From f174b001f3f10aec9396a45b144623b1b29ea5d9 Mon Sep 17 00:00:00 2001
From: Patrick Mihelich <no@email>
Date: Sun, 26 Feb 2012 23:55:18 +0000
Subject: [PATCH] Initial commit of LINE-MOD source code to objdetect module.

---
 .../include/opencv2/objdetect/objdetect.hpp        |  529 +++++-
 modules/objdetect/src/linemod.cpp                  | 1774 ++++++++++++++++++++
 modules/objdetect/src/normal_lut.i                 |    4 +
 3 files changed, 2306 insertions(+), 1 deletion(-)
 create mode 100644 modules/objdetect/src/linemod.cpp
 create mode 100644 modules/objdetect/src/normal_lut.i

diff --git a/modules/objdetect/include/opencv2/objdetect/objdetect.hpp b/modules/objdetect/include/opencv2/objdetect/objdetect.hpp
index 355bb46..bbf9fd7 100644
--- a/modules/objdetect/include/opencv2/objdetect/objdetect.hpp
+++ b/modules/objdetect/include/opencv2/objdetect/objdetect.hpp
@@ -47,6 +47,9 @@
 #include "opencv2/features2d/features2d.hpp"
 
 #ifdef __cplusplus
+#include <map>
+#include <deque>
+
 extern "C" {
 #endif
 
@@ -655,8 +658,532 @@ struct CV_EXPORTS CvDataMatrixCode {
   CvMat *corners;
 };
 
-#include <deque>
 CV_EXPORTS std::deque<CvDataMatrixCode> cvFindDataMatrix(CvMat *im);
+
+/****************************************************************************************\
+*                                 LINE-MOD                                               *
+\****************************************************************************************/
+
+namespace cv {
+namespace linemod {
+
+using cv::FileNode;
+using cv::FileStorage;
+using cv::Mat;
+using cv::noArray;
+using cv::OutputArrayOfArrays;
+using cv::Point;
+using cv::Ptr;
+using cv::Rect;
+using cv::Size;
+
+/// @todo Convert doxy comments to rst
+/// @todo Move stuff that doesn't need to be public into linemod.cpp
+/**
+ * \brief Compute quantized orientation image from color image.
+ *
+ * Implements section 2.2 "Computing the Gradient Orientations."
+ *
+ * \param[in]  src       The source 8-bit, 3-channel image.
+ * \param[out] magnitude Destination floating-point array of squared magnitudes.
+ * \param[out] angle     Destination 8-bit array of orientations. Each bit
+ *                       represents one bin of the orientation space.
+ * \param      threshold Magnitude threshold. Keep only gradients whose norms are
+ *                       larger than this.
+ */
+void quantizedOrientations(const Mat& src, Mat& magnitude,
+                           Mat& angle, float threshold);
+
+/**
+ * \brief Compute quantized normal image from depth image.
+ *
+ * Implements section 2.6 "Extension to Dense Depth Sensors."
+ *
+ * \param[in]  src  The source 16-bit depth image (in mm).
+ * \param[out] dst  The destination 8-bit image. Each bit represents one bin of
+ *                  the view cone.
+ * \param distance_threshold   Ignore pixels beyond this distance.
+ * \param difference_threshold When computing normals, ignore contributions of pixels whose
+ *                             depth difference with the central pixel is above this threshold.
+ *
+ * \todo Should also need camera model, or at least focal lengths? Replace distance_threshold with mask?
+ */
+void quantizedNormals(const Mat& src, Mat& dst, int distance_threshold,
+                      int difference_threshold = 50);
+
+/**
+ * \brief Discriminant feature described by its location and label.
+ */
+struct Feature
+{
+  int x; ///< x offset
+  int y; ///< y offset
+  int label; ///< Quantization
+
+  Feature() {}
+  Feature(int x, int y, int label) : x(x), y(y), label(label) {}
+
+  void read(const FileNode& fn);
+  void write(FileStorage& fs) const;
+};
+
+struct Template
+{
+  int width;
+  int height;
+  int pyramid_level;
+  std::vector<Feature> features;
+
+  void read(const FileNode& fn);
+  void write(FileStorage& fs) const;
+};
+
+/**
+ * \brief Crop a set of overlapping templates from different modalities.
+ *
+ * \param[in,out] templates Set of templates representing the same object view.
+ *
+ * \return The bounding box of all the templates in original image coordinates.
+ */
+Rect cropTemplates(std::vector<Template>& templates);
+
+/**
+ * \brief Represents a modality operating over an image pyramid.
+ */
+class QuantizedPyramid
+{
+public:
+  // Virtual destructor
+  virtual ~QuantizedPyramid() {}
+
+  /**
+   * \brief Compute quantized image at current pyramid level for online detection.
+   *
+   * \param[out] dst The destination 8-bit image. For each pixel at most one bit is set,
+   *                 representing its classification.
+   */
+  virtual void quantize(Mat& dst) const =0;
+
+  /**
+   * \brief Extract most discriminant features at current pyramid level to form a new template.
+   *
+   * \param[out] templ The new template.
+   */
+  virtual bool extractTemplate(Template& templ) const =0;
+
+  /**
+   * \brief Go to the next pyramid level.
+   *
+   * \todo Allow pyramid scale factor other than 2
+   */
+  virtual void pyrDown() =0;
+
+protected:
+  /// Candidate feature with a score
+  struct Candidate
+  {
+    Candidate(int x, int y, int label, float score)
+      : f(x, y, label), score(score)
+    {
+    }
+
+    /// Sort candidates with high score to the front
+    bool operator<(const Candidate& rhs) const
+    {
+      return score > rhs.score;
+    }
+
+    Feature f;
+    float score;
+  };
+
+  /**
+   * \brief Choose candidate features so that they are not bunched together.
+   *
+   * \param[in]  candidates   Candidate features sorted by score.
+   * \param[out] features     Destination vector of selected features.
+   * \param[in]  num_features Number of candidates to select.
+   * \param[in]  distance     Hint for desired distance between features.
+   */
+  static void selectScatteredFeatures(const std::vector<Candidate>& candidates,
+                                      std::vector<Feature>& features,
+                                      size_t num_features, float distance);
+};
+
+/**
+ * \brief Interface for modalities that plug into the LINE template matching representation.
+ *
+ * \todo Max response, to allow optimization of summing (255/MAX) features as uint8
+ */
+class Modality
+{
+public:
+  // Virtual destructor
+  virtual ~Modality() {}
+
+  /**
+   * \brief Form a quantized image pyramid from a source image.
+   *
+   * \param[in] src  The source image. Type depends on the modality.
+   * \param[in] mask Optional mask. If not empty, unmasked pixels are set to zero
+   *                 in quantized image and cannot be extracted as features.
+   */
+  Ptr<QuantizedPyramid> process(const Mat& src,
+				    const Mat& mask = Mat()) const
+  {
+    return processImpl(src, mask);
+  }
+
+  virtual std::string name() const =0;
+
+  virtual void read(const FileNode& fn) =0;
+  virtual void write(FileStorage& fs) const =0;
+
+  /**
+   * \brief Create modality by name.
+   *
+   * The following modality types are supported:
+   * - "ColorGradient"
+   * - "DepthNormal"
+   */
+  static Ptr<Modality> create(const std::string& modality_type);
+
+  /**
+   * \brief Load a modality from file.
+   */
+  static Ptr<Modality> create(const FileNode& fn);
+
+protected:
+  // Indirection is because process() has a default parameter.
+  virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
+						const Mat& mask) const =0;
+};
+
+/**
+ * \brief Modality that computes quantized gradient orientations from a color image.
+ */
+class ColorGradient : public Modality
+{
+public:
+  /**
+   * \brief Default constructor. Uses reasonable default parameter values.
+   */
+  ColorGradient();
+
+  /**
+   * \brief Constructor.
+   *
+   * \param weak_threshold   When quantizing, discard gradients with magnitude less than this.
+   * \param num_features     How many features a template must contain.
+   * \param strong_threshold Consider as candidate features only gradients whose norms are
+   *                         larger than this.
+   */
+  ColorGradient(float weak_threshold, size_t num_features, float strong_threshold);
+
+  virtual std::string name() const;
+
+  virtual void read(const FileNode& fn);
+  virtual void write(FileStorage& fs) const;
+
+  float weak_threshold;
+  size_t num_features;
+  float strong_threshold;
+
+protected:
+  virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
+						const Mat& mask) const;
+};
+
+/**
+ * \brief Modality that computes quantized surface normals from a dense depth map.
+ */
+class DepthNormal : public Modality
+{
+public:
+  /**
+   * \brief Default constructor. Uses reasonable default parameter values.
+   */
+  DepthNormal();
+
+  /**
+   * \brief Constructor.
+   *
+   * \param distance_threshold   Ignore pixels beyond this distance.
+   * \param difference_threshold When computing normals, ignore contributions of pixels whose
+   *                             depth difference with the central pixel is above this threshold.
+   * \param num_features         How many features a template must contain.
+   * \param extract_threshold    Consider as candidate feature only if there are no differing
+   *                             orientations within a distance of extract_threshold.
+   */
+  DepthNormal(int distance_threshold, int difference_threshold, size_t num_features,
+              int extract_threshold);
+
+  virtual std::string name() const;
+
+  virtual void read(const FileNode& fn);
+  virtual void write(FileStorage& fs) const;
+
+  int distance_threshold;
+  int difference_threshold;
+  size_t num_features;
+  int extract_threshold;
+
+protected:
+  virtual Ptr<QuantizedPyramid> processImpl(const Mat& src,
+						const Mat& mask) const;
+};
+
+/**
+ * \brief Debug function to colormap a quantized image for viewing.
+ */
+void colormap(const Mat& quantized, Mat& dst);
+
+/**
+ * \brief Spread binary labels in a quantized image.
+ *
+ * Implements section 2.3 "Spreading the Orientations."
+ *
+ * \param[in]  src The source 8-bit quantized image.
+ * \param[out] dst Destination 8-bit spread image.
+ * \param      T   Sampling step. Spread labels T/2 pixels in each direction.
+ */
+void spread(const Mat& src, Mat& dst, int T);
+
+/**
+ * \brief Precompute response maps for a spread quantized image.
+ *
+ * Implements section 2.4 "Precomputing Response Maps."
+ *
+ * \param[in]  src           The source 8-bit spread quantized image.
+ * \param[out] response_maps Vector of 8 response maps, one for each bit label.
+ */
+void computeResponseMaps(const Mat& src, std::vector<Mat>& response_maps);
+
+/**
+ * \brief Convert a response map to fast linearized ordering.
