hog.cpp 132 KB
Newer Older
wester committed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41
/*M///////////////////////////////////////////////////////////////////////////////////////
//
//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
//  By downloading, copying, installing or using the software you agree to this license.
//  If you do not agree to this license, do not download, install,
//  copy or use the software.
//
//
//                           License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
//   * Redistribution's of source code must retain the above copyright notice,
//     this list of conditions and the following disclaimer.
//
//   * Redistribution's in binary form must reproduce the above copyright notice,
//     this list of conditions and the following disclaimer in the documentation
//     and/or other materials provided with the distribution.
//
//   * The name of the copyright holders may not be used to endorse or promote products
//     derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
wester committed
42
#include <stdio.h>
wester committed
43 44
#include "precomp.hpp"
#include <iterator>
wester committed
45 46 47
#ifdef HAVE_IPP
#include "ipp.h"
#endif
wester committed
48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88
/****************************************************************************************\
      The code below is implementation of HOG (Histogram-of-Oriented Gradients)
      descriptor and object detection, introduced by Navneet Dalal and Bill Triggs.

      The computed feature vectors are compatible with the
      INRIA Object Detection and Localization Toolkit
      (http://pascal.inrialpes.fr/soft/olt/)
\****************************************************************************************/

namespace cv
{

size_t HOGDescriptor::getDescriptorSize() const
{
    CV_Assert(blockSize.width % cellSize.width == 0 &&
        blockSize.height % cellSize.height == 0);
    CV_Assert((winSize.width - blockSize.width) % blockStride.width == 0 &&
        (winSize.height - blockSize.height) % blockStride.height == 0 );
    return (size_t)nbins*
        (blockSize.width/cellSize.width)*
        (blockSize.height/cellSize.height)*
        ((winSize.width - blockSize.width)/blockStride.width + 1)*
        ((winSize.height - blockSize.height)/blockStride.height + 1);
}

double HOGDescriptor::getWinSigma() const
{
    return winSigma >= 0 ? winSigma : (blockSize.width + blockSize.height)/8.;
}

bool HOGDescriptor::checkDetectorSize() const
{
    size_t detectorSize = svmDetector.size(), descriptorSize = getDescriptorSize();
    return detectorSize == 0 ||
        detectorSize == descriptorSize ||
        detectorSize == descriptorSize + 1;
}

void HOGDescriptor::setSVMDetector(InputArray _svmDetector)
{
    _svmDetector.getMat().convertTo(svmDetector, CV_32F);
wester committed
89
    CV_Assert( checkDetectorSize() );
wester committed
90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128
}

#define CV_TYPE_NAME_HOG_DESCRIPTOR "opencv-object-detector-hog"

bool HOGDescriptor::read(FileNode& obj)
{
    if( !obj.isMap() )
        return false;
    FileNodeIterator it = obj["winSize"].begin();
    it >> winSize.width >> winSize.height;
    it = obj["blockSize"].begin();
    it >> blockSize.width >> blockSize.height;
    it = obj["blockStride"].begin();
    it >> blockStride.width >> blockStride.height;
    it = obj["cellSize"].begin();
    it >> cellSize.width >> cellSize.height;
    obj["nbins"] >> nbins;
    obj["derivAperture"] >> derivAperture;
    obj["winSigma"] >> winSigma;
    obj["histogramNormType"] >> histogramNormType;
    obj["L2HysThreshold"] >> L2HysThreshold;
    obj["gammaCorrection"] >> gammaCorrection;
    obj["nlevels"] >> nlevels;

    FileNode vecNode = obj["SVMDetector"];
    if( vecNode.isSeq() )
    {
        vecNode >> svmDetector;
        CV_Assert(checkDetectorSize());
    }
    return true;
}

void HOGDescriptor::write(FileStorage& fs, const String& objName) const
{
    if( !objName.empty() )
        fs << objName;

    fs << "{" CV_TYPE_NAME_HOG_DESCRIPTOR
wester committed
129 130 131 132 133 134 135 136 137 138 139
    << "winSize" << winSize
    << "blockSize" << blockSize
    << "blockStride" << blockStride
    << "cellSize" << cellSize
    << "nbins" << nbins
    << "derivAperture" << derivAperture
    << "winSigma" << getWinSigma()
    << "histogramNormType" << histogramNormType
    << "L2HysThreshold" << L2HysThreshold
    << "gammaCorrection" << gammaCorrection
    << "nlevels" << nlevels;
wester committed
140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174
    if( !svmDetector.empty() )
        fs << "SVMDetector" << svmDetector;
    fs << "}";
}

bool HOGDescriptor::load(const String& filename, const String& objname)
{
    FileStorage fs(filename, FileStorage::READ);
    FileNode obj = !objname.empty() ? fs[objname] : fs.getFirstTopLevelNode();
    return read(obj);
}

void HOGDescriptor::save(const String& filename, const String& objName) const
{
    FileStorage fs(filename, FileStorage::WRITE);
    write(fs, !objName.empty() ? objName : FileStorage::getDefaultObjectName(filename));
}

void HOGDescriptor::copyTo(HOGDescriptor& c) const
{
    c.winSize = winSize;
    c.blockSize = blockSize;
    c.blockStride = blockStride;
    c.cellSize = cellSize;
    c.nbins = nbins;
    c.derivAperture = derivAperture;
    c.winSigma = winSigma;
    c.histogramNormType = histogramNormType;
    c.L2HysThreshold = L2HysThreshold;
    c.gammaCorrection = gammaCorrection;
    c.svmDetector = svmDetector;
    c.nlevels = nlevels;
}

void HOGDescriptor::computeGradient(const Mat& img, Mat& grad, Mat& qangle,
wester committed
175
                                    Size paddingTL, Size paddingBR) const
wester committed
176 177 178 179
{
    CV_Assert( img.type() == CV_8U || img.type() == CV_8UC3 );

    Size gradsize(img.cols + paddingTL.width + paddingBR.width,
wester committed
180
                  img.rows + paddingTL.height + paddingBR.height);
wester committed
181 182 183 184 185 186 187 188 189 190
    grad.create(gradsize, CV_32FC2);  // <magnitude*(1-alpha), magnitude*alpha>
    qangle.create(gradsize, CV_8UC2); // [0..nbins-1] - quantized gradient orientation
    Size wholeSize;
    Point roiofs;
    img.locateROI(wholeSize, roiofs);

    int i, x, y;
    int cn = img.channels();

    Mat_<float> _lut(1, 256);
wester committed
191
    const float* lut = &_lut(0,0);
wester committed
192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207

    if( gammaCorrection )
        for( i = 0; i < 256; i++ )
            _lut(0,i) = std::sqrt((float)i);
    else
        for( i = 0; i < 256; i++ )
            _lut(0,i) = (float)i;

    AutoBuffer<int> mapbuf(gradsize.width + gradsize.height + 4);
    int* xmap = (int*)mapbuf + 1;
    int* ymap = xmap + gradsize.width + 2;

    const int borderType = (int)BORDER_REFLECT_101;

    for( x = -1; x < gradsize.width + 1; x++ )
        xmap[x] = borderInterpolate(x - paddingTL.width + roiofs.x,
wester committed
208
                        wholeSize.width, borderType) - roiofs.x;
wester committed
209 210
    for( y = -1; y < gradsize.height + 1; y++ )
        ymap[y] = borderInterpolate(y - paddingTL.height + roiofs.y,
wester committed
211
                        wholeSize.height, borderType) - roiofs.y;
wester committed
212 213 214 215

    // x- & y- derivatives for the whole row
    int width = gradsize.width;
    AutoBuffer<float> _dbuf(width*4);
wester committed
216
    float* dbuf = _dbuf;
wester committed
217 218 219 220 221
    Mat Dx(1, width, CV_32F, dbuf);
    Mat Dy(1, width, CV_32F, dbuf + width);
    Mat Mag(1, width, CV_32F, dbuf + width*2);
    Mat Angle(1, width, CV_32F, dbuf + width*3);

wester committed
222 223 224 225 226 227 228 229 230 231 232 233 234
    int _nbins = nbins;
    float angleScale = (float)(_nbins/CV_PI);
#ifdef HAVE_IPP
    Mat lutimg(img.rows,img.cols,CV_MAKETYPE(CV_32F,cn));
    Mat hidxs(1, width, CV_32F);
    Ipp32f* pHidxs  = (Ipp32f*)hidxs.data;
    Ipp32f* pAngles = (Ipp32f*)Angle.data;

    IppiSize roiSize;
    roiSize.width = img.cols;
    roiSize.height = img.rows;

    for( y = 0; y < roiSize.height; y++ )
wester committed
235
    {
wester committed
236 237 238 239 240 241 242
       const uchar* imgPtr = img.data + y*img.step;
       float* imglutPtr = (float*)(lutimg.data + y*lutimg.step);

       for( x = 0; x < roiSize.width*cn; x++ )
       {
          imglutPtr[x] = lut[imgPtr[x]];
       }
wester committed
243 244
    }

wester committed
245
#endif
wester committed
246 247
    for( y = 0; y < gradsize.height; y++ )
    {
wester committed
248 249 250 251 252 253
#ifdef HAVE_IPP
        const float* imgPtr  = (float*)(lutimg.data + lutimg.step*ymap[y]);
        const float* prevPtr = (float*)(lutimg.data + lutimg.step*ymap[y-1]);
        const float* nextPtr = (float*)(lutimg.data + lutimg.step*ymap[y+1]);
#else
        const uchar* imgPtr  = img.data + img.step*ymap[y];
wester committed
254 255
        const uchar* prevPtr = img.data + img.step*ymap[y-1];
        const uchar* nextPtr = img.data + img.step*ymap[y+1];
wester committed
256 257 258
#endif
        float* gradPtr = (float*)grad.ptr(y);
        uchar* qanglePtr = (uchar*)qangle.ptr(y);
wester committed
259 260 261 262 263 264

        if( cn == 1 )
        {
            for( x = 0; x < width; x++ )
            {
                int x1 = xmap[x];
wester committed
265 266 267 268
#ifdef HAVE_IPP
                dbuf[x] = (float)(imgPtr[xmap[x+1]] - imgPtr[xmap[x-1]]);
                dbuf[width + x] = (float)(nextPtr[x1] - prevPtr[x1]);
#else
wester committed
269 270
                dbuf[x] = (float)(lut[imgPtr[xmap[x+1]]] - lut[imgPtr[xmap[x-1]]]);
                dbuf[width + x] = (float)(lut[nextPtr[x1]] - lut[prevPtr[x1]]);
wester committed
271
#endif
wester committed
272 273 274 275
            }
        }
        else
        {
wester committed
276
            for( x = 0; x < width; x++ )
wester committed
277
            {
wester committed
278
                int x1 = xmap[x]*3;
wester committed
279
                float dx0, dy0, dx, dy, mag0, mag;
wester committed
280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304
#ifdef HAVE_IPP
                const float* p2 = imgPtr + xmap[x+1]*3;
                const float* p0 = imgPtr + xmap[x-1]*3;

                dx0 = p2[2] - p0[2];
                dy0 = nextPtr[x1+2] - prevPtr[x1+2];
                mag0 = dx0*dx0 + dy0*dy0;

                dx = p2[1] - p0[1];
                dy = nextPtr[x1+1] - prevPtr[x1+1];
                mag = dx*dx + dy*dy;

                if( mag0 < mag )
                {
                    dx0 = dx;
                    dy0 = dy;
                    mag0 = mag;
                }

                dx = p2[0] - p0[0];
                dy = nextPtr[x1] - prevPtr[x1];
                mag = dx*dx + dy*dy;
#else
                const uchar* p2 = imgPtr + xmap[x+1]*3;
                const uchar* p0 = imgPtr + xmap[x-1]*3;
wester committed
305 306 307 308 309 310 311 312

                dx0 = lut[p2[2]] - lut[p0[2]];
                dy0 = lut[nextPtr[x1+2]] - lut[prevPtr[x1+2]];
                mag0 = dx0*dx0 + dy0*dy0;

                dx = lut[p2[1]] - lut[p0[1]];
                dy = lut[nextPtr[x1+1]] - lut[prevPtr[x1+1]];
                mag = dx*dx + dy*dy;
wester committed
313

wester committed
314 315 316 317 318 319 320 321 322 323
                if( mag0 < mag )
                {
                    dx0 = dx;
                    dy0 = dy;
                    mag0 = mag;
                }

                dx = lut[p2[0]] - lut[p0[0]];
                dy = lut[nextPtr[x1]] - lut[prevPtr[x1]];
                mag = dx*dx + dy*dy;
wester committed
324
 #endif
wester committed
325 326 327 328 329 330 331 332 333 334 335
                if( mag0 < mag )
                {
                    dx0 = dx;
                    dy0 = dy;
                    mag0 = mag;
                }

                dbuf[x] = dx0;
                dbuf[x+width] = dy0;
            }
        }
wester committed
336 337 338
#ifdef HAVE_IPP
        ippsCartToPolar_32f((const Ipp32f*)Dx.data, (const Ipp32f*)Dy.data, (Ipp32f*)Mag.data, pAngles, width);
        for( x = 0; x < width; x++ )
wester committed
339
        {
wester committed
340 341
           if(pAngles[x] < 0.f)
             pAngles[x] += (Ipp32f)(CV_PI*2.);
wester committed
342
        }
wester committed
343 344 345 346 347 348 349 350 351 352

        ippsNormalize_32f(pAngles, pAngles, width, 0.5f/angleScale, 1.f/angleScale);
        ippsFloor_32f(pAngles,(Ipp32f*)hidxs.data,width);
        ippsSub_32f_I((Ipp32f*)hidxs.data,pAngles,width);
        ippsMul_32f_I((Ipp32f*)Mag.data,pAngles,width);

        ippsSub_32f_I(pAngles,(Ipp32f*)Mag.data,width);
        ippsRealToCplx_32f((Ipp32f*)Mag.data,pAngles,(Ipp32fc*)gradPtr,width);
#else
        cartToPolar( Dx, Dy, Mag, Angle, false );
wester committed
353
#endif
wester committed
354
        for( x = 0; x < width; x++ )
wester committed
355
        {
wester committed
356 357 358
#ifdef HAVE_IPP
            int hidx = (int)pHidxs[x];
#else
wester committed
359 360 361 362 363
            float mag = dbuf[x+width*2], angle = dbuf[x+width*3]*angleScale - 0.5f;
            int hidx = cvFloor(angle);
            angle -= hidx;
            gradPtr[x*2] = mag*(1.f - angle);
            gradPtr[x*2+1] = mag*angle;
wester committed
364
#endif
wester committed
365
            if( hidx < 0 )
wester committed
366 367 368 369
                hidx += _nbins;
            else if( hidx >= _nbins )
                hidx -= _nbins;
            assert( (unsigned)hidx < (unsigned)_nbins );
wester committed
370 371 372

            qanglePtr[x*2] = (uchar)hidx;
            hidx++;
wester committed
373
            hidx &= hidx < _nbins ? -1 : 0;
wester committed
374 375 376 377 378
            qanglePtr[x*2+1] = (uchar)hidx;
        }
    }
}

wester committed
379

wester committed
380 381 382 383
struct HOGCache
{
    struct BlockData
    {
wester committed
384
        BlockData() : histOfs(0), imgOffset() {}
wester committed
385 386 387 388 389 390 391 392 393 394 395 396 397 398
        int histOfs;
        Point imgOffset;
    };

    struct PixData
    {
        size_t gradOfs, qangleOfs;
        int histOfs[4];
        float histWeights[4];
        float gradWeight;
    };

    HOGCache();
    HOGCache(const HOGDescriptor* descriptor,
wester committed
399 400 401
        const Mat& img, Size paddingTL, Size paddingBR,
        bool useCache, Size cacheStride);
    virtual ~HOGCache() {};
wester committed
402
    virtual void init(const HOGDescriptor* descriptor,
wester committed
403 404
        const Mat& img, Size paddingTL, Size paddingBR,
        bool useCache, Size cacheStride);
wester committed
405

wester committed
406 407
    Size windowsInImage(Size imageSize, Size winStride) const;
    Rect getWindow(Size imageSize, Size winStride, int idx) const;
wester committed
408 409 410 411

    const float* getBlock(Point pt, float* buf);
    virtual void normalizeBlockHistogram(float* histogram) const;

wester committed
412 413
    vector<PixData> pixData;
    vector<BlockData> blockData;
wester committed
414 415

    bool useCache;
wester committed
416 417
    vector<int> ymaxCached;
    Size winSize, cacheStride;
wester committed
418 419 420 421 422 423 424 425 426 427 428
    Size nblocks, ncells;
    int blockHistogramSize;
    int count1, count2, count4;
    Point imgoffset;
    Mat_<float> blockCache;
    Mat_<uchar> blockCacheFlags;

    Mat grad, qangle;
    const HOGDescriptor* descriptor;
};

wester committed
429 430

HOGCache::HOGCache()
wester committed
431 432
{
    useCache = false;
wester committed
433
    blockHistogramSize = count1 = count2 = count4 = 0;
wester committed
434 435 436 437
    descriptor = 0;
}

HOGCache::HOGCache(const HOGDescriptor* _descriptor,
wester committed
438 439
        const Mat& _img, Size _paddingTL, Size _paddingBR,
        bool _useCache, Size _cacheStride)
wester committed
440 441 442 443 444
{
    init(_descriptor, _img, _paddingTL, _paddingBR, _useCache, _cacheStride);
}

void HOGCache::init(const HOGDescriptor* _descriptor,
wester committed
445 446
        const Mat& _img, Size _paddingTL, Size _paddingBR,
        bool _useCache, Size _cacheStride)
wester committed
447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462
{
    descriptor = _descriptor;
    cacheStride = _cacheStride;
    useCache = _useCache;

    descriptor->computeGradient(_img, grad, qangle, _paddingTL, _paddingBR);
    imgoffset = _paddingTL;

    winSize = descriptor->winSize;
    Size blockSize = descriptor->blockSize;
    Size blockStride = descriptor->blockStride;
    Size cellSize = descriptor->cellSize;
    int i, j, nbins = descriptor->nbins;
    int rawBlockSize = blockSize.width*blockSize.height;

    nblocks = Size((winSize.width - blockSize.width)/blockStride.width + 1,
wester committed
463
                   (winSize.height - blockSize.height)/blockStride.height + 1);
wester committed
464 465 466 467 468 469
    ncells = Size(blockSize.width/cellSize.width, blockSize.height/cellSize.height);
    blockHistogramSize = ncells.width*ncells.height*nbins;

    if( useCache )
    {
        Size cacheSize((grad.cols - blockSize.width)/cacheStride.width+1,
wester committed
470
                       (winSize.height/cacheStride.height)+1);
wester committed
471 472 473 474 475 476 477 478 479 480 481 482
        blockCache.create(cacheSize.height, cacheSize.width*blockHistogramSize);
        blockCacheFlags.create(cacheSize);
        size_t cacheRows = blockCache.rows;
        ymaxCached.resize(cacheRows);
        for(size_t ii = 0; ii < cacheRows; ii++ )
            ymaxCached[ii] = -1;
    }

    Mat_<float> weights(blockSize);
    float sigma = (float)descriptor->getWinSigma();
    float scale = 1.f/(sigma*sigma*2);

wester committed
483 484
    for(i = 0; i < blockSize.height; i++)
        for(j = 0; j < blockSize.width; j++)
wester committed
485
        {
wester committed
486 487 488
            float di = i - blockSize.height*0.5f;
            float dj = j - blockSize.width*0.5f;
            weights(i,j) = std::exp(-(di*di + dj*dj)*scale);
wester committed
489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531
        }

    blockData.resize(nblocks.width*nblocks.height);
    pixData.resize(rawBlockSize*3);

    // Initialize 2 lookup tables, pixData & blockData.
    // Here is why:
    //
    // The detection algorithm runs in 4 nested loops (at each pyramid layer):
    //  loop over the windows within the input image
    //    loop over the blocks within each window
    //      loop over the cells within each block
    //        loop over the pixels in each cell
    //
    // As each of the loops runs over a 2-dimensional array,
    // we could get 8(!) nested loops in total, which is very-very slow.
    //
    // To speed the things up, we do the following:
    //   1. loop over windows is unrolled in the HOGDescriptor::{compute|detect} methods;
    //         inside we compute the current search window using getWindow() method.
    //         Yes, it involves some overhead (function call + couple of divisions),
    //         but it's tiny in fact.
    //   2. loop over the blocks is also unrolled. Inside we use pre-computed blockData[j]
    //         to set up gradient and histogram pointers.
    //   3. loops over cells and pixels in each cell are merged
    //       (since there is no overlap between cells, each pixel in the block is processed once)
    //      and also unrolled. Inside we use PixData[k] to access the gradient values and
    //      update the histogram
    //
    count1 = count2 = count4 = 0;
    for( j = 0; j < blockSize.width; j++ )
        for( i = 0; i < blockSize.height; i++ )
        {
            PixData* data = 0;
            float cellX = (j+0.5f)/cellSize.width - 0.5f;
            float cellY = (i+0.5f)/cellSize.height - 0.5f;
            int icellX0 = cvFloor(cellX);
            int icellY0 = cvFloor(cellY);
            int icellX1 = icellX0 + 1, icellY1 = icellY0 + 1;
            cellX -= icellX0;
            cellY -= icellY0;

            if( (unsigned)icellX0 < (unsigned)ncells.width &&
wester committed
532
                (unsigned)icellX1 < (unsigned)ncells.width )
wester committed
533 534
            {
                if( (unsigned)icellY0 < (unsigned)ncells.height &&
wester committed
535
                    (unsigned)icellY1 < (unsigned)ncells.height )
wester committed
536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571
                {
                    data = &pixData[rawBlockSize*2 + (count4++)];
                    data->histOfs[0] = (icellX0*ncells.height + icellY0)*nbins;
                    data->histWeights[0] = (1.f - cellX)*(1.f - cellY);
                    data->histOfs[1] = (icellX1*ncells.height + icellY0)*nbins;
                    data->histWeights[1] = cellX*(1.f - cellY);
                    data->histOfs[2] = (icellX0*ncells.height + icellY1)*nbins;
                    data->histWeights[2] = (1.f - cellX)*cellY;
                    data->histOfs[3] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[3] = cellX*cellY;
                }
                else
                {
                    data = &pixData[rawBlockSize + (count2++)];
                    if( (unsigned)icellY0 < (unsigned)ncells.height )
                    {
                        icellY1 = icellY0;
                        cellY = 1.f - cellY;
                    }
                    data->histOfs[0] = (icellX0*ncells.height + icellY1)*nbins;
                    data->histWeights[0] = (1.f - cellX)*cellY;
                    data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[1] = cellX*cellY;
                    data->histOfs[2] = data->histOfs[3] = 0;
                    data->histWeights[2] = data->histWeights[3] = 0;
                }
            }
            else
            {
                if( (unsigned)icellX0 < (unsigned)ncells.width )
                {
                    icellX1 = icellX0;
                    cellX = 1.f - cellX;
                }

                if( (unsigned)icellY0 < (unsigned)ncells.height &&
wester committed
572
                    (unsigned)icellY1 < (unsigned)ncells.height )
wester committed
573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619
                {
                    data = &pixData[rawBlockSize + (count2++)];
                    data->histOfs[0] = (icellX1*ncells.height + icellY0)*nbins;
                    data->histWeights[0] = cellX*(1.f - cellY);
                    data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[1] = cellX*cellY;
                    data->histOfs[2] = data->histOfs[3] = 0;
                    data->histWeights[2] = data->histWeights[3] = 0;
                }
                else
                {
                    data = &pixData[count1++];
                    if( (unsigned)icellY0 < (unsigned)ncells.height )
                    {
                        icellY1 = icellY0;
                        cellY = 1.f - cellY;
                    }
                    data->histOfs[0] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[0] = cellX*cellY;
                    data->histOfs[1] = data->histOfs[2] = data->histOfs[3] = 0;
                    data->histWeights[1] = data->histWeights[2] = data->histWeights[3] = 0;
                }
            }
            data->gradOfs = (grad.cols*i + j)*2;
            data->qangleOfs = (qangle.cols*i + j)*2;
            data->gradWeight = weights(i,j);
        }

    assert( count1 + count2 + count4 == rawBlockSize );
    // defragment pixData
    for( j = 0; j < count2; j++ )
        pixData[j + count1] = pixData[j + rawBlockSize];
    for( j = 0; j < count4; j++ )
        pixData[j + count1 + count2] = pixData[j + rawBlockSize*2];
    count2 += count1;
    count4 += count2;

