hog.cpp

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#include "precomp.hpp"

#include <cstdio>
#include <iterator>

/****************************************************************************************\
      The code below is implementation of HOG (Histogram-of-Oriented Gradients)
      descriptor and object detection, introduced by Navneet Dalal and Bill Triggs.

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

namespace cv
{

size_t HOGDescriptor::getDescriptorSize() const
{
    CV_Assert(blockSize.width % cellSize.width == 0 &&
        blockSize.height % cellSize.height == 0);
    CV_Assert((winSize.width - blockSize.width) % blockStride.width == 0 &&
        (winSize.height - blockSize.height) % blockStride.height == 0 );

    return (size_t)nbins*
        (blockSize.width/cellSize.width)*
        (blockSize.height/cellSize.height)*
        ((winSize.width - blockSize.width)/blockStride.width + 1)*
        ((winSize.height - blockSize.height)/blockStride.height + 1);
}

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

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

void HOGDescriptor::setSVMDetector(InputArray _svmDetector)
{
    _svmDetector.getMat().convertTo(svmDetector, CV_32F);
    CV_Assert( checkDetectorSize() );
}

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

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

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

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

    fs << "{" CV_TYPE_NAME_HOG_DESCRIPTOR
       << "winSize" << winSize
       << "blockSize" << blockSize
       << "blockStride" << blockStride
       << "cellSize" << cellSize
       << "nbins" << nbins
       << "derivAperture" << derivAperture
       << "winSigma" << getWinSigma()
       << "histogramNormType" << histogramNormType
       << "L2HysThreshold" << L2HysThreshold
       << "gammaCorrection" << gammaCorrection
       << "nlevels" << nlevels;
    if( !svmDetector.empty() )
        fs << "SVMDetector" << svmDetector;
    fs << "}";
}

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

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

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

void HOGDescriptor::computeGradient(const Mat& img, Mat& grad, Mat& qangle,
    Size paddingTL, Size paddingBR) const
{
    CV_Assert( img.type() == CV_8U || img.type() == CV_8UC3 );

    Size gradsize(img.cols + paddingTL.width + paddingBR.width,
        img.rows + paddingTL.height + paddingBR.height);
    grad.create(gradsize, CV_32FC2);  // <magnitude*(1-alpha), magnitude*alpha>
    qangle.create(gradsize, CV_8UC2); // [0..nbins-1] - quantized gradient orientation

    Size wholeSize;
    Point roiofs;
    img.locateROI(wholeSize, roiofs);

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

    Mat_<float> _lut(1, 256);
    const float* const lut = &_lut(0,0);
#if CV_SSE2
    const int indeces[] = { 0, 1, 2, 3 };
    __m128i idx = _mm_loadu_si128((const __m128i*)indeces);
    __m128i ifour = _mm_set1_epi32(4);

    float* const _data = &_lut(0, 0);
    if( gammaCorrection )
        for( i = 0; i < 256; i += 4 )
        {
            _mm_storeu_ps(_data + i, _mm_sqrt_ps(_mm_cvtepi32_ps(idx)));
            idx = _mm_add_epi32(idx, ifour);
        }
    else
        for( i = 0; i < 256; i += 4 )
        {
            _mm_storeu_ps(_data + i, _mm_cvtepi32_ps(idx));
            idx = _mm_add_epi32(idx, ifour);
        }
#else
    if( gammaCorrection )
        for( i = 0; i < 256; i++ )
            _lut(0,i) = std::sqrt((float)i);
    else
        for( i = 0; i < 256; i++ )
            _lut(0,i) = (float)i;
#endif

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

    const int borderType = (int)BORDER_REFLECT_101;

    for( x = -1; x < gradsize.width + 1; x++ )
        xmap[x] = borderInterpolate(x - paddingTL.width + roiofs.x,
        wholeSize.width, borderType) - roiofs.x;
    for( y = -1; y < gradsize.height + 1; y++ )
        ymap[y] = borderInterpolate(y - paddingTL.height + roiofs.y,
        wholeSize.height, borderType) - roiofs.y;

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

    if (cn == 3)
    {
        int end = gradsize.width + 2;
        xmap -= 1, x = 0;
#if CV_SSE2
        __m128i ithree = _mm_set1_epi32(3);
        for ( ; x <= end - 4; x += 4)
            _mm_storeu_si128((__m128i*)(xmap + x), _mm_mullo_epi16(ithree,
                _mm_loadu_si128((const __m128i*)(xmap + x))));
#endif
        for ( ; x < end; ++x)
            xmap[x] *= 3;
        xmap += 1;
    }

    float angleScale = (float)(nbins/CV_PI);
    for( y = 0; y < gradsize.height; y++ )
    {
        const uchar* imgPtr  = img.data + img.step*ymap[y];
        const uchar* prevPtr = img.data + img.step*ymap[y-1];
        const uchar* nextPtr = img.data + img.step*ymap[y+1];

        float* gradPtr = (float*)grad.ptr(y);
        uchar* qanglePtr = (uchar*)qangle.ptr(y);

        if( cn == 1 )
        {
            for( x = 0; x < width; x++ )
            {
                int x1 = xmap[x];
                dbuf[x] = (float)(lut[imgPtr[xmap[x+1]]] - lut[imgPtr[xmap[x-1]]]);
                dbuf[width + x] = (float)(lut[nextPtr[x1]] - lut[prevPtr[x1]]);
            }
        }
        else
        {
            x = 0;
#if CV_SSE2
            for( ; x <= width - 4; x += 4 )
            {
                int x0 = xmap[x], x1 = xmap[x+1], x2 = xmap[x+2], x3 = xmap[x+3];
                typedef const uchar* const T;
                T p02 = imgPtr + xmap[x+1], p00 = imgPtr + xmap[x-1];
                T p12 = imgPtr + xmap[x+2], p10 = imgPtr + xmap[x];
                T p22 = imgPtr + xmap[x+3], p20 = p02;
                T p32 = imgPtr + xmap[x+4], p30 = p12;

                __m128 _dx0 = _mm_sub_ps(_mm_set_ps(lut[p32[0]], lut[p22[0]], lut[p12[0]], lut[p02[0]]),
                                         _mm_set_ps(lut[p30[0]], lut[p20[0]], lut[p10[0]], lut[p00[0]]));
                __m128 _dx1 = _mm_sub_ps(_mm_set_ps(lut[p32[1]], lut[p22[1]], lut[p12[1]], lut[p02[1]]),
                                         _mm_set_ps(lut[p30[1]], lut[p20[1]], lut[p10[1]], lut[p00[1]]));
                __m128 _dx2 = _mm_sub_ps(_mm_set_ps(lut[p32[2]], lut[p22[2]], lut[p12[2]], lut[p02[2]]),
                                         _mm_set_ps(lut[p30[2]], lut[p20[2]], lut[p10[2]], lut[p00[2]]));

                __m128 _dy0 = _mm_sub_ps(_mm_set_ps(lut[nextPtr[x3]], lut[nextPtr[x2]], lut[nextPtr[x1]], lut[nextPtr[x0]]),
                                         _mm_set_ps(lut[prevPtr[x3]], lut[prevPtr[x2]], lut[prevPtr[x1]], lut[prevPtr[x0]]));
                __m128 _dy1 = _mm_sub_ps(_mm_set_ps(lut[nextPtr[x3+1]], lut[nextPtr[x2+1]], lut[nextPtr[x1+1]], lut[nextPtr[x0+1]]),
                                         _mm_set_ps(lut[prevPtr[x3+1]], lut[prevPtr[x2+1]], lut[prevPtr[x1+1]], lut[prevPtr[x0+1]]));
                __m128 _dy2 = _mm_sub_ps(_mm_set_ps(lut[nextPtr[x3+2]], lut[nextPtr[x2+2]], lut[nextPtr[x1+2]], lut[nextPtr[x0+2]]),
                                         _mm_set_ps(lut[prevPtr[x3+2]], lut[prevPtr[x2+2]], lut[prevPtr[x1+2]], lut[prevPtr[x0+2]]));

                __m128 _mag0 = _mm_add_ps(_mm_mul_ps(_dx0, _dx0), _mm_mul_ps(_dy0, _dy0));
                __m128 _mag1 = _mm_add_ps(_mm_mul_ps(_dx1, _dx1), _mm_mul_ps(_dy1, _dy1));
                __m128 _mag2 = _mm_add_ps(_mm_mul_ps(_dx2, _dx2), _mm_mul_ps(_dy2, _dy2));

                __m128 mask = _mm_cmpgt_ps(_mag2, _mag1);
                _dx2 = _mm_or_ps(_mm_and_ps(_dx2, mask), _mm_andnot_ps(mask, _dx1));
                _dy2 = _mm_or_ps(_mm_and_ps(_dy2, mask), _mm_andnot_ps(mask, _dy1));

                mask = _mm_cmpgt_ps(_mm_max_ps(_mag2, _mag1), _mag0);
                _dx2 = _mm_or_ps(_mm_and_ps(_dx2, mask), _mm_andnot_ps(mask, _dx0));
                _dy2 = _mm_or_ps(_mm_and_ps(_dy2, mask), _mm_andnot_ps(mask, _dy0));

                _mm_storeu_ps(dbuf + x, _dx2);
                _mm_storeu_ps(dbuf + x + width, _dy2);
            }
#endif
            for( ; x < width; x++ )
            {
                int x1 = xmap[x];
                float dx0, dy0, dx, dy, mag0, mag;
                const uchar* p2 = imgPtr + xmap[x+1];
                const uchar* p0 = imgPtr + xmap[x-1];

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

                dx = lut[p2[1]] - lut[p0[1]];
                dy = lut[nextPtr[x1+1]] - lut[prevPtr[x1+1]];
                mag = dx*dx + dy*dy;
                if( mag0 < mag )
                {
                    dx0 = dx;
                    dy0 = dy;
                    mag0 = mag;
                }

                dx = lut[p2[0]] - lut[p0[0]];
                dy = lut[nextPtr[x1]] - lut[prevPtr[x1]];
                mag = dx*dx + dy*dy;
                if( mag0 < mag )
                {
                    dx0 = dx;
                    dy0 = dy;
                    mag0 = mag;
                }

                dbuf[x] = dx0;
                dbuf[x+width] = dy0;
            }
        }

        // computing angles and magnidutes
        cartToPolar( Dx, Dy, Mag, Angle, false );

