diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..7cfba08
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,56 @@
+PROJECT(PD-Flow)
+
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+if(COMMAND cmake_policy)
+      cmake_policy(SET CMP0003 NEW)  # Required by CMake 2.7+
+endif(COMMAND cmake_policy)
+
+
+FIND_PACKAGE(MRPT REQUIRED base gui opengl slam maps)
+FIND_PACKAGE(OpenCV REQUIRED)
+FIND_PACKAGE(CUDA REQUIRED)
+
+INCLUDE_DIRECTORIES($ENV{OPENNI2_INCLUDE})
+LINK_DIRECTORIES($ENV{OPENNI2_LIB})
+#SET(OpenNI_lib "/usr/lib/libOpenNI2.so")
+SET(OpenNI_lib "C:/Users/Mariano/Programas/OpenNI2_32/Lib/OpenNI2.lib")
+
+INCLUDE_DIRECTORIES(${CUDA_INCLUDE_DIRS})
+#set(CUDA_NVCC_FLAGS "-arch=sm_30 -O3 -use_fast_math")
+set(CUDA_NVCC_FLAGS "-arch=sm_30")
+#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-gencode arch=compute_35,code=sm_35)
+CUDA_ADD_LIBRARY(pdflow_cudalib pdflow_cudalib.h pdflow_cudalib.cu)
+#message( ${CUDA_LIBRARIES} )
+
+		
+ADD_EXECUTABLE(Scene-Flow-Visualization  
+	main_scene_flow_visualization.cpp
+	scene_flow_visualization.cpp
+	scene_flow_visualization.h
+	legend_pdflow.xpm)
+	
+TARGET_LINK_LIBRARIES(Scene-Flow-Visualization
+		${MRPT_LIBS}
+		${CUDA_LIBRARIES}
+		${OpenNI_lib}
+		pdflow_cudalib)
+
+ADD_EXECUTABLE(Scene-Flow-Impair  
+	main_scene_flow_impair.cpp
+	scene_flow_impair.cpp
+	scene_flow_impair.h
+	)
+	
+TARGET_LINK_LIBRARIES(Scene-Flow-Impair 
+		${OpenCV_LIBS}
+		${CUDA_LIBRARIES}
+		${MRPT_LIBS}
+		pdflow_cudalib)		
+
+			
+ 
+# Set optimized building:
+IF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -mtune=native")
+ENDIF(CMAKE_COMPILER_IS_GNUCXX AND NOT CMAKE_BUILD_TYPE MATCHES "Debug")
+
diff --git a/legend_pdflow.xpm b/legend_pdflow.xpm
new file mode 100644
index 0000000..d92e351
--- /dev/null
+++ b/legend_pdflow.xpm
@@ -0,0 +1,729 @@
+/* XPM */
+static const char * legend_pdflow_xpm[] = {
+"201 252 474 2",
+"  	c #404040",
+". 	c #575757",
+"+ 	c #828282",
+"@ 	c #636363",
+"# 	c #FFFFFF",
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+"% 	c #727272",
+"& 	c #090909",
+"* 	c #4C4C4C",
+"= 	c #E4E4E4",
+"- 	c #FAFAFA",
+"; 	c #858585",
+"> 	c #414141",
+", 	c #EEEEEE",
+"' 	c #FCFCFC",
+") 	c #6B6B6B",
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+"    + # # # # # # # # # # p t . u v w x u j l # # # # # # # # # # # # # # # # # # # # # # # 9 y z } A B # - d e f # # # ' C D u E F # # : u u G H I # l E $ J # K u u L 8 M # # # # # - n u u [ = # # # N O P u u Q R S x T U V u j W n u % X # Y D u Z `  .P P ..' l % u +.~ # # # # @.#.u u u $.J # %.D &.*.V u n 2 j u { =.# # # M -.Q u u ;., # # >.E u 3 >.$.. u ,.J # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # J W '.).!.~.v d {.% # # # # # # # # # # # # # # # # # # # # # # # 9 ].f ^./.(.' - d e f # # _.n :.F <.3 ] [.M f '.0 }.i J # |.1.2.` # Y ^././ 3.# # # # # 4.5.'.<.6.7.8.9.# 1 0.a.%.<.b.c.: 9.v m d.8 <.| N e.u f.F # ' g.h.! i.j.X e k.l.Q R g.m.7 n.# # o.p.q.B r.s.t.u.# , v h.v.z <.| I | (.m.%.# # ' b.w.x.X y.*.z.r.# I =.A.k 2.: <.B.k.C.# # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # D.E.q.# # W a.  F.# # # # # # # # # # # # # # # # # # # # # # 9 ].` < V G.8 - d e f # J H.).9 J # I.J.K.| # 4 L.;.F.# # V ]   X # # M.s.| # # # # # < N.O.q # # j._ P.# X Q.R.3.# S.d T.M q y h i # # # J U.f.F # # q E k.S M # =.&.a.e.# # V.m.%.# # t p.e.# # C.W.}.J # q 5.k l # # # # Z m.%.# # X.Y.% F.# # 6.Z.`.Y # # z.v. +# # .+++@+J # # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # D.E.6.# # S.P a q # # # # # # # # # # # # # # # # # # # # # # 9 ].` # # # M.0 E.x f # Y ~.6+| # # # # # # # # ` G a.$.e p - 7+k %.s 8+# # # # # # # 9+0+-+# # # # # # # # # # # r.'.O.H M q y h i # # # J U.f.F # # q E ,+n.# # ^+k { @.# # '+)+u.M N a+m 6.q # 9.0 !+- # q 5.k l # # # # Z m.%.# # q.t.T.M # # Y z.b B # # z.]+^+# # ` *.l.F.# # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # D.E.6.# # S.P a q # # # # # # # # # # # # # # # # # # # # # # 9 ].` # # # S.P ( G f # N -+f.b+M # # # # # # # - D.o p.H # #  +v.s.} I # # # # # # # X.{+a.F.# # # # # M ~ (+@.# # C.#+: M q y {.c+# # # J U.f.F # # q E ,+n.# # ^+k { @.# # '+)+u.M , U } I # # d+e+!+- # q 5.c.n.# # # # Z m.%.# # %.& a+:+# # *+t.f+I # # z.]+^+# # ` *.l.F.# # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # f H.^+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # J B v+w+n.# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # X.f+% % % r+, # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M v+h ~ # # J 4 f+% % % x+Y # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # J >+2.Z. .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # o.J.b.9+o.J.T t+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # ' u !+l # # #.* y+9+j+o _ y.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # H #+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # ^+! z+- # M >+a j.# # b+,+B # # # # # # # # # # # # # # # # # # # # # # # + D h+# # # # # # # # .+<+T.M # c _ k+' # J ^ /.9+# # j.f.I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # '+t.#.# # # N P /+# M b.{.g.# # # # # # # # # # # # # # # # # # # # # # J 7 7.1 # # # # # # # M }.d.*+# # V.Z.[.# # # q K.R # M %+++>.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # - ~ R R R B+M # # # # # # # # # # # # # # # # # # # # [._ u @.# # # # # S.8 :.0 O R 8 W M # i R R R >+q # M W C+R 2 J n.R B+X o.& ].o.R g.J # # # # I.m.+.F.# # x.T r+p # # # # # _.^ k n+/+R 4 3.# # @.y.R R p+q # # q >+R 4 S.=+F R y.J # # # # # M = C+R 2 J n.R r.q # # , 8+R R e.# # # # # f R R R l+- # # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # 2 k+b %++.<+  F.# # # # # # # # # # # # # # # # # # # # | b G.6 u+# # # # l U.s L.P %+4+8+I.y+q.'.) m+0+/+# J 8 g+Z.7+j+J.( ,+d ;.).{.a+%+d - # # # #  .L.y.# # # v {.#+}+I.# # # # =.0.0+&.D+%+E+w M u+(+V ;.!.o+; ^+# 1 x+#+v.y+E+%+> ++H J # # # # J z g+& #.~+].( B.^+# r.r+D %+V ,+C+M # W ,.%+'.) ]+m.[.# # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # $.T F+# S.D.8.F.# # # # # # # # # # # # # # # # # # # # # 8+* &.> k+I.# # # F.; c.g.# # # 4 $+(+' M 6.d.K.J # # o.<+0.`.x.u 7 *+p Q.7.1 # # # # # # q z.J.Y # # # # [.]+o V 7+- # # # N P ++>.# # # < } r B+M N k+&.s+< # q b t.}+u+# =.k.k <.# # # # # # F+)+(+z+x.N.z.^+@.,+z.^+# 2 r ]+n.# z _ U.J J t+{.!+J # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # n e+ .# # Y e.M # # # # # # # # # # # # # # # # # # # # # # 2 j.c.*.s v # # F.; c.g.# # # @.g.3.# # X.B.$+I # # 6.0+a.| M I.<.q p Q.7.1 # # # # # # 9+#+H M # # # # J =+G+U o {+l # # N P ++>.# # # |.T 6 M # # < q+|+g.# q b $+w # # J s+).|.# # # # # # 9+$+7.^+M W <.I %.n+V.M # #  .t.|.# Y >+Y # # w J.0+N # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # r.n+5+s.B+# # # # # # # # # # # # # # # # # # # # # # # # # # J 1 q.e+$+q # F.; c.g.# # # # # # # # < 2.a q # # 6.0+x+# # # # # p Q.7.1 # # # # # - _+{.< # # # # # # # - l b 1.m+N # N P ++>.# # # %+[+F+# # # # _+A+j+# q b d.f # # # 9 0 ;+J # # # # # 9+$+@+# # # # # L ++i+# # # C n+;+J # # # # # Y z.O.I # # [.A+ .# ' w+)+n+n+<+|.# # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # p z.c.T G 5 # # # # # # = d.{.{.{.{.{.{.p.F+J # # # # # # # # # F.}.&.: # F.; c.g.# # # J I.<.m+{.<+L.c.q # # 6.0+P.# # # # # p Q.7.1 # # # # # w > '.# # # # # # # # # # I K.U S # N P ++>.# # # ) [+o.# # # # }.O.~+# q b d.f # # # C 0 x+J # # # # # 9+$+V.# # # # # G e+a {.{.{.{.A r+' J = =.5.{.)+& a I # # [.A+ .# ' 9 h {.{.! j+# # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # =+2+E.q.M # # # # # # # # # # # # # # # # # # # # *+B # # # # ~ ).r+# F.; c.g.# # M B+Q.> e.# S.u a q # # 6.0+P.# # # # # p Q.7.1 # # # # J O $+d+# # # # # r.n.# # # # ~+0 O # N P ++>.# # # }.e+: M # # # '.<+S # q b $+5 # # # ,.*.3+M # # # # # 9+$+V.# # # # # `.t.4.# # # # # # J .+A } w # @.g+O.I # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # N /+9.# # w >   F.# # # # # # # # # # # # # # # # # # # # P.6+F.# # # M.++w+# F.; o p+# # N q.c.>.# # W } #+q # # 6.0+P.# # # # # p ] > I.# # # # , l.:.l # # # # # @ u ' # # # ,.U S # N P Z.u+# # # C.[+u @.# # p m s.^+# q b /.c # # F.2+o+6.# # # # # # 9+$+V.# # # # # |.U T.M # # # # # q +.o+` # # 2 s.O.I # # [.A+ .# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # Y   L - # g.y ) M # # # # # # # # # # # # # # # # # # # # P./.@+J # 5 G ! l # M u.c.%+' c+H.l.U B+# 1 x.&+/.f # # H O.% # # # # # ' G k.t+- ,.f # =.5.@+p # # # # # @ o $ M # c ].z., # J + 1.P.F.F K 9.!+o+O ' - 1+n+u.J # q b & 0.@.# 9+).@ :+# # # # # # C a f+# # # # # 1 V ,+g.# # N 1+p+I a+*.n.# i d h /.i # # v+/.r+# # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # I u 5+|+m v.R.5 # # # # # # # # # # # # # # # # # # # # # 4.v.*.|+m 0+r+u+M # # Y ;.E.] e e.5 * $+m z.|.l.Z.k X ^ Q.[+++i.- # # # # n.h.a w.|.I I x.]+4 M # # # # # ^ W.t.|+m k.^.>.M # # 1 7 ++! 6 f M f x+_ |+|+$+B+q # # q b E.0+f.m a T.` # # # # # J 6.] [+++!+- # # # # | `.{.m m s y., M X.> $+m 6+~+L &.w.u+[.p.e+o [ J # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # 9.u D+_.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # q b d.f # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # _+5.c+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # < ! v.X.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # >.p.%+p # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # , V.0 Z.n n.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # h+ +=+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # S.~ o.o.6.l # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # 6.m.Q # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # F k D+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # 8 ] 2+J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # < g.>.M # # # 4.E -+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # S.B+2 J # # # r.@ Z # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # q r.X.J # # # c !.@+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # r.m+^.- # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # X ,+}+N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # e.7 P.q # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # J [.a ^.- # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+O.}+N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M C+A+P.q # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # ) v.e+<+w.y k+R g+&+/ # F.|.s &+8 l 8.&+B.X # F J.&+R.1 # # # # N { &+&+(.r.# # # # # # # # M y.a.&+&+}+# # # # 3.5.&+&+&+@ Y %+$+e+)+w.&+U.p+a.&++ # ' ~+s &+F 1 !+&+{+r.# z J.&+{ ` # # # # B+} &+&+* R M # { 0+e+A+h.&+1+-.7.&+6 J # # # N % &+&+]+: I # ' ~+].&+~+1 5.&+8.>+M # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # q [.k...:+p - ' S 0+Q # # F.x.o D+|+X.F Q.,+~.z+3.d o ;+# # # v ].Q p >.D+r v # # # # # # # }+f.[.p F+W.g ' # p+#+}.p 5 N.q+h+I d+v.V.3.p - ' 9+d.D+# # F.O /.L m.^+z h.  ~.Q 3.x.).E+J # >.P #+=.p y.<+{+c+# I R $+U., p N J R |+2+J # # c q+,+Y Y d & j S.# I ,.A+* d.3.8 f.K.f # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+v.^.- # # # r.r Q # # #  +{.8.' # p e [+y+# # <.]+D M # < q.k.X.# # b+m.% I # # # # # 2 *.;.' # # G A+b+# + & ^ # # v 4+:+M R $+}+N # # # B y D+# # # 9+A :.' # p !.T ,.# # u+m+P ' # I.'.x.q # , ) A.K # M 8+A P.q # # # <.q+2+J # @.s+{.e.# # 1 !.Y.p+# # M.{.D+N # 3.s+h =+# # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+v.^.- # # # r.r Q # # #  +{.$.# # I z+o u+# # = } ,+F.# X > x 3.# # e.z.K.@.# # # # # -+o C # # # $ ).w+M : Y.N.%.1 # # # M R $+}+N # # # B y D+# # # 9+A Z # # I { o =.# # I.K.m+I # # # # # # p x+).^ M M 8+A P.q # # # <.q+2+J # B+].. 1 # # # 9 #++ # # M.{.b.' # N 1+_ r.# # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+v.^.- # # # r.r Q # # #  +{.$.# # F.3 o+u+# # = } ,+F.# F 0+s 3 1+1+{ A k 9.# # # # # 2.0 e 1+1+1+!+L.[ ' _.x+_ o Q F+@.# M R $+}+N # # # B y D+# # # 9+A Z # # F.+ c.=.# # I.K.m+I # # # ' C 1+6 * o ^ M M 8+A P.q # # # <.q+2+J # 8 A.) :+# # # i+v.`.# # M.{.b.' # N 1+_ r.# # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+v.^.- # # # r.r Q # # #  +{.$.# # F.3 o+u+# # = } ,+F.# F 0+D u./+/+/+/+o.q # # # # # 2.o -+/+/+/+/+'+g.M # ' 9+V.<+<+: - M R $+}+N # # # B y D+# # # 9+A Z # # F.+ c.=.# # I.K.m+I # - 9 u @+/+|.Q ).^ M M 8+A P.q # # # <.q+2+J # 8 A.) :+# # # i+v.`.# # M.{.b.' # N 1+_ r.# # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+v.^.- # # # r.r Q # # #  +{.$.# # F.3 o+u+# # = } ,+F.# g.].f+S.# # # # # # # # # # # 3 o+C+# # # # # # # # # # I F ]+B.3.M R $+}+N # # # B y D+# # # 9+A Z # # F.+ c.=.# # I.K.m+I J F Q./ 1 # F.x.t.^ M M 8+A P.q # # # <.q+2+J # =.]+b W # # # j.o+;+# # M.{.b.' # N 1+_ r.# # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # M i+a G+S.# J # r.r Q # # #  +{.d # # F.3 o+u+# # = } > F.# _.+.J.W # # # J J # # # # # # >+++/ ' # # # ' M < . y.# # i u 5.h+M R O.r+@.# ' # B y D+# # # 9+A P.# # F.+ c.=.# # I.K.b I ' v+t.C.M # 9.`.E.^ M M 8+)+g :+# ' # <.q+2+J # 1 !.*.R # # p %+a 2 # # M.{.b.' # N 1+_ r.# # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # ^+2.Q.M..+4+2 T.<+].c M h++ U 2.5 ' w V 1.O h+I i+] ).l+- # 4 ,+u B+B+4.; [ q # # # # # # ; h.x.B+B+4 2+d+S.8.o+.+B+u.  -+N # 2 (.m C..+_+2 t k.&+B M 3.U.o !+X.' | !+1. .h+I 6.r ).K I p+h { 4 g.$.:.A+x+, # I.2+|+'+.+s+>.|.0+h.r.M # .+a.a K g.Z ] t - # , ; U +.^+J u+(.L.x.@.# # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # K q.2+l., u+_+2+2+}.- -.'.2+2+^.< u.L 2+2+.+I.; 2+2+l., # # n.l.2+2+D+t+- # # # # # # # q u.2+2+2+'., # ' v+E 2+2+2+u.S.# # # l+s+2+`.1 e.n 2+2+g - >+) 2+2+ .S.C L 2+2+4 l ;+2+2+`.1 J %.`.2+e  +.+) 2+l+# # r.% 2+`.1 ^+j 2+2+s+F.# # f % 2+2+Q ^ M # M 4.E 2+2+y+I |.2+2+2+u+# # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # #  +~.~.~.~.~.~.~.~.x+1 # # # # # # # # # # # #  +~.o.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # 3.-+T D n.=+=+c N.V W # # # # # # # # # # # # D.G.Z # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # -.Z.) F.# # M >+R.I.# # # # # # # # # # # # # # # # # # V.A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # -.Z.) F.# # # # # # # # # # # # # # # # # # # # # # # ' P A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # :+H.w+w+p+# # # # # # # # # # # # # # # # # # # # # # # -.Z.) F.# ' M., # # e.j.w+w+F p = v+w+H.2 .+y+T.B # e.w+_ ++3+w+F+1 # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # r.'.`.V.%+]+: J # # # # # # # # # # # # # # # # # # # # # -.Z.) F.# 5 $+=.# # c a+( A+j.S.X.6+Y.x+w ~ u G.Z # X D.d.U G+V.y+` # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # @.5.Q.X.# h+P /.z # # # # # # # # # # # # # # # # # # # # # -.W.A+B.7 J.0 =.# # # i N.)+H.M @.h ,.< # # H.G.Z # # I a.A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # F &.[ M # # F+( -+# # # # # # # # # # # # # # # # # # # # # -.Z.D+2 I.y+L.=.# # # # 2 y 5.z 6+P.- # # # S G.Z # # I a.A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # n e+: _._._.C ( l.' # # # # N 9._._._._._._.9.F.# # # # # # -.Z.) F.# q a.X # # # # M 8 A G.G+' # # # # S G.Z # # I a.A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # n e+w.> > > > > g F.# # # M .+z.> > > > > > V n.# # # # # # -.Z.) F.# # # # # # # # # , n E.V.- # # # # S G.Z # # I a.A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # U.[+b+# # # # # # # # # # # # # # # # # # # # # # # # # # # -.Z.) F.# # # , %.W # # I 7+z+. c.H M # # # S G.Z # # I a.A+I.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # R Z.G+J # # # # # # # # # # # # # # # # # # # # # # # # # # -.Z.) F.# # M 8 7 z # # 9 2.c ^+i.{.S # # # S G.Z # # I a.++c+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # p ) v.[.# # N E u.# # # # # # # # # # # # # # # # # # # # # ~+5+) F.# # q (.5.=.# t k i+M # F Z.f.M.# # #.G._+J # J 6 W.@+- |.4 J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # N k+&.n+n+#+X N # # # # # # # # # # # # # # # # # # # # 7+&.( T n+n+n+0 e+m+r.) L.G.5.X.^+y G.G.<+C 3+).( L.f+F.# N g+W.o ;+< # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # I.d+j+[.u+M # # # # # 5  +j+[.3.