From 13134595fd6a04a082f737779039dd041bbd6200 Mon Sep 17 00:00:00 2001
From: Alexey Spizhevoy <no@email>
Date: Mon, 15 Nov 2010 11:01:56 +0000
Subject: [PATCH] added HOGDescriptor on GPU

---
 modules/gpu/CMakeLists.txt              |    2 +-
 modules/gpu/include/opencv2/gpu/gpu.hpp |   56 ++
 modules/gpu/src/cuda/hog.cu             |  654 ++++++++++++++++++
 modules/gpu/src/hog.cpp                 | 1127 +++++++++++++++++++++++++++++++
 4 files changed, 1838 insertions(+), 1 deletion(-)
 create mode 100644 modules/gpu/src/cuda/hog.cu
 create mode 100644 modules/gpu/src/hog.cpp

diff --git a/modules/gpu/CMakeLists.txt b/modules/gpu/CMakeLists.txt
index 9632d10..5e78ee0 100644
--- a/modules/gpu/CMakeLists.txt
+++ b/modules/gpu/CMakeLists.txt
@@ -1,6 +1,6 @@
 
 set(name "gpu")
-set(DEPS "opencv_core" "opencv_imgproc")
+set(DEPS "opencv_core" "opencv_imgproc" "opencv_objdetect")
 
 set(OPENCV_LINKER_LIBS ${OPENCV_LINKER_LIBS} opencv_gpu)
 
diff --git a/modules/gpu/include/opencv2/gpu/gpu.hpp b/modules/gpu/include/opencv2/gpu/gpu.hpp
index 081d4d3..50e1f90 100644
--- a/modules/gpu/include/opencv2/gpu/gpu.hpp
+++ b/modules/gpu/include/opencv2/gpu/gpu.hpp
@@ -46,6 +46,7 @@
 #include <vector>
 #include "opencv2/core/core.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
+#include "opencv2/objdetect/objdetect.hpp"
 #include "opencv2/gpu/devmem2d.hpp"
 
 namespace cv
@@ -973,8 +974,63 @@ namespace cv
             GpuMat table_color;
             GpuMat table_space;
         };
+
+        struct CV_EXPORTS HOGDescriptor
+        {
+        public:
+            enum { DEFAULT_WIN_SIGMA = -1 };
+            enum { DEFAULT_NLEVELS = 64 };
+
+            HOGDescriptor(Size win_size=Size(64, 128), Size block_size=Size(16, 16), 
+                          Size block_stride=Size(8, 8), Size cell_size=Size(8, 8), 
+                          bool gamma_correction=true, int nbins=9, double win_sigma=DEFAULT_WIN_SIGMA,
+                          double threshold_L2hys=0.2, int nlevels=DEFAULT_NLEVELS);
+
+            size_t getDescriptorSize() const;
+            size_t getBlockHistogramSize() const;
+            double getWinSigma() const;
+
+            static vector<float> getDefaultPeopleDetector();
+            void setSVMDetector(const vector<float>& detector);
+            bool checkDetectorSize() const;
+
+            void computeGradient(const GpuMat& img, GpuMat& grad, GpuMat& qangle);
+            void detect(const GpuMat& img, vector<Point>& found_locations, double hit_threshold=0, 
+                        Size win_stride=Size(), Size padding=Size());
+            void detectMultiScale(const GpuMat& img, vector<Rect>& found_locations, 
+                                  double hit_threshold=0, Size win_stride=Size(), Size padding=Size(),
+                                  double scale0=1.05, int group_threshold=2);
+
+            GpuMat getLastBlockHists() const;
+
+            Size win_size;
+            Size block_size;
+            Size block_stride;
+            Size cell_size;
+            bool gamma_correction;
+            int nbins;
+            double win_sigma;
+            double threshold_L2hys;
+            int nlevels;
+
+            // Coefficients of the separating plane
+            float free_coef;
+            GpuMat detector;
+
+            // Results of the last classification step
+            GpuMat labels;        
+            Mat labels_host;
+
+            // Results of the last histogram evaluation step
+            GpuMat block_hists;
+
+        private:
+            static int numPartsWithin(int size, int part_size, int stride);
+            static Size numPartsWithin(Size size, Size part_size, Size stride);
+        };    
     }
 
+
     //! Speckle filtering - filters small connected components on diparity image.
     //! It sets pixel (x,y) to newVal if it coresponds to small CC with size < maxSpeckleSize.