        // filling the result matrix
        x = 0;
#if CV_SSE2
        __m128 fhalf = _mm_set1_ps(0.5f), fzero = _mm_setzero_ps();
        __m128 _angleScale = _mm_set1_ps(angleScale), fone = _mm_set1_ps(1.0f);
        __m128i ione = _mm_set1_epi32(1), _nbins = _mm_set1_epi32(nbins), izero = _mm_setzero_si128();
        
        for ( ; x <= width - 4; x += 4)
        {
            int x2 = x << 1;
            __m128 _mag = _mm_loadu_ps(dbuf + x + (width << 1));
            __m128 _angle = _mm_loadu_ps(dbuf + x + width * 3);
            _angle = _mm_sub_ps(_mm_mul_ps(_angleScale, _angle), fhalf);
            
            __m128 sign = _mm_and_ps(fone, _mm_cmplt_ps(_angle, fzero));
            __m128i _hidx = _mm_cvttps_epi32(_angle);
            _hidx = _mm_sub_epi32(_hidx, _mm_cvtps_epi32(sign));
            _angle = _mm_sub_ps(_angle, _mm_cvtepi32_ps(_hidx));
            
            __m128 ft0 = _mm_mul_ps(_mag, _mm_sub_ps(fone, _angle));
            __m128 ft1 = _mm_mul_ps(_mag, _angle);
            __m128 ft2 = _mm_unpacklo_ps(ft0, ft1);
            __m128 ft3 = _mm_unpackhi_ps(ft0, ft1);
            
            _mm_storeu_ps(gradPtr + x2, ft2);
            _mm_storeu_ps(gradPtr + x2 + 4, ft3);
            
            __m128i mask0 = _mm_sub_epi32(izero, _mm_srli_epi32(_hidx, 31));
            __m128i it0 = _mm_and_si128(mask0, _nbins);
            mask0 = _mm_cmplt_epi32(_hidx, _nbins);
            __m128i it1 = _mm_andnot_si128(mask0, _nbins);
            _hidx = _mm_add_epi32(_hidx, _mm_sub_epi32(it0, it1));

            it0 = _mm_packus_epi16(_mm_packs_epi32(_hidx, izero), izero);
            _hidx = _mm_add_epi32(ione, _hidx);
            _hidx = _mm_and_si128(_hidx, _mm_cmplt_epi32(_hidx, _nbins));
            it1 = _mm_packus_epi16(_mm_packs_epi32(_hidx, izero), izero);
            it0 = _mm_unpacklo_epi8(it0, it1);

            _mm_storel_epi64((__m128i*)(qanglePtr + x2), it0);
        }
#endif
        for( ; x < width; x++ )
        {
            float mag = dbuf[x+width*2], angle = dbuf[x+width*3]*angleScale - 0.5f;
            int hidx = cvFloor(angle);
            angle -= hidx;
            gradPtr[x*2] = mag*(1.f - angle);
            gradPtr[x*2+1] = mag*angle;

            if( hidx < 0 )
                hidx += nbins;
            else if( hidx >= nbins )
                hidx -= nbins;

            CV_Assert( (unsigned)hidx < (unsigned)nbins );

            qanglePtr[x*2] = (uchar)hidx;
            hidx++;
            hidx &= hidx < nbins ? -1 : 0;
            qanglePtr[x*2+1] = (uchar)hidx;
        }
    }
}

struct HOGCache
{
    struct BlockData
    {
        BlockData() :
            histOfs(0), imgOffset()
        { }
        
        int histOfs;
        Point imgOffset;
    };

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

    HOGCache();
    HOGCache(const HOGDescriptor* descriptor,
        const Mat& img, const Size& paddingTL, const Size& paddingBR,
        bool useCache, const Size& cacheStride);
    virtual ~HOGCache() { }
    virtual void init(const HOGDescriptor* descriptor,
        const Mat& img, const Size& paddingTL, const Size& paddingBR,
        bool useCache, const Size& cacheStride);

    Size windowsInImage(const Size& imageSize, const Size& winStride) const;
    Rect getWindow(const Size& imageSize, const Size& winStride, int idx) const;

    const float* getBlock(Point pt, float* buf);
    virtual void normalizeBlockHistogram(float* histogram) const;
    
    std::vector<PixData> pixData;
    std::vector<BlockData> blockData;

    bool useCache;
    std::vector<int> ymaxCached;
    Size winSize;
    Size cacheStride;
    Size nblocks, ncells;
    int blockHistogramSize;
    int count1, count2, count4;
    Point imgoffset;
    Mat_<float> blockCache;
    Mat_<uchar> blockCacheFlags;

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

HOGCache::HOGCache() :
    blockHistogramSize(), count1(), count2(), count4()
{
    useCache = false;
    descriptor = 0;
}

HOGCache::HOGCache(const HOGDescriptor* _descriptor,
    const Mat& _img, const Size& _paddingTL, const Size& _paddingBR,
    bool _useCache, const Size& _cacheStride)
{
    init(_descriptor, _img, _paddingTL, _paddingBR, _useCache, _cacheStride);
}

void HOGCache::init(const HOGDescriptor* _descriptor,
    const Mat& _img, const Size& _paddingTL, const Size& _paddingBR,
    bool _useCache, const Size& _cacheStride)
{
    descriptor = _descriptor;
    cacheStride = _cacheStride;
    useCache = _useCache;

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

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

    nblocks = Size((winSize.width - blockSize.width)/blockStride.width + 1,
        (winSize.height - blockSize.height)/blockStride.height + 1);
    ncells = Size(blockSize.width/cellSize.width, blockSize.height/cellSize.height);
    blockHistogramSize = ncells.width*ncells.height*nbins;

    if( useCache )
    {
        Size cacheSize((grad.cols - blockSize.width)/cacheStride.width+1,
            (winSize.height/cacheStride.height)+1);

        blockCache.create(cacheSize.height, cacheSize.width*blockHistogramSize);
        blockCacheFlags.create(cacheSize);

        size_t cacheRows = blockCache.rows;
        ymaxCached.resize(cacheRows);
        for(size_t ii = 0; ii < cacheRows; ii++ )
            ymaxCached[ii] = -1;
    }

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

    {
        AutoBuffer<float> di(blockSize.height), dj(blockSize.width);
        float* _di = (float*)di, *_dj = (float*)dj;
        float bh = blockSize.height * 0.5f, bw = blockSize.width * 0.5f;

        i = 0;
    #if CV_SSE2
        const int a[] = { 0, 1, 2, 3 };
        __m128i idx = _mm_loadu_si128((__m128i*)a);
        __m128 _bw = _mm_set1_ps(bw), _bh = _mm_set1_ps(bh);
        __m128i ifour = _mm_set1_epi32(4);
        
        for (; i <= blockSize.height - 4; i += 4)
        {
            __m128 t = _mm_sub_ps(_mm_cvtepi32_ps(idx), _bh);
            t = _mm_mul_ps(t, t);
            idx = _mm_add_epi32(idx, ifour);
            _mm_storeu_ps(_di + i, t);
        }
    #endif
        for ( ; i < blockSize.height; ++i)
        {
            _di[i] = i - bh;
            _di[i] *= _di[i];
        }

        j = 0;
    #if CV_SSE2
        idx = _mm_loadu_si128((__m128i*)a);
        for (; j <= blockSize.width - 4; j += 4)
        {
            __m128 t = _mm_sub_ps(_mm_cvtepi32_ps(idx), _bw);
            t = _mm_mul_ps(t, t);
            idx = _mm_add_epi32(idx, ifour);
            _mm_storeu_ps(_dj + j, t);
        }
    #endif
        for ( ; j < blockSize.width; ++j)
        {
            _dj[j] = j - bw;
            _dj[j] *= _dj[j];
        }

        for(i = 0; i < blockSize.height; i++)
            for(j = 0; j < blockSize.width; j++)
                weights(i,j) = std::exp(-(_di[i] + _dj[j])*scale);
    }

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

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

    count1 = count2 = count4 = 0;
    for( j = 0; j < blockSize.width; j++ )
        for( i = 0; i < blockSize.height; i++ )
        {
            PixData* data = 0;
            float cellX = (j+0.5f)/cellSize.width - 0.5f;
            float cellY = (i+0.5f)/cellSize.height - 0.5f;
            int icellX0 = cvFloor(cellX);
            int icellY0 = cvFloor(cellY);
            int icellX1 = icellX0 + 1, icellY1 = icellY0 + 1;
            cellX -= icellX0;
            cellY -= icellY0;
            
            if( (unsigned)icellX0 < (unsigned)ncells.width &&
               (unsigned)icellX1 < (unsigned)ncells.width )
            {
                if( (unsigned)icellY0 < (unsigned)ncells.height &&
                   (unsigned)icellY1 < (unsigned)ncells.height )
                {
                    data = &pixData[rawBlockSize*2 + (count4++)];
                    data->histOfs[0] = (icellX0*ncells.height + icellY0)*nbins;
                    data->histWeights[0] = (1.f - cellX)*(1.f - cellY);
                    data->histOfs[1] = (icellX1*ncells.height + icellY0)*nbins;
                    data->histWeights[1] = cellX*(1.f - cellY);
                    data->histOfs[2] = (icellX0*ncells.height + icellY1)*nbins;
                    data->histWeights[2] = (1.f - cellX)*cellY;
                    data->histOfs[3] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[3] = cellX*cellY;
                }
                else
                {
                    data = &pixData[rawBlockSize + (count2++)];
                    if( (unsigned)icellY0 < (unsigned)ncells.height )
                    {
                        icellY1 = icellY0;
                        cellY = 1.f - cellY;
                    }
                    data->histOfs[0] = (icellX0*ncells.height + icellY1)*nbins;
                    data->histWeights[0] = (1.f - cellX)*cellY;
                    data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[1] = cellX*cellY;
                    data->histOfs[2] = data->histOfs[3] = 0;
                    data->histWeights[2] = data->histWeights[3] = 0;
                }
            }
            else
            {
                if( (unsigned)icellX0 < (unsigned)ncells.width )
                {
                    icellX1 = icellX0;
                    cellX = 1.f - cellX;
                }
                
                if( (unsigned)icellY0 < (unsigned)ncells.height &&
                   (unsigned)icellY1 < (unsigned)ncells.height )
                {
                    data = &pixData[rawBlockSize + (count2++)];
                    data->histOfs[0] = (icellX1*ncells.height + icellY0)*nbins;
                    data->histWeights[0] = cellX*(1.f - cellY);
                    data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[1] = cellX*cellY;
                    data->histOfs[2] = data->histOfs[3] = 0;
                    data->histWeights[2] = data->histWeights[3] = 0;
                }
                else
                {
                    data = &pixData[count1++];
                    if( (unsigned)icellY0 < (unsigned)ncells.height )
                    {
                        icellY1 = icellY0;
                        cellY = 1.f - cellY;
                    }
                    data->histOfs[0] = (icellX1*ncells.height + icellY1)*nbins;
                    data->histWeights[0] = cellX*cellY;
                    data->histOfs[1] = data->histOfs[2] = data->histOfs[3] = 0;
                    data->histWeights[1] = data->histWeights[2] = data->histWeights[3] = 0;
                }
            }
            data->gradOfs = (grad.cols*i + j)*2;
            data->qangleOfs = (qangle.cols*i + j)*2;
            data->gradWeight = weights(i,j);
        }
    
    assert( count1 + count2 + count4 == rawBlockSize );
    // defragment pixData
    for( j = 0; j < count2; j++ )
        pixData[j + count1] = pixData[j + rawBlockSize];
    for( j = 0; j < count4; j++ )
        pixData[j + count1 + count2] = pixData[j + rawBlockSize*2];
    count2 += count1;
    count4 += count2;
    
