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  42
  43 #include "_cvaux.h"
  44
  45 /****************************************************************************************\
  46       The code below is implementation of HOG (Histogram-of-Oriented Gradients)
  47       descriptor and object detection, introduced by Navneet Dalal and Bill Triggs.
  48
  49       The computed feature vectors are compatible with the
  50       INRIA Object Detection and Localization Toolkit
  51       (http://pascal.inrialpes.fr/soft/olt/)
  52 \****************************************************************************************/
  53
  54 namespace cv
  55 {
  56
  57 size_t HOGDescriptor::getDescriptorSize() const
  58 {
  59     CV_Assert(blockSize.width % cellSize.width == 0 &&
  60         blockSize.height % cellSize.height == 0);
  61     CV_Assert((winSize.width - blockSize.width) % blockStride.width == 0 &&
  62         (winSize.height - blockSize.height) % blockStride.height == 0 );
  63     return (size_t)nbins*
  64         (blockSize.width/cellSize.width)*
  65         (blockSize.height/cellSize.height)*
  66         ((winSize.width - blockSize.width)/blockStride.width + 1)*
  67         ((winSize.height - blockSize.height)/blockStride.height + 1);
  68 }
  69
  70 double HOGDescriptor::getWinSigma() const
  71 {
  72     return winSigma >= 0 ? winSigma : (blockSize.width + blockSize.height)/8.;
  73 }
  74
  75 bool HOGDescriptor::checkDetectorSize() const
  76 {
  77     size_t detectorSize = svmDetector.size(), descriptorSize = getDescriptorSize();
  78     return detectorSize == 0 ||
  79         detectorSize == descriptorSize ||
  80         detectorSize == descriptorSize + 1;
  81 }
  82
  83 void HOGDescriptor::setSVMDetector(const vector<float>& _svmDetector)
  84 {
  85     svmDetector = _svmDetector;
  86     CV_Assert( checkDetectorSize() );
  87 }
  88
  89 bool HOGDescriptor::load(const String& filename, const String& objname)
  90 {
  91     FileStorage fs(filename, FileStorage::READ);
  92     FileNode obj = !objname.empty() ? fs[objname] : fs.getFirstTopLevelNode();
  93     if( !obj.isMap() )
  94         return false;
  95     FileNodeIterator it = obj["winSize"].begin();
  96     it >> winSize.width >> winSize.height;
  97     it = obj["blockSize"].begin();
  98     it >> blockSize.width >> blockSize.height;
  99     it = obj["blockStride"].begin();
 100     it >> blockStride.width >> blockStride.height;
 101     it = obj["cellSize"].begin();
 102     it >> cellSize.width >> cellSize.height;
 103     obj["nbins"] >> nbins;
 104     obj["derivAperture"] >> derivAperture;
 105     obj["winSigma"] >> winSigma;
 106     obj["histogramNormType"] >> histogramNormType;
 107     obj["L2HysThreshold"] >> L2HysThreshold;
 108     obj["gammaCorrection"] >> gammaCorrection;
 109
 110     FileNode vecNode = obj["SVMDetector"];
 111     if( vecNode.isSeq() )
 112     {
 113         vecNode >> svmDetector;
 114         CV_Assert(checkDetectorSize());
 115     }
 116     return true;
 117 }
 118
 119 void HOGDescriptor::save(const String& filename, const String& objName) const
 120 {
 121     FileStorage fs(filename, FileStorage::WRITE);
 122     fs << (!objName.empty() ? objName : FileStorage::getDefaultObjectName(filename)) << "{";
 123
 124     fs  << "winSize" << winSize
 125         << "blockSize" << blockSize
 126         << "blockStride" << blockStride
 127         << "cellSize" << cellSize
 128         << "nbins" << nbins
 129         << "derivAperture" << derivAperture
 130         << "winSigma" << getWinSigma()
 131         << "histogramNormType" << histogramNormType
 132         << "L2HysThreshold" << L2HysThreshold
 133         << "gammaCorrection" << gammaCorrection;
 134     if( !svmDetector.empty() )
 135         fs << "SVMDetector" << "[:" << svmDetector << "]";
 136     fs << "}";
 137 }
 138
 139 void HOGDescriptor::computeGradient(const Mat& img, Mat& grad, Mat& qangle,
 140                                     Size paddingTL, Size paddingBR) const
 141 {
 142     CV_Assert( img.type() == CV_8U || img.type() == CV_8UC3 );
 143
 144     Size gradsize(img.cols + paddingTL.width + paddingBR.width,
 145                   img.rows + paddingTL.height + paddingBR.height);
 146     grad.create(gradsize, CV_32FC2);  // <magnitude*(1-alpha), magnitude*alpha>
 147     qangle.create(gradsize, CV_8UC2); // [0..nbins-1] - quantized gradient orientation
 148     Size wholeSize;
 149     Point roiofs;
 150     img.locateROI(wholeSize, roiofs);
 151
 152     int i, x, y;
 153     int cn = img.channels();
 154
 155     Mat_<float> _lut(1, 256);
 156     const float* lut = &_lut(0,0);
 157
 158     if( gammaCorrection )
 159         for( i = 0; i < 256; i++ )
 160             _lut(0,i) = std::sqrt((float)i);
 161     else
 162         for( i = 0; i < 256; i++ )
 163             _lut(0,i) = (float)i;
 164
 165     AutoBuffer<int> mapbuf(gradsize.width + gradsize.height + 4);
 166     int* xmap = (int*)mapbuf + 1;
 167     int* ymap = xmap + gradsize.width + 2;
 168
 169     const int borderType = (int)BORDER_REFLECT_101;
 170
 171     for( x = -1; x < gradsize.width + 1; x++ )
 172         xmap[x] = borderInterpolate(x - paddingTL.width + roiofs.x,
 173                         wholeSize.width, borderType);
 174     for( y = -1; y < gradsize.height + 1; y++ )
 175         ymap[y] = borderInterpolate(y - paddingTL.height + roiofs.y,
 176                         wholeSize.height, borderType);
 177
 178     // x- & y- derivatives for the whole row
 179     int width = gradsize.width;
 180     AutoBuffer<float> _dbuf(width*4);
 181     float* dbuf = _dbuf;
 182     Mat Dx(1, width, CV_32F, dbuf);
 183     Mat Dy(1, width, CV_32F, dbuf + width);
 184     Mat Mag(1, width, CV_32F, dbuf + width*2);
 185     Mat Angle(1, width, CV_32F, dbuf + width*3);
 186
 187     int _nbins = nbins;
 188     float angleScale = (float)(_nbins/CV_PI);
 189
 190     for( y = 0; y < gradsize.height; y++ )
 191     {
 192         const uchar* imgPtr = img.data + img.step*ymap[y];
 193         const uchar* prevPtr = img.data + img.step*ymap[y-1];
 194         const uchar* nextPtr = img.data + img.step*ymap[y+1];
 195         float* gradPtr = (float*)grad.ptr(y);
 196         uchar* qanglePtr = (uchar*)qangle.ptr(y);
 197
 198         if( cn == 1 )
 199         {
 200             for( x = 0; x < width; x++ )
 201             {
 202                 int x1 = xmap[x];
 203                 dbuf[x] = (float)(lut[imgPtr[xmap[x+1]]] - lut[imgPtr[xmap[x-1]]]);
 204                 dbuf[width + x] = (float)(lut[nextPtr[x1]] - lut[prevPtr[x1]]);
 205             }
 206         }
 207         else
 208         {
 209             for( x = 0; x < width; x++ )
 210             {
 211                 int x1 = xmap[x]*3;
 212                 const uchar* p2 = imgPtr + xmap[x+1]*3;
 213                 const uchar* p0 = imgPtr + xmap[x-1]*3;
 214                 float dx0, dy0, dx, dy, mag0, mag;
 215
 216                 dx0 = lut[p2[2]] - lut[p0[2]];
 217                 dy0 = lut[nextPtr[x1+2]] - lut[prevPtr[x1+2]];
 218                 mag0 = dx0*dx0 + dy0*dy0;
 219
 220                 dx = lut[p2[1]] - lut[p0[1]];
 221                 dy = lut[nextPtr[x1+1]] - lut[prevPtr[x1+1]];
 222                 mag = dx*dx + dy*dy;
 223
 224                 if( mag0 < mag )
 225                 {
 226                     dx0 = dx;
 227                     dy0 = dy;
 228                     mag0 = mag;
 229                 }
 230
 231                 dx = lut[p2[0]] - lut[p0[0]];
 232                 dy = lut[nextPtr[x1]] - lut[prevPtr[x1]];
 233                 mag = dx*dx + dy*dy;
 234
 235                 if( mag0 < mag )
 236                 {
 237                     dx0 = dx;
 238                     dy0 = dy;
 239                     mag0 = mag;
 240                 }
 241
 242                 dbuf[x] = dx0;
 243                 dbuf[x+width] = dy0;
 244             }
 245         }
 246
 247         cartToPolar( Dx, Dy, Mag, Angle, false );
 248
 249         for( x = 0; x < width; x++ )
 250         {
 251             float mag = dbuf[x+width*2], angle = dbuf[x+width*3]*angleScale - 0.5f;
 252             int hidx = cvFloor(angle);
 253             angle -= hidx;
 254             if( hidx < 0 )
 255                 hidx += _nbins;
 256             else if( hidx >= _nbins )
 257                 hidx -= _nbins;
 258             assert( (unsigned)hidx < (unsigned)_nbins );
 259
 260             qanglePtr[x*2] = (uchar)hidx;
 261             hidx++;
 262             hidx &= hidx < _nbins ? -1 : 0;
 263             qanglePtr[x*2+1] = (uchar)hidx;
 264             gradPtr[x*2] = mag*(1.f - angle);
 265             gradPtr[x*2+1] = mag*angle;
 266         }
 267     }
 268 }
 269
 270
 271 struct HOGCache
 272 {
 273     struct BlockData
 274     {
 275         BlockData() : histOfs(0), imgOffset() {}
 276         int histOfs;
 277         Point imgOffset;