    // initialize blockData
    for( j = 0; j < nblocks.width; j++ )
        for( i = 0; i < nblocks.height; i++ )
        {
            BlockData& data = blockData[j*nblocks.height + i];
            data.histOfs = (j*nblocks.height + i)*blockHistogramSize;
            data.imgOffset = Point(j*blockStride.width,i*blockStride.height);
        }
}

wester committed
620

wester committed
621 622 623 624 625
const float* HOGCache::getBlock(Point pt, float* buf)
{
    float* blockHist = buf;
    assert(descriptor != 0);

wester committed
626
    Size blockSize = descriptor->blockSize;
wester committed
627 628
    pt += imgoffset;

wester committed
629 630
    CV_Assert( (unsigned)pt.x <= (unsigned)(grad.cols - blockSize.width) &&
               (unsigned)pt.y <= (unsigned)(grad.rows - blockSize.height) );
wester committed
631 632 633 634 635 636

    if( useCache )
    {
        CV_Assert( pt.x % cacheStride.width == 0 &&
                   pt.y % cacheStride.height == 0 );
        Point cacheIdx(pt.x/cacheStride.width,
wester committed
637
                      (pt.y/cacheStride.height) % blockCache.rows);
wester committed
638 639 640 641 642 643 644 645 646 647 648 649 650 651 652
        if( pt.y != ymaxCached[cacheIdx.y] )
        {
            Mat_<uchar> cacheRow = blockCacheFlags.row(cacheIdx.y);
            cacheRow = (uchar)0;
            ymaxCached[cacheIdx.y] = pt.y;
        }

        blockHist = &blockCache[cacheIdx.y][cacheIdx.x*blockHistogramSize];
        uchar& computedFlag = blockCacheFlags(cacheIdx.y, cacheIdx.x);
        if( computedFlag != 0 )
            return blockHist;
        computedFlag = (uchar)1; // set it at once, before actual computing
    }

    int k, C1 = count1, C2 = count2, C4 = count4;
wester committed
653 654
    const float* gradPtr = (const float*)(grad.data + grad.step*pt.y) + pt.x*2;
    const uchar* qanglePtr = qangle.data + qangle.step*pt.y + pt.x*2;
wester committed
655

wester committed
656 657 658 659 660 661 662
    CV_Assert( blockHist != 0 );
#ifdef HAVE_IPP
    ippsZero_32f(blockHist,blockHistogramSize);
#else
    for( k = 0; k < blockHistogramSize; k++ )
        blockHist[k] = 0.f;
#endif
wester committed
663 664 665 666 667 668

    const PixData* _pixData = &pixData[0];

    for( k = 0; k < C1; k++ )
    {
        const PixData& pk = _pixData[k];
wester committed
669
        const float* a = gradPtr + pk.gradOfs;
wester committed
670 671 672 673 674 675 676 677 678 679 680 681
        float w = pk.gradWeight*pk.histWeights[0];
        const uchar* h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];
        float* hist = blockHist + pk.histOfs[0];
        float t0 = hist[h0] + a[0]*w;
        float t1 = hist[h1] + a[1]*w;
        hist[h0] = t0; hist[h1] = t1;
    }

    for( ; k < C2; k++ )
    {
        const PixData& pk = _pixData[k];
wester committed
682
        const float* a = gradPtr + pk.gradOfs;
wester committed
683
        float w, t0, t1, a0 = a[0], a1 = a[1];
wester committed
684
        const uchar* h = qanglePtr + pk.qangleOfs;
wester committed
685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737
        int h0 = h[0], h1 = h[1];

        float* hist = blockHist + pk.histOfs[0];
        w = pk.gradWeight*pk.histWeights[0];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;

        hist = blockHist + pk.histOfs[1];
        w = pk.gradWeight*pk.histWeights[1];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
    }

    for( ; k < C4; k++ )
    {
        const PixData& pk = _pixData[k];
        const float* a = gradPtr + pk.gradOfs;
        float w, t0, t1, a0 = a[0], a1 = a[1];
        const uchar* h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];

        float* hist = blockHist + pk.histOfs[0];
        w = pk.gradWeight*pk.histWeights[0];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;

        hist = blockHist + pk.histOfs[1];
        w = pk.gradWeight*pk.histWeights[1];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;

        hist = blockHist + pk.histOfs[2];
        w = pk.gradWeight*pk.histWeights[2];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;

        hist = blockHist + pk.histOfs[3];
        w = pk.gradWeight*pk.histWeights[3];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
    }

    normalizeBlockHistogram(blockHist);

    return blockHist;
}

wester committed
738

wester committed
739 740
void HOGCache::normalizeBlockHistogram(float* _hist) const
{
wester committed
741 742 743
    float* hist = &_hist[0];
#ifdef HAVE_IPP
    size_t sz = blockHistogramSize;
wester committed
744
#else
wester committed
745
    size_t i, sz = blockHistogramSize;
wester committed
746
#endif
wester committed
747 748 749 750 751 752

    float sum = 0;
#ifdef HAVE_IPP
    ippsDotProd_32f(hist,hist,(int)sz,&sum);
#else
    for( i = 0; i < sz; i++ )
wester committed
753
        sum += hist[i]*hist[i];
wester committed
754
#endif
wester committed
755 756

    float scale = 1.f/(std::sqrt(sum)+sz*0.1f), thresh = (float)descriptor->L2HysThreshold;
wester committed
757 758 759 760
#ifdef HAVE_IPP
    ippsMulC_32f_I(scale,hist,(int)sz);
    ippsThreshold_32f_I( hist, (int)sz, thresh, ippCmpGreater );
    ippsDotProd_32f(hist,hist,(int)sz,&sum);
wester committed
761
#else
wester committed
762
    for( i = 0, sum = 0; i < sz; i++ )
wester committed
763 764 765 766 767
    {
        hist[i] = std::min(hist[i]*scale, thresh);
        sum += hist[i]*hist[i];
    }
#endif
wester committed
768 769 770 771 772 773

    scale = 1.f/(std::sqrt(sum)+1e-3f);
#ifdef HAVE_IPP
    ippsMulC_32f_I(scale,hist,(int)sz);
#else
    for( i = 0; i < sz; i++ )
wester committed
774
        hist[i] *= scale;
wester committed
775
#endif
wester committed
776 777
}

wester committed
778 779

Size HOGCache::windowsInImage(Size imageSize, Size winStride) const
wester committed
780 781
{
    return Size((imageSize.width - winSize.width)/winStride.width + 1,
wester committed
782
                (imageSize.height - winSize.height)/winStride.height + 1);
wester committed
783 784
}

wester committed
785
Rect HOGCache::getWindow(Size imageSize, Size winStride, int idx) const
wester committed
786 787 788 789 790 791 792 793
{
    int nwindowsX = (imageSize.width - winSize.width)/winStride.width + 1;
    int y = idx / nwindowsX;
    int x = idx - nwindowsX*y;
    return Rect( x*winStride.width, y*winStride.height, winSize.width, winSize.height );
}


wester committed
794 795 796
void HOGDescriptor::compute(const Mat& img, vector<float>& descriptors,
                            Size winStride, Size padding,
                            const vector<Point>& locations) const
wester committed
797 798 799 800 801 802 803 804
{
    if( winStride == Size() )
        winStride = cellSize;
    Size cacheStride(gcd(winStride.width, blockStride.width),
                     gcd(winStride.height, blockStride.height));
    size_t nwindows = locations.size();
    padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
    padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
wester committed
805
    Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);
wester committed
806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833

    HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);

    if( !nwindows )
        nwindows = cache.windowsInImage(paddedImgSize, winStride).area();

    const HOGCache::BlockData* blockData = &cache.blockData[0];

    int nblocks = cache.nblocks.area();
    int blockHistogramSize = cache.blockHistogramSize;
    size_t dsize = getDescriptorSize();
    descriptors.resize(dsize*nwindows);

    for( size_t i = 0; i < nwindows; i++ )
    {
        float* descriptor = &descriptors[i*dsize];

        Point pt0;
        if( !locations.empty() )
        {
            pt0 = locations[i];
            if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
                pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
                continue;
        }
        else
        {
            pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
wester committed
834
            CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
wester committed
835 836 837 838 839 840 841 842 843 844
        }

        for( int j = 0; j < nblocks; j++ )
        {
            const HOGCache::BlockData& bj = blockData[j];
            Point pt = pt0 + bj.imgOffset;

            float* dst = descriptor + bj.histOfs;
            const float* src = cache.getBlock(pt, dst);
            if( src != dst )
wester committed
845 846 847 848 849 850
#ifdef HAVE_IPP
               ippsCopy_32f(src,dst,blockHistogramSize);
#else
                for( int k = 0; k < blockHistogramSize; k++ )
                    dst[k] = src[k];
#endif
wester committed
851 852 853 854
        }
    }
}

wester committed
855

wester committed
856
void HOGDescriptor::detect(const Mat& img,
wester committed
857 858
    vector<Point>& hits, vector<double>& weights, double hitThreshold,
    Size winStride, Size padding, const vector<Point>& locations) const
wester committed
859 860 861 862 863 864 865 866 867
{
    hits.clear();
    weights.clear();
    if( svmDetector.empty() )
        return;

    if( winStride == Size() )
        winStride = cellSize;
    Size cacheStride(gcd(winStride.width, blockStride.width),
wester committed
868
                     gcd(winStride.height, blockStride.height));
wester committed
869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885
    size_t nwindows = locations.size();
    padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
    padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
    Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);

    HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);

    if( !nwindows )
        nwindows = cache.windowsInImage(paddedImgSize, winStride).area();

    const HOGCache::BlockData* blockData = &cache.blockData[0];

    int nblocks = cache.nblocks.area();
    int blockHistogramSize = cache.blockHistogramSize;
    size_t dsize = getDescriptorSize();

    double rho = svmDetector.size() > dsize ? svmDetector[dsize] : 0;
wester committed
886
    vector<float> blockHist(blockHistogramSize);
wester committed
887 888 889 890 891 892 893 894

    for( size_t i = 0; i < nwindows; i++ )
    {
        Point pt0;
        if( !locations.empty() )
        {
            pt0 = locations[i];
            if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
wester committed
895
                pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
wester committed
896 897 898 899 900 901 902 903 904
                continue;
        }
        else
        {
            pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
            CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
        }
        double s = rho;
        const float* svmVec = &svmDetector[0];
wester committed
905 906 907
#ifdef HAVE_IPP
        int j;
#else
wester committed
908
        int j, k;
wester committed
909
#endif
wester committed
910 911 912 913 914 915
        for( j = 0; j < nblocks; j++, svmVec += blockHistogramSize )
        {
            const HOGCache::BlockData& bj = blockData[j];
            Point pt = pt0 + bj.imgOffset;

            const float* vec = cache.getBlock(pt, &blockHist[0]);
wester committed
916 917 918 919
#ifdef HAVE_IPP
            Ipp32f partSum;
            ippsDotProd_32f(vec,svmVec,blockHistogramSize,&partSum);
            s += (double)partSum;
wester committed
920 921 922 923 924 925
#else
            for( k = 0; k <= blockHistogramSize - 4; k += 4 )
                s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
                    vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
            for( ; k < blockHistogramSize; k++ )
                s += vec[k]*svmVec[k];
wester committed
926
#endif
wester committed
927 928 929 930 931 932 933 934 935
        }
        if( s >= hitThreshold )
        {
            hits.push_back(pt0);
            weights.push_back(s);
        }
    }
}

wester committed
936 937
void HOGDescriptor::detect(const Mat& img, vector<Point>& hits, double hitThreshold,
                           Size winStride, Size padding, const vector<Point>& locations) const
wester committed
938
{
wester committed
939
    vector<double> weightsV;
wester committed
940 941 942
    detect(img, hits, weightsV, hitThreshold, winStride, padding, locations);
}

wester committed
943
class HOGInvoker : public ParallelLoopBody
wester committed
944 945 946
{
public:
    HOGInvoker( const HOGDescriptor* _hog, const Mat& _img,
wester committed
947 948 949
                double _hitThreshold, Size _winStride, Size _padding,
                const double* _levelScale, std::vector<Rect> * _vec, Mutex* _mtx,
                std::vector<double>* _weights=0, std::vector<double>* _scales=0 )
wester committed
950 951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967 968
    {
        hog = _hog;
        img = _img;
        hitThreshold = _hitThreshold;
        winStride = _winStride;
        padding = _padding;
        levelScale = _levelScale;
        vec = _vec;
        weights = _weights;
        scales = _scales;
        mtx = _mtx;
    }

    void operator()( const Range& range ) const
    {
        int i, i1 = range.start, i2 = range.end;
        double minScale = i1 > 0 ? levelScale[i1] : i2 > 1 ? levelScale[i1+1] : std::max(img.cols, img.rows);
        Size maxSz(cvCeil(img.cols/minScale), cvCeil(img.rows/minScale));
        Mat smallerImgBuf(maxSz, img.type());
wester committed
969 970
        vector<Point> locations;
        vector<double> hitsWeights;
wester committed
971 972 973 974 975

        for( i = i1; i < i2; i++ )
        {
            double scale = levelScale[i];
            Size sz(cvRound(img.cols/scale), cvRound(img.rows/scale));
wester committed
976
            Mat smallerImg(sz, img.type(), smallerImgBuf.data);
wester committed
977 978 979 980 981 982 983 984 985 986 987 988 989 990
            if( sz == img.size() )
                smallerImg = Mat(sz, img.type(), img.data, img.step);
            else
                resize(img, smallerImg, sz);
            hog->detect(smallerImg, locations, hitsWeights, hitThreshold, winStride, padding);
            Size scaledWinSize = Size(cvRound(hog->winSize.width*scale), cvRound(hog->winSize.height*scale));

            mtx->lock();
            for( size_t j = 0; j < locations.size(); j++ )
            {
                vec->push_back(Rect(cvRound(locations[j].x*scale),
                                    cvRound(locations[j].y*scale),
                                    scaledWinSize.width, scaledWinSize.height));
                if (scales)
wester committed
991
                {
wester committed
992
                    scales->push_back(scale);
wester committed
993
                }
wester committed
994 995 996 997 998 999 1000
            }
            mtx->unlock();

            if (weights && (!hitsWeights.empty()))
            {
                mtx->lock();
                for (size_t j = 0; j < locations.size(); j++)
wester committed
1001
                {
wester committed
1002
                    weights->push_back(hitsWeights[j]);
wester committed
1003
                }
wester committed
1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021 1022
                mtx->unlock();
            }
        }
    }

    const HOGDescriptor* hog;
    Mat img;
    double hitThreshold;
    Size winStride;
    Size padding;
    const double* levelScale;
    std::vector<Rect>* vec;
    std::vector<double>* weights;
    std::vector<double>* scales;
    Mutex* mtx;
};


void HOGDescriptor::detectMultiScale(
wester committed
1023
    const Mat& img, vector<Rect>& foundLocations, vector<double>& foundWeights,
wester committed
1024 1025 1026 1027 1028 1029
    double hitThreshold, Size winStride, Size padding,
    double scale0, double finalThreshold, bool useMeanshiftGrouping) const
{
    double scale = 1.;
    int levels = 0;

wester committed
1030
    vector<double> levelScale;
wester committed
1031 1032 1033
    for( levels = 0; levels < nlevels; levels++ )
    {
        levelScale.push_back(scale);
wester committed
1034 1035 1036
        if( cvRound(img.cols/scale) < winSize.width ||
            cvRound(img.rows/scale) < winSize.height ||
            scale0 <= 1 )
wester committed
1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047
            break;
        scale *= scale0;
    }
    levels = std::max(levels, 1);
    levelScale.resize(levels);

    std::vector<Rect> allCandidates;
    std::vector<double> tempScales;
    std::vector<double> tempWeights;
    std::vector<double> foundScales;
    Mutex mtx;
wester committed
1048 1049 1050

    parallel_for_(Range(0, (int)levelScale.size()),
                 HOGInvoker(this, img, hitThreshold, winStride, padding, &levelScale[0], &allCandidates, &mtx, &tempWeights, &tempScales));
wester committed
1051 1052 1053 1054 1055 1056 1057 1058

    std::copy(tempScales.begin(), tempScales.end(), back_inserter(foundScales));
    foundLocations.clear();
    std::copy(allCandidates.begin(), allCandidates.end(), back_inserter(foundLocations));
    foundWeights.clear();
    std::copy(tempWeights.begin(), tempWeights.end(), back_inserter(foundWeights));

    if ( useMeanshiftGrouping )
wester committed
1059
    {
wester committed
1060
        groupRectangles_meanshift(foundLocations, foundWeights, foundScales, finalThreshold, winSize);
wester committed
1061
    }
wester committed
1062
    else
wester committed
1063
    {
wester committed
1064
        groupRectangles(foundLocations, foundWeights, (int)finalThreshold, 0.2);
wester committed
1065
    }
wester committed
1066 1067
}

wester committed
1068 1069 1070
void HOGDescriptor::detectMultiScale(const Mat& img, vector<Rect>& foundLocations,
                                     double hitThreshold, Size winStride, Size padding,
                                     double scale0, double finalThreshold, bool useMeanshiftGrouping) const
wester committed
1071
{
wester committed
1072
    vector<double> foundWeights;
wester committed
1073
    detectMultiScale(img, foundLocations, foundWeights, hitThreshold, winStride,
wester committed
1074
                     padding, scale0, finalThreshold, useMeanshiftGrouping);
wester committed
1075 1076 1077 1078 1079
}

typedef RTTIImpl<HOGDescriptor> HOGRTTI;