# # # # # # # # # # # # # # # # # # # # e.o.w # # # # # # # # # # # # # # # # # # # # # # # # # # # # # W d 2.7.O.C.p+-.N # # # # # # # # # # # :+8.++a.*+# # # # # # # / f.A+j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # n.z+1.5+) p # # # # S.+ n+5+f+l # # # # # # # # # # # # # # # # # # # # V.5+D.# # # # # # # # # # # # # # # # # # # # # # # # # # # # @.; (.>.< 3+t+m+K._.# # # # # # # # # # # # 1 a.a.*+# # # # # # # ' }+<+j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # >+/.h.5.u+# # # # =+} G./.h+# # # # # # # # # # # # # # y.;.` # # # # c+H.e.# # # # # # # # # # # # # # # # # # # # # # # # # # # # X s.f+:+# # :+F z I # # # # # # # # # # # # 3.G a.*+# # # # # # # J y+k.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # c Y.R.).D.' # # ' j.7.A.O.q # # # # # # # # # # # # # # -+O.^+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # 4.p.3 < # # # # # # # # # # # # # # # # # # 3.G a.*+# # # # # # # J y+k.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # c 0 u.$+e _.# # h+s+f+,+O.q # # # # # ' F.F.F.M # # M Y !+U *+F.F.M J F.F.J # # # # # ' F.F.F.M # # # ' F.F.M J F.F.' # # # # # # J %.a r+3.F.M ' F.' # # # # # J F.F.F.M # # # 3.G a.*+# # # # J F.F.N T.k.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # c 0 ~ 0.h y.M # 4 a.9+6+O.q # # # @..+y Q.] a .._.# v :.t.[+f.h g+ +/ <+5+D.# # # 3.i+&+Q.m /.o.h+# i `.U &.t+d h.o+]+>.# # # # # ~ A.T _ ] } u+{+0 K._.# # N u+@ ! Q.] ..:+# # 3.G a.*+# # F.r.(.m.h |+A {.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # M M M M M M M M M M M M M M M M M M M M M M M # # # # # # # # # # # # # # # # # # c 0 K C.o+x+p M ; @ 5 6+O.q # # F.d ++b.J N V.++z+S.# - % /.^+# # # # O 5+D.# # N j c.'+M q s+[+6 q # F.G n+a+t ' y+Y.{ M # # # # M b+a 3 < # # =+z.K._.# M 8 ].4+p F.: 0+D.p # 3.G a.*+# # v s.* u+M _.y A+j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # M H+I+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+J+K+L+M # # # # # # # # # # # # # # # c 0 >+n.> 6+I.:+s /+@.6+O.q # # v Q.g+' # # h+!+& 8+# - % /.^+# # # # o.5+D.# # z U L ' # # _.! $+=.# # ) [+o.# # W <+> - # # # # M b+a 3 < # # 2 ~.K._.# @.(+|+>+# # ^+a.i.>.# 3.G a.*+# # x+a u.M # J D.<+j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # J M+N+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+P+Q+J # # # # # # # # # # # # # # # c 0 >+S.E+$+-.i+5.` < 6+O.q # # y+_ U.# # # # -+e+}+# - % /.^+# # # # o.5+D.# # / W.: # # # # f+o C # # ) T B+# # 3.$+|+N # # # # M b+a 3 < # # 2 ~.K._.# X.,+:.5 # # i D+w.<.# 3.G a.*+# # V ! K # # J y+k.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # M - R+S+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+T+U+F.M # # # # # # # # # # # # # # c 0 >+# 6.k @   / M < 6+O.q # # 7+).}+# # # # 7+e+x+# - % /.^+# # # # o.5+D.# # r+T C # # # # + E.v+# # ) T B+# # 3.$+|+N # # # # M b+a 3 < # # 2 ~.K._.# e.r Z.#+A+A+#+L.t.-.# 3.G a.*+# p m > X.# # J y+k.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # J I V+W+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+X+Y+I J # # # # # # # # # # # # # # c 0 >+# I.* 1._ I.# < 6+O.q # # #.t.V.# # # # b.e+@+# - % /.^+# # # # o.5+D.# # 3 T $ # # # # 6 E.j.# # ) T B+# # 3.$+|+N # # # # M b+a 3 < # # 2 ~.K._.# *+w.'., # # # # # # # 3.G a.*+# p |+&+B+# # J y+k.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # J p Z+`+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+ @.@q J # # # # # # # # # # # # # # c 0 >+# # 7+U ) J # < 6+O.q # # F A s.S.# # ' a+&.R # - % o c+# # # # o.5+D.# # '+L.~.q # # F.{+k.l+# # ) T B+# # 3.$+|+N # # # # M b+a 3 < # # 2 ~.K._.# i x * | # # # # # # # 3.G a.*+# # N.Q.8+# # J ..{.j+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # J S.+@@@O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+O+ @#@p J # # # # # # # # # # # # # # K & R # # w 4+*+# # 1 z._ , # # 1 D+n+O J J ~ 0+e F.# ' @+n+D.J X.c F.j.W.;+M # f {+o+j+J J C.& 4+' # ' E T z # # I.{.A.:+# # # # M b+a % :+# # w 7.{+f # N v+r O N # M c+6.Y # , * > X # # H A+E+Y # n.G o+$ M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # J p $@%@&@*@=@=@=@=@=@=@=@=@=@=@=@=@=@=@=@=@=@=@=@*@&@-@;@q J # # # # # # # # # # # # # =.D 1.i.-.# # # # # = G+#+5+@ = # # n.3 o+`.z+b 3 = # # # e.g+k.l.G+>+[.  1.&+j+J # g.) d.z+`.h.3+` # N b.v.1.. >+>._+L.n+0.` # # # = !+L.k ^.M h+}.#+/.%+- # _.$.5.Q '.) G+[.Y - 0.o+/.R.` # 9.}.Q.2+'.;+(+Z.b ^ F.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # J I l c z 6.9+9+9+9+9+9+9+9+9+9+9+9+9+9+9+9+9+9+9+6.z c i I J # # # # # # # # # # # # # 9.4 p+y.l # # # # # < r.p+p+8+< # # # @.z p+p+-.@.# # # # # *+p+z u+F.5 8 p+8 ^+M # # 1 z p+p+4 ' # # J <.z p+4 ` < 4.p+p+4.q # # # < 8 p+p+u+# N B+p+p+4 J # # < 4.p+p+z e.' # J 4.p+p+g.p # # 1 4 p+p+| i z p+= M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # M - 3.>.u+c =.=.=.=.=.=.=.=.=.=.=.=.=.=.=.=.=.=.=.B u+>.:+F.M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # J I @.1 9._._._._._._._._._._._._._._._._._._._.9.1 @.N J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # M J F.N N N N N N N N N N N N N N N N N N N N N N N F.M M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # M M M M M M M M M M M M M M M M M M M M M M M M M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # F.%...}+*+# # # # # # # # u+^.}+t f # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # M >@,@'@)@!@~@{@M # # # # # # # # # # # # # # # # # # # # # # w + !.!.g n.# # # # # # # # # # # # # 8+) t+# # # # # # # # # # o.g K # # # # # # # # # # # F.F 7 G.H.# # # # # # # 8+s+$./ p.y.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # M J ]@^@/@(@_@:@<@[@}@M # # # # # # # # # # # # # # # # # # # # # Y 9 a ( t 3.# # # # # # # # # # # # # T.& G+# # # # # # # # # # (+/.9 # # # # # # # # # # # # # d 1.H.# # # # # # W L l.Y q r.Y # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # M J |@1@2@3@4@4@4@5@6@7@8@M # # # # # # # # # # # # # # # # # # # # # *+m U 2 # # # # # # # # # # # # # # - @.N # # # w+{.= # # # # I @.- # # # # # # # # # # # # # ^.1.H.# # # # # # C+m.P.N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # 9@0@a@b@b@b@b@b@b@b@b@c@d@e@M # # # # # # # # # # # # # # # # # # # # Y s E.>.# # # # # # # # # # # # # # # # # # # J ;.o >.# # # # # # # # # # # # # # # # # # # # ^.1.H.# # # # # # ^ v.Z N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # J f@g@h@b@b@b@b@b@b@b@b@4@i@j@k@M # # # # # # # # # # # # # # # # # # # Y s E.>.# q 4 t+t+h+X.M.[.-.M # M =+ +[.c+# f [.m.0 T.[.R _..+[.9+= # # # J c+[.[.[.4 M # # # ^.1.H.# # # # # 2 r+U +.j+F I.M.[.<.J c [.p+3.# # w [.[.[.y.M # J c t+[., , 6.[.9+N J | t+[.g.M # # # # ' ~ [.[.8+< # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # F.l@m@n@b@b@b@b@b@b@b@b@b@o@p@q@' # # # # # # # # # # # # # # # # # # # Y s E.>.# :+,.A.Z.3+/ r+b d.R # J F ~.[+G+# <.U.f.& ;.r+V.e.t q+/.9 # # =+/ '.}.}.] A.~ # # # ^.1.H.# # # # M 4.2.L.{+}.d c G U U.H.s.( &+l+w x+z+}.}.&+m.^ # F.M.m+[+x.x+G+2.#+w+|.;+j s &+g.# # # 2 Z ~.r+l.B.Z S.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # J q r@s@t@b@b@b@b@b@b@b@b@b@u@v@w@- M # # # # # # # # # # # # # # # # # # Y s E.>.# # J @ 5+n l+M 6./.@ J # # [.L.G+# # N (.++>.# # # # x./.9 # # o.&.$ J J ,.&.;.J # # ^.1.H.# # # # # J ~+_ Z N # # z m `.z+$ q.J.l+i+e+#.J J 9 ++e J # # x.L.D 6.I w r #+;+v J '+_ G+# # I r+#+.+# @.G+v.j+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' < x@y@4@b@b@b@b@b@b@b@b@b@4@z@A@I M # # # # # # # # # # # # # # # # # # Y s E.>.# # # ;.1.p+# # 9.A h.- # # b+0 G+# # N (.++>.# # # # $ /.9 # # :+c q # # =.++5.- # # ^.1.H.# # # # # J ~+_ Z N # # .+w.b =+# 3.*+p @.B p # # <.{.|+- # # j.n+b.M # @.b *.u+# # u+d.!+J # u+]+u M # # y.k q.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' 3.B@C@D@b@b@b@b@b@b@b@b@b@E@F@G@p M # # # # # # # # # # # # # # # # # # Y s E.>.# # # ;.1.g.# # 3.0+p.N # # b+0 G+# # N (.++>.# # # # $ /.9 # # # # # # # h+#+y N # # ^.1.H.# # # # # J ~+_ Z N # # .+w.j N # # # # # # # # # :+p.A N # # j.n+$ # # N e o 2 # # *+f.* ' # u.c.x+# # # g.m 7 F.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' h+H@I@J@b@b@b@b@b@b@b@b@b@K@L@M@S.J # # # # # # # # # # # # # # # # # # Y s E.>.# # # ;.1.g.# # 3.0+p.N # # b+0 G+# # N (.++>.# # # # $ /.9 # # ' c ~+b |+k [+y N # # ^.1.H.# # # # # J ~+_ Z N # # .+w.j N # # # # ' <.d+  |+k 5+A N # # j.n+$ # # N e o 2 # # *+f.* ' # u.c.A+|+|+|+|+|+,+N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' :+N@O@P@b@b@b@b@b@b@b@b@Q@R@S@T@p J # # # # # # # # # # # # # # # # # # Y s E.>.# # # ;.1.g.# # 3.0+p.N # # b+0 G+# # N (.++>.# # # # $ /.9 # J t+E.q.l # h+#+y N # # ^.1.H.# # # # # J ~+_ Z N # # .+w.j N # # # J %.Y.+.W # :+p.A N # # j.n+$ # # N e o 2 # # *+f.* ' # j+)+: # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # J < 5 U@V@c@4@b@b@b@b@b@W@X@Y@Z@l I M # # # # # # # # # # # # # # # # # # f h.E.>.# # # ;.1.g.# # 3.0+p.N # # b+0 G+# # N (.& n.# # # # $ /.9 # < w.0+3.# # c ++y N # # ^.1.H.# # # # # J ~+_ Z N # # .+w.j N # # # S.z.o+, # # c+k.A N # # j.n+$ # # N e o 2 # # *+f.* ' # =.].@ J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # M I ` c `@ #.#+#5@b@@###$#%#&#*#h+- M # # # # # # # # # # # # # # # # # # w ] T v # # - (.1.i+# # X.<+k.9.# # C Z.l.J # J U.1.U.F.6.8+' @+E. .M p q+/.w # e.}.$+|+9.# # [ 1.}+# # # # # J ~+_ 4+p # # ^ A.D+q # # # q K.Z.c+# X.6 k a _.# # k+Z.;+# # S.} W.=.# # 4.v.|+N # p k+k.T.# # F. .7+# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # ' @.2 l+=#-#;#>#,#'#)#!#~#c i q J # # # # # # # # # # # # # # # # # # 4.z.W.( m 8+p ) 0 ( k o.<.z.[+[+7 X.9 m.G.Y.{ ' # Y 7.n+A 3 _.(+U 1.O.y+' ^+f.a k.2.8+5.T V ^+P._ ( O.x.J # # # y.O.e+Y.j M 4.! [+L.J.N # # M 2 ] #+k.V b+7.e+  e.7+A+G.t.@+i l.& ( f.z l+,+[+[+* 9.# < w+Y.k.k.d.T.i # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
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+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # ' v p+y., # # # # # # # # W p+p+r.S.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # {#]#^#/#(#_#:## # # # # # # # # # # # # # # # # # # # # # # # # # # z x.x.x.x.x.x.x.O c+J ' F /+f # # # # # # # # # # # # # # # # # # # # # # I 3+m.E.9+# # # # # # # B+n `.V 5.B # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # M M <#[#}#|#1#2#3#4#5#M # # # # # # # # # # # # # # # # # # # # # # # # # ^ {+& !. . .D.!./.t F.I +.] 8 # # # # # # # # # # # # # # # # # # # # # # # # n E.9+# # # # # # W P q.J = C.1 # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # M J 6#7#8#9#0#0#0#a#b#c#d#M # # # # # # # # # # # # # # # # # # # # # # # # p ; E.j+M # # *+P u.F.J =+4.:+# # # # # # # # # # # # # # # # # # # # # # # # ;+E.9+# # # # # # [.k.: # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # J e#f#g#0#0#0#0#0#0#0#h#i#j#M # # # # # # # # # # # # # # # # # # # # # # # q P.++j+M # # M S.N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # ;+E.9+# # # # # # C #+u.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # M k#l#a#0#0#0#0#0#0#0#0#0#h#m#n#M # # # # # # # # # # # # # # # # # # # # # # q P.++j+M # N , J # M l >.l N # - = >.1 F.i >.= Y # # # # J h+>.>.>.1 # # # # ;+E.9+# # # # M h+/ *...>._.@.= >.Y M , >.` F.# M 3.>.>.>._.# # M 9.>.= - p I.>.I.M M 3.>.>.h+# # # # # M l >.>.9.J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # F.o#p#g#0#0#0#0#0#0#0#0#0#0#q#r#' # # # # # # # # # # # # # # # # # # # # # # q P.++j+M # M.D+3.# N z+O.] 8 # e.B.0 K.'+D+a.a '.i # # W H.) } g+).> | # # # ;+E.9+# # # # N H |+T Q.a.r+o.! 5+x.y.7 ( {+| l C.{ } g+c.].e.# q E+<+[+'+x.N.] _ -.z G+} a V I.# # # ` C.7 a.q+g+6.M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # M I s#t#0#0#0#0#0#0#0#0#0#0#0#u#v#F.M # # # # # # # # # # # # # # # # # # # # # q P.L.L @+@+* x 3.# # N s+] 8 # # f ! r 4+= # f+k.j+# # $ ).T.J F.j W.U.M # # ;+E.9+# # # # # ' D.U u.# # # '+A+;+D+g > 7 | ~+0 ..J ' / 1.4+M # # 3 e+D+|.q y._ Q.3 y.F.@+W.b.# # N 0.Y.^ # f x k =.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' < w#x#0#0#0#0#0#0#0#0#0#0#0#a#y#N M # # # # # # # # # # # # # # # # # # # # # q P.0 q.y+y+(.x 3.# # - 1+] 8 # # 1 ]+7.| # # R t...J # | F+:+# # 8 5+e F.# # ;+E.9+# # # # # ' D.U u.# # # 9+A K.l+J X ^ @.5 /+h+# # K 5+:.F.# # }+e+7+M # 3.v.c.c # # >+*.%+J # n.A.!+' # # ~+o U.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' :+z#A#0#0#0#0#0#0#0#0#0#0#0#B#C#p M # # # # # # # # # # # # # # # # # # # # # q P.++j+M # 9+D+3.# # - 1+] 8 # # 1 ]+P i # # K E.k+' # # # # # # I.L.~.- # # ;+E.9+# # # # # ' D.U u.# # # 9+A [ M # # # # # # # # # i n+  - # # }+[+o.# # p m+{.I.# # X E.D+' # O ++..# # # z _ G J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' h+D#E#g#0#0#0#0#0#0#0#0#0#0#F#G#S.J # # # # # # # # # # # # # # # # # # # # # q P.++j+M # M J # # # - 1+] 8 # # 1 ]+P i # # K E.k+' # # J j+a [+[+1.~.- # # ;+E.9+# # # # # ' D.U u.# # # 9+A Z # # # # # # M R <+[+[+(   - # # }+[+o.# # I z.{.I.# # X E.D+' # 3+Y.1.[+[+[+e+( A.N # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' 3.H#I#8#0#0#0#0#0#0#0#0#g#J#K#2 p J # # # # # # # # # # # # # # # # # # # # # q P.++j+M # # # # # # - 1+] 8 # # 1 ]+P i # # K E.k+' M .+U D+f # 9.0 ~.- # # ;+E.9+# # # # # ' D.U u.# # # 9+A Z # # # # M r.Y.!+= # , *.  - # # }+[+o.# # I z.{.I.# # X E.D+' # D.U 6.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # ' @.^+L#M#N#0#0#0#0#0#0#g#O#P#Q#f I M # # # # # # # # # # # # # # # # # # # # # q P.++j+M # # # # # # - 1+] 8 # # 1 ]+P i # # K E.k+' < A 5.h+# # u+& ~.- # # ;+E.9+# # # # # ' D.U u.# # # 9+A Z # # # # < r m 1 # # *+Z.  - # # }+[+o.# # I z.{.I.# # X E.D+' # b+A+1+M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # M I l v R#S#T#0#0#0#0#U#B#V#W#X#, - M # # # # # # # # # # # # # # # # # # # # # S.[ & b.N # # # # # # N R.m.6.M # f Q.:.5 # # %.n+G+I Y )+y i # ^+(+_ 7.@.# # % *./+# # # # # ' D.U  .# # # H.A+4+# # # # @.|+m.I.# >.; o+J.:+# # (+e+v+# # < w._ *+# # 4 n+* - # , D+m.p+# # F.u.%.# # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # F.:+X..+Y#Z#`# $0#.$+$@$#$$$I.p ' # # # # # # # # # # # # # # # # # # # # # # ^.0+( k d # # # # # # + <+Z.7 X :+:.0 _ n 9.8+].e+m.|.p M.A.z.~._+S ] t.+ ` D.{.[+  ^ M # # J R h.T p.y+M -.{+5+k.s+F.# # ' 6.0+B.~.R.C.r U }.f w+m.G.s [.i _+0 [+L u+>+i.e+o / @.# | g |+~.~.P ,.B # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # J I 1 w %$&$*$=$-$;$>$,$=.>.@.F.M # # # # # # # # # # # # # # # # # # # # # # ` =+=+=+l # # # # # # W =+=+w p ' *+=+=+= F.@.=+=+=+1 M J X.=+=+I.' 5 =+I.F.l e.=+w :+# # # # :+e.=+=+_.# @.w =+=+5 M # # # M 5 =+=+W - 2 =+= - ` e.=+*+h+- >.=+=+X.q < | =+=+W ' # # Y =+=+=+*+p # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # J I , 5 c K z ~ 8+l+n.W Y - M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # M J - @.` >.w *+^+W 1 S.- J # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # M M ' N S.Y Y @.S.N ' M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # M J ' ' ' J M # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    + # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # # $     ",
+"    . E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+E+@     ",
+"                                                                                                                                                                                                                                                                                                                                                                                                                  "};
diff --git a/main_scene_flow_impair.cpp b/main_scene_flow_impair.cpp
new file mode 100644
index 0000000..f65e2ae
--- /dev/null
+++ b/main_scene_flow_impair.cpp
@@ -0,0 +1,63 @@
+// Author: Mariano Jaimez Tarifa
+// Organization: MAPIR, University of Malaga
+// Date: January 2014
+// License: GNU
+
+#include <stdio.h>
+#include <string.h>
+#include "scene_flow_impair.h"
+
+
+
+// ------------------------------------------------------
+//						MAIN
+// ------------------------------------------------------
+
+int main(int num_arg, char *argv[])
+{	