    // initialize blockData
    for( j = 0; j < nblocks.width; j++ )
        for( i = 0; i < nblocks.height; i++ )
        {
            BlockData& data = blockData[j*nblocks.height + i];
            data.histOfs = (j*nblocks.height + i)*blockHistogramSize;
            data.imgOffset = Point(j*blockStride.width,i*blockStride.height);
        }
}

const float* HOGCache::getBlock(Point pt, float* buf)
{
    float* blockHist = buf;
    assert(descriptor != 0);

//    Size blockSize = descriptor->blockSize;
    pt += imgoffset;

//    CV_Assert( (unsigned)pt.x <= (unsigned)(grad.cols - blockSize.width) &&
//        (unsigned)pt.y <= (unsigned)(grad.rows - blockSize.height) );

    if( useCache )
    {
        CV_Assert( pt.x % cacheStride.width == 0 &&
                   pt.y % cacheStride.height == 0 );
        Point cacheIdx(pt.x/cacheStride.width,
                       (pt.y/cacheStride.height) % blockCache.rows);
        if( pt.y != ymaxCached[cacheIdx.y] )
        {
            Mat_<uchar> cacheRow = blockCacheFlags.row(cacheIdx.y);
            cacheRow = (uchar)0;
            ymaxCached[cacheIdx.y] = pt.y;
        }

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

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

//    CV_Assert( blockHist != 0 );
    memset(blockHist, 0, sizeof(float) * blockHistogramSize);
    
    const PixData* _pixData = &pixData[0];
    
    for( k = 0; k < C1; k++ )
    {
        const PixData& pk = _pixData[k];
        const float* const a = gradPtr + pk.gradOfs;
        float w = pk.gradWeight*pk.histWeights[0];
        const uchar* h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];
        
        float* hist = blockHist + pk.histOfs[0];
        float t0 = hist[h0] + a[0]*w;
        float t1 = hist[h1] + a[1]*w;
        hist[h0] = t0; hist[h1] = t1;
    }

#if CV_SSE2
    float hist0[4], hist1[4];
    for( ; k < C2; k++ )
    {
        const PixData& pk = _pixData[k];
        const float* const a = gradPtr + pk.gradOfs;
        const uchar* const h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];
        
        __m128 _a0 = _mm_set1_ps(a[0]), _a1 = _mm_set1_ps(a[1]);
        __m128 _w = _mm_mul_ps(_mm_set1_ps(pk.gradWeight), _mm_loadu_ps(pk.histWeights));
        __m128 _t0 = _mm_mul_ps(_a0, _w), _t1 = _mm_mul_ps(_a1, _w);
        
        _mm_storeu_ps(hist0, _t0);
        _mm_storeu_ps(hist1, _t1);
        
        float* hist = blockHist + pk.histOfs[0];
        float t0 = hist[h0] + hist0[0];
        float t1 = hist[h1] + hist1[0];
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[1];
        t0 = hist[h0] + hist0[1];
        t1 = hist[h1] + hist1[1];
        hist[h0] = t0; hist[h1] = t1;
    }
#else
    for( ; k < C2; k++ )
    {
        const PixData& pk = _pixData[k];
        const float* const a = gradPtr + pk.gradOfs;
        float w, t0, t1, a0 = a[0], a1 = a[1];
        const uchar* const h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];
        
        float* hist = blockHist + pk.histOfs[0];
        w = pk.gradWeight*pk.histWeights[0];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[1];
        w = pk.gradWeight*pk.histWeights[1];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
    }
#endif
    
#if CV_SSE2
    for( ; k < C4; k++ )
    {
        const PixData& pk = _pixData[k];
        const float* const a = gradPtr + pk.gradOfs;
        const uchar* const h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];
        
        __m128 _a0 = _mm_set1_ps(a[0]), _a1 = _mm_set1_ps(a[1]);
		__m128 _w = _mm_mul_ps(_mm_set1_ps(pk.gradWeight), _mm_loadu_ps(pk.histWeights));
        __m128 _t0 = _mm_mul_ps(_a0, _w), _t1 = _mm_mul_ps(_a1, _w);
        
        _mm_storeu_ps(hist0, _t0);
        _mm_storeu_ps(hist1, _t1);
        
        float* hist = blockHist + pk.histOfs[0];
        float t0 = hist[h0] + hist0[0];
        float t1 = hist[h1] + hist1[0];
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[1];
        t0 = hist[h0] + hist0[1];
        t1 = hist[h1] + hist1[1];
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[2];
        t0 = hist[h0] + hist0[2];
        t1 = hist[h1] + hist1[2];
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[3];
        t0 = hist[h0] + hist0[3];
        t1 = hist[h1] + hist1[3];
        hist[h0] = t0; hist[h1] = t1;
        
//        __m128 _hist0 = _mm_set_ps((blockHist + pk.histOfs[3])[h0], (blockHist + pk.histOfs[2])[h0],
//            (blockHist + pk.histOfs[1])[h0], (blockHist + pk.histOfs[0])[h0]);
//        __m128 _hist1 = _mm_set_ps((blockHist + pk.histOfs[3])[h1], (blockHist + pk.histOfs[2])[h1],
//            (blockHist + pk.histOfs[1])[h1], (blockHist + pk.histOfs[0])[h1]);
//
//        _hist0 = _mm_add_ps(_t0, _hist0);
//        _hist1 = _mm_add_ps(_t1, _hist1);
//
//        _mm_storeu_ps(hist0, _hist0);
//        _mm_storeu_ps(hist1, _hist1);
//
//        (pk.histOfs[0] + blockHist)[h0] = hist0[0];
//        (pk.histOfs[1] + blockHist)[h0] = hist0[1];
//        (pk.histOfs[2] + blockHist)[h0] = hist0[2];
//        (pk.histOfs[3] + blockHist)[h0] = hist0[3];
//        
//        (pk.histOfs[0] + blockHist)[h1] = hist1[0];
//        (pk.histOfs[1] + blockHist)[h1] = hist1[1];
//        (pk.histOfs[2] + blockHist)[h1] = hist1[2];
//        (pk.histOfs[3] + blockHist)[h1] = hist1[3];
    }
#else
    for( ; k < C4; k++ )
    {
        const PixData& pk = _pixData[k];
        const float* a = gradPtr + pk.gradOfs;
        float w, t0, t1, a0 = a[0], a1 = a[1];
        const uchar* h = qanglePtr + pk.qangleOfs;
        int h0 = h[0], h1 = h[1];
        
        float* hist = blockHist + pk.histOfs[0];
        w = pk.gradWeight*pk.histWeights[0];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[1];
        w = pk.gradWeight*pk.histWeights[1];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[2];
        w = pk.gradWeight*pk.histWeights[2];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
        
        hist = blockHist + pk.histOfs[3];
        w = pk.gradWeight*pk.histWeights[3];
        t0 = hist[h0] + a0*w;
        t1 = hist[h1] + a1*w;
        hist[h0] = t0; hist[h1] = t1;
    }
#endif

    normalizeBlockHistogram(blockHist);

    return blockHist;
}

void HOGCache::normalizeBlockHistogram(float* _hist) const
{
    float* hist = &_hist[0], sum = 0.0f, partSum[4];
    size_t i = 0, sz = blockHistogramSize;

#if CV_SSE2
    __m128 p0 = _mm_loadu_ps(hist);
    __m128 s = _mm_mul_ps(p0, p0);

    for (i = 4; i <= sz - 4; i += 4)
    {
        p0 = _mm_loadu_ps(hist + i);
        s = _mm_add_ps(s, _mm_mul_ps(p0, p0));
    }
    _mm_storeu_ps(partSum, s);
#else
    partSum[0] = 0.0f;
    partSum[1] = 0.0f;
    partSum[2] = 0.0f;
    partSum[3] = 0.0f;
    for ( ; i <= sz - 4; i += 4)
    {
        partSum[0] += hist[i] * hist[i];
        partSum[1] += hist[i+1] * hist[i+1];
        partSum[2] += hist[i+2] * hist[i+2];
        partSum[3] += hist[i+3] * hist[i+3];
    }
#endif
    float t0 = partSum[0] + partSum[1];
    float t1 = partSum[2] + partSum[3];
    sum = t0 + t1;
    for ( ; i < sz; ++i)
        sum += hist[i]*hist[i];

    float scale = 1.f/(std::sqrt(sum)+sz*0.1f), thresh = (float)descriptor->L2HysThreshold;
    i = 0, sum = 0.0f;

#if CV_SSE2
    __m128 _scale = _mm_set1_ps(scale);
    static __m128 _threshold = _mm_set1_ps(thresh);

    __m128 p = _mm_mul_ps(_scale, _mm_loadu_ps(hist));
    p = _mm_min_ps(p, _threshold);
    s = _mm_mul_ps(p, p);
    _mm_storeu_ps(hist, p);

    for(i = 4 ; i <= sz - 4; i += 4)
    {
        p = _mm_loadu_ps(hist + i);
        p = _mm_mul_ps(p, _scale);
        p = _mm_min_ps(p, _threshold);
        s = _mm_add_ps(s, _mm_mul_ps(p, p));
        _mm_storeu_ps(hist + i, p);
    }