CvType hog_type( CV_TYPE_NAME_HOG_DESCRIPTOR, HOGRTTI::isInstance,
wester committed
1080
                 HOGRTTI::release, HOGRTTI::read, HOGRTTI::write, HOGRTTI::clone);
wester committed
1081

wester committed
1082
vector<float> HOGDescriptor::getDefaultPeopleDetector()
wester committed
1083 1084
{
    static const float detector[] = {
wester committed
1085 1086 1087 1088 1089 1090 1091 1092 1093 1094 1095 1096 1097 1098 1099 1100 1101 1102 1103 1104 1105 1106 1107 1108 1109 1110 1111 1112 1113 1114 1115 1116 1117 1118 1119 1120 1121 1122 1123 1124 1125 1126 1127 1128 1129 1130 1131 1132 1133 1134 1135 1136 1137 1138 1139 1140 1141 1142 1143 1144 1145 1146 1147 1148 1149 1150 1151 1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166 1167 1168 1169 1170 1171 1172 1173 1174 1175 1176 1177 1178 1179 1180 1181 1182 1183 1184 1185 1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205 1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223 1224 1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235 1236 1237 1238 1239 1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255 1256 1257 1258 1259 1260 1261 1262 1263 1264 1265 1266 1267 1268 1269 1270 1271 1272 1273 1274 1275 1276 1277 1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318 1319 1320 1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344 1345 1346 1347 1348 1349 1350 1351 1352 1353 1354 1355 1356 1357 1358 1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397 1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412 1413 1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429 1430 1431 1432 1433 1434 1435 1436 1437 1438 1439 1440 1441 1442 1443 1444 1445 1446 1447 1448 1449 1450 1451 1452 1453 1454 1455 1456 1457 1458 1459 1460 1461 1462 1463 1464 1465 1466 1467 1468 1469 1470 1471 1472 1473 1474 1475 1476 1477 1478 1479 1480 1481 1482 1483 1484 1485 1486 1487 1488 1489 1490 1491 1492 1493 1494 1495 1496 1497 1498 1499 1500 1501 1502 1503 1504 1505 1506 1507 1508 1509 1510 1511 1512 1513 1514 1515 1516 1517 1518 1519 1520 1521 1522 1523 1524 1525 1526 1527 1528 1529 1530 1531 1532 1533 1534 1535 1536 1537 1538 1539 1540 1541 1542 1543 1544 1545 1546 1547 1548 1549 1550 1551 1552 1553 1554 1555 1556 1557 1558 1559 1560 1561 1562 1563 1564 1565 1566 1567 1568 1569 1570 1571 1572 1573 1574 1575 1576 1577 1578 1579 1580 1581 1582 1583 1584 1585 1586 1587 1588 1589 1590 1591 1592 1593 1594 1595 1596 1597 1598 1599 1600 1601 1602 1603 1604 1605 1606 1607 1608 1609 1610 1611 1612 1613 1614 1615 1616 1617 1618 1619 1620 1621 1622 1623 1624 1625 1626 1627 1628 1629 1630 1631 1632 1633 1634 1635 1636 1637 1638 1639 1640 1641 1642 1643 1644 1645 1646 1647 1648 1649 1650 1651 1652 1653 1654 1655 1656 1657 1658 1659 1660 1661 1662 1663 1664 1665 1666 1667 1668 1669 1670 1671 1672 1673 1674 1675 1676 1677 1678 1679 1680 1681 1682 1683 1684 1685 1686 1687 1688 1689 1690 1691 1692 1693 1694 1695 1696 1697 1698 1699 1700 1701 1702 1703 1704 1705 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715 1716 1717 1718 1719 1720 1721 1722 1723 1724 1725 1726 1727 1728 1729 1730 1731 1732 1733 1734 1735 1736 1737 1738 1739 1740 1741 1742 1743 1744 1745 1746 1747 1748 1749 1750 1751 1752 1753 1754 1755 1756 1757 1758 1759 1760 1761 1762 1763 1764 1765 1766 1767 1768 1769 1770 1771 1772 1773 1774 1775 1776 1777 1778 1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789 1790 1791 1792 1793 1794 1795 1796 1797 1798 1799 1800 1801 1802 1803 1804 1805 1806 1807 1808 1809 1810 1811 1812 1813 1814 1815 1816 1817 1818 1819 1820 1821 1822 1823 1824 1825 1826 1827 1828 1829 1830 1831 1832 1833 1834 1835 1836 1837 1838 1839 1840 1841 1842 1843 1844 1845 1846 1847 1848 1849 1850 1851 1852 1853 1854 1855 1856 1857 1858 1859 1860 1861 1862 1863 1864 1865 1866 1867 1868 1869 1870 1871 1872 1873 1874 1875 1876 1877 1878 1879 1880 1881 1882 1883 1884 1885 1886 1887 1888 1889 1890
       0.05359386f, -0.14721455f, -0.05532170f, 0.05077307f,
       0.11547081f, -0.04268804f, 0.04635834f, -0.05468199f, 0.08232084f,
       0.10424068f, -0.02294518f, 0.01108519f, 0.01378693f, 0.11193510f,
       0.01268418f, 0.08528346f, -0.06309239f, 0.13054633f, 0.08100729f,
       -0.05209739f, -0.04315529f, 0.09341384f, 0.11035026f, -0.07596218f,
       -0.05517511f, -0.04465296f, 0.02947334f, 0.04555536f,
       -3.55954492e-003f, 0.07818956f, 0.07730991f, 0.07890715f, 0.06222893f,
       0.09001380f, -0.03574381f, 0.03414327f, 0.05677258f, -0.04773581f,
       0.03746637f, -0.03521175f, 0.06955440f, -0.03849038f, 0.01052293f,
       0.01736112f, 0.10867710f, 0.08748853f, 3.29739624e-003f, 0.10907028f,
       0.07913758f, 0.10393070f, 0.02091867f, 0.11594022f, 0.13182420f,
       0.09879354f, 0.05362710f, -0.06745391f, -7.01260753e-003f,
       5.24702156e-003f, 0.03236255f, 0.01407916f, 0.02207983f, 0.02537322f,
       0.04547948f, 0.07200756f, 0.03129894f, -0.06274468f, 0.02107014f,
       0.06035208f, 0.08636236f, 4.53164103e-003f, 0.02193363f, 0.02309801f,
       0.05568166f, -0.02645093f, 0.04448695f, 0.02837519f, 0.08975694f,
       0.04461516f, 0.08975355f, 0.07514391f, 0.02306982f, 0.10410084f,
       0.06368385f, 0.05943464f, 4.58420580e-003f, 0.05220337f, 0.06675851f,
       0.08358569f, 0.06712101f, 0.06559004f, -0.03930482f, -9.15936660e-003f,
       -0.05897915f, 0.02816453f, 0.05032348f, 0.06780671f, 0.03377650f,
       -6.09417039e-004f, -0.01795146f, -0.03083684f, -0.01302475f,
       -0.02972313f, 7.88706727e-003f, -0.03525961f, -2.50397739e-003f,
       0.05245084f, 0.11791293f, -0.02167498f, 0.05299332f, 0.06640524f,
       0.05190265f, -8.27316567e-003f, 0.03033127f, 0.05842173f,
       -4.01050318e-003f, -6.25105947e-003f, 0.05862958f, -0.02465461f,
       0.05546781f, -0.08228195f, -0.07234028f, 0.04640540f, -0.01308254f,
       -0.02506191f, 0.03100746f, -0.04665651f, -0.04591486f, 0.02949927f,
       0.06035462f, 0.02244646f, -0.01698639f, 0.01040041f, 0.01131170f,
       0.05419579f, -0.02130277f, -0.04321722f, -0.03665198f, 0.01126490f,
       -0.02606488f, -0.02228328f, -0.02255680f, -0.03427236f,
       -7.75165204e-003f, -0.06195229f, 8.21638294e-003f, 0.09535975f,
       -0.03709979f, -0.06942501f, 0.14579427f, -0.05448192f, -0.02055904f,
       0.05747357f, 0.02781788f, -0.07077577f, -0.05178314f, -0.10429011f,
       -0.11235505f, 0.07529039f, -0.07559302f, -0.08786739f, 0.02983843f,
       0.02667585f, 0.01382199f, -0.01797496f, -0.03141199f, -0.02098101f,
       0.09029204f, 0.04955018f, 0.13718739f, 0.11379953f, 1.80019124e-003f,
       -0.04577610f, -1.11108483e-003f, -0.09470536f, -0.11596080f,
       0.04489342f, 0.01784211f, 3.06850672e-003f, 0.10781866f,
       3.36498418e-003f, -0.10842580f, -0.07436839f, -0.10535070f,
       -0.01866805f, 0.16057891f, -5.07316366e-003f, -0.04295658f,
       -5.90488780e-003f, 8.82003549e-003f, -0.01492646f, -0.05029279f,
       -0.12875880f, 8.78831954e-004f, -0.01297184f, -0.07592774f,
       -0.02668831f, -6.93787413e-004f, 0.02406698f, -0.01773298f,
       -0.03855745f, -0.05877856f, 0.03259695f, 0.12826584f, 0.06292590f,
       -4.10733931e-003f, 0.10996531f, 0.01332991f, 0.02088735f, 0.04037504f,
       -0.05210760f, 0.07760046f, 0.06399347f, -0.05751930f, -0.10053057f,
       0.07505023f, -0.02139782f, 0.01796176f, 2.34400877e-003f, -0.04208319f,
       0.07355055f, 0.05093350f, -0.02996780f, -0.02219072f, 0.03355330f,
       0.04418742f, -0.05580705f, -0.05037573f, -0.04548179f, 0.01379514f,
       0.02150671f, -0.02194211f, -0.13682702f, 0.05464972f, 0.01608082f,
       0.05309116f, 0.04701022f, 1.33690401e-003f, 0.07575664f, 0.09625306f,
       8.92647635e-003f, -0.02819123f, 0.10866830f, -0.03439325f,
       -0.07092371f, -0.06004780f, -0.02712298f, -7.07467366e-003f,
       -0.01637020f, 0.01336790f, -0.10313606f, 0.04906582f, -0.05732445f,
       -0.02731079f, 0.01042235f, -0.08340668f, 0.03686501f, 0.06108340f,
       0.01322748f, -0.07809529f, 0.03774724f, -0.03413248f, -0.06096525f,
       -0.04212124f, -0.07982176f, -1.25973229e-003f, -0.03045501f,
       -0.01236493f, -0.06312395f, 0.04789570f, -0.04602066f, 0.08576570f,
       0.02521080f, 0.02988098f, 0.10314583f, 0.07060035f, 0.04520544f,
       -0.04426654f, 0.13146530f, 0.08386490f, 0.02164590f, -2.12280243e-003f,
       -0.03686353f, -0.02074944f, -0.03829959f, -0.01530596f, 0.02689708f,
       0.11867401f, -0.06043470f, -0.02785023f, -0.04775074f, 0.04878745f,
       0.06350956f, 0.03494788f, 0.01467400f, 1.17890188e-003f, 0.04379614f,
       2.03681854e-003f, -0.03958609f, -0.01072688f, 6.43705716e-003f,
       0.02996500f, -0.03418507f, -0.01960307f, -0.01219154f,
       -4.37000440e-003f, -0.02549453f, 0.02646318f, -0.01632513f,
       6.46516960e-003f, -0.01929734f, 4.78711911e-003f, 0.04962371f,
       0.03809111f, 0.07265724f, 0.05758125f, -0.03741554f, 0.01648608f,
       -8.45285598e-003f, 0.03996826f, -0.08185477f, 0.02638875f,
       -0.04026615f, -0.02744674f, -0.04071517f, 1.05096330e-003f,
       -0.04741232f, -0.06733172f, 8.70434940e-003f, -0.02192543f,
       1.35350740e-003f, -0.03056974f, -0.02975521f, -0.02887780f,
       -0.01210713f, -0.04828526f, -0.09066251f, -0.09969629f, -0.03665164f,
       -8.88111943e-004f, -0.06826669f, -0.01866150f, -0.03627640f,
       -0.01408288f, 0.01874239f, -0.02075835f, 0.09145175f, -0.03547291f,
       0.05396780f, 0.04198981f, 0.01301925f, -0.03384354f, -0.12201976f,
       0.06830920f, -0.03715654f, 9.55848210e-003f, 5.05685573e-003f,
       0.05659294f, 3.90764466e-003f, 0.02808490f, -0.05518097f, -0.03711621f,
       -0.02835565f, -0.04420464f, -0.01031947f, 0.01883466f,
       -8.49525444e-003f, -0.09419250f, -0.01269387f, -0.02133371f,
       -0.10190815f, -0.07844430f, 2.43644323e-003f, -4.09610150e-003f,
       0.01202551f, -0.06452291f, -0.10593818f, -0.02464746f, -0.02199699f,
       -0.07401930f, 0.07285886f, 8.87513801e-004f, 9.97662079e-003f,
       8.46779719e-003f, 0.03730333f, -0.02905126f, 0.03573337f, -0.04393689f,
       -0.12014472f, 0.03176554f, -2.76015815e-003f, 0.10824566f, 0.05090732f,
       -3.30179278e-003f, -0.05123822f, 5.04784798e-003f, -0.05664124f,
       -5.99415926e-003f, -0.05341901f, -0.01221393f, 0.01291318f,
       9.91760660e-003f, -7.56987557e-003f, -0.06193124f, -2.24549137e-003f,
       0.01987562f, -0.02018840f, -0.06975540f, -0.06601523f, -0.03349112f,
       -0.08910118f, -0.03371435f, -0.07406893f, -0.02248047f, -0.06159951f,
       2.77751544e-003f, -0.05723337f, -0.04792468f, 0.07518548f,
       2.77279224e-003f, 0.04211938f, 0.03100502f, 0.05278448f, 0.03954679f,
       -0.03006846f, -0.03851741f, -0.02792403f, -0.02875333f, 0.01531280f,
       0.02186953f, -0.01989829f, 2.50679464e-003f, -0.10258728f,
       -0.04785743f, -0.02887216f, 3.85063468e-003f, 0.01112236f,
       8.29218887e-003f, -0.04822981f, -0.04503597f, -0.03713100f,
       -0.06988008f, -0.11002295f, -2.69209221e-003f, 1.85383670e-003f,
       -0.05921049f, -0.06105053f, -0.08458050f, -0.04527602f,
       8.90329306e-004f, -0.05875023f, -2.68602883e-003f, -0.01591195f,
       0.03631859f, 0.05493166f, 0.07300330f, 5.53333294e-003f, 0.06400407f,
       0.01847740f, -5.76280477e-003f, -0.03210877f, 4.25160583e-003f,
       0.01166520f, -1.44864211e-003f, 0.02253744f, -0.03367080f, 0.06983195f,
       -4.22323542e-003f, -8.89401045e-003f, -0.07943393f, 0.05199728f,
       0.06065201f, 0.04133492f, 1.44032843e-003f, -0.09585235f, -0.03964731f,
       0.04232114f, 0.01750465f, -0.04487902f, -7.59733608e-003f, 0.02011171f,
       0.04673622f, 0.09011173f, -0.07869188f, -0.04682482f, -0.05080139f,
       -3.99383716e-003f, -0.05346331f, 0.01085723f, -0.03599333f,
       -0.07097908f, 0.03551549f, 0.02680387f, 0.03471529f, 0.01790393f,
       0.05471273f, 9.62048303e-003f, -0.03180215f, 0.05864431f, 0.02330614f,
       0.01633144f, -0.05616681f, -0.10245429f, -0.08302189f, 0.07291322f,
       -0.01972590f, -0.02619633f, -0.02485327f, -0.04627592f,
       1.48853404e-003f, 0.05514185f, -0.01270860f, -0.01948900f, 0.06373586f,
       0.05002292f, -0.03009798f, 8.76216311e-003f, -0.02474238f,
       -0.05504891f, 1.74034527e-003f, -0.03333667f, 0.01524987f, 0.11663762f,
       -1.32344989e-003f, -0.06608453f, 0.05687166f, -6.89525274e-004f,
       -0.04402352f, 0.09450210f, -0.04222684f, -0.05360983f, 0.01779531f,
       0.02561388f, -0.11075410f, -8.77790991e-003f, -0.01099504f,
       -0.10380266f, 0.03103457f, -0.02105741f, -0.07371717f, 0.05146710f,
       0.10581432f, -0.08617968f, -0.02892107f, 0.01092199f, 0.14551543f,
       -2.24320893e-003f, -0.05818033f, -0.07390742f, 0.05701261f,
       0.12937020f, -0.04986651f, 0.10182415f, 0.05028650f, 0.12515625f,
       0.09175041f, 0.06404983f, 0.01523394f, 0.09460562f, 0.06106631f,
       -0.14266998f, -0.02926703f, 0.02762171f, 0.02164151f,
       -9.58488265e-004f, -0.04231362f, -0.09866509f, 0.04322244f,
       0.05872034f, -0.04838847f, 0.06319253f, 0.02443798f, -0.03606876f,
       9.38737206e-003f, 0.04289991f, -0.01027411f, 0.08156885f, 0.08751175f,
       -0.13191354f, 8.16054735e-003f, -0.01452161f, 0.02952677f, 0.03615945f,
       -2.09128903e-003f, 0.02246693f, 0.09623287f, 0.09412123f, -0.02924758f,
       -0.07815186f, -0.02203079f, -2.02566991e-003f, 0.01094733f,
       -0.01442332f, 0.02838561f, 0.11882371f, 7.28798332e-003f, -0.10345965f,
       0.07561217f, -0.02049661f, 4.44177445e-003f, 0.01609347f, -0.04893158f,
       -0.08758243f, -7.67420698e-003f, 0.08862378f, 0.06098121f, 0.06565887f,
       7.32981879e-003f, 0.03558407f, -0.03874352f, -0.02490055f,
       -0.06771075f, 0.09939223f, -0.01066077f, 0.01382995f, -0.07289080f,
       7.47184316e-003f, 0.10621431f, -0.02878659f, 0.02383525f, -0.03274646f,
       0.02137008f, 0.03837290f, 0.02450992f, -0.04296818f, -0.02895143f,
       0.05327370f, 0.01499020f, 0.04998732f, 0.12938657f, 0.09391870f,
       0.04292390f, -0.03359194f, -0.06809492f, 0.01125796f, 0.17290455f,
       -0.03430733f, -0.06255233f, -0.01813114f, 0.11726857f, -0.06127599f,
       -0.08677909f, -0.03429872f, 0.04684938f, 0.08161420f, 0.03538774f,
       0.01833884f, 0.11321855f, 0.03261845f, -0.04826299f, 0.01752407f,
       -0.01796414f, -0.10464549f, -3.30041884e-003f, 2.29343961e-004f,
       0.01457292f, -0.02132982f, -0.02602923f, -9.87351313e-003f,
       0.04273872f, -0.02103316f, -0.07994065f, 0.02614958f, -0.02111666f,
       -0.06964913f, -0.13453490f, -0.06861878f, -6.09341264e-003f,
       0.08251446f, 0.15612499f, 2.46531400e-003f, 8.88424646e-003f,
       -0.04152999f, 0.02054853f, 0.05277953f, -0.03087788f, 0.02817579f,
       0.13939077f, 0.07641046f, -0.03627627f, -0.03015098f, -0.04041540f,
       -0.01360690f, -0.06227205f, -0.02738223f, 0.13577610f, 0.15235767f,
       -0.05392922f, -0.11175954f, 0.02157129f, 0.01146481f, -0.05264937f,
       -0.06595174f, -0.02749175f, 0.11812254f, 0.17404149f, -0.06137035f,
       -0.11003478f, -0.01351621f, -0.01745916f, -0.08577441f, -0.04469909f,
       -0.06106115f, 0.10559758f, 0.20806813f, -0.09174948f, 7.09621934e-004f,
       0.03579374f, 0.07215115f, 0.02221742f, 0.01827742f, -7.90785067e-003f,
       0.01489554f, 0.14519960f, -0.06425831f, 0.02990399f, -1.80181325e-003f,
       -0.01401528f, -0.04171134f, -3.70530109e-003f, -0.09090481f,
       0.09520713f, 0.08845516f, -0.02651753f, -0.03016730f, 0.02562448f,
       0.03563816f, -0.03817881f, 0.01433385f, 0.02256983f, 0.02872120f,
       0.01001934f, -0.06332260f, 0.04338406f, 0.07001807f, -0.04705722f,
       -0.07318907f, 0.02630457f, 0.03106382f, 0.06648342f, 0.10913180f,
       -0.01630815f, 0.02910308f, 0.02895109f, 0.08040254f, 0.06969310f,
       0.06797734f, 6.08639978e-003f, 4.16588830e-003f, 0.08926726f,
       -0.03123648f, 0.02700146f, 0.01168734f, -0.01631594f, 4.61015804e-003f,
       8.51359498e-003f, -0.03544224f, 0.03571994f, 4.29766066e-003f,
       -0.01970077f, -8.79793242e-003f, 0.09607988f, 0.01544222f,
       -0.03923707f, 0.07308586f, 0.06061262f, 1.31683104e-004f,
       -7.98222050e-003f, 0.02399261f, -0.06084389f, -0.02743429f,
       -0.05475523f, -0.04131311f, 0.03559756f, 0.03055342f, 0.02981433f,
       0.14860515f, 0.01766787f, 0.02945257f, 0.04898238f, 0.01026922f,
       0.02811658f, 0.08267091f, 0.02732154f, -0.01237693f, 0.11760156f,
       0.03802063f, -0.03309754f, 5.24957618e-003f, -0.02460510f, 0.02691451f,
       0.05399988f, -0.10133506f, 0.06385437f, -0.01818005f, 0.02259503f,
       0.03573135f, 0.01042848f, -0.04153402f, -0.04043029f, 0.01643575f,
       0.08326677f, 4.61383024e-004f, -0.05308095f, -0.08536223f,
       -1.61011645e-003f, -0.02163720f, -0.01783352f, 0.03859637f,
       0.08498885f, -0.01725216f, 0.08625131f, 0.10995087f, 0.09177644f,
       0.08498347f, 0.07646490f, 0.05580502f, 0.02693516f, 0.09996913f,
       0.09070327f, 0.06667200f, 0.05873008f, -0.02247842f, 0.07772321f,
       0.12408436f, 0.12629253f, -8.41997913e-004f, 0.01477783f, 0.09165990f,
       -2.98401713e-003f, -0.06466447f, -0.07057302f, 2.09516948e-004f,
       0.02210209f, -0.02158809f, -0.08602506f, -0.02284836f,
       4.01876355e-003f, 9.56660323e-003f, -0.02073978f, -0.04635138f,
       -7.59423291e-003f, -0.01377393f, -0.04559359f, -0.13284740f,
       -0.08671406f, -0.03654395f, 0.01142869f, 0.03287891f, -0.04392983f,
       0.06142959f, 0.17710890f, 0.10385257f, 0.01329137f, 0.10067633f,
       0.12450829f, -0.04476709f, 0.09049144f, 0.04589312f, 0.11167907f,
       0.08587538f, 0.04767583f, 1.67188141e-003f, 0.02359802f, -0.03808852f,
       0.03126272f, -0.01919029f, -0.05698918f, -0.02365112f, -0.06519032f,
       -0.05599358f, -0.07097308f, -0.03301812f, -0.04719102f, -0.02566297f,
       0.01324074f, -0.09230672f, -0.05518232f, -0.04712864f, -0.03380903f,
       -0.06719479f, 0.01183908f, -0.09326738f, 0.01642865f, 0.03789867f,
       -6.61567831e-003f, 0.07796386f, 0.07246574f, 0.04706347f, -0.02523437f,
       -0.01696830f, -0.08068866f, 0.06030888f, 0.10527060f, -0.06611756f,
       0.02977346f, 0.02621830f, 0.01913855f, -0.08479366f, -0.06322418f,
       -0.13570616f, -0.07644490f, 9.31900274e-003f, -0.08095149f,
       -0.10197903f, -0.05204025f, 0.01413151f, -0.07800411f, -0.01885122f,
       -0.07509381f, -0.10136326f, -0.05212355f, -0.09944065f,
       -1.33606605e-003f, -0.06342617f, -0.04178550f, -0.12373723f,
       -0.02832736f, -0.06057501f, 0.05830070f, 0.07604282f, -0.06462587f,
       8.02447461e-003f, 0.11580125f, 0.12332212f, 0.01978462f,
       -2.72378162e-003f, 0.05850752f, -0.04674481f, 0.05148062f,
       -2.62542837e-003f, 0.11253355f, 0.09893716f, 0.09785093f, -0.04659257f,
       -0.01102429f, -0.07002308f, 0.03088913f, -0.02565549f, -0.07671449f,
       3.17443861e-003f, -0.10783514f, -0.02314270f, -0.11089555f,
       -0.01024768f, 0.03116021f, -0.04964825f, 0.02281825f, 5.50005678e-003f,
       -0.08427856f, -0.14685495f, -0.07719755f, -0.13342668f, -0.04525511f,
       -0.09914210f, 0.02588859f, 0.03469279f, 0.04664020f, 0.11688190f,
       0.09647275f, 0.10857815f, -0.01448726f, 0.04299758f, -0.06763151f,
       1.33257592e-003f, 0.14331576f, 0.07574340f, 0.09166205f, 0.05674926f,
       0.11325553f, -0.01106494f, 0.02062161f, -0.11484840f, -0.07492137f,
       -0.02864293f, -0.01275638f, -0.06946032f, -0.10101652f, -0.04113498f,
       -0.02214783f, -0.01273942f, -0.07480393f, -0.10556041f, -0.07622112f,
       -0.09988393f, -0.11453961f, -0.12073903f, -0.09412795f, -0.07146588f,
       -0.04054537f, -0.06127083f, 0.04221122f, 0.07688113f, 0.04099256f,
       0.12663734f, 0.14683802f, 0.21761774f, 0.12525328f, 0.18431792f,
       -1.66402373e-003f, 2.37777247e-003f, 0.01445475f, 0.03509416f,
       0.02654697f, 0.01716739f, 0.05374011f, 0.02944174f, 0.11323927f,
       -0.01485456f, -0.01611330f, -1.85554172e-003f, -0.01708549f,
       -0.05435753f, -0.05302101f, 0.05260378f, -0.03582945f,
       -3.42867890e-004f, 1.36076682e-003f, -0.04436073f, -0.04228432f,
       0.03281291f, -0.05480836f, -0.10197772f, -0.07206279f, -0.10741059f,
       -0.02366946f, 0.10278475f, -2.74783419e-003f, -0.03242477f,
       0.02308955f, 0.02835869f, 0.10348799f, 0.19580358f, 0.10252027f,
       0.08039929f, 0.05525554f, -0.13250865f, -0.14395352f, 3.13586881e-003f,
       -0.03387071f, 8.94669443e-003f, 0.05406157f, -4.97324532e-003f,
       -0.01189114f, 2.82919413e-004f, -0.03901557f, -0.04898705f,
       0.02164520f, -0.01382906f, -0.01850416f, 0.01869347f, -0.02450060f,
       0.02291678f, 0.08196463f, 0.03309153f, -0.10629974f, 0.02473924f,
       0.05344394f, -0.02404823f, -0.03243643f, -5.55244600e-003f,
       -0.08009996f, 0.02811539f, 0.04235742f, 0.01859004f, 0.04902123f,
       -0.01438252f, -0.01526853f, 0.02044195f, -0.05008660f, 0.04244113f,
       0.07611816f, 0.04950470f, -0.06020549f, -4.26026015e-003f, 0.13133512f,
       -0.01438738f, -0.01958807f, -0.04044152f, -0.12425045f,
       2.84353318e-003f, -0.05042776f, -0.09121484f, 7.34345755e-003f,
       0.09388847f, 0.11800314f, 4.72295098e-003f, 4.44378285e-003f,
       -0.07984917f, -0.03613737f, 0.04490915f, -0.02246483f, 0.04681071f,
       0.05240871f, 0.02157206f, -0.04603431f, -0.01197929f, -0.02748779f,
       0.13621049f, 0.08812155f, -0.07802048f, 4.86458559e-003f, -0.01598836f,
       0.01024450f, -0.03463517f, -0.02304239f, -0.08692665f, 0.06655128f,
       0.05785803f, -0.12640759f, 0.02307472f, 0.07337402f, 0.07525434f,
       0.04943763f, -0.02241034f, -0.09978238f, 0.14487994f, -0.06570521f,
       -0.07855482f, 0.02830222f, -5.29603509e-004f, -0.04669895f,
       -0.11822784f, -0.12246452f, -0.15365660f, -0.02969127f, 0.08078201f,
       0.13512598f, 0.11505685f, 0.04740673f, 0.01376022f, -0.05852978f,
       -0.01537809f, -0.05541119f, 0.02491065f, -0.02870786f, 0.02760978f,
       0.23836176f, 0.22347429f, 0.10306466f, -0.06919070f, -0.10132039f,
       -0.20198342f, -0.05040560f, 0.27163076f, 0.36987007f, 0.34540465f,
       0.29095781f, 0.05649706f, 0.04125737f, 0.07505883f, -0.02737836f,
       -8.43431335e-003f, 0.07368195f, 0.01653876f, -0.09402955f,
       -0.09574359f, 0.01474337f, -0.07128561f, -0.03460737f, 0.11438941f,
       0.13752601f, -0.06385452f, -0.06310338f, 8.19548313e-003f, 0.11622470f,
       5.05133113e-003f, -0.07602754f, 0.06695660f, 0.25723928f, 0.09037900f,
       0.28826267f, 0.13165380f, -0.05312614f, -0.02137198f, -0.03442232f,
       -0.06255679f, 0.03899667f, 0.18391028f, 0.26016650f, 0.03374462f,
       0.01860465f, 0.19077586f, 0.18160543f, 3.43634398e-003f, -0.03036782f,
       0.19683038f, 0.35378191f, 0.24968483f, -0.03222649f, 0.28972381f,
       0.43091634f, 0.30778357f, 0.02335266f, -0.09877399f, -6.85245218e-003f,
       0.08945240f, -0.08150686f, 0.02792493f, 0.24806842f, 0.17338486f,
       0.06231801f, -0.10432383f, -0.16653322f, -0.13197899f, -0.08531576f,
       -0.19271527f, -0.13536365f, 0.22240199f, 0.39219588f, 0.26597717f,
       -0.01231649f, 0.01016179f, 0.13379875f, 0.12018334f, -0.04852953f,
       -0.07915270f, 0.07036012f, 3.87723115e-003f, -0.06126805f,