 278     };
 279
 280     struct PixData
 281     {
 282         size_t gradOfs, qangleOfs;
 283         int histOfs[4];
 284         float histWeights[4];
 285         float gradWeight;
 286     };
 287
 288     HOGCache();
 289     HOGCache(const HOGDescriptor* descriptor,
 290         const Mat& img, Size paddingTL, Size paddingBR,
 291         bool useCache, Size cacheStride);
 292     virtual ~HOGCache() {};
 293     virtual void init(const HOGDescriptor* descriptor,
 294         const Mat& img, Size paddingTL, Size paddingBR,
 295         bool useCache, Size cacheStride);
 296
 297     Size windowsInImage(Size imageSize, Size winStride) const;
 298     Rect getWindow(Size imageSize, Size winStride, int idx) const;
 299
 300     const float* getBlock(Point pt, float* buf);
 301     virtual void normalizeBlockHistogram(float* histogram) const;
 302
 303     vector<PixData> pixData;
 304     vector<BlockData> blockData;
 305
 306     bool useCache;
 307     vector<int> ymaxCached;
 308     Size winSize, cacheStride;
 309     Size nblocks, ncells;
 310     int blockHistogramSize;
 311     int count1, count2, count4;
 312     Point imgoffset;
 313     Mat_<float> blockCache;
 314     Mat_<uchar> blockCacheFlags;
 315
 316     Mat grad, qangle;
 317     const HOGDescriptor* descriptor;
 318 };
 319
 320
 321 HOGCache::HOGCache()
 322 {
 323     useCache = false;
 324     blockHistogramSize = count1 = count2 = count4 = 0;
 325     descriptor = 0;
 326 }
 327
 328 HOGCache::HOGCache(const HOGDescriptor* _descriptor,
 329         const Mat& _img, Size _paddingTL, Size _paddingBR,
 330         bool _useCache, Size _cacheStride)
 331 {
 332     init(_descriptor, _img, _paddingTL, _paddingBR, _useCache, _cacheStride);
 333 }
 334
 335 void HOGCache::init(const HOGDescriptor* _descriptor,
 336         const Mat& _img, Size _paddingTL, Size _paddingBR,
 337         bool _useCache, Size _cacheStride)
 338 {
 339     descriptor = _descriptor;
 340     cacheStride = _cacheStride;
 341     useCache = _useCache;
 342
 343     descriptor->computeGradient(_img, grad, qangle, _paddingTL, _paddingBR);
 344     imgoffset = _paddingTL;
 345
 346     winSize = descriptor->winSize;
 347     Size blockSize = descriptor->blockSize;
 348     Size blockStride = descriptor->blockStride;
 349     Size cellSize = descriptor->cellSize;
 350     Size winSize = descriptor->winSize;
 351     int i, j, nbins = descriptor->nbins;
 352     int rawBlockSize = blockSize.width*blockSize.height;
 353
 354     nblocks = Size((winSize.width - blockSize.width)/blockStride.width + 1,
 355                    (winSize.height - blockSize.height)/blockStride.height + 1);
 356     ncells = Size(blockSize.width/cellSize.width, blockSize.height/cellSize.height);
 357     blockHistogramSize = ncells.width*ncells.height*nbins;
 358
 359     if( useCache )
 360     {
 361         Size cacheSize((grad.cols - blockSize.width)/cacheStride.width+1,
 362                        (winSize.height/cacheStride.height)+1);
 363         blockCache.create(cacheSize.height, cacheSize.width*blockHistogramSize);
 364         blockCacheFlags.create(cacheSize);
 365         size_t i, cacheRows = blockCache.rows;
 366         ymaxCached.resize(cacheRows);
 367         for( i = 0; i < cacheRows; i++ )
 368             ymaxCached[i] = -1;
 369     }
 370
 371     Mat_<float> weights(blockSize);
 372     float sigma = (float)descriptor->getWinSigma();
 373     float scale = 1.f/(sigma*sigma*2);
 374
 375     for(i = 0; i < blockSize.height; i++)
 376         for(j = 0; j < blockSize.width; j++)
 377         {
 378             float di = i - blockSize.height*0.5f;
 379             float dj = j - blockSize.width*0.5f;
 380             weights(i,j) = std::exp(-(di*di + dj*dj)*scale);
 381         }
 382
 383     blockData.resize(nblocks.width*nblocks.height);
 384     pixData.resize(rawBlockSize*3);
 385
 386     // Initialize 2 lookup tables, pixData & blockData.
 387     // Here is why:
 388     //
 389     // The detection algorithm runs in 4 nested loops (at each pyramid layer):
 390     //  loop over the windows within the input image
 391     //    loop over the blocks within each window
 392     //      loop over the cells within each block
 393     //        loop over the pixels in each cell
 394     //
 395     // As each of the loops runs over a 2-dimensional array,
 396     // we could get 8(!) nested loops in total, which is very-very slow.
 397     //
 398     // To speed the things up, we do the following:
 399     //   1. loop over windows is unrolled in the HOGDescriptor::{compute|detect} methods;
 400     //         inside we compute the current search window using getWindow() method.
 401     //         Yes, it involves some overhead (function call + couple of divisions),
 402     //         but it's tiny in fact.
 403     //   2. loop over the blocks is also unrolled. Inside we use pre-computed blockData[j]
 404     //         to set up gradient and histogram pointers.
 405     //   3. loops over cells and pixels in each cell are merged
 406     //       (since there is no overlap between cells, each pixel in the block is processed once)
 407     //      and also unrolled. Inside we use PixData[k] to access the gradient values and
 408     //      update the histogram
 409     //
 410     count1 = count2 = count4 = 0;
 411     for( j = 0; j < blockSize.width; j++ )
 412         for( i = 0; i < blockSize.height; i++ )
 413         {
 414             PixData* data = 0;
 415             float cellX = (j+0.5f)/cellSize.width - 0.5f;
 416             float cellY = (i+0.5f)/cellSize.height - 0.5f;
 417             int icellX0 = cvFloor(cellX);
 418             int icellY0 = cvFloor(cellY);
 419             int icellX1 = icellX0 + 1, icellY1 = icellY0 + 1;
 420             cellX -= icellX0;
 421             cellY -= icellY0;
 422
 423             if( (unsigned)icellX0 < (unsigned)ncells.width &&
 424                 (unsigned)icellX1 < (unsigned)ncells.width )
 425             {
 426                 if( (unsigned)icellY0 < (unsigned)ncells.height &&
 427                     (unsigned)icellY1 < (unsigned)ncells.height )
 428                 {
 429                     data = &pixData[rawBlockSize*2 + (count4++)];
 430                     data->histOfs[0] = (icellX0*ncells.height + icellY0)*nbins;
 431                     data->histWeights[0] = (1.f - cellX)*(1.f - cellY);
 432                     data->histOfs[1] = (icellX1*ncells.height + icellY0)*nbins;
 433                     data->histWeights[1] = cellX*(1.f - cellY);
 434                     data->histOfs[2] = (icellX0*ncells.height + icellY1)*nbins;
 435                     data->histWeights[2] = (1.f - cellX)*cellY;
 436                     data->histOfs[3] = (icellX1*ncells.height + icellY1)*nbins;
 437                     data->histWeights[3] = cellX*cellY;
 438                 }
 439                 else
 440                 {
 441                     data = &pixData[rawBlockSize + (count2++)];
 442                     if( (unsigned)icellY0 < (unsigned)ncells.height )
 443                     {
 444                         icellY1 = icellY0;
 445                         cellY = 1.f - cellY;
 446                     }
 447                     data->histOfs[0] = (icellX0*ncells.height + icellY1)*nbins;
 448                     data->histWeights[0] = (1.f - cellX)*cellY;
 449                     data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
 450                     data->histWeights[1] = cellX*cellY;
 451                     data->histOfs[2] = data->histOfs[3] = 0;
 452                     data->histWeights[2] = data->histWeights[3] = 0;
 453                 }
 454             }
 455             else
 456             {
 457                 if( (unsigned)icellX0 < (unsigned)ncells.width )
 458                 {
 459                     icellX1 = icellX0;
 460                     cellX = 1.f - cellX;
 461                 }
 462
 463                 if( (unsigned)icellY0 < (unsigned)ncells.height &&
 464                     (unsigned)icellY1 < (unsigned)ncells.height )
 465                 {
 466                     data = &pixData[rawBlockSize + (count2++)];
 467                     data->histOfs[0] = (icellX1*ncells.height + icellY0)*nbins;
 468                     data->histWeights[0] = cellX*(1.f - cellY);
 469                     data->histOfs[1] = (icellX1*ncells.height + icellY1)*nbins;
 470                     data->histWeights[1] = cellX*cellY;
 471                     data->histOfs[2] = data->histOfs[3] = 0;
 472                     data->histWeights[2] = data->histWeights[3] = 0;
 473                 }
 474                 else
 475                 {
 476                     data = &pixData[count1++];
 477                     if( (unsigned)icellY0 < (unsigned)ncells.height )
 478                     {
 479                         icellY1 = icellY0;
 480                         cellY = 1.f - cellY;
