out, size_t i,
+                             const LodePNGColorMode* mode, ColorTree* tree /*for palette*/,
+                             unsigned char r, unsigned char g, unsigned char b, unsigned char a) {
+  if(mode->colortype == LCT_GREY) {
+    unsigned char gray = r; /*((unsigned short)r + g + b) / 3u;*/
+    if(mode->bitdepth == 8) out[i] = gray;
+    else if(mode->bitdepth == 16) out[i * 2 + 0] = out[i * 2 + 1] = gray;
+    else {
+      /*take the most significant bits of gray*/
+      gray = ((unsigned)gray >> (8u - mode->bitdepth)) & ((1u << mode->bitdepth) - 1u);
+      addColorBits(out, i, mode->bitdepth, gray);
+    }
+  } else if(mode->colortype == LCT_RGB) {
+    if(mode->bitdepth == 8) {
+      out[i * 3 + 0] = r;
+      out[i * 3 + 1] = g;
+      out[i * 3 + 2] = b;
+    } else {
+      out[i * 6 + 0] = out[i * 6 + 1] = r;
+      out[i * 6 + 2] = out[i * 6 + 3] = g;
+      out[i * 6 + 4] = out[i * 6 + 5] = b;
+    }
+  } else if(mode->colortype == LCT_PALETTE) {
+    int index = color_tree_get(tree, r, g, b, a);
+    if(index < 0) return 82; /*color not in palette*/
+    if(mode->bitdepth == 8) out[i] = index;
+    else addColorBits(out, i, mode->bitdepth, (unsigned)index);
+  } else if(mode->colortype == LCT_GREY_ALPHA) {
+    unsigned char gray = r; /*((unsigned short)r + g + b) / 3u;*/
+    if(mode->bitdepth == 8) {
+      out[i * 2 + 0] = gray;
+      out[i * 2 + 1] = a;
+    } else if(mode->bitdepth == 16) {
+      out[i * 4 + 0] = out[i * 4 + 1] = gray;
+      out[i * 4 + 2] = out[i * 4 + 3] = a;
+    }
+  } else if(mode->colortype == LCT_RGBA) {
+    if(mode->bitdepth == 8) {
+      out[i * 4 + 0] = r;
+      out[i * 4 + 1] = g;
+      out[i * 4 + 2] = b;
+      out[i * 4 + 3] = a;
+    } else {
+      out[i * 8 + 0] = out[i * 8 + 1] = r;
+      out[i * 8 + 2] = out[i * 8 + 3] = g;
+      out[i * 8 + 4] = out[i * 8 + 5] = b;
+      out[i * 8 + 6] = out[i * 8 + 7] = a;
+    }
+  }
+
+  return 0; /*no error*/
+}
+
+/*put a pixel, given its RGBA16 color, into image of any color 16-bitdepth type*/
+static void rgba16ToPixel(unsigned char* out, size_t i,
+                         const LodePNGColorMode* mode,
+                         unsigned short r, unsigned short g, unsigned short b, unsigned short a) {
+  if(mode->colortype == LCT_GREY) {
+    unsigned short gray = ((unsigned)r + g + b) / 3u;
+    out[i * 2 + 0] = (gray >> 8) & 255;
+    out[i * 2 + 1] = gray & 255;
+  } else if(mode->colortype == LCT_RGB) {
+    out[i * 6 + 0] = (r >> 8) & 255;
+    out[i * 6 + 1] = r & 255;
+    out[i * 6 + 2] = (g >> 8) & 255;
+    out[i * 6 + 3] = g & 255;
+    out[i * 6 + 4] = (b >> 8) & 255;
+    out[i * 6 + 5] = b & 255;
+  } else if(mode->colortype == LCT_GREY_ALPHA) {
+    unsigned short gray = ((unsigned)r + g + b) / 3u;
+    out[i * 4 + 0] = (gray >> 8) & 255;
+    out[i * 4 + 1] = gray & 255;
+    out[i * 4 + 2] = (a >> 8) & 255;
+    out[i * 4 + 3] = a & 255;
+  } else if(mode->colortype == LCT_RGBA) {
+    out[i * 8 + 0] = (r >> 8) & 255;
+    out[i * 8 + 1] = r & 255;
+    out[i * 8 + 2] = (g >> 8) & 255;
+    out[i * 8 + 3] = g & 255;
+    out[i * 8 + 4] = (b >> 8) & 255;
+    out[i * 8 + 5] = b & 255;
+    out[i * 8 + 6] = (a >> 8) & 255;
+    out[i * 8 + 7] = a & 255;
+  }
+}
+
+/*Get RGBA8 color of pixel with index i (y * width + x) from the raw image with given color type.*/
+static void getPixelColorRGBA8(unsigned char* r, unsigned char* g,
+                               unsigned char* b, unsigned char* a,
+                               const unsigned char* in, size_t i,
+                               const LodePNGColorMode* mode) {
+  if(mode->colortype == LCT_GREY) {
+    if(mode->bitdepth == 8) {
+      *r = *g = *b = in[i];
+      if(mode->key_defined && *r == mode->key_r) *a = 0;
+      else *a = 255;
+    } else if(mode->bitdepth == 16) {
+      *r = *g = *b = in[i * 2 + 0];
+      if(mode->key_defined && 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r) *a = 0;
+      else *a = 255;
+    } else {
+      unsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/
+      size_t j = i * mode->bitdepth;
+      unsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth);
+      *r = *g = *b = (value * 255) / highest;
+      if(mode->key_defined && value == mode->key_r) *a = 0;
+      else *a = 255;
+    }
+  } else if(mode->colortype == LCT_RGB) {
+    if(mode->bitdepth == 8) {
+      *r = in[i * 3 + 0]; *g = in[i * 3 + 1]; *b = in[i * 3 + 2];
+      if(mode->key_defined && *r == mode->key_r && *g == mode->key_g && *b == mode->key_b) *a = 0;
+      else *a = 255;
+    } else {
+      *r = in[i * 6 + 0];
+      *g = in[i * 6 + 2];
+      *b = in[i * 6 + 4];
+      if(mode->key_defined && 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r
+         && 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g
+         && 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b) *a = 0;
+      else *a = 255;
+    }
+  } else if(mode->colortype == LCT_PALETTE) {
+    unsigned index;
+    if(mode->bitdepth == 8) index = in[i];
+    else {
+      size_t j = i * mode->bitdepth;
+      index = readBitsFromReversedStream(&j, in, mode->bitdepth);
+    }
+    /*out of bounds of palette not checked: see lodepng_color_mode_alloc_palette.*/
+    *r = mode->palette[index * 4 + 0];
+    *g = mode->palette[index * 4 + 1];
+    *b = mode->palette[index * 4 + 2];
+    *a = mode->palette[index * 4 + 3];
+  } else if(mode->colortype == LCT_GREY_ALPHA) {
+    if(mode->bitdepth == 8) {
+      *r = *g = *b = in[i * 2 + 0];
+      *a = in[i * 2 + 1];
+    } else {
+      *r = *g = *b = in[i * 4 + 0];
+      *a = in[i * 4 + 2];
+    }
+  } else if(mode->colortype == LCT_RGBA) {
+    if(mode->bitdepth == 8) {
+      *r = in[i * 4 + 0];
+      *g = in[i * 4 + 1];
+      *b = in[i * 4 + 2];
+      *a = in[i * 4 + 3];
+    } else {
+      *r = in[i * 8 + 0];
+      *g = in[i * 8 + 2];
+      *b = in[i * 8 + 4];
+      *a = in[i * 8 + 6];
+    }
+  }
+}
+
+/*Similar to getPixelColorRGBA8, but with all the for loops inside of the color
+mode test cases, optimized to convert the colors much faster, when converting
+to the common case of RGBA with 8 bit per channel. buffer must be RGBA with
+enough memory.*/
+static void getPixelColorsRGBA8(unsigned char* LODEPNG_RESTRICT buffer, size_t numpixels,
+                                const unsigned char* LODEPNG_RESTRICT in,
+                                const LodePNGColorMode* mode) {
+  unsigned num_channels = 4;
+  size_t i;
+  if(mode->colortype == LCT_GREY) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i];
+        buffer[3] = 255;
+      }
+      if(mode->key_defined) {
+        buffer -= numpixels * num_channels;
+        for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+          if(buffer[0] == mode->key_r) buffer[3] = 0;
+        }
+      }
+    } else if(mode->bitdepth == 16) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i * 2];
+        buffer[3] = mode->key_defined && 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r ? 0 : 255;
+      }
+    } else {
+      unsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/
+      size_t j = 0;
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        unsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth);
+        buffer[0] = buffer[1] = buffer[2] = (value * 255) / highest;
+        buffer[3] = mode->key_defined && value == mode->key_r ? 0 : 255;
+      }
+    }
+  } else if(mode->colortype == LCT_RGB) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        lodepng_memcpy(buffer, &in[i * 3], 3);
+        buffer[3] = 255;
+      }
+      if(mode->key_defined) {
+        buffer -= numpixels * num_channels;
+        for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+          if(buffer[0] == mode->key_r && buffer[1]== mode->key_g && buffer[2] == mode->key_b) buffer[3] = 0;
+        }
+      }
+    } else {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = in[i * 6 + 0];
+        buffer[1] = in[i * 6 + 2];
+        buffer[2] = in[i * 6 + 4];
+        buffer[3] = mode->key_defined
+           && 256U * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r
+           && 256U * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g
+           && 256U * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b ? 0 : 255;
+      }
+    }
+  } else if(mode->colortype == LCT_PALETTE) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        unsigned index = in[i];
+        /*out of bounds of palette not checked: see lodepng_color_mode_alloc_palette.*/
+        lodepng_memcpy(buffer, &mode->palette[index * 4], 4);
+      }
+    } else {
+      size_t j = 0;
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        unsigned index = readBitsFromReversedStream(&j, in, mode->bitdepth);
+        /*out of bounds of palette not checked: see lodepng_color_mode_alloc_palette.*/
+        lodepng_memcpy(buffer, &mode->palette[index * 4], 4);
+      }
+    }
+  } else if(mode->colortype == LCT_GREY_ALPHA) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i * 2 + 0];
+        buffer[3] = in[i * 2 + 1];
+      }
+    } else {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i * 4 + 0];
+        buffer[3] = in[i * 4 + 2];
+      }
+    }
+  } else if(mode->colortype == LCT_RGBA) {
+    if(mode->bitdepth == 8) {
+      lodepng_memcpy(buffer, in, numpixels * 4);
+    } else {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = in[i * 8 + 0];
+        buffer[1] = in[i * 8 + 2];
+        buffer[2] = in[i * 8 + 4];
+        buffer[3] = in[i * 8 + 6];
+      }
+    }
+  }
+}
+
+/*Similar to getPixelColorsRGBA8, but with 3-channel RGB output.*/
+static void getPixelColorsRGB8(unsigned char* LODEPNG_RESTRICT buffer, size_t numpixels,
+                               const unsigned char* LODEPNG_RESTRICT in,
+                               const LodePNGColorMode* mode) {
+  const unsigned num_channels = 3;
+  size_t i;
+  if(mode->colortype == LCT_GREY) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i];
+      }
+    } else if(mode->bitdepth == 16) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i * 2];
+      }
+    } else {
+      unsigned highest = ((1U << mode->bitdepth) - 1U); /*highest possible value for this bit depth*/
+      size_t j = 0;
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        unsigned value = readBitsFromReversedStream(&j, in, mode->bitdepth);
+        buffer[0] = buffer[1] = buffer[2] = (value * 255) / highest;
+      }
+    }
+  } else if(mode->colortype == LCT_RGB) {
+    if(mode->bitdepth == 8) {
+      lodepng_memcpy(buffer, in, numpixels * 3);
+    } else {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = in[i * 6 + 0];
+        buffer[1] = in[i * 6 + 2];
+        buffer[2] = in[i * 6 + 4];
+      }
+    }
+  } else if(mode->colortype == LCT_PALETTE) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        unsigned index = in[i];
+        /*out of bounds of palette not checked: see lodepng_color_mode_alloc_palette.*/
+        lodepng_memcpy(buffer, &mode->palette[index * 4], 3);
+      }
+    } else {
+      size_t j = 0;
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        unsigned index = readBitsFromReversedStream(&j, in, mode->bitdepth);
+        /*out of bounds of palette not checked: see lodepng_color_mode_alloc_palette.*/
+        lodepng_memcpy(buffer, &mode->palette[index * 4], 3);
+      }
+    }
+  } else if(mode->colortype == LCT_GREY_ALPHA) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i * 2 + 0];
+      }
+    } else {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = buffer[1] = buffer[2] = in[i * 4 + 0];
+      }
+    }
+  } else if(mode->colortype == LCT_RGBA) {
+    if(mode->bitdepth == 8) {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        lodepng_memcpy(buffer, &in[i * 4], 3);
+      }
+    } else {
+      for(i = 0; i != numpixels; ++i, buffer += num_channels) {
+        buffer[0] = in[i * 8 + 0];
+        buffer[1] = in[i * 8 + 2];
+        buffer[2] = in[i * 8 + 4];
+      }
+    }
+  }
+}
+
+/*Get RGBA16 color of pixel with index i (y * width + x) from the raw image with
+given color type, but the given color type must be 16-bit itself.*/
+static void getPixelColorRGBA16(unsigned short* r, unsigned short* g, unsigned short* b, unsigned short* a,
+                                const unsigned char* in, size_t i, const LodePNGColorMode* mode) {
+  if(mode->colortype == LCT_GREY) {
+    *r = *g = *b = 256 * in[i * 2 + 0] + in[i * 2 + 1];
+    if(mode->key_defined && 256U * in[i * 2 + 0] + in[i * 2 + 1] == mode->key_r) *a = 0;
+    else *a = 65535;
+  } else if(mode->colortype == LCT_RGB) {
+    *r = 256u * in[i * 6 + 0] + in[i * 6 + 1];
+    *g = 256u * in[i * 6 + 2] + in[i * 6 + 3];
+    *b = 256u * in[i * 6 + 4] + in[i * 6 + 5];
+    if(mode->key_defined
+       && 256u * in[i * 6 + 0] + in[i * 6 + 1] == mode->key_r
+       && 256u * in[i * 6 + 2] + in[i * 6 + 3] == mode->key_g
+       && 256u * in[i * 6 + 4] + in[i * 6 + 5] == mode->key_b) *a = 0;
+    else *a = 65535;
+  } else if(mode->colortype == LCT_GREY_ALPHA) {
+    *r = *g = *b = 256u * in[i * 4 + 0] + in[i * 4 + 1];
+    *a = 256u * in[i * 4 + 2] + in[i * 4 + 3];
+  } else if(mode->colortype == LCT_RGBA) {
+    *r = 256u * in[i * 8 + 0] + in[i * 8 + 1];
+    *g = 256u * in[i * 8 + 2] + in[i * 8 + 3];
+    *b = 256u * in[i * 8 + 4] + in[i * 8 + 5];
+    *a = 256u * in[i * 8 + 6] + in[i * 8 + 7];
+  }
+}
+
+unsigned lodepng_convert(unsigned char* out, const unsigned char* in,
+                         const LodePNGColorMode* mode_out, const LodePNGColorMode* mode_in,
+                         unsigned w, unsigned h) {
+  size_t i;
+  ColorTree tree;
+  size_t numpixels = (size_t)w * (size_t)h;
+  unsigned error = 0;
+
+  if(mode_in->colortype == LCT_PALETTE && !mode_in->palette) {
+    return 107; /* error: must provide palette if input mode is palette */
+  }
+
+  if(lodepng_color_mode_equal(mode_out, mode_in)) {
+    size_t numbytes = lodepng_get_raw_size(w, h, mode_in);
+    lodepng_memcpy(out, in, numbytes);
+    return 0;
+  }
+
+  if(mode_out->colortype == LCT_PALETTE) {
+    size_t palettesize = mode_out->palettesize;
+    const unsigned char* palette = mode_out->palette;
+    size_t palsize = (size_t)1u << mode_out->bitdepth;
+    /*if the user specified output palette but did not give the values, assume
+    they want the values of the input color type (assuming that one is palette).
+    Note that we never create a new palette ourselves.*/
+    if(palettesize == 0) {
+      palettesize = mode_in->palettesize;
+      palette = mode_in->palette;
+      /*if the input was also palette with same bitdepth, then the color types are also
+      equal, so copy literally. This to preserve the exact indices that were in the PNG
+      even in case there are duplicate colors in the palette.*/
+      if(mode_in->colortype == LCT_PALETTE && mode_in->bitdepth == mode_out->bitdepth) {
+        size_t numbytes = lodepng_get_raw_size(w, h, mode_in);
+        lodepng_memcpy(out, in, numbytes);
+        return 0;
+      }
+    }
+    if(palettesize < palsize) palsize = palettesize;
+    color_tree_init(&tree);
+    for(i = 0; i != palsize; ++i) {
+      const unsigned char* p = &palette[i * 4];
+      error = color_tree_add(&tree, p[0], p[1], p[2], p[3], (unsigned)i);
+      if(error) break;
+    }
+  }
+
+  if(!error) {
+    if(mode_in->bitdepth == 16 && mode_out->bitdepth == 16) {
+      for(i = 0; i != numpixels; ++i) {
+        unsigned short r = 0, g = 0, b = 0, a = 0;
+        getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in);
+        rgba16ToPixel(out, i, mode_out, r, g, b, a);
+      }
+    } else if(mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGBA) {
+      getPixelColorsRGBA8(out, numpixels, in, mode_in);
+    } else if(mode_out->bitdepth == 8 && mode_out->colortype == LCT_RGB) {
+      getPixelColorsRGB8(out, numpixels, in, mode_in);
+    } else {
+      unsigned char r = 0, g = 0, b = 0, a = 0;
+      for(i = 0; i != numpixels; ++i) {
+        getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode_in);
+        error = rgba8ToPixel(out, i, mode_out, &tree, r, g, b, a);
+        if(error) break;
+      }
+    }
+  }
+
+  if(mode_out->colortype == LCT_PALETTE) {
+    color_tree_cleanup(&tree);
+  }
+
+  return error;
+}
+
+
+/* Converts a single rgb color without alpha from one type to another, color bits truncated to
+their bitdepth. In case of single channel (gray or palette), only the r channel is used. Slow
+function, do not use to process all pixels of an image. Alpha channel not supported on purpose:
+this is for bKGD, supporting alpha may prevent it from finding a color in the palette, from the
+specification it looks like bKGD should ignore the alpha values of the palette since it can use
+any palette index but doesn't have an alpha channel. Idem with ignoring color key. */
+unsigned lodepng_convert_rgb(
+    unsigned* r_out, unsigned* g_out, unsigned* b_out,
+    unsigned r_in, unsigned g_in, unsigned b_in,
+    const LodePNGColorMode* mode_out, const LodePNGColorMode* mode_in) {
+  unsigned r = 0, g = 0, b = 0;
+  unsigned mul = 65535 / ((1u << mode_in->bitdepth) - 1u); /*65535, 21845, 4369, 257, 1*/
+  unsigned shift = 16 - mode_out->bitdepth;
+
+  if(mode_in->colortype == LCT_GREY || mode_in->colortype == LCT_GREY_ALPHA) {
+    r = g = b = r_in * mul;
+  } else if(mode_in->colortype == LCT_RGB || mode_in->colortype == LCT_RGBA) {
+    r = r_in * mul;
+    g = g_in * mul;
+    b = b_in * mul;
+  } else if(mode_in->colortype == LCT_PALETTE) {
+    if(r_in >= mode_in->palettesize) return 82;
+    r = mode_in->palette[r_in * 4 + 0] * 257u;
+    g = mode_in->palette[r_in * 4 + 1] * 257u;
+    b = mode_in->palette[r_in * 4 + 2] * 257u;
+  } else {
+    return 31;
+  }
+
+  /* now convert to output format */
+  if(mode_out->colortype == LCT_GREY || mode_out->colortype == LCT_GREY_ALPHA) {
+    *r_out = r >> shift ;
+  } else if(mode_out->colortype == LCT_RGB || mode_out->colortype == LCT_RGBA) {
+    *r_out = r >> shift ;
+    *g_out = g >> shift ;
+    *b_out = b >> shift ;
+  } else if(mode_out->colortype == LCT_PALETTE) {
+    unsigned i;
+    /* a 16-bit color cannot be in the palette */
+    if((r >> 8) != (r & 255) || (g >> 8) != (g & 255) || (b >> 8) != (b & 255)) return 82;
+    for(i = 0; i < mode_out->palettesize; i++) {
+      unsigned j = i * 4;
+      if((r >> 8) == mode_out->palette[j + 0] && (g >> 8) == mode_out->palette[j + 1] &&
+          (b >> 8) == mode_out->palette[j + 2]) {
+        *r_out = i;
+        return 0;
+      }
+    }
+    return 82;
+  } else {
+    return 31;
+  }
+
+  return 0;
+}
+
+#ifdef LODEPNG_COMPILE_ENCODER
+
+void lodepng_color_stats_init(LodePNGColorStats* stats) {
+  /*stats*/
+  stats->colored = 0;
+  stats->key = 0;
+  stats->key_r = stats->key_g = stats->key_b = 0;
+  stats->alpha = 0;
+  stats->numcolors = 0;
+  stats->bits = 1;
+  stats->numpixels = 0;
+  /*settings*/
+  stats->allow_palette = 1;
+  stats->allow_greyscale = 1;
+}
+
+/*function used for debug purposes with C++*/
+/*void printColorStats(LodePNGColorStats* p) {
+  std::cout << "colored: " << (int)p->colored << ", ";
+  std::cout << "key: " << (int)p->key << ", ";
+  std::cout << "key_r: " << (int)p->key_r << ", ";
+  std::cout << "key_g: " << (int)p->key_g << ", ";
+  std::cout << "key_b: " << (int)p->key_b << ", ";
+  std::cout << "alpha: " << (int)p->alpha << ", ";
+  std::cout << "numcolors: " << (int)p->numcolors << ", ";
+  std::cout << "bits: " << (int)p->bits << std::endl;
+}*/
+
+/*Returns how many bits needed to represent given value (max 8 bit)*/
+static unsigned getValueRequiredBits(unsigned char value) {
+  if(value == 0 || value == 255) return 1;
+  /*The scaling of 2-bit and 4-bit values uses multiples of 85 and 17*/
+  if(value % 17 == 0) return value % 85 == 0 ? 2 : 4;
+  return 8;
+}
+
+/*stats must already have been inited. */
+unsigned lodepng_compute_color_stats(LodePNGColorStats* stats,
+                                     const unsigned char* in, unsigned w, unsigned h,
+                                     const LodePNGColorMode* mode_in) {
+  size_t i;
+  ColorTree tree;
+  size_t numpixels = (size_t)w * (size_t)h;
+  unsigned error = 0;
+
+  /* mark things as done already if it would be impossible to have a more expensive case */
+  unsigned colored_done = lodepng_is_greyscale_type(mode_in) ? 1 : 0;
+  unsigned alpha_done = lodepng_can_have_alpha(mode_in) ? 0 : 1;
+  unsigned numcolors_done = 0;
+  unsigned bpp = lodepng_get_bpp(mode_in);
+  unsigned bits_done = (stats->bits == 1 && bpp == 1) ? 1 : 0;
+  unsigned sixteen = 0; /* whether the input image is 16 bit */
+  unsigned maxnumcolors = 257;
+  if(bpp <= 8) maxnumcolors = LODEPNG_MIN(257, stats->numcolors + (1u << bpp));
+
+  stats->numpixels += numpixels;
+
+  /*if palette not allowed, no need to compute numcolors*/
+  if(!stats->allow_palette) numcolors_done = 1;
+
+  color_tree_init(&tree);
+
+  /*If the stats was already filled in from previous data, fill its palette in tree
+  and mark things as done already if we know they are the most expensive case already*/
+  if(stats->alpha) alpha_done = 1;
+  if(stats->colored) colored_done = 1;
+  if(stats->bits == 16) numcolors_done = 1;
+  if(stats->bits >= bpp) bits_done = 1;
+  if(stats->numcolors >= maxnumcolors) numcolors_done = 1;
+
+  if(!numcolors_done) {
+    for(i = 0; i < stats->numcolors; i++) {
+      const unsigned char* color = &stats->palette[i * 4];
+      error = color_tree_add(&tree, color[0], color[1], color[2], color[3], i);
+      if(error) goto cleanup;
+    }
+  }
+
+  /*Check if the 16-bit input is truly 16-bit*/
+  if(mode_in->bitdepth == 16 && !sixteen) {
+    unsigned short r = 0, g = 0, b = 0, a = 0;
+    for(i = 0; i != numpixels; ++i) {
+      getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in);
+      if((r & 255) != ((r >> 8) & 255) || (g & 255) != ((g >> 8) & 255) ||
+         (b & 255) != ((b >> 8) & 255) || (a & 255) != ((a >> 8) & 255)) /*first and second byte differ*/ {
+        stats->bits = 16;
+        sixteen = 1;
+        bits_done = 1;
+        numcolors_done = 1; /*counting colors no longer useful, palette doesn't support 16-bit*/
+        break;
+      }
+    }
+  }
+
+  if(sixteen) {
+    unsigned short r = 0, g = 0, b = 0, a = 0;
+
+    for(i = 0; i != numpixels; ++i) {
+      getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in);
+
+      if(!colored_done && (r != g || r != b)) {
+        stats->colored = 1;
+        colored_done = 1;
+      }
+
+      if(!alpha_done) {
+        unsigned matchkey = (r == stats->key_r && g == stats->key_g && b == stats->key_b);
+        if(a != 65535 && (a != 0 || (stats->key && !matchkey))) {
+          stats->alpha = 1;
+          stats->key = 0;
+          alpha_done = 1;
+        } else if(a == 0 && !stats->alpha && !stats->key) {
+          stats->key = 1;
+          stats->key_r = r;
+          stats->key_g = g;
+          stats->key_b = b;
+        } else if(a == 65535 && stats->key && matchkey) {
+          /* Color key cannot be used if an opaque pixel also has that RGB color. */
+          stats->alpha = 1;
+          stats->key = 0;
+          alpha_done = 1;
+        }
+      }
+      if(alpha_done && numcolors_done && colored_done && bits_done) break;
+    }
+
+    if(stats->key && !stats->alpha) {
+      for(i = 0; i != numpixels; ++i) {
+        getPixelColorRGBA16(&r, &g, &b, &a, in, i, mode_in);
+        if(a != 0 && r == stats->key_r && g == stats->key_g && b == stats->key_b) {
+          /* Color key cannot be used if an opaque pixel also has that RGB color. */
+          stats->alpha = 1;
+          stats->key = 0;
+          alpha_done = 1;
+        }
+      }
+    }
+  } else /* < 16-bit */ {
+    unsigned char r = 0, g = 0, b = 0, a = 0;
+    for(i = 0; i != numpixels; ++i) {
+      getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode_in);
+
+      if(!bits_done && stats->bits < 8) {
+        /*only r is checked, < 8 bits is only relevant for grayscale*/
+        unsigned bits = getValueRequiredBits(r);
+        if(bits > stats->bits) stats->bits = bits;
+      }
+      bits_done = (stats->bits >= bpp);
+
+      if(!colored_done && (r != g || r != b)) {
+        stats->colored = 1;
+        colored_done = 1;
+        if(stats->bits < 8) stats->bits = 8; /*PNG has no colored modes with less than 8-bit per channel*/
+      }
+
+      if(!alpha_done) {
+        unsigned matchkey = (r == stats->key_r && g == stats->key_g && b == stats->key_b);
+        if(a != 255 && (a != 0 || (stats->key && !matchkey))) {
+          stats->alpha = 1;
+          stats->key = 0;
+          alpha_done = 1;
+          if(stats->bits < 8) stats->bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/
+        } else if(a == 0 && !stats->alpha && !stats->key) {
+          stats->key = 1;
+          stats->key_r = r;
+          stats->key_g = g;
+          stats->key_b = b;
+        } else if(a == 255 && stats->key && matchkey) {
+          /* Color key cannot be used if an opaque pixel also has that RGB color. */
+          stats->alpha = 1;
+          stats->key = 0;
+          alpha_done = 1;
+          if(stats->bits < 8) stats->bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/
+        }
+      }
+
+      if(!numcolors_done) {
+        if(!color_tree_has(&tree, r, g, b, a)) {
+          error = color_tree_add(&tree, r, g, b, a, stats->numcolors);
+          if(error) goto cleanup;
+          if(stats->numcolors < 256) {
+            unsigned char* p = stats->palette;
+            unsigned n = stats->numcolors;
+            p[n * 4 + 0] = r;
+            p[n * 4 + 1] = g;
+            p[n * 4 + 2] = b;
+            p[n * 4 + 3] = a;
+          }
+          ++stats->numcolors;
+          numcolors_done = stats->numcolors >= maxnumcolors;
+        }
+      }
+
+      if(alpha_done && numcolors_done && colored_done && bits_done) break;
+    }
+
+    if(stats->key && !stats->alpha) {
+      for(i = 0; i != numpixels; ++i) {
+        getPixelColorRGBA8(&r, &g, &b, &a, in, i, mode_in);
+        if(a != 0 && r == stats->key_r && g == stats->key_g && b == stats->key_b) {
+          /* Color key cannot be used if an opaque pixel also has that RGB color. */
+          stats->alpha = 1;
+          stats->key = 0;
+          alpha_done = 1;
+          if(stats->bits < 8) stats->bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/
+        }
+      }
+    }
+
+    /*make the stats's key always 16-bit for consistency - repeat each byte twice*/
+    stats->key_r += (stats->key_r << 8);
+    stats->key_g += (stats->key_g << 8);
+    stats->key_b += (stats->key_b << 8);
+  }
+
+cleanup:
+  color_tree_cleanup(&tree);
+  return error;
+}
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+/*Adds a single color to the color stats. The stats must already have been inited. The color must be given as 16-bit
+(with 2 bytes repeating for 8-bit and 65535 for opaque alpha channel). This function is expensive, do not call it for
+all pixels of an image but only for a few additional values. */
+static unsigned lodepng_color_stats_add(LodePNGColorStats* stats,
+                                        unsigned r, unsigned g, unsigned b, unsigned a) {
+  unsigned error = 0;
+  unsigned char image[8];
+  LodePNGColorMode mode;
+  lodepng_color_mode_init(&mode);
+  image[0] = r >> 8; image[1] = r; image[2] = g >> 8; image[3] = g;
+  image[4] = b >> 8; image[5] = b; image[6] = a >> 8; image[7] = a;
+  mode.bitdepth = 16;
+  mode.colortype = LCT_RGBA;
+  error = lodepng_compute_color_stats(stats, image, 1, 1, &mode);
+  lodepng_color_mode_cleanup(&mode);
+  return error;
+}
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+/*Computes a minimal PNG color model that can contain all colors as indicated by the stats.
+The stats should be computed with lodepng_compute_color_stats.
+mode_in is raw color profile of the image the stats were computed on, to copy palette order from when relevant.
+Minimal PNG color model means the color type and bit depth that gives smallest amount of bits in the output image,
+e.g. gray if only grayscale pixels, palette if less than 256 colors, color key if only single transparent color, ...
+This is used if auto_convert is enabled (it is by default).
+*/
+static unsigned auto_choose_color(LodePNGColorMode* mode_out,
+                                  const LodePNGColorMode* mode_in,
+                                  const LodePNGColorStats* stats) {
+  unsigned error = 0;
+  unsigned palettebits;
+  size_t i, n;
+  size_t numpixels = stats->numpixels;
+  unsigned palette_ok, gray_ok;
+
+  unsigned alpha = stats->alpha;
+  unsigned key = stats->key;
+  unsigned bits = stats->bits;
+
+  mode_out->key_defined = 0;
+
+  if(key && numpixels <= 16) {
+    alpha = 1; /*too few pixels to justify tRNS chunk overhead*/
+    key = 0;
+    if(bits < 8) bits = 8; /*PNG has no alphachannel modes with less than 8-bit per channel*/
+  }
+
+  gray_ok = !stats->colored;
+  if(!stats->allow_greyscale) gray_ok = 0;
+  if(!gray_ok && bits < 8) bits = 8;
+
+  n = stats->numcolors;
+  palettebits = n <= 2 ? 1 : (n <= 4 ? 2 : (n <= 16 ? 4 : 8));
+  palette_ok = n <= 256 && bits <= 8 && n != 0; /*n==0 means likely numcolors wasn't computed*/
+  if(numpixels < n * 2) palette_ok = 0; /*don't add palette overhead if image has only a few pixels*/
+  if(gray_ok && !alpha && bits <= palettebits) palette_ok = 0; /*gray is less overhead*/
+  if(!stats->allow_palette) palette_ok = 0;
+
+  if(palette_ok) {
+    const unsigned char* p = stats->palette;
+    lodepng_palette_clear(mode_out); /*remove potential earlier palette*/
+    for(i = 0; i != stats->numcolors; ++i) {
+      error = lodepng_palette_add(mode_out, p[i * 4 + 0], p[i * 4 + 1], p[i * 4 + 2], p[i * 4 + 3]);
+      if(error) break;
+    }
+
+    mode_out->colortype = LCT_PALETTE;
+    mode_out->bitdepth = palettebits;
+
+    if(mode_in->colortype == LCT_PALETTE && mode_in->palettesize >= mode_out->palettesize
+        && mode_in->bitdepth == mode_out->bitdepth) {
+      /*If input should have same palette colors, keep original to preserve its order and prevent conversion*/
+      lodepng_color_mode_cleanup(mode_out);
+      lodepng_color_mode_copy(mode_out, mode_in);
+    }
+  } else /*8-bit or 16-bit per channel*/ {
+    mode_out->bitdepth = bits;
+    mode_out->colortype = alpha ? (gray_ok ? LCT_GREY_ALPHA : LCT_RGBA)
+                                : (gray_ok ? LCT_GREY : LCT_RGB);
+    if(key) {
+      unsigned mask = (1u << mode_out->bitdepth) - 1u; /*stats always uses 16-bit, mask converts it*/
+      mode_out->key_r = stats->key_r & mask;
+      mode_out->key_g = stats->key_g & mask;
+      mode_out->key_b = stats->key_b & mask;
+      mode_out->key_defined = 1;
+    }
+  }
+
+  return error;
+}
+
+#endif /* #ifdef LODEPNG_COMPILE_ENCODER */
+
+/*
+Paeth predictor, used by PNG filter type 4
+The parameters are of type short, but should come from unsigned chars, the shorts
+are only needed to make the paeth calculation correct.
+*/
+static unsigned char paethPredictor(short a, short b, short c) {
+  short pa = LODEPNG_ABS(b - c);
+  short pb = LODEPNG_ABS(a - c);
+  short pc = LODEPNG_ABS(a + b - c - c);
+  /* return input value associated with smallest of pa, pb, pc (with certain priority if equal) */
+  if(pb < pa) { a = b; pa = pb; }
+  return (pc < pa) ? c : a;
+}
+
+/*shared values used by multiple Adam7 related functions*/
+
+static const unsigned ADAM7_IX[7] = { 0, 4, 0, 2, 0, 1, 0 }; /*x start values*/
+static const unsigned ADAM7_IY[7] = { 0, 0, 4, 0, 2, 0, 1 }; /*y start values*/
+static const unsigned ADAM7_DX[7] = { 8, 8, 4, 4, 2, 2, 1 }; /*x delta values*/
+static const unsigned ADAM7_DY[7] = { 8, 8, 8, 4, 4, 2, 2 }; /*y delta values*/
+
+/*
+Outputs various dimensions and positions in the image related to the Adam7 reduced images.
+passw: output containing the width of the 7 passes
+passh: output containing the height of the 7 passes
+filter_passstart: output containing the index of the start and end of each
+ reduced image with filter bytes
+padded_passstart output containing the index of the start and end of each
+ reduced image when without filter bytes but with padded scanlines
+passstart: output containing the index of the start and end of each reduced
+ image without padding between scanlines, but still padding between the images
+w, h: width and height of non-interlaced image
+bpp: bits per pixel
+"padded" is only relevant if bpp is less than 8 and a scanline or image does not
+ end at a full byte
+*/
+static void Adam7_getpassvalues(unsigned passw[7], unsigned passh[7], size_t filter_passstart[8],
+                                size_t padded_passstart[8], size_t passstart[8], unsigned w, unsigned h, unsigned bpp) {
+  /*the passstart values have 8 values: the 8th one indicates the byte after the end of the 7th (= last) pass*/
+  unsigned i;
+
+  /*calculate width and height in pixels of each pass*/
+  for(i = 0; i != 7; ++i) {
+    passw[i] = (w + ADAM7_DX[i] - ADAM7_IX[i] - 1) / ADAM7_DX[i];
+    passh[i] = (h + ADAM7_DY[i] - ADAM7_IY[i] - 1) / ADAM7_DY[i];
+    if(passw[i] == 0) passh[i] = 0;
+    if(passh[i] == 0) passw[i] = 0;
+  }
+
+  filter_passstart[0] = padded_passstart[0] = passstart[0] = 0;
+  for(i = 0; i != 7; ++i) {
+    /*if passw[i] is 0, it's 0 bytes, not 1 (no filtertype-byte)*/
+    filter_passstart[i + 1] = filter_passstart[i]
+                            + ((passw[i] && passh[i]) ? passh[i] * (1u + (passw[i] * bpp + 7u) / 8u) : 0);
+    /*bits padded if needed to fill full byte at end of each scanline*/
+    padded_passstart[i + 1] = padded_passstart[i] + passh[i] * ((passw[i] * bpp + 7u) / 8u);
+    /*only padded at end of reduced image*/
+    passstart[i + 1] = passstart[i] + (passh[i] * passw[i] * bpp + 7u) / 8u;
+  }
+}
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / PNG Decoder                                                            / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+/*read the information from the header and store it in the LodePNGInfo. return value is error*/
+unsigned lodepng_inspect(unsigned* w, unsigned* h, LodePNGState* state,
+                         const unsigned char* in, size_t insize) {
+  unsigned width, height;
+  LodePNGInfo* info = &state->info_png;
+  if(insize == 0 || in == 0) {
+    CERROR_RETURN_ERROR(state->error, 48); /*error: the given data is empty*/
+  }
+  if(insize < 33) {
+    CERROR_RETURN_ERROR(state->error, 27); /*error: the data length is smaller than the length of a PNG header*/
+  }
+
+  /*when decoding a new PNG image, make sure all parameters created after previous decoding are reset*/
+  /* TODO: remove this. One should use a new LodePNGState for new sessions */
+  lodepng_info_cleanup(info);
+  lodepng_info_init(info);
+
+  if(in[0] != 137 || in[1] != 80 || in[2] != 78 || in[3] != 71
+     || in[4] != 13 || in[5] != 10 || in[6] != 26 || in[7] != 10) {
+    CERROR_RETURN_ERROR(state->error, 28); /*error: the first 8 bytes are not the correct PNG signature*/
+  }
+  if(lodepng_chunk_length(in + 8) != 13) {
+    CERROR_RETURN_ERROR(state->error, 94); /*error: header size must be 13 bytes*/
+  }
+  if(!lodepng_chunk_type_equals(in + 8, "IHDR")) {
+    CERROR_RETURN_ERROR(state->error, 29); /*error: it doesn't start with a IHDR chunk!*/
+  }
+
+  /*read the values given in the header*/
+  width = lodepng_read32bitInt(&in[16]);
+  height = lodepng_read32bitInt(&in[20]);
+  /*TODO: remove the undocumented feature that allows to give null pointers to width or height*/
+  if(w) *w = width;
+  if(h) *h = height;
+  info->color.bitdepth = in[24];
+  info->color.colortype = (LodePNGColorType)in[25];
+  info->compression_method = in[26];
+  info->filter_method = in[27];
+  info->interlace_method = in[28];
+
+  /*errors returned only after the parsing so other values are still output*/
+
+  /*error: invalid image size*/
+  if(width == 0 || height == 0) CERROR_RETURN_ERROR(state->error, 93);
+  /*error: invalid colortype or bitdepth combination*/
+  state->error = checkColorValidity(info->color.colortype, info->color.bitdepth);
+  if(state->error) return state->error;
+  /*error: only compression method 0 is allowed in the specification*/
+  if(info->compression_method != 0) CERROR_RETURN_ERROR(state->error, 32);
+  /*error: only filter method 0 is allowed in the specification*/
+  if(info->filter_method != 0) CERROR_RETURN_ERROR(state->error, 33);
+  /*error: only interlace methods 0 and 1 exist in the specification*/
+  if(info->interlace_method > 1) CERROR_RETURN_ERROR(state->error, 34);
+
+  if(!state->decoder.ignore_crc) {
+    unsigned CRC = lodepng_read32bitInt(&in[29]);
+    unsigned checksum = lodepng_crc32(&in[12], 17);
+    if(CRC != checksum) {
+      CERROR_RETURN_ERROR(state->error, 57); /*invalid CRC*/
+    }
+  }
+
+  return state->error;
+}
+
+static unsigned unfilterScanline(unsigned char* recon, const unsigned char* scanline, const unsigned char* precon,
+                                 size_t bytewidth, unsigned char filterType, size_t length) {
+  /*
+  For PNG filter method 0
+  unfilter a PNG image scanline by scanline. when the pixels are smaller than 1 byte,
+  the filter works byte per byte (bytewidth = 1)
+  precon is the previous unfiltered scanline, recon the result, scanline the current one
+  the incoming scanlines do NOT include the filtertype byte, that one is given in the parameter filterType instead
+  recon and scanline MAY be the same memory address! precon must be disjoint.
+  */
+
+  size_t i;
+  switch(filterType) {
+    case 0:
+      for(i = 0; i != length; ++i) recon[i] = scanline[i];
+      break;
+    case 1: {
+      size_t j = 0;
+      for(i = 0; i != bytewidth; ++i) recon[i] = scanline[i];
+      for(i = bytewidth; i != length; ++i, ++j) recon[i] = scanline[i] + recon[j];
+      break;
+    }
+    case 2:
+      if(precon) {
+        for(i = 0; i != length; ++i) recon[i] = scanline[i] + precon[i];
+      } else {
+        for(i = 0; i != length; ++i) recon[i] = scanline[i];
+      }
+      break;
+    case 3:
+      if(precon) {
+        size_t j = 0;
+        for(i = 0; i != bytewidth; ++i) recon[i] = scanline[i] + (precon[i] >> 1u);
+        /* Unroll independent paths of this predictor. A 6x and 8x version is also possible but that adds
+        too much code. Whether this speeds up anything depends on compiler and settings. */
+        if(bytewidth >= 4) {
+          for(; i + 3 < length; i += 4, j += 4) {
+            unsigned char s0 = scanline[i + 0], s1 = scanline[i + 1], s2 = scanline[i + 2], s3 = scanline[i + 3];
+            unsigned char r0 = recon[j + 0], r1 = recon[j + 1], r2 = recon[j + 2], r3 = recon[j + 3];
+            unsigned char p0 = precon[i + 0], p1 = precon[i + 1], p2 = precon[i + 2], p3 = precon[i + 3];
+            recon[i + 0] = s0 + ((r0 + p0) >> 1u);
+            recon[i + 1] = s1 + ((r1 + p1) >> 1u);
+            recon[i + 2] = s2 + ((r2 + p2) >> 1u);
+            recon[i + 3] = s3 + ((r3 + p3) >> 1u);
+          }
+        } else if(bytewidth >= 3) {
+          for(; i + 2 < length; i += 3, j += 3) {
+            unsigned char s0 = scanline[i + 0], s1 = scanline[i + 1], s2 = scanline[i + 2];
+            unsigned char r0 = recon[j + 0], r1 = recon[j + 1], r2 = recon[j + 2];
+            unsigned char p0 = precon[i + 0], p1 = precon[i + 1], p2 = precon[i + 2];
+            recon[i + 0] = s0 + ((r0 + p0) >> 1u);
+            recon[i + 1] = s1 + ((r1 + p1) >> 1u);
+            recon[i + 2] = s2 + ((r2 + p2) >> 1u);
+          }
+        } else if(bytewidth >= 2) {
+          for(; i + 1 < length; i += 2, j += 2) {
+            unsigned char s0 = scanline[i + 0], s1 = scanline[i + 1];
+            unsigned char r0 = recon[j + 0], r1 = recon[j + 1];
+            unsigned char p0 = precon[i + 0], p1 = precon[i + 1];
+            recon[i + 0] = s0 + ((r0 + p0) >> 1u);
+            recon[i + 1] = s1 + ((r1 + p1) >> 1u);
+          }
+        }
+        for(; i != length; ++i, ++j) recon[i] = scanline[i] + ((recon[j] + precon[i]) >> 1u);
+      } else {
+        size_t j = 0;
+        for(i = 0; i != bytewidth; ++i) recon[i] = scanline[i];
+        for(i = bytewidth; i != length; ++i, ++j) recon[i] = scanline[i] + (recon[j] >> 1u);
+      }
+      break;
+    case 4:
+      if(precon) {
+        size_t j = 0;
+        for(i = 0; i != bytewidth; ++i) {
+          recon[i] = (scanline[i] + precon[i]); /*paethPredictor(0, precon[i], 0) is always precon[i]*/
+        }
+
+        /* Unroll independent paths of the paeth predictor. A 6x and 8x version is also possible but that
+        adds too much code. Whether this speeds up anything depends on compiler and settings. */
+        if(bytewidth >= 4) {
+          for(; i + 3 < length; i += 4, j += 4) {
+            unsigned char s0 = scanline[i + 0], s1 = scanline[i + 1], s2 = scanline[i + 2], s3 = scanline[i + 3];
+            unsigned char r0 = recon[j + 0], r1 = recon[j + 1], r2 = recon[j + 2], r3 = recon[j + 3];
+            unsigned char p0 = precon[i + 0], p1 = precon[i + 1], p2 = precon[i + 2], p3 = precon[i + 3];
+            unsigned char q0 = precon[j + 0], q1 = precon[j + 1], q2 = precon[j + 2], q3 = precon[j + 3];
+            recon[i + 0] = s0 + paethPredictor(r0, p0, q0);
+            recon[i + 1] = s1 + paethPredictor(r1, p1, q1);
+            recon[i + 2] = s2 + paethPredictor(r2, p2, q2);
+            recon[i + 3] = s3 + paethPredictor(r3, p3, q3);
+          }
+        } else if(bytewidth >= 3) {
+          for(; i + 2 < length; i += 3, j += 3) {
+            unsigned char s0 = scanline[i + 0], s1 = scanline[i + 1], s2 = scanline[i + 2];
+            unsigned char r0 = recon[j + 0], r1 = recon[j + 1], r2 = recon[j + 2];
+            unsigned char p0 = precon[i + 0], p1 = precon[i + 1], p2 = precon[i + 2];
+            unsigned char q0 = precon[j + 0], q1 = precon[j + 1], q2 = precon[j + 2];
+            recon[i + 0] = s0 + paethPredictor(r0, p0, q0);
+            recon[i + 1] = s1 + paethPredictor(r1, p1, q1);
+            recon[i + 2] = s2 + paethPredictor(r2, p2, q2);
+          }
+        } else if(bytewidth >= 2) {
+          for(; i + 1 < length; i += 2, j += 2) {
+            unsigned char s0 = scanline[i + 0], s1 = scanline[i + 1];
+            unsigned char r0 = recon[j + 0], r1 = recon[j + 1];
+            unsigned char p0 = precon[i + 0], p1 = precon[i + 1];
+            unsigned char q0 = precon[j + 0], q1 = precon[j + 1];
+            recon[i + 0] = s0 + paethPredictor(r0, p0, q0);
+            recon[i + 1] = s1 + paethPredictor(r1, p1, q1);
+          }
+        }
+
+        for(; i != length; ++i, ++j) {
+          recon[i] = (scanline[i] + paethPredictor(recon[i - bytewidth], precon[i], precon[j]));
+        }
+      } else {
+        size_t j = 0;
+        for(i = 0; i != bytewidth; ++i) {
+          recon[i] = scanline[i];
+        }
+        for(i = bytewidth; i != length; ++i, ++j) {
+          /*paethPredictor(recon[i - bytewidth], 0, 0) is always recon[i - bytewidth]*/
+          recon[i] = (scanline[i] + recon[j]);
+        }
+      }
+      break;
+    default: return 36; /*error: invalid filter type given*/
+  }
+  return 0;
+}
+
+static unsigned unfilter(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, unsigned bpp) {
+  /*
+  For PNG filter method 0
+  this function unfilters a single image (e.g. without interlacing this is called once, with Adam7 seven times)
+  out must have enough bytes allocated already, in must have the scanlines + 1 filtertype byte per scanline
+  w and h are image dimensions or dimensions of reduced image, bpp is bits per pixel
+  in and out are allowed to be the same memory address (but aren't the same size since in has the extra filter bytes)
+  */
+
+  unsigned y;
+  unsigned char* prevline = 0;
+
+  /*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/
+  size_t bytewidth = (bpp + 7u) / 8u;
+  /*the width of a scanline in bytes, not including the filter type*/
+  size_t linebytes = lodepng_get_raw_size_idat(w, 1, bpp) - 1u;
+
+  for(y = 0; y < h; ++y) {
+    size_t outindex = linebytes * y;
+    size_t inindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/
+    unsigned char filterType = in[inindex];
+
+    CERROR_TRY_RETURN(unfilterScanline(&out[outindex], &in[inindex + 1], prevline, bytewidth, filterType, linebytes));
+
+    prevline = &out[outindex];
+  }
+
+  return 0;
+}
+
+/*
+in: Adam7 interlaced image, with no padding bits between scanlines, but between
+ reduced images so that each reduced image starts at a byte.
+out: the same pixels, but re-ordered so that they're now a non-interlaced image with size w*h
+bpp: bits per pixel
+out has the following size in bits: w * h * bpp.
+in is possibly bigger due to padding bits between reduced images.
+out must be big enough AND must be 0 everywhere if bpp < 8 in the current implementation
+(because that's likely a little bit faster)
+NOTE: comments about padding bits are only relevant if bpp < 8
+*/
+static void Adam7_deinterlace(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, unsigned bpp) {
+  unsigned passw[7], passh[7];
+  size_t filter_passstart[8], padded_passstart[8], passstart[8];
+  unsigned i;
+
+  Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp);
+
+  if(bpp >= 8) {
+    for(i = 0; i != 7; ++i) {
+      unsigned x, y, b;
+      size_t bytewidth = bpp / 8u;
+      for(y = 0; y < passh[i]; ++y)
+      for(x = 0; x < passw[i]; ++x) {
+        size_t pixelinstart = passstart[i] + (y * passw[i] + x) * bytewidth;
+        size_t pixeloutstart = ((ADAM7_IY[i] + (size_t)y * ADAM7_DY[i]) * (size_t)w
+                             + ADAM7_IX[i] + (size_t)x * ADAM7_DX[i]) * bytewidth;
+        for(b = 0; b < bytewidth; ++b) {
+          out[pixeloutstart + b] = in[pixelinstart + b];
+        }
+      }
+    }
+  } else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/ {
+    for(i = 0; i != 7; ++i) {
+      unsigned x, y, b;
+      unsigned ilinebits = bpp * passw[i];
+      unsigned olinebits = bpp * w;
+      size_t obp, ibp; /*bit pointers (for out and in buffer)*/
+      for(y = 0; y < passh[i]; ++y)
+      for(x = 0; x < passw[i]; ++x) {
+        ibp = (8 * passstart[i]) + (y * ilinebits + x * bpp);
+        obp = (ADAM7_IY[i] + (size_t)y * ADAM7_DY[i]) * olinebits + (ADAM7_IX[i] + (size_t)x * ADAM7_DX[i]) * bpp;
+        for(b = 0; b < bpp; ++b) {
+          unsigned char bit = readBitFromReversedStream(&ibp, in);
+          setBitOfReversedStream(&obp, out, bit);
+        }
+      }
+    }
+  }
+}
+
+static void removePaddingBits(unsigned char* out, const unsigned char* in,
+                              size_t olinebits, size_t ilinebits, unsigned h) {
+  /*
+  After filtering there are still padding bits if scanlines have non multiple of 8 bit amounts. They need
+  to be removed (except at last scanline of (Adam7-reduced) image) before working with pure image buffers
+  for the Adam7 code, the color convert code and the output to the user.
+  in and out are allowed to be the same buffer, in may also be higher but still overlapping; in must
+  have >= ilinebits*h bits, out must have >= olinebits*h bits, olinebits must be <= ilinebits
+  also used to move bits after earlier such operations happened, e.g. in a sequence of reduced images from Adam7
+  only useful if (ilinebits - olinebits) is a value in the range 1..7
+  */
+  unsigned y;
+  size_t diff = ilinebits - olinebits;
+  size_t ibp = 0, obp = 0; /*input and output bit pointers*/
+  for(y = 0; y < h; ++y) {
+    size_t x;
+    for(x = 0; x < olinebits; ++x) {
+      unsigned char bit = readBitFromReversedStream(&ibp, in);
+      setBitOfReversedStream(&obp, out, bit);
+    }
+    ibp += diff;
+  }
+}
+
+/*out must be buffer big enough to contain full image, and in must contain the full decompressed data from
+the IDAT chunks (with filter index bytes and possible padding bits)
+return value is error*/
+static unsigned postProcessScanlines(unsigned char* out, unsigned char* in,
+                                     unsigned w, unsigned h, const LodePNGInfo* info_png) {
+  /*
+  This function converts the filtered-padded-interlaced data into pure 2D image buffer with the PNG's colortype.
+  Steps:
+  *) if no Adam7: 1) unfilter 2) remove padding bits (= possible extra bits per scanline if bpp < 8)
+  *) if adam7: 1) 7x unfilter 2) 7x remove padding bits 3) Adam7_deinterlace
+  NOTE: the in buffer will be overwritten with intermediate data!
+  */
+  unsigned bpp = lodepng_get_bpp(&info_png->color);
+  if(bpp == 0) return 31; /*error: invalid colortype*/
+
+  if(info_png->interlace_method == 0) {
+    if(bpp < 8 && w * bpp != ((w * bpp + 7u) / 8u) * 8u) {
+      CERROR_TRY_RETURN(unfilter(in, in, w, h, bpp));
+      removePaddingBits(out, in, w * bpp, ((w * bpp + 7u) / 8u) * 8u, h);
+    }
+    /*we can immediately filter into the out buffer, no other steps needed*/
+    else CERROR_TRY_RETURN(unfilter(out, in, w, h, bpp));
+  } else /*interlace_method is 1 (Adam7)*/ {
+    unsigned passw[7], passh[7]; size_t filter_passstart[8], padded_passstart[8], passstart[8];
+    unsigned i;
+
+    Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp);
+
+    for(i = 0; i != 7; ++i) {
+      CERROR_TRY_RETURN(unfilter(&in[padded_passstart[i]], &in[filter_passstart[i]], passw[i], passh[i], bpp));
+      /*TODO: possible efficiency improvement: if in this reduced image the bits fit nicely in 1 scanline,
+      move bytes instead of bits or move not at all*/
+      if(bpp < 8) {
+        /*remove padding bits in scanlines; after this there still may be padding
+        bits between the different reduced images: each reduced image still starts nicely at a byte*/
+        removePaddingBits(&in[passstart[i]], &in[padded_passstart[i]], passw[i] * bpp,
+                          ((passw[i] * bpp + 7u) / 8u) * 8u, passh[i]);
+      }
+    }
+
+    Adam7_deinterlace(out, in, w, h, bpp);
+  }
+
+  return 0;
+}
+
+static unsigned readChunk_PLTE(LodePNGColorMode* color, const unsigned char* data, size_t chunkLength) {
+  unsigned pos = 0, i;
+  color->palettesize = chunkLength / 3u;
+  if(color->palettesize == 0 || color->palettesize > 256) return 38; /*error: palette too small or big*/
+  lodepng_color_mode_alloc_palette(color);
+  if(!color->palette && color->palettesize) {
+    color->palettesize = 0;
+    return 83; /*alloc fail*/
+  }
+
+  for(i = 0; i != color->palettesize; ++i) {
+    color->palette[4 * i + 0] = data[pos++]; /*R*/
+    color->palette[4 * i + 1] = data[pos++]; /*G*/
+    color->palette[4 * i + 2] = data[pos++]; /*B*/
+    color->palette[4 * i + 3] = 255; /*alpha*/
+  }
+
+  return 0; /* OK */
+}
+
+static unsigned readChunk_tRNS(LodePNGColorMode* color, const unsigned char* data, size_t chunkLength) {
+  unsigned i;
+  if(color->colortype == LCT_PALETTE) {
+    /*error: more alpha values given than there are palette entries*/
+    if(chunkLength > color->palettesize) return 39;
+
+    for(i = 0; i != chunkLength; ++i) color->palette[4 * i + 3] = data[i];
+  } else if(color->colortype == LCT_GREY) {
+    /*error: this chunk must be 2 bytes for grayscale image*/
+    if(chunkLength != 2) return 30;
+
+    color->key_defined = 1;
+    color->key_r = color->key_g = color->key_b = 256u * data[0] + data[1];
+  } else if(color->colortype == LCT_RGB) {
+    /*error: this chunk must be 6 bytes for RGB image*/
+    if(chunkLength != 6) return 41;
+
+    color->key_defined = 1;
+    color->key_r = 256u * data[0] + data[1];
+    color->key_g = 256u * data[2] + data[3];
+    color->key_b = 256u * data[4] + data[5];
+  }
+  else return 42; /*error: tRNS chunk not allowed for other color models*/
+
+  return 0; /* OK */
+}
+
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+/*background color chunk (bKGD)*/
+static unsigned readChunk_bKGD(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  if(info->color.colortype == LCT_PALETTE) {
+    /*error: this chunk must be 1 byte for indexed color image*/
+    if(chunkLength != 1) return 43;
+
+    /*error: invalid palette index, or maybe this chunk appeared before PLTE*/
+    if(data[0] >= info->color.palettesize) return 103;
+
+    info->background_defined = 1;
+    info->background_r = info->background_g = info->background_b = data[0];
+  } else if(info->color.colortype == LCT_GREY || info->color.colortype == LCT_GREY_ALPHA) {
+    /*error: this chunk must be 2 bytes for grayscale image*/
+    if(chunkLength != 2) return 44;
+
+    /*the values are truncated to bitdepth in the PNG file*/
+    info->background_defined = 1;
+    info->background_r = info->background_g = info->background_b = 256u * data[0] + data[1];
+  } else if(info->color.colortype == LCT_RGB || info->color.colortype == LCT_RGBA) {
+    /*error: this chunk must be 6 bytes for grayscale image*/
+    if(chunkLength != 6) return 45;
+
+    /*the values are truncated to bitdepth in the PNG file*/
+    info->background_defined = 1;
+    info->background_r = 256u * data[0] + data[1];
+    info->background_g = 256u * data[2] + data[3];
+    info->background_b = 256u * data[4] + data[5];
+  }
+
+  return 0; /* OK */
+}
+
+/*text chunk (tEXt)*/
+static unsigned readChunk_tEXt(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  unsigned error = 0;
+  char *key = 0, *str = 0;
+
+  while(!error) /*not really a while loop, only used to break on error*/ {
+    unsigned length, string2_begin;
+
+    length = 0;
+    while(length < chunkLength && data[length] != 0) ++length;
+    /*even though it's not allowed by the standard, no error is thrown if
+    there's no null termination char, if the text is empty*/
+    if(length < 1 || length > 79) CERROR_BREAK(error, 89); /*keyword too short or long*/
+
+    key = (char*)lodepng_malloc(length + 1);
+    if(!key) CERROR_BREAK(error, 83); /*alloc fail*/
+
+    lodepng_memcpy(key, data, length);
+    key[length] = 0;
+
+    string2_begin = length + 1; /*skip keyword null terminator*/
+
+    length = (unsigned)(chunkLength < string2_begin ? 0 : chunkLength - string2_begin);
+    str = (char*)lodepng_malloc(length + 1);
+    if(!str) CERROR_BREAK(error, 83); /*alloc fail*/
+
+    lodepng_memcpy(str, data + string2_begin, length);
+    str[length] = 0;
+
+    error = lodepng_add_text(info, key, str);
+
+    break;
+  }
+
+  lodepng_free(key);
+  lodepng_free(str);
+
+  return error;
+}
+
+/*compressed text chunk (zTXt)*/
+static unsigned readChunk_zTXt(LodePNGInfo* info, const LodePNGDecoderSettings* decoder,
+                               const unsigned char* data, size_t chunkLength) {
+  unsigned error = 0;
+
+  /*copy the object to change parameters in it*/
+  LodePNGDecompressSettings zlibsettings = decoder->zlibsettings;
+
+  unsigned length, string2_begin;
+  char *key = 0;
+  unsigned char* str = 0;
+  size_t size = 0;
+
+  while(!error) /*not really a while loop, only used to break on error*/ {
+    for(length = 0; length < chunkLength && data[length] != 0; ++length) ;
+    if(length + 2 >= chunkLength) CERROR_BREAK(error, 75); /*no null termination, corrupt?*/
+    if(length < 1 || length > 79) CERROR_BREAK(error, 89); /*keyword too short or long*/
+
+    key = (char*)lodepng_malloc(length + 1);
+    if(!key) CERROR_BREAK(error, 83); /*alloc fail*/
+
+    lodepng_memcpy(key, data, length);
+    key[length] = 0;
+
+    if(data[length + 1] != 0) CERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/
+
+    string2_begin = length + 2;
+    if(string2_begin > chunkLength) CERROR_BREAK(error, 75); /*no null termination, corrupt?*/
+
+    length = (unsigned)chunkLength - string2_begin;
+    zlibsettings.max_output_size = decoder->max_text_size;
+    /*will fail if zlib error, e.g. if length is too small*/
+    error = zlib_decompress(&str, &size, 0, &data[string2_begin],
+                            length, &zlibsettings);
+    /*error: compressed text larger than  decoder->max_text_size*/
+    if(error && size > zlibsettings.max_output_size) error = 112;
+    if(error) break;
+    error = lodepng_add_text_sized(info, key, (char*)str, size);
+    break;
+  }
+
+  lodepng_free(key);
+  lodepng_free(str);
+
+  return error;
+}
+
+/*international text chunk (iTXt)*/
+static unsigned readChunk_iTXt(LodePNGInfo* info, const LodePNGDecoderSettings* decoder,
+                               const unsigned char* data, size_t chunkLength) {
+  unsigned error = 0;
+  unsigned i;
+
+  /*copy the object to change parameters in it*/
+  LodePNGDecompressSettings zlibsettings = decoder->zlibsettings;
+
+  unsigned length, begin, compressed;
+  char *key = 0, *langtag = 0, *transkey = 0;
+
+  while(!error) /*not really a while loop, only used to break on error*/ {
+    /*Quick check if the chunk length isn't too small. Even without check
+    it'd still fail with other error checks below if it's too short. This just gives a different error code.*/
+    if(chunkLength < 5) CERROR_BREAK(error, 30); /*iTXt chunk too short*/
+
+    /*read the key*/
+    for(length = 0; length < chunkLength && data[length] != 0; ++length) ;
+    if(length + 3 >= chunkLength) CERROR_BREAK(error, 75); /*no null termination char, corrupt?*/
+    if(length < 1 || length > 79) CERROR_BREAK(error, 89); /*keyword too short or long*/
+
+    key = (char*)lodepng_malloc(length + 1);
+    if(!key) CERROR_BREAK(error, 83); /*alloc fail*/
+
+    lodepng_memcpy(key, data, length);
+    key[length] = 0;
+
+    /*read the compression method*/
+    compressed = data[length + 1];
+    if(data[length + 2] != 0) CERROR_BREAK(error, 72); /*the 0 byte indicating compression must be 0*/
+
+    /*even though it's not allowed by the standard, no error is thrown if
+    there's no null termination char, if the text is empty for the next 3 texts*/
+
+    /*read the langtag*/
+    begin = length + 3;
+    length = 0;
+    for(i = begin; i < chunkLength && data[i] != 0; ++i) ++length;
+
+    langtag = (char*)lodepng_malloc(length + 1);
+    if(!langtag) CERROR_BREAK(error, 83); /*alloc fail*/
+
+    lodepng_memcpy(langtag, data + begin, length);
+    langtag[length] = 0;
+
+    /*read the transkey*/
+    begin += length + 1;
+    length = 0;
+    for(i = begin; i < chunkLength && data[i] != 0; ++i) ++length;
+
+    transkey = (char*)lodepng_malloc(length + 1);
+    if(!transkey) CERROR_BREAK(error, 83); /*alloc fail*/
+
+    lodepng_memcpy(transkey, data + begin, length);
+    transkey[length] = 0;
+
+    /*read the actual text*/
+    begin += length + 1;
+
+    length = (unsigned)chunkLength < begin ? 0 : (unsigned)chunkLength - begin;
+
+    if(compressed) {
+      unsigned char* str = 0;
+      size_t size = 0;
+      zlibsettings.max_output_size = decoder->max_text_size;
+      /*will fail if zlib error, e.g. if length is too small*/
+      error = zlib_decompress(&str, &size, 0, &data[begin],
+                              length, &zlibsettings);
+      /*error: compressed text larger than  decoder->max_text_size*/
+      if(error && size > zlibsettings.max_output_size) error = 112;
+      if(!error) error = lodepng_add_itext_sized(info, key, langtag, transkey, (char*)str, size);
+      lodepng_free(str);
+    } else {
+      error = lodepng_add_itext_sized(info, key, langtag, transkey, (char*)(data + begin), length);
+    }
+
+    break;
+  }
+
+  lodepng_free(key);
+  lodepng_free(langtag);
+  lodepng_free(transkey);
+
+  return error;
+}
+
+static unsigned readChunk_tIME(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  if(chunkLength != 7) return 73; /*invalid tIME chunk size*/
+
+  info->time_defined = 1;
+  info->time.year = 256u * data[0] + data[1];
+  info->time.month = data[2];
+  info->time.day = data[3];
+  info->time.hour = data[4];
+  info->time.minute = data[5];
+  info->time.second = data[6];
+
+  return 0; /* OK */
+}
+
+static unsigned readChunk_pHYs(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  if(chunkLength != 9) return 74; /*invalid pHYs chunk size*/
+
+  info->phys_defined = 1;
+  info->phys_x = 16777216u * data[0] + 65536u * data[1] + 256u * data[2] + data[3];
+  info->phys_y = 16777216u * data[4] + 65536u * data[5] + 256u * data[6] + data[7];
+  info->phys_unit = data[8];
+
+  return 0; /* OK */
+}
+
+static unsigned readChunk_gAMA(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  if(chunkLength != 4) return 96; /*invalid gAMA chunk size*/
+
+  info->gama_defined = 1;
+  info->gama_gamma = 16777216u * data[0] + 65536u * data[1] + 256u * data[2] + data[3];
+
+  return 0; /* OK */
+}
+
+static unsigned readChunk_cHRM(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  if(chunkLength != 32) return 97; /*invalid cHRM chunk size*/
+
+  info->chrm_defined = 1;
+  info->chrm_white_x = 16777216u * data[ 0] + 65536u * data[ 1] + 256u * data[ 2] + data[ 3];
+  info->chrm_white_y = 16777216u * data[ 4] + 65536u * data[ 5] + 256u * data[ 6] + data[ 7];
+  info->chrm_red_x   = 16777216u * data[ 8] + 65536u * data[ 9] + 256u * data[10] + data[11];
+  info->chrm_red_y   = 16777216u * data[12] + 65536u * data[13] + 256u * data[14] + data[15];
+  info->chrm_green_x = 16777216u * data[16] + 65536u * data[17] + 256u * data[18] + data[19];
+  info->chrm_green_y = 16777216u * data[20] + 65536u * data[21] + 256u * data[22] + data[23];
+  info->chrm_blue_x  = 16777216u * data[24] + 65536u * data[25] + 256u * data[26] + data[27];
+  info->chrm_blue_y  = 16777216u * data[28] + 65536u * data[29] + 256u * data[30] + data[31];
+
+  return 0; /* OK */
+}
+
+static unsigned readChunk_sRGB(LodePNGInfo* info, const unsigned char* data, size_t chunkLength) {
+  if(chunkLength != 1) return 98; /*invalid sRGB chunk size (this one is never ignored)*/
+
+  info->srgb_defined = 1;
+  info->srgb_intent = data[0];
+
+  return 0; /* OK */
+}
+
+static unsigned readChunk_iCCP(LodePNGInfo* info, const LodePNGDecoderSettings* decoder,
+                               const unsigned char* data, size_t chunkLength) {
+  unsigned error = 0;
+  unsigned i;
+  size_t size = 0;
+  /*copy the object to change parameters in it*/
+  LodePNGDecompressSettings zlibsettings = decoder->zlibsettings;
+
+  unsigned length, string2_begin;
+
+  info->iccp_defined = 1;
+  if(info->iccp_name) lodepng_clear_icc(info);
+
+  for(length = 0; length < chunkLength && data[length] != 0; ++length) ;
+  if(length + 2 >= chunkLength) return 75; /*no null termination, corrupt?*/
+  if(length < 1 || length > 79) return 89; /*keyword too short or long*/
+
+  info->iccp_name = (char*)lodepng_malloc(length + 1);
+  if(!info->iccp_name) return 83; /*alloc fail*/
+
+  info->iccp_name[length] = 0;
+  for(i = 0; i != length; ++i) info->iccp_name[i] = (char)data[i];
+
+  if(data[length + 1] != 0) return 72; /*the 0 byte indicating compression must be 0*/
+
+  string2_begin = length + 2;
+  if(string2_begin > chunkLength) return 75; /*no null termination, corrupt?*/
+
+  length = (unsigned)chunkLength - string2_begin;
+  zlibsettings.max_output_size = decoder->max_icc_size;
+  error = zlib_decompress(&info->iccp_profile, &size, 0,
+                          &data[string2_begin],
+                          length, &zlibsettings);
+  /*error: ICC profile larger than  decoder->max_icc_size*/
+  if(error && size > zlibsettings.max_output_size) error = 113;
+  info->iccp_profile_size = size;
+  if(!error && !info->iccp_profile_size) error = 100; /*invalid ICC profile size*/
+  return error;
+}
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+unsigned lodepng_inspect_chunk(LodePNGState* state, size_t pos,
+                               const unsigned char* in, size_t insize) {
+  const unsigned char* chunk = in + pos;
+  unsigned chunkLength;
+  const unsigned char* data;
+  unsigned unhandled = 0;
+  unsigned error = 0;
+
+  if(pos + 4 > insize) return 30;
+  chunkLength = lodepng_chunk_length(chunk);
+  if(chunkLength > 2147483647) return 63;
+  data = lodepng_chunk_data_const(chunk);
+  if(data + chunkLength + 4 > in + insize) return 30;
+
+  if(lodepng_chunk_type_equals(chunk, "PLTE")) {
+    error = readChunk_PLTE(&state->info_png.color, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "tRNS")) {
+    error = readChunk_tRNS(&state->info_png.color, data, chunkLength);
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  } else if(lodepng_chunk_type_equals(chunk, "bKGD")) {
+    error = readChunk_bKGD(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "tEXt")) {
+    error = readChunk_tEXt(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "zTXt")) {
+    error = readChunk_zTXt(&state->info_png, &state->decoder, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "iTXt")) {
+    error = readChunk_iTXt(&state->info_png, &state->decoder, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "tIME")) {
+    error = readChunk_tIME(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "pHYs")) {
+    error = readChunk_pHYs(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "gAMA")) {
+    error = readChunk_gAMA(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "cHRM")) {
+    error = readChunk_cHRM(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "sRGB")) {
+    error = readChunk_sRGB(&state->info_png, data, chunkLength);
+  } else if(lodepng_chunk_type_equals(chunk, "iCCP")) {
+    error = readChunk_iCCP(&state->info_png, &state->decoder, data, chunkLength);
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+  } else {
+    /* unhandled chunk is ok (is not an error) */
+    unhandled = 1;
+  }
+
+  if(!error && !unhandled && !state->decoder.ignore_crc) {
+    if(lodepng_chunk_check_crc(chunk)) return 57; /*invalid CRC*/
+  }
+
+  return error;
+}
+
+/*read a PNG, the result will be in the same color type as the PNG (hence "generic")*/
+static void decodeGeneric(unsigned char** out, unsigned* w, unsigned* h,
+                          LodePNGState* state,
+                          const unsigned char* in, size_t insize) {
+  unsigned char IEND = 0;
+  const unsigned char* chunk;
+  unsigned char* idat; /*the data from idat chunks, zlib compressed*/
+  size_t idatsize = 0;
+  unsigned char* scanlines = 0;
+  size_t scanlines_size = 0, expected_size = 0;
+  size_t outsize = 0;
+
+  /*for unknown chunk order*/
+  unsigned unknown = 0;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  unsigned critical_pos = 1; /*1 = after IHDR, 2 = after PLTE, 3 = after IDAT*/
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+
+  /* safe output values in case error happens */
+  *out = 0;
+  *w = *h = 0;
+
+  state->error = lodepng_inspect(w, h, state, in, insize); /*reads header and resets other parameters in state->info_png*/
+  if(state->error) return;
+
+  if(lodepng_pixel_overflow(*w, *h, &state->info_png.color, &state->info_raw)) {
+    CERROR_RETURN(state->error, 92); /*overflow possible due to amount of pixels*/
+  }
+
+  /*the input filesize is a safe upper bound for the sum of idat chunks size*/
+  idat = (unsigned char*)lodepng_malloc(insize);
+  if(!idat) CERROR_RETURN(state->error, 83); /*alloc fail*/
+
+  chunk = &in[33]; /*first byte of the first chunk after the header*/
+
+  /*loop through the chunks, ignoring unknown chunks and stopping at IEND chunk.
+  IDAT data is put at the start of the in buffer*/
+  while(!IEND && !state->error) {
+    unsigned chunkLength;
+    const unsigned char* data; /*the data in the chunk*/
+
+    /*error: size of the in buffer too small to contain next chunk*/
+    if((size_t)((chunk - in) + 12) > insize || chunk < in) {
+      if(state->decoder.ignore_end) break; /*other errors may still happen though*/
+      CERROR_BREAK(state->error, 30);
+    }
+
+    /*length of the data of the chunk, excluding the length bytes, chunk type and CRC bytes*/
+    chunkLength = lodepng_chunk_length(chunk);
+    /*error: chunk length larger than the max PNG chunk size*/
+    if(chunkLength > 2147483647) {
+      if(state->decoder.ignore_end) break; /*other errors may still happen though*/
+      CERROR_BREAK(state->error, 63);
+    }
+
+    if((size_t)((chunk - in) + chunkLength + 12) > insize || (chunk + chunkLength + 12) < in) {
+      CERROR_BREAK(state->error, 64); /*error: size of the in buffer too small to contain next chunk*/
+    }
+
+    data = lodepng_chunk_data_const(chunk);
+
+    unknown = 0;
+
+    /*IDAT chunk, containing compressed image data*/
+    if(lodepng_chunk_type_equals(chunk, "IDAT")) {
+      size_t newsize;
+      if(lodepng_addofl(idatsize, chunkLength, &newsize)) CERROR_BREAK(state->error, 95);
+      if(newsize > insize) CERROR_BREAK(state->error, 95);
+      lodepng_memcpy(idat + idatsize, data, chunkLength);
+      idatsize += chunkLength;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+      critical_pos = 3;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    } else if(lodepng_chunk_type_equals(chunk, "IEND")) {
+      /*IEND chunk*/
+      IEND = 1;
+    } else if(lodepng_chunk_type_equals(chunk, "PLTE")) {
+      /*palette chunk (PLTE)*/
+      state->error = readChunk_PLTE(&state->info_png.color, data, chunkLength);
+      if(state->error) break;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+      critical_pos = 2;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    } else if(lodepng_chunk_type_equals(chunk, "tRNS")) {
+      /*palette transparency chunk (tRNS). Even though this one is an ancillary chunk , it is still compiled
+      in without 'LODEPNG_COMPILE_ANCILLARY_CHUNKS' because it contains essential color information that
+      affects the alpha channel of pixels. */
+      state->error = readChunk_tRNS(&state->info_png.color, data, chunkLength);
+      if(state->error) break;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+      /*background color chunk (bKGD)*/
+    } else if(lodepng_chunk_type_equals(chunk, "bKGD")) {
+      state->error = readChunk_bKGD(&state->info_png, data, chunkLength);
+      if(state->error) break;
+    } else if(lodepng_chunk_type_equals(chunk, "tEXt")) {
+      /*text chunk (tEXt)*/
+      if(state->decoder.read_text_chunks) {
+        state->error = readChunk_tEXt(&state->info_png, data, chunkLength);
+        if(state->error) break;
+      }
+    } else if(lodepng_chunk_type_equals(chunk, "zTXt")) {
+      /*compressed text chunk (zTXt)*/
+      if(state->decoder.read_text_chunks) {
+        state->error = readChunk_zTXt(&state->info_png, &state->decoder, data, chunkLength);
+        if(state->error) break;
+      }
+    } else if(lodepng_chunk_type_equals(chunk, "iTXt")) {
+      /*international text chunk (iTXt)*/
+      if(state->decoder.read_text_chunks) {
+        state->error = readChunk_iTXt(&state->info_png, &state->decoder, data, chunkLength);
+        if(state->error) break;
+      }
+    } else if(lodepng_chunk_type_equals(chunk, "tIME")) {
+      state->error = readChunk_tIME(&state->info_png, data, chunkLength);
+      if(state->error) break;
+    } else if(lodepng_chunk_type_equals(chunk, "pHYs")) {
+      state->error = readChunk_pHYs(&state->info_png, data, chunkLength);
+      if(state->error) break;
+    } else if(lodepng_chunk_type_equals(chunk, "gAMA")) {
+      state->error = readChunk_gAMA(&state->info_png, data, chunkLength);
+      if(state->error) break;
+    } else if(lodepng_chunk_type_equals(chunk, "cHRM")) {
+      state->error = readChunk_cHRM(&state->info_png, data, chunkLength);
+      if(state->error) break;
+    } else if(lodepng_chunk_type_equals(chunk, "sRGB")) {
+      state->error = readChunk_sRGB(&state->info_png, data, chunkLength);
+      if(state->error) break;
+    } else if(lodepng_chunk_type_equals(chunk, "iCCP")) {
+      state->error = readChunk_iCCP(&state->info_png, &state->decoder, data, chunkLength);
+      if(state->error) break;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    } else /*it's not an implemented chunk type, so ignore it: skip over the data*/ {
+      /*error: unknown critical chunk (5th bit of first byte of chunk type is 0)*/
+      if(!state->decoder.ignore_critical && !lodepng_chunk_ancillary(chunk)) {
+        CERROR_BREAK(state->error, 69);
+      }
+
+      unknown = 1;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+      if(state->decoder.remember_unknown_chunks) {
+        state->error = lodepng_chunk_append(&state->info_png.unknown_chunks_data[critical_pos - 1],
+                                            &state->info_png.unknown_chunks_size[critical_pos - 1], chunk);
+        if(state->error) break;
+      }
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    }
+
+    if(!state->decoder.ignore_crc && !unknown) /*check CRC if wanted, only on known chunk types*/ {
+      if(lodepng_chunk_check_crc(chunk)) CERROR_BREAK(state->error, 57); /*invalid CRC*/
+    }
+
+    if(!IEND) chunk = lodepng_chunk_next_const(chunk, in + insize);
+  }
+
+  if(!state->error && state->info_png.color.colortype == LCT_PALETTE && !state->info_png.color.palette) {
+    state->error = 106; /* error: PNG file must have PLTE chunk if color type is palette */
+  }
+
+  if(!state->error) {
+    /*predict output size, to allocate exact size for output buffer to avoid more dynamic allocation.
+    If the decompressed size does not match the prediction, the image must be corrupt.*/
+    if(state->info_png.interlace_method == 0) {
+      size_t bpp = lodepng_get_bpp(&state->info_png.color);
+      expected_size = lodepng_get_raw_size_idat(*w, *h, bpp);
+    } else {
+      size_t bpp = lodepng_get_bpp(&state->info_png.color);
+      /*Adam-7 interlaced: expected size is the sum of the 7 sub-images sizes*/
+      expected_size = 0;
+      expected_size += lodepng_get_raw_size_idat((*w + 7) >> 3, (*h + 7) >> 3, bpp);
+      if(*w > 4) expected_size += lodepng_get_raw_size_idat((*w + 3) >> 3, (*h + 7) >> 3, bpp);
+      expected_size += lodepng_get_raw_size_idat((*w + 3) >> 2, (*h + 3) >> 3, bpp);
+      if(*w > 2) expected_size += lodepng_get_raw_size_idat((*w + 1) >> 2, (*h + 3) >> 2, bpp);
+      expected_size += lodepng_get_raw_size_idat((*w + 1) >> 1, (*h + 1) >> 2, bpp);
+      if(*w > 1) expected_size += lodepng_get_raw_size_idat((*w + 0) >> 1, (*h + 1) >> 1, bpp);
+      expected_size += lodepng_get_raw_size_idat((*w + 0), (*h + 0) >> 1, bpp);
+    }
+
+    state->error = zlib_decompress(&scanlines, &scanlines_size, expected_size, idat, idatsize, &state->decoder.zlibsettings);
+  }
+  if(!state->error && scanlines_size != expected_size) state->error = 91; /*decompressed size doesn't match prediction*/
+  lodepng_free(idat);
+
+  if(!state->error) {
+    outsize = lodepng_get_raw_size(*w, *h, &state->info_png.color);
+    *out = (unsigned char*)lodepng_malloc(outsize);
+    if(!*out) state->error = 83; /*alloc fail*/
+  }
+  if(!state->error) {
+    lodepng_memset(*out, 0, outsize);
+    state->error = postProcessScanlines(*out, scanlines, *w, *h, &state->info_png);
+  }
+  lodepng_free(scanlines);
+}
+
+unsigned lodepng_decode(unsigned char** out, unsigned* w, unsigned* h,
+                        LodePNGState* state,
+                        const unsigned char* in, size_t insize) {
+  *out = 0;
+  decodeGeneric(out, w, h, state, in, insize);
+  if(state->error) return state->error;
+  if(!state->decoder.color_convert || lodepng_color_mode_equal(&state->info_raw, &state->info_png.color)) {
+    /*same color type, no copying or converting of data needed*/
+    /*store the info_png color settings on the info_raw so that the info_raw still reflects what colortype
+    the raw image has to the end user*/
+    if(!state->decoder.color_convert) {
+      state->error = lodepng_color_mode_copy(&state->info_raw, &state->info_png.color);
+      if(state->error) return state->error;
+    }
+  } else { /*color conversion needed*/
+    unsigned char* data = *out;
+    size_t outsize;
+
+    /*TODO: check if this works according to the statement in the documentation: "The converter can convert
+    from grayscale input color type, to 8-bit grayscale or grayscale with alpha"*/
+    if(!(state->info_raw.colortype == LCT_RGB || state->info_raw.colortype == LCT_RGBA
+                || state->info_raw.colortype == LCT_CUSTOM) && !(state->info_raw.bitdepth == 8)) {
+      return 56; /*unsupported color mode conversion*/
+    }
+
+    outsize = lodepng_get_raw_size(*w, *h, &state->info_raw);
+    *out = (unsigned char*)lodepng_malloc(outsize);
+    if(!(*out)) {
+      state->error = 83; /*alloc fail*/
+    } else if (state->lodepng_convert && state->info_raw.colortype == LCT_CUSTOM) {
+        state->error = state->lodepng_convert(*out, data, &state->info_raw,
+                                        &state->info_png.color, *w, *h);
+    } else {
+        state->error = lodepng_convert(*out, data, &state->info_raw,
+                                        &state->info_png.color, *w, *h);
+    }
+    lodepng_free(data);
+  }
+  return state->error;
+}
+
+unsigned lodepng_decode_memory(unsigned char** out, unsigned* w, unsigned* h, const unsigned char* in,
+                               size_t insize, LodePNGColorType colortype, unsigned bitdepth) {
+  unsigned error;
+  LodePNGState state;
+  lodepng_state_init(&state);
+  state.info_raw.colortype = colortype;
+  state.info_raw.bitdepth = bitdepth;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  /*disable reading things that this function doesn't output*/
+  state.decoder.read_text_chunks = 0;
+  state.decoder.remember_unknown_chunks = 0;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+  error = lodepng_decode(out, w, h, &state, in, insize);
+  lodepng_state_cleanup(&state);
+  return error;
+}
+
+unsigned lodepng_decode32(unsigned char** out, unsigned* w, unsigned* h, const unsigned char* in, size_t insize) {
+  return lodepng_decode_memory(out, w, h, in, insize, LCT_RGBA, 8);
+}
+
+unsigned lodepng_decode24(unsigned char** out, unsigned* w, unsigned* h, const unsigned char* in, size_t insize) {
+  return lodepng_decode_memory(out, w, h, in, insize, LCT_RGB, 8);
+}
+
+#ifdef LODEPNG_COMPILE_DISK
+unsigned lodepng_decode_file(unsigned char** out, unsigned* w, unsigned* h, const char* filename,
+                             LodePNGColorType colortype, unsigned bitdepth) {
+  unsigned char* buffer = 0;
+  size_t buffersize;
+  unsigned error;
+  /* safe output values in case error happens */
+  *out = 0;
+  *w = *h = 0;
+  error = lodepng_load_file(&buffer, &buffersize, filename);
+  if(!error) error = lodepng_decode_memory(out, w, h, buffer, buffersize, colortype, bitdepth);
+  lodepng_free(buffer);
+  return error;
+}
+
+unsigned lodepng_decode32_file(unsigned char** out, unsigned* w, unsigned* h, const char* filename) {
+  return lodepng_decode_file(out, w, h, filename, LCT_RGBA, 8);
+}
+
+unsigned lodepng_decode24_file(unsigned char** out, unsigned* w, unsigned* h, const char* filename) {
+  return lodepng_decode_file(out, w, h, filename, LCT_RGB, 8);
+}
+#endif /*LODEPNG_COMPILE_DISK*/
+
+void lodepng_decoder_settings_init(LodePNGDecoderSettings* settings) {
+  settings->color_convert = 1;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  settings->read_text_chunks = 1;
+  settings->remember_unknown_chunks = 0;
+  settings->max_text_size = 16777216;
+  settings->max_icc_size = 16777216; /* 16MB is much more than enough for any reasonable ICC profile */
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+  settings->ignore_crc = 0;
+  settings->ignore_critical = 0;
+  settings->ignore_end = 0;
+  lodepng_decompress_settings_init(&settings->zlibsettings);
+}
+
+#endif /*LODEPNG_COMPILE_DECODER*/
+
+#if defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER)
+
+void lodepng_state_init(LodePNGState* state) {
+#ifdef LODEPNG_COMPILE_DECODER
+  lodepng_decoder_settings_init(&state->decoder);
+#endif /*LODEPNG_COMPILE_DECODER*/
+#ifdef LODEPNG_COMPILE_ENCODER
+  lodepng_encoder_settings_init(&state->encoder);
+#endif /*LODEPNG_COMPILE_ENCODER*/
+  lodepng_color_mode_init(&state->info_raw);
+  lodepng_info_init(&state->info_png);
+  state->error = 1;
+  state->lodepng_convert = NULL;
+}
+
+void lodepng_state_cleanup(LodePNGState* state) {
+  lodepng_color_mode_cleanup(&state->info_raw);
+  lodepng_info_cleanup(&state->info_png);
+}
+
+void lodepng_state_copy(LodePNGState* dest, const LodePNGState* source) {
+  lodepng_state_cleanup(dest);
+  *dest = *source;
+  lodepng_color_mode_init(&dest->info_raw);
+  lodepng_info_init(&dest->info_png);
+  dest->error = lodepng_color_mode_copy(&dest->info_raw, &source->info_raw); if(dest->error) return;
+  dest->error = lodepng_info_copy(&dest->info_png, &source->info_png); if(dest->error) return;
+}
+
+#endif /* defined(LODEPNG_COMPILE_DECODER) || defined(LODEPNG_COMPILE_ENCODER) */
+
+#ifdef LODEPNG_COMPILE_ENCODER
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* / PNG Encoder                                                            / */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+
+static unsigned writeSignature(ucvector* out) {
+  size_t pos = out->size;
+  const unsigned char signature[] = {137, 80, 78, 71, 13, 10, 26, 10};
+  /*8 bytes PNG signature, aka the magic bytes*/
+  if(!ucvector_resize(out, out->size + 8)) return 83; /*alloc fail*/
+  lodepng_memcpy(out->data + pos, signature, 8);
+  return 0;
+}
+
+static unsigned addChunk_IHDR(ucvector* out, unsigned w, unsigned h,
+                              LodePNGColorType colortype, unsigned bitdepth, unsigned interlace_method) {
+  unsigned char *chunk, *data;
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 13, "IHDR"));
+  data = chunk + 8;
+
+  lodepng_set32bitInt(data + 0, w); /*width*/
+  lodepng_set32bitInt(data + 4, h); /*height*/
+  data[8] = (unsigned char)bitdepth; /*bit depth*/
+  data[9] = (unsigned char)colortype; /*color type*/
+  data[10] = 0; /*compression method*/
+  data[11] = 0; /*filter method*/
+  data[12] = interlace_method; /*interlace method*/
+
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+/* only adds the chunk if needed (there is a key or palette with alpha) */
+static unsigned addChunk_PLTE(ucvector* out, const LodePNGColorMode* info) {
+  unsigned char* chunk;
+  size_t i, j = 8;
+
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, info->palettesize * 3, "PLTE"));
+
+  for(i = 0; i != info->palettesize; ++i) {
+    /*add all channels except alpha channel*/
+    chunk[j++] = info->palette[i * 4 + 0];
+    chunk[j++] = info->palette[i * 4 + 1];
+    chunk[j++] = info->palette[i * 4 + 2];
+  }
+
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_tRNS(ucvector* out, const LodePNGColorMode* info) {
+  unsigned char* chunk = 0;
+
+  if(info->colortype == LCT_PALETTE) {
+    size_t i, amount = info->palettesize;
+    /*the tail of palette values that all have 255 as alpha, does not have to be encoded*/
+    for(i = info->palettesize; i != 0; --i) {
+      if(info->palette[4 * (i - 1) + 3] != 255) break;
+      --amount;
+    }
+    if(amount) {
+      CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, amount, "tRNS"));
+      /*add the alpha channel values from the palette*/
+      for(i = 0; i != amount; ++i) chunk[8 + i] = info->palette[4 * i + 3];
+    }
+  } else if(info->colortype == LCT_GREY) {
+    if(info->key_defined) {
+      CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 2, "tRNS"));
+      chunk[8] = (unsigned char)(info->key_r >> 8);
+      chunk[9] = (unsigned char)(info->key_r & 255);
+    }
+  } else if(info->colortype == LCT_RGB) {
+    if(info->key_defined) {
+      CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 6, "tRNS"));
+      chunk[8] = (unsigned char)(info->key_r >> 8);
+      chunk[9] = (unsigned char)(info->key_r & 255);
+      chunk[10] = (unsigned char)(info->key_g >> 8);
+      chunk[11] = (unsigned char)(info->key_g & 255);
+      chunk[12] = (unsigned char)(info->key_b >> 8);
+      chunk[13] = (unsigned char)(info->key_b & 255);
+    }
+  }
+
+  if(chunk) lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_IDAT(ucvector* out, const unsigned char* data, size_t datasize,
+                              LodePNGCompressSettings* zlibsettings) {
+  unsigned error = 0;
+  unsigned char* zlib = 0;
+  size_t zlibsize = 0;
+
+  error = zlib_compress(&zlib, &zlibsize, data, datasize, zlibsettings);
+  if(!error) {
+    error = lodepng_chunk_createv(out, zlibsize, "IDAT", zlib);
+  }
+  lodepng_free(zlib);
+  return error;
+}
+
+static unsigned addChunk_IEND(ucvector* out) {
+  return lodepng_chunk_createv(out, 0, "IEND", 0);
+}
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+
+static unsigned addChunk_tEXt(ucvector* out, const char* keyword, const char* textstring) {
+  unsigned char* chunk = 0;
+  size_t keysize = lodepng_strlen(keyword), textsize = lodepng_strlen(textstring);
+  size_t size = keysize + 1 + textsize;
+  if(keysize < 1 || keysize > 79) return 89; /*error: invalid keyword size*/
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, size, "tEXt"));
+  lodepng_memcpy(chunk + 8, keyword, keysize);
+  chunk[8 + keysize] = 0; /*null termination char*/
+  lodepng_memcpy(chunk + 9 + keysize, textstring, textsize);
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_zTXt(ucvector* out, const char* keyword, const char* textstring,
+                              LodePNGCompressSettings* zlibsettings) {
+  unsigned error = 0;
+  unsigned char* chunk = 0;
+  unsigned char* compressed = 0;
+  size_t compressedsize = 0;
+  size_t textsize = lodepng_strlen(textstring);
+  size_t keysize = lodepng_strlen(keyword);
+  if(keysize < 1 || keysize > 79) return 89; /*error: invalid keyword size*/
+
+  error = zlib_compress(&compressed, &compressedsize,
+                        (const unsigned char*)textstring, textsize, zlibsettings);
+  if(!error) {
+    size_t size = keysize + 2 + compressedsize;
+    error = lodepng_chunk_init(&chunk, out, size, "zTXt");
+  }
+  if(!error) {
+    lodepng_memcpy(chunk + 8, keyword, keysize);
+    chunk[8 + keysize] = 0; /*null termination char*/
+    chunk[9 + keysize] = 0; /*compression method: 0*/
+    lodepng_memcpy(chunk + 10 + keysize, compressed, compressedsize);
+    lodepng_chunk_generate_crc(chunk);
+  }
+
+  lodepng_free(compressed);
+  return error;
+}
+
+static unsigned addChunk_iTXt(ucvector* out, unsigned compress, const char* keyword, const char* langtag,
+                              const char* transkey, const char* textstring, LodePNGCompressSettings* zlibsettings) {
+  unsigned error = 0;
+  unsigned char* chunk = 0;
+  unsigned char* compressed = 0;
+  size_t compressedsize = 0;
+  size_t textsize = lodepng_strlen(textstring);
+  size_t keysize = lodepng_strlen(keyword), langsize = lodepng_strlen(langtag), transsize = lodepng_strlen(transkey);
+
+  if(keysize < 1 || keysize > 79) return 89; /*error: invalid keyword size*/
+
+  if(compress) {
+    error = zlib_compress(&compressed, &compressedsize,
+                          (const unsigned char*)textstring, textsize, zlibsettings);
+  }
+  if(!error) {
+    size_t size = keysize + 3 + langsize + 1 + transsize + 1 + (compress ? compressedsize : textsize);
+    error = lodepng_chunk_init(&chunk, out, size, "iTXt");
+  }
+  if(!error) {
+    size_t pos = 8;
+    lodepng_memcpy(chunk + pos, keyword, keysize);
+    pos += keysize;
+    chunk[pos++] = 0; /*null termination char*/
+    chunk[pos++] = (compress ? 1 : 0); /*compression flag*/
+    chunk[pos++] = 0; /*compression method: 0*/
+    lodepng_memcpy(chunk + pos, langtag, langsize);
+    pos += langsize;
+    chunk[pos++] = 0; /*null termination char*/
+    lodepng_memcpy(chunk + pos, transkey, transsize);
+    pos += transsize;
+    chunk[pos++] = 0; /*null termination char*/
+    if(compress) {
+      lodepng_memcpy(chunk + pos, compressed, compressedsize);
+    } else {
+      lodepng_memcpy(chunk + pos, textstring, textsize);
+    }
+    lodepng_chunk_generate_crc(chunk);
+  }
+
+  lodepng_free(compressed);
+  return error;
+}
+
+static unsigned addChunk_bKGD(ucvector* out, const LodePNGInfo* info) {
+  unsigned char* chunk = 0;
+  if(info->color.colortype == LCT_GREY || info->color.colortype == LCT_GREY_ALPHA) {
+    CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 2, "bKGD"));
+    chunk[8] = (unsigned char)(info->background_r >> 8);
+    chunk[9] = (unsigned char)(info->background_r & 255);
+  } else if(info->color.colortype == LCT_RGB || info->color.colortype == LCT_RGBA) {
+    CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 6, "bKGD"));
+    chunk[8] = (unsigned char)(info->background_r >> 8);
+    chunk[9] = (unsigned char)(info->background_r & 255);
+    chunk[10] = (unsigned char)(info->background_g >> 8);
+    chunk[11] = (unsigned char)(info->background_g & 255);
+    chunk[12] = (unsigned char)(info->background_b >> 8);
+    chunk[13] = (unsigned char)(info->background_b & 255);
+  } else if(info->color.colortype == LCT_PALETTE) {
+    CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 1, "bKGD"));
+    chunk[8] = (unsigned char)(info->background_r & 255); /*palette index*/
+  }
+  if(chunk) lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_tIME(ucvector* out, const LodePNGTime* time) {
+  unsigned char* chunk;
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 7, "tIME"));
+  chunk[8] = (unsigned char)(time->year >> 8);
+  chunk[9] = (unsigned char)(time->year & 255);
+  chunk[10] = (unsigned char)time->month;
+  chunk[11] = (unsigned char)time->day;
+  chunk[12] = (unsigned char)time->hour;
+  chunk[13] = (unsigned char)time->minute;
+  chunk[14] = (unsigned char)time->second;
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_pHYs(ucvector* out, const LodePNGInfo* info) {
+  unsigned char* chunk;
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 9, "pHYs"));
+  lodepng_set32bitInt(chunk + 8, info->phys_x);
+  lodepng_set32bitInt(chunk + 12, info->phys_y);
+  chunk[16] = info->phys_unit;
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_gAMA(ucvector* out, const LodePNGInfo* info) {
+  unsigned char* chunk;
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 4, "gAMA"));
+  lodepng_set32bitInt(chunk + 8, info->gama_gamma);
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_cHRM(ucvector* out, const LodePNGInfo* info) {
+  unsigned char* chunk;
+  CERROR_TRY_RETURN(lodepng_chunk_init(&chunk, out, 32, "cHRM"));
+  lodepng_set32bitInt(chunk + 8, info->chrm_white_x);
+  lodepng_set32bitInt(chunk + 12, info->chrm_white_y);
+  lodepng_set32bitInt(chunk + 16, info->chrm_red_x);
+  lodepng_set32bitInt(chunk + 20, info->chrm_red_y);
+  lodepng_set32bitInt(chunk + 24, info->chrm_green_x);
+  lodepng_set32bitInt(chunk + 28, info->chrm_green_y);
+  lodepng_set32bitInt(chunk + 32, info->chrm_blue_x);
+  lodepng_set32bitInt(chunk + 36, info->chrm_blue_y);
+  lodepng_chunk_generate_crc(chunk);
+  return 0;
+}
+
+static unsigned addChunk_sRGB(ucvector* out, const LodePNGInfo* info) {
+  unsigned char data = info->srgb_intent;
+  return lodepng_chunk_createv(out, 1, "sRGB", &data);
+}
+
+static unsigned addChunk_iCCP(ucvector* out, const LodePNGInfo* info, LodePNGCompressSettings* zlibsettings) {
+  unsigned error = 0;
+  unsigned char* chunk = 0;
+  unsigned char* compressed = 0;
+  size_t compressedsize = 0;
+  size_t keysize = lodepng_strlen(info->iccp_name);
+
+  if(keysize < 1 || keysize > 79) return 89; /*error: invalid keyword size*/
+  error = zlib_compress(&compressed, &compressedsize,
+                        info->iccp_profile, info->iccp_profile_size, zlibsettings);
+  if(!error) {
+    size_t size = keysize + 2 + compressedsize;
+    error = lodepng_chunk_init(&chunk, out, size, "iCCP");
+  }
+  if(!error) {
+    lodepng_memcpy(chunk + 8, info->iccp_name, keysize);
+    chunk[8 + keysize] = 0; /*null termination char*/
+    chunk[9 + keysize] = 0; /*compression method: 0*/
+    lodepng_memcpy(chunk + 10 + keysize, compressed, compressedsize);
+    lodepng_chunk_generate_crc(chunk);
+  }
+
+  lodepng_free(compressed);
+  return error;
+}
+
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+static void filterScanline(unsigned char* out, const unsigned char* scanline, const unsigned char* prevline,
+                           size_t length, size_t bytewidth, unsigned char filterType) {
+  size_t i;
+  switch(filterType) {
+    case 0: /*None*/
+      for(i = 0; i != length; ++i) out[i] = scanline[i];
+      break;
+    case 1: /*Sub*/
+      for(i = 0; i != bytewidth; ++i) out[i] = scanline[i];
+      for(i = bytewidth; i < length; ++i) out[i] = scanline[i] - scanline[i - bytewidth];
+      break;
+    case 2: /*Up*/
+      if(prevline) {
+        for(i = 0; i != length; ++i) out[i] = scanline[i] - prevline[i];
+      } else {
+        for(i = 0; i != length; ++i) out[i] = scanline[i];
+      }
+      break;
+    case 3: /*Average*/
+      if(prevline) {
+        for(i = 0; i != bytewidth; ++i) out[i] = scanline[i] - (prevline[i] >> 1);
+        for(i = bytewidth; i < length; ++i) out[i] = scanline[i] - ((scanline[i - bytewidth] + prevline[i]) >> 1);
+      } else {
+        for(i = 0; i != bytewidth; ++i) out[i] = scanline[i];
+        for(i = bytewidth; i < length; ++i) out[i] = scanline[i] - (scanline[i - bytewidth] >> 1);
+      }
+      break;
+    case 4: /*Paeth*/
+      if(prevline) {
+        /*paethPredictor(0, prevline[i], 0) is always prevline[i]*/
+        for(i = 0; i != bytewidth; ++i) out[i] = (scanline[i] - prevline[i]);
+        for(i = bytewidth; i < length; ++i) {
+          out[i] = (scanline[i] - paethPredictor(scanline[i - bytewidth], prevline[i], prevline[i - bytewidth]));
+        }
+      } else {
+        for(i = 0; i != bytewidth; ++i) out[i] = scanline[i];
+        /*paethPredictor(scanline[i - bytewidth], 0, 0) is always scanline[i - bytewidth]*/
+        for(i = bytewidth; i < length; ++i) out[i] = (scanline[i] - scanline[i - bytewidth]);
+      }
+      break;
+    default: return; /*invalid filter type given*/
+  }
+}
+
+/* integer binary logarithm, max return value is 31 */
+static size_t ilog2(size_t i) {
+  size_t result = 0;
+  if(i >= 65536) { result += 16; i >>= 16; }
+  if(i >= 256) { result += 8; i >>= 8; }
+  if(i >= 16) { result += 4; i >>= 4; }
+  if(i >= 4) { result += 2; i >>= 2; }
+  if(i >= 2) { result += 1; /*i >>= 1;*/ }
+  return result;
+}
+
+/* integer approximation for i * log2(i), helper function for LFS_ENTROPY */
+static size_t ilog2i(size_t i) {
+  size_t l;
+  if(i == 0) return 0;
+  l = ilog2(i);
+  /* approximate i*log2(i): l is integer logarithm, ((i - (1u << l)) << 1u)
+  linearly approximates the missing fractional part multiplied by i */
+  return i * l + ((i - (1u << l)) << 1u);
+}
+
+static unsigned filter(unsigned char* out, const unsigned char* in, unsigned w, unsigned h,
+                       const LodePNGColorMode* color, const LodePNGEncoderSettings* settings) {
+  /*
+  For PNG filter method 0
+  out must be a buffer with as size: h + (w * h * bpp + 7u) / 8u, because there are
+  the scanlines with 1 extra byte per scanline
+  */
+
+  unsigned bpp = lodepng_get_bpp(color);
+  /*the width of a scanline in bytes, not including the filter type*/
+  size_t linebytes = lodepng_get_raw_size_idat(w, 1, bpp) - 1u;
+
+  /*bytewidth is used for filtering, is 1 when bpp < 8, number of bytes per pixel otherwise*/
+  size_t bytewidth = (bpp + 7u) / 8u;
+  const unsigned char* prevline = 0;
+  unsigned x, y;
+  unsigned error = 0;
+  LodePNGFilterStrategy strategy = settings->filter_strategy;
+
+  /*
+  There is a heuristic called the minimum sum of absolute differences heuristic, suggested by the PNG standard:
+   *  If the image type is Palette, or the bit depth is smaller than 8, then do not filter the image (i.e.
+      use fixed filtering, with the filter None).
+   * (The other case) If the image type is Grayscale or RGB (with or without Alpha), and the bit depth is
+     not smaller than 8, then use adaptive filtering heuristic as follows: independently for each row, apply
+     all five filters and select the filter that produces the smallest sum of absolute values per row.
+  This heuristic is used if filter strategy is LFS_MINSUM and filter_palette_zero is true.
+
+  If filter_palette_zero is true and filter_strategy is not LFS_MINSUM, the above heuristic is followed,
+  but for "the other case", whatever strategy filter_strategy is set to instead of the minimum sum
+  heuristic is used.
+  */
+  if(settings->filter_palette_zero &&
+     (color->colortype == LCT_PALETTE || color->bitdepth < 8)) strategy = LFS_ZERO;
+
+  if(bpp == 0) return 31; /*error: invalid color type*/
+
+  if(strategy >= LFS_ZERO && strategy <= LFS_FOUR) {
+    unsigned char type = (unsigned char)strategy;
+    for(y = 0; y != h; ++y) {
+      size_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/
+      size_t inindex = linebytes * y;
+      out[outindex] = type; /*filter type byte*/
+      filterScanline(&out[outindex + 1], &in[inindex], prevline, linebytes, bytewidth, type);
+      prevline = &in[inindex];
+    }
+  } else if(strategy == LFS_MINSUM) {
+    /*adaptive filtering*/
+    unsigned char* attempt[5]; /*five filtering attempts, one for each filter type*/
+    size_t smallest = 0;
+    unsigned char type, bestType = 0;
+
+    for(type = 0; type != 5; ++type) {
+      attempt[type] = (unsigned char*)lodepng_malloc(linebytes);
+      if(!attempt[type]) error = 83; /*alloc fail*/
+    }
+
+    if(!error) {
+      for(y = 0; y != h; ++y) {
+        /*try the 5 filter types*/
+        for(type = 0; type != 5; ++type) {
+          size_t sum = 0;
+          filterScanline(attempt[type], &in[y * linebytes], prevline, linebytes, bytewidth, type);
+
+          /*calculate the sum of the result*/
+          if(type == 0) {
+            for(x = 0; x != linebytes; ++x) sum += (unsigned char)(attempt[type][x]);
+          } else {
+            for(x = 0; x != linebytes; ++x) {
+              /*For differences, each byte should be treated as signed, values above 127 are negative
+              (converted to signed char). Filtertype 0 isn't a difference though, so use unsigned there.
+              This means filtertype 0 is almost never chosen, but that is justified.*/
+              unsigned char s = attempt[type][x];
+              sum += s < 128 ? s : (255U - s);
+            }
+          }
+
+          /*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/
+          if(type == 0 || sum < smallest) {
+            bestType = type;
+            smallest = sum;
+          }
+        }
+
+        prevline = &in[y * linebytes];
+
+        /*now fill the out values*/
+        out[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/
+        for(x = 0; x != linebytes; ++x) out[y * (linebytes + 1) + 1 + x] = attempt[bestType][x];
+      }
+    }
+
+    for(type = 0; type != 5; ++type) lodepng_free(attempt[type]);
+  } else if(strategy == LFS_ENTROPY) {
+    unsigned char* attempt[5]; /*five filtering attempts, one for each filter type*/
+    size_t bestSum = 0;
+    unsigned type, bestType = 0;
+    unsigned count[256];
+
+    for(type = 0; type != 5; ++type) {
+      attempt[type] = (unsigned char*)lodepng_malloc(linebytes);
+      if(!attempt[type]) error = 83; /*alloc fail*/
+    }
+
+    if(!error) {
+      for(y = 0; y != h; ++y) {
+        /*try the 5 filter types*/
+        for(type = 0; type != 5; ++type) {
+          size_t sum = 0;
+          filterScanline(attempt[type], &in[y * linebytes], prevline, linebytes, bytewidth, type);
+          lodepng_memset(count, 0, 256 * sizeof(*count));
+          for(x = 0; x != linebytes; ++x) ++count[attempt[type][x]];
+          ++count[type]; /*the filter type itself is part of the scanline*/
+          for(x = 0; x != 256; ++x) {
+            sum += ilog2i(count[x]);
+          }
+          /*check if this is smallest sum (or if type == 0 it's the first case so always store the values)*/
+          if(type == 0 || sum > bestSum) {
+            bestType = type;
+            bestSum = sum;
+          }
+        }
+
+        prevline = &in[y * linebytes];
+
+        /*now fill the out values*/
+        out[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/
+        for(x = 0; x != linebytes; ++x) out[y * (linebytes + 1) + 1 + x] = attempt[bestType][x];
+      }
+    }
+
+    for(type = 0; type != 5; ++type) lodepng_free(attempt[type]);
+  } else if(strategy == LFS_PREDEFINED) {
+    for(y = 0; y != h; ++y) {
+      size_t outindex = (1 + linebytes) * y; /*the extra filterbyte added to each row*/
+      size_t inindex = linebytes * y;
+      unsigned char type = settings->predefined_filters[y];
+      out[outindex] = type; /*filter type byte*/
+      filterScanline(&out[outindex + 1], &in[inindex], prevline, linebytes, bytewidth, type);
+      prevline = &in[inindex];
+    }
+  } else if(strategy == LFS_BRUTE_FORCE) {
+    /*brute force filter chooser.
+    deflate the scanline after every filter attempt to see which one deflates best.
+    This is very slow and gives only slightly smaller, sometimes even larger, result*/
+    size_t size[5];
+    unsigned char* attempt[5]; /*five filtering attempts, one for each filter type*/
+    size_t smallest = 0;
+    unsigned type = 0, bestType = 0;
+    unsigned char* dummy;
+    LodePNGCompressSettings zlibsettings;
+    lodepng_memcpy(&zlibsettings, &settings->zlibsettings, sizeof(LodePNGCompressSettings));
+    /*use fixed tree on the attempts so that the tree is not adapted to the filtertype on purpose,
+    to simulate the true case where the tree is the same for the whole image. Sometimes it gives
+    better result with dynamic tree anyway. Using the fixed tree sometimes gives worse, but in rare
+    cases better compression. It does make this a bit less slow, so it's worth doing this.*/
+    zlibsettings.btype = 1;
+    /*a custom encoder likely doesn't read the btype setting and is optimized for complete PNG
+    images only, so disable it*/
+    zlibsettings.custom_zlib = 0;
+    zlibsettings.custom_deflate = 0;
+    for(type = 0; type != 5; ++type) {
+      attempt[type] = (unsigned char*)lodepng_malloc(linebytes);
+      if(!attempt[type]) error = 83; /*alloc fail*/
+    }
+    if(!error) {
+      for(y = 0; y != h; ++y) /*try the 5 filter types*/ {
+        for(type = 0; type != 5; ++type) {
+          unsigned testsize = (unsigned)linebytes;
+          /*if(testsize > 8) testsize /= 8;*/ /*it already works good enough by testing a part of the row*/
+
+          filterScanline(attempt[type], &in[y * linebytes], prevline, linebytes, bytewidth, type);
+          size[type] = 0;
+          dummy = 0;
+          zlib_compress(&dummy, &size[type], attempt[type], testsize, &zlibsettings);
+          lodepng_free(dummy);
+          /*check if this is smallest size (or if type == 0 it's the first case so always store the values)*/
+          if(type == 0 || size[type] < smallest) {
+            bestType = type;
+            smallest = size[type];
+          }
+        }
+        prevline = &in[y * linebytes];
+        out[y * (linebytes + 1)] = bestType; /*the first byte of a scanline will be the filter type*/
+        for(x = 0; x != linebytes; ++x) out[y * (linebytes + 1) + 1 + x] = attempt[bestType][x];
+      }
+    }
+    for(type = 0; type != 5; ++type) lodepng_free(attempt[type]);
+  }
+  else return 88; /* unknown filter strategy */
+
+  return error;
+}
+
+static void addPaddingBits(unsigned char* out, const unsigned char* in,
+                           size_t olinebits, size_t ilinebits, unsigned h) {
+  /*The opposite of the removePaddingBits function
+  olinebits must be >= ilinebits*/
+  unsigned y;
+  size_t diff = olinebits - ilinebits;
+  size_t obp = 0, ibp = 0; /*bit pointers*/
+  for(y = 0; y != h; ++y) {
+    size_t x;
+    for(x = 0; x < ilinebits; ++x) {
+      unsigned char bit = readBitFromReversedStream(&ibp, in);
+      setBitOfReversedStream(&obp, out, bit);
+    }
+    /*obp += diff; --> no, fill in some value in the padding bits too, to avoid
+    "Use of uninitialised value of size ###" warning from valgrind*/
+    for(x = 0; x != diff; ++x) setBitOfReversedStream(&obp, out, 0);
+  }
+}
+
+/*
+in: non-interlaced image with size w*h
+out: the same pixels, but re-ordered according to PNG's Adam7 interlacing, with
+ no padding bits between scanlines, but between reduced images so that each
+ reduced image starts at a byte.
+bpp: bits per pixel
+there are no padding bits, not between scanlines, not between reduced images
+in has the following size in bits: w * h * bpp.
+out is possibly bigger due to padding bits between reduced images
+NOTE: comments about padding bits are only relevant if bpp < 8
+*/
+static void Adam7_interlace(unsigned char* out, const unsigned char* in, unsigned w, unsigned h, unsigned bpp) {
+  unsigned passw[7], passh[7];
+  size_t filter_passstart[8], padded_passstart[8], passstart[8];
+  unsigned i;
+
+  Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp);
+
+  if(bpp >= 8) {
+    for(i = 0; i != 7; ++i) {
+      unsigned x, y, b;
+      size_t bytewidth = bpp / 8u;
+      for(y = 0; y < passh[i]; ++y)
+      for(x = 0; x < passw[i]; ++x) {
+        size_t pixelinstart = ((ADAM7_IY[i] + y * ADAM7_DY[i]) * w + ADAM7_IX[i] + x * ADAM7_DX[i]) * bytewidth;
+        size_t pixeloutstart = passstart[i] + (y * passw[i] + x) * bytewidth;
+        for(b = 0; b < bytewidth; ++b) {
+          out[pixeloutstart + b] = in[pixelinstart + b];
+        }
+      }
+    }
+  } else /*bpp < 8: Adam7 with pixels < 8 bit is a bit trickier: with bit pointers*/ {
+    for(i = 0; i != 7; ++i) {
+      unsigned x, y, b;
+      unsigned ilinebits = bpp * passw[i];
+      unsigned olinebits = bpp * w;
+      size_t obp, ibp; /*bit pointers (for out and in buffer)*/
+      for(y = 0; y < passh[i]; ++y)
+      for(x = 0; x < passw[i]; ++x) {
+        ibp = (ADAM7_IY[i] + y * ADAM7_DY[i]) * olinebits + (ADAM7_IX[i] + x * ADAM7_DX[i]) * bpp;
+        obp = (8 * passstart[i]) + (y * ilinebits + x * bpp);
+        for(b = 0; b < bpp; ++b) {
+          unsigned char bit = readBitFromReversedStream(&ibp, in);
+          setBitOfReversedStream(&obp, out, bit);
+        }
+      }
+    }
+  }
+}
+
+/*out must be buffer big enough to contain uncompressed IDAT chunk data, and in must contain the full image.
+return value is error**/
+static unsigned preProcessScanlines(unsigned char** out, size_t* outsize, const unsigned char* in,
+                                    unsigned w, unsigned h,
+                                    const LodePNGInfo* info_png, const LodePNGEncoderSettings* settings) {
+  /*
+  This function converts the pure 2D image with the PNG's colortype, into filtered-padded-interlaced data. Steps:
+  *) if no Adam7: 1) add padding bits (= possible extra bits per scanline if bpp < 8) 2) filter
+  *) if adam7: 1) Adam7_interlace 2) 7x add padding bits 3) 7x filter
+  */
+  unsigned bpp = lodepng_get_bpp(&info_png->color);
+  unsigned error = 0;
+
+  if(info_png->interlace_method == 0) {
+    *outsize = h + (h * ((w * bpp + 7u) / 8u)); /*image size plus an extra byte per scanline + possible padding bits*/
+    *out = (unsigned char*)lodepng_malloc(*outsize);
+    if(!(*out) && (*outsize)) error = 83; /*alloc fail*/
+
+    if(!error) {
+      /*non multiple of 8 bits per scanline, padding bits needed per scanline*/
+      if(bpp < 8 && w * bpp != ((w * bpp + 7u) / 8u) * 8u) {
+        unsigned char* padded = (unsigned char*)lodepng_malloc(h * ((w * bpp + 7u) / 8u));
+        if(!padded) error = 83; /*alloc fail*/
+        if(!error) {
+          addPaddingBits(padded, in, ((w * bpp + 7u) / 8u) * 8u, w * bpp, h);
+          error = filter(*out, padded, w, h, &info_png->color, settings);
+        }
+        lodepng_free(padded);
+      } else {
+        /*we can immediately filter into the out buffer, no other steps needed*/
+        error = filter(*out, in, w, h, &info_png->color, settings);
+      }
+    }
+  } else /*interlace_method is 1 (Adam7)*/ {
+    unsigned passw[7], passh[7];
+    size_t filter_passstart[8], padded_passstart[8], passstart[8];
+    unsigned char* adam7;
+
+    Adam7_getpassvalues(passw, passh, filter_passstart, padded_passstart, passstart, w, h, bpp);
+
+    *outsize = filter_passstart[7]; /*image size plus an extra byte per scanline + possible padding bits*/
+    *out = (unsigned char*)lodepng_malloc(*outsize);
+    if(!(*out)) error = 83; /*alloc fail*/
+
+    adam7 = (unsigned char*)lodepng_malloc(passstart[7]);
+    if(!adam7 && passstart[7]) error = 83; /*alloc fail*/
+
+    if(!error) {
+      unsigned i;
+
+      Adam7_interlace(adam7, in, w, h, bpp);
+      for(i = 0; i != 7; ++i) {
+        if(bpp < 8) {
+          unsigned char* padded = (unsigned char*)lodepng_malloc(padded_passstart[i + 1] - padded_passstart[i]);
+          if(!padded) ERROR_BREAK(83); /*alloc fail*/
+          addPaddingBits(padded, &adam7[passstart[i]],
+                         ((passw[i] * bpp + 7u) / 8u) * 8u, passw[i] * bpp, passh[i]);
+          error = filter(&(*out)[filter_passstart[i]], padded,
+                         passw[i], passh[i], &info_png->color, settings);
+          lodepng_free(padded);
+        } else {
+          error = filter(&(*out)[filter_passstart[i]], &adam7[padded_passstart[i]],
+                         passw[i], passh[i], &info_png->color, settings);
+        }
+
+        if(error) break;
+      }
+    }
+
+    lodepng_free(adam7);
+  }
+
+  return error;
+}
+
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+static unsigned addUnknownChunks(ucvector* out, unsigned char* data, size_t datasize) {
+  unsigned char* inchunk = data;
+  while((size_t)(inchunk - data) < datasize) {
+    CERROR_TRY_RETURN(lodepng_chunk_append(&out->data, &out->size, inchunk));
+    out->allocsize = out->size; /*fix the allocsize again*/
+    inchunk = lodepng_chunk_next(inchunk, data + datasize);
+  }
+  return 0;
+}
+
+static unsigned isGrayICCProfile(const unsigned char* profile, unsigned size) {
+  /*
+  It is a gray profile if bytes 16-19 are "GRAY", rgb profile if bytes 16-19
+  are "RGB ". We do not perform any full parsing of the ICC profile here, other
+  than check those 4 bytes to grayscale profile. Other than that, validity of
+  the profile is not checked. This is needed only because the PNG specification
+  requires using a non-gray color model if there is an ICC profile with "RGB "
+  (sadly limiting compression opportunities if the input data is grayscale RGB
+  data), and requires using a gray color model if it is "GRAY".