       -0.15015170f, -0.11406515f, -0.08556531f, -0.07429333f, -0.16115491f,
       0.13214062f, 0.25691369f, 0.05697750f, 0.06861912f, -6.02903729e-003f,
       -7.94562511e-003f, 0.04799571f, 0.06695165f, -0.01926842f, 0.06206308f,
       0.13450983f, -0.06381495f, -2.98370165e-003f, -0.03482971f,
       7.53991678e-003f, 0.03895611f, 0.11464261f, 0.01669971f,
       8.27818643e-003f, -7.49160210e-003f, -0.11712562f, -0.10650621f,
       -0.10353880f, -0.04994106f, -7.65618810e-004f, 0.03023767f,
       -0.04759270f, -0.07302686f, -0.05825012f, -0.13156348f, -0.10639747f,
       -0.19393684f, -0.09973683f, -0.07918908f, 4.63177625e-004f,
       -6.61382044e-004f, 0.15853868f, 0.08561199f, -0.07660093f,
       -0.08015265f, -0.06164073f, 0.01882577f, -7.29908410e-004f,
       0.06840892f, 0.03843764f, 0.20274927f, 0.22028814f, -5.26101235e-003f,
       0.01452435f, -0.06331623f, 0.02865064f, 0.05673740f, 0.12171564f,
       0.03837196f, 0.03555467f, -0.02662914f, -0.10280123f, -0.06526285f,
       -0.11066351f, -0.08988424f, -0.10103678f, 8.10526591e-003f,
       5.95238712e-003f, 0.02617721f, -0.01705742f, -0.10897956f,
       -0.08004991f, -0.11271993f, -0.06185647f, -0.06103712f, 0.01597041f,
       -0.05923606f, 0.09410726f, 0.22858568f, 0.03263380f, 0.06772990f,
       -0.09003516f, 0.01017870f, 0.01931688f, 0.08628357f, -0.01430009f,
       0.10954945f, 0.16612452f, -0.02434544f, -0.03310068f, -0.04236627f,
       0.01212392f, -6.15046406e-003f, 0.06954194f, 0.03015283f, 0.01787957f,
       0.02781667f, -0.05561153f, -8.96244217e-003f, -0.04971489f,
       0.07510284f, 0.01775282f, 0.05889897f, -0.07981427f, 0.03647643f,
       -3.73833324e-003f, -0.08894575f, -0.06429435f, -0.08068276f,
       0.03567704f, -0.07131936f, -7.21910037e-003f, -0.09566668f,
       0.17886090f, 0.14911725f, 0.02070032f, -0.05017120f, -0.04992622f,
       0.01570143f, -0.09906903f, 0.06456193f, 0.15329507f, 0.18820767f,
       0.11689861f, -0.01178513f, -0.02225163f, -0.01905318f, 0.10271224f,
       -7.27029052e-003f, 0.11664233f, 0.14796902f, 0.07771893f, 0.02400013f,
       -0.05361797f, -0.01972888f, 0.01376177f, 0.06740040f, -0.06525395f,
       0.05726178f, -0.02404981f, -0.14018567f, -0.02074987f, -0.04621970f,
       -0.04688627f, -0.01842059f, 0.07722727f, -0.04852883f, 0.01529004f,
       -0.19639495f, 0.10817073f, 0.03795860f, -0.09435206f, -0.07984378f,
       -0.03383440f, 0.11081333f, 0.02237366f, 0.12703256f, 0.21613893f,
       0.02918790f, 4.66472283e-003f, -0.10274266f, -0.04854131f,
       -3.46305710e-003f, 0.08652268f, 0.02251546f, 0.09636052f, 0.17180754f,
       -0.09272388f, 4.59174305e-004f, -0.11723048f, -0.12210111f,
       -0.15547538f, 0.07218186f, -0.05297846f, 0.03779940f, 0.05150875f,
       -0.03802310f, 0.03870645f, -0.15250699f, -0.08696499f, -0.02021560f,
       0.04118926f, -0.15177974f, 0.01577647f, 0.10249301f, 7.50041893e-003f,
       0.01721806f, -0.06828983f, -0.02397596f, -0.06598977f, -0.04317593f,
       -0.08064980f, 6.66632550e-003f, 0.03333484f, 0.07093620f, 0.08231064f,
       -0.06577903f, -0.06698844f, -0.06984019f, -0.06508023f, -0.14145090f,
       -0.02393239f, 0.06485303f, 8.83263443e-003f, 0.09251080f, -0.07557579f,
       -0.05067699f, -0.09798748f, -0.06703258f, -0.14056294f, 0.03245994f,
       0.12554143f, 0.01761621f, 0.12980327f, -0.04081950f, -0.11906909f,
       -0.14813015f, -0.08376863f, -0.12200681f, 0.04988137f, 0.05424247f,
       -3.90952639e-003f, 0.03255733f, -0.12717837f, -0.07461493f,
       -0.05703964f, -0.01736189f, -0.08026433f, -0.05433894f, -0.01719359f,
       0.02886275f, 0.01772653f, -0.09163518f, 3.57789593e-003f, -0.10129993f,
       -0.02653764f, -0.08131415f, -0.03847986f, -7.62157550e-004f,
       0.06486648f, 0.19675669f, -0.04919156f, -0.07059129f, -0.04857785f,
       -0.01042383f, -0.08328653f, 0.03660302f, -0.03696846f, 0.04969259f,
       0.08241162f, -0.12514858f, -0.06122676f, -0.03750202f,
       6.52989605e-003f, -0.10247213f, 0.02568346f, 4.51781414e-003f,
       -0.03734229f, -0.01131264f, -0.05412074f, 8.89345480e-004f,
       -0.12388977f, -0.05959237f, -0.12418608f, -0.06151643f, -0.07310260f,
       0.02441575f, 0.07023528f, -0.07548289f, -7.57147965e-004f,
       -0.09061348f, -0.08112976f, -0.06920306f, 9.54394229e-003f,
       -0.01219902f, 1.21273217e-003f, -8.88989680e-003f, -0.08309301f,
       -0.04552661f, -0.10739882f, -0.05691034f, -0.13928030f, 0.09027749f,
       0.15123098f, 0.03175976f, 0.17763577f, 3.29913251e-004f, 0.05151888f,
       -0.09844074f, -0.09475287f, -0.08571247f, 0.16241577f, 0.19336018f,
       8.57454538e-003f, 0.11474732f, -0.01493934f, 0.03352379f, -0.08966240f,
       -0.02322310f, 0.02663568f, 0.05448750f, -0.03536883f, -0.07210463f,
       -0.06807277f, -0.03121621f, -0.05932408f, -0.17282860f, -0.15873498f,
       -0.04956378f, 0.01603377f, -0.12385946f, 0.13878587f, 0.21468069f,
       0.13510075f, 0.20992437f, 0.08845878f, 0.08104013f, 0.03754176f,
       0.12173114f, 0.11103114f, 0.10643122f, 0.13941477f, 0.11640384f,
       0.14786847f, 0.01218238f, 0.01160753f, 0.03547940f, 0.08794311f,
       -0.01695384f, -0.07692261f, -0.08236158f, 6.79194089e-003f,
       -0.02458403f, 0.13022894f, 0.10953187f, 0.09857773f, 0.04735930f,
       -0.04353498f, -0.15173385f, -0.17904443f, -0.10450364f, -0.13418166f,
       -0.06633098f, -0.03170381f, -0.06839000f, -0.11350126f, -0.06983913f,
       0.19083543f, 0.17604128f, 0.07730632f, 0.10022651f, 0.36428109f,
       0.28291923f, 0.12688625f, 0.15942036f, 0.14064661f, -0.11201853f,
       -0.13969108f, -0.09088077f, -0.14107047f, 0.05117374f,
       -2.63348082e-003f, -0.10794610f, -0.09715455f, -0.05284977f,
       0.01565668f, 0.05031200f, 0.07021113f, -0.02963028f, 0.01766960f,
       0.08333644f, -0.03211382f, 4.90096770e-003f, 0.05186674f, -0.05045737f,
       -0.09624767f, -0.02525997f, 0.06916669f, 0.01213916f, 0.05333899f,
       -0.03443280f, -0.10055527f, -0.06291115f, 5.42851724e-003f,
       -6.30360236e-003f, 0.02270257f, -0.01769792f, 0.03273688f, 0.07746078f,
       7.77099328e-003f, 0.05041346f, 0.01648103f, -0.02321534f, -0.09930186f,
       -0.02293853f, 0.02034990f, -0.08324204f, 0.08510064f, -0.03732836f,
       -0.06465405f, -0.06086946f, 0.13680504f, -0.11469388f, -0.03896406f,
       -0.07142810f, 2.67581246e-003f, -0.03639632f, -0.09849060f,
       -0.11014334f, 0.17489147f, 0.17610909f, -0.16091567f, -0.07248894f,
       0.01567141f, 0.23742996f, 0.07552249f, -0.06270349f, -0.07303379f,
       0.25442186f, 0.16903116f, -0.08168741f, -0.05913896f, -0.03954096f,
       6.81776879e-003f, -0.05615319f, -0.07303037f, -0.12176382f,
       0.12385108f, 0.22084464f, -0.05543206f, -0.03310431f, 0.05731593f,
       0.19481890f, 0.04016430f, -0.06480758f, -0.12353460f, 0.18733442f,
       -0.09631214f, -0.11192076f, 0.12404587f, 0.15671748f, 0.19256128f,
       0.10895617f, 0.03391477f, -0.13032004f, -0.05626907f, -0.09025607f,
       0.23485197f, 0.27812332f, 0.26725492f, 0.07255980f, 0.16565137f,
       0.22388470f, 0.07441066f, -0.21003133f, -0.08075339f, -0.15031935f,
       0.07023834f, 0.10872041f, 0.18156518f, 0.20037253f, 0.13571967f,
       -0.11915682f, -0.11131983f, -0.18878011f, 0.06074620f, 0.20578890f,
       0.12413109f, 0.03930207f, 0.29176015f, 0.29502738f, 0.27856228f,
       -0.01803601f, 0.16646385f, 0.19268319f, 0.01900682f, 0.06026287f,
       2.35868432e-003f, 0.01558199f, 0.02707230f, 0.11383014f, 0.12103992f,
       0.03907350f, 0.04637353f, 0.09020995f, 0.11919726f, -3.63007211e-003f,
       0.02220155f, 0.10336831f, 0.17351882f, 0.12259731f, 0.18983354f,
       0.15736865f, 0.01160725f, -0.01690723f, -9.69582412e-004f, 0.07213813f,
       0.01161613f, 0.17864859f, 0.24486147f, 0.18208991f, 0.20177495f,
       0.05972528f, -8.93934630e-003f, -0.02316955f, 0.14436610f, 0.14114498f,
       0.05520950f, 0.06353590f, -0.19124921f, 0.10174713f, 0.29414919f,
       0.26448128f, 0.09344960f, 0.15284036f, 0.19797507f, 0.11369792f,
       -0.12722753f, -0.21396367f, -0.02008235f, -0.06566695f, -0.01662150f,
       -0.03937003f, 0.04778343f, 0.05017274f, -0.02299062f, -0.20208496f,
       -0.06395898f, 0.13721776f, 0.22544557f, 0.14888357f, 0.08687132f,
       0.27088094f, 0.32206613f, 0.09782200f, -0.18523243f, -0.17232181f,
       -0.01041531f, 0.04008654f, 0.04199702f, -0.08081299f, -0.03755421f,
       -0.04809646f, -0.05222081f, -0.21709201f, -0.06622940f, 0.02945281f,
       -0.04600435f, -0.05256077f, -0.08432942f, 0.02848100f, 0.03490564f,
       8.28621630e-003f, -0.11051246f, -0.11210597f, -0.01998289f,
       -0.05369405f, -0.08869293f, -0.18799506f, -0.05436598f, -0.05011634f,
       -0.05419716f, -0.06151857f, -0.10827805f, 0.04346735f, 0.04016083f,
       0.01520820f, -0.12173316f, -0.04880285f, -0.01101406f, 0.03250847f,
       -0.06009551f, -0.03082932f, -0.02295134f, -0.06856834f, -0.08775249f,
       -0.23793389f, -0.09174541f, -0.05538322f, -0.04321031f, -0.11874759f,
       -0.04221844f, -0.06070468f, 0.01194489f, 0.02608565f, -0.03892140f,
       -0.01643151f, -0.02602034f, -0.01305472f, 0.03920100f, -0.06514261f,
       0.01126918f, -6.27710763e-003f, -0.02720047f, -0.11133634f,
       0.03300330f, 0.02398472f, 0.04079665f, -0.10564448f, 0.05966159f,
       0.01195221f, -0.03179441f, -0.01692590f, -0.06177841f, 0.01841576f,
       -5.51078189e-003f, -0.06821765f, -0.03191888f, -0.09545476f,
       0.03030550f, -0.04896152f, -0.02914624f, -0.13283344f, -0.04783419f,
       6.07836898e-003f, -0.01449538f, -0.13358212f, -0.09687774f,
       -0.02813793f, 0.01213498f, 0.06650011f, -0.02039067f, 0.13356198f,
       0.05986415f, -9.12760664e-003f, -0.18780160f, -0.11992817f,
       -0.06342237f, 0.01229534f, 0.07143231f, 0.10713009f, 0.11085765f,
       0.06569190f, -0.02956399f, -0.16288325f, -0.13993549f, -0.01292515f,
       0.03833013f, 0.09130384f, -0.05086257f, 0.05617329f, -0.03896667f,
       -0.06282311f, -0.11490010f, -0.14264110f, -0.04530499f, 0.01598189f,
       0.09167797f, 0.08663294f, 0.04885277f, -0.05741219f, -0.07565769f,
       -0.17136464f, -0.02619422f, -0.02477579f, 0.02679587f, 0.11621952f,
       0.08788391f, 0.15520640f, 0.04709549f, 0.04504483f, -0.10214074f,
       -0.12293372f, -0.04820546f, -0.05484834f, 0.05473754f, 0.07346445f,
       0.05577277f, -0.08209965f, 0.03462975f, -0.20962234f, -0.09324598f,
       3.79481679e-003f, 0.03617633f, 0.16742408f, 0.07058107f, 0.10204960f,
       -0.06795346f, 3.22807301e-003f, -0.12589309f, -0.17496960f,
       0.02078314f, -0.07694324f, 0.12184640f, 0.08997164f, 0.04793497f,
       -0.11383379f, -0.08046359f, -0.25716835f, -0.08080962f,
       6.80711539e-003f, -0.02930280f, -3.04938294e-003f, -0.11106286f,
       -0.04628860f, -0.07821649f, 7.70127494e-003f, -0.10247706f,
       1.21042714e-003f, 0.20573859f, -0.03241005f, 8.42972286e-003f,
       0.01946464f, -0.01197973f, -0.14579976f, 0.04233614f,
       -4.14096704e-003f, -0.06866436f, -0.02431862f, -0.13529138f,
       1.25891645e-003f, -0.11425111f, -0.04303651f, -0.01694815f,
       0.05720210f, -0.16040207f, 0.02772896f, 0.05498345f, -0.15010567f,
       0.01450866f, 0.02350303f, -0.04301004f, -0.04951802f, 0.21702233f,
       -0.03159155f, -0.01963303f, 0.18232647f, -0.03263875f,
       -2.88476888e-003f, 0.01587562f, -1.94303901e-003f, -0.07789494f,
       0.04674156f, -6.25576358e-003f, 0.08925962f, 0.21353747f, 0.01254677f,
       -0.06999976f, -0.05931328f, -0.01884327f, -0.04306272f, 0.11794136f,
       0.03842728f, -0.03907030f, 0.05636114f, -0.09766009f, -0.02104000f,
       8.72711372e-003f, -0.02736877f, -0.05112274f, 0.16996814f, 0.02955785f,
       0.02094014f, 0.08414304f, -0.03335762f, -0.03617457f, -0.05808248f,
       -0.08872101f, 0.02927705f, 0.27077839f, 0.06075108f, 0.07478261f,
       0.15282831f, -0.03908454f, -0.05101782f, -9.51998029e-003f,
       -0.03272416f, -0.08735625f, 0.07633440f, -0.07185312f, 0.13841286f,
       0.07812646f, -0.12901451f, -0.05488589f, -0.05644578f, -0.03290703f,
       -0.11184757f, 0.03751570f, -0.05978153f, -0.09155276f, 0.05657315f,
       -0.04328186f, -0.03047933f, -0.01413135f, -0.10181040f, -0.01384013f,
       0.20132534f, -0.01536873f, -0.07641169f, 0.05906778f, -0.07833145f,
       -0.01523801f, -0.07502609f, -0.09461885f, -0.15013233f, 0.16050665f,
       0.09021381f, 0.08473236f, 0.03386267f, -0.09147339f, -0.09170618f,
       -0.08498498f, -0.05119187f, -0.10431040f, 0.01041618f, -0.03064913f,
       0.09340212f, 0.06448522f, -0.03881054f, -0.04985436f, -0.14794017f,
       -0.05200112f, -0.02144495f, 0.04000821f, 0.12420804f, -0.01851651f,
       -0.04116732f, -0.11951703f, -0.04879033f, -0.08722515f, -0.08454733f,
       -0.10549165f, 0.11251976f, 0.10766345f, 0.19201984f, 0.06128913f,
       -0.02734615f, -0.08834923f, -0.16999826f, -0.03548348f,
       -5.36092324e-003f, 0.08297954f, 0.07226378f, 0.04194529f, 0.04668673f,
       8.73902347e-003f, 0.06980139f, 0.05652480f, 0.05879445f, 0.02477076f,
       0.02451423f, 0.12433673f, 0.05600227f, 0.06886370f, 0.03863076f,
       0.07459056f, 0.02264139f, 0.01495469f, 0.06344220f, 0.06945208f,
       0.02931899f, 0.11719371f, 0.04527427f, 0.03248192f, 2.08271481e-003f,
       0.02044626f, 0.11403449f, 0.04303892f, 0.06444661f, 0.04959024f,
       0.08174094f, 0.09240247f, 0.04894639f, 0.02252937f, -0.01652530f,
       0.07587013f, 0.06064249f, 0.13954395f, 0.02772832f, 0.07093039f,
       0.08501238f, 0.01701301f, 0.09055722f, 0.33421436f, 0.20163782f,
       0.09821030f, 0.07951369f, 0.08695120f, -0.12757730f, -0.13865978f,
       -0.06610068f, -0.10985506f, 0.03406816f, -0.01116336f, -0.07281768f,
       -0.13525715f, -0.12844718f, 0.08956250f, 0.09171610f, 0.10092317f,
       0.23385370f, 0.34489515f, 0.09901748f, 0.02002922f, 0.12335990f,
       0.07606190f, -0.14899330f, -0.15634622f, -0.06494618f, -0.01760547f,
       0.03404277f, -0.13208845f, -0.12101169f, -0.18294574f, -0.16560709f,
       0.02183887f, -0.02752613f, 0.01813638f, 0.02000757f, 0.01319924f,
       0.08030242f, 0.01220535f, 2.98233377e-003f, -0.01307070f, 0.05970297f,
       -0.05345284f, -0.03381982f, -9.87543724e-003f, -0.06869387f,
       0.03956730f, -0.03108176f, -0.05732809f, 0.02172386f, 0.04159765f,
       2.62783933e-003f, 0.04813229f, 0.09358983f, -8.18389002e-003f,
       0.01724574f, -0.02547474f, -0.04967288f, -0.02390376f, 0.06640504f,
       -0.06306566f, 0.01137518f, 0.05589378f, -0.08237787f, 0.02455001f,
       -0.03059422f, -0.08953978f, 0.06851497f, 0.07190268f, -0.07610799f,
       7.87237938e-003f, -7.85830803e-003f, 0.06006952f, -0.01126728f,
       -2.85743061e-003f, -0.04772895f, 0.01884944f, 0.15005857f,
       -0.06268821f, -0.01989072f, 0.01138399f, 0.08760451f, 0.03879007f,
       -9.66926850e-003f, -0.08012961f, 0.06414555f, -0.01362950f,
       -0.09135523f, 0.01755159f, 0.04459474f, 0.09650917f, 0.05219948f,
       -2.19440833e-003f, -0.07037939f, -0.01599054f, 0.13103317f,
       -0.02492603f, -0.01032540f, -0.02903307f, 0.04489160f, 0.05148086f,
       0.01858173f, -0.02919228f, 0.08299296f, -0.04590359f, -0.15745632f,
       -0.09068198f, -0.02972453f, 0.12985018f, 0.22320485f, 0.24261914f,
       0.03642650f, -0.05506422f, 2.67413049e-003f, -0.03834032f, 0.06449424f,
       0.03834866f, 0.03816991f, 0.25039271f, 0.34212017f, 0.32433882f,
       0.18824573f, -0.08599839f, -0.17599408f, -0.15317015f, -0.09913155f,
       -0.02856072f, -0.05304699f, -1.06437842e-003f, -0.06641813f,
       -0.07509298f, 0.01463361f, -0.07551918f, -0.04510373f,
       -8.44620075e-003f, 0.01772176f, 0.04068235f, 0.20295307f, 0.15719447f,
       0.05712103f, 0.26296997f, 0.14657754f, 0.01547317f, -0.05052776f,
       -0.03881342f, -0.01437883f, -0.04930177f, 0.11719568f, 0.24098417f,
       0.26468599f, 0.31698579f, 0.10103608f, -0.01096375f, -0.01367013f,
       0.17104232f, 0.20065314f, 2.67622480e-003f, -0.01190034f, 0.18301608f,
       0.09459770f, -0.06357619f, -0.06473801f, 0.01377906f, -0.10032775f,
       -0.06388740f, 3.80393048e-003f, 0.06206078f, 0.10349120f, 0.26804337f,
       8.17918684e-003f, -0.02314351f, 9.34422202e-003f, 0.09198381f,
       0.03681326f, -8.77339672e-003f, -0.09662418f, -0.02715708f,
       0.13503517f, 0.08962728f, -6.57071499e-003f, -0.03201199f, 0.28510824f,
       0.32095715f, 0.18512695f, -0.14230858f, -0.14048551f, -0.07181299f,
       -0.08575408f, -0.08661680f, -0.17416079f, 7.54326640e-004f,
       0.05601677f, 0.13585392f, -0.04960437f, -0.07708392f, 0.10676333f,
       -0.04407546f, -0.07209078f, 0.03663663f, 0.28949317f, 0.41127121f,
       0.27431169f, -0.06900328f, -0.21474190f, -0.15578632f, -0.19555484f,
       -0.15209621f, -0.11269179f, 0.07416003f, 0.18991330f, 0.26858172f,
       0.01952259f, 0.01017922f, 0.02159843f, -4.95165400e-003f, -0.04368168f,
       -0.12721671f, -0.06673957f, -0.11275250f, 0.04413409f, 0.05578312f,
       0.03896771f, 0.03566417f, -0.05871816f, -0.07388090f, -0.17965563f,
       -0.08570268f, -0.15273231f, -0.06022318f, -0.06999847f,
       -6.81510568e-003f, 0.06294262f, -6.54901436e-004f, -0.01128654f,
       -0.02289657f, 0.04849290f, 0.04140804f, 0.23681939f, 0.14545733f,
       0.01989965f, 0.12032662f, 3.87463090e-003f, -6.02597650e-003f,
       -0.05919775f, -0.03067224f, -0.07787777f, 0.10834727f, 0.02153730f,
       0.02765649f, 0.03975543f, -0.12182906f, -0.04900113f, -0.09940100f,
       -0.06453611f, -0.13757215f, -0.03721382f, 0.02827376f, -0.04351249f,
       0.01907038f, -0.10284120f, -0.05671160f, -0.10760647f, -0.09624009f,
       -0.09565596f, -0.01303654f, 0.03080539f, 0.01416511f, 0.05846142f,
       -5.42971538e-003f, 0.06221476f, -0.03320325f, -0.06791797f,
       -0.05791342f, 0.12851369f, 0.14990346f, 0.03634374f, 0.14262885f,
       0.04330391f, 0.05032569f, -0.05631914f, 0.01606137f, 0.04387223f,
       0.22344995f, 0.15722635f, -0.04693628f, 0.03006579f, -2.52882647e-003f,
       0.05717621f, -0.07529724f, -0.02848588f, -0.06868757f,
       -4.51729307e-003f, 0.06466042f, -0.05935378f, -0.04704857f,
       -0.07363959f, 0.04843248f, -0.13421375f, -0.09789340f, -0.10255270f,
       0.03509852f, 0.04751543f, -0.03822323f, 0.09740467f, 0.04762916f,
       0.03940146f, -0.08283259f, 0.09552965f, 0.05038739f, 0.21258622f,
       0.09646992f, 0.03241193f, 0.05167701f, 0.04614570f, 0.04330090f,
       -0.02671840f, -0.06259909f, -0.02301898f, 0.18829170f, 0.10522786f,
       0.04313190f, 0.01670948f, -0.08421925f, 0.05911417f, -0.10582602f,
       -0.04855484f, -0.08373898f, 0.07775915f, 0.03723533f, -0.12047344f,
       4.86345543e-003f, -0.10520902f, 0.06571782f, -0.07528137f,
       -0.03245651f, -0.09869066f, -0.02917477f, -0.18293270f, 0.14810945f,
       9.24033765e-003f, -0.04354914f, 0.02266885f, -0.11872729f,
       -0.04016589f, 0.02830229f, 0.22539048f, 0.20565644f, 0.16701797f,
       0.09019924f, 0.01300652f, 0.09760600f, -0.03675831f, -0.01935448f,
       -0.06894835f, 0.08077277f, 0.19047537f, 0.11312226f, 0.04106043f,
       -0.11187182f, 0.04312806f, -0.18548580f, -0.11287174f, -0.08794551f,
       0.02078281f, -0.15295486f, 0.11806386f, -0.01103218f, -0.15971117f,
       0.02153538f, -0.05232147f, -0.10835317f, -0.13910367f, 0.05920752f,
       -0.10122602f, 0.20174250f, 0.09105796f, -0.01881348f, 0.09559010f,
       -0.03725745f, -0.09442931f, -0.09763174f, 0.05854454f, 0.08287182f,
       0.12919849f, 0.08594352f, -2.49806582e-003f, 0.02398440f,
       5.67950122e-003f, -0.06296340f, -0.12993270f, 0.03855852f, 0.05186560f,
       0.10839908f, -0.03380463f, -0.12654832f, -0.05399339f, -0.07456800f,
       -0.04736232f, -0.10164231f, 0.07496139f, 0.08125214f, 0.07656177f,
       -0.04999603f, -0.12823077f, -0.07692395f, -0.11317524f, -0.09118655f,
       -0.05695669f, 0.10477209f, 0.07468581f, 0.01630048f, -8.00961629e-003f,
       -0.06582128f, -0.04019095f, -0.04682907f, -0.01907842f, -0.10997720f,
       0.04911406f, 0.02931030f, 0.04197735f, -0.05773980f, -0.09670641f,
       -0.03594951f, -0.03402121f, -0.07149299f, -0.10566200f, 0.10601286f,
       0.06340689f, -0.01518632f, -5.96402306e-003f, -0.07628012f,
       -3.52779147e-003f, -0.02683854f, -0.10265494f, -0.02680815f,
       0.16338381f, 0.03103515f, 0.02296976f, 0.01624348f, -0.10831620f,
       -0.02314233f, -0.04789969f, -0.05530700f, -0.06461314f, 0.10494506f,
       0.04642856f, -0.07592955f, -0.06197905f, -0.09042154f, -0.01445521f,
       -0.04297818f, -0.11262015f, -0.11430512f, 0.03174541f, -0.03677487f,
       -0.02963996f, -0.06610169f, -0.13292049f, -0.07059067f, -0.08444111f,
       -0.02640536f, -0.07136250f, 0.04559967f, 0.01459980f, 0.17989251f,
       0.04435328f, -0.12464730f, -0.02871115f, -0.10752209f, -0.03393742f,
       -0.03791408f, 0.02548251f, 0.01956050f, 0.19245651f, 0.13963254f,
       -0.05904696f, -0.07424626f, -0.10411884f, 1.54176133e-003f,
       0.01797429f, 0.13025844f, 0.04547642f, -0.05710349f, -0.10697161f,
       -0.13489437f, -0.06515755f, -0.06406886f, -4.08572936e-003f,
       -0.01336483f, 0.04368737f, -0.11259720f, -0.05701635f, -0.06469971f,
       -0.08346602f, -0.04166770f, -0.05795543f, -0.08247511f, -0.05742628f,
       0.08452254f, -0.03350224f, 0.13980860f, 0.13252275f, 0.07589617f,
       0.07539988f, 0.12155797f, 0.19087289f, 0.15050751f, 0.21250245f,
       0.14206800f, 0.01298489f, 0.07450245f, 0.06559097f, 0.01700557f,
       0.04512971f, 0.16950700f, 0.10261577f, 0.16389982f, 0.05505059f,
       -0.03453077f, 0.08622462f, 0.07935954f, 0.03976260f, 0.02036091f,
       3.95744899e-003f, 0.03267065f, 0.15235919f, 0.01297494f, -0.08109194f,
       0.01407558f, 4.40693414e-003f, -0.15157418f, -0.11390478f,
       -0.07487597f, -7.81322457e-003f, -0.02749545f, -0.10181408f,
       0.13755716f, 0.14007211f, 0.13482562f, 0.27517235f, 0.34251109f,
       0.07639657f, 0.07268607f, 0.19823882f, 0.16135791f, -0.04186463f,
       -0.12784107f, -0.09846287f, 0.03169041f, 0.10974082f, -0.15051922f,
       -0.08916726f, -0.07138767f, -0.04153349f, 6.25418453e-003f,
       0.01266654f, 0.10533249f, 0.12749144f, 0.15148053f, 0.01498513f,
       0.06305949f, -0.01247123f, -0.08778401f, -0.08551880f, -0.11955146f,
       -0.08493572f, -0.02901620f, -0.02394859f, -0.13427313f, -0.11053200f,
       -0.14413260f, -0.15203285f, 0.03972760f, -3.72127310e-004f,
       -0.04200919f, 0.06105104f, 0.01904975f, -0.01106191f,
       -7.27445772e-003f, -0.01520341f, 1.10228511e-003f, -0.04949187f,
       -0.08013099f, 5.72071038e-003f, 0.08415454f, -0.06523152f, 0.03664081f,
       -0.02673042f, -0.12066154f, -0.03702074f, 0.06006580f, 0.01628682f,
       -6.17772620e-003f, 0.08192339f, -3.41629819e-003f, 0.02870512f,
       0.05807141f, 0.04959986f, 0.04618251f, -0.04901629f, -0.10579574f,
       0.02274442f, 0.12070961f, 2.23597488e-003f, 0.09831765f, -0.03019848f,
       -0.11181970f, -0.04961075f, 0.02498928f, -0.03714991f, -0.01619653f,
       0.02643486f, -7.62964319e-003f, -0.02882290f, -0.06242594f,