+ *
+ * Implements section 2.5 "Linearizing the Memory for Parallelization."
+ *
+ * \param[in]  response_map The 2D response map, an 8-bit image.
+ * \param[out] linearized   The response map in linearized order. It has T*T rows,
+ *                          each of which is a linear memory of length (W/T)*(H/T).
+ * \param      T            Sampling step.
+ */
+void linearize(const Mat& response_map, Mat& linearized, int T);
+
+/**
+ * \brief Compute similarity measure for a given template at each sampled image location.
+ *
+ * Uses linear memories to compute the similarity measure as described in Fig. 7.
+ *
+ * \param[in]  linear_memories Vector of 8 linear memories, one for each label.
+ * \param[in]  templ           Template to match against.
+ * \param[out] dst             Destination 8-bit similarity image of size (W/T, H/T).
+ * \param      size            Size (W, H) of the original input image.
+ * \param      T               Sampling step.
+ */
+void similarity(const std::vector<Mat>& linear_memories, const Template& templ,
+                Mat& dst, Size size, int T);
+
+/**
+ * \brief Compute similarity measure for a given template in a local region.
+ *
+ * \param[in]  linear_memories Vector of 8 linear memories, one for each label.
+ * \param[in]  templ           Template to match against.
+ * \param[out] dst             Destination 8-bit similarity image, 16x16.
+ * \param      size            Size (W, H) of the original input image.
+ * \param      T               Sampling step.
+ * \param      center          Center of the local region.
+ */
+void similarityLocal(const std::vector<Mat>& linear_memories, const Template& templ,
+                     Mat& dst, Size size, int T, Point center);
+
+/**
+ * \brief Accumulate one or more 8-bit similarity images.
+ *
+ * \param[in]  similarities Source 8-bit similarity images.
+ * \param[out] dst          Destination 16-bit similarity image.
+ */
+void addSimilarities(const std::vector<Mat>& similarities, Mat& dst);
+
+/**
+ * \brief Represents a successful template match.
+ */
+struct Match
+{
+  Match()
+  {
+  }
+
+  Match(int x, int y, float similarity, const std::string& class_id, int template_id)
+    : x(x), y(y), similarity(similarity), class_id(class_id), template_id(template_id)
+  {
+  }
+
+  /// Sort matches with high similarity to the front
+  bool operator<(const Match& rhs) const
+  {
+    // Secondarily sort on template_id for the sake of duplicate removal
+    if (similarity != rhs.similarity)
+      return similarity > rhs.similarity;
+    else
+      return template_id < rhs.template_id;
+  }
+
+  bool operator==(const Match& rhs) const
+  {
+    return x == rhs.x && y == rhs.y && similarity == rhs.similarity && class_id == rhs.class_id;
+  }
+
+  int x;
+  int y;
+  float similarity;
+  std::string class_id;
+  int template_id;
+};
+
+/**
+ * \brief Object detector using the LINE template matching algorithm with any set of
+ * modalities.
+ */
+class Detector
+{
+public:
+  /**
+   * \brief Empty constructor, initialize with read().
+   */
+  Detector();
+
+  /**
+   * \brief Constructor.
+   *
+   * \param modalities       Modalities to use (color gradients, depth normals, ...).
+   * \param T_pyramid        Value of the sampling step T at each pyramid level. The
+   *                         number of pyramid levels is T_pyramid.size().
+   * \param pyramid_distance Scale factor between pyramid levels.
+   */
+  Detector(const std::vector< Ptr<Modality> >& modalities,
+	   const std::vector<int>& T_pyramid, double pyramid_distance = 2.0);
+
+  /**
+   * \brief Detect objects by template matching.
+   *
+   * Matches globally at the lowest pyramid level, then refines locally stepping up the pyramid.
+   *
+   * \param      sources   Source images, one for each modality.
+   * \param      threshold Similarity threshold, a percentage between 0 and 100.
+   * \param[out] matches   Template matches, sorted by similarity score.
+   * \param      class_ids If non-empty, only search for the desired object classes.
+   * \param[out] quantized_images Optionally return vector<Mat> of quantized images.
+   * \param      masks     The masks for consideration during matching. The masks should be CV_8UC1
+   *                       where 255 represents a valid pixel.  If non-empty, the vector must be
+   *                       the same size as sources.  Each element must be
+   *                       empty or the same size as its corresponding source.
+   */
+  void match(const std::vector<Mat>& sources, float threshold, std::vector<Match>& matches,
+             const std::vector<std::string>& class_ids = std::vector<std::string>(),
+             OutputArrayOfArrays quantized_images = noArray(),
+             const std::vector<Mat>& masks = std::vector<Mat>()) const;
+
+  /**
+   * \brief Add new object template.
+   *
+   * \param      sources      Source images, one for each modality.
+   * \param      class_id     Object class ID.
+   * \param      object_mask  Mask separating object from background.
+   * \param[out] bounding_box Optionally return bounding box of the extracted features.
+   *
+   * \return Template ID, or -1 if failed to extract a valid template.
+   */
+  int addTemplate(const std::vector<Mat>& sources, const std::string& class_id,
+		  const Mat& object_mask, Rect* bounding_box = NULL);
+
+  /**
+   * \brief Add a new object template computed by external means.
+   */
+  int addSyntheticTemplate(const std::vector<Template>& templates, const std::string& class_id);
+
+  /**
+   * \brief Get the modalities used by this detector.
+   *
+   * You are not permitted to add/remove modalities, but you may dynamic_cast them to
+   * tweak parameters.
+   */
+  const std::vector< Ptr<Modality> >& getModalities() const { return modalities; }
+
+  /**
+   * \brief Get sampling step T at pyramid_level.
+   */
+  int getT(int pyramid_level) const { return T_at_level[pyramid_level]; }
+
+  /**
+   * \brief Get number of pyramid levels used by this detector.
+   */
+  int pyramidLevels() const { return pyramid_levels; }
+
+  /**
+   * \brief Get the template pyramid identified by template_id.
+   *
+   * For example, with 2 modalities (Gradient, Normal) and two pyramid levels
+   * (L0, L1), the order is (GradientL0, NormalL0, GradientL1, NormalL1).
+   */
+  const std::vector<Template>& getTemplates(const std::string& class_id, int template_id) const;
+
+  int numTemplates() const;
+  int numTemplates(const std::string& class_id) const;
+  int numClasses() const { return class_templates.size(); }
+
+  std::vector<std::string> classIds() const;
+
+  void read(const FileNode& fn);
+  void write(FileStorage& fs) const;
+
+  std::string readClass(const FileNode& fn, const std::string &class_id_override = "");
+  void writeClass(const std::string& class_id, FileStorage& fs) const;
+
+  void readClasses(const std::vector<std::string>& class_ids,
+                   const std::string& format = "templates_%s.yml.gz");
+  void writeClasses(const std::string& format = "templates_%s.yml.gz") const;
+
+protected:
+  std::vector< Ptr<Modality> > modalities;
+  int pyramid_levels;
+  double pyramid_distance;
+  std::vector<int> T_at_level;
+
+  typedef std::vector<Template> TemplatePyramid;
+  typedef std::map<std::string, std::vector<TemplatePyramid> > TemplatesMap;
+  TemplatesMap class_templates;
+
+  typedef std::vector<Mat> LinearMemories;
+  // Indexed as [pyramid level][modality][quantized label]
+  typedef std::vector< std::vector<LinearMemories> > LinearMemoryPyramid;
+
+  void matchClass(const LinearMemoryPyramid& lm_pyramid,
+                  const std::vector<Size>& sizes,
+                  float threshold, std::vector<Match>& matches,
+                  const std::string& class_id,
+                  const std::vector<TemplatePyramid>& template_pyramids) const;
+};
+
+/**
+ * \brief Factory function for detector using LINE algorithm with color gradients.
+ *
+ * Default parameter settings suitable for VGA images.
+ */
+Ptr<Detector> getDefaultLINE();
+
+/**
+ * \brief Factory function for detector using LINE-MOD algorithm with color gradients
+ * and depth normals.
+ *
+ * Default parameter settings suitable for VGA images.
+ */
+Ptr<Detector> getDefaultLINEMOD();
+
+} // namespace linemod
+} // namespace cv
+
 #endif
 
 #endif
diff --git a/modules/objdetect/src/linemod.cpp b/modules/objdetect/src/linemod.cpp
new file mode 100644
index 0000000..9cfd3b6
--- /dev/null
+++ b/modules/objdetect/src/linemod.cpp
@@ -0,0 +1,1774 @@
+/*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 "precomp.hpp"
+#include <limits>
+
+namespace cv
+{
+namespace linemod
+{
+
+// struct Feature
+
+/**
+ * \brief Get the label [0,8) of the single bit set in quantized.
+ */
+static inline int getLabel(int quantized)
+{
+  switch (quantized)
+  {
+    case 1:   return 0;
+    case 2:   return 1;
+    case 4:   return 2;
+    case 8:   return 3;
+    case 16:  return 4;
+    case 32:  return 5;
+    case 64:  return 6;
+    case 128: return 7;
+    default:
+      CV_Assert(false);
+      return -1; //avoid warning
+  }
+}
+
+void Feature::read(const FileNode& fn)
+{
+  FileNodeIterator fni = fn.begin();
+  fni >> x >> y >> label;
+}
+
+void Feature::write(FileStorage& fs) const
+{
+  fs << "[:" << x << y << label << "]";
+}
+
+// struct Template
+
+Rect cropTemplates(std::vector<Template>& templates)
+{
+  int min_x = std::numeric_limits<int>::max();
+  int min_y = std::numeric_limits<int>::max();
+  int max_x = std::numeric_limits<int>::min();
+  int max_y = std::numeric_limits<int>::min();
+
+  // First pass: find min/max feature x,y over all pyramid levels and modalities
+  for (int i = 0; i < (int)templates.size(); ++i)
+  {
+    Template& templ = templates[i];
+
+    for (int j = 0; j < (int)templ.features.size(); ++j)
+    {
+      int x = templ.features[j].x << templ.pyramid_level;
+      int y = templ.features[j].y << templ.pyramid_level;
+      min_x = std::min(min_x, x);
+      min_y = std::min(min_y, y);
+      max_x = std::max(max_x, x);
+      max_y = std::max(max_y, y);
+    }
+  }
+  
+  /// @todo Why require even min_x, min_y?