+  */
+  if(size < 20) return 0;
+  return profile[16] == 'G' &&  profile[17] == 'R' &&  profile[18] == 'A' &&  profile[19] == 'Y';
+}
+
+static unsigned isRGBICCProfile(const unsigned char* profile, unsigned size) {
+  /* See comment in isGrayICCProfile*/
+  if(size < 20) return 0;
+  return profile[16] == 'R' &&  profile[17] == 'G' &&  profile[18] == 'B' &&  profile[19] == ' ';
+}
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+
+unsigned lodepng_encode(unsigned char** out, size_t* outsize,
+                        const unsigned char* image, unsigned w, unsigned h,
+                        LodePNGState* state) {
+  unsigned char* data = 0; /*uncompressed version of the IDAT chunk data*/
+  size_t datasize = 0;
+  ucvector outv = ucvector_init(NULL, 0);
+  LodePNGInfo info;
+  const LodePNGInfo* info_png = &state->info_png;
+
+  lodepng_info_init(&info);
+
+  /*provide some proper output values if error will happen*/
+  *out = 0;
+  *outsize = 0;
+  state->error = 0;
+
+  /*check input values validity*/
+  if((info_png->color.colortype == LCT_PALETTE || state->encoder.force_palette)
+      && (info_png->color.palettesize == 0 || info_png->color.palettesize > 256)) {
+    state->error = 68; /*invalid palette size, it is only allowed to be 1-256*/
+    goto cleanup;
+  }
+  if(state->encoder.zlibsettings.btype > 2) {
+    state->error = 61; /*error: invalid btype*/
+    goto cleanup;
+  }
+  if(info_png->interlace_method > 1) {
+    state->error = 71; /*error: invalid interlace mode*/
+    goto cleanup;
+  }
+  state->error = checkColorValidity(info_png->color.colortype, info_png->color.bitdepth);
+  if(state->error) goto cleanup; /*error: invalid color type given*/
+  state->error = checkColorValidity(state->info_raw.colortype, state->info_raw.bitdepth);
+  if(state->error) goto cleanup; /*error: invalid color type given*/
+
+  /* color convert and compute scanline filter types */
+  lodepng_info_copy(&info, &state->info_png);
+  if(state->encoder.auto_convert) {
+    LodePNGColorStats stats;
+    lodepng_color_stats_init(&stats);
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    if(info_png->iccp_defined &&
+        isGrayICCProfile(info_png->iccp_profile, info_png->iccp_profile_size)) {
+      /*the PNG specification does not allow to use palette with a GRAY ICC profile, even
+      if the palette has only gray colors, so disallow it.*/
+      stats.allow_palette = 0;
+    }
+    if(info_png->iccp_defined &&
+        isRGBICCProfile(info_png->iccp_profile, info_png->iccp_profile_size)) {
+      /*the PNG specification does not allow to use grayscale color with RGB ICC profile, so disallow gray.*/
+      stats.allow_greyscale = 0;
+    }
+#endif /* LODEPNG_COMPILE_ANCILLARY_CHUNKS */
+    state->error = lodepng_compute_color_stats(&stats, image, w, h, &state->info_raw);
+    if(state->error) goto cleanup;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    if(info_png->background_defined) {
+      /*the background chunk's color must be taken into account as well*/
+      unsigned r = 0, g = 0, b = 0;
+      LodePNGColorMode mode16 = lodepng_color_mode_make(LCT_RGB, 16);
+      lodepng_convert_rgb(&r, &g, &b, info_png->background_r, info_png->background_g, info_png->background_b, &mode16, &info_png->color);
+      state->error = lodepng_color_stats_add(&stats, r, g, b, 65535);
+      if(state->error) goto cleanup;
+    }
+#endif /* LODEPNG_COMPILE_ANCILLARY_CHUNKS */
+    state->error = auto_choose_color(&info.color, &state->info_raw, &stats);
+    if(state->error) goto cleanup;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    /*also convert the background chunk*/
+    if(info_png->background_defined) {
+      if(lodepng_convert_rgb(&info.background_r, &info.background_g, &info.background_b,
+          info_png->background_r, info_png->background_g, info_png->background_b, &info.color, &info_png->color)) {
+        state->error = 104;
+        goto cleanup;
+      }
+    }
+#endif /* LODEPNG_COMPILE_ANCILLARY_CHUNKS */
+  }
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  if(info_png->iccp_defined) {
+    unsigned gray_icc = isGrayICCProfile(info_png->iccp_profile, info_png->iccp_profile_size);
+    unsigned rgb_icc = isRGBICCProfile(info_png->iccp_profile, info_png->iccp_profile_size);
+    unsigned gray_png = info.color.colortype == LCT_GREY || info.color.colortype == LCT_GREY_ALPHA;
+    if(!gray_icc && !rgb_icc) {
+      state->error = 100; /* Disallowed profile color type for PNG */
+      goto cleanup;
+    }
+    if(gray_icc != gray_png) {
+      /*Not allowed to use RGB/RGBA/palette with GRAY ICC profile or vice versa,
+      or in case of auto_convert, it wasn't possible to find appropriate model*/
+      state->error = state->encoder.auto_convert ? 102 : 101;
+      goto cleanup;
+    }
+  }
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+  if(!lodepng_color_mode_equal(&state->info_raw, &info.color)) {
+    unsigned char* converted;
+    size_t size = ((size_t)w * (size_t)h * (size_t)lodepng_get_bpp(&info.color) + 7u) / 8u;
+
+    converted = (unsigned char*)lodepng_malloc(size);
+    if(!converted && size) state->error = 83; /*alloc fail*/
+    if(!state->error) {
+      if (state->lodepng_convert && state->info_raw.colortype == LCT_CUSTOM) {
+        state->error = state->lodepng_convert(converted, image, &info.color, &state->info_raw, w, h);
+      } else {
+        state->error = lodepng_convert(converted, image, &info.color, &state->info_raw, w, h);
+      }
+    }
+    if(!state->error) {
+      state->error = preProcessScanlines(&data, &datasize, converted, w, h, &info, &state->encoder);
+    }
+    lodepng_free(converted);
+    if(state->error) goto cleanup;
+  } else {
+    state->error = preProcessScanlines(&data, &datasize, image, w, h, &info, &state->encoder);
+    if(state->error) goto cleanup;
+  }
+
+  /* output all PNG chunks */ {
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    size_t i;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    /*write signature and chunks*/
+    state->error = writeSignature(&outv);
+    if(state->error) goto cleanup;
+    /*IHDR*/
+    state->error = addChunk_IHDR(&outv, w, h, info.color.colortype, info.color.bitdepth, info.interlace_method);
+    if(state->error) goto cleanup;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    /*unknown chunks between IHDR and PLTE*/
+    if(info.unknown_chunks_data[0]) {
+      state->error = addUnknownChunks(&outv, info.unknown_chunks_data[0], info.unknown_chunks_size[0]);
+      if(state->error) goto cleanup;
+    }
+    /*color profile chunks must come before PLTE */
+    if(info.iccp_defined) {
+      state->error = addChunk_iCCP(&outv, &info, &state->encoder.zlibsettings);
+      if(state->error) goto cleanup;
+    }
+    if(info.srgb_defined) {
+      state->error = addChunk_sRGB(&outv, &info);
+      if(state->error) goto cleanup;
+    }
+    if(info.gama_defined) {
+      state->error = addChunk_gAMA(&outv, &info);
+      if(state->error) goto cleanup;
+    }
+    if(info.chrm_defined) {
+      state->error = addChunk_cHRM(&outv, &info);
+      if(state->error) goto cleanup;
+    }
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    /*PLTE*/
+    if(info.color.colortype == LCT_PALETTE) {
+      state->error = addChunk_PLTE(&outv, &info.color);
+      if(state->error) goto cleanup;
+    }
+    if(state->encoder.force_palette && (info.color.colortype == LCT_RGB || info.color.colortype == LCT_RGBA)) {
+      /*force_palette means: write suggested palette for truecolor in PLTE chunk*/
+      state->error = addChunk_PLTE(&outv, &info.color);
+      if(state->error) goto cleanup;
+    }
+    /*tRNS (this will only add if when necessary) */
+    state->error = addChunk_tRNS(&outv, &info.color);
+    if(state->error) goto cleanup;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    /*bKGD (must come between PLTE and the IDAt chunks*/
+    if(info.background_defined) {
+      state->error = addChunk_bKGD(&outv, &info);
+      if(state->error) goto cleanup;
+    }
+    /*pHYs (must come before the IDAT chunks)*/
+    if(info.phys_defined) {
+      state->error = addChunk_pHYs(&outv, &info);
+      if(state->error) goto cleanup;
+    }
+
+    /*unknown chunks between PLTE and IDAT*/
+    if(info.unknown_chunks_data[1]) {
+      state->error = addUnknownChunks(&outv, info.unknown_chunks_data[1], info.unknown_chunks_size[1]);
+      if(state->error) goto cleanup;
+    }
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    /*IDAT (multiple IDAT chunks must be consecutive)*/
+    state->error = addChunk_IDAT(&outv, data, datasize, &state->encoder.zlibsettings);
+    if(state->error) goto cleanup;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+    /*tIME*/
+    if(info.time_defined) {
+      state->error = addChunk_tIME(&outv, &info.time);
+      if(state->error) goto cleanup;
+    }
+    /*tEXt and/or zTXt*/
+    for(i = 0; i != info.text_num; ++i) {
+      if(lodepng_strlen(info.text_keys[i]) > 79) {
+        state->error = 66; /*text chunk too large*/
+        goto cleanup;
+      }
+      if(lodepng_strlen(info.text_keys[i]) < 1) {
+        state->error = 67; /*text chunk too small*/
+        goto cleanup;
+      }
+      if(state->encoder.text_compression) {
+        state->error = addChunk_zTXt(&outv, info.text_keys[i], info.text_strings[i], &state->encoder.zlibsettings);
+        if(state->error) goto cleanup;
+      } else {
+        state->error = addChunk_tEXt(&outv, info.text_keys[i], info.text_strings[i]);
+        if(state->error) goto cleanup;
+      }
+    }
+    /*LodePNG version id in text chunk*/
+    if(state->encoder.add_id) {
+      unsigned already_added_id_text = 0;
+      for(i = 0; i != info.text_num; ++i) {
+        const char* k = info.text_keys[i];
+        /* Could use strcmp, but we're not calling or reimplementing this C library function for this use only */
+        if(k[0] == 'L' && k[1] == 'o' && k[2] == 'd' && k[3] == 'e' &&
+           k[4] == 'P' && k[5] == 'N' && k[6] == 'G' && k[7] == '\0') {
+          already_added_id_text = 1;
+          break;
+        }
+      }
+      if(already_added_id_text == 0) {
+        state->error = addChunk_tEXt(&outv, "LodePNG", LODEPNG_VERSION_STRING); /*it's shorter as tEXt than as zTXt chunk*/
+        if(state->error) goto cleanup;
+      }
+    }
+    /*iTXt*/
+    for(i = 0; i != info.itext_num; ++i) {
+      if(lodepng_strlen(info.itext_keys[i]) > 79) {
+        state->error = 66; /*text chunk too large*/
+        goto cleanup;
+      }
+      if(lodepng_strlen(info.itext_keys[i]) < 1) {
+        state->error = 67; /*text chunk too small*/
+        goto cleanup;
+      }
+      state->error = addChunk_iTXt(
+          &outv, state->encoder.text_compression,
+          info.itext_keys[i], info.itext_langtags[i], info.itext_transkeys[i], info.itext_strings[i],
+          &state->encoder.zlibsettings);
+      if(state->error) goto cleanup;
+    }
+
+    /*unknown chunks between IDAT and IEND*/
+    if(info.unknown_chunks_data[2]) {
+      state->error = addUnknownChunks(&outv, info.unknown_chunks_data[2], info.unknown_chunks_size[2]);
+      if(state->error) goto cleanup;
+    }
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+    state->error = addChunk_IEND(&outv);
+    if(state->error) goto cleanup;
+  }
+
+cleanup:
+  lodepng_info_cleanup(&info);
+  lodepng_free(data);
+
+  /*instead of cleaning the vector up, give it to the output*/
+  *out = outv.data;
+  *outsize = outv.size;
+
+  return state->error;
+}
+
+unsigned lodepng_encode_memory(unsigned char** out, size_t* outsize, const unsigned char* image,
+                               unsigned w, unsigned h, LodePNGColorType colortype, unsigned bitdepth) {
+  unsigned error;
+  LodePNGState state;
+  lodepng_state_init(&state);
+  state.info_raw.colortype = colortype;
+  state.info_raw.bitdepth = bitdepth;
+  state.info_png.color.colortype = colortype;
+  state.info_png.color.bitdepth = bitdepth;
+  lodepng_encode(out, outsize, image, w, h, &state);
+  error = state.error;
+  lodepng_state_cleanup(&state);
+  return error;
+}
+
+unsigned lodepng_encode32(unsigned char** out, size_t* outsize, const unsigned char* image, unsigned w, unsigned h) {
+  return lodepng_encode_memory(out, outsize, image, w, h, LCT_RGBA, 8);
+}
+
+unsigned lodepng_encode24(unsigned char** out, size_t* outsize, const unsigned char* image, unsigned w, unsigned h) {
+  return lodepng_encode_memory(out, outsize, image, w, h, LCT_RGB, 8);
+}
+
+#ifdef LODEPNG_COMPILE_DISK
+unsigned lodepng_encode_file(const char* filename, const unsigned char* image, unsigned w, unsigned h,
+                             LodePNGColorType colortype, unsigned bitdepth) {
+  unsigned char* buffer;
+  size_t buffersize;
+  unsigned error = lodepng_encode_memory(&buffer, &buffersize, image, w, h, colortype, bitdepth);
+  if(!error) error = lodepng_save_file(buffer, buffersize, filename);
+  lodepng_free(buffer);
+  return error;
+}
+
+unsigned lodepng_encode32_file(const char* filename, const unsigned char* image, unsigned w, unsigned h) {
+  return lodepng_encode_file(filename, image, w, h, LCT_RGBA, 8);
+}
+
+unsigned lodepng_encode24_file(const char* filename, const unsigned char* image, unsigned w, unsigned h) {
+  return lodepng_encode_file(filename, image, w, h, LCT_RGB, 8);
+}
+#endif /*LODEPNG_COMPILE_DISK*/
+
+void lodepng_encoder_settings_init(LodePNGEncoderSettings* settings) {
+  lodepng_compress_settings_init(&settings->zlibsettings);
+  settings->filter_palette_zero = 1;
+  settings->filter_strategy = LFS_MINSUM;
+  settings->auto_convert = 1;
+  settings->force_palette = 0;
+  settings->predefined_filters = 0;
+#ifdef LODEPNG_COMPILE_ANCILLARY_CHUNKS
+  settings->add_id = 0;
+  settings->text_compression = 1;
+#endif /*LODEPNG_COMPILE_ANCILLARY_CHUNKS*/
+}
+
+#endif /*LODEPNG_COMPILE_ENCODER*/
+#endif /*LODEPNG_COMPILE_PNG*/
+
+#ifdef LODEPNG_COMPILE_ERROR_TEXT
+/*
+This returns the description of a numerical error code in English. This is also
+the documentation of all the error codes.
+*/
+const char* lodepng_error_text(unsigned code) {
+  switch(code) {
+    case 0: return "no error, everything went ok";
+    case 1: return "nothing done yet"; /*the Encoder/Decoder has done nothing yet, error checking makes no sense yet*/
+    case 10: return "end of input memory reached without huffman end code"; /*while huffman decoding*/
+    case 11: return "error in code tree made it jump outside of huffman tree"; /*while huffman decoding*/
+    case 13: return "problem while processing dynamic deflate block";
+    case 14: return "problem while processing dynamic deflate block";
+    case 15: return "problem while processing dynamic deflate block";
+    /*this error could happen if there are only 0 or 1 symbols present in the huffman code:*/
+    case 16: return "invalid code while processing dynamic deflate block";
+    case 17: return "end of out buffer memory reached while inflating";
+    case 18: return "invalid distance code while inflating";
+    case 19: return "end of out buffer memory reached while inflating";
+    case 20: return "invalid deflate block BTYPE encountered while decoding";
+    case 21: return "NLEN is not ones complement of LEN in a deflate block";
+
+    /*end of out buffer memory reached while inflating:
+    This can happen if the inflated deflate data is longer than the amount of bytes required to fill up
+    all the pixels of the image, given the color depth and image dimensions. Something that doesn't
+    happen in a normal, well encoded, PNG image.*/
+    case 22: return "end of out buffer memory reached while inflating";
+    case 23: return "end of in buffer memory reached while inflating";
+    case 24: return "invalid FCHECK in zlib header";
+    case 25: return "invalid compression method in zlib header";
+    case 26: return "FDICT encountered in zlib header while it's not used for PNG";
+    case 27: return "PNG file is smaller than a PNG header";
+    /*Checks the magic file header, the first 8 bytes of the PNG file*/
+    case 28: return "incorrect PNG signature, it's no PNG or corrupted";
+    case 29: return "first chunk is not the header chunk";
+    case 30: return "chunk length too large, chunk broken off at end of file";
+    case 31: return "illegal PNG color type or bpp";
+    case 32: return "illegal PNG compression method";
+    case 33: return "illegal PNG filter method";
+    case 34: return "illegal PNG interlace method";
+    case 35: return "chunk length of a chunk is too large or the chunk too small";
+    case 36: return "illegal PNG filter type encountered";
+    case 37: return "illegal bit depth for this color type given";
+    case 38: return "the palette is too small or too big"; /*0, or more than 256 colors*/
+    case 39: return "tRNS chunk before PLTE or has more entries than palette size";
+    case 40: return "tRNS chunk has wrong size for grayscale image";
+    case 41: return "tRNS chunk has wrong size for RGB image";
+    case 42: return "tRNS chunk appeared while it was not allowed for this color type";
+    case 43: return "bKGD chunk has wrong size for palette image";
+    case 44: return "bKGD chunk has wrong size for grayscale image";
+    case 45: return "bKGD chunk has wrong size for RGB image";
+    case 48: return "empty input buffer given to decoder. Maybe caused by non-existing file?";
+    case 49: return "jumped past memory while generating dynamic huffman tree";
+    case 50: return "jumped past memory while generating dynamic huffman tree";
+    case 51: return "jumped past memory while inflating huffman block";
+    case 52: return "jumped past memory while inflating";
+    case 53: return "size of zlib data too small";
+    case 54: return "repeat symbol in tree while there was no value symbol yet";
+    /*jumped past tree while generating huffman tree, this could be when the
+    tree will have more leaves than symbols after generating it out of the
+    given lengths. They call this an oversubscribed dynamic bit lengths tree in zlib.*/
+    case 55: return "jumped past tree while generating huffman tree";
+    case 56: return "given output image colortype or bitdepth not supported for color conversion";
+    case 57: return "invalid CRC encountered (checking CRC can be disabled)";
+    case 58: return "invalid ADLER32 encountered (checking ADLER32 can be disabled)";
+    case 59: return "requested color conversion not supported";
+    case 60: return "invalid window size given in the settings of the encoder (must be 0-32768)";
+    case 61: return "invalid BTYPE given in the settings of the encoder (only 0, 1 and 2 are allowed)";
+    /*LodePNG leaves the choice of RGB to grayscale conversion formula to the user.*/
+    case 62: return "conversion from color to grayscale not supported";
+    /*(2^31-1)*/
+    case 63: return "length of a chunk too long, max allowed for PNG is 2147483647 bytes per chunk";
+    /*this would result in the inability of a deflated block to ever contain an end code. It must be at least 1.*/
+    case 64: return "the length of the END symbol 256 in the Huffman tree is 0";
+    case 66: return "the length of a text chunk keyword given to the encoder is longer than the maximum of 79 bytes";
+    case 67: return "the length of a text chunk keyword given to the encoder is smaller than the minimum of 1 byte";
+    case 68: return "tried to encode a PLTE chunk with a palette that has less than 1 or more than 256 colors";
+    case 69: return "unknown chunk type with 'critical' flag encountered by the decoder";
+    case 71: return "invalid interlace mode given to encoder (must be 0 or 1)";
+    case 72: return "while decoding, invalid compression method encountering in zTXt or iTXt chunk (it must be 0)";
+    case 73: return "invalid tIME chunk size";
+    case 74: return "invalid pHYs chunk size";
+    /*length could be wrong, or data chopped off*/
+    case 75: return "no null termination char found while decoding text chunk";
+    case 76: return "iTXt chunk too short to contain required bytes";
+    case 77: return "integer overflow in buffer size";
+    case 78: return "failed to open file for reading"; /*file doesn't exist or couldn't be opened for reading*/
+    case 79: return "failed to open file for writing";
+    case 80: return "tried creating a tree of 0 symbols";
+    case 81: return "lazy matching at pos 0 is impossible";
+    case 82: return "color conversion to palette requested while a color isn't in palette, or index out of bounds";
+    case 83: return "memory allocation failed";
+    case 84: return "given image too small to contain all pixels to be encoded";
+    case 86: return "impossible offset in lz77 encoding (internal bug)";
+    case 87: return "must provide custom zlib function pointer if LODEPNG_COMPILE_ZLIB is not defined";
+    case 88: return "invalid filter strategy given for LodePNGEncoderSettings.filter_strategy";
+    case 89: return "text chunk keyword too short or long: must have size 1-79";
+    /*the windowsize in the LodePNGCompressSettings. Requiring POT(==> & instead of %) makes encoding 12% faster.*/
+    case 90: return "windowsize must be a power of two";
+    case 91: return "invalid decompressed idat size";
+    case 92: return "integer overflow due to too many pixels";
+    case 93: return "zero width or height is invalid";
+    case 94: return "header chunk must have a size of 13 bytes";
+    case 95: return "integer overflow with combined idat chunk size";
+    case 96: return "invalid gAMA chunk size";
+    case 97: return "invalid cHRM chunk size";
+    case 98: return "invalid sRGB chunk size";
+    case 99: return "invalid sRGB rendering intent";
+    case 100: return "invalid ICC profile color type, the PNG specification only allows RGB or GRAY";
+    case 101: return "PNG specification does not allow RGB ICC profile on gray color types and vice versa";
+    case 102: return "not allowed to set grayscale ICC profile with colored pixels by PNG specification";
+    case 103: return "invalid palette index in bKGD chunk. Maybe it came before PLTE chunk?";
+    case 104: return "invalid bKGD color while encoding (e.g. palette index out of range)";
+    case 105: return "integer overflow of bitsize";
+    case 106: return "PNG file must have PLTE chunk if color type is palette";
+    case 107: return "color convert from palette mode requested without setting the palette data in it";
+    case 108: return "tried to add more than 256 values to a palette";
+    /*this limit can be configured in LodePNGDecompressSettings*/
+    case 109: return "tried to decompress zlib or deflate data larger than desired max_output_size";
+    case 110: return "custom zlib or inflate decompression failed";
+    case 111: return "custom zlib or deflate compression failed";
+    /*max text size limit can be configured in LodePNGDecoderSettings. This error prevents
+    unreasonable memory consumption when decoding due to impossibly large text sizes.*/
+    case 112: return "compressed text unreasonably large";
+    /*max ICC size limit can be configured in LodePNGDecoderSettings. This error prevents
+    unreasonable memory consumption when decoding due to impossibly large ICC profile*/
+    case 113: return "ICC profile unreasonably large";
+  }
+  return "unknown error code";
+}
+#endif /*LODEPNG_COMPILE_ERROR_TEXT*/
+
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* // C++ Wrapper                                                          // */
+/* ////////////////////////////////////////////////////////////////////////// */
+/* ////////////////////////////////////////////////////////////////////////// */
+
+#ifdef LODEPNG_COMPILE_CPP
+namespace lodepng {
+
+#ifdef LODEPNG_COMPILE_DISK
+unsigned load_file(std::vector<unsigned char>& buffer, const std::string& filename) {
+  long size = lodepng_filesize(filename.c_str());
+  if(size < 0) return 78;
+  buffer.resize((size_t)size);
+  return size == 0 ? 0 : lodepng_buffer_file(&buffer[0], (size_t)size, filename.c_str());
+}
+
+/*write given buffer to the file, overwriting the file, it doesn't append to it.*/
+unsigned save_file(const std::vector<unsigned char>& buffer, const std::string& filename) {
+  return lodepng_save_file(buffer.empty() ? 0 : &buffer[0], buffer.size(), filename.c_str());
+}
+#endif /* LODEPNG_COMPILE_DISK */
+
+#ifdef LODEPNG_COMPILE_ZLIB
+#ifdef LODEPNG_COMPILE_DECODER
+unsigned decompress(std::vector<unsigned char>& out, const unsigned char* in, size_t insize,
+                    const LodePNGDecompressSettings& settings) {
+  unsigned char* buffer = 0;
+  size_t buffersize = 0;
+  unsigned error = zlib_decompress(&buffer, &buffersize, 0, in, insize, &settings);
+  if(buffer) {
+    out.insert(out.end(), &buffer[0], &buffer[buffersize]);
+    lodepng_free(buffer);
+  }
+  return error;
+}
+
+unsigned decompress(std::vector<unsigned char>& out, const std::vector<unsigned char>& in,
+                    const LodePNGDecompressSettings& settings) {
+  return decompress(out, in.empty() ? 0 : &in[0], in.size(), settings);
+}
+#endif /* LODEPNG_COMPILE_DECODER */
+
+#ifdef LODEPNG_COMPILE_ENCODER
+unsigned compress(std::vector<unsigned char>& out, const unsigned char* in, size_t insize,
+                  const LodePNGCompressSettings& settings) {
+  unsigned char* buffer = 0;
+  size_t buffersize = 0;
+  unsigned error = zlib_compress(&buffer, &buffersize, in, insize, &settings);
+  if(buffer) {
+    out.insert(out.end(), &buffer[0], &buffer[buffersize]);
+    lodepng_free(buffer);
+  }
+  return error;
+}
+
+unsigned compress(std::vector<unsigned char>& out, const std::vector<unsigned char>& in,
+                  const LodePNGCompressSettings& settings) {
+  return compress(out, in.empty() ? 0 : &in[0], in.size(), settings);
+}
+#endif /* LODEPNG_COMPILE_ENCODER */
+#endif /* LODEPNG_COMPILE_ZLIB */
+
+
+#ifdef LODEPNG_COMPILE_PNG
+
+State::State() {
+  lodepng_state_init(this);
+}
+
+State::State(const State& other) {
+  lodepng_state_init(this);
+  lodepng_state_copy(this, &other);
+}
+
+State::~State() {
+  lodepng_state_cleanup(this);
+}
+
+State& State::operator=(const State& other) {
+  lodepng_state_copy(this, &other);
+  return *this;
+}
+
+#ifdef LODEPNG_COMPILE_DECODER
+
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h, const unsigned char* in,
+                size_t insize, LodePNGColorType colortype, unsigned bitdepth) {
+  unsigned char* buffer = 0;
+  unsigned error = lodepng_decode_memory(&buffer, &w, &h, in, insize, colortype, bitdepth);
+  if(buffer && !error) {
+    State state;
+    state.info_raw.colortype = colortype;
+    state.info_raw.bitdepth = bitdepth;
+    size_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);
+    out.insert(out.end(), &buffer[0], &buffer[buffersize]);
+  }
+  lodepng_free(buffer);
+  return error;
+}
+
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                const std::vector<unsigned char>& in, LodePNGColorType colortype, unsigned bitdepth) {
+  return decode(out, w, h, in.empty() ? 0 : &in[0], (unsigned)in.size(), colortype, bitdepth);
+}
+
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                State& state,
+                const unsigned char* in, size_t insize) {
+  unsigned char* buffer = NULL;
+  unsigned error = lodepng_decode(&buffer, &w, &h, &state, in, insize);
+  if(buffer && !error) {
+    size_t buffersize = lodepng_get_raw_size(w, h, &state.info_raw);
+    out.insert(out.end(), &buffer[0], &buffer[buffersize]);
+  }
+  lodepng_free(buffer);
+  return error;
+}
+
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h,
+                State& state,
+                const std::vector<unsigned char>& in) {
+  return decode(out, w, h, state, in.empty() ? 0 : &in[0], in.size());
+}
+
+#ifdef LODEPNG_COMPILE_DISK
+unsigned decode(std::vector<unsigned char>& out, unsigned& w, unsigned& h, const std::string& filename,
+                LodePNGColorType colortype, unsigned bitdepth) {
+  std::vector<unsigned char> buffer;
+  /* safe output values in case error happens */
+  w = h = 0;
+  unsigned error = load_file(buffer, filename);
+  if(error) return error;
+  return decode(out, w, h, buffer, colortype, bitdepth);
+}
+#endif /* LODEPNG_COMPILE_DECODER */
+#endif /* LODEPNG_COMPILE_DISK */
+
+#ifdef LODEPNG_COMPILE_ENCODER
+unsigned encode(std::vector<unsigned char>& out, const unsigned char* in, unsigned w, unsigned h,
+                LodePNGColorType colortype, unsigned bitdepth) {
+  unsigned char* buffer;
+  size_t buffersize;
+  unsigned error = lodepng_encode_memory(&buffer, &buffersize, in, w, h, colortype, bitdepth);
+  if(buffer) {
+    out.insert(out.end(), &buffer[0], &buffer[buffersize]);
+    lodepng_free(buffer);
+  }
+  return error;
+}
+
+unsigned encode(std::vector<unsigned char>& out,
+                const std::vector<unsigned char>& in, unsigned w, unsigned h,
+                LodePNGColorType colortype, unsigned bitdepth) {
+  if(lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size()) return 84;
+  return encode(out, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth);
+}
+
+unsigned encode(std::vector<unsigned char>& out,
+                const unsigned char* in, unsigned w, unsigned h,
+                State& state) {
+  unsigned char* buffer;
+  size_t buffersize;
+  unsigned error = lodepng_encode(&buffer, &buffersize, in, w, h, &state);
+  if(buffer) {
+    out.insert(out.end(), &buffer[0], &buffer[buffersize]);
+    lodepng_free(buffer);
+  }
+  return error;
+}
+
+unsigned encode(std::vector<unsigned char>& out,
+                const std::vector<unsigned char>& in, unsigned w, unsigned h,
+                State& state) {
+  if(lodepng_get_raw_size(w, h, &state.info_raw) > in.size()) return 84;
+  return encode(out, in.empty() ? 0 : &in[0], w, h, state);
+}
+
+#ifdef LODEPNG_COMPILE_DISK
+unsigned encode(const std::string& filename,
+                const unsigned char* in, unsigned w, unsigned h,
+                LodePNGColorType colortype, unsigned bitdepth) {
+  std::vector<unsigned char> buffer;
+  unsigned error = encode(buffer, in, w, h, colortype, bitdepth);
+  if(!error) error = save_file(buffer, filename);
+  return error;
+}
+
+unsigned encode(const std::string& filename,
+                const std::vector<unsigned char>& in, unsigned w, unsigned h,
+                LodePNGColorType colortype, unsigned bitdepth) {
+  if(lodepng_get_raw_size_lct(w, h, colortype, bitdepth) > in.size()) return 84;
+  return encode(filename, in.empty() ? 0 : &in[0], w, h, colortype, bitdepth);
+}
+#endif /* LODEPNG_COMPILE_DISK */
+#endif /* LODEPNG_COMPILE_ENCODER */
+#endif /* LODEPNG_COMPILE_PNG */
+} /* namespace lodepng */
+#endif /*LODEPNG_COMPILE_CPP*/
+#endif // IMLIB_ENABLE_PNG_ENCODER || IMLIB_ENABLE_PNG_DECODER
diff --git a/github_source/minicv2/src/lsd.c b/github_source/minicv2/src/lsd.c
new file mode 100644
index 0000000..cd18e1c
--- /dev/null
+++ b/github_source/minicv2/src/lsd.c
@@ -0,0 +1,2799 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Line Segment Detector.
+ */
+#include <float.h>
+#include <limits.h>
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_FIND_LINE_SEGMENTS
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-function"
+#pragma GCC diagnostic ignored "-Wunused-variable"
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+#define PI 3.1415926
+#define error(msg) fb_alloc_fail()
+#define free(ptr) ({ umm_free(ptr); })
+#define malloc(size) ({ void *_r = umm_malloc(size); if(!_r) fb_alloc_fail(); _r; })
+#define realloc(ptr, size) ({ void *_r = umm_realloc((ptr), (size)); if(!_r) fb_alloc_fail(); _r; })
+#define calloc(num, item_size) ({ void *_r = umm_calloc((num), (item_size)); if(!_r) fb_alloc_fail(); _r; })
+#define sqrt(x) fast_sqrtf(x)
+#define floor(x) fast_floorf(x)
+#define ceil(x) fast_ceilf(x)
+#define round(x) fast_roundf(x)
+#define atan(x) fast_atanf(x)
+#define atan2(y, x) fast_atan2f((y), (x))
+#define exp(x) fast_expf(x)
+#define fabs(x) fast_fabsf(x)
+#define log(x) fast_log(x)
+#define log10(x) log10f(x)
+#define cos(x) cosf(x)
+#define sin(x) sinf(x)
+#define pow(x,y) powf((x),(y))
+#define sinh(x) sinhf(x)
+#define radToDeg(x) ((x) * (180.0f / PI))
+#define degToRad(x) ((x) * (PI / 180.0f))
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "lsd.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*----------------------------------------------------------------------------
+
+  LSD - Line Segment Detector on digital images
+
+  This code is part of the following publication and was subject
+  to peer review:
+
+    "LSD: a Line Segment Detector" by Rafael Grompone von Gioi,
+    Jeremie Jakubowicz, Jean-Michel Morel, and Gregory Randall,
+    Image Processing On Line, 2012. DOI:10.5201/ipol.2012.gjmr-lsd
+    http://dx.doi.org/10.5201/ipol.2012.gjmr-lsd
+
+  Copyright (c) 2007-2011 rafael grompone von gioi <grompone@gmail.com>
+
+  This program is free software: you can redistribute it and/or modify
+  it under the terms of the GNU Affero General Public License as
+  published by the Free Software Foundation, either version 3 of the
+  License, or (at your option) any later version.
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+  GNU Affero General Public License for more details.
+
+  You should have received a copy of the GNU Affero General Public License
+  along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+  ----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** @file lsd.h
+    LSD module header
+    @author rafael grompone von gioi <grompone@gmail.com>
+ */
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** LSD Full Interface
+
+    @param n_out       Pointer to an int where LSD will store the number of
+                       line segments detected.
+
+    @param img         Pointer to input image data. It must be an array of
+                       unsigned chars of size X x Y, and the pixel at coordinates
+                       (x,y) is obtained by img[x+y*X].
+
+    @param X           X size of the image: the number of columns.
+
+    @param Y           Y size of the image: the number of rows.
+
+    @param scale       When different from 1.0, LSD will scale the input image
+                       by 'scale' factor by Gaussian filtering, before detecting
+                       line segments.
+                       Example: if scale=0.8, the input image will be subsampled
+                       to 80% of its size, before the line segment detector
+                       is applied.
+                       Suggested value: 0.8
+
+    @param sigma_scale When scale!=1.0, the sigma of the Gaussian filter is:
+                       sigma = sigma_scale / scale,   if scale <  1.0
+                       sigma = sigma_scale,           if scale >= 1.0
+                       Suggested value: 0.6
+
+    @param quant       Bound to the quantization error on the gradient norm.
+                       Example: if gray levels are quantized to integer steps,
+                       the gradient (computed by finite differences) error
+                       due to quantization will be bounded by 2.0, as the
+                       worst case is when the error are 1 and -1, that
+                       gives an error of 2.0.
+                       Suggested value: 2.0
+
+    @param ang_th      Gradient angle tolerance in the region growing
+                       algorithm, in degrees.
+                       Suggested value: 22.5
+
+    @param log_eps     Detection threshold, accept if -log10(NFA) > log_eps.
+                       The larger the value, the more strict the detector is,
+                       and will result in less detections.
+                       (Note that the 'minus sign' makes that this
+                       behavior is opposite to the one of NFA.)
+                       The value -log10(NFA) is equivalent but more
+                       intuitive than NFA:
+                       - -1.0 gives an average of 10 false detections on noise
+                       -  0.0 gives an average of 1 false detections on noise
+                       -  1.0 gives an average of 0.1 false detections on nose
+                       -  2.0 gives an average of 0.01 false detections on noise
+                       .
+                       Suggested value: 0.0
+
+    @param density_th  Minimal proportion of 'supporting' points in a rectangle.
+                       Suggested value: 0.7
+
+    @param n_bins      Number of bins used in the pseudo-ordering of gradient
+                       modulus.
+                       Suggested value: 1024
+
+    @param reg_img     Optional output: if desired, LSD will return an
+                       int image where each pixel indicates the line segment
+                       to which it belongs. Unused pixels have the value '0',
+                       while the used ones have the number of the line segment,
+                       numbered 1,2,3,..., in the same order as in the
+                       output list. If desired, a non NULL int** pointer must
+                       be assigned, and LSD will make that the pointer point
+                       to an int array of size reg_x x reg_y, where the pixel
+                       value at (x,y) is obtained with (*reg_img)[x+y*reg_x].
+                       Note that the resulting image has the size of the image
+                       used for the processing, that is, the size of the input
+                       image scaled by the given factor 'scale'. If scale!=1
+                       this size differs from XxY and that is the reason why
+                       its value is given by reg_x and reg_y.
+                       Suggested value: NULL
+
+    @param reg_x       Pointer to an int where LSD will put the X size
+                       'reg_img' image, when asked for.
+                       Suggested value: NULL
+
+    @param reg_y       Pointer to an int where LSD will put the Y size
+                       'reg_img' image, when asked for.
+                       Suggested value: NULL
+
+    @return            A float array of size 7 x n_out, containing the list
+                       of line segments detected. The array contains first
+                       7 values of line segment number 1, then the 7 values
+                       of line segment number 2, and so on, and it finish
+                       by the 7 values of line segment number n_out.
+                       The seven values are:
+                       - x1,y1,x2,y2,width,p,-log10(NFA)
+                       .
+                       for a line segment from coordinates (x1,y1) to (x2,y2),
+                       a width 'width', an angle precision of p in (0,1) given
+                       by angle_tolerance/180 degree, and NFA value 'NFA'.
+                       If 'out' is the returned pointer, the 7 values of
+                       line segment number 'n+1' are obtained with
+                       'out[7*n+0]' to 'out[7*n+6]'.
+ */
+float * LineSegmentDetection( int * n_out,
+                               unsigned char * img, int X, int Y,
+                               float scale, float sigma_scale, float quant,
+                               float ang_th, float log_eps, float density_th,
+                               int n_bins,
+                               int ** reg_img, int * reg_x, int * reg_y );
+
+/*----------------------------------------------------------------------------*/
+/** LSD Simple Interface with Scale and Region output.
+
+    @param n_out       Pointer to an int where LSD will store the number of
+                       line segments detected.
+
+    @param img         Pointer to input image data. It must be an array of
+                       unsigned chars of size X x Y, and the pixel at coordinates
+                       (x,y) is obtained by img[x+y*X].
+
+    @param X           X size of the image: the number of columns.
+
+    @param Y           Y size of the image: the number of rows.
+
+    @param scale       When different from 1.0, LSD will scale the input image
+                       by 'scale' factor by Gaussian filtering, before detecting
+                       line segments.
+                       Example: if scale=0.8, the input image will be subsampled
+                       to 80% of its size, before the line segment detector
+                       is applied.
+                       Suggested value: 0.8
+
+    @param reg_img     Optional output: if desired, LSD will return an
+                       int image where each pixel indicates the line segment
+                       to which it belongs. Unused pixels have the value '0',
+                       while the used ones have the number of the line segment,
+                       numbered 1,2,3,..., in the same order as in the
+                       output list. If desired, a non NULL int** pointer must
+                       be assigned, and LSD will make that the pointer point
+                       to an int array of size reg_x x reg_y, where the pixel
+                       value at (x,y) is obtained with (*reg_img)[x+y*reg_x].
+                       Note that the resulting image has the size of the image
+                       used for the processing, that is, the size of the input
+                       image scaled by the given factor 'scale'. If scale!=1
+                       this size differs from XxY and that is the reason why
+                       its value is given by reg_x and reg_y.
+                       Suggested value: NULL
+
+    @param reg_x       Pointer to an int where LSD will put the X size
+                       'reg_img' image, when asked for.
+                       Suggested value: NULL
+
+    @param reg_y       Pointer to an int where LSD will put the Y size
+                       'reg_img' image, when asked for.
+                       Suggested value: NULL
+
+    @return            A float array of size 7 x n_out, containing the list
+                       of line segments detected. The array contains first
+                       7 values of line segment number 1, then the 7 values
+                       of line segment number 2, and so on, and it finish
+                       by the 7 values of line segment number n_out.
+                       The seven values are:
+                       - x1,y1,x2,y2,width,p,-log10(NFA)
+                       .
+                       for a line segment from coordinates (x1,y1) to (x2,y2),
+                       a width 'width', an angle precision of p in (0,1) given
+                       by angle_tolerance/180 degree, and NFA value 'NFA'.
+                       If 'out' is the returned pointer, the 7 values of
+                       line segment number 'n+1' are obtained with
+                       'out[7*n+0]' to 'out[7*n+6]'.
+ */
+float * lsd_scale_region( int * n_out,
+                           unsigned char * img, int X, int Y, float scale,
+                           int ** reg_img, int * reg_x, int * reg_y );
+
+/*----------------------------------------------------------------------------*/
+/** LSD Simple Interface with Scale
+
+    @param n_out       Pointer to an int where LSD will store the number of
+                       line segments detected.
+
+    @param img         Pointer to input image data. It must be an array of
+                       unsigned chars of size X x Y, and the pixel at coordinates
+                       (x,y) is obtained by img[x+y*X].
+
+    @param X           X size of the image: the number of columns.
+
+    @param Y           Y size of the image: the number of rows.
+
+    @param scale       When different from 1.0, LSD will scale the input image
+                       by 'scale' factor by Gaussian filtering, before detecting
+                       line segments.
+                       Example: if scale=0.8, the input image will be subsampled
+                       to 80% of its size, before the line segment detector
+                       is applied.
+                       Suggested value: 0.8
+
+    @return            A float array of size 7 x n_out, containing the list
+                       of line segments detected. The array contains first
+                       7 values of line segment number 1, then the 7 values
+                       of line segment number 2, and so on, and it finish
+                       by the 7 values of line segment number n_out.
+                       The seven values are:
+                       - x1,y1,x2,y2,width,p,-log10(NFA)
+                       .
+                       for a line segment from coordinates (x1,y1) to (x2,y2),
+                       a width 'width', an angle precision of p in (0,1) given
+                       by angle_tolerance/180 degree, and NFA value 'NFA'.
+                       If 'out' is the returned pointer, the 7 values of
+                       line segment number 'n+1' are obtained with
+                       'out[7*n+0]' to 'out[7*n+6]'.
+ */
+float * lsd_scale(int * n_out, unsigned char * img, int X, int Y, float scale);
+
+/*----------------------------------------------------------------------------*/
+/** LSD Simple Interface
+
+    @param n_out       Pointer to an int where LSD will store the number of
+                       line segments detected.
+
+    @param img         Pointer to input image data. It must be an array of
+                       unsigned chars of size X x Y, and the pixel at coordinates
+                       (x,y) is obtained by img[x+y*X].
+
+    @param X           X size of the image: the number of columns.
+
+    @param Y           Y size of the image: the number of rows.
+
+    @return            A float array of size 7 x n_out, containing the list
+                       of line segments detected. The array contains first
+                       7 values of line segment number 1, then the 7 values
+                       of line segment number 2, and so on, and it finish
+                       by the 7 values of line segment number n_out.
+                       The seven values are:
+                       - x1,y1,x2,y2,width,p,-log10(NFA)
+                       .
+                       for a line segment from coordinates (x1,y1) to (x2,y2),
+                       a width 'width', an angle precision of p in (0,1) given
+                       by angle_tolerance/180 degree, and NFA value 'NFA'.
+                       If 'out' is the returned pointer, the 7 values of
+                       line segment number 'n+1' are obtained with
+                       'out[7*n+0]' to 'out[7*n+6]'.
+ */
+float * lsd(int * n_out, unsigned char * img, int X, int Y);
+
+/*----------------------------------------------------------------------------*/
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "lsd.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*----------------------------------------------------------------------------
+
+  LSD - Line Segment Detector on digital images
+
+  This code is part of the following publication and was subject
+  to peer review:
+
+    "LSD: a Line Segment Detector" by Rafael Grompone von Gioi,
+    Jeremie Jakubowicz, Jean-Michel Morel, and Gregory Randall,
+    Image Processing On Line, 2012. DOI:10.5201/ipol.2012.gjmr-lsd
+    http://dx.doi.org/10.5201/ipol.2012.gjmr-lsd
+
+  Copyright (c) 2007-2011 rafael grompone von gioi <grompone@gmail.com>
+
+  This program is free software: you can redistribute it and/or modify
+  it under the terms of the GNU Affero General Public License as
+  published by the Free Software Foundation, either version 3 of the
+  License, or (at your option) any later version.
+
+  This program is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+  GNU Affero General Public License for more details.
+
+  You should have received a copy of the GNU Affero General Public License
+  along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+  ----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** @file lsd.c
+    LSD module code
+    @author rafael grompone von gioi <grompone@gmail.com>
+ */
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** @mainpage LSD code documentation
+
+    This is an implementation of the Line Segment Detector described
+    in the paper:
+
+      "LSD: A Fast Line Segment Detector with a False Detection Control"
+      by Rafael Grompone von Gioi, Jeremie Jakubowicz, Jean-Michel Morel,
+      and Gregory Randall, IEEE Transactions on Pattern Analysis and
+      Machine Intelligence, vol. 32, no. 4, pp. 722-732, April, 2010.
+
+    and in more details in the CMLA Technical Report:
+
+      "LSD: A Line Segment Detector, Technical Report",
+      by Rafael Grompone von Gioi, Jeremie Jakubowicz, Jean-Michel Morel,
+      Gregory Randall, CMLA, ENS Cachan, 2010.
+
+    The version implemented here includes some further improvements
+    described in the following publication, of which this code is part:
+
+      "LSD: a Line Segment Detector" by Rafael Grompone von Gioi,
+      Jeremie Jakubowicz, Jean-Michel Morel, and Gregory Randall,
+      Image Processing On Line, 2012. DOI:10.5201/ipol.2012.gjmr-lsd
+      http://dx.doi.org/10.5201/ipol.2012.gjmr-lsd
+
+    The module's main function is lsd().
+
+    The source code is contained in two files: lsd.h and lsd.c.
+
+    HISTORY:
+    - version 1.6 - nov 2011:
+                              - changes in the interface,
+                              - max_grad parameter removed,
+                              - the factor 11 was added to the number of test
+                                to consider the different precision values
+                                tested,
+                              - a minor bug corrected in the gradient sorting
+                                code,
+                              - the algorithm now also returns p and log_nfa
+                                for each detection,
+                              - a minor bug was corrected in the image scaling,
+                              - the angle comparison in "isaligned" changed
+                                from < to <=,
+                              - "eps" variable renamed "log_eps",
+                              - "lsd_scale_region" interface was added,
+                              - minor changes to comments.
+    - version 1.5 - dec 2010: Changes in 'refine', -W option added,
+                              and more comments added.
+    - version 1.4 - jul 2010: lsd_scale interface added and doxygen doc.
+    - version 1.3 - feb 2010: Multiple bug correction and improved code.
+    - version 1.2 - dec 2009: First full Ansi C Language version.
+    - version 1.1 - sep 2009: Systematic subsampling to scale 0.8 and
+                              correction to partially handle "angle problem".
+    - version 1.0 - jan 2009: First complete Megawave2 and Ansi C Language
+                              version.
+
+    @author rafael grompone von gioi <grompone@gmail.com>
+ */
+/*----------------------------------------------------------------------------*/
+
+/** ln(10) */
+#ifndef M_LN10
+#define M_LN10 2.30258509299404568402f
+#endif /* !M_LN10 */
+
+/** PI */
+#ifndef M_PI
+#define M_PI   3.14159265358979323846f
+#endif /* !M_PI */
+
+#ifndef FALSE
+#define FALSE 0
+#endif /* !FALSE */
+
+#ifndef TRUE
+#define TRUE 1
+#endif /* !TRUE */
+
+/** Label for pixels with undefined gradient. */
+#define NOTDEF -512.0f // -1024.0f
+#define NOTDEF_INT -29335
+
+/** 3/2 pi */
+#define M_3_2_PI 4.71238898038f
+
+/** 2 pi */
+#define M_2__PI  6.28318530718f
+
+/** Label for pixels not used in yet. */
+#define NOTUSED 0
+
+/** Label for pixels already used in detection. */
+#define USED    1
+
+/*----------------------------------------------------------------------------*/
+/** Chained list of coordinates.
+ */
+struct coorlist
+{
+  int16_t x,y;
+  struct coorlist * next;
+};
+
+/*----------------------------------------------------------------------------*/
+/** A point (or pixel).
+ */
+struct lsd_point {int16_t x,y;};
+
+
+/*----------------------------------------------------------------------------*/
+/*------------------------- Miscellaneous functions --------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** Fatal error, print a message to standard-error output and exit.
+ */
+//static void error(char * msg)
+//{
+//  fprintf(stderr,"LSD Error: %s\n",msg);
+//  exit(EXIT_FAILURE);
+//}
+
+/*----------------------------------------------------------------------------*/
+/** Doubles relative error factor
+ */
+#define RELATIVE_ERROR_FACTOR 100.0f
+
+/*----------------------------------------------------------------------------*/
+/** Compare doubles by relative error.
+
+    The resulting rounding error after floating point computations
+    depend on the specific operations done. The same number computed by
+    different algorithms could present different rounding errors. For a
+    useful comparison, an estimation of the relative rounding error
+    should be considered and compared to a factor times EPS. The factor
+    should be related to the cumulated rounding error in the chain of
+    computation. Here, as a simplification, a fixed factor is used.
+ */
+static int double_equal(float a, float b)
+{
+  float abs_diff,aa,bb,abs_max;
+
+  /* trivial case */
+  if( a == b ) return TRUE;
+
+  abs_diff = fabs(a-b);
+  // For the numbers we work with, this is valid test that avoids some calculations.
+  // The error threshold tested below is 1/1000 of the diff/max_val
+  if (abs_diff > 0.1f) return FALSE;
+  aa = fabs(a);
+  bb = fabs(b);
+  abs_max = aa > bb ? aa : bb;
+
+  /* FLT_MIN is the smallest normalized number, thus, the smallest
+     number whose relative error is bounded by FLT_EPSILON. For
+     smaller numbers, the same quantization steps as for FLT_MIN
+     are used. Then, for smaller numbers, a meaningful "relative"
+     error should be computed by dividing the difference by FLT_MIN. */
+  if( abs_max < FLT_MIN ) abs_max = FLT_MIN;
+
+  /* equal if relative error <= factor x eps */
+  return (abs_diff / abs_max) <= (RELATIVE_ERROR_FACTOR * FLT_EPSILON);
+}
+
+/*----------------------------------------------------------------------------*/
+/** Computes Euclidean distance between point (x1,y1) and point (x2,y2).
+ */
+static float dist(float x1, float y1, float x2, float y2)
+{
+  return sqrt( (x2-x1)*(x2-x1) + (y2-y1)*(y2-y1) );
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*----------------------- 'list of n-tuple' data type ------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** 'list of n-tuple' data type
+
+    The i-th component of the j-th n-tuple of an n-tuple list 'ntl'
+    is accessed with:
+
+      ntl->values[ i + j * ntl->dim ]
+
+    The dimension of the n-tuple (n) is:
+
+      ntl->dim
+
+    The number of n-tuples in the list is:
+
+      ntl->size
+
+    The maximum number of n-tuples that can be stored in the
+    list with the allocated memory at a given time is given by:
+
+      ntl->max_size
+ */
+typedef struct ntuple_list_s
+{
+  unsigned int size;
+  unsigned int max_size;
+  unsigned int dim;
+  float * values;
+} * ntuple_list;
+
+/*----------------------------------------------------------------------------*/
+/** Free memory used in n-tuple 'in'.
+ */
+static void free_ntuple_list(ntuple_list in)
+{
+  if( in == NULL || in->values == NULL )
+    error("free_ntuple_list: invalid n-tuple input.");
+  free( (void *) in->values );
+  free( (void *) in );
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create an n-tuple list and allocate memory for one element.
+    @param dim the dimension (n) of the n-tuple.
+ */
+static ntuple_list new_ntuple_list(unsigned int dim)
+{
+  ntuple_list n_tuple;
+
+  /* check parameters */
+  if( dim == 0 ) error("new_ntuple_list: 'dim' must be positive.");
+
+  /* get memory for list structure */
+  n_tuple = (ntuple_list) malloc( sizeof(struct ntuple_list_s) );
+  if( n_tuple == NULL ) error("not enough memory.");
+
+  /* initialize list */
+  n_tuple->size = 0;
+  n_tuple->max_size = 1;
+  n_tuple->dim = dim;
+
+  /* get memory for tuples */
+  n_tuple->values = (float *) malloc( dim*n_tuple->max_size * sizeof(float) );
+  if( n_tuple->values == NULL ) error("not enough memory.");
+
+  return n_tuple;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Enlarge the allocated memory of an n-tuple list.
+ */
+static void enlarge_ntuple_list(ntuple_list n_tuple)
+{
+  /* check parameters */
+  if( n_tuple == NULL || n_tuple->values == NULL || n_tuple->max_size == 0 )
+    error("enlarge_ntuple_list: invalid n-tuple.");
+
+  /* duplicate number of tuples */
+  n_tuple->max_size *= 2;
+
+  /* realloc memory */
+  n_tuple->values = (float *) realloc( (void *) n_tuple->values,
+                      n_tuple->dim * n_tuple->max_size * sizeof(float) );
+  if( n_tuple->values == NULL ) error("not enough memory.");
+}
+
+/*----------------------------------------------------------------------------*/
+/** Add a 7-tuple to an n-tuple list.
+ */
+static void add_7tuple( ntuple_list out, float v1, float v2, float v3,
+                        float v4, float v5, float v6, float v7 )
+{
+  /* check parameters */
+  if( out == NULL ) error("add_7tuple: invalid n-tuple input.");
+  if( out->dim != 7 ) error("add_7tuple: the n-tuple must be a 7-tuple.");
+
+  /* if needed, alloc more tuples to 'out' */
+  if( out->size == out->max_size ) enlarge_ntuple_list(out);
+  if( out->values == NULL ) error("add_7tuple: invalid n-tuple input.");
+
+  /* add new 7-tuple */
+  out->values[ out->size * out->dim + 0 ] = v1;
+  out->values[ out->size * out->dim + 1 ] = v2;
+  out->values[ out->size * out->dim + 2 ] = v3;
+  out->values[ out->size * out->dim + 3 ] = v4;
+  out->values[ out->size * out->dim + 4 ] = v5;
+  out->values[ out->size * out->dim + 5 ] = v6;
+  out->values[ out->size * out->dim + 6 ] = v7;
+
+  /* update number of tuples counter */
+  out->size++;
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*----------------------------- Image Data Types -----------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** char image data type
+
+    The pixel value at (x,y) is accessed by:
+
+      image->data[ x + y * image->xsize ]
+
+    with x and y integer.
+ */
+typedef struct image_char_s
+{
+  unsigned char * data;
+  unsigned int xsize,ysize;
+} * image_char;
+
+/*----------------------------------------------------------------------------*/
+/** Free memory used in image_char 'i'.
+ */
+static void free_image_char(image_char i)
+{
+  if( i == NULL || i->data == NULL )
+    error("free_image_char: invalid input image.");
+  free( (void *) i->data );
+  free( (void *) i );
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_char of size 'xsize' times 'ysize'.
+ */
+static image_char new_image_char(unsigned int xsize, unsigned int ysize)
+{
+  image_char image;
+
+  /* check parameters */
+  if( xsize == 0 || ysize == 0 ) error("new_image_char: invalid image size.");
+
+  /* get memory */
+  image = (image_char) malloc( sizeof(struct image_char_s) );
+  if( image == NULL ) error("not enough memory.");
+  image->data = (unsigned char *) calloc( (size_t) (xsize*ysize),
+                                          sizeof(unsigned char) );
+  if( image->data == NULL ) error("not enough memory.");
+
+  /* set image size */
+  image->xsize = xsize;
+  image->ysize = ysize;
+
+  return image;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_double of size 'xsize' times 'ysize'
+    with the data pointed by 'data'.
+ */
+static image_char new_image_char_ptr( unsigned int xsize,
+                                      unsigned int ysize, unsigned char * data )
+{
+  image_char image;
+
+  /* check parameters */
+  if( xsize == 0 || ysize == 0 )
+    error("new_image_char_ptr: invalid image size.");
+  if( data == NULL ) error("new_image_char_ptr: NULL data pointer.");
+
+  /* get memory */
+  image = (image_char) malloc( sizeof(struct image_char_s) );
+  if( image == NULL ) error("not enough memory.");
+
+  /* set image */
+  image->xsize = xsize;
+  image->ysize = ysize;
+  image->data = data;
+
+  return image;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_char of size 'xsize' times 'ysize',
+    initialized to the value 'fill_value'.
+ */
+static image_char new_image_char_ini( unsigned int xsize, unsigned int ysize,
+                                      unsigned char fill_value )
+{
+  image_char image = new_image_char(xsize,ysize); /* create image */
+  unsigned int N = xsize*ysize;
+  unsigned int i;
+
+  /* check parameters */
+  if( image == NULL || image->data == NULL )
+    error("new_image_char_ini: invalid image.");
+
+  /* initialize */
+  for(i=0; i<N; i++) image->data[i] = fill_value;
+
+  return image;
+}
+
+/*----------------------------------------------------------------------------*/
+/** int image data type
+
+    The pixel value at (x,y) is accessed by:
+
+      image->data[ x + y * image->xsize ]
+
+    with x and y integer.
+ */
+typedef struct image_int_s
+{
+  int16_t * data;
+  unsigned int xsize,ysize;
+} * image_int;
+
+/*----------------------------------------------------------------------------*/
+/** Free memory used in image_int 'i'.
+ */
+static void free_image_int(image_int i)
+{
+  if( i == NULL || i->data == NULL )
+    error("free_image_int: invalid input image.");
+  free( (void *) i->data );
+  free( (void *) i );
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_int of size 'xsize' times 'ysize'.
+ */
+static image_int new_image_int(unsigned int xsize, unsigned int ysize)
+{
+  image_int image;
+
+  /* check parameters */
+  if( xsize == 0 || ysize == 0 ) error("new_image_int: invalid image size.");
+
+  /* get memory */
+  image = (image_int) malloc( sizeof(struct image_int_s) );
+  if( image == NULL ) error("not enough memory.");
+  image->data = (int16_t *) calloc( (size_t) (xsize*ysize), sizeof(int16_t) );
+  if( image->data == NULL ) error("not enough memory.");
+
+  /* set image size */
+  image->xsize = xsize;
+  image->ysize = ysize;
+
+  return image;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_int of size 'xsize' times 'ysize',
+    initialized to the value 'fill_value'.
+ */
+static image_int new_image_int_ini( unsigned int xsize, unsigned int ysize,
+                                    int fill_value )
+{
+  image_int image = new_image_int(xsize,ysize); /* create image */
+  unsigned int N = xsize*ysize;
+  unsigned int i;
+
+  /* initialize */
+  for(i=0; i<N; i++) image->data[i] = fill_value;
+
+  return image;
+}
+
+/*----------------------------------------------------------------------------*/
+/** float image data type
+
+    The pixel value at (x,y) is accessed by:
+
+      image->data[ x + y * image->xsize ]
+
+    with x and y integer.
+ */
+typedef struct image_double_s
+{
+  float * data;
+  unsigned int xsize,ysize;
+} * image_double;
+
+/*----------------------------------------------------------------------------*/
+/** Free memory used in image_double 'i'.
+ */
+static void free_image_double(image_double i)
+{
+  if( i == NULL || i->data == NULL )
+    error("free_image_double: invalid input image.");
+  free( (void *) i->data );
+  free( (void *) i );
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_double of size 'xsize' times 'ysize'.
+ */
+static image_double new_image_double(unsigned int xsize, unsigned int ysize)
+{
+  image_double image;
+
+  /* check parameters */
+  if( xsize == 0 || ysize == 0 ) error("new_image_double: invalid image size.");
+
+  /* get memory */
+  image = (image_double) malloc( sizeof(struct image_double_s) );
+  if( image == NULL ) error("not enough memory.");
+  image->data = (float *) calloc( (size_t) (xsize*ysize), sizeof(float) );
+  if( image->data == NULL ) error("not enough memory.");
+
+  /* set image size */
+  image->xsize = xsize;
+  image->ysize = ysize;
+
+  return image;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create a new image_double of size 'xsize' times 'ysize'
+    with the data pointed by 'data'.
+ */
+static image_double new_image_double_ptr( unsigned int xsize,
+                                          unsigned int ysize, float * data )
+{
+  image_double image;
+
+  /* check parameters */
+  if( xsize == 0 || ysize == 0 )
+    error("new_image_double_ptr: invalid image size.");
+  if( data == NULL ) error("new_image_double_ptr: NULL data pointer.");
+
+  /* get memory */
+  image = (image_double) malloc( sizeof(struct image_double_s) );
+  if( image == NULL ) error("not enough memory.");
+
+  /* set image */
+  image->xsize = xsize;
+  image->ysize = ysize;
+  image->data = data;
+
+  return image;
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*----------------------------- Gaussian filter ------------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** Compute a Gaussian kernel of length 'kernel->dim',
+    standard deviation 'sigma', and centered at value 'mean'.
+
+    For example, if mean=0.5, the Gaussian will be centered
+    in the middle point between values 'kernel->values[0]'
+    and 'kernel->values[1]'.
+ */
+static void gaussian_kernel(ntuple_list kernel, float sigma, float mean)
+{
+  float sum = 0.0;
+  float val;
+  unsigned int i;
+
+  /* check parameters */
+  if( kernel == NULL || kernel->values == NULL )
+    error("gaussian_kernel: invalid n-tuple 'kernel'.");
+  if( sigma <= 0.0 ) error("gaussian_kernel: 'sigma' must be positive.");
+
+  /* compute Gaussian kernel */
+  if( kernel->max_size < 1 ) enlarge_ntuple_list(kernel);
+  kernel->size = 1;
+  for(i=0;i<kernel->dim;i++)
+    {
+      val = ( (float) i - mean ) / sigma;
+      kernel->values[i] = exp( -0.5 * val * val );
+      sum += kernel->values[i];
+    }
+
+  /* normalization */
+  if( sum >= 0.0f ) for(i=0;i<kernel->dim;i++) kernel->values[i] /= sum;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Scale the input image 'in' by a factor 'scale' by Gaussian sub-sampling.
+
+    For example, scale=0.8 will give a result at 80% of the original size.
+
+    The image is convolved with a Gaussian kernel
+    @f[
+        G(x,y) = \frac{1}{2\pi\sigma^2} e^{-\frac{x^2+y^2}{2\sigma^2}}
+    @f]
+    before the sub-sampling to prevent aliasing.
+
+    The standard deviation sigma given by:
+    -  sigma = sigma_scale / scale,   if scale <  1.0
+    -  sigma = sigma_scale,           if scale >= 1.0
+
+    To be able to sub-sample at non-integer steps, some interpolation
+    is needed. In this implementation, the interpolation is done by
+    the Gaussian kernel, so both operations (filtering and sampling)
+    are done at the same time. The Gaussian kernel is computed
+    centered on the coordinates of the required sample. In this way,
+    when applied, it gives directly the result of convolving the image
+    with the kernel and interpolated to that particular position.
+
+    A fast algorithm is done using the separability of the Gaussian
+    kernel. Applying the 2D Gaussian kernel is equivalent to applying
+    first a horizontal 1D Gaussian kernel and then a vertical 1D
+    Gaussian kernel (or the other way round). The reason is that
+    @f[
+        G(x,y) = G(x) * G(y)
+    @f]
+    where
+    @f[
+        G(x) = \frac{1}{\sqrt{2\pi}\sigma} e^{-\frac{x^2}{2\sigma^2}}.
+    @f]
+    The algorithm first applies a combined Gaussian kernel and sampling
+    in the x axis, and then the combined Gaussian kernel and sampling
+    in the y axis.
+ */
+static image_double gaussian_sampler( image_double in, float scale,
+                                      float sigma_scale )
+{
+  image_double aux,out;
+  ntuple_list kernel;
+  unsigned int N,M,h,n,x,y,i;
+  int xc,yc,j,double_x_size,double_y_size;
+  float sigma,xx,yy,sum,prec;
+
+  /* check parameters */
+  if( in == NULL || in->data == NULL || in->xsize == 0 || in->ysize == 0 )
+    error("gaussian_sampler: invalid image.");
+  if( scale <= 0.0 ) error("gaussian_sampler: 'scale' must be positive.");
+  if( sigma_scale <= 0.0 )
+    error("gaussian_sampler: 'sigma_scale' must be positive.");
+
+  /* compute new image size and get memory for images */
+  if( in->xsize * scale > (float) UINT_MAX ||
+      in->ysize * scale > (float) UINT_MAX )
+    error("gaussian_sampler: the output image size exceeds the handled size.");
+  N = (unsigned int) ceil( in->xsize * scale );
+  M = (unsigned int) ceil( in->ysize * scale );
+  aux = new_image_double(N,in->ysize);
+  out = new_image_double(N,M);
+
+  /* sigma, kernel size and memory for the kernel */
+  sigma = scale < 1.0 ? sigma_scale / scale : sigma_scale;
+  /*
+     The size of the kernel is selected to guarantee that the
+     the first discarded term is at least 10^prec times smaller
+     than the central value. For that, h should be larger than x, with
+       e^(-x^2/2sigma^2) = 1/10^prec.
+     Then,
+       x = sigma * sqrt( 2 * prec * ln(10) ).
+   */
+  prec = 3.0;
+  h = (unsigned int) ceil( sigma * sqrt( 2.0 * prec * log(10.0) ) );
+  n = 1+2*h; /* kernel size */
+  kernel = new_ntuple_list(n);
+
+  /* auxiliary float image size variables */
+  double_x_size = (int) (2 * in->xsize);
+  double_y_size = (int) (2 * in->ysize);
+
+  /* First subsampling: x axis */
+  for(x=0;x<aux->xsize;x++)
+    {
+      /*
+         x   is the coordinate in the new image.
+         xx  is the corresponding x-value in the original size image.
+         xc  is the integer value, the pixel coordinate of xx.
+       */
+      xx = (float) x / scale;
+      /* coordinate (0.0,0.0) is in the center of pixel (0,0),
+         so the pixel with xc=0 get the values of xx from -0.5 to 0.5 */
+      xc = (int) floor( xx + 0.5 );
+      gaussian_kernel( kernel, sigma, (float) h + xx - (float) xc );
+      /* the kernel must be computed for each x because the fine
+         offset xx-xc is different in each case */
+
+      for(y=0;y<aux->ysize;y++)
+        {
+          sum = 0.0;
+          for(i=0;i<kernel->dim;i++)
+            {
+              j = xc - h + i;
+
+              /* symmetry boundary condition */
+              while( j < 0 ) j += double_x_size;
+              while( j >= double_x_size ) j -= double_x_size;
+              if( j >= (int) in->xsize ) j = double_x_size-1-j;
+
+              sum += in->data[ j + y * in->xsize ] * kernel->values[i];
+            }
+          aux->data[ x + y * aux->xsize ] = sum;
+        }
+    }
+
+  /* Second subsampling: y axis */
+  for(y=0;y<out->ysize;y++)
+    {
+      /*
+         y   is the coordinate in the new image.
+         yy  is the corresponding x-value in the original size image.
+         yc  is the integer value, the pixel coordinate of xx.
+       */
+      yy = (float) y / scale;
+      /* coordinate (0.0,0.0) is in the center of pixel (0,0),
+         so the pixel with yc=0 get the values of yy from -0.5 to 0.5 */
+      yc = (int) floor( yy + 0.5 );
+      gaussian_kernel( kernel, sigma, (float) h + yy - (float) yc );
+      /* the kernel must be computed for each y because the fine
+         offset yy-yc is different in each case */
+
+      for(x=0;x<out->xsize;x++)
+        {
+          sum = 0.0;
+          for(i=0;i<kernel->dim;i++)
+            {
+              j = yc - h + i;
+
+              /* symmetry boundary condition */
+              while( j < 0 ) j += double_y_size;
+              while( j >= double_y_size ) j -= double_y_size;
+              if( j >= (int) in->ysize ) j = double_y_size-1-j;
+
+              sum += aux->data[ x + j * aux->xsize ] * kernel->values[i];
+            }
+          out->data[ x + y * out->xsize ] = sum;
+        }
+    }
+
+  /* free memory */
+  free_ntuple_list(kernel);
+  free_image_double(aux);
+
+  return out;
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*--------------------------------- Gradient ---------------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** Computes the direction of the level line of 'in' at each point.
+
+    The result is:
+    - an image_int with the angle at each pixel, or NOTDEF if not defined.
+    - the image_int 'modgrad' (a pointer is passed as argument)
+      with the gradient magnitude at each point.
+    - a list of pixels 'list_p' roughly ordered by decreasing
+      gradient magnitude. (The order is made by classifying points
+      into bins by gradient magnitude. The parameters 'n_bins' and
+      'max_grad' specify the number of bins and the gradient modulus
+      at the highest bin. The pixels in the list would be in
+      decreasing gradient magnitude, up to a precision of the size of
+      the bins.)
+    - a pointer 'mem_p' to the memory used by 'list_p' to be able to
+      free the memory when it is not used anymore.
+ */
+static image_int ll_angle( image_char in, float threshold,
+                           struct coorlist ** list_p, void ** mem_p,
+                           image_int * modgrad, unsigned int n_bins )
+{
+  image_int g;
+  unsigned int n,p,x,y,adr,i;
+  float com1,com2,gx,gy,norm,norm2;
+  /* the rest of the variables are used for pseudo-ordering
+     the gradient magnitude values */
+  int list_count = 0;
+  struct coorlist * list;
+  struct coorlist ** range_l_s; /* array of pointers to start of bin list */
+  struct coorlist ** range_l_e; /* array of pointers to end of bin list */
+  struct coorlist * start;
+  struct coorlist * end;
+  float max_grad = 0.0;
+
+  /* check parameters */
+  if( in == NULL || in->data == NULL || in->xsize == 0 || in->ysize == 0 )
+    error("ll_angle: invalid image.");
+  if( threshold < 0.0 ) error("ll_angle: 'threshold' must be positive.");
+  if( list_p == NULL ) error("ll_angle: NULL pointer 'list_p'.");
+  if( mem_p == NULL ) error("ll_angle: NULL pointer 'mem_p'.");
+  if( modgrad == NULL ) error("ll_angle: NULL pointer 'modgrad'.");
+  if( n_bins == 0 ) error("ll_angle: 'n_bins' must be positive.");
+
+  /* image size shortcuts */
+  n = in->ysize;
+  p = in->xsize;
+
+  /* allocate output image */
+  g = new_image_int(in->xsize,in->ysize);
+
+  /* get memory for the image of gradient modulus */
+  *modgrad = new_image_int(in->xsize,in->ysize);
+
+  /* get memory for "ordered" list of pixels */
+  list = (struct coorlist *) calloc( (size_t) (n*p), sizeof(struct coorlist) );
+  *mem_p = (void *) list;
+  range_l_s = (struct coorlist **) calloc( (size_t) n_bins,
+                                           sizeof(struct coorlist *) );
+  range_l_e = (struct coorlist **) calloc( (size_t) n_bins,
+                                           sizeof(struct coorlist *) );
+  if( list == NULL || range_l_s == NULL || range_l_e == NULL )
+    error("not enough memory.");
+  for(i=0;i<n_bins;i++) range_l_s[i] = range_l_e[i] = NULL;
+
+  /* 'undefined' on the down and right boundaries */
+  for(x=0;x<p;x++) g->data[(n-1)*p+x] = NOTDEF;
+  for(y=0;y<n;y++) g->data[p*y+p-1]   = NOTDEF;
+
+  /* compute gradient on the remaining pixels */
+  for(x=0;x<p-1;x++)
+    for(y=0;y<n-1;y++)
+      {
+        adr = y*p+x;
+
+        /*
+           Norm 2 computation using 2x2 pixel window:
+             A B
+             C D
+           and
+             com1 = D-A,  com2 = B-C.
+           Then
+             gx = B+D - (A+C)   horizontal difference
+             gy = C+D - (A+B)   vertical difference
+           com1 and com2 are just to avoid 2 additions.
+         */
+        com1 = in->data[adr+p+1] - in->data[adr];
+        com2 = in->data[adr+1]   - in->data[adr+p];
+
+        gx = com1+com2; /* gradient x component */
+        gy = com1-com2; /* gradient y component */
+        norm2 = gx*gx+gy*gy;
+        norm = sqrt( norm2 / 4.0 ); /* gradient norm */
+
+        (*modgrad)->data[adr] = norm; /* store gradient norm */
+
+        if( norm <= threshold ) /* norm too small, gradient no defined */
+          g->data[adr] = NOTDEF_INT; //radToDeg(NOTDEF); /* gradient angle not defined */
+        else
+          {
+            /* gradient angle computation */
+            g->data[adr] = radToDeg(atan2(gx,-gy));
+
+            /* look for the maximum of the gradient */
+            if( norm > max_grad ) max_grad = norm;
+          }
+      }
+
+  /* compute histogram of gradient values */
+  for(x=0;x<p-1;x++)
+    for(y=0;y<n-1;y++)
+      {
+        norm = (*modgrad)->data[y*p+x];
+
+        /* store the point in the right bin according to its norm */
+        i = (unsigned int) (norm * (float) n_bins / max_grad);
+        if( i >= n_bins ) i = n_bins-1;
+        if( range_l_e[i] == NULL )
+          range_l_s[i] = range_l_e[i] = list+list_count++;
+        else
+          {
+            range_l_e[i]->next = list+list_count;
+            range_l_e[i] = list+list_count++;
+          }
+        range_l_e[i]->x = (int) x;
+        range_l_e[i]->y = (int) y;
+        range_l_e[i]->next = NULL;
+      }
+
+  /* Make the list of pixels (almost) ordered by norm value.
+     It starts by the larger bin, so the list starts by the
+     pixels with the highest gradient value. Pixels would be ordered
+     by norm value, up to a precision given by max_grad/n_bins.
+   */
+  for(i=n_bins-1; i>0 && range_l_s[i]==NULL; i--);
+  start = range_l_s[i];
+  end = range_l_e[i];
+  if( start != NULL )
+    while(i>0)
+      {
+        --i;
+        if( range_l_s[i] != NULL )
+          {
+            end->next = range_l_s[i];
+            end = range_l_e[i];
+          }
+      }
+  *list_p = start;
+
+  /* free memory */
+  free( (void *) range_l_s );
+  free( (void *) range_l_e );
+
+  return g;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Is point (x,y) aligned to angle theta, up to precision 'prec'?
+ */
+static int isaligned( int x, int y, image_int angles, float theta,
+                      float prec )
+{
+  float a;
+
+  /* check parameters */
+  if( angles == NULL || angles->data == NULL )
+    error("isaligned: invalid image 'angles'.");
+  if( x < 0 || y < 0 || x >= (int) angles->xsize || y >= (int) angles->ysize )
+    error("isaligned: (x,y) out of the image.");
+  if( prec < 0.0 ) error("isaligned: 'prec' must be positive.");
+
+  /* angle at pixel (x,y) */
+  a = degToRad(angles->data[ x + y * angles->xsize ]);
+
+  /* pixels whose level-line angle is not defined
+     are considered as NON-aligned */
+  if( a == NOTDEF ) return FALSE;  /* there is no need to call the function
+                                      'double_equal' here because there is
+                                      no risk of problems related to the
+                                      comparison doubles, we are only
+                                      interested in the exact NOTDEF value */
+
+  /* it is assumed that 'theta' and 'a' are in the range [-pi,pi] */
+  theta -= a;
+  if( theta < 0.0 ) theta = -theta;
+  if( theta > M_3_2_PI )
+    {
+      theta -= M_2__PI;
+      if( theta < 0.0 ) theta = -theta;
+    }
+
+  return theta <= prec;
+}
+
+static int isaligned_fast(int angle, float theta,
+                      float prec )
+{
+  float a;
+
+  if (angle == NOTDEF_INT) return FALSE; // faster to test the integer value
+
+  /* angle at pixel (x,y) */
+  a = degToRad(angle);
+
+  /* pixels whose level-line angle is not defined
+     are considered as NON-aligned */
+  if( a == NOTDEF ) return FALSE;  /* there is no need to call the function
+                                      'double_equal' here because there is
+                                      no risk of problems related to the
+                                      comparison doubles, we are only
+                                      interested in the exact NOTDEF value */
+
+  /* it is assumed that 'theta' and 'a' are in the range [-pi,pi] */
+  theta -= a;
+  if( theta < 0.0 ) theta = -theta;
+  if( theta > M_3_2_PI )
+    {
+      theta -= M_2__PI;
+      if( theta < 0.0 ) theta = -theta;
+    }
+
+  return theta <= prec;
+} /* isaligned_fast() */
+
+/*----------------------------------------------------------------------------*/
+/** Absolute value angle difference.
+ */
+static float angle_diff(float a, float b)
+{
+  a -= b;
+  while( a <= -M_PI ) a += M_2__PI;
+  while( a >   M_PI ) a -= M_2__PI;
+  if( a < 0.0 ) a = -a;
+  return a;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Signed angle difference.
+ */
+static float angle_diff_signed(float a, float b)
+{
+  a -= b;
+  while( a <= -M_PI ) a += M_2__PI;
+  while( a >   M_PI ) a -= M_2__PI;
+  return a;
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*----------------------------- NFA computation ------------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** Computes the natural logarithm of the absolute value of
+    the gamma function of x using the Lanczos approximation.
+    See http://www.rskey.org/gamma.htm
+
+    The formula used is
+    @f[
+      \Gamma(x) = \frac{ \sum_{n=0}^{N} q_n x^n }{ \Pi_{n=0}^{N} (x+n) }
+                  (x+5.5)^{x+0.5} e^{-(x+5.5)}
+    @f]
+    so
+    @f[
+      \log\Gamma(x) = \log\left( \sum_{n=0}^{N} q_n x^n \right)
+                      + (x+0.5) \log(x+5.5) - (x+5.5) - \sum_{n=0}^{N} \log(x+n)
+    @f]
+    and
+      q0 = 75122.6331530,
+      q1 = 80916.6278952,
+      q2 = 36308.2951477,
+      q3 = 8687.24529705,
+      q4 = 1168.92649479,
+      q5 = 83.8676043424,
+      q6 = 2.50662827511.
+ */
+static float log_gamma_lanczos(float x)
+{
+  static float q[7] = { 75122.6331530, 80916.6278952, 36308.2951477,
+                         8687.24529705, 1168.92649479, 83.8676043424,
+                         2.50662827511 };
+  float a = (x+0.5) * log(x+5.5) - (x+5.5);
+  float b = 0.0;
+  int n;
+
+  for(n=0;n<7;n++)
+    {
+      a -= log( x + (float) n );
+      b += q[n] * pow( x, (float) n );
+    }
+  return a + log(b);
+}
+
+/*----------------------------------------------------------------------------*/
+/** Computes the natural logarithm of the absolute value of
+    the gamma function of x using Windschitl method.
+    See http://www.rskey.org/gamma.htm
+
+    The formula used is
+    @f[
+        \Gamma(x) = \sqrt{\frac{2\pi}{x}} \left( \frac{x}{e}
+                    \sqrt{ x\sinh(1/x) + \frac{1}{810x^6} } \right)^x
+    @f]
+    so
+    @f[
+        \log\Gamma(x) = 0.5\log(2\pi) + (x-0.5)\log(x) - x
+                      + 0.5x\log\left( x\sinh(1/x) + \frac{1}{810x^6} \right).
+    @f]
+    This formula is a good approximation when x > 15.
+ */
+static float log_gamma_windschitl(float x)
+{
+  return 0.918938533204673 + (x-0.5)*log(x) - x
+         + 0.5*x*log( x*sinh(1/x) + 1/(810.0*pow(x,6.0)) );
+}
+
+/*----------------------------------------------------------------------------*/
+/** Computes the natural logarithm of the absolute value of
+    the gamma function of x. When x>15 use log_gamma_windschitl(),
+    otherwise use log_gamma_lanczos().
+ */
+#define log_gamma(x) ((x)>15.0?log_gamma_windschitl(x):log_gamma_lanczos(x))
+
+///*----------------------------------------------------------------------------*/
+///** Size of the table to store already computed inverse values.
+// */
+//#define TABSIZE 100000
+
+/*----------------------------------------------------------------------------*/
+/** Computes -log10(NFA).
+
+    NFA stands for Number of False Alarms:
+    @f[
+        \mathrm{NFA} = NT \cdot B(n,k,p)
+    @f]
+
+    - NT       - number of tests
+    - B(n,k,p) - tail of binomial distribution with parameters n,k and p:
+    @f[
+        B(n,k,p) = \sum_{j=k}^n
+                   \left(\begin{array}{c}n\\j\end{array}\right)
+                   p^{j} (1-p)^{n-j}
+    @f]
+
+    The value -log10(NFA) is equivalent but more intuitive than NFA:
+    - -1 corresponds to 10 mean false alarms
+    -  0 corresponds to 1 mean false alarm
+    -  1 corresponds to 0.1 mean false alarms
+    -  2 corresponds to 0.01 mean false alarms
+    -  ...
+
+    Used this way, the bigger the value, better the detection,
+    and a logarithmic scale is used.
+
+    @param n,k,p binomial parameters.
+    @param logNT logarithm of Number of Tests
+
+    The computation is based in the gamma function by the following
+    relation:
+    @f[
+        \left(\begin{array}{c}n\\k\end{array}\right)
+        = \frac{ \Gamma(n+1) }{ \Gamma(k+1) \cdot \Gamma(n-k+1) }.
+    @f]
+    We use efficient algorithms to compute the logarithm of
+    the gamma function.
+
+    To make the computation faster, not all the sum is computed, part
+    of the terms are neglected based on a bound to the error obtained
+    (an error of 10% in the result is accepted).
+ */
+static float nfa(int n, int k, float p, float logNT)
+{
+//  static float inv[TABSIZE];   /* table to keep computed inverse values */
+  float tolerance = 0.1;       /* an error of 10% in the result is accepted */
+  float log1term,term,bin_term,mult_term,bin_tail,err,p_term;
+  int i;
+
+  /* check parameters */
+  if( n<0 || k<0 || k>n || p<=0.0 || p>=1.0 )
+    error("nfa: wrong n, k or p values.");
+
+  /* trivial cases */
+  if( n==0 || k==0 ) return -logNT;
+  if( n==k ) return -logNT - (float) n * log10(p);
+
+  /* probability term */
+  p_term = p / (1.0-p);
+
+  /* compute the first term of the series */
+  /*
+     binomial_tail(n,k,p) = sum_{i=k}^n bincoef(n,i) * p^i * (1-p)^{n-i}
+     where bincoef(n,i) are the binomial coefficients.
+     But
+       bincoef(n,k) = gamma(n+1) / ( gamma(k+1) * gamma(n-k+1) ).
+     We use this to compute the first term. Actually the log of it.
+   */
+  log1term = log_gamma( (float) n + 1.0 ) - log_gamma( (float) k + 1.0 )
+           - log_gamma( (float) (n-k) + 1.0 )
+           + (float) k * log(p) + (float) (n-k) * log(1.0-p);
+  term = exp(log1term);
+
+  /* in some cases no more computations are needed */
+  if( double_equal(term,0.0) )              /* the first term is almost zero */
+    {
+      if( (float) k > (float) n * p )     /* at begin or end of the tail?  */
+        return -log1term / M_LN10 - logNT;  /* end: use just the first term  */
+      else
+        return -logNT;                      /* begin: the tail is roughly 1  */
+    }
+
+  /* compute more terms if needed */
+  bin_tail = term;
+  for(i=k+1;i<=n;i++)
+    {
+      /*
+         As
+           term_i = bincoef(n,i) * p^i * (1-p)^(n-i)
+         and
+           bincoef(n,i)/bincoef(n,i-1) = n-1+1 / i,
+         then,
+           term_i / term_i-1 = (n-i+1)/i * p/(1-p)
+         and
+           term_i = term_i-1 * (n-i+1)/i * p/(1-p).
+         1/i is stored in a table as they are computed,
+         because divisions are expensive.
+         p/(1-p) is computed only once and stored in 'p_term'.
+       */
+//      bin_term = (float) (n-i+1) * ( i<TABSIZE ?
+//                   ( inv[i]!=0.0 ? inv[i] : ( inv[i] = 1.0 / (float) i ) ) :
+//                   1.0 / (float) i );
+      bin_term = (float) (n-i+1) * ( 1.0 / (float) i );
+
+      mult_term = bin_term * p_term;
+      term *= mult_term;
+      bin_tail += term;
+      if(bin_term<1.0)
+        {
+          /* When bin_term<1 then mult_term_j<mult_term_i for j>i.
+             Then, the error on the binomial tail when truncated at
+             the i term can be bounded by a geometric series of form
+             term_i * sum mult_term_i^j.                            */
+          err = term * ( ( 1.0 - pow( mult_term, (float) (n-i+1) ) ) /
+                         (1.0-mult_term) - 1.0 );
+
+          /* One wants an error at most of tolerance*final_result, or:
+             tolerance * abs(-log10(bin_tail)-logNT).
+             Now, the error that can be accepted on bin_tail is
+             given by tolerance*final_result divided by the derivative
+             of -log10(x) when x=bin_tail. that is:
+             tolerance * abs(-log10(bin_tail)-logNT) / (1/bin_tail)
+             Finally, we truncate the tail if the error is less than:
+             tolerance * abs(-log10(bin_tail)-logNT) * bin_tail        */
+          if( err < tolerance * fabs(-log10(bin_tail)-logNT) * bin_tail ) break;
+        }
+    }
+  return -log10(bin_tail) - logNT;
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*--------------------------- Rectangle structure ----------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** Rectangle structure: line segment with width.
+ */
+struct rect
+{
+  float x1,y1,x2,y2;  /* first and second point of the line segment */
+  float width;        /* rectangle width */
+  float x,y;          /* center of the rectangle */
+  float theta;        /* angle */
+  float dx,dy;        /* (dx,dy) is vector oriented as the line segment */
+  float prec;         /* tolerance angle */
+  float p;            /* probability of a point with angle within 'prec' */
+};
+
+/*----------------------------------------------------------------------------*/
+/** Copy one rectangle structure to another.
+ */
+static void rect_copy(struct rect * in, struct rect * out)
+{
+  /* check parameters */
+  if( in == NULL || out == NULL ) error("rect_copy: invalid 'in' or 'out'.");
+
+  /* copy values */
+  out->x1 = in->x1;
+  out->y1 = in->y1;
+  out->x2 = in->x2;
+  out->y2 = in->y2;
+  out->width = in->width;
+  out->x = in->x;
+  out->y = in->y;
+  out->theta = in->theta;
+  out->dx = in->dx;
+  out->dy = in->dy;
+  out->prec = in->prec;
+  out->p = in->p;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Rectangle points iterator.
+
+    The integer coordinates of pixels inside a rectangle are
+    iteratively explored. This structure keep track of the process and
+    functions ri_ini(), ri_inc(), ri_end(), and ri_del() are used in
+    the process. An example of how to use the iterator is as follows:
+    \code
+
+      struct rect * rec = XXX; // some rectangle
+      rect_iter * i;
+      for( i=ri_ini(rec); !ri_end(i); ri_inc(i) )
+        {
+          // your code, using 'i->x' and 'i->y' as coordinates
+        }
+      ri_del(i); // delete iterator
+
+    \endcode
+    The pixels are explored 'column' by 'column', where we call
+    'column' a set of pixels with the same x value that are inside the
+    rectangle. The following is an schematic representation of a
+    rectangle, the 'column' being explored is marked by colons, and
+    the current pixel being explored is 'x,y'.
+    \verbatim
+
+              vx[1],vy[1]
+                 *   *
+                *       *
+               *           *
+              *               ye
+             *                :  *
+        vx[0],vy[0]           :     *
+               *              :        *
+                  *          x,y          *
+                     *        :              *
+                        *     :            vx[2],vy[2]
+                           *  :                *
+        y                     ys              *
+        ^                        *           *
+        |                           *       *
+        |                              *   *
+        +---> x                      vx[3],vy[3]
+
+    \endverbatim
+    The first 'column' to be explored is the one with the smaller x
+    value. Each 'column' is explored starting from the pixel of the
+    'column' (inside the rectangle) with the smallest y value.
+
+    The four corners of the rectangle are stored in order that rotates
+    around the corners at the arrays 'vx[]' and 'vy[]'. The first
+    point is always the one with smaller x value.
+
+    'x' and 'y' are the coordinates of the pixel being explored. 'ys'
+    and 'ye' are the start and end values of the current column being
+    explored. So, 'ys' < 'ye'.
+ */
+typedef struct
+{
+  float vx[4];  /* rectangle's corner X coordinates in circular order */
+  float vy[4];  /* rectangle's corner Y coordinates in circular order */
+  float ys,ye;  /* start and end Y values of current 'column' */
+  int x,y;       /* coordinates of currently explored pixel */
+} rect_iter;
+
+/*----------------------------------------------------------------------------*/
+/** Interpolate y value corresponding to 'x' value given, in
+    the line 'x1,y1' to 'x2,y2'; if 'x1=x2' return the smaller
+    of 'y1' and 'y2'.
+
+    The following restrictions are required:
+    - x1 <= x2
+    - x1 <= x
+    - x  <= x2
+ */
+static float inter_low(float x, float x1, float y1, float x2, float y2)
+{
+  /* check parameters */
+//  if( x1 > x2 || x < x1 || x > x2 )
+//    error("inter_low: unsuitable input, 'x1>x2' or 'x<x1' or 'x>x2'.");
+
+  /* interpolation */
+  if( double_equal(x1,x2) && y1<y2 ) return y1;
+  if( double_equal(x1,x2) && y1>y2 ) return y2;
+//  return y1 + (x-x1) * (y2-y1) / (x2-x1);
+  float result = y1 + (x-x1) * (y2-y1) / (x2-x1);
+  if (isnan(result) || isinf(result)) return (y1<y2) ? y1 : ((y1>y2) ? y2 : 0);
+  return result;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Interpolate y value corresponding to 'x' value given, in
+    the line 'x1,y1' to 'x2,y2'; if 'x1=x2' return the larger
+    of 'y1' and 'y2'.
+
+    The following restrictions are required:
+    - x1 <= x2
+    - x1 <= x
+    - x  <= x2
+ */
+static float inter_hi(float x, float x1, float y1, float x2, float y2)
+{
+  /* check parameters */
+//  if( x1 > x2 || x < x1 || x > x2 )
+//    error("inter_hi: unsuitable input, 'x1>x2' or 'x<x1' or 'x>x2'.");
+
+  /* interpolation */
+  if( double_equal(x1,x2) && y1<y2 ) return y2;
+  if( double_equal(x1,x2) && y1>y2 ) return y1;
+//  return y1 + (x-x1) * (y2-y1) / (x2-x1);
+  float result = y1 + (x-x1) * (y2-y1) / (x2-x1);
+  if (isnan(result) || isinf(result)) return (y1<y2) ? y2 : ((y1>y2) ? y1 : 0);
+  return result;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Free memory used by a rectangle iterator.
+ */
+static void ri_del(rect_iter * iter)
+{
+  if( iter == NULL ) error("ri_del: NULL iterator.");
+  free( (void *) iter );
+}
+
+/*----------------------------------------------------------------------------*/
+/** Check if the iterator finished the full iteration.
+
+    See details in \ref rect_iter
+ */
+static inline int ri_end(rect_iter * i)
+{
+  /* check input */
+//  if( i == NULL ) error("ri_end: NULL iterator.");
+
+  /* if the current x value is larger than the largest
+     x value in the rectangle (vx[2]), we know the full
+     exploration of the rectangle is finished. */
+  return (float)(i->x) > i->vx[2];
+}
+
+/*----------------------------------------------------------------------------*/
+/** Increment a rectangle iterator.
+
+    See details in \ref rect_iter
+ */
+static void ri_inc(rect_iter * i)
+{
+  /* check input */
+//  if( i == NULL ) error("ri_inc: NULL iterator.");
+
+  /* if not at end of exploration,
+     increase y value for next pixel in the 'column' */
+  if( !ri_end(i) ) i->y++;
+
+  /* if the end of the current 'column' is reached,
+     and it is not the end of exploration,
+     advance to the next 'column' */
+  while( (float) (i->y) > i->ye && !ri_end(i) )
+    {
+      /* increase x, next 'column' */
+      i->x++;
+
+      /* if end of exploration, return */
+      if( ri_end(i) ) return;
+
+      /* update lower y limit (start) for the new 'column'.
+
+         We need to interpolate the y value that corresponds to the
+         lower side of the rectangle. The first thing is to decide if
+         the corresponding side is
+
+           vx[0],vy[0] to vx[3],vy[3] or
+           vx[3],vy[3] to vx[2],vy[2]
+
+         Then, the side is interpolated for the x value of the
+         'column'. But, if the side is vertical (as it could happen if
+         the rectangle is vertical and we are dealing with the first
+         or last 'columns') then we pick the lower value of the side
+         by using 'inter_low'.
+       */
+      if( (float) i->x < i->vx[3] )
+        i->ys = inter_low((float)i->x,i->vx[0],i->vy[0],i->vx[3],i->vy[3]);
+      else
+        i->ys = inter_low((float)i->x,i->vx[3],i->vy[3],i->vx[2],i->vy[2]);
+
+      /* update upper y limit (end) for the new 'column'.
+
+         We need to interpolate the y value that corresponds to the
+         upper side of the rectangle. The first thing is to decide if
+         the corresponding side is
+
+           vx[0],vy[0] to vx[1],vy[1] or
+           vx[1],vy[1] to vx[2],vy[2]
+
+         Then, the side is interpolated for the x value of the
+         'column'. But, if the side is vertical (as it could happen if
+         the rectangle is vertical and we are dealing with the first
+         or last 'columns') then we pick the lower value of the side
+         by using 'inter_low'.
+       */
+      if( (float)i->x < i->vx[1] )
+        i->ye = inter_hi((float)i->x,i->vx[0],i->vy[0],i->vx[1],i->vy[1]);
+      else
+        i->ye = inter_hi((float)i->x,i->vx[1],i->vy[1],i->vx[2],i->vy[2]);
+
+      /* new y */
+      i->y = (int) ceil(i->ys);
+    }
+}
+
+/*----------------------------------------------------------------------------*/
+/** Create and initialize a rectangle iterator.
+
+    See details in \ref rect_iter
+ */
+static rect_iter * ri_ini(struct rect * r)
+{
+  float vx[4],vy[4];
+  int n,offset;
+  rect_iter * i;
+
+  /* check parameters */
+  if( r == NULL ) error("ri_ini: invalid rectangle.");
+
+  /* get memory */
+  i = (rect_iter *) malloc(sizeof(rect_iter));
+  if( i == NULL ) error("ri_ini: Not enough memory.");
+
+  /* build list of rectangle corners ordered
+     in a circular way around the rectangle */
+  vx[0] = r->x1 - r->dy * r->width / 2.0;
+  vy[0] = r->y1 + r->dx * r->width / 2.0;
+  vx[1] = r->x2 - r->dy * r->width / 2.0;
+  vy[1] = r->y2 + r->dx * r->width / 2.0;
+  vx[2] = r->x2 + r->dy * r->width / 2.0;
+  vy[2] = r->y2 - r->dx * r->width / 2.0;
+  vx[3] = r->x1 + r->dy * r->width / 2.0;
+  vy[3] = r->y1 - r->dx * r->width / 2.0;
+
+  /* compute rotation of index of corners needed so that the first
+     point has the smaller x.
+
+     if one side is vertical, thus two corners have the same smaller x
+     value, the one with the largest y value is selected as the first.
+   */
+  if( r->x1 < r->x2 && r->y1 <= r->y2 ) offset = 0;
+  else if( r->x1 >= r->x2 && r->y1 < r->y2 ) offset = 1;
+  else if( r->x1 > r->x2 && r->y1 >= r->y2 ) offset = 2;
+  else offset = 3;
+
+  /* apply rotation of index. */
+  for(n=0; n<4; n++)
+    {
+      i->vx[n] = vx[(offset+n)%4];
+      i->vy[n] = vy[(offset+n)%4];
+    }
+
+  /* Set an initial condition.
+
+     The values are set to values that will cause 'ri_inc' (that will
+     be called immediately) to initialize correctly the first 'column'
+     and compute the limits 'ys' and 'ye'.
+
+     'y' is set to the integer value of vy[0], the starting corner.
+
+     'ys' and 'ye' are set to very small values, so 'ri_inc' will
+     notice that it needs to start a new 'column'.
+
+     The smallest integer coordinate inside of the rectangle is
+     'ceil(vx[0])'. The current 'x' value is set to that value minus
+     one, so 'ri_inc' (that will increase x by one) will advance to
+     the first 'column'.
+   */
+  i->x = (int) ceil(i->vx[0]) - 1;
+  i->y = (int) ceil(i->vy[0]);
+  i->ys = i->ye = -FLT_MAX;
+
+  /* advance to the first pixel */
+  ri_inc(i);
+
+  return i;
+}
+// We don't need to spend time allocating and freeing the interator structure
+// since we only use 1 at a time and it's small enough to safely use as a stack var
+void ri_ini_fast(rect_iter *i, struct rect * r)
+{
+  float vx[4],vy[4];
+  int n,offset;
+
+  /* build list of rectangle corners ordered
+     in a circular way around the rectangle */
+  vx[0] = r->x1 - r->dy * r->width / 2.0;
+  vy[0] = r->y1 + r->dx * r->width / 2.0;
+  vx[1] = r->x2 - r->dy * r->width / 2.0;
+  vy[1] = r->y2 + r->dx * r->width / 2.0;
+  vx[2] = r->x2 + r->dy * r->width / 2.0;
+  vy[2] = r->y2 - r->dx * r->width / 2.0;
+  vx[3] = r->x1 + r->dy * r->width / 2.0;
+  vy[3] = r->y1 - r->dx * r->width / 2.0;
+
+  /* compute rotation of index of corners needed so that the first
+     point has the smaller x.
+
+     if one side is vertical, thus two corners have the same smaller x
+     value, the one with the largest y value is selected as the first.
+   */
+  if( r->x1 < r->x2 && r->y1 <= r->y2 ) offset = 0;
+  else if( r->x1 >= r->x2 && r->y1 < r->y2 ) offset = 1;
+  else if( r->x1 > r->x2 && r->y1 >= r->y2 ) offset = 2;
+  else offset = 3;
+
+  /* apply rotation of index. */
+  for(n=0; n<4; n++)
+    {
+      i->vx[n] = vx[(n+offset) & 3];
+      i->vy[n] = vy[(n+offset) & 3];
+    }
+
+  /* Set an initial condition.
+
+     The values are set to values that will cause 'ri_inc' (that will
+     be called immediately) to initialize correctly the first 'column'
+     and compute the limits 'ys' and 'ye'.
+
+     'y' is set to the integer value of vy[0], the starting corner.
+
+     'ys' and 'ye' are set to very small values, so 'ri_inc' will
+     notice that it needs to start a new 'column'.
+
+     The smallest integer coordinate inside of the rectangle is
+     'ceil(vx[0])'. The current 'x' value is set to that value minus
+     one, so 'ri_inc' (that will increase x by one) will advance to
+     the first 'column'.
+   */
+  i->x = (int) ceil(i->vx[0]) - 1;
+  i->y = (int) ceil(i->vy[0]);
+  i->ys = i->ye = -FLT_MAX;
+
+  /* advance to the first pixel */
+  ri_inc(i);
+
+} /* ri_ini_fast() */
+
+/*----------------------------------------------------------------------------*/
+/** Compute a rectangle's NFA value.
+ */
+static float rect_nfa(struct rect * rec, image_int angles, float logNT)
+{
+  rect_iter i;
+  int pts = 0;
+  int alg = 0;
+  int xsize = angles->xsize, ysize = angles->ysize;
+  /* check parameters */
+//  if( rec == NULL ) error("rect_nfa: invalid rectangle.");
+//  if( angles == NULL ) error("rect_nfa: invalid 'angles'.");
+
+  /* compute the total number of pixels and of aligned points in 'rec' */
+  ri_ini_fast(&i, rec);
+  for(; !ri_end(&i); ri_inc(&i)) /* rectangle iterator */
+    if( i.x >= 0 && i.y >= 0 &&
+        i.x < xsize && i.y < ysize )
+      {
+        ++pts; /* total number of pixels counter */
+        if( isaligned_fast((float)angles->data[(i.y*xsize)+i.x], rec->theta, rec->prec) )
+          ++alg; /* aligned points counter */
+      }
+//  ri_del(i); /* delete iterator */
+
+  return nfa(pts,alg,rec->p,logNT); /* compute NFA value */
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*---------------------------------- Regions ---------------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** Compute region's angle as the principal inertia axis of the region.
+
+    The following is the region inertia matrix A:
+    @f[
+
+        A = \left(\begin{array}{cc}
+                                    Ixx & Ixy \\
+                                    Ixy & Iyy \\
+             \end{array}\right)
+
+    @f]
+    where
+
+      Ixx =   sum_i G(i).(y_i - cx)^2
+
+      Iyy =   sum_i G(i).(x_i - cy)^2
+
+      Ixy = - sum_i G(i).(x_i - cx).(y_i - cy)
+
+    and
+    - G(i) is the gradient norm at pixel i, used as pixel's weight.
+    - x_i and y_i are the coordinates of pixel i.
+    - cx and cy are the coordinates of the center of th region.
+
+    lambda1 and lambda2 are the eigenvalues of matrix A,
+    with lambda1 >= lambda2. They are found by solving the
+    characteristic polynomial:
+
+      det( lambda I - A) = 0
+
+    that gives:
+
+      lambda1 = ( Ixx + Iyy + sqrt( (Ixx-Iyy)^2 + 4.0*Ixy*Ixy) ) / 2
+
+      lambda2 = ( Ixx + Iyy - sqrt( (Ixx-Iyy)^2 + 4.0*Ixy*Ixy) ) / 2
+
+    To get the line segment direction we want to get the angle the
+    eigenvector associated to the smallest eigenvalue. We have
+    to solve for a,b in:
+
+      a.Ixx + b.Ixy = a.lambda2
+
+      a.Ixy + b.Iyy = b.lambda2
+
+    We want the angle theta = atan(b/a). It can be computed with
+    any of the two equations:
+
+      theta = atan( (lambda2-Ixx) / Ixy )
+
+    or
+
+      theta = atan( Ixy / (lambda2-Iyy) )
+
+    When |Ixx| > |Iyy| we use the first, otherwise the second (just to
+    get better numeric precision).
+ */
+static float get_theta( struct lsd_point * reg, int reg_size, float x, float y,
+                         image_int modgrad, float reg_angle, float prec )
+{
+  float lambda,theta,weight;
+  float Ixx = 0.0;
+  float Iyy = 0.0;
+  float Ixy = 0.0;
+  int i;
+
+  /* check parameters */
+  if( reg == NULL ) error("get_theta: invalid region.");
+  if( reg_size <= 1 ) error("get_theta: region size <= 1.");
+  if( modgrad == NULL || modgrad->data == NULL )
+    error("get_theta: invalid 'modgrad'.");
+  if( prec < 0.0 ) error("get_theta: 'prec' must be positive.");
+
+  /* compute inertia matrix */
+  for(i=0; i<reg_size; i++)
+    {
+      weight = modgrad->data[ reg[i].x + reg[i].y * modgrad->xsize ];
+      Ixx += ( (float) reg[i].y - y ) * ( (float) reg[i].y - y ) * weight;
+      Iyy += ( (float) reg[i].x - x ) * ( (float) reg[i].x - x ) * weight;
+      Ixy -= ( (float) reg[i].x - x ) * ( (float) reg[i].y - y ) * weight;
+    }
+  if( double_equal(Ixx,0.0) && double_equal(Iyy,0.0) && double_equal(Ixy,0.0) )
+    error("get_theta: null inertia matrix.");
+
+  /* compute smallest eigenvalue */
+  lambda = 0.5 * ( Ixx + Iyy - sqrt( (Ixx-Iyy)*(Ixx-Iyy) + 4.0*Ixy*Ixy ) );
+
+  /* compute angle */
+  theta = fabs(Ixx)>fabs(Iyy) ? atan2(lambda-Ixx,Ixy) : atan2(Ixy,lambda-Iyy);
+
+  /* The previous procedure doesn't cares about orientation,
+     so it could be wrong by 180 degrees. Here is corrected if necessary. */
+  if( angle_diff(theta,reg_angle) > prec ) theta += M_PI;
+
+  return theta;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Computes a rectangle that covers a region of points.
+ */
+static void region2rect( struct lsd_point * reg, int reg_size,
+                         image_int modgrad, float reg_angle,
+                         float prec, float p, struct rect * rec )
+{
+  float x,y,dx,dy,l,w,theta,weight,sum,l_min,l_max,w_min,w_max;
+  int i;
+  int ix,iy,isum,iweight;
+  /* check parameters */
+  if( reg == NULL ) error("region2rect: invalid region.");
+  if( reg_size <= 1 ) error("region2rect: region size <= 1.");
+  if( modgrad == NULL || modgrad->data == NULL )
+    error("region2rect: invalid image 'modgrad'.");
+  if( rec == NULL ) error("region2rect: invalid 'rec'.");
+
+  /* center of the region:
+
+     It is computed as the weighted sum of the coordinates
+     of all the pixels in the region. The norm of the gradient
+     is used as the weight of a pixel. The sum is as follows:
+       cx = \sum_i G(i).x_i
+       cy = \sum_i G(i).y_i
+     where G(i) is the norm of the gradient of pixel i
+     and x_i,y_i are its coordinates.
+   */
+//  x = y = sum = 0.0;
+  ix = iy = isum = 0; // integers are faster since the source data is integer
+  for(i=0; i<reg_size; i++)
+    {
+      iweight = modgrad->data[ reg[i].x + reg[i].y * modgrad->xsize ];
+      ix += reg[i].x * iweight;
+      iy += reg[i].y * iweight;
+      isum += iweight;
+    }
+  if( isum <= 0 ) error("region2rect: weights sum equal to zero.");
+  x = (float)ix; y = (float)iy; sum = (float)isum;
+  x /= sum;
+  y /= sum;
+
+  /* theta */
+  theta = get_theta(reg,reg_size,x,y,modgrad,reg_angle,prec);
+
+  /* length and width:
+
+     'l' and 'w' are computed as the distance from the center of the
+     region to pixel i, projected along the rectangle axis (dx,dy) and
+     to the orthogonal axis (-dy,dx), respectively.
+
+     The length of the rectangle goes from l_min to l_max, where l_min
+     and l_max are the minimum and maximum values of l in the region.
+     Analogously, the width is selected from w_min to w_max, where
+     w_min and w_max are the minimum and maximum of w for the pixels
+     in the region.
+   */
+  dx = cos(theta);
+  dy = sin(theta);
+  l_min = l_max = w_min = w_max = 0.0;
+  for(i=0; i<reg_size; i++)
+    {
+      l =  ( (float) reg[i].x - x) * dx + ( (float) reg[i].y - y) * dy;
+      w = -( (float) reg[i].x - x) * dy + ( (float) reg[i].y - y) * dx;
+
+      if( l > l_max ) l_max = l;
+      if( l < l_min ) l_min = l;
+      if( w > w_max ) w_max = w;
+      if( w < w_min ) w_min = w;
+    }
+
+  /* store values */
+  rec->x1 = x + l_min * dx;
+  rec->y1 = y + l_min * dy;
+  rec->x2 = x + l_max * dx;
+  rec->y2 = y + l_max * dy;
+  rec->width = w_max - w_min;
+  rec->x = x;
+  rec->y = y;
+  rec->theta = theta;
+  rec->dx = dx;
+  rec->dy = dy;
+  rec->prec = prec;
+  rec->p = p;
+
+  /* we impose a minimal width of one pixel
+
+     A sharp horizontal or vertical step would produce a perfectly
+     horizontal or vertical region. The width computed would be
+     zero. But that corresponds to a one pixels width transition in
+     the image.
+   */
+  if( rec->width < 1.0 ) rec->width = 1.0;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Build a region of pixels that share the same angle, up to a
+    tolerance 'prec', starting at point (x,y).
+ */
+static void region_grow( int x, int y, image_int angles, struct lsd_point * reg,
+                         int * reg_size, float * reg_angle, image_char used,
+                         float prec )
+{
+  float sumdx,sumdy;
+  int xx,yy,i;
+  int l_size; // local copy
+  float l_angle; // local copy
+  int xsize = used->xsize;
+  /* check parameters */
+  if( x < 0 || y < 0 || x >= (int) angles->xsize || y >= (int) angles->ysize )
+    error("region_grow: (x,y) out of the image.");
+//  if( angles == NULL || angles->data == NULL )
+//    error("region_grow: invalid image 'angles'.");
+//  if( reg == NULL ) error("region_grow: invalid 'reg'.");
+//  if( reg_size == NULL ) error("region_grow: invalid pointer 'reg_size'.");
+//  if( reg_angle == NULL ) error("region_grow: invalid pointer 'reg_angle'.");
+//  if( used == NULL || used->data == NULL )
+//    error("region_grow: invalid image 'used'.");
+
+  /* first point of the region */
+  l_size = 1;
+  reg[0].x = x;
+  reg[0].y = y;
+  l_angle = degToRad(angles->data[x+y*angles->xsize]);  /* region's angle */
+  sumdx = cos(l_angle);
+  sumdy = sin(l_angle);
+  used->data[x+y*used->xsize] = USED;
+
+  /* try neighbors as new region points */
+  for(i=0; i<l_size; i++) {
+    int dx=3, dy=3; // assume 3x3 region to try
+    int ty = reg[i].y-1;
+    int tx = reg[i].x-1;
+    if (tx < 0) {
+       tx = 0; dx--;
+    } else if (tx+dx >= xsize) {
+       dx--;
+    }
+    if (ty < 0) {
+       ty = 0; dy--;
+    } else if (ty+dy >= used->ysize) {
+       dy--;
+    }
+    for(xx=tx; xx<tx+dx; xx++)
+      for(yy=ty; yy<ty+dy; yy++)
+        if( used->data[xx+yy*xsize] != USED &&
+            isaligned_fast((float)angles->data[(yy*xsize)+xx],l_angle,prec) )
+          {
+            /* add point */
+            used->data[xx+yy*xsize] = USED;
+            reg[l_size].x = xx;
+            reg[l_size].y = yy;
+            ++l_size;
+
+            /* update region's angle */
+            int16_t angle = angles->data[xx+yy*xsize] % 360;
+            if (angle < 0) angle += 360;
+            sumdx += cos_table[angle];
+            sumdy += sin_table[angle];
+            l_angle = atan2(sumdy,sumdx);
+          }
+   }
+   *reg_size = l_size;
+   *reg_angle = l_angle;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Try some rectangles variations to improve NFA value. Only if the
+    rectangle is not meaningful (i.e., log_nfa <= log_eps).
+ */
+static float rect_improve( struct rect * rec, image_int angles,
+                            float logNT, float log_eps )
+{
+  struct rect r;
+  float log_nfa,log_nfa_new;
+  float delta = 0.5;
+  float delta_2 = delta / 2.0;
+  int n;
+
+  log_nfa = rect_nfa(rec,angles,logNT);
+
+  if( log_nfa > log_eps ) return log_nfa;
+
+  /* try finer precisions */
+  rect_copy(rec,&r);
+  for(n=0; n<5; n++)
+    {
+      r.p /= 2.0;
+      r.prec = r.p * M_PI;
+      log_nfa_new = rect_nfa(&r,angles,logNT);
+      if( log_nfa_new > log_nfa )
+        {
+          log_nfa = log_nfa_new;
+          rect_copy(&r,rec);
+        }
+    }
+
+  if( log_nfa > log_eps ) return log_nfa;
+
+  /* try to reduce width */
+  rect_copy(rec,&r);
+  for(n=0; n<5; n++)
+    {
+      if( (r.width - delta) >= 0.5 )
+        {
+          r.width -= delta;
+          log_nfa_new = rect_nfa(&r,angles,logNT);
+          if( log_nfa_new > log_nfa )
+            {
+              rect_copy(&r,rec);
+              log_nfa = log_nfa_new;
+            }
+        }
+    }
+
+  if( log_nfa > log_eps ) return log_nfa;
+
+  /* try to reduce one side of the rectangle */
+  rect_copy(rec,&r);
+  for(n=0; n<5; n++)
+    {
+      if( (r.width - delta) >= 0.5 )
+        {
+          r.x1 += -r.dy * delta_2;
+          r.y1 +=  r.dx * delta_2;
+          r.x2 += -r.dy * delta_2;
+          r.y2 +=  r.dx * delta_2;
+          r.width -= delta;
+          log_nfa_new = rect_nfa(&r,angles,logNT);
+          if( log_nfa_new > log_nfa )
+            {
+              rect_copy(&r,rec);
+              log_nfa = log_nfa_new;
+            }
+        }
+    }
+
+  if( log_nfa > log_eps ) return log_nfa;
+
+  /* try to reduce the other side of the rectangle */
+  rect_copy(rec,&r);
+  for(n=0; n<5; n++)
+    {
+      if( (r.width - delta) >= 0.5 )
+        {
+          r.x1 -= -r.dy * delta_2;
+          r.y1 -=  r.dx * delta_2;
+          r.x2 -= -r.dy * delta_2;
+          r.y2 -=  r.dx * delta_2;
+          r.width -= delta;
+          log_nfa_new = rect_nfa(&r,angles,logNT);
+          if( log_nfa_new > log_nfa )
+            {
+              rect_copy(&r,rec);
+              log_nfa = log_nfa_new;
+            }
+        }
+    }
+
+  if( log_nfa > log_eps ) return log_nfa;
+
+  /* try even finer precisions */
+  rect_copy(rec,&r);
+  for(n=0; n<5; n++)
+    {
+      r.p /= 2.0;
+      r.prec = r.p * M_PI;
+      log_nfa_new = rect_nfa(&r,angles,logNT);
+      if( log_nfa_new > log_nfa )
+        {
+          log_nfa = log_nfa_new;
+          rect_copy(&r,rec);
+        }
+    }
+
+  return log_nfa;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Reduce the region size, by elimination the points far from the
+    starting point, until that leads to rectangle with the right
+    density of region points or to discard the region if too small.
+ */
+static int reduce_region_radius( struct lsd_point * reg, int * reg_size,
+                                 image_int modgrad, float reg_angle,
+                                 float prec, float p, struct rect * rec,
+                                 image_char used, image_int angles,
+                                 float density_th )
+{
+  float density,rad1,rad2,rad,xc,yc;
+  int i;
+
+  /* check parameters */
+  if( reg == NULL ) error("reduce_region_radius: invalid pointer 'reg'.");
+  if( reg_size == NULL )
+    error("reduce_region_radius: invalid pointer 'reg_size'.");
+  if( prec < 0.0 ) error("reduce_region_radius: 'prec' must be positive.");
+  if( rec == NULL ) error("reduce_region_radius: invalid pointer 'rec'.");
+  if( used == NULL || used->data == NULL )
+    error("reduce_region_radius: invalid image 'used'.");
+  if( angles == NULL || angles->data == NULL )
+    error("reduce_region_radius: invalid image 'angles'.");
+
+  /* compute region points density */
+  density = (float) *reg_size /
+                         ( dist(rec->x1,rec->y1,rec->x2,rec->y2) * rec->width );
+
+  /* if the density criterion is satisfied there is nothing to do */
+  if( density >= density_th ) return TRUE;
+
+  /* compute region's radius */
+  xc = (float) reg[0].x;
+  yc = (float) reg[0].y;
+  rad1 = dist( xc, yc, rec->x1, rec->y1 );
+  rad2 = dist( xc, yc, rec->x2, rec->y2 );
+  rad = rad1 > rad2 ? rad1 : rad2;
+
+  /* while the density criterion is not satisfied, remove farther pixels */
+  while( density < density_th )
+    {
+      rad *= 0.75; /* reduce region's radius to 75% of its value */
+
+      /* remove points from the region and update 'used' map */
+      for(i=0; i<*reg_size; i++)
+        if( dist( xc, yc, (float) reg[i].x, (float) reg[i].y ) > rad )
+          {
+            /* point not kept, mark it as NOTUSED */
+            used->data[ reg[i].x + reg[i].y * used->xsize ] = NOTUSED;
+            /* remove point from the region */
+            reg[i].x = reg[*reg_size-1].x; /* if i==*reg_size-1 copy itself */
+            reg[i].y = reg[*reg_size-1].y;
+            --(*reg_size);
+            --i; /* to avoid skipping one point */
+          }
+
+      /* reject if the region is too small.
+         2 is the minimal region size for 'region2rect' to work. */
+      if( *reg_size < 2 ) return FALSE;
+
+      /* re-compute rectangle */
+      region2rect(reg,*reg_size,modgrad,reg_angle,prec,p,rec);
+
+      /* re-compute region points density */
+      density = (float) *reg_size /
+                         ( dist(rec->x1,rec->y1,rec->x2,rec->y2) * rec->width );
+    }
+
+  /* if this point is reached, the density criterion is satisfied */
+  return TRUE;
+}
+
+/*----------------------------------------------------------------------------*/
+/** Refine a rectangle.
+
+    For that, an estimation of the angle tolerance is performed by the
+    standard deviation of the angle at points near the region's
+    starting point. Then, a new region is grown starting from the same
+    point, but using the estimated angle tolerance. If this fails to
+    produce a rectangle with the right density of region points,
+    'reduce_region_radius' is called to try to satisfy this condition.
+ */
+static int refine( struct lsd_point * reg, int * reg_size, image_int modgrad,
+                   float reg_angle, float prec, float p, struct rect * rec,
+                   image_char used, image_int angles, float density_th )
+{
+  float angle,ang_d,mean_angle,tau,density,xc,yc,ang_c,sum,s_sum;
+  int i,n;
+
+  /* check parameters */
+  if( reg == NULL ) error("refine: invalid pointer 'reg'.");
+  if( reg_size == NULL ) error("refine: invalid pointer 'reg_size'.");
+  if( prec < 0.0 ) error("refine: 'prec' must be positive.");
+  if( rec == NULL ) error("refine: invalid pointer 'rec'.");
+  if( used == NULL || used->data == NULL )
+    error("refine: invalid image 'used'.");
+  if( angles == NULL || angles->data == NULL )
+    error("refine: invalid image 'angles'.");
+
+  /* compute region points density */
+  density = (float) *reg_size /
+                         ( dist(rec->x1,rec->y1,rec->x2,rec->y2) * rec->width );
+
+  /* if the density criterion is satisfied there is nothing to do */
+  if( density >= density_th ) return TRUE;
+
+  /*------ First try: reduce angle tolerance ------*/
+
+  /* compute the new mean angle and tolerance */
+  xc = (float) reg[0].x;
+  yc = (float) reg[0].y;
+  ang_c = degToRad(angles->data[ reg[0].x + reg[0].y * angles->xsize ]);
+  sum = s_sum = 0.0;
+  n = 0;
+  for(i=0; i<*reg_size; i++)
+    {
+      used->data[ reg[i].x + reg[i].y * used->xsize ] = NOTUSED;
+      if( dist( xc, yc, (float) reg[i].x, (float) reg[i].y ) < rec->width )
+        {
+          angle = degToRad(angles->data[ reg[i].x + reg[i].y * angles->xsize ]);
+          ang_d = angle_diff_signed(angle,ang_c);
+          sum += ang_d;
+          s_sum += ang_d * ang_d;
+          ++n;
+        }
+    }
+  mean_angle = sum / (float) n;
+  tau = 2.0 * sqrt( (s_sum - 2.0 * mean_angle * sum) / (float) n
+                         + mean_angle*mean_angle ); /* 2 * standard deviation */
+
+  /* find a new region from the same starting point and new angle tolerance */
+  region_grow(reg[0].x,reg[0].y,angles,reg,reg_size,&reg_angle,used,tau);
+
+  /* if the region is too small, reject */
+  if( *reg_size < 2 ) return FALSE;
+
+  /* re-compute rectangle */
+  region2rect(reg,*reg_size,modgrad,reg_angle,prec,p,rec);
+
+  /* re-compute region points density */
+  density = (float) *reg_size /
+                      ( dist(rec->x1,rec->y1,rec->x2,rec->y2) * rec->width );
+
+  /*------ Second try: reduce region radius ------*/
+  if( density < density_th )
+    return reduce_region_radius( reg, reg_size, modgrad, reg_angle, prec, p,
+                                 rec, used, angles, density_th );
+
+  /* if this point is reached, the density criterion is satisfied */
+  return TRUE;
+}
+
+
+/*----------------------------------------------------------------------------*/
+/*-------------------------- Line Segment Detector ---------------------------*/
+/*----------------------------------------------------------------------------*/
+
+/*----------------------------------------------------------------------------*/
+/** LSD full interface.
+ */
+float * LineSegmentDetection( int * n_out,
+                               unsigned char * img, int X, int Y,
+                               float scale, float sigma_scale, float quant,
+                               float ang_th, float log_eps, float density_th,
+                               int n_bins,
+                               int ** reg_img, int * reg_x, int * reg_y )
+{
+  image_char image;
+  ntuple_list out = new_ntuple_list(7);
+  float * return_value;
+  image_int scaled_image,angles,modgrad;
+  image_char used;
+  image_int region = NULL;
+  struct coorlist * list_p;
+  void * mem_p;
+  struct rect rec;
+  struct lsd_point * reg;
+  int reg_size,min_reg_size,i;
+  unsigned int xsize,ysize;
+  float rho,reg_angle,prec,p,log_nfa,logNT;
+  int ls_count = 0;                   /* line segments are numbered 1,2,3,... */
+
+
+  /* check parameters */
+  if( img == NULL || X <= 0 || Y <= 0 ) error("invalid image input.");
+  if( scale <= 0.0 ) error("'scale' value must be positive.");
+  if( sigma_scale <= 0.0 ) error("'sigma_scale' value must be positive.");
+  if( quant < 0.0 ) error("'quant' value must be positive.");
+  if( ang_th <= 0.0 || ang_th >= 180.0 )
+    error("'ang_th' value must be in the range (0,180).");
+  if( density_th < 0.0 || density_th > 1.0 )
+    error("'density_th' value must be in the range [0,1].");
+  if( n_bins <= 0 ) error("'n_bins' value must be positive.");
+
+
+  /* angle tolerance */
+  prec = M_PI * ang_th / 180.0;
+  p = ang_th / 180.0;
+  rho = quant / sin(prec); /* gradient magnitude threshold */
+
+
+  /* load and scale image (if necessary) and compute angle at each pixel */
+  image = new_image_char_ptr( (unsigned int) X, (unsigned int) Y, img );
+//  if( scale != 1.0 )
+//    {
+//      scaled_image = gaussian_sampler( image, scale, sigma_scale );
+//      angles = ll_angle( scaled_image, rho, &list_p, &mem_p,
+//                         &modgrad, (unsigned int) n_bins );
+//      free_image_double(scaled_image);
+//    }
+//  else
+    angles = ll_angle( image, rho, &list_p, &mem_p, &modgrad,
+                       (unsigned int) n_bins );
+  xsize = angles->xsize;
+  ysize = angles->ysize;
+
+  /* Number of Tests - NT
+
+     The theoretical number of tests is Np.(XY)^(5/2)
+     where X and Y are number of columns and rows of the image.
+     Np corresponds to the number of angle precisions considered.
+     As the procedure 'rect_improve' tests 5 times to halve the
+     angle precision, and 5 more times after improving other factors,
+     11 different precision values are potentially tested. Thus,
+     the number of tests is
+       11 * (X*Y)^(5/2)
+     whose logarithm value is
+       log10(11) + 5/2 * (log10(X) + log10(Y)).
+  */
+  logNT = 5.0 * ( log10( (float) xsize ) + log10( (float) ysize ) ) / 2.0
+          + log10(11.0);
+  min_reg_size = (int) (-logNT/log10(p)); /* minimal number of points in region
+                                             that can give a meaningful event */
+
+
+//  /* initialize some structures */
+//  if( reg_img != NULL && reg_x != NULL && reg_y != NULL ) /* save region data */
+//    region = new_image_int_ini(angles->xsize,angles->ysize,0);
+  used = new_image_char_ini(xsize,ysize,NOTUSED);
+  reg = (struct lsd_point *) calloc( (size_t) (xsize*ysize), sizeof(struct lsd_point) );
+  if( reg == NULL ) error("not enough memory!");
+
+
+  /* search for line segments */
+  for(; list_p != NULL; list_p = list_p->next )
+    if( used->data[ list_p->x + list_p->y * used->xsize ] == NOTUSED &&
+        angles->data[ list_p->x + list_p->y * angles->xsize ] != NOTDEF_INT )
+//        degToRad(angles->data[ list_p->x + list_p->y * angles->xsize ]) != NOTDEF )
+       /* there is no risk of float comparison problems here
+          because we are only interested in the exact NOTDEF value */
+      {
+        /* find the region of connected point and ~equal angle */
+        region_grow( list_p->x, list_p->y, angles, reg, &reg_size,
+                     &reg_angle, used, prec );
+
+        /* reject small regions */
+        if( reg_size < min_reg_size ) continue;
+
+        /* construct rectangular approximation for the region */
+        region2rect(reg,reg_size,modgrad,reg_angle,prec,p,&rec);
+
+        /* Check if the rectangle exceeds the minimal density of
+           region points. If not, try to improve the region.
+           The rectangle will be rejected if the final one does
+           not fulfill the minimal density condition.
+           This is an addition to the original LSD algorithm published in
+           "LSD: A Fast Line Segment Detector with a False Detection Control"
+           by R. Grompone von Gioi, J. Jakubowicz, J.M. Morel, and G. Randall.
+           The original algorithm is obtained with density_th = 0.0.
+         */
+        if( !refine( reg, &reg_size, modgrad, reg_angle,
+                     prec, p, &rec, used, angles, density_th ) ) continue;
+
+        /* compute NFA value */
+        log_nfa = rect_improve(&rec,angles,logNT,log_eps);
+        if( log_nfa <= log_eps ) continue;
+
+        /* A New Line Segment was found! */
+        ++ls_count;  /* increase line segment counter */
+
+        /*
+           The gradient was computed with a 2x2 mask, its value corresponds to
+           points with an offset of (0.5,0.5), that should be added to output.
+           The coordinates origin is at the center of pixel (0,0).
+         */
+        rec.x1 += 0.5; rec.y1 += 0.5;
+        rec.x2 += 0.5; rec.y2 += 0.5;
+
+        /* scale the result values if a subsampling was performed */
+//        if( scale != 1.0 )
+//          {
+//            rec.x1 /= scale; rec.y1 /= scale;
+//            rec.x2 /= scale; rec.y2 /= scale;
+//            rec.width /= scale;
+//          }
+
+        /* add line segment found to output */
+        add_7tuple( out, rec.x1, rec.y1, rec.x2, rec.y2,
+                         rec.width, rec.p, log_nfa );
+
+//        /* add region number to 'region' image if needed */
+//        if( region != NULL )
+//          for(i=0; i<reg_size; i++)
+//            region->data[ reg[i].x + reg[i].y * region->xsize ] = ls_count;
+      }
+
+
+  /* free memory */
+  free( (void *) image );   /* only the char_image structure should be freed,
+                               the data pointer was provided to this functions
+                               and should not be destroyed.                 */
+  free_image_int(angles);
+  free_image_int(modgrad);
+  free_image_char(used);
+  free( (void *) reg );
+  free( (void *) mem_p );
+
+//  /* return the result */
+//  if( reg_img != NULL && reg_x != NULL && reg_y != NULL )
+//    {
+//      if( region == NULL ) error("'region' should be a valid image.");
+//      *reg_img = region->data;
+//      if( region->xsize > (unsigned int) INT_MAX ||
+//          region->xsize > (unsigned int) INT_MAX )
+//        error("region image to big to fit in INT sizes.");
+//      *reg_x = (int) (region->xsize);
+//      *reg_y = (int) (region->ysize);
+
+//      /* free the 'region' structure.
+//         we cannot use the function 'free_image_int' because we need to keep
+//         the memory with the image data to be returned by this function. */
+//      free( (void *) region );
+//    }
+  if( out->size > (unsigned int) INT_MAX )
+    error("too many detections to fit in an INT.");
+  *n_out = (int) (out->size);
+
+  return_value = out->values;
+  free( (void *) out );  /* only the 'ntuple_list' structure must be freed,
+                            but the 'values' pointer must be keep to return
+                            as a result. */
+
+  return return_value;
+}
+
+/*----------------------------------------------------------------------------*/
+/** LSD Simple Interface with Scale and Region output.