 481                     }
 482                     data->histOfs[0] = (icellX1*ncells.height + icellY1)*nbins;
 483                     data->histWeights[0] = cellX*cellY;
 484                     data->histOfs[1] = data->histOfs[2] = data->histOfs[3] = 0;
 485                     data->histWeights[1] = data->histWeights[2] = data->histWeights[3] = 0;
 486                 }
 487             }
 488             data->gradOfs = (grad.cols*i + j)*2;
 489             data->qangleOfs = (qangle.cols*i + j)*2;
 490             data->gradWeight = weights(i,j);
 491         }
 492
 493     assert( count1 + count2 + count4 == rawBlockSize );
 494     // defragment pixData
 495     for( j = 0; j < count2; j++ )
 496         pixData[j + count1] = pixData[j + rawBlockSize];
 497     for( j = 0; j < count4; j++ )
 498         pixData[j + count1 + count2] = pixData[j + rawBlockSize*2];
 499     count2 += count1;
 500     count4 += count2;
 501
 502     // initialize blockData
 503     for( j = 0; j < nblocks.width; j++ )
 504         for( i = 0; i < nblocks.height; i++ )
 505         {
 506             BlockData& data = blockData[j*nblocks.height + i];
 507             data.histOfs = (j*nblocks.height + i)*blockHistogramSize;
 508             data.imgOffset = Point(j*blockStride.width,i*blockStride.height);
 509         }
 510 }
 511
 512
 513 const float* HOGCache::getBlock(Point pt, float* buf)
 514 {
 515     float* blockHist = buf;
 516     assert(descriptor != 0);
 517
 518     Size blockSize = descriptor->blockSize;
 519     pt += imgoffset;
 520
 521     CV_Assert( (unsigned)pt.x <= (unsigned)(grad.cols - blockSize.width) &&
 522                (unsigned)pt.y <= (unsigned)(grad.rows - blockSize.height) );
 523
 524     if( useCache )
 525     {
 526         CV_Assert( pt.x % cacheStride.width == 0 &&
 527                    pt.y % cacheStride.height == 0 );
 528         Point cacheIdx(pt.x/cacheStride.width,
 529                       (pt.y/cacheStride.height) % blockCache.rows);
 530         if( pt.y != ymaxCached[cacheIdx.y] )
 531         {
 532             Mat_<uchar> cacheRow = blockCacheFlags.row(cacheIdx.y);
 533             cacheRow = (uchar)0;
 534             ymaxCached[cacheIdx.y] = pt.y;
 535         }
 536
 537         blockHist = &blockCache[cacheIdx.y][cacheIdx.x*blockHistogramSize];
 538         uchar& computedFlag = blockCacheFlags(cacheIdx.y, cacheIdx.x);
 539         if( computedFlag != 0 )
 540             return blockHist;
 541         computedFlag = (uchar)1; // set it at once, before actual computing
 542     }
 543
 544     int k, C1 = count1, C2 = count2, C4 = count4;
 545     const float* gradPtr = (const float*)(grad.data + grad.step*pt.y) + pt.x*2;
 546     const uchar* qanglePtr = qangle.data + qangle.step*pt.y + pt.x*2;
 547
 548     CV_Assert( blockHist != 0 );
 549
 550     for( k = 0; k < blockHistogramSize; k++ )
 551         blockHist[k] = 0.f;
 552
 553     const PixData* _pixData = &pixData[0];
 554
 555     for( k = 0; k < C1; k++ )
 556     {
 557         const PixData& pk = _pixData[k];
 558         const float* a = gradPtr + pk.gradOfs;
 559         float w = pk.gradWeight*pk.histWeights[0];
 560         const uchar* h = qanglePtr + pk.qangleOfs;
 561         int h0 = h[0], h1 = h[1];
 562         float* hist = blockHist + pk.histOfs[0];
 563         float t0 = hist[h0] + a[0]*w;
 564         float t1 = hist[h1] + a[1]*w;
 565         hist[h0] = t0; hist[h1] = t1;
 566     }
 567
 568     for( ; k < C2; k++ )
 569     {
 570         const PixData& pk = _pixData[k];
 571         const float* a = gradPtr + pk.gradOfs;
 572         float w, t0, t1, a0 = a[0], a1 = a[1];
 573         const uchar* h = qanglePtr + pk.qangleOfs;
 574         int h0 = h[0], h1 = h[1];
 575
 576         float* hist = blockHist + pk.histOfs[0];
 577         w = pk.gradWeight*pk.histWeights[0];
 578         t0 = hist[h0] + a0*w;
 579         t1 = hist[h1] + a1*w;
 580         hist[h0] = t0; hist[h1] = t1;
 581
 582         hist = blockHist + pk.histOfs[1];
 583         w = pk.gradWeight*pk.histWeights[1];
 584         t0 = hist[h0] + a0*w;
 585         t1 = hist[h1] + a1*w;
 586         hist[h0] = t0; hist[h1] = t1;
 587     }
 588
 589     for( ; k < C4; k++ )
 590     {
 591         const PixData& pk = _pixData[k];
 592         const float* a = gradPtr + pk.gradOfs;
 593         float w, t0, t1, a0 = a[0], a1 = a[1];
 594         const uchar* h = qanglePtr + pk.qangleOfs;
 595         int h0 = h[0], h1 = h[1];
 596
 597         float* hist = blockHist + pk.histOfs[0];
 598         w = pk.gradWeight*pk.histWeights[0];
 599         t0 = hist[h0] + a0*w;
 600         t1 = hist[h1] + a1*w;
 601         hist[h0] = t0; hist[h1] = t1;
 602
 603         hist = blockHist + pk.histOfs[1];
 604         w = pk.gradWeight*pk.histWeights[1];
 605         t0 = hist[h0] + a0*w;
 606         t1 = hist[h1] + a1*w;
 607         hist[h0] = t0; hist[h1] = t1;
 608
 609         hist = blockHist + pk.histOfs[2];
 610         w = pk.gradWeight*pk.histWeights[2];
 611         t0 = hist[h0] + a0*w;
 612         t1 = hist[h1] + a1*w;
 613         hist[h0] = t0; hist[h1] = t1;
 614
 615         hist = blockHist + pk.histOfs[3];
 616         w = pk.gradWeight*pk.histWeights[3];
 617         t0 = hist[h0] + a0*w;
 618         t1 = hist[h1] + a1*w;
 619         hist[h0] = t0; hist[h1] = t1;
 620     }
 621
 622     normalizeBlockHistogram(blockHist);
 623
 624     return blockHist;
 625 }
 626
 627
 628 void HOGCache::normalizeBlockHistogram(float* _hist) const
 629 {
 630     float* hist = &_hist[0];
 631     size_t i, sz = blockHistogramSize;
 632
 633     float sum = 0;
 634     for( i = 0; i < sz; i++ )
 635         sum += hist[i]*hist[i];
 636     float scale = 1.f/(std::sqrt(sum)+sz*0.1f), thresh = (float)descriptor->L2HysThreshold;
 637     for( i = 0, sum = 0; i < sz; i++ )
 638     {
 639         hist[i] = std::min(hist[i]*scale, thresh);
 640         sum += hist[i]*hist[i];
 641     }
 642     scale = 1.f/(std::sqrt(sum)+1e-3f);
 643     for( i = 0; i < sz; i++ )
 644         hist[i] *= scale;
 645 }
 646
 647
 648 Size HOGCache::windowsInImage(Size imageSize, Size winStride) const
 649 {
 650     return Size((imageSize.width - winSize.width)/winStride.width + 1,
 651                 (imageSize.height - winSize.height)/winStride.height + 1);
 652 }
 653
 654 Rect HOGCache::getWindow(Size imageSize, Size winStride, int idx) const
 655 {
 656     int nwindowsX = (imageSize.width - winSize.width)/winStride.width + 1;
 657     int y = idx / nwindowsX;
 658     int x = idx - nwindowsX*y;
 659     return Rect( x*winStride.width, y*winStride.height, winSize.width, winSize.height );
 660 }
 661
 662
 663 void HOGDescriptor::compute(const Mat& img, vector<float>& descriptors,
 664                             Size winStride, Size padding,
 665                             const vector<Point>& locations) const
 666 {
 667     if( winStride == Size() )
 668         winStride = cellSize;
 669     Size cacheStride(gcd(winStride.width, blockStride.width),
 670                      gcd(winStride.height, blockStride.height));
 671     size_t nwindows = locations.size();
 672     padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
 673     padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
 674     Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);
 675
 676     HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);
 677
 678     if( !nwindows )
 679         nwindows = cache.windowsInImage(paddedImgSize, winStride).area();
 680
 681     const HOGCache::BlockData* blockData = &cache.blockData[0];
 682
 683     int nblocks = cache.nblocks.area();
 684     int blockHistogramSize = cache.blockHistogramSize;
 685     size_t dsize = getDescriptorSize();
 686     descriptors.resize(dsize*nwindows);
 687
 688     for( size_t i = 0; i < nwindows; i++ )
 689     {
 690         float* descriptor = &descriptors[i*dsize];
 691
 692         Point pt0;
 693         if( !locations.empty() )
 694         {
 695             pt0 = locations[i];
 696             if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
 697                 pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
 698                 continue;
 699         }
 700         else
 701         {
 702             pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
 703             CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
 704         }
 705
 706         for( int j = 0; j < nblocks; j++ )
 707         {
 708             const HOGCache::BlockData& bj = blockData[j];
 709             Point pt = pt0 + bj.imgOffset;
 710
 711             float* dst = descriptor + bj.histOfs;
 712             const float* src = cache.getBlock(pt, dst);
 713             if( src != dst )
 714                 for( int k = 0; k < blockHistogramSize; k++ )
 715                     dst[k] = src[k];
 716         }
 717     }
 718 }
 719
 720
 721 void HOGDescriptor::detect(const Mat& img,