       -0.08439861f, 0.07220893f, 0.07263952f, 0.01561574f, 0.03091968f,
       0.01708712f, -0.03797151f, -3.18561122e-003f, 0.01624021f,
       -0.02828573f, 0.11284444f, -1.32280716e-003f, -0.07784860f,
       -0.07209100f, 0.03372242f, 0.12154529f, 0.02278104f, -0.05275500f,
       -0.01918484f, 0.12989293f, 0.05424401f, 0.02333086f, 0.04029022f,
       0.12392918f, 0.09495489f, 0.09190340f, 0.07935889f, 8.76816828e-003f,
       0.17148446f, -8.51302687e-003f, -0.08011249f, -0.06796283f,
       0.04884845f, 0.01112272f, -0.07835306f, -1.14811445e-003f,
       -0.03440760f, 0.02845243f, 0.07695542f, -0.07069533f, -0.01151784f,
       -8.53884313e-003f, -0.01662786f, -0.04163864f, 0.05400505f,
       0.02859163f, 0.02921852f, 0.05003135f, -6.85718050e-003f, -0.01632611f,
       0.07780217f, 0.04042810f, -0.01216440f, 3.60914599e-003f, -0.06322435f,
       0.09516726f, 0.12877031f, -9.69162490e-003f, 0.01031179f, 0.05180895f,
       -9.34659224e-003f, -0.01644533f, -0.04849347f, -0.04343236f,
       0.10514783f, 0.08046635f, -0.04615205f, -0.03975486f, -0.01485525f,
       0.13096830f, -0.01517950f, -0.06571898f, -0.04016372f, 0.01849786f,
       0.02439670f, 0.08067258f, 1.74824719e-003f, 0.07053747f, 0.08819518f,
       -5.08352555e-003f, -0.06550863f, -0.08266170f, -0.07780605f,
       0.01453450f, -0.08756890f, 0.01096501f, -8.71319138e-003f, 0.10110464f,
       0.02420769f, -0.06708383f, 0.02007811f, 5.93133038e-003f, 0.05398923f,
       0.07538138f, 0.02049227f, 0.02242589f, 0.04011070f, -1.44875818e-003f,
       -4.19115182e-003f, 0.06367654f, 0.02506934f, 0.02434536f, 0.05879405f,
       -8.22952855e-003f, -0.01242441f, 0.04224926f, -0.01754923f,
       0.05958161f, 0.03818886f, -0.01830363f, -0.04308917f, -0.04422197f,
       -0.02432721f, 0.02264866f, 2.03751423e-003f, 0.01197031f, 0.04439203f,
       0.12169247f, 0.03602713f, -0.02599251f, -1.98226492e-003f, 0.02046336f,
       -0.02639058f, -1.91242550e-003f, -0.09334669f, -0.03595153f,
       -9.88179818e-003f, -0.06848445f, -0.04666303f, -0.09955736f,
       -0.04206430f, 0.02609075f, 9.09005292e-003f, -0.07138551f,
       -4.22313227e-004f, 0.01766645f, 0.02756404f, 0.01308276f, 0.04052891f,
       0.02387515f, 0.05337298f, 0.02500631f, -0.04970853f, -0.12467445f,
       0.17604403f, 0.12256411f, -0.07512254f, 8.70451052e-003f, -0.05697548f,
       -0.03626474f, -8.76623299e-003f, -0.01210897f, -0.09451522f,
       0.07490732f, -0.02008001f, -0.02681278f, -0.06463405f, -0.01517507f,
       7.33757764e-003f, 6.07147906e-003f, -0.09316964f, -0.04575328f,
       0.13261597f, 0.15424870f, -0.01655918f, -0.02772390f, -0.05243644f,
       -0.02356456f, -0.02351753f, -0.10211615f, -0.12873036f, 0.14549787f,
       0.12519856f, 4.38762689e-003f, 0.02795992f, 0.05170322f, 0.09223596f,
       0.05890015f, 0.02376701f, -0.02777346f, 0.09506908f, 0.02328936f,
       -0.02319928f, -0.03218696f, -0.01527841f, -0.01016694f, -0.02674719f,
       0.05137179f, 0.01980666f, 0.06544447f, -0.01746171f, 0.01026380f,
       0.01561806f, 7.97004555e-004f, 0.07601810f, 0.01907250f, -0.03083035f,
       -0.05987392f, 0.09242783f, 0.14555025f, 0.01035827f, 0.03092401f,
       -0.09562709f, -0.03802354f, 0.02531144f, 0.03079449f, -0.07100715f,
       0.03330721f, -2.69116857e-003f, 0.03167490f, 0.05744999f, 0.03259895f,
       1.91266940e-003f, 0.03194578f, 0.07389776f, 0.02198060f, 0.07633314f,
       0.03293105f, -0.09103648f, 0.04718142f, 0.06102672f, -0.01003063f,
       5.85481385e-003f, -0.01522574f, 0.02323526f, 0.10584345f,
       4.35879454e-003f, 0.06107873f, 0.05868603f, -0.03115531f, 0.01214679f,
       0.08567052f, 3.93926632e-003f, -0.02521488f, -1.88425183e-003f,
       0.02038053f, -6.26854831e-004f, 0.04897438f, -0.04280585f,
       -0.04819689f, -0.04812867f, -0.01451186f, 0.05101469f,
       -9.01125465e-003f, -0.03333859f, 0.03917955f, 0.04196448f, 0.04292135f,
       0.02809529f, 0.02999715f, 0.04081348f, 9.10039060e-003f, 0.09703232f,
       0.10379741f, 0.02348725f, -4.72756615e-003f, 0.01027325f, 0.10402658f,
       0.12071823f, 0.09817299f, -0.02612033f, 0.03638414f, 0.05896405f,
       0.04865025f, 0.04793910f, -0.03882321f, -0.02962117f, -0.01222268f,
       0.04071597f, 0.01922777f, -0.02287866f, 0.03328381f, 0.01859092f,
       0.09024994f, 0.03804455f, -0.01424510f, 0.01953739f, 0.02509617f,
       -0.03390914f, -0.05663941f, -0.01641979f, 0.05848591f, 0.04639670f,
       0.02092116f, 0.12911791f, 0.19918139f, 0.07739855f, -7.25806039e-003f,
       0.04074838f, 0.03183993f, 1.39251316e-003f, -0.01428625f, 0.01865480f,
       0.08529541f, 0.13547510f, 0.11189661f, 0.03998901f, 0.09575938f,
       -0.02631102f, -0.03458253f, -0.04749985f, -0.06070716f,
       4.71884012e-003f, 0.06445789f, -0.02450038f, -0.05483776f,
       -0.04657237f, -0.02030717f, -0.03480766f, -0.09397731f, -0.06399718f,
       -0.01804585f, 5.62348310e-003f, -6.64811488e-003f, -0.06517869f,
       6.96210237e-003f, -0.01860148f, -0.04245830f, -0.05850367f,
       -3.24417115e-003f, 0.07700698f, 0.11290991f, 0.09923030f, -0.02970599f,
       0.05592411f, 0.04813979f, -0.09811195f, -0.09357996f, -0.03276114f,
       0.05218338f, 0.04141375f, 3.92977800e-003f, -0.05047480f, 0.15960084f,
       0.04612800f, -0.03114098f, -0.04650044f, -0.03249795f, -0.02425641f,
       -0.04311355f, 0.04307659f, -0.09401883f, -0.04742785f, -0.01254499f,
       -0.06598741f, 3.41369561e-003f, -0.05620445f, -7.28127593e-003f,
       -0.05998361f, -0.03274450f, -0.07376868f, 3.19015374e-003f,
       -0.07733069f, 0.05815864f, -0.02471071f, 0.03850617f, 0.13838784f,
       0.15399861f, 0.01731321f, -0.01477586f, 0.10393341f, 0.05159833f,
       -0.01945555f, -0.03427503f, -0.04867341f, 0.09237480f, 0.10732719f,
       0.06071450f, -0.01355071f, 0.01844356f, -0.03480803f, -0.03796671f,
       2.15628621e-004f, -0.05440186f, 0.01889855f, -0.01443413f,
       -0.02607902f, -0.02938001f, 0.02720689f, -0.06228397f, -0.02970936f,
       -0.03426210f, -0.10280876f, -0.06739304f, -0.05227850f, 0.03360292f,
       -0.11278441f, -0.06966180f, -0.13937433f, 9.10932291e-003f,
       2.52020749e-004f, -4.07359656e-003f, 0.12310639f, 0.09343060f,
       0.07302511f, 0.03222093f, 0.07532879f, 0.03792387f, -0.04985180f,
       0.01804602f, 0.02694195f, 0.13481498f, 0.04601225f, 0.04106982f,
       0.08511057f, 0.12314661f, 0.01320830f, 0.05044121f, -5.52943908e-003f,
       -0.08992624f, -0.02249301f, -0.08181777f, 0.06165213f, -0.03256603f,
       -0.01068920f, -0.01323473f, -0.11970232f, -0.04616347f, -0.12088681f,
       -0.06762606f, -0.08676834f, -0.06434575f, 0.01772529f, 0.03469615f,
       -0.10926618f, 0.03013873f, 0.14030397f, 0.16130108f, 0.17985588f,
       0.11281928f, 0.10530639f, 0.08905948f, 0.07733764f, 0.06695238f,
       0.02142088f, 0.06438877f, 0.09794453f, 0.05745072f, 0.02788557f,
       0.02632830f, 0.07985807f, 4.24902979e-003f, 8.47890321e-003f,
       -0.02679466f, -5.28812688e-003f, -0.02162580f, -0.07490715f,
       -0.08251337f, -0.02056576f, -0.01026194f, -1.15492963e-003f,
       -5.75720915e-004f, -0.07210591f, -0.07320981f, -0.04883312f,
       -0.10897151f, -0.07477258f, -0.08867134f, -0.09222437f, -0.10924666f,
       -0.10430276f, 0.07953499f, 0.02767959f, 0.11393359f, 0.18779543f,
       0.03313421f, 0.02143700f, 0.05852016f, -2.12067598e-003f,
       -3.76984011e-003f, 0.02774167f, -0.03124610f, 0.01465141f, 0.01616004f,
       -0.01391913f, -0.04404102f, -0.05444227f, -0.14684731f, -0.15016587f,
       0.04509468f, 1.29563001e-003f, 0.01398350f, 0.05610404f, -0.04868806f,
       -0.04776716f, -8.16873740e-003f, -2.30126386e-003f, -0.02286313f,
       0.11983398f, -0.04703261f, -0.08814441f, -0.07585249f, -0.10799607f,
       -0.03232087f, 0.01509786f, -0.04843464f, -0.03967846f, 0.09589416f,
       0.01352560f, -0.01458119f, 0.01050829f, -0.03038946f, 0.01608388f,
       1.11975556e-003f, -0.01250656f, 2.86211423e-003f, 0.04333691f,
       -0.14603497f, -0.01946543f, -0.02327525f, -0.01973944f, 0.07944400f,
       -0.02224544f, -0.06701808f, 0.03476532f, 0.11505594f, -0.02712801f,
       -0.01665113f, 0.06315716f, -0.08205860f, 0.07431999f, 0.04915778f,
       -0.04468752f, -0.01490402f, 0.07400476f, -0.11650901f, 0.05102430f,
       0.04559118f, -0.05916039f, 0.08840760f, -0.01587902f, -0.14890194f,
       0.07857784f, 0.04710254f, -0.05381983f, -0.07331945f, -0.03604643f,
       0.15611970f, 0.07649943f, -0.05959348f, -0.02776607f, 0.11098688f,
       0.03758875f, -0.04446875f, 0.04933187f, 0.01345535f, 0.06921103f,
       0.07364785f, 0.05518956f, 0.02899585f, 0.09375840f, 0.10518434f,
       -0.04420241f, 0.01915282f, -3.56386811e-003f, 0.14586878f, 0.10286101f,
       -0.04360626f, -0.12723237f, 0.09076386f, 0.11119842f, -0.06035013f,
       0.09674817f, 0.08938243f, 0.07065924f, 0.02603180f, 5.84815582e-003f,
       -0.05922065f, 0.12360309f, 3.59695964e-003f, 2.99844006e-003f,
       0.03697936f, 0.02043072f, 0.04168725f, 0.01025975f, -0.01359980f,
       -0.01600920f, 0.02581056f, 0.02329250f, 2.98100687e-003f, 0.01629762f,
       0.06652115f, 0.05855627f, 0.01237463f, -0.01297135f, 0.01761587f,
       0.05090865f, 0.06549342f, -0.04425945f, 2.43203156e-003f,
       3.07327788e-003f, 0.06678630f, -0.04303836f, 0.01082393f, -0.06476044f,
       0.04077786f, 0.12441979f, 0.08237778f, 0.07424165f, 0.04065890f,
       0.06905543f, 0.09556347f, 0.12724875f, -0.02132082f, 0.08514154f,
       -0.04175328f, -0.02666954f, 0.01897836f, 0.03317382f, 9.45465732e-003f,
       -0.01238974f, -0.04242500f, -0.01419479f, -0.03545213f, -0.02440874f,
       0.08684119f, 0.04212951f, 0.02462858f, -0.01104825f, -5.01706870e-003f,
       0.02968982f, 0.02597476f, -0.01568939f, 0.04514892f, 0.06974549f,
       0.08670278f, 0.06828108f, 0.10238872f, 0.05405957f, 0.06548470f,
       -0.03763957f, 0.01366090f, 0.07069602f, 0.05363748f, 0.04798120f,
       0.11706422f, 0.05466456f, -0.01869259f, 0.06344382f, 0.03106543f,
       0.08432506f, -0.02061096f, 0.03821088f, -6.92190882e-003f,
       6.40467042e-003f, -0.01271779f, 6.89014705e-005f, 0.04541415f,
       -0.01899539f, -0.05020239f, 0.03000903f, 0.01090422f, 4.52452758e-003f,
       0.02573632f, -0.02388454f, -0.04200457f, 1.72783900e-003f,
       -0.05978370f, -0.02720562f, 0.06573715f, 0.01154317f, 0.01265615f,
       0.07375994f, -9.19828378e-003f, -0.04914120f, 0.02124831f, 0.06455322f,
       0.04372910f, -0.03310043f, 0.03605788f, -6.78055827e-003f,
       9.36202332e-003f, 0.01747596f, -0.06406314f, -0.06812935f, 0.08080816f,
       -0.02778088f, 0.02735260f, 0.06393493f, 0.06652229f, 0.05676993f,
       0.08640018f, -7.59188086e-003f, -0.02012847f, -0.04741159f,
       -0.01657069f, -0.01624399f, 0.05547778f, -2.33309763e-003f,
       0.01120033f, 0.06141156f, -0.06285004f, -0.08732341f, -0.09313398f,
       -0.04267832f, 5.57443965e-003f, 0.04809862f, 0.01773641f,
       5.37361018e-003f, 0.14842421f, -0.06298012f, -0.02935147f, 0.11443478f,
       -0.05034208f, 5.65494271e-003f, 0.02076526f, -0.04577984f,
       -0.04735741f, 0.02961071f, -0.09307127f, -0.04417921f, -0.04990027f,
       -0.03940028f, 0.01306016f, 0.06267900f, 0.03758737f, 0.08460117f,
       0.13858789f, 0.04862388f, -0.06319809f, -0.05655516f, 0.01885816f,
       -0.03285607f, 0.03371567f, -0.07040928f, -0.04514049f, 0.01392166f,
       0.08184422f, -0.07230316f, 0.02386871f, 0.02184591f, 0.02605764f,
       -0.01033954f, 9.29878280e-003f, 7.67351175e-003f, 0.15189242f,
       0.02069071f, -0.09738296f, -0.08894105f, -0.07768748f, 0.02332268f,
       -0.01778995f, -0.03258888f, -0.08180822f, -0.08492987f, 0.02290156f,
       -0.11368170f, -0.03554465f, -0.04533844f, -0.02861580f, 0.06782424f,
       0.01113123f, 0.02453644f, 0.12721945f, 0.08084814f, -0.03607795f,
       0.01109122f, 0.04803548f, -0.03489929f, 0.03399536f, -0.05682014f,
       8.59533902e-003f, -4.27904585e-003f, 0.03230887f, -0.01300198f,
       -0.01038137f, -0.07930113f, 8.33097473e-003f, 0.02296994f,
       -0.01306500f, -0.01881626f, 0.04413369f, 0.05729880f, -0.03761553f,
       0.01942326f, 1.64540811e-003f, -0.03811319f, 0.04190650f, -0.14978096f,
       -0.04514487f, 0.01209545f, -5.46460645e-003f, -0.01647195f,
       7.63064111e-003f, -0.07494587f, 0.08415288f, 0.10020141f, -0.01228561f,
       0.06553826f, 0.04554005f, 0.07890417f, 0.03041138f, 0.01752007f,
       0.09208256f, -3.74419295e-004f, 0.10549527f, 0.04686913f, 0.01894833f,
       -0.02651412f, -4.34682379e-003f, 5.44942822e-003f, 0.01444484f,
       0.05882156f, -0.03336544f, 0.04603891f, -0.10432546f, 0.01923928f,
       0.01842845f, -0.01712168f, -0.02222766f, 0.04693324f, -0.06202956f,
       -0.01422159f, 0.08732220f, -0.07706107f, 0.02661049f, -0.04300238f,
       -0.03092422f, -0.03552184f, -0.01886088f, -0.04979934f, 0.03906401f,
       0.04608644f, 0.04966111f, 0.04275464f, -0.04621769f, -0.02653212f,
       8.57011229e-003f, 0.03839684f, 0.05818764f, 0.03880796f,
       -2.76100676e-004f, 0.03076511f, -0.03266929f, -0.05374557f,
       0.04986527f, -9.45429131e-003f, 0.03582499f, -2.64564669e-003f,
       -1.07461517e-003f, 0.02962313f, -0.01483363f, 0.03060869f, 0.02448327f,
       0.01845641f, 0.03282966f, -0.03534438f, -0.01084059f, -0.01119136f,
       -1.85360224e-003f, -5.94652840e-004f, -0.04451817f, 2.98327743e-003f,
       0.06272484f, -0.02152076f, -3.05971340e-003f, -0.05070828f,
       0.01531762f, 0.01282815f, 0.05167150f, 9.46266949e-003f,
       -3.34558333e-003f, 0.11442288f, -0.03906701f, -2.67325155e-003f,
       0.03069184f, -0.01134165f, 0.02949462f, 0.02879886f, 0.03855566f,
       -0.03450781f, 0.09142872f, -0.02156654f, 0.06075062f, -0.06220816f,
       0.01944680f, 6.68372354e-003f, -0.06656796f, 8.70784000e-003f,
       0.03456013f, 0.02434320f, -0.13236357f, -0.04177035f, -0.02069627f,
       0.01068112f, 0.01505432f, -0.07517391f, -3.83571628e-003f,
       -0.06298508f, -0.02881260f, -0.13101046f, -0.07221562f,
       -5.79945277e-003f, -8.57300125e-003f, 0.03782469f, 0.02762164f,
       0.04942456f, -0.02936396f, 0.09597211f, 0.01921411f, 0.06101191f,
       -0.04787507f, -0.01379578f, -7.40224449e-003f, -0.02220136f,
       -0.01313756f, 7.77558051e-003f, 0.12296968f, 0.02939998f, 0.03594062f,
       -0.07788624f, -0.01133144f, 3.99316690e-004f, -0.06090347f,
       -0.01122066f, -4.68682544e-003f, 0.07633100f, -0.06748922f,
       -0.05640298f, -0.05265681f, -0.01139122f, -0.01624347f, -0.04715714f,
       -0.01099092f, 0.01048561f, 3.28499987e-003f, -0.05810167f,
       -0.07699911f, -0.03330683f, 0.04185145f, 0.03478536f, 0.02275165f,
       0.02304766f, 6.66040834e-003f, 0.10968148f, -5.93013782e-003f,
       -0.04858336f, -0.04203213f, -0.09316786f, -6.13074889e-003f,
       -0.02544625f, 0.01366201f, 9.18555818e-003f, -0.01846578f,
       -0.05622401f, -0.03989377f, -0.07810296f, 6.91275718e-003f,
       0.05957597f, -0.03901334f, 0.01572002f, -0.01193903f,
       -6.89400872e-003f, -0.03093356f, -0.04136098f, -0.01562869f,
       -0.04604580f, 0.02865234f, -0.08678447f, -0.03232484f, -0.05364593f,
       -0.01445016f, -0.07003860f, -0.08669746f, -0.04520775f, 0.04274122f,
       0.03117515f, 0.08175703f, 0.01081109f, 0.06379741f, 0.06199206f,
       0.02865988f, 0.02360346f, 0.06725410f, -0.03248780f, -9.37702879e-003f,
       0.08265898f, -0.02245839f, 0.05125763f, -0.01862395f, 0.01973453f,
       -0.01994494f, -0.10770868f, 0.03180375f, 3.23935156e-003f,
       -0.02142080f, -0.04256190f, 0.04760900f, 0.04282863f, 0.05635953f,
       -0.01870849f, 0.05540622f, -0.03042666f, 0.01455277f, -0.06630179f,
       -0.05843807f, -0.03739681f, -0.09739155f, -0.03220233f, -0.05620182f,
       -0.10381401f, 0.07400211f, 4.20676917e-003f, 0.03258535f,
       2.14308966e-003f, 0.05121966f, -0.01274337f, 0.02384761f, 0.06335578f,
       -0.07905591f, 0.08375625f, -0.07898903f, -0.06508528f, -0.02498444f,
       0.06535810f, 0.03970535f, 0.04895468f, -0.01169566f, -0.03980601f,
       0.05682293f, 0.05925463f, -0.01165808f, -0.07936699f, -0.04208954f,
       0.01333987f, 0.09051196f, 0.10098671f, -0.03974256f, 0.01238771f,
       -0.07501741f, -0.03655440f, -0.04301528f, 0.09216860f,
       4.63579083e-004f, 0.02851115f, 0.02142735f, 1.28244064e-004f,
       0.02879687f, -0.08554889f, -0.04838862f, 0.08135369f, -0.05756533f,
       0.01413900f, 0.03451880f, -0.06619488f, -0.03053130f, 0.02961676f,
       -0.07384635f, 0.01135692f, 0.05283910f, -0.07778034f, -0.02107482f,
       -0.05511716f, -0.13473752f, 0.03030157f, 0.06722020f, -0.06218817f,
       -0.05826827f, 0.06254654f, 0.02895772f, -0.01664000f, -0.03620280f,
       -0.01612278f, -1.46097376e-003f, 0.14013411f, -8.96181818e-003f,
       -0.03250246f, 3.38630192e-003f, 2.64779478e-003f, 0.03359732f,
       -0.02411991f, -0.04229729f, 0.10666174f, -6.66579151f };
    return vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
wester committed
1891
}
wester committed
1892 1893 1894
//This function renurn 1981 SVM coeffs obtained from daimler's base.
//To use these coeffs the detection window size should be (48,96)
vector<float> HOGDescriptor::getDaimlerPeopleDetector()
wester committed
1895 1896 1897 1898 1899 1900 1901 1902 1903 1904 1905 1906 1907 1908 1909 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919 1920 1921 1922 1923 1924 1925 1926 1927 1928 1929 1930 1931 1932 1933 1934 1935 1936 1937 1938 1939 1940 1941 1942 1943 1944 1945 1946 1947 1948 1949 1950 1951 1952 1953 1954 1955 1956 1957 1958 1959 1960 1961 1962 1963 1964 1965 1966 1967 1968 1969 1970 1971 1972 1973 1974 1975 1976 1977 1978 1979 1980 1981 1982 1983 1984 1985 1986 1987 1988 1989 1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010 2011 2012 2013 2014 2015 2016 2017 2018 2019 2020 2021 2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 2131 2132 2133 2134 2135 2136 2137 2138 2139 2140 2141 2142 2143 2144 2145 2146 2147 2148 2149 2150 2151 2152 2153 2154 2155 2156 2157 2158 2159 2160 2161 2162 2163 2164 2165 2166 2167 2168 2169 2170 2171 2172 2173 2174 2175 2176 2177 2178 2179 2180 2181 2182 2183 2184 2185 2186 2187 2188 2189 2190 2191 2192 2193 2194 2195 2196 2197 2198 2199 2200 2201 2202 2203 2204 2205 2206 2207 2208 2209 2210 2211 2212 2213 2214 2215 2216 2217 2218 2219 2220 2221 2222 2223 2224 2225 2226 2227 2228 2229 2230 2231 2232 2233 2234 2235 2236 2237 2238 2239 2240 2241 2242 2243 2244 2245 2246 2247 2248 2249 2250 2251 2252 2253 2254 2255 2256 2257 2258 2259 2260 2261 2262 2263 2264 2265 2266 2267 2268 2269 2270 2271 2272 2273 2274 2275 2276 2277 2278 2279 2280 2281 2282 2283 2284 2285 2286 2287 2288 2289 2290 2291 2292 2293 2294 2295 2296 2297 2298 2299 2300 2301 2302 2303 2304 2305 2306 2307 2308 2309 2310 2311 2312 2313 2314 2315 2316 2317 2318 2319 2320 2321 2322 2323 2324 2325 2326 2327 2328 2329 2330 2331 2332 2333 2334 2335 2336 2337 2338 2339 2340 2341 2342 2343 2344 2345 2346 2347 2348 2349 2350 2351 2352 2353 2354 2355 2356 2357 2358 2359 2360 2361 2362 2363 2364 2365 2366 2367 2368 2369 2370 2371 2372 2373 2374 2375 2376 2377 2378 2379 2380 2381 2382 2383 2384 2385 2386 2387 2388 2389 2390 2391 2392
{
    static const float detector[] = {
        0.294350f, -0.098796f, -0.129522f, 0.078753f,
        0.387527f, 0.261529f, 0.145939f, 0.061520f,
        0.328699f, 0.227148f, -0.066467f, -0.086723f,
        0.047559f, 0.106714f, 0.037897f, 0.111461f,
        -0.024406f, 0.304769f, 0.254676f, -0.069235f,
        0.082566f, 0.147260f, 0.326969f, 0.148888f,
        0.055270f, -0.087985f, 0.261720f, 0.143442f,
        0.026812f, 0.238212f, 0.194020f, 0.056341f,
        -0.025854f, -0.034444f, -0.156631f, 0.205174f,
        0.089008f, -0.139811f, -0.100147f, -0.037830f,
        -0.029230f, -0.055641f, 0.033248f, -0.016512f,
        0.155244f, 0.247315f, -0.124694f, -0.048414f,
        -0.062219f, 0.193683f, 0.004574f, 0.055089f,
        0.093565f, 0.167712f, 0.167581f, 0.018895f,
        0.215258f, 0.122609f, 0.090520f, -0.067219f,
        -0.049029f, -0.099615f, 0.241804f, -0.094893f,
        -0.176248f, 0.001727f, -0.134473f, 0.104442f,
        0.050942f, 0.081165f, 0.072156f, 0.121646f,
        0.002656f, -0.297974f, -0.133587f, -0.060121f,
        -0.092515f, -0.048974f, -0.084754f, -0.180111f,
        -0.038590f, 0.086283f, -0.134636f, -0.107249f,
        0.132890f, 0.141556f, 0.249425f, 0.130273f,
        -0.030031f, 0.073212f, -0.008155f, 0.019931f,
        0.071688f, 0.000300f, -0.019525f, -0.021725f,
        -0.040993f, -0.086841f, 0.070124f, 0.240033f,
        0.265350f, 0.043208f, 0.166754f, 0.091453f,
        0.060916f, -0.036972f, -0.091043f, 0.079873f,
        0.219781f, 0.158102f, -0.140618f, -0.043016f,
        0.124802f, 0.093668f, 0.103208f, 0.094872f,
        0.080541f, 0.137711f, 0.160566f, -0.169231f,
        0.013983f, 0.309508f, -0.004217f, -0.057200f,
        -0.064489f, 0.014066f, 0.361009f, 0.251328f,
        -0.080983f, -0.044183f, 0.061436f, -0.037381f,
        -0.078786f, 0.030993f, 0.066314f, 0.037683f,
        0.152325f, -0.091683f, 0.070203f, 0.217856f,
        0.036435f, -0.076462f, 0.006254f, -0.094431f,
        0.154829f, -0.023038f, -0.196961f, -0.024594f,
        0.178465f, -0.050139f, -0.045932f, -0.000965f,
        0.109112f, 0.046165f, -0.159373f, -0.008713f,
        0.041307f, 0.097129f, -0.057211f, -0.064599f,
        0.077165f, 0.176167f, 0.138322f, 0.065753f,
        -0.104950f, 0.017933f, 0.136255f, -0.011598f,
        0.047007f, 0.080550f, 0.068619f, 0.084661f,
        -0.035493f, -0.091314f, -0.041411f, 0.060971f,
        -0.101912f, -0.079870f, -0.085977f, -0.022686f,
        0.079788f, -0.098064f, -0.054603f, 0.040383f,
        0.300794f, 0.128603f, 0.094844f, 0.047407f,
        0.101825f, 0.061832f, -0.162160f, -0.204553f,
        -0.035165f, 0.101450f, -0.016641f, -0.027140f,
        -0.134392f, -0.008743f, 0.102331f, 0.114853f,
        0.009644f, 0.062823f, 0.237339f, 0.167843f,
        0.053066f, -0.012592f, 0.043158f, 0.002305f,
        0.065001f, -0.038929f, -0.020356f, 0.152343f,
        0.043469f, -0.029967f, -0.042948f, 0.032481f,
        0.068488f, -0.110840f, -0.111083f, 0.111980f,
        -0.002072f, -0.005562f, 0.082926f, 0.006635f,
        -0.108153f, 0.024242f, -0.086464f, -0.189884f,
        -0.017492f, 0.191456f, -0.007683f, -0.128769f,
        -0.038017f, -0.132380f, 0.091926f, 0.079696f,
        -0.106728f, -0.007656f, 0.172744f, 0.011576f,
        0.009883f, 0.083258f, -0.026516f, 0.145534f,
        0.153924f, -0.130290f, -0.108945f, 0.124490f,
        -0.003186f, -0.100485f, 0.015024f, -0.060512f,
        0.026288f, -0.086713f, -0.169012f, 0.076517f,
        0.215778f, 0.043701f, -0.131642f, -0.012585f,
        -0.045181f, -0.118183f, -0.241544f, -0.167293f,
        -0.020107f, -0.019917f, -0.101827f, -0.107096f,
        -0.010503f, 0.044938f, 0.189680f, 0.217119f,
        -0.046086f, 0.044508f, 0.199716f, -0.036004f,
        -0.148927f, 0.013355f, -0.078279f, 0.030451f,
        0.056301f, -0.024609f, 0.083224f, 0.099533f,
        -0.039432f, -0.138880f, 0.005482f, -0.024120f,