+ */
+float * lsd_scale_region( int * n_out,
+                           unsigned char * img, int X, int Y, float scale,
+                           int ** reg_img, int * reg_x, int * reg_y )
+{
+  /* LSD parameters */
+  float sigma_scale = 0.6; /* Sigma for Gaussian filter is computed as
+                                sigma = sigma_scale/scale.                    */
+  float quant = 2.0;       /* Bound to the quantization error on the
+                                gradient norm.                                */
+  float ang_th = 22.5;     /* Gradient angle tolerance in degrees.           */
+  float log_eps = 0.0;     /* Detection threshold: -log10(NFA) > log_eps     */
+  float density_th = 0.7;  /* Minimal density of region points in rectangle. */
+  int n_bins = 1024;        /* Number of bins in pseudo-ordering of gradient
+                               modulus.                                       */
+
+  return LineSegmentDetection( n_out, img, X, Y, scale, sigma_scale, quant,
+                               ang_th, log_eps, density_th, n_bins,
+                               reg_img, reg_x, reg_y );
+}
+
+/*----------------------------------------------------------------------------*/
+/** LSD Simple Interface with Scale.
+ */
+float * lsd_scale(int * n_out, unsigned char * img, int X, int Y, float scale)
+{
+  return lsd_scale_region(n_out,img,X,Y,scale,NULL,NULL,NULL);
+}
+
+/*----------------------------------------------------------------------------*/
+/** LSD Simple Interface.
+ */
+float * lsd(int * n_out, unsigned char * img, int X, int Y)
+{
+  /* LSD parameters */
+  float scale = 0.8;       /* Scale the image by Gaussian filter to 'scale'. */
+
+  return lsd_scale(n_out,img,X,Y,scale);
+}
+/*----------------------------------------------------------------------------*/
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void imlib_lsd_find_line_segments(list_t *out, image_t *ptr, rectangle_t *roi, unsigned int merge_distance, unsigned int max_theta_diff)
+{
+    uint8_t *grayscale_image = fb_alloc(roi->w * roi->h, FB_ALLOC_NO_HINT);
+
+    image_t img;
+    img.w = roi->w;
+    img.h = roi->h;
+    img.pixfmt = PIXFORMAT_GRAYSCALE;
+    img.data = grayscale_image;
+    img.size = img.w * img.h;
+    imlib_pixfmt_to(&img, ptr, roi);
+    // imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+
+    umm_init_x(fb_avail());
+
+    int n_ls;
+    float *ls = LineSegmentDetection(&n_ls, grayscale_image, roi->w, roi->h, 0.8, 0.6, 2.0, 22.5, 0.0, 0.7, 1024, NULL, NULL, NULL);
+    imlib_list_init(out, sizeof(find_lines_list_lnk_data_t));
+
+    for (int i = 0, j = n_ls; i < j; i++) {
+        find_lines_list_lnk_data_t lnk_line;
+
+        lnk_line.line.x1 = fast_roundf(ls[(7*i)+0]);
+        lnk_line.line.y1 = fast_roundf(ls[(7*i)+1]);
+        lnk_line.line.x2 = fast_roundf(ls[(7*i)+2]);
+        lnk_line.line.y2 = fast_roundf(ls[(7*i)+3]);
+
+        if(lb_clip_line(&lnk_line.line, 0, 0, roi->w, roi->h)) {
+            lnk_line.line.x1 += roi->x;
+            lnk_line.line.y1 += roi->y;
+            lnk_line.line.x2 += roi->x;
+            lnk_line.line.y2 += roi->y;
+
+            int dx = lnk_line.line.x2 - lnk_line.line.x1, mdx = lnk_line.line.x1 + (dx/2);
+            int dy = lnk_line.line.y2 - lnk_line.line.y1, mdy = lnk_line.line.y1 + (dy/2);
+            float rotation = (dx ? fast_atan2f(dy, dx) : 1.570796f) + 1.570796f; // PI/2
+
+            lnk_line.theta = fast_roundf(rotation * 57.295780) % 180; // * (180 / PI)
+            if (lnk_line.theta < 0) lnk_line.theta += 180;
+            lnk_line.rho = fast_roundf((mdx * cos_table[lnk_line.theta]) + (mdy * sin_table[lnk_line.theta]));
+
+            lnk_line.magnitude = fast_roundf(ls[(7*i)+6]);
+
+            list_push_back(out, &lnk_line);
+        }
+    }
+
+    if (merge_distance > 0)
+    {
+        merge_alot(out, merge_distance, max_theta_diff);
+    }
+
+    fb_free(NULL); // umm_init_x();
+    fb_free(grayscale_image); // grayscale_image;
+}
+
+#pragma GCC diagnostic pop
+#endif //IMLIB_ENABLE_FIND_LINE_SEGMENTS
diff --git a/github_source/minicv2/src/mathop.c b/github_source/minicv2/src/mathop.c
new file mode 100644
index 0000000..1bc8ded
--- /dev/null
+++ b/github_source/minicv2/src/mathop.c
@@ -0,0 +1,1013 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image math operations.
+ */
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_MATH_OPS
+void imlib_gamma_corr(image_t *img, float gamma, float contrast, float brightness)
+{
+    gamma = IM_DIV(1.0, gamma);
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            float pScale = COLOR_BINARY_MAX - COLOR_BINARY_MIN;
+            float pDiv = 1 / pScale;
+            int *p_lut = fb_alloc((COLOR_BINARY_MAX - COLOR_BINARY_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_BINARY_MIN; i <= COLOR_BINARY_MAX; i++) {
+                int p = ((fast_powf(i * pDiv, gamma) * contrast) + brightness) * pScale;
+                p_lut[i] = IM_MIN(IM_MAX(p , COLOR_BINARY_MIN), COLOR_BINARY_MAX);
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, x);
+                    int p = p_lut[dataPixel];
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, x, p);
+                }
+            }
+
+            fb_free(p_lut);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            float pScale = COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN;
+            float pDiv = 1 / pScale;
+            int *p_lut = fb_alloc((COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_GRAYSCALE_MIN; i <= COLOR_GRAYSCALE_MAX; i++) {
+                int p = ((fast_powf(i * pDiv, gamma) * contrast) + brightness) * pScale;
+                p_lut[i] = IM_MIN(IM_MAX(p , COLOR_GRAYSCALE_MIN), COLOR_GRAYSCALE_MAX);
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, x);
+                    int p = p_lut[dataPixel];
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, x, p);
+                }
+            }
+
+            fb_free(p_lut);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            float rScale = COLOR_R5_MAX - COLOR_R5_MIN;
+            float gScale = COLOR_G6_MAX - COLOR_G6_MIN;
+            float bScale = COLOR_B5_MAX - COLOR_B5_MIN;
+            float rDiv = 1 / rScale;
+            float gDiv = 1 / gScale;
+            float bDiv = 1 / bScale;
+            int *r_lut = fb_alloc((COLOR_R5_MAX - COLOR_R5_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+            int *g_lut = fb_alloc((COLOR_G6_MAX - COLOR_G6_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+            int *b_lut = fb_alloc((COLOR_B5_MAX - COLOR_B5_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_R5_MIN; i <= COLOR_R5_MAX; i++) {
+                int r = ((fast_powf(i * rDiv, gamma) * contrast) + brightness) * rScale;
+                r_lut[i] = IM_MIN(IM_MAX(r , COLOR_R5_MIN), COLOR_R5_MAX);
+            }
+
+            for (int i = COLOR_G6_MIN; i <= COLOR_G6_MAX; i++) {
+                int g = ((fast_powf(i * gDiv, gamma) * contrast) + brightness) * gScale;
+                g_lut[i] = IM_MIN(IM_MAX(g , COLOR_G6_MIN), COLOR_G6_MAX);
+            }
+
+            for (int i = COLOR_B5_MIN; i <= COLOR_B5_MAX; i++) {
+                int b = ((fast_powf(i * bDiv, gamma) * contrast) + brightness) * bScale;
+                b_lut[i] = IM_MIN(IM_MAX(b , COLOR_B5_MIN), COLOR_B5_MAX);
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, x);
+                    int r = r_lut[COLOR_RGB565_TO_R5(dataPixel)];
+                    int g = g_lut[COLOR_RGB565_TO_G6(dataPixel)];
+                    int b = b_lut[COLOR_RGB565_TO_B5(dataPixel)];
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, x, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+
+            fb_free(b_lut);
+            fb_free(g_lut);
+            fb_free(r_lut);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            float rScale = COLOR_R8_MAX - COLOR_R8_MIN;
+            float gScale = COLOR_G8_MAX - COLOR_G8_MIN;
+            float bScale = COLOR_B8_MAX - COLOR_B8_MIN;
+            float rDiv = 1 / rScale;
+            float gDiv = 1 / gScale;
+            float bDiv = 1 / bScale;
+            int *r_lut = fb_alloc((COLOR_R8_MAX - COLOR_R8_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+            int *g_lut = fb_alloc((COLOR_G8_MAX - COLOR_G8_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+            int *b_lut = fb_alloc((COLOR_B8_MAX - COLOR_B8_MIN + 1) * sizeof(int), FB_ALLOC_NO_HINT);
+
+            for (int i = COLOR_R8_MIN; i <= COLOR_R8_MAX; i++) {
+                int r = ((fast_powf(i * rDiv, gamma) * contrast) + brightness) * rScale;
+                r_lut[i] = IM_MIN(IM_MAX(r , COLOR_R8_MIN), COLOR_R8_MAX);
+            }
+
+            for (int i = COLOR_G8_MIN; i <= COLOR_G8_MAX; i++) {
+                int g = ((fast_powf(i * gDiv, gamma) * contrast) + brightness) * gScale;
+                g_lut[i] = IM_MIN(IM_MAX(g , COLOR_G8_MIN), COLOR_G8_MAX);
+            }
+
+            for (int i = COLOR_B8_MIN; i <= COLOR_B8_MAX; i++) {
+                int b = ((fast_powf(i * bDiv, gamma) * contrast) + brightness) * bScale;
+                b_lut[i] = IM_MIN(IM_MAX(b , COLOR_B8_MIN), COLOR_B8_MAX);
+            }
+
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, x);
+                    int r = r_lut[COLOR_RGB888_TO_R8(dataPixel)];
+                    int g = g_lut[COLOR_RGB888_TO_G8(dataPixel)];
+                    int b = b_lut[COLOR_RGB888_TO_B8(dataPixel)];
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, x, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+
+            fb_free(b_lut);
+            fb_free(g_lut);
+            fb_free(r_lut);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_negate(image_t *img)
+{
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, y);
+                int x = 0, xx = img->w;
+                uint32_t *s = data;
+                for (; x < xx-31; x += 32) { // do it faster with bit access
+                    s[0] = ~s[0]; // invert 32 bits (pixels) in one shot
+                    s++;
+                }
+                for (; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, x);
+                    int p = (COLOR_BINARY_MAX - COLOR_BINARY_MIN) - dataPixel;
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, x, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, y);
+                int x = 0, xx = img->w;
+                uint32_t a, b, *s = (uint32_t *)data;
+                for (; x < xx-7; x+= 8) { // process a pair of 4 pixels at a time
+                    a = s[0]; b = s[1]; // read 8 pixels
+                    s[0] = ~a; s[1] = ~b;
+                    s += 2;
+                }
+                for (; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, x);
+                    int p = (COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN) - dataPixel;
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, x, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, x);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, x, ~dataPixel);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = img->h; y < yy; y++) {
+                pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, y);
+                for (int x = 0, xx = img->w; x < xx; x++) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, x);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, x, ~dataPixel);
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+typedef struct imlib_replace_line_op_state {
+    bool hmirror, vflip, transpose;
+    image_t *mask;
+} imlib_replace_line_op_state_t;
+
+static void imlib_replace_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    bool hmirror = ((imlib_replace_line_op_state_t *) data)->hmirror;
+    bool vflip = ((imlib_replace_line_op_state_t *) data)->vflip;
+    bool transpose = ((imlib_replace_line_op_state_t *) data)->transpose;
+    image_t *mask = ((imlib_replace_line_op_state_t *) data)->mask;
+
+    image_t target;
+    memcpy(&target, img, sizeof(image_t));
+
+    if (transpose) {
+        int w = target.w;
+        int h = target.h;
+        target.w = h;
+        target.h = w;
+    }
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            int v_line = vflip ? (img->h - line - 1) : line;
+            for (int i = 0, j = img->w; i < j; i++) {
+                int h_i = hmirror ? (img->w - i - 1) : i;
+
+                if ((!mask) || image_get_mask_pixel(mask, h_i, v_line)) {
+                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), h_i);
+                    IMAGE_PUT_BINARY_PIXEL(&target, transpose ? v_line : i, transpose ? i : v_line, pixel);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            int v_line = vflip ? (img->h - line - 1) : line;
+            for (int i = 0, j = img->w; i < j; i++) {
+                int h_i = hmirror ? (img->w - i - 1) : i;
+
+                if ((!mask) || image_get_mask_pixel(mask, h_i, v_line)) {
+                    int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), h_i);
+                    IMAGE_PUT_GRAYSCALE_PIXEL(&target, transpose ? v_line : i, transpose ? i : v_line, pixel);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            int v_line = vflip ? (img->h - line - 1) : line;
+            for (int i = 0, j = img->w; i < j; i++) {
+                int h_i = hmirror ? (img->w - i - 1) : i;
+
+                if ((!mask) || image_get_mask_pixel(mask, h_i, v_line)) {
+                    int pixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), h_i);
+                    IMAGE_PUT_RGB565_PIXEL(&target, transpose ? v_line : i, transpose ? i : v_line, pixel);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            int v_line = vflip ? (img->h - line - 1) : line;
+            for (int i = 0, j = img->w; i < j; i++) {
+                int h_i = hmirror ? (img->w - i - 1) : i;
+
+                if ((!mask) || image_get_mask_pixel(mask, h_i, v_line)) {
+                    int pixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), h_i);
+                    IMAGE_PUT_RGB888_PIXEL(&target, transpose ? v_line : i, transpose ? i : v_line, pixel);
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_replace(image_t *img, const char *path, image_t *other, int scalar, bool hmirror, bool vflip, bool transpose, image_t *mask)
+{
+    bool in_place = img->data == other->data;
+    image_t temp;
+
+    if (in_place) {
+        memcpy(&temp, other, sizeof(image_t));
+        temp.data = fb_alloc(image_size(&temp), FB_ALLOC_NO_HINT);
+        memcpy(temp.data, other->data, image_size(&temp));
+        other = &temp;
+    }
+
+    imlib_replace_line_op_state_t state;
+    state.hmirror = hmirror;
+    state.vflip = vflip;
+    state.mask = mask;
+    state.transpose = transpose;
+    imlib_image_operation(img, path, other, scalar, imlib_replace_line_op, &state);
+
+    if (in_place) {
+        fb_free(temp.data);
+    }
+
+    if (transpose) {
+        int w = img->w;
+        int h = img->h;
+        img->w = h;
+        img->h = w;
+    }
+}
+
+static void imlib_add_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = dataPixel | otherPixel; //dataPixel + otherPixel;
+//                    p = IM_MIN(p, COLOR_BINARY_MAX);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = dataPixel + otherPixel;
+                    p = IM_MIN(p, COLOR_GRAYSCALE_MAX);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int r = COLOR_RGB565_TO_R5(dataPixel) + COLOR_RGB565_TO_R5(otherPixel);
+                    int g = COLOR_RGB565_TO_G6(dataPixel) + COLOR_RGB565_TO_G6(otherPixel);
+                    int b = COLOR_RGB565_TO_B5(dataPixel) + COLOR_RGB565_TO_B5(otherPixel);
+                    r = IM_MIN(r, COLOR_R5_MAX);
+                    g = IM_MIN(g, COLOR_G6_MAX);
+                    b = IM_MIN(b, COLOR_B5_MAX);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int r = COLOR_RGB888_TO_R8(dataPixel) + COLOR_RGB888_TO_R8(otherPixel);
+                    int g = COLOR_RGB888_TO_G8(dataPixel) + COLOR_RGB888_TO_G8(otherPixel);
+                    int b = COLOR_RGB888_TO_B8(dataPixel) + COLOR_RGB888_TO_B8(otherPixel);
+                    r = IM_MIN(r, COLOR_R8_MAX);
+                    g = IM_MIN(g, COLOR_G8_MAX);
+                    b = IM_MIN(b, COLOR_B8_MAX);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_add(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_add_line_op, mask);
+}
+
+typedef struct imlib_sub_line_op_state {
+    bool reverse;
+    image_t *mask;
+} imlib_sub_line_op_state_t;
+
+static void imlib_sub_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    bool reverse = ((imlib_sub_line_op_state_t *) data)->reverse;
+    image_t *mask = ((imlib_sub_line_op_state_t *) data)->mask;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = reverse ? (otherPixel - dataPixel) : (dataPixel - otherPixel);
+                    p = IM_MAX(p, COLOR_BINARY_MIN);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = reverse ? (otherPixel - dataPixel) : (dataPixel - otherPixel);
+                    p = IM_MAX(p, COLOR_GRAYSCALE_MIN);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int dR = COLOR_RGB565_TO_R5(dataPixel);
+                    int dG = COLOR_RGB565_TO_G6(dataPixel);
+                    int dB = COLOR_RGB565_TO_B5(dataPixel);
+                    int oR = COLOR_RGB565_TO_R5(otherPixel);
+                    int oG = COLOR_RGB565_TO_G6(otherPixel);
+                    int oB = COLOR_RGB565_TO_B5(otherPixel);
+                    int r = reverse ? (oR - dR) : (dR - oR);
+                    int g = reverse ? (oG - dG) : (dG - oG);
+                    int b = reverse ? (oB - dB) : (dB - oB);
+                    r = IM_MAX(r, COLOR_R5_MIN);
+                    g = IM_MAX(g, COLOR_G6_MIN);
+                    b = IM_MAX(b, COLOR_B5_MIN);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int dR = COLOR_RGB888_TO_R8(dataPixel);
+                    int dG = COLOR_RGB888_TO_G8(dataPixel);
+                    int dB = COLOR_RGB888_TO_B8(dataPixel);
+                    int oR = COLOR_RGB888_TO_R8(otherPixel);
+                    int oG = COLOR_RGB888_TO_G8(otherPixel);
+                    int oB = COLOR_RGB888_TO_B8(otherPixel);
+                    int r = reverse ? (oR - dR) : (dR - oR);
+                    int g = reverse ? (oG - dG) : (dG - oG);
+                    int b = reverse ? (oB - dB) : (dB - oB);
+                    r = IM_MAX(r, COLOR_R8_MIN);
+                    g = IM_MAX(g, COLOR_G8_MIN);
+                    b = IM_MAX(b, COLOR_B8_MIN);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_sub(image_t *img, const char *path, image_t *other, int scalar, bool reverse, image_t *mask)
+{
+    imlib_sub_line_op_state_t state;
+    state.reverse = reverse;
+    state.mask = mask;
+    imlib_image_operation(img, path, other, scalar, imlib_sub_line_op, &state);
+}
+
+typedef struct imlib_mul_line_op_state {
+    bool invert;
+    image_t *mask;
+} imlib_mul_line_op_state_t;
+
+static void imlib_mul_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    bool invert = ((imlib_mul_line_op_state_t *) data)->invert;
+    image_t *mask = ((imlib_mul_line_op_state_t *) data)->mask;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            float pScale = COLOR_BINARY_MAX - COLOR_BINARY_MIN;
+            float pDiv = 1 / pScale;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = invert ? (pScale - ((pScale - dataPixel) * (pScale - otherPixel) * pDiv))
+                                   : (dataPixel * otherPixel * pDiv);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            float pScale = COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN;
+            float pDiv = 1 / pScale;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = invert ? (pScale - ((pScale - dataPixel) * (pScale - otherPixel) * pDiv))
+                                   : (dataPixel * otherPixel * pDiv);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            float rScale = COLOR_R5_MAX - COLOR_R5_MIN;
+            float gScale = COLOR_G6_MAX - COLOR_G6_MIN;
+            float bScale = COLOR_B5_MAX - COLOR_B5_MIN;
+            float rDiv = 1 / rScale;
+            float gDiv = 1 / gScale;
+            float bDiv = 1 / bScale;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int dR = COLOR_RGB565_TO_R5(dataPixel);
+                    int dG = COLOR_RGB565_TO_G6(dataPixel);
+                    int dB = COLOR_RGB565_TO_B5(dataPixel);
+                    int oR = COLOR_RGB565_TO_R5(otherPixel);
+                    int oG = COLOR_RGB565_TO_G6(otherPixel);
+                    int oB = COLOR_RGB565_TO_B5(otherPixel);
+                    int r = invert ? (rScale - ((rScale - dR) * (rScale - oR) * rDiv))
+                                   : (dR * oR * rDiv);
+                    int g = invert ? (gScale - ((gScale - dG) * (gScale - oG) * gDiv))
+                                   : (dG * oG * gDiv);
+                    int b = invert ? (bScale - ((bScale - dB) * (bScale - oB) * bDiv))
+                                   : (dB * oB * bDiv);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            float rScale = COLOR_R8_MAX - COLOR_R8_MIN;
+            float gScale = COLOR_G8_MAX - COLOR_G8_MIN;
+            float bScale = COLOR_B8_MAX - COLOR_B8_MIN;
+            float rDiv = 1 / rScale;
+            float gDiv = 1 / gScale;
+            float bDiv = 1 / bScale;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int dR = COLOR_RGB888_TO_R8(dataPixel);
+                    int dG = COLOR_RGB888_TO_G8(dataPixel);
+                    int dB = COLOR_RGB888_TO_B8(dataPixel);
+                    int oR = COLOR_RGB888_TO_R8(otherPixel);
+                    int oG = COLOR_RGB888_TO_G8(otherPixel);
+                    int oB = COLOR_RGB888_TO_B8(otherPixel);
+                    int r = invert ? (rScale - ((rScale - dR) * (rScale - oR) * rDiv))
+                                   : (dR * oR * rDiv);
+                    int g = invert ? (gScale - ((gScale - dG) * (gScale - oG) * gDiv))
+                                   : (dG * oG * gDiv);
+                    int b = invert ? (bScale - ((bScale - dB) * (bScale - oB) * bDiv))
+                                   : (dB * oB * bDiv);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_mul(image_t *img, const char *path, image_t *other, int scalar, bool invert, image_t *mask)
+{
+    imlib_mul_line_op_state_t state;
+    state.invert = invert;
+    state.mask = mask;
+    imlib_image_operation(img, path, other, scalar, imlib_mul_line_op, &state);
+}
+
+typedef struct imlib_div_line_op_state {
+    bool invert, mod;
+    image_t *mask;
+} imlib_div_line_op_state_t;
+
+static void imlib_div_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    bool invert = ((imlib_div_line_op_state_t *) data)->invert;
+    bool mod = ((imlib_div_line_op_state_t *) data)->mod;
+    image_t *mask = ((imlib_div_line_op_state_t *) data)->mask;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            int pScale = COLOR_BINARY_MAX - COLOR_BINARY_MIN;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = mod
+                        ? IM_MOD((invert?otherPixel:dataPixel) * pScale, (invert?dataPixel:otherPixel))
+                        : IM_DIV((invert?otherPixel:dataPixel) * pScale, (invert?dataPixel:otherPixel));
+                    p = IM_MIN(p, COLOR_BINARY_MAX);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            int pScale = COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = mod
+                        ? IM_MOD((invert?otherPixel:dataPixel) * pScale, (invert?dataPixel:otherPixel))
+                        : IM_DIV((invert?otherPixel:dataPixel) * pScale, (invert?dataPixel:otherPixel));
+                    p = IM_MIN(p, COLOR_GRAYSCALE_MAX);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            int rScale = COLOR_R5_MAX - COLOR_R5_MIN;
+            int gScale = COLOR_G6_MAX - COLOR_G6_MIN;
+            int bScale = COLOR_B5_MAX - COLOR_B5_MIN;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int dR = COLOR_RGB565_TO_R5(dataPixel);
+                    int dG = COLOR_RGB565_TO_G6(dataPixel);
+                    int dB = COLOR_RGB565_TO_B5(dataPixel);
+                    int oR = COLOR_RGB565_TO_R5(otherPixel);
+                    int oG = COLOR_RGB565_TO_G6(otherPixel);
+                    int oB = COLOR_RGB565_TO_B5(otherPixel);
+                    int r = mod
+                        ? IM_MOD((invert?oR:dR) * rScale, (invert?dR:oR))
+                        : IM_DIV((invert?oR:dR) * rScale, (invert?dR:oR));
+                    int g = mod
+                        ? IM_MOD((invert?oG:dG) * gScale, (invert?dG:oG))
+                        : IM_DIV((invert?oG:dG) * gScale, (invert?dG:oG));
+                    int b = mod
+                        ? IM_MOD((invert?oB:dB) * bScale, (invert?dB:oB))
+                        : IM_DIV((invert?oB:dB) * bScale, (invert?dB:oB));
+                    r = IM_MIN(r, COLOR_R5_MAX);
+                    g = IM_MIN(g, COLOR_G6_MAX);
+                    b = IM_MIN(b, COLOR_B5_MAX);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            int rScale = COLOR_R8_MAX - COLOR_R8_MIN;
+            int gScale = COLOR_G8_MAX - COLOR_G8_MIN;
+            int bScale = COLOR_B8_MAX - COLOR_B8_MIN;
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int dR = COLOR_RGB888_TO_R8(dataPixel);
+                    int dG = COLOR_RGB888_TO_G8(dataPixel);
+                    int dB = COLOR_RGB888_TO_B8(dataPixel);
+                    int oR = COLOR_RGB888_TO_R8(otherPixel);
+                    int oG = COLOR_RGB888_TO_G8(otherPixel);
+                    int oB = COLOR_RGB888_TO_B8(otherPixel);
+                    int r = mod
+                        ? IM_MOD((invert?oR:dR) * rScale, (invert?dR:oR))
+                        : IM_DIV((invert?oR:dR) * rScale, (invert?dR:oR));
+                    int g = mod
+                        ? IM_MOD((invert?oG:dG) * gScale, (invert?dG:oG))
+                        : IM_DIV((invert?oG:dG) * gScale, (invert?dG:oG));
+                    int b = mod
+                        ? IM_MOD((invert?oB:dB) * bScale, (invert?dB:oB))
+                        : IM_DIV((invert?oB:dB) * bScale, (invert?dB:oB));
+                    r = IM_MIN(r, COLOR_R8_MAX);
+                    g = IM_MIN(g, COLOR_G8_MAX);
+                    b = IM_MIN(b, COLOR_B8_MAX);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_div(image_t *img, const char *path, image_t *other, int scalar, bool invert, bool mod, image_t *mask)
+{
+    imlib_div_line_op_state_t state;
+    state.invert = invert;
+    state.mod = mod;
+    state.mask = mask;
+    imlib_image_operation(img, path, other, scalar, imlib_div_line_op, &state);
+}
+
+static void imlib_min_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = IM_MIN(dataPixel, otherPixel);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = IM_MIN(dataPixel, otherPixel);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int r = IM_MIN(COLOR_RGB565_TO_R5(dataPixel), COLOR_RGB565_TO_R5(otherPixel));
+                    int g = IM_MIN(COLOR_RGB565_TO_G6(dataPixel), COLOR_RGB565_TO_G6(otherPixel));
+                    int b = IM_MIN(COLOR_RGB565_TO_B5(dataPixel), COLOR_RGB565_TO_B5(otherPixel));
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int r = IM_MIN(COLOR_RGB888_TO_R8(dataPixel), COLOR_RGB888_TO_R8(otherPixel));
+                    int g = IM_MIN(COLOR_RGB888_TO_G8(dataPixel), COLOR_RGB888_TO_G8(otherPixel));
+                    int b = IM_MIN(COLOR_RGB888_TO_B8(dataPixel), COLOR_RGB888_TO_B8(otherPixel));
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_min(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_min_line_op, mask);
+}
+
+static void imlib_max_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = IM_MAX(dataPixel, otherPixel);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = IM_MAX(dataPixel, otherPixel);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int r = IM_MAX(COLOR_RGB565_TO_R5(dataPixel), COLOR_RGB565_TO_R5(otherPixel));
+                    int g = IM_MAX(COLOR_RGB565_TO_G6(dataPixel), COLOR_RGB565_TO_G6(otherPixel));
+                    int b = IM_MAX(COLOR_RGB565_TO_B5(dataPixel), COLOR_RGB565_TO_B5(otherPixel));
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int r = IM_MAX(COLOR_RGB888_TO_R8(dataPixel), COLOR_RGB888_TO_R8(otherPixel));
+                    int g = IM_MAX(COLOR_RGB888_TO_G8(dataPixel), COLOR_RGB888_TO_G8(otherPixel));
+                    int b = IM_MAX(COLOR_RGB888_TO_B8(dataPixel), COLOR_RGB888_TO_B8(otherPixel));
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_max(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar, imlib_max_line_op, mask);
+}
+
+static void imlib_difference_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    image_t *mask = (image_t *) data;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = dataPixel ^ otherPixel; // abs(dataPixel - otherPixel);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = abs(dataPixel - otherPixel);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int r = abs(COLOR_RGB565_TO_R5(dataPixel) - COLOR_RGB565_TO_R5(otherPixel));
+                    int g = abs(COLOR_RGB565_TO_G6(dataPixel) - COLOR_RGB565_TO_G6(otherPixel));
+                    int b = abs(COLOR_RGB565_TO_B5(dataPixel) - COLOR_RGB565_TO_B5(otherPixel));
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int r = abs(COLOR_RGB888_TO_R8(dataPixel) - COLOR_RGB888_TO_R8(otherPixel));
+                    int g = abs(COLOR_RGB888_TO_G8(dataPixel) - COLOR_RGB888_TO_G8(otherPixel));
+                    int b = abs(COLOR_RGB888_TO_B8(dataPixel) - COLOR_RGB888_TO_B8(otherPixel));
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_difference(image_t *img, const char *path, image_t *other, int scalar, image_t *mask)
+{
+    imlib_image_operation(img, path, other, scalar,imlib_difference_line_op,  mask);
+}
+
+typedef struct imlib_blend_line_op_state {
+    float alpha;
+    image_t *mask;
+} imlib_blend_line_op_t;
+
+static void imlib_blend_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    float alpha = ((imlib_blend_line_op_t *) data)->alpha, beta = 1 - alpha;
+    image_t *mask = ((imlib_blend_line_op_t *) data)->mask;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *data = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_BINARY_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_BINARY_PIXEL_FAST(((uint32_t *) other), i);
+                    int p = (dataPixel * alpha) + (otherPixel * beta);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *data = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(((uint8_t *) other), i);
+                    int p = (dataPixel * alpha) + (otherPixel * beta);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(data, i, p);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *data = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB565_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB565_PIXEL_FAST(((uint16_t *) other), i);
+                    int r = (COLOR_RGB565_TO_R5(dataPixel) * alpha) + (COLOR_RGB565_TO_R5(otherPixel) * beta);
+                    int g = (COLOR_RGB565_TO_G6(dataPixel) * alpha) + (COLOR_RGB565_TO_G6(otherPixel) * beta);
+                    int b = (COLOR_RGB565_TO_B5(dataPixel) * alpha) + (COLOR_RGB565_TO_B5(otherPixel) * beta);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(data, i, COLOR_R5_G6_B5_TO_RGB565(r, g, b));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *data = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            for (int i = 0, j = img->w; i < j; i++) {
+                if ((!mask) || image_get_mask_pixel(mask, i, line)) {
+                    int dataPixel = IMAGE_GET_RGB888_PIXEL_FAST(data, i);
+                    int otherPixel = IMAGE_GET_RGB888_PIXEL_FAST(((pixel24_t *) other), i);
+                    int r = (COLOR_RGB888_TO_R8(dataPixel) * alpha) + (COLOR_RGB888_TO_R8(otherPixel) * beta);
+                    int g = (COLOR_RGB888_TO_G8(dataPixel) * alpha) + (COLOR_RGB888_TO_G8(otherPixel) * beta);
+                    int b = (COLOR_RGB888_TO_B8(dataPixel) * alpha) + (COLOR_RGB888_TO_B8(otherPixel) * beta);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(data, i, COLOR_R8_G8_B8_TO_RGB888(r, g, b));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_blend(image_t *img, const char *path, image_t *other, int scalar, float alpha, image_t *mask)
+{
+    imlib_blend_line_op_t state;
+    state.alpha = alpha;
+    state.mask = mask;
+    imlib_image_operation(img, path, other, scalar, imlib_blend_line_op, &state);
+}
+#endif //IMLIB_ENABLE_MATH_OPS
diff --git a/github_source/minicv2/src/mjpeg.c b/github_source/minicv2/src/mjpeg.c
new file mode 100644
index 0000000..d5db05c
--- /dev/null
+++ b/github_source/minicv2/src/mjpeg.c
@@ -0,0 +1,152 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * A simple MJPEG encoder.
+ */
+#include "imlib.h"
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+
+#include "fb_alloc.h"
+#include "ff_wrapper.h"
+
+#define SIZE_OFFSET             (1*4)
+#define MICROS_OFFSET           (8*4)
+#define FRAMES_OFFSET           (12*4)
+#define RATE_0_OFFSET           (19*4)
+#define LENGTH_0_OFFSET         (21*4)
+#define RATE_1_OFFSET           (33*4)
+#define LENGTH_1_OFFSET         (35*4)
+#define MOVI_OFFSET             (54*4)
+
+void mjpeg_open(FIL *fp, int width, int height)
+{
+    write_data(fp, "RIFF", 4); // FOURCC fcc; - 0
+    write_long(fp, 0); // DWORD cb; size - updated on close - 1
+    write_data(fp, "AVI ", 4); // FOURCC fcc; - 2
+
+    write_data(fp, "LIST", 4); // FOURCC fcc; - 3
+    write_long(fp, 192); // DWORD cb; - 4
+    write_data(fp, "hdrl", 4); // FOURCC fcc; - 5
+
+    write_data(fp, "avih", 4); // FOURCC fcc; - 6
+    write_long(fp, 56); // DWORD cb; - 7
+    write_long(fp, 0); // DWORD dwMicroSecPerFrame; micros - updated on close - 8
+    write_long(fp, 0); // DWORD dwMaxBytesPerSec; updated on close - 9
+    write_long(fp, 4); // DWORD dwPaddingGranularity; - 10
+    write_long(fp, 0); // DWORD dwFlags; - 11
+    write_long(fp, 0); // DWORD dwTotalFrames; frames - updated on close - 12
+    write_long(fp, 0); // DWORD dwInitialFrames; - 13
+    write_long(fp, 1); // DWORD dwStreams; - 14
+    write_long(fp, 0); // DWORD dwSuggestedBufferSize; - 15
+    write_long(fp, width); // DWORD dwWidth; - 16
+    write_long(fp, height); // DWORD dwHeight; - 17
+    write_long(fp, 1000); // DWORD dwScale; - 18
+    write_long(fp, 0); // DWORD dwRate; rate - updated on close - 19
+    write_long(fp, 0); // DWORD dwStart; - 20
+    write_long(fp, 0); // DWORD dwLength; length - updated on close - 21
+
+    write_data(fp, "LIST", 4); // FOURCC fcc; - 22
+    write_long(fp, 116); // DWORD cb; - 23
+    write_data(fp, "strl", 4); // FOURCC fcc; - 24
+
+    write_data(fp, "strh", 4); // FOURCC fcc; - 25
+    write_long(fp, 56); // DWORD cb; - 26
+    write_data(fp, "vids", 4); // FOURCC fccType; - 27
+    write_data(fp, "MJPG", 4); // FOURCC fccHandler; - 28
+    write_long(fp, 0); // DWORD dwFlags; - 29
+    write_word(fp, 0); // WORD wPriority; - 30
+    write_word(fp, 0); // WORD wLanguage; - 30.5
+    write_long(fp, 0); // DWORD dwInitialFrames; - 31
+    write_long(fp, 1000); // DWORD dwScale; - 32
+    write_long(fp, 0); // DWORD dwRate; rate - updated on close - 33
+    write_long(fp, 0); // DWORD dwStart; - 34
+    write_long(fp, 0); // DWORD dwLength; length - updated on close - 35
+    write_long(fp, 0); // DWORD dwSuggestedBufferSize; - 36
+    write_long(fp, 10000); // DWORD dwQuality; - 37
+    write_long(fp, 0); // DWORD dwSampleSize; - 38
+    write_word(fp, 0); // short int left; - 39
+    write_word(fp, 0); // short int top; - 39.5
+    write_word(fp, 0); // short int right; - 40
+    write_word(fp, 0); // short int bottom; - 40.5
+
+    write_data(fp, "strf", 4); // FOURCC fcc; - 41
+    write_long(fp, 40); // DWORD cb; - 42
+    write_long(fp, 40); // DWORD biSize; - 43
+    write_long(fp, width); // LONG biWidth; - 44
+    write_long(fp, height); // LONG biHeight; - 45
+    write_word(fp, 1); // WORD biPlanes; - 46
+    write_word(fp, 24); // WORD biBitCount; - 46.5
+    write_data(fp, "MJPG", 4); // DWORD biCompression; - 47
+    write_long(fp, 0); // DWORD biSizeImage; - 48
+    write_long(fp, 0); // LONG biXPelsPerMeter; - 49
+    write_long(fp, 0); // LONG biYPelsPerMeter; - 50
+    write_long(fp, 0); // DWORD biClrUsed; - 51
+    write_long(fp, 0); // DWORD biClrImportant; - 52
+
+    write_data(fp, "LIST", 4); // FOURCC fcc; - 53
+    write_long(fp, 0); // DWORD cb; movi - updated on close - 54
+    write_data(fp, "movi", 4); // FOURCC fcc; - 55
+}
+
+void mjpeg_add_frame(FIL *fp, uint32_t *frames, uint32_t *bytes, image_t *img, int quality)
+{
+    write_data(fp, "00dc", 4); // FOURCC fcc;
+    *frames += 1;
+    if (IM_IS_JPEG(img)) {
+        uint32_t size_padded = (((img->size + 3) / 4) * 4);
+        write_long(fp, size_padded); // DWORD cb;
+        write_data(fp, img->pixels, size_padded); // reading past okay
+        *bytes += size_padded;
+    } else {
+        image_t out = { .w=img->w, .h=img->h, .pixfmt=PIXFORMAT_JPEG, .size=0, .pixels=NULL };
+        // When jpeg_compress needs more memory than in currently allocated it
+        // will try to realloc. MP will detect that the pointer is outside of
+        // the heap and return NULL which will cause an out of memory error.
+        jpeg_compress(img, &out, quality, true);
+        uint32_t size_padded = (((out.size + 3) / 4) * 4);
+        write_long(fp, size_padded); // DWORD cb;
+        write_data(fp, out.pixels, size_padded); // reading past okay
+        *bytes += size_padded;
+        fb_free(NULL); // frees alloc in jpeg_compress()
+    }
+}
+
+void mjpeg_close(FIL *fp, uint32_t *frames, uint32_t *bytes, float fps)
+{
+    // Needed
+    file_seek(fp, SIZE_OFFSET);
+    write_long(fp, 216 + (*frames * 8) + *bytes);
+    // Needed
+    file_seek(fp, MICROS_OFFSET);
+    write_long(fp, (!fast_roundf(fps)) ? 0 :
+            fast_roundf(1000000 / fps));
+    write_long(fp, (!(*frames)) ? 0 :
+            fast_roundf((((*frames * 8) + *bytes) * fps) / *frames));
+    // Needed
+    file_seek(fp, FRAMES_OFFSET);
+    write_long(fp, *frames);
+    // Probably not needed but writing it just in case.
+    file_seek(fp, RATE_0_OFFSET);
+    write_long(fp, fast_roundf(fps * 1000));
+    // Probably not needed but writing it just in case.
+    file_seek(fp, LENGTH_0_OFFSET);
+    write_long(fp, (!fast_roundf(fps)) ? 0 :
+            fast_roundf((*frames * 1000) / fps));
+    // Probably not needed but writing it just in case.
+    file_seek(fp, RATE_1_OFFSET);
+    write_long(fp, fast_roundf(fps * 1000));
+    // Probably not needed but writing it just in case.
+    file_seek(fp, LENGTH_1_OFFSET);
+    write_long(fp, (!fast_roundf(fps)) ? 0 :
+            fast_roundf((*frames * 1000) / fps));
+    // Needed
+    file_seek(fp, MOVI_OFFSET);
+    write_long(fp, 4 + (*frames * 8) + *bytes);
+    file_close(fp);
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
diff --git a/github_source/minicv2/src/orb.c b/github_source/minicv2/src/orb.c
new file mode 100644
index 0000000..f24ccdc
--- /dev/null
+++ b/github_source/minicv2/src/orb.c
@@ -0,0 +1,846 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * ORB keypoints descriptor based on OpenCV ORB detector.
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2009, Willow Garage, Inc. 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.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     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 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.
+ */
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "fmath.h"
+// #include "arm_math.h"
+// #include "ff.h"
+#include "imlib.h"
+#include "xalloc.h"
+#include "fb_alloc.h"
+#include "ff_wrapper.h"
+#ifdef IMLIB_ENABLE_FIND_KEYPOINTS
+
+#define PATCH_SIZE  (31) // 31x31 pixels
+#define KDESC_SIZE  (32) // 32 bytes
+#define MAX_KP_DIST (KDESC_SIZE*8)
+
+typedef struct {
+    int x;
+    int y;
+} sample_point_t;
+
+const static int u_max[] = {
+    15, 15, 15, 15, 14, 14, 14, 13,
+    13, 12, 11, 10, 9, 8, 6, 3, 0
+};
+
+const static int sample_pattern[256*4] = {
+    8,-3, 9,5/*mean (0), correlation (0)*/,
+    4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/,
+    -11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/,
+    7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/,
+    2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/,
+    1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/,
+    -2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/,
+    -13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/,
+    -13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/,
+    10,4, 11,9/*mean (0.122065), correlation (0.093285)*/,
+    -13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/,
+    -11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/,
+    7,7, 12,6/*mean (0.160583), correlation (0.130064)*/,
+    -4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/,
+    -13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/,
+    -9,0, -7,5/*mean (0.198234), correlation (0.143636)*/,
+    12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/,
+    -3,6, -2,12/*mean (0.166847), correlation (0.171682)*/,
+    -6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/,
+    11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/,
+    4,7, 5,1/*mean (0.205106), correlation (0.186848)*/,
+    5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/,
+    3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/,
+    -8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/,
+    -2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/,
+    -13,12, -8,10/*mean (0.14783), correlation (0.206356)*/,
+    -7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/,
+    -4,2, -3,7/*mean (0.188237), correlation (0.21384)*/,
+    -10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/,
+    5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/,
+    5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/,
+    1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/,
+    9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/,
+    4,7, 4,12/*mean (0.131005), correlation (0.257622)*/,
+    2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/,
+    -4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/,
+    -8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/,
+    4,11, 9,12/*mean (0.226226), correlation (0.258255)*/,
+    0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/,
+    -13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/,
+    -3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/,
+    -6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/,
+    8,12, 10,7/*mean (0.225337), correlation (0.282851)*/,
+    0,9, 1,3/*mean (0.226687), correlation (0.278734)*/,
+    7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/,
+    -13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/,
+    10,7, 12,1/*mean (0.125517), correlation (0.31089)*/,
+    -6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/,
+    10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/,
+    -13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/,
+    -13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/,
+    3,3, 7,8/*mean (0.177755), correlation (0.309394)*/,
+    5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/,
+    -1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/,
+    3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/,
+    2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/,
+    -13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/,
+    -13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/,
+    -13,3, -11,8/*mean (0.134222), correlation (0.322922)*/,
+    -7,12, -4,7/*mean (0.153284), correlation (0.337061)*/,
+    6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/,
+    -9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/,
+    -2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/,
+    -12,5, -7,5/*mean (0.207805), correlation (0.335631)*/,
+    3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/,
+    -7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/,
+    -3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/,
+    2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/,
+    -11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/,
+    -1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/,
+    5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/,
+    -4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/,
+    -9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/,
+    -12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/,
+    10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/,
+    7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/,
+    -7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/,
+    -4,9, -3,4/*mean (0.099865), correlation (0.372276)*/,
+    7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/,
+    -7,6, -5,1/*mean (0.126125), correlation (0.369606)*/,
+    -13,11, -12,5/*mean (0.130364), correlation (0.358502)*/,
+    -3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/,
+    7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/,
+    -13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/,
+    1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/,
+    2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/,
+    -4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/,
+    -1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/,
+    7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/,
+    1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/,
+    9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/,
+    -1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/,
+    -13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/,
+    7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/,
+    12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/,
+    6,3, 7,11/*mean (0.1074), correlation (0.413224)*/,
+    5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/,
+    2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/,
+    3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/,
+    2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/,
+    9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/,
+    -8,4, -7,9/*mean (0.183682), correlation (0.402956)*/,
+    -11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/,
+    1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/,
+    6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/,
+    2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/,
+    6,3, 11,0/*mean (0.204588), correlation (0.411762)*/,
+    3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/,
+    7,8, 9,3/*mean (0.213237), correlation (0.409306)*/,
+    -11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/,
+    -10,11, -5,10/*mean (0.247672), correlation (0.413392)*/,
+    -5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/,
+    -10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/,
+    8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/,
+    4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/,
+    -10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/,
+    4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/,
+    -2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/,
+    -5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/,
+    7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/,
+    -9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/,
+    -5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/,
+    8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/,
+    -9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/,
+    1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/,
+    7,-4, 9,1/*mean (0.132692), correlation (0.454)*/,
+    -2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/,
+    11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/,
+    -12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/,
+    3,7, 7,12/*mean (0.147627), correlation (0.456643)*/,
+    5,5, 10,8/*mean (0.152901), correlation (0.455036)*/,
+    0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/,
+    -9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/,
+    0,7, 2,12/*mean (0.18312), correlation (0.433855)*/,
+    -1,2, 1,7/*mean (0.185504), correlation (0.443838)*/,
+    5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/,
+    3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/,
+    -13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/,
+    -5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/,
+    -4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/,
+    6,5, 8,0/*mean (0.1972), correlation (0.450481)*/,
+    -7,6, -6,12/*mean (0.199438), correlation (0.458156)*/,
+    -13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/,
+    1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/,
+    4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/,
+    -2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/,
+    2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/,
+    -2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/,
+    4,1, 9,3/*mean (0.23962), correlation (0.444824)*/,
+    -6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/,
+    -3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/,
+    7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/,
+    4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/,
+    -13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/,
+    7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/,
+    7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/,
+    -7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/,
+    -8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/,
+    -13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/,
+    2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/,
+    10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/,
+    -6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/,
+    8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/,
+    2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/,
+    -11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/,
+    -12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/,
+    -11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/,
+    5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/,
+    -2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/,
+    -1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/,
+    -13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/,
+    -10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/,
+    -3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/,
+    2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/,
+    -9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/,
+    -4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/,
+    -4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/,
+    -6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/,
+    6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/,
+    -13,11, -5,5/*mean (0.162427), correlation (0.501907)*/,
+    11,11, 12,6/*mean (0.16652), correlation (0.497632)*/,
+    7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/,
+    -1,12, 0,7/*mean (0.169456), correlation (0.495339)*/,
+    -4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/,
+    -7,1, -6,7/*mean (0.175), correlation (0.500024)*/,
+    -13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/,
+    -7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/,
+    -8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/,
+    -5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/,
+    -13,7, -8,10/*mean (0.196739), correlation (0.496503)*/,
+    1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/,
+    1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/,
+    9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/,
+    5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/,
+    -1,11, 1,-13/*mean (0.212), correlation (0.499414)*/,
+    -9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/,
+    -1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/,
+    -13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/,
+    8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/,
+    2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/,
+    7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/,
+    -10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/,
+    -10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/,
+    4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/,
+    3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/,
+    -4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/,
+    5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/,
+    4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/,
+    -9,9, -4,3/*mean (0.236977), correlation (0.497739)*/,
+    0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/,
+    -12,1, -6,1/*mean (0.243297), correlation (0.489447)*/,
+    3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/,
+    -10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/,
+    8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/,
+    -8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/,
+    2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/,
+    10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/,
+    6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/,
+    -7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/,
+    -3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/,
+    -1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/,
+    -3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/,
+    -8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/,
+    4,2, 12,12/*mean (0.01778), correlation (0.546921)*/,
+    2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/,
+    6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/,
+    3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/,
+    11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/,
+    -3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/,
+    4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/,
+    2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/,
+    -10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/,
+    -13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/,
+    -13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/,
+    6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/,
+    0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/,
+    -13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/,
+    -9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/,
+    -13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/,
+    5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/,
+    2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/,
+    -1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/,
+    9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/,
+    11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/,
+    3,0, 3,5/*mean (0.101147), correlation (0.525576)*/,
+    -1,4, 0,10/*mean (0.105263), correlation (0.531498)*/,
+    3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/,
+    -13,0, -10,5/*mean (0.112798), correlation (0.536582)*/,
+    5,8, 12,11/*mean (0.114181), correlation (0.555793)*/,
+    8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/,
+    7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/,
+    -10,4, -10,9/*mean (0.12094), correlation (0.554785)*/,
+    7,3, 12,4/*mean (0.122582), correlation (0.555825)*/,
+    9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
+    7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
+    -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
+};
+
+static int kpt_comp(const kp_t *kp1, const kp_t *kp2)
+{
+    // Descending order
+    return kp2->score - kp1->score;
+}
+
+static int comp_angle(image_t *img, kp_t *kp, float *a, float *b)
+{
+    int step = img->w;
+    int half_k = 31/2;
+    int m_01 = 0, m_10 = 0;
+    uint8_t *center = img->pixels+(kp->y*img->w+kp->x);
+
+    // Treat the center line differently, v=0
+    for (int u = -half_k; u <= half_k; ++u) {
+        m_10 += u * center[u];
+    }
+
+    // Go line by line in the circular patch
+    for (int v = 1; v <= half_k; ++v) {
+        // Proceed over the two lines
+        int v_sum = 0;
+        int d = u_max[v];
+        for (int u = -d; u <= d; ++u) {
+            int val_plus = center[u + v*step], val_minus = center[u - v*step];
+            v_sum += (val_plus - val_minus);
+            m_10 += u * (val_plus + val_minus);
+        }
+        m_01 += v * v_sum;
+    }
+
+    int angle = (int) (atan2f((float)m_01, (float)m_10) * (180.0f/M_PI));
+    if (angle < 0) {
+        angle += 360;
+    }
+
+    // Quantize angle to 15 degrees
+    angle = angle - (angle % 15);
+
+    *a = cos_table[angle];
+    *b = sin_table[angle];
+    return angle;
+}
+
+static void image_scale(image_t *src, image_t *dst)
+{
+    int x_ratio = (int)((src->w<<16)/dst->w) +1;
+    int y_ratio = (int)((src->h<<16)/dst->h) +1;
+
+	for (int y=0; y<dst->h; y++) {
+        int sy = (y*y_ratio)>>16;
+		for (int x=0; x<dst->w; x++) {
+            int sx = (x*x_ratio)>>16;
+			dst->pixels[y*dst->w+x] = IM_TO_GS_PIXEL(src, sx, sy);
+		}
+	}
+}
+
+array_t *orb_find_keypoints(image_t *img, bool normalized, int threshold,
+        float scale_factor, int max_keypoints, corner_detector_t corner_detector, rectangle_t *roi)
+{
+	array_t *kpts;
+	array_alloc(&kpts, xfree);
+
+    int octave = 1;
+    int kpts_index = 0;
+    rectangle_t roi_scaled;
+
+    for(float scale=1.0f; ; scale*=scale_factor, octave++) {
+        image_t img_scaled = {
+            .w = (int) roundf(img->w/scale),
+            .h = (int) roundf(img->h/scale),
+            .pixfmt = PIXFORMAT_GRAYSCALE,
+            .pixels = NULL 
+        };
+ 
+        // Add patch size to ROI
+        roi_scaled.x = (int) roundf(roi->x/scale) + (PATCH_SIZE);
+        roi_scaled.y = (int) roundf(roi->y/scale) + (PATCH_SIZE);
+        roi_scaled.w = (int) roundf(roi->w/scale) - (PATCH_SIZE*2);
+        roi_scaled.h = (int) roundf(roi->h/scale) - (PATCH_SIZE*2);
+
+        if (roi_scaled.w <= (PATCH_SIZE*2) ||
+            roi_scaled.h <= (PATCH_SIZE*2)) {
+            break;
+        }
+
+        img_scaled.pixels = fb_alloc(img_scaled.w * img_scaled.h, FB_ALLOC_NO_HINT);
+        // Down scale image
+        image_scale(img, &img_scaled);
+
+        // Gaussian smooth the image before extracting keypoints
+        imlib_sepconv3(&img_scaled, kernel_gauss_3, 1.0f/16.0f, 0.0f);
+
+		// Find kpts
+        #ifdef IMLIB_ENABLE_FAST
+        if (corner_detector == CORNER_FAST) {
+            fast_detect(&img_scaled, kpts, threshold, &roi_scaled);
+        }
+        else
+        #endif
+        {
+            agast_detect(&img_scaled, kpts, threshold, &roi_scaled);
+        }
+
+        for (int k=kpts_index; k<array_length(kpts); k++, kpts_index++) {
+            // Set keypoint octave/scale
+            kp_t *kpt = array_at(kpts, k);
+            kpt->octave = octave;
+
+            int x, y;
+            float a, b;
+            sample_point_t *pattern = (sample_point_t*) sample_pattern;
+            kpt->angle = comp_angle(&img_scaled, kpt, &a, &b);
+
+            #if 1
+            #define GET_VALUE(idx) \
+                   (x = (int) roundf(pattern[idx].x*a - pattern[idx].y*b), \
+                    y = (int) roundf(pattern[idx].x*b + pattern[idx].y*a), \
+                    img_scaled.pixels[((kpt->y+y)*img_scaled.w)+(kpt->x+x)])
+            #else
+            #define GET_VALUE(idx) \
+                   (img_scaled.pixels[((kpt->y+pattern[idx].y)*img_scaled.w)+(kpt->x+pattern[idx].x)])
+            #endif
+
+            for (int i=0; i<KDESC_SIZE; ++i, pattern+=16) {
+                int t0, t1, t2, t3, u, v, k, val;
+                t0 = GET_VALUE(0); t1 = GET_VALUE(1);
+                t2 = GET_VALUE(2); t3 = GET_VALUE(3);
+                u = 0, v = 2;
+                if( t1 > t0 ) t0 = t1, u = 1;
+                if( t3 > t2 ) t2 = t3, v = 3;
+                k = t0 > t2 ? u : v;
+                val = k;
+
+                t0 = GET_VALUE(4); t1 = GET_VALUE(5);
+                t2 = GET_VALUE(6); t3 = GET_VALUE(7);
+                u = 0, v = 2;
+                if( t1 > t0 ) t0 = t1, u = 1;
+                if( t3 > t2 ) t2 = t3, v = 3;
+                k = t0 > t2 ? u : v;
+                val |= k << 2;
+
+                t0 = GET_VALUE(8); t1 = GET_VALUE(9);
+                t2 = GET_VALUE(10); t3 = GET_VALUE(11);
+                u = 0, v = 2;
+                if( t1 > t0 ) t0 = t1, u = 1;
+                if( t3 > t2 ) t2 = t3, v = 3;
+                k = t0 > t2 ? u : v;
+                val |= k << 4;
+
+                t0 = GET_VALUE(12); t1 = GET_VALUE(13);
+                t2 = GET_VALUE(14); t3 = GET_VALUE(15);
+                u = 0, v = 2;
+                if( t1 > t0 ) t0 = t1, u = 1;
+                if( t3 > t2 ) t2 = t3, v = 3;
+                k = t0 > t2 ? u : v;
+                val |= k << 6;
+
+                kpt->desc[i] = (uint8_t) val;
+            }
+
+            kpt->x = (int)floorf(kpt->x * scale);
+            kpt->y = (int)floorf(kpt->y * scale);
+        }
+
+        // Free current scale
+        fb_free(img_scaled.pixels);
+
+        if (normalized) {
+            break;
+        }
+    }
+
+    // Sort keypoints by score and return top n keypoints
+    array_sort(kpts, (array_comp_t) kpt_comp);
+    if (array_length(kpts) > max_keypoints) {
+        array_resize(kpts, max_keypoints);
+    }
+
+	return kpts;
+}
+
+// This is a modifed popcount that counts every 2 different bits as 1.
+// This is what should actually be used with wta_k == 3 or 4.
+static inline uint32_t popcount(uint32_t i)
+{
+     i = i - ((i >> 1) & 0x55555555);
+     i = ((i & 0xAAAAAAAA)>>1) | (i & 0x55555555);
+     i = (i & 0x33333333) + ((i >> 2) & 0x33333333);
+     return (((i + (i >> 4)) & 0x0F0F0F0F) * 0x01010101) >> 24;
+}
+
+static kp_t *find_best_match(kp_t *kp1, array_t *kpts, int *dist_out1, int *dist_out2, int *index)
+{
+    kp_t *min_kp=NULL;
+    int min_dist1 = MAX_KP_DIST;
+    int min_dist2 = MAX_KP_DIST;
+    int kpts_size = array_length(kpts);
+
+    for (int i=0; i<kpts_size; i++) {
+        int dist = 0;
+        kp_t *kp2 = array_at(kpts, i);
+
+        if (kp2->matched == 0) {
+            for (int m=0; m<(KDESC_SIZE/4); m++) {
+                dist += popcount(((uint32_t*)(kp1->desc))[m] ^ ((uint32_t*)(kp2->desc))[m]);
+            }
+
+            if (dist < min_dist1) {
+                *index = i;
+                min_kp = kp2;
+                min_dist2 = min_dist1;
+                min_dist1 = dist;
+            }
+        }
+    }
+
+    *dist_out1 = min_dist1;
+    *dist_out2 = min_dist2;
+    return min_kp;
+}
+
+int orb_match_keypoints(array_t *kpts1, array_t *kpts2, int *match, int threshold, rectangle_t *r, point_t *c, int *angle)
+{
+    int matches=0;
+    int cx = 0, cy = 0;
+    uint16_t angles[360]={0};
+    int kpts1_size = array_length(kpts1);
+
+    r->w = r->h = 0;
+    r->x = r->y = 20000;
+
+    // Match keypoints and find "good matches" This runs 2/3 tests found in the RobustMatcher from the OpenCV programming cookbook.
+    // The first test is based on the distance ratio between the two best matches for a feature, to remove ambiguous matches.
+    // Second test is the symmetry test (corss-matching) both points in a match must be the best matching feature of each other.
+    for (int i=0; i<kpts1_size; i++) {
+        int kp_index1 = 0;
+        int kp_index2 = 0;
+        int min_dist1 = 0;
+        int min_dist2 = 0;
+        kp_t *min_kp = NULL;
+        kp_t *kp1 = array_at(kpts1, i);
+
+        // Find the best match in second set
+        min_kp = find_best_match(kp1, kpts2, &min_dist1, &min_dist2, &kp_index2);
+        // Test the distance ratio between the best two matches
+        if ((min_dist1*100/min_dist2) > threshold) {
+            continue;
+        }
+
+        // Cross-match the keypoint in the first set
+        kp_t *kp2 = find_best_match(min_kp, kpts1, &min_dist1, &min_dist2, &kp_index1);
+        // Test the distance ratio between the best two matches
+        if ((min_dist1*100/min_dist2) > threshold) {
+            continue;
+        }
+
+        // Cross-match test
+        if (kp1 == kp2) {
+            int x, y;
+            matches++;
+            min_kp->matched = 1;
+            cx += x = min_kp->x;
+            cy += y = min_kp->y;
+            rectangle_expand(r, x, y);
+            int angle = (int) abs(min_kp->angle-kp1->angle);
+            if (angle >= 0 && angle < 360) {
+                angles[angle]++;
+            }
+            *match++ = kp_index1;
+            *match++ = kp_index2;
+        }
+    }
+
+    if (matches == 0) {
+        r->x = r->y = 0;
+        return 0;
+    }
+
+    // Fix centroid x/y
+    c->x = cx/matches;
+    c->y = cy/matches;
+
+    // Fix rectangle w/h
+    r->w = r->w - r->x;
+    r->h = r->h - r->y;
+
+    int max_angle = 0;
+    for (int i=0; i<360; i++) {
+        if (angles[i] > max_angle) {
+            max_angle = angles[i];
+            *angle = i;
+        }
+    }
+
+    return matches;
+}
+
+int orb_filter_keypoints(array_t *kpts, rectangle_t *r, point_t *c)
+{
+    int matches=0;
+    int cx = 0, cy = 0;
+    int kpts_size = array_length(kpts);
+
+    r->w = r->h = 0;
+    r->x = r->y = 20000;
+
+    float *kpts_dist = fb_alloc(kpts_size * sizeof(float), FB_ALLOC_NO_HINT);
+
+    // Find centroid 
+    for (int i=0; i<kpts_size; i++) {
+        kp_t *kp = array_at(kpts, i);
+        if (kp->matched) {
+            matches ++;
+            cx += kp->x;
+            cy += kp->y;
+        }
+    }
+
+    // Centroid
+    cx /= matches;
+    cy /= matches;
+
+    // Find mean distance from centroid
+    float mdist = 0.0f;
+    for (int i=0; i<kpts_size; i++) {
+        kp_t *kp = array_at(kpts, i);
+        if (kp->matched) {
+            kpts_dist[i] = orb_cluster_dist(cx, cy, kp);
+            mdist += kpts_dist[i];
+        }
+    }
+    // Mean distance from centroid
+    mdist /= matches;
+
+    // Find variance
+    float var = 0.0f;
+    for (int i=0; i<kpts_size; i++) {
+        kp_t *kp = array_at(kpts, i);
+        if (kp->matched) {
+            float dist = kpts_dist[i];
+            var += (mdist - dist) * (mdist - dist);
+        }
+    }
+
+    // Find standard deviation
+    float stdist = fast_sqrtf(var/matches);
+    
+    // Reset centroid
+    matches = 0;
+    cx = cy = 0;
+
+    // Remove outliers and get new centroid
+    for (int i=0; i<kpts_size; i++) {
+        kp_t *kp = array_at(kpts, i);
+        if (kp->matched) {
+            float dist = fabs(mdist - kpts_dist[i]);
+            if (dist > stdist) {
+                kp->matched = 0;
+            } else {
+                int x, y;
+                matches++;
+                cx += x = kp->x;
+                cy += y = kp->y;
+                rectangle_expand(r, x, y);
+            }
+        }
+    }
+
+    // Fix centroid x/y
+    c->x = cx/matches;
+    c->y = cy/matches;
+
+    // Fix rectangle w/h
+    r->w = r->w - r->x;
+    r->h = r->h - r->y;
+
+    // Free distance array
+    fb_free(kpts_dist);
+    return matches;
+}
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+int orb_save_descriptor(FIL *fp, array_t *kpts)
+{
+    uint32_t res;
+
+    int kpts_size = array_length(kpts);
+
+    // Write the number of keypoints
+    res = write_data(fp, &kpts_size, sizeof(kpts_size));
+    // res = fwrite(&kpts_size, sizeof(kpts_size), 1, *fp);
+    if (res != sizeof(kpts_size)) {
+        goto error;
+    }
+
+    // Write keypoints
+    for (int i=0; i<kpts_size; i++) {
+        kp_t *kp = array_at(kpts, i);
+
+        // Write X
+        res = write_data(fp, &kp->x, sizeof(kp->x));
+        // res = fwrite(&kp->x, sizeof(kp->x), 1, *fp);
+        if (res != sizeof(kp->x)) {
+            goto error;
+        }
+
+        // Write Y
+        res = write_data(fp, &kp->y, sizeof(kp->y));
+        // res = f_write(fp, &kp->y, sizeof(kp->y), &bytes);
+        if (res != sizeof(kp->y)) {
+            goto error;
+        }
+
+        // Write Score
+        res = write_data(fp, &kp->score, sizeof(kp->score));
+        // res = f_write(fp, &kp->score, sizeof(kp->score), &bytes);
+        if (res != sizeof(kp->score)) {
+            goto error;
+        }
+
+        // Write Octave
+        res = write_data(fp, &kp->octave, sizeof(kp->octave));
+        // res = f_write(fp, &kp->octave, sizeof(kp->octave), &bytes);
+        if (res != sizeof(kp->octave)) {
+            goto error;
+        }
+
+        // Write Angle
+        res = write_data(fp, &kp->angle, sizeof(kp->angle));
+        // res = f_write(fp, &kp->angle, sizeof(kp->angle), &bytes);
+        if (res != sizeof(kp->angle)) {
+            goto error;
+        }
+
+        // Write descriptor
+        res = write_data(fp, kp->desc, KDESC_SIZE);
+        // res = f_write(fp, kp->desc, KDESC_SIZE, &bytes);
+        if (res != KDESC_SIZE) {
+            goto error;
+        }
+    }
+
+error:
+    return res;
+}
+
+int orb_load_descriptor(FIL *fp, array_t *kpts)
+{
+    uint32_t res;
+
+    int kpts_size=0;
+
+    // Read number of keypoints
+    res = read_data(fp, &kpts_size, sizeof(kpts_size));
+    // res = f_read(fp, &kpts_size, sizeof(kpts_size), &bytes);
+    if (res != sizeof(kpts_size)) {
+        goto error;
+    }
+
+    // Read keypoints
+    for (int i=0; i<kpts_size; i++) {
+        kp_t *kp = xalloc(sizeof(*kp));
+        kp->matched = 0;
+
+        // Read X
+        res = read_data(fp, &kp->x, sizeof(kp->x));
+        // res = f_read(fp, &kp->x, sizeof(kp->x), &bytes);
+        if (res != sizeof(kp->x)) {
+            goto error;
+        }
+
+        // Read Y
+        res = read_data(fp, &kp->y, sizeof(kp->y));
+        if (res != sizeof(kp->y)) {
+            goto error;
+        }
+
+        // Read Score
+        res = read_data(fp, &kp->score, sizeof(kp->score));
+        if (res != sizeof(kp->score)) {
+            goto error;
+        }
+
+        // Read Octave
+        res = read_data(fp, &kp->octave, sizeof(kp->octave));
+        if (res != sizeof(kp->octave)) {
+            goto error;
+        }
+
+        // Read Angle
+        res = read_data(fp, &kp->angle, sizeof(kp->angle));
+        if (res != sizeof(kp->angle)) {
+            goto error;
+        }
+
+        // Read descriptor
+        res = read_data(fp, kp->desc,  KDESC_SIZE);
+        if (res != KDESC_SIZE) {
+            goto error;
+        }
+
+        // Add keypoint to array
+        array_push_back(kpts, kp);
+    }
+
+error:
+    return res;
+}
+#endif  //IMLIB_ENABLE_IMAGE_FILE_IO
+
+float orb_cluster_dist(int cx, int cy, void *kp_in)
+{
+    float sum=0.0f;
+    kp_t *kp = kp_in;
+    sum += (cx - kp->x) * (cx - kp->x);
+    sum += (cy - kp->y) * (cy - kp->y);
+    return fast_sqrtf(sum);
+
+}
+#endif //IMLIB_ENABLE_FIND_KEYPOINTS
diff --git a/github_source/minicv2/src/phasecorrelation.c b/github_source/minicv2/src/phasecorrelation.c
new file mode 100644
index 0000000..933fb66
--- /dev/null
+++ b/github_source/minicv2/src/phasecorrelation.c
@@ -0,0 +1,655 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Phase correlation.
+ */
+#include "imlib.h"
+#include "fft.h"
+
+void imlib_logpolar_int(image_t *dst, image_t *src, rectangle_t *roi, bool linear, bool reverse)
+{
+    int w = roi->w; // == dst_w
+    int h = roi->h; // == dst_h
+    int w_2 = w / 2;
+    int h_2 = h / 2;
+    float rho_scale = fast_sqrtf((w_2 * w_2) + (h_2 * h_2));
+    if (!linear) rho_scale = fast_log(rho_scale);
+    const float m_pi_1_5 = 1.5f * M_PI;
+    const float m_pi_1_5_d = IM_RAD2DEG(m_pi_1_5);
+    const float m_pi_2_0 = 2.0f * M_PI;
+    const float m_pi_2_0_d = IM_RAD2DEG(m_pi_2_0);
+    const int m_pi_2_0_d_i = m_pi_2_0_d;
+    float theta_scale_d = m_pi_2_0_d / (w - 2);
+    float theta_scale_inv = w / m_pi_2_0;
+
+    if (!reverse) {
+        rho_scale /= h;
+
+        switch (src->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                uint32_t *tmp = (uint32_t *) src->data;
+                int tmp_w = src->w, tmp_h = src->h, tmp_x = roi->x + w_2 - 1, tmp_y = roi->y + h_2;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, y);
+                    float rho = y * rho_scale;
+                    if (!linear) rho = fast_expf(rho);
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+
+                        int theta = fast_roundf(m_pi_1_5_d - (x * theta_scale_d));
+                        if (theta < 0) theta += m_pi_2_0_d_i; // wrap for table access
+                        int sourceX = tmp_x + fast_roundf(rho * cos_table[theta]); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * sin_table[theta]); // rounding is necessary
+
+                        if ((0 <= sourceX) && (0 <= sourceY) && (sourceY < tmp_h)) { // plot the 2 symmetrical pixels
+                            uint32_t *ptr, pixel;
+                            ptr = tmp + (((tmp_w + UINT32_T_MASK) >> UINT32_T_SHIFT) * sourceY);
+                            pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, pixel);
+                            pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, tmp_w-1-sourceX);
+                            IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, w-1-x, pixel);
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                uint8_t *tmp = (uint8_t *) src->data;
+                int tmp_w = src->w, tmp_h = src->h, tmp_x = roi->x + w_2 - 1, tmp_y = roi->y + h_2;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, y);
+                    float rho = y * rho_scale;
+                    if (!linear) rho = fast_expf(rho);
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+
+                        int theta = fast_roundf(m_pi_1_5_d - (x * theta_scale_d));
+                        if (theta < 0) theta += m_pi_2_0_d_i; // wrap for table access
+                        int sourceX = tmp_x + fast_roundf(rho * cos_table[theta]); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * sin_table[theta]); // rounding is necessary
+
+                        if ((0 <= sourceX) && (0 <= sourceY) && (sourceY < tmp_h)) { // plot the 2 symmetrical pixels
+                            uint8_t *ptr, pixel;
+                            ptr = tmp + (tmp_w * sourceY);
+                            pixel = ptr[sourceX];
+                            row_ptr[x] = pixel;
+                            pixel = ptr[tmp_w - 1 - sourceX];
+                            row_ptr[w - 1 - x] = pixel;
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                uint16_t *tmp = (uint16_t *) src->data;
+                int tmp_w = src->w, tmp_h = src->h, tmp_x = roi->x + w_2 - 1, tmp_y = roi->y + h_2;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, y);
+                    float rho = y * rho_scale;
+                    if (!linear) rho = fast_expf(rho);
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+
+                        int theta = fast_roundf(m_pi_1_5_d - (x * theta_scale_d));
+                        if (theta < 0) theta += m_pi_2_0_d_i; // wrap for table access
+                        int sourceX = tmp_x + fast_roundf(rho * cos_table[theta]); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * sin_table[theta]); // rounding is necessary
+
+                        if ((0 <= sourceX) && (0 <= sourceY) && (sourceY < tmp_h)) { // plot the 2 symmetrical pixels
+                            uint16_t *ptr, pixel;
+                            ptr = tmp + (tmp_w * sourceY);
+                            pixel = ptr[sourceX];
+                            row_ptr[x] = pixel;
+                            pixel = ptr[tmp_w - 1 - sourceX];
+                            row_ptr[w - 1 - x] = pixel;
+                        }
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                pixel24_t *tmp = (pixel24_t *) src->data;
+                int tmp_w = src->w, tmp_h = src->h, tmp_x = roi->x + w_2 - 1, tmp_y = roi->y + h_2;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, y);
+                    float rho = y * rho_scale;
+                    if (!linear) rho = fast_expf(rho);
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+
+                        int theta = fast_roundf(m_pi_1_5_d - (x * theta_scale_d));
+                        if (theta < 0) theta += m_pi_2_0_d_i; // wrap for table access
+                        int sourceX = tmp_x + fast_roundf(rho * cos_table[theta]); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * sin_table[theta]); // rounding is necessary
+
+                        if ((0 <= sourceX) && (0 <= sourceY) && (sourceY < tmp_h)) { // plot the 2 symmetrical pixels
+                            pixel24_t *ptr, pixel;
+                            ptr = tmp + (tmp_w * sourceY);
+                            pixel = ptr[sourceX];
+                            row_ptr[x] = pixel;
+                            pixel = ptr[tmp_w - 1 - sourceX];
+                            row_ptr[w - 1 - x] = pixel;
+                        }
+                    }
+                }
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    } else {
+        float rho_scale_inv = (h - 1) / rho_scale;
+        switch (src->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                uint32_t *tmp = (uint32_t *) src->data;
+                int tmp_w = src->w, tmp_x = roi->x, tmp_y = roi->y;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, y);
+                    int y_2 = y - h_2;
+                    int y_2_2 = y_2 * y_2;
+
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+                        int x_2 = x - w_2;
+                        int x_2_2 = x_2 * x_2;
+
+                        float rho = fast_sqrtf(x_2_2 + y_2_2);
+                        if (!linear) rho = fast_log(rho);
+                        float theta = m_pi_1_5 - fast_atan2f(y_2, x_2);
+                        int sourceX = tmp_x + fast_roundf(theta * theta_scale_inv); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * rho_scale_inv); // rounding is necessary
+
+                        // plot the 2 symmetrical pixels
+                        uint32_t *ptr, pixel;
+                        ptr = tmp + (((tmp_w + UINT32_T_MASK) >> UINT32_T_SHIFT) * sourceY);
+                        pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, sourceX);
+                        IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, pixel);
+                        pixel = IMAGE_GET_BINARY_PIXEL_FAST(ptr, tmp_w-1-sourceX);
+                        IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, w-1-x, pixel);
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                uint8_t *tmp = (uint8_t *) src->data;
+                int tmp_w = src->w, tmp_x = roi->x, tmp_y = roi->y;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, y);
+                    int y_2 = y - h_2;
+                    int y_2_2 = y_2 * y_2;
+
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+                        int x_2 = x - w_2;
+                        int x_2_2 = x_2 * x_2;
+
+                        float rho = fast_sqrtf(x_2_2 + y_2_2);
+                        if (!linear) rho = fast_log(rho);
+                        float theta = m_pi_1_5 - fast_atan2f(y_2, x_2);
+                        int sourceX = tmp_x + fast_roundf(theta * theta_scale_inv); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * rho_scale_inv); // rounding is necessary
+
+                        // plot the 2 symmetrical pixels
+                        uint8_t *ptr, pixel;
+                        ptr = tmp + (tmp_w * sourceY);
+                        pixel = ptr[sourceX];
+                        row_ptr[x] = pixel;
+                        pixel = ptr[tmp_w - 1 - sourceX];
+                        row_ptr[w - 1 - x] = pixel;
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                uint16_t *tmp = (uint16_t *) src->data;
+                int tmp_w = src->w, tmp_x = roi->x, tmp_y = roi->y;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, y);
+                    int y_2 = y - h_2;
+                    int y_2_2 = y_2 * y_2;
+
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+                        int x_2 = x - w_2;
+                        int x_2_2 = x_2 * x_2;
+
+                        float rho = fast_sqrtf(x_2_2 + y_2_2);
+                        if (!linear) rho = fast_log(rho);
+                        float theta = m_pi_1_5 - fast_atan2f(y_2, x_2);
+                        int sourceX = tmp_x + fast_roundf(theta * theta_scale_inv); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * rho_scale_inv); // rounding is necessary
+
+                        // plot the 2 symmetrical pixels
+                        uint16_t *ptr, pixel;
+                        ptr = tmp + (tmp_w * sourceY);
+                        pixel = ptr[sourceX];
+                        row_ptr[x] = pixel;
+                        pixel = ptr[tmp_w - 1 - sourceX];
+                        row_ptr[w - 1 - x] = pixel;
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                pixel24_t *tmp = (pixel24_t *) src->data;
+                int tmp_w = src->w, tmp_x = roi->x, tmp_y = roi->y;
+
+                for (int y = 0, yy = h; y < yy; y++) {
+                    pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, y);
+                    int y_2 = y - h_2;
+                    int y_2_2 = y_2 * y_2;
+
+                    for (int x = 0, xx = w_2; x < xx; x++) {
+                        int x_2 = x - w_2;
+                        int x_2_2 = x_2 * x_2;
+
+                        float rho = fast_sqrtf(x_2_2 + y_2_2);
+                        if (!linear) rho = fast_log(rho);
+                        float theta = m_pi_1_5 - fast_atan2f(y_2, x_2);
+                        int sourceX = tmp_x + fast_roundf(theta * theta_scale_inv); // rounding is necessary
+                        int sourceY = tmp_y + fast_roundf(rho * rho_scale_inv); // rounding is necessary
+
+                        // plot the 2 symmetrical pixels
+                        pixel24_t *ptr, pixel;
+                        ptr = tmp + (tmp_w * sourceY);
+                        pixel = ptr[sourceX];
+                        row_ptr[x] = pixel;
+                        pixel = ptr[tmp_w - 1 - sourceX];
+                        row_ptr[w - 1 - x] = pixel;
+                    }
+                }
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+}
+
+#if defined(IMLIB_ENABLE_LOGPOLAR) || defined(IMLIB_ENABLE_LINPOLAR)
+void imlib_logpolar(image_t *img, bool linear, bool reverse)
+{
+    image_t img_2;
+    img_2.w = img->w;
+    img_2.h = img->h;
+    img_2.pixfmt = img->pixfmt;
+
+    rectangle_t rect;
+    rect.x = 0;
+    rect.y = 0;
+    rect.w = img->w;
+    rect.h = img->h;
+
+    size_t size = image_size(img);
+    img_2.data = fb_alloc(size, FB_ALLOC_NO_HINT);
+    memcpy(img_2.data, img->data, size);
+    memset(img->data, 0, size);
+
+    imlib_logpolar_int(img, &img_2, &rect, linear, reverse);
+
+    fb_free(img_2.data);
+}
+#endif //defined(IMLIB_ENABLE_LOGPOLAR) || defined(IMLIB_ENABLE_LINPOLAR)
+
+#ifdef IMLIB_ENABLE_FIND_DISPLACEMENT
+// Note that both ROI widths and heights must be equal.
+void imlib_phasecorrelate(image_t *img0, image_t *img1, rectangle_t *roi0, rectangle_t *roi1, bool logpolar, bool fix_rotation_scale,
+                          float *x_translation, float *y_translation, float *rotation, float *scale, float *response)
+{
+    // Step 1 - Get Rotation/Scale Differences
+    if ((!logpolar) && fix_rotation_scale) {
+        fft2d_controller_t fft0, fft1;
+
+        fft2d_alloc(&fft0, img0, roi0);
+        fft2d_alloc(&fft1, img1, roi1);
+
+        fft2d_run(&fft0);
+        fft2d_run(&fft1);
+
+        fft2d_mag(&fft0);
+        fft2d_mag(&fft1);
+
+        fft2d_swap(&fft0);
+        fft2d_swap(&fft1);
+
+        fft2d_logpolar(&fft0);
+        fft2d_logpolar(&fft1);
+
+        fft2d_run_again(&fft0);
+        fft2d_run_again(&fft1);
+
+        int w = (1 << fft0.w_pow2);
+        int h = (1 << fft0.h_pow2);
+
+        for (int i = 0, j = h * w * 2; i < j; i += 2) {
+            float ga_r = fft0.data[i+0];
+            float ga_i = fft0.data[i+1];
+            float gb_r = fft1.data[i+0];
+            float gb_i = -fft1.data[i+1]; // complex conjugate...
+            float hp_r = (ga_r * gb_r) - (ga_i * gb_i); // hadamard product
+            float hp_i = (ga_r * gb_i) + (ga_i * gb_r); // hadamard product
+            float mag = 1 / fast_sqrtf((hp_r*hp_r)+(hp_i*hp_i)); // magnitude
+            // Replace first fft with phase correlation...
+            fft0.data[i+0] = hp_r * mag;
+            fft0.data[i+1] = hp_i * mag;
+        }
+
+        ifft2d_run(&fft0);
+
+        float sum = 0;
+        float max = 0;
+        int off_x = 0;
+        int off_y = 0;
+
+        for (int i = 0; i < h; i++) {
+            for (int j = 0; j < w; j++) {
+                // Note that the output of the FFT is packed with real data in both
+                // the real and imaginary parts... (right side of the array is zero).
+                float f_r = fft0.data[(i * w * 2) + j];
+                sum += f_r;
+                if (f_r > max) {
+                    max = f_r;
+                    off_x = j;
+                    off_y = i;
+                }
+            }
+        }
+
+        float tmp_response = max / sum; // normalize this to [0:1].
+
+        float f_sum = 0;
+        float f_off_x = 0;
+        float f_off_y = 0;
+
+        for (int i = -2; i < 2; i++) {
+            for (int j = -2; j < 2; j++) {
+
+                // Wrap around
+                int new_x = off_x + j;
+                if (new_x < 0) new_x += w;
+                if (new_x >= w) new_x -= w;
+
+                // Wrap around
+                int new_y = off_y + i;
+                if (new_y < 0) new_y += h;
+                if (new_y >= h) new_y -= h;
+
+                // Compute centroid.
+                float f_r = fft0.data[(new_y * w * 2) + new_x];
+                f_off_x += (off_x + j) * f_r; // don't use new_x here
+                f_off_y += (off_y + i) * f_r; // don't use new_y here
+                f_sum += f_r;
+            }
+        }
+
+        f_off_x /= f_sum;
+        f_off_y /= f_sum;
+
+        // FFT Shift X
+        if (f_off_x >= (w/2.0f)) {
+            f_off_x = f_off_x - w;
+        } else {
+            f_off_x = f_off_x;
+        }
+
+        // FFT Shift Y
+        if (f_off_y >= (h/2.0f)) {
+            f_off_y = -(f_off_y - h);
+        } else {
+            f_off_y = -f_off_y;
+        }
+
+        if ((f_off_x < (-w/2.0f))
+        || ((w/2.0f) <= f_off_x)
+        || (f_off_y < (-h/2.0f))
+        || ((h/2.0f) <= f_off_y)
+        || isnanf(f_off_x)
+        || isinff(f_off_x)
+        || isnanf(f_off_y)
+        || isinff(f_off_y)
+        || isnanf(tmp_response)
+        || isinff(tmp_response)) { // Noise Filter
+            f_off_x = 0;
+            f_off_y = 0;
+            tmp_response = 0;
+        }
+
+        fft2d_dealloc(&fft1); // fft1
+        fft2d_dealloc(&fft0); // fft0
+
+        float w_2 = roi0->w / 2.0f;
+        float h_2 = roi0->h / 2.0f;
+        float rho_scale = fast_log(fast_sqrtf((w_2 * w_2) + (h_2 * h_2))) / roi0->h;
+        float theta_scale = (2 * M_PI) / roi0->w;
+
+        *rotation = f_off_x * theta_scale;
+        *scale = (f_off_y * rho_scale) + 1;
+    } else {
+        *rotation = 0;
+        *scale = 0;
+    }
+
+    image_t img0_fixed;
+    rectangle_t roi0_fixed;
+
+    // Step 2 - Fix Rotation/Scale Differences
+    if ((!logpolar) && fix_rotation_scale) {
+
+        img0_fixed.w = roi0->w;
+        img0_fixed.h = roi0->h;
+        img0_fixed.pixfmt = img0->pixfmt;
+        img0_fixed.pixels = fb_alloc(image_size(&img0_fixed), FB_ALLOC_NO_HINT);
+
+        roi0_fixed.x = 0;
+        roi0_fixed.y = 0;
+        roi0_fixed.w = roi0->w;
+        roi0_fixed.h = roi0->h;
+
+        switch (img0->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                for (int y = roi0->y, yy = roi0->y + roi0->h; y < yy; y++) {
+                    uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img0, y);
+                    for (int x = roi0->x, xx = roi0->x + roi0->w; x < xx; x++) {
+                        IMAGE_PUT_BINARY_PIXEL(&img0_fixed, x, y, IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x));
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                for (int y = roi0->y, yy = roi0->y + roi0->h; y < yy; y++) {
+                    uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img0, y);
+                    for (int x = roi0->x, xx = roi0->x + roi0->w; x < xx; x++) {
+                        IMAGE_PUT_GRAYSCALE_PIXEL(&img0_fixed, x, y, IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x));
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                for (int y = roi0->y, yy = roi0->y + roi0->h; y < yy; y++) {
+                    uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img0, y);
+                    for (int x = roi0->x, xx = roi0->x + roi0->w; x < xx; x++) {
+                        IMAGE_PUT_RGB565_PIXEL(&img0_fixed, x, y, IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x));
+                    }
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                for (int y = roi0->y, yy = roi0->y + roi0->h; y < yy; y++) {
+                    pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img0, y);
+                    for (int x = roi0->x, xx = roi0->x + roi0->w; x < xx; x++) {
+                        IMAGE_PUT_RGB888_PIXEL_(&img0_fixed, x, y, IMAGE_GET_RGB888_PIXEL_FAST_(row_ptr, x));
+                    }
+                }
+                break;
+            }
+            default: {
+                memset(img0_fixed.data, 0, image_size(&img0_fixed));
+                break;
+            }
+        }
+
+        imlib_rotation_corr(&img0_fixed, 0, 0, *rotation, 0, 0, *scale, 60, NULL);
+    } else {
+        memcpy(&img0_fixed, img0, sizeof(image_t));
+        memcpy(&roi0_fixed, roi0, sizeof(rectangle_t));
+    }
+
+    // Step 3 - Get Translation Differences
+    {
+        image_t img0alt, img1alt;
+        rectangle_t roi0alt, roi1alt;
+
+        if (logpolar) {
+            img0alt.w = roi0_fixed.w;
+            img0alt.h = roi0_fixed.h;
+            img0alt.pixfmt = img0_fixed.pixfmt;
+            img0alt.data = fb_alloc0(image_size(&img0alt), FB_ALLOC_NO_HINT);
+            imlib_logpolar_int(&img0alt, &img0_fixed, &roi0_fixed, false, false);
+            roi0alt.x = 0;
+            roi0alt.y = 0;
+            roi0alt.w = roi0_fixed.w;
+            roi0alt.h = roi0_fixed.h;
+
+            img1alt.w = roi1->w;
+            img1alt.h = roi1->h;
+            img1alt.pixfmt = img1->pixfmt;
+            img1alt.data = fb_alloc0(image_size(&img1alt), FB_ALLOC_NO_HINT);
+            imlib_logpolar_int(&img1alt, img1, roi1, false, false);
+            roi1alt.x = 0;
+            roi1alt.y = 0;
+            roi1alt.w = roi1->w;
+            roi1alt.h = roi1->h;
+        }
+
+        fft2d_controller_t fft0, fft1;
+
+        fft2d_alloc(&fft0, logpolar ? &img0alt : &img0_fixed, logpolar ? &roi0alt : &roi0_fixed);
+        fft2d_alloc(&fft1, logpolar ? &img1alt : img1, logpolar ? &roi1alt : roi1);
+
+        fft2d_run(&fft0);
+        fft2d_run(&fft1);
+
+        int w = (1 << fft0.w_pow2);
+        int h = (1 << fft0.h_pow2);
+
+        for (int i = 0, j = h * w * 2; i < j; i += 2) {
+            float ga_r = fft0.data[i+0];
+            float ga_i = fft0.data[i+1];
+            float gb_r = fft1.data[i+0];
+            float gb_i = -fft1.data[i+1]; // complex conjugate...
+            float hp_r = (ga_r * gb_r) - (ga_i * gb_i); // hadamard product
+            float hp_i = (ga_r * gb_i) + (ga_i * gb_r); // hadamard product
+            float mag = 1 / fast_sqrtf((hp_r*hp_r)+(hp_i*hp_i)); // magnitude
+            fft0.data[i+0] = hp_r * mag;
+            fft0.data[i+1] = hp_i * mag;
+        }
+
+        ifft2d_run(&fft0);
+
+        float sum = 0;
+        float max = 0;
+        int off_x = 0;
+        int off_y = 0;
+
+        for (int i = 0; i < h; i++) {
+            for (int j = 0; j < w; j++) {
+                // Note that the output of the FFT is packed with real data in both
+                // the real and imaginary parts... (right side of the array is zero).
+                float f_r = fft0.data[(i * w * 2) + j];
+                sum += f_r;
+                if (f_r > max) {
+                    max = f_r;
+                    off_x = j;
+                    off_y = i;
+                }
+            }
+        }
+
+        *response = max / sum; // normalize this to [0:1].
+
+        float f_sum = 0;
+        float f_off_x = 0;
+        float f_off_y = 0;
+
+        for (int i = -2; i < 2; i++) {
+            for (int j = -2; j < 2; j++) {
+
+                // Wrap around
+                int new_x = off_x + j;
+                if (new_x < 0) new_x += w;
+                if (new_x >= w) new_x -= w;
+
+                // Wrap around
+                int new_y = off_y + i;
+                if (new_y < 0) new_y += h;
+                if (new_y >= h) new_y -= h;
+
+                // Compute centroid.
+                float f_r = fft0.data[(new_y * w * 2) + new_x];
+                f_off_x += (off_x + j) * f_r; // don't use new_x here
+                f_off_y += (off_y + i) * f_r; // don't use new_y here
+                f_sum += f_r;
+            }
+        }
+
+        f_off_x /= f_sum;
+        f_off_y /= f_sum;
+
+        // FFT Shift X
+        if (f_off_x >= (w/2.0f)) {
+            *x_translation = f_off_x - w;
+        } else {
+            *x_translation = f_off_x;
+        }
+
+        // FFT Shift Y
+        if (f_off_y >= (h/2.0f)) {
+            *y_translation = -(f_off_y - h);
+        } else {
+            *y_translation = -f_off_y;
+        }
+
+        if ((*x_translation < (-w/2.0f))
+        || ((w/2.0f) <= *x_translation)
+        || (*y_translation < (-h/2.0f))
+        || ((h/2.0f) <= *y_translation)
+        || isnanf(*x_translation)
+        || isinff(*x_translation)
+        || isnanf(*y_translation)
+        || isinff(*y_translation)
+        || isnanf(*response)
+        || isinff(*response)) { // Noise Filter
+            *x_translation = 0;
+            *y_translation = 0;
+            *response = 0;
+        }
+
+        fft2d_dealloc(&fft1); // fft1
+        fft2d_dealloc(&fft0); // fft0
+
+        if (logpolar) {
+            fb_free(img1alt.data); // img1alt
+            fb_free(img0alt.data); // img0alt
+
+            float w_2 = roi0->w / 2.0f;
+            float h_2 = roi0->h / 2.0f;
+            float rho_scale = fast_log(fast_sqrtf((w_2 * w_2) + (h_2 * h_2))) / roi0->h;
+            float theta_scale = (2 * M_PI) / roi0->w;
+
+            *rotation = *x_translation * theta_scale;
+            *scale = (*y_translation * rho_scale) + 1;
+            *x_translation = 0;
+            *y_translation = 0;
+        }
+    }
+
+    if ((!logpolar) && fix_rotation_scale) fb_free(img0_fixed.pixels);
+}
+#endif //IMLIB_ENABLE_FIND_DISPLACEMENT
diff --git a/github_source/minicv2/src/pixfmt.c b/github_source/minicv2/src/pixfmt.c
new file mode 100644
index 0000000..45e3e94
--- /dev/null
+++ b/github_source/minicv2/src/pixfmt.c
@@ -0,0 +1,214 @@
+#include "imlib.h"
+
+
+void imlib_pixfmt_to(image_t *dst, image_t *src, rectangle_t *roi_i)
+{
+    rectangle_t *roi, tmp_roi;
+    if(roi_i == NULL){
+        roi = &tmp_roi;
+        roi->x = 0;
+        roi->y = 0;
+        roi->w = dst->w;
+        roi->h = dst->h;
+    }else{
+        roi = roi_i;
+    }
+    switch (src->pixfmt)
+    {
+    case PIXFORMAT_BINARY:
+        switch (dst->pixfmt)
+        {
+        case PIXFORMAT_BINARY:
+        {
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, roi_y_index);
+                uint32_t *dst_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, roi_x_index);
+                    IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, roi_y_index);
+                uint8_t *dst_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_BINARY_TO_GRAYSCALE(IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB565:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, roi_y_index);
+                uint16_t *dst_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_BINARY_TO_RGB565(IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB888:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint32_t *src_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(src, roi_y_index);
+                pixel24_t *dst_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_BINARY_TO_RGB888(IMAGE_GET_BINARY_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        default:
+            break;
+        }
+        break;
+    case PIXFORMAT_GRAYSCALE:
+        switch (dst->pixfmt)
+        {
+        case PIXFORMAT_BINARY:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, roi_y_index);
+                uint32_t *dst_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_GRAYSCALE_TO_BINARY(IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_GRAYSCALE:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, roi_y_index);
+                uint8_t *dst_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, roi_x_index);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB565:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, roi_y_index);
+                uint16_t *dst_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_GRAYSCALE_TO_RGB565(IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB888:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint8_t *src_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(src, roi_y_index);
+                pixel24_t *dst_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_GRAYSCALE_TO_RGB888(IMAGE_GET_GRAYSCALE_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_RGB888_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        default:
+            break;
+        }
+        break;
+    case PIXFORMAT_RGB565:
+        switch (dst->pixfmt)
+        {
+        case PIXFORMAT_BINARY:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, roi_y_index);
+                uint32_t *dst_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_RGB565_TO_BINARY(IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_GRAYSCALE:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, roi_y_index);
+                uint8_t *dst_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_RGB565_TO_GRAYSCALE(IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB565:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, roi_y_index);
+                uint16_t *dst_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, roi_x_index);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB888:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                uint16_t *src_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(src, roi_y_index);
+                pixel24_t *dst_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = IMAGE_GET_RGB565_PIXEL_FAST(src_row_ptr, roi_x_index);
+                    pixel24_t pixel_out = {.red = COLOR_RGB565_TO_R8(pixel), .green = COLOR_RGB565_TO_G8(pixel), .blue = COLOR_RGB565_TO_B8(pixel) };
+                    IMAGE_PUT_RGB888_PIXEL_FAST_(dst_row_ptr, dst_x_index, pixel_out);
+                }
+            }
+            break;
+        default:
+            break;
+        }
+        break;
+    case PIXFORMAT_RGB888:
+        switch (dst->pixfmt)
+        {
+        case PIXFORMAT_BINARY:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, roi_y_index);
+                uint32_t *dst_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    int pixel = COLOR_RGB888_TO_BINARY(IMAGE_GET_RGB888_PIXEL_FAST(src_row_ptr, roi_x_index));
+                    IMAGE_PUT_BINARY_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_GRAYSCALE:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, roi_y_index);
+                uint8_t *dst_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    pixel24_t s_pixel = IMAGE_GET_RGB888_PIXEL_FAST_(src_row_ptr, roi_x_index);
+                    int pixel = COLOR_RGB888_TO_Y_(s_pixel.red, s_pixel.green, s_pixel.blue);
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB565:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, roi_y_index);
+                uint16_t *dst_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    pixel24_t src_pixel = IMAGE_GET_RGB888_PIXEL_FAST_(src_row_ptr, roi_x_index);
+                    int pixel = COLOR_R8_G8_B8_TO_RGB565(src_pixel.red, src_pixel.green, src_pixel.blue);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        case PIXFORMAT_RGB888:
+            for(int dst_y_index = 0, roi_y_index = roi->y; dst_y_index < dst->h; ++ dst_y_index, ++ roi_y_index){
+                pixel24_t *src_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(src, roi_y_index);
+                pixel24_t *dst_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, dst_y_index);
+                for(int dst_x_index = 0, roi_x_index = roi->x; dst_x_index < dst->w; ++ dst_x_index, ++ roi_x_index){
+                    pixel24_t pixel = IMAGE_GET_RGB888_PIXEL_FAST_(src_row_ptr, roi_x_index);
+                    IMAGE_PUT_RGB888_PIXEL_FAST_(dst_row_ptr, dst_x_index, pixel);
+                }
+            }
+            break;
+        default:
+            break;
+        }
+        break;
+    default:
+        break;
+    }
+}
\ No newline at end of file
diff --git a/github_source/minicv2/src/png.c b/github_source/minicv2/src/png.c
new file mode 100644
index 0000000..5c18e25
--- /dev/null
+++ b/github_source/minicv2/src/png.c
@@ -0,0 +1,378 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * PNG CODEC
+ */
+#include <stdio.h>
+#include "imlib.h"
+// #include "py/mphal.h"
+// #include "py/runtime.h"
+#include "ff_wrapper.h"
+#if defined(IMLIB_ENABLE_PNG_ENCODER) || defined(IMLIB_ENABLE_PNG_DECODER)
+#include "lodepng.h"
+// #include "umm_malloc.h"
+
+#define TIME_PNG    (0)
+
+void *lodepng_malloc(size_t size) {
+    return xalloc(size);
+}
+
+void *lodepng_realloc(void *ptr, size_t new_size) {
+    return xrealloc(ptr, new_size);
+}
+
+void lodepng_free(void *ptr) {
+    return xfree(ptr);
+}
+
+unsigned lodepng_convert_cb(unsigned char *out, const unsigned char *in,
+                            const LodePNGColorMode *mode_out, const LodePNGColorMode *mode_in, unsigned w, unsigned h) {
+    unsigned error = 0;
+    unsigned numpixels = w * h;
+
+    if (mode_in->colortype == LCT_CUSTOM) {
+        // Compression.
+        // Note: we're always encoding to 8 bits.
+        switch (mode_in->customfmt) {
+            case PIXFORMAT_RGB565: {
+                uint16_t *pixels = (uint16_t *) in;
+                if (mode_out->colortype == LCT_RGB) {
+                    // RGB565 -> RGB888
+                    for (int i = 0; i < numpixels; i++, out += 3) {
+                        out[0] = COLOR_RGB565_TO_R8(pixels[i]);
+                        out[1] = COLOR_RGB565_TO_G8(pixels[i]);
+                        out[2] = COLOR_RGB565_TO_B8(pixels[i]);
+                    }
+                } else if (mode_out->colortype == LCT_RGBA) {
+                    // RGB565 -> RGBA888
+                    for (int i = 0; i < numpixels; i++, out += 4) {
+                        out[0] = COLOR_RGB565_TO_R8(pixels[i]);
+                        out[1] = COLOR_RGB565_TO_G8(pixels[i]);
+                        out[2] = COLOR_RGB565_TO_B8(pixels[i]);
+                        out[3] = 255;
+                    }
+                } else {
+                    error = 56; // unsupported color mode conversion.
+                }
+                break;
+            }
+            case PIXFORMAT_YUV_ANY:
+            // YUV   -> RGB888
+            case PIXFORMAT_BAYER_ANY:
+            // BAYER -> RGB888
+            case PIXFORMAT_RGB888:
+            // RGB888 -> RGB888
+                memcpy(out, in, numpixels * 3);
+            break;
+            default:
+                error = 56; // unsupported color mode conversion.
+                break;
+        }
+    } else if (mode_out->colortype == LCT_CUSTOM) {
+        // Decompression.
+        // NOTE: decode from 16 bits needs to be implemented.
+        switch (mode_out->customfmt) {
+            case PIXFORMAT_RGB565: {
+                uint16_t *pixels = (uint16_t *) out;
+                if (mode_in->colortype == LCT_RGB) {
+                    // RGB888 -> RGB565
+                    for (int i = 0; i < numpixels; i++, in += 3) {
+                        pixels[i] = COLOR_R8_G8_B8_TO_RGB565(in[0], in[1], in[2]);
+                    }
+                } else if (mode_in->colortype == LCT_RGBA) {
+                    // RGBA888 -> RGB565
+                    for (int i = 0; i < numpixels; i++, in += 4) {
+                        pixels[i] = COLOR_R8_G8_B8_TO_RGB565(in[0], in[1], in[2]);
+                    }
+                } else if (mode_in->colortype == LCT_GREY && mode_in->bitdepth == 8) {
+                    // GRAYSCALE -> RGB565
+                    for (int i = 0; i < numpixels; i++, in++) {
+                        pixels[i] = COLOR_R8_G8_B8_TO_RGB565(in[0], in[0], in[0]);
+                    }
+                } else {
+                    error = 56; // unsupported color mode conversion.
+                }
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                pixel24_t *pixels = (pixel24_t *) out;
+                if (mode_in->colortype == LCT_RGB) {
+                    // RGB888 -> RGB888
+                    memcpy(out, in, numpixels * 3);
+                } else if (mode_in->colortype == LCT_RGBA) {
+                    // RGBA888 -> RGB888
+                    for (int i = 0; i < numpixels; i++, in += 4) {
+                        pixels[i] = COLOR_R8_G8_B8_TO_RGB888(in[0], in[1], in[2]);
+                        // pixels[i] = COLOR_R8_G8_B8_TO_RGB565(in[0], in[1], in[2]);
+                    }
+                } else if (mode_in->colortype == LCT_GREY && mode_in->bitdepth == 8) {
+                    // GRAYSCALE -> RGB888
+                    for (int i = 0; i < numpixels; i++, in++) {
+                        pixels[i] = COLOR_GRAYSCALE_TO_RGB888(in[0]);
+                        // COLOR_R8_G8_B8_TO_RGB888(in[0], in[0], in[0]);
+                    }
+                } else {
+                    error = 56; // unsupported color mode conversion.
+                }
+                break;
+            }
+            default:
+                error = 56; // unsupported color mode conversion.
+                break;
+        }
+
+    } else {
+        error = 56; // unsupported color mode conversion.
+    }
+    return error;
+}
+
+#if defined(IMLIB_ENABLE_PNG_ENCODER)
+bool png_compress(image_t *src, image_t *dst) {
+    #if (TIME_PNG == 1)
+    mp_uint_t start = mp_hal_ticks_ms();
+    #endif
+
+    if (src->is_compressed) {
+        return true;
+    }
+
+    // umm_init_x(fb_avail());
+
+    LodePNGState state;
+    lodepng_state_init(&state);
+    // Invoked on custom formats.
+    state.lodepng_convert = &lodepng_convert_cb;
+    // Faster compression.
+    state.encoder.zlibsettings.windowsize = 1024;
+
+    switch (src->pixfmt) {
+        case PIXFORMAT_BINARY:
+            state.info_raw.bitdepth = 1;
+            state.info_raw.colortype = LCT_GREY;
+
+            state.encoder.auto_convert = false;
+            state.info_png.color.bitdepth = 8;
+            state.info_png.color.colortype = LCT_GREY;
+            break;
+        case PIXFORMAT_GRAYSCALE:
+            state.info_raw.bitdepth = 8;
+            state.info_raw.colortype = LCT_GREY;
+
+            state.encoder.auto_convert = false;
+            state.info_png.color.bitdepth = 8;
+            state.info_png.color.colortype = LCT_GREY;
+            break;
+        case PIXFORMAT_RGB565:
+            state.info_raw.bitdepth = 16;
+            state.info_raw.colortype = LCT_CUSTOM;
+            state.info_raw.customfmt = PIXFORMAT_RGB565;
+
+            state.encoder.auto_convert = false;
+            state.info_png.color.bitdepth = 8;
+            state.info_png.color.colortype = LCT_RGB;
+            break;
+        case PIXFORMAT_RGB888:
+            state.info_raw.bitdepth = 24;
+            state.info_raw.colortype = LCT_CUSTOM;
+            state.info_raw.customfmt = PIXFORMAT_RGB888;
+
+            state.encoder.auto_convert = false;
+            state.info_png.color.bitdepth = 8;
+            state.info_png.color.colortype = LCT_RGB;
+            break;
+        case PIXFORMAT_YUV_ANY:
+            imlib_printf(0, "PIXFORMAT_YUV_ANY Input format is not supported");
+            return 0;
+            // mp_raise_msg_varg(&mp_type_RuntimeError, MP_ERROR_TEXT("Input format is not supported"));
+            break;
+        case PIXFORMAT_BAYER_ANY:
+            imlib_printf(0, "PIXFORMAT_BAYER_ANY Input format is not supported");
+            return 0;
+            // mp_raise_msg_varg(&mp_type_RuntimeError, MP_ERROR_TEXT("Input format is not supported"));
+            break;
+    }
+
+    size_t png_size = 0;
+    uint8_t *png_data = NULL;
+    unsigned error = lodepng_encode(&png_data, &png_size, src->data, src->w, src->h, &state);
+    lodepng_state_cleanup(&state);
+    if (error) {
+        // mp_raise_msg(&mp_type_RuntimeError, (mp_rom_error_text_t) lodepng_error_text(error));
+        imlib_printf(0, "lodepng_error_text");
+        return 0;
+    }
+
+    if (dst->data == NULL) {
+        dst->data = png_data;
+        dst->size = png_size;
+        // fb_alloc() memory ill be free'd by called.
+    } else {
+        if (image_size(dst) <= png_size) {
+            dst->size = png_size;
+            memcpy(dst->data, png_data, png_size);
+        } else {
+            imlib_printf(0, "Failed to compress image in place");
+            // mp_raise_msg_varg(&mp_type_RuntimeError,
+            //                   MP_ERROR_TEXT("Failed to compress image in place"));
+        }
+        // free fb_alloc() memory used for umm_init_x().
+        // fb_free(); // umm_init_x();// 需要查询所有内存申请函数
+    }
+
+    #if (TIME_PNG == 1)
+    printf("time: %u ms\n", mp_hal_ticks_ms() - start);
+    #endif
+
+    return false;
+}
+#endif // IMLIB_ENABLE_PNG_ENCODER
+
+#if defined(IMLIB_ENABLE_PNG_DECODER)
+void png_decompress(image_t *dst, image_t *src) {
+    #if (TIME_PNG == 1)
+    mp_uint_t start = mp_hal_ticks_ms();
+    #endif
+
+    // umm_init_x(fb_avail());
+
+    LodePNGState state;
+    lodepng_state_init(&state);
+    // Invoked on custom formats.
+    state.lodepng_convert = &lodepng_convert_cb;
+
+    switch (dst->pixfmt) {
+        case PIXFORMAT_BINARY:
+            state.info_raw.bitdepth = 1;
+            state.info_raw.colortype = LCT_GREY;
+            break;
+        case PIXFORMAT_GRAYSCALE:
+            state.info_raw.bitdepth = 8;
+            state.info_raw.colortype = LCT_GREY;
+            break;
+        case PIXFORMAT_RGB565:
+            state.info_raw.bitdepth = 16;
+            state.info_raw.colortype = LCT_CUSTOM;
+            state.info_raw.customfmt = PIXFORMAT_RGB565;
+            break;
+        case PIXFORMAT_RGB888:
+            state.info_raw.bitdepth = 24;
+            state.info_raw.colortype = LCT_CUSTOM;
+            state.info_raw.customfmt = PIXFORMAT_RGB888;
+            break;
+    }
+
+    uint8_t *png_data = NULL;
+    uint32_t img_size = image_size(dst);
+    unsigned error = lodepng_decode(&png_data, (unsigned *) &dst->w, (unsigned *) &dst->h, &state, src->data, src->size);
+    lodepng_state_cleanup(&state);
+    if (error) {
+        // mp_raise_msg(&mp_type_RuntimeError, (mp_rom_error_text_t) lodepng_error_text(error));
+        imlib_printf(0, "lodepng_error_text");
+        return 0;
+    }
+
+    uint32_t new_img_size = image_size(dst);
+    if (new_img_size <= img_size) {
+        memcpy(dst->data, png_data, new_img_size);
+    } else {
+        imlib_printf(0, "Failed to compress image in place");
+        // mp_raise_msg_varg(&mp_type_RuntimeError,
+        //                   MP_ERROR_TEXT("Failed to compress image in place"));
+    }
+
+    // free fb_alloc() memory used for umm_init_x().
+    // fb_free(); // umm_init_x();// 需要查询所有内存申请函数
+
+    #if (TIME_PNG == 1)
+    printf("time: %u ms\n", mp_hal_ticks_ms() - start);
+    #endif
+}
+#endif // IMLIB_ENABLE_PNG_DECODER
+#endif // IMLIB_ENABLE_PNG_ENCODER || IMLIB_ENABLE_PNG_DECODER
+
+
+#if !defined(IMLIB_ENABLE_PNG_ENCODER)
+bool png_compress(image_t *src, image_t *dst) {
+    imlib_printf(0, "PNG encoder is not enabled");
+    // mp_raise_msg_varg(&mp_type_RuntimeError, MP_ERROR_TEXT("PNG encoder is not enabled"));
+}
+#endif
+
+#if !defined(IMLIB_ENABLE_PNG_DECODER)
+void png_decompress(image_t *dst, image_t *src) {
+    imlib_printf(0, "PNG decoder is not enabled");
+    // mp_raise_msg_varg(&mp_type_RuntimeError, MP_ERROR_TEXT("PNG decoder is not enabled"));
+}
+#endif
+
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+// This function inits the geometry values of an image.
+void png_read_geometry(FIL *fp, image_t *img, const char *path, png_read_settings_t *rs) {
+    uint32_t header;
+    file_seek(fp, 12); // start of IHDR
+    read_long(fp, &header);
+    if (header == 0x52444849) {
+        // IHDR
+        uint32_t width, height;
+        read_long(fp, &width);
+        read_long(fp, &height);
+        width = __builtin_bswap32(width);
+        height = __builtin_bswap32(height);
+
+        rs->png_w = width;
+        rs->png_h = height;
+        rs->png_size = IMLIB_IMAGE_MAX_SIZE(file_fsize(fp));
+
+        img->w = rs->png_w;
+        img->h = rs->png_h;
+        img->size = rs->png_size;
+        img->pixfmt = PIXFORMAT_PNG;
+    } else {
+        ff_file_corrupted(fp);
+    }
+}
+
+// This function reads the pixel values of an image.
+void png_read_pixels(FIL *fp, image_t *img) {
+    file_seek(fp, 0);
+    read_data(fp, img->pixels, img->size);
+}
+
+void png_read(image_t *img, const char *path) {
+    FIL fp;
+    png_read_settings_t rs;
+
+    file_read_open(&fp, path);
+
+    // Do not use file_buffer_on() here.
+    png_read_geometry(&fp, img, path, &rs);
+
+    if (!img->pixels) {
+        img->pixels = xalloc(img->size);
+    }
+
+    png_read_pixels(&fp, img);
+    file_close(&fp);
+}
+
+void png_write(image_t *img, const char *path) {
+    FIL fp;
+    file_write_open(&fp, path);
+    if (img->pixfmt == PIXFORMAT_PNG) {
+        write_data(&fp, img->pixels, img->size);
+    } else {
+        image_t out = { .w = img->w, .h = img->h, .pixfmt = PIXFORMAT_PNG, .size = 0, .pixels = NULL }; // alloc in png compress
+        png_compress(img, &out);
+        write_data(&fp, out.pixels, out.size);
+        // fb_free(); // frees alloc in png_compress()
+    }
+    file_close(&fp);
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO)
diff --git a/github_source/minicv2/src/point.c b/github_source/minicv2/src/point.c
new file mode 100644
index 0000000..61f5565
--- /dev/null
+++ b/github_source/minicv2/src/point.c
@@ -0,0 +1,33 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Point functions.
+ */
+#include "imlib.h"
+// #include "xalloc.h"
+
+point_t *point_alloc(int16_t x, int16_t y)
+{
+    point_t *p = xalloc(sizeof(point_t));
+    p->x = x;
+    p->y = y;
+    return p;
+}
+
+bool point_equal(point_t *p1, point_t *p2)
+{
+    return ((p1->x==p2->x)&&(p1->y==p2->y));
+}
+
+float point_distance(point_t *p1, point_t *p2)
+{
+    float sum=0.0f;
+    sum += (p1->x - p2->x) * (p1->x - p2->x);
+    sum += (p1->y - p2->y) * (p1->y - p2->y);
+    return fast_sqrtf(sum);
+}
diff --git a/github_source/minicv2/src/pool.c b/github_source/minicv2/src/pool.c
new file mode 100644
index 0000000..fbfc58f
--- /dev/null
+++ b/github_source/minicv2/src/pool.c
@@ -0,0 +1,200 @@
+/*
+ * This file is part of the OpenMV project.
+ * Copyright (c) 2013-2016 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Image pooling.
+ *
+ */
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_MIDPOINT_POOLING
+void imlib_midpoint_pool(image_t *img_i, image_t *img_o, int x_div, int y_div, const int bias)
+{
+    int min_bias = (256-bias);
+    int max_bias = bias;
+    switch (img_i->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int min = COLOR_BINARY_MAX, max = COLOR_BINARY_MIN;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            int pixel = IMAGE_GET_BINARY_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            min = IM_MIN(min, pixel);
+                            max = IM_MAX(max, pixel);
+                        }
+                    }
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x,
+                        ((min*min_bias)+(max*max_bias))>>8);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = img_i->h, yyy = (img_i->h % y_div) / 2 / y_div; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int min = COLOR_GRAYSCALE_MAX, max = COLOR_GRAYSCALE_MIN;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            int pixel = IMAGE_GET_GRAYSCALE_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            min = IM_MIN(min, pixel);
+                            max = IM_MAX(max, pixel);
+                        }
+                    }
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x,
+                        ((min*min_bias)+(max*max_bias))>>8);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int r_min = COLOR_R5_MAX, r_max = COLOR_R5_MIN;
+                    int g_min = COLOR_G6_MAX, g_max = COLOR_G6_MIN;
+                    int b_min = COLOR_B5_MAX, b_max = COLOR_B5_MIN;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            const uint16_t pixel = IM_GET_RGB565_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            int r = COLOR_RGB565_TO_R5(pixel);
+                            int g = COLOR_RGB565_TO_G6(pixel);
+                            int b = COLOR_RGB565_TO_B5(pixel);
+                            r_min = IM_MIN(r_min, r);
+                            r_max = IM_MAX(r_max, r);
+                            g_min = IM_MIN(g_min, g);
+                            g_max = IM_MAX(g_max, g);
+                            b_min = IM_MIN(b_min, b);
+                            b_max = IM_MAX(b_max, b);
+                        }
+                    }
+                    IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x,
+                        COLOR_R5_G6_B5_TO_RGB565(((r_min*min_bias)+(r_max*max_bias))>>8,
+                                                 ((g_min*min_bias)+(g_max*max_bias))>>8,
+                                                 ((b_min*min_bias)+(b_max*max_bias))>>8));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int r_min = COLOR_R8_MAX, r_max = COLOR_R8_MIN;
+                    int g_min = COLOR_G8_MAX, g_max = COLOR_G8_MIN;
+                    int b_min = COLOR_B8_MAX, b_max = COLOR_B8_MIN;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            const uint32_t pixel = IM_GET_RGB888_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            int r = COLOR_RGB888_TO_R8(pixel);
+                            int g = COLOR_RGB888_TO_G8(pixel);
+                            int b = COLOR_RGB888_TO_B8(pixel);
+                            r_min = IM_MIN(r_min, r);
+                            r_max = IM_MAX(r_max, r);
+                            g_min = IM_MIN(g_min, g);
+                            g_max = IM_MAX(g_max, g);
+                            b_min = IM_MIN(b_min, b);
+                            b_max = IM_MAX(b_max, b);
+                        }
+                    }
+                    IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x,
+                        COLOR_R8_G8_B8_TO_RGB888(((r_min*min_bias)+(r_max*max_bias))>>8,
+                                                 ((g_min*min_bias)+(g_max*max_bias))>>8,
+                                                 ((b_min*min_bias)+(b_max*max_bias))>>8));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+#endif // IMLIB_ENABLE_MIDPOINT_POOLING
+
+#ifdef IMLIB_ENABLE_MEAN_POOLING
+void imlib_mean_pool(image_t *img_i, image_t *img_o, int x_div, int y_div)
+{
+    int n = x_div * y_div;
+    switch (img_i->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int acc = 0;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            int pixel = IMAGE_GET_BINARY_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            acc += pixel;
+                        }
+                    }
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr, x, acc / n);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int acc = 0;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            int pixel = IMAGE_GET_GRAYSCALE_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            acc += pixel;
+                        }
+                    }
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr, x, acc / n);
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int r_acc = 0;
+                    int g_acc = 0;
+                    int b_acc = 0;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            int pixel = IMAGE_GET_RGB565_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            r_acc += COLOR_RGB565_TO_R5(pixel);
+                            g_acc += COLOR_RGB565_TO_G6(pixel);
+                            b_acc += COLOR_RGB565_TO_B5(pixel);
+                        }
+                    }
+                    IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr, x, COLOR_R5_G6_B5_TO_RGB565(r_acc / n, g_acc / n, b_acc / n));
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            for (int y = 0, yy = img_i->h / y_div, yyy = (img_i->h % y_div) / 2; y < yy; y++) {
+                pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img_o, y);
+                for (int x = 0, xx = img_i->w / x_div, xxx = (img_i->w % x_div) / 2; x < xx; x++) {
+                    int r_acc = 0;
+                    int g_acc = 0;
+                    int b_acc = 0;
+                    for (int i = 0; i < y_div; i++) {
+                        for (int j = 0; j < x_div; j++) {
+                            int pixel = IMAGE_GET_RGB888_PIXEL(img_i, xxx + (x * x_div) + j, yyy + (y * y_div) + i);
+                            r_acc += COLOR_RGB888_TO_R8(pixel);
+                            g_acc += COLOR_RGB888_TO_G8(pixel);
+                            b_acc += COLOR_RGB888_TO_B8(pixel);
+                        }
+                    }
+                    IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr, x, COLOR_R8_G8_B8_TO_RGB888(r_acc / n, g_acc / n, b_acc / n));
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+#endif // IMLIB_ENABLE_MEAN_POOLING
diff --git a/github_source/minicv2/src/ppm.c b/github_source/minicv2/src/ppm.c
new file mode 100644
index 0000000..4a8aa56
--- /dev/null
+++ b/github_source/minicv2/src/ppm.c
@@ -0,0 +1,183 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * PPM/PGM reader/writer.
+ */
+
+#include "imlib.h"
+#if defined(IMLIB_ENABLE_IMAGE_FILE_IO)
+
+#include <stdio.h>
+// #include "py/obj.h"
+// #include "py/runtime.h"
+
+#include "xalloc.h"
+#include "imlib.h"
+#include "ff_wrapper.h"
+
+static void read_int_reset(ppm_read_settings_t *rs)
+{
+    rs->read_int_c_valid = false;
+}
+
+static void read_int(FIL *fp, uint32_t *i, ppm_read_settings_t *rs)
+{
+    enum { EAT_WHITESPACE, EAT_COMMENT, EAT_NUMBER } mode = EAT_WHITESPACE;
+    for(*i = 0;;) {
+        if (!rs->read_int_c_valid) {
+            if (file_tell_w_buf(fp) == file_size_w_buf(fp)) return;
+            read_byte(fp, &rs->read_int_c);
+            rs->read_int_c_valid = true;
+        }
+        if (mode == EAT_WHITESPACE) {
+            if (rs->read_int_c == '#') {
+                mode = EAT_COMMENT;
+            } else if (('0' <= rs->read_int_c) && (rs->read_int_c <= '9')) {
+                *i = rs->read_int_c - '0';
+                mode = EAT_NUMBER;
+            }
+        } else if (mode == EAT_COMMENT) {
+            if ((rs->read_int_c == '\n') || (rs->read_int_c == '\r')) {
+                mode = EAT_WHITESPACE;
+            }
+        } else if (mode == EAT_NUMBER) {
+            if (('0' <= rs->read_int_c) && (rs->read_int_c <= '9')) {
+                *i = (*i * 10) + rs->read_int_c - '0';
+            } else {
+                return; // read_int_c_valid==true on exit
+            }
+        }
+        rs->read_int_c_valid = false;
+    }
+}
+
+// This function inits the geometry values of an image.
+void ppm_read_geometry(FIL *fp, image_t *img, const char *path, ppm_read_settings_t *rs)
+{
+    read_int_reset(rs);
+    read_byte_expect(fp, 'P');
+    read_byte(fp, &rs->ppm_fmt);
+
+    if ((rs->ppm_fmt!='2') && (rs->ppm_fmt!='3') && (rs->ppm_fmt!='5') && (rs->ppm_fmt!='6')) {
+        ff_unsupported_format(fp);
+    }
+
+    img->pixfmt = ((rs->ppm_fmt == '2') || (rs->ppm_fmt == '5')) ? PIXFORMAT_GRAYSCALE : PIXFORMAT_RGB565;
+
+    read_int(fp, (uint32_t *) &img->w, rs);
+    read_int(fp, (uint32_t *) &img->h, rs);
+
+    if ((img->w == 0) || (img->h == 0)) {
+        ff_file_corrupted(fp);
+    }
+
+    uint32_t max;
+    read_int(fp, &max, rs);
+    if (max != 255) {
+        ff_unsupported_format(fp);
+    }
+}
+
+// This function reads the pixel values of an image.
+void ppm_read_pixels(FIL *fp, image_t *img, int n_lines, ppm_read_settings_t *rs)
+{
+    if (rs->ppm_fmt == '2') {
+        for (int i = 0; i < n_lines; i++) {
+            for (int j = 0; j < img->w; j++) {
+                uint32_t pixel;
+                read_int(fp, &pixel, rs);
+                IM_SET_GS_PIXEL(img, j, i, pixel);
+            }
+        }
+    } else if (rs->ppm_fmt == '3') {
+        for (int i = 0; i < n_lines; i++) {
+            for (int j = 0; j < img->w; j++) {
+                uint32_t r, g, b;
+                read_int(fp, &r, rs);
+                read_int(fp, &g, rs);
+                read_int(fp, &b, rs);
+                IM_SET_RGB565_PIXEL(img, j, i, COLOR_R8_G8_B8_TO_RGB565(r, g, b));
+            }
+        }
+    } else if (rs->ppm_fmt == '5') {
+        read_data(fp, img->pixels, n_lines * img->w);
+    } else if (rs->ppm_fmt == '6') {
+        for (int i = 0; i < n_lines; i++) {
+            for (int j = 0; j < img->w; j++) {
+                uint8_t r, g, b;
+                read_byte(fp, &r);
+                read_byte(fp, &g);
+                read_byte(fp, &b);
+                IM_SET_RGB565_PIXEL(img, j, i, COLOR_R8_G8_B8_TO_RGB565(r, g, b));
+            }
+        }
+    }
+}
+
+void ppm_read(image_t *img, const char *path)
+{
+    FIL fp;
+    ppm_read_settings_t rs;
+
+    file_read_open(&fp, path);
+    // file_buffer_on(&fp);
+    ppm_read_geometry(&fp, img, path, &rs);
+
+    if (!img->pixels) {
+        img->pixels = xalloc(img->w * img->h * img->bpp);
+    }
+    ppm_read_pixels(&fp, img, img->h, &rs);
+
+    // file_buffer_off(&fp);
+    file_close(&fp);
+}
+
+void ppm_write_subimg(image_t *img, const char *path, rectangle_t *r)
+{
+    rectangle_t rect;
+    if (!rectangle_subimg(img, r, &rect)) {
+        ERR_PRINT("OSError:No intersection!");
+        // mp_raise_msg(&mp_type_OSError, MP_ERROR_TEXT("No intersection!"));
+    }
+
+    FIL fp;
+    file_write_open(&fp, path);
+    // file_buffer_on(&fp);
+    if (IM_IS_GS(img)) {
+        char buffer[20]; // exactly big enough for 5-digit w/h
+        int len = snprintf(buffer, 20, "P5\n%d %d\n255\n", rect.w, rect.h);
+        write_data(&fp, buffer, len);
+        if ((rect.x == 0) && (rect.w == img->w)) {
+            write_data(&fp, // Super Fast - Zoom, Zoom!