     //! Threshold for border between CC is diffThreshold;
diff --git a/modules/gpu/src/cuda/hog.cu b/modules/gpu/src/cuda/hog.cu
new file mode 100644
index 0000000..ccf974f
--- /dev/null
+++ b/modules/gpu/src/cuda/hog.cu
@@ -0,0 +1,654 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "cuda_shared.hpp"
+
+#ifndef CV_PI_F
+  #ifndef CV_PI
+    #define CV_PI_F 3.14159265f
+  #else
+    #define CV_PI_F ((float)CV_PI)
+  #endif
+#endif
+
+#ifndef div_up
+#define div_up(n, grain) (((n) + (grain) - 1) / (grain))
+#endif
+
+// Other values are not supported
+#define CELL_WIDTH 8
+#define CELL_HEIGHT 8
+#define CELLS_PER_BLOCK_X 2
+#define CELLS_PER_BLOCK_Y 2
+
+namespace cv { namespace gpu { namespace hog {
+
+__constant__ int cnbins;
+__constant__ int cblock_stride_x;
+__constant__ int cblock_stride_y;
+__constant__ int cnblocks_win_x;
+__constant__ int cnblocks_win_y;
+__constant__ int cblock_hist_size;
+__constant__ int cblock_hist_size_2up;
+__constant__ int cdescr_size;
+__constant__ int cdescr_width;
+
+
+/* Returns the nearest upper power of two, works only for 
+the typical GPU thread count (pert block) values */
+int power_2up(unsigned int n)
+{
+    if (n < 1) return 1;
+    else if (n < 2) return 2;
+    else if (n < 4) return 4;
+    else if (n < 8) return 8;
+    else if (n < 16) return 16;
+    else if (n < 32) return 32;
+    else if (n < 64) return 64;
+    else if (n < 128) return 128;
+    else if (n < 256) return 256;
+    else if (n < 512) return 512;
+    else if (n < 1024) return 1024;
+    return -1; // Input is too big
+}
+
+
+void set_up_constants(int nbins, int block_stride_x, int block_stride_y, 
+                      int nblocks_win_x, int nblocks_win_y)
+{
+    uploadConstant("cv::gpu::hog::cnbins", nbins);
+    uploadConstant("cv::gpu::hog::cblock_stride_x", block_stride_x);
+    uploadConstant("cv::gpu::hog::cblock_stride_y", block_stride_y);
+    uploadConstant("cv::gpu::hog::cnblocks_win_x", nblocks_win_x);
+    uploadConstant("cv::gpu::hog::cnblocks_win_y", nblocks_win_y);
+
+    int block_hist_size = nbins * CELLS_PER_BLOCK_X * CELLS_PER_BLOCK_Y;
+    uploadConstant("cv::gpu::hog::cblock_hist_size", block_hist_size);
+
+    int block_hist_size_2up = power_2up(block_hist_size);    
+    uploadConstant("cv::gpu::hog::cblock_hist_size_2up", block_hist_size_2up);
+
+    int descr_width = nblocks_win_x * block_hist_size;
+    uploadConstant("cv::gpu::hog::cdescr_width", descr_width);
+
+    int descr_size = descr_width * nblocks_win_y;
+    uploadConstant("cv::gpu::hog::cdescr_size", descr_size);
+}
+
+
+//----------------------------------------------------------------------------
+// Histogram computation
+
+
+template <int nblocks> // Number of histogram blocks processed by single GPU thread block
+__global__ void compute_hists_kernel_many_blocks(const int img_block_width, const PtrElemStepf grad, 
+                                                 const PtrElemStep qangle, float scale, float* block_hists)
+{
+    const int block_x = threadIdx.z;
+    const int cell_x = threadIdx.x / 16;
+    const int cell_y = threadIdx.y;
+    const int cell_thread_x = threadIdx.x & 0xF;
+
+    if (blockIdx.x * blockDim.z + block_x >= img_block_width)
+        return;
+
+    extern __shared__ float smem[];
+    float* hists = smem;
+    float* final_hist = smem + cnbins * 48 * nblocks;
+
+    const int offset_x = (blockIdx.x * blockDim.z + block_x) * cblock_stride_x + 
+                         4 * cell_x + cell_thread_x;
+    const int offset_y = blockIdx.y * cblock_stride_y + 4 * cell_y;
+
+    const float* grad_ptr = grad.ptr(offset_y) + offset_x * 2;
+    const unsigned char* qangle_ptr = qangle.ptr(offset_y) + offset_x * 2;
+
+    if (cell_thread_x < 12)
+    {
+        float* hist = hists + 12 * (cell_y * blockDim.z * CELLS_PER_BLOCK_Y + 
+                                    cell_x + block_x * CELLS_PER_BLOCK_X) + 
+                                   cell_thread_x;
+        for (int bin_id = 0; bin_id < cnbins; ++bin_id)
+            hist[bin_id * 48 * nblocks] = 0.f;
+
+        const int dist_x = -4 + (int)cell_thread_x - 4 * cell_x;
+
+        const int dist_y_begin = -4 - 4 * (int)threadIdx.y;
+        for (int dist_y = dist_y_begin; dist_y < dist_y_begin + 12; ++dist_y)
+        {
+            float2 vote = *(const float2*)grad_ptr;
+            uchar2 bin = *(const uchar2*)qangle_ptr;
+
+            grad_ptr += grad.step;
+            qangle_ptr += qangle.step;
+
+            int dist_center_y = dist_y - 4 * (1 - 2 * cell_y);
+            int dist_center_x = dist_x - 4 * (1 - 2 * cell_x);
+
+            float gaussian = expf(-(dist_center_y * dist_center_y + 
+                                    dist_center_x * dist_center_x) * scale);
+            float interp_weight = (8.f - fabs(dist_y + 0.5f)) * 
+                                  (8.f - fabs(dist_x + 0.5f)) / 64.f;
+
+            hist[bin.x * 48 * nblocks] += gaussian * interp_weight * vote.x;
+            hist[bin.y * 48 * nblocks] += gaussian * interp_weight * vote.y;
+        }
+
+        volatile float* hist_ = hist;
+        for (int bin_id = 0; bin_id < cnbins; ++bin_id, hist_ += 48 * nblocks)
+        {
+            if (cell_thread_x < 6) hist_[0] += hist_[6];
+            if (cell_thread_x < 3) hist_[0] += hist_[3];
+            if (cell_thread_x == 0) 
+                final_hist[((cell_x + block_x * 2) * 2 + cell_y) * cnbins + bin_id] 