+	//==============================================================================
+	//						Read function arguments
+	//==============================================================================
+	unsigned int rows = 240;	//Default values
+
+	if (num_arg <= 1); //No arguments
+	else if ( string(argv[1]) == "--help")
+	{
+		printf("\n\t       Arguments of the function 'main' \n");
+		printf("==============================================================\n\n");
+		printf(" --help: Shows this menu... \n\n");
+		printf(" --rows r: Number of rows at the finest level of the pyramid. \n");
+		printf("\t   Options: r=15, r=30, r=60, r=120, r=240, r=480 (if VGA)\n");
+		system::os::getch();
+		return 1;
+	}
+	else
+	{
+		if ( string(argv[1]) == "--rows")
+			rows = stof(string(argv[2]));
+	}
+
+
+	PD_flow_opencv sceneflow(rows);
+
+	//Initialize CUDA
+    sceneflow.initializeCUDA();
+
+	bool imloaded = sceneflow.loadRGBDFrames();
+
+	if (imloaded == 1)
+	{
+		sceneflow.showImages();	
+		sceneflow.solveSceneFlowGPU();
+		//sceneflow.updateScene();
+		sceneflow.showAndSaveResults();
+		sceneflow.freeGPUMemory();
+	}
+
+	printf("\nPush any key over the scene flow image to finish");
+	//mrpt::system::os::getch();
+
+	return 0;
+}
+
+
diff --git a/main_scene_flow_visualization.cpp b/main_scene_flow_visualization.cpp
new file mode 100644
index 0000000..80c1ea8
--- /dev/null
+++ b/main_scene_flow_visualization.cpp
@@ -0,0 +1,124 @@
+// Author: Mariano Jaimez Tarifa
+// Organization: MAPIR, University of Malaga
+// Date: January 2014
+// License: GNU
+
+#include <stdio.h>
+#include <string.h>
+#include "scene_flow_visualization.h"
+
+
+
+// ------------------------------------------------------
+//						MAIN
+// ------------------------------------------------------
+
+int main(int num_arg, char *argv[])
+{
+	//==============================================================================
+	//						Read function arguments
+	//==============================================================================
+	unsigned int cam_mode = 1, fps = 30, rows = 240;	//Default values
+
+	if (num_arg <= 1); //No arguments
+	else if ( string(argv[1]) == "--help")
+	{
+		printf("\n\t       Arguments of the function 'main' \n");
+		printf("==============================================================\n\n");
+		printf(" --help: Shows this menu... \n\n");
+		printf(" --cam_mode cm: Open Camera with the following resolution: \n");
+		printf("\t\t VGA (cm = 1), QVGA (cm = 2) \n\n");
+		printf(" --fps f: The scene flow frame rate (Hz). \n\n");
+		printf(" --rows r: Number of rows at the finest level of the pyramid. \n");
+		printf("\t   Options: r=15, r=30, r=60, r=120, r=240, r=480 (if VGA)\n");
+		system::os::getch();
+		return 1;
+	}
+	else
+	{
+		for (int i=1; i<num_arg; i++)
+		{
+			if ( string(argv[i]) == "--cam_mode")
+				cam_mode = stof(string(argv[i+1]));
+
+			if ( string(argv[i]) == "--fps")
+				fps = stof(string(argv[i+1]));
+
+			if ( string(argv[i]) == "--rows")
+				rows = stof(string(argv[i+1]));
+		}
+	}
+
+	PD_flow_mrpt sceneflow(cam_mode, fps, rows);
+	sceneflow.initializePDFlow();
+	
+    //==============================================================================
+    //									Main operation
+    //==============================================================================
+
+	int pushed_key = 0;
+    int stop = 0;
+    bool working = false;
+	CTicTac	clock;
+    //clock.Tic();
+
+    while (!stop)
+    {
+
+        if (sceneflow.window.keyHit())
+            pushed_key = sceneflow.window.getPushedKey();
+
+        else
+            pushed_key = 0;
+		
+        switch (pushed_key) {
+			
+        //Capture new frame
+        case  'n':
+            sceneflow.CaptureFrame();
+            clock.Tic();
+            sceneflow.createImagePyramidGPU();
+            sceneflow.solveSceneFlowGPU();
+            cout << endl << "PD-Flow runtime: " << 1000.f*clock.Tac();
+
+			sceneflow.updateScene();
+            break;
+
+        //Start/Stop continuous estimation
+        case 's':
+            working = !working;
+			clock.Tic();
+            break;
+
+        //Close the program
+        case 'e':
+            stop = 1;
+            break;
+        }
+
+        if (working == 1)
+        {
+            while(clock.Tac() < 1.f/sceneflow.fps);
+			const float exec_time = clock.Tac();
+			clock.Tic();
+            if (exec_time > 1.05f/sceneflow.fps)
+				printf("\n Not enough time to compute the scene flow at %f Hz", sceneflow.fps);
+
+            sceneflow.CaptureFrame();
+            clock.Tic();
+            sceneflow.createImagePyramidGPU();
+            sceneflow.solveSceneFlowGPU();
+			const float total_time = 1000.f*clock.Tac();
+            cout << endl << "PD-Flow runtime (ms): " << total_time;
+			
+			sceneflow.updateScene();
+        }
+    }
+
+    sceneflow.freeGPUMemory();
+    sceneflow.CloseCamera();
+	return 0;
+
+}
+
+
diff --git a/pdflow_cudalib.cu b/pdflow_cudalib.cu
new file mode 100644
index 0000000..ab0df7b
--- /dev/null
+++ b/pdflow_cudalib.cu
@@ -0,0 +1,1451 @@
+// Author: Mariano Jaimez Tarifa
+// Organization: MAPIR, University of Malaga
+// Date: Juin 2014
+// License: GNU
+
+#include "pdflow_cudalib.h"
+
+
+//                         Memory allocation - device
+//=============================================================================
+__host__ void CSF_cuda::allocateDevMemory()
+{
+    const unsigned int width = 640/cam_mode;
+    const unsigned int height = 480/cam_mode;
+    unsigned int s;
+
+    //Allocate the unfiltered depth and colour images on GPU
+    cudaError_t err = cudaMalloc((void**)&depth_wf_dev, width*height*sizeof(float) );
+    //printf("%s", cudaGetErrorString(err));
+    cudaMalloc((void**)&colour_wf_dev, width*height*sizeof(float) );
+
+    //Resize pyramid. Allocate memory for the different levels
+    const unsigned int pyr_levels = roundf(log2f(width/cols)) + ctf_levels;
+
+    for (unsigned int i = 0; i<pyr_levels; i++)
+    {
+        s = powf(2,i);
+        cudaMalloc((void**)&colour_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&colour_old_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&depth_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&depth_old_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&xx_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&xx_old_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&yy_dev[i], width*height*sizeof(float)/(s*s) );
+        cudaMalloc((void**)&yy_old_dev[i], width*height*sizeof(float)/(s*s) );
+    }
+
+    //Allocate dx, dy, dz on GPU
+    cudaMalloc((void**)&dx_dev, sizeof(float) );
+    cudaMalloc((void**)&dy_dev, sizeof(float) );
+    cudaMalloc((void**)&dz_dev, sizeof(float) );
+
+    //Allocate final solutions at the biggest resolution only once
+    cudaMalloc((void**)&du_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&dv_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&dw_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&pd_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&puu_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&puv_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&pvu_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&pvv_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&pwu_l_dev, width*height*sizeof(float) );
+    cudaMalloc((void**)&pwv_l_dev, width*height*sizeof(float) );
+}
+
+__host__ void CSF_cuda::allocateMemoryNewLevel(unsigned int rows_loc, unsigned int cols_loc, unsigned int level_i, unsigned int level_image_i)
+{
+    local_level = level_i;
+    level_image = level_image_i;
+    rows_i = rows_loc;
+    cols_i = cols_loc;
+
+    //Allocate derivatives on GPU
+    cudaMalloc((void**)&dct_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dcu_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dcv_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&ddt_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&ddu_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&ddv_dev, rows_i*cols_i*sizeof(float) );
+
+    cudaMalloc((void**)&dcu_aux_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dcv_aux_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&ddu_aux_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&ddv_aux_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate gradients on GPU
+    cudaMalloc((void**)&gradu1_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&gradu2_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&gradv1_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&gradv2_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&gradw1_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&gradw2_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate divergence on GPU
+    cudaMalloc((void**)&divpu_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&divpv_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&divpw_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate step sizes on GPU
+    cudaMalloc((void**)&sigma_pd_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&sigma_puvx_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&sigma_puvy_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&sigma_pwx_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&sigma_pwy_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&tau_u_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&tau_v_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&tau_w_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate mu_uv on GPU
+    cudaMalloc((void**)&mu_uv_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate du_acc, dv_acc, dw_acc on GPU
+    cudaMalloc((void**)&du_acc_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dv_acc_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dw_acc_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate ri, rj, ri_2, rj_2, du_prev, dv_prev on GPU
+    cudaMalloc((void**)&ri_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&rj_dev, rows_i*cols_i*sizeof(float) );
+	cudaMalloc((void**)&ri_2_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&rj_2_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&du_prev_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dv_prev_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate values of previous level on GPU
+    cudaMalloc((void**)&du_new_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dv_new_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dw_new_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pd_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&puu_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&puv_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pvu_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pvv_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pwu_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pwv_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate memory for the upsampling variables
+    cudaMalloc((void**)&du_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dv_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dw_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pd_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&puu_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&puv_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pvu_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pvv_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pwu_upsamp_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&pwv_upsamp_dev, rows_i*cols_i*sizeof(float) );
+
+    //Allocate dx, dy, dz on GPU
+    cudaFree(dx_dev); cudaFree(dy_dev); cudaFree(dz_dev);
+    cudaMalloc((void**)&dx_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dy_dev, rows_i*cols_i*sizeof(float) );
+    cudaMalloc((void**)&dz_dev, rows_i*cols_i*sizeof(float) );
+}
+
+//                          Copy object to device
+//=============================================================================
+CSF_cuda *ObjectToDevice(CSF_cuda *csf_host)
+{
+    CSF_cuda *csf_device;
+    cudaMalloc((void**)&csf_device, sizeof(CSF_cuda) );
+    cudaMemcpy(csf_device, csf_host, sizeof(CSF_cuda), cudaMemcpyHostToDevice);
+    return csf_device;
+}
+
+//                Copy data from host to device and viceversa
+//=============================================================================
+__host__ void CSF_cuda::readParameters(unsigned int rows_host, unsigned int cols_host, float lambda_i_host, float lambda_d_host,
+                                       float mu_host, float *g_mask, unsigned int levels_host, float lens_displ_host,
+                                       unsigned int cam_mode_host, float fovh_host, float fovv_host, float f_dist_host)
+{
+    rows = rows_host;
+    cols = cols_host;
+    lambda_i = lambda_i_host;
+    lambda_d = lambda_d_host;
+    mu = mu_host;
+    ctf_levels = levels_host;
+    lens_disp = lens_displ_host;
+    cam_mode = cam_mode_host;
+    fovh = fovh_host;
+    fovv = fovv_host;
+    f_dist = f_dist_host;
+
+    //Allocate gaussian mask
+    cudaError_t err = cudaMalloc((void**)&g_mask_dev, 5*5*sizeof(float));
+    //printf("%s", cudaGetErrorString(err));
+    cudaMemcpy(g_mask_dev, g_mask, 5*5*sizeof(float), cudaMemcpyHostToDevice);
+}
+
+__host__ void CSF_cuda::copyNewFrames(float *colour_wf, float *depth_wf)
+{
+    const unsigned int width = 640/cam_mode;
+    const unsigned int height = 480/cam_mode;
+
+    cudaMemcpy(depth_wf_dev, depth_wf, width*height*sizeof(float), cudaMemcpyHostToDevice);
+    cudaMemcpy(colour_wf_dev, colour_wf, width*height*sizeof(float), cudaMemcpyHostToDevice);
+
+	//Swap pointers of old and new images of the pyramid (equivalent to pushing the new frames to the old ones)
+	for (unsigned int i=0; i<8; i++)
+	{
+		float *temp = colour_old_dev[i];
+		colour_old_dev[i] = colour_dev[i];
+		colour_dev[i] = temp;
+
+		temp = depth_old_dev[i];
+		depth_old_dev[i] = depth_dev[i];
+		depth_dev[i] = temp;
+
+		temp = xx_old_dev[i];
+		xx_old_dev[i] = xx_dev[i];
+		xx_dev[i] = temp;
+
+		temp = yy_old_dev[i];
+		yy_old_dev[i] = yy_dev[i];
+		yy_dev[i] = temp;
+	}	
+}
+
+__host__ void CSF_cuda::copyAllSolutions(float *dx, float *dy, float *dz, float *depth, float *depth_old, float *colour, float *colour_old, float *xx, float *xx_old, float *yy, float *yy_old)
+{
+    cudaMemcpy(dx, dx_dev, rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(dy, dy_dev, rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(dz, dz_dev, rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(depth, depth_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(depth_old, depth_old_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(colour, colour_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(colour_old, colour_old_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(xx, xx_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(xx_old, xx_old_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(yy, yy_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+	cudaMemcpy(yy_old, yy_old_dev[level_image], rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+}
+
+__host__ void CSF_cuda::copyMotionField(float *dx, float *dy, float *dz)
+{
+    cudaMemcpy(dx, dx_dev, rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(dy, dy_dev, rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+    cudaMemcpy(dz, dz_dev, rows_i*cols_i*sizeof(float), cudaMemcpyDeviceToHost);
+}
+
+
+//                              Free memory - device
+//=============================================================================
+__host__ void CSF_cuda::freeDeviceMemory()
+{
+    cudaFree(g_mask_dev);
+
+    const unsigned int width = 640/cam_mode;
+    const unsigned int pyr_levels = roundf(log2f(width/cols)) + ctf_levels;