+                       img->pixels + (rect.y * img->w),
+                       rect.w * rect.h);
+        } else {
+            for (int i = 0; i < rect.h; i++) {
+                write_data(&fp, img->pixels+((rect.y+i)*img->w)+rect.x, rect.w);
+            }
+        }
+    } else {
+        char buffer[20]; // exactly big enough for 5-digit w/h
+        int len = snprintf(buffer, 20, "P6\n%d %d\n255\n", rect.w, rect.h);
+        write_data(&fp, buffer, len);
+        for (int i = 0; i < rect.h; i++) {
+            for (int j = 0; j < rect.w; j++) {
+                int pixel = IM_GET_RGB565_PIXEL(img, (rect.x + j), (rect.y + i));
+                char buff[3];
+                buff[0] = COLOR_RGB565_TO_R8(pixel);
+                buff[1] = COLOR_RGB565_TO_G8(pixel);
+                buff[2] = COLOR_RGB565_TO_B8(pixel);
+                write_data(&fp, buff, 3);
+            }
+        }
+    }
+    // file_buffer_off(&fp);
+
+    file_close(&fp);
+}
+#endif //IMLIB_ENABLE_IMAGE_FILE_IO
diff --git a/github_source/minicv2/src/qrcode.c b/github_source/minicv2/src/qrcode.c
new file mode 100644
index 0000000..cba3da5
--- /dev/null
+++ b/github_source/minicv2/src/qrcode.c
@@ -0,0 +1,3031 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * QR-code recognition library.
+ */
+#include "imlib.h"
+#ifdef IMLIB_ENABLE_QRCODES
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "quirc.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/* quirc -- QR-code recognition library
+ * Copyright (C) 2010-2012 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+struct quirc;
+
+/* Obtain the library version string. */
+const char *quirc_version(void);
+
+/* Construct a new QR-code recognizer. This function will return NULL
+ * if sufficient memory could not be allocated.
+ */
+struct quirc *quirc_new(void);
+
+/* Destroy a QR-code recognizer. */
+void quirc_destroy(struct quirc *q);
+
+/* Resize the QR-code recognizer. The size of an image must be
+ * specified before codes can be analyzed.
+ *
+ * This function returns 0 on success, or -1 if sufficient memory could
+ * not be allocated.
+ */
+int quirc_resize(struct quirc *q, int w, int h);
+
+/* These functions are used to process images for QR-code recognition.
+ * quirc_begin() must first be called to obtain access to a buffer into
+ * which the input image should be placed. Optionally, the current
+ * width and height may be returned.
+ *
+ * After filling the buffer, quirc_end() should be called to process
+ * the image for QR-code recognition. The locations and content of each
+ * code may be obtained using accessor functions described below.
+ */
+uint8_t *quirc_begin(struct quirc *q, int *w, int *h);
+void quirc_end(struct quirc *q);
+
+/* This structure describes a location in the input image buffer. */
+struct quirc_point {
+    int x;
+    int y;
+};
+
+/* This enum describes the various decoder errors which may occur. */
+typedef enum {
+    QUIRC_SUCCESS = 0,
+    QUIRC_ERROR_INVALID_GRID_SIZE,
+    QUIRC_ERROR_INVALID_VERSION,
+    QUIRC_ERROR_FORMAT_ECC,
+    QUIRC_ERROR_DATA_ECC,
+    QUIRC_ERROR_UNKNOWN_DATA_TYPE,
+    QUIRC_ERROR_DATA_OVERFLOW,
+    QUIRC_ERROR_DATA_UNDERFLOW
+} quirc_decode_error_t;
+
+/* Return a string error message for an error code. */
+const char *quirc_strerror(quirc_decode_error_t err);
+
+/* Limits on the maximum size of QR-codes and their content. */
+#define QUIRC_MAX_BITMAP    3917
+#define QUIRC_MAX_PAYLOAD   8896
+
+/* QR-code ECC types. */
+#define QUIRC_ECC_LEVEL_M   0
+#define QUIRC_ECC_LEVEL_L   1
+#define QUIRC_ECC_LEVEL_H   2
+#define QUIRC_ECC_LEVEL_Q   3
+
+/* QR-code data types. */
+#define QUIRC_DATA_TYPE_NUMERIC 1
+#define QUIRC_DATA_TYPE_ALPHA   2
+#define QUIRC_DATA_TYPE_BYTE    4
+#define QUIRC_DATA_TYPE_KANJI   8
+
+/* Common character encodings */
+#define QUIRC_ECI_ISO_8859_1    1
+#define QUIRC_ECI_IBM437        2
+#define QUIRC_ECI_ISO_8859_2    4
+#define QUIRC_ECI_ISO_8859_3    5
+#define QUIRC_ECI_ISO_8859_4    6
+#define QUIRC_ECI_ISO_8859_5    7
+#define QUIRC_ECI_ISO_8859_6    8
+#define QUIRC_ECI_ISO_8859_7    9
+#define QUIRC_ECI_ISO_8859_8    10
+#define QUIRC_ECI_ISO_8859_9    11
+#define QUIRC_ECI_WINDOWS_874   13
+#define QUIRC_ECI_ISO_8859_13   15
+#define QUIRC_ECI_ISO_8859_15   17
+#define QUIRC_ECI_SHIFT_JIS     20
+#define QUIRC_ECI_UTF_8         26
+
+/* This structure is used to return information about detected QR codes
+ * in the input image.
+ */
+struct quirc_code {
+    /* The four corners of the QR-code, from top left, clockwise */
+    struct quirc_point  corners[4];
+
+    /* The number of cells across in the QR-code. The cell bitmap
+     * is a bitmask giving the actual values of cells. If the cell
+     * at (x, y) is black, then the following bit is set:
+     *
+     *      cell_bitmap[i >> 3] & (1 << (i & 7))
+     *
+     * where i = (y * size) + x.
+     */
+    int                 size;
+    uint8_t             cell_bitmap[QUIRC_MAX_BITMAP];
+};
+
+/* This structure holds the decoded QR-code data */
+struct quirc_data {
+    /* Various parameters of the QR-code. These can mostly be
+     * ignored if you only care about the data.
+     */
+    int         version;
+    int         ecc_level;
+    int         mask;
+
+    /* This field is the highest-valued data type found in the QR
+     * code.
+     */
+    int         data_type;
+
+    /* Data payload. For the Kanji datatype, payload is encoded as
+     * Shift-JIS. For all other datatypes, payload is ASCII text.
+     */
+    uint8_t     payload[QUIRC_MAX_PAYLOAD];
+    int         payload_len;
+
+    /* ECI assignment number */
+    uint32_t    eci;
+};
+
+/* Return the number of QR-codes identified in the last processed
+ * image.
+ */
+int quirc_count(const struct quirc *q);
+
+/* Extract the QR-code specified by the given index. */
+void quirc_extract(const struct quirc *q, int index,
+                   struct quirc_code *code);
+
+/* Decode a QR-code, returning the payload data. */
+quirc_decode_error_t quirc_decode(const struct quirc_code *code,
+                                  struct quirc_data *data);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "quirc_internal.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/* quirc -- QR-code recognition library
+ * Copyright (C) 2010-2012 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#define QUIRC_PIXEL_WHITE   0
+#define QUIRC_PIXEL_BLACK   1
+#define QUIRC_PIXEL_REGION  2
+
+#ifndef QUIRC_MAX_REGIONS
+#define QUIRC_MAX_REGIONS   254
+#endif
+
+#define QUIRC_MAX_CAPSTONES 32
+#define QUIRC_MAX_GRIDS     8
+
+#define QUIRC_PERSPECTIVE_PARAMS    8
+
+#if QUIRC_MAX_REGIONS < UINT8_MAX
+typedef uint8_t quirc_pixel_t;
+#elif QUIRC_MAX_REGIONS < UINT16_MAX
+typedef uint16_t quirc_pixel_t;
+#else
+#error "QUIRC_MAX_REGIONS > 65534 is not supported"
+#endif
+
+struct quirc_region {
+    struct quirc_point  seed;
+    int                 count;
+    int                 capstone;
+};
+
+struct quirc_capstone {
+    int                 ring;
+    int                 stone;
+
+    struct quirc_point  corners[4];
+    struct quirc_point  center;
+    float               c[QUIRC_PERSPECTIVE_PARAMS];
+
+    int                 qr_grid;
+};
+
+struct quirc_grid {
+    /* Capstone indices */
+    int                 caps[3];
+
+    /* Alignment pattern region and corner */
+    int                 align_region;
+    struct quirc_point  align;
+
+    /* Timing pattern endpoints */
+    struct quirc_point  tpep[3];
+    int                 hscan;
+    int                 vscan;
+
+    /* Grid size and perspective transform */
+    int                 grid_size;
+    float               c[QUIRC_PERSPECTIVE_PARAMS];
+};
+
+struct quirc {
+    uint8_t                 *image;
+    quirc_pixel_t           *pixels;
+    int                     w;
+    int                     h;
+
+    int                     num_regions;
+    struct quirc_region     regions[QUIRC_MAX_REGIONS];
+
+    int                     num_capstones;
+    struct quirc_capstone   capstones[QUIRC_MAX_CAPSTONES];
+
+    int                     num_grids;
+    struct quirc_grid       grids[QUIRC_MAX_GRIDS];
+};
+
+/************************************************************************
+ * QR-code version information database
+ */
+
+#define QUIRC_MAX_VERSION   40
+#define QUIRC_MAX_ALIGNMENT 7
+
+struct quirc_rs_params {
+    uint8_t bs; /* Small block size */
+    uint8_t dw; /* Small data words */
+    uint8_t ns; /* Number of small blocks */
+};
+
+struct quirc_version_info {
+    uint16_t                data_bytes;
+    uint8_t                 apat[QUIRC_MAX_ALIGNMENT];
+    struct quirc_rs_params  ecc[4];
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "version_db.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/* quirc -- QR-code recognition library
+ * Copyright (C) 2010-2012 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+const struct quirc_version_info quirc_version_db[QUIRC_MAX_VERSION + 1] = {
+    {0},
+    { /* Version 1 */
+        .data_bytes = 26,
+        .apat = {0},
+        .ecc = {
+            {.bs = 26, .dw = 16, .ns = 1},
+            {.bs = 26, .dw = 19, .ns = 1},
+            {.bs = 26, .dw = 9, .ns = 1},
+            {.bs = 26, .dw = 13, .ns = 1}
+        }
+    },
+    { /* Version 2 */
+        .data_bytes = 44,
+        .apat = {6, 18, 0},
+        .ecc = {
+            {.bs = 44, .dw = 28, .ns = 1},
+            {.bs = 44, .dw = 34, .ns = 1},
+            {.bs = 44, .dw = 16, .ns = 1},
+            {.bs = 44, .dw = 22, .ns = 1}
+        }
+    },
+    { /* Version 3 */
+        .data_bytes = 70,
+        .apat = {6, 22, 0},
+        .ecc = {
+            {.bs = 70, .dw = 44, .ns = 1},
+            {.bs = 70, .dw = 55, .ns = 1},
+            {.bs = 35, .dw = 13, .ns = 2},
+            {.bs = 35, .dw = 17, .ns = 2}
+        }
+    },
+    { /* Version 4 */
+        .data_bytes = 100,
+        .apat = {6, 26, 0},
+        .ecc = {
+            {.bs = 50, .dw = 32, .ns = 2},
+            {.bs = 100, .dw = 80, .ns = 1},
+            {.bs = 25, .dw = 9, .ns = 4},
+            {.bs = 50, .dw = 24, .ns = 2}
+        }
+    },
+    { /* Version 5 */
+        .data_bytes = 134,
+        .apat = {6, 30, 0},
+        .ecc = {
+            {.bs = 67, .dw = 43, .ns = 2},
+            {.bs = 134, .dw = 108, .ns = 1},
+            {.bs = 33, .dw = 11, .ns = 2},
+            {.bs = 33, .dw = 15, .ns = 2}
+        }
+    },
+    { /* Version 6 */
+        .data_bytes = 172,
+        .apat = {6, 34, 0},
+        .ecc = {
+            {.bs = 43, .dw = 27, .ns = 4},
+            {.bs = 86, .dw = 68, .ns = 2},
+            {.bs = 43, .dw = 15, .ns = 4},
+            {.bs = 43, .dw = 19, .ns = 4}
+        }
+    },
+    { /* Version 7 */
+        .data_bytes = 196,
+        .apat = {6, 22, 38, 0},
+        .ecc = {
+            {.bs = 49, .dw = 31, .ns = 4},
+            {.bs = 98, .dw = 78, .ns = 2},
+            {.bs = 39, .dw = 13, .ns = 4},
+            {.bs = 32, .dw = 14, .ns = 2}
+        }
+    },
+    { /* Version 8 */
+        .data_bytes = 242,
+        .apat = {6, 24, 42, 0},
+        .ecc = {
+            {.bs = 60, .dw = 38, .ns = 2},
+            {.bs = 121, .dw = 97, .ns = 2},
+            {.bs = 40, .dw = 14, .ns = 4},
+            {.bs = 40, .dw = 18, .ns = 4}
+        }
+    },
+    { /* Version 9 */
+        .data_bytes = 292,
+        .apat = {6, 26, 46, 0},
+        .ecc = {
+            {.bs = 58, .dw = 36, .ns = 3},
+            {.bs = 146, .dw = 116, .ns = 2},
+            {.bs = 36, .dw = 12, .ns = 4},
+            {.bs = 36, .dw = 16, .ns = 4}
+        }
+    },
+    { /* Version 10 */
+        .data_bytes = 346,
+        .apat = {6, 28, 50, 0},
+        .ecc = {
+            {.bs = 69, .dw = 43, .ns = 4},
+            {.bs = 86, .dw = 68, .ns = 2},
+            {.bs = 43, .dw = 15, .ns = 6},
+            {.bs = 43, .dw = 19, .ns = 6}
+        }
+    },
+    { /* Version 11 */
+        .data_bytes = 404,
+        .apat = {6, 30, 54, 0},
+        .ecc = {
+            {.bs = 80, .dw = 50, .ns = 1},
+            {.bs = 101, .dw = 81, .ns = 4},
+            {.bs = 36, .dw = 12, .ns = 3},
+            {.bs = 50, .dw = 22, .ns = 4}
+        }
+    },
+    { /* Version 12 */
+        .data_bytes = 466,
+        .apat = {6, 32, 58, 0},
+        .ecc = {
+            {.bs = 58, .dw = 36, .ns = 6},
+            {.bs = 116, .dw = 92, .ns = 2},
+            {.bs = 42, .dw = 14, .ns = 7},
+            {.bs = 46, .dw = 20, .ns = 4}
+        }
+    },
+    { /* Version 13 */
+        .data_bytes = 532,
+        .apat = {6, 34, 62, 0},
+        .ecc = {
+            {.bs = 59, .dw = 37, .ns = 8},
+            {.bs = 133, .dw = 107, .ns = 4},
+            {.bs = 33, .dw = 11, .ns = 12},
+            {.bs = 44, .dw = 20, .ns = 8}
+        }
+    },
+    { /* Version 14 */
+        .data_bytes = 581,
+        .apat = {6, 26, 46, 66, 0},
+        .ecc = {
+            {.bs = 64, .dw = 40, .ns = 4},
+            {.bs = 145, .dw = 115, .ns = 3},
+            {.bs = 36, .dw = 12, .ns = 11},
+            {.bs = 36, .dw = 16, .ns = 11}
+        }
+    },
+    { /* Version 15 */
+        .data_bytes = 655,
+        .apat = {6, 26, 48, 70, 0},
+        .ecc = {
+            {.bs = 65, .dw = 41, .ns = 5},
+            {.bs = 109, .dw = 87, .ns = 5},
+            {.bs = 36, .dw = 12, .ns = 11},
+            {.bs = 54, .dw = 24, .ns = 5}
+        }
+    },
+    { /* Version 16 */
+        .data_bytes = 733,
+        .apat = {6, 26, 50, 74, 0},
+        .ecc = {
+            {.bs = 73, .dw = 45, .ns = 7},
+            {.bs = 122, .dw = 98, .ns = 5},
+            {.bs = 45, .dw = 15, .ns = 3},
+            {.bs = 43, .dw = 19, .ns = 15}
+        }
+    },
+    { /* Version 17 */
+        .data_bytes = 815,
+        .apat = {6, 30, 54, 78, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 10},
+            {.bs = 135, .dw = 107, .ns = 1},
+            {.bs = 42, .dw = 14, .ns = 2},
+            {.bs = 50, .dw = 22, .ns = 1}
+        }
+    },
+    { /* Version 18 */
+        .data_bytes = 901,
+        .apat = {6, 30, 56, 82, 0},
+        .ecc = {
+            {.bs = 69, .dw = 43, .ns = 9},
+            {.bs = 150, .dw = 120, .ns = 5},
+            {.bs = 42, .dw = 14, .ns = 2},
+            {.bs = 50, .dw = 22, .ns = 17}
+        }
+    },
+    { /* Version 19 */
+        .data_bytes = 991,
+        .apat = {6, 30, 58, 86, 0},
+        .ecc = {
+            {.bs = 70, .dw = 44, .ns = 3},
+            {.bs = 141, .dw = 113, .ns = 3},
+            {.bs = 39, .dw = 13, .ns = 9},
+            {.bs = 47, .dw = 21, .ns = 17}
+        }
+    },
+    { /* Version 20 */
+        .data_bytes = 1085,
+        .apat = {6, 34, 62, 90, 0},
+        .ecc = {
+            {.bs = 67, .dw = 41, .ns = 3},
+            {.bs = 135, .dw = 107, .ns = 3},
+            {.bs = 43, .dw = 15, .ns = 15},
+            {.bs = 54, .dw = 24, .ns = 15}
+        }
+    },
+    { /* Version 21 */
+        .data_bytes = 1156,
+        .apat = {6, 28, 50, 72, 92, 0},
+        .ecc = {
+            {.bs = 68, .dw = 42, .ns = 17},
+            {.bs = 144, .dw = 116, .ns = 4},
+            {.bs = 46, .dw = 16, .ns = 19},
+            {.bs = 50, .dw = 22, .ns = 17}
+        }
+    },
+    { /* Version 22 */
+        .data_bytes = 1258,
+        .apat = {6, 26, 50, 74, 98, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 17},
+            {.bs = 139, .dw = 111, .ns = 2},
+            {.bs = 37, .dw = 13, .ns = 34},
+            {.bs = 54, .dw = 24, .ns = 7}
+        }
+    },
+    { /* Version 23 */
+        .data_bytes = 1364,
+        .apat = {6, 30, 54, 78, 102, 0},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 4},
+            {.bs = 151, .dw = 121, .ns = 4},
+            {.bs = 45, .dw = 15, .ns = 16},
+            {.bs = 54, .dw = 24, .ns = 11}
+        }
+    },
+    { /* Version 24 */
+        .data_bytes = 1474,
+        .apat = {6, 28, 54, 80, 106, 0},
+        .ecc = {
+            {.bs = 73, .dw = 45, .ns = 6},
+            {.bs = 147, .dw = 117, .ns = 6},
+            {.bs = 46, .dw = 16, .ns = 30},
+            {.bs = 54, .dw = 24, .ns = 11}
+        }
+    },
+    { /* Version 25 */
+        .data_bytes = 1588,
+        .apat = {6, 32, 58, 84, 110, 0},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 8},
+            {.bs = 132, .dw = 106, .ns = 8},
+            {.bs = 45, .dw = 15, .ns = 22},
+            {.bs = 54, .dw = 24, .ns = 7}
+        }
+    },
+    { /* Version 26 */
+        .data_bytes = 1706,
+        .apat = {6, 30, 58, 86, 114, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 19},
+            {.bs = 142, .dw = 114, .ns = 10},
+            {.bs = 46, .dw = 16, .ns = 33},
+            {.bs = 50, .dw = 22, .ns = 28}
+        }
+    },
+    { /* Version 27 */
+        .data_bytes = 1828,
+        .apat = {6, 34, 62, 90, 118, 0},
+        .ecc = {
+            {.bs = 73, .dw = 45, .ns = 22},
+            {.bs = 152, .dw = 122, .ns = 8},
+            {.bs = 45, .dw = 15, .ns = 12},
+            {.bs = 53, .dw = 23, .ns = 8}
+        }
+    },
+    { /* Version 28 */
+        .data_bytes = 1921,
+        .apat = {6, 26, 50, 74, 98, 122, 0},
+        .ecc = {
+            {.bs = 73, .dw = 45, .ns = 3},
+            {.bs = 147, .dw = 117, .ns = 3},
+            {.bs = 45, .dw = 15, .ns = 11},
+            {.bs = 54, .dw = 24, .ns = 4}
+        }
+    },
+    { /* Version 29 */
+        .data_bytes = 2051,
+        .apat = {6, 30, 54, 78, 102, 126, 0},
+        .ecc = {
+            {.bs = 73, .dw = 45, .ns = 21},
+            {.bs = 146, .dw = 116, .ns = 7},
+            {.bs = 45, .dw = 15, .ns = 19},
+            {.bs = 53, .dw = 23, .ns = 1}
+        }
+    },
+    { /* Version 30 */
+        .data_bytes = 2185,
+        .apat = {6, 26, 52, 78, 104, 130, 0},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 19},
+            {.bs = 145, .dw = 115, .ns = 5},
+            {.bs = 45, .dw = 15, .ns = 23},
+            {.bs = 54, .dw = 24, .ns = 15}
+        }
+    },
+    { /* Version 31 */
+        .data_bytes = 2323,
+        .apat = {6, 30, 56, 82, 108, 134, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 2},
+            {.bs = 145, .dw = 115, .ns = 13},
+            {.bs = 45, .dw = 15, .ns = 23},
+            {.bs = 54, .dw = 24, .ns = 42}
+        }
+    },
+    { /* Version 32 */
+        .data_bytes = 2465,
+        .apat = {6, 34, 60, 86, 112, 138, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 10},
+            {.bs = 145, .dw = 115, .ns = 17},
+            {.bs = 45, .dw = 15, .ns = 19},
+            {.bs = 54, .dw = 24, .ns = 10}
+        }
+    },
+    { /* Version 33 */
+        .data_bytes = 2611,
+        .apat = {6, 30, 58, 86, 114, 142, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 14},
+            {.bs = 145, .dw = 115, .ns = 17},
+            {.bs = 45, .dw = 15, .ns = 11},
+            {.bs = 54, .dw = 24, .ns = 29}
+        }
+    },
+    { /* Version 34 */
+        .data_bytes = 2761,
+        .apat = {6, 34, 62, 90, 118, 146, 0},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 14},
+            {.bs = 145, .dw = 115, .ns = 13},
+            {.bs = 46, .dw = 16, .ns = 59},
+            {.bs = 54, .dw = 24, .ns = 44}
+        }
+    },
+    { /* Version 35 */
+        .data_bytes = 2876,
+        .apat = {6, 30, 54, 78, 102, 126, 150},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 12},
+            {.bs = 151, .dw = 121, .ns = 12},
+            {.bs = 45, .dw = 15, .ns = 22},
+            {.bs = 54, .dw = 24, .ns = 39}
+        }
+    },
+    { /* Version 36 */
+        .data_bytes = 3034,
+        .apat = {6, 24, 50, 76, 102, 128, 154},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 6},
+            {.bs = 151, .dw = 121, .ns = 6},
+            {.bs = 45, .dw = 15, .ns = 2},
+            {.bs = 54, .dw = 24, .ns = 46}
+        }
+    },
+    { /* Version 37 */
+        .data_bytes = 3196,
+        .apat = {6, 28, 54, 80, 106, 132, 158},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 29},
+            {.bs = 152, .dw = 122, .ns = 17},
+            {.bs = 45, .dw = 15, .ns = 24},
+            {.bs = 54, .dw = 24, .ns = 49}
+        }
+    },
+    { /* Version 38 */
+        .data_bytes = 3362,
+        .apat = {6, 32, 58, 84, 110, 136, 162},
+        .ecc = {
+            {.bs = 74, .dw = 46, .ns = 13},
+            {.bs = 152, .dw = 122, .ns = 4},
+            {.bs = 45, .dw = 15, .ns = 42},
+            {.bs = 54, .dw = 24, .ns = 48}
+        }
+    },
+    { /* Version 39 */
+        .data_bytes = 3532,
+        .apat = {6, 26, 54, 82, 110, 138, 166},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 40},
+            {.bs = 147, .dw = 117, .ns = 20},
+            {.bs = 45, .dw = 15, .ns = 10},
+            {.bs = 54, .dw = 24, .ns = 43}
+        }
+    },
+    { /* Version 40 */
+        .data_bytes = 3706,
+        .apat = {6, 30, 58, 86, 114, 142, 170},
+        .ecc = {
+            {.bs = 75, .dw = 47, .ns = 18},
+            {.bs = 148, .dw = 118, .ns = 19},
+            {.bs = 45, .dw = 15, .ns = 20},
+            {.bs = 54, .dw = 24, .ns = 34}
+        }
+    }
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "indentify.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/* quirc - QR-code recognition library
+ * Copyright (C) 2010-2012 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+/************************************************************************
+ * Linear algebra routines
+ */
+
+static int line_intersect(const struct quirc_point *p0,
+                          const struct quirc_point *p1,
+                          const struct quirc_point *q0,
+                          const struct quirc_point *q1,
+                          struct quirc_point *r)
+{
+    /* (a, b) is perpendicular to line p */
+    int a = -(p1->y - p0->y);
+    int b = p1->x - p0->x;
+
+    /* (c, d) is perpendicular to line q */
+    int c = -(q1->y - q0->y);
+    int d = q1->x - q0->x;
+
+    /* e and f are dot products of the respective vectors with p and q */
+    int e = a * p1->x + b * p1->y;
+    int f = c * q1->x + d * q1->y;
+
+    /* Now we need to solve:
+     *     [a b] [rx]   [e]
+     *     [c d] [ry] = [f]
+     *
+     * We do this by inverting the matrix and applying it to (e, f):
+     *       [ d -b] [e]   [rx]
+     * 1/det [-c  a] [f] = [ry]
+     */
+    int det = (a * d) - (b * c);
+
+    if (!det)
+        return 0;
+
+    r->x = (d * e - b * f) / det;
+    r->y = (-c * e + a * f) / det;
+
+    return 1;
+}
+
+static void perspective_setup(float *c,
+                              const struct quirc_point *rect,
+                              float w, float h)
+{
+    float x0 = rect[0].x;
+    float y0 = rect[0].y;
+    float x1 = rect[1].x;
+    float y1 = rect[1].y;
+    float x2 = rect[2].x;
+    float y2 = rect[2].y;
+    float x3 = rect[3].x;
+    float y3 = rect[3].y;
+
+    float wden = w * (x2*y3 - x3*y2 + (x3-x2)*y1 + x1*(y2-y3));
+    float hden = h * (x2*y3 + x1*(y2-y3) - x3*y2 + (x3-x2)*y1);
+
+    c[0] = (x1*(x2*y3-x3*y2) + x0*(-x2*y3+x3*y2+(x2-x3)*y1) +
+        x1*(x3-x2)*y0) / wden;
+    c[1] = -(x0*(x2*y3+x1*(y2-y3)-x2*y1) - x1*x3*y2 + x2*x3*y1
+         + (x1*x3-x2*x3)*y0) / hden;
+    c[2] = x0;
+    c[3] = (y0*(x1*(y3-y2)-x2*y3+x3*y2) + y1*(x2*y3-x3*y2) +
+        x0*y1*(y2-y3)) / wden;
+    c[4] = (x0*(y1*y3-y2*y3) + x1*y2*y3 - x2*y1*y3 +
+        y0*(x3*y2-x1*y2+(x2-x3)*y1)) / hden;
+    c[5] = y0;
+    c[6] = (x1*(y3-y2) + x0*(y2-y3) + (x2-x3)*y1 + (x3-x2)*y0) / wden;
+    c[7] = (-x2*y3 + x1*y3 + x3*y2 + x0*(y1-y2) - x3*y1 + (x2-x1)*y0) /
+        hden;
+}
+
+static void perspective_map(const float *c,
+                            float u, float v, struct quirc_point *ret)
+{
+    float den = c[6]*u + c[7]*v + 1.0;
+    float x = (c[0]*u + c[1]*v + c[2]) / den;
+    float y = (c[3]*u + c[4]*v + c[5]) / den;
+
+    ret->x = fast_roundf(x);
+    ret->y = fast_roundf(y);
+}
+
+static void perspective_unmap(const float *c,
+                              const struct quirc_point *in,
+                              float *u, float *v)
+{
+    float x = in->x;
+    float y = in->y;
+    float den = -c[0]*c[7]*y + c[1]*c[6]*y + (c[3]*c[7]-c[4]*c[6])*x +
+        c[0]*c[4] - c[1]*c[3];
+
+    *u = -(c[1]*(y-c[5]) - c[2]*c[7]*y + (c[5]*c[7]-c[4])*x + c[2]*c[4]) /
+        den;
+    *v = (c[0]*(y-c[5]) - c[2]*c[6]*y + (c[5]*c[6]-c[3])*x + c[2]*c[3]) /
+        den;
+}
+
+/************************************************************************
+ * Span-based floodfill routine
+ */
+
+typedef void (*span_func_t)(void *user_data, int y, int left, int right);
+
+typedef struct xylf
+{
+    int16_t x, y, l, r;
+}
+xylf_t;
+
+static void lifo_enqueue_fast(lifo_t *ptr, void *data)
+{
+// we know the structure size is 8 bytes, so don't waste time calling memcpy
+    uint32_t *d = (uint32_t *)(ptr->data + (ptr->len * ptr->data_len));
+    uint32_t *s = (uint32_t *)data;
+//    memcpy(ptr->data + (ptr->len * ptr->data_len), data, ptr->data_len);
+    d[0] = s[0]; d[1] = s[1]; // copy 8 bytes
+    ptr->len += 1;
+}
+
+static void lifo_dequeue_fast(lifo_t *ptr, void *data)
+{
+    // we know the structure size is 8 bytes, so don't waste time calling memcpy
+    uint32_t *s = (uint32_t *)(ptr->data + ((ptr->len-1) * ptr->data_len));
+    uint32_t *d = (uint32_t *)data;
+//    if (data) {
+//        memcpy(data, ptr->data + ((ptr->len - 1) * ptr->data_len), ptr->data_len);
+//    }
+    d[0] = s[0]; d[1] = s[1]; // copy 8 bytes
+    ptr->len -= 1;
+}
+
+static void flood_fill_seed(struct quirc *q, int x, int y, int from, int to,
+                            span_func_t func, void *user_data,
+                            int depth)
+{
+    (void) depth; // unused
+    uint8_t from8 = from, to8=to;
+
+    lifo_t lifo;
+    size_t lifo_len;
+    lifo_alloc_all(&lifo, &lifo_len, sizeof(xylf_t));
+
+    for(;;) {
+        int left = x;
+        int right = x;
+        int i;
+        quirc_pixel_t *row = q->pixels + y * q->w;
+
+        while (left > 0 && row[left - 1] == from8)
+            left--;
+
+        while (right < q->w - 1 && row[right + 1] == from8)
+            right++;
+
+        /* Fill the extent */
+        for (i = left; i <= right; i++)
+            row[i] = to8;
+
+        if (func)
+            func(user_data, y, left, right);
+
+        for(;;) {
+            if (/*lifo_size(&lifo)*/ lifo.len < lifo_len) {
+                /* Seed new flood-fills */
+                if (y > 0) {
+                    row = q->pixels + (y - 1) * q->w;
+
+                    bool recurse = false;
+                    for (i = left; i <= right; i++)
+                        if (row[i] == from8) {
+                            xylf_t context;
+                            context.x = x;
+                            context.y = y;
+                            context.l = left;
+                            context.r = right;
+                            lifo_enqueue_fast(&lifo, &context);
+                            x = i;
+                            y = y - 1;
+                            recurse = true;
+                            break;
+                        }
+                    if (recurse)
+                        break;
+                }
+
+                if (y < q->h - 1) {
+                    row = q->pixels + (y + 1) * q->w;
+
+                    bool recurse = false;
+                    for (i = left; i <= right; i++)
+                        if (row[i] == from8) {
+                            xylf_t context;
+                            context.x = x;
+                            context.y = y;
+                            context.l = left;
+                            context.r = right;
+                            lifo_enqueue_fast(&lifo, &context);
+                            x = i;
+                            y = y + 1;
+                            recurse = true;
+                            break;
+                        }
+                    if (recurse)
+                        break;
+                }
+            }
+
+            if (!lifo.len /*lifo_size(&lifo)*/) {
+                lifo_free(&lifo);
+                return;
+            }
+
+            xylf_t context;
+            lifo_dequeue_fast(&lifo, &context);
+            x = context.x;
+            y = context.y;
+            left = context.l;
+            right = context.r;
+        }
+    }
+}
+
+/************************************************************************
+ * Adaptive thresholding
+ */
+
+#define THRESHOLD_S_MIN 1
+#define THRESHOLD_S_DEN 8
+#define THRESHOLD_T     5
+
+static void threshold(struct quirc *q)
+{
+    int x, y;
+    int avg_w = 0;
+    int avg_u = 0;
+    int threshold_s = q->w / THRESHOLD_S_DEN;
+    int fracmul, fracmul2;
+    quirc_pixel_t *row = q->pixels;
+    int width = q->w;
+
+    /*
+     * Ensure a sane, non-zero value for threshold_s.
+     *
+     * threshold_s can be zero if the image width is small. We need to avoid
+     * SIGFPE as it will be used as divisor.
+     */
+    if (threshold_s < THRESHOLD_S_MIN)
+        threshold_s = THRESHOLD_S_MIN;
+
+    fracmul = (32768 * (threshold_s - 1)) / threshold_s; // to use multipy instead of divide (not too many bits or we'll overflow)
+    // to get the effect used below (a fraction of threshold_s-1/threshold_s
+    // The second constant is to reduce the averaged values to compare with the current pixel
+    fracmul2 = (0x100000 * (100 - THRESHOLD_T)) / (200 * threshold_s); // use as many bits as possible without overflowing
+
+    for (y = 0; y < q->h; y++) {
+        int row_average[q->w];
+
+        memset(row_average, 0, sizeof(row_average));
+
+        for (x = 0; x < width; x++) {
+            int w, u;
+
+            if (y & 1) {
+                w = x;
+                u = width - 1 - x;
+            } else {
+                w = width - 1 - x;
+                u = x;
+            }
+
+//            avg_w = (avg_w * (threshold_s - 1)) / threshold_s + row[w];
+//            avg_u = (avg_u * (threshold_s - 1)) / threshold_s + row[u];
+            // The original mul/div operation sought to reduce the average value by a small fraction (e.g. 1/79)
+            // This mul/shift approximation achieves the same goal with only a small percentage difference
+            avg_w = ((avg_w * fracmul) >> 15) + row[w];
+            avg_u = ((avg_u * fracmul) >> 15) + row[u];
+
+            row_average[w] += avg_w;
+            row_average[u] += avg_u;
+        }
+
+        for (x = 0; x < width; x++) {
+            //            if (row[x] < row_average[x] * (100 - THRESHOLD_T) / (200 * threshold_s))
+            if (row[x] < ((row_average[x] * fracmul2) >> 20))
+                row[x] = QUIRC_PIXEL_BLACK;
+            else
+                row[x] = QUIRC_PIXEL_WHITE;
+        }
+
+        row += width;
+    }
+} /* threshold() */
+
+static void area_count(void *user_data, int y, int left, int right)
+{
+    ((struct quirc_region *)user_data)->count += right - left + 1;
+}
+
+static int region_code(struct quirc *q, int x, int y)
+{
+    int pixel;
+    struct quirc_region *box;
+    int region;
+
+    if (x < 0 || y < 0 || x >= q->w || y >= q->h)
+        return -1;
+
+    pixel = q->pixels[y * q->w + x];
+
+    if (pixel >= QUIRC_PIXEL_REGION)
+        return pixel;
+
+    if (pixel == QUIRC_PIXEL_WHITE)
+        return -1;
+
+    if (q->num_regions >= QUIRC_MAX_REGIONS)
+        return -1;
+
+    region = q->num_regions;
+    box = &q->regions[q->num_regions++];
+
+    memset(box, 0, sizeof(*box));
+
+    box->seed.x = x;
+    box->seed.y = y;
+    box->capstone = -1;
+
+    flood_fill_seed(q, x, y, pixel, region, area_count, box, 0);
+
+    return region;
+}
+
+struct polygon_score_data {
+    struct quirc_point  ref;
+
+    int                 scores[4];
+    struct quirc_point  *corners;
+};
+
+static void find_one_corner(void *user_data, int y, int left, int right)
+{
+    struct polygon_score_data *psd =
+        (struct polygon_score_data *)user_data;
+    int xs[2] = {left, right};
+    int dy = y - psd->ref.y;
+    int i;
+
+    for (i = 0; i < 2; i++) {
+        int dx = xs[i] - psd->ref.x;
+        int d = dx * dx + dy * dy;
+
+        if (d > psd->scores[0]) {
+            psd->scores[0] = d;
+            psd->corners[0].x = xs[i];
+            psd->corners[0].y = y;
+        }
+    }
+}
+
+static void find_other_corners(void *user_data, int y, int left, int right)
+{
+    struct polygon_score_data *psd =
+        (struct polygon_score_data *)user_data;
+    int xs[2] = {left, right};
+    int i;
+
+    for (i = 0; i < 2; i++) {
+        int up = xs[i] * psd->ref.x + y * psd->ref.y;
+        int right = xs[i] * -psd->ref.y + y * psd->ref.x;
+        int scores[4] = {up, right, -up, -right};
+        int j;
+
+        for (j = 0; j < 4; j++) {
+            if (scores[j] > psd->scores[j]) {
+                psd->scores[j] = scores[j];
+                psd->corners[j].x = xs[i];
+                psd->corners[j].y = y;
+            }
+        }
+    }
+}
+
+static void find_region_corners(struct quirc *q,
+                                int rcode, const struct quirc_point *ref,
+                                struct quirc_point *corners)
+{
+    struct quirc_region *region = &q->regions[rcode];
+    struct polygon_score_data psd;
+    int i;
+
+    memset(&psd, 0, sizeof(psd));
+    psd.corners = corners;
+
+    memcpy(&psd.ref, ref, sizeof(psd.ref));
+    psd.scores[0] = -1;
+    flood_fill_seed(q, region->seed.x, region->seed.y,
+                    rcode, QUIRC_PIXEL_BLACK,
+                    find_one_corner, &psd, 0);
+
+    psd.ref.x = psd.corners[0].x - psd.ref.x;
+    psd.ref.y = psd.corners[0].y - psd.ref.y;
+
+    for (i = 0; i < 4; i++)
+        memcpy(&psd.corners[i], &region->seed,
+               sizeof(psd.corners[i]));
+
+    i = region->seed.x * psd.ref.x + region->seed.y * psd.ref.y;
+    psd.scores[0] = i;
+    psd.scores[2] = -i;
+    i = region->seed.x * -psd.ref.y + region->seed.y * psd.ref.x;
+    psd.scores[1] = i;
+    psd.scores[3] = -i;
+
+    flood_fill_seed(q, region->seed.x, region->seed.y,
+                    QUIRC_PIXEL_BLACK, rcode,
+                    find_other_corners, &psd, 0);
+}
+
+static void record_capstone(struct quirc *q, int ring, int stone)
+{
+    struct quirc_region *stone_reg = &q->regions[stone];
+    struct quirc_region *ring_reg = &q->regions[ring];
+    struct quirc_capstone *capstone;
+    int cs_index;
+
+    if (q->num_capstones >= QUIRC_MAX_CAPSTONES)
+        return;
+
+    cs_index = q->num_capstones;
+    capstone = &q->capstones[q->num_capstones++];
+
+    memset(capstone, 0, sizeof(*capstone));
+
+    capstone->qr_grid = -1;
+    capstone->ring = ring;
+    capstone->stone = stone;
+    stone_reg->capstone = cs_index;
+    ring_reg->capstone = cs_index;
+
+    /* Find the corners of the ring */
+    find_region_corners(q, ring, &stone_reg->seed, capstone->corners);
+
+    /* Set up the perspective transform and find the center */
+    perspective_setup(capstone->c, capstone->corners, 7.0, 7.0);
+    perspective_map(capstone->c, 3.5, 3.5, &capstone->center);
+}
+
+static void test_capstone(struct quirc *q, int x, int y, int *pb)
+{
+    int ring_right, ring_left, stone;
+    ring_right = region_code(q, x - pb[4], y);
+    ring_left = region_code(q, x - pb[4] - pb[3] -
+                    pb[2] - pb[1] - pb[0],
+                    y);
+    struct quirc_region *stone_reg;
+    struct quirc_region *ring_reg;
+    int ratio;
+
+    if (ring_left < 0 || ring_right < 0)// || stone < 0)
+        return;
+
+    /* Left and ring of ring should be connected */
+    if (ring_left != ring_right) // <-- most of the time, it exits here
+        return;
+
+    stone = region_code(q, x - pb[4] - pb[3] - pb[2], y);
+    if (stone < 0)
+       return;
+
+    /* Ring should be disconnected from stone */
+    if (ring_left == stone)
+        return;
+
+    stone_reg = &q->regions[stone];
+    ring_reg = &q->regions[ring_left];
+
+    /* Already detected */
+    if (stone_reg->capstone >= 0 || ring_reg->capstone >= 0)
+        return;
+
+    /* Ratio should ideally be 37.5 */
+    ratio = stone_reg->count * 100 / ring_reg->count;
+    if (ratio < 10 || ratio > 70)
+        return;
+
+    record_capstone(q, ring_left, stone);
+}
+
+static void finder_scan(struct quirc *q, int y)
+{
+    quirc_pixel_t *row = q->pixels + y * q->w;
+    int x;
+    uint8_t color, last_color;
+    int run_length = 1;
+    int run_count = 0;
+    int pb[5];
+
+    memset(pb, 0, sizeof(pb));
+    last_color = row[0];
+    for (x = 1; x < q->w; x++) {
+        color = row[x];
+
+        if (/* x && */ color != last_color) {
+            memmove(pb, pb + 1, sizeof(pb[0]) * 4);
+            pb[4] = run_length;
+            run_length = 0;
+            run_count++;
+
+            if (!color && run_count >= 5) {
+                static int check[5] = {1, 1, 3, 1, 1};
+                int avg, err;
+                int i;
+                int ok = 1;
+
+                avg = (pb[0] + pb[1] + pb[3] + pb[4]) / 4;
+                err = avg * 3 / 4;
+
+                for (i = 0; i < 5; i++)
+                    if (pb[i] < check[i] * avg - err ||
+                        pb[i] > check[i] * avg + err)
+                        ok = 0;
+
+                if (ok)
+                    test_capstone(q, x, y, pb);
+            }
+        }
+
+        run_length++;
+        last_color = color;
+    }
+}
+
+static void find_alignment_pattern(struct quirc *q, int index)
+{
+    struct quirc_grid *qr = &q->grids[index];
+    struct quirc_capstone *c0 = &q->capstones[qr->caps[0]];
+    struct quirc_capstone *c2 = &q->capstones[qr->caps[2]];
+    struct quirc_point a;
+    struct quirc_point b;
+    struct quirc_point c;
+    int size_estimate;
+    int step_size = 1;
+    int dir = 0;
+    float u, v;
+
+    /* Grab our previous estimate of the alignment pattern corner */
+    memcpy(&b, &qr->align, sizeof(b));
+
+    /* Guess another two corners of the alignment pattern so that we
+     * can estimate its size.
+     */
+    perspective_unmap(c0->c, &b, &u, &v);
+    perspective_map(c0->c, u, v + 1.0, &a);
+    perspective_unmap(c2->c, &b, &u, &v);
+    perspective_map(c2->c, u + 1.0, v, &c);
+
+    size_estimate = abs((a.x - b.x) * -(c.y - b.y) +
+                    (a.y - b.y) * (c.x - b.x));
+
+    /* Spiral outwards from the estimate point until we find something
+     * roughly the right size. Don't look too far from the estimate
+     * point.
+     */
+    while (step_size * step_size < size_estimate * 100) {
+        static const int dx_map[] = {1, 0, -1, 0};
+        static const int dy_map[] = {0, -1, 0, 1};
+        int i;
+
+        for (i = 0; i < step_size; i++) {
+            int code = region_code(q, b.x, b.y);
+
+            if (code >= 0) {
+                struct quirc_region *reg = &q->regions[code];
+
+                if (reg->count >= size_estimate / 2 &&
+                    reg->count <= size_estimate * 2) {
+                    qr->align_region = code;
+                    return;
+                }
+            }
+
+            b.x += dx_map[dir];
+            b.y += dy_map[dir];
+        }
+
+        dir = (dir + 1) % 4;
+        if (!(dir & 1))
+            step_size++;
+    }
+}
+
+static void find_leftmost_to_line(void *user_data, int y, int left, int right)
+{
+    struct polygon_score_data *psd =
+        (struct polygon_score_data *)user_data;
+    int xs[2] = {left, right};
+    int i;
+
+    for (i = 0; i < 2; i++) {
+        int d = -psd->ref.y * xs[i] + psd->ref.x * y;
+
+        if (d < psd->scores[0]) {
+            psd->scores[0] = d;
+            psd->corners[0].x = xs[i];
+            psd->corners[0].y = y;
+        }
+    }
+}
+
+/* Do a Bresenham scan from one point to another and count the number
+ * of black/white transitions.
+ */
+static int timing_scan(const struct quirc *q,
+               const struct quirc_point *p0,
+               const struct quirc_point *p1)
+{
+    int n = p1->x - p0->x;
+    int d = p1->y - p0->y;
+    int x = p0->x;
+    int y = p0->y;
+    int *dom, *nondom;
+    int dom_step;
+    int nondom_step;
+    int a = 0;
+    int i;
+    int run_length = 0;
+    int count = 0;
+
+    if (p0->x < 0 || p0->y < 0 || p0->x >= q->w || p0->y >= q->h)
+        return -1;
+    if (p1->x < 0 || p1->y < 0 || p1->x >= q->w || p1->y >= q->h)
+        return -1;
+
+    if (abs(n) > abs(d)) {
+        int swap = n;
+
+        n = d;
+        d = swap;
+
+        dom = &x;
+        nondom = &y;
+    } else {
+        dom = &y;
+        nondom = &x;
+    }
+
+    if (n < 0) {
+        n = -n;
+        nondom_step = -1;
+    } else {
+        nondom_step = 1;
+    }
+
+    if (d < 0) {
+        d = -d;
+        dom_step = -1;
+    } else {
+        dom_step = 1;
+    }
+
+    x = p0->x;
+    y = p0->y;
+    for (i = 0; i <= d; i++) {
+        int pixel;
+
+        if (y < 0 || y >= q->h || x < 0 || x >= q->w)
+            break;
+
+        pixel = q->pixels[y * q->w + x];
+
+        if (pixel) {
+            if (run_length >= 2)
+                count++;
+            run_length = 0;
+        } else {
+            run_length++;
+        }
+
+        a += n;
+        *dom += dom_step;
+        if (a >= d) {
+            *nondom += nondom_step;
+            a -= d;
+        }
+    }
+
+    return count;
+}
+
+/* Try the measure the timing pattern for a given QR code. This does
+ * not require the global perspective to have been set up, but it
+ * does require that the capstone corners have been set to their
+ * canonical rotation.
+ *
+ * For each capstone, we find a point in the middle of the ring band
+ * which is nearest the centre of the code. Using these points, we do
+ * a horizontal and a vertical timing scan.
+ */
+static int measure_timing_pattern(struct quirc *q, int index)
+{
+    struct quirc_grid *qr = &q->grids[index];
+    int i;
+    int scan;
+    int ver;
+    int size;
+
+    for (i = 0; i < 3; i++) {
+        static const float us[] = {6.5, 6.5, 0.5};
+        static const float vs[] = {0.5, 6.5, 6.5};
+        struct quirc_capstone *cap = &q->capstones[qr->caps[i]];
+
+        perspective_map(cap->c, us[i], vs[i], &qr->tpep[i]);
+    }
+
+    qr->hscan = timing_scan(q, &qr->tpep[1], &qr->tpep[2]);
+    qr->vscan = timing_scan(q, &qr->tpep[1], &qr->tpep[0]);
+
+    scan = qr->hscan;
+    if (qr->vscan > scan)
+        scan = qr->vscan;
+
+    /* If neither scan worked, we can't go any further. */
+    if (scan < 0)
+        return -1;
+
+    /* Choose the nearest allowable grid size */
+    size = scan * 2 + 13;
+    ver = (size - 15) / 4;
+    qr->grid_size = ver * 4 + 17;
+
+    return 0;
+}
+
+/* Read a cell from a grid using the currently set perspective
+ * transform. Returns +/- 1 for black/white, 0 for cells which are
+ * out of image bounds.
+ */
+static int read_cell(const struct quirc *q, int index, int x, int y)
+{
+    const struct quirc_grid *qr = &q->grids[index];
+    struct quirc_point p;
+
+    perspective_map(qr->c, x + 0.5, y + 0.5, &p);
+    if (p.y < 0 || p.y >= q->h || p.x < 0 || p.x >= q->w)
+        return 0;
+
+    return q->pixels[p.y * q->w + p.x] ? 1 : -1;
+}
+
+static int fitness_cell(const struct quirc *q, int index, int x, int y)
+{
+    const struct quirc_grid *qr = &q->grids[index];
+    int score = 0;
+    int u, v;
+
+    for (v = 0; v < 3; v++)
+        for (u = 0; u < 3; u++) {
+            static const float offsets[] = {0.3, 0.5, 0.7};
+            struct quirc_point p;
+
+            perspective_map(qr->c, x + offsets[u],
+                           y + offsets[v], &p);
+            if (p.y < 0 || p.y >= q->h || p.x < 0 || p.x >= q->w)
+                continue;
+
+            if (q->pixels[p.y * q->w + p.x])
+                score++;
+            else
+                score--;
+        }
+
+    return score;
+}
+
+static int fitness_ring(const struct quirc *q, int index, int cx, int cy,
+                        int radius)
+{
+    int i;
+    int score = 0;
+
+    for (i = 0; i < radius * 2; i++) {
+        score += fitness_cell(q, index, cx - radius + i, cy - radius);
+        score += fitness_cell(q, index, cx - radius, cy + radius - i);
+        score += fitness_cell(q, index, cx + radius, cy - radius + i);
+        score += fitness_cell(q, index, cx + radius - i, cy + radius);
+    }
+
+    return score;
+}
+
+static int fitness_apat(const struct quirc *q, int index, int cx, int cy)
+{
+    return fitness_cell(q, index, cx, cy) -
+        fitness_ring(q, index, cx, cy, 1) +
+        fitness_ring(q, index, cx, cy, 2);
+}
+
+static int fitness_capstone(const struct quirc *q, int index, int x, int y)
+{
+    x += 3;
+    y += 3;
+
+    return fitness_cell(q, index, x, y) +
+        fitness_ring(q, index, x, y, 1) -
+        fitness_ring(q, index, x, y, 2) +
+        fitness_ring(q, index, x, y, 3);
+}
+
+/* Compute a fitness score for the currently configured perspective
+ * transform, using the features we expect to find by scanning the
+ * grid.
+ */
+static int fitness_all(const struct quirc *q, int index)
+{
+    const struct quirc_grid *qr = &q->grids[index];
+    int version = (qr->grid_size - 17) / 4;
+    const struct quirc_version_info *info = &quirc_version_db[version];
+    int score = 0;
+    int i, j;
+    int ap_count;
+
+    /* Check the timing pattern */
+    for (i = 0; i < qr->grid_size - 14; i++) {
+        int expect = (i & 1) ? 1 : -1;
+
+        score += fitness_cell(q, index, i + 7, 6) * expect;
+        score += fitness_cell(q, index, 6, i + 7) * expect;
+    }
+
+    /* Check capstones */
+    score += fitness_capstone(q, index, 0, 0);
+    score += fitness_capstone(q, index, qr->grid_size - 7, 0);
+    score += fitness_capstone(q, index, 0, qr->grid_size - 7);
+
+    if (version < 0 || version > QUIRC_MAX_VERSION)
+        return score;
+
+    /* Check alignment patterns */
+    ap_count = 0;
+    while ((ap_count < QUIRC_MAX_ALIGNMENT) && info->apat[ap_count])
+        ap_count++;
+
+    for (i = 1; i + 1 < ap_count; i++) {
+        score += fitness_apat(q, index, 6, info->apat[i]);
+        score += fitness_apat(q, index, info->apat[i], 6);
+    }
+
+    for (i = 1; i < ap_count; i++)
+        for (j = 1; j < ap_count; j++)
+            score += fitness_apat(q, index,
+                    info->apat[i], info->apat[j]);
+
+    return score;
+}
+
+static void jiggle_perspective(struct quirc *q, int index)
+{
+    struct quirc_grid *qr = &q->grids[index];
+    int best = fitness_all(q, index);
+    int pass;
+    float adjustments[8];
+    int i;
+
+    for (i = 0; i < 8; i++)
+        adjustments[i] = qr->c[i] * 0.02;
+
+    for (pass = 0; pass < 5; pass++) {
+        for (i = 0; i < 16; i++) {
+            int j = i >> 1;
+            int test;
+            float old = qr->c[j];
+            float step = adjustments[j];
+            float new;
+
+            if (i & 1)
+                new = old + step;
+            else
+                new = old - step;
+
+            qr->c[j] = new;
+            test = fitness_all(q, index);
+
+            if (test > best)
+                best = test;
+            else
+                qr->c[j] = old;
+        }
+
+        for (i = 0; i < 8; i++)
+            adjustments[i] *= 0.5;
+    }
+}
+
+/* Once the capstones are in place and an alignment point has been
+ * chosen, we call this function to set up a grid-reading perspective
+ * transform.
+ */
+static void setup_qr_perspective(struct quirc *q, int index)
+{
+    struct quirc_grid *qr = &q->grids[index];
+    struct quirc_point rect[4];
+
+    /* Set up the perspective map for reading the grid */
+    memcpy(&rect[0], &q->capstones[qr->caps[1]].corners[0],
+           sizeof(rect[0]));
+    memcpy(&rect[1], &q->capstones[qr->caps[2]].corners[0],
+           sizeof(rect[0]));
+    memcpy(&rect[2], &qr->align, sizeof(rect[0]));
+    memcpy(&rect[3], &q->capstones[qr->caps[0]].corners[0],
+           sizeof(rect[0]));
+    perspective_setup(qr->c, rect, qr->grid_size - 7, qr->grid_size - 7);
+
+    jiggle_perspective(q, index);
+}
+
+/* Rotate the capstone with so that corner 0 is the leftmost with respect
+ * to the given reference line.
+ */
+static void rotate_capstone(struct quirc_capstone *cap,
+                            const struct quirc_point *h0,
+                            const struct quirc_point *hd)
+{
+    struct quirc_point copy[4];
+    int j;
+    int best = 0;
+    int best_score = 0;
+
+    for (j = 0; j < 4; j++) {
+        struct quirc_point *p = &cap->corners[j];
+        int score = (p->x - h0->x) * -hd->y +
+            (p->y - h0->y) * hd->x;
+
+        if (!j || score < best_score) {
+            best = j;
+            best_score = score;
+        }
+    }
+
+    /* Rotate the capstone */
+    for (j = 0; j < 4; j++)
+        memcpy(&copy[j], &cap->corners[(j + best) % 4],
+               sizeof(copy[j]));
+    memcpy(cap->corners, copy, sizeof(cap->corners));
+    perspective_setup(cap->c, cap->corners, 7.0, 7.0);
+}
+
+static void record_qr_grid(struct quirc *q, int a, int b, int c)
+{
+    struct quirc_point h0, hd;
+    int i;
+    int qr_index;
+    struct quirc_grid *qr;
+
+    if (q->num_grids >= QUIRC_MAX_GRIDS)
+        return;
+
+    /* Construct the hypotenuse line from A to C. B should be to
+     * the left of this line.
+     */
+    memcpy(&h0, &q->capstones[a].center, sizeof(h0));
+    hd.x = q->capstones[c].center.x - q->capstones[a].center.x;
+    hd.y = q->capstones[c].center.y - q->capstones[a].center.y;
+
+    /* Make sure A-B-C is clockwise */
+    if ((q->capstones[b].center.x - h0.x) * -hd.y +
+        (q->capstones[b].center.y - h0.y) * hd.x > 0) {
+        int swap = a;
+
+        a = c;
+        c = swap;
+        hd.x = -hd.x;
+        hd.y = -hd.y;
+    }
+
+    /* Record the grid and its components */
+    qr_index = q->num_grids;
+    qr = &q->grids[q->num_grids++];
+
+    memset(qr, 0, sizeof(*qr));
+    qr->caps[0] = a;
+    qr->caps[1] = b;
+    qr->caps[2] = c;
+    qr->align_region = -1;
+
+    /* Rotate each capstone so that corner 0 is top-left with respect
+     * to the grid.
+     */
+    for (i = 0; i < 3; i++) {
+        struct quirc_capstone *cap = &q->capstones[qr->caps[i]];
+
+        rotate_capstone(cap, &h0, &hd);
+        cap->qr_grid = qr_index;
+    }
+
+    /* Check the timing pattern. This doesn't require a perspective
+     * transform.
+     */
+    if (measure_timing_pattern(q, qr_index) < 0)
+        goto fail;
+
+    /* Make an estimate based for the alignment pattern based on extending
+     * lines from capstones A and C.
+     */
+    if (!line_intersect(&q->capstones[a].corners[0],
+                &q->capstones[a].corners[1],
+                &q->capstones[c].corners[0],
+                &q->capstones[c].corners[3],
+                &qr->align))
+        goto fail;
+
+    /* On V2+ grids, we should use the alignment pattern. */
+    if (qr->grid_size > 21) {
+        /* Try to find the actual location of the alignment pattern. */
+        find_alignment_pattern(q, qr_index);
+
+        /* Find the point of the alignment pattern closest to the
+         * top-left of the QR grid.
+         */
+        if (qr->align_region >= 0) {
+            struct polygon_score_data psd;
+            struct quirc_region *reg =
+                &q->regions[qr->align_region];
+
+            /* Start from some point inside the alignment pattern */
+            memcpy(&qr->align, &reg->seed, sizeof(qr->align));
+
+            memcpy(&psd.ref, &hd, sizeof(psd.ref));
+            psd.corners = &qr->align;
+            psd.scores[0] = -hd.y * qr->align.x +
+                hd.x * qr->align.y;
+
+            flood_fill_seed(q, reg->seed.x, reg->seed.y,
+                    qr->align_region, QUIRC_PIXEL_BLACK,
+                    NULL, NULL, 0);
+            flood_fill_seed(q, reg->seed.x, reg->seed.y,
+                    QUIRC_PIXEL_BLACK, qr->align_region,
+                    find_leftmost_to_line, &psd, 0);
+        }
+    }
+
+    setup_qr_perspective(q, qr_index);
+    return;
+
+fail:
+    /* We've been unable to complete setup for this grid. Undo what we've
+     * recorded and pretend it never happened.
+     */
+    for (i = 0; i < 3; i++)
+        q->capstones[qr->caps[i]].qr_grid = -1;
+    q->num_grids--;
+}
+
+struct neighbour {
+    int     index;
+    float   distance;
+};
+
+struct neighbour_list {
+    struct neighbour    n[QUIRC_MAX_CAPSTONES];
+    int                 count;
+};
+
+static void test_neighbours(struct quirc *q, int i,
+                            const struct neighbour_list *hlist,
+                            const struct neighbour_list *vlist)
+{
+    int j, k;
+    float best_score = 0.0;
+    int best_h = -1, best_v = -1;
+
+    /* Test each possible grouping */
+    for (j = 0; j < hlist->count; j++)
+        for (k = 0; k < vlist->count; k++) {
+            const struct neighbour *hn = &hlist->n[j];
+            const struct neighbour *vn = &vlist->n[k];
+            float score = fast_fabsf(1.0 - hn->distance / vn->distance);
+
+            if (score > 2.5)
+                continue;
+
+            if (best_h < 0 || score < best_score) {
+                best_h = hn->index;
+                best_v = vn->index;
+                best_score = score;
+            }
+        }
+
+    if (best_h < 0 || best_v < 0)
+        return;
+
+    record_qr_grid(q, best_h, i, best_v);
+}
+
+static void test_grouping(struct quirc *q, int i)
+{
+    struct quirc_capstone *c1 = &q->capstones[i];
+    int j;
+    struct neighbour_list hlist;
+    struct neighbour_list vlist;
+
+    if (c1->qr_grid >= 0)
+        return;
+
+    hlist.count = 0;
+    vlist.count = 0;
+
+    /* Look for potential neighbours by examining the relative gradients
+     * from this capstone to others.
+     */
+    for (j = 0; j < q->num_capstones; j++) {
+        struct quirc_capstone *c2 = &q->capstones[j];
+        float u, v;
+
+        if (i == j || c2->qr_grid >= 0)
+            continue;
+
+        perspective_unmap(c1->c, &c2->center, &u, &v);
+
+        u = fast_fabsf(u - 3.5);
+        v = fast_fabsf(v - 3.5);
+
+        if (u < 0.2 * v) {
+            struct neighbour *n = &hlist.n[hlist.count++];
+
+            n->index = j;
+            n->distance = v;
+        }
+
+        if (v < 0.2 * u) {
+            struct neighbour *n = &vlist.n[vlist.count++];
+
+            n->index = j;
+            n->distance = u;
+        }
+    }
+
+    if (!(hlist.count && vlist.count))
+        return;
+
+    test_neighbours(q, i, &hlist, &vlist);
+}
+
+static void pixels_setup(struct quirc *q)
+{
+    if (sizeof(*q->image) == sizeof(*q->pixels)) {
+        q->pixels = (quirc_pixel_t *)q->image;
+    } else {
+        int x, y;
+        for (y = 0; y < q->h; y++) {
+            for (x = 0; x < q->w; x++) {
+                q->pixels[y * q->w + x] = q->image[y * q->w + x];
+            }
+        }
+    }
+}
+
+uint8_t *quirc_begin(struct quirc *q, int *w, int *h)
+{
+    q->num_regions = QUIRC_PIXEL_REGION;
+    q->num_capstones = 0;
+    q->num_grids = 0;
+
+    if (w)
+        *w = q->w;
+    if (h)
+        *h = q->h;
+
+    return q->image;
+}
+
+void quirc_end(struct quirc *q)
+{
+    int i;
+
+    pixels_setup(q);
+    threshold(q);
+
+    for (i = 0; i < q->h; i++)
+        finder_scan(q, i);
+
+    for (i = 0; i < q->num_capstones; i++)
+        test_grouping(q, i);
+}
+
+void quirc_extract(const struct quirc *q, int index,
+                   struct quirc_code *code)
+{
+    const struct quirc_grid *qr = &q->grids[index];
+    int y;
+    int i = 0;
+
+    if (index < 0 || index > q->num_grids)
+        return;
+
+    memset(code, 0, sizeof(*code));
+
+    perspective_map(qr->c, 0.0, 0.0, &code->corners[0]);
+    perspective_map(qr->c, qr->grid_size, 0.0, &code->corners[1]);
+    perspective_map(qr->c, qr->grid_size, qr->grid_size,
+            &code->corners[2]);
+    perspective_map(qr->c, 0.0, qr->grid_size, &code->corners[3]);
+
+    code->size = qr->grid_size;
+
+    for (y = 0; y < qr->grid_size; y++) {
+        int x;
+
+        for (x = 0; x < qr->grid_size; x++) {
+            if (read_cell(q, index, x, y) > 0)
+                code->cell_bitmap[i >> 3] |= (1 << (i & 7));
+
+            i++;
+        }
+    }
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "decode.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/* quirc -- QR-code recognition library
+ * Copyright (C) 2010-2012 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#define MAX_POLY    64
+
+/************************************************************************
+ * Galois fields
+ */
+
+struct galois_field {
+    int             p;
+    const uint8_t   *log;
+    const uint8_t   *exp;
+};
+
+static const uint8_t gf16_exp[16] = {
+    0x01, 0x02, 0x04, 0x08, 0x03, 0x06, 0x0c, 0x0b,
+    0x05, 0x0a, 0x07, 0x0e, 0x0f, 0x0d, 0x09, 0x01
+};
+
+static const uint8_t gf16_log[16] = {
+    0x00, 0x0f, 0x01, 0x04, 0x02, 0x08, 0x05, 0x0a,
+    0x03, 0x0e, 0x09, 0x07, 0x06, 0x0d, 0x0b, 0x0c
+};
+
+static const struct galois_field gf16 = {
+    .p = 15,
+    .log = gf16_log,
+    .exp = gf16_exp
+};
+
+static const uint8_t gf256_exp[256] = {
+    0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80,
+    0x1d, 0x3a, 0x74, 0xe8, 0xcd, 0x87, 0x13, 0x26,
+    0x4c, 0x98, 0x2d, 0x5a, 0xb4, 0x75, 0xea, 0xc9,
+    0x8f, 0x03, 0x06, 0x0c, 0x18, 0x30, 0x60, 0xc0,
+    0x9d, 0x27, 0x4e, 0x9c, 0x25, 0x4a, 0x94, 0x35,
+    0x6a, 0xd4, 0xb5, 0x77, 0xee, 0xc1, 0x9f, 0x23,
+    0x46, 0x8c, 0x05, 0x0a, 0x14, 0x28, 0x50, 0xa0,
+    0x5d, 0xba, 0x69, 0xd2, 0xb9, 0x6f, 0xde, 0xa1,
+    0x5f, 0xbe, 0x61, 0xc2, 0x99, 0x2f, 0x5e, 0xbc,
+    0x65, 0xca, 0x89, 0x0f, 0x1e, 0x3c, 0x78, 0xf0,
+    0xfd, 0xe7, 0xd3, 0xbb, 0x6b, 0xd6, 0xb1, 0x7f,
+    0xfe, 0xe1, 0xdf, 0xa3, 0x5b, 0xb6, 0x71, 0xe2,
+    0xd9, 0xaf, 0x43, 0x86, 0x11, 0x22, 0x44, 0x88,
+    0x0d, 0x1a, 0x34, 0x68, 0xd0, 0xbd, 0x67, 0xce,
+    0x81, 0x1f, 0x3e, 0x7c, 0xf8, 0xed, 0xc7, 0x93,
+    0x3b, 0x76, 0xec, 0xc5, 0x97, 0x33, 0x66, 0xcc,
+    0x85, 0x17, 0x2e, 0x5c, 0xb8, 0x6d, 0xda, 0xa9,
+    0x4f, 0x9e, 0x21, 0x42, 0x84, 0x15, 0x2a, 0x54,
+    0xa8, 0x4d, 0x9a, 0x29, 0x52, 0xa4, 0x55, 0xaa,
+    0x49, 0x92, 0x39, 0x72, 0xe4, 0xd5, 0xb7, 0x73,
+    0xe6, 0xd1, 0xbf, 0x63, 0xc6, 0x91, 0x3f, 0x7e,
+    0xfc, 0xe5, 0xd7, 0xb3, 0x7b, 0xf6, 0xf1, 0xff,
+    0xe3, 0xdb, 0xab, 0x4b, 0x96, 0x31, 0x62, 0xc4,
+    0x95, 0x37, 0x6e, 0xdc, 0xa5, 0x57, 0xae, 0x41,
+    0x82, 0x19, 0x32, 0x64, 0xc8, 0x8d, 0x07, 0x0e,
+    0x1c, 0x38, 0x70, 0xe0, 0xdd, 0xa7, 0x53, 0xa6,
+    0x51, 0xa2, 0x59, 0xb2, 0x79, 0xf2, 0xf9, 0xef,
+    0xc3, 0x9b, 0x2b, 0x56, 0xac, 0x45, 0x8a, 0x09,
+    0x12, 0x24, 0x48, 0x90, 0x3d, 0x7a, 0xf4, 0xf5,
+    0xf7, 0xf3, 0xfb, 0xeb, 0xcb, 0x8b, 0x0b, 0x16,
+    0x2c, 0x58, 0xb0, 0x7d, 0xfa, 0xe9, 0xcf, 0x83,
+    0x1b, 0x36, 0x6c, 0xd8, 0xad, 0x47, 0x8e, 0x01
+};
+
+static const uint8_t gf256_log[256] = {
+    0x00, 0xff, 0x01, 0x19, 0x02, 0x32, 0x1a, 0xc6,
+    0x03, 0xdf, 0x33, 0xee, 0x1b, 0x68, 0xc7, 0x4b,
+    0x04, 0x64, 0xe0, 0x0e, 0x34, 0x8d, 0xef, 0x81,
+    0x1c, 0xc1, 0x69, 0xf8, 0xc8, 0x08, 0x4c, 0x71,
+    0x05, 0x8a, 0x65, 0x2f, 0xe1, 0x24, 0x0f, 0x21,
+    0x35, 0x93, 0x8e, 0xda, 0xf0, 0x12, 0x82, 0x45,
+    0x1d, 0xb5, 0xc2, 0x7d, 0x6a, 0x27, 0xf9, 0xb9,
+    0xc9, 0x9a, 0x09, 0x78, 0x4d, 0xe4, 0x72, 0xa6,
+    0x06, 0xbf, 0x8b, 0x62, 0x66, 0xdd, 0x30, 0xfd,
+    0xe2, 0x98, 0x25, 0xb3, 0x10, 0x91, 0x22, 0x88,
+    0x36, 0xd0, 0x94, 0xce, 0x8f, 0x96, 0xdb, 0xbd,
+    0xf1, 0xd2, 0x13, 0x5c, 0x83, 0x38, 0x46, 0x40,
+    0x1e, 0x42, 0xb6, 0xa3, 0xc3, 0x48, 0x7e, 0x6e,
+    0x6b, 0x3a, 0x28, 0x54, 0xfa, 0x85, 0xba, 0x3d,
+    0xca, 0x5e, 0x9b, 0x9f, 0x0a, 0x15, 0x79, 0x2b,
+    0x4e, 0xd4, 0xe5, 0xac, 0x73, 0xf3, 0xa7, 0x57,
+    0x07, 0x70, 0xc0, 0xf7, 0x8c, 0x80, 0x63, 0x0d,
+    0x67, 0x4a, 0xde, 0xed, 0x31, 0xc5, 0xfe, 0x18,
+    0xe3, 0xa5, 0x99, 0x77, 0x26, 0xb8, 0xb4, 0x7c,
+    0x11, 0x44, 0x92, 0xd9, 0x23, 0x20, 0x89, 0x2e,
+    0x37, 0x3f, 0xd1, 0x5b, 0x95, 0xbc, 0xcf, 0xcd,
+    0x90, 0x87, 0x97, 0xb2, 0xdc, 0xfc, 0xbe, 0x61,
+    0xf2, 0x56, 0xd3, 0xab, 0x14, 0x2a, 0x5d, 0x9e,
+    0x84, 0x3c, 0x39, 0x53, 0x47, 0x6d, 0x41, 0xa2,
+    0x1f, 0x2d, 0x43, 0xd8, 0xb7, 0x7b, 0xa4, 0x76,
+    0xc4, 0x17, 0x49, 0xec, 0x7f, 0x0c, 0x6f, 0xf6,
+    0x6c, 0xa1, 0x3b, 0x52, 0x29, 0x9d, 0x55, 0xaa,
+    0xfb, 0x60, 0x86, 0xb1, 0xbb, 0xcc, 0x3e, 0x5a,
+    0xcb, 0x59, 0x5f, 0xb0, 0x9c, 0xa9, 0xa0, 0x51,
+    0x0b, 0xf5, 0x16, 0xeb, 0x7a, 0x75, 0x2c, 0xd7,
+    0x4f, 0xae, 0xd5, 0xe9, 0xe6, 0xe7, 0xad, 0xe8,
+    0x74, 0xd6, 0xf4, 0xea, 0xa8, 0x50, 0x58, 0xaf
+};
+
+const static struct galois_field gf256 = {
+    .p = 255,
+    .log = gf256_log,
+    .exp = gf256_exp
+};
+
+/************************************************************************
+ * Polynomial operations
+ */
+
+static void poly_add(uint8_t *dst, const uint8_t *src, uint8_t c,
+                     int shift, const struct galois_field *gf)
+{
+    int i;
+    int log_c = gf->log[c];
+
+    if (!c)
+        return;
+
+    for (i = 0; i < MAX_POLY; i++) {
+        int p = i + shift;
+        uint8_t v = src[i];
+
+        if (p < 0 || p >= MAX_POLY)
+            continue;
+        if (!v)
+            continue;
+
+        dst[p] ^= gf->exp[(gf->log[v] + log_c) % gf->p];
+    }
+}
+
+static uint8_t poly_eval(const uint8_t *s, uint8_t x,
+                         const struct galois_field *gf)
+{
+    int i;
+    uint8_t sum = 0;
+    uint8_t log_x = gf->log[x];
+
+    if (!x)
+        return s[0];
+
+    for (i = 0; i < MAX_POLY; i++) {
+        uint8_t c = s[i];
+
+        if (!c)
+            continue;
+
+        sum ^= gf->exp[(gf->log[c] + log_x * i) % gf->p];
+    }
+
+    return sum;
+}
+
+/************************************************************************
+ * Berlekamp-Massey algorithm for finding error locator polynomials.
+ */
+
+static void berlekamp_massey(const uint8_t *s, int N,
+                             const struct galois_field *gf,
+                             uint8_t *sigma)
+{
+    uint8_t C[MAX_POLY];
+    uint8_t B[MAX_POLY];
+    int L = 0;
+    int m = 1;
+    uint8_t b = 1;
+    int n;
+
+    memset(B, 0, sizeof(B));
+    memset(C, 0, sizeof(C));
+    B[0] = 1;
+    C[0] = 1;
+
+    for (n = 0; n < N; n++) {
+        uint8_t d = s[n];
+        uint8_t mult;
+        int i;
+
+        for (i = 1; i <= L; i++) {
+            if (!(C[i] && s[n - i]))
+                continue;
+
+            d ^= gf->exp[(gf->log[C[i]] +
+                 gf->log[s[n - i]]) %
+                 gf->p];
+        }
+
+        mult = gf->exp[(gf->p - gf->log[b] + gf->log[d]) % gf->p];
+
+        if (!d) {
+            m++;
+        } else if (L * 2 <= n) {
+            uint8_t T[MAX_POLY];
+
+            memcpy(T, C, sizeof(T));
+            poly_add(C, B, mult, m, gf);
+            memcpy(B, T, sizeof(B));
+            L = n + 1 - L;
+            b = d;
+            m = 1;
+        } else {
+            poly_add(C, B, mult, m, gf);
+            m++;
+        }
+    }
+
+    memcpy(sigma, C, MAX_POLY);
+}
+
+/************************************************************************
+ * Code stream error correction
+ *
+ * Generator polynomial for GF(2^8) is x^8 + x^4 + x^3 + x^2 + 1
+ */
+
+static int block_syndromes(const uint8_t *data, int bs, int npar, uint8_t *s)
+{
+    int nonzero = 0;
+    int i;
+
+    memset(s, 0, MAX_POLY);
+
+    for (i = 0; i < npar; i++) {
+        int j;
+
+        for (j = 0; j < bs; j++) {
+            uint8_t c = data[bs - j - 1];
+
+            if (!c)
+                continue;
+
+            s[i] ^= gf256_exp[((int)gf256_log[c] +
+                    i * j) % 255];
+        }
+
+        if (s[i])
+            nonzero = 1;
+    }
+
+    return nonzero;
+}
+
+static void eloc_poly(uint8_t *omega,
+              const uint8_t *s, const uint8_t *sigma,
+              int npar)
+{
+    int i;
+
+    memset(omega, 0, MAX_POLY);
+
+    for (i = 0; i < npar; i++) {
+        const uint8_t a = sigma[i];
+        const uint8_t log_a = gf256_log[a];
+        int j;
+
+        if (!a)
+            continue;
+
+        for (j = 0; j + 1 < MAX_POLY; j++) {
+            const uint8_t b = s[j + 1];
+
+            if (i + j >= npar)
+                break;
+
+            if (!b)
+                continue;
+
+            omega[i + j] ^=
+                gf256_exp[(log_a + gf256_log[b]) % 255];
+        }
+    }
+}
+
+static quirc_decode_error_t correct_block(uint8_t *data,
+                      const struct quirc_rs_params *ecc)
+{
+    int npar = ecc->bs - ecc->dw;
+    uint8_t s[MAX_POLY];
+    uint8_t sigma[MAX_POLY];
+    uint8_t sigma_deriv[MAX_POLY];
+    uint8_t omega[MAX_POLY];
+    int i;
+
+    /* Compute syndrome vector */
+    if (!block_syndromes(data, ecc->bs, npar, s))
+        return QUIRC_SUCCESS;
+
+    berlekamp_massey(s, npar, &gf256, sigma);
+
+    /* Compute derivative of sigma */
+    memset(sigma_deriv, 0, MAX_POLY);
+    for (i = 0; i + 1 < MAX_POLY; i += 2)
+        sigma_deriv[i] = sigma[i + 1];
+
+    /* Compute error evaluator polynomial */
+    eloc_poly(omega, s, sigma, npar - 1);
+
+    /* Find error locations and magnitudes */
+    for (i = 0; i < ecc->bs; i++) {
+        uint8_t xinv = gf256_exp[255 - i];
+
+        if (!poly_eval(sigma, xinv, &gf256)) {
+            uint8_t sd_x = poly_eval(sigma_deriv, xinv, &gf256);
+            uint8_t omega_x = poly_eval(omega, xinv, &gf256);
+            uint8_t error = gf256_exp[(255 - gf256_log[sd_x] +
+                            gf256_log[omega_x]) % 255];
+
+            data[ecc->bs - i - 1] ^= error;
+        }
+    }
+
+    if (block_syndromes(data, ecc->bs, npar, s))
+        return QUIRC_ERROR_DATA_ECC;
+
+    return QUIRC_SUCCESS;
+}
+
+/************************************************************************
+ * Format value error correction
+ *
+ * Generator polynomial for GF(2^4) is x^4 + x + 1
+ */
+
+#define FORMAT_MAX_ERROR    3
+#define FORMAT_SYNDROMES    (FORMAT_MAX_ERROR * 2)
+#define FORMAT_BITS         15
+
+static int format_syndromes(uint16_t u, uint8_t *s)
+{
+    int i;
+    int nonzero = 0;
+
+    memset(s, 0, MAX_POLY);
+
+    for (i = 0; i < FORMAT_SYNDROMES; i++) {
+        int j;
+
+        s[i] = 0;
+        for (j = 0; j < FORMAT_BITS; j++)
+            if (u & (1 << j))
+                s[i] ^= gf16_exp[((i + 1) * j) % 15];
+
+        if (s[i])
+            nonzero = 1;
+    }
+
+    return nonzero;
+}
+
+static quirc_decode_error_t correct_format(uint16_t *f_ret)
+{
+    uint16_t u = *f_ret;
+    int i;
+    uint8_t s[MAX_POLY];
+    uint8_t sigma[MAX_POLY];
+
+    /* Evaluate U (received codeword) at each of alpha_1 .. alpha_6
+     * to get S_1 .. S_6 (but we index them from 0).
+     */
+    if (!format_syndromes(u, s))
+        return QUIRC_SUCCESS;
+
+    berlekamp_massey(s, FORMAT_SYNDROMES, &gf16, sigma);
+
+    /* Now, find the roots of the polynomial */
+    for (i = 0; i < 15; i++)
+        if (!poly_eval(sigma, gf16_exp[15 - i], &gf16))
+            u ^= (1 << i);
+
+    if (format_syndromes(u, s))
+        return QUIRC_ERROR_FORMAT_ECC;
+
+    *f_ret = u;
+    return QUIRC_SUCCESS;
+}
+
+/************************************************************************
+ * Decoder algorithm
+ */
+
+struct datastream {
+    uint8_t raw[QUIRC_MAX_PAYLOAD];
+    int     data_bits;
+    int     ptr;
+
+    uint8_t data[QUIRC_MAX_PAYLOAD];
+};
+
+static inline int grid_bit(const struct quirc_code *code, int x, int y)
+{
+    int p = y * code->size + x;
+
+    return (code->cell_bitmap[p >> 3] >> (p & 7)) & 1;
+}
+
+static quirc_decode_error_t read_format(const struct quirc_code *code,
+                                        struct quirc_data *data, int which)
+{
+    int i;
+    uint16_t format = 0;
+    uint16_t fdata;
+    quirc_decode_error_t err;
+
+    if (which) {
+        for (i = 0; i < 7; i++)
+            format = (format << 1) |
+                grid_bit(code, 8, code->size - 1 - i);
+        for (i = 0; i < 8; i++)
+            format = (format << 1) |
+                grid_bit(code, code->size - 8 + i, 8);
+    } else {
+        static const int xs[15] = {
+            8, 8, 8, 8, 8, 8, 8, 8, 7, 5, 4, 3, 2, 1, 0
+        };
+        static const int ys[15] = {
+            0, 1, 2, 3, 4, 5, 7, 8, 8, 8, 8, 8, 8, 8, 8
+        };
+
+        for (i = 14; i >= 0; i--)
+            format = (format << 1) | grid_bit(code, xs[i], ys[i]);
+    }
+
+    format ^= 0x5412;
+
+    err = correct_format(&format);
+    if (err)
+        return err;
+
+    fdata = format >> 10;
+    data->ecc_level = fdata >> 3;
+    data->mask = fdata & 7;
+
+    return QUIRC_SUCCESS;
+}
+
+static int mask_bit(int mask, int i, int j)
+{
+    switch (mask) {
+    case 0: return !((i + j) % 2);
+    case 1: return !(i % 2);
+    case 2: return !(j % 3);
+    case 3: return !((i + j) % 3);
+    case 4: return !(((i / 2) + (j / 3)) % 2);
+    case 5: return !((i * j) % 2 + (i * j) % 3);
+    case 6: return !(((i * j) % 2 + (i * j) % 3) % 2);
+    case 7: return !(((i * j) % 3 + (i + j) % 2) % 2);
+    }
+
+    return 0;
+}
+
+static int reserved_cell(int version, int i, int j)
+{
+    const struct quirc_version_info *ver = &quirc_version_db[version];
+    int size = version * 4 + 17;
+    int ai = -1, aj = -1, a;
+
+    /* Finder + format: top left */
+    if (i < 9 && j < 9)
+        return 1;
+
+    /* Finder + format: bottom left */
+    if (i + 8 >= size && j < 9)
+        return 1;
+
+    /* Finder + format: top right */
+    if (i < 9 && j + 8 >= size)
+        return 1;
+
+    /* Exclude timing patterns */
+    if (i == 6 || j == 6)
+        return 1;
+
+    /* Exclude version info, if it exists. Version info sits adjacent to
+     * the top-right and bottom-left finders in three rows, bounded by
+     * the timing pattern.
+     */
+    if (version >= 7) {
+        if (i < 6 && j + 11 >= size)
+            return 1;
+        if (i + 11 >= size && j < 6)
+            return 1;
+    }
+
+    /* Exclude alignment patterns */
+    for (a = 0; a < QUIRC_MAX_ALIGNMENT && ver->apat[a]; a++) {
+        int p = ver->apat[a];
+
+        if (abs(p - i) < 3)
+            ai = a;
+        if (abs(p - j) < 3)
+            aj = a;
+    }
+
+    if (ai >= 0 && aj >= 0) {
+        a--;
+        if (ai > 0 && ai < a)
+            return 1;
+        if (aj > 0 && aj < a)
+            return 1;
+        if (aj == a && ai == a)
+            return 1;
+    }
+
+    return 0;
+}
+
+static void read_bit(const struct quirc_code *code,
+                     struct quirc_data *data,
+                     struct datastream *ds, int i, int j)
+{
+    int bitpos = ds->data_bits & 7;
+    int bytepos = ds->data_bits >> 3;
+    int v = grid_bit(code, j, i);
+
+    if (mask_bit(data->mask, i, j))
+        v ^= 1;
+
+    if (v)
+        ds->raw[bytepos] |= (0x80 >> bitpos);
+
+    ds->data_bits++;
+}
+
+static void read_data_(const struct quirc_code *code,
+                      struct quirc_data *data,
+                      struct datastream *ds)
+{
+    int y = code->size - 1;
+    int x = code->size - 1;
+    int dir = -1;
+
+    while (x > 0) {
+        if (x == 6)
+            x--;
+
+        if (!reserved_cell(data->version, y, x))
+            read_bit(code, data, ds, y, x);
+
+        if (!reserved_cell(data->version, y, x - 1))
+            read_bit(code, data, ds, y, x - 1);
+
+        y += dir;
+        if (y < 0 || y >= code->size) {
+            dir = -dir;
+            x -= 2;
+            y += dir;
+        }
+    }
+}
+
+static quirc_decode_error_t codestream_ecc(struct quirc_data *data,
+                                           struct datastream *ds)
+{
+    const struct quirc_version_info *ver =
+        &quirc_version_db[data->version];
+    const struct quirc_rs_params *sb_ecc = &ver->ecc[data->ecc_level];
+    struct quirc_rs_params lb_ecc;
+    const int lb_count =
+        (ver->data_bytes - sb_ecc->bs * sb_ecc->ns) / (sb_ecc->bs + 1);
+    const int bc = lb_count + sb_ecc->ns;
+    const int ecc_offset = sb_ecc->dw * bc + lb_count;
+    int dst_offset = 0;
+    int i;
+
+    memcpy(&lb_ecc, sb_ecc, sizeof(lb_ecc));
+    lb_ecc.dw++;
+    lb_ecc.bs++;
+
+    for (i = 0; i < bc; i++) {
+        uint8_t *dst = ds->data + dst_offset;
+        const struct quirc_rs_params *ecc =
+            (i < sb_ecc->ns) ? sb_ecc : &lb_ecc;
+        const int num_ec = ecc->bs - ecc->dw;
+        quirc_decode_error_t err;
+        int j;
+
+        for (j = 0; j < ecc->dw; j++)
+            dst[j] = ds->raw[j * bc + i];
+        for (j = 0; j < num_ec; j++)
+            dst[ecc->dw + j] = ds->raw[ecc_offset + j * bc + i];
+
+        err = correct_block(dst, ecc);
+        if (err)
+            return err;
+
+        dst_offset += ecc->dw;
+    }
+
+    ds->data_bits = dst_offset * 8;
+
+    return QUIRC_SUCCESS;
+}
+
+static inline int bits_remaining(const struct datastream *ds)
+{
+    return ds->data_bits - ds->ptr;
+}
+
+static int take_bits(struct datastream *ds, int len)
+{
+    int ret = 0;
+
+    while (len && (ds->ptr < ds->data_bits)) {
+        uint8_t b = ds->data[ds->ptr >> 3];
+        int bitpos = ds->ptr & 7;
+
+        ret <<= 1;
+        if ((b << bitpos) & 0x80)
+            ret |= 1;
+
+        ds->ptr++;
+        len--;
+    }
+
+    return ret;
+}
+
+static int numeric_tuple(struct quirc_data *data,
+                         struct datastream *ds,
+                         int bits, int digits)
+{
+    int tuple;
+    int i;
+
+    if (bits_remaining(ds) < bits)
+        return -1;
+
+    tuple = take_bits(ds, bits);
+
+    for (i = digits - 1; i >= 0; i--) {
+        data->payload[data->payload_len + i] = tuple % 10 + '0';
+        tuple /= 10;
+    }
+
+    data->payload_len += digits;
+    return 0;
+}
+
+static quirc_decode_error_t decode_numeric(struct quirc_data *data,
+                                           struct datastream *ds)
+{
+    int bits = 14;
+    int count;
+
+    if (data->version < 10)
+        bits = 10;
+    else if (data->version < 27)
+        bits = 12;
+
+    count = take_bits(ds, bits);
+    if (data->payload_len + count + 1 > QUIRC_MAX_PAYLOAD)
+        return QUIRC_ERROR_DATA_OVERFLOW;
+
+    while (count >= 3) {
+        if (numeric_tuple(data, ds, 10, 3) < 0)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+        count -= 3;
+    }
+
+    if (count >= 2) {
+        if (numeric_tuple(data, ds, 7, 2) < 0)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+        count -= 2;
+    }
+
+    if (count) {
+        if (numeric_tuple(data, ds, 4, 1) < 0)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+        count--;
+    }
+
+    return QUIRC_SUCCESS;
+}
+
+static int alpha_tuple(struct quirc_data *data,
+                       struct datastream *ds,
+                       int bits, int digits)
+{
+    int tuple;
+    int i;
+
+    if (bits_remaining(ds) < bits)
+        return -1;
+
+    tuple = take_bits(ds, bits);
+
+    for (i = 0; i < digits; i++) {
+        static const char *alpha_map =
+            "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ $%*+-./:";
+
+        data->payload[data->payload_len + digits - i - 1] =
+            alpha_map[tuple % 45];
+        tuple /= 45;
+    }
+
+    data->payload_len += digits;
+    return 0;
+}
+
+static quirc_decode_error_t decode_alpha(struct quirc_data *data,
+                                         struct datastream *ds)
+{
+    int bits = 13;
+    int count;
+
+    if (data->version < 10)
+        bits = 9;
+    else if (data->version < 27)
+        bits = 11;
+
+    count = take_bits(ds, bits);
+    if (data->payload_len + count + 1 > QUIRC_MAX_PAYLOAD)
+        return QUIRC_ERROR_DATA_OVERFLOW;
+
+    while (count >= 2) {
+        if (alpha_tuple(data, ds, 11, 2) < 0)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+        count -= 2;
+    }
+
+    if (count) {
+        if (alpha_tuple(data, ds, 6, 1) < 0)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+        count--;
+    }
+
+    return QUIRC_SUCCESS;
+}
+
+static quirc_decode_error_t decode_byte(struct quirc_data *data,
+                                        struct datastream *ds)
+{
+    int bits = 16;
+    int count;
+    int i;
+
+    if (data->version < 10)
+        bits = 8;
+
+    count = take_bits(ds, bits);
+    if (data->payload_len + count + 1 > QUIRC_MAX_PAYLOAD)
+        return QUIRC_ERROR_DATA_OVERFLOW;
+    if (bits_remaining(ds) < count * 8)
+        return QUIRC_ERROR_DATA_UNDERFLOW;
+
+    for (i = 0; i < count; i++)
+        data->payload[data->payload_len++] = take_bits(ds, 8);
+
+    return QUIRC_SUCCESS;
+}
+
+static quirc_decode_error_t decode_kanji(struct quirc_data *data,
+                                         struct datastream *ds)
+{
+    int bits = 12;
+    int count;
+    int i;
+
+    if (data->version < 10)
+        bits = 8;
+    else if (data->version < 27)
+        bits = 10;
+
+    count = take_bits(ds, bits);
+    if (data->payload_len + count * 2 + 1 > QUIRC_MAX_PAYLOAD)
+        return QUIRC_ERROR_DATA_OVERFLOW;
+    if (bits_remaining(ds) < count * 13)
+        return QUIRC_ERROR_DATA_UNDERFLOW;
+
+    for (i = 0; i < count; i++) {
+        int d = take_bits(ds, 13);
+        int msB = d / 0xc0;
+        int lsB = d % 0xc0;
+        int intermediate = (msB << 8) | lsB;
+        uint16_t sjw;
+
+        if (intermediate + 0x8140 <= 0x9ffc) {
+            /* bytes are in the range 0x8140 to 0x9FFC */
+            sjw = intermediate + 0x8140;
+        } else {
+            /* bytes are in the range 0xE040 to 0xEBBF */
+            sjw = intermediate + 0xc140;
+        }
+
+        data->payload[data->payload_len++] = sjw >> 8;
+        data->payload[data->payload_len++] = sjw & 0xff;
+    }
+
+    return QUIRC_SUCCESS;
+}
+
+static quirc_decode_error_t decode_eci(struct quirc_data *data,
+                                       struct datastream *ds)
+{
+    if (bits_remaining(ds) < 8)
+        return QUIRC_ERROR_DATA_UNDERFLOW;
+
+    data->eci = take_bits(ds, 8);
+
+    if ((data->eci & 0xc0) == 0x80) {
+        if (bits_remaining(ds) < 8)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+
+        data->eci = (data->eci << 8) | take_bits(ds, 8);
+    } else if ((data->eci & 0xe0) == 0xc0) {
+        if (bits_remaining(ds) < 16)
+            return QUIRC_ERROR_DATA_UNDERFLOW;
+
+        data->eci = (data->eci << 16) | take_bits(ds, 16);
+    }
+
+    return QUIRC_SUCCESS;
+}
+
+static quirc_decode_error_t decode_payload(struct quirc_data *data,
+                                           struct datastream *ds)
+{
+    while (bits_remaining(ds) >= 4) {
+        quirc_decode_error_t err = QUIRC_SUCCESS;
+        int type = take_bits(ds, 4);
+
+        switch (type) {
+        case QUIRC_DATA_TYPE_NUMERIC:
+            err = decode_numeric(data, ds);
+            break;
+
+        case QUIRC_DATA_TYPE_ALPHA:
+            err = decode_alpha(data, ds);
+            break;
+
+        case QUIRC_DATA_TYPE_BYTE:
+            err = decode_byte(data, ds);
+            break;
+
+        case QUIRC_DATA_TYPE_KANJI:
+            err = decode_kanji(data, ds);
+            break;
+
+        case 7:
+            err = decode_eci(data, ds);
+            break;
+
+        default:
+            goto done;
+        }
+
+        if (err)
+            return err;
+
+        if (!(type & (type - 1)) && (type > data->data_type))
+            data->data_type = type;
+    }
+
+done:
+
+    /* Add nul terminator to all payloads */
+    if (data->payload_len >= sizeof(data->payload))
+        data->payload_len--;
+    data->payload[data->payload_len] = 0;
+
+    return QUIRC_SUCCESS;
+}
+
+quirc_decode_error_t quirc_decode(const struct quirc_code *code,
+                                  struct quirc_data *data)
+{
+    quirc_decode_error_t err;
+    struct datastream *ds = fb_alloc(sizeof(struct datastream), FB_ALLOC_NO_HINT);
+
+    if ((code->size - 17) % 4)
+        { fb_free(ds); return QUIRC_ERROR_INVALID_GRID_SIZE; }
+
+    memset(data, 0, sizeof(*data));
+    memset(ds, 0, sizeof(*ds));
+
+    data->version = (code->size - 17) / 4;
+
+    if (data->version < 1 ||
+        data->version > QUIRC_MAX_VERSION)
+        { fb_free(ds); return QUIRC_ERROR_INVALID_VERSION; }
+
+    /* Read format information -- try both locations */
+    err = read_format(code, data, 0);
+    if (err)
+        err = read_format(code, data, 1);
+    if (err)
+        { fb_free(ds); return err; }
+
+    read_data_(code, data, ds);
+    err = codestream_ecc(data, ds);
+    if (err)
+        { fb_free(ds); return err; }
+
+    err = decode_payload(data, ds);
+    if (err)
+        { fb_free(ds); return err; }
+
+    fb_free(ds); return QUIRC_SUCCESS;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "quirc.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/* quirc -- QR-code recognition library
+ * Copyright (C) 2010-2012 Daniel Beer <dlbeer@gmail.com>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+const char *quirc_version(void)
+{
+    return "1.0";
+}
+
+struct quirc *quirc_new(void)
+{
+    struct quirc *q = fb_alloc(sizeof(*q), FB_ALLOC_NO_HINT);
+
+    if (!q)
+        return NULL;
+
+    memset(q, 0, sizeof(*q));
+    return q;
+}
+
+void quirc_destroy(struct quirc *q)
+{
+    if (q->image)
+        if (q->image) fb_free(q->image);
+    if (sizeof(*q->image) != sizeof(*q->pixels))
+        if (q->pixels) fb_free(q->pixels);
+
+    if (q) fb_free(q);
+}
+
+int quirc_resize(struct quirc *q, int w, int h)
+{
+    if (q->image) fb_free(q->image);
+    uint8_t *new_image = fb_alloc(w * h, FB_ALLOC_NO_HINT);
+
+    if (!new_image)
+        return -1;
+
+    if (sizeof(*q->image) != sizeof(*q->pixels)) {
+        size_t new_size = w * h * sizeof(quirc_pixel_t);
+        if (q->pixels) fb_free(new_image);
+        quirc_pixel_t *new_pixels = fb_alloc(new_size, FB_ALLOC_NO_HINT);
+        if (!new_pixels) {
+            fb_free(new_pixels);
+            return -1;
+        }
+        q->pixels = new_pixels;
+    }
+
+    q->image = new_image;
+    q->w = w;
+    q->h = h;
+
+    return 0;
+}
+
+int quirc_count(const struct quirc *q)
+{
+    return q->num_grids;
+}
+
+static const char *const error_table[] = {
+    [QUIRC_SUCCESS] = "Success",
+    [QUIRC_ERROR_INVALID_GRID_SIZE] = "Invalid grid size",
+    [QUIRC_ERROR_INVALID_VERSION] = "Invalid version",
+    [QUIRC_ERROR_FORMAT_ECC] = "Format data ECC failure",
+    [QUIRC_ERROR_DATA_ECC] = "ECC failure",
+    [QUIRC_ERROR_UNKNOWN_DATA_TYPE] = "Unknown data type",
+    [QUIRC_ERROR_DATA_OVERFLOW] = "Data overflow",
+    [QUIRC_ERROR_DATA_UNDERFLOW] = "Data underflow"
+};
+
+const char *quirc_strerror(quirc_decode_error_t err)
+{
+    if (err >= 0 && err < sizeof(error_table) / sizeof(error_table[0]))
+        return error_table[err];
+
+    return "Unknown error";
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void imlib_find_qrcodes(list_t *out, image_t *ptr, rectangle_t *roi)
+{
+    struct quirc *controller = quirc_new();
+    quirc_resize(controller, roi->w, roi->h);
+    uint8_t *grayscale_image = quirc_begin(controller, NULL, NULL);
+
+    image_t img;
+    img.w = roi->w;
+    img.h = roi->h;
+    img.pixfmt = PIXFORMAT_GRAYSCALE;
+    img.data = grayscale_image;
+    img.size = img.w * img.h;
+    imlib_pixfmt_to(&img, ptr, roi);
+    // imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+
+    quirc_end(controller);
+    imlib_list_init(out, sizeof(find_qrcodes_list_lnk_data_t));
+
+    for (int i = 0, j = quirc_count(controller); i < j; i++) {
+        struct quirc_code *code = fb_alloc(sizeof(struct quirc_code), FB_ALLOC_NO_HINT);
+        struct quirc_data *data = fb_alloc(sizeof(struct quirc_data), FB_ALLOC_NO_HINT);
+        quirc_extract(controller, i, code);
+
+        if(quirc_decode(code, data) == QUIRC_SUCCESS) {
+            find_qrcodes_list_lnk_data_t lnk_data;
+            rectangle_init(&(lnk_data.rect), code->corners[0].x + roi->x, code->corners[0].y + roi->y, 0, 0);
+
+            for (size_t k = 1, l = (sizeof(code->corners) / sizeof(code->corners[0])); k < l; k++) {
+                rectangle_t temp;
+                rectangle_init(&temp, code->corners[k].x + roi->x, code->corners[k].y + roi->y, 0, 0);
+                rectangle_united(&(lnk_data.rect), &temp);
+            }
+
+            // Add corners...
+            lnk_data.corners[0].x = fast_roundf(code->corners[0].x) + roi->x; // top-left
+            lnk_data.corners[0].y = fast_roundf(code->corners[0].y) + roi->y; // top-left
+            lnk_data.corners[1].x = fast_roundf(code->corners[1].x) + roi->x; // top-right
+            lnk_data.corners[1].y = fast_roundf(code->corners[1].y) + roi->y; // top-right
+            lnk_data.corners[2].x = fast_roundf(code->corners[2].x) + roi->x; // bottom-right
+            lnk_data.corners[2].y = fast_roundf(code->corners[2].y) + roi->y; // bottom-right
+            lnk_data.corners[3].x = fast_roundf(code->corners[3].x) + roi->x; // bottom-left
+            lnk_data.corners[3].y = fast_roundf(code->corners[3].y) + roi->y; // bottom-left
+
+            // Payload is already null terminated.
+            lnk_data.payload_len = data->payload_len;
+            lnk_data.payload = xalloc(data->payload_len);
+            memcpy(lnk_data.payload, data->payload, data->payload_len);
+
+            lnk_data.version = data->version;
+            lnk_data.ecc_level = data->ecc_level;
+            lnk_data.mask = data->mask;
+            lnk_data.data_type = data->data_type;
+            lnk_data.eci = data->eci;
+
+            list_push_back(out, &lnk_data);
+        }
+
+        fb_free(data);
+        fb_free(code);
+    }
+
+    quirc_destroy(controller);
+}
+#endif //IMLIB_ENABLE_QRCODES
diff --git a/github_source/minicv2/src/qsort.c b/github_source/minicv2/src/qsort.c
new file mode 100644
index 0000000..b2def63
--- /dev/null
+++ b/github_source/minicv2/src/qsort.c
@@ -0,0 +1,152 @@
+/*-
+ * Copyright (c) 1992, 1993
+ *      The Regents of the University of California.  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.
+ * 3. Neither the name of the University nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS 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 REGENTS 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.
+ */
+
+#include <stdlib.h>
+#define min(a, b)       (a) < (b) ? a : b
+/*
+ * Qsort routine from Bentley & McIlroy's "Engineering a Sort Function".
+ */
+#define swapcode(TYPE, parmi, parmj, n) {               \
+        size_t i = (n) / sizeof (TYPE);                 \
+        TYPE *pi = (TYPE *) (parmi);                    \
+        TYPE *pj = (TYPE *) (parmj);                    \
+        do {                                            \
+                TYPE    t = *pi;                        \
+                *pi++ = *pj;                            \
+                *pj++ = t;                              \
+        } while (--i > 0);                              \
+}
+
+#define SWAPINIT(a, es) swaptype = ((char *)a - (char *)0) % sizeof(long) || \
+        es % sizeof(long) ? 2 : es == sizeof(long)? 0 : 1;
+
+static __inline void swapfunc(char *a, char *b, size_t n, int swaptype)
+{
+        if (swaptype <= 1)
+                swapcode(long, a, b, n)
+        else
+                swapcode(char, a, b, n)
+}
+
+#define swap(a, b)                                      \
+        if (swaptype == 0) {                            \
+                long t = *(long *)(a);                  \
+                *(long *)(a) = *(long *)(b);            \
+                *(long *)(b) = t;                       \
+        } else                                          \
+                swapfunc(a, b, es, swaptype)
+
+#define vecswap(a, b, n)        if ((n) > 0) swapfunc(a, b, n, swaptype)
+
+static __inline char *med3(char *a, char *b, char *c, int (*cmp)(const void *, const void *))
+{
+        return cmp(a, b) < 0 ?
+               (cmp(b, c) < 0 ? b : (cmp(a, c) < 0 ? c : a ))
+              :(cmp(b, c) > 0 ? b : (cmp(a, c) < 0 ? a : c ));
+}
+
+void qsort(void *aa, size_t n, size_t es, int (*cmp)(const void *, const void *))
+{
+        char *pa, *pb, *pc, *pd, *pl, *pm, *pn;
+        int cmp_result, swaptype, swap_cnt;
+        size_t d, r;
+        char *a = (char *)aa;
+
+loop:   SWAPINIT(a, es);
+        swap_cnt = 0;
+        if (n < 7) {
+                for (pm = (char *)a + es; pm < (char *) a + n * es; pm += es)
+                        for (pl = pm; pl > (char *) a && cmp(pl - es, pl) > 0;
+                             pl -= es)
+                                swap(pl, pl - es);
+                return;
+        }
+        pm = (char *)a + (n / 2) * es;
+        if (n > 7) {
+                pl = (char *)a;
+                pn = (char *)a + (n - 1) * es;
+                if (n > 40) {
+                        d = (n / 8) * es;
+                        pl = med3(pl, pl + d, pl + 2 * d, cmp);
+                        pm = med3(pm - d, pm, pm + d, cmp);
+                        pn = med3(pn - 2 * d, pn - d, pn, cmp);
+                }
+                pm = med3(pl, pm, pn, cmp);
+        }
+        swap(a, pm);
+        pa = pb = (char *)a + es;
+
+        pc = pd = (char *)a + (n - 1) * es;
+        for (;;) {
+                while (pb <= pc && (cmp_result = cmp(pb, a)) <= 0) {
+                        if (cmp_result == 0) {
+                                swap_cnt = 1;
+                                swap(pa, pb);
+                                pa += es;
+                        }
+                        pb += es;
+                }
+                while (pb <= pc && (cmp_result = cmp(pc, a)) >= 0) {
+                        if (cmp_result == 0) {
+                                swap_cnt = 1;
+                                swap(pc, pd);
+                                pd -= es;
+                        }
+                        pc -= es;
+                }
+                if (pb > pc)
+                        break;
+                swap(pb, pc);
+                swap_cnt = 1;
+                pb += es;
+                pc -= es;
+        }
+        if (swap_cnt == 0) {  /* Switch to insertion sort */
+                for (pm = (char *) a + es; pm < (char *) a + n * es; pm += es)
+                        for (pl = pm; pl > (char *) a && cmp(pl - es, pl) > 0;
+                             pl -= es)
+                                swap(pl, pl - es);
+                return;
+        }
+
+        pn = (char *)a + n * es;
+        r = min(pa - (char *)a, pb - pa);
+        vecswap(a, pb - r, r);
+        r = min(pd - pc, pn - pd - es);
+        vecswap(pb, pn - r, r);
+        if ((r = pb - pa) > es)
+                qsort(a, r / es, es, cmp);
+        if ((r = pd - pc) > es) {
+                /* Iterate rather than recurse to save stack space */
+                a = pn - r;
+                n = r / es;
+                goto loop;
+        }
+/*              qsort(pn - r, r / es, es, cmp);*/
+}
diff --git a/github_source/minicv2/src/rainbow_tab.c b/github_source/minicv2/src/rainbow_tab.c
new file mode 100644
index 0000000..0593131
--- /dev/null
+++ b/github_source/minicv2/src/rainbow_tab.c
@@ -0,0 +1,69 @@
+#include <stdint.h>
+const uint16_t rainbow_table[256] = {
+    0x063F, 0x063F, 0x065F, 0x067F, 0x069F, 0x06BF, 0x06BF, 0x06DF,
+    0x06FF, 0x071F, 0x073F, 0x073F, 0x075F, 0x077F, 0x079F, 0x07BF,
+    0x07BF, 0x07DF, 0x07FF, 0x07FF, 0x07FE, 0x07FE, 0x07FD, 0x07FD,
+    0x07FD, 0x07FC, 0x07FC, 0x07FB, 0x07FB, 0x07FB, 0x07FA, 0x07FA,
+    0x07FA, 0x07F9, 0x07F9, 0x07F8, 0x07F8, 0x07F8, 0x07F7, 0x07F7,
+    0x07F6, 0x07F6, 0x07F6, 0x07F5, 0x07F5, 0x07F4, 0x07F4, 0x07F4,
+    0x07F3, 0x07F3, 0x07F2, 0x07F2, 0x07F2, 0x07F1, 0x07F1, 0x07F1,
+    0x07F0, 0x07F0, 0x07EF, 0x07EF, 0x07EF, 0x07EE, 0x07EE, 0x07ED,
+    0x07ED, 0x07ED, 0x07EC, 0x07EC, 0x07EB, 0x07EB, 0x07EB, 0x07EA,
+    0x07EA, 0x07EA, 0x07E9, 0x07E9, 0x07E8, 0x07E8, 0x07E8, 0x07E7,
+    0x07E7, 0x07E6, 0x07E6, 0x07E6, 0x07E5, 0x07E5, 0x07E4, 0x07E4,
+    0x07E4, 0x07E3, 0x07E3, 0x07E2, 0x07E2, 0x07E2, 0x07E1, 0x07E1,
+    0x07E1, 0x07E0, 0x07E0, 0x0FE0, 0x0FE0, 0x0FE0, 0x17E0, 0x17E0,
+    0x1FE0, 0x1FE0, 0x1FE0, 0x27E0, 0x27E0, 0x2FE0, 0x2FE0, 0x2FE0,
+    0x37E0, 0x37E0, 0x3FE0, 0x3FE0, 0x3FE0, 0x47E0, 0x47E0, 0x47E0,
+    0x4FE0, 0x4FE0, 0x57E0, 0x57E0, 0x57E0, 0x5FE0, 0x5FE0, 0x67E0,
+    0x67E0, 0x67E0, 0x6FE0, 0x6FE0, 0x77E0, 0x77E0, 0x77E0, 0x7FE0,
+    0x7FE0, 0x87E0, 0x87E0, 0x87E0, 0x8FE0, 0x8FE0, 0x8FE0, 0x97E0,
+    0x97E0, 0x9FE0, 0x9FE0, 0x9FE0, 0xA7E0, 0xA7E0, 0xAFE0, 0xAFE0,
+    0xAFE0, 0xB7E0, 0xB7E0, 0xBFE0, 0xBFE0, 0xBFE0, 0xC7E0, 0xC7E0,
+    0xC7E0, 0xCFE0, 0xCFE0, 0xD7E0, 0xD7E0, 0xD7E0, 0xDFE0, 0xDFE0,
+    0xE7E0, 0xE7E0, 0xE7E0, 0xEFE0, 0xEFE0, 0xF7E0, 0xF7E0, 0xF7E0,
+    0xFFE0, 0xFFE0, 0xFFC0, 0xFFA0, 0xFF80, 0xFF80, 0xFF60, 0xFF40,
+    0xFF20, 0xFF00, 0xFF00, 0xFEE0, 0xFEC0, 0xFEA0, 0xFE80, 0xFE80,
+    0xFE60, 0xFE40, 0xFE20, 0xFE00, 0xFE00, 0xFDE0, 0xFDC0, 0xFDA0,
+    0xFD80, 0xFD80, 0xFD60, 0xFD40, 0xFD20, 0xFD00, 0xFD00, 0xFCE0,
+    0xFCC0, 0xFCA0, 0xFCA0, 0xFC80, 0xFC60, 0xFC40, 0xFC20, 0xFC20,
+    0xFC00, 0xFBE0, 0xFBC0, 0xFBA0, 0xFBA0, 0xFB80, 0xFB60, 0xFB40,
+    0xFB20, 0xFB20, 0xFB00, 0xFAE0, 0xFAC0, 0xFAA0, 0xFAA0, 0xFA80,
+    0xFA60, 0xFA40, 0xFA20, 0xFA20, 0xFA00, 0xF9E0, 0xF9C0, 0xF9A0,
+    0xF9A0, 0xF980, 0xF960, 0xF940, 0xF940, 0xF920, 0xF900, 0xF8E0,
+    0xF8C0, 0xF8C0, 0xF8A0, 0xF880, 0xF860, 0xF840, 0xF840, 0xF820
+};
+const uint16_t ironbow_table[256] = {
+    0xFFFF, 0xFFFF, 0xFFDF, 0xF7DE, 0xF7BE, 0xF7BE, 0xF79E, 0xEF9D,
+    0xEF7D, 0xEF7D, 0xEF5D, 0xE75C, 0xE73C, 0xE73C, 0xE71C, 0xDF1B,
+    0xDEFB, 0xDEFB, 0xDEDB, 0xD6DA, 0xD6BA, 0xD6BA, 0xD69A, 0xCE99,
+    0xCE79, 0xCE79, 0xCE59, 0xC658, 0xC638, 0xC638, 0xC618, 0xBE17,
+    0xBDF7, 0xBDF7, 0xBDD7, 0xB5D6, 0xB5B6, 0xB5B6, 0xB596, 0xB596,
+    0xAD75, 0xAD75, 0xAD55, 0xAD55, 0xA534, 0xA534, 0xA514, 0xA514,
+    0x9CF3, 0x9CF3, 0x9CD3, 0x9CD3, 0x94B2, 0x94B2, 0x9492, 0x9492,
+    0x8C71, 0x8C71, 0x8C51, 0x8C51, 0x8430, 0x8430, 0x8410, 0x8410,
+    0x7BEF, 0x7BEF, 0x7BCF, 0x7BCF, 0x73AE, 0x73AE, 0x738E, 0x738E,
+    0x6B6D, 0x6B6D, 0x6B4D, 0x6B4D, 0x632C, 0x632C, 0x630C, 0x630C,
+    0x5AEB, 0x5AEB, 0x5ACB, 0x5ACB, 0x52AA, 0x52AA, 0x528A, 0x528A,
+    0x4A69, 0x4A69, 0x4A49, 0x4A49, 0x4A29, 0x4228, 0x4208, 0x4208,
+    0x41E8, 0x39E7, 0x39C7, 0x39C7, 0x39A7, 0x31A6, 0x3186, 0x3186,
+    0x3166, 0x2965, 0x2945, 0x2945, 0x2925, 0x2124, 0x2104, 0x2104,
+    0x20E4, 0x18E3, 0x18C3, 0x18C3, 0x18A3, 0x10A2, 0x1082, 0x1082,
+    0x1062, 0x0861, 0x0841, 0x0841, 0x0821, 0x0020, 0x0000, 0x0000,
+    0x0001, 0x0002, 0x0003, 0x0804, 0x0805, 0x0805, 0x0806, 0x1007,
+    0x1008, 0x1009, 0x180A, 0x180B, 0x180C, 0x180D, 0x200D, 0x200E,
+    0x200F, 0x280F, 0x300F, 0x300F, 0x380F, 0x380F, 0x400F, 0x480F,
+    0x4810, 0x5010, 0x5010, 0x5810, 0x6010, 0x6010, 0x6810, 0x6810,
+    0x7011, 0x7811, 0x7811, 0x8011, 0x8031, 0x8831, 0x9031, 0x9031,
+    0x9831, 0x9831, 0xA031, 0xA031, 0xA831, 0xB031, 0xB051, 0xB851,
+    0xB851, 0xB870, 0xC08F, 0xC0AF, 0xC0AE, 0xC0CD, 0xC8ED, 0xC90C,
+    0xC90C, 0xC92B, 0xD14A, 0xD16A, 0xD169, 0xD988, 0xD9A8, 0xD9C7,
+    0xD9C6, 0xD9E6, 0xDA05, 0xE225, 0xE245, 0xE244, 0xE264, 0xE284,
+    0xE2A4, 0xE2C3, 0xE2E3, 0xE2E3, 0xEB02, 0xEB22, 0xEB42, 0xEB61,
+    0xEB81, 0xEBA1, 0xEBA1, 0xEBC1, 0xEBE1, 0xEC01, 0xEC21, 0xF441,
+    0xF462, 0xF482, 0xF4A2, 0xF4C2, 0xF4E2, 0xF502, 0xF502, 0xF522,
+    0xF542, 0xF562, 0xF582, 0xF5A2, 0xF5C2, 0xF5E2, 0xF5E2, 0xFE03,
+    0xFE23, 0xFE43, 0xFE63, 0xFE83, 0xFEA3, 0xFEC3, 0xFEC4, 0xFEE4,
+    0xFF05, 0xFF26, 0xFF28, 0xFF4A, 0xFF4C, 0xFF4D, 0xFF6F, 0xFF71,
+    0xFF92, 0xFF94, 0xFFB6, 0xFFB7, 0xFFD9, 0xFFDB, 0xFFFD, 0xFFE3
+};
diff --git a/github_source/minicv2/src/rectangle.c b/github_source/minicv2/src/rectangle.c
new file mode 100644
index 0000000..a7d47e0
--- /dev/null
+++ b/github_source/minicv2/src/rectangle.c
@@ -0,0 +1,125 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Rectangle functions.
+ */
+#include "imlib.h"
+#include "array.h"
+#include "xalloc.h"
+
+rectangle_t *rectangle_alloc(int16_t x, int16_t y, int16_t w, int16_t h)
+{
+    rectangle_t *r = xalloc(sizeof(rectangle_t));
+    r->x = x;
+    r->y = y;
+    r->w = w;
+    r->h = h;
+    return r;
+}
+
+bool rectangle_equal(rectangle_t *r1, rectangle_t *r2)
+{
+    return ((r1->x==r2->x)&&(r1->y==r2->y)&&(r1->w==r2->w)&&(r1->h==r2->h));
+}
+
+bool rectangle_intersects(rectangle_t *r1, rectangle_t *r2)
+{
+    return  ((r1->x < (r2->x+r2->w)) &&
+             (r1->y < (r2->y+r2->h)) &&
+             ((r1->x+r1->w) > r2->x) &&
+             ((r1->y+r1->h) > r2->y));
+}
+
+// Determine subimg even if it is going off the edge of the main image.
+bool rectangle_subimg(image_t *img, rectangle_t *r, rectangle_t *r_out)
+{
+    rectangle_t r_img;
+    r_img.x = 0;
+    r_img.y = 0;
+    r_img.w = img->w;
+    r_img.h = img->h;
+    bool result = rectangle_intersects(&r_img, r);
+    if (result) {
+        int r_img_x2 = r_img.x + r_img.w;
+        int r_img_y2 = r_img.y + r_img.h;
+        int r_x2 = r->x + r->w;
+        int r_y2 = r->y + r->h;
+        r_out->x = IM_MAX(r_img.x, r->x);
+        r_out->y = IM_MAX(r_img.y, r->y);
+        r_out->w = IM_MIN(r_img_x2, r_x2) - r_out->x;
+        r_out->h = IM_MIN(r_img_y2, r_y2) - r_out->y;
+    }
+    return result;
+}
+
+// This isn't for actually combining the rects standardly, but, to instead
+// find the average rectangle between a bunch of overlapping rectangles.
+static void rectangle_add(rectangle_t *r1, rectangle_t *r2)
+{
+    r1->x += r2->x;
+    r1->y += r2->y;
+    r1->w += r2->w;
+    r1->h += r2->h;
+}
+
+// This isn't for actually combining the rects standardly, but, to instead
+// find the average rectangle between a bunch of overlapping rectangles.
+static void rectangle_div(rectangle_t *r, int c)
+{
+    r->x /= c;
+    r->y /= c;
+    r->w /= c;
+    r->h /= c;
+}
+
+array_t *rectangle_merge(array_t *rectangles)
+{
+    array_t *objects; array_alloc(&objects, xfree);
+    array_t *overlap; array_alloc(&overlap, xfree);
+    /* merge overlaping detections */
+    while (array_length(rectangles)) {
+        /* check for overlaping detections */
+        rectangle_t *rect = (rectangle_t *) array_take(rectangles, 0);
+        for (int j=0; j<array_length(rectangles); j++) { // do not cache bound
+            if (rectangle_intersects(rect, (rectangle_t *) array_at(rectangles, j))) {
+                array_push_back(overlap, array_take(rectangles, j--));
+            }
+        }
+        /* add the overlaping detections */
+        int count = array_length(overlap);
+        for (int i=0; i<count; i++) {
+            rectangle_t *overlap_rect = (rectangle_t *) array_pop_back(overlap);
+            rectangle_add(rect, overlap_rect);
+            xfree(overlap_rect);
+        }
+        /* average the overlaping detections */
+        rectangle_div(rect, count + 1);
+        array_push_back(objects, rect);
+    }
+    array_free(rectangles);
+    array_free(overlap);
+    return objects;
+}
+
+// Expands a bounding box with a point.
+// After adding all points sub x from w and y from h.
+void rectangle_expand(rectangle_t *r, int x, int y)
+{
+    if (x < r->x) {
+        r->x = x;
+    }
+    if (y < r->y) {
+        r->y = y;
+    }
+    if (x > r->w) {
+        r->w = x;
+    }
+    if (y > r->h) {
+        r->h = y;
+    }
+}
diff --git a/github_source/minicv2/src/ringbuf.c b/github_source/minicv2/src/ringbuf.c
new file mode 100644
index 0000000..93194b0
--- /dev/null
+++ b/github_source/minicv2/src/ringbuf.c
@@ -0,0 +1,46 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Simple Ring Buffer implementation.
+ */
+#include <string.h>
+#include "ringbuf.h"
+
+void ring_buf_init(ring_buf_t *buf)
+{
+    memset(buf, 0, sizeof(*buf));
+}
+
+int ring_buf_empty(ring_buf_t *buf)
+{
+    return (buf->head == buf->tail);
+}
+
+void ring_buf_put(ring_buf_t *buf, uint8_t c)
+{
+   if ((buf->tail + 1) % BUFFER_SIZE == buf->head) {
+      /*buffer is full*/
+      return;
+   }
+
+   buf->data[buf->tail] = c;
+   buf->tail = (buf->tail + 1) % BUFFER_SIZE;
+}
+
+uint8_t ring_buf_get(ring_buf_t *buf)
+{
+   uint8_t c;
+   if (buf->head == buf->tail) {
+       /*buffer is empty*/
+       return 0;
+   }
+
+   c = buf->data[buf->head];
+   buf->head = (buf->head + 1) % BUFFER_SIZE;
+   return c;
+}
diff --git a/github_source/minicv2/src/selective_search.c b/github_source/minicv2/src/selective_search.c
new file mode 100644
index 0000000..c593872
--- /dev/null
+++ b/github_source/minicv2/src/selective_search.c
@@ -0,0 +1,465 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Selective search.
+ */
+#include <stdio.h>
+#include <math.h>
+#include <string.h>
+#include <stdint.h>
+#include "imlib.h"
+#include "fb_alloc.h"
+#include "xalloc.h"
+#ifdef IMLIB_ENABLE_SELECTIVE_SEARCH
+
+#define THRESHOLD(size, c) (c/size)
+typedef struct {
+    uint16_t y;
+    uint16_t h;
+    uint16_t x;
+    uint16_t w;
+} region;
+
+typedef struct {
+    uint16_t p;
+    uint16_t rank;
+    uint16_t size;
+} uni_elt;
+
+typedef struct {
+    int num;
+    uni_elt *elts;
+} universe;
+
+typedef struct {
+    float    w;
+    uint16_t a;
+    uint16_t b;
+} edge;
+
+static inline int min (int a, int b) { return (a < b) ? a : b; }
+static inline int max (int a, int b) { return (a > b) ? a : b; }
+static inline float minf (float a, float b) { return (a < b) ? a : b; }
+static inline float maxf (float a, float b) { return (a > b) ? a : b; }
+extern uint32_t rng_randint(uint32_t min, uint32_t max);
+
+static universe *universe_create(int elements)
+{
+    universe * uni = (universe*) fb_alloc(sizeof(universe), FB_ALLOC_NO_HINT);
+    uni->elts = (uni_elt*) fb_alloc(sizeof(uni_elt)*elements, FB_ALLOC_NO_HINT);
+    uni->num = elements;
+    for (int i=0; i<elements; ++i) {
+        uni->elts[i].p = i;
+        uni->elts[i].rank = 0;
+        uni->elts[i].size = 1;
+    }
+    return uni;
+}
+
+static int universe_size(universe * uni, int x)
+{
+    return uni->elts[x].size;
+}
+
+static int universe_num_sets(universe * uni)
+{
+    return uni->num;
+}
+
+static int universe_find(universe * uni, int x)
+{
+    int y = x;
+    while (y != uni->elts[y].p) {
+        y = uni->elts[y].p;
+    }
+    // Path compression
+    uni->elts[x].p = y;
+    return y;
+}
+
+static void universe_join (universe * uni, int x, int y)
+{
+    if (uni->elts[x].rank > uni->elts[y].rank) {
+        uni->elts[y].p = x;
+        uni->elts[x].size += uni->elts[y].size;
+    } else {
+        uni->elts[x].p = y;
+        uni->elts[y].size += uni->elts[x].size;
+        if (uni->elts[x].rank == uni->elts[y].rank) {
+            uni->elts[y].rank++;
+        }
+    }
+    uni->num--;
+}
+
+static int universe_get_id(universe * this, int x)
+{
+    return this->elts[x].rank;
+}
+
+static void universe_set_id(universe * this, int x, int id)
+{
+    this->elts[x].rank = id;
+}
+
+static inline float color_similarity (float * hist1, float * hist2)
+{
+    float sim = 0;
+    for (int i = 0; i < 75; ++i) {
+        sim += minf(hist1[i], hist2[i]);
+    }
+    return sim;
+}
+
+static inline float size_similarity (int a, int b, int size)
+{
+    return 1.0f - (a + b)/size;
+}
+
+static inline float fill_similarity (region * ra, region * rb, int a, int b, int size)
+{
+    int width = max(ra->w, rb->w) - min(ra->x, rb->x);
+    int height = max(ra->h, rb->h) - min(ra->y, rb->y);
+    return 1.0f - (width*height - a - b)/size;
+}
+
+static inline float square(float x) { return x*x; };
+
+static inline float diff(image_t *img, int x1, int y1, int x2, int y2)
+{
+    uint16_t p1 = IMAGE_GET_RGB565_PIXEL(img, x1, y1);
+    uint16_t p2 = IMAGE_GET_RGB565_PIXEL(img, x2, y2);
+    uint8_t r1  = COLOR_RGB565_TO_R8(p1);
+    uint8_t r2  = COLOR_RGB565_TO_R8(p2);
+
+    uint8_t g1  = COLOR_RGB565_TO_G8(p1);
+    uint8_t g2  = COLOR_RGB565_TO_G8(p2);
+
+    uint8_t b1  = COLOR_RGB565_TO_B8(p1);
+    uint8_t b2  = COLOR_RGB565_TO_B8(p2);
+   // dissimilarity measure between pixels
+   return  sqrtf((r1-r2) * (r1-r2) + (g1-g2) * (g1-g2) + (b1-b2) * (b1-b2));
+}
+static inline float diff888(image_t *img, int x1, int y1, int x2, int y2)
+{
+    uint32_t p1 = IMAGE_GET_RGB888_PIXEL(img, x1, y1);
+    uint32_t p2 = IMAGE_GET_RGB888_PIXEL(img, x2, y2);
+    uint8_t r1  = COLOR_RGB888_TO_R8(p1);
+    uint8_t r2  = COLOR_RGB888_TO_R8(p2);
+
+    uint8_t g1  = COLOR_RGB888_TO_G8(p1);
+    uint8_t g2  = COLOR_RGB888_TO_G8(p2);
+
+    uint8_t b1  = COLOR_RGB888_TO_B8(p1);
+    uint8_t b2  = COLOR_RGB888_TO_B8(p2);
+   // dissimilarity measure between pixels
+   return  sqrtf((r1-r2) * (r1-r2) + (g1-g2) * (g1-g2) + (b1-b2) * (b1-b2));
+}
+int comp (const void * elem1, const void * elem2) 
+{
+    edge *f = (edge*) elem1;
+    edge *s = (edge*) elem2;
+    if (f->w > s->w) return  1;
+    if (f->w < s->w) return -1;
+    return 0;
+}
+
+static void segment_graph(universe *u, int num_vertices, int num_edges, edge *edges, float c)
+{
+    qsort (edges, num_edges, sizeof(edge), comp);
+
+    float *threshold = fb_alloc(num_vertices * sizeof(float), FB_ALLOC_NO_HINT);
+    for (int i=0; i<num_vertices; i++) {
+        threshold[i] = THRESHOLD(1, c);
+    }
+
+    for (int i=0; i<num_edges; i++) {
+        edge *pedge = edges + i;
+        int a = universe_find (u, pedge->a);
+        int b = universe_find (u, pedge->b);
+        if (a != b) {
+            if ((pedge->w <= threshold[a]) && (pedge->w <= threshold[b])) {
+                universe_join (u, a, b);
+                a = universe_find (u, a);
+                threshold[a] = pedge->w + THRESHOLD(universe_size (u, a), c);
+            }
+        }
+    }
+
+    // Free thresholds.