 722     vector<Point>& hits, double hitThreshold,
 723     Size winStride, Size padding, const vector<Point>& locations) const
 724 {
 725     hits.clear();
 726     if( svmDetector.empty() )
 727         return;
 728
 729     if( winStride == Size() )
 730         winStride = cellSize;
 731     Size cacheStride(gcd(winStride.width, blockStride.width),
 732                      gcd(winStride.height, blockStride.height));
 733     size_t nwindows = locations.size();
 734     padding.width = (int)alignSize(std::max(padding.width, 0), cacheStride.width);
 735     padding.height = (int)alignSize(std::max(padding.height, 0), cacheStride.height);
 736     Size paddedImgSize(img.cols + padding.width*2, img.rows + padding.height*2);
 737
 738     HOGCache cache(this, img, padding, padding, nwindows == 0, cacheStride);
 739
 740     if( !nwindows )
 741         nwindows = cache.windowsInImage(paddedImgSize, winStride).area();
 742
 743     const HOGCache::BlockData* blockData = &cache.blockData[0];
 744
 745     int nblocks = cache.nblocks.area();
 746     int blockHistogramSize = cache.blockHistogramSize;
 747     size_t dsize = getDescriptorSize();
 748
 749     double rho = svmDetector.size() > dsize ? svmDetector[dsize] : 0;
 750     vector<float> blockHist(blockHistogramSize);
 751
 752     for( size_t i = 0; i < nwindows; i++ )
 753     {
 754         Point pt0;
 755         if( !locations.empty() )
 756         {
 757             pt0 = locations[i];
 758             if( pt0.x < -padding.width || pt0.x > img.cols + padding.width - winSize.width ||
 759                 pt0.y < -padding.height || pt0.y > img.rows + padding.height - winSize.height )
 760                 continue;
 761         }
 762         else
 763         {
 764             pt0 = cache.getWindow(paddedImgSize, winStride, (int)i).tl() - Point(padding);
 765             CV_Assert(pt0.x % cacheStride.width == 0 && pt0.y % cacheStride.height == 0);
 766         }
 767         double s = rho;
 768         const float* svmVec = &svmDetector[0];
 769         int j, k;
 770         for( j = 0; j < nblocks; j++, svmVec += blockHistogramSize )
 771         {
 772             const HOGCache::BlockData& bj = blockData[j];
 773             Point pt = pt0 + bj.imgOffset;
 774
 775             const float* vec = cache.getBlock(pt, &blockHist[0]);
 776             for( k = 0; k <= blockHistogramSize - 4; k += 4 )
 777                 s += vec[k]*svmVec[k] + vec[k+1]*svmVec[k+1] +
 778                     vec[k+2]*svmVec[k+2] + vec[k+3]*svmVec[k+3];
 779             for( ; k < blockHistogramSize; k++ )
 780                 s += vec[k]*svmVec[k];
 781         }
 782         if( s >= hitThreshold )
 783             hits.push_back(pt0);
 784     }
 785 }
 786
 787
 788 struct HOGThreadData
 789 {
 790     vector<Rect> rectangles;
 791     vector<Point> locations;
 792     Mat smallerImgBuf;
 793 };
 794
 795 void HOGDescriptor::detectMultiScale(
 796     const Mat& img, vector<Rect>& foundLocations,
 797     double hitThreshold, Size winStride, Size padding,
 798     double scale0, int groupThreshold) const
 799 {
 800     double scale = 1.;
 801     foundLocations.clear();
 802     int i, levels = 0;
 803     const int maxLevels = 64;
 804
 805     int t, nthreads = getNumThreads();
 806     vector<HOGThreadData> threadData(nthreads);
 807
 808     for( t = 0; t < nthreads; t++ )
 809         threadData[t].smallerImgBuf.create(img.size(), img.type());
 810
 811     vector<double> levelScale(maxLevels);
 812     for( levels = 0; levels < maxLevels; levels++ )
 813     {
 814         levelScale[levels] = scale;
 815         if( cvRound(img.cols/scale) < winSize.width ||
 816             cvRound(img.rows/scale) < winSize.height ||
 817             scale0 <= 1 )
 818             break;
 819         scale *= scale0;
 820     }
 821     levels = std::max(levels, 1);
 822     levelScale.resize(levels);
 823
 824     {
 825 #ifdef _OPENMP
 826     #pragma omp parallel for num_threads(nthreads) schedule(dynamic)
 827 #endif // _OPENMP
 828     for( i = 0; i < levels; i++ )
 829     {
 830         HOGThreadData& tdata = threadData[getThreadNum()];
 831         double scale = levelScale[i];
 832         Size sz(cvRound(img.cols/scale), cvRound(img.rows/scale));
 833         Mat smallerImg(sz, img.type(), tdata.smallerImgBuf.data);
 834         if( sz == img.size() )
 835             smallerImg = Mat(sz, img.type(), img.data, img.step);
 836         else
 837             resize(img, smallerImg, sz);
 838         detect(smallerImg, tdata.locations, hitThreshold, winStride, padding);
 839         Size scaledWinSize = Size(cvRound(winSize.width*scale), cvRound(winSize.height*scale));
 840         for( size_t j = 0; j < tdata.locations.size(); j++ )
 841             tdata.rectangles.push_back(Rect(
 842                 cvRound(tdata.locations[j].x*scale),
 843                 cvRound(tdata.locations[j].y*scale),
 844                 scaledWinSize.width, scaledWinSize.height));
 845     }
 846     }
 847
 848     for( t = 0; t < nthreads; t++ )
 849     {
 850         HOGThreadData& tdata = threadData[t];
 851         std::copy(tdata.rectangles.begin(), tdata.rectangles.end(),
 852             std::back_inserter(foundLocations));
 853     }
 854
 855     groupRectangles(foundLocations, groupThreshold, 0.2);
 856 }
 857
 858 vector<float> HOGDescriptor::getDefaultPeopleDetector()
 859 {
 860     static const float detector[] = {
 861        0.05359386f, -0.14721455f, -0.05532170f, 0.05077307f,
 862        0.11547081f, -0.04268804f, 0.04635834f, -0.05468199f, 0.08232084f,
 863        0.10424068f, -0.02294518f, 0.01108519f, 0.01378693f, 0.11193510f,
 864        0.01268418f, 0.08528346f, -0.06309239f, 0.13054633f, 0.08100729f,
 865        -0.05209739f, -0.04315529f, 0.09341384f, 0.11035026f, -0.07596218f,
 866        -0.05517511f, -0.04465296f, 0.02947334f, 0.04555536f,
 867        -3.55954492e-003f, 0.07818956f, 0.07730991f, 0.07890715f, 0.06222893f,
 868        0.09001380f, -0.03574381f, 0.03414327f, 0.05677258f, -0.04773581f,
 869        0.03746637f, -0.03521175f, 0.06955440f, -0.03849038f, 0.01052293f,
 870        0.01736112f, 0.10867710f, 0.08748853f, 3.29739624e-003f, 0.10907028f,
 871        0.07913758f, 0.10393070f, 0.02091867f, 0.11594022f, 0.13182420f,
 872        0.09879354f, 0.05362710f, -0.06745391f, -7.01260753e-003f,
 873        5.24702156e-003f, 0.03236255f, 0.01407916f, 0.02207983f, 0.02537322f,
 874        0.04547948f, 0.07200756f, 0.03129894f, -0.06274468f, 0.02107014f,
 875        0.06035208f, 0.08636236f, 4.53164103e-003f, 0.02193363f, 0.02309801f,
 876        0.05568166f, -0.02645093f, 0.04448695f, 0.02837519f, 0.08975694f,
 877        0.04461516f, 0.08975355f, 0.07514391f, 0.02306982f, 0.10410084f,
 878        0.06368385f, 0.05943464f, 4.58420580e-003f, 0.05220337f, 0.06675851f,
 879        0.08358569f, 0.06712101f, 0.06559004f, -0.03930482f, -9.15936660e-003f,
 880        -0.05897915f, 0.02816453f, 0.05032348f, 0.06780671f, 0.03377650f,
 881        -6.09417039e-004f, -0.01795146f, -0.03083684f, -0.01302475f,
 882        -0.02972313f, 7.88706727e-003f, -0.03525961f, -2.50397739e-003f,
 883        0.05245084f, 0.11791293f, -0.02167498f, 0.05299332f, 0.06640524f,
 884        0.05190265f, -8.27316567e-003f, 0.03033127f, 0.05842173f,
 885        -4.01050318e-003f, -6.25105947e-003f, 0.05862958f, -0.02465461f,
 886        0.05546781f, -0.08228195f, -0.07234028f, 0.04640540f, -0.01308254f,
 887        -0.02506191f, 0.03100746f, -0.04665651f, -0.04591486f, 0.02949927f,
 888        0.06035462f, 0.02244646f, -0.01698639f, 0.01040041f, 0.01131170f,
 889        0.05419579f, -0.02130277f, -0.04321722f, -0.03665198f, 0.01126490f,
 890        -0.02606488f, -0.02228328f, -0.02255680f, -0.03427236f,
 891        -7.75165204e-003f, -0.06195229f, 8.21638294e-003f, 0.09535975f,
 892        -0.03709979f, -0.06942501f, 0.14579427f, -0.05448192f, -0.02055904f,
 893        0.05747357f, 0.02781788f, -0.07077577f, -0.05178314f, -0.10429011f,
 894        -0.11235505f, 0.07529039f, -0.07559302f, -0.08786739f, 0.02983843f,
 895        0.02667585f, 0.01382199f, -0.01797496f, -0.03141199f, -0.02098101f,
 896        0.09029204f, 0.04955018f, 0.13718739f, 0.11379953f, 1.80019124e-003f,
 897        -0.04577610f, -1.11108483e-003f, -0.09470536f, -0.11596080f,
 898        0.04489342f, 0.01784211f, 3.06850672e-003f, 0.10781866f,
 899        3.36498418e-003f, -0.10842580f, -0.07436839f, -0.10535070f,
 900        -0.01866805f, 0.16057891f, -5.07316366e-003f, -0.04295658f,
 901        -5.90488780e-003f, 8.82003549e-003f, -0.01492646f, -0.05029279f,
 902        -0.12875880f, 8.78831954e-004f, -0.01297184f, -0.07592774f,
 903        -0.02668831f, -6.93787413e-004f, 0.02406698f, -0.01773298f,
 904        -0.03855745f, -0.05877856f, 0.03259695f, 0.12826584f, 0.06292590f,
 905        -4.10733931e-003f, 0.10996531f, 0.01332991f, 0.02088735f, 0.04037504f,