        -0.140468f, -0.066381f, -0.017057f, 0.009260f,
        -0.058004f, -0.028486f, -0.061610f, 0.007483f,
        -0.158309f, -0.150687f, -0.044595f, -0.105121f,
        -0.045763f, -0.006618f, -0.024419f, -0.117713f,
        -0.119366f, -0.175941f, -0.071542f, 0.119027f,
        0.111362f, 0.043080f, 0.034889f, 0.093003f,
        0.007842f, 0.057368f, -0.108834f, -0.079968f,
        0.230959f, 0.020205f, 0.011470f, 0.098877f,
        0.101310f, -0.030215f, -0.018018f, -0.059552f,
        -0.106157f, 0.021866f, -0.036471f, 0.080051f,
        0.041165f, -0.082101f, 0.117726f, 0.030961f,
        -0.054763f, -0.084102f, -0.185778f, -0.061305f,
        -0.038089f, -0.110728f, -0.264010f, 0.076675f,
        -0.077111f, -0.137644f, 0.036232f, 0.277995f,
        0.019116f, 0.107738f, 0.144003f, 0.080304f,
        0.215036f, 0.228897f, 0.072713f, 0.077773f,
        0.120168f, 0.075324f, 0.062730f, 0.122478f,
        -0.049008f, 0.164912f, 0.162450f, 0.041246f,
        0.009891f, -0.097827f, -0.038700f, -0.023027f,
        -0.120020f, 0.203364f, 0.248474f, 0.149810f,
        -0.036276f, -0.082814f, -0.090343f, -0.027143f,
        -0.075689f, -0.320310f, -0.000500f, -0.143334f,
        -0.065077f, -0.186936f, 0.129372f, 0.116431f,
        0.181699f, 0.170436f, 0.418854f, 0.460045f,
        0.333719f, 0.230515f, 0.047822f, -0.044954f,
        -0.068086f, 0.140179f, -0.044821f, 0.085550f,
        0.092483f, -0.107296f, -0.130670f, -0.206629f,
        0.114601f, -0.317869f, -0.076663f, 0.038680f,
        0.212753f, -0.016059f, -0.126526f, -0.163602f,
        0.210154f, 0.099887f, -0.126366f, 0.118453f,
        0.019309f, -0.021611f, -0.096499f, -0.111809f,
        -0.200489f, 0.142854f, 0.228840f, -0.353346f,
        -0.179151f, 0.116834f, 0.252389f, -0.031728f,
        -0.188135f, -0.158998f, 0.386523f, 0.122315f,
        0.209944f, 0.394023f, 0.359030f, 0.260717f,
        0.170335f, 0.013683f, -0.142596f, -0.026138f,
        -0.011878f, -0.150519f, 0.047159f, -0.107062f,
        -0.147347f, -0.187689f, -0.186027f, -0.208048f,
        0.058468f, -0.073026f, -0.236556f, -0.079788f,
        -0.146216f, -0.058563f, -0.101361f, -0.071294f,
        -0.071093f, 0.116919f, 0.234304f, 0.306781f,
        0.321866f, 0.240000f, 0.073261f, -0.012173f,
        0.026479f, 0.050173f, 0.166127f, 0.228955f,
        0.061905f, 0.156460f, 0.205990f, 0.120672f,
        0.037350f, 0.167884f, 0.290099f, 0.420900f,
        -0.012601f, 0.189839f, 0.306378f, 0.118383f,
        -0.095598f, -0.072360f, -0.132496f, -0.224259f,
        -0.126021f, 0.022714f, 0.284039f, 0.051369f,
        -0.000927f, -0.058735f, -0.083354f, -0.141254f,
        -0.187578f, -0.202669f, 0.048902f, 0.246597f,
        0.441863f, 0.342519f, 0.066979f, 0.215286f,
        0.188191f, -0.072240f, -0.208142f, -0.030196f,
        0.178141f, 0.136985f, -0.043374f, -0.181098f,
        0.091815f, 0.116177f, -0.126690f, -0.386625f,
        0.368165f, 0.269149f, -0.088042f, -0.028823f,
        0.092961f, 0.024099f, 0.046112f, 0.176756f,
        0.135849f, 0.124955f, 0.195467f, -0.037218f,
        0.167217f, 0.188938f, 0.053528f, -0.066561f,
        0.133721f, -0.070565f, 0.115898f, 0.152435f,
        -0.116993f, -0.110592f, -0.179005f, 0.026668f,
        0.080530f, 0.075084f, -0.070401f, 0.012497f,
        0.021849f, -0.139764f, -0.022020f, -0.096301f,
        -0.064954f, -0.127446f, -0.013806f, -0.108315f,
        0.156285f, 0.149867f, -0.011382f, 0.064532f,
        0.029168f, 0.027393f, 0.069716f, 0.153735f,
        0.038459f, 0.230714f, 0.253840f, 0.059522f,
        -0.045053f, 0.014083f, 0.071103f, 0.068747f,
        0.095887f, 0.005832f, 0.144887f, 0.026357f,
        -0.067359f, -0.044151f, -0.123283f, -0.019911f,
        0.005318f, 0.109208f, -0.003201f, -0.021734f,
        0.142025f, -0.066907f, -0.120070f, -0.188639f,
        0.012472f, -0.048704f, -0.012366f, -0.184828f,
        0.168591f, 0.267166f, 0.058208f, -0.044101f,
        0.033500f, 0.178558f, 0.104550f, 0.122418f,
        0.080177f, 0.173246f, 0.298537f, 0.064173f,
        0.053397f, 0.174341f, 0.230984f, 0.117025f,
        0.166242f, 0.227781f, 0.120623f, 0.176952f,
        -0.011393f, -0.086483f, -0.008270f, 0.051700f,
        -0.153369f, -0.058837f, -0.057639f, -0.060115f,
        0.026349f, -0.160745f, -0.037894f, -0.048575f,
        0.041052f, -0.022112f, 0.060365f, 0.051906f,
        0.162657f, 0.138519f, -0.050185f, -0.005938f,
        0.071301f, 0.127686f, 0.062342f, 0.144400f,
        0.072600f, 0.198436f, 0.246219f, -0.078185f,
        -0.036169f, 0.075934f, 0.047328f, -0.013601f,
        0.087205f, 0.019900f, 0.022606f, -0.015365f,
        -0.092506f, 0.075275f, -0.116375f, 0.050500f,
        0.045118f, 0.166567f, 0.072073f, 0.060371f,
        0.131747f, -0.169863f, -0.039352f, -0.047486f,
        -0.039797f, -0.204312f, 0.021710f, 0.129443f,
        -0.021173f, 0.173416f, -0.070794f, -0.063986f,
        0.069689f, -0.064099f, -0.123201f, -0.017372f,
        -0.206870f, 0.065863f, 0.113226f, 0.024707f,
        -0.071341f, -0.066964f, -0.098278f, -0.062927f,
        0.075840f, 0.014716f, 0.019378f, 0.132699f,
        -0.074191f, -0.089557f, -0.078446f, -0.197488f,
        -0.173665f, 0.052583f, 0.044361f, 0.113549f,
        0.098492f, 0.077379f, -0.011146f, -0.192593f,
        -0.164435f, 0.045568f, 0.205699f, 0.049187f,
        -0.082281f, 0.134874f, 0.185499f, 0.034968f,
        -0.119561f, -0.112372f, -0.115091f, -0.054042f,
        -0.183816f, -0.078100f, 0.190695f, 0.091617f,
        0.004257f, -0.041135f, -0.061453f, -0.141592f,
        -0.194809f, -0.120638f, 0.020168f, 0.109672f,
        0.067398f, -0.015238f, -0.239145f, -0.264671f,
        -0.185176f, 0.050472f, 0.020793f, 0.035678f,
        0.022839f, -0.052055f, -0.127968f, -0.113049f,
        -0.228416f, -0.258281f, -0.053437f, 0.076424f,
        0.061450f, 0.237478f, 0.003618f, -0.055865f,
        -0.108087f, -0.028937f, 0.045585f, 0.052829f,
        -0.001471f, 0.022826f, 0.059565f, -0.104430f,
        -0.077266f, -0.211882f, -0.212078f, 0.028074f,
        0.075846f, 0.016265f, 0.161879f, 0.134477f,
        0.008935f, -0.048041f, 0.074692f, 0.004928f,
        -0.025156f, 0.192874f, 0.074410f, 0.308732f,
        0.267400f, 0.094208f, -0.005251f, 0.042041f,
        -0.032148f, 0.015588f, 0.252869f, 0.175302f,
        0.022892f, 0.081673f, 0.063208f, 0.162626f,
        0.194426f, 0.233890f, 0.262292f, 0.186930f,
        0.084079f, -0.286388f, -0.213034f, -0.048867f,
        -0.207669f, -0.170050f, 0.011673f, -0.092958f,
        -0.192786f, -0.273536f, 0.230904f, 0.266732f,
        0.320519f, 0.297155f, 0.548169f, 0.304922f,
        0.132687f, 0.247333f, 0.212488f, -0.271472f,
        -0.142105f, -0.002627f, -0.119215f, 0.128383f,
        0.100079f, -0.057490f, -0.121902f, -0.228892f,
        0.202292f, -0.399795f, -0.371326f, -0.095836f,
        -0.063626f, -0.161375f, -0.311180f, -0.294797f,
        0.242122f, 0.011788f, 0.095573f, 0.322523f,
        0.511840f, 0.322880f, 0.313259f, 0.173331f,
        0.002542f, -0.029802f, 0.324766f, -0.326170f,
        -0.340547f, -0.138288f, -0.002963f, -0.114060f,
        -0.377312f, -0.442570f, 0.212446f, -0.007759f,
        -0.011576f, 0.169711f, 0.308689f, 0.317348f,
        0.539390f, 0.332845f, 0.057331f, -0.068180f,
        0.101994f, 0.266995f, 0.209570f, 0.355730f,
        0.091635f, 0.170238f, 0.125215f, 0.274154f,
        0.070223f, 0.025515f, 0.049946f, -0.000550f,
        0.043715f, -0.141843f, 0.020844f, 0.129871f,
        0.256588f, 0.105015f, 0.148339f, 0.170682f,
        0.028792f, 0.074037f, 0.160042f, 0.405137f,
        0.246187f, 0.352160f, 0.168951f, 0.222263f,
        0.264439f, 0.065945f, 0.021963f, -0.075084f,
        0.093105f, 0.027318f, 0.098864f, 0.057566f,
        -0.080282f, 0.185032f, 0.314419f, 0.333727f,
        0.125798f, 0.294919f, 0.386002f, 0.217619f,
        -0.183517f, -0.278622f, -0.002342f, -0.027821f,
        -0.134266f, -0.331843f, -0.008296f, 0.124564f,
        0.053712f, -0.369016f, -0.095036f, 0.209381f,
        0.423760f, 0.371760f, 0.106397f, 0.369408f,
        0.485608f, 0.231201f, -0.138685f, -0.349208f,
        -0.070083f, 0.028991f, -0.081630f, -0.395992f,
        -0.146791f, -0.027354f, 0.063396f, -0.272484f,
        0.058299f, 0.338207f, 0.110767f, -0.052642f,
        -0.233848f, -0.027448f, 0.030328f, 0.155572f,
        -0.093826f, 0.019331f, 0.120638f, 0.006292f,
        -0.106083f, -0.236290f, -0.140933f, -0.088067f,
        -0.025138f, -0.208395f, -0.025502f, 0.144192f,
        -0.048353f, -0.106144f, -0.305121f, -0.114147f,
        0.090963f, 0.327727f, 0.035606f, -0.093779f,
        0.002651f, -0.171081f, -0.188131f, -0.216571f,
        -0.209101f, -0.054402f, 0.157147f, -0.057127f,
        0.066584f, 0.008988f, 0.041191f, 0.034456f,
        -0.078255f, 0.052099f, -0.022239f, 0.066981f,
        -0.117520f, -0.072637f, 0.062512f, 0.037570f,
        -0.057544f, -0.312359f, 0.034357f, -0.031549f,
        0.002566f, -0.207375f, -0.070654f, -0.018786f,
        -0.044815f, -0.012814f, -0.076320f, 0.078183f,
        0.023877f, 0.117078f, 0.022292f, -0.205424f,
        -0.060430f, -0.017296f, -0.004827f, -0.321036f,
        -0.092155f, 0.038837f, 0.073190f, -0.067513f,
        0.026521f, 0.171945f, 0.087318f, 0.034495f,
        -0.034089f, 0.154410f, -0.061431f, 0.007435f,
        -0.111094f, -0.095976f, 0.014741f, -0.132324f,
        -0.029517f, -0.192160f, 0.098667f, 0.020762f,
        0.177050f, -0.064510f, -0.054437f, -0.058678f,
        -0.001858f, 0.167602f, 0.015735f, 0.054338f,
        0.016477f, 0.186381f, -0.010667f, 0.054692f,
        0.126742f, 0.013140f, 0.090353f, -0.133608f,
        -0.018017f, -0.152619f, 0.027600f, -0.138700f,
        -0.050274f, 0.045141f, -0.118731f, 0.094797f,
        -0.167605f, 0.097461f, -0.009131f, 0.199920f,
        -0.052976f, 0.158194f, 0.178568f, -0.107600f,
        0.009671f, -0.084072f, -0.040258f, -0.205673f,
        0.102891f, 0.223511f, 0.042699f, 0.118548f,
        -0.021274f, 0.110997f, -0.155121f, 0.027696f,
        -0.149968f, 0.051552f, -0.129219f, 0.173524f,
        0.073972f, -0.189045f, -0.034523f, -0.106655f,
        -0.011843f, -0.197381f, 0.219413f, 0.183197f,
        -0.054920f, 0.144955f, 0.036517f, -0.085412f,
        -0.229070f, -0.143710f, -0.049486f, 0.156634f,
        -0.008673f, -0.064778f, 0.082344f, 0.145673f,
        0.002912f, -0.210121f, -0.116564f, 0.078425f,
        0.220908f, -0.067594f, 0.048610f, 0.084912f,
        -0.066202f, -0.112515f, -0.217767f, -0.082640f,
        -0.017414f, 0.230265f, -0.070735f, 0.066073f,
        0.215256f, 0.071157f, -0.087220f, -0.202235f,
        -0.011918f, 0.099562f, 0.174716f, -0.063845f,
        -0.121055f, 0.014367f, 0.132709f, -0.005060f,
        -0.244606f, -0.179693f, -0.134690f, 0.023239f,
        -0.193116f, -0.076975f, -0.021164f, -0.001938f,
        -0.163799f, -0.111437f, -0.210362f, -0.166376f,
        0.034754f, 0.010036f, -0.021917f, 0.068014f,
        -0.086893f, -0.251746f, -0.267171f, 0.037383f,
        0.003966f, 0.033571f, -0.151506f, 0.025437f,
        -0.020626f, -0.308454f, -0.343143f, -0.092263f,
        -0.026261f, -0.028345f, 0.036036f, 0.035169f,
        0.129470f, 0.122205f, 0.015661f, -0.070612f,
        -0.094333f, -0.066055f, -0.041083f, 0.159146f,
        0.073184f, 0.110044f, 0.174471f, 0.078069f,
        -0.014881f, 0.008116f, 0.013209f, 0.075857f,
        0.195605f, 0.062714f, 0.067955f, 0.056544f,
        -0.153908f, -0.141749f, -0.072550f, 0.033523f,
        -0.024665f, 0.134487f, 0.079076f, 0.133562f,
        0.227130f, 0.018054f, 0.004928f, 0.169162f,
        0.065152f, 0.072160f, 0.131631f, 0.096303f,
        0.054288f, 0.106256f, 0.114632f, 0.119038f,
        0.515200f, 0.247429f, 0.199134f, 0.211957f,
        0.127558f, -0.294684f, -0.194890f, -0.049988f,
        -0.112247f, -0.008122f, -0.006176f, 0.037035f,
        -0.110881f, -0.249989f, 0.152434f, 0.234621f,
        0.153340f, 0.349283f, 0.683049f, 0.157174f,
        0.124844f, 0.099136f, 0.064407f, -0.248400f,
        -0.155323f, -0.026498f, -0.023450f, 0.049051f,
        -0.114187f, 0.007195f, -0.176825f, -0.376926f,
        0.366159f, -0.179938f, -0.148508f, 0.006043f,
        0.170048f, 0.097866f, -0.102658f, -0.260430f,
        0.248868f, 0.037019f, -0.118111f, 0.078176f,
        0.194171f, 0.211328f, 0.368612f, 0.361213f,
        0.130013f, 0.094650f, 0.227396f, -0.178058f,
        -0.114782f, -0.008093f, 0.231080f, -0.011843f,
        -0.097917f, -0.325788f, 0.141879f, 0.119738f,
        -0.230427f, -0.117419f, -0.114153f, 0.037903f,
        0.116383f, 0.218773f, -0.101884f, 0.059466f,
        0.119255f, 0.010874f, -0.031449f, 0.045996f,
        0.119931f, 0.273760f, 0.311700f, 0.261794f,
        0.194809f, 0.339829f, 0.239449f, 0.064140f,
        0.077597f, 0.098996f, 0.143534f, 0.184602f,
        0.037507f, 0.225494f, 0.096142f, -0.147370f,
        -0.207833f, -0.174742f, -0.086391f, -0.038942f,
        0.159577f, -0.088492f, -0.000989f, 0.108154f,
        -0.025890f, -0.072713f, 0.025997f, -0.006803f,
        -0.086879f, -0.011290f, -0.269200f, -0.103450f,
        -0.124910f, -0.116340f, 0.141459f, 0.208800f,
        0.042268f, 0.265034f, 0.516474f, 0.217591f,
        -0.018843f, -0.313328f, -0.168363f, 0.047129f,
        0.090480f, -0.109852f, -0.018761f, 0.210669f,
        0.281269f, -0.043591f, -0.034147f, -0.237772f,
        -0.134843f, -0.072481f, -0.103831f, 0.038355f,
        0.308619f, 0.148023f, -0.045867f, -0.123950f,
        -0.210860f, -0.064973f, -0.036308f, -0.046731f,
        -0.022099f, 0.095776f, 0.409423f, 0.060635f,
        -0.065196f, 0.051828f, 0.027981f, -0.009609f,
        -0.137681f, -0.095011f, -0.019045f, 0.177278f,
        0.009759f, -0.092119f, -0.016958f, -0.133860f,
        -0.118421f, -0.032039f, -0.006214f, -0.084541f,
        0.063971f, -0.073642f, 0.165676f, 0.110443f,
        0.044131f, 0.046568f, 0.053292f, -0.055466f,
        0.015512f, 0.371947f, 0.232102f, -0.016923f,
        0.103979f, -0.091758f, 0.005907f, 0.209100f,
        0.157433f, 0.030518f, 0.250366f, 0.062322f,
        0.036720f, 0.094676f, 0.017306f, -0.010328f,
        -0.079012f, 0.016781f, -0.112435f, 0.061795f,
        0.042543f, -0.126799f, -0.009975f, -0.056760f,
        0.046424f, -0.194712f, -0.139399f, -0.037731f,
        0.157989f, -0.016261f, 0.123345f, 0.230563f,
        0.083300f, -0.016392f, 0.059567f, -0.016035f,
        -0.064767f, 0.231945f, 0.156629f, 0.034602f,
        0.145628f, 0.041315f, 0.034535f, 0.019967f,
        -0.089188f, -0.012091f, 0.307857f, 0.211405f,
        -0.025091f, -0.148249f, -0.129384f, 0.063536f,
        -0.068603f, -0.067941f, -0.035104f, 0.210832f,
        0.063810f, 0.062764f, -0.089889f, -0.030554f,
        0.014791f, -0.053362f, -0.037818f, -0.196640f,
        0.008388f, -0.082654f, 0.143056f, 0.064221f,
        0.069795f, 0.191040f, 0.097321f, -0.028679f,
        0.075794f, 0.313154f, 0.086240f, 0.207643f,
        0.017809f, 0.122867f, 0.224586f, 0.167403f,
        -0.023884f, 0.047434f, 0.344091f, 0.187745f,
        0.136177f, 0.141738f, 0.063799f, 0.045233f,
        -0.077342f, -0.003525f, -0.165041f, -0.025616f,
        -0.073745f, 0.164439f, 0.011200f, -0.145896f,
        -0.027954f, -0.061987f, -0.039874f, -0.142775f,
        0.151042f, -0.038238f, 0.053152f, 0.078615f,
        0.086061f, 0.100593f, 0.128046f, -0.071006f,
        -0.116558f, 0.208445f, 0.051086f, 0.076843f,
        0.023191f, -0.084781f, -0.011790f, 0.147807f,
        -0.048554f, -0.113932f, 0.283322f, 0.190934f,
        0.092789f, 0.033018f, -0.142428f, -0.142480f,
        -0.099023f, -0.041020f, -0.042760f, 0.203295f,
        -0.053475f, 0.042424f, 0.222839f, -0.019167f,
        -0.133176f, -0.276216f, -0.031998f, 0.117290f,
        0.177827f, -0.059973f, -0.064744f, -0.117040f,
        -0.155482f, -0.099531f, 0.164121f, -0.026682f,
        -0.093810f, 0.238993f, -0.006506f, 0.007830f,
        0.065819f, -0.203643f, -0.100925f, -0.053652f,
        -0.130770f, 0.026277f, 0.131796f, 0.032742f,
        0.127186f, 0.116694f, -0.161122f, -0.279773f,
        -0.252515f, -0.002638f, 0.042812f, 0.096776f,
        -0.123280f, 0.064858f, -0.010455f, -0.219760f,
        -0.239331f, -0.104363f, -0.058022f, -0.053584f,
        0.025611f, 0.005129f, -0.100418f, -0.045712f,
        -0.194418f, -0.126366f, -0.030530f, 0.051168f,
        0.215959f, 0.172402f, -0.054700f, -0.185995f,
        -0.278360f, -0.193693f, -0.040309f, 0.003735f,
        -0.007770f, 0.123556f, 0.190179f, -0.077315f,
        0.117403f, 0.212942f, 0.012160f, 0.000113f,
        0.027331f, 0.040202f, 0.033293f, 0.219438f,
        0.184174f, 0.259349f, 0.311206f, 0.082547f,
        -0.047875f, -0.078417f, 0.010746f, 0.082620f,
        0.311931f, 0.307605f, 0.003863f, 0.021405f,
        -0.026388f, -0.019572f, 0.020582f, -0.059353f,
        0.025199f, 0.261319f, 0.086316f, 0.143614f,
        0.107780f, 0.003900f, -0.188397f, -0.038563f,
        -0.106045f, -0.125154f, -0.010509f, 0.054021f,
        0.242130f, 0.279152f, 0.215546f, 0.346995f,
        0.440856f, 0.237452f, 0.234154f, 0.301646f,
        0.168929f, -0.208358f, -0.126848f, 0.010260f,
        0.121018f, -0.062975f, -0.052848f, 0.050341f,
        -0.061103f, -0.266482f, 0.107186f, 0.140221f,
        0.280065f, 0.287889f, 0.373198f, 0.151596f,
        0.013593f, 0.115616f, 0.014616f, -0.281710f,
        -0.237597f, -0.117305f, -0.000034f, -0.136739f,
        -0.196275f, -0.095225f, -0.125310f, -0.250514f,
        0.236804f, -0.071805f, -0.037421f, 0.048230f,
        0.321596f, 0.063632f, 0.024039f, -0.029133f,
        0.230983f, 0.160593f, -0.154355f, -0.013086f,
        -0.079929f, 0.094692f, 0.160391f, 0.180239f,
        0.053895f, 0.100759f, 0.288631f, 0.038191f,
        0.181692f, 0.229682f, 0.440166f, 0.063401f,
        0.006273f, 0.020865f, 0.338695f, 0.256244f,
        -0.043927f, 0.115617f, 0.003296f, 0.173965f,
        0.021318f, -0.040936f, -0.118932f, 0.182380f,
        0.235922f, -0.053233f, -0.015053f, -0.101057f,
        0.095341f, 0.051111f, 0.161831f, 0.032614f,
        0.159496f, 0.072375f, 0.025089f, 0.023748f,
        0.029151f, 0.161284f, -0.117717f, -0.036191f,
        -0.176822f, -0.162006f, 0.226542f, -0.078329f,
        0.043079f, -0.119172f, 0.054614f, -0.101365f,
        -0.064541f, -0.115304f, 0.135170f, 0.298872f,
        0.098060f, 0.089428f, -0.007497f, 0.110391f,
        -0.028824f, 0.020835f, -0.036804f, 0.125411f,
        0.192105f, -0.048931f, 0.003086f, -0.010681f,
        0.074698f, -0.016263f, 0.096063f, 0.060267f,
        -0.007277f, 0.139139f, -0.080635f, 0.036628f,
        0.086058f, 0.131979f, 0.085707f, 0.025301f,
        0.226094f, 0.194759f, 0.042193f, -0.157846f,
        -0.068402f, -0.141450f, -0.112659f, -0.076305f,
        -0.069085f, -0.114332f, -0.102005f, 0.132193f,
        -0.067042f, 0.106643f, 0.198964f, 0.171616f,
        0.167237f, -0.033730f, -0.026755f, 0.083621f,
        0.149459f, -0.002799f, -0.000318f, 0.011753f,
        0.065889f, -0.089375f, -0.049610f, 0.224579f,
        0.216548f, -0.034908f, -0.017851f, -0.088144f,
        0.007530f, 0.240268f, 0.073270f, 0.013263f,
        0.175323f, 0.012082f, 0.093993f, 0.015282f,
        0.105854f, 0.107990f, 0.077798f, -0.096166f,
        -0.079607f, 0.177820f, 0.142392f, 0.033337f,
        -0.078100f, -0.081616f, -0.046993f, 0.139459f,
        0.020272f, -0.123161f, 0.175269f, 0.105217f,
        0.057328f, 0.080909f, -0.012612f, -0.097081f,
        0.082060f, -0.096716f, -0.063921f, 0.201884f,
        0.128166f, -0.035051f, -0.032227f, -0.068139f,
        -0.115915f, 0.095080f, -0.086007f, -0.067543f,
        0.030776f, 0.032712f, 0.088937f, 0.054336f,
        -0.039329f, -0.114022f, 0.171672f, -0.112321f,
        -0.217646f, 0.065186f, 0.060223f, 0.192174f,
        0.055580f, -0.131107f, -0.144338f, 0.056730f,
        -0.034707f, -0.081616f, -0.135298f, -0.000614f,
        0.087189f, 0.014614f, 0.067709f, 0.107689f,
        0.225780f, 0.084361f, -0.008544f, 0.051649f,
        -0.048369f, -0.037739f, -0.060710f, 0.002654f,
        0.016935f, 0.085563f, -0.015961f, -0.019265f,
        0.111788f, 0.062376f, 0.202019f, 0.047713f,
        0.042261f, 0.069716f, 0.242913f, 0.021052f,
        -0.072812f, -0.155920f, -0.026436f, 0.035621f,
        -0.079300f, -0.028787f, -0.048329f, 0.084718f,
        -0.060565f, -0.083750f, -0.164075f, -0.040742f,
        -0.086219f, 0.015271f, -0.005204f, -0.016038f,
        0.045816f, -0.050433f, -0.077652f, 0.117109f,
        0.009611f, -0.009045f, -0.008634f, -0.055373f,
        -0.085968f, 0.028527f, -0.054736f, -0.168089f,
        0.175839f, 0.071205f, -0.023603f, 0.037907f,
        -0.004561f, -0.022634f, 0.123831f, 0.094469f,
        -0.072920f, -0.133642f, -0.014032f, -0.142754f,
        -0.026999f, -0.199409f, 0.013268f, 0.226989f,
        0.048650f, -0.170988f, -0.050141f, 0.007880f,
        0.061880f, 0.019078f, -0.043578f, -0.038139f,
        0.134814f, 0.054097f, -0.081670f, 0.176838f,
        0.047920f, -0.038176f, 0.050406f, -0.107181f,
        -0.036279f, 0.027060f, 0.081594f, -0.002820f,
        0.090507f, -0.033338f, -0.059571f, 0.013404f,
        -0.099860f, 0.073371f, 0.342805f, 0.098305f,
        -0.150910f, -0.020822f, -0.056960f, 0.046262f,
        -0.043413f, -0.149405f, -0.129105f, -0.010899f,
        -0.014229f, -0.179949f, -0.113044f, -0.049468f,
        -0.065513f, 0.090269f, -0.011919f, 0.087846f,
        0.095796f, 0.146127f, 0.101599f, 0.078066f,
        -0.084348f, -0.100002f, -0.020134f, -0.050169f,
        0.062122f, 0.014640f, 0.019143f, 0.036543f,
        0.180924f, -0.013976f, -0.066768f, -0.001090f,
        -0.070419f, -0.004839f, -0.001504f, 0.034483f,
        -0.044954f, -0.050336f, -0.088638f, -0.174782f,
        -0.116082f, -0.205507f, 0.015587f, -0.042839f,
        -0.096879f, -0.144097f, -0.050268f, -0.196796f,
        0.109639f, 0.271411f, 0.173732f, 0.108070f,
        0.156437f, 0.124255f, 0.097242f, 0.238693f,
        0.083941f, 0.109105f, 0.223940f, 0.267188f,
        0.027385f, 0.025819f, 0.125070f, 0.093738f,
        0.040353f, 0.038645f, -0.012730f, 0.144063f,
        0.052931f, -0.009138f, 0.084193f, 0.160272f,
        -0.041366f, 0.011951f, -0.121446f, -0.106713f,
        -0.047566f, 0.047984f, -0.255224f, -0.076116f,
        0.098685f, -0.150845f, -0.171513f, -0.156590f,
        0.058331f, 0.187493f, 0.413018f, 0.554265f,
        0.372242f, 0.237943f, 0.124571f, 0.110829f,
        0.010322f, -0.174477f, -0.067627f, -0.001979f,
        0.142913f, 0.040597f, 0.019907f, 0.025963f,
        -0.043585f, -0.120732f, 0.099937f, 0.091059f,
        0.247307f, 0.204226f, -0.042753f, -0.068580f,
        -0.119002f, 0.026722f, 0.034853f, -0.060934f,
        -0.025054f, -0.093026f, -0.035372f, -0.233209f,
        -0.049869f, -0.039151f, -0.022279f, -0.065380f,
        -9.063785f};
wester committed
2393
        return vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
wester committed
2394 2395
}

