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43 #include "precomp.hpp"
48 /****************************************************************************************\
49 The code below is implementation of HOG (Histogram-of-Oriented Gradients)
50 descriptor and object detection, introduced by Navneet Dalal and Bill Triggs.
52 The computed feature vectors are compatible with the
53 INRIA Object Detection and Localization Toolkit
54 (http://pascal.inrialpes.fr/soft/olt/)
55 \****************************************************************************************/
60 size_t HOGDescriptor::getDescriptorSize() const
62 CV_Assert(blockSize.width % cellSize.width == 0 &&
63 blockSize.height % cellSize.height == 0);
64 CV_Assert((winSize.width - blockSize.width) % blockStride.width == 0 &&
65 (winSize.height - blockSize.height) % blockStride.height == 0 );
67 (blockSize.width/cellSize.width)*
68 (blockSize.height/cellSize.height)*
69 ((winSize.width - blockSize.width)/blockStride.width + 1)*
70 ((winSize.height - blockSize.height)/blockStride.height + 1);
73 double HOGDescriptor::getWinSigma() const
75 return winSigma >= 0 ? winSigma : (blockSize.width + blockSize.height)/8.;
78 bool HOGDescriptor::checkDetectorSize() const
80 size_t detectorSize = svmDetector.size(), descriptorSize = getDescriptorSize();
81 return detectorSize == 0 ||
82 detectorSize == descriptorSize ||
83 detectorSize == descriptorSize + 1;
86 void HOGDescriptor::setSVMDetector(InputArray _svmDetector)
88 _svmDetector.getMat().convertTo(svmDetector, CV_32F);
89 CV_Assert( checkDetectorSize() );
92 #define CV_TYPE_NAME_HOG_DESCRIPTOR "opencv-object-detector-hog"
94 bool HOGDescriptor::read(FileNode& obj)
98 FileNodeIterator it = obj["winSize"].begin();
99 it >> winSize.width >> winSize.height;
100 it = obj["blockSize"].begin();
101 it >> blockSize.width >> blockSize.height;
102 it = obj["blockStride"].begin();
103 it >> blockStride.width >> blockStride.height;
104 it = obj["cellSize"].begin();
105 it >> cellSize.width >> cellSize.height;
106 obj["nbins"] >> nbins;
107 obj["derivAperture"] >> derivAperture;
108 obj["winSigma"] >> winSigma;
109 obj["histogramNormType"] >> histogramNormType;
110 obj["L2HysThreshold"] >> L2HysThreshold;
111 obj["gammaCorrection"] >> gammaCorrection;
112 obj["nlevels"] >> nlevels;
114 FileNode vecNode = obj["SVMDetector"];
115 if( vecNode.isSeq() )
117 vecNode >> svmDetector;
118 CV_Assert(checkDetectorSize());
123 void HOGDescriptor::write(FileStorage& fs, const String& objName) const
125 if( !objName.empty() )
128 fs << "{" CV_TYPE_NAME_HOG_DESCRIPTOR
129 << "winSize" << winSize
130 << "blockSize" << blockSize
131 << "blockStride" << blockStride
132 << "cellSize" << cellSize
134 << "derivAperture" << derivAperture
135 << "winSigma" << getWinSigma()
136 << "histogramNormType" << histogramNormType
137 << "L2HysThreshold" << L2HysThreshold
138 << "gammaCorrection" << gammaCorrection
139 << "nlevels" << nlevels;
140 if( !svmDetector.empty() )
141 fs << "SVMDetector" << svmDetector;
145 bool HOGDescriptor::load(const String& filename, const String& objname)
147 FileStorage fs(filename, FileStorage::READ);
148 FileNode obj = !objname.empty() ? fs[objname] : fs.getFirstTopLevelNode();
152 void HOGDescriptor::save(const String& filename, const String& objName) const
154 FileStorage fs(filename, FileStorage::WRITE);
155 write(fs, !objName.empty() ? objName : FileStorage::getDefaultObjectName(filename));
158 void HOGDescriptor::copyTo(HOGDescriptor& c) const
161 c.blockSize = blockSize;
162 c.blockStride = blockStride;
163 c.cellSize = cellSize;
165 c.derivAperture = derivAperture;
166 c.winSigma = winSigma;
167 c.histogramNormType = histogramNormType;
168 c.L2HysThreshold = L2HysThreshold;
169 c.gammaCorrection = gammaCorrection;
170 c.svmDetector = svmDetector;
174 void HOGDescriptor::computeGradient(const Mat& img, Mat& grad, Mat& qangle,
175 Size paddingTL, Size paddingBR) const
177 CV_Assert( img.type() == CV_8U || img.type() == CV_8UC3 );
179 Size gradsize(img.cols + paddingTL.width + paddingBR.width,
180 img.rows + paddingTL.height + paddingBR.height);
181 grad.create(gradsize, CV_32FC2); // <magnitude*(1-alpha), magnitude*alpha>
182 qangle.create(gradsize, CV_8UC2); // [0..nbins-1] - quantized gradient orientation
185 img.locateROI(wholeSize, roiofs);
188 int cn = img.channels();
190 Mat_<float> _lut(1, 256);
191 const float* lut = &_lut(0,0);
193 if( gammaCorrection )
194 for( i = 0; i < 256; i++ )
195 _lut(0,i) = std::sqrt((float)i);
197 for( i = 0; i < 256; i++ )
198 _lut(0,i) = (float)i;
200 AutoBuffer<int> mapbuf(gradsize.width + gradsize.height + 4);
201 int* xmap = (int*)mapbuf + 1;
202 int* ymap = xmap + gradsize.width + 2;
204 const int borderType = (int)BORDER_REFLECT_101;
206 for( x = -1; x < gradsize.width + 1; x++ )
207 xmap[x] = borderInterpolate(x - paddingTL.width + roiofs.x,
208 wholeSize.width, borderType) - roiofs.x;
209 for( y = -1; y < gradsize.height + 1; y++ )
210 ymap[y] = borderInterpolate(y - paddingTL.height + roiofs.y,
211 wholeSize.height, borderType) - roiofs.y;
213 // x- & y- derivatives for the whole row
214 int width = gradsize.width;
215 AutoBuffer<float> _dbuf(width*4);
217 Mat Dx(1, width, CV_32F, dbuf);
218 Mat Dy(1, width, CV_32F, dbuf + width);
219 Mat Mag(1, width, CV_32F, dbuf + width*2);
220 Mat Angle(1, width, CV_32F, dbuf + width*3);
223 float angleScale = (float)(_nbins/CV_PI);
225 Mat lutimg(img.rows,img.cols,CV_MAKETYPE(CV_32F,cn));
226 Mat hidxs(1, width, CV_32F);
227 Ipp32f* pHidxs = (Ipp32f*)hidxs.data;
228 Ipp32f* pAngles = (Ipp32f*)Angle.data;
231 roiSize.width = img.cols;
232 roiSize.height = img.rows;
234 for( y = 0; y < roiSize.height; y++ )
236 const uchar* imgPtr = img.data + y*img.step;
237 float* imglutPtr = (float*)(lutimg.data + y*lutimg.step);
239 for( x = 0; x < roiSize.width*cn; x++ )
241 imglutPtr[x] = lut[imgPtr[x]];
246 for( y = 0; y < gradsize.height; y++ )
249 const float* imgPtr = (float*)(lutimg.data + lutimg.step*ymap[y]);
250 const float* prevPtr = (float*)(lutimg.data + lutimg.step*ymap[y-1]);
251 const float* nextPtr = (float*)(lutimg.data + lutimg.step*ymap[y+1]);
253 const uchar* imgPtr = img.data + img.step*ymap[y];
254 const uchar* prevPtr = img.data + img.step*ymap[y-1];
255 const uchar* nextPtr = img.data + img.step*ymap[y+1];
257 float* gradPtr = (float*)grad.ptr(y);
258 uchar* qanglePtr = (uchar*)qangle.ptr(y);
262 for( x = 0; x < width; x++ )
266 dbuf[x] = (float)(imgPtr[xmap[x+1]] - imgPtr[xmap[x-1]]);
267 dbuf[width + x] = (float)(nextPtr[x1] - prevPtr[x1]);
269 dbuf[x] = (float)(lut[imgPtr[xmap[x+1]]] - lut[imgPtr[xmap[x-1]]]);
270 dbuf[width + x] = (float)(lut[nextPtr[x1]] - lut[prevPtr[x1]]);
276 for( x = 0; x < width; x++ )
279 float dx0, dy0, dx, dy, mag0, mag;
281 const float* p2 = imgPtr + xmap[x+1]*3;
282 const float* p0 = imgPtr + xmap[x-1]*3;
285 dy0 = nextPtr[x1+2] - prevPtr[x1+2];
286 mag0 = dx0*dx0 + dy0*dy0;
289 dy = nextPtr[x1+1] - prevPtr[x1+1];
300 dy = nextPtr[x1] - prevPtr[x1];
303 const uchar* p2 = imgPtr + xmap[x+1]*3;
304 const uchar* p0 = imgPtr + xmap[x-1]*3;
306 dx0 = lut[p2[2]] - lut[p0[2]];
307 dy0 = lut[nextPtr[x1+2]] - lut[prevPtr[x1+2]];
308 mag0 = dx0*dx0 + dy0*dy0;
310 dx = lut[p2[1]] - lut[p0[1]];
311 dy = lut[nextPtr[x1+1]] - lut[prevPtr[x1+1]];
321 dx = lut[p2[0]] - lut[p0[0]];
322 dy = lut[nextPtr[x1]] - lut[prevPtr[x1]];
337 ippsCartToPolar_32f((const Ipp32f*)Dx.data, (const Ipp32f*)Dy.data, (Ipp32f*)Mag.data, pAngles, width);
338 for( x = 0; x < width; x++ )
341 pAngles[x] += (Ipp32f)(CV_PI*2.);
344 ippsNormalize_32f(pAngles, pAngles, width, 0.5f/angleScale, 1.f/angleScale);
345 ippsFloor_32f(pAngles,(Ipp32f*)hidxs.data,width);
346 ippsSub_32f_I((Ipp32f*)hidxs.data,pAngles,width);
347 ippsMul_32f_I((Ipp32f*)Mag.data,pAngles,width);
349 ippsSub_32f_I(pAngles,(Ipp32f*)Mag.data,width);
350 ippsRealToCplx_32f((Ipp32f*)Mag.data,pAngles,(Ipp32fc*)gradPtr,width);
352 cartToPolar( Dx, Dy, Mag, Angle, false );
354 for( x = 0; x < width; x++ )
357 int hidx = (int)pHidxs[x];
359 float mag = dbuf[x+width*2], angle = dbuf[x+width*3]*angleScale - 0.5f;
360 int hidx = cvFloor(angle);
362 gradPtr[x*2] = mag*(1.f - angle);
363 gradPtr[x*2+1] = mag*angle;
367 else if( hidx >= _nbins )
369 assert( (unsigned)hidx < (unsigned)_nbins );
371 qanglePtr[x*2] = (uchar)hidx;
373 hidx &= hidx < _nbins ? -1 : 0;
374 qanglePtr[x*2+1] = (uchar)hidx;
384 BlockData() : histOfs(0), imgOffset() {}
391 size_t gradOfs, qangleOfs;
393 float histWeights[4];
398 HOGCache(const HOGDescriptor* descriptor,
399 const Mat& img, Size paddingTL, Size paddingBR,
400 bool useCache, Size cacheStride);
401 virtual ~HOGCache() {};
402 virtual void init(const HOGDescriptor* descriptor,
403 const Mat& img, Size paddingTL, Size paddingBR,
404 bool useCache, Size cacheStride);
406 Size windowsInImage(Size imageSize, Size winStride) const;
407 Rect getWindow(Size imageSize, Size winStride, int idx) const;
409 const float* getBlock(Point pt, float* buf);
410 virtual void normalizeBlockHistogram(float* histogram) const;
412 vector<PixData> pixData;
413 vector<BlockData> blockData;
416 vector<int> ymaxCached;
417 Size winSize, cacheStride;
418 Size nblocks, ncells;
419 int blockHistogramSize;
420 int count1, count2, count4;
422 Mat_<float> blockCache;
423 Mat_<uchar> blockCacheFlags;
426 const HOGDescriptor* descriptor;
433 blockHistogramSize = count1 = count2 = count4 = 0;
437 HOGCache::HOGCache(const HOGDescriptor* _descriptor,
438 const Mat& _img, Size _paddingTL, Size _paddingBR,
439 bool _useCache, Size _cacheStride)
441 init(_descriptor, _img, _paddingTL, _paddingBR, _useCache, _cacheStride);
444 void HOGCache::init(const HOGDescriptor* _descriptor,
445 const Mat& _img, Size _paddingTL, Size _paddingBR,
446 bool _useCache, Size _cacheStride)
448 descriptor = _descriptor;
449 cacheStride = _cacheStride;
450 useCache = _useCache;
452 descriptor->computeGradient(_img, grad, qangle, _paddingTL, _paddingBR);
453 imgoffset = _paddingTL;
455 winSize = descriptor->winSize;
456 Size blockSize = descriptor->blockSize;
457 Size blockStride = descriptor->blockStride;
458 Size cellSize = descriptor->cellSize;
459 int i, j, nbins = descriptor->nbins;
460 int rawBlockSize = blockSize.width*blockSize.height;
462 nblocks = Size((winSize.width - blockSize.width)/blockStride.width + 1,
463 (winSize.height - blockSize.height)/blockStride.height + 1);
464 ncells = Size(blockSize.width/cellSize.width, blockSize.height/cellSize.height);
465 blockHistogramSize = ncells.width*ncells.height*nbins;
469 Size cacheSize((grad.cols - blockSize.width)/cacheStride.width+1,
470 (winSize.height/cacheStride.height)+1);
471 blockCache.create(cacheSize.height, cacheSize.width*blockHistogramSize);
472 blockCacheFlags.create(cacheSize);
473 size_t cacheRows = blockCache.rows;
474 ymaxCached.resize(cacheRows);
475 for(size_t ii = 0; ii < cacheRows; ii++ )
479 Mat_<float> weights(blockSize);
480 float sigma = (float)descriptor->getWinSigma();
481 float scale = 1.f/(sigma*sigma*2);
483 for(i = 0; i < blockSize.height; i++)
484 for(j = 0; j < blockSize.width; j++)
486 float di = i - blockSize.height*0.5f;
487 float dj = j - blockSize.width*0.5f;
488 weights(i,j) = std::exp(-(di*di + dj*dj)*scale);
491 blockData.resize(nblocks.width*nblocks.height);
492 pixData.resize(rawBlockSize*3);
494 // Initialize 2 lookup tables, pixData & blockData.
497 // The detection algorithm runs in 4 nested loops (at each pyramid layer):
498 // loop over the windows within the input image
499 // loop over the blocks within each window
500 // loop over the cells within each block
501 // loop over the pixels in each cell
503 // As each of the loops runs over a 2-dimensional array,
504 // we could get 8(!) nested loops in total, which is very-very slow.
506 // To speed the things up, we do the following:
507 // 1. loop over windows is unrolled in the HOGDescriptor::{compute|detect} methods;
508 // inside we compute the current search window using getWindow() method.
509 // Yes, it involves some overhead (function call + couple of divisions),
510 // but it's tiny in fact.
511 // 2. loop over the blocks is also unrolled. Inside we use pre-computed blockData[j]
512 // to set up gradient and histogram pointers.
