 and Vaclav Hlavac<br>
 <a href="http://www.cvut.cz">Czech Technical University Prague</a><br>
 <a href="http://www.feld.cvut.cz">Faculty of Electrical Engineering</a><br>
 <a href="http://cmp.felk.cvut.cz">Center for Machine Perception</a><br>

  <p><b class="info_field">Modifications: </b> <br>
 24-july-2008, VF: fixed problem with computing r; pointed out by Daewon Lee (MPI, Tuebingen)<br>
 09-nov-2006, VF, added C; requested by Hsiung, Chang<br>
 24-jan-2005, VF, Fast GMNP solver used.<br>
 25-aug-2004,