+  if (min_x % 2 == 1) --min_x;
+  if (min_y % 2 == 1) --min_y;
+
+  // Second pass: set width/height and shift all feature positions
+  for (int i = 0; i < (int)templates.size(); ++i)
+  {
+    Template& templ = templates[i];
+    templ.width = (max_x - min_x) >> templ.pyramid_level;
+    templ.height = (max_y - min_y) >> templ.pyramid_level;
+    int offset_x = min_x >> templ.pyramid_level;
+    int offset_y = min_y >> templ.pyramid_level;
+    
+    for (int j = 0; j < (int)templ.features.size(); ++j)
+    {
+      templ.features[j].x -= offset_x;
+      templ.features[j].y -= offset_y;
+    }
+  }
+
+  return Rect(min_x, min_y, max_x - min_x, max_y - min_y);
+}
+
+void Template::read(const FileNode& fn)
+{
+  width = fn["width"];
+  height = fn["height"];
+  pyramid_level = fn["pyramid_level"];
+
+  FileNode features_fn = fn["features"];
+  features.resize(features_fn.size());
+  FileNodeIterator it = features_fn.begin(), it_end = features_fn.end();
+  for (int i = 0; it != it_end; ++it, ++i)
+  {
+    features[i].read(*it);
+  }
+}
+
+void Template::write(FileStorage& fs) const
+{
+  fs << "width" << width;
+  fs << "height" << height;
+  fs << "pyramid_level" << pyramid_level;
+
+  fs << "features" << "[";
+  for (int i = 0; i < (int)features.size(); ++i)
+  {
+    features[i].write(fs);
+  }
+  fs << "]"; // features
+}
+
+/****************************************************************************************\
+*                             Modality interfaces                                        *
+\****************************************************************************************/
+
+void QuantizedPyramid::selectScatteredFeatures(const std::vector<Candidate>& candidates,
+                                               std::vector<Feature>& features,
+                                               size_t num_features, float distance)
+{
+  features.clear();
+  float distance_sq = CV_SQR(distance);
+  int i = 0;
+  while (features.size() < num_features)
+  {
+    Candidate c = candidates[i];
+
+    // Add if sufficient distance away from any previously chosen feature
+    bool keep = true;
+    for (int j = 0; (j < (int)features.size()) && keep; ++j)
+    {
+      Feature f = features[j];
+      keep = CV_SQR(c.f.x - f.x) + CV_SQR(c.f.y - f.y) >= distance_sq;
+    }
+    if (keep)
+      features.push_back(c.f);
+
+    if (++i == (int)candidates.size())
+    {
+      // Start back at beginning, and relax required distance
+      i = 0;
+      distance -= 1.0f;
+      distance_sq = CV_SQR(distance);
+    }
+  }
+}
+
+Ptr<Modality> Modality::create(const std::string& modality_type)
+{
+  if (modality_type == "ColorGradient")
+    return new ColorGradient();
+  else if (modality_type == "DepthNormal")
+    return new DepthNormal();
+  else
+    return NULL;
+}
+
+Ptr<Modality> Modality::create(const FileNode& fn)
+{
+  std::string type = fn["type"];
+  Ptr<Modality> modality = create(type);
+  modality->read(fn);
+  return modality;
+}
+
+void colormap(const Mat& quantized, Mat& dst)
+{
+  std::vector<Vec3b> lut(8);
+  lut[0] = Vec3b(  0,   0, 255);
+  lut[1] = Vec3b(  0, 170, 255);
+  lut[2] = Vec3b(  0, 255, 170);
+  lut[3] = Vec3b(  0, 255,   0);
+  lut[4] = Vec3b(170, 255,   0);
+  lut[5] = Vec3b(255, 170,   0);
+  lut[6] = Vec3b(255,   0,   0);
+  lut[7] = Vec3b(255,   0, 170);
+
+  dst = Mat::zeros(quantized.size(), CV_8UC3);
+  for (int r = 0; r < dst.rows; ++r)
+  {
+    const uchar* quant_r = quantized.ptr(r);
+    Vec3b* dst_r = dst.ptr<Vec3b>(r);
+    for (int c = 0; c < dst.cols; ++c)
+    {
+      uchar q = quant_r[c];
+      if (q)
+        dst_r[c] = lut[getLabel(q)];
+    }
+  }
+}
+
+/****************************************************************************************\
+*                             Color gradient modality                                    *
+\****************************************************************************************/
+
+// Forward declaration
+void hysteresisGradient(Mat& magnitude, Mat& angle,
+                        Mat& ap_tmp, float threshold);
+
+// Implements section 2.2
+void quantizedOrientations(const Mat& src, Mat& magnitude,
+                           Mat& angle, float threshold)
+{
+  magnitude.create(src.size(), CV_32F);
+
+  // Allocate temporary buffers
+  Size size = src.size();
+  Mat_<Vec3s> sobel_3dx(size); // per-channel horizontal derivative
+  Mat_<Vec3s> sobel_3dy(size); // per-channel vertical derivative
+  Mat_<float> sobel_dx(size);      // maximum horizontal derivative
+  Mat_<float> sobel_dy(size);      // maximum vertical derivative
+  Mat_<float> sobel_ag(size);      // final gradient orientation (unquantized)
+  Mat_<Vec3b> smoothed(size);
+
+  // Compute horizontal and vertical image derivatives on all color channels separately
+  static const int KERNEL_SIZE = 7;
+  // For some reason cvSmooth/cv::GaussianBlur, cvSobel/cv::Sobel have different defaults for border handling...
+  GaussianBlur(src, smoothed, Size(KERNEL_SIZE, KERNEL_SIZE), 0, 0, BORDER_REPLICATE);
+  Sobel(smoothed, sobel_3dx, CV_16S, 1, 0, 3, 1.0, 0.0, BORDER_REPLICATE);
+  Sobel(smoothed, sobel_3dy, CV_16S, 0, 1, 3, 1.0, 0.0, BORDER_REPLICATE);
+
+  short * ptrx  = (short *)sobel_3dx.data;
+  short * ptry  = (short *)sobel_3dy.data;
+  float * ptr0x = (float *)sobel_dx.data;
+  float * ptr0y = (float *)sobel_dy.data;
+  float * ptrmg = (float *)magnitude.data;
+
+  const int length1 = sobel_3dx.step1();
+  const int length2 = sobel_3dy.step1();
+  const int length3 = sobel_dx.step1();
+  const int length4 = sobel_dy.step1();
+  const int length5 = magnitude.step1();
+  const int length0 = sobel_3dy.cols * 3;
+
+  for (int r = 0; r < sobel_3dy.rows; ++r)
+  {
+    int ind = 0;
+
+    for (int i = 0; i < length0; i += 3)
+    {
+      // Use the gradient orientation of the channel whose magnitude is largest
+      unsigned short mag1 = CV_SQR((unsigned short)ptrx[i]) + CV_SQR((unsigned short)ptry[i]);
+      unsigned short mag2 = CV_SQR((unsigned short)ptrx[i + 1]) + CV_SQR((unsigned short)ptry[i + 1]);
+      unsigned short mag3 = CV_SQR((unsigned short)ptrx[i + 2]) + CV_SQR((unsigned short)ptry[i + 2]);
+
+      if (mag1 >= mag2 && mag1 >= mag3)
+      {
+        ptr0x[ind] = ptrx[i];
+        ptr0y[ind] = ptry[i];
+        ptrmg[ind] = mag1;
+      }
+      else if (mag2 >= mag1 && mag2 >= mag3)
+      {
+        ptr0x[ind] = ptrx[i + 1];
+        ptr0y[ind] = ptry[i + 1];
+        ptrmg[ind] = mag2;
+      }
+      else
+      {
+        ptr0x[ind] = ptrx[i + 2];
+        ptr0y[ind] = ptry[i + 2];
+        ptrmg[ind] = mag3;
+      }
+      ++ind;
+    }
+    ptrx += length1;
+    ptry += length2;
+    ptr0x += length3;
+    ptr0y += length4;
+    ptrmg += length5;
+  }
+
+  // Calculate the final gradient orientations
+  phase(sobel_dx, sobel_dy, sobel_ag, true);
+  hysteresisGradient(magnitude, angle, sobel_ag, CV_SQR(threshold));
+}
+
+void hysteresisGradient(Mat& magnitude, Mat& quantized_angle,
+                        Mat& angle, float threshold)
+{
+  // Quantize 360 degree range of orientations into 16 buckets
+  // Note that [0, 11.25), [348.75, 360) both get mapped in the end to label 0,
+  // for stability of horizontal and vertical features.
+  Mat_<unsigned char> quantized_unfiltered;
+  angle.convertTo(quantized_unfiltered, CV_8U, 16.0 / 360.0);
+
+  // Zero out top and bottom rows
+  /// @todo is this necessary, or even correct?
+  memset(quantized_unfiltered.ptr(), 0, quantized_unfiltered.cols);
+  memset(quantized_unfiltered.ptr(quantized_unfiltered.rows - 1), 0, quantized_unfiltered.cols);
+  // Zero out first and last columns
+  for (int r = 0; r < quantized_unfiltered.rows; ++r)
+  {
+    quantized_unfiltered(r, 0) = 0;
+    quantized_unfiltered(r, quantized_unfiltered.cols - 1) = 0;
+  }
+
+  // Mask 16 buckets into 8 quantized orientations
+  for (int r = 1; r < angle.rows - 1; ++r)
+  {
+    uchar* quant_r = quantized_unfiltered.ptr<uchar>(r);
+    for (int c = 1; c < angle.cols - 1; ++c)
+    {
+      quant_r[c] &= 7;
+    }
+  }
+
+  // Filter the raw quantized image. Only accept pixels where the magnitude is above some
+  // threshold, and there is local agreement on the quantization.