+    fb_free(threshold);
+}
+
+static void image_scale(image_t *src, image_t *dst)
+{
+    int x_ratio = (int)((src->w<<16)/dst->w) +1;
+    int y_ratio = (int)((src->h<<16)/dst->h) +1;
+
+	for (int y=0; y<dst->h; y++) {
+        int sy = (y*y_ratio)>>16;
+		for (int x=0; x<dst->w; x++) {
+            int sx = (x*x_ratio)>>16;
+			((uint16_t*)dst->pixels)[y*dst->w+x] = ((uint16_t*)src->pixels)[sy*src->w+sx];
+		}
+	}
+}
+
+array_t *imlib_selective_search(image_t *src, float t, int min_size, float a1, float a2, float a3)
+{
+    int i,j;
+    int num = 0;
+    int width=0, height=0;
+    image_t *img = NULL;
+
+    fb_alloc_mark();
+
+    if ((src->w * src->h) <= (80 * 60)) {
+        img    = src;
+        width  = src->w;
+        height = src->h;
+    } else {
+        // Down scale image
+        width  = src->w / 4;
+        height = src->h / 4;
+        img = fb_alloc(sizeof(image_t), FB_ALLOC_NO_HINT);
+        img->w = width;
+        img->h = height;
+        img->pixels = fb_alloc(width * height * 2, FB_ALLOC_NO_HINT);
+        image_scale(src, img); 
+    }
+
+    // Region proposals array
+    array_t *proposals;
+    array_alloc(&proposals, xfree);
+
+    universe *u = universe_create (width * height);
+    edge *edges = (edge*) fb_alloc(width * height * sizeof(edge) * 4, FB_ALLOC_NO_HINT);
+
+    for (int y=0; y<height; y++) {
+        for (int x=0; x<width; x++) {
+            if (x < width-1) {
+                edges[num].a = y * width + x;
+                edges[num].b = y * width + (x+1);
+                edges[num].w = diff(img, x, y, x+1, y);
+                num++;
+            }
+
+            if (y < height-1) {
+                edges[num].a = y * width + x;
+                edges[num].b = (y+1) * width + x;
+                edges[num].w = diff(img, x, y, x, y+1);
+                num++;
+            }
+
+            if ((x < width-1) && (y < height-1)) {
+                edges[num].a = y * width + x;
+                edges[num].b = (y+1) * width + (x+1);
+                edges[num].w = diff(img, x, y, x+1, y+1);
+                num++;
+            }
+
+            if ((x < width-1) && (y > 0)) {
+                edges[num].a = y * width + x;
+                edges[num].b = (y-1) * width + (x+1);
+                edges[num].w = diff(img, x, y, x+1, y-1);
+                num++;
+            }
+        }
+    }
+
+    segment_graph(u, width * height, num, edges, t);
+    
+    for (i=0; i<num; i++) {
+        int a = universe_find(u, edges[i].a);
+        int b = universe_find(u, edges[i].b);
+        if ((a != b) && ((universe_size(u, a) < min_size) || (universe_size(u, b) < min_size)))
+            universe_join (u, a, b);
+    }
+
+    // Free graph edges
+    fb_free(edges);
+
+    int num_ccs = universe_num_sets(u);
+    region * regions = (region*) fb_alloc(num_ccs * sizeof(region), FB_ALLOC_NO_HINT);
+    for (i=0; i<num_ccs; i++) {
+        regions[i].x = width;
+        regions[i].w = 0;
+        regions[i].y = height;
+        regions[i].h = 0;
+    }
+
+    int next_component = 0;
+    int   *counts = (int*) fb_alloc0(num_ccs * sizeof(int), FB_ALLOC_NO_HINT);
+    int   *components= (int*) fb_alloc(num_ccs * sizeof(int), FB_ALLOC_NO_HINT);
+    float *histogram = (float*) fb_alloc0(num_ccs * sizeof(float) * 75, FB_ALLOC_NO_HINT);
+
+    // Calc histograms
+    for (int y=0; y<height; y++) {
+        for (int x = 0; x<width; x++) {
+            int component_id = -1;
+            int comp = universe_find(u, y * width + x);
+            for (i=0; i<next_component; i++) {
+                if (components[i] == comp) {
+                    component_id = i;
+                    break;
+                }
+            }
+            if (i == next_component) {
+                components[next_component] = comp;
+                component_id = next_component;
+                ++next_component;
+            }
+            universe_set_id(u, y * width + x, component_id);
+            region * r = regions + component_id;
+            r->y = min(r->y, y);
+            r->h = max(r->h, y);
+            r->x = min(r->x, x);
+            r->w = max(r->w, x);
+    
+            uint16_t p = IMAGE_GET_RGB565_PIXEL(img, x, y);
+            int r_bin = min(COLOR_RGB565_TO_R8(p), 240)/10;
+            int g_bin = min(COLOR_RGB565_TO_G8(p), 240)/10;
+            int b_bin = min(COLOR_RGB565_TO_B8(p), 240)/10;
+
+            histogram[75*component_id +  0 + r_bin]++;
+            histogram[75*component_id + 25 + g_bin]++;
+            histogram[75*component_id + 50 + b_bin]++;
+            counts[component_id]++;
+        }
+    }
+
+    // Normalize histograms
+    for (i=0; i<num_ccs; i++) {
+        float max_val = 0;
+        for (j=0; j<75; j++) {
+            max_val = max(max_val, histogram[75*i + j]);
+        }
+        for (j=0; j<75; j++) {
+            histogram[75*i + j] /= max_val;
+        }
+    }
+
+    uint8_t * adjacency = (uint8_t*) fb_alloc0(num_ccs * num_ccs * sizeof(uint8_t), FB_ALLOC_NO_HINT);
+    for (int y=0; y<height-1; ++y) {
+        for (int x=0; x<width-1; ++x) {
+            int component1 = universe_get_id(u, y * width + x);
+            int component2 = universe_get_id(u, y * width + x + 1);
+            int component3 = universe_get_id(u, y * width + x + width);
+
+            if (component1 != component2) {
+                adjacency[component1 * num_ccs + component2] = 1;
+                adjacency[component2 * num_ccs + component1] = 1;
+            }
+
+            if (component1 != component3) {
+                adjacency[component1 * num_ccs + component3] = 1;
+                adjacency[component3 * num_ccs + component1] = 1;
+            }
+        }
+    }
+
+    int size = height * width;
+    float * similarity_table = (float*) fb_alloc(num_ccs * num_ccs * sizeof(float), FB_ALLOC_NO_HINT);
+    for (i = 0; i < num_ccs; ++i) {
+        for (j = i + 1; j < num_ccs; ++j) {
+            float color_sim = a1 * color_similarity (histogram + 75 * i, histogram + 75 * j);
+            float size_sim  = a2 * size_similarity (counts[i], counts[j], size);
+            float fill_sim  = a3 * fill_similarity (regions + i, regions + j, counts[i], counts[j], size);
+            float similarity = color_sim + size_sim + fill_sim;
+            similarity_table[i * num_ccs + j] = similarity;
+            similarity_table[j * num_ccs + i] = similarity;
+        }
+    }
+
+    int remaining = num_ccs;
+    while (remaining > 1) {
+        int best_i = -1;
+        int best_j = -1;
+        float best_similarity = 0;
+        for (i=0; i<num_ccs; i++) {
+            for (j=i+1; j<num_ccs; j++) {
+                if (adjacency[i * num_ccs + j] == 0) {
+                    continue;
+                }
+                float similarity = similarity_table[i * num_ccs + j];
+                if (similarity > best_similarity) {
+                    best_similarity = similarity;
+                    best_i = i;
+                    best_j = j;
+                }
+            }
+        }
+
+        if (best_i == -1) {
+            printf("failed to build tree\n");
+            break;
+        }
+
+        // update regions, histograms, counts, adjacency, similarity
+        regions[best_i].x = min(regions[best_i].x, regions[best_j].x);
+        regions[best_i].y = min(regions[best_i].y, regions[best_j].y);
+        regions[best_i].w = max(regions[best_i].w, regions[best_j].w);
+        regions[best_i].h = max(regions[best_i].h, regions[best_j].h);
+
+        bool add = true;
+        for (i=0; i<array_length(proposals); i++) {
+            rectangle_t *r = array_at(proposals, i);
+            if (regions[best_i].x == r->x && regions[best_i].y == r->y &&
+                regions[best_i].w == r->w && regions[best_i].h == r->h) {
+                add = false;
+                break;
+            }
+        }
+        if (add) {
+            array_push_back(proposals, rectangle_alloc(regions[best_i].x,
+                        regions[best_i].y, regions[best_i].w, regions[best_i].h));
+        }
+
+
+        for (i=0; i<75; i++) {
+            histogram[75*best_i + i] = (counts[best_i] * histogram[75*best_i + i]
+                    + counts[best_j] * histogram[75*best_j + i])/(counts[best_i] + counts[best_j]);
+        }
+        counts[best_i] += counts[best_j];
+
+        for (i=0; i<num_ccs; i++) {
+            adjacency[best_i * num_ccs + i] |= adjacency[best_j * num_ccs + i];
+            adjacency[i * num_ccs + best_i] |= adjacency[i * num_ccs + best_j];
+            adjacency[best_j * num_ccs + i]  = adjacency[i * num_ccs + best_j] = 0;
+        }
+        adjacency[best_i * num_ccs + best_i]  = 0;
+
+        for (i=0; i<num_ccs; i++) {
+            if (adjacency[best_i * num_ccs + i] == 0) {
+                continue;
+            }
+            float color_sim = a1 * color_similarity (histogram + 75 * i, histogram + 75 * best_i);
+            float size_sim  = a2 * size_similarity (counts[i], counts[best_i], size);
+            float fill_sim  = a3 * fill_similarity (regions + i, regions + best_i, counts[i], counts[best_i], size);
+            float similarity = color_sim + size_sim + fill_sim;
+            similarity_table[i * num_ccs + best_i] = similarity;
+            similarity_table[best_i * num_ccs + i] = similarity;
+        }
+        --remaining;
+    }
+
+    for (int i=0; i<array_length(proposals); i++) {
+        rectangle_t *r = array_at(proposals, i);
+        r->w = r->w - r->x;
+        r->h = r->h - r->y;
+        if ((src->w * src->h) > (80 * 60)) {
+            r->x *=4;
+            r->y *=4;
+            r->w *=4;
+            r->h *=4;
+        }
+    }
+    fb_alloc_free_till_mark();
+    return proposals;
+}
+#endif //IMLIB_ENABLE_SELECTIVE_SEARCH
diff --git a/github_source/minicv2/src/sincos_tab.c b/github_source/minicv2/src/sincos_tab.c
new file mode 100644
index 0000000..73cfd9a
--- /dev/null
+++ b/github_source/minicv2/src/sincos_tab.c
@@ -0,0 +1,95 @@
+const float sin_table[360] = {
+     0.000000f,  0.017452f,  0.034899f,  0.052336f,  0.069756f,  0.087156f,  0.104528f,  0.121869f,
+     0.139173f,  0.156434f,  0.173648f,  0.190809f,  0.207912f,  0.224951f,  0.241922f,  0.258819f,
+     0.275637f,  0.292372f,  0.309017f,  0.325568f,  0.342020f,  0.358368f,  0.374607f,  0.390731f,
+     0.406737f,  0.422618f,  0.438371f,  0.453990f,  0.469472f,  0.484810f,  0.500000f,  0.515038f,
+     0.529919f,  0.544639f,  0.559193f,  0.573576f,  0.587785f,  0.601815f,  0.615661f,  0.629320f,
+     0.642788f,  0.656059f,  0.669131f,  0.681998f,  0.694658f,  0.707107f,  0.719340f,  0.731354f,
+     0.743145f,  0.754710f,  0.766044f,  0.777146f,  0.788011f,  0.798636f,  0.809017f,  0.819152f,
+     0.829038f,  0.838671f,  0.848048f,  0.857167f,  0.866025f,  0.874620f,  0.882948f,  0.891007f,
+     0.898794f,  0.906308f,  0.913545f,  0.920505f,  0.927184f,  0.933580f,  0.939693f,  0.945519f,
+     0.951057f,  0.956305f,  0.961262f,  0.965926f,  0.970296f,  0.974370f,  0.978148f,  0.981627f,
+     0.984808f,  0.987688f,  0.990268f,  0.992546f,  0.994522f,  0.996195f,  0.997564f,  0.998630f,
+     0.999391f,  0.999848f,  1.000000f,  0.999848f,  0.999391f,  0.998630f,  0.997564f,  0.996195f,
+     0.994522f,  0.992546f,  0.990268f,  0.987688f,  0.984808f,  0.981627f,  0.978148f,  0.974370f,
+     0.970296f,  0.965926f,  0.961262f,  0.956305f,  0.951057f,  0.945519f,  0.939693f,  0.933580f,
+     0.927184f,  0.920505f,  0.913545f,  0.906308f,  0.898794f,  0.891007f,  0.882948f,  0.874620f,
+     0.866025f,  0.857167f,  0.848048f,  0.838671f,  0.829038f,  0.819152f,  0.809017f,  0.798636f,
+     0.788011f,  0.777146f,  0.766044f,  0.754710f,  0.743145f,  0.731354f,  0.719340f,  0.707107f,
+     0.694658f,  0.681998f,  0.669131f,  0.656059f,  0.642788f,  0.629320f,  0.615661f,  0.601815f,
+     0.587785f,  0.573576f,  0.559193f,  0.544639f,  0.529919f,  0.515038f,  0.500000f,  0.484810f,
+     0.469472f,  0.453990f,  0.438371f,  0.422618f,  0.406737f,  0.390731f,  0.374607f,  0.358368f,
+     0.342020f,  0.325568f,  0.309017f,  0.292372f,  0.275637f,  0.258819f,  0.241922f,  0.224951f,
+     0.207912f,  0.190809f,  0.173648f,  0.156434f,  0.139173f,  0.121869f,  0.104528f,  0.087156f,
+     0.069756f,  0.052336f,  0.034899f,  0.017452f,  0.000000f, -0.017452f, -0.034899f, -0.052336f,
+    -0.069756f, -0.087156f, -0.104528f, -0.121869f, -0.139173f, -0.156434f, -0.173648f, -0.190809f,
+    -0.207912f, -0.224951f, -0.241922f, -0.258819f, -0.275637f, -0.292372f, -0.309017f, -0.325568f,
+    -0.342020f, -0.358368f, -0.374607f, -0.390731f, -0.406737f, -0.422618f, -0.438371f, -0.453990f,
+    -0.469472f, -0.484810f, -0.500000f, -0.515038f, -0.529919f, -0.544639f, -0.559193f, -0.573576f,
+    -0.587785f, -0.601815f, -0.615661f, -0.629320f, -0.642788f, -0.656059f, -0.669131f, -0.681998f,
+    -0.694658f, -0.707107f, -0.719340f, -0.731354f, -0.743145f, -0.754710f, -0.766044f, -0.777146f,
+    -0.788011f, -0.798636f, -0.809017f, -0.819152f, -0.829038f, -0.838671f, -0.848048f, -0.857167f,
+    -0.866025f, -0.874620f, -0.882948f, -0.891007f, -0.898794f, -0.906308f, -0.913545f, -0.920505f,
+    -0.927184f, -0.933580f, -0.939693f, -0.945519f, -0.951057f, -0.956305f, -0.961262f, -0.965926f,
+    -0.970296f, -0.974370f, -0.978148f, -0.981627f, -0.984808f, -0.987688f, -0.990268f, -0.992546f,
+    -0.994522f, -0.996195f, -0.997564f, -0.998630f, -0.999391f, -0.999848f, -1.000000f, -0.999848f,
+    -0.999391f, -0.998630f, -0.997564f, -0.996195f, -0.994522f, -0.992546f, -0.990268f, -0.987688f,
+    -0.984808f, -0.981627f, -0.978148f, -0.974370f, -0.970296f, -0.965926f, -0.961262f, -0.956305f,
+    -0.951057f, -0.945519f, -0.939693f, -0.933580f, -0.927184f, -0.920505f, -0.913545f, -0.906308f,
+    -0.898794f, -0.891007f, -0.882948f, -0.874620f, -0.866025f, -0.857167f, -0.848048f, -0.838671f,
+    -0.829038f, -0.819152f, -0.809017f, -0.798636f, -0.788011f, -0.777146f, -0.766044f, -0.754710f,
+    -0.743145f, -0.731354f, -0.719340f, -0.707107f, -0.694658f, -0.681998f, -0.669131f, -0.656059f,
+    -0.642788f, -0.629320f, -0.615661f, -0.601815f, -0.587785f, -0.573576f, -0.559193f, -0.544639f,
+    -0.529919f, -0.515038f, -0.500000f, -0.484810f, -0.469472f, -0.453990f, -0.438371f, -0.422618f,
+    -0.406737f, -0.390731f, -0.374607f, -0.358368f, -0.342020f, -0.325568f, -0.309017f, -0.292372f,
+    -0.275637f, -0.258819f, -0.241922f, -0.224951f, -0.207912f, -0.190809f, -0.173648f, -0.156434f,
+    -0.139173f, -0.121869f, -0.104528f, -0.087156f, -0.069756f, -0.052336f, -0.034899f, -0.017452f
+};
+
+const float cos_table[360] = {
+     1.000000f,  0.999848f,  0.999391f,  0.998630f,  0.997564f,  0.996195f,  0.994522f,  0.992546f,
+     0.990268f,  0.987688f,  0.984808f,  0.981627f,  0.978148f,  0.974370f,  0.970296f,  0.965926f,
+     0.961262f,  0.956305f,  0.951057f,  0.945519f,  0.939693f,  0.933580f,  0.927184f,  0.920505f,
+     0.913545f,  0.906308f,  0.898794f,  0.891007f,  0.882948f,  0.874620f,  0.866025f,  0.857167f,
+     0.848048f,  0.838671f,  0.829038f,  0.819152f,  0.809017f,  0.798636f,  0.788011f,  0.777146f,
+     0.766044f,  0.754710f,  0.743145f,  0.731354f,  0.719340f,  0.707107f,  0.694658f,  0.681998f,
+     0.669131f,  0.656059f,  0.642788f,  0.629320f,  0.615661f,  0.601815f,  0.587785f,  0.573576f,
+     0.559193f,  0.544639f,  0.529919f,  0.515038f,  0.500000f,  0.484810f,  0.469472f,  0.453990f,
+     0.438371f,  0.422618f,  0.406737f,  0.390731f,  0.374607f,  0.358368f,  0.342020f,  0.325568f,
+     0.309017f,  0.292372f,  0.275637f,  0.258819f,  0.241922f,  0.224951f,  0.207912f,  0.190809f,
+     0.173648f,  0.156434f,  0.139173f,  0.121869f,  0.104528f,  0.087156f,  0.069756f,  0.052336f,
+     0.034899f,  0.017452f,  0.000000f, -0.017452f, -0.034899f, -0.052336f, -0.069756f, -0.087156f,
+    -0.104528f, -0.121869f, -0.139173f, -0.156434f, -0.173648f, -0.190809f, -0.207912f, -0.224951f,
+    -0.241922f, -0.258819f, -0.275637f, -0.292372f, -0.309017f, -0.325568f, -0.342020f, -0.358368f,
+    -0.374607f, -0.390731f, -0.406737f, -0.422618f, -0.438371f, -0.453990f, -0.469472f, -0.484810f,
+    -0.500000f, -0.515038f, -0.529919f, -0.544639f, -0.559193f, -0.573576f, -0.587785f, -0.601815f,
+    -0.615661f, -0.629320f, -0.642788f, -0.656059f, -0.669131f, -0.681998f, -0.694658f, -0.707107f,
+    -0.719340f, -0.731354f, -0.743145f, -0.754710f, -0.766044f, -0.777146f, -0.788011f, -0.798636f,
+    -0.809017f, -0.819152f, -0.829038f, -0.838671f, -0.848048f, -0.857167f, -0.866025f, -0.874620f,
+    -0.882948f, -0.891007f, -0.898794f, -0.906308f, -0.913545f, -0.920505f, -0.927184f, -0.933580f,
+    -0.939693f, -0.945519f, -0.951057f, -0.956305f, -0.961262f, -0.965926f, -0.970296f, -0.974370f,
+    -0.978148f, -0.981627f, -0.984808f, -0.987688f, -0.990268f, -0.992546f, -0.994522f, -0.996195f,
+    -0.997564f, -0.998630f, -0.999391f, -0.999848f, -1.000000f, -0.999848f, -0.999391f, -0.998630f,
+    -0.997564f, -0.996195f, -0.994522f, -0.992546f, -0.990268f, -0.987688f, -0.984808f, -0.981627f,
+    -0.978148f, -0.974370f, -0.970296f, -0.965926f, -0.961262f, -0.956305f, -0.951057f, -0.945519f,
+    -0.939693f, -0.933580f, -0.927184f, -0.920505f, -0.913545f, -0.906308f, -0.898794f, -0.891007f,
+    -0.882948f, -0.874620f, -0.866025f, -0.857167f, -0.848048f, -0.838671f, -0.829038f, -0.819152f,
+    -0.809017f, -0.798636f, -0.788011f, -0.777146f, -0.766044f, -0.754710f, -0.743145f, -0.731354f,
+    -0.719340f, -0.707107f, -0.694658f, -0.681998f, -0.669131f, -0.656059f, -0.642788f, -0.629320f,
+    -0.615661f, -0.601815f, -0.587785f, -0.573576f, -0.559193f, -0.544639f, -0.529919f, -0.515038f,
+    -0.500000f, -0.484810f, -0.469472f, -0.453990f, -0.438371f, -0.422618f, -0.406737f, -0.390731f,
+    -0.374607f, -0.358368f, -0.342020f, -0.325568f, -0.309017f, -0.292372f, -0.275637f, -0.258819f,
+    -0.241922f, -0.224951f, -0.207912f, -0.190809f, -0.173648f, -0.156434f, -0.139173f, -0.121869f,
+    -0.104528f, -0.087156f, -0.069756f, -0.052336f, -0.034899f, -0.017452f, -0.000000f,  0.017452f,
+     0.034899f,  0.052336f,  0.069756f,  0.087156f,  0.104528f,  0.121869f,  0.139173f,  0.156434f,
+     0.173648f,  0.190809f,  0.207912f,  0.224951f,  0.241922f,  0.258819f,  0.275637f,  0.292372f,
+     0.309017f,  0.325568f,  0.342020f,  0.358368f,  0.374607f,  0.390731f,  0.406737f,  0.422618f,
+     0.438371f,  0.453990f,  0.469472f,  0.484810f,  0.500000f,  0.515038f,  0.529919f,  0.544639f,
+     0.559193f,  0.573576f,  0.587785f,  0.601815f,  0.615661f,  0.629320f,  0.642788f,  0.656059f,
+     0.669131f,  0.681998f,  0.694658f,  0.707107f,  0.719340f,  0.731354f,  0.743145f,  0.754710f,
+     0.766044f,  0.777146f,  0.788011f,  0.798636f,  0.809017f,  0.819152f,  0.829038f,  0.838671f,
+     0.848048f,  0.857167f,  0.866025f,  0.874620f,  0.882948f,  0.891007f,  0.898794f,  0.906308f,
+     0.913545f,  0.920505f,  0.927184f,  0.933580f,  0.939693f,  0.945519f,  0.951057f,  0.956305f,
+     0.961262f,  0.965926f,  0.970296f,  0.974370f,  0.978148f,  0.981627f,  0.984808f,  0.987688f,
+     0.990268f,  0.992546f,  0.994522f,  0.996195f,  0.997564f,  0.998630f,  0.999391f,  0.999848f
+};
diff --git a/github_source/minicv2/src/stats.c b/github_source/minicv2/src/stats.c
new file mode 100644
index 0000000..f53932b
--- /dev/null
+++ b/github_source/minicv2/src/stats.c
@@ -0,0 +1,1499 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Statistics functions.
+ */
+#include "imlib.h"
+
+#ifdef IMLIB_ENABLE_GET_SIMILARITY
+typedef struct imlib_similatiry_line_op_state {
+    int *sumBucketsOfX, *sumBucketsOfY, *sum2BucketsOfX, *sum2BucketsOfY, *sum2Buckets;
+    float similarity_sum, similarity_sum_2, similarity_min, similarity_max;
+    int lines_processed;
+} imlib_similatiry_line_op_state_t;
+
+void imlib_similarity_line_op(image_t *img, int line, void *other, void *data, bool vflipped)
+{
+    imlib_similatiry_line_op_state_t *state = (imlib_similatiry_line_op_state_t *) data; vflipped = vflipped;
+    float c1 = 0, c2 = 0;
+
+    switch (img->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(img, line);
+            uint32_t *other_row_ptr = (uint32_t *) other;
+            for (int x = 0, xx = (img->w + 7) / 8; x < xx; x++) {
+                for (int i = 0, ii = IM_MIN((img->w - (x * 8)), 8); i < ii; i++) {
+                    int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x + i);
+                    int other_pixel = IMAGE_GET_BINARY_PIXEL_FAST(other_row_ptr, x + i);
+                    state->sumBucketsOfX[x] += pixel;
+                    state->sumBucketsOfY[x] += other_pixel;
+                    state->sum2BucketsOfX[x] += pixel * pixel;
+                    state->sum2BucketsOfY[x] += other_pixel * other_pixel;
+                    state->sum2Buckets[x] += pixel * other_pixel;
+                }
+            }
+            c1 = COLOR_BINARY_MAX * 0.01f;
+            c2 = COLOR_BINARY_MAX * 0.03f;
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(img, line);
+            uint8_t *other_row_ptr = (uint8_t *) other;
+            for (int x = 0, xx = (img->w + 7) / 8; x < xx; x++) {
+                for (int i = 0, ii = IM_MIN((img->w - (x * 8)), 8); i < ii; i++) {
+                    int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x + i);
+                    int other_pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(other_row_ptr, x + i);
+                    state->sumBucketsOfX[x] += pixel;
+                    state->sumBucketsOfY[x] += other_pixel;
+                    state->sum2BucketsOfX[x] += pixel * pixel;
+                    state->sum2BucketsOfY[x] += other_pixel * other_pixel;
+                    state->sum2Buckets[x] += pixel * other_pixel;
+                }
+            }
+            c1 = COLOR_GRAYSCALE_MAX * 0.01f;
+            c2 = COLOR_GRAYSCALE_MAX * 0.03f;
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(img, line);
+            uint16_t *other_row_ptr = (uint16_t *) other;
+            for (int x = 0, xx = (img->w + 7) / 8; x < xx; x++) {
+                for (int i = 0, ii = IM_MIN((img->w - (x * 8)), 8); i < ii; i++) {
+                    int pixel = COLOR_RGB565_TO_L(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x + i));
+                    int other_pixel = COLOR_RGB565_TO_L(IMAGE_GET_RGB565_PIXEL_FAST(other_row_ptr, x + i));
+                    state->sumBucketsOfX[x] += pixel;
+                    state->sumBucketsOfY[x] += other_pixel;
+                    state->sum2BucketsOfX[x] += pixel * pixel;
+                    state->sum2BucketsOfY[x] += other_pixel * other_pixel;
+                    state->sum2Buckets[x] += pixel * other_pixel;
+                }
+            }
+            c1 = COLOR_L_MAX * 0.01f;
+            c2 = COLOR_L_MAX * 0.03f;
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(img, line);
+            pixel24_t *other_row_ptr = (pixel24_t *) other;
+            for (int x = 0, xx = (img->w + 7) / 8; x < xx; x++) {
+                for (int i = 0, ii = IM_MIN((img->w - (x * 8)), 8); i < ii; i++) {
+                    int pixel = COLOR_RGB888_TO_L(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x + i));
+                    int other_pixel = COLOR_RGB888_TO_L(IMAGE_GET_RGB888_PIXEL_FAST(other_row_ptr, x + i));
+                    state->sumBucketsOfX[x] += pixel;
+                    state->sumBucketsOfY[x] += other_pixel;
+                    state->sum2BucketsOfX[x] += pixel * pixel;
+                    state->sum2BucketsOfY[x] += other_pixel * other_pixel;
+                    state->sum2Buckets[x] += pixel * other_pixel;
+                }
+            }
+            c1 = COLOR_L_MAX * 0.01f;
+            c2 = COLOR_L_MAX * 0.03f;
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+
+    // https://en.wikipedia.org/wiki/Structural_similarity
+    if (((state->lines_processed + 1) == img->h) || (!((state->lines_processed + 1) % 8))) {
+        for (int x = 0, xx = (img->w + 7) / 8; x < xx; x++) {
+            int w = IM_MIN((img->w - (x * 8)), 8);
+            int h = IM_MIN((img->h - ((state->lines_processed / 8) * 8)), 8);
+            int size = w * h;
+
+            int mx = state->sumBucketsOfX[x] / size;
+            int my = state->sumBucketsOfY[x] / size;
+            int vx = state->sum2BucketsOfX[x] - ((mx * state->sumBucketsOfX[x]) + (mx * state->sumBucketsOfX[x])) + (size * mx * mx);
+            int vy = state->sum2BucketsOfY[x] - ((my * state->sumBucketsOfY[x]) + (my * state->sumBucketsOfY[x])) + (size * my * my);
+            int vxy = state->sum2Buckets[x] - ((mx * state->sumBucketsOfY[x]) + (my * state->sumBucketsOfX[x])) + (size * mx * my);
+
+            float ssim = ( ((2*mx*my) + c1) * ((2*vxy) + c2) ) / ( ((mx*mx) + (my*my) + c1) * (vx + vy + c2) );
+
+            state->similarity_sum += ssim;
+            state->similarity_sum_2 += ssim * ssim;
+            state->similarity_min = IM_MIN(state->similarity_min, ssim);
+            state->similarity_max = IM_MAX(state->similarity_max, ssim);
+
+            state->sumBucketsOfX[x] = 0;
+            state->sumBucketsOfY[x] = 0;
+            state->sum2BucketsOfX[x] = 0;
+            state->sum2BucketsOfY[x] = 0;
+            state->sum2Buckets[x] = 0;
+        }
+    }
+
+    state->lines_processed += 1;
+}
+
+void imlib_get_similarity(image_t *img, const char *path, image_t *other, int scalar, float *avg, float *std, float *min, float *max)
+{
+    int h_blocks = (img->w + 7) / 8;
+    int v_blocks = (img->h + 7) / 8;
+    int blocks = h_blocks * v_blocks;
+
+    int int_h_blocks = h_blocks * sizeof(int);
+    imlib_similatiry_line_op_state_t state;
+    state.sumBucketsOfX = fb_alloc0(int_h_blocks, FB_ALLOC_NO_HINT);
+    state.sumBucketsOfY = fb_alloc0(int_h_blocks, FB_ALLOC_NO_HINT);
+    state.sum2BucketsOfX = fb_alloc0(int_h_blocks, FB_ALLOC_NO_HINT);
+    state.sum2BucketsOfY = fb_alloc0(int_h_blocks, FB_ALLOC_NO_HINT);
+    state.sum2Buckets = fb_alloc0(int_h_blocks, FB_ALLOC_NO_HINT);
+    state.similarity_sum = 0.0f;
+    state.similarity_sum_2 = 0.0f;
+    state.similarity_min = FLT_MAX;
+    state.similarity_max = -FLT_MAX;
+    state.lines_processed = 0;
+
+    imlib_image_operation(img, path, other, scalar, imlib_similarity_line_op, &state);
+    *avg = state.similarity_sum / blocks;
+    *std = fast_sqrtf((state.similarity_sum_2 / blocks) - ((*avg) * (*avg)));
+    *min = state.similarity_min;
+    *max = state.similarity_max;
+
+    fb_free(state.sum2Buckets);
+    fb_free(state.sum2BucketsOfY);
+    fb_free(state.sum2BucketsOfX);
+    fb_free(state.sumBucketsOfY);
+    fb_free(state.sumBucketsOfX);
+}
+#endif //IMLIB_ENABLE_GET_SIMILARITY
+
+void imlib_get_histogram(histogram_t *out, image_t *ptr, rectangle_t *roi, list_t *thresholds, bool invert, image_t *other)
+{
+    switch (ptr->pixfmt) {
+        case PIXFORMAT_BINARY: {
+            memset(out->LBins, 0, out->LBinCount * sizeof(uint32_t));
+
+            int pixel_count = roi->w * roi->h;
+            float mult = (out->LBinCount - 1) / ((float) (COLOR_BINARY_MAX - COLOR_BINARY_MIN));
+
+            if ((!thresholds) || (!list_size(thresholds))) {
+                // Fast histogram code when no color thresholds list...
+                if (!other) {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x);
+                            ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_BINARY_MIN) * mult)]++; // needs to be roundf
+                        }
+                    }
+                } else {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(other, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x) ^ IMAGE_GET_BINARY_PIXEL_FAST(other_row_ptr, x);
+                            ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_BINARY_MIN) * mult)]++; // needs to be roundf
+                        }
+                    }
+                }
+            } else {
+                // Reset pixel count.
+                pixel_count = 0;
+                if (!other) {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x);
+                                if (COLOR_THRESHOLD_BINARY(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_BINARY_MIN) * mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                } else {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(other, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x) ^ IMAGE_GET_BINARY_PIXEL_FAST(other_row_ptr, x);
+                                if (COLOR_THRESHOLD_BINARY(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_BINARY_MIN) * mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            float pixels = IM_DIV(1, ((float) pixel_count));
+
+            for (int i = 0, j = out->LBinCount; i < j; i++) {
+                out->LBins[i] = ((uint32_t *) out->LBins)[i] * pixels;
+            }
+
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            memset(out->LBins, 0, out->LBinCount * sizeof(uint32_t));
+
+            int pixel_count = roi->w * roi->h;
+            float mult = (out->LBinCount - 1) / ((float) (COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN));
+
+            if ((!thresholds) || (!list_size(thresholds))) {
+                // Fast histogram code when no color thresholds list...
+                if (!other) {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                            ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_GRAYSCALE_MIN) * mult)]++; // needs to be roundf
+                        }
+                    }
+                } else {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(other, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = abs(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x) - IMAGE_GET_GRAYSCALE_PIXEL_FAST(other_row_ptr, x));
+                            ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_GRAYSCALE_MIN) * mult)]++; // needs to be roundf
+                        }
+                    }
+                }
+            } else {
+                // Reset pixel count.
+                pixel_count = 0;
+                if (!other) {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x);
+                                if (COLOR_THRESHOLD_GRAYSCALE(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_GRAYSCALE_MIN) * mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                } else {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(other, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = abs(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x) - IMAGE_GET_GRAYSCALE_PIXEL_FAST(other_row_ptr, x));
+                                if (COLOR_THRESHOLD_GRAYSCALE(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((pixel - COLOR_GRAYSCALE_MIN) * mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            float pixels = IM_DIV(1, ((float) pixel_count));
+
+            for (int i = 0, j = out->LBinCount; i < j; i++) {
+                out->LBins[i] = ((uint32_t *) out->LBins)[i] * pixels;
+            }
+
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            memset(out->LBins, 0, out->LBinCount * sizeof(uint32_t));
+            memset(out->ABins, 0, out->ABinCount * sizeof(uint32_t));
+            memset(out->BBins, 0, out->BBinCount * sizeof(uint32_t));
+
+            int pixel_count = roi->w * roi->h;
+            float l_mult = (out->LBinCount - 1) / ((float) (COLOR_L_MAX - COLOR_L_MIN));
+            float a_mult = (out->ABinCount - 1) / ((float) (COLOR_A_MAX - COLOR_A_MIN));
+            float b_mult = (out->BBinCount - 1) / ((float) (COLOR_B_MAX - COLOR_B_MIN));
+
+            if ((!thresholds) || (!list_size(thresholds))) {
+                // Fast histogram code when no color thresholds list...
+                if (!other) {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x);
+                            ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB565_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB565_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB565_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                        }
+                    }
+                } else {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(other, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x), other_pixel = IMAGE_GET_RGB565_PIXEL_FAST(other_row_ptr, x);
+                            int r = abs(COLOR_RGB565_TO_R5(pixel) - COLOR_RGB565_TO_R5(other_pixel));
+                            int g = abs(COLOR_RGB565_TO_G6(pixel) - COLOR_RGB565_TO_G6(other_pixel));
+                            int b = abs(COLOR_RGB565_TO_B5(pixel) - COLOR_RGB565_TO_B5(other_pixel));
+                            pixel = COLOR_R5_G6_B5_TO_RGB565(r, g, b);
+                            ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB565_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB565_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB565_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                        }
+                    }
+                }
+            } else {
+                // Reset pixel count.
+                pixel_count = 0;
+                if (!other) {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x);
+                                if (COLOR_THRESHOLD_RGB565(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB565_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB565_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB565_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                } else {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(other, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x), other_pixel = IMAGE_GET_RGB565_PIXEL_FAST(other_row_ptr, x);
+                                int r = abs(COLOR_RGB565_TO_R5(pixel) - COLOR_RGB565_TO_R5(other_pixel));
+                                int g = abs(COLOR_RGB565_TO_G6(pixel) - COLOR_RGB565_TO_G6(other_pixel));
+                                int b = abs(COLOR_RGB565_TO_B5(pixel) - COLOR_RGB565_TO_B5(other_pixel));
+                                pixel = COLOR_R5_G6_B5_TO_RGB565(r, g, b);
+                                if (COLOR_THRESHOLD_RGB565(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB565_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB565_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB565_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            float pixels = IM_DIV(1, ((float) pixel_count));
+
+            for (int i = 0, j = out->LBinCount; i < j; i++) {
+                out->LBins[i] = ((uint32_t *) out->LBins)[i] * pixels;
+            }
+
+            for (int i = 0, j = out->ABinCount; i < j; i++) {
+                out->ABins[i] = ((uint32_t *) out->ABins)[i] * pixels;
+            }
+
+            for (int i = 0, j = out->BBinCount; i < j; i++) {
+                out->BBins[i] = ((uint32_t *) out->BBins)[i] * pixels;
+            }
+
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            memset(out->LBins, 0, out->LBinCount * sizeof(uint32_t));
+            memset(out->ABins, 0, out->ABinCount * sizeof(uint32_t));
+            memset(out->BBins, 0, out->BBinCount * sizeof(uint32_t));
+
+            int pixel_count = roi->w * roi->h;
+            float l_mult = (out->LBinCount - 1) / ((float) (COLOR_L_MAX - COLOR_L_MIN));
+            float a_mult = (out->ABinCount - 1) / ((float) (COLOR_A_MAX - COLOR_A_MIN));
+            float b_mult = (out->BBinCount - 1) / ((float) (COLOR_B_MAX - COLOR_B_MIN));
+
+            if ((!thresholds) || (!list_size(thresholds))) {
+                // Fast histogram code when no color thresholds list...
+                if (!other) {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x);
+                            ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB888_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB888_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB888_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                        }
+                    }
+                } else {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                        pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(other, y);
+                        for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                            int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x), other_pixel = IMAGE_GET_RGB888_PIXEL_FAST(other_row_ptr, x);
+                            int r = abs(COLOR_RGB888_TO_R8(pixel) - COLOR_RGB888_TO_R8(other_pixel));
+                            int g = abs(COLOR_RGB888_TO_G8(pixel) - COLOR_RGB888_TO_G8(other_pixel));
+                            int b = abs(COLOR_RGB888_TO_B8(pixel) - COLOR_RGB888_TO_B8(other_pixel));
+                            pixel = COLOR_R8_G8_B8_TO_RGB888(r, g, b);
+                            ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB888_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB888_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                            ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB888_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                        }
+                    }
+                }
+            } else {
+                // Reset pixel count.
+                pixel_count = 0;
+                if (!other) {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x);
+                                if (COLOR_THRESHOLD_RGB888(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB888_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB888_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB888_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                } else {
+                    for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                        color_thresholds_list_lnk_data_t lnk_data;
+                        iterator_get(thresholds, it, &lnk_data);
+
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y++) {
+                            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y), *other_row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(other, y);
+                            for (int x = roi->x, xx = roi->x + roi->w; x < xx; x++) {
+                                int pixel = IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x), other_pixel = IMAGE_GET_RGB888_PIXEL_FAST(other_row_ptr, x);
+                                int r = abs(COLOR_RGB888_TO_R8(pixel) - COLOR_RGB888_TO_R8(other_pixel));
+                                int g = abs(COLOR_RGB888_TO_G8(pixel) - COLOR_RGB888_TO_G8(other_pixel));
+                                int b = abs(COLOR_RGB888_TO_B8(pixel) - COLOR_RGB888_TO_B8(other_pixel));
+                                pixel = COLOR_R8_G8_B8_TO_RGB888(r, g, b);
+                                if (COLOR_THRESHOLD_RGB888(pixel, &lnk_data, invert)) {
+                                    ((uint32_t *) out->LBins)[fast_roundf((COLOR_RGB888_TO_L(pixel) - COLOR_L_MIN) * l_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->ABins)[fast_roundf((COLOR_RGB888_TO_A(pixel) - COLOR_A_MIN) * a_mult)]++; // needs to be roundf
+                                    ((uint32_t *) out->BBins)[fast_roundf((COLOR_RGB888_TO_B(pixel) - COLOR_B_MIN) * b_mult)]++; // needs to be roundf
+                                    pixel_count++;
+                                }
+                            }
+                        }
+                    }
+                }
+            }
+
+            float pixels = IM_DIV(1, ((float) pixel_count));
+
+            for (int i = 0, j = out->LBinCount; i < j; i++) {
+                out->LBins[i] = ((uint32_t *) out->LBins)[i] * pixels;
+            }
+
+            for (int i = 0, j = out->ABinCount; i < j; i++) {
+                out->ABins[i] = ((uint32_t *) out->ABins)[i] * pixels;
+            }
+
+            for (int i = 0, j = out->BBinCount; i < j; i++) {
+                out->BBins[i] = ((uint32_t *) out->BBins)[i] * pixels;
+            }
+
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_get_percentile(percentile_t *out, pixformat_t pixfmt, histogram_t *ptr, float percentile)
+{
+    memset(out, 0, sizeof(percentile_t));
+    switch (pixfmt) {
+        case PIXFORMAT_BINARY: {
+            float mult = (COLOR_BINARY_MAX - COLOR_BINARY_MIN) / ((float) (ptr->LBinCount - 1));
+            float median_count = 0;
+
+            for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                if ((median_count < percentile) && (percentile <= (median_count + ptr->LBins[i]))) {
+                    out->LValue = fast_floorf((i * mult) + COLOR_BINARY_MIN);
+                    break;
+                }
+
+                median_count += ptr->LBins[i];
+            }
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            float mult = (COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN) / ((float) (ptr->LBinCount - 1));
+            float median_count = 0;
+
+            for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                if ((median_count < percentile) && (percentile <= (median_count + ptr->LBins[i]))) {
+                    out->LValue = fast_floorf((i * mult) + COLOR_GRAYSCALE_MIN);
+                    break;
+                }
+
+                median_count += ptr->LBins[i];
+            }
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            {
+                float mult = (COLOR_L_MAX - COLOR_L_MIN) / ((float) (ptr->LBinCount - 1));
+                float median_count = 0;
+
+                for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                    if ((median_count < percentile) && (percentile <= (median_count + ptr->LBins[i]))) {
+                        out->LValue = fast_floorf((i * mult) + COLOR_L_MIN);
+                        break;
+                    }
+
+                    median_count += ptr->LBins[i];
+                }
+            }
+            {
+                float mult = (COLOR_A_MAX - COLOR_A_MIN) / ((float) (ptr->ABinCount - 1));
+                float median_count = 0;
+
+                for (int i = 0, j = ptr->ABinCount; i < j; i++) {
+                    if ((median_count < percentile) && (percentile <= (median_count + ptr->ABins[i]))) {
+                        out->AValue = fast_floorf((i * mult) + COLOR_A_MIN);
+                        break;
+                    }
+
+                    median_count += ptr->ABins[i];
+                }
+            }
+            {
+                float mult = (COLOR_B_MAX - COLOR_B_MIN) / ((float) (ptr->BBinCount - 1));
+                float median_count = 0;
+
+                for (int i = 0, j = ptr->BBinCount; i < j; i++) {
+                    if ((median_count < percentile) && (percentile <= (median_count + ptr->BBins[i]))) {
+                        out->BValue = fast_floorf((i * mult) + COLOR_B_MIN);
+                        break;
+                    }
+
+                    median_count += ptr->BBins[i];
+                }
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            {
+                float mult = (COLOR_L_MAX - COLOR_L_MIN) / ((float) (ptr->LBinCount - 1));
+                float median_count = 0;
+
+                for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                    if ((median_count < percentile) && (percentile <= (median_count + ptr->LBins[i]))) {
+                        out->LValue = fast_floorf((i * mult) + COLOR_L_MIN);
+                        break;
+                    }
+
+                    median_count += ptr->LBins[i];
+                }
+            }
+            {
+                float mult = (COLOR_A_MAX - COLOR_A_MIN) / ((float) (ptr->ABinCount - 1));
+                float median_count = 0;
+
+                for (int i = 0, j = ptr->ABinCount; i < j; i++) {
+                    if ((median_count < percentile) && (percentile <= (median_count + ptr->ABins[i]))) {
+                        out->AValue = fast_floorf((i * mult) + COLOR_A_MIN);
+                        break;
+                    }
+
+                    median_count += ptr->ABins[i];
+                }
+            }
+            {
+                float mult = (COLOR_B_MAX - COLOR_B_MIN) / ((float) (ptr->BBinCount - 1));
+                float median_count = 0;
+
+                for (int i = 0, j = ptr->BBinCount; i < j; i++) {
+                    if ((median_count < percentile) && (percentile <= (median_count + ptr->BBins[i]))) {
+                        out->BValue = fast_floorf((i * mult) + COLOR_B_MIN);
+                        break;
+                    }
+
+                    median_count += ptr->BBins[i];
+                }
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+static int ostu(int bincount, float *bins)
+{
+    float cdf[bincount]; memset(cdf, 0, bincount * sizeof(float));
+    float weighted_cdf[bincount]; memset(weighted_cdf, 0, bincount * sizeof(float));
+
+    cdf[0] = bins[0];
+    weighted_cdf[0] = 0 * bins[0];
+
+    for (int i = 1; i < bincount; i++) {
+        cdf[i] = cdf[i - 1] + bins[i];
+        weighted_cdf[i] = weighted_cdf[i - 1] + (i * bins[i]);
+    }
+
+    float variance[bincount]; memset(variance, 0, bincount * sizeof(float));
+    float max_variance = 0.0f;
+    int threshold = 0;
+
+    for (int i = 0, ii = bincount - 1; i < ii; i++) {
+
+        if ((cdf[i] != 0.0f) && (cdf[i] != 1.0f)) {
+            variance[i] = powf((cdf[i] * weighted_cdf[bincount - 1]) - weighted_cdf[i], 2.0f) / (cdf[i] * (1.0f - cdf[i]));
+        } else {
+            variance[i] = 0.0f;
+        }
+
+        if (variance[i] > max_variance) {
+            max_variance = variance[i];
+            threshold = i;
+        }
+    }
+
+    return threshold;
+}
+
+void imlib_get_threshold(threshold_t *out, pixformat_t pixfmt, histogram_t *ptr)
+{
+    memset(out, 0, sizeof(threshold_t));
+    switch (pixfmt) {
+        case PIXFORMAT_BINARY: {
+            out->LValue = (ostu(ptr->LBinCount, ptr->LBins) * (COLOR_BINARY_MAX - COLOR_BINARY_MIN)) / (ptr->LBinCount - 1);
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            out->LValue = (ostu(ptr->LBinCount, ptr->LBins) * (COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN)) / (ptr->LBinCount - 1);
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            out->LValue = (ostu(ptr->LBinCount, ptr->LBins) * (COLOR_L_MAX - COLOR_L_MIN)) / (ptr->LBinCount - 1);
+            out->AValue = (ostu(ptr->ABinCount, ptr->ABins) * (COLOR_A_MAX - COLOR_A_MIN)) / (ptr->ABinCount - 1);
+            out->BValue = (ostu(ptr->BBinCount, ptr->BBins) * (COLOR_B_MAX - COLOR_B_MIN)) / (ptr->BBinCount - 1);
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            out->LValue = (ostu(ptr->LBinCount, ptr->LBins) * (COLOR_L_MAX - COLOR_L_MIN)) / (ptr->LBinCount - 1);
+            out->AValue = (ostu(ptr->ABinCount, ptr->ABins) * (COLOR_A_MAX - COLOR_A_MIN)) / (ptr->ABinCount - 1);
+            out->BValue = (ostu(ptr->BBinCount, ptr->BBins) * (COLOR_B_MAX - COLOR_B_MIN)) / (ptr->BBinCount - 1);
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+void imlib_get_statistics(statistics_t *out, pixformat_t pixfmt, histogram_t *ptr)
+{
+    memset(out, 0, sizeof(statistics_t));
+    switch (pixfmt) {
+        case PIXFORMAT_BINARY: {
+            float mult = (COLOR_BINARY_MAX - COLOR_BINARY_MIN) / ((float) (ptr->LBinCount - 1));
+
+            float avg = 0;
+            float stdev = 0;
+            float median_count = 0;
+            float mode_count = 0;
+            bool min_flag = false;
+
+            for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                float value_f = (i * mult) + COLOR_BINARY_MIN;
+                int value = fast_floorf(value_f);
+
+                avg += value_f * ptr->LBins[i];
+                stdev += value_f * value_f * ptr->LBins[i];
+
+                if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->LBins[i]))) {
+                    out->LLQ = value;
+                }
+
+                if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->LBins[i]))) {
+                    out->LMedian = value;
+                }
+
+                if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->LBins[i]))) {
+                    out->LUQ = value;
+                }
+
+                if (ptr->LBins[i] > mode_count) {
+                    mode_count = ptr->LBins[i];
+                    out->LMode = value;
+                }
+
+                if ((ptr->LBins[i] > 0.0f) && (!min_flag)) {
+                    min_flag = true;
+                    out->LMin = value;
+                }
+
+                if (ptr->LBins[i] > 0.0f) {
+                    out->LMax = value;
+                }
+
+                median_count += ptr->LBins[i];
+            }
+
+            out->LMean = fast_floorf(avg);
+            out->LSTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            break;
+        }
+        case PIXFORMAT_GRAYSCALE: {
+            float mult = (COLOR_GRAYSCALE_MAX - COLOR_GRAYSCALE_MIN) / ((float) (ptr->LBinCount - 1));
+
+            float avg = 0;
+            float stdev = 0;
+            float median_count = 0;
+            float mode_count = 0;
+            bool min_flag = false;
+
+            for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                float value_f = (i * mult) + COLOR_GRAYSCALE_MIN;
+                int value = fast_floorf(value_f);
+
+                avg += value_f * ptr->LBins[i];
+                stdev += value_f * value_f * ptr->LBins[i];
+
+                if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->LBins[i]))) {
+                    out->LLQ = value;
+                }
+
+                if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->LBins[i]))) {
+                    out->LMedian = value;
+                }
+
+                if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->LBins[i]))) {
+                    out->LUQ = value;
+                }
+
+                if (ptr->LBins[i] > mode_count) {
+                    mode_count = ptr->LBins[i];
+                    out->LMode = value;
+                }
+
+                if ((ptr->LBins[i] > 0.0f) && (!min_flag)) {
+                    min_flag = true;
+                    out->LMin = value;
+                }
+
+                if (ptr->LBins[i] > 0.0f) {
+                    out->LMax = value;
+                }
+
+                median_count += ptr->LBins[i];
+            }
+
+            out->LMean = fast_floorf(avg);
+            out->LSTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            break;
+        }
+        case PIXFORMAT_RGB565: {
+            {
+                float mult = (COLOR_L_MAX - COLOR_L_MIN) / ((float) (ptr->LBinCount - 1));
+
+                float avg = 0;
+                float stdev = 0;
+                float median_count = 0;
+                float mode_count = 0;
+                bool min_flag = false;
+
+                for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                    float value_f = (i * mult) + COLOR_L_MIN;
+                    int value = fast_floorf(value_f);
+
+                    avg += value_f * ptr->LBins[i];
+                    stdev += value_f * value_f * ptr->LBins[i];
+
+                    if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->LBins[i]))) {
+                        out->LLQ = value;
+                    }
+
+                    if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->LBins[i]))) {
+                        out->LMedian = value;
+                    }
+
+                    if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->LBins[i]))) {
+                        out->LUQ = value;
+                    }
+
+                    if (ptr->LBins[i] > mode_count) {
+                        mode_count = ptr->LBins[i];
+                        out->LMode = value;
+                    }
+
+                    if ((ptr->LBins[i] > 0.0f) && (!min_flag)) {
+                        min_flag = true;
+                        out->LMin = value;
+                    }
+
+                    if (ptr->LBins[i] > 0.0f) {
+                        out->LMax = value;
+                    }
+
+                    median_count += ptr->LBins[i];
+                }
+
+                out->LMean = fast_floorf(avg);
+                out->LSTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            }
+            {
+                float mult = (COLOR_A_MAX - COLOR_A_MIN) / ((float) (ptr->ABinCount - 1));
+
+                float avg = 0;
+                float stdev = 0;
+                float median_count = 0;
+                float mode_count = 0;
+                bool min_flag = false;
+
+                for (int i = 0, j = ptr->ABinCount; i < j; i++) {
+                    float value_f = (i * mult) + COLOR_A_MIN;
+                    int value = fast_floorf(value_f);
+
+                    avg += value_f * ptr->ABins[i];
+                    stdev += value_f * value_f * ptr->ABins[i];
+
+                    if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->ABins[i]))) {
+                        out->ALQ = value;
+                    }
+
+                    if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->ABins[i]))) {
+                        out->AMedian = value;
+                    }
+
+                    if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->ABins[i]))) {
+                        out->AUQ = value;
+                    }
+
+                    if (ptr->ABins[i] > mode_count) {
+                        mode_count = ptr->ABins[i];
+                        out->AMode = value;
+                    }
+
+                    if ((ptr->ABins[i] > 0.0f) && (!min_flag)) {
+                        min_flag = true;
+                        out->AMin = value;
+                    }
+
+                    if (ptr->ABins[i] > 0.0f) {
+                        out->AMax = value;
+                    }
+
+                    median_count += ptr->ABins[i];
+                }
+
+                out->AMean = fast_floorf(avg);
+                out->ASTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            }
+            {
+                float mult = (COLOR_B_MAX - COLOR_B_MIN) / ((float) (ptr->BBinCount - 1));
+
+                float avg = 0;
+                float stdev = 0;
+                float median_count = 0;
+                float mode_count = 0;
+                bool min_flag = false;
+
+                for (int i = 0, j = ptr->BBinCount; i < j; i++) {
+                    float value_f = (i * mult) + COLOR_B_MIN;
+                    int value = fast_floorf(value_f);
+
+                    avg += value_f * ptr->BBins[i];
+                    stdev += value_f * value_f * ptr->BBins[i];
+
+                    if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->BBins[i]))) {
+                        out->BLQ = value;
+                    }
+
+                    if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->BBins[i]))) {
+                        out->BMedian = value;
+                    }
+
+                    if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->BBins[i]))) {
+                        out->BUQ = value;
+                    }
+
+                    if (ptr->BBins[i] > mode_count) {
+                        mode_count = ptr->BBins[i];
+                        out->BMode = value;
+                    }
+
+                    if ((ptr->BBins[i] > 0.0f) && (!min_flag)) {
+                        min_flag = true;
+                        out->BMin = value;
+                    }
+
+                    if (ptr->BBins[i] > 0.0f) {
+                        out->BMax = value;
+                    }
+
+                    median_count += ptr->BBins[i];
+                }
+
+                out->BMean = fast_floorf(avg);
+                out->BSTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            }
+            break;
+        }
+        case PIXFORMAT_RGB888: {
+            {
+                float mult = (COLOR_L_MAX - COLOR_L_MIN) / ((float) (ptr->LBinCount - 1));
+
+                float avg = 0;
+                float stdev = 0;
+                float median_count = 0;
+                float mode_count = 0;
+                bool min_flag = false;
+
+                for (int i = 0, j = ptr->LBinCount; i < j; i++) {
+                    float value_f = (i * mult) + COLOR_L_MIN;
+                    int value = fast_floorf(value_f);
+
+                    avg += value_f * ptr->LBins[i];
+                    stdev += value_f * value_f * ptr->LBins[i];
+
+                    if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->LBins[i]))) {
+                        out->LLQ = value;
+                    }
+
+                    if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->LBins[i]))) {
+                        out->LMedian = value;
+                    }
+
+                    if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->LBins[i]))) {
+                        out->LUQ = value;
+                    }
+
+                    if (ptr->LBins[i] > mode_count) {
+                        mode_count = ptr->LBins[i];
+                        out->LMode = value;
+                    }
+
+                    if ((ptr->LBins[i] > 0.0f) && (!min_flag)) {
+                        min_flag = true;
+                        out->LMin = value;
+                    }
+
+                    if (ptr->LBins[i] > 0.0f) {
+                        out->LMax = value;
+                    }
+
+                    median_count += ptr->LBins[i];
+                }
+
+                out->LMean = fast_floorf(avg);
+                out->LSTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            }
+            {
+                float mult = (COLOR_A_MAX - COLOR_A_MIN) / ((float) (ptr->ABinCount - 1));
+
+                float avg = 0;
+                float stdev = 0;
+                float median_count = 0;
+                float mode_count = 0;
+                bool min_flag = false;
+
+                for (int i = 0, j = ptr->ABinCount; i < j; i++) {
+                    float value_f = (i * mult) + COLOR_A_MIN;
+                    int value = fast_floorf(value_f);
+
+                    avg += value_f * ptr->ABins[i];
+                    stdev += value_f * value_f * ptr->ABins[i];
+
+                    if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->ABins[i]))) {
+                        out->ALQ = value;
+                    }
+
+                    if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->ABins[i]))) {
+                        out->AMedian = value;
+                    }
+
+                    if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->ABins[i]))) {
+                        out->AUQ = value;
+                    }
+
+                    if (ptr->ABins[i] > mode_count) {
+                        mode_count = ptr->ABins[i];
+                        out->AMode = value;
+                    }
+
+                    if ((ptr->ABins[i] > 0.0f) && (!min_flag)) {
+                        min_flag = true;
+                        out->AMin = value;
+                    }
+
+                    if (ptr->ABins[i] > 0.0f) {
+                        out->AMax = value;
+                    }
+
+                    median_count += ptr->ABins[i];
+                }
+
+                out->AMean = fast_floorf(avg);
+                out->ASTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            }
+            {
+                float mult = (COLOR_B_MAX - COLOR_B_MIN) / ((float) (ptr->BBinCount - 1));
+
+                float avg = 0;
+                float stdev = 0;
+                float median_count = 0;
+                float mode_count = 0;
+                bool min_flag = false;
+
+                for (int i = 0, j = ptr->BBinCount; i < j; i++) {
+                    float value_f = (i * mult) + COLOR_B_MIN;
+                    int value = fast_floorf(value_f);
+
+                    avg += value_f * ptr->BBins[i];
+                    stdev += value_f * value_f * ptr->BBins[i];
+
+                    if ((median_count < 0.25f) && (0.25f <= (median_count + ptr->BBins[i]))) {
+                        out->BLQ = value;
+                    }
+
+                    if ((median_count < 0.5f) && (0.5f <= (median_count + ptr->BBins[i]))) {
+                        out->BMedian = value;
+                    }
+
+                    if ((median_count < 0.75f) && (0.75f <= (median_count + ptr->BBins[i]))) {
+                        out->BUQ = value;
+                    }
+
+                    if (ptr->BBins[i] > mode_count) {
+                        mode_count = ptr->BBins[i];
+                        out->BMode = value;
+                    }
+
+                    if ((ptr->BBins[i] > 0.0f) && (!min_flag)) {
+                        min_flag = true;
+                        out->BMin = value;
+                    }
+
+                    if (ptr->BBins[i] > 0.0f) {
+                        out->BMax = value;
+                    }
+
+                    median_count += ptr->BBins[i];
+                }
+
+                out->BMean = fast_floorf(avg);
+                out->BSTDev = fast_floorf(fast_sqrtf(stdev - (avg * avg)));
+            }
+            break;
+        }
+        default: {
+            break;
+        }
+    }
+}
+
+static int get_median(int *array, int array_sum, int array_len)
+{
+    const int median_threshold = (array_sum + 1) / 2;
+    int median_count = 0;
+
+    for (int i = 0; i < array_len; i++) {
+        if ((median_count < median_threshold) && (median_threshold <= (median_count + array[i]))) return i;
+        median_count += array[i];
+    }
+
+    return array_len - 1;
+}
+
+static int get_median_l(long long *array, long long array_sum, int array_len)
+{
+    const long long median_threshold = (array_sum + 1) / 2;
+    long long median_count = 0;
+
+    for (int i = 0; i < array_len; i++) {
+        if ((median_count < median_threshold) && (median_threshold <= (median_count + array[i]))) return i;
+        median_count += array[i];
+    }
+
+    return array_len - 1;
+}
+
+bool imlib_get_regression(find_lines_list_lnk_data_t *out, image_t *ptr, rectangle_t *roi, unsigned int x_stride, unsigned int y_stride,
+                          list_t *thresholds, bool invert, unsigned int area_threshold, unsigned int pixels_threshold, bool robust)
+{
+    bool result = false;
+    memset(out, 0, sizeof(find_lines_list_lnk_data_t));
+
+    if (!robust) { // Least Squares
+        int blob_x1 = roi->x + roi->w - 1;
+        int blob_y1 = roi->y + roi->h - 1;
+        int blob_x2 = roi->x;
+        int blob_y2 = roi->y;
+        int blob_pixels = 0;
+        int blob_cx = 0;
+        int blob_cy = 0;
+        long long blob_a = 0;
+        long long blob_b = 0;
+        long long blob_c = 0;
+
+        for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+            color_thresholds_list_lnk_data_t lnk_data;
+            iterator_get(thresholds, it, &lnk_data);
+
+            switch (ptr->pixfmt) {
+                case PIXFORMAT_BINARY: {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride) {
+                        uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride) {
+                            if (COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                                blob_x1 = IM_MIN(blob_x1, x);
+                                blob_y1 = IM_MIN(blob_y1, y);
+                                blob_x2 = IM_MAX(blob_x2, x);
+                                blob_y2 = IM_MAX(blob_y2, y);
+                                blob_pixels += 1;
+                                blob_cx += x;
+                                blob_cy += y;
+                                blob_a += x*x;
+                                blob_b += x*y;
+                                blob_c += y*y;
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_GRAYSCALE: {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride) {
+                        uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride) {
+                            if (COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                                blob_x1 = IM_MIN(blob_x1, x);
+                                blob_y1 = IM_MIN(blob_y1, y);
+                                blob_x2 = IM_MAX(blob_x2, x);
+                                blob_y2 = IM_MAX(blob_y2, y);
+                                blob_pixels += 1;
+                                blob_cx += x;
+                                blob_cy += y;
+                                blob_a += x*x;
+                                blob_b += x*y;
+                                blob_c += y*y;
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB565: {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride) {
+                        uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride) {
+                            if (COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                                blob_x1 = IM_MIN(blob_x1, x);
+                                blob_y1 = IM_MIN(blob_y1, y);
+                                blob_x2 = IM_MAX(blob_x2, x);
+                                blob_y2 = IM_MAX(blob_y2, y);
+                                blob_pixels += 1;
+                                blob_cx += x;
+                                blob_cy += y;
+                                blob_a += x*x;
+                                blob_b += x*y;
+                                blob_c += y*y;
+                            }
+                        }
+                    }
+                    break;
+                }
+                case PIXFORMAT_RGB888:
+                {
+                    for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride)
+                    {
+                        pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                        for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride)
+                        {
+                            if (COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x), &lnk_data, invert))
+                            {
+                                blob_x1 = IM_MIN(blob_x1, x);
+                                blob_y1 = IM_MIN(blob_y1, y);
+                                blob_x2 = IM_MAX(blob_x2, x);
+                                blob_y2 = IM_MAX(blob_y2, y);
+                                blob_pixels += 1;
+                                blob_cx += x;
+                                blob_cy += y;
+                                blob_a += x * x;
+                                blob_b += x * y;
+                                blob_c += y * y;
+                            }
+                        }
+                    }
+                    break;
+                }
+                default: {
+                    break;
+                }
+            }
+        }
+
+        int w = blob_x2 - blob_x1;
+        int h = blob_y2 - blob_y1;
+        if (blob_pixels && ((w * h) >= area_threshold) && (blob_pixels >= pixels_threshold)) {
+            // http://www.cse.usf.edu/~r1k/MachineVisionBook/MachineVision.files/MachineVision_Chapter2.pdf
+            // https://www.strchr.com/standard_deviation_in_one_pass
+            //
+            // a = sigma(x*x) + (mx*sigma(x)) + (mx*sigma(x)) + (sigma()*mx*mx)
+            // b = sigma(x*y) + (mx*sigma(y)) + (my*sigma(x)) + (sigma()*mx*my)
+            // c = sigma(y*y) + (my*sigma(y)) + (my*sigma(y)) + (sigma()*my*my)
+            //
+            // blob_a = sigma(x*x)
+            // blob_b = sigma(x*y)
+            // blob_c = sigma(y*y)
+            // blob_cx = sigma(x)
+            // blob_cy = sigma(y)
+            // blob_pixels = sigma()
+
+            int mx = blob_cx / blob_pixels; // x centroid
+            int my = blob_cy / blob_pixels; // y centroid
+            int small_blob_a = blob_a - ((mx * blob_cx) + (mx * blob_cx)) + (blob_pixels * mx * mx);
+            int small_blob_b = blob_b - ((mx * blob_cy) + (my * blob_cx)) + (blob_pixels * mx * my);
+            int small_blob_c = blob_c - ((my * blob_cy) + (my * blob_cy)) + (blob_pixels * my * my);
+
+            float rotation = ((small_blob_a != small_blob_c) ? (fast_atan2f(2 * small_blob_b, small_blob_a - small_blob_c) / 2.0f) : 1.570796f) + 1.570796f; // PI/2
+
+            out->theta = fast_roundf(rotation * 57.295780) % 180; // * (180 / PI)
+            if (out->theta < 0) out->theta += 180;
+            out->rho = fast_roundf(((mx - roi->x) * cos_table[out->theta]) + ((my - roi->y) * sin_table[out->theta]));
+
+            float part0 = (small_blob_a + small_blob_c) / 2.0f;
+            float f_b = (float) small_blob_b;
+            float f_a_c = (float) (small_blob_a - small_blob_c);
+            float part1 = fast_sqrtf((4 * f_b * f_b) + (f_a_c * f_a_c)) / 2.0f;
+            float p_add = fast_sqrtf(part0 + part1);
+            float p_sub = fast_sqrtf(part0 - part1);
+            float e_min = IM_MIN(p_add, p_sub);
+            float e_max = IM_MAX(p_add, p_sub);
+            out->magnitude = fast_roundf(e_max / e_min) - 1; // Circle -> [0, INF) -> Line
+
+            if ((45 <= out->theta) && (out->theta < 135)) {
+                // y = (r - x cos(t)) / sin(t)
+                out->line.x1 = 0;
+                out->line.y1 = fast_roundf((out->rho - (out->line.x1 * cos_table[out->theta])) / sin_table[out->theta]);
+                out->line.x2 = roi->w - 1;
+                out->line.y2 = fast_roundf((out->rho - (out->line.x2 * cos_table[out->theta])) / sin_table[out->theta]);
+            } else {
+                // x = (r - y sin(t)) / cos(t);
+                out->line.y1 = 0;
+                out->line.x1 = fast_roundf((out->rho - (out->line.y1 * sin_table[out->theta])) / cos_table[out->theta]);
+                out->line.y2 = roi->h - 1;
+                out->line.x2 = fast_roundf((out->rho - (out->line.y2 * sin_table[out->theta])) / cos_table[out->theta]);
+            }
+
+            if(lb_clip_line(&out->line, 0, 0, roi->w, roi->h)) {
+                out->line.x1 += roi->x;
+                out->line.y1 += roi->y;
+                out->line.x2 += roi->x;
+                out->line.y2 += roi->y;
+                // Move rho too.
+                out->rho += fast_roundf((roi->x * cos_table[out->theta]) + (roi->y * sin_table[out->theta]));
+                result = true;
+            } else {
+                memset(out, 0, sizeof(find_lines_list_lnk_data_t));
+            }
+        }
+    } else { // Theil-Sen Estimator
+        int *x_histogram = fb_alloc0(ptr->w * sizeof(int), FB_ALLOC_NO_HINT); // Not roi so we don't have to adjust, we can burn the RAM.
+        int *y_histogram = fb_alloc0(ptr->h * sizeof(int), FB_ALLOC_NO_HINT); // Not roi so we don't have to adjust, we can burn the RAM.
+
+        long long *x_delta_histogram = fb_alloc0((2 * ptr->w) * sizeof(long long), FB_ALLOC_NO_HINT); // Not roi so we don't have to adjust, we can burn the RAM.
+        long long *y_delta_histogram = fb_alloc0((2 * ptr->h) * sizeof(long long), FB_ALLOC_NO_HINT); // Not roi so we don't have to adjust, we can burn the RAM.
+
+        uint32_t size;
+        point_t *points = (point_t *) fb_alloc_all(&size, FB_ALLOC_NO_HINT);
+        size_t points_max = size / sizeof(point_t);
+        size_t points_count = 0;
+
+        if(points_max) {
+            int blob_x1 = roi->x + roi->w - 1;
+            int blob_y1 = roi->y + roi->h - 1;
+            int blob_x2 = roi->x;
+            int blob_y2 = roi->y;
+            int blob_pixels = 0;
+
+            for (list_lnk_t *it = iterator_start_from_head(thresholds); it; it = iterator_next(it)) {
+                color_thresholds_list_lnk_data_t lnk_data;
+                iterator_get(thresholds, it, &lnk_data);
+
+                switch (ptr->pixfmt) {
+                    case PIXFORMAT_BINARY: {
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride) {
+                            uint32_t *row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride) {
+                                if (COLOR_THRESHOLD_BINARY(IMAGE_GET_BINARY_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                                    blob_x1 = IM_MIN(blob_x1, x);
+                                    blob_y1 = IM_MIN(blob_y1, y);
+                                    blob_x2 = IM_MAX(blob_x2, x);
+                                    blob_y2 = IM_MAX(blob_y2, y);
+                                    blob_pixels += 1;
+                                    x_histogram[x]++;
+                                    y_histogram[y]++;
+
+                                    if(points_count < points_max) {
+                                        point_init(&points[points_count], x, y);
+                                        points_count += 1;
+                                    }
+                                }
+                            }
+                        }
+                        break;
+                    }
+                    case PIXFORMAT_GRAYSCALE: {
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride) {
+                            uint8_t *row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride) {
+                                if (COLOR_THRESHOLD_GRAYSCALE(IMAGE_GET_GRAYSCALE_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                                    blob_x1 = IM_MIN(blob_x1, x);
+                                    blob_y1 = IM_MIN(blob_y1, y);
+                                    blob_x2 = IM_MAX(blob_x2, x);
+                                    blob_y2 = IM_MAX(blob_y2, y);
+                                    blob_pixels += 1;
+                                    x_histogram[x]++;
+                                    y_histogram[y]++;
+
+                                    if(points_count < points_max) {
+                                        point_init(&points[points_count], x, y);
+                                        points_count += 1;
+                                    }
+                                }
+                            }
+                        }
+                        break;
+                    }
+                    case PIXFORMAT_RGB565: {
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride) {
+                            uint16_t *row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride) {
+                                if (COLOR_THRESHOLD_RGB565(IMAGE_GET_RGB565_PIXEL_FAST(row_ptr, x), &lnk_data, invert)) {
+                                    blob_x1 = IM_MIN(blob_x1, x);
+                                    blob_y1 = IM_MIN(blob_y1, y);
+                                    blob_x2 = IM_MAX(blob_x2, x);
+                                    blob_y2 = IM_MAX(blob_y2, y);
+                                    blob_pixels += 1;
+                                    x_histogram[x]++;
+                                    y_histogram[y]++;
+
+                                    if(points_count < points_max) {
+                                        point_init(&points[points_count], x, y);
+                                        points_count += 1;
+                                    }
+                                }
+                            }
+                        }
+                        break;
+                    }
+                    case PIXFORMAT_RGB888:
+                    {
+                        for (int y = roi->y, yy = roi->y + roi->h; y < yy; y += y_stride)
+                        {
+                            pixel24_t *row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(ptr, y);
+                            for (int x = roi->x + (y % x_stride), xx = roi->x + roi->w; x < xx; x += x_stride)
+                            {
+                                if (COLOR_THRESHOLD_RGB888(IMAGE_GET_RGB888_PIXEL_FAST(row_ptr, x), &lnk_data, invert))
+                                {
+                                    blob_x1 = IM_MIN(blob_x1, x);
+                                    blob_y1 = IM_MIN(blob_y1, y);
+                                    blob_x2 = IM_MAX(blob_x2, x);
+                                    blob_y2 = IM_MAX(blob_y2, y);
+                                    blob_pixels += 1;
+                                    x_histogram[x]++;
+                                    y_histogram[y]++;
+
+                                    if (points_count < points_max)
+                                    {
+                                        point_init(&points[points_count], x, y);
+                                        points_count += 1;
+                                    }
+                                }
+                            }
+                        }
+                        break;
+                    }
+                    default: {
+                        break;
+                    }
+                }
+            }
+
+            int w = blob_x2 - blob_x1;
+            int h = blob_y2 - blob_y1;
+            if (blob_pixels && ((w * h) >= area_threshold) && (blob_pixels >= pixels_threshold)) {
+                long long delta_sum = (points_count * (points_count - 1)) / 2;
+
+                if (delta_sum) {
+                    // The code below computes the average slope between all pairs of points.
+                    // This is a N^2 operation that can easily blow up if the image is not threshold carefully...
+
+                    for(int i = 0; i < points_count; i++) {
+                        point_t *p0 = &points[i];
+                        for(int j = i + 1; j < points_count; j++) {
+                            point_t *p1 = &points[j];
+                            x_delta_histogram[p0->x - p1->x + ptr->w]++; // Note we allocated 1 extra above so we can do ptr->w instead of (ptr->w-1).
+                            y_delta_histogram[p0->y - p1->y + ptr->h]++; // Note we allocated 1 extra above so we can do ptr->h instead of (ptr->h-1).
+                        }
+                    }
+
+                    int mx = get_median(x_histogram, blob_pixels, ptr->w); // Output doesn't need adjustment.
+                    int my = get_median(y_histogram, blob_pixels, ptr->h); // Output doesn't need adjustment.
+                    int mdx = get_median_l(x_delta_histogram, delta_sum, 2 * ptr->w) - ptr->w; // Fix offset.
+                    int mdy = get_median_l(y_delta_histogram, delta_sum, 2 * ptr->h) - ptr->h; // Fix offset.
+
+                    float rotation = (mdx ? fast_atan2f(mdy, mdx) : 1.570796f) + 1.570796f; // PI/2
+
+                    out->theta = fast_roundf(rotation * 57.295780) % 180; // * (180 / PI)
+                    if (out->theta < 0) out->theta += 180;
+                    out->rho = fast_roundf(((mx - roi->x) * cos_table[out->theta]) + ((my - roi->y) * sin_table[out->theta]));
+
+                    out->magnitude = fast_roundf(fast_sqrtf((mdx * mdx) + (mdy * mdy)));
+
+                    if ((45 <= out->theta) && (out->theta < 135)) {
+                        // y = (r - x cos(t)) / sin(t)
+                        out->line.x1 = 0;
+                        out->line.y1 = fast_roundf((out->rho - (out->line.x1 * cos_table[out->theta])) / sin_table[out->theta]);
+                        out->line.x2 = roi->w - 1;
+                        out->line.y2 = fast_roundf((out->rho - (out->line.x2 * cos_table[out->theta])) / sin_table[out->theta]);
+                    } else {
+                        // x = (r - y sin(t)) / cos(t);
+                        out->line.y1 = 0;
+                        out->line.x1 = fast_roundf((out->rho - (out->line.y1 * sin_table[out->theta])) / cos_table[out->theta]);
+                        out->line.y2 = roi->h - 1;
+                        out->line.x2 = fast_roundf((out->rho - (out->line.y2 * sin_table[out->theta])) / cos_table[out->theta]);
+                    }
+
+                    if(lb_clip_line(&out->line, 0, 0, roi->w, roi->h)) {
+                        out->line.x1 += roi->x;
+                        out->line.y1 += roi->y;
+                        out->line.x2 += roi->x;
+                        out->line.y2 += roi->y;
+                        // Move rho too.
+                        out->rho += fast_roundf((roi->x * cos_table[out->theta]) + (roi->y * sin_table[out->theta]));
+                        result = true;
+                    } else {
+                        memset(out, 0, sizeof(find_lines_list_lnk_data_t));
+                    }
+                }
+            }
+        }
+
+        fb_free(points); // points
+        fb_free(y_delta_histogram); // y_delta_histogram
+        fb_free(x_delta_histogram); // x_delta_histogram
+        fb_free(y_histogram); // y_histogram
+        fb_free(x_histogram); // x_histogram
+    }
+
+    return result;
+}
diff --git a/github_source/minicv2/src/template.c b/github_source/minicv2/src/template.c
new file mode 100644
index 0000000..2bc1fcc
--- /dev/null
+++ b/github_source/minicv2/src/template.c
@@ -0,0 +1,278 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Template matching with NCC (Normalized Cross Correlation) using exhaustive and diamond search.
+ *
+ * References:
+ * Briechle, Kai, and Uwe D. Hanebeck. "Template matching using fast normalized cross correlation." Aerospace
+ * Lewis, J. P. "Fast normalized cross-correlation."
+ * Zhu, Shan, and Kai-Kuang Ma. "A new diamond search algorithm for fast block-matching motion estimation."
+ */
+#include <stdio.h>
+#include <float.h>
+#include <limits.h>
+
+#include "imlib.h"
+#include "xalloc.h"
+
+static void set_dsp(int cx, int cy, point_t *pts, bool sdsp, int step)
+{
+    if (sdsp) {
+        // Small DSP
+        //      4
+        //    3 0 1
+        //      2
+        pts[0].x = cx;
+        pts[0].y = cy;
+
+        pts[1].x = cx + step/2;
+        pts[1].y = cy;
+
+        pts[2].x = cx;
+        pts[2].y = cy + step/2;
+
+        pts[3].x = cx - step/2;
+        pts[3].y = cy;
+
+        pts[4].x = cx;
+        pts[4].y = cy - step/2;
+    } else {
+        // Large DSP
+        //      7
+        //    6   8
+        //   5  0  1
+        //    4   2
+        //      3
+        pts[0].x = cx;
+        pts[0].y = cy;
+
+        pts[1].x = cx + step;
+        pts[1].y = cy;
+
+        pts[2].x = cx + step/2;
+        pts[2].y = cy + step/2;
+
+        pts[3].x = cx;
+        pts[3].y = cy + step;
+
+        pts[4].x = cx - step/2;
+        pts[4].y = cy + step/2;
+
+        pts[5].x = cx - step;
+        pts[5].y = cy;
+
+        pts[6].x = cx - step/2;
+        pts[6].y = cy - step/2;
+
+        pts[7].x = cx;
+        pts[7].y = cy - step;
+
+        pts[8].x = cx + step/2;
+        pts[8].y = cy - step/2;
+
+    }
+}
+
+static float find_block_ncc(image_t *f, image_t *t, i_image_t *sum, int t_mean, uint32_t t_sumsq, int u, int v)
+{
+    int w = t->w;
+    int h = t->h;
+
+    int num = 0;
+    uint32_t f_sumsq=0;
+
+    if (u < 0) {
+        u = 0;
+    }
+
+    if (v < 0) {
+        v = 0;
+    }
+
+    if (u+w >= f->w) {
+        w = f->w - u;
+    }
+
+    if (v+h >= f->h) {
+        h = f->h - v;
+    }
+
+    // Find the mean of the current patch
+    uint32_t f_sum = imlib_integral_lookup(sum, u, v, w, h);
+    uint32_t f_mean = f_sum / (w*h);
+
+    // Find the normalized sum of squares of the image
+    for (int y=v; y<v+h; y++) {
+        for (int x=u; x<u+w; x++) {
+            int a = (int)f->data[y*f->w+x]-f_mean;
+            int b = (int)t->data[(y-v)*t->w+(x-u)]-t_mean;
+            num += a*b;
+            f_sumsq += a*a;
+        }
+    }
+
+    // Find the normalized cross-correlation
+    return (num/(fast_sqrtf(f_sumsq) * fast_sqrtf(t_sumsq)));
+}
+
+float imlib_template_match_ds(image_t *f, image_t *t, rectangle_t *r)
+{
+    point_t pts[9];
+
+    // Integral images
+    i_image_t sum;
+    imlib_integral_image_alloc(&sum, f->w, f->h);
+    imlib_integral_image(f, &sum);
+
+    // Normalized sum of squares of the template
+    int t_mean = 0;
+    uint32_t t_sumsq=0;
+    imlib_image_mean(t, &t_mean, &t_mean, &t_mean);
+    for (int i=0; i < (t->w*t->h); i++) {
+        int c = (int)t->data[i]-t_mean;
+        t_sumsq += c*c;
+    }
+
+    int px = 0;
+    int py = 0;
+
+    // Initial center point
+    int cx = f->w/2 - t->w/2;
+    int cy = f->h/2 - t->h/2;
+
+    // Max cross-correlation
+    float max_xc=-FLT_MAX;
+
+    // Start with the Large Diamond Search Pattern (LDSP) 9 points.
+    bool sdsp = false;
+
+    // Step size == template width
+    int step = t->w;
+
+    while (step > 0) {
+        // Set the Diamond Search Pattern (DSP).
+        set_dsp(cx, cy, pts, sdsp, step);
+
+        // Set the number of search blocks (5 or 9 for SDSP and LDSP respectively).
+        int num_pts = (sdsp == true)? 5: 9;
+
+        // Find the block with the highest NCC
+        for (int i=0; i<num_pts; i++) {
+            if (pts[i].x >= f->w || pts[i].y >= f->h) {
+                continue;
+            }
+            float blk_xc = find_block_ncc(f, t, &sum, t_mean, t_sumsq, pts[i].x, pts[i].y);
+            if (blk_xc > max_xc) {
+                px = pts[i].x;
+                py = pts[i].y;
+                max_xc = blk_xc;
+            }
+        }
+
+        // If the highest correlation is found at the center block and search is using
+        // LDSP then the highest correlation is found, if not then switch search to SDSP.
+        if (px == cx && py == cy) {
+            // Note instead of switching to the smaller pattern, the step size can be reduced
+            // each time the highest correlation is found at the center, and break on step == 0.
+            // This makes DS much more accurate, but slower.
+            step --;
+        }
+
+        // Set the new search center to the block with highest correlation
+        cx = px;
+        cy = py;
+    }
+
+    r->x = cx;
+    r->y = cy;
+    r->w = t->w;
+    r->h = t->h;
+
+    if (cx < 0) r->x = 0;
+    if (cy < 0) r->y = 0;
+
+    if (cx+t->w > f->w) {
+        r->w = f->w - cx;
+    }
+
+    if (cy+t->h > f->h) {
+        r->h = f->h - cy;
+    }
+
+    imlib_integral_image_free(&sum);
+
+    //printf("max xc: %f\n", (double) max_xc);
+    return max_xc;
+}
+
+/* The NCC can be optimized using integral images and rectangular basis functions.
+ * See Kai Briechle's paper "Template Matching using Fast Normalized Cross Correlation".
+ *
+ * NOTE: only the denominator is optimized.
+ *
+ */
+float imlib_template_match_ex(image_t *f, image_t *t, rectangle_t *roi, int step, rectangle_t *r)
+{
+    int den_b=0;
+    float corr=0.0f;
+
+    // Integral images
+    i_image_t sum;
+    i_image_t sumsq;
+
+    imlib_integral_image_alloc(&sum, f->w, f->h);
+    imlib_integral_image_alloc(&sumsq, f->w, f->h);
+
+    imlib_integral_image(f, &sum);
+    imlib_integral_image_sq(f, &sumsq);
+
+    // Normalized sum of squares of the template
+    int t_mean = 0;
+    imlib_image_mean(t, &t_mean, &t_mean, &t_mean);
+
+    for (int i=0; i < (t->w*t->h); i++) {
+        int c = (int)t->data[i]-t_mean;
+        den_b += c*c;
+    }
+
+    for (int v=roi->y; v<=(roi->y+roi->h-t->h); v+=step) {
+    for (int u=roi->x; u<=(roi->x+roi->w-t->w); u+=step) {
+        int num = 0;
+        // The mean of the current patch
+        uint32_t f_sum = imlib_integral_lookup(&sum, u, v, t->w, t->h);
+        uint32_t f_sumsq = imlib_integral_lookup(&sumsq, u, v, t->w, t->h);
+        uint32_t f_mean = f_sum / (float) (t->w*t->h);
+
+        // Normalized sum of squares of the image
+        for (int y=v; y<(v+t->h); y++) {
+            for (int x=u; x<(u+t->w); x++) {
+                int a = (int)f->data[y*f->w+x]-f_mean;
+                int b = (int)t->data[(y-v)*t->w+(x-u)]-t_mean;
+                num += a*b;
+            }
+        }
+
+        uint32_t den_a = f_sumsq - f_sum * (f_sum / (float) (t->w * t->h));
+
+        // Find normalized cross-correlation
+        float c = num/(fast_sqrtf(den_a) * fast_sqrtf(den_b));
+
+        if (c > corr) {
+            corr = c;
+            r->x = u;
+            r->y = v;
+            r->w = t->w;
+            r->h = t->h;
+        }
+    }
+    }
+
+    imlib_integral_image_free(&sum);
+    imlib_integral_image_free(&sumsq);
+    return corr;
+}
diff --git a/github_source/minicv2/src/umm_malloc.c b/github_source/minicv2/src/umm_malloc.c
new file mode 100644
index 0000000..a30de95
--- /dev/null
+++ b/github_source/minicv2/src/umm_malloc.c
@@ -0,0 +1,684 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * UMM memory allocator.
+ */
+#include <string.h>
+// #include "py/runtime.h"
+// #include "py/mphal.h"
+#include "fb_alloc.h"
+#include "umm_malloc.h"
+#include "omv_boardconfig.h"
+#include "imlib_config.h"
+#include "imlib_io.h"
+void umm_alloc_fail()
+{
+  imlib_printf(0, "MemoryError: Out of temporary Frame Buffer Heap Memory! Please reduce the resolution of the image you are running this algorithm on to bypass this issue!");
+    // mp_raise_msg(&mp_type_MemoryError,
+    //     MP_ERROR_TEXT("Out of temporary Frame Buffer Heap Memory!"
+    //     " Please reduce the resolution of the image you are running this algorithm on to bypass this issue!"));
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "umm_malloc.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+//The MIT License (MIT)
+
+//Copyright (c) 2015 Ralph Hempel
+
+//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.
+
+/* ----------------------------------------------------------------------------
+ * umm_malloc.c - a memory allocator for embedded systems (microcontrollers)
+ *
+ * See LICENSE for copyright notice
+ * See README.md for acknowledgements and description of internals
+ * ----------------------------------------------------------------------------
+ *
+ * R.Hempel 2007-09-22 - Original
+ * R.Hempel 2008-12-11 - Added MIT License biolerplate
+ *                     - realloc() now looks to see if previous block is free
+ *                     - made common operations functions
+ * R.Hempel 2009-03-02 - Added macros to disable tasking
+ *                     - Added function to dump heap and check for valid free
+ *                        pointer
+ * R.Hempel 2009-03-09 - Changed name to umm_malloc to avoid conflicts with
+ *                        the mm_malloc() library functions
+ *                     - Added some test code to assimilate a free block
+ *                        with the very block if possible. Complicated and
+ *                        not worth the grief.
+ * D.Frank 2014-04-02  - Fixed heap configuration when UMM_TEST_MAIN is NOT set,
+ *                        added user-dependent configuration file umm_malloc_cfg.h
+ * R.Hempel 2016-12-04 - Add support for Unity test framework
+ *                     - Reorganize source files to avoid redundant content
+ *                     - Move integrity and poison checking to separate file
+ * R.Hempel 2017-12-29 - Fix bug in realloc when requesting a new block that
+ *                        results in OOM error - see Issue 11
+ * ----------------------------------------------------------------------------
+ */
+
+/* A couple of macros to make packing structures less compiler dependent */
+
+#define UMM_H_ATTPACKPRE
+#define UMM_H_ATTPACKSUF __attribute__((__packed__))
+
+#define UMM_BEST_FIT
+#undef  UMM_FIRST_FIT
+
+/*
+ * A couple of macros to make it easier to protect the memory allocator
+ * in a multitasking system. You should set these macros up to use whatever
+ * your system uses for this purpose. You can disable interrupts entirely, or
+ * just disable task switching - it's up to you
+ *
+ * NOTE WELL that these macros MUST be allowed to nest, because umm_free() is
+ * called from within umm_malloc()
+ */
+
+#define UMM_CRITICAL_ENTRY()
+#define UMM_CRITICAL_EXIT()
+
+#define DBGLOG_TRACE(format, ...)
+
+#define DBGLOG_DEBUG(format, ...)
+
+/* ------------------------------------------------------------------------- */
+
+UMM_H_ATTPACKPRE typedef struct umm_ptr_t {
+  unsigned short int next;
+  unsigned short int prev;
+} UMM_H_ATTPACKSUF umm_ptr;
+
+
+UMM_H_ATTPACKPRE typedef struct umm_block_t {
+  union {
+    umm_ptr used;
+  } header;
+  union {
+    umm_ptr free;
+    unsigned char data[OMV_UMM_BLOCK_SIZE];
+  } body;
+} UMM_H_ATTPACKSUF umm_block;
+
+#define UMM_FREELIST_MASK (0x8000)
+#define UMM_BLOCKNO_MASK  (0x7FFF)
+
+/* ------------------------------------------------------------------------- */
+
+umm_block *umm_heap = NULL;
+unsigned short int umm_numblocks = 0;
+
+#define UMM_NUMBLOCKS (umm_numblocks)
+
+/* ------------------------------------------------------------------------ */
+
+#define UMM_BLOCK(b)  (umm_heap[b])
+
+#define UMM_NBLOCK(b) (UMM_BLOCK(b).header.used.next)
+#define UMM_PBLOCK(b) (UMM_BLOCK(b).header.used.prev)
+#define UMM_NFREE(b)  (UMM_BLOCK(b).body.free.next)
+#define UMM_PFREE(b)  (UMM_BLOCK(b).body.free.prev)
+#define UMM_DATA(b)   (UMM_BLOCK(b).body.data)
+
+/* ------------------------------------------------------------------------ */
+
+static unsigned short int umm_blocks( size_t size ) {
+
+  /*
+   * The calculation of the block size is not too difficult, but there are
+   * a few little things that we need to be mindful of.
+   *
+   * When a block removed from the free list, the space used by the free
+   * pointers is available for data. That's what the first calculation
+   * of size is doing.
+   */
+
+  if( size <= (sizeof(((umm_block *)0)->body)) )
+    return( 1 );
+
+  /*
+   * If it's for more than that, then we need to figure out the number of
+   * additional whole blocks the size of an umm_block are required.
+   */
+
+  size -= ( 1 + (sizeof(((umm_block *)0)->body)) );
+
+  return( 2 + size/(sizeof(umm_block)) );
+}
+
+/* ------------------------------------------------------------------------ */
+/*
+ * Split the block `c` into two blocks: `c` and `c + blocks`.
+ *
+ * - `new_freemask` should be `0` if `c + blocks` used, or `UMM_FREELIST_MASK`
+ *   otherwise.
+ *
+ * Note that free pointers are NOT modified by this function.
+ */
+static void umm_split_block( unsigned short int c,
+    unsigned short int blocks,
+    unsigned short int new_freemask ) {
+
+  UMM_NBLOCK(c+blocks) = (UMM_NBLOCK(c) & UMM_BLOCKNO_MASK) | new_freemask;
+  UMM_PBLOCK(c+blocks) = c;
+
+  UMM_PBLOCK(UMM_NBLOCK(c) & UMM_BLOCKNO_MASK) = (c+blocks);
+  UMM_NBLOCK(c)                                = (c+blocks);
+}
+
+/* ------------------------------------------------------------------------ */
+
+static void umm_disconnect_from_free_list( unsigned short int c ) {
+  /* Disconnect this block from the FREE list */
+
+  UMM_NFREE(UMM_PFREE(c)) = UMM_NFREE(c);
+  UMM_PFREE(UMM_NFREE(c)) = UMM_PFREE(c);
+
+  /* And clear the free block indicator */
+
+  UMM_NBLOCK(c) &= (~UMM_FREELIST_MASK);
+}
+
+/* ------------------------------------------------------------------------
+ * The umm_assimilate_up() function assumes that UMM_NBLOCK(c) does NOT
+ * have the UMM_FREELIST_MASK bit set!
+ */
+
+static void umm_assimilate_up( unsigned short int c ) {
+
+  if( UMM_NBLOCK(UMM_NBLOCK(c)) & UMM_FREELIST_MASK ) {
+    /*
+     * The next block is a free block, so assimilate up and remove it from
+     * the free list
+     */
+
+    DBGLOG_DEBUG( "Assimilate up to next block, which is FREE\n" );
+
+    /* Disconnect the next block from the FREE list */
+
+    umm_disconnect_from_free_list( UMM_NBLOCK(c) );
+
+    /* Assimilate the next block with this one */
+
+    UMM_PBLOCK(UMM_NBLOCK(UMM_NBLOCK(c)) & UMM_BLOCKNO_MASK) = c;
+    UMM_NBLOCK(c) = UMM_NBLOCK(UMM_NBLOCK(c)) & UMM_BLOCKNO_MASK;
+  }
+}
+
+/* ------------------------------------------------------------------------
+ * The umm_assimilate_down() function assumes that UMM_NBLOCK(c) does NOT
+ * have the UMM_FREELIST_MASK bit set!
+ */
+
+static unsigned short int umm_assimilate_down( unsigned short int c, unsigned short int freemask ) {
+
+  UMM_NBLOCK(UMM_PBLOCK(c)) = UMM_NBLOCK(c) | freemask;
+  UMM_PBLOCK(UMM_NBLOCK(c)) = UMM_PBLOCK(c);
+
+  return( UMM_PBLOCK(c) );
+}
+
+/* ------------------------------------------------------------------------- */
+
+void umm_init_x( size_t size ) {
+  uint32_t UMM_MALLOC_CFG_HEAP_SIZE = (size / sizeof(size_t)) * sizeof(size_t);
+  if (UMM_MALLOC_CFG_HEAP_SIZE < (sizeof(umm_block) * 128)) fb_alloc_fail();
+  if (UMM_MALLOC_CFG_HEAP_SIZE > (sizeof(umm_block) * 32768)) UMM_MALLOC_CFG_HEAP_SIZE = sizeof(umm_block) * 32768;
+  void *UMM_MALLOC_CFG_HEAP_ADDR = fb_alloc(UMM_MALLOC_CFG_HEAP_SIZE, FB_ALLOC_NO_HINT);
+  /* init heap pointer and size, and memset it to 0 */
+  umm_heap = (umm_block *)UMM_MALLOC_CFG_HEAP_ADDR;
+  umm_numblocks = (UMM_MALLOC_CFG_HEAP_SIZE / sizeof(umm_block));
+  memset(umm_heap, 0x00, UMM_MALLOC_CFG_HEAP_SIZE);
+
+  /* setup initial blank heap structure */
+  {
+    /* index of the 0th `umm_block` */
+    const unsigned short int block_0th = 0;
+    /* index of the 1st `umm_block` */
+    const unsigned short int block_1th = 1;
+    /* index of the latest `umm_block` */
+    const unsigned short int block_last = UMM_NUMBLOCKS - 1;
+
+    /* setup the 0th `umm_block`, which just points to the 1st */
+    UMM_NBLOCK(block_0th) = block_1th;
+    UMM_NFREE(block_0th)  = block_1th;
+    UMM_PFREE(block_0th)  = block_1th;
+
+    /*
+     * Now, we need to set the whole heap space as a huge free block. We should
+     * not touch the 0th `umm_block`, since it's special: the 0th `umm_block`
+     * is the head of the free block list. It's a part of the heap invariant.
+     *
+     * See the detailed explanation at the beginning of the file.
+     */
+
+    /*
+     * 1th `umm_block` has pointers:
+     *
+     * - next `umm_block`: the latest one
+     * - prev `umm_block`: the 0th
+     *
+     * Plus, it's a free `umm_block`, so we need to apply `UMM_FREELIST_MASK`
+     *
+     * And it's the last free block, so the next free block is 0.
+     */
+    UMM_NBLOCK(block_1th) = block_last | UMM_FREELIST_MASK;
+    UMM_NFREE(block_1th)  = 0;
+    UMM_PBLOCK(block_1th) = block_0th;
+    UMM_PFREE(block_1th)  = block_0th;
+
+    /*
+     * latest `umm_block` has pointers:
+     *
+     * - next `umm_block`: 0 (meaning, there are no more `umm_blocks`)
+     * - prev `umm_block`: the 1st
+     *
+     * It's not a free block, so we don't touch NFREE / PFREE at all.
+     */
+    UMM_NBLOCK(block_last) = 0;
+    UMM_PBLOCK(block_last) = block_1th;
+  }
+}
+
+void umm_init( void ) {
+    umm_init_x(0);
+}
+
+/* ------------------------------------------------------------------------ */
+
+void umm_free( void *ptr ) {
+
+  unsigned short int c;
+
+  /* If we're being asked to free a NULL pointer, well that's just silly! */
+
+  if( (void *)0 == ptr ) {
+    DBGLOG_DEBUG( "free a null pointer -> do nothing\n" );
+
+    return;
+  }
+
+  /*
+   * FIXME: At some point it might be a good idea to add a check to make sure
+   *        that the pointer we're being asked to free up is actually within
+   *        the umm_heap!
+   *
+   * NOTE:  See the new umm_info() function that you can use to see if a ptr is
+   *        on the free list!
+   */
+
+  /* Protect the critical section... */
+  UMM_CRITICAL_ENTRY();
+
+  /* Figure out which block we're in. Note the use of truncated division... */
+
+  c = (((char *)ptr)-(char *)(&(umm_heap[0])))/sizeof(umm_block);
+
+  DBGLOG_DEBUG( "Freeing block %6i\n", c );
+
+  /* Now let's assimilate this block with the next one if possible. */
+
+  umm_assimilate_up( c );
+
+  /* Then assimilate with the previous block if possible */
+
+  if( UMM_NBLOCK(UMM_PBLOCK(c)) & UMM_FREELIST_MASK ) {
+
+    DBGLOG_DEBUG( "Assimilate down to next block, which is FREE\n" );
+
+    c = umm_assimilate_down(c, UMM_FREELIST_MASK);
+  } else {
+    /*
+     * The previous block is not a free block, so add this one to the head
+     * of the free list
+     */
+
+    DBGLOG_DEBUG( "Just add to head of free list\n" );
+
+    UMM_PFREE(UMM_NFREE(0)) = c;
+    UMM_NFREE(c)            = UMM_NFREE(0);
+    UMM_PFREE(c)            = 0;
+    UMM_NFREE(0)            = c;
+
+    UMM_NBLOCK(c)          |= UMM_FREELIST_MASK;
+  }
+
+  /* Release the critical section... */
+  UMM_CRITICAL_EXIT();
+}
+
+/* ------------------------------------------------------------------------ */
+
+void *umm_malloc( size_t size ) {
+  unsigned short int blocks;
+  unsigned short int blockSize = 0;
+
+  unsigned short int bestSize;
+  unsigned short int bestBlock;
+
+  unsigned short int cf;
+
+  if (umm_heap == NULL) {
+    umm_init();
+  }
+
+  /*
+   * the very first thing we do is figure out if we're being asked to allocate
+   * a size of 0 - and if we are we'll simply return a null pointer. if not
+   * then reduce the size by 1 byte so that the subsequent calculations on
+   * the number of blocks to allocate are easier...
+   */
+
+  if( 0 == size ) {
+    DBGLOG_DEBUG( "malloc a block of 0 bytes -> do nothing\n" );
+
+    return( (void *)NULL );
+  }
+
+  /* Protect the critical section... */
+  UMM_CRITICAL_ENTRY();
+
+  blocks = umm_blocks( size );
+
+  /*
+   * Now we can scan through the free list until we find a space that's big
+   * enough to hold the number of blocks we need.
+   *
+   * This part may be customized to be a best-fit, worst-fit, or first-fit
+   * algorithm
+   */
+
+  cf = UMM_NFREE(0);
+
+  bestBlock = UMM_NFREE(0);
+  bestSize  = 0x7FFF;
+
+  while( cf ) {
+    blockSize = (UMM_NBLOCK(cf) & UMM_BLOCKNO_MASK) - cf;
+
+    DBGLOG_TRACE( "Looking at block %6i size %6i\n", cf, blockSize );
+
+#if defined UMM_BEST_FIT
+    if( (blockSize >= blocks) && (blockSize < bestSize) ) {
+      bestBlock = cf;
+      bestSize  = blockSize;
+    }
+#elif defined UMM_FIRST_FIT
+    /* This is the first block that fits! */
+    if( (blockSize >= blocks) )
+      break;
+#else
+#  error "No UMM_*_FIT is defined - check umm_malloc_cfg.h"
+#endif
+
+    cf = UMM_NFREE(cf);
+  }
+
+  if( 0x7FFF != bestSize ) {
+    cf        = bestBlock;
+    blockSize = bestSize;
+  }
+
+  if( UMM_NBLOCK(cf) & UMM_BLOCKNO_MASK && blockSize >= blocks ) {
+    /*
+     * This is an existing block in the memory heap, we just need to split off
+     * what we need, unlink it from the free list and mark it as in use, and
+     * link the rest of the block back into the freelist as if it was a new
+     * block on the free list...
+     */
+
+    if( blockSize == blocks ) {
+      /* It's an exact fit and we don't neet to split off a block. */
+      DBGLOG_DEBUG( "Allocating %6i blocks starting at %6i - exact\n", blocks, cf );
+
+      /* Disconnect this block from the FREE list */
+
+      umm_disconnect_from_free_list( cf );
+
+    } else {
+      /* It's not an exact fit and we need to split off a block. */
+      DBGLOG_DEBUG( "Allocating %6i blocks starting at %6i - existing\n", blocks, cf );
+
+      /*
+       * split current free block `cf` into two blocks. The first one will be
+       * returned to user, so it's not free, and the second one will be free.
+       */
+      umm_split_block( cf, blocks, UMM_FREELIST_MASK /*new block is free*/ );
+
+      /*
+       * `umm_split_block()` does not update the free pointers (it affects
+       * only free flags), but effectively we've just moved beginning of the
+       * free block from `cf` to `cf + blocks`. So we have to adjust pointers
+       * to and from adjacent free blocks.
+       */
+
+      /* previous free block */
+      UMM_NFREE( UMM_PFREE(cf) ) = cf + blocks;
+      UMM_PFREE( cf + blocks ) = UMM_PFREE(cf);
+
+      /* next free block */
+      UMM_PFREE( UMM_NFREE(cf) ) = cf + blocks;
+      UMM_NFREE( cf + blocks ) = UMM_NFREE(cf);
+    }
+  } else {
+    /* Out of memory */
+
+    DBGLOG_DEBUG(  "Can't allocate %5i blocks\n", blocks );
+
+    /* Release the critical section... */
+    UMM_CRITICAL_EXIT();
+
+    return( (void *)NULL );
+  }
+
+  /* Release the critical section... */
+  UMM_CRITICAL_EXIT();
+
+  return( (void *)&UMM_DATA(cf) );
+}
+
+/* ------------------------------------------------------------------------ */
+
+void *umm_realloc( void *ptr, size_t size ) {
+
+  unsigned short int blocks;
+  unsigned short int blockSize;
+  unsigned short int prevBlockSize = 0;
+  unsigned short int nextBlockSize = 0;
+
+  unsigned short int c;
+
+  size_t curSize;
+
+  if (umm_heap == NULL) {
+    umm_init();
+  }
+
+  /*
+   * This code looks after the case of a NULL value for ptr. The ANSI C
+   * standard says that if ptr is NULL and size is non-zero, then we've
+   * got to work the same a malloc(). If size is also 0, then our version
+   * of malloc() returns a NULL pointer, which is OK as far as the ANSI C
+   * standard is concerned.
+   */
+
+  if( ((void *)NULL == ptr) ) {
+    DBGLOG_DEBUG( "realloc the NULL pointer - call malloc()\n" );
+
+    return( umm_malloc(size) );
+  }
+
+  /*
+   * Now we're sure that we have a non_NULL ptr, but we're not sure what
+   * we should do with it. If the size is 0, then the ANSI C standard says that
+   * we should operate the same as free.
+   */
+
+  if( 0 == size ) {
+    DBGLOG_DEBUG( "realloc to 0 size, just free the block\n" );
+
+    umm_free( ptr );
+
+    return( (void *)NULL );
+  }
+
+  /*
+   * Otherwise we need to actually do a reallocation. A naiive approach
+   * would be to malloc() a new block of the correct size, copy the old data
+   * to the new block, and then free the old block.
+   *
+   * While this will work, we end up doing a lot of possibly unnecessary
+   * copying. So first, let's figure out how many blocks we'll need.
+   */
+
+  blocks = umm_blocks( size );
+
+  /* Figure out which block we're in. Note the use of truncated division... */
+
+  c = (((char *)ptr)-(char *)(&(umm_heap[0])))/sizeof(umm_block);
+
+  /* Figure out how big this block is ... the free bit is not set :-) */
+
+  blockSize = (UMM_NBLOCK(c) - c);
+
+  /* Figure out how many bytes are in this block */
+
+  curSize   = (blockSize*sizeof(umm_block))-(sizeof(((umm_block *)0)->header));
+
+  /* Protect the critical section... */
+  UMM_CRITICAL_ENTRY();
+
+  /* Now figure out if the previous and/or next blocks are free as well as
+   * their sizes - this will help us to minimize special code later when we
+   * decide if it's possible to use the adjacent blocks.
+   *
+   * We set prevBlockSize and nextBlockSize to non-zero values ONLY if they
+   * are free!
+   */
+
+  if ((UMM_NBLOCK(UMM_NBLOCK(c)) & UMM_FREELIST_MASK)) {
+      nextBlockSize = (UMM_NBLOCK(UMM_NBLOCK(c)) & UMM_BLOCKNO_MASK) - UMM_NBLOCK(c);
+  }
+
+  if ((UMM_NBLOCK(UMM_PBLOCK(c)) & UMM_FREELIST_MASK)) {
+      prevBlockSize = (c - UMM_PBLOCK(c));
+  }
+
+  DBGLOG_DEBUG( "realloc blocks %i blockSize %i nextBlockSize %i prevBlockSize %i\n", blocks, blockSize, nextBlockSize, prevBlockSize );
+
+  /*
+   * Ok, now that we're here we know how many blocks we want and the current
+   * blockSize. The prevBlockSize and nextBlockSize are set and we can figure
+   * out the best strategy for the new allocation as follows:
+   *
+   * 1. If the new block is the same size or smaller than the current block do
+   *    nothing.
+   * 2. If the next block is free and adding it to the current block gives us
+   *    enough memory, assimilate the next block.
+   * 3. If the prev block is free and adding it to the current block gives us
+   *    enough memory, remove the previous block from the free list, assimilate
+   *    it, copy to the new block.
+   * 4. If the prev and next blocks are free and adding them to the current
+   *    block gives us enough memory, assimilate the next block, remove the
+   *    previous block from the free list, assimilate it, copy to the new block.
+   * 5. Otherwise try to allocate an entirely new block of memory. If the
+   *    allocation works free the old block and return the new pointer. If
+   *    the allocation fails, return NULL and leave the old block intact.
+   *
+   * All that's left to do is decide if the fit was exact or not. If the fit
+   * was not exact, then split the memory block so that we use only the requested
+   * number of blocks and add what's left to the free list.
+   */
+
+    if (blockSize >= blocks) {
+        DBGLOG_DEBUG( "realloc the same or smaller size block - %i, do nothing\n", blocks );
+        /* This space intentionally left blank */
+    } else if ((blockSize + nextBlockSize) >= blocks) {
+        DBGLOG_DEBUG( "realloc using next block - %i\n", blocks );
+        umm_assimilate_up( c );
+        blockSize += nextBlockSize;
+    } else if ((prevBlockSize + blockSize) >= blocks) {
+        DBGLOG_DEBUG( "realloc using prev block - %i\n", blocks );
+        umm_disconnect_from_free_list( UMM_PBLOCK(c) );
+        c = umm_assimilate_down(c, 0);
+        memmove( (void *)&UMM_DATA(c), ptr, curSize );
+        ptr = (void *)&UMM_DATA(c);
+        blockSize += prevBlockSize;
+    } else if ((prevBlockSize + blockSize + nextBlockSize) >= blocks) {
+        DBGLOG_DEBUG( "realloc using prev and next block - %i\n", blocks );
+        umm_assimilate_up( c );
+        umm_disconnect_from_free_list( UMM_PBLOCK(c) );
+        c = umm_assimilate_down(c, 0);
+        memmove( (void *)&UMM_DATA(c), ptr, curSize );
+        ptr = (void *)&UMM_DATA(c);
+        blockSize += (prevBlockSize + nextBlockSize);
+    } else {
+        DBGLOG_DEBUG( "realloc a completely new block %i\n", blocks );
+        void *oldptr = ptr;
+        if( (ptr = umm_malloc( size )) ) {
+            DBGLOG_DEBUG( "realloc %i to a bigger block %i, copy, and free the old\n", blockSize, blocks );
+            memcpy( ptr, oldptr, curSize );
+            umm_free( oldptr );
+        } else {
+            DBGLOG_DEBUG( "realloc %i to a bigger block %i failed - return NULL and leave the old block!\n", blockSize, blocks );
+            /* This space intentionally left blnk */
+        }
+        blockSize = blocks;
+    }
+
+    /* Now all we need to do is figure out if the block fit exactly or if we
+     * need to split and free ...
+     */
+
+    if (blockSize > blocks ) {
+        DBGLOG_DEBUG( "split and free %i blocks from %i\n", blocks, blockSize );
+        umm_split_block( c, blocks, 0 );
+        umm_free( (void *)&UMM_DATA(c+blocks) );
+    }
+
+    /* Release the critical section... */
+    UMM_CRITICAL_EXIT();
+
+    return( ptr );
+}
+
+/* ------------------------------------------------------------------------ */
+
+void *umm_calloc( size_t num, size_t item_size ) {
+  void *ret;
+
+  ret = umm_malloc((size_t)(item_size * num));
+
+  if (ret)
+      memset(ret, 0x00, (size_t)(item_size * num));
+
+  return ret;
+}
+
+/* ------------------------------------------------------------------------ */
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/github_source/minicv2/src/unaligned_memcpy.c b/github_source/minicv2/src/unaligned_memcpy.c
new file mode 100644
index 0000000..535bfd8
--- /dev/null
+++ b/github_source/minicv2/src/unaligned_memcpy.c
@@ -0,0 +1,83 @@
+#include <stdint.h>
+#include <string.h>
+// #include "cmsis_gcc.h"
+#include "arm_compat.h"
+#include "unaligned_memcpy.h"
+#define __REV16(_x) __builtin_bswap16(_x)
+
+
+#ifdef __ARM_ARCH
+#undef __ARM_ARCH
+#endif
+
+// ARM Cortex-M4/M7 Processors can access memory using unaligned 32-bit reads/writes.
+void *unaligned_memcpy(void *dest, void *src, size_t n)
+{
+    #if (__ARM_ARCH > 6)
+    // TODO: Make this faster using only 32-bit aligned reads/writes with data shifting.
+    uint32_t *dest32 = (uint32_t *) dest;
+    uint32_t *src32 = (uint32_t *) src;
+
+    for (; n > 4; n -= 4) {
+        *dest32++ = *src32++;
+    }
+
+    uint8_t *dest8 = (uint8_t *) dest32;
+    uint8_t *src8 = (uint8_t *) src32;
+
+    for (; n > 0; n -= 1) {
+        *dest8++ = *src8++;
+    }
+
+    return dest;
+    #else
+    return memcpy(dest, src, n);
+    #endif
+}
+
+// ARM Cortex-M4/M7 Processors can access memory using unaligned 32-bit reads/writes.
+void *unaligned_memcpy_rev16(void *dest, void *src, size_t n)
+{
+    uint32_t *dest32 = (uint32_t *) dest;
+    uint32_t *src32 = (uint32_t *) src;
+
+    #if (__ARM_ARCH > 6)
+    // TODO: Make this faster using only 32-bit aligned reads/writes with data shifting.
+    for (; n > 2; n -= 2) {
+        *dest32++ = __REV16(*src32++);
+    }
+    #endif
+
+    uint16_t *dest16 = (uint16_t *) dest32;
+    uint16_t *src16 = (uint16_t *) src32;
+
+    for (; n > 0; n -= 1) {
+        *dest16++ = __REV16(*src16++);
+    }
+
+    return dest;
+}
+
+void *unaligned_2_to_1_memcpy(void *dest, void *src, size_t n)
+{
+    uint32_t *dest32 = (uint32_t *) dest;
+    uint32_t *src32 = (uint32_t *) src;
+
+    #if (__ARM_ARCH > 6)
+    // TODO: Make this faster using only 32-bit aligned reads/writes with data shifting.
+    for (; n > 4; n -= 4) {
+        uint32_t tmp1 = *src32++;
+        uint32_t tmp2 = *src32++;
+        *dest32++ = (tmp1 & 0xff) | ((tmp1 >> 8) & 0xff00) | ((tmp2 & 0xff) << 16) | ((tmp2 & 0xff0000) << 8);
+    }
+    #endif
+
+    uint8_t *dest8 = (uint8_t *) dest32;
+    uint16_t *src16 = (uint16_t *) src32;
+
+    for (; n > 0; n -= 1) {
+        *dest8++ = *src16++;
+    }
+
+    return dest;
+}
\ No newline at end of file
diff --git a/github_source/minicv2/src/x_vfs.c b/github_source/minicv2/src/x_vfs.c
new file mode 100644
index 0000000..e69de29
diff --git a/github_source/minicv2/src/xalloc.c b/github_source/minicv2/src/xalloc.c
new file mode 100644
index 0000000..296039b
--- /dev/null
+++ b/github_source/minicv2/src/xalloc.c
@@ -0,0 +1,95 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Memory allocation functions.
+ */
+#include <string.h>
+// #include "py/runtime.h"
+// #include "py/gc.h"
+// #include "py/mphal.h"
+#include "xalloc.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include "imlib_io.h"
+
+int Debug_s = 0;
+
+#define LOG_PRINT(fmt, ...) do{\
+	if(Debug_s)\
+	{\
+		printf(fmt"  [info:%s:%d] [%s]\n", ##__VA_ARGS__, __FILE__, __LINE__, __FUNCTION__);\
+	}\
+}while(0);
+
+
+
+static void xalloc_fail(size_t size)
+{
+    imlib_printf(0, "MemoryError :memory allocation failed, allocating %d bytes", size);
+    // mp_raise_msg_varg(&mp_type_MemoryError,
+    //         MP_ERROR_TEXT("memory allocation failed, allocating %u bytes"), (uint)size);
+}
+
+// returns null pointer without error if size==0
+void *xalloc(size_t size)
+{
+    void *mem = malloc(size);
+    if (size && (mem == NULL)) {
+        xalloc_fail(size);
+    }
+    LOG_PRINT("xalloc:%p", mem);
+    return mem;
+}
+
+// returns null pointer without error if size==0
+void *xalloc_try_alloc(size_t size)
+{
+    return malloc(size);
+}
+
+// returns null pointer without error if size==0
+void *xalloc0(size_t size)
+{
+    void *mem = malloc(size);
+    if (size && (mem == NULL)) {
+        xalloc_fail(size);
+    }
+    memset(mem, 0, size);
+    LOG_PRINT("xalloc0:%p", mem);
+    return mem;
+}
+
+// returns without error if mem==null
+void xfree(void *mem)
+{
+    free(mem);
+    LOG_PRINT("xfree:%p", mem);
+}
+
+// returns null pointer without error if size==0
+// allocs if mem==null and size!=0
+// frees if mem!=null and size==0
+void *xrealloc(void *mem, size_t size)
+{
+    mem = realloc(mem, size);
+    if (size && (mem == NULL)) {
+        xalloc_fail(size);
+    }
+    LOG_PRINT("xrealloc:%p", mem);
+    return mem;
+}
+void *xcalloc(size_t nitems, size_t size)
+{
+    void *mem = xcalloc(nitems, size);
+    if (size && (mem == NULL)) {
+        xalloc_fail(size);
+    }
+    LOG_PRINT("xalloc_fail:%p", mem);
+    return mem;
+}
+
diff --git a/github_source/minicv2/src/xyz_tab.c b/github_source/minicv2/src/xyz_tab.c
new file mode 100644
index 0000000..763d2b4
--- /dev/null
+++ b/github_source/minicv2/src/xyz_tab.c
@@ -0,0 +1,34 @@
+const float xyz_table[256] = {
+     0.000000f,  0.030353f,  0.060705f,  0.091058f,  0.121411f,  0.151763f,  0.182116f,  0.212469f,
+     0.242822f,  0.273174f,  0.303527f,  0.334654f,  0.367651f,  0.402472f,  0.439144f,  0.477695f,
+     0.518152f,  0.560539f,  0.604883f,  0.651209f,  0.699541f,  0.749903f,  0.802319f,  0.856813f,
+     0.913406f,  0.972122f,  1.032982f,  1.096009f,  1.161225f,  1.228649f,  1.298303f,  1.370208f,
+     1.444384f,  1.520851f,  1.599629f,  1.680738f,  1.764195f,  1.850022f,  1.938236f,  2.028856f,
+     2.121901f,  2.217388f,  2.315337f,  2.415763f,  2.518686f,  2.624122f,  2.732089f,  2.842604f,
+     2.955683f,  3.071344f,  3.189603f,  3.310477f,  3.433981f,  3.560131f,  3.688945f,  3.820437f,
+     3.954624f,  4.091520f,  4.231141f,  4.373503f,  4.518620f,  4.666509f,  4.817182f,  4.970657f,
+     5.126946f,  5.286065f,  5.448028f,  5.612849f,  5.780543f,  5.951124f,  6.124605f,  6.301002f,
+     6.480327f,  6.662594f,  6.847817f,  7.036010f,  7.227185f,  7.421357f,  7.618538f,  7.818742f,
+     8.021982f,  8.228271f,  8.437621f,  8.650046f,  8.865559f,  9.084171f,  9.305896f,  9.530747f,
+     9.758735f,  9.989873f, 10.224173f, 10.461648f, 10.702310f, 10.946171f, 11.193243f, 11.443537f,
+    11.697067f, 11.953843f, 12.213877f, 12.477182f, 12.743768f, 13.013648f, 13.286832f, 13.563333f,
+    13.843162f, 14.126329f, 14.412847f, 14.702727f, 14.995979f, 15.292615f, 15.592646f, 15.896084f,
+    16.202938f, 16.513219f, 16.826940f, 17.144110f, 17.464740f, 17.788842f, 18.116424f, 18.447499f,
+    18.782077f, 19.120168f, 19.461783f, 19.806932f, 20.155625f, 20.507874f, 20.863687f, 21.223076f,
+    21.586050f, 21.952620f, 22.322796f, 22.696587f, 23.074005f, 23.455058f, 23.839757f, 24.228112f,
+    24.620133f, 25.015828f, 25.415209f, 25.818285f, 26.225066f, 26.635560f, 27.049779f, 27.467731f,
+    27.889426f, 28.314874f, 28.744084f, 29.177065f, 29.613827f, 30.054379f, 30.498731f, 30.946892f,
+    31.398871f, 31.854678f, 32.314321f, 32.777810f, 33.245154f, 33.716362f, 34.191442f, 34.670406f,
+    35.153260f, 35.640014f, 36.130678f, 36.625260f, 37.123768f, 37.626212f, 38.132601f, 38.642943f,
+    39.157248f, 39.675523f, 40.197778f, 40.724021f, 41.254261f, 41.788507f, 42.326767f, 42.869050f,
+    43.415364f, 43.965717f, 44.520119f, 45.078578f, 45.641102f, 46.207700f, 46.778380f, 47.353150f,
+    47.932018f, 48.514994f, 49.102085f, 49.693300f, 50.288646f, 50.888132f, 51.491767f, 52.099557f,
+    52.711513f, 53.327640f, 53.947949f, 54.572446f, 55.201140f, 55.834039f, 56.471151f, 57.112483f,
+    57.758044f, 58.407842f, 59.061884f, 59.720179f, 60.382734f, 61.049557f, 61.720656f, 62.396039f,
+    63.075714f, 63.759687f, 64.447968f, 65.140564f, 65.837482f, 66.538730f, 67.244316f, 67.954247f,
+    68.668531f, 69.387176f, 70.110189f, 70.837578f, 71.569350f, 72.305513f, 73.046074f, 73.791041f,
+    74.540421f, 75.294222f, 76.052450f, 76.815115f, 77.582222f, 78.353779f, 79.129794f, 79.910274f,
+    80.695226f, 81.484657f, 82.278575f, 83.076988f, 83.879901f, 84.687323f, 85.499261f, 86.315721f,
+    87.136712f, 87.962240f, 88.792312f, 89.626935f, 90.466117f, 91.309865f, 92.158186f, 93.011086f,
+    93.868573f, 94.730654f, 95.597335f, 96.468625f, 97.344529f, 98.225055f, 99.110210f, 100.000000f
+};
diff --git a/github_source/minicv2/src/yuv.c b/github_source/minicv2/src/yuv.c
new file mode 100644
index 0000000..aeab918
--- /dev/null
+++ b/github_source/minicv2/src/yuv.c
@@ -0,0 +1,169 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * Deyuv Functions
+ */
+#include "imlib.h"
+
+void imlib_deyuv_line(int x_start, int x_end, int y_row, void *dst_row_ptr, pixformat_t pixfmt, image_t *src)
+{
+    int shift = (src->pixfmt == PIXFORMAT_YUV422) ? 16 : 0;
+    int src_w = src->w, w_limit = src_w - 1;
+
+    uint16_t *rowptr_yuv = ((uint16_t *) src->data) + (y_row * src_w);
+
+    // If the image is an odd width this will go for the last loop and we drop the last column.