513 // 3. loops over cells and pixels in each cell are merged
514 // (since there is no overlap between cells, each pixel in the block is processed once)
515 // and also unrolled. Inside we use PixData[k] to access the gradient values and
516 // update the histogram
518 count1 = count2 = count4 = 0;
519 for( j = 0; j < blockSize.width; j++ )
520 for( i = 0; i < blockSize.height; i++ )
523 float cellX = (j+0.5f)/cellSize.width - 0.5f;
524 float cellY = (i+0.5f)/cellSize.height - 0.5f;
525 int icellX0 = cvFloor(cellX);
526 int icellY0 = cvFloor(cellY);
527 int icellX1 = icellX0 + 1, icellY1 = icellY0 + 1;
531 if( (unsigned)icellX0 < (unsigned)ncells.width &&
532 (unsigned)icellX1 < (unsigned)ncells.width )
534 if( (unsigned)icellY0 < (unsigned)ncells.height &&
535 (unsigned)icellY1 < (unsigned)ncells.height )
537 data = &pixData[rawBlockSize*2 + (count4++)];
538 data->histOfs[0] = (icellX0*ncells.height + icellY0)*nbins;
539 data->histWeights[0] = (1.f - cellX)*(1.f - cellY);
540 data->histOfs[1] = (icellX1*ncells.height + icellY0)*nbins;
541 data->histWeights[1] = cellX*(1.f - cellY);
542 data->histOfs[2] = (icellX0*ncells.height + icellY1)*nbins;
543 data->histWeights[2] = (1.f - cellX)*cellY;
544 data->histOfs[3] = (icellX1*ncells.height + icellY1)*nbins;
545 data->histWeights[3] = cellX*cellY;
549 data = &pixData[rawBlockSize + (count2++)];
550 if( (unsigned)icellY0 < (unsigned)ncells.height )
555 data->histOfs[0] = (icellX0*ncells.height + icellY1)*nbins;
556 data->histWeights[0] = (1.f - cellX)*cellY;
557 data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
558 data->histWeights[1] = cellX*cellY;
559 data->histOfs[2] = data->histOfs[3] = 0;
560 data->histWeights[2] = data->histWeights[3] = 0;
565 if( (unsigned)icellX0 < (unsigned)ncells.width )
571 if( (unsigned)icellY0 < (unsigned)ncells.height &&
572 (unsigned)icellY1 < (unsigned)ncells.height )
574 data = &pixData[rawBlockSize + (count2++)];
575 data->histOfs[0] = (icellX1*ncells.height + icellY0)*nbins;
576 data->histWeights[0] = cellX*(1.f - cellY);
577 data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
578 data->histWeights[1] = cellX*cellY;
579 data->histOfs[2] = data->histOfs[3] = 0;
580 data->histWeights[2] = data->histWeights[3] = 0;
584 data = &pixData[count1++];
585 if( (unsigned)icellY0 < (unsigned)ncells.height )
590 data->histOfs[0] = (icellX1*ncells.height + icellY1)*nbins;
591 data->histWeights[0] = cellX*cellY;
592 data->histOfs[1] = data->histOfs[2] = data->histOfs[3] = 0;
593 data->histWeights[1] = data->histWeights[2] = data->histWeights[3] = 0;
596 data->gradOfs = (grad.cols*i + j)*2;
597 data->qangleOfs = (qangle.cols*i + j)*2;
598 data->gradWeight = weights(i,j);
601 assert( count1 + count2 + count4 == rawBlockSize );
602 // defragment pixData
603 for( j = 0; j < count2; j++ )
604 pixData[j + count1] = pixData[j + rawBlockSize];
605 for( j = 0; j < count4; j++ )
606 pixData[j + count1 + count2] = pixData[j + rawBlockSize*2];
610 // initialize blockData
611 for( j = 0; j < nblocks.width; j++ )
612 for( i = 0; i < nblocks.height; i++ )
614 BlockData& data = blockData[j*nblocks.height + i];
615 data.histOfs = (j*nblocks.height + i)*blockHistogramSize;
616 data.imgOffset = Point(j*blockStride.width,i*blockStride.height);
621 const float* HOGCache::getBlock(Point pt, float* buf)
623 float* blockHist = buf;
624 assert(descriptor != 0);
626 Size blockSize = descriptor->blockSize;
629 CV_Assert( (unsigned)pt.x <= (unsigned)(grad.cols - blockSize.width) &&
630 (unsigned)pt.y <= (unsigned)(grad.rows - blockSize.height) );
634 CV_Assert( pt.x % cacheStride.width == 0 &&
635 pt.y % cacheStride.height == 0 );
636 Point cacheIdx(pt.x/cacheStride.width,
637 (pt.y/cacheStride.height) % blockCache.rows);
638 if( pt.y != ymaxCached[cacheIdx.y] )
640 Mat_<uchar> cacheRow = blockCacheFlags.row(cacheIdx.y);
642 ymaxCached[cacheIdx.y] = pt.y;
645 blockHist = &blockCache[cacheIdx.y][cacheIdx.x*blockHistogramSize];
646 uchar& computedFlag = blockCacheFlags(cacheIdx.y, cacheIdx.x);
647 if( computedFlag != 0 )
649 computedFlag = (uchar)1; // set it at once, before actual computing
652 int k, C1 = count1, C2 = count2, C4 = count4;
653 const float* gradPtr = (const float*)(grad.data + grad.step*pt.y) + pt.x*2;
654 const uchar* qanglePtr = qangle.data + qangle.step*pt.y + pt.x*2;
656 CV_Assert( blockHist != 0 );
658 ippsZero_32f(blockHist,blockHistogramSize);
660 for( k = 0; k < blockHistogramSize; k++ )
664 const PixData* _pixData = &pixData[0];
666 for( k = 0; k < C1; k++ )
668 const PixData& pk = _pixData[k];
669 const float* a = gradPtr + pk.gradOfs;
670 float w = pk.gradWeight*pk.histWeights[0];
671 const uchar* h = qanglePtr + pk.qangleOfs;
672 int h0 = h[0], h1 = h[1];
673 float* hist = blockHist + pk.histOfs[0];
674 float t0 = hist[h0] + a[0]*w;
675 float t1 = hist[h1] + a[1]*w;
676 hist[h0] = t0; hist[h1] = t1;
681 const PixData& pk = _pixData[k];
682 const float* a = gradPtr + pk.gradOfs;
683 float w, t0, t1, a0 = a[0], a1 = a[1];
684 const uchar* h = qanglePtr + pk.qangleOfs;
685 int h0 = h[0], h1 = h[1];
687 float* hist = blockHist + pk.histOfs[0];
688 w = pk.gradWeight*pk.histWeights[0];
689 t0 = hist[h0] + a0*w;
690 t1 = hist[h1] + a1*w;
691 hist[h0] = t0; hist[h1] = t1;
693 hist = blockHist + pk.histOfs[1];
694 w = pk.gradWeight*pk.histWeights[1];
695 t0 = hist[h0] + a0*w;
696 t1 = hist[h1] + a1*w;
697 hist[h0] = t0; hist[h1] = t1;
702 const PixData& pk = _pixData[k];
703 const float* a = gradPtr + pk.gradOfs;
704 float w, t0, t1, a0 = a[0], a1 = a[1];
705 const uchar* h = qanglePtr + pk.qangleOfs;
706 int h0 = h[0], h1 = h[1];
708 float* hist = blockHist + pk.histOfs[0];
709 w = pk.gradWeight*pk.histWeights[0];
710 t0 = hist[h0] + a0*w;
711 t1 = hist[h1] + a1*w;
712 hist[h0] = t0; hist[h1] = t1;
714 hist = blockHist + pk.histOfs[1];
715 w = pk.gradWeight*pk.histWeights[1];
716 t0 = hist[h0] + a0*w;
717 t1 = hist[h1] + a1*w;
718 hist[h0] = t0; hist[h1] = t1;
720 hist = blockHist + pk.histOfs[2];
721 w = pk.gradWeight*pk.histWeights[2];
722 t0 = hist[h0] + a0*w;
723 t1 = hist[h1] + a1*w;
724 hist[h0] = t0; hist[h1] = t1;
726 hist = blockHist + pk.histOfs[3];
727 w = pk.gradWeight*pk.histWeights[3];
728 t0 = hist[h0] + a0*w;
729 t1 = hist[h1] + a1*w;
730 hist[h0] = t0; hist[h1] = t1;
733 normalizeBlockHistogram(blockHist);
739 void HOGCache::normalizeBlockHistogram(float* _hist) const
741 float* hist = &_hist[0];
743 size_t sz = blockHistogramSize;
745 size_t i, sz = blockHistogramSize;
750 ippsDotProd_32f(hist,hist,sz,&sum);
752 for( i = 0; i < sz; i++ )
753 sum += hist[i]*hist[i];
756 float scale = 1.f/(std::sqrt(sum)+sz*0.1f), thresh = (float)descriptor->L2HysThreshold;
758 ippsMulC_32f_I(scale,hist,sz);
759 ippsThreshold_32f_I( hist, sz, thresh, ippCmpGreater );
760 ippsDotProd_32f(hist,hist,sz,&sum);
762 for( i = 0, sum = 0; i < sz; i++ )
764 hist[i] = std::min(hist[i]*scale, thresh);
765 sum += hist[i]*hist[i];
769 scale = 1.f/(std::sqrt(sum)+1e-3f);
771 ippsMulC_32f_I(scale,hist,sz);
773 for( i = 0; i < sz; i++ )
779 Size HOGCache::windowsInImage(Size imageSize, Size winStride) const
781 return Size((imageSize.width - winSize.width)/winStride.width + 1,
782 (imageSize.height - winSize.height)/winStride.height + 1);
785 Rect HOGCache::getWindow(Size imageSize, Size winStride, int idx) const
787 int nwindowsX = (imageSize.width - winSize.width)/winStride.width + 1;
788 int y = idx / nwindowsX;
789 int x = idx - nwindowsX*y;
790 return Rect( x*winStride.width, y*winStride.height, winSize.width, winSize.height );
794 void HOGDescriptor::compute(const Mat& img, vector<float>& descriptors,
795 Size winStride, Size padding,
796 const vector<Point>& locations) const
798 if( winStride == Size() )
799 winStride = cellSize;
800 Size cacheStride(gcd(winStride.width, blockStride.width),
801 gcd(winStride.height, blockStride.height));
802 size_t nwindows = locations.size();
803 padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
804 padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
805 Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);
807 HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);
810 nwindows = cache.windowsInImage(paddedImgSize, winStride).area();
812 const HOGCache::BlockData* blockData = &cache.blockData[0];
814 int nblocks = cache.nblocks.area();
815 int blockHistogramSize = cache.blockHistogramSize;
816 size_t dsize = getDescriptorSize();
817 descriptors.resize(dsize*nwindows);
819 for( size_t i = 0; i < nwindows; i++ )
821 float* descriptor = &descriptors[i*dsize];
824 if( !locations.empty() )
827 if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
828 pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
833 pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
834 CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
837 for( int j = 0; j < nblocks; j++ )
839 const HOGCache::BlockData& bj = blockData[j];
840 Point pt = pt0 + bj.imgOffset;
842 float* dst = descriptor + bj.histOfs;
843 const float* src = cache.getBlock(pt, dst);
846 ippsCopy_32f(src,dst,blockHistogramSize);
848 for( int k = 0; k < blockHistogramSize; k++ )
856 void HOGDescriptor::detect(const Mat& img,
857 vector<Point>& hits, vector<double>& weights, double hitThreshold,
858 Size winStride, Size padding, const vector<Point>& locations) const
861 if( svmDetector.empty() )
864 if( winStride == Size() )
865 winStride = cellSize;
866 Size cacheStride(gcd(winStride.width, blockStride.width),
867 gcd(winStride.height, blockStride.height));
868 size_t nwindows = locations.size();
869 padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
870 padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
871 Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);
873 HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);
876 nwindows = cache.windowsInImage(paddedImgSize, winStride).area();
878 const HOGCache::BlockData* blockData = &cache.blockData[0];
880 int nblocks = cache.nblocks.area();
881 int blockHistogramSize = cache.blockHistogramSize;
882 size_t dsize = getDescriptorSize();
884 double rho = svmDetector.size() > dsize ? svmDetector[dsize] : 0;
885 vector<float> blockHist(blockHistogramSize);
887 for( size_t i = 0; i < nwindows; i++ )
890 if( !locations.empty() )
893 if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
894 pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
899 pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
900 CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
903 const float* svmVec = &svmDetector[0];
909 for( j = 0; j < nblocks; j++, svmVec += blockHistogramSize )
911 const HOGCache::BlockData& bj = blockData[j];
912 Point pt = pt0 + bj.imgOffset;
914 const float* vec = cache.getBlock(pt, &blockHist[0]);
917 ippsDotProd_32f(vec,svmVec,blockHistogramSize,&partSum);
918 s += (double)partSum;
920 for( k = 0; k <= blockHistogramSize - 4; k += 4 )
921 s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
922 vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
923 for( ; k < blockHistogramSize; k++ )
924 s += vec[k]*svmVec[k];
927 if( s >= hitThreshold )
930 weights.push_back(s);
935 void HOGDescriptor::detect(const Mat& img, vector<Point>& hits, double hitThreshold,
936 Size winStride, Size padding, const vector<Point>& locations) const
938 vector<double> weightsV;
939 detect(img, hits, weightsV, hitThreshold, winStride, padding, locations);
942 class HOGInvoker : public ParallelLoopBody
945 HOGInvoker( const HOGDescriptor* _hog, const Mat& _img,
946 double _hitThreshold, Size _winStride, Size _padding,
947 const double* _levelScale, std::vector<Rect> * _vec, Mutex* _mtx,
948 std::vector<double>* _weights=0, std::vector<double>* _scales=0 )
952 hitThreshold = _hitThreshold;
953 winStride = _winStride;
955 levelScale = _levelScale;
962 void operator()( const Range& range ) const
964 int i, i1 = range.start, i2 = range.end;
965 double minScale = i1 > 0 ? levelScale[i1] : i2 > 1 ? levelScale[i1+1] : std::max(img.cols, img.rows);
966 Size maxSz(cvCeil(img.cols/minScale), cvCeil(img.rows/minScale));
967 Mat smallerImgBuf(maxSz, img.type());
968 vector<Point> locations;
969 vector<double> hitsWeights;
971 for( i = i1; i < i2; i++ )
973 double scale = levelScale[i];
974 Size sz(cvRound(img.cols/scale), cvRound(img.rows/scale));
975 Mat smallerImg(sz, img.type(), smallerImgBuf.data);
976 if( sz == img.size() )
977 smallerImg = Mat(sz, img.type(), img.data, img.step);
979 resize(img, smallerImg, sz);
980 hog->detect(smallerImg, locations, hitsWeights, hitThreshold, winStride, padding);
981 Size scaledWinSize = Size(cvRound(hog->winSize.width*scale), cvRound(hog->winSize.height*scale));
984 for( size_t j = 0; j < locations.size(); j++ )
986 vec->push_back(Rect(cvRound(locations[j].x*scale),
987 cvRound(locations[j].y*scale),
988 scaledWinSize.width, scaledWinSize.height));
991 scales->push_back(scale);
996 if (weights && (!hitsWeights.empty()))
999 for (size_t j = 0; j < locations.size(); j++)
1001 weights->push_back(hitsWeights[j]);
1008 const HOGDescriptor* hog;
1010 double hitThreshold;
1013 const double* levelScale;
1014 std::vector<Rect>* vec;
1015 std::vector<double>* weights;
1016 std::vector<double>* scales;
1021 void HOGDescriptor::detectMultiScale(
1022 const Mat& img, vector<Rect>& foundLocations, vector<double>& foundWeights,
1023 double hitThreshold, Size winStride, Size padding,
1024 double scale0, double finalThreshold, bool useMeanshiftGrouping) const
1029 vector<double> levelScale;
1030 for( levels = 0; levels < nlevels; levels++ )
1032 levelScale.push_back(scale);
1033 if( cvRound(img.cols/scale) < winSize.width ||
1034 cvRound(img.rows/scale) < winSize.height ||
1039 levels = std::max(levels, 1);
1040 levelScale.resize(levels);
1042 std::vector<Rect> allCandidates;
1043 std::vector<double> tempScales;
1044 std::vector<double> tempWeights;
1045 std::vector<double> foundScales;
1048 parallel_for_(Range(0, (int)levelScale.size()),
1049 HOGInvoker(this, img, hitThreshold, winStride, padding, &levelScale[0], &allCandidates, &mtx, &tempWeights, &tempScales));
1051 std::copy(tempScales.begin(), tempScales.end(), back_inserter(foundScales));
1052 foundLocations.clear();
1053 std::copy(allCandidates.begin(), allCandidates.end(), back_inserter(foundLocations));
1054 foundWeights.clear();
1055 std::copy(tempWeights.begin(), tempWeights.end(), back_inserter(foundWeights));
1057 if ( useMeanshiftGrouping )
1059 groupRectangles_meanshift(foundLocations, foundWeights, foundScales, finalThreshold, winSize);
1063 groupRectangles(foundLocations, foundWeights, (int)finalThreshold, 0.2);
1067 void HOGDescriptor::detectMultiScale(const Mat& img, vector<Rect>& foundLocations,