 906        -0.05210760f, 0.07760046f, 0.06399347f, -0.05751930f, -0.10053057f,
 907        0.07505023f, -0.02139782f, 0.01796176f, 2.34400877e-003f, -0.04208319f,
 908        0.07355055f, 0.05093350f, -0.02996780f, -0.02219072f, 0.03355330f,
 909        0.04418742f, -0.05580705f, -0.05037573f, -0.04548179f, 0.01379514f,
 910        0.02150671f, -0.02194211f, -0.13682702f, 0.05464972f, 0.01608082f,
 911        0.05309116f, 0.04701022f, 1.33690401e-003f, 0.07575664f, 0.09625306f,
 912        8.92647635e-003f, -0.02819123f, 0.10866830f, -0.03439325f,
 913        -0.07092371f, -0.06004780f, -0.02712298f, -7.07467366e-003f,
 914        -0.01637020f, 0.01336790f, -0.10313606f, 0.04906582f, -0.05732445f,
 915        -0.02731079f, 0.01042235f, -0.08340668f, 0.03686501f, 0.06108340f,
 916        0.01322748f, -0.07809529f, 0.03774724f, -0.03413248f, -0.06096525f,
 917        -0.04212124f, -0.07982176f, -1.25973229e-003f, -0.03045501f,
 918        -0.01236493f, -0.06312395f, 0.04789570f, -0.04602066f, 0.08576570f,
 919        0.02521080f, 0.02988098f, 0.10314583f, 0.07060035f, 0.04520544f,
 920        -0.04426654f, 0.13146530f, 0.08386490f, 0.02164590f, -2.12280243e-003f,
 921        -0.03686353f, -0.02074944f, -0.03829959f, -0.01530596f, 0.02689708f,
 922        0.11867401f, -0.06043470f, -0.02785023f, -0.04775074f, 0.04878745f,
 923        0.06350956f, 0.03494788f, 0.01467400f, 1.17890188e-003f, 0.04379614f,
 924        2.03681854e-003f, -0.03958609f, -0.01072688f, 6.43705716e-003f,
 925        0.02996500f, -0.03418507f, -0.01960307f, -0.01219154f,
 926        -4.37000440e-003f, -0.02549453f, 0.02646318f, -0.01632513f,
 927        6.46516960e-003f, -0.01929734f, 4.78711911e-003f, 0.04962371f,
 928        0.03809111f, 0.07265724f, 0.05758125f, -0.03741554f, 0.01648608f,
 929        -8.45285598e-003f, 0.03996826f, -0.08185477f, 0.02638875f,
 930        -0.04026615f, -0.02744674f, -0.04071517f, 1.05096330e-003f,
 931        -0.04741232f, -0.06733172f, 8.70434940e-003f, -0.02192543f,
 932        1.35350740e-003f, -0.03056974f, -0.02975521f, -0.02887780f,
 933        -0.01210713f, -0.04828526f, -0.09066251f, -0.09969629f, -0.03665164f,
 934        -8.88111943e-004f, -0.06826669f, -0.01866150f, -0.03627640f,
 935        -0.01408288f, 0.01874239f, -0.02075835f, 0.09145175f, -0.03547291f,
 936        0.05396780f, 0.04198981f, 0.01301925f, -0.03384354f, -0.12201976f,
 937        0.06830920f, -0.03715654f, 9.55848210e-003f, 5.05685573e-003f,
 938        0.05659294f, 3.90764466e-003f, 0.02808490f, -0.05518097f, -0.03711621f,
 939        -0.02835565f, -0.04420464f, -0.01031947f, 0.01883466f,
 940        -8.49525444e-003f, -0.09419250f, -0.01269387f, -0.02133371f,
 941        -0.10190815f, -0.07844430f, 2.43644323e-003f, -4.09610150e-003f,
 942        0.01202551f, -0.06452291f, -0.10593818f, -0.02464746f, -0.02199699f,
 943        -0.07401930f, 0.07285886f, 8.87513801e-004f, 9.97662079e-003f,
 944        8.46779719e-003f, 0.03730333f, -0.02905126f, 0.03573337f, -0.04393689f,
 945        -0.12014472f, 0.03176554f, -2.76015815e-003f, 0.10824566f, 0.05090732f,
 946        -3.30179278e-003f, -0.05123822f, 5.04784798e-003f, -0.05664124f,
 947        -5.99415926e-003f, -0.05341901f, -0.01221393f, 0.01291318f,
 948        9.91760660e-003f, -7.56987557e-003f, -0.06193124f, -2.24549137e-003f,
 949        0.01987562f, -0.02018840f, -0.06975540f, -0.06601523f, -0.03349112f,
 950        -0.08910118f, -0.03371435f, -0.07406893f, -0.02248047f, -0.06159951f,
 951        2.77751544e-003f, -0.05723337f, -0.04792468f, 0.07518548f,
 952        2.77279224e-003f, 0.04211938f, 0.03100502f, 0.05278448f, 0.03954679f,
 953        -0.03006846f, -0.03851741f, -0.02792403f, -0.02875333f, 0.01531280f,
 954        0.02186953f, -0.01989829f, 2.50679464e-003f, -0.10258728f,
 955        -0.04785743f, -0.02887216f, 3.85063468e-003f, 0.01112236f,
 956        8.29218887e-003f, -0.04822981f, -0.04503597f, -0.03713100f,
 957        -0.06988008f, -0.11002295f, -2.69209221e-003f, 1.85383670e-003f,
 958        -0.05921049f, -0.06105053f, -0.08458050f, -0.04527602f,
 959        8.90329306e-004f, -0.05875023f, -2.68602883e-003f, -0.01591195f,
 960        0.03631859f, 0.05493166f, 0.07300330f, 5.53333294e-003f, 0.06400407f,
 961        0.01847740f, -5.76280477e-003f, -0.03210877f, 4.25160583e-003f,
 962        0.01166520f, -1.44864211e-003f, 0.02253744f, -0.03367080f, 0.06983195f,
 963        -4.22323542e-003f, -8.89401045e-003f, -0.07943393f, 0.05199728f,
 964        0.06065201f, 0.04133492f, 1.44032843e-003f, -0.09585235f, -0.03964731f,
 965        0.04232114f, 0.01750465f, -0.04487902f, -7.59733608e-003f, 0.02011171f,
 966        0.04673622f, 0.09011173f, -0.07869188f, -0.04682482f, -0.05080139f,
 967        -3.99383716e-003f, -0.05346331f, 0.01085723f, -0.03599333f,
 968        -0.07097908f, 0.03551549f, 0.02680387f, 0.03471529f, 0.01790393f,
 969        0.05471273f, 9.62048303e-003f, -0.03180215f, 0.05864431f, 0.02330614f,
 970        0.01633144f, -0.05616681f, -0.10245429f, -0.08302189f, 0.07291322f,
 971        -0.01972590f, -0.02619633f, -0.02485327f, -0.04627592f,
 972        1.48853404e-003f, 0.05514185f, -0.01270860f, -0.01948900f, 0.06373586f,
 973        0.05002292f, -0.03009798f, 8.76216311e-003f, -0.02474238f,
 974        -0.05504891f, 1.74034527e-003f, -0.03333667f, 0.01524987f, 0.11663762f,
 975        -1.32344989e-003f, -0.06608453f, 0.05687166f, -6.89525274e-004f,
 976        -0.04402352f, 0.09450210f, -0.04222684f, -0.05360983f, 0.01779531f,
 977        0.02561388f, -0.11075410f, -8.77790991e-003f, -0.01099504f,
 978        -0.10380266f, 0.03103457f, -0.02105741f, -0.07371717f, 0.05146710f,
 979        0.10581432f, -0.08617968f, -0.02892107f, 0.01092199f, 0.14551543f,
 980        -2.24320893e-003f, -0.05818033f, -0.07390742f, 0.05701261f,
 981        0.12937020f, -0.04986651f, 0.10182415f, 0.05028650f, 0.12515625f,
 982        0.09175041f, 0.06404983f, 0.01523394f, 0.09460562f, 0.06106631f,
 983        -0.14266998f, -0.02926703f, 0.02762171f, 0.02164151f,
 984        -9.58488265e-004f, -0.04231362f, -0.09866509f, 0.04322244f,
 985        0.05872034f, -0.04838847f, 0.06319253f, 0.02443798f, -0.03606876f,
 986        9.38737206e-003f, 0.04289991f, -0.01027411f, 0.08156885f, 0.08751175f,
 987        -0.13191354f, 8.16054735e-003f, -0.01452161f, 0.02952677f, 0.03615945f,
 988        -2.09128903e-003f, 0.02246693f, 0.09623287f, 0.09412123f, -0.02924758f,
 989        -0.07815186f, -0.02203079f, -2.02566991e-003f, 0.01094733f,
 990        -0.01442332f, 0.02838561f, 0.11882371f, 7.28798332e-003f, -0.10345965f,
 991        0.07561217f, -0.02049661f, 4.44177445e-003f, 0.01609347f, -0.04893158f,
 992        -0.08758243f, -7.67420698e-003f, 0.08862378f, 0.06098121f, 0.06565887f,
 993        7.32981879e-003f, 0.03558407f, -0.03874352f, -0.02490055f,
 994        -0.06771075f, 0.09939223f, -0.01066077f, 0.01382995f, -0.07289080f,
 995        7.47184316e-003f, 0.10621431f, -0.02878659f, 0.02383525f, -0.03274646f,
 996        0.02137008f, 0.03837290f, 0.02450992f, -0.04296818f, -0.02895143f,
 997        0.05327370f, 0.01499020f, 0.04998732f, 0.12938657f, 0.09391870f,
 998        0.04292390f, -0.03359194f, -0.06809492f, 0.01125796f, 0.17290455f,
 999        -0.03430733f, -0.06255233f, -0.01813114f, 0.11726857f, -0.06127599f,
1000        -0.08677909f, -0.03429872f, 0.04684938f, 0.08161420f, 0.03538774f,
1001        0.01833884f, 0.11321855f, 0.03261845f, -0.04826299f, 0.01752407f,
1002        -0.01796414f, -0.10464549f, -3.30041884e-003f, 2.29343961e-004f,
1003        0.01457292f, -0.02132982f, -0.02602923f, -9.87351313e-003f,
1004        0.04273872f, -0.02103316f, -0.07994065f, 0.02614958f, -0.02111666f,
1005        -0.06964913f, -0.13453490f, -0.06861878f, -6.09341264e-003f,
1006        0.08251446f, 0.15612499f, 2.46531400e-003f, 8.88424646e-003f,
1007        -0.04152999f, 0.02054853f, 0.05277953f, -0.03087788f, 0.02817579f,
1008        0.13939077f, 0.07641046f, -0.03627627f, -0.03015098f, -0.04041540f,
1009        -0.01360690f, -0.06227205f, -0.02738223f, 0.13577610f, 0.15235767f,
1010        -0.05392922f, -0.11175954f, 0.02157129f, 0.01146481f, -0.05264937f,
1011        -0.06595174f, -0.02749175f, 0.11812254f, 0.17404149f, -0.06137035f,
1012        -0.11003478f, -0.01351621f, -0.01745916f, -0.08577441f, -0.04469909f,
1013        -0.06106115f, 0.10559758f, 0.20806813f, -0.09174948f, 7.09621934e-004f,
1014        0.03579374f, 0.07215115f, 0.02221742f, 0.01827742f, -7.90785067e-003f,
1015        0.01489554f, 0.14519960f, -0.06425831f, 0.02990399f, -1.80181325e-003f,
1016        -0.01401528f, -0.04171134f, -3.70530109e-003f, -0.09090481f,
1017        0.09520713f, 0.08845516f, -0.02651753f, -0.03016730f, 0.02562448f,
1018        0.03563816f, -0.03817881f, 0.01433385f, 0.02256983f, 0.02872120f,
1019        0.01001934f, -0.06332260f, 0.04338406f, 0.07001807f, -0.04705722f,
1020        -0.07318907f, 0.02630457f, 0.03106382f, 0.06648342f, 0.10913180f,
1021        -0.01630815f, 0.02910308f, 0.02895109f, 0.08040254f, 0.06969310f,