    _mm_storeu_ps(partSum, s);
#else
    partSum[0] = 0.0f;
    partSum[1] = 0.0f;
    partSum[2] = 0.0f;
    partSum[3] = 0.0f;
    for( ; i <= sz - 4; i += 4)
    {
        hist[i] = std::min(hist[i]*scale, thresh);
        hist[i+1] = std::min(hist[i+1]*scale, thresh);
        hist[i+2] = std::min(hist[i+2]*scale, thresh);
        hist[i+3] = std::min(hist[i+3]*scale, thresh);
        partSum[0] += hist[i]*hist[i];
        partSum[1] += hist[i+1]*hist[i+1];
        partSum[2] += hist[i+2]*hist[i+2];
        partSum[3] += hist[i+3]*hist[i+3];
    }
#endif
    t0 = partSum[0] + partSum[1];
    t1 = partSum[2] + partSum[3];
    sum = t0 + t1;
    for( ; i < sz; ++i)
    {
        hist[i] = std::min(hist[i]*scale, thresh);
        sum += hist[i]*hist[i];
    }

    scale = 1.f/(std::sqrt(sum)+1e-3f), i = 0;
#if CV_SSE2
    __m128 _scale2 = _mm_set1_ps(scale);
    for ( ; i <= sz - 4; i += 4)
    {
        __m128 t = _mm_mul_ps(_scale2, _mm_loadu_ps(hist + i));
        _mm_storeu_ps(hist + i, t);
    }
#endif
    for ( ; i < sz; ++i)
        hist[i] *= scale;
}

Size HOGCache::windowsInImage(const Size& imageSize, const Size& winStride) const
{
    return Size((imageSize.width - winSize.width)/winStride.width + 1,
        (imageSize.height - winSize.height)/winStride.height + 1);
}

Rect HOGCache::getWindow(const Size& imageSize, const Size& winStride, int idx) const
{
    int nwindowsX = (imageSize.width - winSize.width)/winStride.width + 1;
    int y = idx / nwindowsX;
    int x = idx - nwindowsX*y;
    return Rect( x*winStride.width, y*winStride.height, winSize.width, winSize.height );
}

void HOGDescriptor::compute(const Mat& img, std::vector<float>& descriptors,
    Size winStride, Size padding, const std::vector<Point>& locations) const
{
    if( winStride == Size() )
        winStride = cellSize;
    Size cacheStride(gcd(winStride.width, blockStride.width),
                     gcd(winStride.height, blockStride.height));

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

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

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

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

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

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

        Point pt0;
        if( !locations.empty() )
        {
            pt0 = locations[i];
            if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
                pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
                continue;
        }
        else
        {
            pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
//            CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
        }

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

            float* dst = descriptor + bj.histOfs;
            const float* src = cache.getBlock(pt, dst);
            if( src != dst )
                memcpy(dst, src, blockHistogramSize * sizeof(float));
        }
    }
}

void HOGDescriptor::detect(const Mat& img,
    std::vector<Point>& hits, std::vector<double>& weights, double hitThreshold,
    Size winStride, Size padding, const std::vector<Point>& locations) const
{
    hits.clear();
    if( svmDetector.empty() )
        return;

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

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

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

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

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

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

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

#if CV_SSE2
    float partSum[4];
#endif

    for( size_t i = 0; i < nwindows; i++ )
    {
        Point pt0;
        if( !locations.empty() )
        {
            pt0 = locations[i];
            if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
                    pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
                continue;
        }
        else
        {
            pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
            CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
        }
        double s = rho;
        const float* svmVec = &svmDetector[0];

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

            const float* vec = cache.getBlock(pt, &blockHist[0]);
#if CV_SSE2
            __m128 _vec = _mm_loadu_ps(vec);
            __m128 _svmVec = _mm_loadu_ps(svmVec);
            __m128 sum = _mm_mul_ps(_svmVec, _vec);

            for( k = 4; k <= blockHistogramSize - 4; k += 4 )
            {
                _vec = _mm_loadu_ps(vec + k);
                _svmVec = _mm_loadu_ps(svmVec + k);

                sum = _mm_add_ps(sum, _mm_mul_ps(_vec, _svmVec));
            }

            _mm_storeu_ps(partSum, sum);
            double t0 = partSum[0] + partSum[1];
            double t1 = partSum[2] + partSum[3];
            s += t0 + t1;
#else
            for( k = 0; k <= blockHistogramSize - 4; k += 4 )
                s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
                    vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
#endif
            for( ; k < blockHistogramSize; k++ )
                s += vec[k]*svmVec[k];
        }
        if( s >= hitThreshold )
        {
            hits.push_back(pt0);
            weights.push_back(s);
        }
    }
}

void HOGDescriptor::detect(const Mat& img, std::vector<Point>& hits, double hitThreshold,
    Size winStride, Size padding, const std::vector<Point>& locations) const
{
    std::vector<double> weightsV;
    detect(img, hits, weightsV, hitThreshold, winStride, padding, locations);
}

class HOGInvoker :
    public ParallelLoopBody
{
public:
    HOGInvoker( const HOGDescriptor* _hog, const Mat& _img,
        double _hitThreshold, const Size& _winStride, const Size& _padding,
        const double* _levelScale, std::vector<Rect> * _vec, Mutex* _mtx,
        std::vector<double>* _weights=0, std::vector<double>* _scales=0 )
    {
        hog = _hog;
        img = _img;
        hitThreshold = _hitThreshold;
        winStride = _winStride;
        padding = _padding;
        levelScale = _levelScale;
        vec = _vec;
        weights = _weights;
        scales = _scales;
        mtx = _mtx;
    }

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

        for( i = i1; i < i2; i++ )
        {
            double scale = levelScale[i];
            Size sz(cvRound(img.cols/scale), cvRound(img.rows/scale));
            Mat smallerImg(sz, img.type(), smallerImgBuf.data);
            if( sz == img.size() )
                smallerImg = Mat(sz, img.type(), img.data, img.step);
            else
                resize(img, smallerImg, sz);
            hog->detect(smallerImg, locations, hitsWeights, hitThreshold, winStride, padding);
            Size scaledWinSize = Size(cvRound(hog->winSize.width*scale), cvRound(hog->winSize.height*scale));

            mtx->lock();
            for( size_t j = 0; j < locations.size(); j++ )
            {
                vec->push_back(Rect(cvRound(locations[j].x*scale),
                                    cvRound(locations[j].y*scale),
                                    scaledWinSize.width, scaledWinSize.height));
                if (scales)
                    scales->push_back(scale);
            }
            mtx->unlock();

            if (weights && (!hitsWeights.empty()))
            {
                mtx->lock();
                for (size_t j = 0; j < locations.size(); j++)
                    weights->push_back(hitsWeights[j]);
                mtx->unlock();
            }
        }
    }

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

void HOGDescriptor::detectMultiScale(
    const Mat& img, std::vector<Rect>& foundLocations, std::vector<double>& foundWeights,
    double hitThreshold, Size winStride, Size padding,
    double scale0, double finalThreshold, bool useMeanshiftGrouping) const
{
    double scale = 1.;
    int levels = 0;

    std::vector<double> levelScale;
    for( levels = 0; levels < nlevels; levels++ )
    {
        levelScale.push_back(scale);
        if( cvRound(img.cols/scale) < winSize.width ||
                cvRound(img.rows/scale) < winSize.height ||
                scale0 <= 1 )
            break;
        scale *= scale0;
    }
    levels = std::max(levels, 1);
    levelScale.resize(levels);

    std::vector<Rect> allCandidates;
    std::vector<double> tempScales;
    std::vector<double> tempWeights;
    std::vector<double> foundScales;
    Mutex mtx;

    Range range(0, (int)levelScale.size());
    HOGInvoker invoker(this, img, hitThreshold, winStride, padding, &levelScale[0], &allCandidates, &mtx, &tempWeights, &tempScales);
    parallel_for_(range, invoker);

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

    if ( useMeanshiftGrouping )
        groupRectangles_meanshift(foundLocations, foundWeights, foundScales, finalThreshold, winSize);
    else
        groupRectangles(foundLocations, (int)finalThreshold, 0.2);
}

void HOGDescriptor::detectMultiScale(const Mat& img, std::vector<Rect>& foundLocations,
    double hitThreshold, Size winStride, Size padding,
    double scale0, double finalThreshold, bool useMeanshiftGrouping) const
{
    std::vector<double> foundWeights;
    detectMultiScale(img, foundLocations, foundWeights, hitThreshold, winStride,
                padding, scale0, finalThreshold, useMeanshiftGrouping);
}

typedef RTTIImpl<HOGDescriptor> HOGRTTI;

CvType hog_type( CV_TYPE_NAME_HOG_DESCRIPTOR, HOGRTTI::isInstance,
    HOGRTTI::release, HOGRTTI::read, HOGRTTI::write, HOGRTTI::clone);