+    for (unsigned int i = 0; i<pyr_levels; i++)
+    {
+        cudaFree(depth_old_dev[i]);
+        cudaFree(depth_dev[i]);
+        cudaFree(colour_old_dev[i]);
+        cudaFree(colour_dev[i]);
+        cudaFree(xx_old_dev[i]);
+        cudaFree(xx_dev[i]);
+        cudaFree(yy_old_dev[i]);
+        cudaFree(yy_dev[i]);
+    }
+
+    //Free pointers to pointers
+    cudaFree(depth_old_dev);
+    cudaFree(depth_dev);
+    cudaFree(colour_old_dev);
+    cudaFree(colour_dev);
+    cudaFree(xx_old_dev);
+    cudaFree(xx_dev);
+    cudaFree(yy_old_dev);
+    cudaFree(yy_dev);
+
+    cudaFree(du_l_dev); cudaFree(dv_l_dev); cudaFree(dw_l_dev);
+    cudaFree(pd_l_dev);
+    cudaFree(puu_l_dev); cudaFree(puv_l_dev);
+    cudaFree(pvu_l_dev); cudaFree(pvv_l_dev);
+    cudaFree(pwu_l_dev); cudaFree(pwv_l_dev);
+
+    cudaFree(dx_dev); cudaFree(dy_dev); cudaFree(dz_dev);
+}
+
+__host__ void CSF_cuda::freeLevelVariables()
+{
+    cudaFree(du_upsamp_dev); cudaFree(dv_upsamp_dev); cudaFree(dw_upsamp_dev);
+    cudaFree(pd_upsamp_dev);
+    cudaFree(puu_upsamp_dev); cudaFree(puv_upsamp_dev);
+    cudaFree(pvu_upsamp_dev); cudaFree(pvv_upsamp_dev);
+    cudaFree(pwu_upsamp_dev); cudaFree(pwv_upsamp_dev);
+
+    cudaFree(du_new_dev);
+    cudaFree(dv_new_dev);
+    cudaFree(dw_new_dev);
+    cudaFree(pd_dev);
+    cudaFree(puu_dev); cudaFree(puv_dev);
+    cudaFree(pvu_dev); cudaFree(pvv_dev);
+    cudaFree(pwu_dev); cudaFree(pwv_dev);
+
+    cudaFree(mu_uv_dev);
+    cudaFree(ri_dev); cudaFree(rj_dev);
+    cudaFree(ri_2_dev); cudaFree(rj_2_dev);
+    cudaFree(du_acc_dev); cudaFree(dv_acc_dev); cudaFree(dw_acc_dev);
+    cudaFree(du_prev_dev); cudaFree(dv_prev_dev);
+
+    cudaFree(dct_dev); cudaFree(dcu_dev); cudaFree(dcv_dev);
+    cudaFree(ddt_dev); cudaFree(ddu_dev); cudaFree(ddv_dev);
+    cudaFree(dcu_aux_dev); cudaFree(dcv_aux_dev);
+    cudaFree(ddu_aux_dev); cudaFree(ddv_aux_dev);
+
+    cudaFree(gradu1_dev); cudaFree(gradu2_dev);
+    cudaFree(gradv1_dev); cudaFree(gradv2_dev);
+    cudaFree(gradw1_dev); cudaFree(gradw2_dev);
+
+    cudaFree(divpu_dev); cudaFree(divpv_dev); cudaFree(divpw_dev);
+
+    cudaFree(sigma_pd_dev); cudaFree(sigma_puvx_dev); cudaFree(sigma_puvy_dev);
+    cudaFree(sigma_pwx_dev); cudaFree(sigma_pwy_dev);
+    cudaFree(tau_u_dev); cudaFree(tau_v_dev); cudaFree(tau_w_dev);
+}
+
+
+//                  Create gaussian pyramid
+//=============================================================================
+__device__ void CSF_cuda::computePyramidLevel(unsigned int index, unsigned int level)
+{
+    //Shared memory for the gaussian mask
+	__shared__ float mask_shared[25];
+	if (threadIdx.x < 25)			//Warning!!!!!! Number of threads should be higher than 25
+		mask_shared[threadIdx.x] = g_mask_dev[threadIdx.x];
+	__syncthreads();
+
+	
+	const float max_depth_dif = 0.1f;
+
+    //Calculate indices
+    const unsigned int v = index%(rows_i);
+    const unsigned int u = index/(rows_i);
+
+    if (level == 0)
+    {
+        //Copy intensity image
+        colour_dev[level][index] = colour_wf_dev[index];
+
+        //Copy depth image
+        depth_dev[level][index] = depth_wf_dev[index];
+    }
+
+    //                              Downsampling
+    //-----------------------------------------------------------------------------
+    else
+    {
+        float sumd = 0.f, sumc = 0.f, acu_weights_d = 0.f, acu_weights_c = 0.f;
+		const unsigned int ind_cent_prev = 2*v + 4*u*rows_i;
+		const float dcenter = depth_dev[level-1][ind_cent_prev];
+		
+		//Inner pixels
+        if ((v>0)&&(v<rows_i-1)&&(u>0)&&(u<cols_i-1))
+        {	
+			for (int k=-2; k<3; k++)
+                for (int l=-2; l<3; l++)
+                {
+                    const unsigned int ind_loop_prev = 2*v+k + 2*(2*u+l)*rows_i;
+                    const unsigned int ind_mask = 12+k+5*l;	//2+k+(2+l)*5
+
+                    //Colour
+                    sumc += mask_shared[ind_mask]*colour_dev[level-1][ind_loop_prev];
+
+                    //Depth
+                    if ((depth_dev[level-1][ind_loop_prev] > 0.f)&&(fabsf(depth_dev[level-1][ind_loop_prev]-dcenter) < max_depth_dif))
+                    {
+                        const float aux_w = mask_shared[ind_mask]*(max_depth_dif - fabsf(depth_dev[level-1][ind_loop_prev] - dcenter));
+                        acu_weights_d += aux_w;
+                        sumd += aux_w*depth_dev[level-1][ind_loop_prev];
+                    }
+                }
+
+            if (sumd > 0.f)
+                depth_dev[level][index] = sumd/acu_weights_d;
+			else
+				depth_dev[level][index] = 0.f;
+
+			colour_dev[level][index] = sumc;
+        }
+
+        //Boundary
+        else
+        {
+            for (int k=-2; k<3; k++)
+                for (int l=-2; l<3; l++)
+                {
+                    const int indv = 2*v+k, indu = 2*u+l;
+                    if ((indv>=0)&&(indv<2*rows_i)&&(indu>=0)&&(indu<2*cols_i))
+                    {
+                        const unsigned int ind_loop_prev = 2*v+k + 2*(2*u+l)*rows_i;
+                        const unsigned int ind_mask = 12+k+5*l;	//2+k+(2+l)*5
+
+                        //Colour
+                        sumc += mask_shared[ind_mask]*colour_dev[level-1][ind_loop_prev];
+                        acu_weights_c += mask_shared[ind_mask];
+
+                        //Depth
+                        if ((depth_dev[level-1][ind_loop_prev] > 0.f)&&(fabsf(depth_dev[level-1][ind_loop_prev]-depth_dev[level-1][ind_cent_prev]) < max_depth_dif))
+                        {
+                            const float aux_w = mask_shared[ind_mask]*(max_depth_dif - fabsf(depth_dev[level-1][ind_loop_prev] - depth_dev[level-1][ind_cent_prev]));
+                            acu_weights_d += aux_w;
+                            sumd += aux_w*depth_dev[level-1][ind_loop_prev];
+                        }
+                    }
+                }
+
+            colour_dev[level][index] = sumc/acu_weights_c;
+
+            if (sumd > 0.f)
+                depth_dev[level][index] = sumd/acu_weights_d;
+			else
+				depth_dev[level][index] = 0.f;
+        }
+    }
+
+    //Calculate coordinates "xy" of the points
+    const float inv_f_i = float(640/cols_i)*f_dist;
+    const float disp_u_i = 0.5f*(cols_i-1);
+    const float disp_v_i = 0.5f*(rows_i-1);
+
+    xx_dev[level][index] = (u - disp_u_i)*depth_dev[level][index]*inv_f_i + lens_disp;
+    yy_dev[level][index] = (v - disp_v_i)*depth_dev[level][index]*inv_f_i;
+}
+
+
+//                  Initiallize some variables
+//=============================================================================
+__device__ void CSF_cuda::assignZeros(unsigned int index)
+{
+    du_upsamp_dev[index] = 0.f; dv_upsamp_dev[index] = 0.f; dw_upsamp_dev[index] = 0.f;
+    pd_upsamp_dev[index] = 0.f;
+    puu_upsamp_dev[index] = 0.f; puv_upsamp_dev[index] = 0.f;
+    pvu_upsamp_dev[index] = 0.f; pvv_upsamp_dev[index] = 0.f;
+    pwu_upsamp_dev[index] = 0.f; pwv_upsamp_dev[index] = 0.f;
+
+    du_prev_dev[index] = 0.f; dv_prev_dev[index] = 0.f;
+    du_new_dev[index] = 0.f; dv_new_dev[index] = 0.f; dw_new_dev[index] = 0.f;
+    pd_dev[index] = 0.f;
+    puu_dev[index] = 0.f; puv_dev[index] = 0.f;
+    pvu_dev[index] = 0.f; pvv_dev[index] = 0.f;
+    pwu_dev[index] = 0.f; pwv_dev[index] = 0.f;
+
+    du_acc_dev[index] = 0.f; dv_acc_dev[index] = 0.f; dw_acc_dev[index] = 0.f;
+}
+
+
+//                  Upsample previous solution
+//=============================================================================
+__device__ void CSF_cuda::upsampleCopyPrevSolution(unsigned int index)
+{
+    //Calculate (v,u)
+    const unsigned int v = index%(rows_i/2);
+    const unsigned int u = 2*index/(rows_i);
+    const unsigned int index_big = 2*(v + u*rows_i);
+
+    du_upsamp_dev[index_big] = 2.f*du_l_dev[index];
+    dv_upsamp_dev[index_big] = 2.f*dv_l_dev[index];
+    dw_upsamp_dev[index_big] = dw_l_dev[index];
+    pd_upsamp_dev[index_big] = pd_l_dev[index];
+    puu_upsamp_dev[index_big] = puu_l_dev[index];
+    puv_upsamp_dev[index_big] = puv_l_dev[index];
+    pvu_upsamp_dev[index_big] = pvu_l_dev[index];
+    pvv_upsamp_dev[index_big] = pvv_l_dev[index];
+    pwu_upsamp_dev[index_big] = pwu_l_dev[index];
+    pwv_upsamp_dev[index_big] = pwv_l_dev[index];
+}
+
+__device__ void CSF_cuda::upsampleFilterPrevSolution(unsigned int index)
+{
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+
+	//Shared memory for the gaussian mask - Warning!! The number of threads should be higher than 25
+	__shared__ float mask_shared[25];
+	if (threadIdx.x < 25)			
+		mask_shared[threadIdx.x] = 4.f*g_mask_dev[threadIdx.x];
+	__syncthreads();
+
+	float du = 0.f, dv = 0.f, dw = 0.f, pd = 0.f, puu = 0.f, puv = 0.f, pvu = 0.f, pvv = 0.f, pwu = 0.f, pwv = 0.f;
+
+    //Inner pixels
+    if ((v>1)&&(v<rows_i-2)&&(u>1)&&(u<cols_i-2))
+    {
+        for (int k=-2; k<3; k++)
+            for (int l=-2; l<3; l++)
+            {
+                const unsigned incr_index = v+k+(u+l)*rows_i;
+                const float gmask_factor = mask_shared[12 + k + 5*l];	//[2+k + (2+l)*5]
+                du += gmask_factor*du_upsamp_dev[incr_index];
+                dv += gmask_factor*dv_upsamp_dev[incr_index];
+                dw += gmask_factor*dw_upsamp_dev[incr_index];
+                pd  += gmask_factor*pd_upsamp_dev[incr_index];
+                puu += gmask_factor*puu_upsamp_dev[incr_index];
+                puv += gmask_factor*puv_upsamp_dev[incr_index];
+                pvu += gmask_factor*pvu_upsamp_dev[incr_index];
+                pvv += gmask_factor*pvv_upsamp_dev[incr_index];
+                pwu += gmask_factor*pwu_upsamp_dev[incr_index];
+                pwv += gmask_factor*pwv_upsamp_dev[incr_index];
+            }
+    }
+    //Boundary
+    else
+    {
+        float acu_weight = 1.f;
+        for (int k=-2; k<3; k++)
+            for (int l=-2; l<3; l++)
+            {
+                const int indv = v+k, indu = u+l;
+                if ((indv<0)||(indv>=rows_i)||(indu<0)||(indu>=cols_i))
+                {
+                    acu_weight -= 0.25f*mask_shared[12 + k + 5*l];		//[2+k + (2+l)*5]
+                    continue;
+                }
+                else
+                {
+                    const unsigned incr_index = v+k+(u+l)*rows_i;
+                    const float gmask_factor = mask_shared[12 + k + 5*l];	//[2+k + (2+l)*5]
+                    du += gmask_factor*du_upsamp_dev[incr_index];
+                    dv += gmask_factor*dv_upsamp_dev[incr_index];
+                    dw += gmask_factor*dw_upsamp_dev[incr_index];
+                    pd  += gmask_factor*pd_upsamp_dev[incr_index];
+                    puu += gmask_factor*puu_upsamp_dev[incr_index];
+                    puv += gmask_factor*puv_upsamp_dev[incr_index];
+                    pvu += gmask_factor*pvu_upsamp_dev[incr_index];
+                    pvv += gmask_factor*pvv_upsamp_dev[incr_index];
+                    pwu += gmask_factor*pwu_upsamp_dev[incr_index];
+                    pwv += gmask_factor*pwv_upsamp_dev[incr_index];
+                }
+            }
+
+		const float inv_acu_weight = fdividef(1.f, acu_weight);
+        du *= inv_acu_weight;
+        dv *= inv_acu_weight;
+        dw *= inv_acu_weight;
+        pd  *= inv_acu_weight;
+        puu *= inv_acu_weight;
+        puv *= inv_acu_weight;
+        pvu *= inv_acu_weight;
+        pvv *= inv_acu_weight;
+        pwu *= inv_acu_weight;
+        pwv *= inv_acu_weight;
+    }
+
+	//Write results to global memory
+	du_prev_dev[index] = du;
+    dv_prev_dev[index] = dv;
+    dw_new_dev[index]  = dw;
+    pd_dev[index]  = pd;
+    puu_dev[index] = puu;
+    puv_dev[index] = puv;
+    pvu_dev[index] = pvu;
+    pvv_dev[index] = pvv;
+    pwu_dev[index] = pwu;
+    pwv_dev[index] = pwv;
+
+    //Last update, for dw_acc
+    dw_acc_dev[index] = dw;
+}
+
+
+//                  Compute intensity and depth derivatives
+//=============================================================================
+__device__ void CSF_cuda::computeImGradients(unsigned int index)
+{
+    //Calculate (v,u)
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+
+    //Row gradients
+    if (u == 0)
+    {
+        dcu_aux_dev[index] = colour_dev[level_image][index+rows_i] - colour_dev[level_image][index];
+        ddu_aux_dev[index] = depth_dev[level_image][index+rows_i] - depth_dev[level_image][index];
+    }
+    else if (u == cols_i-1)
+    {
+        dcu_aux_dev[index] = colour_dev[level_image][index] - colour_dev[level_image][index-rows_i];
+        ddu_aux_dev[index] = depth_dev[level_image][index] - depth_dev[level_image][index-rows_i];
+    }
+    else
+    {
+		dcu_aux_dev[index] = (ri_2_dev[index]*(colour_dev[level_image][index+rows_i]-colour_dev[level_image][index])
+							+ ri_2_dev[index-rows_i]*(colour_dev[level_image][index]-colour_dev[level_image][index-rows_i]))
+							/(ri_2_dev[index]+ri_2_dev[index-rows_i]);
+		if (depth_dev[level_image][index] > 0.f)
+			ddu_aux_dev[index] = (ri_2_dev[index]*(depth_dev[level_image][index+rows_i]-depth_dev[level_image][index])
+								+ ri_2_dev[index-rows_i]*(depth_dev[level_image][index]-depth_dev[level_image][index-rows_i]))
+								/(ri_2_dev[index]+ri_2_dev[index-rows_i]);
+		else
+			ddu_aux_dev[index] = 0.f;
+    }
+
+    //Col gradients
+    if (v == 0)
+    {
+        dcv_aux_dev[index] = colour_dev[level_image][index+1] - colour_dev[level_image][index];
+        ddv_aux_dev[index] = depth_dev[level_image][index+1] - depth_dev[level_image][index];
+    }
+    else if (v == rows_i-1)
+    {
+        dcv_aux_dev[index] = colour_dev[level_image][index] - colour_dev[level_image][index-1];
+        ddv_aux_dev[index] = depth_dev[level_image][index] - depth_dev[level_image][index-1];
+    }
+    else
+    {
+		dcv_aux_dev[index] = (rj_2_dev[index]*(colour_dev[level_image][index+1]-colour_dev[level_image][index])
+							+ rj_2_dev[index-1]*(colour_dev[level_image][index]-colour_dev[level_image][index-1]))
+							/(rj_2_dev[index]+rj_2_dev[index-1]);
+		if (depth_dev[level_image][index] > 0.f)
+			ddv_aux_dev[index] = (rj_2_dev[index]*(depth_dev[level_image][index+1]-depth_dev[level_image][index])
+								+ rj_2_dev[index-1]*(depth_dev[level_image][index]-depth_dev[level_image][index-1]))
+								/(rj_2_dev[index]+rj_2_dev[index-1]);
+		else
+			ddv_aux_dev[index] = 0.f;
+    }
+}
+
+__device__ void CSF_cuda::performWarping(unsigned int index)
+{
+    //Calculate (v,u)
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+    float warped_pixel;
+
+    //Intensity images
+	const float ind_uf = float(u) + du_prev_dev[index];
+	const float ind_vf = float(v) + dv_prev_dev[index];
+    warped_pixel = interpolatePixel(colour_dev[level_image], ind_uf, ind_vf);
+    dct_dev[index] = warped_pixel - colour_old_dev[level_image][index];
+    dcu_dev[index] = interpolatePixel(dcu_aux_dev, ind_uf, ind_vf);
+    dcv_dev[index] = interpolatePixel(dcv_aux_dev, ind_uf, ind_vf);
+
+	//Depth images
+	warped_pixel = interpolatePixelDepth(depth_dev[level_image], ind_uf, ind_vf);
+	if (warped_pixel > 0.f)
+		ddt_dev[index] = warped_pixel - depth_old_dev[level_image][index];
+	else
+		ddt_dev[index] = 0.f;
+	ddu_dev[index] = interpolatePixel(ddu_aux_dev, ind_uf, ind_vf);
+	ddv_dev[index] = interpolatePixel(ddv_aux_dev, ind_uf, ind_vf);
+}
+
+__device__ float CSF_cuda::interpolatePixel(float *mat, float ind_u, float ind_v)
+{
+    if (ind_u < 0.f) { ind_u = 0.f;}
+	else if (ind_u > cols_i - 1.f) { ind_u = cols_i - 1.f;}
+	if (ind_v < 0.f) { ind_v = 0.f;}
+	else if (ind_v > rows_i - 1.f) { ind_v = rows_i - 1.f;}
+
+    const unsigned int sup_u = __float2int_ru(ind_u);
+    const unsigned int inf_u = __float2int_rd(ind_u);