+                    = hist_[0] + hist_[1] + hist_[2];
+        }
+    }
+
+    __syncthreads();
+
+    float* block_hist = block_hists + (blockIdx.y * img_block_width + 
+                                       blockIdx.x * blockDim.z + block_x) * 
+                                      cblock_hist_size;        
+
+    int tid = (cell_y * CELLS_PER_BLOCK_Y + cell_x) * 16 + cell_thread_x;
+    if (tid < cblock_hist_size)
+        block_hist[tid] = final_hist[block_x * cblock_hist_size + tid];     
+}
+
+
+void compute_hists(int nbins, int block_stride_x, int block_stride_y, 
+                               int height, int width, const DevMem2Df& grad, 
+                               const DevMem2D& qangle, float sigma, float* block_hists)                             
+{
+    const int nblocks = 1;
+
+    int img_block_width = (width - CELLS_PER_BLOCK_X * CELL_WIDTH + block_stride_x) / 
+                          block_stride_x;
+    int img_block_height = (height - CELLS_PER_BLOCK_Y * CELL_HEIGHT + block_stride_y) / 
+                           block_stride_y;
+
+    dim3 grid(div_up(img_block_width, nblocks), img_block_height);
+    dim3 threads(32, 2, nblocks);
+
+    cudaSafeCall(cudaFuncSetCacheConfig(compute_hists_kernel_many_blocks<nblocks>, 
+                                        cudaFuncCachePreferL1));
+ 
+    // Precompute gaussian spatial window parameter
+    float scale = 1.f / (2.f * sigma * sigma);
+
+    int hists_size = (nbins * CELLS_PER_BLOCK_X * CELLS_PER_BLOCK_Y * 12 * nblocks) * sizeof(float);
+    int final_hists_size = (nbins * CELLS_PER_BLOCK_X * CELLS_PER_BLOCK_Y * nblocks) * sizeof(float);
+    int smem = hists_size + final_hists_size;
+    compute_hists_kernel_many_blocks<nblocks><<<grid, threads, smem>>>(
+        img_block_width, grad, qangle, scale, block_hists);
+
+    cudaSafeCall(cudaThreadSynchronize());
+}
+
+
+//-------------------------------------------------------------
+//  Normalization of histograms via L2Hys_norm
+//
+
+
+template<int size> 
+__device__ float reduce_smem(volatile float* smem)
+{        
+    unsigned int tid = threadIdx.x;
+    float sum = smem[tid];
+
+    if (size >= 512) { if (tid < 256) smem[tid] = sum = sum + smem[tid + 256]; __syncthreads(); }
+    if (size >= 256) { if (tid < 128) smem[tid] = sum = sum + smem[tid + 128]; __syncthreads(); }
+    if (size >= 128) { if (tid < 64) smem[tid] = sum = sum + smem[tid + 64]; __syncthreads(); }
+    
+    if (tid < 32)
+    {        
+        if (size >= 64) smem[tid] = sum = sum + smem[tid + 32];
+        if (size >= 32) smem[tid] = sum = sum + smem[tid + 16];
+        if (size >= 16) smem[tid] = sum = sum + smem[tid + 8];
+        if (size >= 8) smem[tid] = sum = sum + smem[tid + 4];
+        if (size >= 4) smem[tid] = sum = sum + smem[tid + 2];
+        if (size >= 2) smem[tid] = sum = sum + smem[tid + 1];
+    }
+
+    __syncthreads();
+    sum = smem[0];
+    
+    return sum;
+}
+
+
+template <int nthreads, // Number of threads which process one block historgam 
+          int nblocks> // Number of block hisograms processed by one GPU thread block
+__global__ void normalize_hists_kernel_many_blocks(const int block_hist_size,
+                                                   const int img_block_width, 
+                                                   float* block_hists, float threshold)
+{
+    if (blockIdx.x * blockDim.z + threadIdx.z >= img_block_width)
+        return;
+
+    float* hist = block_hists + (blockIdx.y * img_block_width + 
+                                 blockIdx.x * blockDim.z + threadIdx.z) * 
+                                block_hist_size + threadIdx.x;
+    
+    __shared__ float sh_squares[nthreads * nblocks];
+    float* squares = sh_squares + threadIdx.z * nthreads;
+    
+    float elem = 0.f;
+    if (threadIdx.x < block_hist_size)
+        elem = hist[0];
+    
+    squares[threadIdx.x] = elem * elem;        
+
+    __syncthreads();
+    float sum = reduce_smem<nthreads>(squares);
+    
+    float scale = 1.0f / (sqrtf(sum) + 0.1f * block_hist_size);        
+    elem = min(elem * scale, threshold);
+    
+    __syncthreads();
+    squares[threadIdx.x] = elem * elem;
+
+    __syncthreads();
+    sum = reduce_smem<nthreads>(squares);
+    scale = 1.0f / (sqrtf(sum) + 1e-3f);
+    
+    if (threadIdx.x < block_hist_size)
+        hist[0] = elem * scale;
+}
+
+
+void normalize_hists(int nbins, int block_stride_x, int block_stride_y, 
+                                 int height, int width, float* block_hists, float threshold)
+{   
+    const int nblocks = 1;
+
+    int block_hist_size = nbins * CELLS_PER_BLOCK_X * CELLS_PER_BLOCK_Y;
+    int nthreads = power_2up(block_hist_size);
+    dim3 threads(nthreads, 1, nblocks);
+
+    int img_block_width = (width - CELLS_PER_BLOCK_X * CELL_WIDTH + block_stride_x) / block_stride_x;
+    int img_block_height = (height - CELLS_PER_BLOCK_Y * CELL_HEIGHT + block_stride_y) / block_stride_y;
+    dim3 grid(div_up(img_block_width, nblocks), img_block_height);
+
+    if (nthreads == 32)
+        normalize_hists_kernel_many_blocks<32, nblocks><<<grid, threads>>>(block_hist_size, img_block_width, block_hists, threshold);
+    else if (nthreads == 64)
+        normalize_hists_kernel_many_blocks<64, nblocks><<<grid, threads>>>(block_hist_size, img_block_width, block_hists, threshold);
+    else if (nthreads == 128)