wester committed
2396
class HOGConfInvoker : public ParallelLoopBody
wester committed
2397 2398
{
public:
wester committed
2399 2400 2401 2402 2403 2404 2405 2406 2407 2408 2409 2410 2411 2412 2413 2414 2415 2416 2417 2418 2419 2420 2421 2422 2423 2424 2425 2426 2427 2428 2429 2430 2431 2432 2433 2434 2435 2436 2437 2438 2439 2440 2441 2442 2443 2444 2445 2446 2447 2448 2449 2450 2451 2452
       HOGConfInvoker( const HOGDescriptor* _hog, const Mat& _img,
                               double _hitThreshold, Size _padding,
                               std::vector<DetectionROI>* locs,
                               std::vector<Rect>* _vec, Mutex* _mtx )
       {
               hog = _hog;
               img = _img;
               hitThreshold = _hitThreshold;
               padding = _padding;
               locations = locs;
               vec = _vec;
               mtx = _mtx;
       }

       void operator()( const Range& range ) const
       {
               int i, i1 = range.start, i2 = range.end;

               Size maxSz(cvCeil(img.cols/(*locations)[0].scale), cvCeil(img.rows/(*locations)[0].scale));
               Mat smallerImgBuf(maxSz, img.type());
               vector<Point> dets;