1068 double hitThreshold, Size winStride, Size padding,
1069 double scale0, double finalThreshold, bool useMeanshiftGrouping) const
1071 vector<double> foundWeights;
1072 detectMultiScale(img, foundLocations, foundWeights, hitThreshold, winStride,
1073 padding, scale0, finalThreshold, useMeanshiftGrouping);
1076 typedef RTTIImpl<HOGDescriptor> HOGRTTI;
1078 CvType hog_type( CV_TYPE_NAME_HOG_DESCRIPTOR, HOGRTTI::isInstance,
1079 HOGRTTI::release, HOGRTTI::read, HOGRTTI::write, HOGRTTI::clone);
1081 vector<float> HOGDescriptor::getDefaultPeopleDetector()
1083 static const float detector[] = {
1084 0.05359386f, -0.14721455f, -0.05532170f, 0.05077307f,
1085 0.11547081f, -0.04268804f, 0.04635834f, -0.05468199f, 0.08232084f,
1086 0.10424068f, -0.02294518f, 0.01108519f, 0.01378693f, 0.11193510f,
1087 0.01268418f, 0.08528346f, -0.06309239f, 0.13054633f, 0.08100729f,
1088 -0.05209739f, -0.04315529f, 0.09341384f, 0.11035026f, -0.07596218f,
1089 -0.05517511f, -0.04465296f, 0.02947334f, 0.04555536f,
1090 -3.55954492e-003f, 0.07818956f, 0.07730991f, 0.07890715f, 0.06222893f,
1091 0.09001380f, -0.03574381f, 0.03414327f, 0.05677258f, -0.04773581f,
1092 0.03746637f, -0.03521175f, 0.06955440f, -0.03849038f, 0.01052293f,
1093 0.01736112f, 0.10867710f, 0.08748853f, 3.29739624e-003f, 0.10907028f,
1094 0.07913758f, 0.10393070f, 0.02091867f, 0.11594022f, 0.13182420f,
1095 0.09879354f, 0.05362710f, -0.06745391f, -7.01260753e-003f,
1096 5.24702156e-003f, 0.03236255f, 0.01407916f, 0.02207983f, 0.02537322f,
1097 0.04547948f, 0.07200756f, 0.03129894f, -0.06274468f, 0.02107014f,
1098 0.06035208f, 0.08636236f, 4.53164103e-003f, 0.02193363f, 0.02309801f,
1099 0.05568166f, -0.02645093f, 0.04448695f, 0.02837519f, 0.08975694f,
1100 0.04461516f, 0.08975355f, 0.07514391f, 0.02306982f, 0.10410084f,
1101 0.06368385f, 0.05943464f, 4.58420580e-003f, 0.05220337f, 0.06675851f,
1102 0.08358569f, 0.06712101f, 0.06559004f, -0.03930482f, -9.15936660e-003f,
1103 -0.05897915f, 0.02816453f, 0.05032348f, 0.06780671f, 0.03377650f,
1104 -6.09417039e-004f, -0.01795146f, -0.03083684f, -0.01302475f,
1105 -0.02972313f, 7.88706727e-003f, -0.03525961f, -2.50397739e-003f,
1106 0.05245084f, 0.11791293f, -0.02167498f, 0.05299332f, 0.06640524f,
1107 0.05190265f, -8.27316567e-003f, 0.03033127f, 0.05842173f,
1108 -4.01050318e-003f, -6.25105947e-003f, 0.05862958f, -0.02465461f,
1109 0.05546781f, -0.08228195f, -0.07234028f, 0.04640540f, -0.01308254f,
1110 -0.02506191f, 0.03100746f, -0.04665651f, -0.04591486f, 0.02949927f,
1111 0.06035462f, 0.02244646f, -0.01698639f, 0.01040041f, 0.01131170f,
1112 0.05419579f, -0.02130277f, -0.04321722f, -0.03665198f, 0.01126490f,
1113 -0.02606488f, -0.02228328f, -0.02255680f, -0.03427236f,
1114 -7.75165204e-003f, -0.06195229f, 8.21638294e-003f, 0.09535975f,
1115 -0.03709979f, -0.06942501f, 0.14579427f, -0.05448192f, -0.02055904f,
1116 0.05747357f, 0.02781788f, -0.07077577f, -0.05178314f, -0.10429011f,
1117 -0.11235505f, 0.07529039f, -0.07559302f, -0.08786739f, 0.02983843f,
1118 0.02667585f, 0.01382199f, -0.01797496f, -0.03141199f, -0.02098101f,
1119 0.09029204f, 0.04955018f, 0.13718739f, 0.11379953f, 1.80019124e-003f,
1120 -0.04577610f, -1.11108483e-003f, -0.09470536f, -0.11596080f,
1121 0.04489342f, 0.01784211f, 3.06850672e-003f, 0.10781866f,
1122 3.36498418e-003f, -0.10842580f, -0.07436839f, -0.10535070f,
1123 -0.01866805f, 0.16057891f, -5.07316366e-003f, -0.04295658f,
1124 -5.90488780e-003f, 8.82003549e-003f, -0.01492646f, -0.05029279f,
1125 -0.12875880f, 8.78831954e-004f, -0.01297184f, -0.07592774f,
1126 -0.02668831f, -6.93787413e-004f, 0.02406698f, -0.01773298f,
1127 -0.03855745f, -0.05877856f, 0.03259695f, 0.12826584f, 0.06292590f,
1128 -4.10733931e-003f, 0.10996531f, 0.01332991f, 0.02088735f, 0.04037504f,
1129 -0.05210760f, 0.07760046f, 0.06399347f, -0.05751930f, -0.10053057f,
1130 0.07505023f, -0.02139782f, 0.01796176f, 2.34400877e-003f, -0.04208319f,
1131 0.07355055f, 0.05093350f, -0.02996780f, -0.02219072f, 0.03355330f,
1132 0.04418742f, -0.05580705f, -0.05037573f, -0.04548179f, 0.01379514f,
1133 0.02150671f, -0.02194211f, -0.13682702f, 0.05464972f, 0.01608082f,
1134 0.05309116f, 0.04701022f, 1.33690401e-003f, 0.07575664f, 0.09625306f,
1135 8.92647635e-003f, -0.02819123f, 0.10866830f, -0.03439325f,
1136 -0.07092371f, -0.06004780f, -0.02712298f, -7.07467366e-003f,
1137 -0.01637020f, 0.01336790f, -0.10313606f, 0.04906582f, -0.05732445f,
1138 -0.02731079f, 0.01042235f, -0.08340668f, 0.03686501f, 0.06108340f,
1139 0.01322748f, -0.07809529f, 0.03774724f, -0.03413248f, -0.06096525f,
1140 -0.04212124f, -0.07982176f, -1.25973229e-003f, -0.03045501f,
1141 -0.01236493f, -0.06312395f, 0.04789570f, -0.04602066f, 0.08576570f,
1142 0.02521080f, 0.02988098f, 0.10314583f, 0.07060035f, 0.04520544f,
1143 -0.04426654f, 0.13146530f, 0.08386490f, 0.02164590f, -2.12280243e-003f,
1144 -0.03686353f, -0.02074944f, -0.03829959f, -0.01530596f, 0.02689708f,
1145 0.11867401f, -0.06043470f, -0.02785023f, -0.04775074f, 0.04878745f,
1146 0.06350956f, 0.03494788f, 0.01467400f, 1.17890188e-003f, 0.04379614f,
1147 2.03681854e-003f, -0.03958609f, -0.01072688f, 6.43705716e-003f,
1148 0.02996500f, -0.03418507f, -0.01960307f, -0.01219154f,
1149 -4.37000440e-003f, -0.02549453f, 0.02646318f, -0.01632513f,
1150 6.46516960e-003f, -0.01929734f, 4.78711911e-003f, 0.04962371f,
1151 0.03809111f, 0.07265724f, 0.05758125f, -0.03741554f, 0.01648608f,
1152 -8.45285598e-003f, 0.03996826f, -0.08185477f, 0.02638875f,
1153 -0.04026615f, -0.02744674f, -0.04071517f, 1.05096330e-003f,
1154 -0.04741232f, -0.06733172f, 8.70434940e-003f, -0.02192543f,
1155 1.35350740e-003f, -0.03056974f, -0.02975521f, -0.02887780f,
1156 -0.01210713f, -0.04828526f, -0.09066251f, -0.09969629f, -0.03665164f,
1157 -8.88111943e-004f, -0.06826669f, -0.01866150f, -0.03627640f,
1158 -0.01408288f, 0.01874239f, -0.02075835f, 0.09145175f, -0.03547291f,
1159 0.05396780f, 0.04198981f, 0.01301925f, -0.03384354f, -0.12201976f,
1160 0.06830920f, -0.03715654f, 9.55848210e-003f, 5.05685573e-003f,
1161 0.05659294f, 3.90764466e-003f, 0.02808490f, -0.05518097f, -0.03711621f,
1162 -0.02835565f, -0.04420464f, -0.01031947f, 0.01883466f,
1163 -8.49525444e-003f, -0.09419250f, -0.01269387f, -0.02133371f,
1164 -0.10190815f, -0.07844430f, 2.43644323e-003f, -4.09610150e-003f,
1165 0.01202551f, -0.06452291f, -0.10593818f, -0.02464746f, -0.02199699f,
1166 -0.07401930f, 0.07285886f, 8.87513801e-004f, 9.97662079e-003f,
1167 8.46779719e-003f, 0.03730333f, -0.02905126f, 0.03573337f, -0.04393689f,
1168 -0.12014472f, 0.03176554f, -2.76015815e-003f, 0.10824566f, 0.05090732f,
1169 -3.30179278e-003f, -0.05123822f, 5.04784798e-003f, -0.05664124f,
1170 -5.99415926e-003f, -0.05341901f, -0.01221393f, 0.01291318f,
1171 9.91760660e-003f, -7.56987557e-003f, -0.06193124f, -2.24549137e-003f,
1172 0.01987562f, -0.02018840f, -0.06975540f, -0.06601523f, -0.03349112f,
1173 -0.08910118f, -0.03371435f, -0.07406893f, -0.02248047f, -0.06159951f,
1174 2.77751544e-003f, -0.05723337f, -0.04792468f, 0.07518548f,
1175 2.77279224e-003f, 0.04211938f, 0.03100502f, 0.05278448f, 0.03954679f,
1176 -0.03006846f, -0.03851741f, -0.02792403f, -0.02875333f, 0.01531280f,
1177 0.02186953f, -0.01989829f, 2.50679464e-003f, -0.10258728f,
1178 -0.04785743f, -0.02887216f, 3.85063468e-003f, 0.01112236f,
1179 8.29218887e-003f, -0.04822981f, -0.04503597f, -0.03713100f,
1180 -0.06988008f, -0.11002295f, -2.69209221e-003f, 1.85383670e-003f,
1181 -0.05921049f, -0.06105053f, -0.08458050f, -0.04527602f,
1182 8.90329306e-004f, -0.05875023f, -2.68602883e-003f, -0.01591195f,
1183 0.03631859f, 0.05493166f, 0.07300330f, 5.53333294e-003f, 0.06400407f,
1184 0.01847740f, -5.76280477e-003f, -0.03210877f, 4.25160583e-003f,
1185 0.01166520f, -1.44864211e-003f, 0.02253744f, -0.03367080f, 0.06983195f,
1186 -4.22323542e-003f, -8.89401045e-003f, -0.07943393f, 0.05199728f,
1187 0.06065201f, 0.04133492f, 1.44032843e-003f, -0.09585235f, -0.03964731f,
1188 0.04232114f, 0.01750465f, -0.04487902f, -7.59733608e-003f, 0.02011171f,
1189 0.04673622f, 0.09011173f, -0.07869188f, -0.04682482f, -0.05080139f,
1190 -3.99383716e-003f, -0.05346331f, 0.01085723f, -0.03599333f,
1191 -0.07097908f, 0.03551549f, 0.02680387f, 0.03471529f, 0.01790393f,
1192 0.05471273f, 9.62048303e-003f, -0.03180215f, 0.05864431f, 0.02330614f,
1193 0.01633144f, -0.05616681f, -0.10245429f, -0.08302189f, 0.07291322f,
1194 -0.01972590f, -0.02619633f, -0.02485327f, -0.04627592f,
1195 1.48853404e-003f, 0.05514185f, -0.01270860f, -0.01948900f, 0.06373586f,
1196 0.05002292f, -0.03009798f, 8.76216311e-003f, -0.02474238f,
1197 -0.05504891f, 1.74034527e-003f, -0.03333667f, 0.01524987f, 0.11663762f,
1198 -1.32344989e-003f, -0.06608453f, 0.05687166f, -6.89525274e-004f,
1199 -0.04402352f, 0.09450210f, -0.04222684f, -0.05360983f, 0.01779531f,
1200 0.02561388f, -0.11075410f, -8.77790991e-003f, -0.01099504f,
1201 -0.10380266f, 0.03103457f, -0.02105741f, -0.07371717f, 0.05146710f,
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1203 -2.24320893e-003f, -0.05818033f, -0.07390742f, 0.05701261f,
1204 0.12937020f, -0.04986651f, 0.10182415f, 0.05028650f, 0.12515625f,
1205 0.09175041f, 0.06404983f, 0.01523394f, 0.09460562f, 0.06106631f,
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1207 -9.58488265e-004f, -0.04231362f, -0.09866509f, 0.04322244f,
1208 0.05872034f, -0.04838847f, 0.06319253f, 0.02443798f, -0.03606876f,
1209 9.38737206e-003f, 0.04289991f, -0.01027411f, 0.08156885f, 0.08751175f,
1210 -0.13191354f, 8.16054735e-003f, -0.01452161f, 0.02952677f, 0.03615945f,
1211 -2.09128903e-003f, 0.02246693f, 0.09623287f, 0.09412123f, -0.02924758f,
1212 -0.07815186f, -0.02203079f, -2.02566991e-003f, 0.01094733f,
1213 -0.01442332f, 0.02838561f, 0.11882371f, 7.28798332e-003f, -0.10345965f,
1214 0.07561217f, -0.02049661f, 4.44177445e-003f, 0.01609347f, -0.04893158f,
1215 -0.08758243f, -7.67420698e-003f, 0.08862378f, 0.06098121f, 0.06565887f,
1216 7.32981879e-003f, 0.03558407f, -0.03874352f, -0.02490055f,
1217 -0.06771075f, 0.09939223f, -0.01066077f, 0.01382995f, -0.07289080f,
1218 7.47184316e-003f, 0.10621431f, -0.02878659f, 0.02383525f, -0.03274646f,
1219 0.02137008f, 0.03837290f, 0.02450992f, -0.04296818f, -0.02895143f,
1220 0.05327370f, 0.01499020f, 0.04998732f, 0.12938657f, 0.09391870f,
1221 0.04292390f, -0.03359194f, -0.06809492f, 0.01125796f, 0.17290455f,
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1223 -0.08677909f, -0.03429872f, 0.04684938f, 0.08161420f, 0.03538774f,
1224 0.01833884f, 0.11321855f, 0.03261845f, -0.04826299f, 0.01752407f,
1225 -0.01796414f, -0.10464549f, -3.30041884e-003f, 2.29343961e-004f,
1226 0.01457292f, -0.02132982f, -0.02602923f, -9.87351313e-003f,
1227 0.04273872f, -0.02103316f, -0.07994065f, 0.02614958f, -0.02111666f,
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1229 0.08251446f, 0.15612499f, 2.46531400e-003f, 8.88424646e-003f,
1230 -0.04152999f, 0.02054853f, 0.05277953f, -0.03087788f, 0.02817579f,
1231 0.13939077f, 0.07641046f, -0.03627627f, -0.03015098f, -0.04041540f,
1232 -0.01360690f, -0.06227205f, -0.02738223f, 0.13577610f, 0.15235767f,
1233 -0.05392922f, -0.11175954f, 0.02157129f, 0.01146481f, -0.05264937f,
1234 -0.06595174f, -0.02749175f, 0.11812254f, 0.17404149f, -0.06137035f,
1235 -0.11003478f, -0.01351621f, -0.01745916f, -0.08577441f, -0.04469909f,
1236 -0.06106115f, 0.10559758f, 0.20806813f, -0.09174948f, 7.09621934e-004f,
1237 0.03579374f, 0.07215115f, 0.02221742f, 0.01827742f, -7.90785067e-003f,
1238 0.01489554f, 0.14519960f, -0.06425831f, 0.02990399f, -1.80181325e-003f,
1239 -0.01401528f, -0.04171134f, -3.70530109e-003f, -0.09090481f,
1240 0.09520713f, 0.08845516f, -0.02651753f, -0.03016730f, 0.02562448f,
1241 0.03563816f, -0.03817881f, 0.01433385f, 0.02256983f, 0.02872120f,
1242 0.01001934f, -0.06332260f, 0.04338406f, 0.07001807f, -0.04705722f,
1243 -0.07318907f, 0.02630457f, 0.03106382f, 0.06648342f, 0.10913180f,
1244 -0.01630815f, 0.02910308f, 0.02895109f, 0.08040254f, 0.06969310f,
1245 0.06797734f, 6.08639978e-003f, 4.16588830e-003f, 0.08926726f,
1246 -0.03123648f, 0.02700146f, 0.01168734f, -0.01631594f, 4.61015804e-003f,
1247 8.51359498e-003f, -0.03544224f, 0.03571994f, 4.29766066e-003f,
1248 -0.01970077f, -8.79793242e-003f, 0.09607988f, 0.01544222f,
1249 -0.03923707f, 0.07308586f, 0.06061262f, 1.31683104e-004f,
1250 -7.98222050e-003f, 0.02399261f, -0.06084389f, -0.02743429f,
1251 -0.05475523f, -0.04131311f, 0.03559756f, 0.03055342f, 0.02981433f,
1252 0.14860515f, 0.01766787f, 0.02945257f, 0.04898238f, 0.01026922f,
1253 0.02811658f, 0.08267091f, 0.02732154f, -0.01237693f, 0.11760156f,
1254 0.03802063f, -0.03309754f, 5.24957618e-003f, -0.02460510f, 0.02691451f,
1255 0.05399988f, -0.10133506f, 0.06385437f, -0.01818005f, 0.02259503f,
1256 0.03573135f, 0.01042848f, -0.04153402f, -0.04043029f, 0.01643575f,
1257 0.08326677f, 4.61383024e-004f, -0.05308095f, -0.08536223f,
1258 -1.61011645e-003f, -0.02163720f, -0.01783352f, 0.03859637f,
1259 0.08498885f, -0.01725216f, 0.08625131f, 0.10995087f, 0.09177644f,
1260 0.08498347f, 0.07646490f, 0.05580502f, 0.02693516f, 0.09996913f,
1261 0.09070327f, 0.06667200f, 0.05873008f, -0.02247842f, 0.07772321f,
1262 0.12408436f, 0.12629253f, -8.41997913e-004f, 0.01477783f, 0.09165990f,
1263 -2.98401713e-003f, -0.06466447f, -0.07057302f, 2.09516948e-004f,
1264 0.02210209f, -0.02158809f, -0.08602506f, -0.02284836f,
1265 4.01876355e-003f, 9.56660323e-003f, -0.02073978f, -0.04635138f,
1266 -7.59423291e-003f, -0.01377393f, -0.04559359f, -0.13284740f,
1267 -0.08671406f, -0.03654395f, 0.01142869f, 0.03287891f, -0.04392983f,
1268 0.06142959f, 0.17710890f, 0.10385257f, 0.01329137f, 0.10067633f,
1269 0.12450829f, -0.04476709f, 0.09049144f, 0.04589312f, 0.11167907f,
1270 0.08587538f, 0.04767583f, 1.67188141e-003f, 0.02359802f, -0.03808852f,
1271 0.03126272f, -0.01919029f, -0.05698918f, -0.02365112f, -0.06519032f,
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1273 0.01324074f, -0.09230672f, -0.05518232f, -0.04712864f, -0.03380903f,
1274 -0.06719479f, 0.01183908f, -0.09326738f, 0.01642865f, 0.03789867f,
1275 -6.61567831e-003f, 0.07796386f, 0.07246574f, 0.04706347f, -0.02523437f,
1276 -0.01696830f, -0.08068866f, 0.06030888f, 0.10527060f, -0.06611756f,
1277 0.02977346f, 0.02621830f, 0.01913855f, -0.08479366f, -0.06322418f,
1278 -0.13570616f, -0.07644490f, 9.31900274e-003f, -0.08095149f,
1279 -0.10197903f, -0.05204025f, 0.01413151f, -0.07800411f, -0.01885122f,
1280 -0.07509381f, -0.10136326f, -0.05212355f, -0.09944065f,
1281 -1.33606605e-003f, -0.06342617f, -0.04178550f, -0.12373723f,
1282 -0.02832736f, -0.06057501f, 0.05830070f, 0.07604282f, -0.06462587f,
1283 8.02447461e-003f, 0.11580125f, 0.12332212f, 0.01978462f,
1284 -2.72378162e-003f, 0.05850752f, -0.04674481f, 0.05148062f,