+        normalize_hists_kernel_many_blocks<64, nblocks><<<grid, threads>>>(block_hist_size, img_block_width, block_hists, threshold);
+    else if (nthreads == 256)
+        normalize_hists_kernel_many_blocks<256, nblocks><<<grid, threads>>>(block_hist_size, img_block_width, block_hists, threshold);
+    else if (nthreads == 512)
+        normalize_hists_kernel_many_blocks<512, nblocks><<<grid, threads>>>(block_hist_size, img_block_width, block_hists, threshold);
+    // We don't support bigger sizes of the block histograms
+
+    cudaSafeCall(cudaThreadSynchronize());
+}
+
+
+//---------------------------------------------------------------------
+//  Linear SVM based classification
+//
+
+
+template <int nthreads, // Number of threads per one histogram block 
+          int nblocks> // Number of histogram block processed by single GPU thread block
+__global__ void classify_hists_kernel_many_blocks(const int img_win_width, const int img_block_width, 
+                                                  const float* block_hists, const float* coefs,
+                                                  float free_coef, float threshold, unsigned char* labels)
+{            
+    const int win_x = threadIdx.z;
+    if (blockIdx.x * blockDim.z + win_x >= img_win_width)
+        return;
+
+    const float* hist = block_hists + (blockIdx.y * img_block_width + 
+                                       blockIdx.x * blockDim.z + win_x) * 
+                                      cblock_hist_size;
+
+    float product = 0.f;
+    for (int i = threadIdx.x; i < cdescr_size; i += nthreads)
+    {
+        int offset_y = i / cdescr_width;
+        int offset_x = i - offset_y * cdescr_width;
+        product += coefs[i] * hist[offset_y * img_block_width * cblock_hist_size + offset_x];
+    }
+
+    __shared__ float products[nthreads * nblocks];
+
+    const int tid = threadIdx.z * nthreads + threadIdx.x;
+    products[tid] = product;
+
+    __syncthreads();
+
+    if (nthreads >= 512) 
+    { 
+        if (threadIdx.x < 256) products[tid] = product = product + products[tid + 256];
+        __syncthreads(); 
+    }
+    if (nthreads >= 256) 
+    { 
+        if (threadIdx.x < 128) products[tid] = product = product + products[tid + 128]; 
+        __syncthreads(); 
+    }
+    if (nthreads >= 128) 
+    { 
+        if (threadIdx.x < 64) products[tid] = product = product + products[tid + 64]; 
+        __syncthreads(); 
+    }
+    
+    if (threadIdx.x < 32)
+    {        
+        volatile float* smem = products;
+        if (nthreads >= 64) smem[tid] = product = product + smem[tid + 32];
+        if (nthreads >= 32) smem[tid] = product = product + smem[tid + 16];
+        if (nthreads >= 16) smem[tid] = product = product + smem[tid + 8];
+        if (nthreads >= 8) smem[tid] = product = product + smem[tid + 4];
+        if (nthreads >= 4) smem[tid] = product = product + smem[tid + 2];
+        if (nthreads >= 2) smem[tid] = product = product + smem[tid + 1];
+    }
+
+    if (threadIdx.x == 0)
+        labels[blockIdx.y * img_win_width + blockIdx.x * blockDim.z + win_x] 
+            = (product + free_coef >= threshold);
+
+}
+
+
+// We only support win_stride_x == block_stride_x, win_stride_y == block_stride_y
+void classify_hists(int win_height, int win_width, int block_stride_x, int block_stride_y, 
+                                int height, int width, float* block_hists, float* coefs, 
+                                float free_coef, float threshold, unsigned char* labels)
+{   
+    const int nthreads = 256;
+    const int nblocks = 1;
+
+    int img_win_width = (width - win_width + block_stride_x) / block_stride_x;
+    int img_win_height = (height - win_height + block_stride_y) / block_stride_y;
+
+    dim3 threads(nthreads, 1, nblocks);
+    dim3 grid(div_up(img_win_width, nblocks), img_win_height);
+
+    cudaSafeCall(cudaFuncSetCacheConfig(classify_hists_kernel_many_blocks<nthreads, nblocks>, 
+                                        cudaFuncCachePreferL1));
+
+    int img_block_width = (width - CELLS_PER_BLOCK_X * CELL_WIDTH + block_stride_x) / 
+                          block_stride_x;
+    classify_hists_kernel_many_blocks<nthreads, nblocks><<<grid, threads>>>(
+        img_win_width, img_block_width, block_hists, coefs, free_coef, threshold, labels);
+    cudaSafeCall(cudaThreadSynchronize());
+} 
+
+//------------------------------------------------------------
+// Gradients computation
+
+template <int nthreads>
+__global__ void compute_gradients_8UC4_kernel(int height, int width, const PtrElemStep img, 
+                                              float angle_scale, PtrElemStepf grad, PtrElemStep qangle)
+{
+    const int x = blockIdx.x * blockDim.x + threadIdx.x;
+
+    const uchar4* row = (const uchar4*)img.ptr(blockIdx.y);
+
+    __shared__ float sh_row[(nthreads + 2) * 3];
+
+    uchar4 val;
+    if (x < width)
+        val = row[x];
+    else if (x == width)
+        val = row[x - 2];
+    // Othrewise we do not read variable 'val' at all
+
+    sh_row[threadIdx.x + 1] = val.x;
+    sh_row[threadIdx.x + 1 + (nthreads + 2)] = val.y;
+    sh_row[threadIdx.x + 1 + 2 * (nthreads + 2)] = val.z;
+
+    if (threadIdx.x == 0)
+    {
+        val = x > 0 ? row[x - 1] : row[x + 1];
+        sh_row[0] = val.x;
+        sh_row[(nthreads + 2)] = val.y;
+        sh_row[2 * (nthreads + 2)] = val.z;
+    }
+
+    if (threadIdx.x == blockDim.x - 1)
+    {
+        val = (x < width - 1) ? row[x + 1] : row[x - 1];