               for( i = i1; i < i2; i++ )
               {
                       double scale = (*locations)[i].scale;

                       Size sz(cvRound(img.cols / scale), cvRound(img.rows / scale));
                       Mat smallerImg(sz, img.type(), smallerImgBuf.data);

                       if( sz == img.size() )
                               smallerImg = Mat(sz, img.type(), img.data, img.step);
                       else
                               resize(img, smallerImg, sz);

                       hog->detectROI(smallerImg, (*locations)[i].locations, dets, (*locations)[i].confidences, hitThreshold, Size(), padding);
                       Size scaledWinSize = Size(cvRound(hog->winSize.width*scale), cvRound(hog->winSize.height*scale));
                       mtx->lock();
                       for( size_t j = 0; j < dets.size(); j++ )
                       {
                               vec->push_back(Rect(cvRound(dets[j].x*scale),
                                                                       cvRound(dets[j].y*scale),
                                                                       scaledWinSize.width, scaledWinSize.height));
                       }
                       mtx->unlock();
               }
       }

       const HOGDescriptor* hog;
       Mat img;
       double hitThreshold;
       std::vector<DetectionROI>* locations;
       Size padding;
       std::vector<Rect>* vec;
       Mutex* mtx;
wester committed
2453 2454
};

wester committed
2455 2456 2457 2458
void HOGDescriptor::detectROI(const cv::Mat& img, const vector<cv::Point> &locations,
                                       CV_OUT std::vector<cv::Point>& foundLocations, CV_OUT std::vector<double>& confidences,
                                       double hitThreshold, cv::Size winStride,
                                       cv::Size padding) const
wester committed
2459
{
wester committed
2460 2461 2462 2463 2464 2465 2466 2467 2468 2469 2470 2471 2472 2473 2474 2475 2476 2477 2478 2479 2480 2481 2482 2483 2484 2485 2486 2487 2488 2489 2490 2491 2492 2493 2494 2495 2496 2497 2498 2499 2500 2501 2502 2503 2504 2505 2506 2507 2508 2509 2510 2511 2512 2513 2514 2515 2516 2517 2518 2519 2520 2521 2522 2523 2524 2525 2526 2527 2528 2529
   foundLocations.clear();

   confidences.clear();

   if( svmDetector.empty() )
       return;

   if( locations.empty() )
       return;

   if( winStride == Size() )
       winStride = cellSize;

   Size cacheStride(gcd(winStride.width, blockStride.width),
                                    gcd(winStride.height, blockStride.height));

   size_t nwindows = locations.size();
   padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
   padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
   Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);

   // HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);
   HOGCache cache(this, img, padding, padding, true, cacheStride);
   if( !nwindows )
           nwindows = cache.windowsInImage(paddedImgSize, winStride).area();

   const HOGCache::BlockData* blockData = &cache.blockData[0];

   int nblocks = cache.nblocks.area();
   int blockHistogramSize = cache.blockHistogramSize;
   size_t dsize = getDescriptorSize();

   double rho = svmDetector.size() > dsize ? svmDetector[dsize] : 0;
   vector<float> blockHist(blockHistogramSize);

   for( size_t i = 0; i < nwindows; i++ )
   {
           Point pt0;
           pt0 = locations[i];
           if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
                   pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
           {
               // out of image
               confidences.push_back(-10.0);
               continue;
           }

           double s = rho;
           const float* svmVec = &svmDetector[0];
           int j, k;

           for( j = 0; j < nblocks; j++, svmVec += blockHistogramSize )
           {
                   const HOGCache::BlockData& bj = blockData[j];
                   Point pt = pt0 + bj.imgOffset;
                   // need to devide this into 4 parts!
                   const float* vec = cache.getBlock(pt, &blockHist[0]);
                   for( k = 0; k <= blockHistogramSize - 4; k += 4 )
                           s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
                                   vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
                   for( ; k < blockHistogramSize; k++ )
                           s += vec[k]*svmVec[k];
           }
           // cv::waitKey();
           confidences.push_back(s);

           if( s >= hitThreshold )
                   foundLocations.push_back(pt0);
   }
 }
wester committed
2530 2531

void HOGDescriptor::detectMultiScaleROI(const cv::Mat& img,
wester committed
2532 2533 2534 2535
                                                           CV_OUT std::vector<cv::Rect>& foundLocations,
                                                           std::vector<DetectionROI>& locations,
                                                           double hitThreshold,
                                                           int groupThreshold) const
wester committed
2536
{
wester committed
2537 2538
   std::vector<Rect> allCandidates;
   Mutex mtx;
wester committed
2539

wester committed
2540 2541
   parallel_for_(Range(0, (int)locations.size()),
                        HOGConfInvoker(this, img, hitThreshold, Size(8, 8), &locations, &allCandidates, &mtx));
wester committed
2542

wester committed
2543 2544 2545
   foundLocations.resize(allCandidates.size());
   std::copy(allCandidates.begin(), allCandidates.end(), foundLocations.begin());
   cv::groupRectangles(foundLocations, groupThreshold, 0.2);
wester committed
2546 2547
}

wester committed
2548
void HOGDescriptor::readALTModel(std::string modelfile)
wester committed
2549
{
wester committed
2550 2551 2552 2553 2554 2555 2556 2557 2558 2559 2560 2561 2562 2563 2564 2565 2566 2567 2568 2569 2570 2571 2572 2573 2574 2575 2576 2577 2578 2579 2580 2581 2582 2583 2584 2585 2586 2587 2588 2589 2590 2591 2592 2593 2594 2595 2596 2597 2598 2599 2600 2601 2602 2603 2604 2605 2606 2607 2608 2609 2610 2611 2612 2613 2614 2615 2616 2617 2618 2619 2620 2621 2622 2623 2624 2625 2626 2627 2628 2629 2630 2631 2632 2633 2634 2635 2636 2637
   // read model from SVMlight format..
   FILE *modelfl;
   if ((modelfl = fopen(modelfile.c_str(), "rb")) == NULL)
   {
       std::string eerr("file not exist");
       std::string efile(__FILE__);
       std::string efunc(__FUNCTION__);
       throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
   }
   char version_buffer[10];
   if (!fread (&version_buffer,sizeof(char),10,modelfl))
   {
       std::string eerr("version?");
       std::string efile(__FILE__);
       std::string efunc(__FUNCTION__);
       throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
   }
   if(strcmp(version_buffer,"V6.01")) {
       std::string eerr("version doesnot match");
       std::string efile(__FILE__);
       std::string efunc(__FUNCTION__);
       throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
   }
   /* read version number */
   int version = 0;
   if (!fread (&version,sizeof(int),1,modelfl))
   { throw Exception(); }
   if (version < 200)
   {
       std::string eerr("version doesnot match");
       std::string efile(__FILE__);
       std::string efunc(__FUNCTION__);
       throw Exception();
   }
   int kernel_type;
   size_t nread;
   nread=fread(&(kernel_type),sizeof(int),1,modelfl);

   {// ignore these
       int poly_degree;
       nread=fread(&(poly_degree),sizeof(int),1,modelfl);

       double rbf_gamma;
       nread=fread(&(rbf_gamma),sizeof(double), 1, modelfl);
       double coef_lin;
       nread=fread(&(coef_lin),sizeof(double),1,modelfl);
       double coef_const;
       nread=fread(&(coef_const),sizeof(double),1,modelfl);
       int l;
       nread=fread(&l,sizeof(int),1,modelfl);
       char* custom = new char[l];
       nread=fread(custom,sizeof(char),l,modelfl);
       delete[] custom;
   }
   int totwords;
   nread=fread(&(totwords),sizeof(int),1,modelfl);
   {// ignore these
       int totdoc;
       nread=fread(&(totdoc),sizeof(int),1,modelfl);
       int sv_num;
       nread=fread(&(sv_num), sizeof(int),1,modelfl);
   }

   double linearbias;
   nread=fread(&linearbias, sizeof(double), 1, modelfl);

   std::vector<float> detector;
   detector.clear();
   if(kernel_type == 0) { /* linear kernel */
       /* save linear wts also */
       double *linearwt = new double[totwords+1];
       int length = totwords;
       nread = fread(linearwt, sizeof(double), totwords + 1, modelfl);
       if(nread != static_cast<size_t>(length) + 1) {
           delete [] linearwt;
           throw Exception();
       }

       for(int i = 0; i < length; i++)
           detector.push_back((float)linearwt[i]);

       detector.push_back((float)-linearbias);
       setSVMDetector(detector);
       delete [] linearwt;
   } else {
       throw Exception();
   }
   fclose(modelfl);
wester committed
2638 2639
}

wester committed
2640
void HOGDescriptor::groupRectangles(vector<cv::Rect>& rectList, vector<double>& weights, int groupThreshold, double eps) const
wester committed
2641 2642 2643 2644 2645 2646 2647 2648
{
    if( groupThreshold <= 0 || rectList.empty() )
    {
        return;
    }

    CV_Assert(rectList.size() == weights.size());

wester committed
2649
    vector<int> labels;
wester committed
2650 2651
    int nclasses = partition(rectList, labels, SimilarRects(eps));

wester committed
2652 2653 2654
    vector<cv::Rect_<double> > rrects(nclasses);
    vector<int> numInClass(nclasses, 0);
    vector<double> foundWeights(nclasses, -std::numeric_limits<double>::max());
wester committed
2655 2656 2657 2658 2659 2660 2661 2662 2663 2664 2665 2666 2667 2668 2669 2670 2671 2672 2673 2674 2675 2676 2677 2678 2679 2680 2681 2682 2683 2684 2685 2686 2687 2688 2689 2690 2691 2692 2693 2694 2695 2696 2697 2698 2699 2700 2701 2702 2703 2704 2705 2706 2707 2708 2709 2710 2711 2712 2713 2714 2715 2716 2717
    int i, j, nlabels = (int)labels.size();

    for( i = 0; i < nlabels; i++ )
    {
        int cls = labels[i];
        rrects[cls].x += rectList[i].x;
        rrects[cls].y += rectList[i].y;
        rrects[cls].width += rectList[i].width;
        rrects[cls].height += rectList[i].height;
        foundWeights[cls] = max(foundWeights[cls], weights[i]);
        numInClass[cls]++;
    }

    for( i = 0; i < nclasses; i++ )
    {
        // find the average of all ROI in the cluster
        cv::Rect_<double> r = rrects[i];
        double s = 1.0/numInClass[i];
        rrects[i] = cv::Rect_<double>(cv::saturate_cast<double>(r.x*s),
            cv::saturate_cast<double>(r.y*s),
            cv::saturate_cast<double>(r.width*s),
            cv::saturate_cast<double>(r.height*s));
    }

    rectList.clear();
    weights.clear();

    for( i = 0; i < nclasses; i++ )
    {
        cv::Rect r1 = rrects[i];
        int n1 = numInClass[i];
        double w1 = foundWeights[i];
        if( n1 <= groupThreshold )
            continue;
        // filter out small rectangles inside large rectangles
        for( j = 0; j < nclasses; j++ )
        {
            int n2 = numInClass[j];

            if( j == i || n2 <= groupThreshold )
                continue;

            cv::Rect r2 = rrects[j];

            int dx = cv::saturate_cast<int>( r2.width * eps );
            int dy = cv::saturate_cast<int>( r2.height * eps );

            if( r1.x >= r2.x - dx &&
                r1.y >= r2.y - dy &&
                r1.x + r1.width <= r2.x + r2.width + dx &&
                r1.y + r1.height <= r2.y + r2.height + dy &&
                (n2 > std::max(3, n1) || n1 < 3) )
                break;
        }

        if( j == nclasses )
        {
            rectList.push_back(r1);
            weights.push_back(w1);
        }
    }
}
}