std::vector<float> HOGDescriptor::getDefaultPeopleDetector()
{
    static const float detector[] = {
        0.05359386f, -0.14721455f, -0.05532170f, 0.05077307f,
        0.11547081f, -0.04268804f, 0.04635834f, -0.05468199f, 0.08232084f,
        0.10424068f, -0.02294518f, 0.01108519f, 0.01378693f, 0.11193510f,
        0.01268418f, 0.08528346f, -0.06309239f, 0.13054633f, 0.08100729f,
        -0.05209739f, -0.04315529f, 0.09341384f, 0.11035026f, -0.07596218f,
        -0.05517511f, -0.04465296f, 0.02947334f, 0.04555536f,
        -3.55954492e-003f, 0.07818956f, 0.07730991f, 0.07890715f, 0.06222893f,
        0.09001380f, -0.03574381f, 0.03414327f, 0.05677258f, -0.04773581f,
        0.03746637f, -0.03521175f, 0.06955440f, -0.03849038f, 0.01052293f,
        0.01736112f, 0.10867710f, 0.08748853f, 3.29739624e-003f, 0.10907028f,
        0.07913758f, 0.10393070f, 0.02091867f, 0.11594022f, 0.13182420f,
        0.09879354f, 0.05362710f, -0.06745391f, -7.01260753e-003f,
        5.24702156e-003f, 0.03236255f, 0.01407916f, 0.02207983f, 0.02537322f,
        0.04547948f, 0.07200756f, 0.03129894f, -0.06274468f, 0.02107014f,
        0.06035208f, 0.08636236f, 4.53164103e-003f, 0.02193363f, 0.02309801f,
        0.05568166f, -0.02645093f, 0.04448695f, 0.02837519f, 0.08975694f,
        0.04461516f, 0.08975355f, 0.07514391f, 0.02306982f, 0.10410084f,
        0.06368385f, 0.05943464f, 4.58420580e-003f, 0.05220337f, 0.06675851f,
        0.08358569f, 0.06712101f, 0.06559004f, -0.03930482f, -9.15936660e-003f,
        -0.05897915f, 0.02816453f, 0.05032348f, 0.06780671f, 0.03377650f,
        -6.09417039e-004f, -0.01795146f, -0.03083684f, -0.01302475f,
        -0.02972313f, 7.88706727e-003f, -0.03525961f, -2.50397739e-003f,
        0.05245084f, 0.11791293f, -0.02167498f, 0.05299332f, 0.06640524f,
        0.05190265f, -8.27316567e-003f, 0.03033127f, 0.05842173f,
        -4.01050318e-003f, -6.25105947e-003f, 0.05862958f, -0.02465461f,
        0.05546781f, -0.08228195f, -0.07234028f, 0.04640540f, -0.01308254f,
        -0.02506191f, 0.03100746f, -0.04665651f, -0.04591486f, 0.02949927f,
        0.06035462f, 0.02244646f, -0.01698639f, 0.01040041f, 0.01131170f,
        0.05419579f, -0.02130277f, -0.04321722f, -0.03665198f, 0.01126490f,
        -0.02606488f, -0.02228328f, -0.02255680f, -0.03427236f,
        -7.75165204e-003f, -0.06195229f, 8.21638294e-003f, 0.09535975f,
        -0.03709979f, -0.06942501f, 0.14579427f, -0.05448192f, -0.02055904f,
        0.05747357f, 0.02781788f, -0.07077577f, -0.05178314f, -0.10429011f,
        -0.11235505f, 0.07529039f, -0.07559302f, -0.08786739f, 0.02983843f,
        0.02667585f, 0.01382199f, -0.01797496f, -0.03141199f, -0.02098101f,
        0.09029204f, 0.04955018f, 0.13718739f, 0.11379953f, 1.80019124e-003f,
        -0.04577610f, -1.11108483e-003f, -0.09470536f, -0.11596080f,
        0.04489342f, 0.01784211f, 3.06850672e-003f, 0.10781866f,
        3.36498418e-003f, -0.10842580f, -0.07436839f, -0.10535070f,
        -0.01866805f, 0.16057891f, -5.07316366e-003f, -0.04295658f,
        -5.90488780e-003f, 8.82003549e-003f, -0.01492646f, -0.05029279f,
        -0.12875880f, 8.78831954e-004f, -0.01297184f, -0.07592774f,
        -0.02668831f, -6.93787413e-004f, 0.02406698f, -0.01773298f,
        -0.03855745f, -0.05877856f, 0.03259695f, 0.12826584f, 0.06292590f,
        -4.10733931e-003f, 0.10996531f, 0.01332991f, 0.02088735f, 0.04037504f,
        -0.05210760f, 0.07760046f, 0.06399347f, -0.05751930f, -0.10053057f,
        0.07505023f, -0.02139782f, 0.01796176f, 2.34400877e-003f, -0.04208319f,
        0.07355055f, 0.05093350f, -0.02996780f, -0.02219072f, 0.03355330f,
        0.04418742f, -0.05580705f, -0.05037573f, -0.04548179f, 0.01379514f,
        0.02150671f, -0.02194211f, -0.13682702f, 0.05464972f, 0.01608082f,
        0.05309116f, 0.04701022f, 1.33690401e-003f, 0.07575664f, 0.09625306f,
        8.92647635e-003f, -0.02819123f, 0.10866830f, -0.03439325f,
        -0.07092371f, -0.06004780f, -0.02712298f, -7.07467366e-003f,
        -0.01637020f, 0.01336790f, -0.10313606f, 0.04906582f, -0.05732445f,
        -0.02731079f, 0.01042235f, -0.08340668f, 0.03686501f, 0.06108340f,
        0.01322748f, -0.07809529f, 0.03774724f, -0.03413248f, -0.06096525f,
        -0.04212124f, -0.07982176f, -1.25973229e-003f, -0.03045501f,
        -0.01236493f, -0.06312395f, 0.04789570f, -0.04602066f, 0.08576570f,
        0.02521080f, 0.02988098f, 0.10314583f, 0.07060035f, 0.04520544f,
        -0.04426654f, 0.13146530f, 0.08386490f, 0.02164590f, -2.12280243e-003f,
        -0.03686353f, -0.02074944f, -0.03829959f, -0.01530596f, 0.02689708f,
        0.11867401f, -0.06043470f, -0.02785023f, -0.04775074f, 0.04878745f,
        0.06350956f, 0.03494788f, 0.01467400f, 1.17890188e-003f, 0.04379614f,
        2.03681854e-003f, -0.03958609f, -0.01072688f, 6.43705716e-003f,
        0.02996500f, -0.03418507f, -0.01960307f, -0.01219154f,
        -4.37000440e-003f, -0.02549453f, 0.02646318f, -0.01632513f,
        6.46516960e-003f, -0.01929734f, 4.78711911e-003f, 0.04962371f,
        0.03809111f, 0.07265724f, 0.05758125f, -0.03741554f, 0.01648608f,
        -8.45285598e-003f, 0.03996826f, -0.08185477f, 0.02638875f,
        -0.04026615f, -0.02744674f, -0.04071517f, 1.05096330e-003f,
        -0.04741232f, -0.06733172f, 8.70434940e-003f, -0.02192543f,
        1.35350740e-003f, -0.03056974f, -0.02975521f, -0.02887780f,
        -0.01210713f, -0.04828526f, -0.09066251f, -0.09969629f, -0.03665164f,
        -8.88111943e-004f, -0.06826669f, -0.01866150f, -0.03627640f,
        -0.01408288f, 0.01874239f, -0.02075835f, 0.09145175f, -0.03547291f,
        0.05396780f, 0.04198981f, 0.01301925f, -0.03384354f, -0.12201976f,
        0.06830920f, -0.03715654f, 9.55848210e-003f, 5.05685573e-003f,
        0.05659294f, 3.90764466e-003f, 0.02808490f, -0.05518097f, -0.03711621f,
        -0.02835565f, -0.04420464f, -0.01031947f, 0.01883466f,
        -8.49525444e-003f, -0.09419250f, -0.01269387f, -0.02133371f,
        -0.10190815f, -0.07844430f, 2.43644323e-003f, -4.09610150e-003f,
        0.01202551f, -0.06452291f, -0.10593818f, -0.02464746f, -0.02199699f,
        -0.07401930f, 0.07285886f, 8.87513801e-004f, 9.97662079e-003f,
        8.46779719e-003f, 0.03730333f, -0.02905126f, 0.03573337f, -0.04393689f,
        -0.12014472f, 0.03176554f, -2.76015815e-003f, 0.10824566f, 0.05090732f,
        -3.30179278e-003f, -0.05123822f, 5.04784798e-003f, -0.05664124f,
        -5.99415926e-003f, -0.05341901f, -0.01221393f, 0.01291318f,
        9.91760660e-003f, -7.56987557e-003f, -0.06193124f, -2.24549137e-003f,
        0.01987562f, -0.02018840f, -0.06975540f, -0.06601523f, -0.03349112f,
        -0.08910118f, -0.03371435f, -0.07406893f, -0.02248047f, -0.06159951f,
        2.77751544e-003f, -0.05723337f, -0.04792468f, 0.07518548f,
        2.77279224e-003f, 0.04211938f, 0.03100502f, 0.05278448f, 0.03954679f,
        -0.03006846f, -0.03851741f, -0.02792403f, -0.02875333f, 0.01531280f,
        0.02186953f, -0.01989829f, 2.50679464e-003f, -0.10258728f,
        -0.04785743f, -0.02887216f, 3.85063468e-003f, 0.01112236f,
        8.29218887e-003f, -0.04822981f, -0.04503597f, -0.03713100f,
        -0.06988008f, -0.11002295f, -2.69209221e-003f, 1.85383670e-003f,
        -0.05921049f, -0.06105053f, -0.08458050f, -0.04527602f,
        8.90329306e-004f, -0.05875023f, -2.68602883e-003f, -0.01591195f,
        0.03631859f, 0.05493166f, 0.07300330f, 5.53333294e-003f, 0.06400407f,
        0.01847740f, -5.76280477e-003f, -0.03210877f, 4.25160583e-003f,
        0.01166520f, -1.44864211e-003f, 0.02253744f, -0.03367080f, 0.06983195f,
        -4.22323542e-003f, -8.89401045e-003f, -0.07943393f, 0.05199728f,
        0.06065201f, 0.04133492f, 1.44032843e-003f, -0.09585235f, -0.03964731f,
        0.04232114f, 0.01750465f, -0.04487902f, -7.59733608e-003f, 0.02011171f,
        0.04673622f, 0.09011173f, -0.07869188f, -0.04682482f, -0.05080139f,
        -3.99383716e-003f, -0.05346331f, 0.01085723f, -0.03599333f,
        -0.07097908f, 0.03551549f, 0.02680387f, 0.03471529f, 0.01790393f,
        0.05471273f, 9.62048303e-003f, -0.03180215f, 0.05864431f, 0.02330614f,
        0.01633144f, -0.05616681f, -0.10245429f, -0.08302189f, 0.07291322f,
