diff --git a/irteus/Makefile b/irteus/Makefile
index f1b984ae3..6ba9db506 100644
--- a/irteus/Makefile
+++ b/irteus/Makefile
@@ -98,6 +98,7 @@ IRTEUSGL_L=$(addsuffix .l,$(IRTEUSGL))
 IRTCOBJECTS=$(INSTALLOBJDIR)/irtc.$(OSFX) $(INSTALLOBJDIR)/irtgeoc.$(OSFX)
 IRTGCOBJECTS=$(INSTALLOBJDIR)/CPQP.$(OSFX) $(INSTALLOBJDIR)/euspqp.$(OSFX)
 IRTIMGCOBJECTS=$(INSTALLOBJDIR)/euspng.$(OSFX)
+IRTGLCOBJECTS=$(INSTALLOBJDIR)/irtglc.$(OSFX)
 NROBJECTS=$(INSTALLOBJDIR)/nr.$(OSFX)
 
 all: $(LIBNR) $(LIBIRTEUS) $(LIBIRTEUSG) $(LIBIRTEUSX) $(LIBIRTEUSIMG) $(LIBIRTEUSGL) make-link install-irtext.l
@@ -116,8 +117,8 @@ $(LIBIRTEUSX): $(IRTEUSXOBJS)
 $(LIBIRTEUSIMG): $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS)
 	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSIMG) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IMPLIB) $(IMPLIBIMG)
 
-$(LIBIRTEUSGL): $(IRTEUSGLOBJS)
-	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSGL) $(IRTEUSGLOBJS) $(IMPLIB)
+$(LIBIRTEUSGL): $(IRTEUSGLOBJS) $(IRTGLCOBJECTS)
+	$(LD) $(SOFLAGS) $(OUTOPT)$(LIBIRTEUSGL) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS) $(IMPLIB)
 
 $(IRTEUSOBJS): $(OBJDIR)/compile_irt.log
 $(OBJDIR)/compile_irt.log: $(IRTEUS_L)
@@ -200,9 +201,11 @@ $(INSTALLOBJDIR)/png.$(OSFX): png.l
 $(INSTALLOBJDIR)/pgsql.$(OSFX): $(EUSDIR)/lib/llib/pgsql.l
 $(INSTALLOBJDIR)/eusjpeg.$(OSFX): $(EUSDIR)/lisp/image/jpeg/eusjpeg.l
 
-$(INSTALLOBJDIR)/irtc.$(OSFX): irtc.c $(filter-out $(INSTALLOBJDIR)/irtc.$(OSFX),$(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) PQP/$(ARCHDIR)/libPQP-static.a $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS))
+$(INSTALLOBJDIR)/irtc.$(OSFX): irtc.c $(filter-out $(INSTALLOBJDIR)/irtc.$(OSFX),$(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) PQP/$(ARCHDIR)/libPQP-static.a $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS))
 	$(CC) $(CFLAGS) -c irtc.c $(OBJOPT)$(INSTALLOBJDIR)/irtc.$(OSFX)
-$(INSTALLOBJDIR)/irtgeoc.$(OSFX): irtgeoc.c $(filter-out $(INSTALLOBJDIR)/irtgeoc.$(OSFX), $(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) PQP/$(ARCHDIR)/libPQP-static.a $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS))
+$(INSTALLOBJDIR)/irtglc.$(OSFX): irtglc.c $(filter-out $(INSTALLOBJDIR)/irtglc.$(OSFX),$(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) PQP/$(ARCHDIR)/libPQP-static.a $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS))
+	$(CC) $(CFLAGS) -c irtglc.c $(OBJOPT)$(INSTALLOBJDIR)/irtglc.$(OSFX)
+$(INSTALLOBJDIR)/irtgeoc.$(OSFX): irtgeoc.c $(filter-out $(INSTALLOBJDIR)/irtgeoc.$(OSFX), $(IRTEUSOBJS) $(IRTEUSGOBJS) $(IRTGCOBJECTS) PQP/$(ARCHDIR)/libPQP-static.a $(IRTEUSXOBJS) $(INSTALLLIBDIR)/jpegmemcd.$(LSFX) $(IRTEUSIMGOBJS) $(IRTIMGCOBJECTS) $(IRTEUSGLOBJS) $(IRTGLCOBJECTS))
 	$(CC) $(CFLAGS) -c irtgeoc.c $(OBJOPT)$(INSTALLOBJDIR)/irtgeoc.$(OSFX)
 $(INSTALLOBJDIR)/CPQP.$(OSFX): CPQP.C
 	$(CXX) $(CXXFLAGS) -c CPQP.C $(OBJOPT)$(INSTALLOBJDIR)/CPQP.$(OSFX)
diff --git a/irteus/irtext.l b/irteus/irtext.l
index 2a7f28df9..5b9cc918f 100644
--- a/irteus/irtext.l
+++ b/irteus/irtext.l
@@ -55,7 +55,7 @@
   (load-library
    (format nil "~A~A/lib/libirteusgl"
 	   *eusdir* (unix:getenv "ARCHDIR"))
-   '("irtglrgb" "irtgl" "irtviewer"))
+   '("irtglrgb" "irtgl" "irtglc" "irtviewer"))
   )
 