+        sh_row[blockDim.x + 1] = val.x;
+        sh_row[blockDim.x + 1 + (nthreads + 2)] = val.y;
+        sh_row[blockDim.x + 1 + 2 * (nthreads + 2)] = val.z;
+    }
+
+    __syncthreads();
+    if (x < width)
+    {
+        float3 a, b;
+
+        b.x = sh_row[threadIdx.x + 2];
+        b.y = sh_row[threadIdx.x + 2 + (nthreads + 2)];
+        b.z = sh_row[threadIdx.x + 2 + 2 * (nthreads + 2)];
+        a.x = sh_row[threadIdx.x];
+        a.y = sh_row[threadIdx.x + (nthreads + 2)];
+        a.z = sh_row[threadIdx.x + 2 * (nthreads + 2)];
+
+        float3 dx = make_float3(sqrtf(b.x) - sqrtf(a.x), 
+                                sqrtf(b.y) - sqrtf(a.y), 
+                                sqrtf(b.z) - sqrtf(a.z));        
+        float3 dy = make_float3(0.f, 0.f, 0.f);
+
+        if (blockIdx.y > 0 && blockIdx.y < height - 1)
+        {
+            val = ((const uchar4*)img.ptr(blockIdx.y - 1))[x];
+            a = make_float3(val.x, val.y, val.z);
+
+            val = ((const uchar4*)img.ptr(blockIdx.y + 1))[x];
+            b = make_float3(val.x, val.y, val.z);
+
+            dy = make_float3(sqrtf(b.x) - sqrtf(a.x), 
+                             sqrtf(b.y) - sqrtf(a.y), 
+                             sqrtf(b.z) - sqrtf(a.z));
+        }
+
+        float best_dx = dx.x;
+        float best_dy = dy.x;
+
+        float mag0 = dx.x * dx.x + dy.x * dy.x;
+        float mag1 = dx.y * dx.y + dy.y * dy.y;
+        if (mag0 < mag1) 
+        {
+            best_dx = dx.y;
+            best_dy = dy.y;
+            mag0 = mag1;
+        }
+
+        mag1 = dx.z * dx.z + dy.z * dy.z;
+        if (mag0 < mag1)
+        {
+            best_dx = dx.z;
+            best_dy = dy.z;
+            mag0 = mag1;
+        }
+
+        mag0 = sqrtf(mag0);
+
+        float ang = (atan2f(best_dy, best_dx) + CV_PI_F) * angle_scale - 0.5f;
+        int hidx = (int)floorf(ang);
+        ang -= hidx;
+        hidx = (hidx + cnbins) % cnbins;
+
+        ((uchar2*)qangle.ptr(blockIdx.y))[x] = make_uchar2(hidx, (hidx + 1) % cnbins);
+        ((float2*)grad.ptr(blockIdx.y))[x] = make_float2(mag0 * (1.f - ang), mag0 * ang);
+    }
+}
+
+
+void compute_gradients_8UC4(int nbins, int height, int width, const DevMem2D& img, 
+                       float angle_scale, DevMem2Df grad, DevMem2D qangle)
+{
+    const int nthreads = 256;
+
+    dim3 bdim(nthreads, 1);
+    dim3 gdim(div_up(width, bdim.x), div_up(height, bdim.y));
+
+    compute_gradients_8UC4_kernel<nthreads><<<gdim, bdim>>>(height, width, img, angle_scale, 
+                                                            grad, qangle);
+    cudaSafeCall(cudaThreadSynchronize());
+}
+
+
+template <int nthreads>
+__global__ void compute_gradients_8UC1_kernel(int height, int width, const PtrElemStep img, 
+                                              float angle_scale, PtrElemStepf grad, PtrElemStep qangle)
+{
+    const int x = blockIdx.x * blockDim.x + threadIdx.x;
+
+    const unsigned char* row = (const unsigned char*)img.ptr(blockIdx.y);
+
+    __shared__ float sh_row[nthreads + 2];
+
+    if (x < width) 
+        sh_row[threadIdx.x + 1] = row[x];
+    else if (x == width)
+        sh_row[threadIdx.x + 1] = row[x - 2];
+
+    if (threadIdx.x == 0)
+        sh_row[0] = x > 0 ? row[x - 1] : row[x + 1];
+
+    if (threadIdx.x == blockDim.x - 1)
+        sh_row[blockDim.x + 1] = (x < width - 1) ? row[x + 1] : row[x - 1];
+
+    __syncthreads();
+    if (x < width)
+    {
+        float dx = sqrtf(sh_row[threadIdx.x + 2]) - sqrtf(sh_row[threadIdx.x]);
+        float dy = 0.f;
+        if (blockIdx.y > 0 && blockIdx.y < height - 1)
+            dy = sqrtf(((const unsigned char*)img.ptr(blockIdx.y + 1))[x]) - 
+                 sqrtf(((const unsigned char*)img.ptr(blockIdx.y - 1))[x]);
+        float mag = sqrtf(dx * dx + dy * dy);
+
+        float ang = (atan2f(dy, dx) + CV_PI_F) * angle_scale - 0.5f;
+        int hidx = (int)floorf(ang);
+        ang -= hidx;
+        hidx = (hidx + cnbins) % cnbins;
+
+        ((uchar2*)qangle.ptr(blockIdx.y))[x] = make_uchar2(hidx, (hidx + 1) % cnbins);
+        ((float2*)grad.ptr(blockIdx.y))[x] = make_float2(mag * (1.f - ang), mag * ang);
+    }
+}
+
+
+void compute_gradients_8UC1(int nbins, int height, int width, const DevMem2D& img, 
+                       float angle_scale, DevMem2Df grad, DevMem2D qangle)
+{
+    const int nthreads = 256;
+
+    dim3 bdim(nthreads, 1);
+    dim3 gdim(div_up(width, bdim.x), div_up(height, bdim.y));
+
+    compute_gradients_8UC1_kernel<nthreads><<<gdim, bdim>>>(height, width, img, angle_scale, 
+                                                            grad, qangle);
+    cudaSafeCall(cudaThreadSynchronize());
+}
+
+
+
+//-------------------------------------------------------------------
+// Resize
+
+texture<uchar4, 2> resize8UC4_tex;
+texture<unsigned char, 2> resize8UC1_tex;
+
+
+extern "C" __global__ void resize_8UC4_kernel(float sx, float sy, DevMem2D dst)
+{
+    unsigned int x = blockIdx.x * blockDim.x + threadIdx.x;
+    unsigned int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+    if (x < dst.cols && y < dst.rows)
+        ((uchar4*)dst.ptr(y))[x] = tex2D(resize8UC4_tex, x * sx, y * sy);
+}
+
+
+void resize_8UC4(const DevMem2D& src, DevMem2D dst)
+{
+    cudaChannelFormatDesc desc = cudaCreateChannelDesc<uchar4>();
+    cudaBindTexture2D(0, resize8UC4_tex, src.data, desc, src.cols, src.rows, src.step);