+  quantized_angle = Mat::zeros(angle.size(), CV_8U);
+  for (int r = 1; r < angle.rows - 1; ++r)
+  {
+    float* mag_r = magnitude.ptr<float>(r);
+
+    for (int c = 1; c < angle.cols - 1; ++c)
+    {
+      if (mag_r[c] > threshold)
+      {
+	// Compute histogram of quantized bins in 3x3 patch around pixel
+        int histogram[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+
+        uchar* patch3x3_row = &quantized_unfiltered(r-1, c-1);
+        histogram[patch3x3_row[0]]++;
+        histogram[patch3x3_row[1]]++;
+        histogram[patch3x3_row[2]]++;
+
+	patch3x3_row += quantized_unfiltered.step1();
+        histogram[patch3x3_row[0]]++;
+        histogram[patch3x3_row[1]]++;
+        histogram[patch3x3_row[2]]++;
+
+	patch3x3_row += quantized_unfiltered.step1();
+        histogram[patch3x3_row[0]]++;
+        histogram[patch3x3_row[1]]++;
+        histogram[patch3x3_row[2]]++;
+
+	// Find bin with the most votes from the patch
+        int max_votes = 0;
+        int index = -1;
+        for (int i = 0; i < 8; ++i)
+        {
+          if (max_votes < histogram[i])
+          {
+            index = i;
+            max_votes = histogram[i];
+          }
+        }
+
+	// Only accept the quantization if majority of pixels in the patch agree
+	static const int NEIGHBOR_THRESHOLD = 5;
+        if (max_votes >= NEIGHBOR_THRESHOLD)
+          quantized_angle.at<uchar>(r, c) = 1 << index;
+      }
+    }
+  }
+}
+
+class ColorGradientPyramid : public QuantizedPyramid
+{
+public:
+  ColorGradientPyramid(const Mat& src, const Mat& mask,
+                       float weak_threshold, size_t num_features,
+                       float strong_threshold);
+
+  virtual void quantize(Mat& dst) const;
+
+  virtual bool extractTemplate(Template& templ) const;
+
+  virtual void pyrDown();
+
+protected:
+  /// Recalculate angle and magnitude images
+  void update();
+
+  Mat src;
+  Mat mask;
+
+  int pyramid_level;
+  Mat angle;
+  Mat magnitude;
+
+  float weak_threshold;
+  size_t num_features;
+  float strong_threshold;
+};
+
+ColorGradientPyramid::ColorGradientPyramid(const Mat& src, const Mat& mask,
+                                           float weak_threshold, size_t num_features,
+                                           float strong_threshold)
+  : src(src),
+    mask(mask),
+    pyramid_level(0),
+    weak_threshold(weak_threshold),
+    num_features(num_features),
+    strong_threshold(strong_threshold)
+{
+  update();
+}
+
+void ColorGradientPyramid::update()
+{
+  quantizedOrientations(src, magnitude, angle, weak_threshold);
+}
+
+void ColorGradientPyramid::pyrDown()
+{
+  // Some parameters need to be adjusted
+  num_features /= 2; /// @todo Why not 4?
+  ++pyramid_level;
+
+  // Downsample the current inputs
+  Size size(src.cols / 2, src.rows / 2);
+  Mat next_src;
+  cv::pyrDown(src, next_src, size);
+  src = next_src;
+  if (!mask.empty())
+  {
+    Mat next_mask;
+    resize(mask, next_mask, size, 0.0, 0.0, CV_INTER_NN);
+    mask = next_mask;
+  }
+
+  update();
+}
+
+void ColorGradientPyramid::quantize(Mat& dst) const
+{
+  dst = Mat::zeros(angle.size(), CV_8U);
+  angle.copyTo(dst, mask);
+}
+
+bool ColorGradientPyramid::extractTemplate(Template& templ) const
+{
+  // Want features on the border to distinguish from background
+  Mat local_mask;
+  if (!mask.empty())
+  {
+    erode(mask, local_mask, Mat(), Point(-1,-1), 1, BORDER_REPLICATE);
+    subtract(mask, local_mask, local_mask);
+  }
+
+  // Create sorted list of all pixels with magnitude greater than a threshold
+  std::vector<Candidate> candidates;
+  bool no_mask = local_mask.empty();
+  float threshold_sq = CV_SQR(strong_threshold);
+  for (int r = 0; r < magnitude.rows; ++r)
+  {
+    const uchar* angle_r = angle.ptr<uchar>(r);
+    const float* magnitude_r = magnitude.ptr<float>(r);
+    const uchar* mask_r = no_mask ? NULL : local_mask.ptr<uchar>(r);
+
+    for (int c = 0; c < magnitude.cols; ++c)
+    {
+      if (no_mask || mask_r[c])
+      {
+        uchar quantized = angle_r[c];
+        if (quantized > 0)
+        {
+          float score = magnitude_r[c];
+          if (score > threshold_sq)
+          {
+            candidates.push_back(Candidate(c, r, getLabel(quantized), score));
+          }
+        }
+      }
+    }
+  }
+  // We require a certain number of features
+  if (candidates.size() < num_features)
+    return false;
+  // NOTE: Stable sort to agree with old code, which used std::list::sort()
+  std::stable_sort(candidates.begin(), candidates.end());
+
+  // Use heuristic based on surplus of candidates in narrow outline for initial distance threshold
+  float distance = candidates.size() / num_features + 1;
+  selectScatteredFeatures(candidates, templ.features, num_features, distance);
+
+  // Size determined externally, needs to match templates for other modalities
+  templ.width = -1;
+  templ.height = -1;
+  templ.pyramid_level = pyramid_level;
+
+  return true;
+}
+
+ColorGradient::ColorGradient()
+  : weak_threshold(10.0f),
+    num_features(63),
+    strong_threshold(55.0f)
+{
+}
+
+ColorGradient::ColorGradient(float weak_threshold, size_t num_features, float strong_threshold)
+  : weak_threshold(weak_threshold),
+    num_features(num_features),
+    strong_threshold(strong_threshold)
+{
+}
+
+static const char CG_NAME[] = "ColorGradient";
+
+std::string ColorGradient::name() const
+{
+  return CG_NAME;
+}
+
+Ptr<QuantizedPyramid> ColorGradient::processImpl(const Mat& src,
+                                                     const Mat& mask) const
+{
+  return new ColorGradientPyramid(src, mask, weak_threshold, num_features, strong_threshold);
+}
+
+void ColorGradient::read(const FileNode& fn)
+{
+  std::string type = fn["type"];
+  CV_Assert(type == CG_NAME);
+
+  weak_threshold = fn["weak_threshold"];
+  num_features = int(fn["num_features"]);
+  strong_threshold = fn["strong_threshold"];
+}
+
+void ColorGradient::write(FileStorage& fs) const
+{
+  fs << "type" << CG_NAME;
+  fs << "weak_threshold" << weak_threshold;
+  fs << "num_features" << int(num_features);
+  fs << "strong_threshold" << strong_threshold;
+}
+
+/****************************************************************************************\
+*                               Depth normal modality                                    *
+\****************************************************************************************/
+
+// Contains GRANULARITY and NORMAL_LUT
+#include "normal_lut.i"
+
+static void accumBilateral(long delta, long i, long j, long * A, long * b, int threshold)
+{
+  long f = std::abs(delta) < threshold ? 1 : 0;
+
+  const long fi = f * i;
+  const long fj = f * j;
+
+  A[0] += fi * i;
+  A[1] += fi * j;
+  A[3] += fj * j;
+  b[0]  += fi * delta;
+  b[1]  += fj * delta;
+}
+
+void quantizedNormals(const Mat& src, Mat& dst, int distance_threshold,
+                      int difference_threshold)
+{
+  dst = Mat::zeros(src.size(), CV_8U);
+
+  IplImage src_ipl = src;
+  IplImage* ap_depth_data = &src_ipl;
+  IplImage dst_ipl = dst;
+  IplImage* dst_ipl_ptr = &dst_ipl;
+  IplImage** m_dep = &dst_ipl_ptr;
+
+  unsigned short * lp_depth   = (unsigned short *)ap_depth_data->imageData;
+  unsigned char  * lp_normals = (unsigned char *)m_dep[0]->imageData;
+
+  const int l_W = ap_depth_data->width;
+  const int l_H = ap_depth_data->height;
+
+  const int l_r = 5; // used to be 7
+  const int l_offset0 = -l_r - l_r * l_W;
+  const int l_offset1 =    0 - l_r * l_W;
+  const int l_offset2 = +l_r - l_r * l_W;
+  const int l_offset3 = -l_r;
+  const int l_offset4 = +l_r;
+  const int l_offset5 = -l_r + l_r * l_W;
+  const int l_offset6 =    0 + l_r * l_W;
+  const int l_offset7 = +l_r + l_r * l_W;
+
+  const int l_offsetx = GRANULARITY / 2;
+  const int l_offsety = GRANULARITY / 2;
+
+  for (int l_y = l_r; l_y < l_H - l_r - 1; ++l_y)
+  {
+    unsigned short * lp_line = lp_depth + (l_y * l_W + l_r);
+    unsigned char * lp_norm = lp_normals + (l_y * l_W + l_r);
+
+    for (int l_x = l_r; l_x < l_W - l_r - 1; ++l_x)
+    {
+      long l_d = lp_line[0];
+
+      if (l_d < distance_threshold)
+      {
+        // accum
+        long l_A[4]; l_A[0] = l_A[1] = l_A[2] = l_A[3] = 0;
+        long l_b[2]; l_b[0] = l_b[1] = 0;
+        accumBilateral(lp_line[l_offset0] - l_d, -l_r, -l_r, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset1] - l_d,    0, -l_r, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset2] - l_d, +l_r, -l_r, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset3] - l_d, -l_r,    0, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset4] - l_d, +l_r,    0, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset5] - l_d, -l_r, +l_r, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset6] - l_d,    0, +l_r, l_A, l_b, difference_threshold);
+        accumBilateral(lp_line[l_offset7] - l_d, +l_r, +l_r, l_A, l_b, difference_threshold);
+
+        // solve
+        long l_det =  l_A[0] * l_A[3] - l_A[1] * l_A[1];
+        long l_ddx =  l_A[3] * l_b[0] - l_A[1] * l_b[1];
+        long l_ddy = -l_A[1] * l_b[0] + l_A[0] * l_b[1];
+
+        /// @todo Magic number 1150 is focal length? This is something like
+        /// f in SXGA mode, but in VGA is more like 530.
+        float l_nx = 1150 * l_ddx;
+        float l_ny = 1150 * l_ddy;
+        float l_nz = -l_det * l_d;
+
+        float l_sqrt = sqrtf(l_nx * l_nx + l_ny * l_ny + l_nz * l_nz);
+
+        if (l_sqrt > 0)
+        {
+          float l_norminv = 1.0f / (l_sqrt);
+
+          l_nx *= l_norminv;
+          l_ny *= l_norminv;
+          l_nz *= l_norminv;
+
+          //*lp_norm = fabs(l_nz)*255;
+
+          int l_val1 = l_nx * l_offsetx + l_offsetx;
+          int l_val2 = l_ny * l_offsety + l_offsety;
+          int l_val3 = l_nz * GRANULARITY + GRANULARITY;
+
+          *lp_norm = NORMAL_LUT[l_val3][l_val2][l_val1];
+        }
+        else
+        {
+          *lp_norm = 0; // Discard shadows from depth sensor
+        }
+      }
+      else
+      {
+        *lp_norm = 0; //out of depth
+      }
+      ++lp_line;
+      ++lp_norm;
+    }
+  }
+  cvSmooth(m_dep[0], m_dep[0], CV_MEDIAN, 5, 5);
+}
+
+class DepthNormalPyramid : public QuantizedPyramid
+{
+public:
+  DepthNormalPyramid(const Mat& src, const Mat& mask,
+                     int distance_threshold, int difference_threshold, size_t num_features,
+                     int extract_threshold);
+
+  virtual void quantize(Mat& dst) const;
+
+  virtual bool extractTemplate(Template& templ) const;
+
+  virtual void pyrDown();
+
+protected:
+  Mat mask;
+
+  int pyramid_level;
+  Mat normal;
+
+  size_t num_features;
+  int extract_threshold;
+};
+
+DepthNormalPyramid::DepthNormalPyramid(const Mat& src, const Mat& mask,
+                                       int distance_threshold, int difference_threshold, size_t num_features,
+                                       int extract_threshold)
+  : mask(mask),
+    pyramid_level(0),
+    num_features(num_features),
+    extract_threshold(extract_threshold)
+{
+  quantizedNormals(src, normal, distance_threshold, difference_threshold);
+}
+
+void DepthNormalPyramid::pyrDown()
+{
+  // Some parameters need to be adjusted
+  num_features /= 2; /// @todo Why not 4?