+    for (int x = x_start; x < x_end; x += 2) {
+        int32_t row_yuv; // signed
+
+        // keep pixels in bounds
+        if (x >= w_limit) {
+            if (src_w >= 2) {
+                uint32_t temp = *((uint32_t *) (rowptr_yuv + x - 1));
+                row_yuv = ((temp & 0xff00) << 16) | (temp & 0xff0000) | (temp >> 16);
+            } else {
+                row_yuv = *((uint16_t *) (rowptr_yuv + x));
+                row_yuv = ((row_yuv & 0xff) << 16) | 0x80000000;
+            }
+        } else {
+            row_yuv = *((uint32_t *) (rowptr_yuv + x));
+        }
+
+        int y0 = row_yuv & 0xff, y1 = (row_yuv >> 16) & 0xff;
+
+        switch (pixfmt) {
+            case PIXFORMAT_BINARY: {
+                uint32_t *row_ptr_32 = (uint32_t *) dst_row_ptr;
+                IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr_32, x, (y0 >> 7));
+
+                if (x != w_limit) {
+                    IMAGE_PUT_BINARY_PIXEL_FAST(row_ptr_32, x + 1, (y1 >> 7));
+                }
+
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                uint8_t *row_ptr_8 = (uint8_t *) dst_row_ptr;
+                IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr_8, x, y0);
+
+                if (x != w_limit) {
+                    IMAGE_PUT_GRAYSCALE_PIXEL_FAST(row_ptr_8, x + 1, y1);
+                }
+
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                uint16_t *row_ptr_16 = (uint16_t *) dst_row_ptr;
+
+                // R = Y + (1.40200 * U)
+                // G = Y - (0.34414 * V) - (0.71414 * U)
+                // B = Y + (1.77200 * V)
+
+                // R = Y + ((179 * U) >> 7)
+                // G = Y - (((44 * V) - (91 * U)) >> 7)
+                // B = Y + ((227 * V) >> 7)
+
+                row_yuv ^= 0x80008000;
+
+                int u = (row_yuv << shift) >> 24; // signed bit extraction
+                int v = (row_yuv << (16 - shift)) >> 24; // signed bit extraction
+
+                int ry = (179 * u) >> 7;
+                int gy = ((44 * v) + (91 * u)) >> 7;
+                int by = (227 * v) >> 7;
+
+                int r0 = y0 + ry, g0 = y0 - gy, b0 = y0 + by;
+                r0 = IM_MIN(IM_MAX(r0, COLOR_R8_MIN), COLOR_R8_MAX);
+                g0 = IM_MIN(IM_MAX(g0, COLOR_G8_MIN), COLOR_G8_MAX);
+                b0 = IM_MIN(IM_MAX(b0, COLOR_B8_MIN), COLOR_B8_MAX);
+                int rgb565_0 = COLOR_R8_G8_B8_TO_RGB565(r0, g0, b0);
+                IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr_16, x, rgb565_0);
+
+                if (x != w_limit) {
+                    int r1 = y1 + ry, g1 = y1 - gy, b1 = y1 + by;
+                    r1 = IM_MIN(IM_MAX(r1, COLOR_R8_MIN), COLOR_R8_MAX);
+                    g1 = IM_MIN(IM_MAX(g1, COLOR_G8_MIN), COLOR_G8_MAX);
+                    b1 = IM_MIN(IM_MAX(b1, COLOR_B8_MIN), COLOR_B8_MAX);
+                    int rgb565_1 = COLOR_R8_G8_B8_TO_RGB565(r1, g1, b1);
+                    IMAGE_PUT_RGB565_PIXEL_FAST(row_ptr_16, x + 1, rgb565_1);
+                }
+
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                pixel24_t *row_ptr_24 = (pixel24_t *) dst_row_ptr;
+
+                // R = Y + (1.40200 * U)
+                // G = Y - (0.34414 * V) - (0.71414 * U)
+                // B = Y + (1.77200 * V)
+
+                // R = Y + ((179 * U) >> 7)
+                // G = Y - (((44 * V) - (91 * U)) >> 7)
+                // B = Y + ((227 * V) >> 7)
+
+                row_yuv ^= 0x80008000;
+
+                int u = (row_yuv << shift) >> 24; // signed bit extraction
+                int v = (row_yuv << (16 - shift)) >> 24; // signed bit extraction
+
+                int ry = (179 * u) >> 7;
+                int gy = ((44 * v) + (91 * u)) >> 7;
+                int by = (227 * v) >> 7;
+
+                int r0 = y0 + ry, g0 = y0 - gy, b0 = y0 + by;
+                r0 = IM_MIN(IM_MAX(r0, COLOR_R8_MIN), COLOR_R8_MAX);
+                g0 = IM_MIN(IM_MAX(g0, COLOR_G8_MIN), COLOR_G8_MAX);
+                b0 = IM_MIN(IM_MAX(b0, COLOR_B8_MIN), COLOR_B8_MAX);
+                int rgb888_0 = COLOR_R8_G8_B8_TO_RGB888(r0, g0, b0);
+                IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr_24, x, rgb888_0);
+
+                if (x != w_limit) {
+                    int r1 = y1 + ry, g1 = y1 - gy, b1 = y1 + by;
+                    r1 = IM_MIN(IM_MAX(r1, COLOR_R8_MIN), COLOR_R8_MAX);
+                    g1 = IM_MIN(IM_MAX(g1, COLOR_G8_MIN), COLOR_G8_MAX);
+                    b1 = IM_MIN(IM_MAX(b1, COLOR_B8_MIN), COLOR_B8_MAX);
+                    int rgb888_1 = COLOR_R8_G8_B8_TO_RGB888(r1, g1, b1);
+                    IMAGE_PUT_RGB888_PIXEL_FAST(row_ptr_24, x + 1, rgb888_1);
+                }
+
+                break;
+            }
+            default: {
+                break;
+            }
+        }
+    }
+}
+
+void imlib_deyuv_image(image_t *dst, image_t *src)
+{
+    for (int y = 0, src_w = src->w, src_h = src->h; y < src_h; y++) {
+        void *row_ptr = NULL;
+
+        switch (dst->pixfmt) {
+            case PIXFORMAT_BINARY: {
+                row_ptr = IMAGE_COMPUTE_BINARY_PIXEL_ROW_PTR(dst, y);
+                break;
+            }
+            case PIXFORMAT_GRAYSCALE: {
+                row_ptr = IMAGE_COMPUTE_GRAYSCALE_PIXEL_ROW_PTR(dst, y);
+                break;
+            }
+            case PIXFORMAT_RGB565: {
+                row_ptr = IMAGE_COMPUTE_RGB565_PIXEL_ROW_PTR(dst, y);
+                break;
+            }
+            case PIXFORMAT_RGB888: {
+                row_ptr = IMAGE_COMPUTE_RGB888_PIXEL_ROW_PTR(dst, y);
+                break;
+            }
+        }
+
+        imlib_deyuv_line(0, src_w, y, row_ptr, dst->pixfmt, src);
+    }
+}
diff --git a/github_source/minicv2/src/zbar.c b/github_source/minicv2/src/zbar.c
new file mode 100644
index 0000000..eaaeb71
--- /dev/null
+++ b/github_source/minicv2/src/zbar.c
@@ -0,0 +1,8869 @@
+/*
+ * This file is part of the OpenMV project.
+ *
+ * Copyright (c) 2013-2021 Ibrahim Abdelkader <iabdalkader@openmv.io>
+ * Copyright (c) 2013-2021 Kwabena W. Agyeman <kwagyeman@openmv.io>
+ *
+ * This work is licensed under the MIT license, see the file LICENSE for details.
+ *
+ * This file is part of the ZBar Bar Code Reader library.
+ */
+#include <limits.h>
+#include "imlib.h"
+#ifdef IMLIB_ENABLE_BARCODES
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-variable"
+#pragma GCC diagnostic ignored "-Wunused-but-set-variable"
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#define free(ptr) ({ umm_free(ptr); })
+#define malloc(size) ({ void *_r = umm_malloc(size); if(!_r) fb_alloc_fail(); _r; })
+#define realloc(ptr, size) ({ void *_r = umm_realloc((ptr), (size)); if(!_r) fb_alloc_fail(); _r; })
+#define calloc(num, item_size) ({ void *_r = umm_calloc((num), (item_size)); if(!_r) fb_alloc_fail(); _r; })
+#define assert(expression)
+#define zprintf(...)
+#define dbprintf(...) while(0)
+#define zassert(condition, retval, format, ...) do { if(!(condition)) return(retval); } while(0)
+
+#define zbar_image_write_png(...)
+#define svg_open(...)
+#define svg_image(...)
+#define svg_group_start(...)
+#define svg_path_start(...)
+#define svg_path_end(...)
+#define svg_group_end(...)
+#define svg_close(...)
+
+#define NO_STATS
+#define ENABLE_EAN
+#define FIXME_ADDON_SYNC
+#define ENABLE_I25
+#define ENABLE_DATABAR
+#define ENABLE_CODABAR
+#define ENABLE_CODE39
+#define ENABLE_CODE93
+#define ENABLE_CODE128
+#define ENABLE_PDF417
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "zbar.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/** @file
+ * ZBar Barcode Reader C API definition
+ */
+
+/** @mainpage
+ *
+ * interface to the barcode reader is available at several levels.
+ * most applications will want to use the high-level interfaces:
+ *
+ * @section high-level High-Level Interfaces
+ *
+ * these interfaces wrap all library functionality into an easy-to-use
+ * package for a specific toolkit:
+ * - the "GTK+ 2.x widget" may be used with GTK GUI applications.  a
+ *   Python wrapper is included for PyGtk
+ * - the @ref zbar::QZBar "Qt4 widget" may be used with Qt GUI
+ *   applications
+ * - the Processor interface (in @ref c-processor "C" or @ref
+ *   zbar::Processor "C++") adds a scanning window to an application
+ *   with no GUI.
+ *
+ * @section mid-level Intermediate Interfaces
+ *
+ * building blocks used to construct high-level interfaces:
+ * - the ImageScanner (in @ref c-imagescanner "C" or @ref
+ *   zbar::ImageScanner "C++") looks for barcodes in a library defined
+ *   image object
+ * - the Window abstraction (in @ref c-window "C" or @ref
+ *   zbar::Window "C++") sinks library images, displaying them on the
+ *   platform display
+ * - the Video abstraction (in @ref c-video "C" or @ref zbar::Video
+ *   "C++") sources library images from a video device
+ *
+ * @section low-level Low-Level Interfaces
+ *
+ * direct interaction with barcode scanning and decoding:
+ * - the Scanner (in @ref c-scanner "C" or @ref zbar::Scanner "C++")
+ *   looks for barcodes in a linear intensity sample stream
+ * - the Decoder (in @ref c-decoder "C" or @ref zbar::Decoder "C++")
+ *   extracts barcodes from a stream of bar and space widths
+ */
+
+/** @name Global library interfaces */
+/*@{*/
+
+/** "color" of element: bar or space. */
+typedef enum zbar_color_e {
+    ZBAR_SPACE = 0,    /**< light area or space between bars */
+    ZBAR_BAR = 1,      /**< dark area or colored bar segment */
+} zbar_color_t;
+
+/** decoded symbol type. */
+typedef enum zbar_symbol_type_e {
+    ZBAR_NONE        =      0,  /**< no symbol decoded */
+    ZBAR_PARTIAL     =      1,  /**< intermediate status */
+    ZBAR_EAN2        =      2,  /**< GS1 2-digit add-on */
+    ZBAR_EAN5        =      5,  /**< GS1 5-digit add-on */
+    ZBAR_EAN8        =      8,  /**< EAN-8 */
+    ZBAR_UPCE        =      9,  /**< UPC-E */
+    ZBAR_ISBN10      =     10,  /**< ISBN-10 (from EAN-13). @since 0.4 */
+    ZBAR_UPCA        =     12,  /**< UPC-A */
+    ZBAR_EAN13       =     13,  /**< EAN-13 */
+    ZBAR_ISBN13      =     14,  /**< ISBN-13 (from EAN-13). @since 0.4 */
+    ZBAR_COMPOSITE   =     15,  /**< EAN/UPC composite */
+    ZBAR_I25         =     25,  /**< Interleaved 2 of 5. @since 0.4 */
+    ZBAR_DATABAR     =     34,  /**< GS1 DataBar (RSS). @since 0.11 */
+    ZBAR_DATABAR_EXP =     35,  /**< GS1 DataBar Expanded. @since 0.11 */
+    ZBAR_CODABAR     =     38,  /**< Codabar. @since 0.11 */
+    ZBAR_CODE39      =     39,  /**< Code 39. @since 0.4 */
+    ZBAR_PDF417      =     57,  /**< PDF417. @since 0.6 */
+    ZBAR_QRCODE      =     64,  /**< QR Code. @since 0.10 */
+    ZBAR_CODE93      =     93,  /**< Code 93. @since 0.11 */
+    ZBAR_CODE128     =    128,  /**< Code 128 */
+
+    /** mask for base symbol type.
+     * @deprecated in 0.11, remove this from existing code
+     */
+    ZBAR_SYMBOL      = 0x00ff,
+    /** 2-digit add-on flag.
+     * @deprecated in 0.11, a ::ZBAR_EAN2 component is used for
+     * 2-digit GS1 add-ons
+     */
+    ZBAR_ADDON2      = 0x0200,
+    /** 5-digit add-on flag.
+     * @deprecated in 0.11, a ::ZBAR_EAN5 component is used for
+     * 5-digit GS1 add-ons
+     */
+    ZBAR_ADDON5      = 0x0500,
+    /** add-on flag mask.
+     * @deprecated in 0.11, GS1 add-ons are represented using composite
+     * symbols of type ::ZBAR_COMPOSITE; add-on components use ::ZBAR_EAN2
+     * or ::ZBAR_EAN5
+     */
+    ZBAR_ADDON       = 0x0700,
+} zbar_symbol_type_t;
+
+/** decoded symbol coarse orientation.
+ * @since 0.11
+ */
+typedef enum zbar_orientation_e {
+    ZBAR_ORIENT_UNKNOWN = -1,   /**< unable to determine orientation */
+    ZBAR_ORIENT_UP,             /**< upright, read left to right */
+    ZBAR_ORIENT_RIGHT,          /**< sideways, read top to bottom */
+    ZBAR_ORIENT_DOWN,           /**< upside-down, read right to left */
+    ZBAR_ORIENT_LEFT,           /**< sideways, read bottom to top */
+} zbar_orientation_t;
+
+/** decoder configuration options.
+ * @since 0.4
+ */
+typedef enum zbar_config_e {
+    ZBAR_CFG_ENABLE = 0,        /**< enable symbology/feature */
+    ZBAR_CFG_ADD_CHECK,         /**< enable check digit when optional */
+    ZBAR_CFG_EMIT_CHECK,        /**< return check digit when present */
+    ZBAR_CFG_ASCII,             /**< enable full ASCII character set */
+    ZBAR_CFG_NUM,               /**< number of boolean decoder configs */
+
+    ZBAR_CFG_MIN_LEN = 0x20,    /**< minimum data length for valid decode */
+    ZBAR_CFG_MAX_LEN,           /**< maximum data length for valid decode */
+
+    ZBAR_CFG_UNCERTAINTY = 0x40,/**< required video consistency frames */
+
+    ZBAR_CFG_POSITION = 0x80,   /**< enable scanner to collect position data */
+
+    ZBAR_CFG_X_DENSITY = 0x100, /**< image scanner vertical scan density */
+    ZBAR_CFG_Y_DENSITY,         /**< image scanner horizontal scan density */
+} zbar_config_t;
+
+/** decoder symbology modifier flags.
+ * @since 0.11
+ */
+typedef enum zbar_modifier_e {
+    /** barcode tagged as GS1 (EAN.UCC) reserved
+     * (eg, FNC1 before first data character).
+     * data may be parsed as a sequence of GS1 AIs
+     */
+    ZBAR_MOD_GS1 = 0,
+
+    /** barcode tagged as AIM reserved
+     * (eg, FNC1 after first character or digit pair)
+     */
+    ZBAR_MOD_AIM,
+
+    /** number of modifiers */
+    ZBAR_MOD_NUM,
+} zbar_modifier_t;
+
+/** retrieve string name for symbol encoding.
+ * @param sym symbol type encoding
+ * @returns the static string name for the specified symbol type,
+ * or "UNKNOWN" if the encoding is not recognized
+ */
+extern const char *zbar_get_symbol_name(zbar_symbol_type_t sym);
+
+/** retrieve string name for addon encoding.
+ * @param sym symbol type encoding
+ * @returns static string name for any addon, or the empty string
+ * if no addons were decoded
+ * @deprecated in 0.11
+ */
+extern const char *zbar_get_addon_name(zbar_symbol_type_t sym);
+
+/** retrieve string name for configuration setting.
+ * @param config setting to name
+ * @returns static string name for config,
+ * or the empty string if value is not a known config
+ */
+extern const char *zbar_get_config_name(zbar_config_t config);
+
+/** retrieve string name for modifier.
+ * @param modifier flag to name
+ * @returns static string name for modifier,
+ * or the empty string if the value is not a known flag
+ */
+extern const char *zbar_get_modifier_name(zbar_modifier_t modifier);
+
+/** retrieve string name for orientation.
+ * @param orientation orientation encoding
+ * @returns the static string name for the specified orientation,
+ * or "UNKNOWN" if the orientation is not recognized
+ * @since 0.11
+ */
+extern const char *zbar_get_orientation_name(zbar_orientation_t orientation);
+
+/** parse a configuration string of the form "[symbology.]config[=value]".
+ * the config must match one of the recognized names.
+ * the symbology, if present, must match one of the recognized names.
+ * if symbology is unspecified, it will be set to 0.
+ * if value is unspecified it will be set to 1.
+ * @returns 0 if the config is parsed successfully, 1 otherwise
+ * @since 0.4
+ */
+extern int zbar_parse_config(const char *config_string,
+                             zbar_symbol_type_t *symbology,
+                             zbar_config_t *config,
+                             int *value);
+
+/** consistently compute fourcc values across architectures
+ * (adapted from v4l2 specification)
+ * @since 0.11
+ */
+#define zbar_fourcc(a, b, c, d)                 \
+        ((unsigned long)(a) |                   \
+         ((unsigned long)(b) << 8) |            \
+         ((unsigned long)(c) << 16) |           \
+         ((unsigned long)(d) << 24))
+
+/** parse a fourcc string into its encoded integer value.
+ * @since 0.11
+ */
+static inline unsigned long zbar_fourcc_parse (const char *format)
+{
+    unsigned long fourcc = 0;
+    if(format) {
+        int i;
+        for(i = 0; i < 4 && format[i]; i++)
+            fourcc |= ((unsigned long)format[i]) << (i * 8);
+    }
+    return(fourcc);
+}
+
+/*@}*/
+
+struct zbar_symbol_s;
+typedef struct zbar_symbol_s zbar_symbol_t;
+
+struct zbar_symbol_set_s;
+typedef struct zbar_symbol_set_s zbar_symbol_set_t;
+
+
+/*------------------------------------------------------------*/
+/** @name Symbol interface
+ * decoded barcode symbol result object.  stores type, data, and image
+ * location of decoded symbol.  all memory is owned by the library
+ */
+/*@{*/
+
+/** @typedef zbar_symbol_t
+ * opaque decoded symbol object.
+ */
+
+/** symbol reference count manipulation.
+ * increment the reference count when you store a new reference to the
+ * symbol.  decrement when the reference is no longer used.  do not
+ * refer to the symbol once the count is decremented and the
+ * containing image has been recycled or destroyed.
+ * @note the containing image holds a reference to the symbol, so you
+ * only need to use this if you keep a symbol after the image has been
+ * destroyed or reused.
+ * @since 0.9
+ */
+extern void zbar_symbol_ref(const zbar_symbol_t *symbol,
+                            int refs);
+
+/** retrieve type of decoded symbol.
+ * @returns the symbol type
+ */
+extern zbar_symbol_type_t zbar_symbol_get_type(const zbar_symbol_t *symbol);
+
+/** retrieve symbology boolean config settings.
+ * @returns a bitmask indicating which configs were set for the detected
+ * symbology during decoding.
+ * @since 0.11
+ */
+extern unsigned int zbar_symbol_get_configs(const zbar_symbol_t *symbol);
+
+/** retrieve symbology modifier flag settings.
+ * @returns a bitmask indicating which characteristics were detected
+ * during decoding.
+ * @since 0.11
+ */
+extern unsigned int zbar_symbol_get_modifiers(const zbar_symbol_t *symbol);
+
+/** retrieve data decoded from symbol.
+ * @returns the data string
+ */
+extern const char *zbar_symbol_get_data(const zbar_symbol_t *symbol);
+
+/** retrieve length of binary data.
+ * @returns the length of the decoded data
+ */
+extern unsigned int zbar_symbol_get_data_length(const zbar_symbol_t *symbol);
+
+/** retrieve a symbol confidence metric.
+ * @returns an unscaled, relative quantity: larger values are better
+ * than smaller values, where "large" and "small" are application
+ * dependent.
+ * @note expect the exact definition of this quantity to change as the
+ * metric is refined.  currently, only the ordered relationship
+ * between two values is defined and will remain stable in the future
+ * @since 0.9
+ */
+extern int zbar_symbol_get_quality(const zbar_symbol_t *symbol);
+
+/** retrieve current cache count.  when the cache is enabled for the
+ * image_scanner this provides inter-frame reliability and redundancy
+ * information for video streams.
+ * @returns < 0 if symbol is still uncertain.
+ * @returns 0 if symbol is newly verified.
+ * @returns > 0 for duplicate symbols
+ */
+extern int zbar_symbol_get_count(const zbar_symbol_t *symbol);
+
+/** retrieve the number of points in the location polygon.  the
+ * location polygon defines the image area that the symbol was
+ * extracted from.
+ * @returns the number of points in the location polygon
+ * @note this is currently not a polygon, but the scan locations
+ * where the symbol was decoded
+ */
+extern unsigned zbar_symbol_get_loc_size(const zbar_symbol_t *symbol);
+
+/** retrieve location polygon x-coordinates.
+ * points are specified by 0-based index.
+ * @returns the x-coordinate for a point in the location polygon.
+ * @returns -1 if index is out of range
+ */
+extern int zbar_symbol_get_loc_x(const zbar_symbol_t *symbol,
+                                 unsigned index);
+
+/** retrieve location polygon y-coordinates.
+ * points are specified by 0-based index.
+ * @returns the y-coordinate for a point in the location polygon.
+ * @returns -1 if index is out of range
+ */
+extern int zbar_symbol_get_loc_y(const zbar_symbol_t *symbol,
+                                 unsigned index);
+
+/** retrieve general orientation of decoded symbol.
+ * @returns a coarse, axis-aligned indication of symbol orientation or
+ * ::ZBAR_ORIENT_UNKNOWN if unknown
+ * @since 0.11
+ */
+extern zbar_orientation_t
+zbar_symbol_get_orientation(const zbar_symbol_t *symbol);
+
+/** iterate the set to which this symbol belongs (there can be only one).
+ * @returns the next symbol in the set, or
+ * @returns NULL when no more results are available
+ */
+extern const zbar_symbol_t *zbar_symbol_next(const zbar_symbol_t *symbol);
+
+/** retrieve components of a composite result.
+ * @returns the symbol set containing the components
+ * @returns NULL if the symbol is already a physical symbol
+ * @since 0.10
+ */
+extern const zbar_symbol_set_t*
+zbar_symbol_get_components(const zbar_symbol_t *symbol);
+
+/** iterate components of a composite result.
+ * @returns the first physical component symbol of a composite result
+ * @returns NULL if the symbol is already a physical symbol
+ * @since 0.10
+ */
+extern const zbar_symbol_t*
+zbar_symbol_first_component(const zbar_symbol_t *symbol);
+
+/** print XML symbol element representation to user result buffer.
+ * @see http://zbar.sourceforge.net/2008/barcode.xsd for the schema.
+ * @param symbol is the symbol to print
+ * @param buffer is the inout result pointer, it will be reallocated
+ * with a larger size if necessary.
+ * @param buflen is inout length of the result buffer.
+ * @returns the buffer pointer
+ * @since 0.6
+ */
+extern char *zbar_symbol_xml(const zbar_symbol_t *symbol,
+                             char **buffer,
+                             unsigned *buflen);
+
+/*@}*/
+
+/*------------------------------------------------------------*/
+/** @name Symbol Set interface
+ * container for decoded result symbols associated with an image
+ * or a composite symbol.
+ * @since 0.10
+ */
+/*@{*/
+
+/** @typedef zbar_symbol_set_t
+ * opaque symbol iterator object.
+ * @since 0.10
+ */
+
+/** reference count manipulation.
+ * increment the reference count when you store a new reference.
+ * decrement when the reference is no longer used.  do not refer to
+ * the object any longer once references have been released.
+ * @since 0.10
+ */
+extern void zbar_symbol_set_ref(const zbar_symbol_set_t *symbols,
+                                int refs);
+
+/** retrieve set size.
+ * @returns the number of symbols in the set.
+ * @since 0.10
+ */
+extern int zbar_symbol_set_get_size(const zbar_symbol_set_t *symbols);
+
+/** set iterator.
+ * @returns the first decoded symbol result in a set
+ * @returns NULL if the set is empty
+ * @since 0.10
+ */
+extern const zbar_symbol_t*
+zbar_symbol_set_first_symbol(const zbar_symbol_set_t *symbols);
+
+/** raw result iterator.
+ * @returns the first decoded symbol result in a set, *before* filtering
+ * @returns NULL if the set is empty
+ * @since 0.11
+ */
+extern const zbar_symbol_t*
+zbar_symbol_set_first_unfiltered(const zbar_symbol_set_t *symbols);
+
+/*@}*/
+
+/*------------------------------------------------------------*/
+/** @name Image interface
+ * stores image data samples along with associated format and size
+ * metadata
+ */
+/*@{*/
+
+struct zbar_image_s;
+/** opaque image object. */
+typedef struct zbar_image_s zbar_image_t;
+
+/** cleanup handler callback function.
+ * called to free sample data when an image is destroyed.
+ */
+typedef void (zbar_image_cleanup_handler_t)(zbar_image_t *image);
+
+/** data handler callback function.
+ * called when decoded symbol results are available for an image
+ */
+typedef void (zbar_image_data_handler_t)(zbar_image_t *image,
+                                         const void *userdata);
+
+/*@}*/
+
+/*------------------------------------------------------------*/
+/** @name Image Scanner interface
+ * @anchor c-imagescanner
+ * mid-level image scanner interface.
+ * reads barcodes from 2-D images
+ */
+/*@{*/
+
+struct zbar_image_scanner_s;
+/** opaque image scanner object. */
+typedef struct zbar_image_scanner_s zbar_image_scanner_t;
+
+/** constructor. */
+extern zbar_image_scanner_t *zbar_image_scanner_create(void);
+
+/** destructor. */
+extern void zbar_image_scanner_destroy(zbar_image_scanner_t *scanner);
+
+/** setup result handler callback.
+ * the specified function will be called by the scanner whenever
+ * new results are available from a decoded image.
+ * pass a NULL value to disable callbacks.
+ * @returns the previously registered handler
+ */
+extern zbar_image_data_handler_t*
+zbar_image_scanner_set_data_handler(zbar_image_scanner_t *scanner,
+                                    zbar_image_data_handler_t *handler,
+                                    const void *userdata);
+
+
+/** set config for indicated symbology (0 for all) to specified value.
+ * @returns 0 for success, non-0 for failure (config does not apply to
+ * specified symbology, or value out of range)
+ * @see zbar_decoder_set_config()
+ * @since 0.4
+ */
+extern int zbar_image_scanner_set_config(zbar_image_scanner_t *scanner,
+                                         zbar_symbol_type_t symbology,
+                                         zbar_config_t config,
+                                         int value);
+
+/** parse configuration string using zbar_parse_config()
+ * and apply to image scanner using zbar_image_scanner_set_config().
+ * @returns 0 for success, non-0 for failure
+ * @see zbar_parse_config()
+ * @see zbar_image_scanner_set_config()
+ * @since 0.4
+ */
+static inline int
+zbar_image_scanner_parse_config (zbar_image_scanner_t *scanner,
+                                 const char *config_string)
+{
+    zbar_symbol_type_t sym;
+    zbar_config_t cfg;
+    int val;
+    return(zbar_parse_config(config_string, &sym, &cfg, &val) ||
+           zbar_image_scanner_set_config(scanner, sym, cfg, val));
+}
+
+/** enable or disable the inter-image result cache (default disabled).
+ * mostly useful for scanning video frames, the cache filters
+ * duplicate results from consecutive images, while adding some
+ * consistency checking and hysteresis to the results.
+ * this interface also clears the cache
+ */
+extern void zbar_image_scanner_enable_cache(zbar_image_scanner_t *scanner,
+                                            int enable);
+
+/** remove any previously decoded results from the image scanner and the
+ * specified image.  somewhat more efficient version of
+ * zbar_image_set_symbols(image, NULL) which may retain memory for
+ * subsequent decodes
+ * @since 0.10
+ */
+extern void zbar_image_scanner_recycle_image(zbar_image_scanner_t *scanner,
+                                             zbar_image_t *image);
+
+/** retrieve decode results for last scanned image.
+ * @returns the symbol set result container or NULL if no results are
+ * available
+ * @note the symbol set does not have its reference count adjusted;
+ * ensure that the count is incremented if the results may be kept
+ * after the next image is scanned
+ * @since 0.10
+ */
+extern const zbar_symbol_set_t*
+zbar_image_scanner_get_results(const zbar_image_scanner_t *scanner);
+
+/** scan for symbols in provided image.  The image format must be
+ * "Y800" or "GRAY".
+ * @returns >0 if symbols were successfully decoded from the image,
+ * 0 if no symbols were found or -1 if an error occurs
+ * @see zbar_image_convert()
+ * @since 0.9 - changed to only accept grayscale images
+ */
+extern int zbar_scan_image(zbar_image_scanner_t *scanner,
+                           zbar_image_t *image);
+
+/*@}*/
+
+/*------------------------------------------------------------*/
+/** @name Decoder interface
+ * @anchor c-decoder
+ * low-level bar width stream decoder interface.
+ * identifies symbols and extracts encoded data
+ */
+/*@{*/
+
+struct zbar_decoder_s;
+/** opaque decoder object. */
+typedef struct zbar_decoder_s zbar_decoder_t;
+
+/** decoder data handler callback function.
+ * called by decoder when new data has just been decoded
+ */
+typedef void (zbar_decoder_handler_t)(zbar_decoder_t *decoder);
+
+/** constructor. */
+extern zbar_decoder_t *zbar_decoder_create(void);
+
+/** destructor. */
+extern void zbar_decoder_destroy(zbar_decoder_t *decoder);
+
+/** set config for indicated symbology (0 for all) to specified value.
+ * @returns 0 for success, non-0 for failure (config does not apply to
+ * specified symbology, or value out of range)
+ * @since 0.4
+ */
+extern int zbar_decoder_set_config(zbar_decoder_t *decoder,
+                                   zbar_symbol_type_t symbology,
+                                   zbar_config_t config,
+                                   int value);
+
+/** parse configuration string using zbar_parse_config()
+ * and apply to decoder using zbar_decoder_set_config().
+ * @returns 0 for success, non-0 for failure
+ * @see zbar_parse_config()
+ * @see zbar_decoder_set_config()
+ * @since 0.4
+ */
+static inline int zbar_decoder_parse_config (zbar_decoder_t *decoder,
+                                             const char *config_string)
+{
+    zbar_symbol_type_t sym;
+    zbar_config_t cfg;
+    int val;
+    return(zbar_parse_config(config_string, &sym, &cfg, &val) ||
+           zbar_decoder_set_config(decoder, sym, cfg, val));
+}
+
+/** retrieve symbology boolean config settings.
+ * @returns a bitmask indicating which configs are currently set for the
+ * specified symbology.
+ * @since 0.11
+ */
+extern unsigned int zbar_decoder_get_configs(const zbar_decoder_t *decoder,
+                                             zbar_symbol_type_t symbology);
+
+/** clear all decoder state.
+ * any partial symbols are flushed
+ */
+extern void zbar_decoder_reset(zbar_decoder_t *decoder);
+
+/** mark start of a new scan pass.
+ * clears any intra-symbol state and resets color to ::ZBAR_SPACE.
+ * any partially decoded symbol state is retained
+ */
+extern void zbar_decoder_new_scan(zbar_decoder_t *decoder);
+
+/** process next bar/space width from input stream.
+ * the width is in arbitrary relative units.  first value of a scan
+ * is ::ZBAR_SPACE width, alternating from there.
+ * @returns appropriate symbol type if width completes
+ * decode of a symbol (data is available for retrieval)
+ * @returns ::ZBAR_PARTIAL as a hint if part of a symbol was decoded
+ * @returns ::ZBAR_NONE (0) if no new symbol data is available
+ */
+extern zbar_symbol_type_t zbar_decode_width(zbar_decoder_t *decoder,
+                                            unsigned width);
+
+/** retrieve color of @em next element passed to
+ * zbar_decode_width(). */
+extern zbar_color_t zbar_decoder_get_color(const zbar_decoder_t *decoder);
+
+/** retrieve last decoded data.
+ * @returns the data string or NULL if no new data available.
+ * the returned data buffer is owned by library, contents are only
+ * valid between non-0 return from zbar_decode_width and next library
+ * call
+ */
+extern const char *zbar_decoder_get_data(const zbar_decoder_t *decoder);
+
+/** retrieve length of binary data.
+ * @returns the length of the decoded data or 0 if no new data
+ * available.
+ */
+extern unsigned int
+zbar_decoder_get_data_length(const zbar_decoder_t *decoder);
+
+/** retrieve last decoded symbol type.
+ * @returns the type or ::ZBAR_NONE if no new data available
+ */
+extern zbar_symbol_type_t
+zbar_decoder_get_type(const zbar_decoder_t *decoder);
+
+/** retrieve modifier flags for the last decoded symbol.
+ * @returns a bitmask indicating which characteristics were detected
+ * during decoding.
+ * @since 0.11
+ */
+extern unsigned int zbar_decoder_get_modifiers(const zbar_decoder_t *decoder);
+
+/** retrieve last decode direction.
+ * @returns 1 for forward and -1 for reverse
+ * @returns 0 if the decode direction is unknown or does not apply
+ * @since 0.11
+ */
+extern int zbar_decoder_get_direction(const zbar_decoder_t *decoder);
+
+/** setup data handler callback.
+ * the registered function will be called by the decoder
+ * just before zbar_decode_width() returns a non-zero value.
+ * pass a NULL value to disable callbacks.
+ * @returns the previously registered handler
+ */
+extern zbar_decoder_handler_t*
+zbar_decoder_set_handler(zbar_decoder_t *decoder,
+                         zbar_decoder_handler_t *handler);
+
+/** associate user specified data value with the decoder. */
+extern void zbar_decoder_set_userdata(zbar_decoder_t *decoder,
+                                      void *userdata);
+
+/** return user specified data value associated with the decoder. */
+extern void *zbar_decoder_get_userdata(const zbar_decoder_t *decoder);
+
+/*@}*/
+
+/*------------------------------------------------------------*/
+/** @name Scanner interface
+ * @anchor c-scanner
+ * low-level linear intensity sample stream scanner interface.
+ * identifies "bar" edges and measures width between them.
+ * optionally passes to bar width decoder
+ */
+/*@{*/
+
+struct zbar_scanner_s;
+/** opaque scanner object. */
+typedef struct zbar_scanner_s zbar_scanner_t;
+
+/** constructor.
+ * if decoder is non-NULL it will be attached to scanner
+ * and called automatically at each new edge
+ * current color is initialized to ::ZBAR_SPACE
+ * (so an initial BAR->SPACE transition may be discarded)
+ */
+extern zbar_scanner_t *zbar_scanner_create(zbar_decoder_t *decoder);
+
+/** destructor. */
+extern void zbar_scanner_destroy(zbar_scanner_t *scanner);
+
+/** clear all scanner state.
+ * also resets an associated decoder
+ */
+extern zbar_symbol_type_t zbar_scanner_reset(zbar_scanner_t *scanner);
+
+/** mark start of a new scan pass. resets color to ::ZBAR_SPACE.
+ * also updates an associated decoder.
+ * @returns any decode results flushed from the pipeline
+ * @note when not using callback handlers, the return value should
+ * be checked the same as zbar_scan_y()
+ * @note call zbar_scanner_flush() at least twice before calling this
+ * method to ensure no decode results are lost
+ */
+extern zbar_symbol_type_t zbar_scanner_new_scan(zbar_scanner_t *scanner);
+
+/** flush scanner processing pipeline.
+ * forces current scanner position to be a scan boundary.
+ * call multiple times (max 3) to completely flush decoder.
+ * @returns any decode/scan results flushed from the pipeline
+ * @note when not using callback handlers, the return value should
+ * be checked the same as zbar_scan_y()
+ * @since 0.9
+ */
+extern zbar_symbol_type_t zbar_scanner_flush(zbar_scanner_t *scanner);
+
+/** process next sample intensity value.
+ * intensity (y) is in arbitrary relative units.
+ * @returns result of zbar_decode_width() if a decoder is attached,
+ * otherwise @returns (::ZBAR_PARTIAL) when new edge is detected
+ * or 0 (::ZBAR_NONE) if no new edge is detected
+ */
+extern zbar_symbol_type_t zbar_scan_y(zbar_scanner_t *scanner,
+                                      int y);
+
+/** process next sample from RGB (or BGR) triple. */
+static inline zbar_symbol_type_t zbar_scan_rgb24 (zbar_scanner_t *scanner,
+                                                    unsigned char *rgb)
+{
+    return(zbar_scan_y(scanner, rgb[0] + rgb[1] + rgb[2]));
+}
+
+/** retrieve last scanned width. */
+extern unsigned zbar_scanner_get_width(const zbar_scanner_t *scanner);
+
+/** retrieve sample position of last edge.
+ * @since 0.10
+ */
+extern unsigned zbar_scanner_get_edge(const zbar_scanner_t *scn,
+                                      unsigned offset,
+                                      int prec);
+
+/** retrieve last scanned color. */
+extern zbar_color_t zbar_scanner_get_color(const zbar_scanner_t *scanner);
+
+/*@}*/
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "config.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+int zbar_parse_config (const char *cfgstr,
+                       zbar_symbol_type_t *sym,
+                       zbar_config_t *cfg,
+                       int *val)
+{
+    const char *dot, *eq;
+    int len;
+    char negate;
+    if(!cfgstr)
+        return(1);
+
+    dot = strchr(cfgstr, '.');
+    if(dot) {
+        int len = dot - cfgstr;
+        if(!len || (len == 1 && !strncmp(cfgstr, "*", len)))
+            *sym = 0;
+        else if(len < 2)
+            return(1);
+        else if(!strncmp(cfgstr, "qrcode", len))
+            *sym = ZBAR_QRCODE;
+        else if(!strncmp(cfgstr, "db", len))
+            *sym = ZBAR_DATABAR;
+        else if(len < 3)
+            return(1);
+        else if(!strncmp(cfgstr, "upca", len))
+            *sym = ZBAR_UPCA;
+        else if(!strncmp(cfgstr, "upce", len))
+            *sym = ZBAR_UPCE;
+        else if(!strncmp(cfgstr, "ean13", len))
+            *sym = ZBAR_EAN13;
+        else if(!strncmp(cfgstr, "ean8", len))
+            *sym = ZBAR_EAN8;
+        else if(!strncmp(cfgstr, "ean5", len))
+            *sym = ZBAR_EAN5;
+        else if(!strncmp(cfgstr, "ean2", len))
+            *sym = ZBAR_EAN2;
+        else if(!strncmp(cfgstr, "composite", len))
+            *sym = ZBAR_COMPOSITE;
+        else if(!strncmp(cfgstr, "i25", len))
+            *sym = ZBAR_I25;
+        else if(len < 4)
+            return(1);
+        else if(!strncmp(cfgstr, "scanner", len))
+            *sym = ZBAR_PARTIAL; /* FIXME lame */
+        else if(!strncmp(cfgstr, "isbn13", len))
+            *sym = ZBAR_ISBN13;
+        else if(!strncmp(cfgstr, "isbn10", len))
+            *sym = ZBAR_ISBN10;
+        else if(!strncmp(cfgstr, "db-exp", len))
+            *sym = ZBAR_DATABAR_EXP;
+        else if(!strncmp(cfgstr, "codabar", len))
+            *sym = ZBAR_CODABAR;
+        else if(len < 6)
+            return(1);
+        else if(!strncmp(cfgstr, "code93", len))
+            *sym = ZBAR_CODE93;
+        else if(!strncmp(cfgstr, "code39", len))
+            *sym = ZBAR_CODE39;
+        else if(!strncmp(cfgstr, "pdf417", len))
+            *sym = ZBAR_PDF417;
+        else if(len < 7)
+            return(1);
+        else if(!strncmp(cfgstr, "code128", len))
+            *sym = ZBAR_CODE128;
+        else if(!strncmp(cfgstr, "databar", len))
+            *sym = ZBAR_DATABAR;
+        else if(!strncmp(cfgstr, "databar-exp", len))
+            *sym = ZBAR_DATABAR_EXP;
+        else
+            return(1);
+        cfgstr = dot + 1;
+    }
+    else
+        *sym = 0;
+
+    len = strlen(cfgstr);
+    eq = strchr(cfgstr, '=');
+    if(eq)
+        len = eq - cfgstr;
+    else
+        *val = 1;  /* handle this here so we can override later */
+    negate = 0;
+
+    if(len > 3 && !strncmp(cfgstr, "no-", 3)) {
+        negate = 1;
+        cfgstr += 3;
+        len -= 3;
+    }
+
+    if(len < 1)
+        return(1);
+    else if(!strncmp(cfgstr, "y-density", len))
+        *cfg = ZBAR_CFG_Y_DENSITY;
+    else if(!strncmp(cfgstr, "x-density", len))
+        *cfg = ZBAR_CFG_X_DENSITY;
+    else if(len < 2)
+        return(1);
+    else if(!strncmp(cfgstr, "enable", len))
+        *cfg = ZBAR_CFG_ENABLE;
+    else if(len < 3)
+        return(1);
+    else if(!strncmp(cfgstr, "disable", len)) {
+        *cfg = ZBAR_CFG_ENABLE;
+        negate = !negate; /* no-disable ?!? */
+    }
+    else if(!strncmp(cfgstr, "min-length", len))
+        *cfg = ZBAR_CFG_MIN_LEN;
+    else if(!strncmp(cfgstr, "max-length", len))
+        *cfg = ZBAR_CFG_MAX_LEN;
+    else if(!strncmp(cfgstr, "ascii", len))
+        *cfg = ZBAR_CFG_ASCII;
+    else if(!strncmp(cfgstr, "add-check", len))
+        *cfg = ZBAR_CFG_ADD_CHECK;
+    else if(!strncmp(cfgstr, "emit-check", len))
+        *cfg = ZBAR_CFG_EMIT_CHECK;
+    else if(!strncmp(cfgstr, "uncertainty", len))
+        *cfg = ZBAR_CFG_UNCERTAINTY;
+    else if(!strncmp(cfgstr, "position", len))
+        *cfg = ZBAR_CFG_POSITION;
+    else
+        return(1);
+
+    if(eq) {
+#ifdef HAVE_ERRNO_H
+        errno = 0;
+#endif
+        *val = strtol(eq + 1, NULL, 0);
+#ifdef HAVE_ERRNO_H
+        if(errno)
+            return(1);
+#endif
+    }
+    if(negate)
+        *val = !*val;
+
+    return(0);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "image.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define fourcc zbar_fourcc
+
+struct zbar_image_s {
+    uint32_t format;            /* fourcc image format code */
+    unsigned width, height;     /* image size */
+    const void *data;           /* image sample data */
+    unsigned long datalen;      /* allocated/mapped size of data */
+    unsigned crop_x, crop_y;    /* crop rectangle */
+    unsigned crop_w, crop_h;
+    void *userdata;             /* user specified data associated w/image */
+
+    unsigned seq;               /* page/frame sequence number */
+    zbar_symbol_set_t *syms;    /* decoded result set */
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "refcnt.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+typedef int refcnt_t;
+
+static inline int _zbar_refcnt (refcnt_t *cnt,
+                                int delta)
+{
+    int rc = (*cnt += delta);
+    assert(rc >= 0);
+    return(rc);
+}
+
+void _zbar_refcnt_init(void);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "refcnt.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+void _zbar_refcnt_init ()
+{
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "symbol.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define NUM_SYMS  20
+
+typedef struct zbar_point_s {
+    int x, y;
+} zbar_point_t;
+
+struct zbar_symbol_set_s {
+    refcnt_t refcnt;
+    int nsyms;                  /* number of filtered symbols */
+    zbar_symbol_t *head;        /* first of decoded symbol results */
+    zbar_symbol_t *tail;        /* last of unfiltered symbol results */
+};
+
+struct zbar_symbol_s {
+    zbar_symbol_type_t type;    /* symbol type */
+    unsigned int configs;       /* symbology boolean config bitmask */
+    unsigned int modifiers;     /* symbology modifier bitmask */
+    unsigned int data_alloc;    /* allocation size of data */
+    unsigned int datalen;       /* length of binary symbol data */
+    char *data;                 /* symbol data */
+
+    unsigned pts_alloc;         /* allocation size of pts */
+    unsigned npts;              /* number of points in location polygon */
+    zbar_point_t *pts;          /* list of points in location polygon */
+    zbar_orientation_t orient;  /* coarse orientation */
+
+    refcnt_t refcnt;            /* reference count */
+    zbar_symbol_t *next;        /* linked list of results (or siblings) */
+    zbar_symbol_set_t *syms;    /* components of composite result */
+    unsigned long time;         /* relative symbol capture time */
+    int cache_count;            /* cache state */
+    int quality;                /* relative symbol reliability metric */
+};
+
+extern int _zbar_get_symbol_hash(zbar_symbol_type_t);
+
+extern void _zbar_symbol_free(zbar_symbol_t*);
+
+extern zbar_symbol_set_t *_zbar_symbol_set_create(void);
+extern void _zbar_symbol_set_free(zbar_symbol_set_t*);
+
+static inline void sym_add_point (zbar_symbol_t *sym,
+                                  int x,
+                                  int y)
+{
+    int i = sym->npts;
+    if(++sym->npts >= sym->pts_alloc)
+        sym->pts = realloc(sym->pts, ++sym->pts_alloc * sizeof(zbar_point_t));
+    sym->pts[i].x = x;
+    sym->pts[i].y = y;
+}
+
+static inline void _zbar_symbol_refcnt (zbar_symbol_t *sym,
+                                        int delta)
+{
+    if(!_zbar_refcnt(&sym->refcnt, delta) && delta <= 0)
+        _zbar_symbol_free(sym);
+}
+
+static inline void _zbar_symbol_set_add (zbar_symbol_set_t *syms,
+                                         zbar_symbol_t *sym)
+{
+    sym->next = syms->head;
+    syms->head = sym;
+    syms->nsyms++;
+
+    _zbar_symbol_refcnt(sym, 1);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "symbol.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+const char *zbar_get_symbol_name (zbar_symbol_type_t sym)
+{
+    switch(sym & ZBAR_SYMBOL) {
+    case ZBAR_EAN2: return("EAN-2");
+    case ZBAR_EAN5: return("EAN-5");
+    case ZBAR_EAN8: return("EAN-8");
+    case ZBAR_UPCE: return("UPC-E");
+    case ZBAR_ISBN10: return("ISBN-10");
+    case ZBAR_UPCA: return("UPC-A");
+    case ZBAR_EAN13: return("EAN-13");
+    case ZBAR_ISBN13: return("ISBN-13");
+    case ZBAR_COMPOSITE: return("COMPOSITE");
+    case ZBAR_I25: return("I2/5");
+    case ZBAR_DATABAR: return("DataBar");
+    case ZBAR_DATABAR_EXP: return("DataBar-Exp");
+    case ZBAR_CODABAR: return("Codabar");
+    case ZBAR_CODE39: return("CODE-39");
+    case ZBAR_CODE93: return("CODE-93");
+    case ZBAR_CODE128: return("CODE-128");
+    case ZBAR_PDF417: return("PDF417");
+    case ZBAR_QRCODE: return("QR-Code");
+    default: return("UNKNOWN");
+    }
+}
+
+const char *zbar_get_addon_name (zbar_symbol_type_t sym)
+{
+    return("");
+}
+
+const char *zbar_get_config_name (zbar_config_t cfg)
+{
+    switch(cfg) {
+    case ZBAR_CFG_ENABLE: return("ENABLE");
+    case ZBAR_CFG_ADD_CHECK: return("ADD_CHECK");
+    case ZBAR_CFG_EMIT_CHECK: return("EMIT_CHECK");
+    case ZBAR_CFG_ASCII: return("ASCII");
+    case ZBAR_CFG_MIN_LEN: return("MIN_LEN");
+    case ZBAR_CFG_MAX_LEN: return("MAX_LEN");
+    case ZBAR_CFG_UNCERTAINTY: return("UNCERTAINTY");
+    case ZBAR_CFG_POSITION: return("POSITION");
+    case ZBAR_CFG_X_DENSITY: return("X_DENSITY");
+    case ZBAR_CFG_Y_DENSITY: return("Y_DENSITY");
+    default: return("");
+    }
+}
+
+const char *zbar_get_modifier_name (zbar_modifier_t mod)
+{
+    switch(mod) {
+    case ZBAR_MOD_GS1: return("GS1");
+    case ZBAR_MOD_AIM: return("AIM");
+    default: return("");
+    }
+}
+
+const char *zbar_get_orientation_name (zbar_orientation_t orient)
+{
+    switch(orient) {
+    case ZBAR_ORIENT_UP: return("UP");
+    case ZBAR_ORIENT_RIGHT: return("RIGHT");
+    case ZBAR_ORIENT_DOWN: return("DOWN");
+    case ZBAR_ORIENT_LEFT: return("LEFT");
+    default: return("UNKNOWN");
+    }
+}
+
+int _zbar_get_symbol_hash (zbar_symbol_type_t sym)
+{
+    static const signed char hash[0x20] = {
+        0x00, 0x01, 0x10, 0x11,   -1, 0x11, 0x16, 0x0c,
+    0x05, 0x06, 0x08,   -1, 0x04, 0x03, 0x07, 0x12,
+      -1,   -1,   -1,   -1,   -1,   -1,   -1, 0x02,
+      -1, 0x00, 0x12, 0x0c, 0x0b, 0x1d, 0x0a, 0x00,
+     };
+    int g0 = hash[sym & 0x1f];
+    int g1 = hash[~(sym >> 4) & 0x1f];
+    assert(g0 >= 0 && g1 >= 0);
+    if(g0 < 0 || g1 < 0)
+        return(0);
+    return((g0 + g1) & 0x1f);
+}
+
+void _zbar_symbol_free (zbar_symbol_t *sym)
+{
+    if(sym->syms) {
+        zbar_symbol_set_ref(sym->syms, -1);
+        sym->syms = NULL;
+    }
+    if(sym->pts)
+        free(sym->pts);
+    if(sym->data_alloc && sym->data)
+        free(sym->data);
+    free(sym);
+}
+
+void zbar_symbol_ref (const zbar_symbol_t *sym,
+                      int refs)
+{
+    zbar_symbol_t *ncsym = (zbar_symbol_t*)sym;
+    _zbar_symbol_refcnt(ncsym, refs);
+}
+
+zbar_symbol_type_t zbar_symbol_get_type (const zbar_symbol_t *sym)
+{
+    return(sym->type);
+}
+
+unsigned int zbar_symbol_get_configs (const zbar_symbol_t *sym)
+{
+    return(sym->configs);
+}
+
+unsigned int zbar_symbol_get_modifiers (const zbar_symbol_t *sym)
+{
+    return(sym->modifiers);
+}
+
+const char *zbar_symbol_get_data (const zbar_symbol_t *sym)
+{
+    return(sym->data);
+}
+
+unsigned int zbar_symbol_get_data_length (const zbar_symbol_t *sym)
+{
+    return(sym->datalen);
+}
+
+int zbar_symbol_get_count (const zbar_symbol_t *sym)
+{
+    return(sym->cache_count);
+}
+
+int zbar_symbol_get_quality (const zbar_symbol_t *sym)
+{
+    return(sym->quality);
+}
+
+unsigned zbar_symbol_get_loc_size (const zbar_symbol_t *sym)
+{
+    return(sym->npts);
+}
+
+int zbar_symbol_get_loc_x (const zbar_symbol_t *sym,
+                           unsigned idx)
+{
+    if(idx < sym->npts)
+        return(sym->pts[idx].x);
+    else
+        return(-1);
+}
+
+int zbar_symbol_get_loc_y (const zbar_symbol_t *sym,
+                           unsigned idx)
+{
+    if(idx < sym->npts)
+        return(sym->pts[idx].y);
+    else
+        return(-1);
+}
+
+zbar_orientation_t zbar_symbol_get_orientation (const zbar_symbol_t *sym)
+{
+    return(sym->orient);
+}
+
+const zbar_symbol_t *zbar_symbol_next (const zbar_symbol_t *sym)
+{
+    return((sym) ? sym->next : NULL);
+}
+
+const zbar_symbol_set_t*
+zbar_symbol_get_components (const zbar_symbol_t *sym)
+{
+    return(sym->syms);
+}
+
+const zbar_symbol_t *zbar_symbol_first_component (const zbar_symbol_t *sym)
+{
+    return((sym && sym->syms) ? sym->syms->head : NULL);
+}
+
+zbar_symbol_set_t *_zbar_symbol_set_create ()
+{
+    zbar_symbol_set_t *syms = calloc(1, sizeof(*syms));
+    _zbar_refcnt(&syms->refcnt, 1);
+    return(syms);
+}
+
+inline void _zbar_symbol_set_free (zbar_symbol_set_t *syms)
+{
+    zbar_symbol_t *sym, *next;
+    for(sym = syms->head; sym; sym = next) {
+        next = sym->next;
+        sym->next = NULL;
+        _zbar_symbol_refcnt(sym, -1);
+    }
+    syms->head = NULL;
+    free(syms);
+}
+
+void zbar_symbol_set_ref (const zbar_symbol_set_t *syms,
+                          int delta)
+{
+    zbar_symbol_set_t *ncsyms = (zbar_symbol_set_t*)syms;
+    if(!_zbar_refcnt(&ncsyms->refcnt, delta) && delta <= 0)
+        _zbar_symbol_set_free(ncsyms);
+}
+
+int zbar_symbol_set_get_size (const zbar_symbol_set_t *syms)
+{
+    return(syms->nsyms);
+}
+
+const zbar_symbol_t*
+zbar_symbol_set_first_symbol (const zbar_symbol_set_t *syms)
+{
+    zbar_symbol_t *sym = syms->tail;
+    if(sym)
+        return(sym->next);
+    return(syms->head);
+}
+
+const zbar_symbol_t*
+zbar_symbol_set_first_unfiltered (const zbar_symbol_set_t *syms)
+{
+    return(syms->head);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "img_scanner.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* internal image scanner APIs for 2D readers */
+
+extern zbar_symbol_t *_zbar_image_scanner_alloc_sym(zbar_image_scanner_t*,
+                                                    zbar_symbol_type_t,
+                                                    int);
+extern void _zbar_image_scanner_add_sym(zbar_image_scanner_t*,
+                                        zbar_symbol_t*);
+extern void _zbar_image_scanner_recycle_syms(zbar_image_scanner_t*,
+                                             zbar_symbol_t*);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "img_scanner.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#if 0
+# define ASSERT_POS \
+    assert(p == data + x + y * (intptr_t)w)
+#else
+# define ASSERT_POS
+#endif
+
+/* FIXME cache setting configurability */
+
+/* time interval for which two images are considered "nearby"
+ */
+#define CACHE_PROXIMITY   1000 /* ms */
+
+/* time that a result must *not* be detected before
+ * it will be reported again
+ */
+#define CACHE_HYSTERESIS  2000 /* ms */
+
+/* time after which cache entries are invalidated
+ */
+#define CACHE_TIMEOUT     (CACHE_HYSTERESIS * 2) /* ms */
+
+#define NUM_SCN_CFGS (ZBAR_CFG_Y_DENSITY - ZBAR_CFG_X_DENSITY + 1)
+
+#define CFG(iscn, cfg) ((iscn)->configs[(cfg) - ZBAR_CFG_X_DENSITY])
+#define TEST_CFG(iscn, cfg) (((iscn)->config >> ((cfg) - ZBAR_CFG_POSITION)) & 1)
+
+#ifndef NO_STATS
+# define STAT(x) iscn->stat_##x++
+#else
+# define STAT(...)
+# define dump_stats(...)
+#endif
+
+#define RECYCLE_BUCKETS     5
+
+typedef struct recycle_bucket_s {
+    int nsyms;
+    zbar_symbol_t *head;
+} recycle_bucket_t;
+
+/* image scanner state */
+struct zbar_image_scanner_s {
+    zbar_scanner_t *scn;        /* associated linear intensity scanner */
+    zbar_decoder_t *dcode;      /* associated symbol decoder */
+#ifdef ENABLE_QRCODE
+    qr_reader *qr;              /* QR Code 2D reader */
+#endif
+
+    const void *userdata;       /* application data */
+    /* user result callback */
+    zbar_image_data_handler_t *handler;
+
+    unsigned long time;         /* scan start time */
+    zbar_image_t *img;          /* currently scanning image *root* */
+    int dx, dy, du, umin, v;    /* current scan direction */
+    zbar_symbol_set_t *syms;    /* previous decode results */
+    /* recycled symbols in 4^n size buckets */
+    recycle_bucket_t recycle[RECYCLE_BUCKETS];
+
+    int enable_cache;           /* current result cache state */
+    zbar_symbol_t *cache;       /* inter-image result cache entries */
+
+    /* configuration settings */
+    unsigned config;            /* config flags */
+    unsigned ean_config;
+    int configs[NUM_SCN_CFGS];  /* int valued configurations */
+    int sym_configs[1][NUM_SYMS]; /* per-symbology configurations */
+
+#ifndef NO_STATS
+    int stat_syms_new;
+    int stat_iscn_syms_inuse, stat_iscn_syms_recycle;
+    int stat_img_syms_inuse, stat_img_syms_recycle;
+    int stat_sym_new;
+    int stat_sym_recycle[RECYCLE_BUCKETS];
+#endif
+};
+
+void _zbar_image_scanner_recycle_syms (zbar_image_scanner_t *iscn,
+                                       zbar_symbol_t *sym)
+{
+    zbar_symbol_t *next = NULL;
+    for(; sym; sym = next) {
+        next = sym->next;
+        if(sym->refcnt && _zbar_refcnt(&sym->refcnt, -1)) {
+            /* unlink referenced symbol */
+            /* FIXME handle outstanding component refs (currently unsupported)
+             */
+            assert(sym->data_alloc);
+            sym->next = NULL;
+        }
+        else {
+            int i;
+            recycle_bucket_t *bucket;
+            /* recycle unreferenced symbol */
+            if(!sym->data_alloc) {
+                sym->data = NULL;
+                sym->datalen = 0;
+            }
+            if(sym->syms) {
+                if(_zbar_refcnt(&sym->syms->refcnt, -1))
+                    assert(0);
+                _zbar_image_scanner_recycle_syms(iscn, sym->syms->head);
+                sym->syms->head = NULL;
+                _zbar_symbol_set_free(sym->syms);
+                sym->syms = NULL;
+            }
+            for(i = 0; i < RECYCLE_BUCKETS; i++)
+                if(sym->data_alloc < 1 << (i * 2))
+                    break;
+            if(i == RECYCLE_BUCKETS) {
+                assert(sym->data);
+                free(sym->data);
+                sym->data = NULL;
+                sym->data_alloc = 0;
+                i = 0;
+            }
+            bucket = &iscn->recycle[i];
+            /* FIXME cap bucket fill */
+            bucket->nsyms++;
+            sym->next = bucket->head;
+            bucket->head = sym;
+        }
+    }
+}
+
+static inline int recycle_syms (zbar_image_scanner_t *iscn,
+                                zbar_symbol_set_t *syms)
+{
+    if(_zbar_refcnt(&syms->refcnt, -1))
+        return(1);
+
+    _zbar_image_scanner_recycle_syms(iscn, syms->head);
+    syms->head = syms->tail = NULL;
+    syms->nsyms = 0;
+    return(0);
+}
+
+inline void zbar_image_scanner_recycle_image (zbar_image_scanner_t *iscn,
+                                              zbar_image_t *img)
+{
+    zbar_symbol_set_t *syms = iscn->syms;
+    if(syms && syms->refcnt) {
+        if(recycle_syms(iscn, syms)) {
+            STAT(iscn_syms_inuse);
+            iscn->syms = NULL;
+        }
+        else
+            STAT(iscn_syms_recycle);
+    }
+
+    syms = img->syms;
+    img->syms = NULL;
+    if(syms && recycle_syms(iscn, syms))
+        STAT(img_syms_inuse);
+    else if(syms) {
+        STAT(img_syms_recycle);
+
+        /* select one set to resurrect, destroy the other */
+        if(iscn->syms)
+            _zbar_symbol_set_free(syms);
+        else
+            iscn->syms = syms;
+    }
+}
+
+inline zbar_symbol_t*
+_zbar_image_scanner_alloc_sym (zbar_image_scanner_t *iscn,
+                               zbar_symbol_type_t type,
+                               int datalen)
+{
+    /* recycle old or alloc new symbol */
+    zbar_symbol_t *sym = NULL;
+    int i;
+    for(i = 0; i < RECYCLE_BUCKETS - 1; i++)
+        if(datalen <= 1 << (i * 2))
+            break;
+
+    for(; i > 0; i--)
+        if((sym = iscn->recycle[i].head)) {
+            STAT(sym_recycle[i]);
+            break;
+        }
+
+    if(sym) {
+        iscn->recycle[i].head = sym->next;
+        sym->next = NULL;
+        assert(iscn->recycle[i].nsyms);
+        iscn->recycle[i].nsyms--;
+    }
+    else {
+        sym = calloc(1, sizeof(zbar_symbol_t));
+        STAT(sym_new);
+    }
+
+    /* init new symbol */
+    sym->type = type;
+    sym->quality = 1;
+    sym->npts = 0;
+    sym->orient = ZBAR_ORIENT_UNKNOWN;
+    sym->cache_count = 0;
+    sym->time = iscn->time;
+    assert(!sym->syms);
+
+    if(datalen > 0) {
+        sym->datalen = datalen - 1;
+        if(sym->data_alloc < datalen) {
+            if(sym->data)
+                free(sym->data);
+            sym->data_alloc = datalen;
+            sym->data = malloc(datalen);
+        }
+    }
+    else {
+        if(sym->data)
+            free(sym->data);
+        sym->data = NULL;
+        sym->datalen = sym->data_alloc = 0;
+    }
+    return(sym);
+}
+
+static inline zbar_symbol_t *cache_lookup (zbar_image_scanner_t *iscn,
+                                           zbar_symbol_t *sym)
+{
+    /* search for matching entry in cache */
+    zbar_symbol_t **entry = &iscn->cache;
+    while(*entry) {
+        if((*entry)->type == sym->type &&
+           (*entry)->datalen == sym->datalen &&
+           !memcmp((*entry)->data, sym->data, sym->datalen))
+            break;
+        if((sym->time - (*entry)->time) > CACHE_TIMEOUT) {
+            /* recycle stale cache entry */
+            zbar_symbol_t *next = (*entry)->next;
+            (*entry)->next = NULL;
+            _zbar_image_scanner_recycle_syms(iscn, *entry);
+            *entry = next;
+        }
+        else
+            entry = &(*entry)->next;
+    }
+    return(*entry);
+}
+
+static inline void cache_sym (zbar_image_scanner_t *iscn,
+                              zbar_symbol_t *sym)
+{
+    if(iscn->enable_cache) {
+        uint32_t age, near_thresh, far_thresh, dup;
+        zbar_symbol_t *entry = cache_lookup(iscn, sym);
+        if(!entry) {
+            /* FIXME reuse sym */
+            entry = _zbar_image_scanner_alloc_sym(iscn, sym->type,
+                                                  sym->datalen + 1);
+            entry->configs = sym->configs;
+            entry->modifiers = sym->modifiers;
+            memcpy(entry->data, sym->data, sym->datalen);
+            entry->time = sym->time - CACHE_HYSTERESIS;
+            entry->cache_count = 0;
+            /* add to cache */
+            entry->next = iscn->cache;
+            iscn->cache = entry;
+        }
+
+        /* consistency check and hysteresis */
+        age = sym->time - entry->time;
+        entry->time = sym->time;
+        near_thresh = (age < CACHE_PROXIMITY);
+        far_thresh = (age >= CACHE_HYSTERESIS);
+        dup = (entry->cache_count >= 0);
+        if((!dup && !near_thresh) || far_thresh) {
+            int type = sym->type;
+            int h = _zbar_get_symbol_hash(type);
+            entry->cache_count = -iscn->sym_configs[0][h];
+        }
+        else if(dup || near_thresh)
+            entry->cache_count++;
+
+        sym->cache_count = entry->cache_count;
+    }
+    else
+        sym->cache_count = 0;
+}
+
+void _zbar_image_scanner_add_sym(zbar_image_scanner_t *iscn,
+                                 zbar_symbol_t *sym)
+{
+    zbar_symbol_set_t *syms;
+    cache_sym(iscn, sym);
+
+    syms = iscn->syms;
+    if(sym->cache_count || !syms->tail) {
+        sym->next = syms->head;
+        syms->head = sym;
+    }
+    else {
+        sym->next = syms->tail->next;
+        syms->tail->next = sym;
+    }
+
+    if(!sym->cache_count)
+        syms->nsyms++;
+    else if(!syms->tail)
+        syms->tail = sym;
+
+    _zbar_symbol_refcnt(sym, 1);
+}
+
+#ifdef ENABLE_QRCODE
+extern qr_finder_line *_zbar_decoder_get_qr_finder_line(zbar_decoder_t*);
+
+# define QR_FIXED(v, rnd) ((((v) << 1) + (rnd)) << (QR_FINDER_SUBPREC - 1))
+# define PRINT_FIXED(val, prec) \
+    ((val) >> (prec)),         \
+        (1000 * ((val) & ((1 << (prec)) - 1)) / (1 << (prec)))
+
+static inline void qr_handler (zbar_image_scanner_t *iscn)
+{
+    unsigned u;
+    int vert;
+    qr_finder_line *line = _zbar_decoder_get_qr_finder_line(iscn->dcode);
+    assert(line);
+    u = zbar_scanner_get_edge(iscn->scn, line->pos[0],
+                              QR_FINDER_SUBPREC);
+    line->boffs = u - zbar_scanner_get_edge(iscn->scn, line->boffs,
+                                            QR_FINDER_SUBPREC);
+    line->len = zbar_scanner_get_edge(iscn->scn, line->len,
+                                      QR_FINDER_SUBPREC);
+    line->eoffs = zbar_scanner_get_edge(iscn->scn, line->eoffs,
+                                        QR_FINDER_SUBPREC) - line->len;
+    line->len -= u;
+
+    u = QR_FIXED(iscn->umin, 0) + iscn->du * u;
+    if(iscn->du < 0) {
+        int tmp = line->boffs;
+        line->boffs = line->eoffs;
+        line->eoffs = tmp;
+        u -= line->len;
+    }
+    vert = !iscn->dx;
+    line->pos[vert] = u;
+    line->pos[!vert] = QR_FIXED(iscn->v, 1);
+
+    _zbar_qr_found_line(iscn->qr, vert, line);
+}
+#endif
+
+static void symbol_handler (zbar_decoder_t *dcode)
+{
+    zbar_image_scanner_t *iscn = zbar_decoder_get_userdata(dcode);
+    zbar_symbol_type_t type = zbar_decoder_get_type(dcode);
+    int x = 0, y = 0, dir;
+    const char *data;
+    unsigned datalen;
+    zbar_symbol_t *sym;
+
+#ifdef ENABLE_QRCODE
+    if(type == ZBAR_QRCODE) {
+        qr_handler(iscn);
+        return;
+    }
+#else
+    assert(type != ZBAR_QRCODE);
+#endif
+
+    if(TEST_CFG(iscn, ZBAR_CFG_POSITION)) {
+        /* tmp position fixup */
+        int w = zbar_scanner_get_width(iscn->scn);
+        int u = iscn->umin + iscn->du * zbar_scanner_get_edge(iscn->scn, w, 0);
+        if(iscn->dx) {
+            x = u;
+            y = iscn->v;
+        }
+        else {
+            x = iscn->v;
+            y = u;
+        }
+    }
+
+    /* FIXME debug flag to save/display all PARTIALs */
+    if(type <= ZBAR_PARTIAL) {
+        zprintf(256, "partial symbol @(%d,%d)\n", x, y);
+        return;
+    }
+
+    data = zbar_decoder_get_data(dcode);
+    datalen = zbar_decoder_get_data_length(dcode);
+
+    /* FIXME need better symbol matching */
+    for(sym = iscn->syms->head; sym; sym = sym->next)
+        if(sym->type == type &&
+           sym->datalen == datalen &&
+           !memcmp(sym->data, data, datalen)) {
+            sym->quality++;
+            zprintf(224, "dup symbol @(%d,%d): dup %s: %.20s\n",
+                    x, y, zbar_get_symbol_name(type), data);
+            if(TEST_CFG(iscn, ZBAR_CFG_POSITION))
+                /* add new point to existing set */
+                /* FIXME should be polygon */
+                sym_add_point(sym, x, y);
+            return;
+        }
+
+    sym = _zbar_image_scanner_alloc_sym(iscn, type, datalen + 1);
+    sym->configs = zbar_decoder_get_configs(dcode, type);
+    sym->modifiers = zbar_decoder_get_modifiers(dcode);
+    /* FIXME grab decoder buffer */
+    memcpy(sym->data, data, datalen + 1);
+
+    /* initialize first point */
+    if(TEST_CFG(iscn, ZBAR_CFG_POSITION)) {
+        zprintf(192, "new symbol @(%d,%d): %s: %.20s\n",
+                x, y, zbar_get_symbol_name(type), data);
+        sym_add_point(sym, x, y);
+    }
+
+    dir = zbar_decoder_get_direction(dcode);
+    if(dir)
+        sym->orient = (iscn->dy != 0) + ((iscn->du ^ dir) & 2);
+
+    _zbar_image_scanner_add_sym(iscn, sym);
+}
+
+zbar_image_scanner_t *zbar_image_scanner_create ()
+{
+    zbar_image_scanner_t *iscn = calloc(1, sizeof(zbar_image_scanner_t));
+    if(!iscn)
+        return(NULL);
+    iscn->dcode = zbar_decoder_create();
+    iscn->scn = zbar_scanner_create(iscn->dcode);
+    if(!iscn->dcode || !iscn->scn) {
+        zbar_image_scanner_destroy(iscn);
+        return(NULL);
+    }
+    zbar_decoder_set_userdata(iscn->dcode, iscn);
+    zbar_decoder_set_handler(iscn->dcode, symbol_handler);
+
+#ifdef ENABLE_QRCODE
+    iscn->qr = _zbar_qr_create();
+#endif
+
+    /* apply default configuration */
+    CFG(iscn, ZBAR_CFG_X_DENSITY) = 1;
+    CFG(iscn, ZBAR_CFG_Y_DENSITY) = 1;
+    zbar_image_scanner_set_config(iscn, 0, ZBAR_CFG_POSITION, 1);
+    zbar_image_scanner_set_config(iscn, 0, ZBAR_CFG_UNCERTAINTY, 2);
+    zbar_image_scanner_set_config(iscn, ZBAR_QRCODE, ZBAR_CFG_UNCERTAINTY, 0);
+    zbar_image_scanner_set_config(iscn, ZBAR_CODE128, ZBAR_CFG_UNCERTAINTY, 0);
+    zbar_image_scanner_set_config(iscn, ZBAR_CODE93, ZBAR_CFG_UNCERTAINTY, 0);
+    zbar_image_scanner_set_config(iscn, ZBAR_CODE39, ZBAR_CFG_UNCERTAINTY, 0);
+    zbar_image_scanner_set_config(iscn, ZBAR_CODABAR, ZBAR_CFG_UNCERTAINTY, 1);
+    zbar_image_scanner_set_config(iscn, ZBAR_COMPOSITE, ZBAR_CFG_UNCERTAINTY, 0);
+    return(iscn);
+}
+
+#ifndef NO_STATS
+static inline void dump_stats (const zbar_image_scanner_t *iscn)
+{
+    int i;
+    zprintf(1, "symbol sets allocated   = %-4d\n", iscn->stat_syms_new);
+    zprintf(1, "    scanner syms in use = %-4d\trecycled  = %-4d\n",
+            iscn->stat_iscn_syms_inuse, iscn->stat_iscn_syms_recycle);
+    zprintf(1, "    image syms in use   = %-4d\trecycled  = %-4d\n",
+            iscn->stat_img_syms_inuse, iscn->stat_img_syms_recycle);
+    zprintf(1, "symbols allocated       = %-4d\n", iscn->stat_sym_new);
+    for(i = 0; i < RECYCLE_BUCKETS; i++)
+        zprintf(1, "     recycled[%d]        = %-4d\n",
+                i, iscn->stat_sym_recycle[i]);
+}
+#endif
+
+void zbar_image_scanner_destroy (zbar_image_scanner_t *iscn)
+{
+    int i;
+    dump_stats(iscn);
+    if(iscn->syms) {
+        if(iscn->syms->refcnt)
+            zbar_symbol_set_ref(iscn->syms, -1);
+        else
+            _zbar_symbol_set_free(iscn->syms);
+        iscn->syms = NULL;
+    }
+    if(iscn->scn)
+        zbar_scanner_destroy(iscn->scn);
+    iscn->scn = NULL;
+    if(iscn->dcode)
+        zbar_decoder_destroy(iscn->dcode);
+    iscn->dcode = NULL;
+    for(i = 0; i < RECYCLE_BUCKETS; i++) {
+        zbar_symbol_t *sym, *next;
+        for(sym = iscn->recycle[i].head; sym; sym = next) {
+            next = sym->next;
+            _zbar_symbol_free(sym);
+        }
+    }
+#ifdef ENABLE_QRCODE
+    if(iscn->qr) {
+        _zbar_qr_destroy(iscn->qr);
+        iscn->qr = NULL;
+    }
+#endif
+    free(iscn);
+}
+
+zbar_image_data_handler_t*
+zbar_image_scanner_set_data_handler (zbar_image_scanner_t *iscn,
+                                     zbar_image_data_handler_t *handler,
+                                     const void *userdata)
+{
+    zbar_image_data_handler_t *result = iscn->handler;
+    iscn->handler = handler;
+    iscn->userdata = userdata;
+    return(result);
+}
+
+int zbar_image_scanner_set_config (zbar_image_scanner_t *iscn,
+                                   zbar_symbol_type_t sym,
+                                   zbar_config_t cfg,
+                                   int val)
+{
+    if((sym == 0 || sym == ZBAR_COMPOSITE) && cfg == ZBAR_CFG_ENABLE) {
+        iscn->ean_config = !!val;
+        if(sym)
+            return(0);
+    }
+
+    if(cfg < ZBAR_CFG_UNCERTAINTY)
+        return(zbar_decoder_set_config(iscn->dcode, sym, cfg, val));
+
+    if(cfg < ZBAR_CFG_POSITION) {
+        int c, i;
+        if(cfg > ZBAR_CFG_UNCERTAINTY)
+            return(1);
+        c = cfg - ZBAR_CFG_UNCERTAINTY;
+        if(sym > ZBAR_PARTIAL) {
+            i = _zbar_get_symbol_hash(sym);
+            iscn->sym_configs[c][i] = val;
+        }
+        else
+            for(i = 0; i < NUM_SYMS; i++)
+                iscn->sym_configs[c][i] = val;
+        return(0);
+    }
+
+    if(sym > ZBAR_PARTIAL)
+        return(1);
+
+    if(cfg >= ZBAR_CFG_X_DENSITY && cfg <= ZBAR_CFG_Y_DENSITY) {
+        CFG(iscn, cfg) = val;
+        return(0);
+    }
+
+    if(cfg > ZBAR_CFG_POSITION)
+        return(1);
+    cfg -= ZBAR_CFG_POSITION;
+
+    if(!val)
+        iscn->config &= ~(1 << cfg);
+    else if(val == 1)
+        iscn->config |= (1 << cfg);
+    else
+        return(1);
+
+    return(0);
+}
+
+void zbar_image_scanner_enable_cache (zbar_image_scanner_t *iscn,
+                                      int enable)
+{
+    if(iscn->cache) {
+        /* recycle all cached syms */
+        _zbar_image_scanner_recycle_syms(iscn, iscn->cache);
+        iscn->cache = NULL;
+    }
+    iscn->enable_cache = (enable) ? 1 : 0;
+}
+
+const zbar_symbol_set_t *
+zbar_image_scanner_get_results (const zbar_image_scanner_t *iscn)
+{
+    return(iscn->syms);
+}
+
+static inline void quiet_border (zbar_image_scanner_t *iscn)
+{
+    /* flush scanner pipeline */
+    zbar_scanner_t *scn = iscn->scn;
+    zbar_scanner_flush(scn);
+    zbar_scanner_flush(scn);
+    zbar_scanner_new_scan(scn);
+}
+
+#define movedelta(dx, dy) do {                  \
+        x += (dx);                              \
+        y += (dy);                              \
+        p += (dx) + ((uintptr_t)(dy) * w);       \
+    } while(0);
+
+int zbar_scan_image (zbar_image_scanner_t *iscn,
+                     zbar_image_t *img)
+{
+    zbar_symbol_set_t *syms;
+    const uint8_t *data;
+    zbar_scanner_t *scn = iscn->scn;
+    unsigned w, h, cx1, cy1;
+    int density;
+
+    /* timestamp image
+     * FIXME prefer video timestamp
+     */
+    iscn->time = 0;//_zbar_timer_now();
+
+#ifdef ENABLE_QRCODE
+    _zbar_qr_reset(iscn->qr);
+#endif
+
+    /* image must be in grayscale format */
+    if(img->format != fourcc('Y','8','0','0') &&
+       img->format != fourcc('G','R','E','Y'))
+        return(-1);
+    iscn->img = img;
+
+    /* recycle previous scanner and image results */
+    zbar_image_scanner_recycle_image(iscn, img);
+    syms = iscn->syms;
+    if(!syms) {
+        syms = iscn->syms = _zbar_symbol_set_create();
+        STAT(syms_new);
+        zbar_symbol_set_ref(syms, 1);
+    }
+    else
+        zbar_symbol_set_ref(syms, 2);
+    img->syms = syms;
+
+    w = img->width;
+    h = img->height;
+    cx1 = img->crop_x + img->crop_w;
+    assert(cx1 <= w);
+    cy1 = img->crop_y + img->crop_h;
+    assert(cy1 <= h);
+    data = img->data;
+
+    zbar_image_write_png(img, "debug.png");
+    svg_open("debug.svg", 0, 0, w, h);
+    svg_image("debug.png", w, h);
+
+    zbar_scanner_new_scan(scn);
+
+    density = CFG(iscn, ZBAR_CFG_Y_DENSITY);
+    if(density > 0) {
+        const uint8_t *p = data;
+        int x = 0, y = 0;
+
+        int border = (((img->crop_h - 1) % density) + 1) / 2;
+        if(border > img->crop_h / 2)
+            border = img->crop_h / 2;
+        border += img->crop_y;
+        assert(border <= h);
+        svg_group_start("scanner", 0, 1, 1, 0, 0);
+        iscn->dy = 0;
+
+        movedelta(img->crop_x, border);
+        iscn->v = y;
+
+        while(y < cy1) {
+            int cx0 = img->crop_x;;
+            zprintf(128, "img_x+: %04d,%04d @%p\n", x, y, p);
+            svg_path_start("vedge", 1. / 32, 0, y + 0.5);
+            iscn->dx = iscn->du = 1;
+            iscn->umin = cx0;
+            while(x < cx1) {
+                uint8_t d = *p;
+                movedelta(1, 0);
+                zbar_scan_y(scn, d);
+            }
+            ASSERT_POS;
+            quiet_border(iscn);
+            svg_path_end();
+
+            movedelta(-1, density);
+            iscn->v = y;
+            if(y >= cy1)
+                break;
+
+            zprintf(128, "img_x-: %04d,%04d @%p\n", x, y, p);
+            svg_path_start("vedge", -1. / 32, w, y + 0.5);
+            iscn->dx = iscn->du = -1;
+            iscn->umin = cx1;
+            while(x >= cx0) {
+                uint8_t d = *p;
+                movedelta(-1, 0);
+                zbar_scan_y(scn, d);
+            }
+            ASSERT_POS;
+            quiet_border(iscn);
+            svg_path_end();
+
+            movedelta(1, density);
+            iscn->v = y;
+        }
+        svg_group_end();
+    }
+    iscn->dx = 0;
+
+    density = CFG(iscn, ZBAR_CFG_X_DENSITY);
+    if(density > 0) {
+        const uint8_t *p = data;
+        int x = 0, y = 0;
+
+        int border = (((img->crop_w - 1) % density) + 1) / 2;
+        if(border > img->crop_w / 2)
+            border = img->crop_w / 2;
+        border += img->crop_x;
+        assert(border <= w);
+        svg_group_start("scanner", 90, 1, -1, 0, 0);
+        movedelta(border, img->crop_y);
+        iscn->v = x;
+
+        while(x < cx1) {
+            int cy0 = img->crop_y;
+            zprintf(128, "img_y+: %04d,%04d @%p\n", x, y, p);
+            svg_path_start("vedge", 1. / 32, 0, x + 0.5);
+            iscn->dy = iscn->du = 1;
+            iscn->umin = cy0;
+            while(y < cy1) {
+                uint8_t d = *p;
+                movedelta(0, 1);
+                zbar_scan_y(scn, d);
+            }
+            ASSERT_POS;
+            quiet_border(iscn);
+            svg_path_end();
+
+            movedelta(density, -1);
+            iscn->v = x;
+            if(x >= cx1)
+                break;
+
+            zprintf(128, "img_y-: %04d,%04d @%p\n", x, y, p);
+            svg_path_start("vedge", -1. / 32, h, x + 0.5);
+            iscn->dy = iscn->du = -1;
+            iscn->umin = cy1;
+            while(y >= cy0) {
+                uint8_t d = *p;
+                movedelta(0, -1);
+                zbar_scan_y(scn, d);
+            }
+            ASSERT_POS;
+            quiet_border(iscn);
+            svg_path_end();
+
+            movedelta(density, 1);
+            iscn->v = x;
+        }
+        svg_group_end();
+    }
+    iscn->dy = 0;
+    iscn->img = NULL;
+
+#ifdef ENABLE_QRCODE
+    _zbar_qr_decode(iscn->qr, iscn, img);
+#endif
+
+    /* FIXME tmp hack to filter bad EAN results */
+    /* FIXME tmp hack to merge simple case EAN add-ons */
+    char filter = (!iscn->enable_cache &&
+                   (density == 1 || CFG(iscn, ZBAR_CFG_Y_DENSITY) == 1));
+    int nean = 0, naddon = 0;
+    if(syms->nsyms) {
+        zbar_symbol_t **symp;
+        for(symp = &syms->head; *symp; ) {
+            zbar_symbol_t *sym = *symp;
+            if(sym->cache_count <= 0 &&
+               ((sym->type < ZBAR_COMPOSITE && sym->type > ZBAR_PARTIAL) ||
+                sym->type == ZBAR_DATABAR ||
+                sym->type == ZBAR_DATABAR_EXP ||
+                sym->type == ZBAR_CODABAR))
+            {
+            if((sym->type == ZBAR_CODABAR || filter) && sym->quality < 4) {
+                    if(iscn->enable_cache) {
+                        /* revert cache update */
+                        zbar_symbol_t *entry = cache_lookup(iscn, sym);
+                        if(entry)
+                            entry->cache_count--;
+                        else
+                            assert(0);
+                    }
+
+                    /* recycle */
+                    *symp = sym->next;
+                    syms->nsyms--;
+                    sym->next = NULL;
+                    _zbar_image_scanner_recycle_syms(iscn, sym);
+                    continue;
+                }
+                else if(sym->type < ZBAR_COMPOSITE &&
+                        sym->type != ZBAR_ISBN10)
+                {
+                    if(sym->type > ZBAR_EAN5)
+                        nean++;
+                    else
+                        naddon++;
+                }
+            }
+            symp = &sym->next;
+        }
+
+        if(nean == 1 && naddon == 1 && iscn->ean_config) {
+            /* create container symbol for composite result */
+            zbar_symbol_t *ean = NULL, *addon = NULL;
+            for(symp = &syms->head; *symp; ) {
+                zbar_symbol_t *sym = *symp;
+                if(sym->type < ZBAR_COMPOSITE && sym->type > ZBAR_PARTIAL) {
+                    /* move to composite */
+                    *symp = sym->next;
+                    syms->nsyms--;
+                    sym->next = NULL;
+                    if(sym->type <= ZBAR_EAN5)
+                        addon = sym;
+                    else
+                        ean = sym;
+                }
+                else
+                    symp = &sym->next;
+            }
+            assert(ean);
+            assert(addon);
+
+            int datalen = ean->datalen + addon->datalen + 1;
+            zbar_symbol_t *ean_sym =
+                _zbar_image_scanner_alloc_sym(iscn, ZBAR_COMPOSITE, datalen);
+            ean_sym->orient = ean->orient;
+            ean_sym->syms = _zbar_symbol_set_create();
+            memcpy(ean_sym->data, ean->data, ean->datalen);
+            memcpy(ean_sym->data + ean->datalen,
+                   addon->data, addon->datalen + 1);
+            ean_sym->syms->head = ean;
+            ean->next = addon;
+            ean_sym->syms->nsyms = 2;
+            _zbar_image_scanner_add_sym(iscn, ean_sym);
+        }
+    }
+
+    if(syms->nsyms && iscn->handler)
+        iscn->handler(img, iscn->userdata);
+
+    svg_close();
+    return(syms->nsyms);
+}
+
+#undef TEST_CFG
+#undef CFG
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+#define NUM_CFGS (ZBAR_CFG_MAX_LEN - ZBAR_CFG_MIN_LEN + 1)
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "ean.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* state of each parallel decode attempt */
+typedef struct ean_pass_s {
+    signed char state;          /* module position of w[idx] in symbol */
+#define STATE_REV   0x80        /*   scan direction reversed */
+#define STATE_ADDON 0x40        /*   scanning add-on */
+#define STATE_IDX   0x3f        /*   element offset into symbol */
+    unsigned width;             /* width of last character */
+    unsigned char raw[7];       /* decode in process */
+} ean_pass_t;
+
+/* EAN/UPC specific decode state */
+typedef struct ean_decoder_s {
+    ean_pass_t pass[4];         /* state of each parallel decode attempt */
+    zbar_symbol_type_t left;    /* current holding buffer contents */
+    zbar_symbol_type_t right;
+    int direction;              /* scan direction */
+    unsigned s4, width;         /* character width */
+    signed char buf[18];        /* holding buffer */
+
+    signed char enable;
+    unsigned ean13_config;
+    unsigned ean8_config;
+    unsigned upca_config;
+    unsigned upce_config;
+    unsigned isbn10_config;
+    unsigned isbn13_config;
+    unsigned ean5_config;
+    unsigned ean2_config;
+} ean_decoder_t;
+
+/* reset EAN/UPC pass specific state */
+static inline void ean_new_scan (ean_decoder_t *ean)
+{
+    ean->pass[0].state = ean->pass[1].state = -1;
+    ean->pass[2].state = ean->pass[3].state = -1;
+    ean->s4 = 0;
+}
+
+/* reset all EAN/UPC state */
+static inline void ean_reset (ean_decoder_t *ean)
+{
+    ean_new_scan(ean);
+    ean->left = ean->right = ZBAR_NONE;
+}
+
+static inline unsigned ean_get_config (ean_decoder_t *ean,
+                                       zbar_symbol_type_t sym)
+{
+    switch(sym) {
+    case ZBAR_EAN2:   return(ean->ean2_config);
+    case ZBAR_EAN5:   return(ean->ean5_config);
+    case ZBAR_EAN8:   return(ean->ean8_config);
+    case ZBAR_UPCE:   return(ean->upce_config);
+    case ZBAR_ISBN10: return(ean->isbn10_config);
+    case ZBAR_UPCA:   return(ean->upca_config);
+    case ZBAR_EAN13:  return(ean->ean13_config);
+    case ZBAR_ISBN13: return(ean->isbn13_config);
+    default:          return(0);
+    }
+}
+
+/* decode EAN/UPC symbols */
+zbar_symbol_type_t _zbar_decode_ean(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "i25.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* interleaved 2 of 5 specific decode state */
+typedef struct i25_decoder_s {
+    unsigned direction : 1;     /* scan direction: 0=fwd/space, 1=rev/bar */
+    unsigned element : 4;       /* element offset 0-8 */
+    int character : 12;         /* character position in symbol */
+    unsigned s10;               /* current character width */
+    unsigned width;             /* last character width */
+    unsigned char buf[4];       /* initial scan buffer */
+
+    unsigned config;
+    int configs[NUM_CFGS];      /* int valued configurations */
+} i25_decoder_t;
+
+/* reset interleaved 2 of 5 specific state */
+static inline void i25_reset (i25_decoder_t *i25)
+{
+    i25->direction = 0;
+    i25->element = 0;
+    i25->character = -1;
+    i25->s10 = 0;
+}
+
+/* decode interleaved 2 of 5 symbols */
+zbar_symbol_type_t _zbar_decode_i25(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "databar.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define DATABAR_MAX_SEGMENTS 32
+
+/* active DataBar (partial) segment entry */
+typedef struct databar_segment_s {
+    signed finder : 5;          /* finder pattern */
+    unsigned exp : 1;           /* DataBar expanded finder */
+    unsigned color : 1;         /* finder coloring */
+    unsigned side : 1;          /* data character side of finder */
+
+    unsigned partial : 1;       /* unpaired partial segment */
+    unsigned count : 7;         /* times encountered */
+    unsigned epoch : 8;         /* age, in characters scanned */
+    unsigned check : 8;         /* bar checksum */
+    signed short data;          /* decoded character data */
+    unsigned short width;       /* measured width of finder (14 modules) */
+} databar_segment_t;
+
+/* DataBar specific decode state */
+typedef struct databar_decoder_s {
+    unsigned config;            /* decoder configuration flags */
+    unsigned config_exp;
+
+    unsigned csegs : 8;         /* allocated segments */
+    unsigned epoch : 8;         /* current scan */
+
+    databar_segment_t *segs;    /* active segment list */
+    signed char chars[16];      /* outstanding character indices */
+} databar_decoder_t;
+
+/* reset DataBar segment decode state */
+static inline void databar_new_scan (databar_decoder_t *db)
+{
+    int i;
+    for(i = 0; i < 16; i++)
+        if(db->chars[i] >= 0) {
+            databar_segment_t *seg = db->segs + db->chars[i];
+            if(seg->partial)
+                seg->finder = -1;
+            db->chars[i] = -1;
+        }
+}
+
+/* reset DataBar accumulated segments */
+static inline void databar_reset (databar_decoder_t *db)
+{
+    int i, n = db->csegs;
+    databar_new_scan(db);
+    for(i = 0; i < n; i++)
+        db->segs[i].finder = -1;
+}
+
+/* decode DataBar symbols */
+zbar_symbol_type_t _zbar_decode_databar(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "codabar.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2011 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* Codabar specific decode state */
+typedef struct codabar_decoder_s {
+    unsigned direction : 1;     /* scan direction: 0=fwd, 1=rev */
+    unsigned element : 4;       /* element offset 0-7 */
+    int character : 12;         /* character position in symbol */
+    unsigned s7;                /* current character width */
+    unsigned width;             /* last character width */
+    unsigned char buf[6];       /* initial scan buffer */
+
+    unsigned config;
+    int configs[NUM_CFGS];      /* int valued configurations */
+} codabar_decoder_t;
+
+/* reset Codabar specific state */
+static inline void codabar_reset (codabar_decoder_t *codabar)
+{
+    codabar->direction = 0;
+    codabar->element = 0;
+    codabar->character = -1;
+    codabar->s7 = 0;
+}
+
+/* decode Codabar symbols */
+zbar_symbol_type_t _zbar_decode_codabar(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "code39.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* Code 39 specific decode state */
+typedef struct code39_decoder_s {
+    unsigned direction : 1;     /* scan direction: 0=fwd, 1=rev */
+    unsigned element : 4;       /* element offset 0-8 */
+    int character : 12;         /* character position in symbol */
+    unsigned s9;                /* current character width */
+    unsigned width;             /* last character width */
+
+    unsigned config;
+    int configs[NUM_CFGS];      /* int valued configurations */
+} code39_decoder_t;
+
+/* reset Code 39 specific state */
+static inline void code39_reset (code39_decoder_t *dcode39)
+{
+    dcode39->direction = 0;
+    dcode39->element = 0;
+    dcode39->character = -1;
+    dcode39->s9 = 0;
+}
+
+/* decode Code 39 symbols */
+zbar_symbol_type_t _zbar_decode_code39(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "code93.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* Code 93 specific decode state */
+typedef struct code93_decoder_s {
+    unsigned direction : 1;     /* scan direction: 0=fwd/space, 1=rev/bar */
+    unsigned element : 3;       /* element offset 0-5 */
+    int character : 12;         /* character position in symbol */
+    unsigned width;             /* last character width */
+    unsigned char buf;          /* first character */
+
+    unsigned config;
+    int configs[NUM_CFGS];      /* int valued configurations */
+} code93_decoder_t;
+
+/* reset Code 93 specific state */
+static inline void code93_reset (code93_decoder_t *dcode93)
+{
+    dcode93->direction = 0;
+    dcode93->element = 0;
+    dcode93->character = -1;
+}
+
+/* decode Code 93 symbols */
+zbar_symbol_type_t _zbar_decode_code93(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "code128.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* Code 128 specific decode state */
+typedef struct code128_decoder_s {
+    unsigned direction : 1;     /* scan direction: 0=fwd/space, 1=rev/bar */
+    unsigned element : 3;       /* element offset 0-5 */
+    int character : 12;         /* character position in symbol */
+    unsigned char start;        /* start character */
+    unsigned s6;                /* character width */
+    unsigned width;             /* last character width */
+
+    unsigned config;
+    int configs[NUM_CFGS];      /* int valued configurations */
+} code128_decoder_t;
+
+/* reset Code 128 specific state */
+static inline void code128_reset (code128_decoder_t *dcode128)
+{
+    dcode128->direction = 0;
+    dcode128->element = 0;
+    dcode128->character = -1;
+    dcode128->s6 = 0;
+}
+
+/* decode Code 128 symbols */
+zbar_symbol_type_t _zbar_decode_code128(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "pdf417.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* PDF417 specific decode state */
+typedef struct pdf417_decoder_s {
+    unsigned direction : 1;     /* scan direction: 0=fwd/space, 1=rev/bar */
+    unsigned element : 3;       /* element offset 0-7 */
+    int character : 12;         /* character position in symbol */
+    unsigned s8;                /* character width */
+
+    unsigned config;
+    int configs[NUM_CFGS];      /* int valued configurations */
+} pdf417_decoder_t;
+
+/* reset PDF417 specific state */
+static inline void pdf417_reset (pdf417_decoder_t *pdf417)
+{
+    pdf417->direction = 0;
+    pdf417->element = 0;
+    pdf417->character = -1;
+    pdf417->s8 = 0;
+}
+
+/* decode PDF417 symbols */
+zbar_symbol_type_t _zbar_decode_pdf417(zbar_decoder_t *dcode);
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "decoder.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* size of bar width history (implementation assumes power of two) */
+#ifndef DECODE_WINDOW
+# define DECODE_WINDOW  16
+#endif
+
+/* initial data buffer allocation */
+#ifndef BUFFER_MIN
+# define BUFFER_MIN   0x20
+#endif
+
+/* maximum data buffer allocation
+ * (longer symbols are rejected)
+ */
+#ifndef BUFFER_MAX
+# define BUFFER_MAX  0x100
+#endif
+
+/* buffer allocation increment */
+#ifndef BUFFER_INCR
+# define BUFFER_INCR  0x10
+#endif
+
+#define CFG(dcode, cfg) ((dcode).configs[(cfg) - ZBAR_CFG_MIN_LEN])
+#define TEST_CFG(config, cfg) (((config) >> (cfg)) & 1)
+#define MOD(mod) (1 << (mod))
+
+/* symbology independent decoder state */
+struct zbar_decoder_s {
+    unsigned char idx;                  /* current width index */
+    unsigned w[DECODE_WINDOW];          /* window of last N bar widths */
+    zbar_symbol_type_t type;            /* type of last decoded data */
+    zbar_symbol_type_t lock;            /* buffer lock */
+    unsigned modifiers;                 /* symbology modifier */
+    int direction;                      /* direction of last decoded data */
+    unsigned s6;                        /* 6-element character width */
+
+    /* everything above here is automatically reset */
+    unsigned buf_alloc;                 /* dynamic buffer allocation */
+    unsigned buflen;                    /* binary data length */
+    unsigned char *buf;                 /* decoded characters */
+    void *userdata;                     /* application data */
+    zbar_decoder_handler_t *handler;    /* application callback */
+
+    /* symbology specific state */
+#ifdef ENABLE_EAN
+    ean_decoder_t ean;                  /* EAN/UPC parallel decode attempts */
+#endif
+#ifdef ENABLE_I25
+    i25_decoder_t i25;                  /* Interleaved 2 of 5 decode state */
+#endif
+#ifdef ENABLE_DATABAR
+    databar_decoder_t databar;          /* DataBar decode state */
+#endif
+#ifdef ENABLE_CODABAR
+    codabar_decoder_t codabar;          /* Codabar decode state */
+#endif
+#ifdef ENABLE_CODE39
+    code39_decoder_t code39;            /* Code 39 decode state */
+#endif
+#ifdef ENABLE_CODE93
+    code93_decoder_t code93;            /* Code 93 decode state */
+#endif
+#ifdef ENABLE_CODE128
+    code128_decoder_t code128;          /* Code 128 decode state */
+#endif
+#ifdef ENABLE_PDF417
+    pdf417_decoder_t pdf417;            /* PDF417 decode state */
+#endif
+#ifdef ENABLE_QRCODE
+    qr_finder_t qrf;                    /* QR Code finder state */
+#endif
+};
+
+/* return current element color */
+static inline char get_color (const zbar_decoder_t *dcode)
+{
+    return(dcode->idx & 1);
+}
+
+/* retrieve i-th previous element width */
+static inline unsigned get_width (const zbar_decoder_t *dcode,
+                                  unsigned char offset)
+{
+    return(dcode->w[(dcode->idx - offset) & (DECODE_WINDOW - 1)]);
+}
+
+/* retrieve bar+space pair width starting at offset i */
+static inline unsigned pair_width (const zbar_decoder_t *dcode,
+                                   unsigned char offset)
+{
+    return(get_width(dcode, offset) + get_width(dcode, offset + 1));
+}
+
+/* calculate total character width "s"
+ *   - start of character identified by context sensitive offset
+ *     (<= DECODE_WINDOW - n)
+ *   - size of character is n elements
+ */
+static inline unsigned calc_s (const zbar_decoder_t *dcode,
+                               unsigned char offset,
+                               unsigned char n)
+{
+    /* FIXME check that this gets unrolled for constant n */
+    unsigned s = 0;
+    while(n--)
+        s += get_width(dcode, offset++);
+    return(s);
+}
+
+/* fixed character width decode assist
+ * bar+space width are compared as a fraction of the reference dimension "x"
+ *   - +/- 1/2 x tolerance
+ *   - measured total character width (s) compared to symbology baseline (n)
+ *     (n = 7 for EAN/UPC, 11 for Code 128)
+ *   - bar+space *pair width* "e" is used to factor out bad "exposures"
+ *     ("blooming" or "swelling" of dark or light areas)
+ *     => using like-edge measurements avoids these issues
+ *   - n should be > 3
+ */
+static inline int decode_e (unsigned e,
+                            unsigned s,
+                            unsigned n)
+{
+    /* result is encoded number of units - 2
+     * (for use as zero based index)
+     * or -1 if invalid
+     */
+    unsigned char E = ((e * n * 2 + 1) / s - 3) / 2;
+    return((E >= n - 3) ? -1 : E);
+}
+
+/* sort three like-colored elements and return ordering
+ */
+static inline unsigned decode_sort3 (zbar_decoder_t *dcode,
+                                     int i0)
+{
+    unsigned w0 = get_width(dcode, i0);
+    unsigned w2 = get_width(dcode, i0 + 2);
+    unsigned w4 = get_width(dcode, i0 + 4);
+    if(w0 < w2) {
+        if(w2 < w4)
+            return((i0 << 8) | ((i0 + 2) << 4) | (i0 + 4));
+        if(w0 < w4)
+            return((i0 << 8) | ((i0 + 4) << 4) | (i0 + 2));
+        return(((i0 + 4) << 8) | (i0 << 4) | (i0 + 2));
+    }
+    if(w4 < w2)
+        return(((i0 + 4) << 8) | ((i0 + 2) << 4) | i0);
+    if(w0 < w4)
+        return(((i0 + 2) << 8) | (i0 << 4) | (i0 + 4));
+    return(((i0 + 2) << 8) | ((i0 + 4) << 4) | i0);
+}
+
+/* sort N like-colored elements and return ordering
+ */
+static inline unsigned decode_sortn (zbar_decoder_t *dcode,
+                                     int n,
+                                     int i0)
+{
+    unsigned mask = 0, sort = 0;
+    int i;
+    for(i = n - 1; i >= 0; i--) {
+        unsigned wmin = UINT_MAX;
+        int jmin = -1, j;
+        for(j = n - 1; j >= 0; j--) {
+            if((mask >> j) & 1)
+                continue;
+            unsigned w = get_width(dcode, i0 + j * 2);
+            if(wmin >= w) {
+                wmin = w;
+                jmin = j;
+            }
+        }
+        zassert(jmin >= 0, 0, "sortn(%d,%d) jmin=%d",
+                n, i0, jmin);
+        sort <<= 4;
+        mask |= 1 << jmin;
+        sort |= i0 + jmin * 2;
+    }
+    return(sort);
+}
+
+/* acquire shared state lock */
+static inline char acquire_lock (zbar_decoder_t *dcode,
+                                 zbar_symbol_type_t req)
+{
+    if(dcode->lock) {
+        dbprintf(2, " [locked %d]\n", dcode->lock);
+        return(1);
+    }
+    dcode->lock = req;
+    return(0);
+}
+
+/* check and release shared state lock */
+static inline char release_lock (zbar_decoder_t *dcode,
+                                 zbar_symbol_type_t req)
+{
+    zassert(dcode->lock == req, 1, "lock=%d req=%d\n",
+            dcode->lock, req);
+    dcode->lock = 0;
+    return(0);
+}
+
+/* ensure output buffer has sufficient allocation for request */
+static inline char size_buf (zbar_decoder_t *dcode,
+                             unsigned len)
+{
+    unsigned char *buf;
+    if(len <= BUFFER_MIN)
+        return(0);
+    if(len < dcode->buf_alloc)
+        /* FIXME size reduction heuristic? */
+        return(0);
+    if(len > BUFFER_MAX)
+        return(1);
+    if(len < dcode->buf_alloc + BUFFER_INCR) {
+        len = dcode->buf_alloc + BUFFER_INCR;
+        if(len > BUFFER_MAX)
+            len = BUFFER_MAX;
+    }
+    buf = realloc(dcode->buf, len);
+    if(!buf)
+        return(1);
+    dcode->buf = buf;
+    dcode->buf_alloc = len;
+    return(0);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "ean.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* partial decode symbol location */
+typedef enum symbol_partial_e {
+    EAN_LEFT   = 0x0000,
+    EAN_RIGHT  = 0x1000,
+} symbol_partial_t;
+
+/* convert compact encoded D2E1E2 to character (bit4 is parity) */
+static const unsigned char digits[] = {  /* E1   E2 */
+    0x06, 0x10, 0x04, 0x13,              /*  2  2-5 */
+    0x19, 0x08, 0x11, 0x05,              /*  3  2-5 (d2 <= thr) */
+    0x09, 0x12, 0x07, 0x15,              /*  4  2-5 (d2 <= thr) */
+    0x16, 0x00, 0x14, 0x03,              /*  5  2-5 */
+    0x18, 0x01, 0x02, 0x17,              /* E1E2=43,44,33,34 (d2 > thr) */
+};
+
+static const unsigned char parity_decode[] = {
+    0xf0, /* [xx] BBBBBB = RIGHT half EAN-13 */
+
+    /* UPC-E check digit encoding */
+    0xff,
+    0xff,
+    0x0f, /* [07] BBBAAA = 0 */
+    0xff,
+    0x1f, /* [0b] BBABAA = 1 */
+    0x2f, /* [0d] BBAABA = 2 */
+    0xf3, /* [0e] BBAAAB = 3 */
+    0xff,
+    0x4f, /* [13] BABBAA = 4 */
+    0x7f, /* [15] BABABA = 7 */
+    0xf8, /* [16] BABAAB = 8 */
+    0x5f, /* [19] BAABBA = 5 */
+    0xf9, /* [1a] BAABAB = 9 */
+    0xf6, /* [1c] BAAABB = 6 */
+    0xff,
+
+    /* LEFT half EAN-13 leading digit */
+    0xff,
+    0x6f, /* [23] ABBBAA = 6 */
+    0x9f, /* [25] ABBABA = 9 */
+    0xf5, /* [26] ABBAAB = 5 */
+    0x8f, /* [29] ABABBA = 8 */
+    0xf7, /* [2a] ABABAB = 7 */
+    0xf4, /* [2c] ABAABB = 4 */
+    0xff,
+    0x3f, /* [31] AABBBA = 3 */
+    0xf2, /* [32] AABBAB = 2 */
+    0xf1, /* [34] AABABB = 1 */
+    0xff,
+    0xff,
+    0xff,
+    0xff,
+    0x0f, /* [3f] AAAAAA = 0 */
+};
+
+static inline int check_width (unsigned w0,
+                               unsigned w1)
+{
+    unsigned dw0 = w0;
+    w0 *= 8;
+    w1 *= 8;
+    return(w0 - dw0 <= w1 && w1 <= w0 + dw0);
+}
+
+/* evaluate previous N (>= 2) widths as auxiliary pattern,
+ * using preceding 4 as character width
+ */
+static inline signed char aux_end (zbar_decoder_t *dcode,
+                                   unsigned char fwd)
+{
+    signed char code, i;
+
+    /* reference width from previous character */
+    unsigned s = calc_s(dcode, 4 + fwd, 4);
+
+    /* check quiet zone */
+    unsigned qz = get_width(dcode, 0);
+    if(!fwd && qz && qz <= s * 3 / 4) {
+        dbprintf(2, " [invalid quiet]");
+        return(-1);
+    }
+
+    dbprintf(2, " (");
+    code = 0;
+    for(i = 1 - fwd; i < 3 + fwd; i++) {
+        unsigned e = get_width(dcode, i) + get_width(dcode, i + 1);
+        dbprintf(2, " %d", e);
+        code = (code << 2) | decode_e(e, s, 7);
+        if(code < 0) {
+            dbprintf(2, " [invalid end guard]");
+            return(-1);
+        }
+    }
+    dbprintf(2, ") s=%d aux=%x", s, code);
+    return(code);
+}
+
+/* determine possible auxiliary pattern
+ * using current 4 as possible character
+ */
+static inline signed char aux_start (zbar_decoder_t *dcode)
+{
+    /* FIXME NB add-on has no guard in reverse */
+    unsigned e1, e2 = get_width(dcode, 5) + get_width(dcode, 6);
+    unsigned char E1;
+    if(dcode->ean.s4 < 6)
+        return(-1);
+
+    if(decode_e(e2, dcode->ean.s4, 7)) {
+        dbprintf(2, " [invalid any]");
+        return(-1);
+    }
+
+    e1 = get_width(dcode, 4) + get_width(dcode, 5);
+    E1 = decode_e(e1, dcode->ean.s4, 7);
+
+    if(get_color(dcode) == ZBAR_BAR) {
+        /* check for quiet-zone */
+        unsigned qz = get_width(dcode, 7);
+        if(!qz || qz > dcode->ean.s4 * 3 / 4) {
+            if(!E1) {
+                dbprintf(2, " [valid normal]");
+                return(0); /* normal symbol start */
+            }
+            else if(E1 == 1) {
+                dbprintf(2, " [valid add-on]");
+                return(STATE_ADDON); /* add-on symbol start */
+            }
+        }
+        dbprintf(2, " [invalid start]");
+        return(-1);
+    }
+
+    if(!E1) {
+        /* attempting decode from SPACE => validate center guard */
+        unsigned e3 = get_width(dcode, 6) + get_width(dcode, 7);
+        unsigned e4 = get_width(dcode, 7) + get_width(dcode, 8);
+        if(!decode_e(e3, dcode->ean.s4, 7) &&
+           !decode_e(e4, dcode->ean.s4, 7)) {
+            dbprintf(2, " [valid center]");
+            return(0); /* start after center guard */
+        }
+    }
+    dbprintf(2, " [invalid center]");
+    return(-1);
+}
+
+/* check addon delimiter using current 4 as character
+ */
+static inline signed char aux_mid (zbar_decoder_t *dcode)
+{
+    unsigned e = get_width(dcode, 4) + get_width(dcode, 5);
+    return(decode_e(e, dcode->ean.s4, 7));
+}
+
+/* attempt to decode previous 4 widths (2 bars and 2 spaces) as a character */
+static inline signed char decode4 (zbar_decoder_t *dcode)
+{
+    signed char code;
+
+    /* calculate similar edge measurements */
+    unsigned e1 = ((get_color(dcode) == ZBAR_BAR)
+                   ? get_width(dcode, 0) + get_width(dcode, 1)
+                   : get_width(dcode, 2) + get_width(dcode, 3));
+    unsigned e2 = get_width(dcode, 1) + get_width(dcode, 2);
+    dbprintf(2, "\n        e1=%d e2=%d", e1, e2);
+
+    if(dcode->ean.s4 < 6)
+        return(-1);
+
+    /* create compacted encoding for direct lookup */
+    code = ((decode_e(e1, dcode->ean.s4, 7) << 2) |
+             decode_e(e2, dcode->ean.s4, 7));
+    if(code < 0)
+        return(-1);
+    dbprintf(2, " code=%x", code);
+
+    /* 4 combinations require additional determinant (D2)
+       E1E2 == 34 (0110)
+       E1E2 == 43 (1001)
+       E1E2 == 33 (0101)
+       E1E2 == 44 (1010)
+     */
+    if((1 << code) & 0x0660) {
+        unsigned char mid, alt;
+        /* use sum of bar widths */
+        unsigned d2 = ((get_color(dcode) == ZBAR_BAR)
+                       ? get_width(dcode, 0) + get_width(dcode, 2)
+                       : get_width(dcode, 1) + get_width(dcode, 3));
+        d2 *= 7;
+        mid = (((1 << code) & 0x0420)
+                             ? 3     /* E1E2 in 33,44 */
+                             : 4);   /* E1E2 in 34,43 */
+        alt = d2 > (mid * dcode->ean.s4);
+        if(alt)
+            code = ((code >> 1) & 3) | 0x10; /* compress code space */
+        dbprintf(2, " (d2=%d(%d) alt=%d)", d2, mid * dcode->ean.s4, alt);
+    }
+    dbprintf(2, " char=%02x", digits[(unsigned char)code]);
+    zassert(code < 0x14, -1, "code=%02x e1=%x e2=%x s4=%x color=%x\n",
+            code, e1, e2, dcode->ean.s4, get_color(dcode));
+    return(code);
+}
+
+static inline char ean_part_end2 (ean_decoder_t *ean,
+                                  ean_pass_t *pass)
+{
+    if(!TEST_CFG(ean->ean2_config, ZBAR_CFG_ENABLE))
+        return(ZBAR_NONE);
+
+    /* extract parity bits */
+    unsigned char par = ((pass->raw[1] & 0x10) >> 3 |
+                         (pass->raw[2] & 0x10) >> 4);
+    /* calculate "checksum" */
+    unsigned char chk = ~((pass->raw[1] & 0xf) * 10 +
+                          (pass->raw[2] & 0xf)) & 0x3;
+    dbprintf(2, " par=%x chk=%x", par, chk);
+    if(par != chk)
+        return(ZBAR_NONE);
+
+    dbprintf(2, "\n");
+    dbprintf(1, "decode2=%x%x\n",
+             pass->raw[1] & 0xf, pass->raw[2] & 0xf);
+    return(ZBAR_EAN2);
+}
+
+static inline zbar_symbol_type_t ean_part_end4 (ean_pass_t *pass,
+                                                unsigned char fwd)
+{
+    /* extract parity bits */
+    unsigned char par = ((pass->raw[1] & 0x10) >> 1 |
+                         (pass->raw[2] & 0x10) >> 2 |
+                         (pass->raw[3] & 0x10) >> 3 |
+                         (pass->raw[4] & 0x10) >> 4);
+
+    dbprintf(2, " par=%x", par);
+    if(par && par != 0xf)
+        /* invalid parity combination */
+        return(ZBAR_NONE);
+
+    if((!par) == fwd) {
+        /* reverse sampled digits */
+        unsigned char tmp = pass->raw[1];
+        pass->state |= STATE_REV;
+        pass->raw[1] = pass->raw[4];
+        pass->raw[4] = tmp;
+        tmp = pass->raw[2];
+        pass->raw[2] = pass->raw[3];
+        pass->raw[3] = tmp;
+    }
+
+    dbprintf(2, "\n");
+    dbprintf(1, "decode4=%x%x%x%x\n",
+             pass->raw[1] & 0xf, pass->raw[2] & 0xf,
+             pass->raw[3] & 0xf, pass->raw[4] & 0xf);
+    if(!par)
+        return(ZBAR_EAN8 | EAN_RIGHT);
+    return(ZBAR_EAN8 | EAN_LEFT);
+}
+
+static inline char ean_part_end5 (ean_decoder_t *ean,
+                                  ean_pass_t *pass)
+{
+    if(!TEST_CFG(ean->ean5_config, ZBAR_CFG_ENABLE))
+        return(ZBAR_NONE);
+
+    /* extract parity bits */
+    unsigned char par = ((pass->raw[1] & 0x10) |
+                         (pass->raw[2] & 0x10) >> 1 |
+                         (pass->raw[3] & 0x10) >> 2 |
+                         (pass->raw[4] & 0x10) >> 3 |
+                         (pass->raw[5] & 0x10) >> 4);
+    /* calculate checksum */
+    unsigned char chk = (((pass->raw[1] & 0x0f) +
+                          (pass->raw[2] & 0x0f) * 3 +
+                          (pass->raw[3] & 0x0f) +
+                          (pass->raw[4] & 0x0f) * 3 +
+                          (pass->raw[5] & 0x0f)) * 3) % 10;
+
+    unsigned char parchk = parity_decode[par >> 1];
+    if(par & 1)
+        parchk >>= 4;
+    parchk &= 0xf;
+    dbprintf(2, " par=%x(%d) chk=%d", par, parchk, chk);
+    if(parchk != chk)
+        return(ZBAR_NONE);
+
+    dbprintf(2, "\n");
+    dbprintf(1, "decode5=%x%x%x%x%x\n",
+             pass->raw[1] & 0xf, pass->raw[2] & 0xf,
+             pass->raw[3] & 0xf, pass->raw[4] & 0xf,
+             pass->raw[5] & 0xf);
+
+    return(ZBAR_EAN5);
+}
+
+static inline zbar_symbol_type_t ean_part_end7 (ean_decoder_t *ean,
+                                                ean_pass_t *pass,
+                                                unsigned char fwd)
+{
+    /* calculate parity index */
+    unsigned char par = ((fwd)
+                         ? ((pass->raw[1] & 0x10) << 1 |
+                            (pass->raw[2] & 0x10) |
+                            (pass->raw[3] & 0x10) >> 1 |
+                            (pass->raw[4] & 0x10) >> 2 |
+                            (pass->raw[5] & 0x10) >> 3 |
+                            (pass->raw[6] & 0x10) >> 4)
+                         : ((pass->raw[1] & 0x10) >> 4 |
+                            (pass->raw[2] & 0x10) >> 3 |
+                            (pass->raw[3] & 0x10) >> 2 |
+                            (pass->raw[4] & 0x10) >> 1 |
+                            (pass->raw[5] & 0x10) |
+                            (pass->raw[6] & 0x10) << 1));
+
+    /* lookup parity combination */
+    pass->raw[0] = parity_decode[par >> 1];
+    if(par & 1)
+        pass->raw[0] >>= 4;
+    pass->raw[0] &= 0xf;
+    dbprintf(2, " par=%02x(%x)", par, pass->raw[0]);
+
+    if(pass->raw[0] == 0xf)
+        /* invalid parity combination */
+        return(ZBAR_NONE);
+
+    if((!par) == fwd) {
+        unsigned char i;
+        pass->state |= STATE_REV;
+        /* reverse sampled digits */
+        for(i = 1; i < 4; i++) {
+            unsigned char tmp = pass->raw[i];
+            pass->raw[i] = pass->raw[7 - i];
+            pass->raw[7 - i] = tmp;
+        }
+    }
+
+    dbprintf(2, "\n");
+    dbprintf(1, "decode=%x%x%x%x%x%x%x(%02x)\n",
+             pass->raw[0] & 0xf, pass->raw[1] & 0xf,
+             pass->raw[2] & 0xf, pass->raw[3] & 0xf,
+             pass->raw[4] & 0xf, pass->raw[5] & 0xf,
+             pass->raw[6] & 0xf, par);
+
+    if(TEST_CFG(ean->ean13_config, ZBAR_CFG_ENABLE)) {
+        if(!par)
+            return(ZBAR_EAN13 | EAN_RIGHT);
+        if(par & 0x20)
+            return(ZBAR_EAN13 | EAN_LEFT);
+    }
+    if(par && !(par & 0x20))
+        return(ZBAR_UPCE);
+
+    return(ZBAR_NONE);
+}
+
+/* update state for one of 4 parallel passes */
+static inline zbar_symbol_type_t decode_pass (zbar_decoder_t *dcode,
+                                              ean_pass_t *pass)
+{
+    unsigned char idx, fwd;
+    pass->state++;
+    idx = pass->state & STATE_IDX;
+    fwd = pass->state & 1;
+
+    if(get_color(dcode) == ZBAR_SPACE) {
+        if(pass->state & STATE_ADDON) {
+            dbprintf(2, " i=%d", idx);
+            if(idx == 0x09 || idx == 0x21) {
+                unsigned qz = get_width(dcode, 0);
+                unsigned s = calc_s(dcode, 1, 4);
+                zbar_symbol_type_t part = !qz || (qz >= s * 3 / 4);
+                if(part && idx == 0x09)
+                    part = ean_part_end2(&dcode->ean, pass);
+                else if(part)
+                    part = ean_part_end5(&dcode->ean, pass);
+
+                if(part || idx == 0x21) {
+                    dcode->ean.direction = 0;
+                    pass->state = -1;
+                    return(part);
+                }
+            }
+            if((idx & 7) == 1) {
+                dbprintf(2, " +");
+                pass->state += 2;
+                idx += 2;
+            }
+        }
+        else if((idx == 0x10 || idx == 0x11) &&
+                TEST_CFG(dcode->ean.ean8_config, ZBAR_CFG_ENABLE) &&
+                !aux_end(dcode, fwd)) {
+            dbprintf(2, " fwd=%x", fwd);
+            zbar_symbol_type_t part = ean_part_end4(pass, fwd);
+            if(part)
+                dcode->ean.direction = (pass->state & STATE_REV) != 0;
+            pass->state = -1;
+            return(part);
+        }
+    else if((idx == 0x18 || idx == 0x19)) {
+      zbar_symbol_type_t part = ZBAR_NONE;
+      dbprintf(2, " fwd=%x", fwd);
+      if(!aux_end(dcode, fwd) && pass->raw[5] != 0xff)
+        part = ean_part_end7(&dcode->ean, pass, fwd);
+      if(part)
+        dcode->ean.direction = (pass->state & STATE_REV) != 0;
+      pass->state = -1;
+      return(part);
+        }
+    }
+
+    if(pass->state & STATE_ADDON)
+        idx >>= 1;
+
+    if(!(idx & 0x03) && idx <= 0x14) {
+        signed char code = -1;
+        unsigned w = pass->width;
+        if(!dcode->ean.s4)
+            return(0);
+        /* validate guard bars before decoding first char of symbol */
+        if(!pass->state) {
+            pass->state = aux_start(dcode);
+            pass->width = dcode->ean.s4;
+            if(pass->state < 0)
+                return(0);
+            idx = pass->state & STATE_IDX;
+        }
+        else {
+            w = check_width(w, dcode->ean.s4);
+            if(w)
+                pass->width = (pass->width + dcode->ean.s4 * 3) / 4;
+        }
+
+        if(w)
+            code = decode4(dcode);
+        else
+            dbprintf(2, " [bad width]");
+
+        if((code < 0 && idx != 0x10) ||
+           (idx > 0 && (pass->state & STATE_ADDON) && aux_mid(dcode)))
+            pass->state = -1;
+        else if(code < 0)
+            pass->raw[5] = 0xff;
+        else {
+            dbprintf(2, "\n        raw[%x]=%02x =>", idx >> 2,
+                     digits[(unsigned char)code]);
+            pass->raw[(idx >> 2) + 1] = digits[(unsigned char)code];
+            dbprintf(2, " raw=%d%d%d%d%d%d%d",
+                     pass->raw[0] & 0xf, pass->raw[1] & 0xf,
+                     pass->raw[2] & 0xf, pass->raw[3] & 0xf,
+                     pass->raw[4] & 0xf, pass->raw[5] & 0xf,
+                     pass->raw[6] & 0xf);
+        }
+    }
+    return(0);
+}
+
+static inline signed char ean_verify_checksum (ean_decoder_t *ean,
+                                               int n)
+{
+    unsigned char chk = 0;
+    unsigned char i, d;
+    for(i = 0; i < n; i++) {
+        unsigned char d = ean->buf[i];
+        zassert(d < 10, -1, "i=%x d=%x chk=%x %s\n", i, d, chk,
+                _zbar_decoder_buf_dump((void*)ean->buf, 18));
+        chk += d;
+        if((i ^ n) & 1) {
+            chk += d << 1;
+            if(chk >= 20)
+                chk -= 20;
+        }
+        if(chk >= 10)
+            chk -= 10;
+    }
+    zassert(chk < 10, -1, "chk=%x n=%x %s", chk, n,
+            _zbar_decoder_buf_dump((void*)ean->buf, 18));
+    if(chk)
+        chk = 10 - chk;
+    d = ean->buf[n];
+    zassert(d < 10, -1, "n=%x d=%x chk=%x %s\n", n, d, chk,
+            _zbar_decoder_buf_dump((void*)ean->buf, 18));
+    if(chk != d) {
+        dbprintf(1, "\nchecksum mismatch %d != %d (%s)\n",
+                 chk, d, dsprintbuf(ean));
+        return(-1);
+    }
+    return(0);
+}
+
+static inline unsigned char isbn10_calc_checksum (ean_decoder_t *ean)
+{
+    unsigned int chk = 0;
+    unsigned char w;
+    for(w = 10; w > 1; w--) {
+        unsigned char d = ean->buf[13 - w];
+        zassert(d < 10, '?', "w=%x d=%x chk=%x %s\n", w, d, chk,
+                _zbar_decoder_buf_dump((void*)ean->buf, 18));
+        chk += d * w;
+    }
+    chk = chk % 11;
+    if(!chk)
+        return('0');
+    chk = 11 - chk;
+    if(chk < 10)
+        return(chk + '0');
+    return('X');
+}
+
+static inline void ean_expand_upce (ean_decoder_t *ean,
+                                    ean_pass_t *pass)
+{
+    int i = 0;
+    unsigned char decode;
+    /* parity encoded digit is checksum */
+    ean->buf[12] = pass->raw[i++];
+
+    decode = pass->raw[6] & 0xf;
+    ean->buf[0] = 0;
+    ean->buf[1] = 0;
+    ean->buf[2] = pass->raw[i++] & 0xf;
+    ean->buf[3] = pass->raw[i++] & 0xf;
+    ean->buf[4] = (decode < 3) ? decode : pass->raw[i++] & 0xf;
+    ean->buf[5] = (decode < 4) ? 0 : pass->raw[i++] & 0xf;
+    ean->buf[6] = (decode < 5) ? 0 : pass->raw[i++] & 0xf;
+    ean->buf[7] = 0;
+    ean->buf[8] = 0;
+    ean->buf[9] = (decode < 3) ? pass->raw[i++] & 0xf : 0;
+    ean->buf[10] = (decode < 4) ? pass->raw[i++] & 0xf : 0;
+    ean->buf[11] = (decode < 5) ? pass->raw[i] & 0xf : decode;
+}
+
+static inline zbar_symbol_type_t integrate_partial (ean_decoder_t *ean,
+                                                    ean_pass_t *pass,
+                                                    zbar_symbol_type_t part)
+{
+    /* copy raw data into holding buffer */
+    /* if same partial is not consistent, reset others */
+    dbprintf(2, " integrate part=%x (%s)", part, dsprintbuf(ean));
+    signed char i, j;
+
+    if((ean->left && ((part & ZBAR_SYMBOL) != ean->left)) ||
+       (ean->right && ((part & ZBAR_SYMBOL) != ean->right))) {
+        /* partial mismatch - reset collected parts */
+        dbprintf(2, " rst(type %x %x)", ean->left, ean->right);
+        ean->left = ean->right = ZBAR_NONE;
+    }
+
+    if((ean->left || ean->right) &&
+       !check_width(ean->width, pass->width)) {
+      dbprintf(2, " rst(width %d)", pass->width);
+      ean->left = ean->right = ZBAR_NONE;
+    }
+
+
+    if(part & EAN_RIGHT) {
+        part &= ZBAR_SYMBOL;
+        j = part - 1;
+        for(i = part >> 1; i; i--, j--) {
+            unsigned char digit = pass->raw[i] & 0xf;
+            if(ean->right && ean->buf[j] != digit) {
+                /* partial mismatch - reset collected parts */
+                dbprintf(2, " rst(right)");
+                ean->left = ean->right = ZBAR_NONE;
+            }
+            ean->buf[j] = digit;
+        }
+        ean->right = part;
+        part &= ean->left;  /* FIXME!? */
+    }
+    else if(part == ZBAR_EAN13 || part == ZBAR_EAN8) /* EAN_LEFT */ {
+        j = (part - 1) >> 1;
+        for(i = part >> 1; j >= 0; i--, j--) {
+            unsigned char digit = pass->raw[i] & 0xf;
+            if(ean->left && ean->buf[j] != digit) {
+                /* partial mismatch - reset collected parts */
+                dbprintf(2, " rst(left)");
+                ean->left = ean->right = ZBAR_NONE;
+            }
+            ean->buf[j] = digit;
+        }
+        ean->left = part;
+        part &= ean->right;  /* FIXME!? */
+    }
+    else if(part != ZBAR_UPCE) /* add-ons */ {
+        for(i = part; i > 0; i--)
+            ean->buf[i - 1] = pass->raw[i] & 0xf;
+        ean->left = part;
+    }
+    else
+        ean_expand_upce(ean, pass);
+
+    ean->width = pass->width;
+
+    if(!part)
+        part = ZBAR_PARTIAL;
+
+    if(((part == ZBAR_EAN13 ||
+         part == ZBAR_UPCE) && ean_verify_checksum(ean, 12)) ||
+       (part == ZBAR_EAN8 && ean_verify_checksum(ean, 7))) {
+        /* invalid checksum */
+        if(ean->right)
+      ean->left = ZBAR_NONE;
+        else
+      ean->right = ZBAR_NONE;
+        part = ZBAR_NONE;
+    }
+
+    if(part == ZBAR_EAN13) {
+        /* special case EAN-13 subsets */
+        if(!ean->buf[0] && TEST_CFG(ean->upca_config, ZBAR_CFG_ENABLE))
+            part = ZBAR_UPCA;
+        else if(ean->buf[0] == 9 && ean->buf[1] == 7) {
+            /* ISBN-10 has priority over ISBN-13(?) */
+            if(ean->buf[2] == 8 &&
+               TEST_CFG(ean->isbn10_config, ZBAR_CFG_ENABLE))
+                part = ZBAR_ISBN10;
+            else if((ean->buf[2] == 8 || ean->buf[2] == 9) &&
+               TEST_CFG(ean->isbn13_config, ZBAR_CFG_ENABLE))
+                part = ZBAR_ISBN13;
+        }
+    }
+    else if(part == ZBAR_UPCE) {
+        if(TEST_CFG(ean->upce_config, ZBAR_CFG_ENABLE)) {
+            /* UPC-E was decompressed for checksum verification,
+             * but user requested compressed result
+             */
+            ean->buf[0] = ean->buf[1] = 0;
+            for(i = 2; i < 8; i++)
+                ean->buf[i] = pass->raw[i - 1] & 0xf;
+            ean->buf[i] = pass->raw[0] & 0xf;
+        }
+        else if(TEST_CFG(ean->upca_config, ZBAR_CFG_ENABLE))
+            /* UPC-E reported as UPC-A has priority over EAN-13 */
+            part = ZBAR_UPCA;
+        else if(TEST_CFG(ean->ean13_config, ZBAR_CFG_ENABLE))
+            part = ZBAR_EAN13;
+        else
+            part = ZBAR_NONE;
+    }
+
+    dbprintf(2, " dir=%d %x/%x=%x",
+             ean->direction, ean->left, ean->right, part);
+    return(part);
+}
+
+/* copy result to output buffer */
+static inline void ean_postprocess (zbar_decoder_t *dcode,
+                                    zbar_symbol_type_t sym)
+{
+    ean_decoder_t *ean = &dcode->ean;
+    zbar_symbol_type_t base = sym;
+    int i = 0, j = 0;
+    if(base > ZBAR_PARTIAL) {
+        if(base == ZBAR_UPCA)
+            i = 1;
+        else if(base == ZBAR_UPCE) {
+            i = 1;
+            base--;
+        }
+        else if(base == ZBAR_ISBN13)
+            base = ZBAR_EAN13;
+        else if(base == ZBAR_ISBN10)
+            i = 3;
+
+        if(base == ZBAR_ISBN10 ||
+           (base > ZBAR_EAN5 &&
+            !TEST_CFG(ean_get_config(ean, sym), ZBAR_CFG_EMIT_CHECK)))
+            base--;
+
+        for(; j < base && ean->buf[i] >= 0; i++, j++)
+            dcode->buf[j] = ean->buf[i] + '0';
+
+        if(sym == ZBAR_ISBN10 && j == 9 &&
+           TEST_CFG(ean->isbn10_config, ZBAR_CFG_EMIT_CHECK))
+            /* recalculate ISBN-10 check digit */
+            dcode->buf[j++] = isbn10_calc_checksum(ean);
+    }
+    dcode->buflen = j;
+    dcode->buf[j] = '\0';
+    dcode->direction = 1 - 2 * ean->direction;
+    dcode->modifiers = 0;
+    dbprintf(2, " base=%d j=%d (%s)", base, j, dcode->buf);
+}
+
+zbar_symbol_type_t _zbar_decode_ean (zbar_decoder_t *dcode)
+{
+    /* process upto 4 separate passes */
+    zbar_symbol_type_t sym = ZBAR_NONE;
+    unsigned char pass_idx = dcode->idx & 3;
+    unsigned char i;
+
+    /* update latest character width */
+    dcode->ean.s4 -= get_width(dcode, 4);
+    dcode->ean.s4 += get_width(dcode, 0);
+
+    for(i = 0; i < 4; i++) {
+        ean_pass_t *pass = &dcode->ean.pass[i];
+        if(pass->state >= 0 ||
+           i == pass_idx)
+        {
+            zbar_symbol_type_t part;
+            dbprintf(2, "      ean[%x/%x]: idx=%x st=%d s=%d",
+                     i, pass_idx, dcode->idx, pass->state, dcode->ean.s4);
+            part = decode_pass(dcode, pass);
+            if(part) {
+                /* update accumulated data from new partial decode */
+                sym = integrate_partial(&dcode->ean, pass, part);
+                if(sym) {
+                    /* this pass valid => _reset_ all passes */
+                    dbprintf(2, " sym=%x", sym);
+                    dcode->ean.pass[0].state = dcode->ean.pass[1].state = -1;
+                    dcode->ean.pass[2].state = dcode->ean.pass[3].state = -1;
+                    if(sym > ZBAR_PARTIAL) {
+                        if(!acquire_lock(dcode, sym))
+                            ean_postprocess(dcode, sym);
+                        else {
+                            dbprintf(1, " [locked %d]", dcode->lock);
+                            sym = ZBAR_PARTIAL;
+                        }
+                    }
+                }
+            }
+            dbprintf(2, "\n");
+        }
+    }
+    return(sym);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "i25.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+static inline unsigned char i25_decode1 (unsigned char enc,
+                                         unsigned e,
+                                         unsigned s)
+{
+    unsigned char E = decode_e(e, s, 45);
+    if(E > 7)
+        return(0xff);
+    enc <<= 1;
+    if(E > 2)
+        enc |= 1;
+    return(enc);
+}
+
+static inline unsigned char i25_decode10 (zbar_decoder_t *dcode,
+                                          unsigned char offset)
+{
+    i25_decoder_t *dcode25 = &dcode->i25;
+    dbprintf(2, " s=%d", dcode25->s10);
+    if(dcode25->s10 < 10)
+        return(0xff);
+
+    /* threshold bar width ratios */
+    unsigned char enc = 0, par = 0;
+    signed char i;
+    for(i = 8; i >= 0; i -= 2) {
+        unsigned char j = offset + ((dcode25->direction) ? i : 8 - i);
+        enc = i25_decode1(enc, get_width(dcode, j), dcode25->s10);
+        if(enc == 0xff)
+            return(0xff);
+        if(enc & 1)
+            par++;
+    }
+
+    dbprintf(2, " enc=%02x par=%x", enc, par);
+
+    /* parity check */
+    if(par != 2) {
+        dbprintf(2, " [bad parity]");
+        return(0xff);
+    }
+
+    /* decode binary weights */
+    enc &= 0xf;
+    if(enc & 8) {
+        if(enc == 12)
+            enc = 0;
+        else if(--enc > 9) {
+            dbprintf(2, " [invalid encoding]");
+            return(0xff);
+        }
+    }
+
+    dbprintf(2, " => %x", enc);
+    return(enc);
+}
+
+static inline signed char i25_decode_start (zbar_decoder_t *dcode)
+{
+    i25_decoder_t *dcode25 = &dcode->i25;
+    if(dcode25->s10 < 10)
+        return(ZBAR_NONE);
+
+    unsigned char enc = 0;
+    unsigned char i = 10;
+    enc = i25_decode1(enc, get_width(dcode, i++), dcode25->s10);
+    enc = i25_decode1(enc, get_width(dcode, i++), dcode25->s10);
+    enc = i25_decode1(enc, get_width(dcode, i++), dcode25->s10);
+
+    if((get_color(dcode) == ZBAR_BAR)
+       ? enc != 4
+       : (enc = i25_decode1(enc, get_width(dcode, i++), dcode25->s10))) {
+        dbprintf(4, "      i25: s=%d enc=%x [invalid]\n", dcode25->s10, enc);
+        return(ZBAR_NONE);
+    }
+
+    /* check leading quiet zone - spec is 10n(?)