+
+    dim3 threads(32, 8);
+    dim3 grid(div_up(dst.cols, threads.x), div_up(dst.rows, threads.y));
+    float sx = (float)src.cols / dst.cols;
+    float sy = (float)src.rows / dst.rows;
+    resize_8UC4_kernel<<<grid, threads>>>(sx, sy, dst);
+    cudaSafeCall(cudaThreadSynchronize());
+
+    cudaSafeCall(cudaUnbindTexture(resize8UC4_tex));
+}
+
+
+extern "C" __global__ void resize_8UC1_kernel(float sx, float sy, DevMem2D dst)
+{
+    unsigned int x = blockIdx.x * blockDim.x + threadIdx.x;
+    unsigned int y = blockIdx.y * blockDim.y + threadIdx.y;
+
+    if (x < dst.cols && y < dst.rows)
+        ((unsigned char*)dst.ptr(y))[x] = tex2D(resize8UC1_tex, x * sx, y * sy);
+}
+
+
+void resize_8UC1(const DevMem2D& src, DevMem2D dst)
+{
+    cudaChannelFormatDesc desc = cudaCreateChannelDesc<unsigned char>();
+    cudaBindTexture2D(0, resize8UC1_tex, src.data, desc, src.cols, src.rows, src.step);
+
+    dim3 threads(32, 8);
+    dim3 grid(div_up(dst.cols, threads.x), div_up(dst.rows, threads.y));
+    float sx = (float)src.cols / dst.cols;
+    float sy = (float)src.rows / dst.rows;
+    resize_8UC1_kernel<<<grid, threads>>>(sx, sy, dst);
+    cudaSafeCall(cudaThreadSynchronize());
+
+    cudaSafeCall(cudaUnbindTexture(resize8UC1_tex));
+}
+
+}}}
\ No newline at end of file
diff --git a/modules/gpu/src/hog.cpp b/modules/gpu/src/hog.cpp
new file mode 100644
index 0000000..cfb79a5
--- /dev/null
+++ b/modules/gpu/src/hog.cpp
@@ -0,0 +1,1127 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other GpuMaterials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or bpied warranties, including, but not limited to, the bpied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+
+#if !defined (HAVE_CUDA)
+    
+cv::gpu::HOGDescriptor::HOGDescriptor(Size, Size, Size, Size, bool, int, double, double, int) { throw_nogpu(); }
+size_t cv::gpu::HOGDescriptor::getDescriptorSize() const { throw_nogpu(); return 0; }
+size_t cv::gpu::HOGDescriptor::getBlockHistogramSize() const { throw_nogpu(); return 0; }
+double cv::gpu::HOGDescriptor::getWinSigma() const { throw_nogpu(); return 0; }
+bool cv::gpu::HOGDescriptor::checkDetectorSize() const { throw_nogpu(); return false; }
+void cv::gpu::HOGDescriptor::setSVMDetector(const vector<float>&) { throw_nogpu(); }
+void cv::gpu::HOGDescriptor::computeGradient(const GpuMat&, GpuMat&, GpuMat&) { throw_nogpu(); }
+void cv::gpu::HOGDescriptor::detect(const GpuMat&, vector<Point>&, double, Size, Size) { throw_nogpu(); }
+void cv::gpu::HOGDescriptor::detectMultiScale(const GpuMat&, vector<Rect>&, double, Size, Size, double, int) { throw_nogpu(); }
+int cv::gpu::HOGDescriptor::numPartsWithin(int, int, int) { throw_nogpu(); return 0; }
+cv::Size cv::gpu::HOGDescriptor::numPartsWithin(cv::Size, cv::Size, cv::Size) { throw_nogpu(); return cv::Size(); } 
+std::vector<float> cv::gpu::HOGDescriptor::getDefaultPeopleDetector() { throw_nogpu(); return std::vector<float>(); }
+
+#else
+
+namespace cv { namespace gpu { namespace hog {
+
+void set_up_constants(int nbins, int block_stride_x, int block_stride_y, 
+                      int nblocks_win_x, int nblocks_win_y);
+
+void compute_hists(int nbins, int block_stride_x, int blovck_stride_y,
+                   int height, int width, const cv::gpu::DevMem2Df& grad, 
+                   const cv::gpu::DevMem2D& qangle, float sigma, float* block_hists);
+
+void normalize_hists(int nbins, int block_stride_x, int block_stride_y, 
+                     int height, int width, float* block_hists, float threshold);
+
+void classify_hists(int win_height, int win_width, int block_stride_x, 
+                    int block_stride_y, int height, int width, float* block_hists, 
+                    float* coefs, float free_coef, float threshold, unsigned char* labels);
+
+void compute_gradients_8UC1(int nbins, int height, int width, const cv::gpu::DevMem2D& img, 
+                            float angle_scale, cv::gpu::DevMem2Df grad, cv::gpu::DevMem2D qangle);
+void compute_gradients_8UC4(int nbins, int height, int width, const cv::gpu::DevMem2D& img, 
+                            float angle_scale, cv::gpu::DevMem2Df grad, cv::gpu::DevMem2D qangle);
+
+void resize_8UC1(const cv::gpu::DevMem2D& src, cv::gpu::DevMem2D dst);
+void resize_8UC4(const cv::gpu::DevMem2D& src, cv::gpu::DevMem2D dst);
+
+}}}
+
+    
+cv::gpu::HOGDescriptor::HOGDescriptor(Size win_size, Size block_size, Size block_stride, 
+                                      Size cell_size, bool gamma_correction, int nbins, 
+                                      double win_sigma, double threshold_L2hys, int nlevels)
+        : win_size(win_size), 
+          block_size(block_size), 
+          block_stride(block_stride), 
+          cell_size(cell_size),
+          gamma_correction(gamma_correction),
+          nbins(nbins), 
+          win_sigma(win_sigma),
+          threshold_L2hys(threshold_L2hys),
+          nlevels(nlevels)
+{
+    CV_Assert((win_size.width - block_size.width) % block_stride.width == 0 && 
+              (win_size.height - block_size.height) % block_stride.height == 0);
+
+    CV_Assert(block_size.width % cell_size.width == 0 && 
+              block_size.height % cell_size.height == 0);
+
+    CV_Assert(block_stride == cell_size);
+
+    CV_Assert(cell_size == Size(8, 8));
+
+    CV_Assert(gamma_correction == true);
+
+    Size cells_per_block = Size(block_size.width / cell_size.width, 