1285 -2.62542837e-003f, 0.11253355f, 0.09893716f, 0.09785093f, -0.04659257f,
1286 -0.01102429f, -0.07002308f, 0.03088913f, -0.02565549f, -0.07671449f,
1287 3.17443861e-003f, -0.10783514f, -0.02314270f, -0.11089555f,
1288 -0.01024768f, 0.03116021f, -0.04964825f, 0.02281825f, 5.50005678e-003f,
1289 -0.08427856f, -0.14685495f, -0.07719755f, -0.13342668f, -0.04525511f,
1290 -0.09914210f, 0.02588859f, 0.03469279f, 0.04664020f, 0.11688190f,
1291 0.09647275f, 0.10857815f, -0.01448726f, 0.04299758f, -0.06763151f,
1292 1.33257592e-003f, 0.14331576f, 0.07574340f, 0.09166205f, 0.05674926f,
1293 0.11325553f, -0.01106494f, 0.02062161f, -0.11484840f, -0.07492137f,
1294 -0.02864293f, -0.01275638f, -0.06946032f, -0.10101652f, -0.04113498f,
1295 -0.02214783f, -0.01273942f, -0.07480393f, -0.10556041f, -0.07622112f,
1296 -0.09988393f, -0.11453961f, -0.12073903f, -0.09412795f, -0.07146588f,
1297 -0.04054537f, -0.06127083f, 0.04221122f, 0.07688113f, 0.04099256f,
1298 0.12663734f, 0.14683802f, 0.21761774f, 0.12525328f, 0.18431792f,
1299 -1.66402373e-003f, 2.37777247e-003f, 0.01445475f, 0.03509416f,
1300 0.02654697f, 0.01716739f, 0.05374011f, 0.02944174f, 0.11323927f,
1301 -0.01485456f, -0.01611330f, -1.85554172e-003f, -0.01708549f,
1302 -0.05435753f, -0.05302101f, 0.05260378f, -0.03582945f,
1303 -3.42867890e-004f, 1.36076682e-003f, -0.04436073f, -0.04228432f,
1304 0.03281291f, -0.05480836f, -0.10197772f, -0.07206279f, -0.10741059f,
1305 -0.02366946f, 0.10278475f, -2.74783419e-003f, -0.03242477f,
1306 0.02308955f, 0.02835869f, 0.10348799f, 0.19580358f, 0.10252027f,
1307 0.08039929f, 0.05525554f, -0.13250865f, -0.14395352f, 3.13586881e-003f,
1308 -0.03387071f, 8.94669443e-003f, 0.05406157f, -4.97324532e-003f,
1309 -0.01189114f, 2.82919413e-004f, -0.03901557f, -0.04898705f,
1310 0.02164520f, -0.01382906f, -0.01850416f, 0.01869347f, -0.02450060f,
1311 0.02291678f, 0.08196463f, 0.03309153f, -0.10629974f, 0.02473924f,
1312 0.05344394f, -0.02404823f, -0.03243643f, -5.55244600e-003f,
1313 -0.08009996f, 0.02811539f, 0.04235742f, 0.01859004f, 0.04902123f,
1314 -0.01438252f, -0.01526853f, 0.02044195f, -0.05008660f, 0.04244113f,
1315 0.07611816f, 0.04950470f, -0.06020549f, -4.26026015e-003f, 0.13133512f,
1316 -0.01438738f, -0.01958807f, -0.04044152f, -0.12425045f,
1317 2.84353318e-003f, -0.05042776f, -0.09121484f, 7.34345755e-003f,
1318 0.09388847f, 0.11800314f, 4.72295098e-003f, 4.44378285e-003f,
1319 -0.07984917f, -0.03613737f, 0.04490915f, -0.02246483f, 0.04681071f,
1320 0.05240871f, 0.02157206f, -0.04603431f, -0.01197929f, -0.02748779f,
1321 0.13621049f, 0.08812155f, -0.07802048f, 4.86458559e-003f, -0.01598836f,
1322 0.01024450f, -0.03463517f, -0.02304239f, -0.08692665f, 0.06655128f,
1323 0.05785803f, -0.12640759f, 0.02307472f, 0.07337402f, 0.07525434f,
1324 0.04943763f, -0.02241034f, -0.09978238f, 0.14487994f, -0.06570521f,
1325 -0.07855482f, 0.02830222f, -5.29603509e-004f, -0.04669895f,
1326 -0.11822784f, -0.12246452f, -0.15365660f, -0.02969127f, 0.08078201f,
1327 0.13512598f, 0.11505685f, 0.04740673f, 0.01376022f, -0.05852978f,
1328 -0.01537809f, -0.05541119f, 0.02491065f, -0.02870786f, 0.02760978f,
1329 0.23836176f, 0.22347429f, 0.10306466f, -0.06919070f, -0.10132039f,
1330 -0.20198342f, -0.05040560f, 0.27163076f, 0.36987007f, 0.34540465f,
1331 0.29095781f, 0.05649706f, 0.04125737f, 0.07505883f, -0.02737836f,
1332 -8.43431335e-003f, 0.07368195f, 0.01653876f, -0.09402955f,
1333 -0.09574359f, 0.01474337f, -0.07128561f, -0.03460737f, 0.11438941f,
1334 0.13752601f, -0.06385452f, -0.06310338f, 8.19548313e-003f, 0.11622470f,
1335 5.05133113e-003f, -0.07602754f, 0.06695660f, 0.25723928f, 0.09037900f,
1336 0.28826267f, 0.13165380f, -0.05312614f, -0.02137198f, -0.03442232f,
1337 -0.06255679f, 0.03899667f, 0.18391028f, 0.26016650f, 0.03374462f,
1338 0.01860465f, 0.19077586f, 0.18160543f, 3.43634398e-003f, -0.03036782f,
1339 0.19683038f, 0.35378191f, 0.24968483f, -0.03222649f, 0.28972381f,
1340 0.43091634f, 0.30778357f, 0.02335266f, -0.09877399f, -6.85245218e-003f,
1341 0.08945240f, -0.08150686f, 0.02792493f, 0.24806842f, 0.17338486f,
1342 0.06231801f, -0.10432383f, -0.16653322f, -0.13197899f, -0.08531576f,
1343 -0.19271527f, -0.13536365f, 0.22240199f, 0.39219588f, 0.26597717f,
1344 -0.01231649f, 0.01016179f, 0.13379875f, 0.12018334f, -0.04852953f,
1345 -0.07915270f, 0.07036012f, 3.87723115e-003f, -0.06126805f,
1346 -0.15015170f, -0.11406515f, -0.08556531f, -0.07429333f, -0.16115491f,
1347 0.13214062f, 0.25691369f, 0.05697750f, 0.06861912f, -6.02903729e-003f,
1348 -7.94562511e-003f, 0.04799571f, 0.06695165f, -0.01926842f, 0.06206308f,
1349 0.13450983f, -0.06381495f, -2.98370165e-003f, -0.03482971f,
1350 7.53991678e-003f, 0.03895611f, 0.11464261f, 0.01669971f,
1351 8.27818643e-003f, -7.49160210e-003f, -0.11712562f, -0.10650621f,
1352 -0.10353880f, -0.04994106f, -7.65618810e-004f, 0.03023767f,
1353 -0.04759270f, -0.07302686f, -0.05825012f, -0.13156348f, -0.10639747f,
1354 -0.19393684f, -0.09973683f, -0.07918908f, 4.63177625e-004f,
1355 -6.61382044e-004f, 0.15853868f, 0.08561199f, -0.07660093f,
1356 -0.08015265f, -0.06164073f, 0.01882577f, -7.29908410e-004f,
1357 0.06840892f, 0.03843764f, 0.20274927f, 0.22028814f, -5.26101235e-003f,
1358 0.01452435f, -0.06331623f, 0.02865064f, 0.05673740f, 0.12171564f,
1359 0.03837196f, 0.03555467f, -0.02662914f, -0.10280123f, -0.06526285f,
1360 -0.11066351f, -0.08988424f, -0.10103678f, 8.10526591e-003f,
1361 5.95238712e-003f, 0.02617721f, -0.01705742f, -0.10897956f,
1362 -0.08004991f, -0.11271993f, -0.06185647f, -0.06103712f, 0.01597041f,
1363 -0.05923606f, 0.09410726f, 0.22858568f, 0.03263380f, 0.06772990f,
1364 -0.09003516f, 0.01017870f, 0.01931688f, 0.08628357f, -0.01430009f,
1365 0.10954945f, 0.16612452f, -0.02434544f, -0.03310068f, -0.04236627f,
1366 0.01212392f, -6.15046406e-003f, 0.06954194f, 0.03015283f, 0.01787957f,
1367 0.02781667f, -0.05561153f, -8.96244217e-003f, -0.04971489f,
1368 0.07510284f, 0.01775282f, 0.05889897f, -0.07981427f, 0.03647643f,
1369 -3.73833324e-003f, -0.08894575f, -0.06429435f, -0.08068276f,
1370 0.03567704f, -0.07131936f, -7.21910037e-003f, -0.09566668f,
1371 0.17886090f, 0.14911725f, 0.02070032f, -0.05017120f, -0.04992622f,
1372 0.01570143f, -0.09906903f, 0.06456193f, 0.15329507f, 0.18820767f,
1373 0.11689861f, -0.01178513f, -0.02225163f, -0.01905318f, 0.10271224f,
1374 -7.27029052e-003f, 0.11664233f, 0.14796902f, 0.07771893f, 0.02400013f,
1375 -0.05361797f, -0.01972888f, 0.01376177f, 0.06740040f, -0.06525395f,
1376 0.05726178f, -0.02404981f, -0.14018567f, -0.02074987f, -0.04621970f,
1377 -0.04688627f, -0.01842059f, 0.07722727f, -0.04852883f, 0.01529004f,
1378 -0.19639495f, 0.10817073f, 0.03795860f, -0.09435206f, -0.07984378f,
1379 -0.03383440f, 0.11081333f, 0.02237366f, 0.12703256f, 0.21613893f,
1380 0.02918790f, 4.66472283e-003f, -0.10274266f, -0.04854131f,
1381 -3.46305710e-003f, 0.08652268f, 0.02251546f, 0.09636052f, 0.17180754f,
1382 -0.09272388f, 4.59174305e-004f, -0.11723048f, -0.12210111f,
1383 -0.15547538f, 0.07218186f, -0.05297846f, 0.03779940f, 0.05150875f,
1384 -0.03802310f, 0.03870645f, -0.15250699f, -0.08696499f, -0.02021560f,
1385 0.04118926f, -0.15177974f, 0.01577647f, 0.10249301f, 7.50041893e-003f,
1386 0.01721806f, -0.06828983f, -0.02397596f, -0.06598977f, -0.04317593f,
1387 -0.08064980f, 6.66632550e-003f, 0.03333484f, 0.07093620f, 0.08231064f,
1388 -0.06577903f, -0.06698844f, -0.06984019f, -0.06508023f, -0.14145090f,
1389 -0.02393239f, 0.06485303f, 8.83263443e-003f, 0.09251080f, -0.07557579f,
1390 -0.05067699f, -0.09798748f, -0.06703258f, -0.14056294f, 0.03245994f,
1391 0.12554143f, 0.01761621f, 0.12980327f, -0.04081950f, -0.11906909f,
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1399 0.08241162f, -0.12514858f, -0.06122676f, -0.03750202f,
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1413 0.13510075f, 0.20992437f, 0.08845878f, 0.08104013f, 0.03754176f,
1414 0.12173114f, 0.11103114f, 0.10643122f, 0.13941477f, 0.11640384f,
1415 0.14786847f, 0.01218238f, 0.01160753f, 0.03547940f, 0.08794311f,
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1424 0.01565668f, 0.05031200f, 0.07021113f, -0.02963028f, 0.01766960f,
1425 0.08333644f, -0.03211382f, 4.90096770e-003f, 0.05186674f, -0.05045737f,
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1433 -0.11014334f, 0.17489147f, 0.17610909f, -0.16091567f, -0.07248894f,
1434 0.01567141f, 0.23742996f, 0.07552249f, -0.06270349f, -0.07303379f,
1435 0.25442186f, 0.16903116f, -0.08168741f, -0.05913896f, -0.03954096f,
1436 6.81776879e-003f, -0.05615319f, -0.07303037f, -0.12176382f,
1437 0.12385108f, 0.22084464f, -0.05543206f, -0.03310431f, 0.05731593f,
1438 0.19481890f, 0.04016430f, -0.06480758f, -0.12353460f, 0.18733442f,
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1440 0.10895617f, 0.03391477f, -0.13032004f, -0.05626907f, -0.09025607f,
1441 0.23485197f, 0.27812332f, 0.26725492f, 0.07255980f, 0.16565137f,
1442 0.22388470f, 0.07441066f, -0.21003133f, -0.08075339f, -0.15031935f,
1443 0.07023834f, 0.10872041f, 0.18156518f, 0.20037253f, 0.13571967f,
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1445 0.12413109f, 0.03930207f, 0.29176015f, 0.29502738f, 0.27856228f,
1446 -0.01803601f, 0.16646385f, 0.19268319f, 0.01900682f, 0.06026287f,
1447 2.35868432e-003f, 0.01558199f, 0.02707230f, 0.11383014f, 0.12103992f,
1448 0.03907350f, 0.04637353f, 0.09020995f, 0.11919726f, -3.63007211e-003f,
1449 0.02220155f, 0.10336831f, 0.17351882f, 0.12259731f, 0.18983354f,
1450 0.15736865f, 0.01160725f, -0.01690723f, -9.69582412e-004f, 0.07213813f,
1451 0.01161613f, 0.17864859f, 0.24486147f, 0.18208991f, 0.20177495f,
1452 0.05972528f, -8.93934630e-003f, -0.02316955f, 0.14436610f, 0.14114498f,
1453 0.05520950f, 0.06353590f, -0.19124921f, 0.10174713f, 0.29414919f,
1454 0.26448128f, 0.09344960f, 0.15284036f, 0.19797507f, 0.11369792f,
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1457 -0.06395898f, 0.13721776f, 0.22544557f, 0.14888357f, 0.08687132f,
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1461 -0.04600435f, -0.05256077f, -0.08432942f, 0.02848100f, 0.03490564f,
1462 8.28621630e-003f, -0.11051246f, -0.11210597f, -0.01998289f,
1463 -0.05369405f, -0.08869293f, -0.18799506f, -0.05436598f, -0.05011634f,
1464 -0.05419716f, -0.06151857f, -0.10827805f, 0.04346735f, 0.04016083f,
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1469 -0.01643151f, -0.02602034f, -0.01305472f, 0.03920100f, -0.06514261f,
1470 0.01126918f, -6.27710763e-003f, -0.02720047f, -0.11133634f,
1471 0.03300330f, 0.02398472f, 0.04079665f, -0.10564448f, 0.05966159f,
1472 0.01195221f, -0.03179441f, -0.01692590f, -0.06177841f, 0.01841576f,
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1474 0.03030550f, -0.04896152f, -0.02914624f, -0.13283344f, -0.04783419f,
1475 6.07836898e-003f, -0.01449538f, -0.13358212f, -0.09687774f,
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1477 0.05986415f, -9.12760664e-003f, -0.18780160f, -0.11992817f,
1478 -0.06342237f, 0.01229534f, 0.07143231f, 0.10713009f, 0.11085765f,
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1480 0.03833013f, 0.09130384f, -0.05086257f, 0.05617329f, -0.03896667f,
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1483 -0.17136464f, -0.02619422f, -0.02477579f, 0.02679587f, 0.11621952f,
1484 0.08788391f, 0.15520640f, 0.04709549f, 0.04504483f, -0.10214074f,
1485 -0.12293372f, -0.04820546f, -0.05484834f, 0.05473754f, 0.07346445f,
1486 0.05577277f, -0.08209965f, 0.03462975f, -0.20962234f, -0.09324598f,
1487 3.79481679e-003f, 0.03617633f, 0.16742408f, 0.07058107f, 0.10204960f,
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1489 0.02078314f, -0.07694324f, 0.12184640f, 0.08997164f, 0.04793497f,
1490 -0.11383379f, -0.08046359f, -0.25716835f, -0.08080962f,
1491 6.80711539e-003f, -0.02930280f, -3.04938294e-003f, -0.11106286f,
1492 -0.04628860f, -0.07821649f, 7.70127494e-003f, -0.10247706f,
1493 1.21042714e-003f, 0.20573859f, -0.03241005f, 8.42972286e-003f,
1494 0.01946464f, -0.01197973f, -0.14579976f, 0.04233614f,
1495 -4.14096704e-003f, -0.06866436f, -0.02431862f, -0.13529138f,
1496 1.25891645e-003f, -0.11425111f, -0.04303651f, -0.01694815f,
1497 0.05720210f, -0.16040207f, 0.02772896f, 0.05498345f, -0.15010567f,
1498 0.01450866f, 0.02350303f, -0.04301004f, -0.04951802f, 0.21702233f,
1499 -0.03159155f, -0.01963303f, 0.18232647f, -0.03263875f,
1500 -2.88476888e-003f, 0.01587562f, -1.94303901e-003f, -0.07789494f,
1501 0.04674156f, -6.25576358e-003f, 0.08925962f, 0.21353747f, 0.01254677f,
1502 -0.06999976f, -0.05931328f, -0.01884327f, -0.04306272f, 0.11794136f,
1503 0.03842728f, -0.03907030f, 0.05636114f, -0.09766009f, -0.02104000f,
1504 8.72711372e-003f, -0.02736877f, -0.05112274f, 0.16996814f, 0.02955785f,
1505 0.02094014f, 0.08414304f, -0.03335762f, -0.03617457f, -0.05808248f,
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1507 0.15282831f, -0.03908454f, -0.05101782f, -9.51998029e-003f,
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1513 -0.01523801f, -0.07502609f, -0.09461885f, -0.15013233f, 0.16050665f,
1514 0.09021381f, 0.08473236f, 0.03386267f, -0.09147339f, -0.09170618f,
1515 -0.08498498f, -0.05119187f, -0.10431040f, 0.01041618f, -0.03064913f,
1516 0.09340212f, 0.06448522f, -0.03881054f, -0.04985436f, -0.14794017f,
1517 -0.05200112f, -0.02144495f, 0.04000821f, 0.12420804f, -0.01851651f,
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1519 -0.10549165f, 0.11251976f, 0.10766345f, 0.19201984f, 0.06128913f,
1520 -0.02734615f, -0.08834923f, -0.16999826f, -0.03548348f,
1521 -5.36092324e-003f, 0.08297954f, 0.07226378f, 0.04194529f, 0.04668673f,
1522 8.73902347e-003f, 0.06980139f, 0.05652480f, 0.05879445f, 0.02477076f,
1523 0.02451423f, 0.12433673f, 0.05600227f, 0.06886370f, 0.03863076f,
1524 0.07459056f, 0.02264139f, 0.01495469f, 0.06344220f, 0.06945208f,
1525 0.02931899f, 0.11719371f, 0.04527427f, 0.03248192f, 2.08271481e-003f,
1526 0.02044626f, 0.11403449f, 0.04303892f, 0.06444661f, 0.04959024f,
1527 0.08174094f, 0.09240247f, 0.04894639f, 0.02252937f, -0.01652530f,
1528 0.07587013f, 0.06064249f, 0.13954395f, 0.02772832f, 0.07093039f,
1529 0.08501238f, 0.01701301f, 0.09055722f, 0.33421436f, 0.20163782f,
1530 0.09821030f, 0.07951369f, 0.08695120f, -0.12757730f, -0.13865978f,
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1532 -0.13525715f, -0.12844718f, 0.08956250f, 0.09171610f, 0.10092317f,
1533 0.23385370f, 0.34489515f, 0.09901748f, 0.02002922f, 0.12335990f,
1534 0.07606190f, -0.14899330f, -0.15634622f, -0.06494618f, -0.01760547f,
1535 0.03404277f, -0.13208845f, -0.12101169f, -0.18294574f, -0.16560709f,
1536 0.02183887f, -0.02752613f, 0.01813638f, 0.02000757f, 0.01319924f,
1537 0.08030242f, 0.01220535f, 2.98233377e-003f, -0.01307070f, 0.05970297f,