 (unless (member (pathname-name *program-name*)
diff --git a/irteus/irtgl.l b/irteus/irtgl.l
index 2b772de3f..6d1a936b6 100644
--- a/irteus/irtgl.l
+++ b/irteus/irtgl.l
@@ -99,6 +99,22 @@
           (error "could not find viewers for ~A" alist))))) ;; t
    ))
 
+(defun transpose-image-rows (img &optional ret)
+  (let* ((h (send img :height))
+         (step (* (send img :width) (send img :components)))
+         (src (send img :entity)))
+    (cond
+      (ret
+       (unless (and (eq (send img :height) (send ret :height))
+                    (eq (send img :width) (send ret :width))
+                    (eq (send img :components) (send ret :components)))
+         (error "invalid return image format"))
+       (ctranspose-image-rows h step src (send ret :entity))
+       ret)
+      (t
+       (ctranspose-image-rows h step src)
+       img))))
+
 (unless (assoc :color-org (send glviewsurface :methods))
   (rplaca (assoc :color (send glviewsurface :methods)) :color-org))
 (defmethod glviewsurface
@@ -181,7 +197,7 @@
 	 ((:imagebuf imgbuf) (make-string (* width height 3)))
          (depthbuf))
    "Get current view to a image object. It returns color-image24 object."
-   (let ()
+   (let ((img (instance image::color-image24 :init width height imgbuf)))
      (send self :makecurrent)
      (glReadBuffer GL_FRONT)
      (glPixelStorei GL_PACK_ALIGNMENT 1)
@@ -194,14 +210,8 @@
 	 (glReadPixels x y width height GL_DEPTH_COMPONENT GL_FLOAT fv)
 	 (user::float-bytestring2dvector fv depthbuf)))
      ;; transpose
-     (let ((b (make-string (* width height 3))))
-       (dotimes (x width)
-	 (dotimes (y height)
-	   (dotimes (z 3)
-	     (setf (elt b (+ (* (- height y 1) width 3) (* x 3) z))
-		   (elt imgbuf (+ (* y width 3) (* x 3) z))))))
-       (instance image::color-image24 :init width height b))
-     ))
+     (transpose-image-rows img)
+     img))
   )
 