+    const unsigned int sup_v = __float2int_ru(ind_v);
+    const unsigned int inf_v = __float2int_rd(ind_v);
+
+    if ((sup_u == inf_u)&&(sup_v == inf_v))
+        return mat[lrintf(ind_v + rows_i*ind_u)];
+
+    else if (sup_u == inf_u)
+        return (sup_v - ind_v)*mat[inf_v + rows_i*lrintf(ind_u)] + (ind_v - inf_v)*mat[sup_v + rows_i*lrintf(ind_u)];
+
+    else if (sup_v == inf_v)
+        return (sup_u - ind_u)*mat[lrintf(ind_v) + rows_i*inf_u] + (ind_u - inf_u)*mat[lrintf(ind_v) + rows_i*sup_u];
+
+    else
+    {
+        //First in u
+        const float val_sup_v = (sup_u - ind_u)*mat[sup_v + rows_i*inf_u] + (ind_u - inf_u)*mat[sup_v + rows_i*sup_u];
+        const float val_inf_v = (sup_u - ind_u)*mat[inf_v + rows_i*inf_u] + (ind_u - inf_u)*mat[inf_v + rows_i*sup_u];
+        return (sup_v - ind_v)*val_inf_v + (ind_v - inf_v)*val_sup_v;
+    }
+}
+
+__device__ float CSF_cuda::interpolatePixelDepth(float *mat, float ind_u, float ind_v)
+{
+    if (ind_u < 0.f) { ind_u = 0.f;}
+	else if (ind_u > cols_i - 1.f) { ind_u = cols_i - 1.f;}
+	if (ind_v < 0.f) { ind_v = 0.f;}
+	else if (ind_v > rows_i - 1.f) { ind_v = rows_i - 1.f;}
+
+    const unsigned int sup_u = __float2int_ru(ind_u);
+    const unsigned int inf_u = __float2int_rd(ind_u);
+    const unsigned int sup_v = __float2int_ru(ind_v);
+    const unsigned int inf_v = __float2int_rd(ind_v);
+
+    if ((mat[sup_v + rows_i*sup_u] == 0.f)||(mat[sup_v + rows_i*inf_u] == 0.f)||(mat[inf_v + rows_i*sup_u] == 0.f)||(mat[inf_v + rows_i*inf_u]==0.f))
+    {
+        const unsigned int rind_u = __float2int_rn(ind_u);
+        const unsigned int rind_v = __float2int_rn(ind_v);
+        return mat[rind_v + rows_i*rind_u];
+    }
+    else
+    {	
+		if ((sup_u == inf_u)&&(sup_v == inf_v))
+			return mat[lrintf(ind_v + rows_i*ind_u)];
+
+		else if (sup_u == inf_u)
+			return (sup_v - ind_v)*mat[inf_v + rows_i*lroundf(ind_u)] + (ind_v - inf_v)*mat[sup_v + rows_i*lroundf(ind_u)];
+
+		else if (sup_v == inf_v)
+			return (sup_u - ind_u)*mat[lroundf(ind_v) + rows_i*inf_u] + (ind_u - inf_u)*mat[lroundf(ind_v) + rows_i*sup_u];
+
+		else
+		{
+			//First in u
+			const float val_sup_v = (sup_u - ind_u)*mat[sup_v + rows_i*inf_u] + (ind_u - inf_u)*mat[sup_v + rows_i*sup_u];
+			const float val_inf_v = (sup_u - ind_u)*mat[inf_v + rows_i*inf_u] + (ind_u - inf_u)*mat[inf_v + rows_i*sup_u];
+			return (sup_v - ind_v)*val_inf_v + (ind_v - inf_v)*val_sup_v;
+		}
+	}
+}
+
+//                          Preliminary computations
+//=============================================================================
+__device__ void CSF_cuda::computeRij(unsigned int index)
+{
+    //Calculate (v,u)
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+
+    float dxu, dzu, dxu_2, dzu_2;
+    float dyv, dzv, dyv_2, dzv_2;
+
+    if (u == cols_i-1)
+    {
+        dxu = 0.f; dzu = 0.f;
+		dxu_2 = 0.f; dzu_2 = 0.f;
+    }
+    else
+    {
+        dxu = xx_old_dev[level_image][index + rows_i] - xx_old_dev[level_image][index];
+        dzu = depth_old_dev[level_image][index + rows_i] - depth_old_dev[level_image][index];
+		dxu_2 = xx_dev[level_image][index + rows_i] - xx_dev[level_image][index];
+        dzu_2 = depth_dev[level_image][index + rows_i] - depth_dev[level_image][index];
+    }
+
+    if (v == rows_i-1)
+    {
+        dyv = 0.f; dzv = 0.f;
+		dyv_2 = 0.f; dzv_2 = 0.f;
+    }
+    else
+    {
+        dyv = yy_old_dev[level_image][index+1] - yy_old_dev[level_image][index];
+        dzv = depth_old_dev[level_image][index+1] - depth_old_dev[level_image][index];
+		dyv_2 = yy_dev[level_image][index+1] - yy_dev[level_image][index];
+        dzv_2 = depth_dev[level_image][index+1] - depth_dev[level_image][index];
+    }
+
+    if (fabsf(dxu) + fabsf(dzu) > 0.f)
+        ri_dev[index] = 2.f*rhypotf(dxu,dzu);	//2.f/sqrtf(dxu*dxu + dzu*dzu);
+    else
+        ri_dev[index] = 1.f;
+
+    if (fabsf(dyv) + fabsf(dzv) > 0.f)
+        rj_dev[index] = 2.f*rhypotf(dyv,dzv);	//2.f/sqrtf(dyv*dyv + dzv*dzv);
+    else
+        rj_dev[index] = 1.f;
+
+	if (fabsf(dxu_2) + fabsf(dzu_2) > 0.f)
+        ri_2_dev[index] = 2.f*rhypotf(dxu_2,dzu_2);	//2.f/sqrtf(dxu*dxu + dzu*dzu);
+    else
+        ri_2_dev[index] = 1.f;
+
+    if (fabsf(dyv_2) + fabsf(dzv_2) > 0.f)
+        rj_2_dev[index] = 2.f*rhypotf(dyv_2,dzv_2);	//2.f/sqrtf(dyv*dyv + dzv*dzv);
+    else
+        rj_2_dev[index] = 1.f;
+}
+
+__device__ void CSF_cuda::computeMu(unsigned int index)
+{
+    mu_uv_dev[index] = fdividef(mu, 1.f + 1000.f*(ddu_dev[index]*ddu_dev[index] + ddv_dev[index]*ddv_dev[index] + ddt_dev[index]*ddt_dev[index]));
+}
+
+__device__ void CSF_cuda::computeStepSizes(unsigned int index)
+{
+    //Load lambda from global memory
+    const float lambdai = lambda_i, lambdad = lambda_d;
+	
+	sigma_pd_dev[index] = fdividef(1.f, mu_uv_dev[index]*(1.f + abs(ddt_dev[index]) + abs(ddu_dev[index]) + abs(ddv_dev[index])) + 1e-10f);
+    sigma_puvx_dev[index] = fdividef(0.5f, lambdai*ri_dev[index] + 1e-10f);
+    sigma_puvy_dev[index] = fdividef(0.5f, lambdai*rj_dev[index] + 1e-10f);
+    sigma_pwx_dev[index] = fdividef(0.5f, ri_dev[index]*lambdad + 1e-10f);
+    sigma_pwy_dev[index] = fdividef(0.5f, rj_dev[index]*lambdad + 1e-10f);
+    tau_u_dev[index] = fdividef(1.f, mu_uv_dev[index]*abs(ddu_dev[index]) + 2.f*lambdai*(ri_dev[index] + rj_dev[index]) + 1e-10f);
+    tau_v_dev[index] = fdividef(1.f, mu_uv_dev[index]*abs(ddv_dev[index]) + 2.f*lambdai*(ri_dev[index] + rj_dev[index]) + 1e-10f);
+    tau_w_dev[index] = fdividef(1.f, mu_uv_dev[index] + 2.f*lambdad*(ri_dev[index] + rj_dev[index]) + 1e-10f);
+}
+
+
+//                              Main iteration
+//=============================================================================
+__device__ void CSF_cuda::updateDualVariables(unsigned int index)
+{
+	//Create aux variables
+    float module_p;
+	float pd = pd_dev[index], puu = puu_dev[index], puv = puv_dev[index];
+	float pvu = pvu_dev[index], pvv = pvv_dev[index], pwu = pwu_dev[index], pwv = pwv_dev[index];
+
+    //Update dual variables
+    //Solve pd
+    pd += sigma_pd_dev[index]*mu_uv_dev[index]*(-dw_acc_dev[index] + ddt_dev[index] + ddu_dev[index]*du_acc_dev[index] + ddv_dev[index]*dv_acc_dev[index]);
+
+    //Solve pu
+    puu += sigma_puvx_dev[index]*lambda_i*gradu1_dev[index];
+    puv += sigma_puvy_dev[index]*lambda_i*gradu2_dev[index];
+
+    //Solve pv
+    pvu += sigma_puvx_dev[index]*lambda_i*gradv1_dev[index];
+    pvv += sigma_puvy_dev[index]*lambda_i*gradv2_dev[index];
+
+    //Solve pw
+    pwu += sigma_pwx_dev[index]*lambda_d*gradw1_dev[index];
+    pwv += sigma_pwy_dev[index]*lambda_d*gradw2_dev[index];
+
+    //Constrain pd
+    module_p = fabsf(pd);
+    if (module_p > 1.f)
+    {
+        if (pd > 1.f)
+            pd_dev[index] = 1.f;
+        else
+            pd_dev[index] = -1.f;
+    }
+	else
+		pd_dev[index] = pd;
+
+    //Constrain pu
+    module_p = rhypotf(puu, puv);	//1.f/sqrtf(puu*puu + puv*puv);
+    if (module_p < 1.f)
+    {
+        puu_dev[index] = puu*module_p;
+        puv_dev[index] = puv*module_p;
+    }
+	else
+	{
+        puu_dev[index] = puu;
+        puv_dev[index] = puv;
+	}
+
+    //Constrain pv
+    module_p = rhypotf(pvu, pvv);	//1.f/sqrtf(pvu*pvu + pvv*pvv);
+    if (module_p < 1.f)
+    {
+        pvu_dev[index] = pvu*module_p;
+        pvv_dev[index] = pvv*module_p;
+    }
+	else
+	{
+        pvu_dev[index] = pvu;
+        pvv_dev[index] = pvv;
+	}
+
+    //Constrain pw
+    module_p = rhypotf(pwu, pwv);	//1.f/sqrt(pwu*pwu + pwv*pwv);
+    if (module_p < 1.f)
+    {
+        pwu_dev[index] = pwu*module_p;
+        pwv_dev[index] = pwv*module_p;
+    }
+	else
+	{
+        pwu_dev[index] = pwu;
+        pwv_dev[index] = pwv;
+	}
+
+}
+
+__device__ void CSF_cuda::updatePrimalVariables(unsigned int index)
+{    
+	float du = du_new_dev[index], dv = dv_new_dev[index], dw = dw_new_dev[index];
+    const float du_old = du, dv_old = dv, dw_old = dw;
+	
+	//Compute du, dv and dw
+    //Solve du
+	du += - tau_u_dev[index]*(mu_uv_dev[index]*ddu_dev[index]*pd_dev[index] - lambda_i*divpu_dev[index]);
+
+    //Solve dv
+    dv += - tau_v_dev[index]*(mu_uv_dev[index]*ddv_dev[index]*pd_dev[index] - lambda_i*divpv_dev[index]);
+
+    //Solve dw
+    dw += - tau_w_dev[index]*(-mu_uv_dev[index]*pd_dev[index] - lambda_d*divpw_dev[index]);
+
+    //shrink du, dv and dw
+    //-----------------------------------------------------------
+    const float optflow = dct_dev[index] + dcu_dev[index]*du + dcv_dev[index]*dv;
+    const float of_threshold = tau_u_dev[index]*dcu_dev[index]*dcu_dev[index] + tau_v_dev[index]*dcv_dev[index]*dcv_dev[index];
+    if (optflow < -of_threshold)
+    {
+		du += tau_u_dev[index]*dcu_dev[index];
+        dv += tau_v_dev[index]*dcv_dev[index];
+    }
+    else if (optflow > of_threshold)
+    {
+		du -= tau_u_dev[index]*dcu_dev[index];
+        dv -= tau_v_dev[index]*dcv_dev[index];
+    }
+    else
+    {
+        const float den = tau_u_dev[index]*dcu_dev[index]*dcu_dev[index] + tau_v_dev[index]*dcv_dev[index]*dcv_dev[index] + 1e-10f;
+		du -= tau_u_dev[index]*dcu_dev[index]*optflow/den;
+        dv -= tau_v_dev[index]*dcv_dev[index]*optflow/den;
+    }
+
+    //Update du, dv
+    du_acc_dev[index] = 2.f*du - du_old;
+    dv_acc_dev[index] = 2.f*dv - dv_old;
+    dw_acc_dev[index] = 2.f*dw - dw_old;
+
+	du_new_dev[index] = du;
+	dv_new_dev[index] = dv;
+	dw_new_dev[index] = dw;
+}
+
+__device__ void CSF_cuda::computeDivergence(unsigned int index)
+{
+    //Calculate (v,u)
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+
+    //First terms
+    if (u == 0)
+    {
+        divpu_dev[index] = ri_dev[index]*puu_dev[index];
+        divpv_dev[index] = ri_dev[index]*pvu_dev[index];
+        divpw_dev[index] = ri_dev[index]*pwu_dev[index];
+    }
+    else if (u == cols_i-1)
+    {
+        divpu_dev[index] = -ri_dev[index]*puu_dev[index-rows_i];
+        divpv_dev[index] = -ri_dev[index]*pvu_dev[index-rows_i];
+        divpw_dev[index] = -ri_dev[index]*pwu_dev[index-rows_i];
+    }
+    else
+    {
+        divpu_dev[index] = ri_dev[index]*(puu_dev[index] - puu_dev[index-rows_i]);
+        divpv_dev[index] = ri_dev[index]*(pvu_dev[index] - pvu_dev[index-rows_i]);
+        divpw_dev[index] = ri_dev[index]*(pwu_dev[index] - pwu_dev[index-rows_i]);
+    }
+
+    //Second term
+    if (v == 0)
+    {
+        divpu_dev[index] += rj_dev[index]*puv_dev[index];
+        divpv_dev[index] += rj_dev[index]*pvv_dev[index];
+        divpw_dev[index] += rj_dev[index]*pwv_dev[index];
+    }
+    else if (v == rows_i-1)
+    {
+        divpu_dev[index] += -rj_dev[index]*puv_dev[index-1];
+        divpv_dev[index] += -rj_dev[index]*pvv_dev[index-1];
+        divpw_dev[index] += -rj_dev[index]*pwv_dev[index-1];
+    }
+    else
+    {
+        divpu_dev[index] += rj_dev[index]*(puv_dev[index] - puv_dev[index-1]);
+        divpv_dev[index] += rj_dev[index]*(pvv_dev[index] - pvv_dev[index-1]);
+        divpw_dev[index] += rj_dev[index]*(pwv_dev[index] - pwv_dev[index-1]);
+    }
+}
+
+__device__ void CSF_cuda::computeGradient(unsigned int index)
+{
+    //Calculate (v,u)
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+
+    if (u == cols_i-1)
+    {
+        gradu1_dev[index] = 0.f;
+        gradv1_dev[index] = 0.f;
+        gradw1_dev[index] = 0.f;
+    }
+    else
+    {
+        gradu1_dev[index] = ri_dev[index]*((du_acc_dev[index+rows_i] + du_prev_dev[index+rows_i]) - (du_acc_dev[index] + du_prev_dev[index]));
+        gradv1_dev[index] = ri_dev[index]*((dv_acc_dev[index+rows_i] + dv_prev_dev[index+rows_i]) - (dv_acc_dev[index] + dv_prev_dev[index]));
+        gradw1_dev[index] = ri_dev[index]*(dw_acc_dev[index+rows_i] - dw_acc_dev[index]);
+    }
+
+    if (v == rows_i-1)
+    {
+        gradu2_dev[index] = 0.f;
+        gradv2_dev[index] = 0.f;
+        gradw2_dev[index] = 0.f;
+    }
+    else
+    {
+        gradu2_dev[index] = rj_dev[index]*((du_acc_dev[index+1] + du_prev_dev[index+1]) - (du_acc_dev[index] + du_prev_dev[index]));
+        gradv2_dev[index] = rj_dev[index]*((dv_acc_dev[index+1] + dv_prev_dev[index+1]) - (dv_acc_dev[index] + dv_prev_dev[index]));
+        gradw2_dev[index] = rj_dev[index]*(dw_acc_dev[index+1] - dw_acc_dev[index]);
+    }
+}
+
+
+//                              Filter
+//=============================================================================
+__device__ void CSF_cuda::saturateVariables(unsigned int index)
+{
+    float du = du_new_dev[index], dv = dv_new_dev[index], dw = dw_new_dev[index];
+	if (du > 1.f)
+        du = 1.f;
+    else if (du < -1.f)
+        du = -1.f;
+
+    if (dv > 1.f)
+        dv = 1.f;
+    else if (dv < -1.f)
+        dv = -1.f;
+
+    if (depth_old_dev[level_image][index] == 0.f)
+        dw = 0.f;
+
+	//Add previous solution to filter all together
+	du_new_dev[index] = du + du_prev_dev[index];
+	dv_new_dev[index] = dv + dv_prev_dev[index];
+	dw_new_dev[index] = dw;
+}
+
+__device__ void CSF_cuda::filterSolution(unsigned int index)
+{
+	const float depth_old = depth_old_dev[level_image][index];
+	
+	//Calculate (v,u)
+    const unsigned int v = index%rows_i;
+    const unsigned int u = index/rows_i;
+
+	//Median filter
+	fieldAndPresence up[9], vp[9], wp[9];
+    float pres_cum_u[9], pres_cum_v[9], pres_cum_w[9], pres_med;
+    int indr, indc, ind_loop;
+	unsigned int point_count, v_index;
+    const float kd = 5.f;
+    const float kddt = 10.f;
+
+	if (depth_old > 0.f)
+    {
+        point_count = 9;
+        v_index = 0;
+
+        for (int k=-1; k<2; k++)
+            for (int l=-1; l<2; l++)
+            {
+                indr = v+k;
+                indc = u+l;
+				ind_loop = index + l*rows_i + k;
+                if ((indr < 0)||(indr >= rows_i)||(indc < 0)||(indc >= cols_i))
+                {
+                    point_count--;
+                    continue;
+                }
+
+                //Compute presence of every element
+                const float pres = 1.f/(1.f + kd*powf(depth_old - depth_old_dev[level_image][ind_loop],2.f) + kddt*powf(ddt_dev[ind_loop],2.f));
+						
+				up[v_index].field = du_new_dev[ind_loop]; up[v_index].pres = pres;
+                vp[v_index].field = dv_new_dev[ind_loop]; vp[v_index].pres = pres;
+                wp[v_index].field = dw_new_dev[ind_loop]; wp[v_index].pres = pres;
+                v_index++;
+            }
+
+		//Sort vectors (both the solution and the presence)
+		bubbleSortDev(up, point_count);
+		bubbleSortDev(vp, point_count);
+		bubbleSortDev(wp, point_count);
+
+		//Compute cumulative presence
+		pres_cum_u[0] = up[0].pres; pres_cum_v[0] = vp[0].pres; pres_cum_w[0] = wp[0].pres;
+		for (unsigned int i=1; i<point_count; i++)
+		{
+			pres_cum_u[i] = pres_cum_u[i-1] + up[i].pres;
+			pres_cum_v[i] = pres_cum_v[i-1] + vp[i].pres;
+			pres_cum_w[i] = pres_cum_w[i-1] + wp[i].pres;
+		}
+				
+		pres_med = 0.5f*pres_cum_u[point_count-1];
+
+		//Look for the indices comprising pres_med and get the filtered value
+		unsigned int cont = 0, ind_l, ind_r;
+
+		//For u
+		while (pres_med > pres_cum_u[cont]) {cont++;}
+		if (cont == 0)
+            du_l_dev[index] = up[0].field;
+		else
+		{
+			ind_r = cont; ind_l = cont-1;
+            du_l_dev[index] = ((pres_cum_u[ind_r] - pres_med)*up[ind_l].field + (pres_med - pres_cum_u[ind_l])*up[ind_r].field)/(pres_cum_u[ind_r] - pres_cum_u[ind_l]);
+		}
+
+		//For v
+		cont = 0;
+		while (pres_med > pres_cum_v[cont]) {cont++;}
+		if (cont == 0)
+            dv_l_dev[index] = vp[0].field;
+		else
+		{
+			ind_r = cont; ind_l = cont-1;
+            dv_l_dev[index] = ((pres_cum_v[ind_r] - pres_med)*vp[ind_l].field + (pres_med - pres_cum_v[ind_l])*vp[ind_r].field)/(pres_cum_v[ind_r] - pres_cum_v[ind_l]);
+		}
+
+		//For w
+		cont = 0;