+  extract_threshold /= 2;
+  ++pyramid_level;
+
+  // In this case, NN-downsample the quantized image
+  Mat next_normal;
+  Size size(normal.cols / 2, normal.rows / 2);
+  resize(normal, next_normal, size, 0.0, 0.0, CV_INTER_NN);
+  normal = next_normal;
+  if (!mask.empty())
+  {
+    Mat next_mask;
+    resize(mask, next_mask, size, 0.0, 0.0, CV_INTER_NN);
+    mask = next_mask;
+  }
+}
+
+void DepthNormalPyramid::quantize(Mat& dst) const
+{
+  dst = Mat::zeros(normal.size(), CV_8U);
+  normal.copyTo(dst, mask);
+}
+
+bool DepthNormalPyramid::extractTemplate(Template& templ) const
+{
+  // Features right on the object border are unreliable
+  Mat local_mask;
+  if (!mask.empty())
+  {
+    erode(mask, local_mask, Mat(), Point(-1,-1), 2, BORDER_REPLICATE);
+  }
+
+  // Compute distance transform for each individual quantized orientation
+  Mat temp = Mat::zeros(normal.size(), CV_8U);
+  Mat distances[8];
+  for (int i = 0; i < 8; ++i)
+  {
+    temp.setTo(1 << i, local_mask);
+    bitwise_and(temp, normal, temp);
+    // temp is now non-zero at pixels in the mask with quantized orientation i
+    distanceTransform(temp, distances[i], CV_DIST_C, 3);
+  }
+
+  // Count how many features taken for each label
+  int label_counts[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+
+  // Create sorted list of candidate features
+  std::vector<Candidate> candidates;
+  bool no_mask = local_mask.empty();
+  for (int r = 0; r < normal.rows; ++r)
+  {
+    const uchar* normal_r = normal.ptr<uchar>(r);
+    const uchar* mask_r = no_mask ? NULL : local_mask.ptr<uchar>(r);
+
+    for (int c = 0; c < normal.cols; ++c)
+    {
+      if (no_mask || mask_r[c])
+      {
+        uchar quantized = normal_r[c];
+
+        if (quantized != 0 && quantized != 255) // background and shadow
+        {
+          int label = getLabel(quantized);
+
+          // Accept if distance to a pixel belonging to a different label is greater than
+          // some threshold. IOW, ideal feature is in the center of a large homogeneous
+          // region.
+          float score = distances[label].at<float>(r, c);
+          if (score >= extract_threshold)
+          {
+            candidates.push_back( Candidate(c, r, label, score) );
+            ++label_counts[label];
+          }
+        }
+      }
+    }
+  }
+  // We require a certain number of features
+  if (candidates.size() < num_features)
+    return false;
+
+  // Prefer large distances, but also want to collect features over all 8 labels.
+  // So penalize labels with lots of candidates.
+  for (size_t i = 0; i < candidates.size(); ++i)
+  {
+    Candidate& c = candidates[i];
+    c.score /= (float)label_counts[c.f.label];
+  }
+  std::stable_sort(candidates.begin(), candidates.end());
+
+  // Use heuristic based on object area for initial distance threshold
+  int area = no_mask ? normal.total() : countNonZero(local_mask);
+  float distance = sqrtf(area) / sqrtf(num_features) + 1.5f;
+  selectScatteredFeatures(candidates, templ.features, num_features, distance);
+
+  // Size determined externally, needs to match templates for other modalities
+  templ.width = -1;
+  templ.height = -1;
+  templ.pyramid_level = pyramid_level;
+
+  return true;
+}
+
+DepthNormal::DepthNormal()
+  : distance_threshold(2000),
+    difference_threshold(50),
+    num_features(63),
+    extract_threshold(2)
+{
+}
+
+DepthNormal::DepthNormal(int distance_threshold, int difference_threshold, size_t num_features,
+                         int extract_threshold)
+  : distance_threshold(distance_threshold),
+    difference_threshold(difference_threshold),
+    num_features(num_features),
+    extract_threshold(extract_threshold)
+{
+}
+
+static const char DN_NAME[] = "DepthNormal";
+
+std::string DepthNormal::name() const
+{
+  return DN_NAME;
+}
+
+Ptr<QuantizedPyramid> DepthNormal::processImpl(const Mat& src,
+                                                   const Mat& mask) const
+{
+  return new DepthNormalPyramid(src, mask, distance_threshold, difference_threshold,
+                                num_features, extract_threshold);
+}
+
+void DepthNormal::read(const FileNode& fn)
+{
+  std::string type = fn["type"];
+  CV_Assert(type == DN_NAME);
+
+  distance_threshold = fn["distance_threshold"];
+  difference_threshold = fn["difference_threshold"];
+  num_features = int(fn["num_features"]);
+  extract_threshold = fn["extract_threshold"];
+}
+
+void DepthNormal::write(FileStorage& fs) const
+{
+  fs << "type" << DN_NAME;
+  fs << "distance_threshold" << distance_threshold;
+  fs << "difference_threshold" << difference_threshold;
+  fs << "num_features" << int(num_features);
+  fs << "extract_threshold" << extract_threshold;
+}
+
+/****************************************************************************************\
+*                                 Response maps                                          *
+\****************************************************************************************/
+
+void orUnaligned8u(const uchar * src, const int src_stride,
+                   uchar * dst, const int dst_stride,
+                   const int width, const int height)
+{
+#if CV_SSE2
+  volatile bool haveSSE2 = checkHardwareSupport(CV_CPU_SSE2);
+  volatile bool haveSSE3 = checkHardwareSupport(CV_CPU_SSE3);
+  bool src_aligned = reinterpret_cast<unsigned long long>(src) % 16 == 0;
+#endif
+
+  for (int r = 0; r < height; ++r)
+  {
+    int c = 0;
+
+#if CV_SSE2
+    // Use aligned loads if possible
+    if (haveSSE2 && src_aligned)
+    {
+      for ( ; c < width - 15; c += 16)
+      {
+        const __m128i* src_ptr = reinterpret_cast<const __m128i*>(src + c);
+        __m128i* dst_ptr = reinterpret_cast<__m128i*>(dst + c);
+        *dst_ptr = _mm_or_si128(*dst_ptr, *src_ptr);
+      }
+    }
+#if CV_SSE3
+    // Use LDDQU for fast unaligned load
+    else if (haveSSE3)
+    {
+      for ( ; c < width - 15; c += 16)
+      {
+        __m128i val = _mm_lddqu_si128(reinterpret_cast<const __m128i*>(src + c));
+        __m128i* dst_ptr = reinterpret_cast<__m128i*>(dst + c);
+        *dst_ptr = _mm_or_si128(*dst_ptr, val);
+      }
+    }
+#endif
+    // Fall back to MOVDQU
+    else if (haveSSE2)
+    {
+      for ( ; c < width - 15; c += 16)
+      {
+        __m128i val = _mm_loadu_si128(reinterpret_cast<const __m128i*>(src + c));
+        __m128i* dst_ptr = reinterpret_cast<__m128i*>(dst + c);
+        *dst_ptr = _mm_or_si128(*dst_ptr, val);
+      }
+    }    
+#endif
+    for ( ; c < width; ++c)
+      dst[c] |= src[c];
+
+    // Advance to next row
+    src += src_stride;
+    dst += dst_stride;
+  }
+}
+
+void spread(const Mat& src, Mat& dst, int T)
+{
+  // Allocate and zero-initialize spread (OR'ed) image
+  dst = Mat::zeros(src.size(), CV_8U);
+
+  // Fill in spread gradient image (section 2.3)
+  for (int r = 0; r < T; ++r)
+  {
+    int height = src.rows - r;
+    for (int c = 0; c < T; ++c)
+    {
+      orUnaligned8u(&src.at<unsigned char>(r, c), src.step1(), dst.ptr(),
+                    dst.step1(), src.cols - c, height);
+    }
+  }
+}
+
+// Auto-generated by create_similarity_lut.py
+CV_DECL_ALIGNED(16) static const unsigned char SIMILARITY_LUT[256] = {0, 4, 3, 4, 2, 4, 3, 4, 1, 4, 3, 4, 2, 4, 3, 4, 0, 0, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 3, 0, 3, 4, 4, 3, 3, 4, 4, 2, 3, 4, 4, 3, 3, 4, 4, 0, 1, 0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 0, 2, 3, 3, 4, 4, 4, 4, 3, 3, 3, 3, 4, 4, 4, 4, 0, 2, 1, 2, 0, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 0, 1, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 0, 3, 2, 3, 1, 3, 2, 3, 0, 3, 2, 3, 1, 3, 2, 3, 0, 0, 1, 1, 2, 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 3, 0, 4, 3, 4, 2, 4, 3, 4, 1, 4, 3, 4, 2, 4, 3, 4, 0, 1, 0, 1, 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 0, 3, 4, 4, 3, 3, 4, 4, 2, 3, 4, 4, 3, 3, 4, 4, 0, 2, 1, 2, 0, 2, 1, 2, 1, 2, 1, 2, 1, 2, 1, 2, 0, 2, 3, 3, 4, 4, 4, 4, 3, 3, 3, 3, 4, 4, 4, 4, 0, 3, 2, 3, 1, 3, 2, 3, 0, 3, 2, 3, 1, 3, 2, 3, 0, 1, 2, 2, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4};
+
+void computeResponseMaps(const Mat& src, std::vector<Mat>& response_maps)
+{
+  CV_Assert((src.rows * src.cols) % 16 == 0);
+
+  // Allocate response maps
+  response_maps.resize(8);
+  for (int i = 0; i < 8; ++i)
+    response_maps[i].create(src.size(), CV_8U);
+  
+  Mat lsb4(src.size(), CV_8U);
+  Mat msb4(src.size(), CV_8U);
+  
+  for (int r = 0; r < src.rows; ++r)
+  {
+    const uchar* src_r = src.ptr(r);
+    uchar* lsb4_r = lsb4.ptr(r);
+    uchar* msb4_r = msb4.ptr(r);
+    
+    for (int c = 0; c < src.cols; ++c)
+    {
+      // Least significant 4 bits of spread image pixel
+      lsb4_r[c] = src_r[c] & 15;
+      // Most significant 4 bits, right-shifted to be in [0, 16)
+      msb4_r[c] = (src_r[c] & 240) >> 4;
+    }
+  }
+
+#if CV_SSSE3
+  volatile bool haveSSSE3 = checkHardwareSupport(CV_CPU_SSSE3);
+  if (haveSSSE3)
+  {
+    const __m128i* lut = reinterpret_cast<const __m128i*>(SIMILARITY_LUT);
+    for (int ori = 0; ori < 8; ++ori)
+    {
+      __m128i* map_data = response_maps[ori].ptr<__m128i>();
+      __m128i* lsb4_data = lsb4.ptr<__m128i>();
+      __m128i* msb4_data = msb4.ptr<__m128i>();
+
+      // Precompute the 2D response map S_i (section 2.4)
+      for (int i = 0; i < (src.rows * src.cols) / 16; ++i)
+      {
+        // Using SSE shuffle for table lookup on 4 orientations at a time
+        // The most/least significant 4 bits are used as the LUT index
+        __m128i res1 = _mm_shuffle_epi8(lut[2*ori + 0], lsb4_data[i]);
+        __m128i res2 = _mm_shuffle_epi8(lut[2*ori + 1], msb4_data[i]);
+
+        // Combine the results into a single similarity score
+        map_data[i] = _mm_max_epu8(res1, res2);
+      }
+    }
+  }
+  else
+#endif
+  {
+    // For each of the 8 quantized orientations...