1538 -0.05345284f, -0.03381982f, -9.87543724e-003f, -0.06869387f,
1539 0.03956730f, -0.03108176f, -0.05732809f, 0.02172386f, 0.04159765f,
1540 2.62783933e-003f, 0.04813229f, 0.09358983f, -8.18389002e-003f,
1541 0.01724574f, -0.02547474f, -0.04967288f, -0.02390376f, 0.06640504f,
1542 -0.06306566f, 0.01137518f, 0.05589378f, -0.08237787f, 0.02455001f,
1543 -0.03059422f, -0.08953978f, 0.06851497f, 0.07190268f, -0.07610799f,
1544 7.87237938e-003f, -7.85830803e-003f, 0.06006952f, -0.01126728f,
1545 -2.85743061e-003f, -0.04772895f, 0.01884944f, 0.15005857f,
1546 -0.06268821f, -0.01989072f, 0.01138399f, 0.08760451f, 0.03879007f,
1547 -9.66926850e-003f, -0.08012961f, 0.06414555f, -0.01362950f,
1548 -0.09135523f, 0.01755159f, 0.04459474f, 0.09650917f, 0.05219948f,
1549 -2.19440833e-003f, -0.07037939f, -0.01599054f, 0.13103317f,
1550 -0.02492603f, -0.01032540f, -0.02903307f, 0.04489160f, 0.05148086f,
1551 0.01858173f, -0.02919228f, 0.08299296f, -0.04590359f, -0.15745632f,
1552 -0.09068198f, -0.02972453f, 0.12985018f, 0.22320485f, 0.24261914f,
1553 0.03642650f, -0.05506422f, 2.67413049e-003f, -0.03834032f, 0.06449424f,
1554 0.03834866f, 0.03816991f, 0.25039271f, 0.34212017f, 0.32433882f,
1555 0.18824573f, -0.08599839f, -0.17599408f, -0.15317015f, -0.09913155f,
1556 -0.02856072f, -0.05304699f, -1.06437842e-003f, -0.06641813f,
1557 -0.07509298f, 0.01463361f, -0.07551918f, -0.04510373f,
1558 -8.44620075e-003f, 0.01772176f, 0.04068235f, 0.20295307f, 0.15719447f,
1559 0.05712103f, 0.26296997f, 0.14657754f, 0.01547317f, -0.05052776f,
1560 -0.03881342f, -0.01437883f, -0.04930177f, 0.11719568f, 0.24098417f,
1561 0.26468599f, 0.31698579f, 0.10103608f, -0.01096375f, -0.01367013f,
1562 0.17104232f, 0.20065314f, 2.67622480e-003f, -0.01190034f, 0.18301608f,
1563 0.09459770f, -0.06357619f, -0.06473801f, 0.01377906f, -0.10032775f,
1564 -0.06388740f, 3.80393048e-003f, 0.06206078f, 0.10349120f, 0.26804337f,
1565 8.17918684e-003f, -0.02314351f, 9.34422202e-003f, 0.09198381f,
1566 0.03681326f, -8.77339672e-003f, -0.09662418f, -0.02715708f,
1567 0.13503517f, 0.08962728f, -6.57071499e-003f, -0.03201199f, 0.28510824f,
1568 0.32095715f, 0.18512695f, -0.14230858f, -0.14048551f, -0.07181299f,
1569 -0.08575408f, -0.08661680f, -0.17416079f, 7.54326640e-004f,
1570 0.05601677f, 0.13585392f, -0.04960437f, -0.07708392f, 0.10676333f,
1571 -0.04407546f, -0.07209078f, 0.03663663f, 0.28949317f, 0.41127121f,
1572 0.27431169f, -0.06900328f, -0.21474190f, -0.15578632f, -0.19555484f,
1573 -0.15209621f, -0.11269179f, 0.07416003f, 0.18991330f, 0.26858172f,
1574 0.01952259f, 0.01017922f, 0.02159843f, -4.95165400e-003f, -0.04368168f,
1575 -0.12721671f, -0.06673957f, -0.11275250f, 0.04413409f, 0.05578312f,
1576 0.03896771f, 0.03566417f, -0.05871816f, -0.07388090f, -0.17965563f,
1577 -0.08570268f, -0.15273231f, -0.06022318f, -0.06999847f,
1578 -6.81510568e-003f, 0.06294262f, -6.54901436e-004f, -0.01128654f,
1579 -0.02289657f, 0.04849290f, 0.04140804f, 0.23681939f, 0.14545733f,
1580 0.01989965f, 0.12032662f, 3.87463090e-003f, -6.02597650e-003f,
1581 -0.05919775f, -0.03067224f, -0.07787777f, 0.10834727f, 0.02153730f,
1582 0.02765649f, 0.03975543f, -0.12182906f, -0.04900113f, -0.09940100f,
1583 -0.06453611f, -0.13757215f, -0.03721382f, 0.02827376f, -0.04351249f,
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1585 -0.09565596f, -0.01303654f, 0.03080539f, 0.01416511f, 0.05846142f,
1586 -5.42971538e-003f, 0.06221476f, -0.03320325f, -0.06791797f,
1587 -0.05791342f, 0.12851369f, 0.14990346f, 0.03634374f, 0.14262885f,
1588 0.04330391f, 0.05032569f, -0.05631914f, 0.01606137f, 0.04387223f,
1589 0.22344995f, 0.15722635f, -0.04693628f, 0.03006579f, -2.52882647e-003f,
1590 0.05717621f, -0.07529724f, -0.02848588f, -0.06868757f,
1591 -4.51729307e-003f, 0.06466042f, -0.05935378f, -0.04704857f,
1592 -0.07363959f, 0.04843248f, -0.13421375f, -0.09789340f, -0.10255270f,
1593 0.03509852f, 0.04751543f, -0.03822323f, 0.09740467f, 0.04762916f,
1594 0.03940146f, -0.08283259f, 0.09552965f, 0.05038739f, 0.21258622f,
1595 0.09646992f, 0.03241193f, 0.05167701f, 0.04614570f, 0.04330090f,
1596 -0.02671840f, -0.06259909f, -0.02301898f, 0.18829170f, 0.10522786f,
1597 0.04313190f, 0.01670948f, -0.08421925f, 0.05911417f, -0.10582602f,
1598 -0.04855484f, -0.08373898f, 0.07775915f, 0.03723533f, -0.12047344f,
1599 4.86345543e-003f, -0.10520902f, 0.06571782f, -0.07528137f,
1600 -0.03245651f, -0.09869066f, -0.02917477f, -0.18293270f, 0.14810945f,
1601 9.24033765e-003f, -0.04354914f, 0.02266885f, -0.11872729f,
1602 -0.04016589f, 0.02830229f, 0.22539048f, 0.20565644f, 0.16701797f,
1603 0.09019924f, 0.01300652f, 0.09760600f, -0.03675831f, -0.01935448f,
1604 -0.06894835f, 0.08077277f, 0.19047537f, 0.11312226f, 0.04106043f,
1605 -0.11187182f, 0.04312806f, -0.18548580f, -0.11287174f, -0.08794551f,
1606 0.02078281f, -0.15295486f, 0.11806386f, -0.01103218f, -0.15971117f,
1607 0.02153538f, -0.05232147f, -0.10835317f, -0.13910367f, 0.05920752f,
1608 -0.10122602f, 0.20174250f, 0.09105796f, -0.01881348f, 0.09559010f,
1609 -0.03725745f, -0.09442931f, -0.09763174f, 0.05854454f, 0.08287182f,
1610 0.12919849f, 0.08594352f, -2.49806582e-003f, 0.02398440f,
1611 5.67950122e-003f, -0.06296340f, -0.12993270f, 0.03855852f, 0.05186560f,
1612 0.10839908f, -0.03380463f, -0.12654832f, -0.05399339f, -0.07456800f,
1613 -0.04736232f, -0.10164231f, 0.07496139f, 0.08125214f, 0.07656177f,
1614 -0.04999603f, -0.12823077f, -0.07692395f, -0.11317524f, -0.09118655f,
1615 -0.05695669f, 0.10477209f, 0.07468581f, 0.01630048f, -8.00961629e-003f,
1616 -0.06582128f, -0.04019095f, -0.04682907f, -0.01907842f, -0.10997720f,
1617 0.04911406f, 0.02931030f, 0.04197735f, -0.05773980f, -0.09670641f,
1618 -0.03594951f, -0.03402121f, -0.07149299f, -0.10566200f, 0.10601286f,
1619 0.06340689f, -0.01518632f, -5.96402306e-003f, -0.07628012f,
1620 -3.52779147e-003f, -0.02683854f, -0.10265494f, -0.02680815f,
1621 0.16338381f, 0.03103515f, 0.02296976f, 0.01624348f, -0.10831620f,
1622 -0.02314233f, -0.04789969f, -0.05530700f, -0.06461314f, 0.10494506f,
1623 0.04642856f, -0.07592955f, -0.06197905f, -0.09042154f, -0.01445521f,
1624 -0.04297818f, -0.11262015f, -0.11430512f, 0.03174541f, -0.03677487f,
1625 -0.02963996f, -0.06610169f, -0.13292049f, -0.07059067f, -0.08444111f,
1626 -0.02640536f, -0.07136250f, 0.04559967f, 0.01459980f, 0.17989251f,
1627 0.04435328f, -0.12464730f, -0.02871115f, -0.10752209f, -0.03393742f,
1628 -0.03791408f, 0.02548251f, 0.01956050f, 0.19245651f, 0.13963254f,
1629 -0.05904696f, -0.07424626f, -0.10411884f, 1.54176133e-003f,
1630 0.01797429f, 0.13025844f, 0.04547642f, -0.05710349f, -0.10697161f,
1631 -0.13489437f, -0.06515755f, -0.06406886f, -4.08572936e-003f,
1632 -0.01336483f, 0.04368737f, -0.11259720f, -0.05701635f, -0.06469971f,
1633 -0.08346602f, -0.04166770f, -0.05795543f, -0.08247511f, -0.05742628f,
1634 0.08452254f, -0.03350224f, 0.13980860f, 0.13252275f, 0.07589617f,
1635 0.07539988f, 0.12155797f, 0.19087289f, 0.15050751f, 0.21250245f,
1636 0.14206800f, 0.01298489f, 0.07450245f, 0.06559097f, 0.01700557f,
1637 0.04512971f, 0.16950700f, 0.10261577f, 0.16389982f, 0.05505059f,
1638 -0.03453077f, 0.08622462f, 0.07935954f, 0.03976260f, 0.02036091f,
1639 3.95744899e-003f, 0.03267065f, 0.15235919f, 0.01297494f, -0.08109194f,
1640 0.01407558f, 4.40693414e-003f, -0.15157418f, -0.11390478f,
1641 -0.07487597f, -7.81322457e-003f, -0.02749545f, -0.10181408f,
1642 0.13755716f, 0.14007211f, 0.13482562f, 0.27517235f, 0.34251109f,
1643 0.07639657f, 0.07268607f, 0.19823882f, 0.16135791f, -0.04186463f,
1644 -0.12784107f, -0.09846287f, 0.03169041f, 0.10974082f, -0.15051922f,
1645 -0.08916726f, -0.07138767f, -0.04153349f, 6.25418453e-003f,
1646 0.01266654f, 0.10533249f, 0.12749144f, 0.15148053f, 0.01498513f,
1647 0.06305949f, -0.01247123f, -0.08778401f, -0.08551880f, -0.11955146f,
1648 -0.08493572f, -0.02901620f, -0.02394859f, -0.13427313f, -0.11053200f,
1649 -0.14413260f, -0.15203285f, 0.03972760f, -3.72127310e-004f,
1650 -0.04200919f, 0.06105104f, 0.01904975f, -0.01106191f,
1651 -7.27445772e-003f, -0.01520341f, 1.10228511e-003f, -0.04949187f,
1652 -0.08013099f, 5.72071038e-003f, 0.08415454f, -0.06523152f, 0.03664081f,
1653 -0.02673042f, -0.12066154f, -0.03702074f, 0.06006580f, 0.01628682f,
1654 -6.17772620e-003f, 0.08192339f, -3.41629819e-003f, 0.02870512f,
1655 0.05807141f, 0.04959986f, 0.04618251f, -0.04901629f, -0.10579574f,
1656 0.02274442f, 0.12070961f, 2.23597488e-003f, 0.09831765f, -0.03019848f,
1657 -0.11181970f, -0.04961075f, 0.02498928f, -0.03714991f, -0.01619653f,
1658 0.02643486f, -7.62964319e-003f, -0.02882290f, -0.06242594f,
1659 -0.08439861f, 0.07220893f, 0.07263952f, 0.01561574f, 0.03091968f,
1660 0.01708712f, -0.03797151f, -3.18561122e-003f, 0.01624021f,
1661 -0.02828573f, 0.11284444f, -1.32280716e-003f, -0.07784860f,
1662 -0.07209100f, 0.03372242f, 0.12154529f, 0.02278104f, -0.05275500f,
1663 -0.01918484f, 0.12989293f, 0.05424401f, 0.02333086f, 0.04029022f,
1664 0.12392918f, 0.09495489f, 0.09190340f, 0.07935889f, 8.76816828e-003f,
1665 0.17148446f, -8.51302687e-003f, -0.08011249f, -0.06796283f,
1666 0.04884845f, 0.01112272f, -0.07835306f, -1.14811445e-003f,
1667 -0.03440760f, 0.02845243f, 0.07695542f, -0.07069533f, -0.01151784f,
1668 -8.53884313e-003f, -0.01662786f, -0.04163864f, 0.05400505f,
1669 0.02859163f, 0.02921852f, 0.05003135f, -6.85718050e-003f, -0.01632611f,
1670 0.07780217f, 0.04042810f, -0.01216440f, 3.60914599e-003f, -0.06322435f,
1671 0.09516726f, 0.12877031f, -9.69162490e-003f, 0.01031179f, 0.05180895f,
1672 -9.34659224e-003f, -0.01644533f, -0.04849347f, -0.04343236f,
1673 0.10514783f, 0.08046635f, -0.04615205f, -0.03975486f, -0.01485525f,
1674 0.13096830f, -0.01517950f, -0.06571898f, -0.04016372f, 0.01849786f,
1675 0.02439670f, 0.08067258f, 1.74824719e-003f, 0.07053747f, 0.08819518f,
1676 -5.08352555e-003f, -0.06550863f, -0.08266170f, -0.07780605f,
1677 0.01453450f, -0.08756890f, 0.01096501f, -8.71319138e-003f, 0.10110464f,
1678 0.02420769f, -0.06708383f, 0.02007811f, 5.93133038e-003f, 0.05398923f,
1679 0.07538138f, 0.02049227f, 0.02242589f, 0.04011070f, -1.44875818e-003f,
1680 -4.19115182e-003f, 0.06367654f, 0.02506934f, 0.02434536f, 0.05879405f,
1681 -8.22952855e-003f, -0.01242441f, 0.04224926f, -0.01754923f,
1682 0.05958161f, 0.03818886f, -0.01830363f, -0.04308917f, -0.04422197f,
1683 -0.02432721f, 0.02264866f, 2.03751423e-003f, 0.01197031f, 0.04439203f,
1684 0.12169247f, 0.03602713f, -0.02599251f, -1.98226492e-003f, 0.02046336f,
1685 -0.02639058f, -1.91242550e-003f, -0.09334669f, -0.03595153f,
1686 -9.88179818e-003f, -0.06848445f, -0.04666303f, -0.09955736f,
1687 -0.04206430f, 0.02609075f, 9.09005292e-003f, -0.07138551f,
1688 -4.22313227e-004f, 0.01766645f, 0.02756404f, 0.01308276f, 0.04052891f,
1689 0.02387515f, 0.05337298f, 0.02500631f, -0.04970853f, -0.12467445f,
1690 0.17604403f, 0.12256411f, -0.07512254f, 8.70451052e-003f, -0.05697548f,
1691 -0.03626474f, -8.76623299e-003f, -0.01210897f, -0.09451522f,
1692 0.07490732f, -0.02008001f, -0.02681278f, -0.06463405f, -0.01517507f,
1693 7.33757764e-003f, 6.07147906e-003f, -0.09316964f, -0.04575328f,
1694 0.13261597f, 0.15424870f, -0.01655918f, -0.02772390f, -0.05243644f,
1695 -0.02356456f, -0.02351753f, -0.10211615f, -0.12873036f, 0.14549787f,
1696 0.12519856f, 4.38762689e-003f, 0.02795992f, 0.05170322f, 0.09223596f,
1697 0.05890015f, 0.02376701f, -0.02777346f, 0.09506908f, 0.02328936f,
1698 -0.02319928f, -0.03218696f, -0.01527841f, -0.01016694f, -0.02674719f,
1699 0.05137179f, 0.01980666f, 0.06544447f, -0.01746171f, 0.01026380f,
1700 0.01561806f, 7.97004555e-004f, 0.07601810f, 0.01907250f, -0.03083035f,
1701 -0.05987392f, 0.09242783f, 0.14555025f, 0.01035827f, 0.03092401f,
1702 -0.09562709f, -0.03802354f, 0.02531144f, 0.03079449f, -0.07100715f,
1703 0.03330721f, -2.69116857e-003f, 0.03167490f, 0.05744999f, 0.03259895f,
1704 1.91266940e-003f, 0.03194578f, 0.07389776f, 0.02198060f, 0.07633314f,
1705 0.03293105f, -0.09103648f, 0.04718142f, 0.06102672f, -0.01003063f,
1706 5.85481385e-003f, -0.01522574f, 0.02323526f, 0.10584345f,
1707 4.35879454e-003f, 0.06107873f, 0.05868603f, -0.03115531f, 0.01214679f,
1708 0.08567052f, 3.93926632e-003f, -0.02521488f, -1.88425183e-003f,
1709 0.02038053f, -6.26854831e-004f, 0.04897438f, -0.04280585f,
1710 -0.04819689f, -0.04812867f, -0.01451186f, 0.05101469f,
1711 -9.01125465e-003f, -0.03333859f, 0.03917955f, 0.04196448f, 0.04292135f,
1712 0.02809529f, 0.02999715f, 0.04081348f, 9.10039060e-003f, 0.09703232f,
1713 0.10379741f, 0.02348725f, -4.72756615e-003f, 0.01027325f, 0.10402658f,
1714 0.12071823f, 0.09817299f, -0.02612033f, 0.03638414f, 0.05896405f,
1715 0.04865025f, 0.04793910f, -0.03882321f, -0.02962117f, -0.01222268f,
1716 0.04071597f, 0.01922777f, -0.02287866f, 0.03328381f, 0.01859092f,
1717 0.09024994f, 0.03804455f, -0.01424510f, 0.01953739f, 0.02509617f,
1718 -0.03390914f, -0.05663941f, -0.01641979f, 0.05848591f, 0.04639670f,
1719 0.02092116f, 0.12911791f, 0.19918139f, 0.07739855f, -7.25806039e-003f,
1720 0.04074838f, 0.03183993f, 1.39251316e-003f, -0.01428625f, 0.01865480f,
1721 0.08529541f, 0.13547510f, 0.11189661f, 0.03998901f, 0.09575938f,
1722 -0.02631102f, -0.03458253f, -0.04749985f, -0.06070716f,
1723 4.71884012e-003f, 0.06445789f, -0.02450038f, -0.05483776f,
1724 -0.04657237f, -0.02030717f, -0.03480766f, -0.09397731f, -0.06399718f,
1725 -0.01804585f, 5.62348310e-003f, -6.64811488e-003f, -0.06517869f,
1726 6.96210237e-003f, -0.01860148f, -0.04245830f, -0.05850367f,
1727 -3.24417115e-003f, 0.07700698f, 0.11290991f, 0.09923030f, -0.02970599f,
1728 0.05592411f, 0.04813979f, -0.09811195f, -0.09357996f, -0.03276114f,
1729 0.05218338f, 0.04141375f, 3.92977800e-003f, -0.05047480f, 0.15960084f,
1730 0.04612800f, -0.03114098f, -0.04650044f, -0.03249795f, -0.02425641f,
1731 -0.04311355f, 0.04307659f, -0.09401883f, -0.04742785f, -0.01254499f,
1732 -0.06598741f, 3.41369561e-003f, -0.05620445f, -7.28127593e-003f,
1733 -0.05998361f, -0.03274450f, -0.07376868f, 3.19015374e-003f,
1734 -0.07733069f, 0.05815864f, -0.02471071f, 0.03850617f, 0.13838784f,
1735 0.15399861f, 0.01731321f, -0.01477586f, 0.10393341f, 0.05159833f,
1736 -0.01945555f, -0.03427503f, -0.04867341f, 0.09237480f, 0.10732719f,
1737 0.06071450f, -0.01355071f, 0.01844356f, -0.03480803f, -0.03796671f,
1738 2.15628621e-004f, -0.05440186f, 0.01889855f, -0.01443413f,
1739 -0.02607902f, -0.02938001f, 0.02720689f, -0.06228397f, -0.02970936f,
1740 -0.03426210f, -0.10280876f, -0.06739304f, -0.05227850f, 0.03360292f,
1741 -0.11278441f, -0.06966180f, -0.13937433f, 9.10932291e-003f,
1742 2.52020749e-004f, -4.07359656e-003f, 0.12310639f, 0.09343060f,
1743 0.07302511f, 0.03222093f, 0.07532879f, 0.03792387f, -0.04985180f,