+                                block_size.height / cell_size.height);
+    CV_Assert(cells_per_block == Size(2, 2));
+
+    cv::Size blocks_per_win = numPartsWithin(win_size, block_size, block_stride);
+    hog::set_up_constants(nbins, block_stride.width, block_stride.height, 
+                          blocks_per_win.width, blocks_per_win.height);
+}       
+
+
+size_t cv::gpu::HOGDescriptor::getDescriptorSize() const
+{
+    return numPartsWithin(win_size, block_size, block_stride).area() * 
+           getBlockHistogramSize();
+}
+
+
+size_t cv::gpu::HOGDescriptor::getBlockHistogramSize() const {
+    Size cells_per_block = Size(block_size.width / cell_size.width, 
+                                block_size.height / cell_size.height);
+    return (size_t)(nbins * cells_per_block.area());
+}
+
+
+double cv::gpu::HOGDescriptor::getWinSigma() const
+{
+    return win_sigma >= 0 ? win_sigma : (block_size.width + block_size.height) / 8.0;
+}
+
+
+bool cv::gpu::HOGDescriptor::checkDetectorSize() const
+{
+    size_t detector_size = detector.rows * detector.cols;
+    size_t descriptor_size = getDescriptorSize();
+    return detector_size == 0 || detector_size == descriptor_size || 
+           detector_size == descriptor_size + 1;
+}
+
+
+void cv::gpu::HOGDescriptor::setSVMDetector(const vector<float>& detector)
+{
+    std::vector<float> detector_reordered(detector.size());
+
+    size_t block_hist_size = getBlockHistogramSize();
+    cv::Size blocks_per_img = numPartsWithin(win_size, block_size, block_stride);
+
+    for (int i = 0; i < blocks_per_img.height; ++i)
+        for (int j = 0; j < blocks_per_img.width; ++j)
+        {
+            const float* src = &detector[0] + (j * blocks_per_img.height + i) * block_hist_size;
+            float* dst = &detector_reordered[0] + (i * blocks_per_img.width + j) * block_hist_size;
+            for (size_t k = 0; k < block_hist_size; ++k)
+                dst[k] = src[k];
+        }
+
+    this->detector.upload(Mat(detector_reordered).reshape(1, 1));
+
+    size_t descriptor_size = getDescriptorSize();  
+    free_coef = detector.size() > descriptor_size ? detector[descriptor_size] : 0;
+
+    CV_Assert(checkDetectorSize());
+}
+
+
+void cv::gpu::HOGDescriptor::computeGradient(const GpuMat& img, GpuMat& grad, GpuMat& qangle)
+{
+    CV_Assert(img.type() == CV_8UC1 || img.type() == CV_8UC4);
+
+    grad.create(img.size(), CV_32FC2);
+    qangle.create(img.size(), CV_8UC2);
+
+    float angleScale = (float)(nbins / CV_PI);
+    switch (img.type()) {
+        case CV_8UC1:
+            hog::compute_gradients_8UC1(nbins, img.rows, img.cols, img, angleScale, grad, qangle);
+            break;
+        case CV_8UC4:
+            hog::compute_gradients_8UC4(nbins, img.rows, img.cols, img, angleScale, grad, qangle);
+            break;
+    }
+}
+
+
+void cv::gpu::HOGDescriptor::detect(const GpuMat& img, vector<Point>& hits, double hit_threshold, 
+                                    Size win_stride, Size padding)
+{
+    hits.clear();
+    if (detector.empty())
+        return;
+
+    GpuMat grad, qangle;     
+    computeGradient(img, grad, qangle);            
+
+    if (win_stride == Size())
+        win_stride = block_stride;
+    else
+        CV_Assert(win_stride == block_stride);
+
+    CV_Assert(padding == Size(0, 0));
+
+    size_t block_hist_size = getBlockHistogramSize();
+    Size blocks_per_win = numPartsWithin(win_size, block_size, block_stride);
+    Size wins_per_img = numPartsWithin(img.size(), win_size, win_stride);
+    Size blocks_per_img = numPartsWithin(img.size(), block_size, block_stride);
+
+    labels.create(1, wins_per_img.area(), CV_8U);
+    block_hists.create(1, block_hist_size * blocks_per_img.area(), CV_32F);
+
+    hog::compute_hists(nbins, block_stride.width, block_stride.height,
+                       img.rows, img.cols, grad, qangle, (float)getWinSigma(), 
+                       block_hists.ptr<float>());
+
+    hog::normalize_hists(nbins, block_stride.width, block_stride.height, img.rows, img.cols, 
+                         block_hists.ptr<float>(), (float)threshold_L2hys);
+
+    hog::classify_hists(win_size.height, win_size.width, block_stride.height, block_stride.width, 
+                        img.rows, img.cols, block_hists.ptr<float>(), detector.ptr<float>(), 
+                        (float)free_coef, (float)hit_threshold, labels.ptr());
+
+    labels.download(labels_host);
+    unsigned char* vec = labels_host.ptr();
+    for (int i = 0; i < wins_per_img.area(); i++)
+    {
+        int y = i / wins_per_img.width;
+        int x = i - wins_per_img.width * y;
+        if (vec[i]) 
+            hits.push_back(Point(x * win_stride.width, y * win_stride.height));
+    }
+}
+
+
+void cv::gpu::HOGDescriptor::detectMultiScale(const GpuMat& img, vector<Rect>& found_locations, 
+                                              double hit_threshold, Size win_stride, Size padding, 
+                                              double scale0, int group_threshold)
+{
+    CV_Assert(img.type() == CV_8UC1 || img.type() == CV_8UC4);
+
+    vector<double> level_scale;
+    double scale = 1.;
+    int levels = 0;
+
+    for (levels = 0; levels < nlevels; levels++)
+    {
+        level_scale.push_back(scale);
+        if (cvRound(img.cols/scale) < win_size.width || 
+            cvRound(img.rows/scale) < win_size.height || scale0 <= 1)
+            break;
+        scale *= scale0;