+    for (int ori = 0; ori < 8; ++ori)
+    {
+      uchar* map_data = response_maps[ori].ptr<uchar>();
+      uchar* lsb4_data = lsb4.ptr<uchar>();
+      uchar* msb4_data = msb4.ptr<uchar>();
+      const uchar* lut_low = SIMILARITY_LUT + 32*ori;
+      const uchar* lut_hi = lut_low + 16;
+
+      for (int i = 0; i < src.rows * src.cols; ++i)
+      {
+        map_data[i] = std::max(lut_low[ lsb4_data[i] ], lut_hi[ msb4_data[i] ]);
+      }
+    }
+  }
+}
+
+void linearize(const Mat& response_map, Mat& linearized, int T)
+{
+  CV_Assert(response_map.rows % T == 0);
+  CV_Assert(response_map.cols % T == 0);
+
+  // linearized has T^2 rows, where each row is a linear memory
+  int mem_width = response_map.cols / T;
+  int mem_height = response_map.rows / T;
+  linearized.create(T*T, mem_width * mem_height, CV_8U);
+  
+  // Outer two for loops iterate over top-left T^2 starting pixels
+  int index = 0;
+  for (int r_start = 0; r_start < T; ++r_start)
+  {
+    for (int c_start = 0; c_start < T; ++c_start)
+    {
+      uchar* memory = linearized.ptr(index);
+      ++index;
+      
+      // Inner two loops copy every T-th pixel into the linear memory
+      for (int r = r_start; r < response_map.rows; r += T)
+      {
+        const uchar* response_data = response_map.ptr(r);
+        for (int c = c_start; c < response_map.cols; c += T)
+          *memory++ = response_data[c];
+      }
+    }
+  }
+}
+
+/****************************************************************************************\
+*                               Linearized similarities                                  *
+\****************************************************************************************/
+
+const unsigned char* accessLinearMemory(const std::vector<Mat>& linear_memories,
+					const Feature& f, int T, int W)
+{
+  // Retrieve the TxT grid of linear memories associated with the feature label
+  const Mat& memory_grid = linear_memories[f.label];
+  CV_DbgAssert(memory_grid.rows == T*T);
+  CV_DbgAssert(f.x >= 0);
+  CV_DbgAssert(f.y >= 0);
+  // The LM we want is at (x%T, y%T) in the TxT grid (stored as the rows of memory_grid)
+  int grid_x = f.x % T;
+  int grid_y = f.y % T;
+  int grid_index = grid_y * T + grid_x;
+  CV_DbgAssert(grid_index >= 0);
+  CV_DbgAssert(grid_index < memory_grid.rows);
+  const unsigned char* memory = memory_grid.ptr(grid_index);
+  // Within the LM, the feature is at (x/T, y/T). W is the "width" of the LM, the
+  // input image width decimated by T.
+  int lm_x = f.x / T;
+  int lm_y = f.y / T;
+  int lm_index = lm_y * W + lm_x;
+  CV_DbgAssert(lm_index >= 0);
+  CV_DbgAssert(lm_index < memory_grid.cols);
+  return memory + lm_index;
+}
+
+// NOTE: Returning dst as uint8 instead of uint16
+void similarity(const std::vector<Mat>& linear_memories, const Template& templ,
+                Mat& dst, Size size, int T)
+{
+  // 63 features or less is a special case because the max similarity per-feature is 4.
+  // 255/4 = 63, so up to that many we can add up similarities in 8 bits without worrying
+  // about overflow. Therefore here we use _mm_add_epi8 as the workhorse, whereas a more
+  // general function would use _mm_add_epi16.
+  CV_Assert(templ.features.size() <= 63);
+  /// @todo Handle more than 255/MAX_RESPONSE features!!
+
+  // Decimate input image size by factor of T
+  int W = size.width / T;
+  int H = size.height / T;
+
+  // Feature dimensions, decimated by factor T and rounded up
+  int wf = (templ.width - 1) / T + 1;
+  int hf = (templ.height - 1) / T + 1;
+
+  // Span is the range over which we can shift the template around the input image
+  int span_x = W - wf;
+  int span_y = H - hf;
+
+  // Compute number of contiguous (in memory) pixels to check when sliding feature over
+  // image. This allows template to wrap around left/right border incorrectly, so any
+  // wrapped template matches must be filtered out!
+  int template_positions = span_y * W + span_x + 1; // why add 1?
+  //int template_positions = (span_y - 1) * W + span_x; // More correct?
+
+  /// @todo In old code, dst is buffer of size m_U. Could make it something like
+  /// (span_x)x(span_y) instead?
+  dst = Mat::zeros(H, W, CV_8U);
+  uchar* dst_ptr = dst.ptr<uchar>();
+
+#if CV_SSE2
+  volatile bool haveSSE2 = checkHardwareSupport(CV_CPU_SSE2);
+  volatile bool haveSSE3 = checkHardwareSupport(CV_CPU_SSE3);
+#endif
+
+  // Compute the similarity measure for this template by accumulating the contribution of
+  // each feature
+  for (int i = 0; i < (int)templ.features.size(); ++i)
+  {
+    // Add the linear memory at the appropriate offset computed from the location of
+    // the feature in the template
+    Feature f = templ.features[i];
+    // Discard feature if out of bounds
+    /// @todo Shouldn't actually see x or y < 0 here?
+    if (f.x < 0 || f.x >= size.width || f.y < 0 || f.y >= size.height)
+      continue;
+    const uchar* lm_ptr = accessLinearMemory(linear_memories, f, T, W);
+
+    // Now we do an aligned/unaligned add of dst_ptr and lm_ptr with template_positions elements
+    int j = 0;
+    // Process responses 16 at a time if vectorization possible
+#if CV_SSE2
+#if CV_SSE3
+    if (haveSSE3)
+    {
+      // LDDQU may be more efficient than MOVDQU for unaligned load of next 16 responses
+      for ( ; j < template_positions - 15; j += 16)
+      {
+        __m128i responses = _mm_lddqu_si128(reinterpret_cast<const __m128i*>(lm_ptr + j));
+        __m128i* dst_ptr_sse = reinterpret_cast<__m128i*>(dst_ptr + j);
+        *dst_ptr_sse = _mm_add_epi8(*dst_ptr_sse, responses);
+      }
+    }
+    else
+#endif
+    if (haveSSE2)
+    {
+      // Fall back to MOVDQU
+      for ( ; j < template_positions - 15; j += 16)
+      {
+        __m128i responses = _mm_loadu_si128(reinterpret_cast<const __m128i*>(lm_ptr + j));
+        __m128i* dst_ptr_sse = reinterpret_cast<__m128i*>(dst_ptr + j);
+        *dst_ptr_sse = _mm_add_epi8(*dst_ptr_sse, responses);
+      }
+    }
+#endif
+    for ( ; j < template_positions; ++j)
+      dst_ptr[j] += lm_ptr[j];
+  }
+}
+
+// NOTE: Returning dst as uint8 instead of uint16
+void similarityLocal(const std::vector<Mat>& linear_memories, const Template& templ,
+                     Mat& dst, Size size, int T, Point center)
+{
+  // Similar to whole-image similarity() above. This version takes a position 'center'
+  // and computes the energy in the 16x16 patch centered on it.
+  CV_Assert(templ.features.size() <= 63);
+
+  // Compute the similarity map in a 16x16 patch around center
+  int W = size.width / T;
+  dst = Mat::zeros(16, 16, CV_8U);
+
+  // Offset each feature point by the requested center. Further adjust to (-8,-8) from the
+  // center to get the top-left corner of the 16x16 patch.
+  // NOTE: We make the offsets multiples of T to agree with results of the original code.