+     * we require 5.25n for w=2n to 6.75n for w=3n
+     * (FIXME should really factor in w:n ratio)
+     */
+    unsigned quiet = get_width(dcode, i);
+    if(quiet && quiet < dcode25->s10 * 3 / 8) {
+        dbprintf(3, "      i25: s=%d enc=%x q=%d [invalid qz]\n",
+                 dcode25->s10, enc, quiet);
+        return(ZBAR_NONE);
+    }
+
+    dcode25->direction = get_color(dcode);
+    dcode25->element = 1;
+    dcode25->character = 0;
+    return(ZBAR_PARTIAL);
+}
+
+static inline int i25_acquire_lock (zbar_decoder_t *dcode)
+{
+    int i;
+    /* lock shared resources */
+    if(acquire_lock(dcode, ZBAR_I25)) {
+        dcode->i25.character = -1;
+        return(1);
+    }
+
+    /* copy holding buffer */
+    for(i = 4; --i >= 0; )
+        dcode->buf[i] = dcode->i25.buf[i];
+    return(0);
+}
+
+static inline signed char i25_decode_end (zbar_decoder_t *dcode)
+{
+    i25_decoder_t *dcode25 = &dcode->i25;
+
+    /* check trailing quiet zone */
+    unsigned quiet = get_width(dcode, 0);
+    if((quiet && quiet < dcode25->width * 3 / 8) ||
+       decode_e(get_width(dcode, 1), dcode25->width, 45) > 2 ||
+       decode_e(get_width(dcode, 2), dcode25->width, 45) > 2) {
+        dbprintf(3, "      i25: s=%d q=%d [invalid qz]\n",
+                 dcode25->width, quiet);
+        return(ZBAR_NONE);
+    }
+
+    /* check exit condition */
+    unsigned char E = decode_e(get_width(dcode, 3), dcode25->width, 45);
+    if((!dcode25->direction)
+       ? E - 3 > 4
+       : (E > 2 ||
+          decode_e(get_width(dcode, 4), dcode25->width, 45) > 2))
+        return(ZBAR_NONE);
+
+    if(dcode25->character <= 4 &&
+       i25_acquire_lock(dcode))
+        return(ZBAR_PARTIAL);
+
+    dcode->direction = 1 - 2 * dcode25->direction;
+    if(dcode25->direction) {
+        /* reverse buffer */
+        dbprintf(2, " (rev)");
+        int i;
+        for(i = 0; i < dcode25->character / 2; i++) {
+            unsigned j = dcode25->character - 1 - i;
+            char c = dcode->buf[i];
+            dcode->buf[i] = dcode->buf[j];
+            dcode->buf[j] = c;
+        }
+    }
+
+    if(dcode25->character < CFG(*dcode25, ZBAR_CFG_MIN_LEN) ||
+       (CFG(*dcode25, ZBAR_CFG_MAX_LEN) > 0 &&
+        dcode25->character > CFG(*dcode25, ZBAR_CFG_MAX_LEN))) {
+        dbprintf(2, " [invalid len]\n");
+        release_lock(dcode, ZBAR_I25);
+        dcode25->character = -1;
+        return(ZBAR_NONE);
+    }
+
+    zassert(dcode25->character < dcode->buf_alloc, ZBAR_NONE, "i=%02x %s\n",
+            dcode25->character,
+            _zbar_decoder_buf_dump(dcode->buf, dcode25->character));
+    dcode->buflen = dcode25->character;
+    dcode->buf[dcode25->character] = '\0';
+    dcode->modifiers = 0;
+    dbprintf(2, " [valid end]\n");
+    dcode25->character = -1;
+    return(ZBAR_I25);
+}
+
+zbar_symbol_type_t _zbar_decode_i25 (zbar_decoder_t *dcode)
+{
+    i25_decoder_t *dcode25 = &dcode->i25;
+
+    /* update latest character width */
+    dcode25->s10 -= get_width(dcode, 10);
+    dcode25->s10 += get_width(dcode, 0);
+
+    if(dcode25->character < 0 &&
+       !i25_decode_start(dcode))
+        return(ZBAR_NONE);
+
+    if(--dcode25->element == 6 - dcode25->direction)
+        return(i25_decode_end(dcode));
+    else if(dcode25->element)
+        return(ZBAR_NONE);
+
+    /* FIXME check current character width against previous */
+    dcode25->width = dcode25->s10;
+
+    dbprintf(2, "      i25[%c%02d+%x]",
+             (dcode25->direction) ? '<' : '>',
+             dcode25->character, dcode25->element);
+
+    if(dcode25->character == 4 && i25_acquire_lock(dcode))
+        return(ZBAR_PARTIAL);
+
+    unsigned char c = i25_decode10(dcode, 1);
+    dbprintf(2, " c=%x", c);
+    if(c > 9) {
+        dbprintf(2, " [aborted]\n");
+        goto reset;
+    }
+
+    if(size_buf(dcode, dcode25->character + 3)) {
+        dbprintf(2, " [overflow]\n");
+        goto reset;
+    }
+
+    unsigned char *buf;
+    if(dcode25->character >= 4)
+        buf = dcode->buf;
+    else
+        buf = dcode25->buf;
+    buf[dcode25->character++] = c + '0';
+
+    c = i25_decode10(dcode, 0);
+    dbprintf(2, " c=%x", c);
+    if(c > 9) {
+        dbprintf(2, " [aborted]\n");
+        goto reset;
+    }
+    else
+        dbprintf(2, "\n");
+
+    buf[dcode25->character++] = c + '0';
+    dcode25->element = 10;
+    return((dcode25->character == 2) ? ZBAR_PARTIAL : ZBAR_NONE);
+
+reset:
+    if(dcode25->character >= 4)
+        release_lock(dcode, ZBAR_I25);
+    dcode25->character = -1;
+    return(ZBAR_NONE);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "codabar.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2011 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define NIBUF 6 /* initial scan buffer size */
+
+static const signed char codabar_lo[12] = {
+    0x0, 0x1, 0x4, 0x5, 0x2, 0xa, 0xb, 0x9,
+    0x6, 0x7, 0x8, 0x3
+};
+
+static const unsigned char codabar_hi[8] = {
+    0x1, 0x4, 0x7, 0x6, 0x2, 0x3, 0x0, 0x5
+};
+
+static const unsigned char codabar_characters[20] =
+    "0123456789-$:/.+ABCD";
+
+static inline int
+codabar_check_width (unsigned ref,
+                     unsigned w)
+{
+    unsigned dref = ref;
+    ref *= 4;
+    w *= 4;
+    return(ref - dref <= w && w <= ref + dref);
+}
+
+static inline signed char
+codabar_decode7 (zbar_decoder_t *dcode)
+{
+    codabar_decoder_t *codabar = &dcode->codabar;
+    unsigned s = codabar->s7;
+    dbprintf(2, " s=%d", s);
+    if(s < 7)
+        return(-1);
+
+    /* check width */
+    if(!codabar_check_width(codabar->width, s)) {
+        dbprintf(2, " [width]");
+        return(-1);
+    }
+
+    /* extract min/max bar */
+    unsigned ibar = decode_sortn(dcode, 4, 1);
+    dbprintf(2, " bar=%04x", ibar);
+
+    unsigned wbmax = get_width(dcode, ibar & 0xf);
+    unsigned wbmin = get_width(dcode, ibar >> 12);
+    if(8 * wbmin < wbmax ||
+       3 * wbmin > 2 * wbmax)
+    {
+        dbprintf(2, " [bar outer ratio]");
+        return(-1);
+    }
+
+    unsigned wb1 = get_width(dcode, (ibar >> 8) & 0xf);
+    unsigned wb2 = get_width(dcode, (ibar >> 4) & 0xf);
+    unsigned long b0b3 = wbmin * wbmax;
+    unsigned long b1b2 = wb1 * wb2;
+    if(b1b2 + b1b2 / 8 < b0b3) {
+        /* single wide bar combinations */
+        if(8 * wbmin < 5 * wb1 ||
+           8 * wb1 < 5 * wb2 ||
+           4 * wb2 > 3 * wbmax ||
+           wb2 * wb2 >= wb1 * wbmax)
+        {
+            dbprintf(2, " [1bar inner ratios]");
+            return(-1);
+        }
+        ibar = (ibar >> 1) & 0x3;
+    }
+    else if(b1b2 > b0b3 + b0b3 / 8) {
+        /* three wide bars, no wide spaces */
+        if(4 * wbmin > 3 * wb1 ||
+           8 * wb1 < 5 * wb2 ||
+           8 * wb2 < 5 * wbmax ||
+           wbmin * wb2 >= wb1 * wb1)
+        {
+            dbprintf(2, " [3bar inner ratios]");
+            return(-1);
+        }
+        ibar = (ibar >> 13) + 4;
+    }
+    else {
+        dbprintf(2, " [bar inner ratios]");
+        return(-1);
+    }
+
+    unsigned ispc = decode_sort3(dcode, 2);
+    dbprintf(2, "(%x) spc=%03x", ibar, ispc);
+
+    unsigned wsmax = get_width(dcode, ispc & 0xf);
+    unsigned wsmid = get_width(dcode, (ispc >> 4) & 0xf);
+    unsigned wsmin = get_width(dcode, (ispc >> 8) & 0xf);
+    if(ibar >> 2) {
+        /* verify no wide spaces */
+        if(8 * wsmin < wsmax ||
+           8 * wsmin < 5 * wsmid ||
+           8 * wsmid < 5 * wsmax)
+        {
+            dbprintf(2, " [0space inner ratios]");
+            return(-1);
+        }
+        ibar &= 0x3;
+        if(codabar->direction)
+            ibar = 3 - ibar;
+        int c = (0xfcde >> (ibar << 2)) & 0xf;
+        dbprintf(2, " ex[%d]=%x", ibar, c);
+        return(c);
+    }
+    else if(8 * wsmin < wsmax ||
+            3 * wsmin > 2 * wsmax)
+    {
+        dbprintf(2, " [space outer ratio]");
+        return(-1);
+    }
+
+    unsigned long s0s2 = wsmin * wsmax;
+    unsigned long s1s1 = wsmid * wsmid;
+    if(s1s1 + s1s1 / 8 < s0s2) {
+        /* single wide space */
+        if(8 * wsmin < 5 * wsmid ||
+           4 * wsmid > 3 * wsmax)
+        {
+            dbprintf(2, " [1space inner ratios]");
+            return(-1);
+        }
+        ispc = ((ispc & 0xf) >> 1) - 1;
+        unsigned ic = (ispc << 2) | ibar;
+        if(codabar->direction)
+            ic = 11 - ic;
+        int c = codabar_lo[ic];
+        dbprintf(2, "(%d) lo[%d]=%x", ispc, ic, c);
+        return(c);
+    }
+    else if(s1s1 > s0s2 + s0s2 / 8) {
+        /* two wide spaces, check start/stop */
+        if(4 * wsmin > 3 * wsmid ||
+           8 * wsmid < 5 * wsmax)
+        {
+            dbprintf(2, " [2space inner ratios]");
+            return(-1);
+        }
+        if((ispc >> 8) == 4) {
+            dbprintf(2, " [space comb]");
+            return(-1);
+        }
+        ispc >>= 10;
+        dbprintf(2, "(%d)", ispc);
+        unsigned ic = ispc * 4 + ibar;
+        zassert(ic < 8, -1, "ic=%d ispc=%d ibar=%d", ic, ispc, ibar);
+        unsigned char c = codabar_hi[ic];
+        if(c >> 2 != codabar->direction) {
+            dbprintf(2, " [invalid stop]");
+            return(-1);
+        }
+        c = (c & 0x3) | 0x10;
+        dbprintf(2, " hi[%d]=%x", ic, c);
+        return(c);
+    }
+    else {
+        dbprintf(2, " [space inner ratios]");
+        return(-1);
+    }
+}
+
+static inline signed char
+codabar_decode_start (zbar_decoder_t *dcode)
+{
+    codabar_decoder_t *codabar = &dcode->codabar;
+    unsigned s = codabar->s7;
+    if(s < 8)
+        return(ZBAR_NONE);
+    dbprintf(2, "      codabar: s=%d", s);
+
+    /* check leading quiet zone - spec is 10x */
+    unsigned qz = get_width(dcode, 8);
+    if((qz && qz * 2 < s) ||
+       4 * get_width(dcode, 0) > 3 * s)
+    {
+        dbprintf(2, " [invalid qz/ics]\n");
+        return(ZBAR_NONE);
+    }
+
+    /* check space ratios first */
+    unsigned ispc = decode_sort3(dcode, 2);
+    dbprintf(2, " spc=%03x", ispc);
+    if((ispc >> 8) == 4) {
+        dbprintf(2, " [space comb]\n");
+        return(ZBAR_NONE);
+    }
+
+    /* require 2 wide and 1 narrow spaces */
+    unsigned wsmax = get_width(dcode, ispc & 0xf);
+    unsigned wsmin = get_width(dcode, ispc >> 8);
+    unsigned wsmid = get_width(dcode, (ispc >> 4) & 0xf);
+    if(8 * wsmin < wsmax ||
+       3 * wsmin > 2 * wsmax ||
+       4 * wsmin > 3 * wsmid ||
+       8 * wsmid < 5 * wsmax ||
+       wsmid * wsmid <= wsmax * wsmin)
+    {
+        dbprintf(2, " [space ratio]\n");
+        return(ZBAR_NONE);
+    }
+    ispc >>= 10;
+    dbprintf(2, "(%d)", ispc);
+
+    /* check bar ratios */
+    unsigned ibar = decode_sortn(dcode, 4, 1);
+    dbprintf(2, " bar=%04x", ibar);
+
+    unsigned wbmax = get_width(dcode, ibar & 0xf);
+    unsigned wbmin = get_width(dcode, ibar >> 12);
+    if(8 * wbmin < wbmax ||
+       3 * wbmin > 2 * wbmax)
+    {
+        dbprintf(2, " [bar outer ratio]\n");
+        return(ZBAR_NONE);
+    }
+
+    /* require 1 wide & 3 narrow bars */
+    unsigned wb1 = get_width(dcode, (ibar >> 8) & 0xf);
+    unsigned wb2 = get_width(dcode, (ibar >> 4) & 0xf);
+    if(8 * wbmin < 5 * wb1 ||
+       8 * wb1 < 5 * wb2 ||
+       4 * wb2 > 3 * wbmax ||
+       wb1 * wb2 >= wbmin * wbmax ||
+       wb2 * wb2 >= wb1 * wbmax)
+    {
+        dbprintf(2, " [bar inner ratios]\n");
+        return(ZBAR_NONE);
+    }
+    ibar = ((ibar & 0xf) - 1) >> 1;
+    dbprintf(2, "(%d)", ibar);
+
+    /* decode combination */
+    int ic = ispc * 4 + ibar;
+    zassert(ic < 8, ZBAR_NONE, "ic=%d ispc=%d ibar=%d", ic, ispc, ibar);
+    int c = codabar_hi[ic];
+    codabar->buf[0] = (c & 0x3) | 0x10;
+
+    /* set character direction */
+    codabar->direction = c >> 2;
+
+    codabar->element = 4;
+    codabar->character = 1;
+    codabar->width = codabar->s7;
+    dbprintf(1, " start=%c dir=%x [valid start]\n",
+             codabar->buf[0] + 0x31, codabar->direction);
+    return(ZBAR_PARTIAL);
+}
+
+static inline int
+codabar_checksum (zbar_decoder_t *dcode,
+                  unsigned n)
+{
+    unsigned chk = 0;
+    unsigned char *buf = dcode->buf;
+    while(n--)
+        chk += *(buf++);
+    return(!!(chk & 0xf));
+}
+
+static inline zbar_symbol_type_t
+codabar_postprocess (zbar_decoder_t *dcode)
+{
+    codabar_decoder_t *codabar = &dcode->codabar;
+    int dir = codabar->direction;
+    dcode->direction = 1 - 2 * dir;
+    int i, n = codabar->character;
+    for(i = 0; i < NIBUF; i++)
+        dcode->buf[i] = codabar->buf[i];
+    if(dir)
+        /* reverse buffer */
+        for(i = 0; i < n / 2; i++) {
+            unsigned j = n - 1 - i;
+            char code = dcode->buf[i];
+            dcode->buf[i] = dcode->buf[j];
+            dcode->buf[j] = code;
+        }
+
+    if(TEST_CFG(codabar->config, ZBAR_CFG_ADD_CHECK)) {
+        /* validate checksum */
+        if(codabar_checksum(dcode, n))
+            return(ZBAR_NONE);
+        if(!TEST_CFG(codabar->config, ZBAR_CFG_EMIT_CHECK)) {
+            dcode->buf[n - 2] = dcode->buf[n - 1];
+            n--;
+        }
+    }
+
+    for(i = 0; i < n; i++) {
+        unsigned c = dcode->buf[i];
+        dcode->buf[i] = ((c < 0x14)
+                         ? codabar_characters[c]
+                         : '?');
+    }
+    dcode->buflen = i;
+    dcode->buf[i] = '\0';
+    dcode->modifiers = 0;
+
+    codabar->character = -1;
+    return(ZBAR_CODABAR);
+}
+
+zbar_symbol_type_t
+_zbar_decode_codabar (zbar_decoder_t *dcode)
+{
+    codabar_decoder_t *codabar = &dcode->codabar;
+
+    /* update latest character width */
+    codabar->s7 -= get_width(dcode, 8);
+    codabar->s7 += get_width(dcode, 1);
+
+    if(get_color(dcode) != ZBAR_SPACE)
+        return(ZBAR_NONE);
+    if(codabar->character < 0)
+        return(codabar_decode_start(dcode));
+    if(codabar->character < 2 &&
+       codabar_decode_start(dcode))
+        return(ZBAR_PARTIAL);
+    if(--codabar->element)
+        return(ZBAR_NONE);
+    codabar->element = 4;
+
+    dbprintf(1, "      codabar[%c%02d+%x]",
+             (codabar->direction) ? '<' : '>',
+             codabar->character, codabar->element);
+
+    signed char c = codabar_decode7(dcode);
+    dbprintf(1, " %d", c);
+    if(c < 0) {
+        dbprintf(1, " [aborted]\n");
+        goto reset;
+    }
+
+    unsigned char *buf;
+    if(codabar->character < NIBUF)
+        buf = codabar->buf;
+    else {
+        if(codabar->character >= BUFFER_MIN &&
+           size_buf(dcode, codabar->character + 1))
+        {
+            dbprintf(1, " [overflow]\n");
+            goto reset;
+        }
+        buf = dcode->buf;
+    }
+    buf[codabar->character++] = c;
+
+    /* lock shared resources */
+    if(codabar->character == NIBUF &&
+       acquire_lock(dcode, ZBAR_CODABAR))
+    {
+        codabar->character = -1;
+        return(ZBAR_PARTIAL);
+    }
+
+    unsigned s = codabar->s7;
+    if(c & 0x10) {
+        unsigned qz = get_width(dcode, 0);
+        if(qz && qz * 2 < s) {
+            dbprintf(2, " [invalid qz]\n");
+            goto reset;
+        }
+        unsigned n = codabar->character;
+        if(n < CFG(*codabar, ZBAR_CFG_MIN_LEN) ||
+           (CFG(*codabar, ZBAR_CFG_MAX_LEN) > 0 &&
+            n > CFG(*codabar, ZBAR_CFG_MAX_LEN)))
+        {
+            dbprintf(2, " [invalid len]\n");
+            goto reset;
+        }
+        if(codabar->character < NIBUF &&
+           acquire_lock(dcode, ZBAR_CODABAR))
+        {
+            codabar->character = -1;
+            return(ZBAR_PARTIAL);
+        }
+        dbprintf(2, " stop=%c", c + 0x31);
+
+        zbar_symbol_type_t sym = codabar_postprocess(dcode);
+        if(sym > ZBAR_PARTIAL)
+            dbprintf(2, " [valid stop]");
+        else {
+            release_lock(dcode, ZBAR_CODABAR);
+            codabar->character = -1;
+        }
+        dbprintf(2, "\n");
+        return(sym);
+    }
+    else if(4 * get_width(dcode, 0) > 3 * s) {
+        dbprintf(2, " [ics]\n");
+        goto reset;
+    }
+
+    dbprintf(2, "\n");
+    return(ZBAR_NONE);
+
+reset:
+    if(codabar->character >= NIBUF)
+        release_lock(dcode, ZBAR_CODABAR);
+    codabar->character = -1;
+    return(ZBAR_NONE);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "databar.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define GS ('\035')
+
+enum { SCH_NUM, SCH_ALNUM, SCH_ISO646 };
+
+static const signed char finder_hash[0x20] = {
+    0x16, 0x1f, 0x02, 0x00, 0x03, 0x00, 0x06, 0x0b,
+    0x1f, 0x0e, 0x17, 0x0c, 0x0b, 0x14, 0x11, 0x0c,
+    0x1f, 0x03, 0x13, 0x08, 0x00, 0x0a,   -1, 0x16,
+    0x0c, 0x09,   -1, 0x1a, 0x1f, 0x1c, 0x00,   -1,
+};
+
+/* DataBar character encoding groups */
+struct group_s {
+    unsigned short sum;
+    unsigned char wmax;
+    unsigned char todd;
+    unsigned char teven;
+} groups[] = {
+    /* (17,4) DataBar Expanded character groups */
+    {    0, 7,  87,   4 },
+    {  348, 5,  52,  20 },
+    { 1388, 4,  30,  52 },
+    { 2948, 3,  10, 104 },
+    { 3988, 1,   1, 204 },
+
+    /* (16,4) DataBar outer character groups */
+    {    0, 8, 161,   1 },
+    {  161, 6,  80,  10 },
+    {  961, 4,  31,  34 },
+    { 2015, 3,  10,  70 },
+    { 2715, 1,   1, 126 },
+
+    /* (15,4) DataBar inner character groups */
+    { 1516, 8,  81,   1 },
+    { 1036, 6,  48,  10 },
+    {  336, 4,  20,  35 },
+    {    0, 2,   4,  84 },
+};
+
+static const unsigned char exp_sequences[] = {
+    /* sequence Group 1 */
+    0x01,
+    0x23,
+    0x25, 0x07,
+    0x29, 0x47,
+    0x29, 0x67, 0x0b,
+    0x29, 0x87, 0xab,
+    /* sequence Group 2 */
+    0x21, 0x43, 0x65, 0x07,
+    0x21, 0x43, 0x65, 0x89,
+    0x21, 0x43, 0x65, 0xa9, 0x0b,
+    0x21, 0x43, 0x67, 0x89, 0xab
+};
+
+/* DataBar expanded checksum multipliers */
+static const unsigned char exp_checksums[] = {
+    1, 189, 62, 113, 46, 43, 109, 134, 6, 79, 161, 45
+};
+
+static inline void
+append_check14 (unsigned char *buf)
+{
+    unsigned char chk = 0, d;
+    int i;
+    for(i = 13; --i >= 0; ) {
+        d = *(buf++) - '0';
+        chk += d;
+        if(!(i & 1))
+            chk += d << 1;
+    }
+    chk %= 10;
+    if(chk)
+        chk = 10 - chk;
+    *buf = chk + '0';
+}
+
+static inline void
+decode10 (unsigned char *buf,
+          unsigned long n,
+          int i)
+{
+    buf += i;
+    while(--i >= 0) {
+        unsigned char d = n % 10;
+        n /= 10;
+        *--buf = '0' + d;
+    }
+}
+
+#define VAR_MAX(l, i) ((((l) * 12 + (i)) * 2 + 6) / 7)
+
+#define FEED_BITS(b)                         \
+    while(i < (b) && len) {                  \
+        d = (d << 12) | (*(data++) & 0xfff); \
+        i += 12;                             \
+        len--;                               \
+        dbprintf(2, " %03lx", d & 0xfff);     \
+    }
+
+#define PUSH_CHAR(c) \
+    *(buf++) = (c)
+
+#define PUSH_CHAR4(c0, c1, c2, c3) do { \
+        PUSH_CHAR(c0);                  \
+        PUSH_CHAR(c1);                  \
+        PUSH_CHAR(c2);                  \
+        PUSH_CHAR(c3);                  \
+    } while(0);
+
+static inline int
+databar_postprocess_exp (zbar_decoder_t *dcode,
+                         int *data)
+{
+    int i = 0, enc;
+    unsigned n;
+    unsigned char *buf;
+    unsigned long d = *(data++);
+    int len = d / 211 + 4, buflen;
+
+    /* grok encodation method */
+    d = *(data++);
+    dbprintf(2, "\n    len=%d %03lx", len, d & 0xfff);
+    n = (d >> 4) & 0x7f;
+    if(n >= 0x40) {
+        i = 10;
+        enc = 1;
+        buflen = 2 + 14 + VAR_MAX(len, 10 - 2 - 44 + 6) + 2;
+    }
+    else if(n >= 0x38) {
+        i = 4;
+        enc = 6 + (n & 7);
+        buflen = 2 + 14 + 4 + 6 + 2 + 6 + 2;
+    }
+    else if(n >= 0x30) {
+        i = 6;
+        enc = 2 + ((n >> 2) & 1);
+        buflen = 2 + 14 + 4 + 3 + VAR_MAX(len, 6 - 2 - 44 - 2 - 10) + 2;
+    }
+    else if(n >= 0x20) {
+        i = 7;
+        enc = 4 + ((n >> 3) & 1);
+        buflen = 2 + 14 + 4 + 6;
+    }
+    else {
+        i = 9;
+        enc = 0;
+        buflen = VAR_MAX(len, 9 - 2) + 2;
+    }
+    dbprintf(2, " buflen=%d enc=%d", buflen, enc);
+    zassert(buflen > 2, -1, "buflen=%d\n", buflen);
+
+    if(enc < 4) {
+        /* grok variable length symbol bit field */
+        if((len ^ (d >> (--i))) & 1)
+            /* even/odd length mismatch */
+            return(-1);
+        if(((d >> (--i)) & 1) != (len > 14))
+            /* size group mismatch */
+            return(-1);
+    }
+    len -= 2;
+    dbprintf(2, " [%d+%d]", i, len);
+
+    if(size_buf(dcode, buflen))
+        return(-1);
+    buf = dcode->buf;
+
+    /* handle compressed fields */
+    if(enc) {
+        PUSH_CHAR('0');
+        PUSH_CHAR('1');
+    }
+
+    if(enc == 1) {
+        i -= 4;
+        n = (d >> i) & 0xf;
+        if(i >= 10)
+            return(-1);
+        PUSH_CHAR('0' + n);
+    }
+    else if(enc)
+        PUSH_CHAR('9');
+
+    if(enc) {
+        int j;
+        for(j = 0; j < 4; j++) {
+            FEED_BITS(10);
+            i -= 10;
+            n = (d >> i) & 0x3ff;
+            if(n >= 1000)
+                return(-1);
+            decode10(buf, n, 3);
+            buf += 3;
+        }
+        append_check14(buf - 13);
+        buf++;
+    }
+
+    switch(enc)
+    {
+    case 2: /* 01100: AI 392x */
+        FEED_BITS(2);
+        i -= 2;
+        n = (d >> i) & 0x3;
+        PUSH_CHAR4('3', '9', '2', '0' + n);
+        break;
+
+    case 3: /* 01101: AI 393x */
+        FEED_BITS(12);
+        i -= 2;
+        n = (d >> i) & 0x3;
+        PUSH_CHAR4('3', '9', '3', '0' + n);
+        i -= 10;
+        n = (d >> i) & 0x3ff;
+        if(n >= 1000)
+            return(-1);
+        decode10(buf, n, 3);
+        buf += 3;
+        break;
+
+    case 4: /* 0100: AI 3103 */
+        FEED_BITS(15);
+        i -= 15;
+        n = (d >> i) & 0x7fff;
+        PUSH_CHAR4('3', '1', '0', '3');
+        decode10(buf, n, 6);
+        buf += 6;
+        break;
+
+    case 5: /* 0101: AI 3202/3203 */
+        FEED_BITS(15);
+        i -= 15;
+        n = (d >> i) & 0x7fff;
+        dbprintf(2, " v=%d", n);
+        PUSH_CHAR4('3', '2', '0', (n >= 10000) ? '3' : '2' );
+        if(n >= 10000)
+            n -= 10000;
+        decode10(buf, n, 6);
+        buf += 6;
+        break;
+    }
+    if(enc >= 6) {
+        /* 0111000 - 0111111: AI 310x/320x + AI 11/13/15/17 */
+        PUSH_CHAR4('3', '1' + (enc & 1), '0', 'x');
+        FEED_BITS(20);
+        i -= 20;
+        n = (d >> i) & 0xfffff;
+        dbprintf(2, " [%d+%d] %d", i, len, n);
+        if(n >= 1000000)
+            return(-1);
+        decode10(buf, n, 6);
+        *(buf - 1) = *buf;
+        *buf = '0';
+        buf += 6;
+
+        FEED_BITS(16);
+        i -= 16;
+        n = (d >> i) & 0xffff;
+        if(n < 38400) {
+            int dd, mm, yy;
+            dd = n % 32;
+            n /= 32;
+            mm = n % 12 + 1;
+            n /= 12;
+            yy = n;
+            PUSH_CHAR('1');
+            PUSH_CHAR('0' + ((enc - 6) | 1));
+            decode10(buf, yy, 2);
+            buf += 2;
+            decode10(buf, mm, 2);
+            buf += 2;
+            decode10(buf, dd, 2);
+            buf += 2;
+        }
+        else if(n > 38400)
+            return(-1);
+    }
+
+    if(enc < 4) {
+        /* remainder is general-purpose data compaction */
+        int scheme = SCH_NUM;
+        while(i > 0 || len > 0) {
+            FEED_BITS(8);
+            dbprintf(2, " [%d+%d]", i, len);
+
+            if(scheme == SCH_NUM) {
+                int n1;
+                i -= 4;
+                if(i < 0)
+                    break;
+                if(!((d >> i) & 0xf)) {
+                    scheme = SCH_ALNUM;
+                    dbprintf(2, ">A");
+                    continue;
+                }
+                if(!len && i < 3) {
+                    /* special case last digit */
+                    n = ((d >> i) & 0xf) - 1;
+                    if(n > 9)
+                        return(-1);
+                    *(buf++) = '0' + n;
+                    break;
+                }
+                i -= 3;
+                zassert(i >= 0, -1, "\n");
+                n = ((d >> i) & 0x7f) - 8;
+                n1 = n % 11;
+                n = n / 11;
+                dbprintf(2, "N%d%d", n, n1);
+                *(buf++) = (n < 10) ? '0' + n : GS;
+                *(buf++) = (n1 < 10) ? '0' + n1 : GS;
+            }
+            else  {
+                unsigned c = 0;
+                i -= 3;
+                if(i < 0)
+                    break;
+                if(!((d >> i) & 0x7)) {
+                    scheme = SCH_NUM;
+                    continue;
+                }
+                i -= 2;
+                if(i < 0)
+                    break;
+                n = (d >> i) & 0x1f;
+                if(n == 0x04) {
+                    scheme ^= 0x3;
+                    dbprintf(2, ">%d", scheme);
+                }
+                else if(n == 0x0f)
+                    c = GS;
+                else if(n < 0x0f)
+                    c = 43 + n;
+                else if(scheme == SCH_ALNUM) {
+                    i--;
+                    if(i < 0)
+                        return(-1);
+                    n = (d >> i) & 0x1f;
+                    if(n < 0x1a)
+                        c = 'A' + n;
+                    else if(n == 0x1a)
+                        c = '*';
+                    else if(n < 0x1f)
+                        c = ',' + n - 0x1b;
+                    else
+                        return(-1);
+                }
+                else if(scheme == SCH_ISO646 && n < 0x1d) {
+                    i -= 2;
+                    if(i < 0)
+                        return(-1);
+                    n = (d >> i) & 0x3f;
+                    if(n < 0x1a)
+                        c = 'A' + n;
+                    else if(n < 0x34)
+                        c = 'a' + n - 0x1a;
+                    else
+                        return(-1);
+                }
+                else if(scheme == SCH_ISO646) {
+                    i -= 3;
+                    if(i < 0)
+                        return(-1);
+                    n = ((d >> i) & 0x1f);
+                    dbprintf(2, "(%02x)", n);
+                    if(n < 0xa)
+                        c = '!' + n - 8;
+                    else if(n < 0x15)
+                        c = '%' + n - 0xa;
+                    else if(n < 0x1b)
+                        c = ':' + n - 0x15;
+                    else if(n == 0x1b)
+                        c = '_';
+                    else if(n == 0x1c)
+                        c = ' ';
+                    else
+                        return(-1);
+                }
+                else
+                    return(-1);
+
+                if(c) {
+                    dbprintf(2, "%d%c", scheme, c);
+                    *(buf++) = c;
+                }
+            }
+        }
+        /* FIXME check pad? */
+    }
+
+    i = buf - dcode->buf;
+    zassert(i < dcode->buf_alloc, -1, "i=%02x %s\n", i,
+            _zbar_decoder_buf_dump(dcode->buf, i));
+
+    *buf = 0;
+    dcode->buflen = i;
+    if(i && *--buf == GS) {
+        *buf = 0;
+        dcode->buflen--;
+    }
+
+    dbprintf(2, "\n    %s", _zbar_decoder_buf_dump(dcode->buf, dcode->buflen));
+    return(0);
+}
+#undef FEED_BITS
+
+/* convert from heterogeneous base {1597,2841}
+ * to base 10 character representation
+ */
+static inline void
+databar_postprocess (zbar_decoder_t *dcode,
+                     unsigned d[4])
+{
+    databar_decoder_t *db = &dcode->databar;
+    int i;
+    unsigned c, chk = 0;
+    unsigned char *buf = dcode->buf;
+    *(buf++) = '0';
+    *(buf++) = '1';
+    buf += 15;
+    *--buf = '\0';
+    *--buf = '\0';
+
+    dbprintf(2, "\n    d={%d,%d,%d,%d}", d[0], d[1], d[2], d[3]);
+    unsigned long r = d[0] * 1597 + d[1];
+    d[1] = r / 10000;
+    r %= 10000;
+    r = r * 2841 + d[2];
+    d[2] = r / 10000;
+    r %= 10000;
+    r = r * 1597 + d[3];
+    d[3] = r / 10000;
+    dbprintf(2, " r=%ld", r);
+
+    for(i = 4; --i >= 0; ) {
+        c = r % 10;
+        chk += c;
+        if(i & 1)
+            chk += c << 1;
+        *--buf = c + '0';
+        if(i)
+            r /= 10;
+    }
+
+    dbprintf(2, " d={%d,%d,%d}", d[1], d[2], d[3]);
+    r = d[1] * 2841 + d[2];
+    d[2] = r / 10000;
+    r %= 10000;
+    r = r * 1597 + d[3];
+    d[3] = r / 10000;
+    dbprintf(2, " r=%ld", r);
+
+    for(i = 4; --i >= 0; ) {
+        c = r % 10;
+        chk += c;
+        if(i & 1)
+            chk += c << 1;
+        *--buf = c + '0';
+        if(i)
+            r /= 10;
+    }
+
+    r = d[2] * 1597 + d[3];
+    dbprintf(2, " d={%d,%d} r=%ld", d[2], d[3], r);
+
+    for(i = 5; --i >= 0; ) {
+        c = r % 10;
+        chk += c;
+        if(!(i & 1))
+            chk += c << 1;
+        *--buf = c + '0';
+        if(i)
+            r /= 10;
+    }
+
+    /* NB linkage flag not supported */
+    if(TEST_CFG(db->config, ZBAR_CFG_EMIT_CHECK)) {
+        chk %= 10;
+        if(chk)
+            chk = 10 - chk;
+        buf[13] = chk + '0';
+        dcode->buflen = buf - dcode->buf + 14;
+    }
+    else
+        dcode->buflen = buf - dcode->buf + 13;
+
+    dbprintf(2, "\n    %s", _zbar_decoder_buf_dump(dcode->buf, 16));
+}
+
+static inline int
+databar_check_width (unsigned wf,
+                     unsigned wd,
+                     unsigned n)
+{
+    unsigned dwf = wf * 3;
+    wd *= 14;
+    wf *= n;
+    return(wf - dwf <= wd && wd <= wf + dwf);
+}
+
+static inline void
+merge_segment (databar_decoder_t *db,
+               databar_segment_t *seg)
+{
+    unsigned csegs = db->csegs;
+    int i;
+    for(i = 0; i < csegs; i++) {
+        databar_segment_t *s = db->segs + i;
+        if(s != seg && s->finder == seg->finder && s->exp == seg->exp &&
+           s->color == seg->color && s->side == seg->side &&
+           s->data == seg->data && s->check == seg->check &&
+           databar_check_width(seg->width, s->width, 14)) {
+            /* merge with existing segment */
+            unsigned cnt = s->count;
+            if(cnt < 0x7f)
+                cnt++;
+            seg->count = cnt;
+            seg->partial &= s->partial;
+            seg->width = (3 * seg->width + s->width + 2) / 4;
+            s->finder = -1;
+            dbprintf(2, " dup@%d(%d,%d)",
+                     i, cnt, (db->epoch - seg->epoch) & 0xff);
+        }
+        else if(s->finder >= 0) {
+            unsigned age = (db->epoch - s->epoch) & 0xff;
+            if(age >= 248 || (age >= 128 && s->count < 2))
+                s->finder = -1;
+        }
+    }
+}
+
+static inline zbar_symbol_type_t
+match_segment (zbar_decoder_t *dcode,
+               databar_segment_t *seg)
+{
+    databar_decoder_t *db = &dcode->databar;
+    unsigned csegs = db->csegs, maxage = 0xfff;
+    int i0, i1, i2, maxcnt = 0;
+    databar_segment_t *smax[3] = { NULL, };
+
+    if(seg->partial && seg->count < 4)
+        return(ZBAR_PARTIAL);
+
+    for(i0 = 0; i0 < csegs; i0++) {
+        databar_segment_t *s0 = db->segs + i0;
+        if(s0 == seg || s0->finder != seg->finder || s0->exp ||
+           s0->color != seg->color || s0->side == seg->side ||
+           (s0->partial && s0->count < 4) ||
+           !databar_check_width(seg->width, s0->width, 14))
+            continue;
+
+        for(i1 = 0; i1 < csegs; i1++) {
+            databar_segment_t *s1 = db->segs + i1;
+            int chkf, chks, chk;
+            unsigned age1;
+            if(i1 == i0 || s1->finder < 0 || s1->exp ||
+               s1->color == seg->color ||
+               (s1->partial && s1->count < 4) ||
+               !databar_check_width(seg->width, s1->width, 14))
+                continue;
+            dbprintf(2, "\n\t[%d,%d] f=%d(0%xx)/%d(%x%x%x)",
+                     i0, i1, seg->finder, seg->color,
+                     s1->finder, s1->exp, s1->color, s1->side);
+
+            if(seg->color)
+                chkf = seg->finder + s1->finder * 9;
+            else
+                chkf = s1->finder + seg->finder * 9;
+            if(chkf > 72)
+                chkf--;
+            if(chkf > 8)
+                chkf--;
+
+            chks = (seg->check + s0->check + s1->check) % 79;
+
+            if(chkf >= chks)
+                chk = chkf - chks;
+            else
+                chk = 79 + chkf - chks;
+
+            dbprintf(2, " chk=(%d,%d) => %d", chkf, chks, chk);
+            age1 = (((db->epoch - s0->epoch) & 0xff) +
+                    ((db->epoch - s1->epoch) & 0xff));
+
+            for(i2 = i1 + 1; i2 < csegs; i2++) {
+                databar_segment_t *s2 = db->segs + i2;
+                unsigned cnt, age2, age;
+                if(i2 == i0 || s2->finder != s1->finder || s2->exp ||
+                   s2->color != s1->color || s2->side == s1->side ||
+                   s2->check != chk ||
+                   (s2->partial && s2->count < 4) ||
+                   !databar_check_width(seg->width, s2->width, 14))
+                    continue;
+                age2 = (db->epoch - s2->epoch) & 0xff;
+                age = age1 + age2;
+                cnt = s0->count + s1->count + s2->count;
+                dbprintf(2, " [%d] MATCH cnt=%d age=%d", i2, cnt, age);
+                if(maxcnt < cnt ||
+                   (maxcnt == cnt && maxage > age)) {
+                    maxcnt = cnt;
+                    maxage = age;
+                    smax[0] = s0;
+                    smax[1] = s1;
+                    smax[2] = s2;
+                }
+            }
+        }
+    }
+
+    if(!smax[0])
+        return(ZBAR_PARTIAL);
+
+    unsigned d[4];
+    d[(seg->color << 1) | seg->side] = seg->data;
+    for(i0 = 0; i0 < 3; i0++) {
+        d[(smax[i0]->color << 1) | smax[i0]->side] = smax[i0]->data;
+        if(!--(smax[i0]->count))
+            smax[i0]->finder = -1;
+    }
+    seg->finder = -1;
+
+    if(size_buf(dcode, 18))
+        return(ZBAR_PARTIAL);
+
+    if(acquire_lock(dcode, ZBAR_DATABAR))
+        return(ZBAR_PARTIAL);
+
+    databar_postprocess(dcode, d);
+    dcode->modifiers = MOD(ZBAR_MOD_GS1);
+    dcode->direction = 1 - 2 * (seg->side ^ seg->color ^ 1);
+    return(ZBAR_DATABAR);
+}
+
+static inline unsigned
+lookup_sequence (databar_segment_t *seg,
+                 int fixed,
+                 int seq[22])
+{
+    unsigned n = seg->data / 211, i;
+    const unsigned char *p;
+    i = (n + 1) / 2 + 1;
+    n += 4;
+    i = (i * i) / 4;
+    dbprintf(2, " {%d,%d:", i, n);
+    p = exp_sequences + i;
+
+    fixed >>= 1;
+    seq[0] = 0;
+    seq[1] = 1;
+    for(i = 2; i < n; ) {
+        int s = *p;
+        if(!(i & 2)) {
+            p++;
+            s >>= 4;
+        }
+        else
+            s &= 0xf;
+        if(s == fixed)
+            fixed = -1;
+        s <<= 1;
+        dbprintf(2, "%x", s);
+        seq[i++] = s++;
+        seq[i++] = s;
+    }
+    dbprintf(2, "}");
+    seq[n] = -1;
+    return(fixed < 1);
+}
+
+#define IDX(s) \
+    (((s)->finder << 2) | ((s)->color << 1) | ((s)->color ^ (s)->side))
+
+static inline zbar_symbol_type_t
+match_segment_exp (zbar_decoder_t *dcode,
+                   databar_segment_t *seg,
+                   int dir)
+{
+    databar_decoder_t *db = &dcode->databar;
+    int bestsegs[22], i = 0, segs[22], seq[22];
+    int ifixed = seg - db->segs, fixed = IDX(seg), maxcnt = 0;
+    int iseg[DATABAR_MAX_SEGMENTS];
+    unsigned csegs = db->csegs, width = seg->width, maxage = 0x7fff;
+
+    bestsegs[0] = segs[0] = seq[1] = -1;
+    seq[0] = 0;
+
+    dbprintf(2, "\n    fixed=%d@%d: ", fixed, ifixed);
+    for(i = csegs, seg = db->segs + csegs - 1; --i >= 0; seg--) {
+        if(seg->exp && seg->finder >= 0 &&
+           (!seg->partial || seg->count >= 4))
+            iseg[i] = IDX(seg);
+        else
+            iseg[i] = -1;
+        dbprintf(2, " %d", iseg[i]);
+    }
+
+    for(i = 0; ; i--) {
+        if(!i)
+            dbprintf(2, "\n   ");
+        for(; i >= 0 && seq[i] >= 0; i--) {
+            int j;
+            dbprintf(2, " [%d]%d", i, seq[i]);
+
+            if(seq[i] == fixed) {
+                seg = db->segs + ifixed;
+                if(segs[i] < 0 && databar_check_width(width, seg->width, 14)) {
+                    dbprintf(2, "*");
+                    j = ifixed;
+                }
+                else
+                    continue;
+            }
+            else {
+                for(j = segs[i] + 1; j < csegs; j++) {
+                    if(iseg[j] == seq[i] &&
+                       (!i || databar_check_width(width, db->segs[j].width, 14))) {
+                        seg = db->segs + j;
+                        break;
+                    }
+                }
+                if(j == csegs)
+                    continue;
+            }
+
+            if(!i) {
+                if(!lookup_sequence(seg, fixed, seq)) {
+                    dbprintf(2, "[nf]");
+                    continue;
+                }
+                width = seg->width;
+                dbprintf(2, " A00@%d", j);
+            }
+            else {
+                width = (width + seg->width) / 2;
+                dbprintf(2, " %c%x%x@%d",
+                         'A' + seg->finder, seg->color, seg->side, j);
+            }
+            segs[i++] = j;
+            segs[i++] = -1;
+        }
+        if(i < 0)
+            break;
+
+        seg = db->segs + segs[0];
+        unsigned cnt = 0, chk = 0, age = (db->epoch - seg->epoch) & 0xff;
+        for(i = 1; segs[i] >= 0; i++) {
+            seg = db->segs + segs[i];
+            chk += seg->check;
+            cnt += seg->count;
+            age += (db->epoch - seg->epoch) & 0xff;
+        }
+
+        unsigned data0 = db->segs[segs[0]].data;
+        unsigned chk0 = data0 % 211;
+        chk %= 211;
+
+        dbprintf(2, " chk=%d ?= %d", chk, chk0);
+        if(chk != chk0)
+            continue;
+
+        dbprintf(2, " cnt=%d age=%d", cnt, age);
+        if(maxcnt > cnt || (maxcnt == cnt && maxage <= age))
+            continue;
+
+        dbprintf(2, " !");
+        maxcnt = cnt;
+        maxage = age;
+        for(i = 0; segs[i] >= 0; i++)
+            bestsegs[i] = segs[i];
+        bestsegs[i] = -1;
+    }
+
+    if(bestsegs[0] < 0)
+        return(ZBAR_PARTIAL);
+
+    if(acquire_lock(dcode, ZBAR_DATABAR_EXP))
+        return(ZBAR_PARTIAL);
+
+    for(i = 0; bestsegs[i] >= 0; i++)
+        segs[i] = db->segs[bestsegs[i]].data;
+
+    if(databar_postprocess_exp(dcode, segs)) {
+        release_lock(dcode, ZBAR_DATABAR_EXP);
+        return(ZBAR_PARTIAL);
+    }
+
+    for(i = 0; bestsegs[i] >= 0; i++)
+        if(bestsegs[i] != ifixed) {
+            seg = db->segs + bestsegs[i];
+            if(!--seg->count)
+                seg->finder = -1;
+        }
+
+    /* FIXME stacked rows are frequently reversed,
+     * so direction is impossible to determine at this level
+     */
+    dcode->direction = (1 - 2 * (seg->side ^ seg->color)) * dir;
+    dcode->modifiers = MOD(ZBAR_MOD_GS1);
+    return(ZBAR_DATABAR_EXP);
+}
+#undef IDX
+
+static inline unsigned
+databar_calc_check (unsigned sig0,
+                    unsigned sig1,
+                    unsigned side,
+                    unsigned mod)
+{
+    unsigned chk = 0;
+    int i;
+    for(i = 4; --i >= 0; ) {
+        chk = (chk * 3 + (sig1 & 0xf) + 1) * 3 + (sig0 & 0xf) + 1;
+        sig1 >>= 4;
+        sig0 >>= 4;
+        if(!(i & 1))
+            chk %= mod;
+    }
+    dbprintf(2, " chk=%d", chk);
+
+    if(side)
+        chk = (chk * (6561 % mod)) % mod;
+    return(chk);
+}
+
+static inline int
+calc_value4 (unsigned sig,
+             unsigned n,
+             unsigned wmax,
+             unsigned nonarrow)
+{
+    unsigned v = 0;
+    n--;
+
+    unsigned w0 = (sig >> 12) & 0xf;
+    if(w0 > 1) {
+        if(w0 > wmax)
+            return(-1);
+        unsigned n0 = n - w0;
+        unsigned sk20 = (n - 1) * n * (2 * n - 1);
+        unsigned sk21 = n0 * (n0 + 1) * (2 * n0 + 1);
+        v = sk20 - sk21 - 3 * (w0 - 1) * (2 * n - w0);
+
+        if(!nonarrow && w0 > 2 && n > 4) {
+            unsigned k = (n - 2) * (n - 1) * (2 * n - 3) - sk21;
+            k -= 3 * (w0 - 2) * (14 * n - 7 * w0 - 31);
+            v -= k;
+        }
+
+        if(n - 2 > wmax) {
+            unsigned wm20 = 2 * wmax * (wmax + 1);
+            unsigned wm21 = (2 * wmax + 1);
+            unsigned k = sk20;
+            if(n0 > wmax) {
+                k -= sk21;
+                k += 3 * (w0 - 1) * (wm20 - wm21 * (2 * n - w0));
+            }
+            else {
+                k -= (wmax + 1) * (wmax + 2) * (2 * wmax + 3);
+                k += 3 * (n - wmax - 2) * (wm20 - wm21 * (n + wmax + 1));
+            }
+            k *= 3;
+            v -= k;
+        }
+        v /= 12;
+    }
+    else
+        nonarrow = 1;
+    n -= w0;
+
+    unsigned w1 = (sig >> 8) & 0xf;
+    if(w1 > 1) {
+        if(w1 > wmax)
+            return(-1);
+        v += (2 * n - w1) * (w1 - 1) / 2;
+        if(!nonarrow && w1 > 2 && n > 3)
+            v -= (2 * n - w1 - 5) * (w1 - 2) / 2;
+        if(n - 1 > wmax) {
+            if(n - w1 > wmax)
+                v -= (w1 - 1) * (2 * n - w1 - 2 * wmax);
+            else
+                v -= (n - wmax) * (n - wmax - 1);
+        }
+    }
+    else
+        nonarrow = 1;
+    n -= w1;
+
+    unsigned w2 = (sig >> 4) & 0xf;
+    if(w2 > 1) {
+        if(w2 > wmax)
+            return(-1);
+        v += w2 - 1;
+        if(!nonarrow && w2 > 2 && n > 2)
+            v -= n - 2;
+        if(n > wmax)
+            v -= n - wmax;
+    }
+    else
+        nonarrow = 1;
+
+    unsigned w3 = sig & 0xf;
+    if(w3 == 1)
+        nonarrow = 1;
+    else if(w3 > wmax)
+        return(-1);
+
+    if(!nonarrow)
+        return(-1);
+
+    return(v);
+}
+
+static inline zbar_symbol_type_t
+decode_char (zbar_decoder_t *dcode,
+             databar_segment_t *seg,
+             int off,
+             int dir)
+{
+    databar_decoder_t *db = &dcode->databar;
+    unsigned s = calc_s(dcode, (dir > 0) ? off : off - 6, 8);
+    int n, i, emin[2] = { 0, }, sum = 0;
+    unsigned sig0 = 0, sig1 = 0;
+
+    if(seg->exp)
+        n = 17;
+    else if(seg->side)
+        n = 15;
+    else
+        n = 16;
+    emin[1] = -n;
+
+    dbprintf(2, "\n        char[%c%d]: n=%d s=%d w=%d sig=",
+             (dir < 0) ? '>' : '<', off, n, s, seg->width);
+    if(s < 13 || !databar_check_width(seg->width, s, n))
+        return(ZBAR_NONE);
+
+    for(i = 4; --i >= 0; ) {
+        int e = decode_e(pair_width(dcode, off), s, n);
+        if(e < 0)
+            return(ZBAR_NONE);
+        dbprintf(2, "%d", e);
+        sum = e - sum;
+        off += dir;
+        sig1 <<= 4;
+        if(emin[1] < -sum)
+            emin[1] = -sum;
+        sig1 += sum;
+        if(!i)
+            break;
+
+        e = decode_e(pair_width(dcode, off), s, n);
+        if(e < 0)
+            return(ZBAR_NONE);
+        dbprintf(2, "%d", e);
+        sum = e - sum;
+        off += dir;
+        sig0 <<= 4;
+        if(emin[0] > sum)
+            emin[0] = sum;
+        sig0 += sum;
+    }
+
+    int diff = emin[~n & 1];
+    diff = diff + (diff << 4);
+    diff = diff + (diff << 8);
+
+    sig0 -= diff;
+    sig1 += diff;
+
+    dbprintf(2, " emin=%d,%d el=%04x/%04x", emin[0], emin[1], sig0, sig1);
+
+    unsigned sum0 = sig0 + (sig0 >> 8);
+    unsigned sum1 = sig1 + (sig1 >> 8);
+    sum0 += sum0 >> 4;
+    sum1 += sum1 >> 4;
+    sum0 &= 0xf;
+    sum1 &= 0xf;
+
+    dbprintf(2, " sum=%d/%d", sum0, sum1);
+
+    if(sum0 + sum1 + 8 != n) {
+        dbprintf(2, " [SUM]");
+        return(ZBAR_NONE);
+    }
+
+    if(((sum0 ^ (n >> 1)) | (sum1 ^ (n >> 1) ^ n)) & 1) {
+        dbprintf(2, " [ODD]");
+        return(ZBAR_NONE);
+    }
+
+    i = ((n & 0x3) ^ 1) * 5 + (sum1 >> 1);
+    zassert(i < sizeof(groups) / sizeof(*groups), -1,
+            "n=%d sum=%d/%d sig=%04x/%04x g=%d",
+            n, sum0, sum1, sig0, sig1, i);
+    struct group_s *g = groups + i;
+    dbprintf(2, "\n            g=%d(%d,%d,%d/%d)",
+             i, g->sum, g->wmax, g->todd, g->teven);
+
+    int vodd = calc_value4(sig0 + 0x1111, sum0 + 4, g->wmax, ~n & 1);
+    dbprintf(2, " v=%d", vodd);
+    if(vodd < 0 || vodd > g->todd)
+        return(ZBAR_NONE);
+
+    int veven = calc_value4(sig1 + 0x1111, sum1 + 4, 9 - g->wmax, n & 1);
+    dbprintf(2, "/%d", veven);
+    if(veven < 0 || veven > g->teven)
+        return(ZBAR_NONE);
+
+    int v = g->sum;
+    if(n & 2)
+        v += vodd + veven * g->todd;
+    else
+        v += veven + vodd * g->teven;
+
+    dbprintf(2, " f=%d(%x%x%x)", seg->finder, seg->exp, seg->color, seg->side);
+
+    unsigned chk = 0;
+    if(seg->exp) {
+        unsigned side = seg->color ^ seg->side ^ 1;
+        if(v >= 4096)
+            return(ZBAR_NONE);
+        /* skip A1 left */
+        chk = databar_calc_check(sig0, sig1, side, 211);
+        if(seg->finder || seg->color || seg->side) {
+            i = (seg->finder << 1) - side + seg->color;
+            zassert(i >= 0 && i < 12, ZBAR_NONE,
+                    "f=%d(%x%x%x) side=%d i=%d\n",
+                    seg->finder, seg->exp, seg->color, seg->side, side, i);
+            chk = (chk * exp_checksums[i]) % 211;
+        }
+        else if(v >= 4009)
+            return(ZBAR_NONE);
+        else
+            chk = 0;
+    }
+    else {
+        chk = databar_calc_check(sig0, sig1, seg->side, 79);
+        if(seg->color)
+            chk = (chk * 16) % 79;
+    }
+    dbprintf(2, " => %d val=%d", chk, v);
+
+    seg->check = chk;
+    seg->data = v;
+
+    merge_segment(db, seg);
+
+    if(seg->exp)
+        return(match_segment_exp(dcode, seg, dir));
+    else if(dir > 0)
+        return(match_segment(dcode, seg));
+    return(ZBAR_PARTIAL);
+}
+
+static inline int
+alloc_segment (databar_decoder_t *db)
+{
+    unsigned maxage = 0, csegs = db->csegs;
+    int i, old = -1;
+    for(i = 0; i < csegs; i++) {
+        databar_segment_t *seg = db->segs + i;
+        unsigned age;
+        if(seg->finder < 0) {
+            dbprintf(2, " free@%d", i);
+            return(i);
+        }
+        age = (db->epoch - seg->epoch) & 0xff;
+        if(age >= 128 && seg->count < 2) {
+            seg->finder = -1;
+            dbprintf(2, " stale@%d (%d - %d = %d)",
+                     i, db->epoch, seg->epoch, age);
+            return(i);
+        }
+
+        /* score based on both age and count */
+        if(age > seg->count)
+            age = age - seg->count + 1;
+        else
+            age = 1;
+
+        if(maxage < age) {
+            maxage = age;
+            old = i;
+            dbprintf(2, " old@%d(%u)", i, age);
+        }
+    }
+
+    if(csegs < DATABAR_MAX_SEGMENTS) {
+        dbprintf(2, " new@%d", i);
+        i = csegs;
+        csegs *= 2;
+        if(csegs > DATABAR_MAX_SEGMENTS)
+            csegs = DATABAR_MAX_SEGMENTS;
+        if(csegs != db->csegs) {
+            databar_segment_t *seg;
+            db->segs = realloc(db->segs, csegs * sizeof(*db->segs));
+            db->csegs = csegs;
+            seg = db->segs + csegs;
+            while(--seg, --csegs >= i) {
+                seg->finder = -1;
+                seg->exp = 0;
+                seg->color = 0;
+                seg->side = 0;
+                seg->partial = 0;
+                seg->count = 0;
+                seg->epoch = 0;
+                seg->check = 0;
+            }
+            return(i);
+        }
+    }
+    zassert(old >= 0, -1, "\n");
+
+    db->segs[old].finder = -1;
+    return(old);
+}
+
+static inline zbar_symbol_type_t
+decode_finder (zbar_decoder_t *dcode)
+{
+    databar_decoder_t *db = &dcode->databar;
+    databar_segment_t *seg;
+    unsigned e0 = pair_width(dcode, 1);
+    unsigned e2 = pair_width(dcode, 3);
+    unsigned e1, e3, s, finder, dir;
+    int sig, iseg;
+    dbprintf(2, "      databar: e0=%d e2=%d", e0, e2);
+    if(e0 < e2) {
+        unsigned e = e2 * 4;
+        if(e < 15 * e0 || e > 34 * e0)
+            return(ZBAR_NONE);
+        dir = 0;
+        e3 = pair_width(dcode, 4);
+    }
+    else {
+        unsigned e = e0 * 4;
+        if(e < 15 * e2 || e > 34 * e2)
+            return(ZBAR_NONE);
+        dir = 1;
+        e2 = e0;
+        e3 = pair_width(dcode, 0);
+    }
+    e1 = pair_width(dcode, 2);
+
+    s = e1 + e3;
+    dbprintf(2, " e1=%d e3=%d dir=%d s=%d", e1, e3, dir, s);
+    if(s < 12)
+        return(ZBAR_NONE);
+
+    sig = ((decode_e(e3, s, 14) << 8) | (decode_e(e2, s, 14) << 4) |
+           decode_e(e1, s, 14));
+    dbprintf(2, " sig=%04x", sig & 0xfff);
+    if(sig < 0 ||
+       ((sig >> 4) & 0xf) < 8 ||
+       ((sig >> 4) & 0xf) > 10 ||
+       (sig & 0xf) >= 10 ||
+       ((sig >> 8) & 0xf) >= 10 ||
+       (((sig >> 8) + sig) & 0xf) != 10)
+        return(ZBAR_NONE);
+
+    finder = (finder_hash[(sig - (sig >> 5)) & 0x1f] +
+              finder_hash[(sig >> 1) & 0x1f]) & 0x1f;
+    dbprintf(2, " finder=%d", finder);
+    if(finder == 0x1f ||
+       !TEST_CFG((finder < 9) ? db->config : db->config_exp, ZBAR_CFG_ENABLE))
+        return(ZBAR_NONE);
+
+    zassert(finder >= 0, ZBAR_NONE, "dir=%d sig=%04x f=%d\n",
+            dir, sig & 0xfff, finder);
+
+    iseg = alloc_segment(db);
+    if(iseg < 0)
+        return(ZBAR_NONE);
+
+    seg = db->segs + iseg;
+    seg->finder = (finder >= 9) ? finder - 9 : finder;
+    seg->exp = (finder >= 9);
+    seg->color = get_color(dcode) ^ dir ^ 1;
+    seg->side = dir;
+    seg->partial = 0;
+    seg->count = 1;
+    seg->width = s;
+    seg->epoch = db->epoch;
+
+    int rc = decode_char(dcode, seg, 12 - dir, -1);
+    if(!rc)
+        seg->partial = 1;
+    else
+        db->epoch++;
+
+    int i = (dcode->idx + 8 + dir) & 0xf;
+    zassert(db->chars[i] == -1, ZBAR_NONE, "\n");
+    db->chars[i] = iseg;
+    return(rc);
+}
+
+zbar_symbol_type_t
+_zbar_decode_databar (zbar_decoder_t *dcode)
+{
+    databar_decoder_t *db = &dcode->databar;
+    databar_segment_t *seg, *pair;
+    zbar_symbol_type_t sym;
+    int iseg, i = dcode->idx & 0xf;
+
+    sym = decode_finder(dcode);
+    dbprintf(2, "\n");
+
+    iseg = db->chars[i];
+    if(iseg < 0)
+        return(sym);
+
+    db->chars[i] = -1;
+    seg = db->segs + iseg;
+    dbprintf(2, "        databar: i=%d part=%d f=%d(%x%x%x)",
+             iseg, seg->partial, seg->finder, seg->exp, seg->color, seg->side);
+    zassert(seg->finder >= 0, ZBAR_NONE, "i=%d f=%d(%x%x%x) part=%x\n",
+            iseg, seg->finder, seg->exp, seg->color, seg->side, seg->partial);
+
+    if(seg->partial) {
+        pair = NULL;
+        seg->side = !seg->side;
+    }
+    else {
+        int jseg = alloc_segment(db);
+        pair = db->segs + iseg;
+        seg = db->segs + jseg;
+        seg->finder = pair->finder;
+        seg->exp = pair->exp;
+        seg->color = pair->color;
+        seg->side = !pair->side;
+        seg->partial = 0;
+        seg->count = 1;
+        seg->width = pair->width;
+        seg->epoch = db->epoch;
+    }
+
+    sym = decode_char(dcode, seg, 1, 1);
+    if(!sym) {
+        seg->finder = -1;
+        if(pair)
+            pair->partial = 1;
+    }
+    else
+        db->epoch++;
+    dbprintf(2, "\n");
+
+    return(sym);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "code39.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define NUM_CHARS (0x2c)
+
+static const unsigned char code39_hi[32] = {
+    0x80 | 0x00,  /* 2 next */
+    0x40 | 0x02,  /* 4 */
+    0x80 | 0x06,  /* 2 next */
+    0xc0 | 0x08,  /* 2 skip */
+    0x40 | 0x0a,  /* 4 */
+    0x80 | 0x0e,  /* 2 next */
+    0xc0 | 0x10,  /* 2 skip */
+    0x00 | 0x12,  /* direct */
+
+    0x80 | 0x13,  /* 2 next */
+    0xc0 | 0x15,  /* 2 skip */
+    0x80 | 0x17,  /* 2 next */
+    0xff,
+    0xc0 | 0x19,  /* 2 skip */
+    0x00 | 0x1b,  /* direct */
+    0xff,
+    0xff,
+
+    0x40 | 0x1c,  /* 4 */
+    0x80 | 0x20,  /* 2 next */
+    0xc0 | 0x22,  /* 2 skip */
+    0x00 | 0x24,  /* direct */
+    0x80 | 0x25,  /* 2 next */
+    0xff,
+    0x00 | 0x27,  /* direct */
+    0xff,
+
+    0xc0 | 0x28,  /* 2 skip */
+    0x00 | 0x2a,  /* direct */
+    0xff,
+    0xff,
+    0x00 | 0x2b,  /* direct */
+    0xff,
+    0xff,
+    0xff,
+};
+
+typedef struct char39_s {
+    unsigned char chk, rev, fwd;
+} char39_t;
+
+static const char39_t code39_encodings[NUM_CHARS] = {
+    { 0x07, 0x1a, 0x20 }, /* 00 */
+    { 0x0d, 0x10, 0x03 }, /* 01 */
+    { 0x13, 0x17, 0x22 }, /* 02 */
+    { 0x16, 0x1d, 0x23 }, /* 03 */
+    { 0x19, 0x0d, 0x05 }, /* 04 */
+    { 0x1c, 0x13, 0x06 }, /* 05 */
+    { 0x25, 0x07, 0x0c }, /* 06 */
+    { 0x2a, 0x2a, 0x27 }, /* 07 */
+    { 0x31, 0x04, 0x0e }, /* 08 */
+    { 0x34, 0x00, 0x0f }, /* 09 */
+    { 0x43, 0x15, 0x25 }, /* 0a */
+    { 0x46, 0x1c, 0x26 }, /* 0b */
+    { 0x49, 0x0b, 0x08 }, /* 0c */
+    { 0x4c, 0x12, 0x09 }, /* 0d */
+    { 0x52, 0x19, 0x2b }, /* 0e */
+    { 0x58, 0x0f, 0x00 }, /* 0f */
+    { 0x61, 0x02, 0x11 }, /* 10 */
+    { 0x64, 0x09, 0x12 }, /* 11 */
+    { 0x70, 0x06, 0x13 }, /* 12 */
+    { 0x85, 0x24, 0x16 }, /* 13 */
+    { 0x8a, 0x29, 0x28 }, /* 14 */
+    { 0x91, 0x21, 0x18 }, /* 15 */
+    { 0x94, 0x2b, 0x19 }, /* 16 */
+    { 0xa2, 0x28, 0x29 }, /* 17 */
+    { 0xa8, 0x27, 0x2a }, /* 18 */
+    { 0xc1, 0x1f, 0x1b }, /* 19 */
+    { 0xc4, 0x26, 0x1c }, /* 1a */
+    { 0xd0, 0x23, 0x1d }, /* 1b */
+    { 0x03, 0x14, 0x1e }, /* 1c */
+    { 0x06, 0x1b, 0x1f }, /* 1d */
+    { 0x09, 0x0a, 0x01 }, /* 1e */
+    { 0x0c, 0x11, 0x02 }, /* 1f */
+    { 0x12, 0x18, 0x21 }, /* 20 */
+    { 0x18, 0x0e, 0x04 }, /* 21 */
+    { 0x21, 0x01, 0x0a }, /* 22 */
+    { 0x24, 0x08, 0x0b }, /* 23 */
+    { 0x30, 0x05, 0x0d }, /* 24 */
+    { 0x42, 0x16, 0x24 }, /* 25 */
+    { 0x48, 0x0c, 0x07 }, /* 26 */
+    { 0x60, 0x03, 0x10 }, /* 27 */
+    { 0x81, 0x1e, 0x14 }, /* 28 */
+    { 0x84, 0x25, 0x15 }, /* 29 */
+    { 0x90, 0x22, 0x17 }, /* 2a */
+    { 0xc0, 0x20, 0x1a }, /* 2b */
+};
+
+static const unsigned char code39_characters[NUM_CHARS] =
+    "0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZ-. $/+%*";
+
+static inline unsigned char code39_decode1 (unsigned char enc,
+                                            unsigned e,
+                                            unsigned s)
+{
+    unsigned char E = decode_e(e, s, 72);
+    if(E > 18)
+        return(0xff);
+    enc <<= 1;
+    if(E > 6) {
+        enc |= 1;
+        dbprintf(2, "1");
+    }
+    else
+        dbprintf(2, "0");
+    return(enc);
+}
+
+static inline signed char code39_decode9 (zbar_decoder_t *dcode)
+{
+    code39_decoder_t *dcode39 = &dcode->code39;
+
+    if(dcode39->s9 < 9)
+        return(-1);
+
+    /* threshold bar width ratios */
+    unsigned char i, enc = 0;
+    for(i = 0; i < 5; i++) {
+        enc = code39_decode1(enc, get_width(dcode, i), dcode39->s9);
+        if(enc == 0xff)
+            return(-1);
+    }
+    zassert(enc < 0x20, -1, " enc=%x s9=%x\n", enc, dcode39->s9);
+
+    /* lookup first 5 encoded widths for coarse decode */
+    unsigned char idx = code39_hi[enc];
+    if(idx == 0xff)
+        return(-1);
+
+    /* encode remaining widths (NB first encoded width is lost) */
+    for(; i < 9; i++) {
+        enc = code39_decode1(enc, get_width(dcode, i), dcode39->s9);
+        if(enc == 0xff)
+            return(-1);
+    }
+
+    if((idx & 0xc0) == 0x80)
+        idx = (idx & 0x3f) + ((enc >> 3) & 1);
+    else if((idx & 0xc0) == 0xc0)
+        idx = (idx & 0x3f) + ((enc >> 2) & 1);
+    else if(idx & 0xc0)
+        idx = (idx & 0x3f) + ((enc >> 2) & 3);
+    zassert(idx < 0x2c, -1, " idx=%x enc=%x s9=%x\n", idx, enc, dcode39->s9);
+
+    const char39_t *c = &code39_encodings[idx];
+    dbprintf(2, " i=%02x chk=%02x c=%02x/%02x", idx, c->chk, c->fwd, c->rev);
+    if(enc != c->chk)
+        return(-1);
+
+    dcode39->width = dcode39->s9;
+    return((dcode39->direction) ? c->rev : c->fwd);
+}
+
+static inline signed char code39_decode_start (zbar_decoder_t *dcode)
+{
+    code39_decoder_t *dcode39 = &dcode->code39;
+    dbprintf(2, " s=%d ", dcode39->s9);
+
+    signed char c = code39_decode9(dcode);
+    if(c != 0x19 && c != 0x2b) {
+        dbprintf(2, "\n");
+        return(ZBAR_NONE);
+    }
+    dcode39->direction ^= (c == 0x19);
+
+    /* check leading quiet zone - spec is 10x */
+    unsigned quiet = get_width(dcode, 9);
+    if(quiet && quiet < dcode39->s9 / 2) {
+        dbprintf(2, " [invalid quiet]\n");
+        return(ZBAR_NONE);
+    }
+
+    dcode39->element = 9;
+    dcode39->character = 0;
+    dbprintf(1, " dir=%x [valid start]\n", dcode39->direction);
+    return(ZBAR_PARTIAL);
+}
+
+static inline int code39_postprocess (zbar_decoder_t *dcode)
+{
+    code39_decoder_t *dcode39 = &dcode->code39;
+    dcode->direction = 1 - 2 * dcode39->direction;
+    int i;
+    if(dcode39->direction) {
+        /* reverse buffer */
+        dbprintf(2, " (rev)");
+        for(i = 0; i < dcode39->character / 2; i++) {
+            unsigned j = dcode39->character - 1 - i;
+            char code = dcode->buf[i];
+            dcode->buf[i] = dcode->buf[j];
+            dcode->buf[j] = code;
+        }
+    }
+    for(i = 0; i < dcode39->character; i++)
+        dcode->buf[i] = ((dcode->buf[i] < 0x2b)
+                         ? code39_characters[(unsigned)dcode->buf[i]]
+                         : '?');
+    zassert(i < dcode->buf_alloc, -1, "i=%02x %s\n", i,
+            _zbar_decoder_buf_dump(dcode->buf, dcode39->character));
+    dcode->buflen = i;
+    dcode->buf[i] = '\0';
+    dcode->modifiers = 0;
+    return(0);
+}
+
+static inline int
+c39_check_width (unsigned ref,
+                 unsigned w)
+{
+    unsigned dref = ref;
+    ref *= 4;
+    w *= 4;
+    return(ref - dref <= w && w <= ref + dref);
+}
+
+zbar_symbol_type_t _zbar_decode_code39 (zbar_decoder_t *dcode)
+{
+    code39_decoder_t *dcode39 = &dcode->code39;
+
+    /* update latest character width */
+    dcode39->s9 -= get_width(dcode, 9);
+    dcode39->s9 += get_width(dcode, 0);
+
+    if(dcode39->character < 0) {
+        if(get_color(dcode) != ZBAR_BAR)
+            return(ZBAR_NONE);
+        dbprintf(2, "      code39:");
+        return(code39_decode_start(dcode));
+    }
+
+    if(++dcode39->element < 9)
+        return(ZBAR_NONE);
+
+    dbprintf(2, "      code39[%c%02d+%x]",
+             (dcode39->direction) ? '<' : '>',
+             dcode39->character, dcode39->element);
+
+    if(dcode39->element == 10) {
+        unsigned space = get_width(dcode, 0);
+        if(dcode39->character &&
+           dcode->buf[dcode39->character - 1] == 0x2b) {  /* STOP */
+            /* trim STOP character */
+            dcode39->character--;
+            zbar_symbol_type_t sym = ZBAR_NONE;
+
+            /* trailing quiet zone check */
+            if(space && space < dcode39->width / 2)
+                dbprintf(2, " [invalid qz]\n");
+            else if(dcode39->character < CFG(*dcode39, ZBAR_CFG_MIN_LEN) ||
+                    (CFG(*dcode39, ZBAR_CFG_MAX_LEN) > 0 &&
+                     dcode39->character > CFG(*dcode39, ZBAR_CFG_MAX_LEN)))
+                dbprintf(2, " [invalid len]\n");
+            else if(!code39_postprocess(dcode)) {
+                /* FIXME checksum */
+                dbprintf(2, " [valid end]\n");
+                sym = ZBAR_CODE39;
+            }
+            dcode39->character = -1;
+            if(!sym)
+                release_lock(dcode, ZBAR_CODE39);
+            return(sym);
+        }
+        if(space > dcode39->width / 2) {
+            /* inter-character space check failure */
+            dbprintf(2, " ics>%d [invalid ics]", dcode39->width);
+            if(dcode39->character)
+                release_lock(dcode, ZBAR_CODE39);
+            dcode39->character = -1;
+        }
+        dcode39->element = 0;
+        dbprintf(2, "\n");
+        return(ZBAR_NONE);
+    }
+
+    dbprintf(2, " s=%d ", dcode39->s9);
+    if(!c39_check_width(dcode39->width, dcode39->s9)) {
+        dbprintf(2, " [width]\n");
+        if(dcode39->character)
+            release_lock(dcode, ZBAR_CODE39);
+        dcode39->character = -1;
+        return(ZBAR_NONE);
+    }
+
+    signed char c = code39_decode9(dcode);
+    dbprintf(2, " c=%d", c);
+
+    /* lock shared resources */
+    if(!dcode39->character && acquire_lock(dcode, ZBAR_CODE39)) {
+        dcode39->character = -1;
+        return(ZBAR_PARTIAL);
+    }
+
+    if(c < 0 || size_buf(dcode, dcode39->character + 1)) {
+        dbprintf(1, (c < 0) ? " [aborted]\n" : " [overflow]\n");
+        release_lock(dcode, ZBAR_CODE39);
+        dcode39->character = -1;
+        return(ZBAR_NONE);
+    }
+    else {
+        zassert(c < 0x2c, ZBAR_NONE, "c=%02x s9=%x\n", c, dcode39->s9);
+        dbprintf(2, "\n");
+    }
+
+    dcode->buf[dcode39->character++] = c;
+
+    return(ZBAR_NONE);
+}
+
+#undef NUM_CHARS
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "code93.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+static const signed char code93_hash[0x40] = {
+    0x0f, 0x2b, 0x30, 0x38, 0x13, 0x1b, 0x11, 0x2a,
+    0x0a,   -1, 0x2f, 0x0f, 0x38, 0x38, 0x2f, 0x37,
+    0x24, 0x3a, 0x1b, 0x36, 0x18, 0x26, 0x02, 0x2c,
+    0x2b, 0x05, 0x21, 0x3b, 0x04, 0x15, 0x12, 0x0c,
+    0x00, 0x26, 0x23, 0x00,   -1, 0x2e, 0x3f, 0x13,
+    0x2e, 0x36,   -1, 0x08, 0x09,   -1, 0x15, 0x14,
+      -1, 0x00, 0x21, 0x3b,   -1, 0x33, 0x00,   -1,
+    0x2d, 0x0c, 0x1b, 0x0a, 0x3f, 0x3f, 0x29, 0x1c,
+};
+
+static inline int
+c93_check_width (unsigned cur,
+                 unsigned prev)
+{
+    unsigned dw;
+    if(prev > cur)
+        dw = prev - cur;
+    else
+        dw = cur - prev;
+    dw *= 4;
+    return(dw > prev);
+}
+
+static inline int
+encode6 (zbar_decoder_t *dcode)
+{
+    /* build edge signature of character */
+    unsigned s = dcode->s6;
+    int sig = 0, i;
+
+    dbprintf(2, " s=%d ", s);
+    if(s < 9)
+        return(-1);
+
+    for(i = 6; --i > 0; ) {
+        unsigned c = decode_e(pair_width(dcode, i), s, 9);
+        if(c > 3)
+            return(-1);
+        sig = (sig << 2) | c;
+        dbprintf(2, "%d", c);
+    }
+    dbprintf(2, " sig=%03x", sig);
+
+    return(sig);
+}
+
+static inline int
+validate_sig (int sig)
+{
+    int i, sum = 0, emin = 0, sig0 = 0, sig1 = 0;
+    dbprintf(3, " sum=0");
+    for(i = 3; --i >= 0; ) {
+        int e = sig & 3;
+        sig >>= 2;
+        sum = e - sum;
+        sig1 <<= 4;
+        sig1 += sum;
+        dbprintf(3, "%d", sum);
+        if(!i)
+            break;
+
+        e = sig & 3;
+        sig >>= 2;
+        sum = e - sum;
+        sig0 <<= 4;
+        if(emin > sum)
+            emin = sum;
+        sig0 += sum;
+        dbprintf(3, "%d", sum);
+    }
+
+    dbprintf(3, " emin=%d sig=%03x/%03x", emin, sig1 & 0xfff, sig0 & 0xfff);
+
+    emin = emin + (emin << 4) + (emin << 8);
+    sig0 -= emin;
+    sig1 += emin;
+
+    dbprintf(3, "=%03x/%03x", sig1 & 0xfff, sig0 & 0xfff);
+    return((sig0 | sig1) & 0x888);
+}
+
+static inline int
+c93_decode6 (zbar_decoder_t *dcode)
+{
+    int sig = encode6(dcode);
+    int g0, g1, c;
+    if(sig < 0 ||
+       (sig & 0x3) + ((sig >> 4) & 0x3) + ((sig >> 8) & 0x3) != 3 ||
+       validate_sig(sig))
+        return(-1);
+
+    if(dcode->code93.direction) {
+        /* reverse signature */
+        unsigned tmp = sig & 0x030;
+        sig = ((sig & 0x3c0) >> 6) | ((sig & 0x00f) << 6);
+        sig = ((sig & 0x30c) >> 2) | ((sig & 0x0c3) << 2) | tmp;
+    }
+
+    g0 = code93_hash[(sig - (sig >> 4)) & 0x3f];
+    g1 = code93_hash[((sig >> 2) - (sig >> 7)) & 0x3f];
+    zassert(g0 >= 0 && g1 >= 0, -1,
+            "dir=%x sig=%03x g0=%03x g1=%03x %s\n",
+            dcode->code93.direction, sig, g0, g1,
+            _zbar_decoder_buf_dump(dcode->buf, dcode->code93.character));
+
+    c = (g0 + g1) & 0x3f;
+    dbprintf(2, " g0=%x g1=%x c=%02x", g0, g1, c);
+    return(c);
+}
+
+static inline zbar_symbol_type_t
+decode_start (zbar_decoder_t *dcode)
+{
+    code93_decoder_t *dcode93 = &dcode->code93;
+    unsigned dir, qz, s = dcode->s6;
+    int c;
+
+    dbprintf(2, "      code93:");
+    c = encode6(dcode);
+    if(c < 0 || (c != 0x00f && c != 0x0f0))
+        return(ZBAR_NONE);
+
+    dir = (c >> 7);
+
+    if(dir) {
+        if(decode_e(pair_width(dcode, 0), s, 9))
+            return(ZBAR_NONE);
+        qz = get_width(dcode, 8);
+    }
+
+    qz = get_width(dcode, 7);
+    if(qz && qz < (s * 3) / 4) {
+        dbprintf(2, " [invalid qz %d]", qz);
+        return(ZBAR_NONE);
+    }
+
+    /* decoded valid start/stop - initialize state */
+    dcode93->direction = dir;
+    dcode93->element = (!dir) ? 0 : 7;
+    dcode93->character = 0;
+    dcode93->width = s;
+
+    dbprintf(2, " dir=%x [valid start]", dir);
+    return(ZBAR_PARTIAL);
+}
+
+static inline zbar_symbol_type_t
+decode_abort (zbar_decoder_t *dcode,
+              const char *reason)
+{
+    code93_decoder_t *dcode93 = &dcode->code93;
+    if(dcode93->character > 1)
+        release_lock(dcode, ZBAR_CODE93);
+    dcode93->character = -1;
+    if(reason)
+        dbprintf(1, " [%s]\n", reason);
+    return(ZBAR_NONE);
+}
+
+static inline zbar_symbol_type_t
+check_stop (zbar_decoder_t *dcode)
+{
+    code93_decoder_t *dcode93 = &dcode->code93;
+    unsigned n = dcode93->character, s = dcode->s6;
+    int max_len = CFG(*dcode93, ZBAR_CFG_MAX_LEN);
+    if(n < 2 ||
+       n < CFG(*dcode93, ZBAR_CFG_MIN_LEN) ||
+       (max_len && n > max_len))
+        return(decode_abort(dcode, "invalid len"));
+
+    if(dcode93->direction) {
+        unsigned qz = get_width(dcode, 0);
+        if(qz && qz < (s * 3) / 4)
+            return(decode_abort(dcode, "invalid qz"));
+    }
+    else if(decode_e(pair_width(dcode, 0), s, 9))
+        /* FIXME forward-trailing QZ check */
+        return(decode_abort(dcode, "invalid stop"));
+
+    return(ZBAR_CODE93);
+}
+
+#define CHKMOD (47)
+
+static inline int
+plusmod47 (int acc,
+           int add)
+{
+    acc += add;
+    if(acc >= CHKMOD)
+        acc -= CHKMOD;
+    return(acc);
+}
+
+static inline int
+validate_checksums (zbar_decoder_t *dcode)
+{
+    code93_decoder_t *dcode93 = &dcode->code93;
+    unsigned d, i, n = dcode93->character;
+    unsigned sum_c = 0, acc_c = 0, i_c = (n - 2) % 20;
+    unsigned sum_k = 0, acc_k = 0, i_k = (n - 1) % 15;
+
+    for(i = 0; i < n - 2; i++) {
+        d = dcode->buf[(dcode93->direction) ? n - 1 - i : i];
+
+        if(!i_c--) {
+            acc_c = 0;
+            i_c = 19;
+        }
+        acc_c = plusmod47(acc_c, d);
+        sum_c = plusmod47(sum_c, acc_c);
+
+        if(!i_k--) {
+            acc_k = 0;
+            i_k = 14;
+        }
+        acc_k = plusmod47(acc_k, d);
+        sum_k = plusmod47(sum_k, acc_k);
+    }
+
+    d = dcode->buf[(dcode93->direction) ? 1 : n - 2];
+    dbprintf(2, " C=%02x?=%02x", d, sum_c);
+    if(d != sum_c)
+        return(1);
+
+    acc_k = plusmod47(acc_k, sum_c);
+    sum_k = plusmod47(sum_k, acc_k);
+    d = dcode->buf[(dcode93->direction) ? 0 : n - 1];
+    dbprintf(2, " K=%02x?=%02x", d, sum_k);
+    if(d != sum_k)
+        return(1);
+
+    return(0);
+}
+
+/* resolve scan direction and convert to ASCII */
+static inline int
+c93_postprocess (zbar_decoder_t *dcode)
+{
+    code93_decoder_t *dcode93 = &dcode->code93;
+    unsigned i, j, n = dcode93->character;
+    static const unsigned char code93_graph[] = "-. $/+%";
+    static const unsigned char code93_s2[] =
+        "\x1b\x1c\x1d\x1e\x1f;<=>?[\\]^_{|}~\x7f\x00\x40`\x7f\x7f\x7f";
+
+    dbprintf(2, "\n    postproc len=%d", n);
+    dcode->direction = 1 - 2 * dcode93->direction;
+    if(dcode93->direction) {
+        /* reverse buffer */
+        dbprintf(2, " (rev)");
+        for(i = 0; i < n / 2; i++) {
+            unsigned j = n - 1 - i;
+            unsigned char d = dcode->buf[i];
+            dcode->buf[i] = dcode->buf[j];
+            dcode->buf[j] = d;
+        }
+    }
+
+    n -= 2;
+    for(i = 0, j = 0; i < n; ) {
+        unsigned char d = dcode->buf[i++];
+        if(d < 0xa)
+            d = '0' + d;
+        else if(d < 0x24)
+            d = 'A' + d - 0xa;
+        else if(d < 0x2b)
+            d = code93_graph[d - 0x24];
+        else {
+            unsigned shift = d;
+            zassert(shift < 0x2f, -1, "%s\n",
+                    _zbar_decoder_buf_dump(dcode->buf, dcode93->character));
+            d = dcode->buf[i++];
+            if(d < 0xa || d >= 0x24)
+                return(1);
+            d -= 0xa;
+            switch(shift)
+            {
+            case 0x2b: d++; break;
+            case 0x2c: d = code93_s2[d]; break;
+            case 0x2d: d += 0x21; break;
+            case 0x2e: d += 0x61; break;
+            default: return(1);
+            }
+        }
+        dcode->buf[j++] = d;
+    }
+
+    zassert(j < dcode->buf_alloc, 1,
+            "j=%02x %s\n", j,
+            _zbar_decoder_buf_dump(dcode->buf, dcode->code93.character));
+    dcode->buflen = j;
+    dcode->buf[j] = '\0';
+    dcode->modifiers = 0;
+    return(0);
+}
+
+zbar_symbol_type_t
+_zbar_decode_code93 (zbar_decoder_t *dcode)
+{
+    code93_decoder_t *dcode93 = &dcode->code93;
+    int c;
+
+    if(dcode93->character < 0) {
+        zbar_symbol_type_t sym;
+        if(get_color(dcode) != ZBAR_BAR)
+            return(ZBAR_NONE);
+        sym = decode_start(dcode);
+        dbprintf(2, "\n");
+        return(sym);
+    }
+
+    if(/* process every 6th element of active symbol */
+       ++dcode93->element != 6 ||
+       /* decode color based on direction */
+       get_color(dcode) == dcode93->direction)
+        return(ZBAR_NONE);
+
+    dcode93->element = 0;
+
+    dbprintf(2, "      code93[%c%02d+%x]:",
+             (dcode93->direction) ? '<' : '>',
+             dcode93->character, dcode93->element);
+
+    if(c93_check_width(dcode->s6, dcode93->width))
+        return(decode_abort(dcode, "width var"));
+
+    c = c93_decode6(dcode);
+    if(c < 0)
+        return(decode_abort(dcode, "aborted"));
+
+    if(c == 0x2f) {
+        if(!check_stop(dcode))
+            return(ZBAR_NONE);
+        if(validate_checksums(dcode))
+            return(decode_abort(dcode, "checksum error"));
+        if(c93_postprocess(dcode))
+            return(decode_abort(dcode, "invalid encoding"));
+
+        dbprintf(2, " [valid end]\n");
+        dbprintf(3, "    %s\n",
+                 _zbar_decoder_buf_dump(dcode->buf, dcode93->character));
+
+        dcode93->character = -1;
+        return(ZBAR_CODE93);
+    }
+
+    if(size_buf(dcode, dcode93->character + 1))
+        return(decode_abort(dcode, "overflow"));
+
+    dcode93->width = dcode->s6;
+
+    if(dcode93->character == 1) {
+        /* lock shared resources */
+        if(acquire_lock(dcode, ZBAR_CODE93))
+            return(decode_abort(dcode, NULL));
+        dcode->buf[0] = dcode93->buf;
+    }
+
+    if(!dcode93->character)
+        dcode93->buf = c;
+    else
+        dcode->buf[dcode93->character] = c;
+    dcode93->character++;
+
+    dbprintf(2, "\n");
+    return(ZBAR_NONE);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "code128.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define NUM_CHARS 108           /* total number of character codes */
+
+typedef enum code128_char_e {
+    FNC3        = 0x60,
+    FNC2        = 0x61,
+    SHIFT       = 0x62,
+    CODE_C      = 0x63,
+    CODE_B      = 0x64,
+    CODE_A      = 0x65,
+    FNC1        = 0x66,
+    START_A     = 0x67,
+    START_B     = 0x68,
+    START_C     = 0x69,
+    STOP_FWD    = 0x6a,
+    STOP_REV    = 0x6b,
+    FNC4        = 0x6c,
+} code128_char_t;
+
+static const unsigned char characters[NUM_CHARS] = {
+    0x5c, 0xbf, 0xa1,                                           /* [00] 00 */
+    0x2a, 0xc5, 0x0c, 0xa4,                                     /* [03] 01 */
+    0x2d, 0xe3, 0x0f,                                           /* [07] 02 */
+    0x5f, 0xe4,                                                 /* [0a] 03 */
+
+    0x6b, 0xe8, 0x69, 0xa7, 0xe7,                               /* [0c] 10 */
+    0xc1, 0x51, 0x1e, 0x83, 0xd9, 0x00, 0x84, 0x1f,             /* [11] 11 */
+    0xc7, 0x0d, 0x33, 0x86, 0xb5, 0x0e, 0x15, 0x87,             /* [19] 12 */
+    0x10, 0xda, 0x11,                                           /* [21] 13 */
+
+    0x36, 0xe5, 0x18, 0x37,                                     /* [24] 20 */
+    0xcc, 0x13, 0x39, 0x89, 0x97, 0x14, 0x1b, 0x8a, 0x3a, 0xbd, /* [28] 21 */
+    0xa2, 0x5e, 0x01, 0x85, 0xb0, 0x02, 0xa3,                   /* [32] 22 */
+    0xa5, 0x2c, 0x16, 0x88, 0xbc, 0x12, 0xa6,                   /* [39] 23 */
+
+    0x61, 0xe6, 0x56, 0x62,                                     /* [40] 30 */
+    0x19, 0xdb, 0x1a,                                           /* [44] 31 */
+    0xa8, 0x32, 0x1c, 0x8b, 0xcd, 0x1d, 0xa9,                   /* [47] 32 */
+    0xc3, 0x20, 0xc4,                                           /* [4e] 33 */
+
+    0x50, 0x5d, 0xc0,       /* [51] 0014 0025 0034 */
+    0x2b, 0xc6,             /* [54] 0134 0143 */
+    0x2e,                   /* [56] 0243 */
+    0x53, 0x60,             /* [57] 0341 0352 */
+    0x31,                   /* [59] 1024 */
+    0x52, 0xc2,             /* [5a] 1114 1134 */
+    0x34, 0xc8,             /* [5c] 1242 1243 */
+    0x55,                   /* [5e] 1441 */
+
+    0x57, 0x3e, 0xce,       /* [5f] 4100 5200 4300 */
+    0x3b, 0xc9,             /* [62] 4310 3410 */
+    0x6a,                   /* [64] 3420 */
+    0x54, 0x4f,             /* [65] 1430 2530 */
+    0x38,                   /* [67] 4201 */
+    0x58, 0xcb,             /* [68] 4111 4311 */
+    0x2f, 0xca,             /* [6a] 2421 3421 */
+};
+
+static const unsigned char lo_base[8] = {
+    0x00, 0x07, 0x0c, 0x19, 0x24, 0x32, 0x40, 0x47
+};
+
+static const unsigned char lo_offset[0x80] = {
+    0xff, 0xf0, 0xff, 0x1f, 0xff, 0xf2, 0xff, 0xff,     /* 00 [00] */
+    0xff, 0xff, 0xff, 0x3f, 0xf4, 0xf5, 0xff, 0x6f,     /* 01 */
+    0xff, 0xff, 0xff, 0xff, 0xf0, 0xf1, 0xff, 0x2f,     /* 02 [07] */
+    0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0x3f, 0x4f,     /* 03 */
+    0xff, 0x0f, 0xf1, 0xf2, 0xff, 0x3f, 0xff, 0xf4,     /* 10 [0c] */
+    0xf5, 0xf6, 0xf7, 0x89, 0xff, 0xab, 0xff, 0xfc,     /* 11 */
+    0xff, 0xff, 0x0f, 0x1f, 0x23, 0x45, 0xf6, 0x7f,     /* 12 [19] */
+    0xff, 0xff, 0xff, 0xff, 0xf8, 0xff, 0xf9, 0xaf,     /* 13 */
+
+    0xf0, 0xf1, 0xff, 0x2f, 0xff, 0xf3, 0xff, 0xff,     /* 20 [24] */
+    0x4f, 0x5f, 0x67, 0x89, 0xfa, 0xbf, 0xff, 0xcd,     /* 21 */
+    0xf0, 0xf1, 0xf2, 0x3f, 0xf4, 0x56, 0xff, 0xff,     /* 22 [32] */
+    0xff, 0xff, 0x7f, 0x8f, 0x9a, 0xff, 0xbc, 0xdf,     /* 23 */
+    0x0f, 0x1f, 0xf2, 0xff, 0xff, 0x3f, 0xff, 0xff,     /* 30 [40] */
+    0xf4, 0xff, 0xf5, 0x6f, 0xff, 0xff, 0xff, 0xff,     /* 31 */
+    0x0f, 0x1f, 0x23, 0xff, 0x45, 0x6f, 0xff, 0xff,     /* 32 [47] */
+    0xf7, 0xff, 0xf8, 0x9f, 0xff, 0xff, 0xff, 0xff,     /* 33 */
+};
+
+static inline signed char decode_lo (int sig)
+{
+    unsigned char offset = (((sig >> 1) & 0x01) |
+                            ((sig >> 3) & 0x06) |
+                            ((sig >> 5) & 0x18) |
+                            ((sig >> 7) & 0x60));
+    unsigned char idx = lo_offset[offset];
+    unsigned char base, c;
+
+    if(sig & 1)
+        idx &= 0xf;
+    else
+        idx >>= 4;
+    if(idx == 0xf)
+        return(-1);
+
+    base = (sig >> 11) | ((sig >> 9) & 1);
+    zassert(base < 8, -1, "sig=%x offset=%x idx=%x base=%x\n",
+            sig, offset, idx, base);
+    idx += lo_base[base];
+
+    zassert(idx <= 0x50, -1, "sig=%x offset=%x base=%x idx=%x\n",
+            sig, offset, base, idx);
+    c = characters[idx];
+    dbprintf(2, " %02x(%x(%02x)/%x(%02x)) => %02x",
+             idx, base, lo_base[base], offset, lo_offset[offset],
+             (unsigned char)c);
+    return(c);
+}
+
+static inline signed char decode_hi (int sig)
+{
+    unsigned char rev = (sig & 0x4400) != 0;
+    unsigned char idx, c;
+    if(rev)
+        sig = (((sig >> 12) & 0x000f) |
+               ((sig >>  4) & 0x00f0) |
+               ((sig <<  4) & 0x0f00) |
+               ((sig << 12) & 0xf000));
+    dbprintf(2, " rev=%x", rev != 0);
+
+    switch(sig) {
+    case 0x0014: idx = 0x0; break;
+    case 0x0025: idx = 0x1; break;
+    case 0x0034: idx = 0x2; break;
+    case 0x0134: idx = 0x3; break;
+    case 0x0143: idx = 0x4; break;
+    case 0x0243: idx = 0x5; break;
+    case 0x0341: idx = 0x6; break;
+    case 0x0352: idx = 0x7; break;
+    case 0x1024: idx = 0x8; break;
+    case 0x1114: idx = 0x9; break;
+    case 0x1134: idx = 0xa; break;
+    case 0x1242: idx = 0xb; break;
+    case 0x1243: idx = 0xc; break;
+    case 0x1441: idx = 0xd; rev = 0; break;
+    default: return(-1);
+    }
+    if(rev)
+        idx += 0xe;
+    c = characters[0x51 + idx];
+    dbprintf(2, " %02x => %02x", idx, c);
+    return(c);
+}
+
+static inline unsigned char calc_check (unsigned char c)
+{
+    if(!(c & 0x80))
+        return(0x18);
+    c &= 0x7f;
+    if(c < 0x3d)
+        return((c < 0x30 && c != 0x17) ? 0x10 : 0x20);
+    if(c < 0x50)
+        return((c == 0x4d) ? 0x20 : 0x10);
+    return((c < 0x67) ? 0x20 : 0x10);
+}
+
+static inline signed char decode6 (zbar_decoder_t *dcode)
+{
+    int sig;
+    signed char c, chk;
+    unsigned bars;
+
+    /* build edge signature of character */
+    unsigned s = dcode->code128.s6;
+
+    dbprintf(2, " s=%d", s);
+    if(s < 5)
+        return(-1);
+    /* calculate similar edge measurements */
+    sig = (get_color(dcode) == ZBAR_BAR)
+        ? ((decode_e(get_width(dcode, 0) + get_width(dcode, 1), s, 11) << 12) |
+           (decode_e(get_width(dcode, 1) + get_width(dcode, 2), s, 11) << 8) |
+           (decode_e(get_width(dcode, 2) + get_width(dcode, 3), s, 11) << 4) |
+           (decode_e(get_width(dcode, 3) + get_width(dcode, 4), s, 11)))
+        : ((decode_e(get_width(dcode, 5) + get_width(dcode, 4), s, 11) << 12) |
+           (decode_e(get_width(dcode, 4) + get_width(dcode, 3), s, 11) << 8) |
+           (decode_e(get_width(dcode, 3) + get_width(dcode, 2), s, 11) << 4) |
+           (decode_e(get_width(dcode, 2) + get_width(dcode, 1), s, 11)));
+    if(sig < 0)
+        return(-1);
+    dbprintf(2, " sig=%04x", sig);
+    /* lookup edge signature */
+    c = (sig & 0x4444) ? decode_hi(sig) : decode_lo(sig);
+    if(c == -1)
+        return(-1);
+
+    /* character validation */
+    bars = (get_color(dcode) == ZBAR_BAR)
+        ? (get_width(dcode, 0) + get_width(dcode, 2) + get_width(dcode, 4))
+        : (get_width(dcode, 1) + get_width(dcode, 3) + get_width(dcode, 5));
+    bars = bars * 11 * 4 / s;
+    chk = calc_check(c);
+    dbprintf(2, " bars=%d chk=%d", bars, chk);
+    if(chk - 7 > bars || bars > chk + 7)
+        return(-1);
+
+    return(c & 0x7f);
+}
+
+static inline unsigned char validate_checksum (zbar_decoder_t *dcode)
+{
+    unsigned idx, sum, i, acc = 0;
+    unsigned char check, err;
+
+    code128_decoder_t *dcode128 = &dcode->code128;
+    if(dcode128->character < 3)
+        return(1);
+
+    /* add in irregularly weighted start character */
+    idx = (dcode128->direction) ? dcode128->character - 1 : 0;
+    sum = dcode->buf[idx];
+    if(sum >= 103)
+        sum -= 103;
+
+    /* calculate sum in reverse to avoid multiply operations */
+    for(i = dcode128->character - 3; i; i--) {
+        zassert(sum < 103, -1, "dir=%x i=%x sum=%x acc=%x %s\n",
+                dcode128->direction, i, sum, acc,
+                _zbar_decoder_buf_dump(dcode->buf, dcode128->character));
+        idx = (dcode128->direction) ? dcode128->character - 1 - i : i;
+        acc += dcode->buf[idx];
+        if(acc >= 103)
+            acc -= 103;
+        zassert(acc < 103, -1, "dir=%x i=%x sum=%x acc=%x %s\n",
+                dcode128->direction, i, sum, acc,
+                _zbar_decoder_buf_dump(dcode->buf, dcode128->character));
+        sum += acc;
+        if(sum >= 103)
+            sum -= 103;
+    }
+
+    /* and compare to check character */
+    idx = (dcode128->direction) ? 1 : dcode128->character - 2;
+    check = dcode->buf[idx];
+    dbprintf(2, " chk=%02x(%02x)", sum, check);
+    err = (sum != check);
+    if(err)
+        dbprintf(1, " [checksum error]\n");
+    return(err);
+}
+
+/* expand and decode character set C */
+static inline unsigned postprocess_c (zbar_decoder_t *dcode,
+                                      unsigned start,
+                                      unsigned end,
+                                      unsigned dst)
+{
+    unsigned i, j;
+
+    /* expand buffer to accomodate 2x set C characters (2 digits per-char) */
+    unsigned delta = end - start;
+    unsigned newlen = dcode->code128.character + delta;
+    size_buf(dcode, newlen);
+
+    /* relocate unprocessed data to end of buffer */
+    memmove(dcode->buf + start + delta, dcode->buf + start,
+            dcode->code128.character - start);
+    dcode->code128.character = newlen;
+
+    for(i = 0, j = dst; i < delta; i++, j += 2) {
+        /* convert each set C character into two ASCII digits */
+        unsigned char code = dcode->buf[start + delta + i];
+        dcode->buf[j] = '0';
+        if(code >= 50) {
+            code -= 50;
+            dcode->buf[j] += 5;
+        }
+        if(code >= 30) {
+            code -= 30;
+            dcode->buf[j] += 3;
+        }
+        if(code >= 20) {
+            code -= 20;
+            dcode->buf[j] += 2;
+        }
+        if(code >= 10) {
+            code -= 10;
+            dcode->buf[j] += 1;
+        }
+        zassert(dcode->buf[j] <= '9', delta,
+                "start=%x end=%x i=%x j=%x %s\n", start, end, i, j,
+                _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+        zassert(code <= 9, delta,
+                "start=%x end=%x i=%x j=%x %s\n", start, end, i, j,
+                _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+        dcode->buf[j + 1] = '0' + code;
+    }
+    return(delta);
+}
+
+/* resolve scan direction and convert to ASCII */
+static inline unsigned char postprocess (zbar_decoder_t *dcode)
+{
+    unsigned i, j, cexp;
+    unsigned char code = 0, charset;
+    code128_decoder_t *dcode128 = &dcode->code128;
+    dbprintf(2, "\n    postproc len=%d", dcode128->character);
+    dcode->modifiers = 0;
+    dcode->direction = 1 - 2 * dcode128->direction;
+    if(dcode128->direction) {
+        /* reverse buffer */
+        dbprintf(2, " (rev)");
+        for(i = 0; i < dcode128->character / 2; i++) {
+            unsigned j = dcode128->character - 1 - i;
+            code = dcode->buf[i];
+            dcode->buf[i] = dcode->buf[j];
+            dcode->buf[j] = code;
+        }
+        zassert(dcode->buf[dcode128->character - 1] == STOP_REV, 1,
+                "dir=%x %s\n", dcode128->direction,
+                _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+    }
+    else
+        zassert(dcode->buf[dcode128->character - 1] == STOP_FWD, 1,
+                "dir=%x %s\n", dcode128->direction,
+                _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+
+    code = dcode->buf[0];
+    zassert(code >= START_A && code <= START_C, 1, "%s\n",
+            _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+
+    charset = code - START_A;
+    cexp = (code == START_C) ? 1 : 0;
+    dbprintf(2, " start=%c", 'A' + charset);
+
+    for(i = 1, j = 0; i < dcode128->character - 2; i++) {
+        unsigned char code = dcode->buf[i];
+        zassert(!(code & 0x80), 1,
+                "i=%x j=%x code=%02x charset=%x cexp=%x %s\n",
+                i, j, code, charset, cexp,
+                _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+
+        if((charset & 0x2) && (code < 100))
+            /* defer character set C for expansion */
+            continue;
+        else if(code < 0x60) {
+            /* convert character set B to ASCII */
+            code = code + 0x20;
+            if((!charset || (charset == 0x81)) && (code >= 0x60))
+                /* convert character set A to ASCII */
+                code -= 0x60;
+            dcode->buf[j++] = code;
+            if(charset & 0x80)
+                charset &= 0x7f;
+        }
+        else {
+            dbprintf(2, " %02x", code);
+            if(charset & 0x2) {
+                unsigned delta;
+                /* expand character set C to ASCII */
+                zassert(cexp, 1, "i=%x j=%x code=%02x charset=%x cexp=%x %s\n",
+                        i, j, code, charset, cexp,
+                        _zbar_decoder_buf_dump(dcode->buf,
+                                                dcode->code128.character));
+                delta = postprocess_c(dcode, cexp, i, j);
+                i += delta;
+                j += delta * 2;
+                cexp = 0;
+            }
+            if(code < CODE_C) {
+                if(code == SHIFT)
+                    charset |= 0x80;
+                else if(code == FNC2) {
+                    /* FIXME FNC2 - message append */
+                }
+                else if(code == FNC3) {
+                    /* FIXME FNC3 - initialize */
+                }
+            }
+            else if(code == FNC1) {
+                /* FNC1 - Code 128 subsets or ASCII 0x1d */
+                if(i == 1)
+                    dcode->modifiers |= MOD(ZBAR_MOD_GS1);
+                else if(i == 2)
+                    dcode->modifiers |= MOD(ZBAR_MOD_AIM);
+                else if(i < dcode->code128.character - 3)
+                    dcode->buf[j++] = 0x1d;
+                /*else drop trailing FNC1 */
+            }
+            else if(code >= START_A) {
+                dbprintf(1, " [truncated]\n");
+                return(1);
+            }
+            else {
+                unsigned char newset = CODE_A - code;
+                zassert(code >= CODE_C && code <= CODE_A, 1,
+                        "i=%x j=%x code=%02x charset=%x cexp=%x %s\n",
+                        i, j, code, charset, cexp,
+                        _zbar_decoder_buf_dump(dcode->buf,
+                                                dcode->code128.character));
+                if(newset != charset)
+                    charset = newset;
+                else {
+                    /* FIXME FNC4 - extended ASCII */
+                }
+            }
+            if(charset & 0x2)
+                cexp = i + 1;
+        }
+    }
+    if(charset & 0x2) {
+        zassert(cexp, 1, "i=%x j=%x code=%02x charset=%x cexp=%x %s\n",
+                i, j, code, charset, cexp,
+                _zbar_decoder_buf_dump(dcode->buf,
+                                        dcode->code128.character));
+        j += postprocess_c(dcode, cexp, i, j) * 2;