        -0.01972590f, -0.02619633f, -0.02485327f, -0.04627592f,
        1.48853404e-003f, 0.05514185f, -0.01270860f, -0.01948900f, 0.06373586f,
        0.05002292f, -0.03009798f, 8.76216311e-003f, -0.02474238f,
        -0.05504891f, 1.74034527e-003f, -0.03333667f, 0.01524987f, 0.11663762f,
        -1.32344989e-003f, -0.06608453f, 0.05687166f, -6.89525274e-004f,
        -0.04402352f, 0.09450210f, -0.04222684f, -0.05360983f, 0.01779531f,
        0.02561388f, -0.11075410f, -8.77790991e-003f, -0.01099504f,
        -0.10380266f, 0.03103457f, -0.02105741f, -0.07371717f, 0.05146710f,
        0.10581432f, -0.08617968f, -0.02892107f, 0.01092199f, 0.14551543f,
        -2.24320893e-003f, -0.05818033f, -0.07390742f, 0.05701261f,
        0.12937020f, -0.04986651f, 0.10182415f, 0.05028650f, 0.12515625f,
        0.09175041f, 0.06404983f, 0.01523394f, 0.09460562f, 0.06106631f,
        -0.14266998f, -0.02926703f, 0.02762171f, 0.02164151f,
        -9.58488265e-004f, -0.04231362f, -0.09866509f, 0.04322244f,
        0.05872034f, -0.04838847f, 0.06319253f, 0.02443798f, -0.03606876f,
        9.38737206e-003f, 0.04289991f, -0.01027411f, 0.08156885f, 0.08751175f,
        -0.13191354f, 8.16054735e-003f, -0.01452161f, 0.02952677f, 0.03615945f,
        -2.09128903e-003f, 0.02246693f, 0.09623287f, 0.09412123f, -0.02924758f,
        -0.07815186f, -0.02203079f, -2.02566991e-003f, 0.01094733f,
        -0.01442332f, 0.02838561f, 0.11882371f, 7.28798332e-003f, -0.10345965f,
        0.07561217f, -0.02049661f, 4.44177445e-003f, 0.01609347f, -0.04893158f,
        -0.08758243f, -7.67420698e-003f, 0.08862378f, 0.06098121f, 0.06565887f,
        7.32981879e-003f, 0.03558407f, -0.03874352f, -0.02490055f,
        -0.06771075f, 0.09939223f, -0.01066077f, 0.01382995f, -0.07289080f,
        7.47184316e-003f, 0.10621431f, -0.02878659f, 0.02383525f, -0.03274646f,
        0.02137008f, 0.03837290f, 0.02450992f, -0.04296818f, -0.02895143f,
        0.05327370f, 0.01499020f, 0.04998732f, 0.12938657f, 0.09391870f,
        0.04292390f, -0.03359194f, -0.06809492f, 0.01125796f, 0.17290455f,
        -0.03430733f, -0.06255233f, -0.01813114f, 0.11726857f, -0.06127599f,
        -0.08677909f, -0.03429872f, 0.04684938f, 0.08161420f, 0.03538774f,
        0.01833884f, 0.11321855f, 0.03261845f, -0.04826299f, 0.01752407f,
        -0.01796414f, -0.10464549f, -3.30041884e-003f, 2.29343961e-004f,
        0.01457292f, -0.02132982f, -0.02602923f, -9.87351313e-003f,
        0.04273872f, -0.02103316f, -0.07994065f, 0.02614958f, -0.02111666f,
        -0.06964913f, -0.13453490f, -0.06861878f, -6.09341264e-003f,
        0.08251446f, 0.15612499f, 2.46531400e-003f, 8.88424646e-003f,
        -0.04152999f, 0.02054853f, 0.05277953f, -0.03087788f, 0.02817579f,
        0.13939077f, 0.07641046f, -0.03627627f, -0.03015098f, -0.04041540f,
        -0.01360690f, -0.06227205f, -0.02738223f, 0.13577610f, 0.15235767f,
        -0.05392922f, -0.11175954f, 0.02157129f, 0.01146481f, -0.05264937f,
        -0.06595174f, -0.02749175f, 0.11812254f, 0.17404149f, -0.06137035f,
        -0.11003478f, -0.01351621f, -0.01745916f, -0.08577441f, -0.04469909f,
        -0.06106115f, 0.10559758f, 0.20806813f, -0.09174948f, 7.09621934e-004f,
        0.03579374f, 0.07215115f, 0.02221742f, 0.01827742f, -7.90785067e-003f,
        0.01489554f, 0.14519960f, -0.06425831f, 0.02990399f, -1.80181325e-003f,
        -0.01401528f, -0.04171134f, -3.70530109e-003f, -0.09090481f,
        0.09520713f, 0.08845516f, -0.02651753f, -0.03016730f, 0.02562448f,
        0.03563816f, -0.03817881f, 0.01433385f, 0.02256983f, 0.02872120f,
        0.01001934f, -0.06332260f, 0.04338406f, 0.07001807f, -0.04705722f,
        -0.07318907f, 0.02630457f, 0.03106382f, 0.06648342f, 0.10913180f,
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        0.05882156f, -0.03336544f, 0.04603891f, -0.10432546f, 0.01923928f,
        0.01842845f, -0.01712168f, -0.02222766f, 0.04693324f, -0.06202956f,
        -0.01422159f, 0.08732220f, -0.07706107f, 0.02661049f, -0.04300238f,
        -0.03092422f, -0.03552184f, -0.01886088f, -0.04979934f, 0.03906401f,
        0.04608644f, 0.04966111f, 0.04275464f, -0.04621769f, -0.02653212f,
        8.57011229e-003f, 0.03839684f, 0.05818764f, 0.03880796f,
        -2.76100676e-004f, 0.03076511f, -0.03266929f, -0.05374557f,
        0.04986527f, -9.45429131e-003f, 0.03582499f, -2.64564669e-003f,
        -1.07461517e-003f, 0.02962313f, -0.01483363f, 0.03060869f, 0.02448327f,
        0.01845641f, 0.03282966f, -0.03534438f, -0.01084059f, -0.01119136f,
        -1.85360224e-003f, -5.94652840e-004f, -0.04451817f, 2.98327743e-003f,
        0.06272484f, -0.02152076f, -3.05971340e-003f, -0.05070828f,
        0.01531762f, 0.01282815f, 0.05167150f, 9.46266949e-003f,
        -3.34558333e-003f, 0.11442288f, -0.03906701f, -2.67325155e-003f,
        0.03069184f, -0.01134165f, 0.02949462f, 0.02879886f, 0.03855566f,
        -0.03450781f, 0.09142872f, -0.02156654f, 0.06075062f, -0.06220816f,
        0.01944680f, 6.68372354e-003f, -0.06656796f, 8.70784000e-003f,
        0.03456013f, 0.02434320f, -0.13236357f, -0.04177035f, -0.02069627f,
        0.01068112f, 0.01505432f, -0.07517391f, -3.83571628e-003f,
        -0.06298508f, -0.02881260f, -0.13101046f, -0.07221562f,
        -5.79945277e-003f, -8.57300125e-003f, 0.03782469f, 0.02762164f,
        0.04942456f, -0.02936396f, 0.09597211f, 0.01921411f, 0.06101191f,
        -0.04787507f, -0.01379578f, -7.40224449e-003f, -0.02220136f,
        -0.01313756f, 7.77558051e-003f, 0.12296968f, 0.02939998f, 0.03594062f,
        -0.07788624f, -0.01133144f, 3.99316690e-004f, -0.06090347f,
        -0.01122066f, -4.68682544e-003f, 0.07633100f, -0.06748922f,
        -0.05640298f, -0.05265681f, -0.01139122f, -0.01624347f, -0.04715714f,
        -0.01099092f, 0.01048561f, 3.28499987e-003f, -0.05810167f,
        -0.07699911f, -0.03330683f, 0.04185145f, 0.03478536f, 0.02275165f,
        0.02304766f, 6.66040834e-003f, 0.10968148f, -5.93013782e-003f,
        -0.04858336f, -0.04203213f, -0.09316786f, -6.13074889e-003f,
        -0.02544625f, 0.01366201f, 9.18555818e-003f, -0.01846578f,
        -0.05622401f, -0.03989377f, -0.07810296f, 6.91275718e-003f,
        0.05957597f, -0.03901334f, 0.01572002f, -0.01193903f,
        -6.89400872e-003f, -0.03093356f, -0.04136098f, -0.01562869f,
        -0.04604580f, 0.02865234f, -0.08678447f, -0.03232484f, -0.05364593f,
        -0.01445016f, -0.07003860f, -0.08669746f, -0.04520775f, 0.04274122f,
        0.03117515f, 0.08175703f, 0.01081109f, 0.06379741f, 0.06199206f,
        0.02865988f, 0.02360346f, 0.06725410f, -0.03248780f, -9.37702879e-003f,
        0.08265898f, -0.02245839f, 0.05125763f, -0.01862395f, 0.01973453f,
        -0.01994494f, -0.10770868f, 0.03180375f, 3.23935156e-003f,
        -0.02142080f, -0.04256190f, 0.04760900f, 0.04282863f, 0.05635953f,
        -0.01870849f, 0.05540622f, -0.03042666f, 0.01455277f, -0.06630179f,
        -0.05843807f, -0.03739681f, -0.09739155f, -0.03220233f, -0.05620182f,
        -0.10381401f, 0.07400211f, 4.20676917e-003f, 0.03258535f,
        2.14308966e-003f, 0.05121966f, -0.01274337f, 0.02384761f, 0.06335578f,
        -0.07905591f, 0.08375625f, -0.07898903f, -0.06508528f, -0.02498444f,
        0.06535810f, 0.03970535f, 0.04895468f, -0.01169566f, -0.03980601f,
        0.05682293f, 0.05925463f, -0.01165808f, -0.07936699f, -0.04208954f,
        0.01333987f, 0.09051196f, 0.10098671f, -0.03974256f, 0.01238771f,
        -0.07501741f, -0.03655440f, -0.04301528f, 0.09216860f,
        4.63579083e-004f, 0.02851115f, 0.02142735f, 1.28244064e-004f,
        0.02879687f, -0.08554889f, -0.04838862f, 0.08135369f, -0.05756533f,
        0.01413900f, 0.03451880f, -0.06619488f, -0.03053130f, 0.02961676f,
        -0.07384635f, 0.01135692f, 0.05283910f, -0.07778034f, -0.02107482f,
        -0.05511716f, -0.13473752f, 0.03030157f, 0.06722020f, -0.06218817f,
        -0.05826827f, 0.06254654f, 0.02895772f, -0.01664000f, -0.03620280f,
        -0.01612278f, -1.46097376e-003f, 0.14013411f, -8.96181818e-003f,
        -0.03250246f, 3.38630192e-003f, 2.64779478e-003f, 0.03359732f,
        -0.02411991f, -0.04229729f, 0.10666174f, -6.66579151f };
    return std::vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
}