1744 0.01804602f, 0.02694195f, 0.13481498f, 0.04601225f, 0.04106982f,
1745 0.08511057f, 0.12314661f, 0.01320830f, 0.05044121f, -5.52943908e-003f,
1746 -0.08992624f, -0.02249301f, -0.08181777f, 0.06165213f, -0.03256603f,
1747 -0.01068920f, -0.01323473f, -0.11970232f, -0.04616347f, -0.12088681f,
1748 -0.06762606f, -0.08676834f, -0.06434575f, 0.01772529f, 0.03469615f,
1749 -0.10926618f, 0.03013873f, 0.14030397f, 0.16130108f, 0.17985588f,
1750 0.11281928f, 0.10530639f, 0.08905948f, 0.07733764f, 0.06695238f,
1751 0.02142088f, 0.06438877f, 0.09794453f, 0.05745072f, 0.02788557f,
1752 0.02632830f, 0.07985807f, 4.24902979e-003f, 8.47890321e-003f,
1753 -0.02679466f, -5.28812688e-003f, -0.02162580f, -0.07490715f,
1754 -0.08251337f, -0.02056576f, -0.01026194f, -1.15492963e-003f,
1755 -5.75720915e-004f, -0.07210591f, -0.07320981f, -0.04883312f,
1756 -0.10897151f, -0.07477258f, -0.08867134f, -0.09222437f, -0.10924666f,
1757 -0.10430276f, 0.07953499f, 0.02767959f, 0.11393359f, 0.18779543f,
1758 0.03313421f, 0.02143700f, 0.05852016f, -2.12067598e-003f,
1759 -3.76984011e-003f, 0.02774167f, -0.03124610f, 0.01465141f, 0.01616004f,
1760 -0.01391913f, -0.04404102f, -0.05444227f, -0.14684731f, -0.15016587f,
1761 0.04509468f, 1.29563001e-003f, 0.01398350f, 0.05610404f, -0.04868806f,
1762 -0.04776716f, -8.16873740e-003f, -2.30126386e-003f, -0.02286313f,
1763 0.11983398f, -0.04703261f, -0.08814441f, -0.07585249f, -0.10799607f,
1764 -0.03232087f, 0.01509786f, -0.04843464f, -0.03967846f, 0.09589416f,
1765 0.01352560f, -0.01458119f, 0.01050829f, -0.03038946f, 0.01608388f,
1766 1.11975556e-003f, -0.01250656f, 2.86211423e-003f, 0.04333691f,
1767 -0.14603497f, -0.01946543f, -0.02327525f, -0.01973944f, 0.07944400f,
1768 -0.02224544f, -0.06701808f, 0.03476532f, 0.11505594f, -0.02712801f,
1769 -0.01665113f, 0.06315716f, -0.08205860f, 0.07431999f, 0.04915778f,
1770 -0.04468752f, -0.01490402f, 0.07400476f, -0.11650901f, 0.05102430f,
1771 0.04559118f, -0.05916039f, 0.08840760f, -0.01587902f, -0.14890194f,
1772 0.07857784f, 0.04710254f, -0.05381983f, -0.07331945f, -0.03604643f,
1773 0.15611970f, 0.07649943f, -0.05959348f, -0.02776607f, 0.11098688f,
1774 0.03758875f, -0.04446875f, 0.04933187f, 0.01345535f, 0.06921103f,
1775 0.07364785f, 0.05518956f, 0.02899585f, 0.09375840f, 0.10518434f,
1776 -0.04420241f, 0.01915282f, -3.56386811e-003f, 0.14586878f, 0.10286101f,
1777 -0.04360626f, -0.12723237f, 0.09076386f, 0.11119842f, -0.06035013f,
1778 0.09674817f, 0.08938243f, 0.07065924f, 0.02603180f, 5.84815582e-003f,
1779 -0.05922065f, 0.12360309f, 3.59695964e-003f, 2.99844006e-003f,
1780 0.03697936f, 0.02043072f, 0.04168725f, 0.01025975f, -0.01359980f,
1781 -0.01600920f, 0.02581056f, 0.02329250f, 2.98100687e-003f, 0.01629762f,
1782 0.06652115f, 0.05855627f, 0.01237463f, -0.01297135f, 0.01761587f,
1783 0.05090865f, 0.06549342f, -0.04425945f, 2.43203156e-003f,
1784 3.07327788e-003f, 0.06678630f, -0.04303836f, 0.01082393f, -0.06476044f,
1785 0.04077786f, 0.12441979f, 0.08237778f, 0.07424165f, 0.04065890f,
1786 0.06905543f, 0.09556347f, 0.12724875f, -0.02132082f, 0.08514154f,
1787 -0.04175328f, -0.02666954f, 0.01897836f, 0.03317382f, 9.45465732e-003f,
1788 -0.01238974f, -0.04242500f, -0.01419479f, -0.03545213f, -0.02440874f,
1789 0.08684119f, 0.04212951f, 0.02462858f, -0.01104825f, -5.01706870e-003f,
1790 0.02968982f, 0.02597476f, -0.01568939f, 0.04514892f, 0.06974549f,
1791 0.08670278f, 0.06828108f, 0.10238872f, 0.05405957f, 0.06548470f,
1792 -0.03763957f, 0.01366090f, 0.07069602f, 0.05363748f, 0.04798120f,
1793 0.11706422f, 0.05466456f, -0.01869259f, 0.06344382f, 0.03106543f,
1794 0.08432506f, -0.02061096f, 0.03821088f, -6.92190882e-003f,
1795 6.40467042e-003f, -0.01271779f, 6.89014705e-005f, 0.04541415f,
1796 -0.01899539f, -0.05020239f, 0.03000903f, 0.01090422f, 4.52452758e-003f,
1797 0.02573632f, -0.02388454f, -0.04200457f, 1.72783900e-003f,
1798 -0.05978370f, -0.02720562f, 0.06573715f, 0.01154317f, 0.01265615f,
1799 0.07375994f, -9.19828378e-003f, -0.04914120f, 0.02124831f, 0.06455322f,
1800 0.04372910f, -0.03310043f, 0.03605788f, -6.78055827e-003f,
1801 9.36202332e-003f, 0.01747596f, -0.06406314f, -0.06812935f, 0.08080816f,
1802 -0.02778088f, 0.02735260f, 0.06393493f, 0.06652229f, 0.05676993f,
1803 0.08640018f, -7.59188086e-003f, -0.02012847f, -0.04741159f,
1804 -0.01657069f, -0.01624399f, 0.05547778f, -2.33309763e-003f,
1805 0.01120033f, 0.06141156f, -0.06285004f, -0.08732341f, -0.09313398f,
1806 -0.04267832f, 5.57443965e-003f, 0.04809862f, 0.01773641f,
1807 5.37361018e-003f, 0.14842421f, -0.06298012f, -0.02935147f, 0.11443478f,
1808 -0.05034208f, 5.65494271e-003f, 0.02076526f, -0.04577984f,
1809 -0.04735741f, 0.02961071f, -0.09307127f, -0.04417921f, -0.04990027f,
1810 -0.03940028f, 0.01306016f, 0.06267900f, 0.03758737f, 0.08460117f,
1811 0.13858789f, 0.04862388f, -0.06319809f, -0.05655516f, 0.01885816f,
1812 -0.03285607f, 0.03371567f, -0.07040928f, -0.04514049f, 0.01392166f,
1813 0.08184422f, -0.07230316f, 0.02386871f, 0.02184591f, 0.02605764f,
1814 -0.01033954f, 9.29878280e-003f, 7.67351175e-003f, 0.15189242f,
1815 0.02069071f, -0.09738296f, -0.08894105f, -0.07768748f, 0.02332268f,
1816 -0.01778995f, -0.03258888f, -0.08180822f, -0.08492987f, 0.02290156f,
1817 -0.11368170f, -0.03554465f, -0.04533844f, -0.02861580f, 0.06782424f,
1818 0.01113123f, 0.02453644f, 0.12721945f, 0.08084814f, -0.03607795f,
1819 0.01109122f, 0.04803548f, -0.03489929f, 0.03399536f, -0.05682014f,
1820 8.59533902e-003f, -4.27904585e-003f, 0.03230887f, -0.01300198f,
1821 -0.01038137f, -0.07930113f, 8.33097473e-003f, 0.02296994f,
1822 -0.01306500f, -0.01881626f, 0.04413369f, 0.05729880f, -0.03761553f,
1823 0.01942326f, 1.64540811e-003f, -0.03811319f, 0.04190650f, -0.14978096f,
1824 -0.04514487f, 0.01209545f, -5.46460645e-003f, -0.01647195f,
1825 7.63064111e-003f, -0.07494587f, 0.08415288f, 0.10020141f, -0.01228561f,
1826 0.06553826f, 0.04554005f, 0.07890417f, 0.03041138f, 0.01752007f,
1827 0.09208256f, -3.74419295e-004f, 0.10549527f, 0.04686913f, 0.01894833f,
1828 -0.02651412f, -4.34682379e-003f, 5.44942822e-003f, 0.01444484f,
1829 0.05882156f, -0.03336544f, 0.04603891f, -0.10432546f, 0.01923928f,
1830 0.01842845f, -0.01712168f, -0.02222766f, 0.04693324f, -0.06202956f,
1831 -0.01422159f, 0.08732220f, -0.07706107f, 0.02661049f, -0.04300238f,
1832 -0.03092422f, -0.03552184f, -0.01886088f, -0.04979934f, 0.03906401f,
1833 0.04608644f, 0.04966111f, 0.04275464f, -0.04621769f, -0.02653212f,
1834 8.57011229e-003f, 0.03839684f, 0.05818764f, 0.03880796f,
1835 -2.76100676e-004f, 0.03076511f, -0.03266929f, -0.05374557f,
1836 0.04986527f, -9.45429131e-003f, 0.03582499f, -2.64564669e-003f,
1837 -1.07461517e-003f, 0.02962313f, -0.01483363f, 0.03060869f, 0.02448327f,
1838 0.01845641f, 0.03282966f, -0.03534438f, -0.01084059f, -0.01119136f,
1839 -1.85360224e-003f, -5.94652840e-004f, -0.04451817f, 2.98327743e-003f,
1840 0.06272484f, -0.02152076f, -3.05971340e-003f, -0.05070828f,
1841 0.01531762f, 0.01282815f, 0.05167150f, 9.46266949e-003f,
1842 -3.34558333e-003f, 0.11442288f, -0.03906701f, -2.67325155e-003f,
1843 0.03069184f, -0.01134165f, 0.02949462f, 0.02879886f, 0.03855566f,
1844 -0.03450781f, 0.09142872f, -0.02156654f, 0.06075062f, -0.06220816f,
1845 0.01944680f, 6.68372354e-003f, -0.06656796f, 8.70784000e-003f,
1846 0.03456013f, 0.02434320f, -0.13236357f, -0.04177035f, -0.02069627f,
1847 0.01068112f, 0.01505432f, -0.07517391f, -3.83571628e-003f,
1848 -0.06298508f, -0.02881260f, -0.13101046f, -0.07221562f,
1849 -5.79945277e-003f, -8.57300125e-003f, 0.03782469f, 0.02762164f,
1850 0.04942456f, -0.02936396f, 0.09597211f, 0.01921411f, 0.06101191f,
1851 -0.04787507f, -0.01379578f, -7.40224449e-003f, -0.02220136f,
1852 -0.01313756f, 7.77558051e-003f, 0.12296968f, 0.02939998f, 0.03594062f,
1853 -0.07788624f, -0.01133144f, 3.99316690e-004f, -0.06090347f,
1854 -0.01122066f, -4.68682544e-003f, 0.07633100f, -0.06748922f,
1855 -0.05640298f, -0.05265681f, -0.01139122f, -0.01624347f, -0.04715714f,
1856 -0.01099092f, 0.01048561f, 3.28499987e-003f, -0.05810167f,
1857 -0.07699911f, -0.03330683f, 0.04185145f, 0.03478536f, 0.02275165f,
1858 0.02304766f, 6.66040834e-003f, 0.10968148f, -5.93013782e-003f,
1859 -0.04858336f, -0.04203213f, -0.09316786f, -6.13074889e-003f,
1860 -0.02544625f, 0.01366201f, 9.18555818e-003f, -0.01846578f,
1861 -0.05622401f, -0.03989377f, -0.07810296f, 6.91275718e-003f,
1862 0.05957597f, -0.03901334f, 0.01572002f, -0.01193903f,
1863 -6.89400872e-003f, -0.03093356f, -0.04136098f, -0.01562869f,
1864 -0.04604580f, 0.02865234f, -0.08678447f, -0.03232484f, -0.05364593f,
1865 -0.01445016f, -0.07003860f, -0.08669746f, -0.04520775f, 0.04274122f,
1866 0.03117515f, 0.08175703f, 0.01081109f, 0.06379741f, 0.06199206f,
1867 0.02865988f, 0.02360346f, 0.06725410f, -0.03248780f, -9.37702879e-003f,
1868 0.08265898f, -0.02245839f, 0.05125763f, -0.01862395f, 0.01973453f,
1869 -0.01994494f, -0.10770868f, 0.03180375f, 3.23935156e-003f,
1870 -0.02142080f, -0.04256190f, 0.04760900f, 0.04282863f, 0.05635953f,
1871 -0.01870849f, 0.05540622f, -0.03042666f, 0.01455277f, -0.06630179f,
1872 -0.05843807f, -0.03739681f, -0.09739155f, -0.03220233f, -0.05620182f,
1873 -0.10381401f, 0.07400211f, 4.20676917e-003f, 0.03258535f,
1874 2.14308966e-003f, 0.05121966f, -0.01274337f, 0.02384761f, 0.06335578f,
1875 -0.07905591f, 0.08375625f, -0.07898903f, -0.06508528f, -0.02498444f,
1876 0.06535810f, 0.03970535f, 0.04895468f, -0.01169566f, -0.03980601f,
1877 0.05682293f, 0.05925463f, -0.01165808f, -0.07936699f, -0.04208954f,
1878 0.01333987f, 0.09051196f, 0.10098671f, -0.03974256f, 0.01238771f,
1879 -0.07501741f, -0.03655440f, -0.04301528f, 0.09216860f,
1880 4.63579083e-004f, 0.02851115f, 0.02142735f, 1.28244064e-004f,
1881 0.02879687f, -0.08554889f, -0.04838862f, 0.08135369f, -0.05756533f,
1882 0.01413900f, 0.03451880f, -0.06619488f, -0.03053130f, 0.02961676f,
1883 -0.07384635f, 0.01135692f, 0.05283910f, -0.07778034f, -0.02107482f,
1884 -0.05511716f, -0.13473752f, 0.03030157f, 0.06722020f, -0.06218817f,
1885 -0.05826827f, 0.06254654f, 0.02895772f, -0.01664000f, -0.03620280f,
1886 -0.01612278f, -1.46097376e-003f, 0.14013411f, -8.96181818e-003f,
1887 -0.03250246f, 3.38630192e-003f, 2.64779478e-003f, 0.03359732f,
1888 -0.02411991f, -0.04229729f, 0.10666174f, -6.66579151f };
1889 return vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
1891 //This function renurn 1981 SVM coeffs obtained from daimler's base.
1892 //To use these coeffs the detection window size should be (48,96)
1893 vector<float> HOGDescriptor::getDaimlerPeopleDetector()
1895 static const float detector[] = {
1896 0.294350f, -0.098796f, -0.129522f, 0.078753f,
1897 0.387527f, 0.261529f, 0.145939f, 0.061520f,
1898 0.328699f, 0.227148f, -0.066467f, -0.086723f,
1899 0.047559f, 0.106714f, 0.037897f, 0.111461f,
1900 -0.024406f, 0.304769f, 0.254676f, -0.069235f,
1901 0.082566f, 0.147260f, 0.326969f, 0.148888f,
1902 0.055270f, -0.087985f, 0.261720f, 0.143442f,
1903 0.026812f, 0.238212f, 0.194020f, 0.056341f,
1904 -0.025854f, -0.034444f, -0.156631f, 0.205174f,
1905 0.089008f, -0.139811f, -0.100147f, -0.037830f,
1906 -0.029230f, -0.055641f, 0.033248f, -0.016512f,
1907 0.155244f, 0.247315f, -0.124694f, -0.048414f,
1908 -0.062219f, 0.193683f, 0.004574f, 0.055089f,
1909 0.093565f, 0.167712f, 0.167581f, 0.018895f,
1910 0.215258f, 0.122609f, 0.090520f, -0.067219f,
1911 -0.049029f, -0.099615f, 0.241804f, -0.094893f,
1912 -0.176248f, 0.001727f, -0.134473f, 0.104442f,
1913 0.050942f, 0.081165f, 0.072156f, 0.121646f,
1914 0.002656f, -0.297974f, -0.133587f, -0.060121f,
1915 -0.092515f, -0.048974f, -0.084754f, -0.180111f,
1916 -0.038590f, 0.086283f, -0.134636f, -0.107249f,
1917 0.132890f, 0.141556f, 0.249425f, 0.130273f,
1918 -0.030031f, 0.073212f, -0.008155f, 0.019931f,
1919 0.071688f, 0.000300f, -0.019525f, -0.021725f,
1920 -0.040993f, -0.086841f, 0.070124f, 0.240033f,
1921 0.265350f, 0.043208f, 0.166754f, 0.091453f,
1922 0.060916f, -0.036972f, -0.091043f, 0.079873f,
1923 0.219781f, 0.158102f, -0.140618f, -0.043016f,
1924 0.124802f, 0.093668f, 0.103208f, 0.094872f,
1925 0.080541f, 0.137711f, 0.160566f, -0.169231f,
1926 0.013983f, 0.309508f, -0.004217f, -0.057200f,
1927 -0.064489f, 0.014066f, 0.361009f, 0.251328f,
1928 -0.080983f, -0.044183f, 0.061436f, -0.037381f,
1929 -0.078786f, 0.030993f, 0.066314f, 0.037683f,
1930 0.152325f, -0.091683f, 0.070203f, 0.217856f,
1931 0.036435f, -0.076462f, 0.006254f, -0.094431f,
1932 0.154829f, -0.023038f, -0.196961f, -0.024594f,
1933 0.178465f, -0.050139f, -0.045932f, -0.000965f,
1934 0.109112f, 0.046165f, -0.159373f, -0.008713f,
1935 0.041307f, 0.097129f, -0.057211f, -0.064599f,
1936 0.077165f, 0.176167f, 0.138322f, 0.065753f,
1937 -0.104950f, 0.017933f, 0.136255f, -0.011598f,
1938 0.047007f, 0.080550f, 0.068619f, 0.084661f,
1939 -0.035493f, -0.091314f, -0.041411f, 0.060971f,
1940 -0.101912f, -0.079870f, -0.085977f, -0.022686f,
1941 0.079788f, -0.098064f, -0.054603f, 0.040383f,
1942 0.300794f, 0.128603f, 0.094844f, 0.047407f,
1943 0.101825f, 0.061832f, -0.162160f, -0.204553f,
1944 -0.035165f, 0.101450f, -0.016641f, -0.027140f,
1945 -0.134392f, -0.008743f, 0.102331f, 0.114853f,
1946 0.009644f, 0.062823f, 0.237339f, 0.167843f,
1947 0.053066f, -0.012592f, 0.043158f, 0.002305f,
1948 0.065001f, -0.038929f, -0.020356f, 0.152343f,
1949 0.043469f, -0.029967f, -0.042948f, 0.032481f,
1950 0.068488f, -0.110840f, -0.111083f, 0.111980f,
1951 -0.002072f, -0.005562f, 0.082926f, 0.006635f,
1952 -0.108153f, 0.024242f, -0.086464f, -0.189884f,
1953 -0.017492f, 0.191456f, -0.007683f, -0.128769f,
1954 -0.038017f, -0.132380f, 0.091926f, 0.079696f,
1955 -0.106728f, -0.007656f, 0.172744f, 0.011576f,
1956 0.009883f, 0.083258f, -0.026516f, 0.145534f,
1957 0.153924f, -0.130290f, -0.108945f, 0.124490f,
1958 -0.003186f, -0.100485f, 0.015024f, -0.060512f,
1959 0.026288f, -0.086713f, -0.169012f, 0.076517f,
1960 0.215778f, 0.043701f, -0.131642f, -0.012585f,
1961 -0.045181f, -0.118183f, -0.241544f, -0.167293f,
1962 -0.020107f, -0.019917f, -0.101827f, -0.107096f,
1963 -0.010503f, 0.044938f, 0.189680f, 0.217119f,
1964 -0.046086f, 0.044508f, 0.199716f, -0.036004f,
1965 -0.148927f, 0.013355f, -0.078279f, 0.030451f,
1966 0.056301f, -0.024609f, 0.083224f, 0.099533f,
1967 -0.039432f, -0.138880f, 0.005482f, -0.024120f,
1968 -0.140468f, -0.066381f, -0.017057f, 0.009260f,
1969 -0.058004f, -0.028486f, -0.061610f, 0.007483f,
1970 -0.158309f, -0.150687f, -0.044595f, -0.105121f,
1971 -0.045763f, -0.006618f, -0.024419f, -0.117713f,
1972 -0.119366f, -0.175941f, -0.071542f, 0.119027f,
1973 0.111362f, 0.043080f, 0.034889f, 0.093003f,
1974 0.007842f, 0.057368f, -0.108834f, -0.079968f,
1975 0.230959f, 0.020205f, 0.011470f, 0.098877f,
1976 0.101310f, -0.030215f, -0.018018f, -0.059552f,