1022        0.06797734f, 6.08639978e-003f, 4.16588830e-003f, 0.08926726f,
1023        -0.03123648f, 0.02700146f, 0.01168734f, -0.01631594f, 4.61015804e-003f,
1024        8.51359498e-003f, -0.03544224f, 0.03571994f, 4.29766066e-003f,
1025        -0.01970077f, -8.79793242e-003f, 0.09607988f, 0.01544222f,
1026        -0.03923707f, 0.07308586f, 0.06061262f, 1.31683104e-004f,
1027        -7.98222050e-003f, 0.02399261f, -0.06084389f, -0.02743429f,
1028        -0.05475523f, -0.04131311f, 0.03559756f, 0.03055342f, 0.02981433f,
1029        0.14860515f, 0.01766787f, 0.02945257f, 0.04898238f, 0.01026922f,
1030        0.02811658f, 0.08267091f, 0.02732154f, -0.01237693f, 0.11760156f,
1031        0.03802063f, -0.03309754f, 5.24957618e-003f, -0.02460510f, 0.02691451f,
1032        0.05399988f, -0.10133506f, 0.06385437f, -0.01818005f, 0.02259503f,
1033        0.03573135f, 0.01042848f, -0.04153402f, -0.04043029f, 0.01643575f,
1034        0.08326677f, 4.61383024e-004f, -0.05308095f, -0.08536223f,
1035        -1.61011645e-003f, -0.02163720f, -0.01783352f, 0.03859637f,
1036        0.08498885f, -0.01725216f, 0.08625131f, 0.10995087f, 0.09177644f,
1037        0.08498347f, 0.07646490f, 0.05580502f, 0.02693516f, 0.09996913f,
1038        0.09070327f, 0.06667200f, 0.05873008f, -0.02247842f, 0.07772321f,
1039        0.12408436f, 0.12629253f, -8.41997913e-004f, 0.01477783f, 0.09165990f,
1040        -2.98401713e-003f, -0.06466447f, -0.07057302f, 2.09516948e-004f,
1041        0.02210209f, -0.02158809f, -0.08602506f, -0.02284836f,
1042        4.01876355e-003f, 9.56660323e-003f, -0.02073978f, -0.04635138f,
1043        -7.59423291e-003f, -0.01377393f, -0.04559359f, -0.13284740f,
1044        -0.08671406f, -0.03654395f, 0.01142869f, 0.03287891f, -0.04392983f,
1045        0.06142959f, 0.17710890f, 0.10385257f, 0.01329137f, 0.10067633f,
1046        0.12450829f, -0.04476709f, 0.09049144f, 0.04589312f, 0.11167907f,
1047        0.08587538f, 0.04767583f, 1.67188141e-003f, 0.02359802f, -0.03808852f,
1048        0.03126272f, -0.01919029f, -0.05698918f, -0.02365112f, -0.06519032f,
1049        -0.05599358f, -0.07097308f, -0.03301812f, -0.04719102f, -0.02566297f,
1050        0.01324074f, -0.09230672f, -0.05518232f, -0.04712864f, -0.03380903f,
1051        -0.06719479f, 0.01183908f, -0.09326738f, 0.01642865f, 0.03789867f,
1052        -6.61567831e-003f, 0.07796386f, 0.07246574f, 0.04706347f, -0.02523437f,
1053        -0.01696830f, -0.08068866f, 0.06030888f, 0.10527060f, -0.06611756f,
1054        0.02977346f, 0.02621830f, 0.01913855f, -0.08479366f, -0.06322418f,
1055        -0.13570616f, -0.07644490f, 9.31900274e-003f, -0.08095149f,
1056        -0.10197903f, -0.05204025f, 0.01413151f, -0.07800411f, -0.01885122f,
1057        -0.07509381f, -0.10136326f, -0.05212355f, -0.09944065f,
1058        -1.33606605e-003f, -0.06342617f, -0.04178550f, -0.12373723f,
1059        -0.02832736f, -0.06057501f, 0.05830070f, 0.07604282f, -0.06462587f,
1060        8.02447461e-003f, 0.11580125f, 0.12332212f, 0.01978462f,
1061        -2.72378162e-003f, 0.05850752f, -0.04674481f, 0.05148062f,
1062        -2.62542837e-003f, 0.11253355f, 0.09893716f, 0.09785093f, -0.04659257f,
1063        -0.01102429f, -0.07002308f, 0.03088913f, -0.02565549f, -0.07671449f,
1064        3.17443861e-003f, -0.10783514f, -0.02314270f, -0.11089555f,
1065        -0.01024768f, 0.03116021f, -0.04964825f, 0.02281825f, 5.50005678e-003f,
1066        -0.08427856f, -0.14685495f, -0.07719755f, -0.13342668f, -0.04525511f,
1067        -0.09914210f, 0.02588859f, 0.03469279f, 0.04664020f, 0.11688190f,
1068        0.09647275f, 0.10857815f, -0.01448726f, 0.04299758f, -0.06763151f,
1069        1.33257592e-003f, 0.14331576f, 0.07574340f, 0.09166205f, 0.05674926f,
1070        0.11325553f, -0.01106494f, 0.02062161f, -0.11484840f, -0.07492137f,
1071        -0.02864293f, -0.01275638f, -0.06946032f, -0.10101652f, -0.04113498f,
1072        -0.02214783f, -0.01273942f, -0.07480393f, -0.10556041f, -0.07622112f,
1073        -0.09988393f, -0.11453961f, -0.12073903f, -0.09412795f, -0.07146588f,
1074        -0.04054537f, -0.06127083f, 0.04221122f, 0.07688113f, 0.04099256f,
1075        0.12663734f, 0.14683802f, 0.21761774f, 0.12525328f, 0.18431792f,
1076        -1.66402373e-003f, 2.37777247e-003f, 0.01445475f, 0.03509416f,
1077        0.02654697f, 0.01716739f, 0.05374011f, 0.02944174f, 0.11323927f,
1078        -0.01485456f, -0.01611330f, -1.85554172e-003f, -0.01708549f,
1079        -0.05435753f, -0.05302101f, 0.05260378f, -0.03582945f,
1080        -3.42867890e-004f, 1.36076682e-003f, -0.04436073f, -0.04228432f,
1081        0.03281291f, -0.05480836f, -0.10197772f, -0.07206279f, -0.10741059f,
1082        -0.02366946f, 0.10278475f, -2.74783419e-003f, -0.03242477f,
1083        0.02308955f, 0.02835869f, 0.10348799f, 0.19580358f, 0.10252027f,
1084        0.08039929f, 0.05525554f, -0.13250865f, -0.14395352f, 3.13586881e-003f,
1085        -0.03387071f, 8.94669443e-003f, 0.05406157f, -4.97324532e-003f,
1086        -0.01189114f, 2.82919413e-004f, -0.03901557f, -0.04898705f,
1087        0.02164520f, -0.01382906f, -0.01850416f, 0.01869347f, -0.02450060f,
1088        0.02291678f, 0.08196463f, 0.03309153f, -0.10629974f, 0.02473924f,
1089        0.05344394f, -0.02404823f, -0.03243643f, -5.55244600e-003f,
1090        -0.08009996f, 0.02811539f, 0.04235742f, 0.01859004f, 0.04902123f,
1091        -0.01438252f, -0.01526853f, 0.02044195f, -0.05008660f, 0.04244113f,
1092        0.07611816f, 0.04950470f, -0.06020549f, -4.26026015e-003f, 0.13133512f,
1093        -0.01438738f, -0.01958807f, -0.04044152f, -0.12425045f,
1094        2.84353318e-003f, -0.05042776f, -0.09121484f, 7.34345755e-003f,
1095        0.09388847f, 0.11800314f, 4.72295098e-003f, 4.44378285e-003f,
1096        -0.07984917f, -0.03613737f, 0.04490915f, -0.02246483f, 0.04681071f,
1097        0.05240871f, 0.02157206f, -0.04603431f, -0.01197929f, -0.02748779f,
1098        0.13621049f, 0.08812155f, -0.07802048f, 4.86458559e-003f, -0.01598836f,
1099        0.01024450f, -0.03463517f, -0.02304239f, -0.08692665f, 0.06655128f,
1100        0.05785803f, -0.12640759f, 0.02307472f, 0.07337402f, 0.07525434f,
1101        0.04943763f, -0.02241034f, -0.09978238f, 0.14487994f, -0.06570521f,
1102        -0.07855482f, 0.02830222f, -5.29603509e-004f, -0.04669895f,
1103        -0.11822784f, -0.12246452f, -0.15365660f, -0.02969127f, 0.08078201f,
1104        0.13512598f, 0.11505685f, 0.04740673f, 0.01376022f, -0.05852978f,
1105        -0.01537809f, -0.05541119f, 0.02491065f, -0.02870786f, 0.02760978f,
1106        0.23836176f, 0.22347429f, 0.10306466f, -0.06919070f, -0.10132039f,
1107        -0.20198342f, -0.05040560f, 0.27163076f, 0.36987007f, 0.34540465f,
1108        0.29095781f, 0.05649706f, 0.04125737f, 0.07505883f, -0.02737836f,
1109        -8.43431335e-003f, 0.07368195f, 0.01653876f, -0.09402955f,
1110        -0.09574359f, 0.01474337f, -0.07128561f, -0.03460737f, 0.11438941f,
1111        0.13752601f, -0.06385452f, -0.06310338f, 8.19548313e-003f, 0.11622470f,
1112        5.05133113e-003f, -0.07602754f, 0.06695660f, 0.25723928f, 0.09037900f,
1113        0.28826267f, 0.13165380f, -0.05312614f, -0.02137198f, -0.03442232f,
1114        -0.06255679f, 0.03899667f, 0.18391028f, 0.26016650f, 0.03374462f,
1115        0.01860465f, 0.19077586f, 0.18160543f, 3.43634398e-003f, -0.03036782f,
1116        0.19683038f, 0.35378191f, 0.24968483f, -0.03222649f, 0.28972381f,
1117        0.43091634f, 0.30778357f, 0.02335266f, -0.09877399f, -6.85245218e-003f,
1118        0.08945240f, -0.08150686f, 0.02792493f, 0.24806842f, 0.17338486f,
1119        0.06231801f, -0.10432383f, -0.16653322f, -0.13197899f, -0.08531576f,
1120        -0.19271527f, -0.13536365f, 0.22240199f, 0.39219588f, 0.26597717f,
1121        -0.01231649f, 0.01016179f, 0.13379875f, 0.12018334f, -0.04852953f,
1122        -0.07915270f, 0.07036012f, 3.87723115e-003f, -0.06126805f,
1123        -0.15015170f, -0.11406515f, -0.08556531f, -0.07429333f, -0.16115491f,
1124        0.13214062f, 0.25691369f, 0.05697750f, 0.06861912f, -6.02903729e-003f,
1125        -7.94562511e-003f, 0.04799571f, 0.06695165f, -0.01926842f, 0.06206308f,
1126        0.13450983f, -0.06381495f, -2.98370165e-003f, -0.03482971f,
1127        7.53991678e-003f, 0.03895611f, 0.11464261f, 0.01669971f,
1128        8.27818643e-003f, -7.49160210e-003f, -0.11712562f, -0.10650621f,
1129        -0.10353880f, -0.04994106f, -7.65618810e-004f, 0.03023767f,
1130        -0.04759270f, -0.07302686f, -0.05825012f, -0.13156348f, -0.10639747f,
1131        -0.19393684f, -0.09973683f, -0.07918908f, 4.63177625e-004f,
1132        -6.61382044e-004f, 0.15853868f, 0.08561199f, -0.07660093f,
1133        -0.08015265f, -0.06164073f, 0.01882577f, -7.29908410e-004f,
1134        0.06840892f, 0.03843764f, 0.20274927f, 0.22028814f, -5.26101235e-003f,
1135        0.01452435f, -0.06331623f, 0.02865064f, 0.05673740f, 0.12171564f,
1136        0.03837196f, 0.03555467f, -0.02662914f, -0.10280123f, -0.06526285f,