+		while (pres_med > pres_cum_w[cont]) {cont++;}
+		if (cont == 0)
+            dw_l_dev[index] = wp[0].field;
+		else
+		{
+			ind_r = cont; ind_l = cont-1;
+            dw_l_dev[index] = ((pres_cum_w[ind_r] - pres_med)*wp[ind_l].field + (pres_med - pres_cum_w[ind_l])*wp[ind_r].field)/(pres_cum_w[ind_r] - pres_cum_w[ind_l]);
+		}
+    }
+	else
+	{
+        du_l_dev[index] = du_new_dev[index];
+        dv_l_dev[index] = dv_new_dev[index];
+        dw_l_dev[index] = dw_new_dev[index];
+	}
+
+    pd_l_dev[index] = pd_dev[index];
+    puu_l_dev[index] = puu_dev[index];
+    puv_l_dev[index] = puv_dev[index];
+    pvu_l_dev[index] = pvu_dev[index];
+    pvv_l_dev[index] = pvv_dev[index];
+    pwu_l_dev[index] = pwu_dev[index];
+    pwv_l_dev[index] = pwv_dev[index];
+}
+
+__device__ void CSF_cuda::computeMotionField(unsigned int index)
+{
+    //Fill the matrices dx,dy,dz with the final solution
+    const float x_incr = 2.f*f_dist*tanf(0.5f*fovh)/(cols_i-1);	//In meters
+    const float y_incr = 2.f*f_dist*tanf(0.5f*fovv)/(rows_i-1);	//In meters
+    const float fx = f_dist/x_incr;
+    const float fy = f_dist/y_incr;
+
+
+    if (depth_old_dev[level_image][index] > 0)
+    {
+        dx_dev[index] = dw_l_dev[index];
+        dy_dev[index] = depth_old_dev[level_image][index]*du_l_dev[index]/fx + dw_l_dev[index]*xx_old_dev[level_image][index]/depth_old_dev[level_image][index];
+        dz_dev[index] = depth_old_dev[level_image][index]*dv_l_dev[index]/fy + dw_l_dev[index]*yy_old_dev[level_image][index]/depth_old_dev[level_image][index];
+    }
+    else
+    {
+        dx_dev[index] = 0.f;
+        dy_dev[index] = 0.f;
+        dz_dev[index] = 0.f;
+    }
+}
+
+
+//                              Bridges
+//=================================================================================
+void GaussianPyramidBridge(CSF_cuda *csf, unsigned int levels, unsigned int cam_mode)
+{
+    for (unsigned int i=0; i<levels; i++)
+    {
+        const unsigned int cols_i_aux = 640/(cam_mode*powf(2,i));
+        const unsigned int rows_i_aux = 480/(cam_mode*powf(2,i));
+
+        cudaMemcpy(&csf->rows_i, &rows_i_aux, sizeof(float), cudaMemcpyHostToDevice);
+        cudaMemcpy(&csf->cols_i, &cols_i_aux, sizeof(float), cudaMemcpyHostToDevice);
+
+        ComputePyramidLevelKernel <<<N_blocks, N_threads>>>(csf, i);
+    }
+}
+
+void AssignZerosBridge(CSF_cuda *csf)
+{
+    AssignZerosKernel <<<N_blocks, N_threads>>>(csf);
+}
+
+void UpsampleBridge(CSF_cuda *csf)
+{
+    UpsampleCopyKernel <<<N_blocks, N_threads>>>(csf);
+    UpsampleFilterKernel <<<N_blocks, N_threads>>>(csf);
+}
+
+void ImageGradientsBridge(CSF_cuda *csf)
+{
+    ComputeImGradients <<<N_blocks, N_threads>>>(csf);
+}
+
+void WarpingBridge(CSF_cuda *csf)
+{
+    PerformWarping <<<N_blocks, N_threads>>> (csf);
+}
+
+void RijBridge(CSF_cuda *csf)
+{
+    RijKernel <<<N_blocks, N_threads>>>(csf);
+}
+
+void MuAndStepSizesBridge(CSF_cuda *csf)
+{
+    MuAndStepSizesKernel <<<N_blocks, N_threads>>>(csf);
+}
+
+void DualVariablesBridge(CSF_cuda *csf)
+{
+    DualIteration <<<N_blocks, N_threads>>>(csf);
+}
+
+void PrimalVariablesBridge(CSF_cuda *csf)
+{
+    PrimalIteration <<<N_blocks, N_threads>>>(csf);
+}
+
+void DivergenceBridge(CSF_cuda *csf)
+{
+    DivergenceComputation <<<N_blocks, N_threads>>>(csf);
+}
+
+void GradientBridge(CSF_cuda *csf)
+{
+    GradientComputation <<<N_blocks, N_threads>>>(csf);
+}
+
+void FilterBridge(CSF_cuda *csf)
+{
+    SaturateSolution <<<N_blocks, N_threads>>>(csf);
+    FilterSolution <<<N_blocks, N_threads>>>(csf);
+}
+
+void MotionFieldBridge(CSF_cuda *csf)
+{
+    MotionFieldKernel <<<N_blocks, N_threads>>>(csf);
+}
+
+void DebugBridge(CSF_cuda *csf_device)
+{
+    printf("Entro en el debug bridge");
+    DebugKernel <<<1,1>>>(csf_device);
+}
+
+void BridgeBack(CSF_cuda *csf_host, CSF_cuda *csf_device)
+{
+    cudaMemcpy(csf_host, csf_device, sizeof(CSF_cuda), cudaMemcpyDeviceToHost);
+    cudaFree(csf_device);
+}
+
+
+//                                  Kernels
+//=============================================================================
+__global__ void DebugKernel(CSF_cuda *csf)
+{
+    printf("\n dx: ");
+    for (unsigned int i = 0; i< (csf->rows_i)*(csf->cols_i); i++)  //(csf->rows)*(csf->cols)
+        printf(" %f", csf->dx_dev[i]);
+
+}
+
+__global__ void ComputePyramidLevelKernel (CSF_cuda *csf, unsigned int level)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computePyramidLevel(index, level);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void AssignZerosKernel (CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->assignZeros(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void UpsampleCopyKernel (CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i/4)
+    {
+        csf->upsampleCopyPrevSolution(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void UpsampleFilterKernel (CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->upsampleFilterPrevSolution(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void ComputeImGradients(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computeImGradients(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void PerformWarping(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->performWarping(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void RijKernel(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computeRij(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void MuAndStepSizesKernel(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computeMu(index);
+        csf->computeStepSizes(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void DualIteration(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->updateDualVariables(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void PrimalIteration(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->updatePrimalVariables(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void DivergenceComputation(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computeDivergence(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+
+__global__ void GradientComputation(CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computeGradient(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+
+__global__ void SaturateSolution (CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->saturateVariables(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+
+__global__ void FilterSolution (CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->filterSolution(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+__global__ void MotionFieldKernel (CSF_cuda *csf)
+{
+    // detect pixel
+    unsigned int index = threadIdx.x + blockDim.x*blockIdx.x;
+
+    while (index < csf->rows_i*csf->cols_i)
+    {
+        csf->computeMotionField(index);
+        index += blockDim.x*gridDim.x;
+    }
+}
+
+//Naive implementations of bubbleSort (applied to very small arrays)
+__device__ void bubbleSortDev(fieldAndPresence array[], unsigned int num_elem)
+{
+	bool go_on = true;
+	while (go_on)
+	{
+		go_on = false;
+		for (unsigned int i=1; i<num_elem; i++)
+		{
+			if (array[i-1].field > array[i].field)
+			{
+				ELEM_SWAP(array[i-1].field,array[i].field);
+				ELEM_SWAP(array[i-1].pres,array[i].pres);
+				go_on = true;
+			}
+		}
+	}
+}
+
+
+
+
diff --git a/pdflow_cudalib.h b/pdflow_cudalib.h
new file mode 100644
index 0000000..501dfec
--- /dev/null
+++ b/pdflow_cudalib.h
@@ -0,0 +1,195 @@
+// Author: Mariano Jaimez Tarifa
+// Organization: MAPIR, University of Malaga
+// Date: Juin 2014
+// License: GNU
+
+#include <stdio.h>
+#include <cuda_runtime.h>
+#include <cuda.h>
+
+#define N_blocks 256    //128
+#define N_threads 128   //256
+
+//Warning!!!!!! Number of threads should be higher than 25 - See definition of "computePyramidLevel()"
+
+#define ELEM_SWAP(a,b) { register float t=(a);(a)=(b);(b)=t; }
+
+//--------------------------------------------------------------
+//				Host-Device class for the PD-Flow
+//--------------------------------------------------------------
+class CSF_cuda {
+public:
+
+    //Parameters
+    unsigned int rows;
+    unsigned int cols;
+    unsigned int ctf_levels;
+    unsigned int cam_mode;
+    float lambda_i;
+    float lambda_d;
+    float mu;
+    float lens_disp;
+    float fovh;
+    float fovv;
+    float f_dist;
+
+    //Local values
+    unsigned int local_level;
+    unsigned int level_image;
+    unsigned int rows_i, cols_i;
+
+    //Compute gaussian mask
+    float *g_mask_dev;
+
+    //Last frames read
+    float *colour_wf_dev, *depth_wf_dev;
+
+    //Images and coordinates (pointers to pointers...)
+    float *depth_old_dev[8], *xx_old_dev[8], *yy_old_dev[8];
+    float *depth_dev[8], *xx_dev[8], *yy_dev[8];
+    float *colour_old_dev[8], *colour_dev[8];
+
+    //Motion field
+    float *dx_dev, *dy_dev, *dz_dev;
+
+    //Intensity and depth gradients without warping
+    float *dcu_aux_dev, *dcv_aux_dev;
+    float *ddu_aux_dev, *ddv_aux_dev;
+
+    //Warped intensity and depth gradients
+    float *dct_dev, *dcu_dev, *dcv_dev;
+    float *ddt_dev, *ddu_dev, *ddv_dev;
+
+    //Motion field gradients
+    float *gradu1_dev, *gradu2_dev;
+    float *gradv1_dev, *gradv2_dev;
+    float *gradw1_dev, *gradw2_dev;
+
+    //Divergence of dual variables
+    float *divpu_dev, *divpv_dev, *divpw_dev;
+
+    //Primal and dual step sizes
+    float *sigma_pd_dev, *sigma_puvx_dev, *sigma_puvy_dev;
+    float *sigma_pwx_dev, *sigma_pwy_dev;
+    float *tau_u_dev, *tau_v_dev, *tau_w_dev;
+
+    //Weights for data terms and regularization
+    float *mu_uv_dev;
+    float *ri_dev, *rj_dev;
+	float *ri_2_dev, *rj_2_dev;
+
+    //Primal-dual acceleration and previous solution
+    float *du_acc_dev, *dv_acc_dev, *dw_acc_dev;
+    float *du_prev_dev, *dv_prev_dev;
+
+    //Aux variables for gaussian upsampling
+    float *du_upsamp_dev, *dv_upsamp_dev, *dw_upsamp_dev;
+    float *pd_upsamp_dev;
+    float *puu_upsamp_dev, *puv_upsamp_dev;
+    float *pvu_upsamp_dev, *pvv_upsamp_dev;
+    float *pwu_upsamp_dev, *pwv_upsamp_dev;
+
+    //Solution of the previous level (only store one)
+    float *du_l_dev, *dv_l_dev, *dw_l_dev;
+    float *pd_l_dev;
+    float *puu_l_dev, *puv_l_dev;
+    float *pvu_l_dev, *pvv_l_dev;
+    float *pwu_l_dev, *pwv_l_dev;
+
+    //Primal and dual variables
+    float *du_new_dev;
+    float *dv_new_dev;
+    float *dw_new_dev;
+    float *pd_dev;
+    float *puu_dev, *puv_dev;
+    float *pvu_dev, *pvv_dev;
+    float *pwu_dev, *pwv_dev;
+
+
+    __host__ void allocateDevMemory();
+    __host__ void allocateMemoryNewLevel(unsigned int rows_loc, unsigned int cols_loc, unsigned int level_i, unsigned int level_image_i);
+    __host__ void readParameters(unsigned int rows_host, unsigned int cols_host, float lambda_i_host, float lambda_d_host,
+                                 float mu_host, float *g_mask, unsigned int levels_host, float lens_displ_host,
+                                 unsigned int cam_mode_host, float fovh_host, float fovv_host, float f_dist_host);
+
+    __host__ void copyNewFrames(float *colour_wf, float *depth_wf);
+    __host__ void freeDeviceMemory();
+    __host__ void freeLevelVariables();
+	__host__ void copyAllSolutions(float *dx, float *dy, float *dz, float *depth, float *depth_old, float *colour, float *colour_old, float *xx, float *xx_old, float *yy, float *yy_old);
+	__host__ void copyMotionField(float *dx, float *dy, float *dz);
+
+    __device__ void computePyramidLevel(unsigned int index, unsigned int level);
+    __device__ void assignZeros(unsigned int index);
+    __device__ void upsampleCopyPrevSolution(unsigned int index);
+    __device__ void upsampleFilterPrevSolution(unsigned int index);
+    __device__ void computeImGradients(unsigned int index);
+    __device__ void performWarping(unsigned int index);
+    __device__ void computeRij(unsigned int index);
+    __device__ void computeMu(unsigned int index);
+    __device__ void computeStepSizes(unsigned int index);
+    __device__ void updateDualVariables(unsigned int index);
+    __device__ void updatePrimalVariables(unsigned int index);
+    __device__ void computeDivergence(unsigned int index);
+    __device__ void computeGradient(unsigned int index);
+    __device__ void saturateVariables(unsigned int index);
+    __device__ void filterSolution(unsigned int index);
+    __device__ float interpolatePixel(float *mat, float ind_u, float ind_v);
+	__device__ float interpolatePixelDepth(float *mat, float ind_u, float ind_v);
+    __device__ void computeMotionField(unsigned int index);
+};
+
+//-------------------------------------------------------------------------------------------------------
+// Bridges between Cuda-related functions and the code compiled with the standard compiler (without CUDA)
+//-------------------------------------------------------------------------------------------------------
+CSF_cuda *ObjectToDevice(CSF_cuda *csf_host);
+void GaussianPyramidBridge(CSF_cuda *csf, unsigned int levels, unsigned int cam_mode);
+void AssignZerosBridge(CSF_cuda *csf);
+void UpsampleBridge(CSF_cuda *csf);
+void ImageGradientsBridge(CSF_cuda *csf);
+void RijBridge(CSF_cuda *csf);
+void WarpingBridge(CSF_cuda *csf);
+void MuAndStepSizesBridge(CSF_cuda *csf);
+void DualVariablesBridge(CSF_cuda *csf);
+void PrimalVariablesBridge(CSF_cuda *csf);
+void DivergenceBridge(CSF_cuda *csf);
+void GradientBridge(CSF_cuda *csf);
+void FilterBridge(CSF_cuda *csf);
+void MotionFieldBridge(CSF_cuda *csf);
+void DebugBridge(CSF_cuda *csf_device);
+void BridgeBack(CSF_cuda *csf_host, CSF_cuda *csf_device);
+
+//-------------------------------------------------------------------------------------------------------
+//				Kernels corresponding to the main steps of the algorithm (and aux kernels)
+//-------------------------------------------------------------------------------------------------------
+__global__ void ComputePyramidLevelKernel (CSF_cuda *csf, unsigned int level);
+__global__ void AssignZerosKernel (CSF_cuda *csf);
+__global__ void UpsampleCopyKernel (CSF_cuda *csf);
+__global__ void UpsampleFilterKernel (CSF_cuda *csf);
+__global__ void RijKernel(CSF_cuda *csf);
+__global__ void ComputeImGradients (CSF_cuda *csf);
+__global__ void PerformWarping(CSF_cuda *csf);
+__global__ void MuAndStepSizesKernel(CSF_cuda *csf);
+__global__ void DualIteration(CSF_cuda *csf);
+__global__ void PrimalIteration(CSF_cuda *csf);
+__global__ void DivergenceComputation(CSF_cuda *csf);
+__global__ void GradientComputation(CSF_cuda *csf);
+__global__ void SaturateSolution(CSF_cuda *csf);
+__global__ void FilterSolution(CSF_cuda *csf);
+__global__ void MotionFieldKernel (CSF_cuda *csf);
+__global__ void DebugKernel(CSF_cuda *csf);
+
+//-----------------------------------------------------------------------------
+//				Aux functions for the weighted median filter
+//-----------------------------------------------------------------------------
+
+//Sorting - Structure field and presence
+struct fieldAndPresence {
+	float field;
+	float pres;
+};
+
+//Naive implementation of bubbleSort (applied to very small arrays)
+__device__ void bubbleSortDev(fieldAndPresence array[], unsigned int num_elem);
+
+
+
diff --git a/scene_flow_impair.cpp b/scene_flow_impair.cpp
new file mode 100644
index 0000000..6bbe74b
--- /dev/null
+++ b/scene_flow_impair.cpp
@@ -0,0 +1,460 @@
+
+#include "scene_flow_impair.h"
+
+PD_flow_opencv::PD_flow_opencv(unsigned int rows_config)
+{     
+    rows = rows_config;      //Maximum size of the coarse-to-fine scheme
+    cols = rows*320/240;
+	cam_mode = 1;
+    ctf_levels = round(log2(rows/15)) + 1;
+    fovh = M_PI*62.5f/180.f;
+    fovv = M_PI*45.f/180.f;
+    len_disp = 0.022f;
+    num_max_iter[0] = 40;