+    }
+    levels = std::max(levels, 1);
+    level_scale.resize(levels);
+
+    std::vector<Rect> all_candidates;   
+    vector<Point> locations;
+
+    for (size_t i = 0; i < level_scale.size(); i++)
+    {
+        double scale = level_scale[i];
+        Size sz = Size_<double>(img.size()) * (1.0/scale);
+        GpuMat smaller_img;
+
+        if (sz == img.size())
+            smaller_img = img;
+        else
+        {
+            smaller_img.create(sz, img.type());
+            switch (img.type()) {
+                case CV_8UC1: hog::resize_8UC1(img, smaller_img); break;
+                case CV_8UC4: hog::resize_8UC4(img, smaller_img); break;
+            }
+        }
+
+        detect(smaller_img, locations, hit_threshold, win_stride, padding);
+        Size scaled_win_size = Size_<double>(win_size) * scale;
+        for (size_t j = 0; j < locations.size(); j++)
+            all_candidates.push_back(Rect(Point2d(locations[j]) * scale, 
+                                          scaled_win_size));
+    }
+
+    found_locations.assign(all_candidates.begin(), all_candidates.end());    
+    groupRectangles(found_locations, group_threshold, 0.2/*magic number copied from CPU version*/);
+}
+
+
+cv::gpu::GpuMat cv::gpu::HOGDescriptor::getLastBlockHists() const {
+    return block_hists;
+}
+
+
+int cv::gpu::HOGDescriptor::numPartsWithin(int size, int part_size, int stride) 
+{
+    return (size - part_size + stride) / stride;
+}
+
+
+cv::Size cv::gpu::HOGDescriptor::numPartsWithin(cv::Size size, cv::Size part_size, 
+                                                cv::Size stride) 
+{
+    return Size(numPartsWithin(size.width, part_size.width, stride.width),
+                numPartsWithin(size.height, part_size.height, stride.height));
+}
+
+std::vector<float> cv::gpu::HOGDescriptor::getDefaultPeopleDetector()
+{
+    static const float detector[] = {
+       0.05359386f, -0.14721455f, -0.05532170f, 0.05077307f,
+       0.11547081f, -0.04268804f, 0.04635834f, -0.05468199f, 0.08232084f,
+       0.10424068f, -0.02294518f, 0.01108519f, 0.01378693f, 0.11193510f,
+       0.01268418f, 0.08528346f, -0.06309239f, 0.13054633f, 0.08100729f,
+       -0.05209739f, -0.04315529f, 0.09341384f, 0.11035026f, -0.07596218f,
+       -0.05517511f, -0.04465296f, 0.02947334f, 0.04555536f,
+       -3.55954492e-003f, 0.07818956f, 0.07730991f, 0.07890715f, 0.06222893f,
+       0.09001380f, -0.03574381f, 0.03414327f, 0.05677258f, -0.04773581f,
+       0.03746637f, -0.03521175f, 0.06955440f, -0.03849038f, 0.01052293f,
+       0.01736112f, 0.10867710f, 0.08748853f, 3.29739624e-003f, 0.10907028f,
+       0.07913758f, 0.10393070f, 0.02091867f, 0.11594022f, 0.13182420f,
+       0.09879354f, 0.05362710f, -0.06745391f, -7.01260753e-003f,
+       5.24702156e-003f, 0.03236255f, 0.01407916f, 0.02207983f, 0.02537322f,
+       0.04547948f, 0.07200756f, 0.03129894f, -0.06274468f, 0.02107014f,
+       0.06035208f, 0.08636236f, 4.53164103e-003f, 0.02193363f, 0.02309801f,
+       0.05568166f, -0.02645093f, 0.04448695f, 0.02837519f, 0.08975694f,
+       0.04461516f, 0.08975355f, 0.07514391f, 0.02306982f, 0.10410084f,
+       0.06368385f, 0.05943464f, 4.58420580e-003f, 0.05220337f, 0.06675851f,
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+       -0.05622401f, -0.03989377f, -0.07810296f, 6.91275718e-003f,
+       0.05957597f, -0.03901334f, 0.01572002f, -0.01193903f,
+       -6.89400872e-003f, -0.03093356f, -0.04136098f, -0.01562869f,
+       -0.04604580f, 0.02865234f, -0.08678447f, -0.03232484f, -0.05364593f,
+       -0.01445016f, -0.07003860f, -0.08669746f, -0.04520775f, 0.04274122f,
+       0.03117515f, 0.08175703f, 0.01081109f, 0.06379741f, 0.06199206f,
+       0.02865988f, 0.02360346f, 0.06725410f, -0.03248780f, -9.37702879e-003f,
+       0.08265898f, -0.02245839f, 0.05125763f, -0.01862395f, 0.01973453f,
+       -0.01994494f, -0.10770868f, 0.03180375f, 3.23935156e-003f,
+       -0.02142080f, -0.04256190f, 0.04760900f, 0.04282863f, 0.05635953f,
+       -0.01870849f, 0.05540622f, -0.03042666f, 0.01455277f, -0.06630179f,
+       -0.05843807f, -0.03739681f, -0.09739155f, -0.03220233f, -0.05620182f,
+       -0.10381401f, 0.07400211f, 4.20676917e-003f, 0.03258535f,
+       2.14308966e-003f, 0.05121966f, -0.01274337f, 0.02384761f, 0.06335578f,
+       -0.07905591f, 0.08375625f, -0.07898903f, -0.06508528f, -0.02498444f,
+       0.06535810f, 0.03970535f, 0.04895468f, -0.01169566f, -0.03980601f,
+       0.05682293f, 0.05925463f, -0.01165808f, -0.07936699f, -0.04208954f,
+       0.01333987f, 0.09051196f, 0.10098671f, -0.03974256f, 0.01238771f,
+       -0.07501741f, -0.03655440f, -0.04301528f, 0.09216860f,
+       4.63579083e-004f, 0.02851115f, 0.02142735f, 1.28244064e-004f,
+       0.02879687f, -0.08554889f, -0.04838862f, 0.08135369f, -0.05756533f,
+       0.01413900f, 0.03451880f, -0.06619488f, -0.03053130f, 0.02961676f,
+       -0.07384635f, 0.01135692f, 0.05283910f, -0.07778034f, -0.02107482f,
+       -0.05511716f, -0.13473752f, 0.03030157f, 0.06722020f, -0.06218817f,
+       -0.05826827f, 0.06254654f, 0.02895772f, -0.01664000f, -0.03620280f,
+       -0.01612278f, -1.46097376e-003f, 0.14013411f, -8.96181818e-003f,
+       -0.03250246f, 3.38630192e-003f, 2.64779478e-003f, 0.03359732f,
+       -0.02411991f, -0.04229729f, 0.10666174f, -6.66579151f };
+    return vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
+}
+
+#endif
\ No newline at end of file
-- 
2.7.4