1137        -0.11066351f, -0.08988424f, -0.10103678f, 8.10526591e-003f,
1138        5.95238712e-003f, 0.02617721f, -0.01705742f, -0.10897956f,
1139        -0.08004991f, -0.11271993f, -0.06185647f, -0.06103712f, 0.01597041f,
1140        -0.05923606f, 0.09410726f, 0.22858568f, 0.03263380f, 0.06772990f,
1141        -0.09003516f, 0.01017870f, 0.01931688f, 0.08628357f, -0.01430009f,
1142        0.10954945f, 0.16612452f, -0.02434544f, -0.03310068f, -0.04236627f,
1143        0.01212392f, -6.15046406e-003f, 0.06954194f, 0.03015283f, 0.01787957f,
1144        0.02781667f, -0.05561153f, -8.96244217e-003f, -0.04971489f,
1145        0.07510284f, 0.01775282f, 0.05889897f, -0.07981427f, 0.03647643f,
1146        -3.73833324e-003f, -0.08894575f, -0.06429435f, -0.08068276f,
1147        0.03567704f, -0.07131936f, -7.21910037e-003f, -0.09566668f,
1148        0.17886090f, 0.14911725f, 0.02070032f, -0.05017120f, -0.04992622f,
1149        0.01570143f, -0.09906903f, 0.06456193f, 0.15329507f, 0.18820767f,
1150        0.11689861f, -0.01178513f, -0.02225163f, -0.01905318f, 0.10271224f,
1151        -7.27029052e-003f, 0.11664233f, 0.14796902f, 0.07771893f, 0.02400013f,
1152        -0.05361797f, -0.01972888f, 0.01376177f, 0.06740040f, -0.06525395f,
1153        0.05726178f, -0.02404981f, -0.14018567f, -0.02074987f, -0.04621970f,
1154        -0.04688627f, -0.01842059f, 0.07722727f, -0.04852883f, 0.01529004f,
1155        -0.19639495f, 0.10817073f, 0.03795860f, -0.09435206f, -0.07984378f,
1156        -0.03383440f, 0.11081333f, 0.02237366f, 0.12703256f, 0.21613893f,
1157        0.02918790f, 4.66472283e-003f, -0.10274266f, -0.04854131f,
1158        -3.46305710e-003f, 0.08652268f, 0.02251546f, 0.09636052f, 0.17180754f,
1159        -0.09272388f, 4.59174305e-004f, -0.11723048f, -0.12210111f,
1160        -0.15547538f, 0.07218186f, -0.05297846f, 0.03779940f, 0.05150875f,
1161        -0.03802310f, 0.03870645f, -0.15250699f, -0.08696499f, -0.02021560f,
1162        0.04118926f, -0.15177974f, 0.01577647f, 0.10249301f, 7.50041893e-003f,
1163        0.01721806f, -0.06828983f, -0.02397596f, -0.06598977f, -0.04317593f,
1164        -0.08064980f, 6.66632550e-003f, 0.03333484f, 0.07093620f, 0.08231064f,
1165        -0.06577903f, -0.06698844f, -0.06984019f, -0.06508023f, -0.14145090f,
1166        -0.02393239f, 0.06485303f, 8.83263443e-003f, 0.09251080f, -0.07557579f,
1167        -0.05067699f, -0.09798748f, -0.06703258f, -0.14056294f, 0.03245994f,
1168        0.12554143f, 0.01761621f, 0.12980327f, -0.04081950f, -0.11906909f,
1169        -0.14813015f, -0.08376863f, -0.12200681f, 0.04988137f, 0.05424247f,
1170        -3.90952639e-003f, 0.03255733f, -0.12717837f, -0.07461493f,
1171        -0.05703964f, -0.01736189f, -0.08026433f, -0.05433894f, -0.01719359f,
1172        0.02886275f, 0.01772653f, -0.09163518f, 3.57789593e-003f, -0.10129993f,
1173        -0.02653764f, -0.08131415f, -0.03847986f, -7.62157550e-004f,
1174        0.06486648f, 0.19675669f, -0.04919156f, -0.07059129f, -0.04857785f,
1175        -0.01042383f, -0.08328653f, 0.03660302f, -0.03696846f, 0.04969259f,
1176        0.08241162f, -0.12514858f, -0.06122676f, -0.03750202f,
1177        6.52989605e-003f, -0.10247213f, 0.02568346f, 4.51781414e-003f,
1178        -0.03734229f, -0.01131264f, -0.05412074f, 8.89345480e-004f,
1179        -0.12388977f, -0.05959237f, -0.12418608f, -0.06151643f, -0.07310260f,
1180        0.02441575f, 0.07023528f, -0.07548289f, -7.57147965e-004f,
1181        -0.09061348f, -0.08112976f, -0.06920306f, 9.54394229e-003f,
1182        -0.01219902f, 1.21273217e-003f, -8.88989680e-003f, -0.08309301f,
1183        -0.04552661f, -0.10739882f, -0.05691034f, -0.13928030f, 0.09027749f,
1184        0.15123098f, 0.03175976f, 0.17763577f, 3.29913251e-004f, 0.05151888f,
1185        -0.09844074f, -0.09475287f, -0.08571247f, 0.16241577f, 0.19336018f,
1186        8.57454538e-003f, 0.11474732f, -0.01493934f, 0.03352379f, -0.08966240f,
1187        -0.02322310f, 0.02663568f, 0.05448750f, -0.03536883f, -0.07210463f,
1188        -0.06807277f, -0.03121621f, -0.05932408f, -0.17282860f, -0.15873498f,
1189        -0.04956378f, 0.01603377f, -0.12385946f, 0.13878587f, 0.21468069f,
1190        0.13510075f, 0.20992437f, 0.08845878f, 0.08104013f, 0.03754176f,
1191        0.12173114f, 0.11103114f, 0.10643122f, 0.13941477f, 0.11640384f,
1192        0.14786847f, 0.01218238f, 0.01160753f, 0.03547940f, 0.08794311f,
1193        -0.01695384f, -0.07692261f, -0.08236158f, 6.79194089e-003f,
1194        -0.02458403f, 0.13022894f, 0.10953187f, 0.09857773f, 0.04735930f,
1195        -0.04353498f, -0.15173385f, -0.17904443f, -0.10450364f, -0.13418166f,
1196        -0.06633098f, -0.03170381f, -0.06839000f, -0.11350126f, -0.06983913f,
1197        0.19083543f, 0.17604128f, 0.07730632f, 0.10022651f, 0.36428109f,
1198        0.28291923f, 0.12688625f, 0.15942036f, 0.14064661f, -0.11201853f,
1199        -0.13969108f, -0.09088077f, -0.14107047f, 0.05117374f,
1200        -2.63348082e-003f, -0.10794610f, -0.09715455f, -0.05284977f,
1201        0.01565668f, 0.05031200f, 0.07021113f, -0.02963028f, 0.01766960f,
1202        0.08333644f, -0.03211382f, 4.90096770e-003f, 0.05186674f, -0.05045737f,
1203        -0.09624767f, -0.02525997f, 0.06916669f, 0.01213916f, 0.05333899f,
1204        -0.03443280f, -0.10055527f, -0.06291115f, 5.42851724e-003f,
1205        -6.30360236e-003f, 0.02270257f, -0.01769792f, 0.03273688f, 0.07746078f,
1206        7.77099328e-003f, 0.05041346f, 0.01648103f, -0.02321534f, -0.09930186f,
1207        -0.02293853f, 0.02034990f, -0.08324204f, 0.08510064f, -0.03732836f,
1208        -0.06465405f, -0.06086946f, 0.13680504f, -0.11469388f, -0.03896406f,
1209        -0.07142810f, 2.67581246e-003f, -0.03639632f, -0.09849060f,
1210        -0.11014334f, 0.17489147f, 0.17610909f, -0.16091567f, -0.07248894f,
1211        0.01567141f, 0.23742996f, 0.07552249f, -0.06270349f, -0.07303379f,
1212        0.25442186f, 0.16903116f, -0.08168741f, -0.05913896f, -0.03954096f,
1213        6.81776879e-003f, -0.05615319f, -0.07303037f, -0.12176382f,
1214        0.12385108f, 0.22084464f, -0.05543206f, -0.03310431f, 0.05731593f,
1215        0.19481890f, 0.04016430f, -0.06480758f, -0.12353460f, 0.18733442f,
1216        -0.09631214f, -0.11192076f, 0.12404587f, 0.15671748f, 0.19256128f,
1217        0.10895617f, 0.03391477f, -0.13032004f, -0.05626907f, -0.09025607f,
1218        0.23485197f, 0.27812332f, 0.26725492f, 0.07255980f, 0.16565137f,
1219        0.22388470f, 0.07441066f, -0.21003133f, -0.08075339f, -0.15031935f,
1220        0.07023834f, 0.10872041f, 0.18156518f, 0.20037253f, 0.13571967f,
1221        -0.11915682f, -0.11131983f, -0.18878011f, 0.06074620f, 0.20578890f,
1222        0.12413109f, 0.03930207f, 0.29176015f, 0.29502738f, 0.27856228f,
1223        -0.01803601f, 0.16646385f, 0.19268319f, 0.01900682f, 0.06026287f,
1224        2.35868432e-003f, 0.01558199f, 0.02707230f, 0.11383014f, 0.12103992f,
1225        0.03907350f, 0.04637353f, 0.09020995f, 0.11919726f, -3.63007211e-003f,
1226        0.02220155f, 0.10336831f, 0.17351882f, 0.12259731f, 0.18983354f,
1227        0.15736865f, 0.01160725f, -0.01690723f, -9.69582412e-004f, 0.07213813f,
1228        0.01161613f, 0.17864859f, 0.24486147f, 0.18208991f, 0.20177495f,
1229        0.05972528f, -8.93934630e-003f, -0.02316955f, 0.14436610f, 0.14114498f,
1230        0.05520950f, 0.06353590f, -0.19124921f, 0.10174713f, 0.29414919f,
1231        0.26448128f, 0.09344960f, 0.15284036f, 0.19797507f, 0.11369792f,
1232        -0.12722753f, -0.21396367f, -0.02008235f, -0.06566695f, -0.01662150f,
1233        -0.03937003f, 0.04778343f, 0.05017274f, -0.02299062f, -0.20208496f,
1234        -0.06395898f, 0.13721776f, 0.22544557f, 0.14888357f, 0.08687132f,
1235        0.27088094f, 0.32206613f, 0.09782200f, -0.18523243f, -0.17232181f,
1236        -0.01041531f, 0.04008654f, 0.04199702f, -0.08081299f, -0.03755421f,
1237        -0.04809646f, -0.05222081f, -0.21709201f, -0.06622940f, 0.02945281f,
1238        -0.04600435f, -0.05256077f, -0.08432942f, 0.02848100f, 0.03490564f,
1239        8.28621630e-003f, -0.11051246f, -0.11210597f, -0.01998289f,
1240        -0.05369405f, -0.08869293f, -0.18799506f, -0.05436598f, -0.05011634f,
1241        -0.05419716f, -0.06151857f, -0.10827805f, 0.04346735f, 0.04016083f,
1242        0.01520820f, -0.12173316f, -0.04880285f, -0.01101406f, 0.03250847f,
1243        -0.06009551f, -0.03082932f, -0.02295134f, -0.06856834f, -0.08775249f,
1244        -0.23793389f, -0.09174541f, -0.05538322f, -0.04321031f, -0.11874759f,
1245        -0.04221844f, -0.06070468f, 0.01194489f, 0.02608565f, -0.03892140f,
1246        -0.01643151f, -0.02602034f, -0.01305472f, 0.03920100f, -0.06514261f,
1247        0.01126918f, -6.27710763e-003f, -0.02720047f, -0.11133634f,
1248        0.03300330f, 0.02398472f, 0.04079665f, -0.10564448f, 0.05966159f,
1249        0.01195221f, -0.03179441f, -0.01692590f, -0.06177841f, 0.01841576f,
1250        -5.51078189e-003f, -0.06821765f, -0.03191888f, -0.09545476f,
1251        0.03030550f, -0.04896152f, -0.02914624f, -0.13283344f, -0.04783419f,