+    }
+    zassert(j < dcode->buf_alloc, 1, "j=%02x %s\n", j,
+            _zbar_decoder_buf_dump(dcode->buf, dcode->code128.character));
+    dcode->buflen = j;
+    dcode->buf[j] = '\0';
+    dcode->code128.character = j;
+    return(0);
+}
+
+zbar_symbol_type_t _zbar_decode_code128 (zbar_decoder_t *dcode)
+{
+    code128_decoder_t *dcode128 = &dcode->code128;
+    signed char c;
+
+    /* update latest character width */
+    dcode128->s6 -= get_width(dcode, 6);
+    dcode128->s6 += get_width(dcode, 0);
+
+    if((dcode128->character < 0)
+       ? get_color(dcode) != ZBAR_SPACE
+       : (/* process every 6th element of active symbol */
+          ++dcode128->element != 6 ||
+          /* decode color based on direction */
+          get_color(dcode) != dcode128->direction))
+        return(0);
+    dcode128->element = 0;
+
+    dbprintf(2, "      code128[%c%02d+%x]:",
+             (dcode128->direction) ? '<' : '>',
+             dcode128->character, dcode128->element);
+
+    c = decode6(dcode);
+    if(dcode128->character < 0) {
+        unsigned qz;
+        dbprintf(2, " c=%02x", c);
+        if(c < START_A || c > STOP_REV || c == STOP_FWD) {
+            dbprintf(2, " [invalid]\n");
+            return(0);
+        }
+        qz = get_width(dcode, 6);
+        if(qz && qz < (dcode128->s6 * 3) / 4) {
+            dbprintf(2, " [invalid qz %d]\n", qz);
+            return(0);
+        }
+        /* decoded valid start/stop */
+        /* initialize state */
+        dcode128->character = 1;
+        if(c == STOP_REV) {
+            dcode128->direction = ZBAR_BAR;
+            dcode128->element = 7;
+        }
+        else
+            dcode128->direction = ZBAR_SPACE;
+        dcode128->start = c;
+        dcode128->width = dcode128->s6;
+        dbprintf(2, " dir=%x [valid start]\n", dcode128->direction);
+        return(0);
+    }
+    else if(c < 0 || size_buf(dcode, dcode128->character + 1)) {
+        dbprintf(1, (c < 0) ? " [aborted]\n" : " [overflow]\n");
+        if(dcode128->character > 1)
+            release_lock(dcode, ZBAR_CODE128);
+        dcode128->character = -1;
+        return(0);
+    }
+    else {
+        unsigned dw;
+        if(dcode128->width > dcode128->s6)
+            dw = dcode128->width - dcode128->s6;
+        else
+            dw = dcode128->s6 - dcode128->width;
+        dw *= 4;
+        if(dw > dcode128->width) {
+            dbprintf(1, " [width var]\n");
+            if(dcode128->character > 1)
+                release_lock(dcode, ZBAR_CODE128);
+            dcode128->character = -1;
+            return(0);
+        }
+    }
+    dcode128->width = dcode128->s6;
+
+    zassert(dcode->buf_alloc > dcode128->character, 0,
+            "alloc=%x idx=%x c=%02x %s\n",
+            dcode->buf_alloc, dcode128->character, c,
+            _zbar_decoder_buf_dump(dcode->buf, dcode->buf_alloc));
+
+    if(dcode128->character == 1) {
+        /* lock shared resources */
+        if(acquire_lock(dcode, ZBAR_CODE128)) {
+            dcode128->character = -1;
+            return(0);
+        }
+        dcode->buf[0] = dcode128->start;
+    }
+
+    dcode->buf[dcode128->character++] = c;
+
+    if(dcode128->character > 2 &&
+       ((dcode128->direction)
+        ? c >= START_A && c <= START_C
+        : c == STOP_FWD)) {
+        /* FIXME STOP_FWD should check extra bar (and QZ!) */
+        zbar_symbol_type_t sym = ZBAR_CODE128;
+        if(validate_checksum(dcode) || postprocess(dcode))
+            sym = ZBAR_NONE;
+        else if(dcode128->character < CFG(*dcode128, ZBAR_CFG_MIN_LEN) ||
+                (CFG(*dcode128, ZBAR_CFG_MAX_LEN) > 0 &&
+                 dcode128->character > CFG(*dcode128, ZBAR_CFG_MAX_LEN))) {
+            dbprintf(2, " [invalid len]\n");
+            sym = ZBAR_NONE;
+        }
+        else
+            dbprintf(2, " [valid end]\n");
+        dcode128->character = -1;
+        if(!sym)
+            release_lock(dcode, ZBAR_CODE128);
+        return(sym);
+    }
+
+    dbprintf(2, "\n");
+    return(0);
+}
+
+#undef NUM_CHARS
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "pdf417_hash.h"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2009 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+/* PDF417 bar to codeword decode table */
+
+#define PDF417_HASH_MASK 0xfff
+
+static const signed short pdf417_hash[PDF417_HASH_MASK + 1] = {
+ 0x170, 0xd8e, 0x02e, 0x000, 0xa21, 0xc99, 0x000, 0xf06,
+ 0xdaa, 0x7a1, 0xc5f, 0x7ff, 0xbcf, 0xac8, 0x000, 0xc51,
+ 0x49a, 0x5c7, 0x000, 0xef2, 0x000, 0x7dd, 0x9ee, 0xe32,
+ 0x1b7, 0x489, 0x3b7, 0xe70, 0x9c8, 0xe5e, 0xdf4, 0x599,
+ 0x4e0, 0x608, 0x639, 0xead, 0x0ac, 0x57c, 0x000, 0x20d,
+ 0x61b, 0x000, 0x7d1, 0x80f, 0x803, 0x000, 0x946, 0x093,
+ 0x79c, 0xf9c, 0xb34, 0x6d8, 0x4f1, 0x975, 0x886, 0x313,
+ 0xe8a, 0xf20, 0x3c9, 0xa92, 0xb90, 0xa1d, 0x091, 0x0ac,
+ 0xb50, 0x3af, 0x90a, 0x45a, 0x815, 0xf29, 0xb20, 0xb6d,
+ 0xc5c, 0x1cd, 0x1e2, 0x1bf, 0x963, 0x80b, 0xa7c, 0x9b7,
+ 0xb65, 0x6b7, 0x117, 0xc04, 0x000, 0x18e, 0x000, 0x77f,
+ 0xe0e, 0xf48, 0x370, 0x818, 0x379, 0x000, 0x090, 0xe77,
+ 0xd99, 0x8b8, 0xb95, 0x8a9, 0x94c, 0xc48, 0x679, 0x000,
+ 0x41a, 0x9ea, 0xb0e, 0x9c1, 0x1b4, 0x000, 0x630, 0x811,
+ 0x4b1, 0xc05, 0x98f, 0xa68, 0x485, 0x706, 0xfff, 0x0d9,
+ 0xddc, 0x000, 0x83f, 0x54e, 0x290, 0xfe7, 0x64f, 0xf36,
+ 0x000, 0x151, 0xb9b, 0x5cd, 0x961, 0x690,    -1, 0xa7a,
+ 0x328, 0x707, 0xe6d, 0xe1f,    -1, 0x6a0, 0xf3e, 0xb27,
+ 0x315, 0xc8c, 0x6de, 0x996, 0x2f9, 0xc4c, 0x90f,    -1,
+ 0xaa7, 0x9e9, 0xfff, 0x0bb, 0x33b, 0xbc6, 0xe17, 0x000,
+ 0x85d, 0x912, 0x5f7, 0x000, 0xff1, 0xba1, 0x086, 0xa1e,
+ 0x85a, 0x4cf, 0xd47, 0x5a9, 0x5dc, 0x0bc,    -1, 0x544,
+ 0x522, 0x1ff, 0xfa6, 0xa83, 0xc7d, 0x545, 0xd75, 0xb6f,
+ 0x284, 0xf11, 0xe46,    -1, 0x900, 0x0f3, 0xe31, 0x705,
+ 0x06d, 0xd59, 0x67b, 0xe56,    -1, 0xde2, 0x000, 0xd42,
+    -1, 0x24b, 0x000, 0xf87, 0x842,    -1, 0xbb9, 0x065,
+ 0x626, 0x86a, 0x9f8,    -1, 0x7ac, 0xe20, 0xbe9, 0x357,
+ 0xfff, 0xf82, 0x219, 0x9d4, 0x269, 0x8a6, 0x251, 0x0af,
+ 0xd02, 0x09a, 0x803, 0x0a5, 0xfed, 0x278,    -1, 0x338,
+ 0x1e5, 0xcad, 0xf9e, 0x73e, 0xb39, 0xe48, 0x754,    -1,
+ 0x680, 0xd99, 0x4d4, 0x80b, 0x4be, 0xb0d, 0x5f2,    -1,
+ 0x4b1, 0x38a, 0xff5, 0x000, 0xa1b, 0xece, 0xa06, 0x8e6,
+ 0xdcb, 0xcb8, 0xc63, 0x98c, 0x346, 0x69c, 0x299, 0xa52,
+ 0xfff, 0x000,    -1, 0x7b2, 0xbf8, 0x2d1, 0xaff, 0x2f2,
+ 0xd69, 0xf20,    -1, 0xdcf, 0x9fb, 0x68f, 0x24e, 0xfd7,
+ 0xfdb, 0x894, 0xc8f, 0x615, 0xa25, 0x36d, 0x1bb, 0x064,
+ 0xb80, 0x280, 0xd7a,    -1, 0xd75, 0xc90, 0xdce, 0xdce,
+ 0x011, 0x869, 0xb2f, 0xd24, 0xe26, 0x492, 0xe0a, 0xcae,
+    -1, 0x2ac, 0x38c, 0x0b9, 0xc4f,    -1, 0x32b, 0x415,
+ 0x49c, 0x11c, 0x816, 0xd08, 0xf5c, 0x356, 0x2b3, 0xfbf,
+ 0x7ff, 0x35d, 0x276, 0x292, 0x4f5, 0x0e2, 0xc68, 0x4c4,
+ 0x000, 0xb5e, 0xd0b, 0xca7, 0x624, 0x247, 0xf0d, 0x017,
+ 0x7ec, 0x2a6, 0x62c, 0x192, 0x610, 0xd98, 0x7a4, 0xfa3,
+ 0x80b, 0x043, 0xd7b, 0x301, 0x69d, 0x7e4, 0x10c, 0xacb,
+ 0x6eb, 0xea7, 0xe65, 0x75d, 0x4f5, 0x5b0, 0xa50, 0x7b6,
+ 0x0ec,    -1, 0xcf9, 0x4b4, 0x639, 0x111, 0xbdf, 0xe89,
+ 0x9fa, 0x76b, 0xdf6, 0x2d0, 0x857, 0x3a3, 0x000, 0xa3e,
+ 0x8cb, 0x35f, 0x4f0, 0x022, 0xb38, 0xc12, 0x93c, 0x2fc,
+ 0x546, 0xe6e, 0x91f, 0x145, 0xfff, 0x1af, 0x957, 0xbde,
+ 0x09d, 0xfd2, 0x9df, 0x2dc, 0x07f, 0x115, 0x7bf, 0xa35,
+ 0x061, 0x9bf, 0xc85, 0x918, 0x0c8, 0x317, 0xce5, 0xf28,
+ 0x108, 0x51b, 0x621, 0x188, 0x000, 0x28c, 0xf67, 0x6ef,
+ 0x000, 0xd72, 0xce2, 0x1be, 0x000, 0x000, 0x282, 0x357,
+    -1, 0x4e5, 0x246, 0x859, 0x66c, 0x5d3, 0x9fd, 0x000,
+ 0x000, 0x82f, 0xc29, 0x331, 0xa93, 0x000, 0xae4, 0x48a,
+ 0x254, 0x000, 0x0ba, 0xe83, 0x7c7, 0xb6e, 0x88e, 0x774,
+ 0xf6f, 0x85d, 0x47f, 0xcd6, 0xe41, 0xdb6, 0x000, 0x0f4,
+ 0xb4d, 0x77f, 0x000, 0x901, 0x1a2, 0x44a, 0x482, 0x000,
+ 0xe99, 0xa75, 0x000, 0x7ab, 0x000, 0x0b6, 0x35c, 0x306,
+ 0x11c, 0x08e, 0x6eb, 0x11c, 0x771, 0xff9, 0x1c8, 0x63b,
+ 0x58b, 0x9d2, 0x250, 0x198, 0xfe7, 0xebc, 0x000, 0xa97,
+ 0xacc, 0xd4b, 0x28b, 0x892, 0x150, 0xcf4, 0xbc1, 0x000,
+ 0x662, 0xdd8, 0x61f, 0x903, 0x083, 0x000, 0xc55, 0x02f,
+ 0xc29, 0x4f5, 0xbcf, 0xe27, 0x9e3, 0xb13, 0xadc, 0x845,
+ 0x415, 0x0ae, 0x000, 0xe30, 0x931, 0x84a, 0xb09, 0x250,
+ 0x631, 0x7aa, 0x026, 0xdc9, 0x486, 0x3a7, 0xab0, 0xe04,
+ 0xe1a, 0xe17, 0x611, 0x556, 0xfac, 0x3c6, 0x5ab, 0x002,
+ 0xc16, 0xe60,    -1, 0xc51, 0x772, 0x67f, 0xfa9, 0x83c,
+ 0x974, 0x96a, 0xe94, 0x250, 0xa20, 0xc95, 0x65b, 0x479,
+ 0xe48, 0xa35, 0x23f, 0x5cf, 0x40a, 0xcf0, 0xe82, 0x1da,
+ 0x390, 0xc86, 0xa92, 0x433, 0xbed, 0x4a7, 0x09a, 0x15a,
+ 0xb8d, 0x9c7, 0x5fb, 0x8a0, 0x000, 0xf9a, 0xf3c, 0x11c,
+ 0x20c, 0xf23, 0x79d, 0xc79, 0xb71, 0x7af, 0xc5b, 0x771,
+ 0x629, 0x834, 0xb34, 0x20c, 0x940, 0x2ca, 0x60b, 0x000,
+ 0x4cb, 0x70b, 0x000, 0x000, 0x9e8, 0x000, 0xdca, 0x000,
+ 0x1ae, 0xb21, 0xfe3, 0x191, 0x9e1, 0x7f6, 0x04f, 0x64a,
+ 0xba2, 0x59e, 0x1ae, 0x000, 0x728, 0x000, 0x081, 0xecd,
+ 0x946, 0x000, 0xdee, 0x3ff, 0xdf9, 0x1bf, 0x01a, 0x1a9,
+ 0xc58, 0xe05, 0x3bf, 0x5e8, 0x39d, 0xbfa, 0x23f, 0xb8d,
+    -1, 0x000, 0x779, 0x540, 0xf2c, 0x7cc, 0x340, 0x77a,
+ 0xa8e, 0xe8d, 0x2fd, 0xfed, 0x5d1, 0x308, 0x00f, 0xf4a,
+ 0x39b, 0xbe2, 0x0e5,    -1, 0xf4d, 0x1fe, 0xf00, 0x867,
+ 0x195, 0x2de, 0x712, 0x000, 0x00c, 0x0a3, 0x1f3, 0x4ee,
+ 0x317, 0x665, 0x000, 0x5d8, 0x291, 0x6c4, 0xa46, 0x492,
+ 0x8d4, 0x647, 0x57f, 0x000, 0x259, 0xd87, 0x5c2, 0x1d8,
+ 0xfad,    -1,    -1, 0x79f, 0x43a, 0xfd1, 0x164, 0x6e1,
+ 0x350, 0xf00, 0x0e9, 0xac4, 0xe35, 0x307, 0xfff, 0xabb,
+ 0xc1a, 0x768, 0x000, 0x372, 0x839, 0xf4b, 0x1c3, 0xab0,
+ 0xcb6, 0x943, 0xbe9, 0x20f, 0xddc, 0xe18, 0x4eb, 0x21d,
+ 0x530, 0x24c, 0x000, 0xf79,    -1, 0x1bd,    -1, 0x155,
+ 0x435,    -1, 0x132, 0x5c2, 0xb3d, 0x802, 0x733,    -1,
+ 0x336, 0xf19, 0xfea, 0xd2a, 0x07f, 0x8e9, 0x000, 0xdab,
+    -1, 0x088, 0x4b1, 0x7ac, 0x000, 0xe66, 0xde0, 0x73c,
+ 0xfff, 0x02f,    -1, 0x000,    -1, 0x000, 0x562, 0x389,
+ 0xb20, 0x9ea,    -1, 0x3f8, 0x567, 0x035, 0xa55, 0x255,
+ 0xc98, 0x65f,    -1, 0x1ac, 0x571, 0x13d, 0xf57, 0x32a,
+ 0xbdb, 0x0ec, 0x47d, 0x43a,    -1, 0x1aa, 0x9d6, 0x843,
+    -1, 0x244, 0xb03, 0xd0d, 0x579, 0x1b1, 0xea7, 0x000,
+ 0x062,    -1, 0x533, 0x1db, 0xf1f, 0x2f7, 0x2df, 0x3e5,
+ 0xdec, 0xc5c, 0x55a, 0xf6c, 0x4c1, 0x5a8, 0xcd4, 0x6fd,
+ 0x1a6, 0x4b8, 0x98a, 0xe17, 0xeb9, 0xfd1,    -1, 0x175,
+ 0x4d6, 0xba2, 0x000, 0x614, 0x147, 0x429, 0xfee,    -1,
+ 0x0d8,    -1, 0x98a, 0xdd2, 0xedd, 0x255, 0xef3, 0x345,
+ 0x000, 0xf3e,    -1,    -1, 0x210, 0x88a, 0x699,    -1,
+ 0x02c, 0xfee, 0x1c1, 0xb38, 0x000, 0x7cc, 0x165, 0x536,
+    -1, 0x1ae, 0xefb, 0x734,    -1, 0x1a4, 0x984, 0x804,
+ 0x487,    -1,    -1, 0x31e, 0x9f2, 0x966, 0x000, 0xcb0,
+ 0x552, 0x0c9,    -1, 0x750, 0x650, 0x064, 0xffe, 0xe84,
+ 0x537, 0xee7, 0x834,    -1, 0x998, 0xa03,    -1, 0xcdf,
+ 0x4be, 0x310, 0x051, 0xf3f, 0x040, 0x973, 0x925, 0x000,
+ 0x000, 0xe51, 0x8b1, 0x468, 0xe11, 0xd4f, 0x374, 0x33a,
+ 0x126, 0x88b, 0x43a, 0xc9b, 0xdb9, 0x3c2, 0x3bd, 0x1ae,
+ 0x000, 0xc4a, 0x000, 0x4c4, 0x859, 0xe5a, 0x000, 0xeb4,
+ 0xd40, 0x87d, 0xc79, 0xe13, 0x50b,    -1, 0x724, 0x000,
+ 0x7be, 0x062, 0xe7f, 0xad0, 0x5f3, 0x69e, 0x381, 0x272,
+ 0x50f, 0xac8, 0x053, 0x55e, 0xf19, 0xd71, 0x75b, 0xbf2,
+ 0x000, 0x3ac, 0xdf0, 0xd75, 0x7e3, 0xe75, 0xa13, 0xfd8,
+ 0xbdc, 0x1d9, 0x15f, 0x8cc, 0xba4, 0xb79, 0xb7f, 0x812,
+ 0xfe6, 0x000, 0x2d3, 0xd7b, 0x5d4, 0xad2, 0x316, 0x908,
+ 0x323, 0x758, 0xb0b, 0x965, 0x1a9, 0xdce, 0x660, 0x625,
+ 0xeff, 0x0ed, 0x000, 0x323, 0x986, 0x831, 0x5c5, 0x22f,
+ 0xd49, 0xec6, 0x90e, 0x234, 0x000, 0x80f, 0x16c, 0x528,
+ 0x1f8, 0x2bd, 0x97d, 0xe20, 0xf29, 0x97d, 0x3a0, 0x7fc,
+ 0x086, 0x720, 0x1f9, 0x3eb, 0xf67, 0x423, 0xa55, 0x69e,
+ 0xede, 0x206, 0x7fa, 0x809, 0xfa8, 0xe22, 0x15e, 0x2a0,
+ 0x04a, 0xf7b, 0x4ea, 0xd9a,    -1, 0x1d8, 0x0b4, 0xb87,
+ 0x406,    -1, 0xcdf, 0x187, 0xf6d, 0x914, 0x4b1, 0x000,
+ 0x104, 0x67e, 0xc74, 0x6da, 0xe67, 0x7d2, 0xd1f, 0x64c,
+ 0x19d, 0x000, 0xa17, 0xfd5, 0x000, 0x8ad, 0xf38, 0xd65,
+ 0xabd, 0x75e, 0x667, 0x632, 0x346, 0xc48, 0xa77, 0x45e,
+ 0x2b5, 0xded, 0x7da, 0x160, 0x560,    -1, 0xf4e, 0xb0c,
+ 0xdb0, 0x287, 0x34a, 0x065, 0x439, 0x2ec, 0x679, 0xefa,
+ 0x208, 0xeb1, 0x1b0, 0x8c8, 0xca6, 0x62c, 0xa10, 0x673,
+ 0x000, 0x000, 0xc6a, 0x7b2, 0xbd7, 0xb2b, 0x17a, 0x6f3,
+ 0x1ab, 0xffa, 0x5e0, 0x1fa, 0xb8f, 0xe5c, 0xcab, 0xdbc,
+ 0x10f, 0x000, 0x000, 0xefe, 0x34b, 0x1d9, 0x834, 0x52f,
+ 0xb58, 0x82b, 0x6e8, 0x1f3, 0x719, 0x64e, 0xf55, 0xccd,
+ 0x531, 0x0de, 0x3aa, 0x150, 0x89a, 0x3b9, 0x26e, 0xebc,
+ 0x7ae, 0x670, 0x315, 0x8a9, 0x03b, 0x896, 0x247, 0x2f4,
+ 0x450, 0xd10, 0xb79, 0x0ed, 0x041,    -1, 0x707, 0x9e1,
+ 0xed6, 0x6d2, 0x000, 0xfff, 0xb1a, 0x084, 0xaf3, 0x47f,
+ 0x02f, 0xac3, 0x751, 0x8c4, 0x291, 0xadd, 0x000, 0xea1,
+ 0x8ec, 0xf9f, 0x5c2, 0x000, 0xd6b, 0x71e, 0x000, 0xcea,
+ 0x971, 0x5f8, 0x4b9, 0x7c6, 0xb7e, 0x353, 0xd25, 0x423,
+ 0x6ec, 0xb71, 0xf93, 0x000, 0x795, 0xc43, 0xaa2, 0x96a,
+ 0xcbd, 0xb55, 0x184, 0xdf0, 0x3d9, 0xbfe, 0xf79, 0x8f0,
+ 0x22c, 0xeeb, 0x000, 0xa4b, 0xe07, 0xf34, 0xc9d, 0x4be,
+ 0x95b, 0x371, 0x78c, 0x9e9, 0xde6, 0x072, 0xf0d, 0x60b,
+ 0x5a5, 0xab1, 0x000, 0x260, 0x000, 0xd2a, 0xd90, 0x154,
+ 0x4c6, 0x438, 0x5d9, 0x736, 0x062, 0x000, 0x000, 0xb84,
+ 0x72e, 0x0b7, 0x000, 0x050, 0x063, 0xa95, 0x89b, 0x917,
+ 0x049, 0xb14, 0x9a0, 0x734, 0x0c3, 0xd50, 0x917, 0xb02,
+ 0x8cf, 0x453, 0x0af, 0x8e5, 0x000, 0x7aa, 0x5d5, 0x81b,
+ 0x788, 0xb9c, 0x01a, 0x974, 0x000, 0x000, 0x37f, 0xd9f,
+ 0x000, 0xec4, 0x4f4, 0xbff, 0x4fe, 0x860, 0x11c, 0x74e,
+ 0x34a, 0x281, 0x52f, 0xb05, 0xa89, 0xbee, 0x6ad, 0x9fc,
+ 0x9ba, 0xb0b, 0x515, 0x1c7, 0x330, 0xfde, 0x97e, 0x6e7,
+ 0xc45,    -1, 0x658, 0x710, 0x28a, 0x921, 0x1de, 0x4a1,
+ 0x9d7, 0xe32, 0xa2d, 0xb0f, 0x545, 0xd6f, 0x329, 0x9b8,
+ 0xb4d, 0x9a0, 0x938, 0x783, 0xfa7, 0xd0a, 0xdc9, 0x0fe,
+ 0x000, 0x249, 0x000, 0x8cd, 0x922, 0x7cd, 0x021, 0xa89,
+ 0x3d5, 0xcee, 0x0a1, 0x6d6, 0x000,    -1, 0x48b, 0x000,
+ 0x87a, 0x8bb, 0x9ed, 0x01f, 0xe20, 0xb7f,    -1, 0xe95,
+ 0x593, 0x1da, 0x57a,    -1, 0xf3a, 0x000, 0x000,    -1,
+    -1, 0x160, 0x501, 0x7a3, 0xb59,    -1,    -1, 0xc7f,
+    -1, 0xf79,    -1,    -1, 0x48d, 0x781,    -1,    -1,
+ 0xb74,    -1, 0x3c4, 0xbe9,    -1,    -1, 0x9a4, 0x9ae,
+ 0xa75,    -1,    -1, 0x9cd, 0x000,    -1,    -1,    -1,
+ 0xc3c, 0x2d4,    -1, 0x173, 0xf38, 0x000,    -1, 0xee9,
+    -1, 0xb91, 0xcc1, 0x86d, 0x8ab, 0xeb0, 0xec7, 0x687,
+ 0xd98, 0xa95, 0x744, 0xe7c, 0x826, 0x80e, 0x599, 0x3d9,
+ 0xf2f,    -1, 0x96a, 0xfd1, 0x174,    -1, 0x000, 0x1aa,
+ 0x50e,    -1, 0x5a2, 0xbcd, 0x000,    -1, 0x019, 0x588,
+ 0x18d, 0x470, 0x812, 0xeec, 0xf63, 0x05c,    -1, 0x000,
+ 0xb7f, 0x357, 0x436, 0xbb4, 0x1fb, 0x425, 0x1ed, 0xe13,
+ 0x66c, 0x555, 0xb11, 0x7b5, 0x48d, 0x38d, 0xf72, 0x000,
+ 0x000, 0xa66, 0x4fa, 0xf36, 0x1eb, 0x000, 0x95f, 0x000,
+ 0xd9a, 0x82f, 0x07f, 0x253, 0x70f, 0x915,    -1, 0x12d,
+ 0x040, 0x2ca, 0x446, 0x90a, 0x7a8, 0x687, 0x000, 0x04e,
+ 0x74f, 0x1ca, 0x793, 0x3c7, 0x3f0, 0x4c7, 0x000, 0xc30,
+ 0x533, 0x889, 0x9ef, 0xebd, 0x984, 0x18f, 0xfe1, 0x8ea,
+ 0x185, 0x410, 0x107, 0x000, 0x73e, 0xd4b, 0x8fc, 0xd34,
+ 0x1e6, 0x4bf, 0xbac, 0x7c3, 0x000, 0x7c8, 0xb2f, 0x02c,
+ 0xa46, 0x000, 0x0f9, 0x680, 0x94d, 0x6ad, 0x767, 0xfeb,
+ 0x6c7, 0x2d5, 0x43f, 0x9af, 0x261, 0xe83, 0xfa7, 0xb7b,
+ 0xf2d, 0x2f5, 0x4d7, 0x494, 0xbc2, 0x45b, 0x000, 0x17d,
+ 0x5c6, 0xe2b, 0xb20, 0x19e, 0x6ba, 0x973, 0xedd, 0xea8,
+ 0x000, 0x9f3, 0xd9a, 0x7fa, 0xb78, 0x556, 0xbb6, 0xc58,
+ 0x210, 0x000, 0xf9a, 0x56d, 0x48b, 0xf12, 0x000, 0x54d,
+ 0x5f4, 0x1ad, 0x86e, 0xe16, 0x6ff, 0xa35, 0x47e, 0x4c7,
+ 0x93c,    -1,    -1, 0xc98, 0xd3f, 0x000, 0x788, 0x6ef,
+ 0x959, 0xec2, 0x45e, 0xa4d, 0xa90, 0x000, 0x768, 0x8bb,
+ 0x6ee, 0x7f5, 0x770, 0xfa8, 0xba4, 0xf49, 0x7b8, 0x616,
+ 0x2bd, 0x23f, 0xe8c, 0x9fa, 0xa49, 0x213, 0x98a, 0x2c1,
+ 0x595, 0x885, 0x6de, 0x057, 0x1bc, 0x000, 0xc58, 0x7a8,
+ 0x5c1, 0x3d0, 0xa78, 0xb80, 0x000, 0xc06,    -1, 0x428,
+ 0xe92, 0xfa3, 0x341,    -1, 0x000, 0x000, 0x1ca, 0x27c,
+ 0xdeb, 0x835, 0x4c8, 0xdb3, 0x000, 0xf9d, 0x000, 0xe81,
+ 0xc22, 0xfce,    -1, 0xe6e, 0x96e, 0x161,    -1, 0x3b9,
+ 0x945, 0xa95, 0x13d, 0x748, 0x184, 0x588, 0x636, 0xf7e,
+ 0xb44, 0x2b7, 0x217, 0xee5, 0x65a, 0xc47,    -1, 0xca3,
+ 0x83e, 0x431, 0xc64, 0x636, 0x06e, 0x404, 0x993,    -1,
+ 0xeb3, 0x134, 0x8a3, 0xca9,    -1,    -1, 0x2ab, 0x000,
+ 0x8ed, 0x877, 0x1a8, 0xc89, 0x000, 0x000, 0xf94, 0x000,
+ 0x709, 0x249, 0x9ac, 0x22a, 0x605, 0x000, 0x000, 0x6b4,
+ 0x00c, 0xc53, 0xf23, 0x005, 0x29f, 0x865, 0xf79, 0x000,
+ 0x5fa, 0x764, 0xe51, 0xbdc, 0xb64, 0x0f3, 0xf29, 0x2f7,
+ 0x5da, 0x000, 0x16f, 0xb8b, 0x255, 0x9cc, 0xe43, 0x279,
+ 0x2c2, 0x483,    -1, 0xf7d, 0x7bb, 0x000, 0x9e3, 0xd84,
+ 0xe36, 0x6e6, 0x000,    -1, 0x33f, 0x41d, 0x5b5, 0x83e,
+ 0x2f4, 0xf5b, 0x9fc, 0xb1e,    -1, 0x8f4, 0xb26, 0x856,
+ 0x3b6, 0x126, 0x4c2, 0x274, 0x0c1, 0xfa9, 0x57d, 0x000,
+ 0x100, 0x7af, 0xc62, 0x000, 0xa55, 0x416, 0x93f, 0x78c,
+ 0xfba, 0x5a2, 0x0c2, 0x4d4, 0xa3e, 0xcc3, 0xe73, 0xd02,
+ 0x8df, 0x3e9, 0xe9a, 0x0f6, 0x32c, 0x23d, 0xdab, 0xf50,
+ 0xfc2, 0x000, 0x065, 0xc23, 0xd3d, 0xc84, 0x35e, 0x000,
+ 0xa24, 0x634, 0x4b4, 0xa52, 0x098, 0xb39, 0x9a4, 0xe71,
+ 0x8aa, 0x741, 0x000, 0xb16, 0x5c2, 0xea1, 0xc01, 0x5c1,
+ 0x30d, 0xca4, 0x201, 0xc9c, 0x717, 0x000, 0xba0, 0x537,
+ 0x619, 0x000, 0xfd9, 0x6dc, 0xdaa, 0x1da, 0xe51, 0xd39,
+ 0xb4c, 0x8a1, 0x098, 0x2f8, 0x191, 0x9dc, 0xdb0, 0x5e1,
+ 0x000, 0xe97, 0xef1, 0x8d3, 0xb0d, 0xfce, 0x336, 0xee1,
+ 0x7a2, 0xbc8, 0x494, 0x580, 0xba7, 0x000, 0x62a, 0x96a,
+ 0x527, 0x859, 0x811, 0xef0, 0x429, 0xef4, 0xf3d, 0x000,
+ 0x9d6, 0xb71, 0x000, 0x14b, 0xf3d, 0xb16, 0x204, 0x0c1,
+ 0xcd4, 0x339, 0x39d, 0xfe3, 0x837, 0x8c7, 0x955, 0x69a,
+ 0x5f6, 0x4c6,    -1, 0x3d5, 0x000, 0x0e7, 0x4b1,    -1,
+ 0xa3e, 0xb03, 0x1ea, 0xac8,    -1, 0x000, 0xed8,    -1,
+ 0x4e0, 0x9f7, 0xc91, 0x6b3,    -1,    -1, 0xa53, 0x290,
+ 0xa64, 0x0e3, 0x3dc, 0xed3, 0xf2f, 0x000, 0xd7c, 0xf44,
+    -1, 0x205, 0x900, 0x864,    -1,    -1, 0xed3, 0x7d2,
+ 0x000,    -1, 0xdd2, 0x79b, 0x000,    -1, 0xae6, 0x5cf,
+ 0xde8, 0x000, 0x1f2,    -1, 0x2f3, 0x000,    -1, 0x2ce,
+ 0xcf2, 0x8f4, 0xee8, 0x165, 0x309, 0x15f,    -1, 0x714,
+ 0xbfc, 0x532, 0xad0, 0x151, 0x2d5, 0x0a4, 0x391,    -1,
+ 0x0dc, 0x0c1, 0x451,    -1,    -1, 0x6a0, 0x250,    -1,
+ 0xab8, 0x977, 0xa86, 0x407, 0x72f,    -1, 0x05f, 0x000,
+ 0xefe, 0x950, 0x4f4, 0x957,    -1, 0xd68, 0x26c, 0xa30,
+ 0x4f1, 0x279, 0x584, 0xb34,    -1, 0x4d7, 0x258, 0x000,
+ 0x518, 0x685, 0x91c, 0x3ac, 0x0fa,    -1, 0x979, 0x40c,
+ 0x506, 0x000,    -1, 0x7bd, 0xb97, 0x87f, 0xc06, 0x050,
+ 0x7bf, 0xe3e, 0xc81, 0x000, 0x65e, 0x000,    -1, 0xb76,
+ 0xc37, 0x4c4, 0xfc9, 0x336, 0x9fa, 0xaa2, 0x32c, 0xb8b,
+ 0xaa9, 0xc95, 0x85a, 0xa9a, 0x260, 0x4cd, 0x8fe, 0xd3c,
+ 0x982, 0x0d7, 0xbc1, 0xdcf, 0xe62, 0xe0d, 0xf8f, 0xd7b,
+ 0x91a, 0x3e0, 0x33a, 0x1c5, 0xf00, 0xde5, 0xad1, 0xebc,
+ 0xebc, 0x942, 0xd86, 0x3bf, 0x8ce, 0xb8c, 0x000, 0x8d6,
+ 0x784, 0xb74,    -1, 0x818, 0x000, 0xfff, 0x07e, 0x029,
+ 0xf48, 0xb65, 0xd81, 0x220, 0x095, 0x21f, 0xac4, 0xb31,
+    -1, 0x864, 0x000, 0x3bd, 0xf85, 0x237, 0x369, 0x2d9,
+ 0xfdf, 0x25a, 0x782, 0x7b8, 0xabd, 0x5e3, 0x438, 0x230,
+ 0xbc4, 0x7ad, 0x00a, 0x441, 0x6dc, 0x2c4, 0xf16, 0x0b3,
+ 0x04c, 0xfd2, 0x8aa, 0xad8, 0x3e4, 0x142, 0x585, 0xc8f,
+ 0x9bf, 0x29b, 0xac9, 0x743, 0xfb5, 0x7fc, 0x05e, 0xd38,
+ 0x002,    -1, 0xb4e, 0xd0c, 0x84c, 0xf93, 0x91f, 0xcd2,
+ 0x04f, 0x569, 0xd1b, 0xfc6, 0x630, 0x6f6, 0x1d8, 0x91a,
+ 0x4da, 0x9f5, 0x07a, 0xcf5, 0x634, 0x42f, 0xfff, 0x951,
+ 0x0f9, 0xc01, 0x491, 0xbd6, 0x730, 0xfea, 0x9f4, 0xbfc,
+ 0xf1a, 0x413, 0xa2a, 0xdc6, 0xc87, 0x9db, 0xc2c, 0x30f,
+ 0xdb5, 0x785, 0xbaa, 0x000, 0x000, 0xa49, 0x000, 0x61d,
+ 0xf6f,    -1, 0x031,    -1, 0x441, 0x7bf, 0x53e,    -1,
+ 0x6fd, 0x0f6,    -1, 0xadb,    -1, 0x000, 0x432, 0x187,
+ 0xd37, 0x154, 0x539, 0xc08, 0xe51, 0x219, 0x1e9, 0x897,
+ 0xa0e, 0x201, 0x447, 0x89f, 0x000, 0x463, 0x726, 0xa05,
+ 0xab9, 0xd01, 0x1e4, 0xfea, 0x895, 0x816, 0x313, 0xae3,
+ 0x3a4,    -1, 0x70f,    -1, 0xa42, 0x5e9, 0x78e,    -1,
+ 0x317, 0x6c8, 0x000, 0xbf7, 0xefd,    -1, 0xb17, 0x382,
+ 0xd26, 0x5ff, 0xf81, 0x20b, 0x373, 0x774, 0x081, 0xaae,
+ 0xfdb, 0xe5d,    -1,    -1, 0xcb7, 0x738, 0x919, 0x933,
+ 0x398, 0x000, 0x14e,    -1, 0xe14, 0xbf8, 0x11c, 0x94b,
+ 0x031,    -1, 0x000, 0x2d4, 0xd41, 0xdc6, 0x9f6, 0xea7,
+ 0x9e8, 0x2ec, 0x10a, 0x50d, 0xeae, 0xdb0, 0xef0, 0x9c8,
+ 0x000,    -1, 0x82e, 0x9d3, 0xdb7, 0x46d,    -1, 0x230,
+ 0x73b, 0x45b,    -1,    -1, 0x000, 0x4a7,    -1,    -1,
+ 0x47c, 0x10e, 0x4b4,    -1,    -1,    -1, 0x1d7, 0xa5d,
+ 0x233, 0x6b2, 0x6bd, 0x387, 0x7ca, 0xb1a, 0xf75, 0xea4,
+ 0xdc9, 0x98b, 0x80c, 0x702, 0xe22, 0xa6e, 0x6f8, 0x05b,
+ 0x17c,    -1, 0x000, 0xebe, 0xc8e, 0xaec,    -1, 0x42b,
+ 0xdce,    -1,    -1,    -1, 0xef3, 0xc52, 0x31b,    -1,
+ 0xdff, 0xbd0, 0x000, 0xa72, 0x525, 0x9cf, 0x2ff, 0xfc8,
+ 0x37c, 0xbce, 0xd8c, 0xd88, 0x3a6, 0xed8, 0x4ab, 0x000,
+ 0x449, 0x9d7,    -1,    -1, 0x9be, 0x59f, 0x000, 0x882,
+    -1, 0x742, 0x000,    -1,    -1,    -1, 0xe8b, 0x0f3,
+ 0x771,    -1, 0x3ea, 0x8f9, 0xcbb, 0x548, 0x46d, 0x000,
+    -1, 0xf74, 0xa23, 0x15b,    -1, 0xaeb, 0x7f8, 0xbe2,
+ 0x000,    -1, 0x023, 0x61e, 0x95d, 0x7ac, 0x024, 0x141,
+ 0x561, 0x9fe, 0xb10,    -1, 0x623, 0xc47, 0x413, 0x0e7,
+ 0x663, 0xcdf, 0xebe, 0x5c9, 0x573, 0x21d, 0xb28, 0x280,
+ 0xb9f, 0xd1a, 0xecf, 0xff0, 0x000, 0xfc0, 0x085, 0x9c4,
+ 0x48c, 0x000, 0xb0b, 0x43d,    -1, 0x73b, 0x802, 0x633,
+ 0x6ef,    -1,    -1, 0x5c1, 0xea6, 0x0a9, 0xab4, 0xacd,
+ 0xb81, 0xa32,    -1,    -1, 0xa26, 0x9d5, 0xf7c,    -1,
+ 0xf69, 0xdbb, 0x6d5, 0x405,    -1, 0xd0a, 0xfe0, 0xf5e,
+ 0xbd7,    -1, 0x89a, 0x868, 0xeb2, 0x792, 0x7fe, 0x115,
+ 0x000, 0x8bb, 0xdd1, 0xc40, 0x453, 0xbb3, 0x7cc, 0x3e6,
+ 0x071, 0x0f1, 0xbae, 0xf67, 0x896, 0x38e, 0x86e, 0xfaa,
+ 0xccc,    -1, 0x411, 0x8e5, 0x699, 0x2ef, 0x785, 0x9d4,
+ 0xe30, 0xb2e, 0x976, 0x203, 0x035, 0x75d, 0x8f1, 0x144,
+ 0x092, 0x1a5,    -1, 0x55f, 0x000, 0xa43, 0x5be, 0x68d,
+ 0x852, 0xb87, 0x9af, 0x0c0,    -1, 0xa50, 0x9ca, 0x15f,
+ 0xf06, 0x869, 0x0f3,    -1, 0x000,    -1, 0x9a9,    -1,
+    -1,    -1,    -1, 0xf05, 0x000,    -1, 0x000, 0x4a9,
+ 0xf9d,    -1, 0x000, 0xab1, 0x04c,    -1, 0xd17, 0x893,
+ 0x763, 0x332,    -1, 0xc41, 0x5bd, 0xa72, 0x67c, 0xb78,
+ 0x973, 0x6c7, 0x569,    -1, 0x96a, 0xc68, 0x48c,    -1,
+ 0x6fa,    -1, 0xa2a, 0x44f,    -1, 0x73f, 0x28f, 0x536,
+ 0xd91, 0xc86, 0xef8, 0x1f5, 0xfb4, 0x060, 0x230, 0xe10,
+    -1, 0x000, 0x305, 0x0e6, 0xb19, 0x1e2, 0x7fc, 0xf35,
+    -1, 0x7d9, 0x000, 0x000, 0xd2f, 0xb3a, 0x0a2, 0x7c9,
+ 0xda6, 0x37c, 0xe43,    -1, 0x7da, 0x0d6, 0x000,    -1,
+ 0xd40,    -1, 0x156, 0xee9,    -1, 0x239, 0x10f, 0x60c,
+ 0x9d4, 0x663, 0x565, 0x603, 0x38b,    -1, 0x606, 0x13c,
+ 0x681, 0x436, 0xc29, 0x9c7, 0x1d9, 0x000, 0x0a6, 0x996,
+ 0x231, 0x055, 0x01f, 0x0a3, 0xd96, 0x7c8, 0x0f3, 0xaa7,
+ 0xd99,    -1, 0x3be, 0x476, 0x25f, 0x38c, 0xdf3, 0x6d5,
+ 0xcb5, 0xadd, 0x000, 0x136, 0x64d, 0xc0d, 0xe61, 0xd0b,
+    -1, 0x000, 0x535, 0x9c3, 0x279, 0x00c, 0xa87, 0xa31,
+ 0xc4a, 0x167, 0x423, 0xec8,    -1, 0x926, 0xa4d, 0x5ba,
+    -1,    -1, 0x9bf, 0x000, 0x47f, 0x8f3, 0xd5b, 0xc3b,
+ 0xa18,    -1, 0x548, 0x8f7, 0x8cf, 0x000, 0x9bd, 0xaa2,
+ 0x7ec, 0x000, 0xfb8, 0xafd, 0xe68,    -1, 0xfa7, 0x31c,
+ 0xef3, 0x288, 0xdf0, 0x1bc, 0xfe9, 0x1ea, 0xa9f, 0x000,
+ 0x53f, 0x000, 0xda6, 0x09c, 0x1bf, 0x09c, 0x31c, 0x0c8,
+ 0x31c,    -1, 0x689, 0x211,    -1, 0x77f, 0x723, 0xb8f,
+ 0x683, 0x351,    -1, 0xb33, 0xce0,    -1, 0x61c, 0x073,
+ 0x783, 0x6b2, 0x6a8, 0x729, 0x81b, 0xabf, 0xd15, 0x563,
+ 0x433,    -1, 0x823, 0xf99, 0x2c5,    -1, 0x367, 0xcc4,
+ 0x934, 0x6f2, 0xdf0, 0xa1f, 0x579, 0x012,    -1, 0x508,
+ 0x070,    -1, 0x018, 0x270, 0xa6f,    -1, 0x7a7,    -1,
+ 0x826, 0x4b5,    -1, 0x7d8, 0xb20,    -1, 0xc28, 0x463,
+    -1, 0xdf9, 0x22c, 0xe17, 0x4f2, 0xe13, 0x4ff, 0x40a,
+ 0xdcb, 0x9ed, 0x34a, 0xeb8, 0xa0e, 0x5f2, 0x594, 0x60d,
+ 0x4b6, 0xd3c, 0x675, 0x1c4, 0xbb5, 0xc73, 0xfad, 0xead,
+    -1, 0xfb6,    -1, 0x146, 0xd40, 0x02f, 0x000, 0x302,
+    -1,    -1, 0x6e5, 0x000, 0xed7, 0xd8c, 0x7a3, 0x0fc,
+ 0x259, 0x34b, 0xa1b, 0x882,    -1, 0x211, 0x000, 0xd30,
+ 0xe02, 0x5cd, 0x53e, 0x11b, 0xa16,    -1, 0x24e,    -1,
+ 0xace, 0xe9a,    -1, 0x5c6, 0x9be, 0x000, 0x169, 0x982,
+    -1, 0x3fd, 0x457, 0x06f, 0x7e7, 0xed1, 0x5ee, 0xcef,
+ 0x62b, 0x26c, 0xc9f, 0xe68, 0x59f, 0x0b5, 0x000, 0x0bc,
+ 0x086, 0x890, 0x005, 0xc42, 0x939, 0xaca, 0xdd9,    -1,
+    -1, 0x6e5, 0x0dd, 0x434, 0x297, 0xe21, 0x0f5,    -1,
+ 0xa6c, 0x4ad, 0x978, 0x433, 0xa41, 0xd6f, 0x8bf, 0xfb8,
+    -1, 0x928, 0x85e, 0xfb6, 0x5c7, 0x99a, 0x8ec, 0xebc,
+ 0x226, 0x7d4, 0xdcd, 0xc0b, 0x000, 0x7f4, 0xc6f, 0x000,
+ 0x3ad, 0x5b2,    -1, 0x67b,    -1, 0x568, 0x6e2,    -1,
+    -1,    -1, 0x3f3, 0xaf5, 0x33f,    -1, 0x022, 0x1bd,
+ 0xae5,    -1, 0x9c3, 0x000, 0x92b, 0xee5, 0x29c, 0x000,
+ 0x15e, 0xe71, 0xacb, 0x9d2, 0x1a3, 0xb7f, 0xa5b, 0x095,
+    -1, 0xb6e, 0x79f, 0x3d1, 0x7d0, 0x131, 0xcd7,    -1,
+ 0x2c3,    -1, 0x396, 0x4d2, 0x297, 0x405, 0x634,    -1,
+    -1,    -1, 0x928, 0xbca, 0xb6c, 0x011, 0xfc0, 0xbaf,
+ 0xbd2,    -1, 0x585, 0x000, 0xb8a, 0x7f9, 0xd6b, 0x4eb,
+ 0x9a3, 0x000,    -1, 0xaeb, 0xa47, 0xcef, 0x9c6,    -1,
+ 0x000,    -1, 0x2a9, 0x371, 0xca6,    -1, 0xb7d, 0x15f,
+ 0x2a9,    -1, 0xe80, 0x7a7, 0x23a, 0x000, 0x000, 0xcc9,
+ 0x60e,    -1, 0x130, 0x9cd, 0x498, 0xe25, 0x366, 0x34b,
+ 0x899, 0xe49, 0x1a8, 0xc93, 0x94d, 0x05e,    -1, 0x0c2,
+ 0x757, 0xb9d, 0xaa3, 0x086, 0x395, 0x3c3, 0xa2e, 0xf77,
+ 0xcb1, 0x45e, 0x169, 0xbba, 0x367, 0x8cb, 0x260, 0x5a0,
+ 0x8cb, 0x737, 0xa1f, 0xaaf, 0xf92, 0x430, 0x97d, 0x542,
+ 0xb09,    -1, 0x774, 0x084, 0x4c0, 0x2b3, 0xaf6, 0x93c,
+ 0x32d, 0xee2,    -1, 0x605, 0xece, 0x8eb, 0xc62, 0x01d,
+ 0x000, 0xaba, 0xfc5, 0xb8e, 0xc07, 0xfb6, 0xbca, 0x8f0,
+ 0xd33,    -1, 0x283, 0x6d6, 0x6ad, 0x678, 0x51a, 0xc95,
+ 0xda4, 0x962, 0x9ed, 0x307, 0x94a, 0x052, 0xf4e, 0x3bd,
+ 0x210, 0x71a, 0x3c7, 0x5a4, 0x6e7, 0x23a, 0x523, 0x1dc,
+ 0x6b2, 0x5e0, 0xbb0, 0xae4, 0xdb1, 0xd40, 0xc0d, 0x59e,
+ 0x21b, 0x4e6, 0x8be, 0x3b1, 0xc71, 0x5e4, 0x4aa, 0xaf3,
+ 0xa27, 0x43c, 0x9ea, 0x2ee, 0x6b2, 0xd51, 0x59d, 0xd3a,
+ 0xd43, 0x59d, 0x405, 0x2d4, 0x05b, 0x1b9, 0x68b, 0xbfa,
+ 0xbb9, 0x77a, 0xf91, 0xfcb,    -1, 0x949, 0x177, 0x68d,
+ 0xcc3, 0xcf2, 0x000, 0xa87, 0x2e6, 0xd2f, 0x111, 0x168,
+ 0x94c, 0x54c, 0x000, 0x0c5, 0x829, 0xcbc, 0xc0b, 0x1ed,
+ 0x836, 0x9d8, 0xbdc, 0xc5e, 0x4e5, 0xb94, 0x6f2, 0x74f,
+ 0x878, 0x3b2, 0x48d, 0xc72, 0xcff, 0xccb, 0x8f9, 0x7ee,
+ 0x869, 0x228, 0x035, 0x81e, 0xcf9, 0x309, 0xdf2,    -1,
+ 0x047, 0xdd3, 0xcab, 0x11d, 0xe76, 0xb52, 0xbbd, 0x12d,
+ 0xf37, 0x552, 0x61d, 0xdd8, 0x2cd, 0x298, 0x9e2, 0xf2c,
+ 0x9f7, 0xf41, 0xcb4, 0x277, 0xfde, 0xe7e, 0x82a, 0x86b,
+ 0x9cc, 0x580, 0xfcc, 0x33a, 0x438, 0xd6e, 0x000, 0xc04,
+ 0xd50, 0x681, 0x1b3, 0x322, 0x86c, 0x4a6, 0x000, 0xa17,
+ 0xd53, 0xdc0, 0xb61, 0x323, 0x3d1, 0x3fb, 0x929, 0xa6e,
+ 0x919, 0xae0, 0x283, 0xe6a, 0xed3, 0x371, 0xd51, 0x309,
+ 0x510, 0xd50, 0x6f4, 0xc84, 0x566, 0xba7, 0x75b, 0xbeb,
+ 0x793, 0x58f, 0x974, 0xe77, 0x52c, 0xcef, 0x942, 0xa7c,
+ 0x56a, 0xaa0, 0x784, 0x0ec, 0xad3, 0xccf, 0xecf, 0xc3f,
+ 0x846, 0x1b2, 0x112, 0x4ee, 0x18b, 0xa76, 0xe14,    -1,
+ 0xfb1, 0xb4c,    -1, 0xd54, 0x0e0, 0x72d, 0xdf0, 0xf0c,
+ 0x881, 0xc60, 0xe1b, 0x000, 0x453, 0xe21, 0xb2a, 0x6df,
+ 0x84f, 0x000, 0x12a, 0x991, 0x587, 0xa4e, 0x522, 0x000,
+ 0xe17, 0xc64, 0x994, 0x4cc, 0x0e5, 0xc2b, 0x8cf, 0x458,
+ 0x992, 0xec0, 0xc80, 0xefb, 0x7b7, 0x863, 0xc0a, 0x250,
+ 0x338, 0xa44, 0x8ab, 0x873, 0x134, 0x23c, 0x4f6, 0x066,
+ 0xd0f, 0xdd6, 0x93d, 0xf20, 0x000, 0x9bb, 0x255, 0xe7b,
+ 0x916, 0x4f3, 0x68e, 0xb82, 0x2b4, 0x9d7, 0xfd1, 0x0fb,
+ 0x11e, 0x204, 0x241, 0x67f, 0x1c4, 0xe91, 0xf41, 0xb4a,
+    -1, 0x6d2, 0xce6, 0xdfb,    -1, 0xdd0, 0xb8d, 0x8db,
+ 0x86c, 0x224, 0xdeb, 0x7bb, 0x50e, 0x000, 0xb79, 0x11e,
+ 0x486, 0xd4c, 0x000, 0xa54, 0x946, 0x83a, 0x537, 0x875,
+ 0x000, 0x8e4, 0x95a, 0xdd5, 0x9d5, 0x910, 0x95b, 0x8c8,
+ 0xd22, 0x07c, 0xac0, 0x000, 0x048, 0x170, 0x9b2, 0xcea,
+ 0xb0f, 0x958, 0x0f9, 0xa9e, 0x87a, 0x166, 0x69c, 0x112,
+ 0xde0, 0x487, 0xeca, 0x639, 0x4ee, 0x7fa, 0x2cc, 0x709,
+ 0x87a, 0x5bb, 0xf64, 0x173, 0xdc6, 0xaaf, 0xbff, 0xf2a,
+ 0x8fb, 0xd44, 0x0ca, 0xf34, 0xb3a, 0xeb3, 0xfc5, 0x61d,
+ 0x92f, 0x6fb, 0x1a1, 0xd85, 0x8fe, 0xb6a, 0x0a1, 0x44f,
+ 0x89a, 0xc5d, 0x13b, 0x5cc, 0x000, 0x9ac, 0x9e6, 0xf95,
+ 0x511, 0xf2e, 0xf3c, 0x707, 0xec5, 0xaec, 0xc72, 0xeb1,
+ 0x105, 0xda3, 0xbcb, 0x1d6, 0xf16, 0xd50, 0x306, 0x03f,
+ 0xe6a, 0x25c, 0x9fe, 0xd3f, 0x8a4, 0x7bc, 0x0bc, 0x532,
+ 0x62e, 0x111, 0x797, 0xc2c, 0x9d0, 0x338, 0xbc7, 0xd64,
+ 0xb09, 0x4d6, 0xcba, 0x62c, 0xef2, 0x32b, 0x9c5, 0xc06,
+ 0x38b, 0xbb2, 0x8b7, 0x6f2, 0x7ec, 0xa77,    -1, 0x7a3,
+ 0xc95, 0xa91, 0x5d3, 0xffc,    -1, 0xe27, 0xa0a, 0x071,
+ 0x9da, 0x000, 0xba3, 0x3fd, 0x120, 0x845, 0x151, 0xb5f,
+ 0x193, 0xe99, 0x0f6, 0x640, 0xef4, 0xe17, 0x46b, 0x432,
+ 0x8a4, 0x415, 0x252, 0x79c, 0xbe5, 0x3f0, 0xb64, 0x984,
+ 0x5a7, 0x1be, 0xedc,    -1, 0xd7e, 0x5b4,    -1, 0xd27,
+ 0x03e, 0x136, 0xb30, 0xfff, 0x1dc, 0xc32, 0x84a, 0x392,
+ 0xf4f, 0x911, 0x501, 0x836, 0x700, 0x9ac, 0x000, 0xdb5,
+ 0xfa3, 0x5d3, 0x1f8, 0x888,    -1, 0xfa4, 0xfe7, 0xd87,
+ 0x9fe, 0x6af, 0x9a5, 0xfd5, 0xf49, 0xded, 0x416, 0x2fc,
+ 0x078, 0xd2e, 0xbf1, 0xcd9, 0x733,    -1, 0xb50, 0xd57,
+ 0xaa1,    -1, 0x9b0, 0x874, 0x18f,    -1,    -1, 0x2f9,
+ 0xfbb, 0xf73, 0x646, 0x868, 0x000, 0x000, 0xba2, 0xd74,
+ 0xc8f, 0xe36, 0xcfd, 0x5b8, 0x850, 0x48a, 0x689, 0x7ad,
+ 0xefd, 0x7e1, 0xf45, 0xd9e, 0x0f0, 0x7c0, 0x675,    -1,
+ 0xf26, 0x3c0, 0xe2d, 0xb62, 0x276,    -1, 0xf90, 0x837,
+ 0xc7c, 0x8ed, 0x08d, 0x1d6, 0x506, 0xac9, 0xd81, 0x1be,
+ 0xf7e, 0x1a3, 0xb2a, 0x5e2, 0x217, 0x1df, 0x5a3, 0x498,
+ 0xfb1, 0x432, 0x2ca, 0x5a1, 0x5d5, 0x135, 0x6f0,    -1,
+ 0xf70, 0x000, 0xd4c, 0x634,    -1, 0x8ca, 0x198,    -1,
+ 0x7b9, 0x629, 0xc16, 0x68c, 0xea2,    -1, 0xba0, 0x6d9,
+ 0xce9, 0x7b2, 0x000, 0xf59, 0x252, 0x575, 0x0a8, 0x894,
+ 0x000, 0x824, 0xf63, 0xd70, 0xdd8, 0x856, 0xc77, 0x334,
+ 0xeb2, 0x2b8, 0x307, 0xc34, 0x2e7, 0xa74, 0x6b9, 0x0e1,
+ 0x20f, 0x3ee, 0xf80, 0xa1f, 0x6e6, 0xa03, 0x3c7, 0x72f,
+ 0xfff, 0x156, 0x273, 0x1b7, 0xd90, 0x998, 0x474, 0xf1b,
+ 0x80f, 0xe4c, 0x0ba, 0xfff, 0x85e, 0x3af, 0x58f, 0x000,
+ 0xf6b, 0x71c, 0x4ed, 0xec3, 0x4cb, 0x000, 0xa68, 0x6ca,
+ 0x086, 0x000, 0x6e4, 0xab3, 0xff5, 0x281, 0xf0a, 0xc92,
+ 0x8d5, 0x486, 0xdd1, 0x903, 0x8e3, 0x9df, 0x2ab, 0xd08,
+ 0x144, 0xdcd, 0x281, 0x046, 0x161, 0xe83, 0xf24, 0xce7,
+ 0x30a, 0xf89, 0xf01, 0x308, 0x142, 0x9df, 0x44d, 0x9dd,
+ 0x3ed, 0x81b, 0xd9d, 0x000, 0x8c2, 0xe01, 0xfe6, 0xa20,
+ 0x167, 0xedd, 0xdb1, 0x470, 0xe70, 0x3aa, 0x0ff, 0x4d1,
+ 0xd30, 0x67a, 0xc56, 0x3d8, 0xf2e, 0x86a, 0x18b, 0x3f5,
+ 0x1a7, 0xd97, 0x652, 0x000, 0x00d, 0xbc7, 0xed3, 0x39e,
+ 0xb0d, 0xd8d, 0xc49, 0x2db, 0x44e, 0x820, 0x189, 0xd51,
+ 0x523, 0x161, 0x2eb, 0x41c, 0x951,    -1, 0xbb7,    -1,
+    -1, 0x0a7, 0x3ed, 0xfaa, 0x18e, 0xa34, 0x820, 0x2b4,
+    -1, 0x8c2, 0x3ee, 0x59d, 0x97b, 0x209, 0x3a2, 0x102,
+ 0x351, 0x6bf, 0xd3f, 0x4fc, 0x55f, 0x4b5, 0xe22, 0xf13,
+ 0x53a, 0x08a, 0x38d, 0xf4b, 0x424, 0xea6, 0x48e, 0x11c,
+ 0x339, 0x5bd, 0xf7c, 0x3bd, 0x15a, 0x35c, 0x854, 0x71b,
+ 0x30f, 0x065, 0x97e, 0x354, 0x28e, 0x344, 0x926, 0xc0b,
+ 0xae0, 0x5db, 0xb3e, 0x661, 0x432, 0x3c8, 0xf5e, 0x368,
+ 0xc85, 0xfff, 0x7f5, 0x0b6, 0x98b,    -1, 0x28c, 0x784,
+ 0xb78, 0x50a, 0x696, 0x47c, 0x40d,    -1, 0xe4d, 0x5fc,
+    -1,    -1, 0xadb, 0x1db, 0x830, 0xd48,    -1, 0xf3a,
+ 0xee4, 0xed4, 0xb1a, 0xa14, 0x36d, 0xf1c, 0x774, 0x000,
+ 0x942, 0x278, 0x7ee, 0x000, 0x550, 0x57c, 0x343, 0x22b,
+ 0x324, 0xa34, 0x0ea, 0x230, 0x51b, 0x2d1, 0x500, 0x59f,
+ 0xd56, 0x540, 0x2f4, 0x87d, 0x9e5, 0x9c5, 0x5ea, 0x771,
+ 0x491, 0x206, 0xa4b, 0x4bf, 0xdaf, 0x308, 0xb25, 0x261,
+ 0x991, 0x000, 0x88e, 0x7e8, 0x3d6, 0x15d, 0xebc, 0x6c2,
+ 0xd45, 0x000, 0x3c6, 0x48d, 0x622, 0x758, 0xfa9, 0x3cf,
+ 0x401, 0xcdb, 0xe3f, 0x544, 0xf1f, 0x000,    -1, 0x4d4,
+ 0x000, 0x7f1, 0xba4, 0x81c, 0x92f, 0x7d1, 0xa83, 0xa31,
+ 0xe74, 0xa20, 0x475, 0x489, 0xf20, 0x3d1, 0xac1, 0xb2d,
+ 0x6b2, 0x1b6, 0x063, 0xd00, 0xfeb, 0x5ca, 0xb2c, 0xcb2,
+ 0x1cb, 0x251, 0x82b, 0x8ba, 0x40b, 0xf1e, 0xa8a, 0xd24,
+ 0x880, 0x84e, 0x8cb, 0x0a3, 0x000, 0xaf7, 0xf99, 0x6a1,
+ 0x156, 0x382, 0x0a0, 0x000, 0xed1, 0xd07, 0xbf5, 0x000,
+ 0x295, 0xe48, 0x760, 0x019, 0x97f, 0xb46, 0xff5, 0x7c9,
+ 0x1cf, 0xba4, 0x630, 0xe58, 0xda6, 0xd4b, 0xc02, 0xf9f,
+ 0x11c, 0x000, 0xb99, 0x51f, 0x43e, 0x199, 0xdfb, 0x72f,
+ 0x913, 0x509, 0xac5, 0xa2e, 0xcdb, 0x348, 0xb15, 0x472,
+ 0x95d, 0x67f, 0x000, 0x4b9, 0xd78, 0xc87, 0x0f6, 0x281,
+ 0x0bd, 0x924, 0x35e, 0x129, 0xffd, 0xe24, 0x000, 0x640,
+ 0x09b, 0xd10, 0xa0d, 0x000, 0x474, 0x189, 0x49f, 0x62d,
+ 0xcba, 0x561, 0x000, 0x58a, 0xaa1, 0x603, 0x5ab, 0x0c7,
+ 0x00a, 0x784, 0x5e4, 0x7e4, 0xe4d,    -1, 0x276, 0x465,
+ 0xee9, 0xe51, 0xdae, 0xbb1, 0x51f, 0xcba, 0x1c3, 0xd70,
+ 0x000, 0x5be, 0x4ea, 0x3cc, 0xf13, 0x811, 0x813, 0x234,
+ 0x7e4, 0xbae, 0xd97, 0xb74, 0x000, 0x76a, 0xda1, 0x000,
+ 0xd8c, 0x53a, 0xc5a, 0x000, 0x000, 0x61b, 0xd87, 0x141,
+ 0x383, 0xe06, 0x6a3, 0x6c3, 0xbcc, 0xc44, 0xf63, 0xd8b,
+ 0x58d, 0x000, 0x839, 0x77a, 0x000, 0x8e4, 0x000, 0xdbe,
+ 0x483, 0xd5b, 0xa9d, 0xca5, 0x431, 0x491, 0x29a, 0x27d,
+ 0x2d2, 0x691, 0x000, 0x19a, 0xa0d, 0xb0b, 0xf32, 0xe49,
+ 0xfbf, 0x399, 0xd20, 0x000, 0x66a, 0x000, 0x447, 0xb20,
+ 0x894, 0x038, 0xc9c, 0xff0, 0x000, 0x0d4, 0xad4, 0x768,
+ 0x65c, 0x000, 0x27b, 0x6c6, 0x9be, 0xd35, 0xc6a, 0xdd3,
+ 0x000, 0x2a7, 0x158, 0x38d, 0x8ef, 0x7b6, 0xd49, 0x30c,
+ 0xec3, 0x211, 0x17c, 0xcd0, 0x61f, 0x000, 0xe6e, 0x1d4,
+ 0x6e9, 0x000, 0xc2d, 0x5c3, 0xcd4, 0x760, 0x532, 0xc94,
+ 0x590, 0x000, 0x4a3, 0xc33, 0x000, 0x426, 0x604, 0xa06,
+ 0xa99, 0x917, 0x0c4, 0xc8d, 0x9e5, 0xcc7, 0x415, 0xf79,
+ 0x000, 0xaf4, 0x622, 0x756, 0x9c2, 0xa51, 0xb0f, 0x4ef,
+ 0xbc4, 0xe15, 0x29e, 0x055, 0x6c9, 0x695, 0x94f, 0x9d6,
+ 0x000, 0xb9f, 0xd46, 0x1d4, 0x000, 0xcb2, 0x9e8, 0x000,
+ 0xa5e, 0xce0, 0x000, 0x098, 0xa98, 0x6d9, 0x5e2, 0x95f,
+ 0x791, 0xeb8, 0x5fa, 0x60a, 0xacc, 0x3d3, 0x4df, 0x0df,
+ 0x9ca, 0x972, 0x3cc, 0x583, 0xca5, 0xe1a, 0x000, 0x2d3,
+ 0x266, 0x000, 0x06c, 0xfff, 0x62d, 0x64e, 0x40c, 0x599,
+ 0x475, 0xaa9, 0xba6, 0x96f, 0xe32, 0x059, 0x342, 0x36d,
+ 0xfd1, 0x09b, 0x878, 0x9f8, 0x000, 0x3ad, 0xdba, 0x000,
+ 0x544, 0xc1a, 0x000, 0xee8, 0x492, 0xa6b, 0x447, 0xd2a,
+ 0xb4e, 0x02c, 0xadb, 0xde2, 0x904, 0x62d, 0xf01, 0xbb8,
+ 0x255, 0x382, 0xfff, 0x29e, 0x000, 0x000, 0x011, 0xfff,
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "pdf417.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2008-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#define PDF417_STOP 0xbff
+
+static inline signed short pdf417_decode8 (zbar_decoder_t *dcode)
+{
+    /* build edge signature of character
+     * from similar edge measurements
+     */
+    unsigned s = dcode->pdf417.s8;
+    dbprintf(2, " s=%d ", s);
+    if(s < 8)
+        return(-1);
+
+    long sig = 0;
+    signed char e;
+    unsigned char i;
+    for(i = 0; i < 7; i++) {
+        if(get_color(dcode) == ZBAR_SPACE)
+            e = decode_e(get_width(dcode, i) +
+                         get_width(dcode, i + 1), s, 17);
+        else
+            e = decode_e(get_width(dcode, 7 - i) +
+                         get_width(dcode, 6 - i), s, 17);
+        dbprintf(4, "%x", e);
+        if(e < 0 || e > 8)
+            return(-1);
+        sig = (sig << 3) ^ e;
+    }
+    dbprintf(2, " sig=%06lx", sig);
+
+    /* determine cluster number */
+    int clst = ((sig & 7) - ((sig >> 3) & 7) +
+                ((sig >> 12) & 7) - ((sig >> 15) & 7));
+    if(clst < 0)
+        clst += 9;
+    dbprintf(2, " k=%d", clst);
+    zassert(clst >= 0 && clst < 9, -1, "dir=%x sig=%lx k=%x %s\n",
+            dcode->pdf417.direction, sig, clst,
+            _zbar_decoder_buf_dump(dcode->buf, dcode->pdf417.character));
+
+    if(clst != 0 && clst != 3 && clst != 6) {
+        if(get_color(dcode) && clst == 7 && sig == 0x080007)
+            return(PDF417_STOP);
+        return(-1);
+    }
+
+    signed short g[3];
+    sig &= 0x3ffff;
+    g[0] = pdf417_hash[(sig - (sig >> 10)) & PDF417_HASH_MASK];
+    g[1] = pdf417_hash[((sig >> 8) - sig) & PDF417_HASH_MASK];
+    g[2] = pdf417_hash[((sig >> 14) - (sig >> 1)) & PDF417_HASH_MASK];
+    zassert(g[0] >= 0 && g[1] >= 0 && g[2] >= 0, -1,
+            "dir=%x sig=%lx k=%x g0=%03x g1=%03x g2=%03x %s\n",
+            dcode->pdf417.direction, sig, clst, g[0], g[1], g[2],
+            _zbar_decoder_buf_dump(dcode->buf, dcode->pdf417.character));
+
+    unsigned short c = (g[0] + g[1] + g[2]) & PDF417_HASH_MASK;
+    dbprintf(2, " g0=%x g1=%x g2=%x c=%03d(%d)",
+             g[0], g[1], g[2], c & 0x3ff, c >> 10);
+    return(c);
+}
+
+static inline signed char pdf417_decode_start(zbar_decoder_t *dcode)
+{
+    unsigned s = dcode->pdf417.s8;
+    if(s < 8)
+        return(0);
+
+    int ei = decode_e(get_width(dcode, 0) + get_width(dcode, 1), s, 17);
+    int ex = (get_color(dcode) == ZBAR_SPACE) ? 2 : 6;
+    if(ei != ex)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 1) + get_width(dcode, 2), s, 17);
+    if(ei)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 2) + get_width(dcode, 3), s, 17);
+    ex = (get_color(dcode) == ZBAR_SPACE) ? 0 : 2;
+    if(ei != ex)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 3) + get_width(dcode, 4), s, 17);
+    ex = (get_color(dcode) == ZBAR_SPACE) ? 0 : 2;
+    if(ei != ex)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 4) + get_width(dcode, 5), s, 17);
+    if(ei)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 5) + get_width(dcode, 6), s, 17);
+    if(ei)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 6) + get_width(dcode, 7), s, 17);
+    ex = (get_color(dcode) == ZBAR_SPACE) ? 7 : 1;
+    if(ei != ex)
+        return(0);
+
+    ei = decode_e(get_width(dcode, 7) + get_width(dcode, 8), s, 17);
+    ex = (get_color(dcode) == ZBAR_SPACE) ? 8 : 1;
+
+    if(get_color(dcode) == ZBAR_BAR) {
+        /* stop character has extra bar */
+        if(ei != 1)
+            return(0);
+        ei = decode_e(get_width(dcode, 8) + get_width(dcode, 9), s, 17);
+    }
+
+    dbprintf(2, "      pdf417[%c]: s=%d",
+             (get_color(dcode)) ? '<' : '>', s);
+
+    /* check quiet zone */
+    if(ei >= 0 && ei < ex) {
+        dbprintf(2, " [invalid quiet]\n");
+        return(0);
+    }
+
+    /* lock shared resources */
+    if(acquire_lock(dcode, ZBAR_PDF417)) {
+        dbprintf(2, " [locked %d]\n", dcode->lock);
+        return(0);
+    }
+
+    pdf417_decoder_t *dcode417 = &dcode->pdf417;
+    dcode417->direction = get_color(dcode);
+    dcode417->element = 0;
+    dcode417->character = 0;
+
+    dbprintf(2, " [valid start]\n");
+    return(ZBAR_PARTIAL);
+}
+
+zbar_symbol_type_t _zbar_decode_pdf417 (zbar_decoder_t *dcode)
+{
+    pdf417_decoder_t *dcode417 = &dcode->pdf417;
+
+    /* update latest character width */
+    dcode417->s8 -= get_width(dcode, 8);
+    dcode417->s8 += get_width(dcode, 0);
+
+    if(dcode417->character < 0) {
+        pdf417_decode_start(dcode);
+        dbprintf(4, "\n");
+        return(0);
+    }
+
+    /* process every 8th element of active symbol */
+    if(++dcode417->element)
+        return(0);
+    dcode417->element = 0;
+
+    dbprintf(2, "      pdf417[%c%02d]:",
+             (dcode417->direction) ? '<' : '>', dcode417->character);
+
+    if(get_color(dcode) != dcode417->direction) {
+        int c = dcode417->character;
+        release_lock(dcode, ZBAR_PDF417);
+        dcode417->character = -1;
+        zassert(get_color(dcode) == dcode417->direction, ZBAR_NONE,
+                "color=%x dir=%x char=%d elem=0 %s\n",
+                get_color(dcode), dcode417->direction, c,
+                _zbar_decoder_buf_dump(dcode->buf, c));
+    }
+
+    signed short c = pdf417_decode8(dcode);
+    if(c < 0 || size_buf(dcode, dcode417->character + 1)) {
+        dbprintf(1, (c < 0) ? " [aborted]\n" : " [overflow]\n");
+        release_lock(dcode, ZBAR_PDF417);
+        dcode417->character = -1;
+        return(0);
+    }
+
+    /* FIXME TBD infer dimensions, save codewords */
+
+    if(c == PDF417_STOP) {
+        dbprintf(1, " [valid stop]");
+        /* FIXME check trailing bar and qz */
+        dcode->direction = 1 - 2 * dcode417->direction;
+        dcode->modifiers = 0;
+        release_lock(dcode, ZBAR_PDF417);
+        dcode417->character = -1;
+    }
+
+    dbprintf(2, "\n");
+    return(0);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "decoder.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+zbar_decoder_t *zbar_decoder_create ()
+{
+    zbar_decoder_t *dcode = calloc(1, sizeof(zbar_decoder_t));
+    dcode->buf_alloc = BUFFER_MIN;
+    dcode->buf = malloc(dcode->buf_alloc);
+
+    /* initialize default configs */
+#ifdef ENABLE_EAN
+    dcode->ean.enable = 1;
+    dcode->ean.ean13_config = ((1 << ZBAR_CFG_ENABLE) |
+                               (1 << ZBAR_CFG_EMIT_CHECK));
+    dcode->ean.ean8_config = ((1 << ZBAR_CFG_ENABLE) |
+                              (1 << ZBAR_CFG_EMIT_CHECK));
+    dcode->ean.upca_config = 1 << ZBAR_CFG_EMIT_CHECK;
+    dcode->ean.upce_config = 1 << ZBAR_CFG_EMIT_CHECK;
+    dcode->ean.isbn10_config = 1 << ZBAR_CFG_EMIT_CHECK;
+    dcode->ean.isbn13_config = 1 << ZBAR_CFG_EMIT_CHECK;
+# ifdef FIXME_ADDON_SYNC
+    dcode->ean.ean2_config = 1 << ZBAR_CFG_ENABLE;
+    dcode->ean.ean5_config = 1 << ZBAR_CFG_ENABLE;
+# endif
+#endif
+#ifdef ENABLE_I25
+    dcode->i25.config = 1 << ZBAR_CFG_ENABLE;
+    CFG(dcode->i25, ZBAR_CFG_MIN_LEN) = 6;
+#endif
+#ifdef ENABLE_DATABAR
+    dcode->databar.config = ((1 << ZBAR_CFG_ENABLE) |
+                             (1 << ZBAR_CFG_EMIT_CHECK));
+    dcode->databar.config_exp = ((1 << ZBAR_CFG_ENABLE) |
+                                 (1 << ZBAR_CFG_EMIT_CHECK));
+    dcode->databar.csegs = 4;
+    dcode->databar.segs = calloc(4, sizeof(*dcode->databar.segs));
+#endif
+#ifdef ENABLE_CODABAR
+    dcode->codabar.config = 1 << ZBAR_CFG_ENABLE;
+    CFG(dcode->codabar, ZBAR_CFG_MIN_LEN) = 4;
+#endif
+#ifdef ENABLE_CODE39
+    dcode->code39.config = 1 << ZBAR_CFG_ENABLE;
+    CFG(dcode->code39, ZBAR_CFG_MIN_LEN) = 1;
+#endif
+#ifdef ENABLE_CODE93
+    dcode->code93.config = 1 << ZBAR_CFG_ENABLE;
+#endif
+#ifdef ENABLE_CODE128
+    dcode->code128.config = 1 << ZBAR_CFG_ENABLE;
+#endif
+#ifdef ENABLE_PDF417
+    dcode->pdf417.config = 1 << ZBAR_CFG_ENABLE;
+#endif
+#ifdef ENABLE_QRCODE
+    dcode->qrf.config = 1 << ZBAR_CFG_ENABLE;
+#endif
+
+    zbar_decoder_reset(dcode);
+    return(dcode);
+}
+
+void zbar_decoder_destroy (zbar_decoder_t *dcode)
+{
+#ifdef ENABLE_DATABAR
+    if(dcode->databar.segs)
+        free(dcode->databar.segs);
+#endif
+    if(dcode->buf)
+        free(dcode->buf);
+    free(dcode);
+}
+
+void zbar_decoder_reset (zbar_decoder_t *dcode)
+{
+    memset(dcode, 0, (long)&dcode->buf_alloc - (long)dcode);
+#ifdef ENABLE_EAN
+    ean_reset(&dcode->ean);
+#endif
+#ifdef ENABLE_I25
+    i25_reset(&dcode->i25);
+#endif
+#ifdef ENABLE_DATABAR
+    databar_reset(&dcode->databar);
+#endif
+#ifdef ENABLE_CODABAR
+    codabar_reset(&dcode->codabar);
+#endif
+#ifdef ENABLE_CODE39
+    code39_reset(&dcode->code39);
+#endif
+#ifdef ENABLE_CODE93
+    code93_reset(&dcode->code93);
+#endif
+#ifdef ENABLE_CODE128
+    code128_reset(&dcode->code128);
+#endif
+#ifdef ENABLE_PDF417
+    pdf417_reset(&dcode->pdf417);
+#endif
+#ifdef ENABLE_QRCODE
+    qr_finder_reset(&dcode->qrf);
+#endif
+}
+
+void zbar_decoder_new_scan (zbar_decoder_t *dcode)
+{
+    /* soft reset decoder */
+    memset(dcode->w, 0, sizeof(dcode->w));
+    dcode->lock = 0;
+    dcode->idx = 0;
+    dcode->s6 = 0;
+#ifdef ENABLE_EAN
+    ean_new_scan(&dcode->ean);
+#endif
+#ifdef ENABLE_I25
+    i25_reset(&dcode->i25);
+#endif
+#ifdef ENABLE_DATABAR
+    databar_new_scan(&dcode->databar);
+#endif
+#ifdef ENABLE_CODABAR
+    codabar_reset(&dcode->codabar);
+#endif
+#ifdef ENABLE_CODE39
+    code39_reset(&dcode->code39);
+#endif
+#ifdef ENABLE_CODE93
+    code93_reset(&dcode->code93);
+#endif
+#ifdef ENABLE_CODE128
+    code128_reset(&dcode->code128);
+#endif
+#ifdef ENABLE_PDF417
+    pdf417_reset(&dcode->pdf417);
+#endif
+#ifdef ENABLE_QRCODE
+    qr_finder_reset(&dcode->qrf);
+#endif
+}
+
+
+zbar_color_t zbar_decoder_get_color (const zbar_decoder_t *dcode)
+{
+    return(get_color(dcode));
+}
+
+const char *zbar_decoder_get_data (const zbar_decoder_t *dcode)
+{
+    return((char*)dcode->buf);
+}
+
+unsigned int zbar_decoder_get_data_length (const zbar_decoder_t *dcode)
+{
+    return(dcode->buflen);
+}
+
+int zbar_decoder_get_direction (const zbar_decoder_t *dcode)
+{
+    return(dcode->direction);
+}
+
+zbar_decoder_handler_t *
+zbar_decoder_set_handler (zbar_decoder_t *dcode,
+                          zbar_decoder_handler_t *handler)
+{
+    zbar_decoder_handler_t *result = dcode->handler;
+    dcode->handler = handler;
+    return(result);
+}
+
+void zbar_decoder_set_userdata (zbar_decoder_t *dcode,
+                                void *userdata)
+{
+    dcode->userdata = userdata;
+}
+
+void *zbar_decoder_get_userdata (const zbar_decoder_t *dcode)
+{
+    return(dcode->userdata);
+}
+
+zbar_symbol_type_t zbar_decoder_get_type (const zbar_decoder_t *dcode)
+{
+    return(dcode->type);
+}
+
+unsigned int zbar_decoder_get_modifiers (const zbar_decoder_t *dcode)
+{
+    return(dcode->modifiers);
+}
+
+zbar_symbol_type_t zbar_decode_width (zbar_decoder_t *dcode,
+                                      unsigned w)
+{
+    zbar_symbol_type_t tmp, sym = ZBAR_NONE;
+
+    dcode->w[dcode->idx & (DECODE_WINDOW - 1)] = w;
+    dbprintf(1, "    decode[%x]: w=%d (%g)\n", dcode->idx, w, (w / 32.));
+
+    /* update shared character width */
+    dcode->s6 -= get_width(dcode, 7);
+    dcode->s6 += get_width(dcode, 1);
+
+    /* each decoder processes width stream in parallel */
+#ifdef ENABLE_QRCODE
+    if(TEST_CFG(dcode->qrf.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_find_qr(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_EAN
+    if((dcode->ean.enable) &&
+       (tmp = _zbar_decode_ean(dcode)))
+        sym = tmp;
+#endif
+#ifdef ENABLE_CODE39
+    if(TEST_CFG(dcode->code39.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_code39(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_CODE93
+    if(TEST_CFG(dcode->code93.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_code93(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_CODE128
+    if(TEST_CFG(dcode->code128.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_code128(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_DATABAR
+    if(TEST_CFG(dcode->databar.config | dcode->databar.config_exp,
+                ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_databar(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_CODABAR
+    if(TEST_CFG(dcode->codabar.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_codabar(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_I25
+    if(TEST_CFG(dcode->i25.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_i25(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+#ifdef ENABLE_PDF417
+    if(TEST_CFG(dcode->pdf417.config, ZBAR_CFG_ENABLE) &&
+       (tmp = _zbar_decode_pdf417(dcode)) > ZBAR_PARTIAL)
+        sym = tmp;
+#endif
+
+    dcode->idx++;
+    dcode->type = sym;
+    if(sym) {
+        if(dcode->lock && sym > ZBAR_PARTIAL && sym != ZBAR_QRCODE)
+            release_lock(dcode, sym);
+        if(dcode->handler)
+            dcode->handler(dcode);
+    }
+    return(sym);
+}
+
+static inline const unsigned int*
+decoder_get_configp (const zbar_decoder_t *dcode,
+                     zbar_symbol_type_t sym)
+{
+    const unsigned int *config;
+    switch(sym) {
+#ifdef ENABLE_EAN
+    case ZBAR_EAN13:
+        config = &dcode->ean.ean13_config;
+        break;
+
+    case ZBAR_EAN2:
+        config = &dcode->ean.ean2_config;
+        break;
+
+    case ZBAR_EAN5:
+        config = &dcode->ean.ean5_config;
+        break;
+
+    case ZBAR_EAN8:
+        config = &dcode->ean.ean8_config;
+        break;
+
+    case ZBAR_UPCA:
+        config = &dcode->ean.upca_config;
+        break;
+
+    case ZBAR_UPCE:
+        config = &dcode->ean.upce_config;
+        break;
+
+    case ZBAR_ISBN10:
+        config = &dcode->ean.isbn10_config;
+        break;
+
+    case ZBAR_ISBN13:
+        config = &dcode->ean.isbn13_config;
+        break;
+#endif
+
+#ifdef ENABLE_I25
+    case ZBAR_I25:
+        config = &dcode->i25.config;
+        break;
+#endif
+
+#ifdef ENABLE_DATABAR
+    case ZBAR_DATABAR:
+        config = &dcode->databar.config;
+        break;
+    case ZBAR_DATABAR_EXP:
+        config = &dcode->databar.config_exp;
+        break;
+#endif
+
+#ifdef ENABLE_CODABAR
+    case ZBAR_CODABAR:
+        config = &dcode->codabar.config;
+        break;
+#endif
+
+#ifdef ENABLE_CODE39
+    case ZBAR_CODE39:
+        config = &dcode->code39.config;
+        break;
+#endif
+
+#ifdef ENABLE_CODE93
+    case ZBAR_CODE93:
+        config = &dcode->code93.config;
+        break;
+#endif
+
+#ifdef ENABLE_CODE128
+    case ZBAR_CODE128:
+        config = &dcode->code128.config;
+        break;
+#endif
+
+#ifdef ENABLE_PDF417
+    case ZBAR_PDF417:
+        config = &dcode->pdf417.config;
+        break;
+#endif
+
+#ifdef ENABLE_QRCODE
+    case ZBAR_QRCODE:
+        config = &dcode->qrf.config;
+        break;
+#endif
+
+    default:
+        config = NULL;
+    }
+    return(config);
+}
+
+unsigned int zbar_decoder_get_configs (const zbar_decoder_t *dcode,
+                                       zbar_symbol_type_t sym)
+{
+    const unsigned *config = decoder_get_configp(dcode, sym);
+    if(!config)
+        return(0);
+    return(*config);
+}
+
+static inline int decoder_set_config_bool (zbar_decoder_t *dcode,
+                                           zbar_symbol_type_t sym,
+                                           zbar_config_t cfg,
+                                           int val)
+{
+    unsigned *config = (void*)decoder_get_configp(dcode, sym);
+    if(!config || cfg >= ZBAR_CFG_NUM)
+        return(1);
+
+    if(!val)
+        *config &= ~(1 << cfg);
+    else if(val == 1)
+        *config |= (1 << cfg);
+    else
+        return(1);
+
+#ifdef ENABLE_EAN
+    dcode->ean.enable = TEST_CFG(dcode->ean.ean13_config |
+                                 dcode->ean.ean2_config |
+                                 dcode->ean.ean5_config |
+                                 dcode->ean.ean8_config |
+                                 dcode->ean.upca_config |
+                                 dcode->ean.upce_config |
+                                 dcode->ean.isbn10_config |
+                                 dcode->ean.isbn13_config,
+                                 ZBAR_CFG_ENABLE);
+#endif
+
+    return(0);
+}
+
+static inline int decoder_set_config_int (zbar_decoder_t *dcode,
+                                          zbar_symbol_type_t sym,
+                                          zbar_config_t cfg,
+                                          int val)
+{
+    switch(sym) {
+
+#ifdef ENABLE_I25
+    case ZBAR_I25:
+        CFG(dcode->i25, cfg) = val;
+        break;
+#endif
+#ifdef ENABLE_CODABAR
+    case ZBAR_CODABAR:
+        CFG(dcode->codabar, cfg) = val;
+        break;
+#endif
+#ifdef ENABLE_CODE39
+    case ZBAR_CODE39:
+        CFG(dcode->code39, cfg) = val;
+        break;
+#endif
+#ifdef ENABLE_CODE93
+    case ZBAR_CODE93:
+        CFG(dcode->code93, cfg) = val;
+        break;
+#endif
+#ifdef ENABLE_CODE128
+    case ZBAR_CODE128:
+        CFG(dcode->code128, cfg) = val;
+        break;
+#endif
+#ifdef ENABLE_PDF417
+    case ZBAR_PDF417:
+        CFG(dcode->pdf417, cfg) = val;
+        break;
+#endif
+
+    default:
+        return(1);
+    }
+    return(0);
+}
+
+int zbar_decoder_set_config (zbar_decoder_t *dcode,
+                             zbar_symbol_type_t sym,
+                             zbar_config_t cfg,
+                             int val)
+{
+    if(sym == ZBAR_NONE) {
+        static const zbar_symbol_type_t all[] = {
+        ZBAR_EAN13, ZBAR_EAN2, ZBAR_EAN5, ZBAR_EAN8,
+            ZBAR_UPCA, ZBAR_UPCE, ZBAR_ISBN10, ZBAR_ISBN13,
+            ZBAR_I25, ZBAR_DATABAR, ZBAR_DATABAR_EXP, ZBAR_CODABAR,
+        ZBAR_CODE39, ZBAR_CODE93, ZBAR_CODE128, ZBAR_QRCODE,
+        ZBAR_PDF417, 0
+        };
+        const zbar_symbol_type_t *symp;
+        for(symp = all; *symp; symp++)
+            zbar_decoder_set_config(dcode, *symp, cfg, val);
+        return(0);
+    }
+
+    if(cfg >= 0 && cfg < ZBAR_CFG_NUM)
+        return(decoder_set_config_bool(dcode, sym, cfg, val));
+    else if(cfg >= ZBAR_CFG_MIN_LEN && cfg <= ZBAR_CFG_MAX_LEN)
+        return(decoder_set_config_int(dcode, sym, cfg, val));
+    else
+        return(1);
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+//////// "scanner.c"
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+/*------------------------------------------------------------------------
+ *  Copyright 2007-2010 (c) Jeff Brown <spadix@users.sourceforge.net>
+ *
+ *  This file is part of the ZBar Bar Code Reader.
+ *
+ *  The ZBar Bar Code Reader is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU Lesser Public License as
+ *  published by the Free Software Foundation; either version 2.1 of
+ *  the License, or (at your option) any later version.
+ *
+ *  The ZBar Bar Code Reader is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty
+ *  of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU Lesser Public License for more details.
+ *
+ *  You should have received a copy of the GNU Lesser Public License
+ *  along with the ZBar Bar Code Reader; if not, write to the Free
+ *  Software Foundation, Inc., 51 Franklin St, Fifth Floor,
+ *  Boston, MA  02110-1301  USA
+ *
+ *  http://sourceforge.net/projects/zbar
+ *------------------------------------------------------------------------*/
+
+#ifndef ZBAR_FIXED
+# define ZBAR_FIXED 5
+#endif
+#define ROUND (1 << (ZBAR_FIXED - 1))
+
+/* FIXME add runtime config API for these */
+#ifndef ZBAR_SCANNER_THRESH_MIN
+# define ZBAR_SCANNER_THRESH_MIN  4
+#endif
+
+#ifndef ZBAR_SCANNER_THRESH_INIT_WEIGHT
+# define ZBAR_SCANNER_THRESH_INIT_WEIGHT .44
+#endif
+#define THRESH_INIT ((unsigned)((ZBAR_SCANNER_THRESH_INIT_WEIGHT       \
+                                 * (1 << (ZBAR_FIXED + 1)) + 1) / 2))
+
+#ifndef ZBAR_SCANNER_THRESH_FADE
+# define ZBAR_SCANNER_THRESH_FADE 8
+#endif
+
+#ifndef ZBAR_SCANNER_EWMA_WEIGHT
+# define ZBAR_SCANNER_EWMA_WEIGHT .78
+#endif
+#define EWMA_WEIGHT ((unsigned)((ZBAR_SCANNER_EWMA_WEIGHT              \
+                                 * (1 << (ZBAR_FIXED + 1)) + 1) / 2))
+
+/* scanner state */
+struct zbar_scanner_s {
+    zbar_decoder_t *decoder; /* associated bar width decoder */
+    unsigned y1_min_thresh; /* minimum threshold */
+
+    unsigned x;             /* relative scan position of next sample */
+    int y0[4];              /* short circular buffer of average intensities */
+
+    int y1_sign;            /* slope at last crossing */
+    unsigned y1_thresh;     /* current slope threshold */
+
+    unsigned cur_edge;      /* interpolated position of tracking edge */
+    unsigned last_edge;     /* interpolated position of last located edge */
+    unsigned width;         /* last element width */
+};
+
+zbar_scanner_t *zbar_scanner_create (zbar_decoder_t *dcode)
+{
+    zbar_scanner_t *scn = malloc(sizeof(zbar_scanner_t));
+    scn->decoder = dcode;
+    scn->y1_min_thresh = ZBAR_SCANNER_THRESH_MIN;
+    zbar_scanner_reset(scn);
+    return(scn);
+}
+
+void zbar_scanner_destroy (zbar_scanner_t *scn)
+{
+    free(scn);
+}
+
+zbar_symbol_type_t zbar_scanner_reset (zbar_scanner_t *scn)
+{
+    memset(&scn->x, 0, sizeof(zbar_scanner_t) - offsetof(zbar_scanner_t, x));
+    scn->y1_thresh = scn->y1_min_thresh;
+    if(scn->decoder)
+        zbar_decoder_reset(scn->decoder);
+    return(ZBAR_NONE);
+}
+
+unsigned zbar_scanner_get_width (const zbar_scanner_t *scn)
+{
+    return(scn->width);
+}
+
+unsigned zbar_scanner_get_edge (const zbar_scanner_t *scn,
+                                unsigned offset,
+                                int prec)
+{
+    unsigned edge = scn->last_edge - offset - (1 << ZBAR_FIXED) - ROUND;
+    prec = ZBAR_FIXED - prec;
+    if(prec > 0)
+        return(edge >> prec);
+    else if(!prec)
+        return(edge);
+    else
+        return(edge << -prec);
+}
+
+zbar_color_t zbar_scanner_get_color (const zbar_scanner_t *scn)
+{
+    return((scn->y1_sign <= 0) ? ZBAR_SPACE : ZBAR_BAR);
+}
+
+static inline unsigned calc_thresh (zbar_scanner_t *scn)
+{
+    /* threshold 1st to improve noise rejection */
+    unsigned dx, thresh = scn->y1_thresh;
+    unsigned long t;
+    if((thresh <= scn->y1_min_thresh) || !scn->width) {
+        dbprintf(1, " tmin=%d", scn->y1_min_thresh);
+        return(scn->y1_min_thresh);
+    }
+    /* slowly return threshold to min */
+    dx = (scn->x << ZBAR_FIXED) - scn->last_edge;
+    t = thresh * dx;
+    t /= scn->width;
+    t /= ZBAR_SCANNER_THRESH_FADE;
+    dbprintf(1, " thr=%d t=%ld x=%d last=%d.%d (%d)",
+             thresh, t, scn->x, scn->last_edge >> ZBAR_FIXED,
+             scn->last_edge & ((1 << ZBAR_FIXED) - 1), dx);
+    if(thresh > t) {
+        thresh -= t;
+        if(thresh > scn->y1_min_thresh)
+            return(thresh);
+    }
+    scn->y1_thresh = scn->y1_min_thresh;
+    return(scn->y1_min_thresh);
+}
+
+static inline zbar_symbol_type_t process_edge (zbar_scanner_t *scn,
+                                               int y1)
+{
+    if(!scn->y1_sign)
+        scn->last_edge = scn->cur_edge = (1 << ZBAR_FIXED) + ROUND;
+    else if(!scn->last_edge)
+        scn->last_edge = scn->cur_edge;
+
+    scn->width = scn->cur_edge - scn->last_edge;
+    dbprintf(1, " sgn=%d cur=%d.%d w=%d (%s)\n",
+             scn->y1_sign, scn->cur_edge >> ZBAR_FIXED,
+             scn->cur_edge & ((1 << ZBAR_FIXED) - 1), scn->width,
+             ((y1 > 0) ? "SPACE" : "BAR"));
+    scn->last_edge = scn->cur_edge;
+
+#if DEBUG_SVG > 1
+    svg_path_moveto(SVG_ABS, scn->last_edge - (1 << ZBAR_FIXED) - ROUND, 0);
+#endif
+
+    /* pass to decoder */
+    if(scn->decoder)
+        return(zbar_decode_width(scn->decoder, scn->width));
+    return(ZBAR_PARTIAL);
+}
+
+inline zbar_symbol_type_t zbar_scanner_flush (zbar_scanner_t *scn)
+{
+    unsigned x;
+    if(!scn->y1_sign)
+        return(ZBAR_NONE);
+
+    x = (scn->x << ZBAR_FIXED) + ROUND;
+
+    if(scn->cur_edge != x || scn->y1_sign > 0) {
+        zbar_symbol_type_t edge = process_edge(scn, -scn->y1_sign);
+        dbprintf(1, "flush0:");
+        scn->cur_edge = x;
+        scn->y1_sign = -scn->y1_sign;
+        return(edge);
+    }
+
+    scn->y1_sign = scn->width = 0;
+    if(scn->decoder)
+        return(zbar_decode_width(scn->decoder, 0));
+    return(ZBAR_PARTIAL);
+}
+
+zbar_symbol_type_t zbar_scanner_new_scan (zbar_scanner_t *scn)
+{
+    zbar_symbol_type_t edge = ZBAR_NONE;
+    while(scn->y1_sign) {
+        zbar_symbol_type_t tmp = zbar_scanner_flush(scn);
+        if(tmp < 0 || tmp > edge)
+            edge = tmp;
+    }
+
+    /* reset scanner and associated decoder */
+    memset(&scn->x, 0, sizeof(zbar_scanner_t) - offsetof(zbar_scanner_t, x));
+    scn->y1_thresh = scn->y1_min_thresh;
+    if(scn->decoder)
+        zbar_decoder_new_scan(scn->decoder);
+    return(edge);
+}
+
+zbar_symbol_type_t zbar_scan_y (zbar_scanner_t *scn,
+                                int y)
+{
+    /* FIXME calc and clip to max y range... */
+    /* retrieve short value history */
+    register int x = scn->x;
+    register int y0_1 = scn->y0[(x - 1) & 3];
+    register int y0_0 = y0_1;
+    register int y0_2, y0_3, y1_1, y2_1, y2_2;
+    zbar_symbol_type_t edge;
+    if(x) {
+        /* update weighted moving average */
+        y0_0 += ((int)((y - y0_1) * EWMA_WEIGHT)) >> ZBAR_FIXED;
+        scn->y0[x & 3] = y0_0;
+    }
+    else
+        y0_0 = y0_1 = scn->y0[0] = scn->y0[1] = scn->y0[2] = scn->y0[3] = y;
+    y0_2 = scn->y0[(x - 2) & 3];
+    y0_3 = scn->y0[(x - 3) & 3];
+    /* 1st differential @ x-1 */
+    y1_1 = y0_1 - y0_2;
+    {
+        register int y1_2 = y0_2 - y0_3;
+        if((abs(y1_1) < abs(y1_2)) &&
+           ((y1_1 >= 0) == (y1_2 >= 0)))
+            y1_1 = y1_2;
+    }
+
+    /* 2nd differentials @ x-1 & x-2 */
+    y2_1 = y0_0 - (y0_1 * 2) + y0_2;
+    y2_2 = y0_1 - (y0_2 * 2) + y0_3;
+
+    dbprintf(1, "scan: x=%d y=%d y0=%d y1=%d y2=%d",
+             x, y, y0_1, y1_1, y2_1);
+
+    edge = ZBAR_NONE;
+    /* 2nd zero-crossing is 1st local min/max - could be edge */
+    if((!y2_1 ||
+        ((y2_1 > 0) ? y2_2 < 0 : y2_2 > 0)) &&
+       (calc_thresh(scn) <= abs(y1_1)))
+    {
+        /* check for 1st sign change */
+        char y1_rev = (scn->y1_sign > 0) ? y1_1 < 0 : y1_1 > 0;
+        if(y1_rev)
+            /* intensity change reversal - finalize previous edge */
+            edge = process_edge(scn, y1_1);
+
+        if(y1_rev || (abs(scn->y1_sign) < abs(y1_1))) {
+            int d;
+            scn->y1_sign = y1_1;
+
+            /* adaptive thresholding */
+            /* start at multiple of new min/max */
+            scn->y1_thresh = (abs(y1_1) * THRESH_INIT + ROUND) >> ZBAR_FIXED;
+            dbprintf(1, "\tthr=%d", scn->y1_thresh);
+            if(scn->y1_thresh < scn->y1_min_thresh)
+                scn->y1_thresh = scn->y1_min_thresh;
+
+            /* update current edge */
+            d = y2_1 - y2_2;
+            scn->cur_edge = 1 << ZBAR_FIXED;
+            if(!d)
+                scn->cur_edge >>= 1;
+            else if(y2_1)
+                /* interpolate zero crossing */
+                scn->cur_edge -= ((y2_1 << ZBAR_FIXED) + 1) / d;
+            scn->cur_edge += x << ZBAR_FIXED;
+            dbprintf(1, "\n");
+        }
+    }
+    else
+        dbprintf(1, "\n");
+    /* FIXME add fall-thru pass to decoder after heuristic "idle" period
+       (eg, 6-8 * last width) */
+    scn->x = x + 1;
+    return(edge);
+}
+
+/* undocumented API for drawing cutesy debug graphics */
+void zbar_scanner_get_state (const zbar_scanner_t *scn,
+                             unsigned *x,
+                             unsigned *cur_edge,
+                             unsigned *last_edge,
+                             int *y0,
+                             int *y1,
+                             int *y2,
+                             int *y1_thresh)
+{
+    register int y0_0 = scn->y0[(scn->x - 1) & 3];
+    register int y0_1 = scn->y0[(scn->x - 2) & 3];
+    register int y0_2 = scn->y0[(scn->x - 3) & 3];
+    zbar_scanner_t *mut_scn;
+    if(x) *x = scn->x - 1;
+    if(last_edge) *last_edge = scn->last_edge;
+    if(y0) *y0 = y0_1;
+    if(y1) *y1 = y0_1 - y0_2;
+    if(y2) *y2 = y0_0 - (y0_1 * 2) + y0_2;
+    /* NB not quite accurate (uses updated x) */
+    mut_scn = (zbar_scanner_t*)scn;
+    if(y1_thresh) *y1_thresh = calc_thresh(mut_scn);
+    dbprintf(1, "\n");
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void imlib_find_barcodes(list_t *out, image_t *ptr, rectangle_t *roi)
+{
+    uint8_t *grayscale_image = (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->data : fb_alloc(roi->w * roi->h, FB_ALLOC_NO_HINT);
+
+    if (ptr->pixfmt != PIXFORMAT_GRAYSCALE) {
+        image_t img;
+        img.w = roi->w;
+        img.h = roi->h;
+        img.pixfmt = PIXFORMAT_GRAYSCALE;
+        img.data = grayscale_image;
+        img.size = img.w * img.h;
+        imlib_pixfmt_to(&img, ptr, roi);
+        // imlib_draw_image(&img, ptr, 0, 0, 1.f, 1.f, roi, -1, 256, NULL, NULL, 0, NULL, NULL);
+    }
+
+    umm_init_x(fb_avail());
+
+    zbar_image_scanner_t *scanner = zbar_image_scanner_create();
+    zbar_image_scanner_set_config(scanner, 0, ZBAR_CFG_ENABLE, 1);
+
+    zbar_image_t image;
+    image.format = *((int *) "Y800");
+    image.width = (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->w : roi->w;
+    image.height = (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->h : roi->h;
+    image.data = grayscale_image;
+    image.datalen = ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->w : roi->w) * ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? ptr->h : roi->h);
+    image.crop_x = (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? roi->x : 0;
+    image.crop_y = (ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? roi->y : 0;
+    image.crop_w = roi->w;
+    image.crop_h = roi->h;
+    image.userdata = 0;
+    image.seq = 0;
+    image.syms = 0;
+
+    imlib_list_init(out, sizeof(find_barcodes_list_lnk_data_t));
+
+    if (zbar_scan_image(scanner, &image) > 0) {
+        for (const zbar_symbol_t *symbol = (image.syms) ? image.syms->head : NULL; symbol; symbol = zbar_symbol_next(symbol)) {
+            if (zbar_symbol_get_loc_size(symbol) > 0) {
+                find_barcodes_list_lnk_data_t lnk_data;
+
+                rectangle_init(&(lnk_data.rect),
+                               zbar_symbol_get_loc_x(symbol, 0) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x),
+                               zbar_symbol_get_loc_y(symbol, 0) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y),
+                               (zbar_symbol_get_loc_size(symbol) == 1) ? 1 : 0,
+                               (zbar_symbol_get_loc_size(symbol) == 1) ? 1 : 0);
+
+                for (size_t k = 1, l = zbar_symbol_get_loc_size(symbol); k < l; k++) {
+                    rectangle_t temp;
+                    rectangle_init(&temp, zbar_symbol_get_loc_x(symbol, k) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->x),
+                            zbar_symbol_get_loc_y(symbol, k) + ((ptr->pixfmt == PIXFORMAT_GRAYSCALE) ? 0 : roi->y), 0, 0);
+                    rectangle_united(&(lnk_data.rect), &temp);
+                }
+
+                // Add corners...
+                lnk_data.corners[0].x = lnk_data.rect.x;                   // top-left
+                lnk_data.corners[0].y = lnk_data.rect.y;                   // top-left
+                lnk_data.corners[1].x = lnk_data.rect.x + lnk_data.rect.w; // top-right
+                lnk_data.corners[1].y = lnk_data.rect.y;                   // top-right
+                lnk_data.corners[2].x = lnk_data.rect.x + lnk_data.rect.w; // bottom-right
+                lnk_data.corners[2].y = lnk_data.rect.y + lnk_data.rect.h; // bottom-right
+                lnk_data.corners[3].x = lnk_data.rect.x;                   // bottom-left
+                lnk_data.corners[3].y = lnk_data.rect.y + lnk_data.rect.h; // bottom-left
+
+                // Payload is already null terminated.
+                lnk_data.payload_len = zbar_symbol_get_data_length(symbol);
+                lnk_data.payload = xalloc(zbar_symbol_get_data_length(symbol));
+                memcpy(lnk_data.payload, zbar_symbol_get_data(symbol), zbar_symbol_get_data_length(symbol));
+
+                switch (zbar_symbol_get_type(symbol)) {
+                    case ZBAR_EAN2: lnk_data.type = BARCODE_EAN2; break;
+                    case ZBAR_EAN5: lnk_data.type = BARCODE_EAN5; break;
+                    case ZBAR_EAN8: lnk_data.type = BARCODE_EAN8; break;
+                    case ZBAR_UPCE: lnk_data.type = BARCODE_UPCE; break;
+                    case ZBAR_ISBN10: lnk_data.type = BARCODE_ISBN10; break;
+                    case ZBAR_UPCA: lnk_data.type = BARCODE_UPCA; break;
+                    case ZBAR_EAN13: lnk_data.type = BARCODE_EAN13; break;
+                    case ZBAR_ISBN13: lnk_data.type = BARCODE_ISBN13; break;
+                    case ZBAR_I25: lnk_data.type = BARCODE_I25; break;
+                    case ZBAR_DATABAR: lnk_data.type = BARCODE_DATABAR; break;
+                    case ZBAR_DATABAR_EXP: lnk_data.type = BARCODE_DATABAR_EXP; break;
+                    case ZBAR_CODABAR: lnk_data.type = BARCODE_CODABAR; break;
+                    case ZBAR_CODE39: lnk_data.type = BARCODE_CODE39; break;
+                    case ZBAR_PDF417: lnk_data.type = BARCODE_PDF417; break;
+                    case ZBAR_CODE93: lnk_data.type = BARCODE_CODE93; break;
+                    case ZBAR_CODE128: lnk_data.type = BARCODE_CODE128; break;
+                    default: continue;
+                }
+
+                switch (zbar_symbol_get_orientation(symbol)) {
+                    case ZBAR_ORIENT_UP: lnk_data.rotation = 0; break;
+                    case ZBAR_ORIENT_RIGHT: lnk_data.rotation = 270; break;
+                    case ZBAR_ORIENT_DOWN: lnk_data.rotation = 180; break;
+                    case ZBAR_ORIENT_LEFT: lnk_data.rotation = 90; break;
+                    default: continue;
+                }
+
+                lnk_data.quality = zbar_symbol_get_quality(symbol);
+
+                list_push_back(out, &lnk_data);
+            }
+        }
+    }
+
+    for (;;) { // Merge overlapping.
+        bool merge_occured = false;
+
+        list_t out_temp;
+        imlib_list_init(&out_temp, sizeof(find_barcodes_list_lnk_data_t));
+
+        while (list_size(out)) {
+            find_barcodes_list_lnk_data_t lnk_code;
+            list_pop_front(out, &lnk_code);
+
+            for (size_t k = 0, l = list_size(out); k < l; k++) {
+                find_barcodes_list_lnk_data_t tmp_code;
+                list_pop_front(out, &tmp_code);
+
+                if (rectangle_overlap(&(lnk_code.rect), &(tmp_code.rect))
+                && (lnk_code.payload_len == tmp_code.payload_len)
+                && (!strcmp(lnk_code.payload, tmp_code.payload))
+                && (lnk_code.type == tmp_code.type)) {
+                    lnk_code.rotation = ((lnk_code.rect.w * lnk_code.rect.h) > (tmp_code.rect.w * tmp_code.rect.h)) ? lnk_code.rotation : tmp_code.rotation;
+                    lnk_code.quality += tmp_code.quality; // won't overflow
+                    rectangle_united(&(lnk_code.rect), &(tmp_code.rect));
+                    merge_occured = true;
+                } else {
+                    list_push_back(out, &tmp_code);
+                }
+            }
+
+            list_push_back(&out_temp, &lnk_code);
+        }
+
+        list_copy(out, &out_temp);
+
+        if (!merge_occured) {
+            break;
+        }
+    }
+
+    if (image.syms) {
+        image.data = NULL;
+        zbar_symbol_set_ref(image.syms, -1);
+        image.syms = NULL;
+    }
+
+    zbar_image_scanner_destroy(scanner);
+    fb_free(NULL); // umm_init_x();
+    if (ptr->pixfmt != PIXFORMAT_GRAYSCALE) {
+        fb_free(grayscale_image); // grayscale_image;
+    }
+}
+
+#pragma GCC diagnostic pop
+#endif //IMLIB_ENABLE_BARCODES
diff --git a/github_source/minicv2/test/.imlib_find_blobs_test.c b/github_source/minicv2/test/.imlib_find_blobs_test.c
new file mode 100644
index 0000000..1e104b7
--- /dev/null
+++ b/github_source/minicv2/test/.imlib_find_blobs_test.c
@@ -0,0 +1,36 @@
+
+#include <stdio.h>
+#include "imlib.h"
+
+// assets/image/565.bmp
+// assets/image/888.bmp
+int main()
+{
+    image_t img_ts;
+    imlib_init_all();
+    memset(&img_ts, 0, sizeof(image_t));
+    bmp_read(&img_ts, "../../assets/image/888.bmp");
+
+    imlib_draw_line(&img_ts, 10, 10, 10, 100, COLOR_R8_G8_B8_TO_RGB888(0xff, 0x00, 0x00), 4);
+    imlib_draw_line(&img_ts, 20, 10, 20, 100, COLOR_R8_G8_B8_TO_RGB888(0x00, 0xff, 0x00), 4);
+    imlib_draw_line(&img_ts, 30, 10, 30, 100, COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 4);
+
+    imlib_draw_rectangle(&img_ts, 10, 120, 14, 100, COLOR_R8_G8_B8_TO_RGB888(0xff, 0x00, 0x00), 2, 0);
+    imlib_draw_rectangle(&img_ts, 26, 120, 14, 100, COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 1, 1);
+
+    imlib_draw_circle(&img_ts, 70, 30, 20, COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 2, false);
+    imlib_draw_circle(&img_ts, 70, 100, 20, COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 2, true);
+
+    imlib_draw_string(&img_ts, 70, 150, "nihao", COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 3.0, 0, 0, 1, 0, 0, 0, 0, 0, 0);
+
+
+
+
+
+    bmp_write_subimg(&img_ts, "./tmp.bmp",NULL);
+    imlib_deinit_all();
+    printf("hello\n");
+    imlib_printf(5, "nihao imlib\n");
+    return 0;
+}
+
diff --git a/github_source/minicv2/test/.imlib_test.c b/github_source/minicv2/test/.imlib_test.c
new file mode 100644
index 0000000..745a8f1
--- /dev/null
+++ b/github_source/minicv2/test/.imlib_test.c
@@ -0,0 +1,44 @@
+
+#include <stdio.h>
+#include "imlib.h"
+// #include "lib2_private.h"  // We can't include lib2_private.h for it's compoent2's private include dir
+
+// /home/nihao/work/lin/minisyd/module/imlib/assets/image/565.bmp
+int main()
+{
+    image_t img_ts;
+    imlib_init_all();
+    imlib_image_init(&img_ts, 240, 240, PIXFORMAT_RGB888, 0, NULL);
+    bmp_read(&img_ts, "./lin.bmp");
+
+    imlib_draw_line(&img_ts, 10, 10, 200, 200, COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 3);
+    imlib_draw_line(&img_ts, 100, 10, 10, 100, COLOR_R8_G8_B8_TO_RGB888(0xff, 0x00, 0x00), 3);
+
+
+
+    bmp_write_subimg(&img_ts, "./lin.bmp",NULL);
+    imlib_deinit_all();
+    printf("hello\n");
+    imlib_printf(5, "nihao imlib\n");
+    return 0;
+}
+
+
+// 42 4D 
+// 38 A3 02 00 
+// 00 00 
+// 00 00 
+// 36 00 00 00 
+
+
+// 28 00 00 00 
+// F0 00 00 00 
+// F0 00 00 00 
+// 01 00 
+// 18 00 
+// 00 00 00 00 
+// 02 A3 02 00 
+// 12 0B 00 00 
+// 12 0B 00 00 
+// 00 00 00 00 
+// 00 00 00 00 
diff --git a/github_source/minicv2/test/565.bmp b/github_source/minicv2/test/565.bmp
new file mode 100644
index 0000000..00f5755
Binary files /dev/null and b/github_source/minicv2/test/565.bmp differ
diff --git a/github_source/minicv2/test/888.bmp b/github_source/minicv2/test/888.bmp
new file mode 100644
index 0000000..b051919
Binary files /dev/null and b/github_source/minicv2/test/888.bmp differ
diff --git a/github_source/minicv2/test/Makefile b/github_source/minicv2/test/Makefile
new file mode 100644
index 0000000..0e2b25b
--- /dev/null
+++ b/github_source/minicv2/test/Makefile
@@ -0,0 +1,108 @@
+
+
+CROSS = 
+CC = $(CROSS)gcc
+CXX = $(CROSS)g++
+
+DEBUG = 
+CFLAGS = $(DEBUG) -Wall -c -Wno-comment -g
+LDFLAGS = -lm
+MV = mv -f
+RM = rm -rf
+LN = ln -sf
+
+TARGET = imlib_base_test
+
+
+TOP_PATH = $(shell pwd)
+SRC_PATH = $(TOP_PATH)
+
+INC_PATH = 
+INC_PATH += -I$(TOP_PATH)/../include 
+
+
+
+MOD_PATH = $(TOP_PATH)/..
+MOD_LIB_PATH = $(MOD_PATH)/lib
+MOD_INC_PATH = $(MOD_PATH)/include
+
+SRC_PATH +=  $(MOD_PATH)/src
+DIRS = $(shell find $(SRC_PATH) -maxdepth 3 -type d)
+FILES = $(foreach dir, $(DIRS), $(wildcard $(dir)/*.cpp))
+
+
+##########################################################
+# modules
+##########################################################
+modules = 
+MODULES_PATH = $(foreach m, $(modules), $(MOD_PATH)/$(m))
+
+
+##########################################################
+# srcs
+##########################################################
+SRCS_CPP += $(foreach dir, $(DIRS), $(wildcard $(dir)/*.cpp))
+SRCS_CC += $(foreach dir, $(DIRS), $(wildcard $(dir)/*.cc))
+SRCS_C += $(foreach dir, $(DIRS), $(wildcard $(dir)/*.c))
+
+
+##########################################################
+# objs
+##########################################################
+OBJS_CPP = $(patsubst %.cpp, %.o, $(SRCS_CPP))
+OBJS_CC = $(patsubst %.cc, %.o, $(SRCS_CC))
+OBJS_C = $(patsubst %.c, %.o, $(SRCS_C))
+
+##########################################################
+# paths
+##########################################################
+INC_PATH += -I$(MOD_INC_PATH)
+INC_PATH += -I$(MOD_PATH)
+LIB_PATH += -L$(TOP_PATH)/lib
+LIB_PATH += -L$(MOD_LIB_PATH)
+
+##########################################################
+# libs
+##########################################################
+
+##########################################################
+# building
+##########################################################
+all:$(TARGET) 
+
+$(TARGET) : $(OBJS_CPP) $(OBJS_CC) $(OBJS_C)
+	@ for i in $(MODULES_PATH); \
+	do \
+	make -C $$i; \
+	done
+
+	$(CXX) $^ -o $@ $(LIB_PATH) $(LIBS) $(LDFLAGS)
+	# $(AR) -r libimlib.a $(OBJS_C) 
+	@ echo Create $(TARGET) ok...
+
+$(OBJS_CPP):%.o : %.cpp
+	$(CXX) $(CFLAGS) $< -o $@ $(INC_PATH)
+
+$(OBJS_CC):%.o : %.cc
+	$(CC) $(CFLAGS) $< -o $@ $(INC_PATH)
+
+$(OBJS_C):%.o : %.c
+	$(CC) $(CFLAGS) $< -o $@ $(INC_PATH)
+
+.PHONY : clean
+clean:
+	@ $(RM) $(TARGET) $(OBJS_CPP) $(OBJS_CC) $(OBJS_C)
+	# @ $(RM) libimlib.a
+	@ for i in $(MODULES_PATH); \
+	do \
+	make clean -C $$i; \
+	done
+	@echo clean all...
+
+clean_o:
+	@ $(RM) $(OBJS_CPP) $(OBJS_CC) $(OBJS_C)
+	@echo clean all...
+
+rebuild :
+	make clean
+	make
\ No newline at end of file
diff --git a/github_source/minicv2/test/imlib_base_test.c b/github_source/minicv2/test/imlib_base_test.c
new file mode 100644
index 0000000..d86a416
--- /dev/null
+++ b/github_source/minicv2/test/imlib_base_test.c
@@ -0,0 +1,306 @@
+
+#include <stdio.h>
+#include "imlib.h"
+
+// assets/image/565.bmp
+// assets/image/888.bmp
+
+// #define _888_e
+
+
+
+
+
+void find_blobs(image_t *img_ts)
+{
+    image_t *arg_img = img_ts;
+
+    list_t thresholds;
+    thresholds.size = 100;
+    list_init(&thresholds, sizeof(color_thresholds_list_lnk_data_t));
+
+    WORN_PRINT("list info, size:%d",thresholds.size);
+
+    color_thresholds_list_lnk_data_t tmp_ct;
+    tmp_ct.LMin = 44;
+    tmp_ct.AMin = 10;
+    tmp_ct.BMin = -49;
+    tmp_ct.LMax = 80;
+    tmp_ct.AMax = 110;
+    tmp_ct.BMax = 115;
+    list_push_back(&thresholds, &tmp_ct);
+
+    bool invert = false;
+
+    rectangle_t roi;
+    roi.x = 0;
+    roi.y = 0;
+    roi.w = 240;
+    roi.h = 240;
+
+
+    unsigned int x_stride = 2 ;
+    unsigned int y_stride = 1;
+
+    unsigned int area_threshold = 10;
+    unsigned int pixels_threshold = 10;
+    bool merge = false;
+    int margin = 0;
+    unsigned int x_hist_bins_max = 0;
+    unsigned int y_hist_bins_max = 0;
+
+    list_t out;
+    fb_alloc_mark();
+
+    imlib_find_blobs(&out, arg_img, &roi, x_stride, y_stride, &thresholds, invert,
+            area_threshold, pixels_threshold, merge, margin,
+            NULL, NULL, NULL, NULL, x_hist_bins_max, y_hist_bins_max);
+    fb_alloc_free_till_mark();
+
+    list_free(&thresholds);
+
+    for (size_t i = 0; list_size(&out); i++) {
+        find_blobs_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+        printf("find ones!\n");
+#ifdef _888_e
+        imlib_draw_rectangle(img_ts, lnk_data.rect.x, lnk_data.rect.y, lnk_data.rect.w, lnk_data.rect.h, COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0x00), 1, 0);
+#else
+        imlib_draw_rectangle(img_ts, lnk_data.rect.x, lnk_data.rect.y, lnk_data.rect.w, lnk_data.rect.h, COLOR_R8_G8_B8_TO_RGB565(0x00, 0x00, 0x00), 1, 0);
+#endif
+    }
+    
+
+    // for (size_t i = 0; list_size(&out); i++) {
+    //     find_blobs_list_lnk_data_t lnk_data;
+    //     list_pop_front(&out, &lnk_data);
+
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].x;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*0)/4].y;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].x;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*1)/4].y;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].x;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*2)/4].y;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].x;
+    //     lnk_data.corners[(FIND_BLOBS_CORNERS_RESOLUTION*3)/4].y;
+    //     point_t min_corners[4];
+    //     point_min_area_rectangle(lnk_data.corners, min_corners, FIND_BLOBS_CORNERS_RESOLUTION);
+        
+    //     min_corners[0].x     min_corners[0].y
+    //     min_corners[1].x     min_corners[1].y
+    //     min_corners[2].x     min_corners[2].y
+    //     min_corners[3].x     min_corners[3].y
+    //     lnk_data.rect.x);
+    //     lnk_data.rect.y);
+    //     lnk_data.rect.w);
+    //     lnk_data.rect.h);
+    //     lnk_data.pixels);
+    //     lnk_data.centroid_x);
+    //     lnk_data.centroid_y);
+    //     lnk_data.rotation);
+    //     lnk_data.code);
+    //     lnk_data.count);
+    //     lnk_data.perimeter);
+    //     lnk_data.roundness);
+    //     lnk_data.x_hist_bins_count, NULL);
+    //     lnk_data.y_hist_bins_count, NULL);
+
+    //     for (int i = 0; i < lnk_data.x_hist_bins_count; i++) {
+    //         lnk_data.x_hist_bins[i];
+    //     }
+
+    //     for (int i = 0; i < lnk_data.y_hist_bins_count; i++) {
+    //         lnk_data.y_hist_bins[i];
+    //     }
+
+    //     if (lnk_data.x_hist_bins) xfree(lnk_data.x_hist_bins);
+    //     if (lnk_data.y_hist_bins) xfree(lnk_data.y_hist_bins);
+    // }
+}
+void find_lines(image_t *img_ts)
+{
+    image_t *arg_img = img_ts;
+
+    rectangle_t roi;
+    roi.x = 0;
+    roi.y = 0;
+    roi.w = 240;
+    roi.h = 240;
+
+
+    unsigned int x_stride = 2;
+    unsigned int y_stride = 1;
+    uint32_t threshold = 1000;
+    unsigned int theta_margin = 25;
+    unsigned int rho_margin = 25;
+
+    list_t out_;
+    fb_alloc_mark();
+    imlib_find_lines(&out_, arg_img, &roi, x_stride, y_stride, threshold, theta_margin, rho_margin);
+    fb_alloc_free_till_mark();
+
+
+    for (size_t i = 0; list_size(&out_); i++) {
+        find_lines_list_lnk_data_t lnk_data;
+        list_pop_front(&out_, &lnk_data);
+        printf("fine line ones!\n");
+
+
+
+#ifdef _888_e
+        imlib_draw_line(img_ts, lnk_data.line.x1, lnk_data.line.y1, lnk_data.line.x2, lnk_data.line.y2,COLOR_R8_G8_B8_TO_RGB888(0x00, 0xff, 0x00), 1);
+#else
+        imlib_draw_line(img_ts, lnk_data.line.x1, lnk_data.line.y1, lnk_data.line.x2, lnk_data.line.y2,COLOR_R8_G8_B8_TO_RGB565(0x00, 0xff, 0x00), 1);
+
+#endif
+        // py_line_obj_t *o = m_new_obj(py_line_obj_t);
+        // o->base.type = &py_line_type;
+        // o->x1 = mp_obj_new_int(lnk_data.line.x1);
+        // o->y1 = mp_obj_new_int(lnk_data.line.y1);
+        // o->x2 = mp_obj_new_int(lnk_data.line.x2);
+        // o->y2 = mp_obj_new_int(lnk_data.line.y2);
+        // int x_diff = lnk_data.line.x2 - lnk_data.line.x1;
+        // int y_diff = lnk_data.line.y2 - lnk_data.line.y1;
+        // o->length = mp_obj_new_int(fast_roundf(fast_sqrtf((x_diff * x_diff) + (y_diff * y_diff))));
+        // o->magnitude = mp_obj_new_int(lnk_data.magnitude);
+        // o->theta = mp_obj_new_int(lnk_data.theta);
+        // o->rho = mp_obj_new_int(lnk_data.rho);
+
+        // objects_list->items[i] = o;
+    }
+}
+
+
+
+
+
+
+
+
+void find_cricle(image_t *img_ts)
+{
+    image_t *arg_img = img_ts;
+
+    rectangle_t roi;
+    roi.x = 0;
+    roi.y = 0;
+    roi.w = 240;
+    roi.h = 240;
+
+    unsigned int x_stride = 2;
+
+    unsigned int y_stride = 1;
+
+    uint32_t threshold = 3000;
+    unsigned int x_margin = 10;
+    unsigned int y_margin = 10;
+    unsigned int r_margin = 10;
+    unsigned int r_min = 15;
+    unsigned int r_max = 25;
+    unsigned int r_step =2;
+
+    list_t out;
+    fb_alloc_mark();
+    imlib_find_circles(&out, arg_img, &roi, x_stride, y_stride, threshold, x_margin, y_margin, r_margin,
+                       r_min, r_max, r_step);
+    fb_alloc_free_till_mark();
+
+
+    for (size_t i = 0; list_size(&out); i++) {
+        find_circles_list_lnk_data_t lnk_data;
+        list_pop_front(&out, &lnk_data);
+        printf("find_cricles!\n");
+#ifdef _888_e
+        imlib_draw_circle(img_ts, 70, 30, 20,           COLOR_R8_G8_B8_TO_RGB888(0x00, 0xff, 0x00), 1, false);
+#else
+        imlib_draw_circle(img_ts, lnk_data.p.x, lnk_data.p.y, lnk_data.r,           COLOR_R8_G8_B8_TO_RGB565(0x00, 0xff, 0x00), 1, false);
+#endif
+
+    }
+
+}
+
+
+
+
+
+
+
+
+
+int main()
+{
+    imlib_init_all();
+    image_t *img_ts = imlib_image_create(240, 240, PIXFORMAT_BINARY, 0, NULL, false);
+    
+#ifdef _888_e
+    bmp_read(img_ts, "./888.bmp");
+    imlib_draw_line(img_ts, 10, 10, 10, 100,        COLOR_R8_G8_B8_TO_RGB888(0xff, 0x00, 0x00), 4);
+    imlib_draw_line(img_ts, 20, 10, 20, 100,        COLOR_R8_G8_B8_TO_RGB888(0x00, 0xff, 0x00), 4);
+    imlib_draw_line(img_ts, 30, 10, 30, 100,        COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 4);
+    imlib_draw_rectangle(img_ts, 10, 120, 14, 100,  COLOR_R8_G8_B8_TO_RGB888(0xff, 0x00, 0x00), 2, 0);
+    imlib_draw_rectangle(img_ts, 26, 120, 14, 100,  COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 1, 1);
+    imlib_draw_circle(img_ts, 70, 30, 20,           COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 2, false);
+    imlib_draw_circle(img_ts, 70, 100, 20,          COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 2, true);
+    imlib_draw_string(img_ts, 70, 150, "nihao",     COLOR_R8_G8_B8_TO_RGB888(0x00, 0x00, 0xff), 3.0, 0, 0, 1, 0, 0, 0, 0, 0, 0);
+#else
+    bmp_read(img_ts, "./565.bmp");
+    imlib_draw_line(img_ts, 10, 10, 10, 100,        COLOR_R8_G8_B8_TO_RGB565(0xff, 0x00, 0x00), 4);
+    imlib_draw_line(img_ts, 20, 10, 20, 100,        COLOR_R8_G8_B8_TO_RGB565(0x00, 0xff, 0x00), 4);
+    imlib_draw_line(img_ts, 30, 10, 30, 100,        COLOR_R8_G8_B8_TO_RGB565(0x00, 0x00, 0xff), 4);
+    imlib_draw_rectangle(img_ts, 10, 120, 14, 100,  COLOR_R8_G8_B8_TO_RGB565(0xff, 0x00, 0x00), 2, 0);
+    imlib_draw_rectangle(img_ts, 26, 120, 14, 100,  COLOR_R8_G8_B8_TO_RGB565(0x00, 0x00, 0xff), 1, 1);
+    imlib_draw_circle(img_ts, 70, 30, 20,           COLOR_R8_G8_B8_TO_RGB565(0x00, 0x00, 0xff), 2, false);
+    imlib_draw_circle(img_ts, 70, 100, 20,          COLOR_R8_G8_B8_TO_RGB565(0x00, 0x00, 0xff), 2, true);
+    imlib_draw_string(img_ts, 70, 150, "nihao",     COLOR_R8_G8_B8_TO_RGB565(0x00, 0x00, 0xff), 3.0, 0, 0, 1, 0, 0, 0, 0, 0, 0);
+#endif
+// (44, 80, 10, 110, -49, 115)
+    find_blobs(img_ts);
+
+    // find_lines(img_ts);
+
+    // find_cricle(img_ts);
+#ifdef _888_e
+    image_t *img_big = imlib_image_create(320, 320, PIXFORMAT_RGB888, 0, NULL, true);
+#else
+    image_t *img_big = imlib_image_create(320, 320, PIXFORMAT_RGB565, 0, NULL, true);
+#endif
+    imlib_image_resize(img_big, img_ts, IMAGE_HINT_BILINEAR);
+
+    bmp_write_subimg(img_big, "./tmp_img_big.bmp",NULL);
+    bmp_write_subimg(img_ts, "./tmp.bmp",NULL);
+    imlib_printf_image_info(img_ts);
+    jpeg_write(img_ts, "./tmp.jpeg", 95);
+
+
+
+
+
+    image_t *imgjpeg = imlib_image_create(0, 0, PIXFORMAT_RGB565, 0, NULL, 0);
+    jpeg_read(imgjpeg, "./tmp.jpeg");
+
+    image_t *imgrgbb = imlib_image_create(imgjpeg->w, imgjpeg->h, PIXFORMAT_RGB888, 0, NULL, true);
+
+
+    jpeg_decompress(imgrgbb, imgjpeg);
+
+    imlib_printf_image_info(imgrgbb);
+
+    imlib_draw_line(img_ts, 10, 10, 10, 100,        COLOR_R8_G8_B8_TO_RGB565(0x00, 0xff, 0x00), 4);
+    jpeg_write(img_ts, "./haha.jpeg", 95);
+
+    imlib_image_destroy(&imgjpeg);
+
+    imlib_image_destroy(&imgrgbb);
+
+
+
+
+    imlib_image_destroy(&img_big);
+    imlib_image_destroy(&img_ts);
+    imlib_deinit_all();
+    printf("hello\n");
+    imlib_printf(5, "nihao imlib\n");
+    return 0;
+}
+
diff --git a/github_source/minicv2/test/tmp_img_big.bmp b/github_source/minicv2/test/tmp_img_big.bmp
new file mode 100644
index 0000000..c8c2b0c
Binary files /dev/null and b/github_source/minicv2/test/tmp_img_big.bmp differ