+  int offset_x = (center.x / T - 8) * T;
+  int offset_y = (center.y / T - 8) * T;
+
+#if CV_SSE2
+  volatile bool haveSSE2 = checkHardwareSupport(CV_CPU_SSE2);
+  volatile bool haveSSE3 = checkHardwareSupport(CV_CPU_SSE3);
+  __m128i* dst_ptr_sse = dst.ptr<__m128i>();
+#endif
+
+  for (int i = 0; i < (int)templ.features.size(); ++i)
+  {
+    Feature f = templ.features[i];
+    f.x += offset_x;
+    f.y += offset_y;
+    // Discard feature if out of bounds, possibly due to applying the offset
+    if (f.x < 0 || f.y < 0 || f.x >= size.width || f.y >= size.height)
+      continue;
+
+    const uchar* lm_ptr = accessLinearMemory(linear_memories, f, T, W);
+
+    // Process whole row at a time if vectorization possible
+#if CV_SSE2
+#if CV_SSE3
+    if (haveSSE3)
+    {
+      // LDDQU may be more efficient than MOVDQU for unaligned load of 16 responses from current row
+      for (int row = 0; row < 16; ++row)
+      {
+        __m128i aligned = _mm_lddqu_si128(reinterpret_cast<const __m128i*>(lm_ptr));
+        dst_ptr_sse[row] = _mm_add_epi8(dst_ptr_sse[row], aligned);
+        lm_ptr += W; // Step to next row
+      }
+    }
+    else
+#endif
+    if (haveSSE2)
+    {
+      // Fall back to MOVDQU
+      for (int row = 0; row < 16; ++row)
+      {
+        __m128i aligned = _mm_loadu_si128(reinterpret_cast<const __m128i*>(lm_ptr));
+        dst_ptr_sse[row] = _mm_add_epi8(dst_ptr_sse[row], aligned);
+        lm_ptr += W; // Step to next row
+      }
+    }
+    else
+#endif
+    {
+      uchar* dst_ptr = dst.ptr<uchar>();
+      for (int row = 0; row < 16; ++row)
+      {
+        for (int col = 0; col < 16; ++col)
+          dst_ptr[col] += lm_ptr[col];
+        dst_ptr += 16;
+        lm_ptr += W;
+      }
+    }
+  }
+}
+
+void addUnaligned8u16u(const uchar * src1, const uchar * src2, ushort * res, int length)
+{
+  const uchar * end = src1 + length;
+
+  while (src1 != end)
+  {
+    *res = *src1 + *src2;
+
+    ++src1;
+    ++src2;
+    ++res;
+  }
+}
+
+void addSimilarities(const std::vector<Mat>& similarities, Mat& dst)
+{
+  if (similarities.size() == 1)
+  {
+    similarities[0].convertTo(dst, CV_16U);
+  }
+  else
+  {
+    // NOTE: add() seems to be rather slow in the 8U + 8U -> 16U case
+    dst.create(similarities[0].size(), CV_16U);
+    addUnaligned8u16u(similarities[0].ptr(), similarities[1].ptr(), dst.ptr<ushort>(), dst.total());
+
+    /// @todo Optimize 16u + 8u -> 16u when more than 2 modalities
+    for (size_t i = 2; i < similarities.size(); ++i)
+      add(dst, similarities[i], dst, noArray(), CV_16U);
+  }
+}
+
+/****************************************************************************************\
+*                               High-level Detector API                                  *
+\****************************************************************************************/
+
+Detector::Detector()
+{
+}
+
+Detector::Detector(const std::vector< Ptr<Modality> >& modalities,
+                   const std::vector<int>& T_pyramid, double pyramid_distance)
+  : modalities(modalities),
+    pyramid_levels(T_pyramid.size()),
+    pyramid_distance(pyramid_distance),
+    T_at_level(T_pyramid)
+{
+  CV_Assert(pyramid_distance == 2.0);
+}
+
+void Detector::match(const std::vector<Mat>& sources, float threshold, std::vector<Match>& matches,
+                     const std::vector<std::string>& class_ids, OutputArrayOfArrays quantized_images,
+                     const std::vector<Mat>& masks) const
+{
+  matches.clear();
+  if (quantized_images.needed())
+    quantized_images.create(1, pyramid_levels * modalities.size(), CV_8U);
+
+  assert(sources.size() == modalities.size());
+  // Initialize each modality with our sources
+  std::vector< Ptr<QuantizedPyramid> > quantizers;
+  for (int i = 0; i < (int)modalities.size(); ++i){
+    Mat mask, source;
+    source = sources[i];
+    if(!masks.empty()){
+      assert(masks.size() == modalities.size());
+      mask = masks[i];
+    }
+    assert(mask.empty() || mask.size() == source.size());
+    quantizers.push_back(modalities[i]->process(source, mask));
+  }
+  // pyramid level -> modality -> quantization
+  LinearMemoryPyramid lm_pyramid(pyramid_levels,
+                                 std::vector<LinearMemories>(modalities.size(), LinearMemories(8)));
+
+  // For each pyramid level, precompute linear memories for each modality
+  std::vector<Size> sizes;
+  for (int l = 0; l < pyramid_levels; ++l)
+  {
+    int T = T_at_level[l];
+    std::vector<LinearMemories>& lm_level = lm_pyramid[l];
+
+    if (l > 0)
+    {
+      for (int i = 0; i < (int)quantizers.size(); ++i)
+        quantizers[i]->pyrDown();
+    }
+
+    Mat quantized, spread_quantized;
+    std::vector<Mat> response_maps;
+    for (int i = 0; i < (int)quantizers.size(); ++i)
+    {
+      quantizers[i]->quantize(quantized);
+      spread(quantized, spread_quantized, T);
+      computeResponseMaps(spread_quantized, response_maps);
+
+      LinearMemories& memories = lm_level[i];
+      for (int j = 0; j < 8; ++j)
+        linearize(response_maps[j], memories[j], T);
+
+      if (quantized_images.needed()) //use copyTo here to side step reference semantics.
+        quantized.copyTo(quantized_images.getMatRef(l*quantizers.size() + i));
+    }
+
+    sizes.push_back(quantized.size());
+  }
+
+  if (class_ids.empty())
+  {
+    // Match all templates
+    TemplatesMap::const_iterator it = class_templates.begin(), itend = class_templates.end();
+    for ( ; it != itend; ++it)
+      matchClass(lm_pyramid, sizes, threshold, matches, it->first, it->second);
+  }
+  else
+  {
+    // Match only templates for the requested class IDs
+    for (int i = 0; i < (int)class_ids.size(); ++i)
+    {
+      TemplatesMap::const_iterator it = class_templates.find(class_ids[i]);
+      if (it != class_templates.end())
+        matchClass(lm_pyramid, sizes, threshold, matches, it->first, it->second);
+    }
+  }
+
+  // Sort matches by similarity, and prune any duplicates introduced by pyramid refinement
+  std::sort(matches.begin(), matches.end());
+  std::vector<Match>::iterator new_end = std::unique(matches.begin(), matches.end());
+  matches.erase(new_end, matches.end());
+}
+
+// Used to filter out weak matches
+struct MatchPredicate
+{
+  MatchPredicate(float threshold) : threshold(threshold) {}
+  bool operator() (const Match& m) { return m.similarity < threshold; }
+  float threshold;
+};
+
+bool non_negative_assert(const Template& templ)
+{
+  for(size_t j = 0; j < templ.features.size(); ++j)
+    assert(templ.features[j].x >= 0 && templ.features[j].y >= 0);
+  return true;
+}
+
+void Detector::matchClass(const LinearMemoryPyramid& lm_pyramid,
+                          const std::vector<Size>& sizes,
+                          float threshold, std::vector<Match>& matches,
+                          const std::string& class_id,
+                          const std::vector<TemplatePyramid>& template_pyramids) const
+{
+  // For each template...
+  for (size_t template_id = 0; template_id < template_pyramids.size(); ++template_id)
+  {
+    const TemplatePyramid& tp = template_pyramids[template_id];
+
+    // First match over the whole image at the lowest pyramid level
+    /// @todo Factor this out into separate function
+    const std::vector<LinearMemories>& lowest_lm = lm_pyramid.back();
+
+    // Compute similarity maps for each modality at lowest pyramid level
+    std::vector<Mat> similarities(modalities.size());
+    int lowest_start = tp.size() - modalities.size();
+    int lowest_T = T_at_level.back();
+    int num_features = 0;
+    for (int i = 0; i < (int)modalities.size(); ++i)
+    {
+      const Template& templ = tp[lowest_start + i];
+      num_features += templ.features.size();
+      similarity(lowest_lm[i], templ, similarities[i], sizes.back(), lowest_T);
+    }
+
+    // Combine into overall similarity
+    /// @todo Support weighting the modalities
+    Mat total_similarity;
+    addSimilarities(similarities, total_similarity);
+
+    // Convert user-friendly percentage to raw similarity threshold. The percentage
+    // threshold scales from half the max response (what you would expect from applying
+    // the template to a completely random image) to the max response.
+    // NOTE: This assumes max per-feature response is 4, so we scale between [2*nf, 4*nf].
+    int raw_threshold = 2*num_features + (threshold / 100.f) * (2*num_features) + 0.5f;
+
+    // Find initial matches
+    std::vector<Match> candidates;
+    for (int r = 0; r < total_similarity.rows; ++r)
+    {
+      ushort* row = total_similarity.ptr<ushort>(r);
+      for (int c = 0; c < total_similarity.cols; ++c)
+      {
+        int raw_score = row[c];
+        if (raw_score > raw_threshold)
+        {
+          int offset = lowest_T / 2 + (lowest_T % 2 - 1);
+          int x = c * lowest_T + offset;
+          int y = r * lowest_T + offset;
+          int score = (raw_score * 100.f) / (4 * num_features) + 0.5f;
+          candidates.push_back(Match(x, y, score, class_id, template_id));
+        }
+      }
+    }
+
+    // Locally refine each match by marching up the pyramid
+    for (int l = pyramid_levels - 2; l >= 0; --l)
+    {
+      const std::vector<LinearMemories>& lms = lm_pyramid[l];
+      int T = T_at_level[l];
+      int start = l * modalities.size();
+      Size size = sizes[l];
+      int border = 8 * T;
+      int offset = T / 2 + (T % 2 - 1);
+      int max_x = size.width - tp[start].width - border;
+      int max_y = size.height - tp[start].height - border;
+
+      std::vector<Mat> similarities(modalities.size());
+      Mat total_similarity;
+      for (int m = 0; m < (int)candidates.size(); ++m)
+      {
+        Match& match = candidates[m];
+        int x = match.x * 2 + 1; /// @todo Support other pyramid_distance
+        int y = match.y * 2 + 1;
+
+        // Require 8 (reduced) row/cols to the up/left
+        x = std::max(x, border);
+        y = std::max(y, border);
+
+        // Require 8 (reduced) row/cols to the down/left, plus the template size
+        x = std::min(x, max_x);
+        y = std::min(y, max_y);
+
+        // Compute local similarity maps for each modality
+        int num_features = 0;
+        for (int i = 0; i < (int)modalities.size(); ++i)
+        {
+          const Template& templ = tp[start + i];
+          num_features += templ.features.size();
+          similarityLocal(lms[i], templ, similarities[i], size, T, Point(x, y));
+        }
+        addSimilarities(similarities, total_similarity);
+
+        // Find best local adjustment
+        int best_score = 0;
+        int best_r = -1, best_c = -1;
+        for (int r = 0; r < total_similarity.rows; ++r)
+        {
+          ushort* row = total_similarity.ptr<ushort>(r);
+          for (int c = 0; c < total_similarity.cols; ++c)
+          {
+            int score = row[c];
+            if (score > best_score)
+            {
+              best_score = score;
+              best_r = r;
+              best_c = c;
+            }
+          }
+        }
+        // Update current match
+        match.x = (x / T - 8 + best_c) * T + offset;
+        match.y = (y / T - 8 + best_r) * T + offset;
+        match.similarity = (best_score * 100.f) / (4 * num_features);
+      }
+
+      // Filter out any matches that drop below the similarity threshold
+      std::vector<Match>::iterator new_end = std::remove_if(candidates.begin(), candidates.end(),
+                                                            MatchPredicate(threshold));
+      candidates.erase(new_end, candidates.end());
+    }
+
+    matches.insert(matches.end(), candidates.begin(), candidates.end());
+  }
+}
+
+int Detector::addTemplate(const std::vector<Mat>& sources, const std::string& class_id,
+                          const Mat& object_mask, Rect* bounding_box)
+{
+  int num_modalities = modalities.size();
+  std::vector<TemplatePyramid>& template_pyramids = class_templates[class_id];
+  int template_id = template_pyramids.size();
+
+  TemplatePyramid tp;
+  tp.resize(num_modalities * pyramid_levels);
+
+  // For each modality...