1977 -0.106157f, 0.021866f, -0.036471f, 0.080051f,
1978 0.041165f, -0.082101f, 0.117726f, 0.030961f,
1979 -0.054763f, -0.084102f, -0.185778f, -0.061305f,
1980 -0.038089f, -0.110728f, -0.264010f, 0.076675f,
1981 -0.077111f, -0.137644f, 0.036232f, 0.277995f,
1982 0.019116f, 0.107738f, 0.144003f, 0.080304f,
1983 0.215036f, 0.228897f, 0.072713f, 0.077773f,
1984 0.120168f, 0.075324f, 0.062730f, 0.122478f,
1985 -0.049008f, 0.164912f, 0.162450f, 0.041246f,
1986 0.009891f, -0.097827f, -0.038700f, -0.023027f,
1987 -0.120020f, 0.203364f, 0.248474f, 0.149810f,
1988 -0.036276f, -0.082814f, -0.090343f, -0.027143f,
1989 -0.075689f, -0.320310f, -0.000500f, -0.143334f,
1990 -0.065077f, -0.186936f, 0.129372f, 0.116431f,
1991 0.181699f, 0.170436f, 0.418854f, 0.460045f,
1992 0.333719f, 0.230515f, 0.047822f, -0.044954f,
1993 -0.068086f, 0.140179f, -0.044821f, 0.085550f,
1994 0.092483f, -0.107296f, -0.130670f, -0.206629f,
1995 0.114601f, -0.317869f, -0.076663f, 0.038680f,
1996 0.212753f, -0.016059f, -0.126526f, -0.163602f,
1997 0.210154f, 0.099887f, -0.126366f, 0.118453f,
1998 0.019309f, -0.021611f, -0.096499f, -0.111809f,
1999 -0.200489f, 0.142854f, 0.228840f, -0.353346f,
2000 -0.179151f, 0.116834f, 0.252389f, -0.031728f,
2001 -0.188135f, -0.158998f, 0.386523f, 0.122315f,
2002 0.209944f, 0.394023f, 0.359030f, 0.260717f,
2003 0.170335f, 0.013683f, -0.142596f, -0.026138f,
2004 -0.011878f, -0.150519f, 0.047159f, -0.107062f,
2005 -0.147347f, -0.187689f, -0.186027f, -0.208048f,
2006 0.058468f, -0.073026f, -0.236556f, -0.079788f,
2007 -0.146216f, -0.058563f, -0.101361f, -0.071294f,
2008 -0.071093f, 0.116919f, 0.234304f, 0.306781f,
2009 0.321866f, 0.240000f, 0.073261f, -0.012173f,
2010 0.026479f, 0.050173f, 0.166127f, 0.228955f,
2011 0.061905f, 0.156460f, 0.205990f, 0.120672f,
2012 0.037350f, 0.167884f, 0.290099f, 0.420900f,
2013 -0.012601f, 0.189839f, 0.306378f, 0.118383f,
2014 -0.095598f, -0.072360f, -0.132496f, -0.224259f,
2015 -0.126021f, 0.022714f, 0.284039f, 0.051369f,
2016 -0.000927f, -0.058735f, -0.083354f, -0.141254f,
2017 -0.187578f, -0.202669f, 0.048902f, 0.246597f,
2018 0.441863f, 0.342519f, 0.066979f, 0.215286f,
2019 0.188191f, -0.072240f, -0.208142f, -0.030196f,
2020 0.178141f, 0.136985f, -0.043374f, -0.181098f,
2021 0.091815f, 0.116177f, -0.126690f, -0.386625f,
2022 0.368165f, 0.269149f, -0.088042f, -0.028823f,
2023 0.092961f, 0.024099f, 0.046112f, 0.176756f,
2024 0.135849f, 0.124955f, 0.195467f, -0.037218f,
2025 0.167217f, 0.188938f, 0.053528f, -0.066561f,
2026 0.133721f, -0.070565f, 0.115898f, 0.152435f,
2027 -0.116993f, -0.110592f, -0.179005f, 0.026668f,
2028 0.080530f, 0.075084f, -0.070401f, 0.012497f,
2029 0.021849f, -0.139764f, -0.022020f, -0.096301f,
2030 -0.064954f, -0.127446f, -0.013806f, -0.108315f,
2031 0.156285f, 0.149867f, -0.011382f, 0.064532f,
2032 0.029168f, 0.027393f, 0.069716f, 0.153735f,
2033 0.038459f, 0.230714f, 0.253840f, 0.059522f,
2034 -0.045053f, 0.014083f, 0.071103f, 0.068747f,
2035 0.095887f, 0.005832f, 0.144887f, 0.026357f,
2036 -0.067359f, -0.044151f, -0.123283f, -0.019911f,
2037 0.005318f, 0.109208f, -0.003201f, -0.021734f,
2038 0.142025f, -0.066907f, -0.120070f, -0.188639f,
2039 0.012472f, -0.048704f, -0.012366f, -0.184828f,
2040 0.168591f, 0.267166f, 0.058208f, -0.044101f,
2041 0.033500f, 0.178558f, 0.104550f, 0.122418f,
2042 0.080177f, 0.173246f, 0.298537f, 0.064173f,
2043 0.053397f, 0.174341f, 0.230984f, 0.117025f,
2044 0.166242f, 0.227781f, 0.120623f, 0.176952f,
2045 -0.011393f, -0.086483f, -0.008270f, 0.051700f,
2046 -0.153369f, -0.058837f, -0.057639f, -0.060115f,
2047 0.026349f, -0.160745f, -0.037894f, -0.048575f,
2048 0.041052f, -0.022112f, 0.060365f, 0.051906f,
2049 0.162657f, 0.138519f, -0.050185f, -0.005938f,
2050 0.071301f, 0.127686f, 0.062342f, 0.144400f,
2051 0.072600f, 0.198436f, 0.246219f, -0.078185f,
2052 -0.036169f, 0.075934f, 0.047328f, -0.013601f,
2053 0.087205f, 0.019900f, 0.022606f, -0.015365f,
2054 -0.092506f, 0.075275f, -0.116375f, 0.050500f,
2055 0.045118f, 0.166567f, 0.072073f, 0.060371f,
2056 0.131747f, -0.169863f, -0.039352f, -0.047486f,
2057 -0.039797f, -0.204312f, 0.021710f, 0.129443f,
2058 -0.021173f, 0.173416f, -0.070794f, -0.063986f,
2059 0.069689f, -0.064099f, -0.123201f, -0.017372f,
2060 -0.206870f, 0.065863f, 0.113226f, 0.024707f,
2061 -0.071341f, -0.066964f, -0.098278f, -0.062927f,
2062 0.075840f, 0.014716f, 0.019378f, 0.132699f,
2063 -0.074191f, -0.089557f, -0.078446f, -0.197488f,
2064 -0.173665f, 0.052583f, 0.044361f, 0.113549f,
2065 0.098492f, 0.077379f, -0.011146f, -0.192593f,
2066 -0.164435f, 0.045568f, 0.205699f, 0.049187f,
2067 -0.082281f, 0.134874f, 0.185499f, 0.034968f,
2068 -0.119561f, -0.112372f, -0.115091f, -0.054042f,
2069 -0.183816f, -0.078100f, 0.190695f, 0.091617f,
2070 0.004257f, -0.041135f, -0.061453f, -0.141592f,
2071 -0.194809f, -0.120638f, 0.020168f, 0.109672f,
2072 0.067398f, -0.015238f, -0.239145f, -0.264671f,
2073 -0.185176f, 0.050472f, 0.020793f, 0.035678f,
2074 0.022839f, -0.052055f, -0.127968f, -0.113049f,
2075 -0.228416f, -0.258281f, -0.053437f, 0.076424f,
2076 0.061450f, 0.237478f, 0.003618f, -0.055865f,
2077 -0.108087f, -0.028937f, 0.045585f, 0.052829f,
2078 -0.001471f, 0.022826f, 0.059565f, -0.104430f,
2079 -0.077266f, -0.211882f, -0.212078f, 0.028074f,
2080 0.075846f, 0.016265f, 0.161879f, 0.134477f,
2081 0.008935f, -0.048041f, 0.074692f, 0.004928f,
2082 -0.025156f, 0.192874f, 0.074410f, 0.308732f,
2083 0.267400f, 0.094208f, -0.005251f, 0.042041f,
2084 -0.032148f, 0.015588f, 0.252869f, 0.175302f,
2085 0.022892f, 0.081673f, 0.063208f, 0.162626f,
2086 0.194426f, 0.233890f, 0.262292f, 0.186930f,
2087 0.084079f, -0.286388f, -0.213034f, -0.048867f,
2088 -0.207669f, -0.170050f, 0.011673f, -0.092958f,
2089 -0.192786f, -0.273536f, 0.230904f, 0.266732f,
2090 0.320519f, 0.297155f, 0.548169f, 0.304922f,
2091 0.132687f, 0.247333f, 0.212488f, -0.271472f,
2092 -0.142105f, -0.002627f, -0.119215f, 0.128383f,
2093 0.100079f, -0.057490f, -0.121902f, -0.228892f,
2094 0.202292f, -0.399795f, -0.371326f, -0.095836f,
2095 -0.063626f, -0.161375f, -0.311180f, -0.294797f,
2096 0.242122f, 0.011788f, 0.095573f, 0.322523f,
2097 0.511840f, 0.322880f, 0.313259f, 0.173331f,
2098 0.002542f, -0.029802f, 0.324766f, -0.326170f,
2099 -0.340547f, -0.138288f, -0.002963f, -0.114060f,
2100 -0.377312f, -0.442570f, 0.212446f, -0.007759f,
2101 -0.011576f, 0.169711f, 0.308689f, 0.317348f,
2102 0.539390f, 0.332845f, 0.057331f, -0.068180f,
2103 0.101994f, 0.266995f, 0.209570f, 0.355730f,
2104 0.091635f, 0.170238f, 0.125215f, 0.274154f,
2105 0.070223f, 0.025515f, 0.049946f, -0.000550f,
2106 0.043715f, -0.141843f, 0.020844f, 0.129871f,
2107 0.256588f, 0.105015f, 0.148339f, 0.170682f,
2108 0.028792f, 0.074037f, 0.160042f, 0.405137f,
2109 0.246187f, 0.352160f, 0.168951f, 0.222263f,
2110 0.264439f, 0.065945f, 0.021963f, -0.075084f,
2111 0.093105f, 0.027318f, 0.098864f, 0.057566f,
2112 -0.080282f, 0.185032f, 0.314419f, 0.333727f,
2113 0.125798f, 0.294919f, 0.386002f, 0.217619f,
2114 -0.183517f, -0.278622f, -0.002342f, -0.027821f,
2115 -0.134266f, -0.331843f, -0.008296f, 0.124564f,
2116 0.053712f, -0.369016f, -0.095036f, 0.209381f,
2117 0.423760f, 0.371760f, 0.106397f, 0.369408f,
2118 0.485608f, 0.231201f, -0.138685f, -0.349208f,
2119 -0.070083f, 0.028991f, -0.081630f, -0.395992f,
2120 -0.146791f, -0.027354f, 0.063396f, -0.272484f,
2121 0.058299f, 0.338207f, 0.110767f, -0.052642f,
2122 -0.233848f, -0.027448f, 0.030328f, 0.155572f,
2123 -0.093826f, 0.019331f, 0.120638f, 0.006292f,
2124 -0.106083f, -0.236290f, -0.140933f, -0.088067f,
2125 -0.025138f, -0.208395f, -0.025502f, 0.144192f,
2126 -0.048353f, -0.106144f, -0.305121f, -0.114147f,
2127 0.090963f, 0.327727f, 0.035606f, -0.093779f,
2128 0.002651f, -0.171081f, -0.188131f, -0.216571f,
2129 -0.209101f, -0.054402f, 0.157147f, -0.057127f,
2130 0.066584f, 0.008988f, 0.041191f, 0.034456f,
2131 -0.078255f, 0.052099f, -0.022239f, 0.066981f,
2132 -0.117520f, -0.072637f, 0.062512f, 0.037570f,
2133 -0.057544f, -0.312359f, 0.034357f, -0.031549f,
2134 0.002566f, -0.207375f, -0.070654f, -0.018786f,
2135 -0.044815f, -0.012814f, -0.076320f, 0.078183f,
2136 0.023877f, 0.117078f, 0.022292f, -0.205424f,
2137 -0.060430f, -0.017296f, -0.004827f, -0.321036f,
2138 -0.092155f, 0.038837f, 0.073190f, -0.067513f,
2139 0.026521f, 0.171945f, 0.087318f, 0.034495f,
2140 -0.034089f, 0.154410f, -0.061431f, 0.007435f,
2141 -0.111094f, -0.095976f, 0.014741f, -0.132324f,
2142 -0.029517f, -0.192160f, 0.098667f, 0.020762f,
2143 0.177050f, -0.064510f, -0.054437f, -0.058678f,
2144 -0.001858f, 0.167602f, 0.015735f, 0.054338f,
2145 0.016477f, 0.186381f, -0.010667f, 0.054692f,
2146 0.126742f, 0.013140f, 0.090353f, -0.133608f,
2147 -0.018017f, -0.152619f, 0.027600f, -0.138700f,
2148 -0.050274f, 0.045141f, -0.118731f, 0.094797f,
2149 -0.167605f, 0.097461f, -0.009131f, 0.199920f,
2150 -0.052976f, 0.158194f, 0.178568f, -0.107600f,
2151 0.009671f, -0.084072f, -0.040258f, -0.205673f,
2152 0.102891f, 0.223511f, 0.042699f, 0.118548f,
2153 -0.021274f, 0.110997f, -0.155121f, 0.027696f,
2154 -0.149968f, 0.051552f, -0.129219f, 0.173524f,
2155 0.073972f, -0.189045f, -0.034523f, -0.106655f,
2156 -0.011843f, -0.197381f, 0.219413f, 0.183197f,
2157 -0.054920f, 0.144955f, 0.036517f, -0.085412f,
2158 -0.229070f, -0.143710f, -0.049486f, 0.156634f,
2159 -0.008673f, -0.064778f, 0.082344f, 0.145673f,
2160 0.002912f, -0.210121f, -0.116564f, 0.078425f,
2161 0.220908f, -0.067594f, 0.048610f, 0.084912f,
2162 -0.066202f, -0.112515f, -0.217767f, -0.082640f,
2163 -0.017414f, 0.230265f, -0.070735f, 0.066073f,
2164 0.215256f, 0.071157f, -0.087220f, -0.202235f,
2165 -0.011918f, 0.099562f, 0.174716f, -0.063845f,
2166 -0.121055f, 0.014367f, 0.132709f, -0.005060f,
2167 -0.244606f, -0.179693f, -0.134690f, 0.023239f,
2168 -0.193116f, -0.076975f, -0.021164f, -0.001938f,
2169 -0.163799f, -0.111437f, -0.210362f, -0.166376f,
2170 0.034754f, 0.010036f, -0.021917f, 0.068014f,
2171 -0.086893f, -0.251746f, -0.267171f, 0.037383f,
2172 0.003966f, 0.033571f, -0.151506f, 0.025437f,
2173 -0.020626f, -0.308454f, -0.343143f, -0.092263f,
2174 -0.026261f, -0.028345f, 0.036036f, 0.035169f,
2175 0.129470f, 0.122205f, 0.015661f, -0.070612f,
2176 -0.094333f, -0.066055f, -0.041083f, 0.159146f,
2177 0.073184f, 0.110044f, 0.174471f, 0.078069f,
2178 -0.014881f, 0.008116f, 0.013209f, 0.075857f,
2179 0.195605f, 0.062714f, 0.067955f, 0.056544f,
2180 -0.153908f, -0.141749f, -0.072550f, 0.033523f,
2181 -0.024665f, 0.134487f, 0.079076f, 0.133562f,
2182 0.227130f, 0.018054f, 0.004928f, 0.169162f,
2183 0.065152f, 0.072160f, 0.131631f, 0.096303f,
2184 0.054288f, 0.106256f, 0.114632f, 0.119038f,
2185 0.515200f, 0.247429f, 0.199134f, 0.211957f,
2186 0.127558f, -0.294684f, -0.194890f, -0.049988f,
2187 -0.112247f, -0.008122f, -0.006176f, 0.037035f,
2188 -0.110881f, -0.249989f, 0.152434f, 0.234621f,
2189 0.153340f, 0.349283f, 0.683049f, 0.157174f,
2190 0.124844f, 0.099136f, 0.064407f, -0.248400f,
2191 -0.155323f, -0.026498f, -0.023450f, 0.049051f,
2192 -0.114187f, 0.007195f, -0.176825f, -0.376926f,
2193 0.366159f, -0.179938f, -0.148508f, 0.006043f,
2194 0.170048f, 0.097866f, -0.102658f, -0.260430f,
2195 0.248868f, 0.037019f, -0.118111f, 0.078176f,
2196 0.194171f, 0.211328f, 0.368612f, 0.361213f,
2197 0.130013f, 0.094650f, 0.227396f, -0.178058f,
2198 -0.114782f, -0.008093f, 0.231080f, -0.011843f,
2199 -0.097917f, -0.325788f, 0.141879f, 0.119738f,
2200 -0.230427f, -0.117419f, -0.114153f, 0.037903f,
2201 0.116383f, 0.218773f, -0.101884f, 0.059466f,
2202 0.119255f, 0.010874f, -0.031449f, 0.045996f,
2203 0.119931f, 0.273760f, 0.311700f, 0.261794f,
2204 0.194809f, 0.339829f, 0.239449f, 0.064140f,
2205 0.077597f, 0.098996f, 0.143534f, 0.184602f,
2206 0.037507f, 0.225494f, 0.096142f, -0.147370f,
2207 -0.207833f, -0.174742f, -0.086391f, -0.038942f,
2208 0.159577f, -0.088492f, -0.000989f, 0.108154f,
2209 -0.025890f, -0.072713f, 0.025997f, -0.006803f,
2210 -0.086879f, -0.011290f, -0.269200f, -0.103450f,
2211 -0.124910f, -0.116340f, 0.141459f, 0.208800f,
2212 0.042268f, 0.265034f, 0.516474f, 0.217591f,
2213 -0.018843f, -0.313328f, -0.168363f, 0.047129f,
2214 0.090480f, -0.109852f, -0.018761f, 0.210669f,
2215 0.281269f, -0.043591f, -0.034147f, -0.237772f,
2216 -0.134843f, -0.072481f, -0.103831f, 0.038355f,
2217 0.308619f, 0.148023f, -0.045867f, -0.123950f,
2218 -0.210860f, -0.064973f, -0.036308f, -0.046731f,
2219 -0.022099f, 0.095776f, 0.409423f, 0.060635f,
2220 -0.065196f, 0.051828f, 0.027981f, -0.009609f,
2221 -0.137681f, -0.095011f, -0.019045f, 0.177278f,
2222 0.009759f, -0.092119f, -0.016958f, -0.133860f,
2223 -0.118421f, -0.032039f, -0.006214f, -0.084541f,
2224 0.063971f, -0.073642f, 0.165676f, 0.110443f,
2225 0.044131f, 0.046568f, 0.053292f, -0.055466f,
2226 0.015512f, 0.371947f, 0.232102f, -0.016923f,
2227 0.103979f, -0.091758f, 0.005907f, 0.209100f,
2228 0.157433f, 0.030518f, 0.250366f, 0.062322f,
2229 0.036720f, 0.094676f, 0.017306f, -0.010328f,
2230 -0.079012f, 0.016781f, -0.112435f, 0.061795f,
2231 0.042543f, -0.126799f, -0.009975f, -0.056760f,
2232 0.046424f, -0.194712f, -0.139399f, -0.037731f,
2233 0.157989f, -0.016261f, 0.123345f, 0.230563f,
2234 0.083300f, -0.016392f, 0.059567f, -0.016035f,
2235 -0.064767f, 0.231945f, 0.156629f, 0.034602f,
2236 0.145628f, 0.041315f, 0.034535f, 0.019967f,
2237 -0.089188f, -0.012091f, 0.307857f, 0.211405f,
2238 -0.025091f, -0.148249f, -0.129384f, 0.063536f,
2239 -0.068603f, -0.067941f, -0.035104f, 0.210832f,
2240 0.063810f, 0.062764f, -0.089889f, -0.030554f,
2241 0.014791f, -0.053362f, -0.037818f, -0.196640f,
2242 0.008388f, -0.082654f, 0.143056f, 0.064221f,
2243 0.069795f, 0.191040f, 0.097321f, -0.028679f,
2244 0.075794f, 0.313154f, 0.086240f, 0.207643f,
2245 0.017809f, 0.122867f, 0.224586f, 0.167403f,
2246 -0.023884f, 0.047434f, 0.344091f, 0.187745f,
2247 0.136177f, 0.141738f, 0.063799f, 0.045233f,
2248 -0.077342f, -0.003525f, -0.165041f, -0.025616f,
2249 -0.073745f, 0.164439f, 0.011200f, -0.145896f,
2250 -0.027954f, -0.061987f, -0.039874f, -0.142775f,
2251 0.151042f, -0.038238f, 0.053152f, 0.078615f,
2252 0.086061f, 0.100593f, 0.128046f, -0.071006f,
2253 -0.116558f, 0.208445f, 0.051086f, 0.076843f,
2254 0.023191f, -0.084781f, -0.011790f, 0.147807f,
2255 -0.048554f, -0.113932f, 0.283322f, 0.190934f,
2256 0.092789f, 0.033018f, -0.142428f, -0.142480f,
2257 -0.099023f, -0.041020f, -0.042760f, 0.203295f,
2258 -0.053475f, 0.042424f, 0.222839f, -0.019167f,
2259 -0.133176f, -0.276216f, -0.031998f, 0.117290f,
2260 0.177827f, -0.059973f, -0.064744f, -0.117040f,
2261 -0.155482f, -0.099531f, 0.164121f, -0.026682f,
2262 -0.093810f, 0.238993f, -0.006506f, 0.007830f,
2263 0.065819f, -0.203643f, -0.100925f, -0.053652f,
2264 -0.130770f, 0.026277f, 0.131796f, 0.032742f,