// This function renurn 1981 SVM coeffs obtained from daimler's base.
// To use these coeffs the detection window size should be (48,96)
std::vector<float> HOGDescriptor::getDaimlerPeopleDetector()
{
    static const float detector[] = {
        0.294350f, -0.098796f, -0.129522f, 0.078753f,
        0.387527f, 0.261529f, 0.145939f, 0.061520f,
        0.328699f, 0.227148f, -0.066467f, -0.086723f,
        0.047559f, 0.106714f, 0.037897f, 0.111461f,
        -0.024406f, 0.304769f, 0.254676f, -0.069235f,
        0.082566f, 0.147260f, 0.326969f, 0.148888f,
        0.055270f, -0.087985f, 0.261720f, 0.143442f,
        0.026812f, 0.238212f, 0.194020f, 0.056341f,
        -0.025854f, -0.034444f, -0.156631f, 0.205174f,
        0.089008f, -0.139811f, -0.100147f, -0.037830f,
        -0.029230f, -0.055641f, 0.033248f, -0.016512f,
        0.155244f, 0.247315f, -0.124694f, -0.048414f,
        -0.062219f, 0.193683f, 0.004574f, 0.055089f,
        0.093565f, 0.167712f, 0.167581f, 0.018895f,
        0.215258f, 0.122609f, 0.090520f, -0.067219f,
        -0.049029f, -0.099615f, 0.241804f, -0.094893f,
        -0.176248f, 0.001727f, -0.134473f, 0.104442f,
        0.050942f, 0.081165f, 0.072156f, 0.121646f,
        0.002656f, -0.297974f, -0.133587f, -0.060121f,
        -0.092515f, -0.048974f, -0.084754f, -0.180111f,
        -0.038590f, 0.086283f, -0.134636f, -0.107249f,
        0.132890f, 0.141556f, 0.249425f, 0.130273f,
        -0.030031f, 0.073212f, -0.008155f, 0.019931f,
        0.071688f, 0.000300f, -0.019525f, -0.021725f,
        -0.040993f, -0.086841f, 0.070124f, 0.240033f,
        0.265350f, 0.043208f, 0.166754f, 0.091453f,
        0.060916f, -0.036972f, -0.091043f, 0.079873f,
        0.219781f, 0.158102f, -0.140618f, -0.043016f,
        0.124802f, 0.093668f, 0.103208f, 0.094872f,
        0.080541f, 0.137711f, 0.160566f, -0.169231f,
        0.013983f, 0.309508f, -0.004217f, -0.057200f,
        -0.064489f, 0.014066f, 0.361009f, 0.251328f,
        -0.080983f, -0.044183f, 0.061436f, -0.037381f,
        -0.078786f, 0.030993f, 0.066314f, 0.037683f,
        0.152325f, -0.091683f, 0.070203f, 0.217856f,
        0.036435f, -0.076462f, 0.006254f, -0.094431f,
        0.154829f, -0.023038f, -0.196961f, -0.024594f,
        0.178465f, -0.050139f, -0.045932f, -0.000965f,
        0.109112f, 0.046165f, -0.159373f, -0.008713f,
        0.041307f, 0.097129f, -0.057211f, -0.064599f,
        0.077165f, 0.176167f, 0.138322f, 0.065753f,
        -0.104950f, 0.017933f, 0.136255f, -0.011598f,
        0.047007f, 0.080550f, 0.068619f, 0.084661f,
        -0.035493f, -0.091314f, -0.041411f, 0.060971f,
        -0.101912f, -0.079870f, -0.085977f, -0.022686f,
        0.079788f, -0.098064f, -0.054603f, 0.040383f,
        0.300794f, 0.128603f, 0.094844f, 0.047407f,
        0.101825f, 0.061832f, -0.162160f, -0.204553f,
        -0.035165f, 0.101450f, -0.016641f, -0.027140f,
        -0.134392f, -0.008743f, 0.102331f, 0.114853f,
        0.009644f, 0.062823f, 0.237339f, 0.167843f,
        0.053066f, -0.012592f, 0.043158f, 0.002305f,
        0.065001f, -0.038929f, -0.020356f, 0.152343f,
        0.043469f, -0.029967f, -0.042948f, 0.032481f,
        0.068488f, -0.110840f, -0.111083f, 0.111980f,
        -0.002072f, -0.005562f, 0.082926f, 0.006635f,
        -0.108153f, 0.024242f, -0.086464f, -0.189884f,
        -0.017492f, 0.191456f, -0.007683f, -0.128769f,
        -0.038017f, -0.132380f, 0.091926f, 0.079696f,
        -0.106728f, -0.007656f, 0.172744f, 0.011576f,
        0.009883f, 0.083258f, -0.026516f, 0.145534f,
        0.153924f, -0.130290f, -0.108945f, 0.124490f,
        -0.003186f, -0.100485f, 0.015024f, -0.060512f,
        0.026288f, -0.086713f, -0.169012f, 0.076517f,
        0.215778f, 0.043701f, -0.131642f, -0.012585f,
        -0.045181f, -0.118183f, -0.241544f, -0.167293f,
        -0.020107f, -0.019917f, -0.101827f, -0.107096f,
        -0.010503f, 0.044938f, 0.189680f, 0.217119f,
        -0.046086f, 0.044508f, 0.199716f, -0.036004f,
        -0.148927f, 0.013355f, -0.078279f, 0.030451f,
        0.056301f, -0.024609f, 0.083224f, 0.099533f,
        -0.039432f, -0.138880f, 0.005482f, -0.024120f,
        -0.140468f, -0.066381f, -0.017057f, 0.009260f,
        -0.058004f, -0.028486f, -0.061610f, 0.007483f,
        -0.158309f, -0.150687f, -0.044595f, -0.105121f,
        -0.045763f, -0.006618f, -0.024419f, -0.117713f,
        -0.119366f, -0.175941f, -0.071542f, 0.119027f,
        0.111362f, 0.043080f, 0.034889f, 0.093003f,
        0.007842f, 0.057368f, -0.108834f, -0.079968f,
        0.230959f, 0.020205f, 0.011470f, 0.098877f,
        0.101310f, -0.030215f, -0.018018f, -0.059552f,
        -0.106157f, 0.021866f, -0.036471f, 0.080051f,
        0.041165f, -0.082101f, 0.117726f, 0.030961f,
        -0.054763f, -0.084102f, -0.185778f, -0.061305f,
        -0.038089f, -0.110728f, -0.264010f, 0.076675f,
        -0.077111f, -0.137644f, 0.036232f, 0.277995f,
        0.019116f, 0.107738f, 0.144003f, 0.080304f,
        0.215036f, 0.228897f, 0.072713f, 0.077773f,
        0.120168f, 0.075324f, 0.062730f, 0.122478f,
        -0.049008f, 0.164912f, 0.162450f, 0.041246f,
        0.009891f, -0.097827f, -0.038700f, -0.023027f,
        -0.120020f, 0.203364f, 0.248474f, 0.149810f,
        -0.036276f, -0.082814f, -0.090343f, -0.027143f,
        -0.075689f, -0.320310f, -0.000500f, -0.143334f,
        -0.065077f, -0.186936f, 0.129372f, 0.116431f,
        0.181699f, 0.170436f, 0.418854f, 0.460045f,
        0.333719f, 0.230515f, 0.047822f, -0.044954f,
        -0.068086f, 0.140179f, -0.044821f, 0.085550f,
        0.092483f, -0.107296f, -0.130670f, -0.206629f,
        0.114601f, -0.317869f, -0.076663f, 0.038680f,
        0.212753f, -0.016059f, -0.126526f, -0.163602f,
        0.210154f, 0.099887f, -0.126366f, 0.118453f,
        0.019309f, -0.021611f, -0.096499f, -0.111809f,
        -0.200489f, 0.142854f, 0.228840f, -0.353346f,
        -0.179151f, 0.116834f, 0.252389f, -0.031728f,
        -0.188135f, -0.158998f, 0.386523f, 0.122315f,
        0.209944f, 0.394023f, 0.359030f, 0.260717f,
        0.170335f, 0.013683f, -0.142596f, -0.026138f,
        -0.011878f, -0.150519f, 0.047159f, -0.107062f,
        -0.147347f, -0.187689f, -0.186027f, -0.208048f,
        0.058468f, -0.073026f, -0.236556f, -0.079788f,
        -0.146216f, -0.058563f, -0.101361f, -0.071294f,
        -0.071093f, 0.116919f, 0.234304f, 0.306781f,
        0.321866f, 0.240000f, 0.073261f, -0.012173f,
        0.026479f, 0.050173f, 0.166127f, 0.228955f,
        0.061905f, 0.156460f, 0.205990f, 0.120672f,
        0.037350f, 0.167884f, 0.290099f, 0.420900f,
        -0.012601f, 0.189839f, 0.306378f, 0.118383f,
        -0.095598f, -0.072360f, -0.132496f, -0.224259f,
        -0.126021f, 0.022714f, 0.284039f, 0.051369f,
        -0.000927f, -0.058735f, -0.083354f, -0.141254f,
        -0.187578f, -0.202669f, 0.048902f, 0.246597f,
        0.441863f, 0.342519f, 0.066979f, 0.215286f,
        0.188191f, -0.072240f, -0.208142f, -0.030196f,
        0.178141f, 0.136985f, -0.043374f, -0.181098f,
        0.091815f, 0.116177f, -0.126690f, -0.386625f,
        0.368165f, 0.269149f, -0.088042f, -0.028823f,
        0.092961f, 0.024099f, 0.046112f, 0.176756f,
        0.135849f, 0.124955f, 0.195467f, -0.037218f,
        0.167217f, 0.188938f, 0.053528f, -0.066561f,
        0.133721f, -0.070565f, 0.115898f, 0.152435f,
        -0.116993f, -0.110592f, -0.179005f, 0.026668f,
        0.080530f, 0.075084f, -0.070401f, 0.012497f,
        0.021849f, -0.139764f, -0.022020f, -0.096301f,
        -0.064954f, -0.127446f, -0.013806f, -0.108315f,
        0.156285f, 0.149867f, -0.011382f, 0.064532f,
        0.029168f, 0.027393f, 0.069716f, 0.153735f,
        0.038459f, 0.230714f, 0.253840f, 0.059522f,
        -0.045053f, 0.014083f, 0.071103f, 0.068747f,
        0.095887f, 0.005832f, 0.144887f, 0.026357f,
        -0.067359f, -0.044151f, -0.123283f, -0.019911f,
        0.005318f, 0.109208f, -0.003201f, -0.021734f,
        0.142025f, -0.066907f, -0.120070f, -0.188639f,
        0.012472f, -0.048704f, -0.012366f, -0.184828f,
        0.168591f, 0.267166f, 0.058208f, -0.044101f,
        0.033500f, 0.178558f, 0.104550f, 0.122418f,
        0.080177f, 0.173246f, 0.298537f, 0.064173f,
        0.053397f, 0.174341f, 0.230984f, 0.117025f,
        0.166242f, 0.227781f, 0.120623f, 0.176952f,
        -0.011393f, -0.086483f, -0.008270f, 0.051700f,
        -0.153369f, -0.058837f, -0.057639f, -0.060115f,
        0.026349f, -0.160745f, -0.037894f, -0.048575f,
        0.041052f, -0.022112f, 0.060365f, 0.051906f,
        0.162657f, 0.138519f, -0.050185f, -0.005938f,
        0.071301f, 0.127686f, 0.062342f, 0.144400f,
        0.072600f, 0.198436f, 0.246219f, -0.078185f,
        -0.036169f, 0.075934f, 0.047328f, -0.013601f,
        0.087205f, 0.019900f, 0.022606f, -0.015365f,
        -0.092506f, 0.075275f, -0.116375f, 0.050500f,
        0.045118f, 0.166567f, 0.072073f, 0.060371f,
        0.131747f, -0.169863f, -0.039352f, -0.047486f,
        -0.039797f, -0.204312f, 0.021710f, 0.129443f,
        -0.021173f, 0.173416f, -0.070794f, -0.063986f,
        0.069689f, -0.064099f, -0.123201f, -0.017372f,
        -0.206870f, 0.065863f, 0.113226f, 0.024707f,
        -0.071341f, -0.066964f, -0.098278f, -0.062927f,
        0.075840f, 0.014716f, 0.019378f, 0.132699f,
        -0.074191f, -0.089557f, -0.078446f, -0.197488f,
        -0.173665f, 0.052583f, 0.044361f, 0.113549f,
        0.098492f, 0.077379f, -0.011146f, -0.192593f,
        -0.164435f, 0.045568f, 0.205699f, 0.049187f,
        -0.082281f, 0.134874f, 0.185499f, 0.034968f,
        -0.119561f, -0.112372f, -0.115091f, -0.054042f,
        -0.183816f, -0.078100f, 0.190695f, 0.091617f,
        0.004257f, -0.041135f, -0.061453f, -0.141592f,
        -0.194809f, -0.120638f, 0.020168f, 0.109672f,
        0.067398f, -0.015238f, -0.239145f, -0.264671f,
        -0.185176f, 0.050472f, 0.020793f, 0.035678f,
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        0.016935f, 0.085563f, -0.015961f, -0.019265f,
        0.111788f, 0.062376f, 0.202019f, 0.047713f,
        0.042261f, 0.069716f, 0.242913f, 0.021052f,
        -0.072812f, -0.155920f, -0.026436f, 0.035621f,
        -0.079300f, -0.028787f, -0.048329f, 0.084718f,
        -0.060565f, -0.083750f, -0.164075f, -0.040742f,
        -0.086219f, 0.015271f, -0.005204f, -0.016038f,
        0.045816f, -0.050433f, -0.077652f, 0.117109f,
        0.009611f, -0.009045f, -0.008634f, -0.055373f,
        -0.085968f, 0.028527f, -0.054736f, -0.168089f,
        0.175839f, 0.071205f, -0.023603f, 0.037907f,
        -0.004561f, -0.022634f, 0.123831f, 0.094469f,
        -0.072920f, -0.133642f, -0.014032f, -0.142754f,
        -0.026999f, -0.199409f, 0.013268f, 0.226989f,
        0.048650f, -0.170988f, -0.050141f, 0.007880f,
        0.061880f, 0.019078f, -0.043578f, -0.038139f,
        0.134814f, 0.054097f, -0.081670f, 0.176838f,
        0.047920f, -0.038176f, 0.050406f, -0.107181f,
        -0.036279f, 0.027060f, 0.081594f, -0.002820f,
        0.090507f, -0.033338f, -0.059571f, 0.013404f,
        -0.099860f, 0.073371f, 0.342805f, 0.098305f,
        -0.150910f, -0.020822f, -0.056960f, 0.046262f,
        -0.043413f, -0.149405f, -0.129105f, -0.010899f,
        -0.014229f, -0.179949f, -0.113044f, -0.049468f,
        -0.065513f, 0.090269f, -0.011919f, 0.087846f,
        0.095796f, 0.146127f, 0.101599f, 0.078066f,
        -0.084348f, -0.100002f, -0.020134f, -0.050169f,
        0.062122f, 0.014640f, 0.019143f, 0.036543f,
        0.180924f, -0.013976f, -0.066768f, -0.001090f,
        -0.070419f, -0.004839f, -0.001504f, 0.034483f,
        -0.044954f, -0.050336f, -0.088638f, -0.174782f,
        -0.116082f, -0.205507f, 0.015587f, -0.042839f,
        -0.096879f, -0.144097f, -0.050268f, -0.196796f,
        0.109639f, 0.271411f, 0.173732f, 0.108070f,
        0.156437f, 0.124255f, 0.097242f, 0.238693f,
        0.083941f, 0.109105f, 0.223940f, 0.267188f,
        0.027385f, 0.025819f, 0.125070f, 0.093738f,
        0.040353f, 0.038645f, -0.012730f, 0.144063f,
        0.052931f, -0.009138f, 0.084193f, 0.160272f,
        -0.041366f, 0.011951f, -0.121446f, -0.106713f,
        -0.047566f, 0.047984f, -0.255224f, -0.076116f,
        0.098685f, -0.150845f, -0.171513f, -0.156590f,
        0.058331f, 0.187493f, 0.413018f, 0.554265f,
        0.372242f, 0.237943f, 0.124571f, 0.110829f,
        0.010322f, -0.174477f, -0.067627f, -0.001979f,
        0.142913f, 0.040597f, 0.019907f, 0.025963f,
        -0.043585f, -0.120732f, 0.099937f, 0.091059f,
        0.247307f, 0.204226f, -0.042753f, -0.068580f,
        -0.119002f, 0.026722f, 0.034853f, -0.060934f,
        -0.025054f, -0.093026f, -0.035372f, -0.233209f,
        -0.049869f, -0.039151f, -0.022279f, -0.065380f,
        -9.063785f};
    return std::vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
}