+  for (int i = 0; i < num_modalities; ++i)
+  {
+    // Extract a template at each pyramid level
+    Ptr<QuantizedPyramid> qp = modalities[i]->process(sources[i], object_mask);
+    for (int l = 0; l < pyramid_levels; ++l)
+    {
+      /// @todo Could do mask subsampling here instead of in pyrDown()
+      if (l > 0)
+        qp->pyrDown();
+
+      bool success = qp->extractTemplate(tp[l*num_modalities + i]);
+      if (!success)
+        return -1;
+    }
+  }
+
+  Rect bb = cropTemplates(tp);
+  if (bounding_box)
+    *bounding_box = bb;
+
+  /// @todo Can probably avoid a copy of tp here with swap
+  template_pyramids.push_back(tp);
+  return template_id;
+}
+
+int Detector::addSyntheticTemplate(const std::vector<Template>& templates, const std::string& class_id)
+{
+  std::vector<TemplatePyramid>& template_pyramids = class_templates[class_id];
+  int template_id = template_pyramids.size();
+  template_pyramids.push_back(templates);
+  return template_id;
+}
+
+const std::vector<Template>& Detector::getTemplates(const std::string& class_id, int template_id) const
+{
+  TemplatesMap::const_iterator i = class_templates.find(class_id);
+  CV_Assert(i != class_templates.end());
+  CV_Assert(i->second.size() > size_t(template_id));
+  return i->second[template_id];
+}
+
+int Detector::numTemplates() const
+{
+  int ret = 0;
+  TemplatesMap::const_iterator i = class_templates.begin(), iend = class_templates.end();
+  for ( ; i != iend; ++i)
+    ret += i->second.size();
+  return ret;
+}
+
+int Detector::numTemplates(const std::string& class_id) const
+{
+  TemplatesMap::const_iterator i = class_templates.find(class_id);
+  if (i == class_templates.end())
+    return 0;
+  return i->second.size();
+}
+
+std::vector<std::string> Detector::classIds() const
+{
+  std::vector<std::string> ids;
+  TemplatesMap::const_iterator i = class_templates.begin(), iend = class_templates.end();
+  for ( ; i != iend; ++i)
+  {
+    ids.push_back(i->first);
+  }
+
+  return ids;
+}
+
+void Detector::read(const FileNode& fn)
+{
+  class_templates.clear();
+  pyramid_levels = fn["pyramid_levels"];
+  pyramid_distance = fn["pyramid_distance"];
+  fn["T"] >> T_at_level;
+
+  modalities.clear();
+  FileNode modalities_fn = fn["modalities"];
+  FileNodeIterator it = modalities_fn.begin(), it_end = modalities_fn.end();
+  for ( ; it != it_end; ++it)
+  {
+    modalities.push_back(Modality::create(*it));
+  }
+}
+
+void Detector::write(FileStorage& fs) const
+{
+  fs << "pyramid_levels" << pyramid_levels;
+  fs << "pyramid_distance" << pyramid_distance;
+  fs << "T" << "[:" << T_at_level << "]";
+
+  fs << "modalities" << "[";
+  for (int i = 0; i < (int)modalities.size(); ++i)
+  {
+    fs << "{";
+    modalities[i]->write(fs);
+    fs << "}";
+  }
+  fs << "]"; // modalities
+}
+
+  std::string Detector::readClass(const FileNode& fn, const std::string &class_id_override)
+  {
+  // Verify compatible with Detector settings
+  FileNode mod_fn = fn["modalities"];
+  CV_Assert(mod_fn.size() == modalities.size());
+  FileNodeIterator mod_it = mod_fn.begin(), mod_it_end = mod_fn.end();
+  int i = 0;
+  for ( ; mod_it != mod_it_end; ++mod_it, ++i)
+    CV_Assert(modalities[i]->name() == (std::string)(*mod_it));
+  CV_Assert((int)fn["pyramid_levels"] == pyramid_levels);
+  CV_Assert((int)fn["pyramid_distance"] == pyramid_distance);
+
+  // Detector should not already have this class
+    std::string class_id;
+    if (class_id_override.empty())
+    {
+      std::string class_id_tmp = fn["class_id"];
+      CV_Assert(class_templates.find(class_id_tmp) == class_templates.end());
+      class_id = class_id_tmp;
+    }
+    else
+    {
+      class_id = class_id_override;
+    }
+
+  TemplatesMap::value_type v(class_id, std::vector<TemplatePyramid>());
+  std::vector<TemplatePyramid>& tps = v.second;
+  int expected_id = 0;
+
+  FileNode tps_fn = fn["template_pyramids"];
+  tps.resize(tps_fn.size());
+  FileNodeIterator tps_it = tps_fn.begin(), tps_it_end = tps_fn.end();
+  for ( ; tps_it != tps_it_end; ++tps_it, ++expected_id)
+  {
+    int template_id = (*tps_it)["template_id"];
+    CV_Assert(template_id == expected_id);
+    FileNode templates_fn = (*tps_it)["templates"];
+    tps[template_id].resize(templates_fn.size());
+
+    FileNodeIterator templ_it = templates_fn.begin(), templ_it_end = templates_fn.end();
+    int i = 0;
+    for ( ; templ_it != templ_it_end; ++templ_it)
+    {
+      tps[template_id][i++].read(*templ_it);
+    }
+  }
+
+  class_templates.insert(v);
+  return class_id;
+}
+
+void Detector::writeClass(const std::string& class_id, FileStorage& fs) const
+{
+  TemplatesMap::const_iterator it = class_templates.find(class_id);
+  CV_Assert(it != class_templates.end());
+  const std::vector<TemplatePyramid>& tps = it->second;
+
+  fs << "class_id" << it->first;
+  fs << "modalities" << "[:";
+  for (size_t i = 0; i < modalities.size(); ++i)
+    fs << modalities[i]->name();
+  fs << "]"; // modalities
+  fs << "pyramid_levels" << pyramid_levels;
+  fs << "pyramid_distance" << pyramid_distance;
+  fs << "template_pyramids" << "[";
+  for (size_t i = 0; i < tps.size(); ++i)
+  {
+    const TemplatePyramid& tp = tps[i];
+    fs << "{";
+    fs << "template_id" << int(i); //TODO is this cast correct? won't be good if rolls over...
+    fs << "templates" << "[";
+    for (size_t j = 0; j < tp.size(); ++j)
+    {
+      fs << "{";
+      tp[j].write(fs);
+      fs << "}"; // current template
+    }
+    fs << "]"; // templates
+    fs << "}"; // current pyramid
+  }
+  fs << "]"; // pyramids
+}
+
+void Detector::readClasses(const std::vector<std::string>& class_ids,
+                           const std::string& format)
+{
+  for (size_t i = 0; i < class_ids.size(); ++i)
+  {
+    const std::string& class_id = class_ids[i];
+    std::string filename = cv::format(format.c_str(), class_id.c_str());
+    FileStorage fs(filename, FileStorage::READ);
+    readClass(fs.root());
+  }
+}
+
+void Detector::writeClasses(const std::string& format) const
+{
+  TemplatesMap::const_iterator it = class_templates.begin(), it_end = class_templates.end();
+  for ( ; it != it_end; ++it)
+  {
+    const std::string& class_id = it->first;
+    std::string filename = cv::format(format.c_str(), class_id.c_str());
+    FileStorage fs(filename, FileStorage::WRITE);
+    writeClass(class_id, fs);
+  }
+}
+
+
+static const int T_DEFAULTS[] = {5, 8};
+
+Ptr<Detector> getDefaultLINE()
+{
+  std::vector< Ptr<Modality> > modalities;
+  modalities.push_back(new ColorGradient);
+  return new Detector(modalities, std::vector<int>(T_DEFAULTS, T_DEFAULTS + 2));
+}
+
+Ptr<Detector> getDefaultLINEMOD()
+{
+  std::vector< Ptr<Modality> > modalities;
+  modalities.push_back(new ColorGradient);
+  modalities.push_back(new DepthNormal);
+  return new Detector(modalities, std::vector<int>(T_DEFAULTS, T_DEFAULTS + 2));
+}
+
+} // namespace linemod
+} // namespace cv
diff --git a/modules/objdetect/src/normal_lut.i b/modules/objdetect/src/normal_lut.i
new file mode 100644
index 0000000..e6cba6f
--- /dev/null
+++ b/modules/objdetect/src/normal_lut.i
@@ -0,0 +1,4 @@
+// Auto-generated by scripts/create_depth_normal_lut.py 20
+static const int GRANULARITY = 20;
+
+static const unsigned char NORMAL_LUT[20][20][20] = {{{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 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8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}, {{32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128}, {16, 32, 32, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 128, 128}, {16, 16, 16, 32, 32, 32, 32, 32, 32, 64, 64, 64, 128, 128, 128, 128, 128, 128, 1, 1}, {16, 16, 16, 16, 16, 16, 32, 32, 32, 32, 64, 128, 128, 128, 128, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 32, 32, 64, 128, 128, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 16, 16, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 16, 16, 8, 8, 4, 2, 2, 1, 1, 1, 1, 1, 1, 1}, {16, 16, 16, 16, 16, 16, 8, 8, 8, 8, 4, 2, 2, 2, 2, 1, 1, 1, 1, 1}, {16, 16, 16, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 1, 1}, {16, 8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}, {8, 8, 8, 8, 8, 8, 8, 4, 4, 4, 4, 4, 4, 4, 2, 2, 2, 2, 2, 2}}};
-- 
2.7.4