2265 0.127186f, 0.116694f, -0.161122f, -0.279773f,
2266 -0.252515f, -0.002638f, 0.042812f, 0.096776f,
2267 -0.123280f, 0.064858f, -0.010455f, -0.219760f,
2268 -0.239331f, -0.104363f, -0.058022f, -0.053584f,
2269 0.025611f, 0.005129f, -0.100418f, -0.045712f,
2270 -0.194418f, -0.126366f, -0.030530f, 0.051168f,
2271 0.215959f, 0.172402f, -0.054700f, -0.185995f,
2272 -0.278360f, -0.193693f, -0.040309f, 0.003735f,
2273 -0.007770f, 0.123556f, 0.190179f, -0.077315f,
2274 0.117403f, 0.212942f, 0.012160f, 0.000113f,
2275 0.027331f, 0.040202f, 0.033293f, 0.219438f,
2276 0.184174f, 0.259349f, 0.311206f, 0.082547f,
2277 -0.047875f, -0.078417f, 0.010746f, 0.082620f,
2278 0.311931f, 0.307605f, 0.003863f, 0.021405f,
2279 -0.026388f, -0.019572f, 0.020582f, -0.059353f,
2280 0.025199f, 0.261319f, 0.086316f, 0.143614f,
2281 0.107780f, 0.003900f, -0.188397f, -0.038563f,
2282 -0.106045f, -0.125154f, -0.010509f, 0.054021f,
2283 0.242130f, 0.279152f, 0.215546f, 0.346995f,
2284 0.440856f, 0.237452f, 0.234154f, 0.301646f,
2285 0.168929f, -0.208358f, -0.126848f, 0.010260f,
2286 0.121018f, -0.062975f, -0.052848f, 0.050341f,
2287 -0.061103f, -0.266482f, 0.107186f, 0.140221f,
2288 0.280065f, 0.287889f, 0.373198f, 0.151596f,
2289 0.013593f, 0.115616f, 0.014616f, -0.281710f,
2290 -0.237597f, -0.117305f, -0.000034f, -0.136739f,
2291 -0.196275f, -0.095225f, -0.125310f, -0.250514f,
2292 0.236804f, -0.071805f, -0.037421f, 0.048230f,
2293 0.321596f, 0.063632f, 0.024039f, -0.029133f,
2294 0.230983f, 0.160593f, -0.154355f, -0.013086f,
2295 -0.079929f, 0.094692f, 0.160391f, 0.180239f,
2296 0.053895f, 0.100759f, 0.288631f, 0.038191f,
2297 0.181692f, 0.229682f, 0.440166f, 0.063401f,
2298 0.006273f, 0.020865f, 0.338695f, 0.256244f,
2299 -0.043927f, 0.115617f, 0.003296f, 0.173965f,
2300 0.021318f, -0.040936f, -0.118932f, 0.182380f,
2301 0.235922f, -0.053233f, -0.015053f, -0.101057f,
2302 0.095341f, 0.051111f, 0.161831f, 0.032614f,
2303 0.159496f, 0.072375f, 0.025089f, 0.023748f,
2304 0.029151f, 0.161284f, -0.117717f, -0.036191f,
2305 -0.176822f, -0.162006f, 0.226542f, -0.078329f,
2306 0.043079f, -0.119172f, 0.054614f, -0.101365f,
2307 -0.064541f, -0.115304f, 0.135170f, 0.298872f,
2308 0.098060f, 0.089428f, -0.007497f, 0.110391f,
2309 -0.028824f, 0.020835f, -0.036804f, 0.125411f,
2310 0.192105f, -0.048931f, 0.003086f, -0.010681f,
2311 0.074698f, -0.016263f, 0.096063f, 0.060267f,
2312 -0.007277f, 0.139139f, -0.080635f, 0.036628f,
2313 0.086058f, 0.131979f, 0.085707f, 0.025301f,
2314 0.226094f, 0.194759f, 0.042193f, -0.157846f,
2315 -0.068402f, -0.141450f, -0.112659f, -0.076305f,
2316 -0.069085f, -0.114332f, -0.102005f, 0.132193f,
2317 -0.067042f, 0.106643f, 0.198964f, 0.171616f,
2318 0.167237f, -0.033730f, -0.026755f, 0.083621f,
2319 0.149459f, -0.002799f, -0.000318f, 0.011753f,
2320 0.065889f, -0.089375f, -0.049610f, 0.224579f,
2321 0.216548f, -0.034908f, -0.017851f, -0.088144f,
2322 0.007530f, 0.240268f, 0.073270f, 0.013263f,
2323 0.175323f, 0.012082f, 0.093993f, 0.015282f,
2324 0.105854f, 0.107990f, 0.077798f, -0.096166f,
2325 -0.079607f, 0.177820f, 0.142392f, 0.033337f,
2326 -0.078100f, -0.081616f, -0.046993f, 0.139459f,
2327 0.020272f, -0.123161f, 0.175269f, 0.105217f,
2328 0.057328f, 0.080909f, -0.012612f, -0.097081f,
2329 0.082060f, -0.096716f, -0.063921f, 0.201884f,
2330 0.128166f, -0.035051f, -0.032227f, -0.068139f,
2331 -0.115915f, 0.095080f, -0.086007f, -0.067543f,
2332 0.030776f, 0.032712f, 0.088937f, 0.054336f,
2333 -0.039329f, -0.114022f, 0.171672f, -0.112321f,
2334 -0.217646f, 0.065186f, 0.060223f, 0.192174f,
2335 0.055580f, -0.131107f, -0.144338f, 0.056730f,
2336 -0.034707f, -0.081616f, -0.135298f, -0.000614f,
2337 0.087189f, 0.014614f, 0.067709f, 0.107689f,
2338 0.225780f, 0.084361f, -0.008544f, 0.051649f,
2339 -0.048369f, -0.037739f, -0.060710f, 0.002654f,
2340 0.016935f, 0.085563f, -0.015961f, -0.019265f,
2341 0.111788f, 0.062376f, 0.202019f, 0.047713f,
2342 0.042261f, 0.069716f, 0.242913f, 0.021052f,
2343 -0.072812f, -0.155920f, -0.026436f, 0.035621f,
2344 -0.079300f, -0.028787f, -0.048329f, 0.084718f,
2345 -0.060565f, -0.083750f, -0.164075f, -0.040742f,
2346 -0.086219f, 0.015271f, -0.005204f, -0.016038f,
2347 0.045816f, -0.050433f, -0.077652f, 0.117109f,
2348 0.009611f, -0.009045f, -0.008634f, -0.055373f,
2349 -0.085968f, 0.028527f, -0.054736f, -0.168089f,
2350 0.175839f, 0.071205f, -0.023603f, 0.037907f,
2351 -0.004561f, -0.022634f, 0.123831f, 0.094469f,
2352 -0.072920f, -0.133642f, -0.014032f, -0.142754f,
2353 -0.026999f, -0.199409f, 0.013268f, 0.226989f,
2354 0.048650f, -0.170988f, -0.050141f, 0.007880f,
2355 0.061880f, 0.019078f, -0.043578f, -0.038139f,
2356 0.134814f, 0.054097f, -0.081670f, 0.176838f,
2357 0.047920f, -0.038176f, 0.050406f, -0.107181f,
2358 -0.036279f, 0.027060f, 0.081594f, -0.002820f,
2359 0.090507f, -0.033338f, -0.059571f, 0.013404f,
2360 -0.099860f, 0.073371f, 0.342805f, 0.098305f,
2361 -0.150910f, -0.020822f, -0.056960f, 0.046262f,
2362 -0.043413f, -0.149405f, -0.129105f, -0.010899f,
2363 -0.014229f, -0.179949f, -0.113044f, -0.049468f,
2364 -0.065513f, 0.090269f, -0.011919f, 0.087846f,
2365 0.095796f, 0.146127f, 0.101599f, 0.078066f,
2366 -0.084348f, -0.100002f, -0.020134f, -0.050169f,
2367 0.062122f, 0.014640f, 0.019143f, 0.036543f,
2368 0.180924f, -0.013976f, -0.066768f, -0.001090f,
2369 -0.070419f, -0.004839f, -0.001504f, 0.034483f,
2370 -0.044954f, -0.050336f, -0.088638f, -0.174782f,
2371 -0.116082f, -0.205507f, 0.015587f, -0.042839f,
2372 -0.096879f, -0.144097f, -0.050268f, -0.196796f,
2373 0.109639f, 0.271411f, 0.173732f, 0.108070f,
2374 0.156437f, 0.124255f, 0.097242f, 0.238693f,
2375 0.083941f, 0.109105f, 0.223940f, 0.267188f,
2376 0.027385f, 0.025819f, 0.125070f, 0.093738f,
2377 0.040353f, 0.038645f, -0.012730f, 0.144063f,
2378 0.052931f, -0.009138f, 0.084193f, 0.160272f,
2379 -0.041366f, 0.011951f, -0.121446f, -0.106713f,
2380 -0.047566f, 0.047984f, -0.255224f, -0.076116f,
2381 0.098685f, -0.150845f, -0.171513f, -0.156590f,
2382 0.058331f, 0.187493f, 0.413018f, 0.554265f,
2383 0.372242f, 0.237943f, 0.124571f, 0.110829f,
2384 0.010322f, -0.174477f, -0.067627f, -0.001979f,
2385 0.142913f, 0.040597f, 0.019907f, 0.025963f,
2386 -0.043585f, -0.120732f, 0.099937f, 0.091059f,
2387 0.247307f, 0.204226f, -0.042753f, -0.068580f,
2388 -0.119002f, 0.026722f, 0.034853f, -0.060934f,
2389 -0.025054f, -0.093026f, -0.035372f, -0.233209f,
2390 -0.049869f, -0.039151f, -0.022279f, -0.065380f,
2392 return vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
2395 class HOGConfInvoker : public ParallelLoopBody
2398 HOGConfInvoker( const HOGDescriptor* _hog, const Mat& _img,
2399 double _hitThreshold, Size _padding,
2400 std::vector<DetectionROI>* locs,
2401 std::vector<Rect>* _vec, Mutex* _mtx )
2405 hitThreshold = _hitThreshold;
2412 void operator()( const Range& range ) const
2414 int i, i1 = range.start, i2 = range.end;
2416 Size maxSz(cvCeil(img.cols/(*locations)[0].scale), cvCeil(img.rows/(*locations)[0].scale));
2417 Mat smallerImgBuf(maxSz, img.type());
2420 for( i = i1; i < i2; i++ )
2422 double scale = (*locations)[i].scale;
2424 Size sz(cvRound(img.cols / scale), cvRound(img.rows / scale));
2425 Mat smallerImg(sz, img.type(), smallerImgBuf.data);
2427 if( sz == img.size() )
2428 smallerImg = Mat(sz, img.type(), img.data, img.step);
2430 resize(img, smallerImg, sz);
2432 hog->detectROI(smallerImg, (*locations)[i].locations, dets, (*locations)[i].confidences, hitThreshold, Size(), padding);
2433 Size scaledWinSize = Size(cvRound(hog->winSize.width*scale), cvRound(hog->winSize.height*scale));
2435 for( size_t j = 0; j < dets.size(); j++ )
2437 vec->push_back(Rect(cvRound(dets[j].x*scale),
2438 cvRound(dets[j].y*scale),
2439 scaledWinSize.width, scaledWinSize.height));
2445 const HOGDescriptor* hog;
2447 double hitThreshold;
2448 std::vector<DetectionROI>* locations;
2450 std::vector<Rect>* vec;
2454 void HOGDescriptor::detectROI(const cv::Mat& img, const vector<cv::Point> &locations,
2455 CV_OUT std::vector<cv::Point>& foundLocations, CV_OUT std::vector<double>& confidences,
2456 double hitThreshold, cv::Size winStride,
2457 cv::Size padding) const
2459 foundLocations.clear();
2461 confidences.clear();
2463 if( svmDetector.empty() )
2466 if( locations.empty() )
2469 if( winStride == Size() )
2470 winStride = cellSize;
2472 Size cacheStride(gcd(winStride.width, blockStride.width),
2473 gcd(winStride.height, blockStride.height));
2475 size_t nwindows = locations.size();
2476 padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
2477 padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
2478 Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);
2480 // HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);
2481 HOGCache cache(this, img, padding, padding, true, cacheStride);
2483 nwindows = cache.windowsInImage(paddedImgSize, winStride).area();
2485 const HOGCache::BlockData* blockData = &cache.blockData[0];
2487 int nblocks = cache.nblocks.area();
2488 int blockHistogramSize = cache.blockHistogramSize;
2489 size_t dsize = getDescriptorSize();
2491 double rho = svmDetector.size() > dsize ? svmDetector[dsize] : 0;
2492 vector<float> blockHist(blockHistogramSize);
2494 for( size_t i = 0; i < nwindows; i++ )
2498 if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
2499 pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
2502 confidences.push_back(-10.0);
2507 const float* svmVec = &svmDetector[0];
2510 for( j = 0; j < nblocks; j++, svmVec += blockHistogramSize )
2512 const HOGCache::BlockData& bj = blockData[j];
2513 Point pt = pt0 + bj.imgOffset;
2514 // need to devide this into 4 parts!
2515 const float* vec = cache.getBlock(pt, &blockHist[0]);
2516 for( k = 0; k <= blockHistogramSize - 4; k += 4 )
2517 s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
2518 vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
2519 for( ; k < blockHistogramSize; k++ )
2520 s += vec[k]*svmVec[k];
2523 confidences.push_back(s);
2525 if( s >= hitThreshold )
2526 foundLocations.push_back(pt0);
2530 void HOGDescriptor::detectMultiScaleROI(const cv::Mat& img,
2531 CV_OUT std::vector<cv::Rect>& foundLocations,
2532 std::vector<DetectionROI>& locations,
2533 double hitThreshold,
2534 int groupThreshold) const
2536 std::vector<Rect> allCandidates;
2539 parallel_for_(Range(0, (int)locations.size()),
2540 HOGConfInvoker(this, img, hitThreshold, Size(8, 8), &locations, &allCandidates, &mtx));
2542 foundLocations.resize(allCandidates.size());
2543 std::copy(allCandidates.begin(), allCandidates.end(), foundLocations.begin());
2544 cv::groupRectangles(foundLocations, groupThreshold, 0.2);
2547 void HOGDescriptor::readALTModel(std::string modelfile)
2549 // read model from SVMlight format..
2551 if ((modelfl = fopen(modelfile.c_str(), "rb")) == NULL)
2553 std::string eerr("file not exist");
2554 std::string efile(__FILE__);
2555 std::string efunc(__FUNCTION__);
2556 throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
2558 char version_buffer[10];
2559 if (!fread (&version_buffer,sizeof(char),10,modelfl))
2561 std::string eerr("version?");
2562 std::string efile(__FILE__);
2563 std::string efunc(__FUNCTION__);
2564 throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
2566 if(strcmp(version_buffer,"V6.01")) {
2567 std::string eerr("version doesnot match");
2568 std::string efile(__FILE__);
2569 std::string efunc(__FUNCTION__);
2570 throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
2572 /* read version number */
2574 if (!fread (&version,sizeof(int),1,modelfl))
2575 { throw Exception(); }
2578 std::string eerr("version doesnot match");
2579 std::string efile(__FILE__);
2580 std::string efunc(__FUNCTION__);
2585 nread=fread(&(kernel_type),sizeof(int),1,modelfl);
2589 nread=fread(&(poly_degree),sizeof(int),1,modelfl);
2592 nread=fread(&(rbf_gamma),sizeof(double), 1, modelfl);
2594 nread=fread(&(coef_lin),sizeof(double),1,modelfl);
2596 nread=fread(&(coef_const),sizeof(double),1,modelfl);
2598 nread=fread(&l,sizeof(int),1,modelfl);
2599 char* custom = new char[l];
2600 nread=fread(custom,sizeof(char),l,modelfl);
2604 nread=fread(&(totwords),sizeof(int),1,modelfl);
2607 nread=fread(&(totdoc),sizeof(int),1,modelfl);
2609 nread=fread(&(sv_num), sizeof(int),1,modelfl);
2613 nread=fread(&linearbias, sizeof(double), 1, modelfl);
2615 std::vector<float> detector;
2617 if(kernel_type == 0) { /* linear kernel */
2618 /* save linear wts also */
2619 double *linearwt = new double[totwords+1];
2620 int length = totwords;
2621 nread = fread(linearwt, sizeof(double), totwords + 1, modelfl);
2622 if(nread != static_cast<size_t>(length) + 1)
2625 for(int i = 0; i < length; i++)
2626 detector.push_back((float)linearwt[i]);
2628 detector.push_back((float)-linearbias);
2629 setSVMDetector(detector);
2637 void HOGDescriptor::groupRectangles(vector<cv::Rect>& rectList, vector<double>& weights, int groupThreshold, double eps) const
2639 if( groupThreshold <= 0 || rectList.empty() )
2644 CV_Assert(rectList.size() == weights.size());
2647 int nclasses = partition(rectList, labels, SimilarRects(eps));
2649 vector<cv::Rect_<double> > rrects(nclasses);
2650 vector<int> numInClass(nclasses, 0);
2651 vector<double> foundWeights(nclasses, DBL_MIN);
2652 vector<double> totalFactorsPerClass(nclasses, 1);
2653 int i, j, nlabels = (int)labels.size();
2655 for( i = 0; i < nlabels; i++ )
2657 int cls = labels[i];
2658 rrects[cls].x += rectList[i].x;
2659 rrects[cls].y += rectList[i].y;
2660 rrects[cls].width += rectList[i].width;
2661 rrects[cls].height += rectList[i].height;
2662 foundWeights[cls] = max(foundWeights[cls], weights[i]);
2666 for( i = 0; i < nclasses; i++ )
2668 // find the average of all ROI in the cluster
2669 cv::Rect_<double> r = rrects[i];
2670 double s = 1.0/numInClass[i];
2671 rrects[i] = cv::Rect_<double>(cv::saturate_cast<double>(r.x*s),
2672 cv::saturate_cast<double>(r.y*s),
2673 cv::saturate_cast<double>(r.width*s),
2674 cv::saturate_cast<double>(r.height*s));
2680 for( i = 0; i < nclasses; i++ )
2682 cv::Rect r1 = rrects[i];
2683 int n1 = numInClass[i];
2684 double w1 = foundWeights[i];
2685 if( n1 <= groupThreshold )
2687 // filter out small rectangles inside large rectangles
2688 for( j = 0; j < nclasses; j++ )
2690 int n2 = numInClass[j];
2692 if( j == i || n2 <= groupThreshold )
2695 cv::Rect r2 = rrects[j];
2697 int dx = cv::saturate_cast<int>( r2.width * eps );
2698 int dy = cv::saturate_cast<int>( r2.height * eps );
2700 if( r1.x >= r2.x - dx &&
2701 r1.y >= r2.y - dy &&
2702 r1.x + r1.width <= r2.x + r2.width + dx &&
2703 r1.y + r1.height <= r2.y + r2.height + dy &&
2704 (n2 > std::max(3, n1) || n1 < 3) )
2710 rectList.push_back(r1);
2711 weights.push_back(w1);
projects / profile / ivi / opencv.git / blob