class HOGConfInvoker :
    public ParallelLoopBody
{
public:
    HOGConfInvoker( const HOGDescriptor* _hog, const Mat& _img,
        double _hitThreshold, const Size& _padding,
        std::vector<DetectionROI>* locs,
        std::vector<Rect>* _vec, Mutex* _mtx )
    {
        hog = _hog;
        img = _img;
        hitThreshold = _hitThreshold;
        padding = _padding;
        locations = locs;
        vec = _vec;
        mtx = _mtx;
    }

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

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

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

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

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

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

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

void HOGDescriptor::detectROI(const cv::Mat& img, const std::vector<cv::Point> &locations,
    CV_OUT std::vector<cv::Point>& foundLocations, CV_OUT std::vector<double>& confidences,
    double hitThreshold, cv::Size winStride, cv::Size padding) const
{
    foundLocations.clear();
    confidences.clear();

    if( svmDetector.empty() || locations.empty())
        return;

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

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

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

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

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

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

#if CV_SSE2
    float partSum[4];
#endif

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

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

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

            // need to devide this into 4 parts!
            const float* vec = cache.getBlock(pt, &blockHist[0]);
#if CV_SSE2
            __m128 _vec = _mm_loadu_ps(vec);
            __m128 _svmVec = _mm_loadu_ps(svmVec);
            __m128 sum = _mm_mul_ps(_svmVec, _vec);

            for( k = 4; k <= blockHistogramSize - 4; k += 4 )
            {
                _vec = _mm_loadu_ps(vec + k);
                _svmVec = _mm_loadu_ps(svmVec + k);

                sum = _mm_add_ps(sum, _mm_mul_ps(_vec, _svmVec));
            }

            _mm_storeu_ps(partSum, sum);
            double t0 = partSum[0] + partSum[1];
            double t1 = partSum[2] + partSum[3];
            s += t0 + t1;
#else
            for( k = 0; k <= blockHistogramSize - 4; k += 4 )
                s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
                        vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
#endif
            for( ; k < blockHistogramSize; k++ )
                s += vec[k]*svmVec[k];
        }
        confidences.push_back(s);

        if( s >= hitThreshold )
            foundLocations.push_back(pt0);
    }
}

void HOGDescriptor::detectMultiScaleROI(const cv::Mat& img,
    CV_OUT std::vector<cv::Rect>& foundLocations, std::vector<DetectionROI>& locations,
    double hitThreshold, int groupThreshold) const
{
    std::vector<Rect> allCandidates;
    Mutex mtx;

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

    foundLocations.resize(allCandidates.size());
    std::copy(allCandidates.begin(), allCandidates.end(), foundLocations.begin());
    cv::groupRectangles(foundLocations, groupThreshold, 0.2);
}

void HOGDescriptor::readALTModel(cv::String modelfile)
{
    // read model from SVMlight format..
    FILE *modelfl;
    if ((modelfl = fopen(modelfile.c_str(), "rb")) == NULL)
    {
        cv::String eerr("file not exist");
        cv::String efile(__FILE__);
        cv::String efunc(__FUNCTION__);
        throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
    }
    char version_buffer[10];
    if (!fread (&version_buffer,sizeof(char),10,modelfl))
    {
        cv::String eerr("version?");
        cv::String efile(__FILE__);
        cv::String efunc(__FUNCTION__);
        throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
    }
    if(strcmp(version_buffer,"V6.01")) {
        cv::String eerr("version doesnot match");
        cv::String efile(__FILE__);
        cv::String efunc(__FUNCTION__);
        throw Exception(CV_StsError, eerr, efile, efunc, __LINE__);
    }
    /* read version number */
    int version = 0;
    if (!fread (&version,sizeof(int),1,modelfl))
    { throw Exception(); }
    if (version < 200)
    {
        cv::String eerr("version doesnot match");
        cv::String efile(__FILE__);
        cv::String efunc(__FUNCTION__);
        throw Exception();
    }
    int kernel_type;
    size_t nread;
    nread=fread(&(kernel_type),sizeof(int),1,modelfl);

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

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

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

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

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

        detector.push_back((float)-linearbias);
        setSVMDetector(detector);
        delete linearwt;
    } else {
        throw Exception();
    }
    fclose(modelfl);
}

}