+    num_max_iter[1] = 50;
+    num_max_iter[2] = 60;
+    num_max_iter[3] = 80;
+    num_max_iter[4] = 100;
+    num_max_iter[5] = 0;
+
+    //Compute gaussian mask
+	int v_mask[5] = {1,4,6,4,1};
+    for (unsigned int i=0; i<5; i++)
+        for (unsigned int j=0; j<5; j++)
+            g_mask[i+5*j] = float(v_mask[i]*v_mask[j])/256.f;
+
+    //Matrices that store the original and filtered images with the image resolution
+    colour_wf.setSize(480/cam_mode,640/cam_mode);
+    depth_wf.setSize(480/cam_mode,640/cam_mode);
+
+    //Resize vectors according to levels
+    dx.resize(ctf_levels); dy.resize(ctf_levels); dz.resize(ctf_levels);
+	dxp = (float *) malloc(sizeof(float)*rows*cols);
+	dyp = (float *) malloc(sizeof(float)*rows*cols);
+	dzp = (float *) malloc(sizeof(float)*rows*cols);
+
+    const unsigned int width = colour_wf.getColCount();
+    const unsigned int height = colour_wf.getRowCount();
+    unsigned int s, cols_i, rows_i;
+
+    for (unsigned int i = 0; i<ctf_levels; i++)
+    {
+        s = pow(2.f,int(ctf_levels-(i+1)));
+        cols_i = cols/s; rows_i = rows/s;
+        dx[ctf_levels-i-1].setSize(rows_i,cols_i);
+        dy[ctf_levels-i-1].setSize(rows_i,cols_i);
+        dz[ctf_levels-i-1].setSize(rows_i,cols_i);
+    }
+
+    //Resize pyramid
+    const unsigned int pyr_levels = round(log2(width/cols)) + ctf_levels;
+    colour.resize(pyr_levels);
+    colour_old.resize(pyr_levels);
+    depth.resize(pyr_levels);
+    depth_old.resize(pyr_levels);
+    xx.resize(pyr_levels);
+    xx_old.resize(pyr_levels);
+    yy.resize(pyr_levels);
+    yy_old.resize(pyr_levels);
+
+    for (unsigned int i = 0; i<pyr_levels; i++)
+    {
+        s = pow(2.f,int(i));
+        colour[i].resize(height/s, width/s);
+        colour_old[i].resize(height/s, width/s);
+        colour[i].assign(0.0f);
+        colour_old[i].assign(0.0f);
+        depth[i].resize(height/s, width/s);
+        depth_old[i].resize(height/s, width/s);
+        depth[i].assign(0.0f);
+        depth_old[i].assign(0.0f);
+        xx[i].resize(height/s, width/s);
+        xx_old[i].resize(height/s, width/s);
+        xx[i].assign(0.0f);
+        xx_old[i].assign(0.0f);
+        yy[i].resize(height/s, width/s);
+        yy_old[i].resize(height/s, width/s);
+        yy[i].assign(0.0f);
+        yy_old[i].assign(0.0f);
+    }
+
+    //Parameters of the variational method
+    lambda_i = 0.04f;
+    lambda_d = 0.35f;
+    mu = 75.f;
+
+    //Camera parameters
+    f_dist = 1.f/525.f;     //In meters
+}
+
+void PD_flow_opencv::createImagePyramidGPU()
+{
+    utils::CTicTac clock;
+    clock.Tic();
+
+    //Cuda copy new frames
+    csf_host.copyNewFrames(I, Z);
+	//csf_host.copyNewFrames(colour_wf.data(), depth_wf.data());
+
+    //Cuda copy object to device
+    csf_device = ObjectToDevice(&csf_host);
+
+    unsigned int pyr_levels = round(log2(width/cols)) + ctf_levels;
+    GaussianPyramidBridge(csf_device, pyr_levels, cam_mode);
+
+    //Cuda copy object back to host
+    BridgeBack(&csf_host, csf_device);
+
+	//Execution results
+	const float aux_time = 1000.f*clock.Tac();
+    //cout << endl << "Time for the pyramid: " << aux_time << "ms";
+}
+
+void PD_flow_opencv::solveSceneFlowGPU()
+{
+    //Define variables
+    CTicTac	clock;
+
+    unsigned int s;
+    unsigned int cols_i, rows_i;
+    unsigned int level_image;
+    unsigned int num_iter;
+
+    clock.Tic();
+
+    //For every level (coarse-to-fine)
+    for (unsigned int i=0; i<ctf_levels; i++)
+    {
+        s = pow(2.f,int(ctf_levels-(i+1)));
+        cols_i = cols/s;
+        rows_i = rows/s;
+        level_image = ctf_levels - i + round(log2(width/cols)) - 1;
+
+        //=========================================================================
+        //                              Cuda - Begin
+        //=========================================================================
+
+        //Cuda allocate memory
+        csf_host.allocateMemoryNewLevel(rows_i, cols_i, i, level_image);
+
+        //Cuda copy object to device
+        csf_device = ObjectToDevice(&csf_host);
+
+        //Assign zeros to the corresponding variables
+        AssignZerosBridge(csf_device);
+
+        //Upsample previous solution
+        if (i>0)
+            UpsampleBridge(csf_device);
+
+        //Compute connectivity (Rij)
+		RijBridge(csf_device);
+		
+		//Compute colour and depth derivatives
+        ImageGradientsBridge(csf_device);
+        WarpingBridge(csf_device);
+
+        //Compute mu_uv and step sizes for the primal-dual algorithm
+        MuAndStepSizesBridge(csf_device);
+
+        for (num_iter = 0; num_iter < num_max_iter[i]; num_iter++)
+        {
+            GradientBridge(csf_device);
+            DualVariablesBridge(csf_device);
+            DivergenceBridge(csf_device);
+            PrimalVariablesBridge(csf_device);
+        }
+
+        //Filter solution
+        FilterBridge(csf_device);
+
+        //Compute the motion field
+        MotionFieldBridge(csf_device);
+
+        //BridgeBack
+        BridgeBack(&csf_host, csf_device);
+
+        //Free variables of this level
+        csf_host.freeLevelVariables();
+
+        //Copy motion field to CPU
+		csf_host.copyMotionField(dxp, dyp, dzp);
+
+		//For debugging
+        //DebugBridge(csf_device);
+
+        //=========================================================================
+        //                              Cuda - end
+        //=========================================================================
+    }
+}
+
+void PD_flow_opencv::freeGPUMemory()
+{
+    csf_host.freeDeviceMemory();
+}
+
+void PD_flow_opencv::initializeCUDA()
+{
+    //Read parameters
+    csf_host.readParameters(rows, cols, lambda_i, lambda_d, mu, g_mask, ctf_levels, len_disp, cam_mode, fovh, fovv, f_dist);
+
+    //Allocate memory
+    csf_host.allocateDevMemory();
+}
+
+void PD_flow_opencv::initializeScene()
+{
+    global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 10000000;
+    window.resize(1000,900);
+    window.setPos(900,0);
+    window.setCameraZoom(4);
+    window.setCameraAzimuthDeg(190);
+    window.setCameraElevationDeg(30);
+	window.setCameraPointingToPoint(1,0,0);
+	
+	scene = window.get3DSceneAndLock();
+
+    //Point cloud (final)
+    opengl::CPointCloudPtr fpoints_gl = opengl::CPointCloud::Create();
+    fpoints_gl->setColor(0, 1, 1);
+    fpoints_gl->enablePointSmooth();
+    fpoints_gl->setPointSize(3.0);
+    fpoints_gl->setPose(CPose3D(0,0,0,0,0,0));
+    scene->insert( fpoints_gl );
+
+    //Scene Flow
+    opengl::CVectorField3DPtr sf = opengl::CVectorField3D::Create();
+    sf->setPointSize(3.0f);
+    sf->setLineWidth(2.0f);
+    sf->setPointColor(1,0,0);
+    sf->setVectorFieldColor(0,0,1);
+    sf->enableAntiAliasing();
+    sf->setPose(CPose3D(0,0,0,0,0,0));
+    scene->insert( sf );
+
+    //Reference frame
+    opengl::CSetOfObjectsPtr reference = opengl::stock_objects::CornerXYZ();
+    reference->setPose(CPose3D(0,len_disp,0,0,0,0));
+	reference->setScale(0.15f);
+    scene->insert( reference );
+
+    window.unlockAccess3DScene();
+    window.repaint();
+}
+
+void PD_flow_opencv::updateScene()
+{	
+	scene = window.get3DSceneAndLock();
+
+	const unsigned int repr_level = round(log2(colour_wf.getColCount()/cols));
+
+	//Point cloud (final)
+    opengl::CPointCloudPtr fpoints_gl = scene->getByClass<opengl::CPointCloud>(0);
+    fpoints_gl->clear();
+    for (unsigned int v=0; v<rows; v++)
+        for (unsigned int u=0; u<cols; u++)
+            if (depth[repr_level](v,u) > 0.1f)
+                fpoints_gl->insertPoint(depth[repr_level](v,u), xx[repr_level](v,u), yy[repr_level](v,u));
+
+
+    opengl::CVectorField3DPtr sf = scene->getByClass<opengl::CVectorField3D>(0);
+	sf->setPointCoordinates(depth_old[repr_level], xx_old[repr_level], yy_old[repr_level]);
+    sf->setVectorField(dx[0], dy[0], dz[0]);
+
+    window.unlockAccess3DScene();
+    window.repaint();
+}
+
+void PD_flow_opencv::showImages()
+{
+	//Show images
+	const unsigned int dispx = intensity1.cols + 20;
+	const unsigned int dispy = intensity1.rows + 20;
+
+	cv::namedWindow("I1", cv::WINDOW_AUTOSIZE);
+	cv::moveWindow("I1",10,10);
+	cv::imshow("I1", intensity1);
+
+	cv::namedWindow("Z1", cv::WINDOW_AUTOSIZE);
+	cv::moveWindow("Z1",dispx,10);
+	cv::imshow("Z1", depth1);
+
+	cv::namedWindow("I2", cv::WINDOW_AUTOSIZE);
+	cv::moveWindow("I2",10,dispy);
+	cv::imshow("I2", intensity2);
+
+	cv::namedWindow("Z2", cv::WINDOW_AUTOSIZE);
+	cv::moveWindow("Z2",dispx,dispy);
+	cv::imshow("Z2", depth2);
+
+	cv::waitKey(30);
+
+	initializeScene();
+}
+
+bool PD_flow_opencv::loadRGBDFrames()
+{
+	char name[100];
+	cv::Mat depth_float;
+
+	//First intensity image
+	sprintf(name, "i1.png");
+	intensity1 = cv::imread(name, CV_LOAD_IMAGE_GRAYSCALE);
+	if (intensity1.empty())
+	{
+		cout << endl << "The first intensity image (i1) cannot be found, please check that it is in the correct folder \n";
+		return 0;
+	}
+
+	width = intensity1.cols;
+	height = intensity1.rows;
+	I = (float *) malloc(sizeof(float)*width*height);
+	Z = (float *) malloc(sizeof(float)*width*height);
+
+	for (unsigned int u=0; u<width; u++)
+		for (unsigned int v=0; v<height; v++)
+		{
+			colour_wf(height-1-v,u) = intensity1.at<unsigned char>(v,u);
+			I[v + u*height] = float(intensity1.at<unsigned char>(v,u));
+		}
+
+	//First depth image
+	sprintf(name, "z1.png");
+	depth1 = cv::imread(name, -1);
+	if (depth1.empty())
+	{
+		cout << endl << "The first depth image (z1) cannot be found, please check that it is in the correct folder \n";
+		return 0;
+	}
+
+	depth1.convertTo(depth_float, CV_32FC1, 1.0 / 5000.0);
+	for (unsigned int v=0; v<depth_wf.rows(); v++)
+		for (unsigned int u=0; u<depth_wf.cols(); u++)
+		{
+			depth_wf(height-1-v,u) = depth_float.at<float>(v,u);
+			Z[v + u*height] = depth_float.at<float>(v,u);
+		}
+
+	createImagePyramidGPU();
+
+
+	//Second intensity image
+	sprintf(name, "i2.png");
+	intensity2 = cv::imread(name, CV_LOAD_IMAGE_GRAYSCALE);
+	if (intensity2.empty())
+	{
+		cout << endl << "The second intensity image (i2) cannot be found, please check that it is in the correct folder \n";
+		return 0;
+	}
+
+	for (unsigned int v=0; v<colour_wf.rows(); v++)
+		for (unsigned int u=0; u<colour_wf.cols(); u++)
+		{
+			colour_wf(height-1-v,u) = intensity2.at<unsigned char>(v,u);
+			I[v + u*height] = float(intensity2.at<unsigned char>(v,u));
+		}
+
+	//Second depth image
+	sprintf(name, "z2.png");
+	depth2 = cv::imread(name, -1);
+	if (depth2.empty())
+	{
+		cout << endl << "The second depth image (z2) cannot be found, please check that they are in the correct folder \n";
+		return 0;
+	}
+	depth2.convertTo(depth_float, CV_32FC1, 1.0 / 5000.0);
+	for (unsigned int v=0; v<depth_wf.rows(); v++)
+		for (unsigned int u=0; u<depth_wf.cols(); u++)
+		{
+			depth_wf(height-1-v,u) = depth_float.at<float>(v,u);
+			Z[v + u*height] = depth_float.at<float>(v,u);
+		}
+
+	createImagePyramidGPU();
+
+	return 1;
+}
+
+void PD_flow_opencv::showAndSaveResults()
+{
+	//Save scene flow as an RGB image (one colour per direction)
+	cv::Mat sf_image(rows, cols, CV_8UC3);
+
+	//The max-min values are used by default but it can be set manually if the user wants to
+	const float mindx = dx[0].minimum();
+	const float maxdx = dx[0].maximum();
+	const float mindy = dy[0].minimum();
+	const float maxdy = dy[0].maximum();
+	const float mindz = dz[0].minimum();
+	const float maxdz = dz[0].maximum();
+
+	//const float maxmodx = 0.8*max(abs(mindx), abs(maxdx));
+	//const float maxmody = 0.8*max(abs(mindy), abs(maxdy));
+	//const float maxmodz = 0.8*max(abs(mindz), abs(maxdz));
+
+	//Compute the max-min values of the flow
+	float maxmodx = 0.f, maxmody = 0.f, maxmodz = 0.f;
+	for (unsigned int v=0; v<rows; v++)
+		for (unsigned int u=0; u<cols; u++)
+		{
+			if (abs(dxp[v + u*rows]) > maxmodx)
+				maxmodx = abs(dxp[v + u*rows]);
+			if (abs(dyp[v + u*rows]) > maxmody)
+				maxmody = abs(dyp[v + u*rows]);
+			if (abs(dzp[v + u*rows]) > maxmodz)
+				maxmodz = abs(dzp[v + u*rows]);
+		}
+
+	for (unsigned int v=0; v<rows; v++)
+		for (unsigned int u=0; u<cols; u++)
+		{
+			//sf_image.at<cv::Vec3b>(v,u)[0] = 255*abs(dx[0](v,u))/maxmodx; //Blue
+			//sf_image.at<cv::Vec3b>(v,u)[1] = 255*abs(dy[0](v,u))/maxmody; //Green
+			//sf_image.at<cv::Vec3b>(v,u)[2] = 255*abs(dz[0](v,u))/maxmodz; //Red
+
+			sf_image.at<cv::Vec3b>(v,u)[0] = 255*abs(dxp[v + u*rows])/maxmodx; //Blue
+			sf_image.at<cv::Vec3b>(v,u)[1] = 255*abs(dyp[v + u*rows])/maxmody; //Green
+			sf_image.at<cv::Vec3b>(v,u)[2] = 255*abs(dzp[v + u*rows])/maxmodz; //Red
+		}
+	
+	//Show the scene flow as an RGB image	
+	cv::namedWindow("SceneFlow", cv::WINDOW_NORMAL);
+	cv::moveWindow("SceneFlow",10,10);
+	cv::imshow("SceneFlow", sf_image);
+	cv::waitKey(100000);
+
+
+	//Save the scene flow as a text file, as well as the RGB generated image. 
+	//char	name[100];
+	//int     nFichero = 0;
+	//bool    free_name = false;
+
+	//while (!free_name)
+	//{
+	//	nFichero++;
+	//	sprintf(name, "pdflow_results%02u.txt", nFichero );
+	//	free_name = !system::fileExists(name);
+	//}
+	//
+	//std::ofstream f_res;
+	//f_res.open(name);
+	//printf("Saving the estimated scene flow to file: %s \n", name);
+
+	////Format: (pixel(row), pixel(col), vx, vy, vz)
+	//for (unsigned int v=0; v<rows; v++)
+	//	for (unsigned int u=0; u<cols; u++)
+	//	{
+	//		f_res << v << " ";
+	//		f_res << u << " ";
+	//		f_res << dx[0](v,u) << " ";
+	//		f_res << dy[0](v,u) << " ";
+	//		f_res << dz[0](v,u) << endl;
+	//	}
+
+	//f_res.close();
+
+	//sprintf(name, "pdflow_representation%02u.png", nFichero);
+	//printf("Saving the visual representation to file: %s \n", name);
+	//cv::imwrite(name, sf_image);
+}
\ No newline at end of file
diff --git a/scene_flow_impair.h b/scene_flow_impair.h
new file mode 100644
index 0000000..c6a5104
--- /dev/null
+++ b/scene_flow_impair.h
@@ -0,0 +1,102 @@
+
+#include <mrpt/utils.h>
+#include <mrpt/system.h>
+#include <mrpt/gui/CDisplayWindow3D.h>
+#include <mrpt/opengl.h>
+#include <opencv2/core.hpp>
+#include <opencv2/highgui.hpp>
+#include <Eigen/src/Core/Matrix.h>
+#include "pdflow_cudalib.h"
+#include "legend_pdflow.xpm"
+#include <stdlib.h>
+#include <ostream>
+
+#define M_LOG2E 1.44269504088896340736 //log2(e)
+
+inline float log2(const float x){
+    return  log(x) * M_LOG2E;
+}
+
+
+using namespace mrpt;
+using namespace mrpt::math;
+using namespace mrpt::utils;
+using namespace std;
+using mrpt::poses::CPose3D;
+using Eigen::MatrixXf;
+
+
+class PD_flow_opencv {
+public:
+
+    float len_disp;         //In meters
+    unsigned int cam_mode;	// (1 - 640 x 480, 2 - 320 x 240, 4 - 160 x 120)
+    unsigned int ctf_levels;//Number of levels used in the coarse-to-fine scheme (always dividing by two)
+    unsigned int num_max_iter[6];  //Max number of iterations distributed homogeneously between all levels
+    float g_mask[25];
+	
+    //Matrices that store the original images with the image resolution
+	cv::Mat intensity1;
+	cv::Mat depth1;
+	cv::Mat intensity2;
+	cv::Mat depth2;
+	float *I, *Z;
+    MatrixXf colour_wf;
+    MatrixXf depth_wf;
+
+    //Matrices that store the images downsampled
+    vector<MatrixXf> colour;
+    vector<MatrixXf> colour_old;
+    vector<MatrixXf> depth;
+    vector<MatrixXf> depth_old;
+    vector<MatrixXf> xx;
+    vector<MatrixXf> xx_old;
+    vector<MatrixXf> yy;
+    vector<MatrixXf> yy_old;
+
+    //Motion field
+    vector<MatrixXf> dx;
+    vector<MatrixXf> dy;
+    vector<MatrixXf> dz;
+	float *dxp, *dyp, *dzp;
+
+    //Camera properties
+    float f_dist;	//In meters
+    float fovh;     //Here it is expressed in radians
+    float fovv;     //Here it is expressed in radians
+
+    //Max resolution of the coarse-to-fine scheme.