 (defun draw-globjects (vwr draw-things &key (clear t) (flush t) (draw-origin 150) (draw-floor nil))
diff --git a/irteus/irtglc.c b/irteus/irtglc.c
new file mode 100644
index 000000000..0b551bffc
--- /dev/null
+++ b/irteus/irtglc.c
@@ -0,0 +1,81 @@
+///////////////////////////////////////////////////////////////////////////////
+///
+/// $Id$
+///
+/// Copyright (c) 1987- JSK, The University of Tokyo.  All Rights Reserved.
+///
+/// This software is a collection of EusLisp code for robot applications,
+/// which has been developed by the JSK Laboratory for the IRT project.
+/// For more information on EusLisp and its application to the robotics,
+/// please refer to the following papers.
+///
+/// Toshihiro Matsui
+/// Multithread object-oriented language euslisp for parallel and
+///  asynchronous programming in robotics
+/// Workshop on Concurrent Object-based Systems,
+///  IEEE 6th Symposium on Parallel and Distributed Processing, 1994
+///
+/// Permission to use this software for educational, research
+/// and non-profit purposes, without fee, and without a written
+/// agreement is hereby granted to all researchers working on
+/// the IRT project at the University of Tokyo, provided that the
+/// above copyright notice remains intact.  
+///
+// author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
+
+#pragma init (register_irtglc)
+
+#include "eus.h"
+
+extern pointer ___irtglc();
+static register_irtglc()
+{ add_module_initializer("___irtglc", ___irtglc);}
+
+#define colsize(p) (intval(p->c.ary.dim[1]))
+#define rowsize(p) (intval(p->c.ary.dim[0]))
+#define isimage(p) ((isarray(p) && \
+                     p->c.ary.rank==makeint(2) && \
+                     (elmtypeof(p->c.ary.entity)==ELM_CHAR || \
+                      elmtypeof(p->c.ary.entity)==ELM_BYTE)))
+
+pointer CTRANSPOSE_IMAGE_ROWS(ctx,n,argv)
+     register context *ctx;
+     register int n;
+     register pointer argv[];
+/* (height step src-entity &optional dst-entity) */
+{
+  int h,step,y;
+  char *src, *dst, *buf;
+  
+  ckarg2(3,4);
+  h=ckintval(argv[0]); step=ckintval(argv[1]);
+  if (isstring(argv[2])) src=argv[2]->c.str.chars;
+  else src=(char*)bigintval(argv[2]);
+
+  if (n==3) {
+    buf=malloc(sizeof(char)*step);
+    for(y = 0; y < h/2; ++y) {
+      memcpy(buf, src + (h-y-1)*step, step);
+      memcpy(src + (h-y-1)*step, src + y*step, step);
+      memcpy(src + y*step, buf, step);
+    }
+    free(buf);
+    return(src);
+  } else {
+    if (isstring(argv[3])) dst=argv[3]->c.str.chars;
+    else dst=(char*)bigintval(argv[3]);
+    for(y = 0; y < h; ++y) {
+      memcpy(dst + y*step, src + (h-y-1)*step, step);
+    }
+    return(dst);}}
+
+pointer ___irtglc(ctx,n,argv,env)
+     register context *ctx;
+     int n;
+     pointer argv[];
+     pointer env;
+{
+  pointer mod=argv[0];
+  defun(ctx,"CTRANSPOSE-IMAGE-ROWS",mod,CTRANSPOSE_IMAGE_ROWS);
+}
+
diff --git a/irteus/test/pr2.png b/irteus/test/pr2.png
new file mode 100644
index 000000000..00ab5aee9
Binary files /dev/null and b/irteus/test/pr2.png differ
diff --git a/irteus/test/rendering.l b/irteus/test/rendering.l
new file mode 100644
index 000000000..d1fd25d07
--- /dev/null
+++ b/irteus/test/rendering.l
@@ -0,0 +1,25 @@
+;; rendering.l
+;; Author: Yuki Furuta <furushchev@jsk.imi.i.u-tokyo.ac.jp>
+
+(require :unittest "lib/llib/unittest.l")
+
+(init-unit-test)
+
+(deftest transpose-image ()
+  (setq *test-img-path* (format nil "~A/irteus/test/pr2.png" *eusdir*))
+  (assert (probe-file *test-img-path*) "test image pr2.png is not found")
+  (assert (setq *img* (read-image-file *test-img-path*)) "failed to read-image-file pr2.png")
+  (assert (> (send (send *img* :monochromize) :brightest-pixel) 0.0)
+          "nothing is drawn in image")
+  (setq *src-img* (copy-object *img*))
+  (gl::transpose-image-rows *img*)
+  (assert (not (string= (send *src-img* :entity) (send *img* :entity)))
+          "transpose-image-rows must change entity from original image")
+  (gl::transpose-image-rows *img*)
+  (assert (string= (send *src-img* :entity) (send *img* :entity))
+          "image transposed twice must be the same as original image")
+)
+
+(run-all-tests)
+(exit)
+