+    unsigned int rows;
+    unsigned int cols;
+
+	//Resolution of the original images
+	unsigned int width;
+	unsigned int height;
+
+    //Optimization Parameters
+    float mu, lambda_i, lambda_d;
+
+    //Visual
+    gui::CDisplayWindow3D       window;
+    opengl::COpenGLScenePtr		scene;
+    utils::CImage				image;
+
+    //Cuda
+    CSF_cuda csf_host, *csf_device;
+
+	//Methods
+	bool loadRGBDFrames();
+    void createImagePyramidGPU();
+    void solveSceneFlowGPU();
+    void freeGPUMemory();
+    void initializeCUDA();
+	void initializeScene();
+	void updateScene();
+	void showImages();
+	void showAndSaveResults();
+
+    PD_flow_opencv(unsigned int rows_config);
+};
+
+
+
diff --git a/scene_flow_visualization.cpp b/scene_flow_visualization.cpp
new file mode 100644
index 0000000..9a59188
--- /dev/null
+++ b/scene_flow_visualization.cpp
@@ -0,0 +1,415 @@
+
+#include "scene_flow_visualization.h"
+
+PD_flow_mrpt::PD_flow_mrpt(unsigned int cam_mode_config, unsigned int fps_config, unsigned int rows_config)
+{     
+    rows = rows_config;      //Maximum size of the coarse-to-fine scheme
+    cols = rows*320/240;
+    cam_mode = cam_mode_config;   // (1 - 640 x 480, 2 - 320 x 240)
+    ctf_levels = round(log2(rows/15)) + 1;
+    fovh = M_PI*62.5f/180.f;
+    fovv = M_PI*45.f/180.f;
+    len_disp = 0.022f;
+    num_max_iter[0] = 40;
+    num_max_iter[1] = 50;
+    num_max_iter[2] = 60;
+    num_max_iter[3] = 80;
+    num_max_iter[4] = 0;
+    num_max_iter[5] = 0;
+
+    fps = fps_config;		//In Hz
+
+    //Compute gaussian mask
+	int v_mask[5] = {1,4,6,4,1};
+    g_mask.setSize(5,5);
+    for (unsigned int i=0; i<5; i++)
+        for (unsigned int j=0; j<5; j++)
+            g_mask(i,j) = v_mask[i]*v_mask[j];
+
+    g_mask = g_mask/256.f;
+
+    //Matrices that store the original and filtered images with the image resolution
+    colour_wf.setSize(480/cam_mode,640/cam_mode);
+    depth_wf.setSize(480/cam_mode,640/cam_mode);
+
+    //Resize vectors according to levels
+    dx.resize(ctf_levels); dy.resize(ctf_levels); dz.resize(ctf_levels);
+
+    const unsigned int width = colour_wf.getColCount();
+    const unsigned int height = colour_wf.getRowCount();
+    unsigned int s, cols_i, rows_i;
+
+    for (unsigned int i = 0; i<ctf_levels; i++)
+    {
+        s = pow(2.f,int(ctf_levels-(i+1)));
+        cols_i = cols/s; rows_i = rows/s;
+        dx[ctf_levels-i-1].setSize(rows_i,cols_i);
+        dy[ctf_levels-i-1].setSize(rows_i,cols_i);
+        dz[ctf_levels-i-1].setSize(rows_i,cols_i);
+    }
+
+    //Resize pyramid
+    const unsigned int pyr_levels = round(log2(width/cols)) + ctf_levels;
+    colour.resize(pyr_levels);
+    colour_old.resize(pyr_levels);
+    depth.resize(pyr_levels);
+    depth_old.resize(pyr_levels);
+    xx.resize(pyr_levels);
+    xx_old.resize(pyr_levels);
+    yy.resize(pyr_levels);
+    yy_old.resize(pyr_levels);
+
+    for (unsigned int i = 0; i<pyr_levels; i++)
+    {
+        s = pow(2.f,int(i));
+        colour[i].resize(height/s, width/s);
+        colour_old[i].resize(height/s, width/s);
+        colour[i].assign(0.0f);
+        colour_old[i].assign(0.0f);
+        depth[i].resize(height/s, width/s);
+        depth_old[i].resize(height/s, width/s);
+        depth[i].assign(0.0f);
+        depth_old[i].assign(0.0f);
+        xx[i].resize(height/s, width/s);
+        xx_old[i].resize(height/s, width/s);
+        xx[i].assign(0.0f);
+        xx_old[i].assign(0.0f);
+        yy[i].resize(height/s, width/s);
+        yy_old[i].resize(height/s, width/s);
+        yy[i].assign(0.0f);
+        yy_old[i].assign(0.0f);
+    }
+
+    //Parameters of the variational method
+    lambda_i = 0.04f;
+    lambda_d = 0.35f;
+    mu = 75.f;
+
+    //Camera parameters
+    f_dist = 1.f/525.f;   //In meters
+}
+
+void PD_flow_mrpt::createImagePyramidGPU()
+{
+    utils::CTicTac clock;
+    clock.Tic();
+
+    //Cuda copy new frames
+    csf_host.copyNewFrames(colour_wf.data(), depth_wf.data());
+
+    //Cuda copy object to device
+    csf_device = ObjectToDevice(&csf_host);
+
+    unsigned int pyr_levels = round(log2(640/(cam_mode*cols))) + ctf_levels;
+    GaussianPyramidBridge(csf_device, pyr_levels, cam_mode);
+
+    //Cuda copy object back to host
+    BridgeBack(&csf_host, csf_device);
+
+	//Execution results
+	const float aux_time = 1000.f*clock.Tac();
+    //cout << endl << "Time for the pyramid: " << aux_time << "ms";
+}
+
+void PD_flow_mrpt::solveSceneFlowGPU()
+{
+    //Define variables
+    CTicTac	clock;
+
+    unsigned int s;
+    unsigned int cols_i, rows_i;
+    unsigned int level_image;
+    unsigned int num_iter;
+
+    clock.Tic();
+
+    //For every level (coarse-to-fine)
+    for (unsigned int i=0; i<ctf_levels; i++)
+    {
+        const unsigned int width = colour_wf.getColCount();
+        s = pow(2.f,int(ctf_levels-(i+1)));
+        cols_i = cols/s;
+        rows_i = rows/s;
+        level_image = ctf_levels - i + round(log2(width/cols)) - 1;
+
+        //=========================================================================
+        //                              Cuda - Begin
+        //=========================================================================
+
+        //Cuda allocate memory
+        csf_host.allocateMemoryNewLevel(rows_i, cols_i, i, level_image);
+
+        //Cuda copy object to device
+        csf_device = ObjectToDevice(&csf_host);
+
+        //Assign zeros to the corresponding variables
+        AssignZerosBridge(csf_device);
+
+        //Upsample previous solution
+        if (i>0)
+            UpsampleBridge(csf_device);
+
+        //Compute connectivity (Rij)
+		RijBridge(csf_device);
+		
+		//Compute colour and depth derivatives
+        ImageGradientsBridge(csf_device);
+        WarpingBridge(csf_device);
+
+        //Compute mu_uv and step sizes for the primal-dual algorithm
+        MuAndStepSizesBridge(csf_device);
+
+        for (num_iter = 0; num_iter < num_max_iter[i]; num_iter++)
+        {
+            GradientBridge(csf_device);
+            DualVariablesBridge(csf_device);
+            DivergenceBridge(csf_device);
+            PrimalVariablesBridge(csf_device);
+        }
+
+        //Filter solution
+        FilterBridge(csf_device);
+
+        //Compute the motion field
+        MotionFieldBridge(csf_device);
+
+        //BridgeBack
+        BridgeBack(&csf_host, csf_device);
+
+        //Free variables of this level
+        csf_host.freeLevelVariables();
+
+        //Copy motion field to CPU
+		csf_host.copyAllSolutions(dx[ctf_levels-i-1].data(), dy[ctf_levels-i-1].data(), dz[ctf_levels-i-1].data(),
+                        depth[level_image].data(), depth_old[level_image].data(), colour[level_image].data(), colour_old[level_image].data(),
+                        xx[level_image].data(), xx_old[level_image].data(), yy[level_image].data(), yy_old[level_image].data());
+
+		//For debugging
+        //DebugBridge(csf_device);
+
+        //=========================================================================
+        //                              Cuda - end
+        //=========================================================================
+    }
+}
+
+bool PD_flow_mrpt::OpenCamera()
+{
+	rc = openni::STATUS_OK;
+
+    const char* deviceURI = openni::ANY_DEVICE;
+
+    rc = openni::OpenNI::initialize();
+
+    printf("After initialization:\n %s\n", openni::OpenNI::getExtendedError());
+    rc = device.open(deviceURI);
+    if (rc != openni::STATUS_OK)
+    {
+        printf("Device open failed:\n%s\n", openni::OpenNI::getExtendedError());
+        openni::OpenNI::shutdown();
+        return 1;
+    }
+
+    //								Create RGB and Depth channels
+    //========================================================================================
+
+    rc = dimage.create(device, openni::SENSOR_DEPTH);
+    rc = rgb.create(device, openni::SENSOR_COLOR);
+
+	//                            Configure some properties (resolution)
+	//========================================================================================
+    rc = device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
+
+    options = rgb.getVideoMode();		//In rgb the resolution can't be set to (160,120)
+    if (cam_mode == 1)
+        options.setResolution(640,480);
+    else
+        options.setResolution(320,240);
+    rc = rgb.setVideoMode(options);
+    rc = rgb.setMirroringEnabled(false);
+
+    options = dimage.getVideoMode();
+    if (cam_mode == 1)
+        options.setResolution(640,480);
+    else
+        options.setResolution(320,240);
+    rc = dimage.setVideoMode(options);
+    rc = dimage.setMirroringEnabled(false);
+
+    //Turn off autoExposure
+    rgb.getCameraSettings()->setAutoExposureEnabled(false);
+    printf("Auto Exposure: %s \n", rgb.getCameraSettings()->getAutoExposureEnabled() ? "ON" : "OFF");
+
+    //Check final resolution
+    options = rgb.getVideoMode();
+    printf("Resolution (%d, %d) \n", options.getResolutionX(), options.getResolutionY());
+
+	//								Start channels
+	//===================================================================================
+    rc = dimage.start();
+    if (rc != openni::STATUS_OK)
+    {
+        printf("SimpleViewer: Couldn't start depth stream:\n%s\n", openni::OpenNI::getExtendedError());
+        dimage.destroy();
+    }
+
+    rc = rgb.start();
+    if (rc != openni::STATUS_OK)
+    {
+        printf("Couldn't start rgb stream:\n%s\n", openni::OpenNI::getExtendedError());
+        rgb.destroy();
+    }
+
+    if (!dimage.isValid() || !rgb.isValid())
+    {
+        printf("Camera: No valid streams. Exiting\n");
+        openni::OpenNI::shutdown();
+        return 1;
+    }
+
+    return 0;
+}
+
+void PD_flow_mrpt::CloseCamera()
+{
+    rgb.destroy();
+    openni::OpenNI::shutdown();
+}
+
+void PD_flow_mrpt::CaptureFrame()
+{
+    openni::VideoFrameRef framergb, framed;
+    rgb.readFrame(&framergb);
+    dimage.readFrame(&framed);
+
+    const int height = framergb.getHeight();
+    const int width = framergb.getWidth();
+
+    if ((framed.getWidth() != framergb.getWidth()) || (framed.getHeight() != framergb.getHeight()))
+        cout << endl << "Both frames don't have the same size.";
+
+    else
+    {
+        //Read one frame
+        const openni::DepthPixel* pDepthRow = (const openni::DepthPixel*)framed.getData();
+        const openni::RGB888Pixel* pRgbRow = (const openni::RGB888Pixel*)framergb.getData();
+        int rowSize = framergb.getStrideInBytes() / sizeof(openni::RGB888Pixel);
+
+        for (int yc = height-1; yc >= 0; --yc)
+        {
+            const openni::RGB888Pixel* pRgb = pRgbRow;
+            const openni::DepthPixel* pDepth = pDepthRow;
+            for (int xc = width-1; xc >= 0; --xc, ++pRgb, ++pDepth)
+            {
+                colour_wf(yc,xc) = 0.299*pRgb->r + 0.587*pRgb->g + 0.114*pRgb->b;
+                depth_wf(yc,xc) = 0.001f*(*pDepth);
+            }
+            pRgbRow += rowSize;
+            pDepthRow += rowSize;
+        }
+    }
+}
+
+void PD_flow_mrpt::freeGPUMemory()
+{
+    csf_host.freeDeviceMemory();
+}
+
+void PD_flow_mrpt::initializeCUDA()
+{
+    //Read parameters
+    csf_host.readParameters(rows, cols, lambda_i, lambda_d, mu, g_mask.data(), ctf_levels, len_disp, cam_mode, fovh, fovv, f_dist);
+
+    //Allocate memory
+    csf_host.allocateDevMemory();
+}
+
+void PD_flow_mrpt::initializeScene()
+{
+    global_settings::OCTREE_RENDER_MAX_POINTS_PER_NODE = 10000000;
+    window.resize(1000,900);
+    window.setPos(900,0);
+    window.setCameraZoom(4);
+    window.setCameraAzimuthDeg(190);
+    window.setCameraElevationDeg(30);
+	window.setCameraPointingToPoint(1,0,0);
+	
+	scene = window.get3DSceneAndLock();
+
+    //Point cloud (final)
+    opengl::CPointCloudPtr fpoints_gl = opengl::CPointCloud::Create();
+    fpoints_gl->setColor(0, 1, 1);
+    fpoints_gl->enablePointSmooth();
+    fpoints_gl->setPointSize(3.0);
+    fpoints_gl->setPose(CPose3D(0,0,0,0,0,0));
+    scene->insert( fpoints_gl );
+
+    //Scene Flow
+    opengl::CVectorField3DPtr sf = opengl::CVectorField3D::Create();
+    sf->setPointSize(3.0f);
+    sf->setLineWidth(2.0f);
+    sf->setPointColor(1,0,0);
+    sf->setVectorFieldColor(0,0,1);
+    sf->enableAntiAliasing();
+    sf->setPose(CPose3D(0,0,0,0,0,0));
+    scene->insert( sf );
+
+    //Reference frame
+    opengl::CSetOfObjectsPtr reference = opengl::stock_objects::CornerXYZ();
+    reference->setPose(CPose3D(0,len_disp,0,0,0,0));
+	reference->setScale(0.15f);
+    scene->insert( reference );
+
+	//Legend
+	utils::CImage img_legend;
+	img_legend.loadFromXPM(legend_pdflow_xpm);
+	opengl::COpenGLViewportPtr legend = scene->createViewport("legend");
+	legend->setViewportPosition(20, 20, 201, 252);
+	legend->setImageView(img_legend);
+
+    window.unlockAccess3DScene();
+    window.repaint();
+}
+
+void PD_flow_mrpt::updateScene()
+{	
+	scene = window.get3DSceneAndLock();
+
+	const unsigned int repr_level = round(log2(colour_wf.getColCount()/cols));
+
+	//Point cloud (final)
+    opengl::CPointCloudPtr fpoints_gl = scene->getByClass<opengl::CPointCloud>(0);
+    fpoints_gl->clear();
+    for (unsigned int v=0; v<rows; v++)
+        for (unsigned int u=0; u<cols; u++)
+            if (depth[repr_level](v,u) > 0.1f)
+                fpoints_gl->insertPoint(depth[repr_level](v,u), xx[repr_level](v,u), yy[repr_level](v,u));
+
+
+    opengl::CVectorField3DPtr sf = scene->getByClass<opengl::CVectorField3D>(0);
+	sf->setPointCoordinates(depth_old[repr_level], xx_old[repr_level], yy_old[repr_level]);
+    sf->setVectorField(dx[0], dy[0], dz[0]);
+
+    window.unlockAccess3DScene();
+    window.repaint();
+}
+
+void PD_flow_mrpt::initializePDFlow()
+{
+	//Initialize Visualization
+	initializeScene();
+
+    //Initialize CUDA
+    mrpt::system::sleep(1000);
+    initializeCUDA();
+
+	//Start video streaming
+    OpenCamera();
+
+	//Fill empty matrices
+    CaptureFrame();
+    createImagePyramidGPU();
+    CaptureFrame();
+    createImagePyramidGPU();
+    solveSceneFlowGPU();
+}
\ No newline at end of file
diff --git a/scene_flow_visualization.h b/scene_flow_visualization.h
new file mode 100644
index 0000000..94548a9
--- /dev/null
+++ b/scene_flow_visualization.h
@@ -0,0 +1,98 @@
+
+#include <mrpt/utils.h>
+#include <mrpt/system.h>
+#include <mrpt/gui/CDisplayWindow3D.h>
+#include <mrpt/opengl.h>
+#include <OpenNI.h> //<openni2/OpenNI.h>
+#include <Eigen/src/Core/Matrix.h>
+#include "pdflow_cudalib.h"
+#include "legend_pdflow.xpm"
+
+#define M_LOG2E 1.44269504088896340736 //log2(e)
+
+inline float log2(const float x){
+    return  log(x) * M_LOG2E;
+}
+
+
+using namespace mrpt;
+using namespace mrpt::math;
+using namespace mrpt::utils;
+using namespace std;
+using mrpt::poses::CPose3D;
+using Eigen::MatrixXf;
+
+
+class PD_flow_mrpt {
+public:
+
+    float len_disp;         //In meters
+    float fps;              //In Hz
+    unsigned int cam_mode;	// (1 - 640 x 480, 2 - 320 x 240, 4 - 160 x 120)
+    unsigned int ctf_levels;//Number of levels used in the coarse-to-fine scheme (always dividing by two)
+    unsigned int num_max_iter[6];  //Max number of iterations distributed homogeneously between all levels
+    MatrixXf g_mask;
+	
+    //Matrices that store the original images with the image resolution
+    MatrixXf colour_wf;
+    MatrixXf depth_wf;
+
+    //Matrices that store the images downsampled
+    vector<MatrixXf> colour;
+    vector<MatrixXf> colour_old;
+    vector<MatrixXf> depth;
+    vector<MatrixXf> depth_old;
+    vector<MatrixXf> xx;
+    vector<MatrixXf> xx_old;
+    vector<MatrixXf> yy;
+    vector<MatrixXf> yy_old;
+
+    //Motion field
+    vector<MatrixXf> dx;
+    vector<MatrixXf> dy;
+    vector<MatrixXf> dz;
+
+    //Camera properties
+    float f_dist;	//In meters
+    float fovh;     //Here it is expressed in radians
+    float fovv;     //Here it is expressed in radians
+
+    //Max resolution of the coarse-to-fine scheme.
+    unsigned int rows;
+    unsigned int cols;
+
+    //Optimization Parameters
+    float mu, lambda_i, lambda_d;
+
+    //Visual
+    gui::CDisplayWindow3D       window;
+    opengl::COpenGLScenePtr		scene;
+    utils::CImage				image;
+
+    //Camera
+    openni::Status          rc;
+    openni::Device          device;
+    openni::VideoMode       options;
+    openni::VideoStream 	rgb,dimage;
+
+    //Cuda
+    CSF_cuda csf_host, *csf_device;
+
+
+	//Methods
+    void createImagePyramidGPU();
+    void solveSceneFlowGPU();
+	bool OpenCamera();
+	void CloseCamera();
+	void CaptureFrame();
+    void freeGPUMemory();
+    void initializeCUDA();
+	void initializeScene();
+	void updateScene();
+	void initializePDFlow();
+
+    PD_flow_mrpt(unsigned int cam_mode_config, unsigned int fps_config, unsigned int rows_config);
+};
+
+
+