1252        6.07836898e-003f, -0.01449538f, -0.13358212f, -0.09687774f,
1253        -0.02813793f, 0.01213498f, 0.06650011f, -0.02039067f, 0.13356198f,
1254        0.05986415f, -9.12760664e-003f, -0.18780160f, -0.11992817f,
1255        -0.06342237f, 0.01229534f, 0.07143231f, 0.10713009f, 0.11085765f,
1256        0.06569190f, -0.02956399f, -0.16288325f, -0.13993549f, -0.01292515f,
1257        0.03833013f, 0.09130384f, -0.05086257f, 0.05617329f, -0.03896667f,
1258        -0.06282311f, -0.11490010f, -0.14264110f, -0.04530499f, 0.01598189f,
1259        0.09167797f, 0.08663294f, 0.04885277f, -0.05741219f, -0.07565769f,
1260        -0.17136464f, -0.02619422f, -0.02477579f, 0.02679587f, 0.11621952f,
1261        0.08788391f, 0.15520640f, 0.04709549f, 0.04504483f, -0.10214074f,
1262        -0.12293372f, -0.04820546f, -0.05484834f, 0.05473754f, 0.07346445f,
1263        0.05577277f, -0.08209965f, 0.03462975f, -0.20962234f, -0.09324598f,
1264        3.79481679e-003f, 0.03617633f, 0.16742408f, 0.07058107f, 0.10204960f,
1265        -0.06795346f, 3.22807301e-003f, -0.12589309f, -0.17496960f,
1266        0.02078314f, -0.07694324f, 0.12184640f, 0.08997164f, 0.04793497f,
1267        -0.11383379f, -0.08046359f, -0.25716835f, -0.08080962f,
1268        6.80711539e-003f, -0.02930280f, -3.04938294e-003f, -0.11106286f,
1269        -0.04628860f, -0.07821649f, 7.70127494e-003f, -0.10247706f,
1270        1.21042714e-003f, 0.20573859f, -0.03241005f, 8.42972286e-003f,
1271        0.01946464f, -0.01197973f, -0.14579976f, 0.04233614f,
1272        -4.14096704e-003f, -0.06866436f, -0.02431862f, -0.13529138f,
1273        1.25891645e-003f, -0.11425111f, -0.04303651f, -0.01694815f,
1274        0.05720210f, -0.16040207f, 0.02772896f, 0.05498345f, -0.15010567f,
1275        0.01450866f, 0.02350303f, -0.04301004f, -0.04951802f, 0.21702233f,
1276        -0.03159155f, -0.01963303f, 0.18232647f, -0.03263875f,
1277        -2.88476888e-003f, 0.01587562f, -1.94303901e-003f, -0.07789494f,
1278        0.04674156f, -6.25576358e-003f, 0.08925962f, 0.21353747f, 0.01254677f,
1279        -0.06999976f, -0.05931328f, -0.01884327f, -0.04306272f, 0.11794136f,
1280        0.03842728f, -0.03907030f, 0.05636114f, -0.09766009f, -0.02104000f,
1281        8.72711372e-003f, -0.02736877f, -0.05112274f, 0.16996814f, 0.02955785f,
1282        0.02094014f, 0.08414304f, -0.03335762f, -0.03617457f, -0.05808248f,
1283        -0.08872101f, 0.02927705f, 0.27077839f, 0.06075108f, 0.07478261f,
1284        0.15282831f, -0.03908454f, -0.05101782f, -9.51998029e-003f,
1285        -0.03272416f, -0.08735625f, 0.07633440f, -0.07185312f, 0.13841286f,
1286        0.07812646f, -0.12901451f, -0.05488589f, -0.05644578f, -0.03290703f,
1287        -0.11184757f, 0.03751570f, -0.05978153f, -0.09155276f, 0.05657315f,
1288        -0.04328186f, -0.03047933f, -0.01413135f, -0.10181040f, -0.01384013f,
1289        0.20132534f, -0.01536873f, -0.07641169f, 0.05906778f, -0.07833145f,
1290        -0.01523801f, -0.07502609f, -0.09461885f, -0.15013233f, 0.16050665f,
1291        0.09021381f, 0.08473236f, 0.03386267f, -0.09147339f, -0.09170618f,
1292        -0.08498498f, -0.05119187f, -0.10431040f, 0.01041618f, -0.03064913f,
1293        0.09340212f, 0.06448522f, -0.03881054f, -0.04985436f, -0.14794017f,
1294        -0.05200112f, -0.02144495f, 0.04000821f, 0.12420804f, -0.01851651f,
1295        -0.04116732f, -0.11951703f, -0.04879033f, -0.08722515f, -0.08454733f,
1296        -0.10549165f, 0.11251976f, 0.10766345f, 0.19201984f, 0.06128913f,
1297        -0.02734615f, -0.08834923f, -0.16999826f, -0.03548348f,
1298        -5.36092324e-003f, 0.08297954f, 0.07226378f, 0.04194529f, 0.04668673f,
1299        8.73902347e-003f, 0.06980139f, 0.05652480f, 0.05879445f, 0.02477076f,
1300        0.02451423f, 0.12433673f, 0.05600227f, 0.06886370f, 0.03863076f,
1301        0.07459056f, 0.02264139f, 0.01495469f, 0.06344220f, 0.06945208f,
1302        0.02931899f, 0.11719371f, 0.04527427f, 0.03248192f, 2.08271481e-003f,
1303        0.02044626f, 0.11403449f, 0.04303892f, 0.06444661f, 0.04959024f,
1304        0.08174094f, 0.09240247f, 0.04894639f, 0.02252937f, -0.01652530f,
1305        0.07587013f, 0.06064249f, 0.13954395f, 0.02772832f, 0.07093039f,
1306        0.08501238f, 0.01701301f, 0.09055722f, 0.33421436f, 0.20163782f,
1307        0.09821030f, 0.07951369f, 0.08695120f, -0.12757730f, -0.13865978f,
1308        -0.06610068f, -0.10985506f, 0.03406816f, -0.01116336f, -0.07281768f,
1309        -0.13525715f, -0.12844718f, 0.08956250f, 0.09171610f, 0.10092317f,
1310        0.23385370f, 0.34489515f, 0.09901748f, 0.02002922f, 0.12335990f,
1311        0.07606190f, -0.14899330f, -0.15634622f, -0.06494618f, -0.01760547f,
1312        0.03404277f, -0.13208845f, -0.12101169f, -0.18294574f, -0.16560709f,
1313        0.02183887f, -0.02752613f, 0.01813638f, 0.02000757f, 0.01319924f,
1314        0.08030242f, 0.01220535f, 2.98233377e-003f, -0.01307070f, 0.05970297f,
1315        -0.05345284f, -0.03381982f, -9.87543724e-003f, -0.06869387f,
1316        0.03956730f, -0.03108176f, -0.05732809f, 0.02172386f, 0.04159765f,
1317        2.62783933e-003f, 0.04813229f, 0.09358983f, -8.18389002e-003f,
1318        0.01724574f, -0.02547474f, -0.04967288f, -0.02390376f, 0.06640504f,
1319        -0.06306566f, 0.01137518f, 0.05589378f, -0.08237787f, 0.02455001f,
1320        -0.03059422f, -0.08953978f, 0.06851497f, 0.07190268f, -0.07610799f,
1321        7.87237938e-003f, -7.85830803e-003f, 0.06006952f, -0.01126728f,
1322        -2.85743061e-003f, -0.04772895f, 0.01884944f, 0.15005857f,
1323        -0.06268821f, -0.01989072f, 0.01138399f, 0.08760451f, 0.03879007f,
1324        -9.66926850e-003f, -0.08012961f, 0.06414555f, -0.01362950f,
1325        -0.09135523f, 0.01755159f, 0.04459474f, 0.09650917f, 0.05219948f,
1326        -2.19440833e-003f, -0.07037939f, -0.01599054f, 0.13103317f,
1327        -0.02492603f, -0.01032540f, -0.02903307f, 0.04489160f, 0.05148086f,
1328        0.01858173f, -0.02919228f, 0.08299296f, -0.04590359f, -0.15745632f,
1329        -0.09068198f, -0.02972453f, 0.12985018f, 0.22320485f, 0.24261914f,
1330        0.03642650f, -0.05506422f, 2.67413049e-003f, -0.03834032f, 0.06449424f,
1331        0.03834866f, 0.03816991f, 0.25039271f, 0.34212017f, 0.32433882f,
1332        0.18824573f, -0.08599839f, -0.17599408f, -0.15317015f, -0.09913155f,
1333        -0.02856072f, -0.05304699f, -1.06437842e-003f, -0.06641813f,
1334        -0.07509298f, 0.01463361f, -0.07551918f, -0.04510373f,
1335        -8.44620075e-003f, 0.01772176f, 0.04068235f, 0.20295307f, 0.15719447f,
1336        0.05712103f, 0.26296997f, 0.14657754f, 0.01547317f, -0.05052776f,
1337        -0.03881342f, -0.01437883f, -0.04930177f, 0.11719568f, 0.24098417f,
1338        0.26468599f, 0.31698579f, 0.10103608f, -0.01096375f, -0.01367013f,
1339        0.17104232f, 0.20065314f, 2.67622480e-003f, -0.01190034f, 0.18301608f,
1340        0.09459770f, -0.06357619f, -0.06473801f, 0.01377906f, -0.10032775f,
1341        -0.06388740f, 3.80393048e-003f, 0.06206078f, 0.10349120f, 0.26804337f,
1342        8.17918684e-003f, -0.02314351f, 9.34422202e-003f, 0.09198381f,
1343        0.03681326f, -8.77339672e-003f, -0.09662418f, -0.02715708f,
1344        0.13503517f, 0.08962728f, -6.57071499e-003f, -0.03201199f, 0.28510824f,
1345        0.32095715f, 0.18512695f, -0.14230858f, -0.14048551f, -0.07181299f,
1346        -0.08575408f, -0.08661680f, -0.17416079f, 7.54326640e-004f,
1347        0.05601677f, 0.13585392f, -0.04960437f, -0.07708392f, 0.10676333f,
1348        -0.04407546f, -0.07209078f, 0.03663663f, 0.28949317f, 0.41127121f,
1349        0.27431169f, -0.06900328f, -0.21474190f, -0.15578632f, -0.19555484f,
1350        -0.15209621f, -0.11269179f, 0.07416003f, 0.18991330f, 0.26858172f,
1351        0.01952259f, 0.01017922f, 0.02159843f, -4.95165400e-003f, -0.04368168f,
1352        -0.12721671f, -0.06673957f, -0.11275250f, 0.04413409f, 0.05578312f,
1353        0.03896771f, 0.03566417f, -0.05871816f, -0.07388090f, -0.17965563f,
1354        -0.08570268f, -0.15273231f, -0.06022318f, -0.06999847f,
1355        -6.81510568e-003f, 0.06294262f, -6.54901436e-004f, -0.01128654f,
1356        -0.02289657f, 0.04849290f, 0.04140804f, 0.23681939f, 0.14545733f,
1357        0.01989965f, 0.12032662f, 3.87463090e-003f, -6.02597650e-003f,
1358        -0.05919775f, -0.03067224f, -0.07787777f, 0.10834727f, 0.02153730f,
1359        0.02765649f, 0.03975543f, -0.12182906f, -0.04900113f, -0.09940100f,
1360        -0.06453611f, -0.13757215f, -0.03721382f, 0.02827376f, -0.04351249f,
1361        0.01907038f, -0.10284120f, -0.05671160f, -0.10760647f, -0.09624009f,
1362        -0.09565596f, -0.01303654f, 0.03080539f, 0.01416511f, 0.05846142f,
1363        -5.42971538e-003f, 0.06221476f, -0.03320325f, -0.06791797f,
1364        -0.05791342f, 0.12851369f, 0.14990346f, 0.03634374f, 0.14262885f,
1365        0.04330391f, 0.05032569f, -0.05631914f, 0.01606137f, 0.04387223f,
1366        0.22344995f, 0.15722635f, -0.04693628f, 0.03006579f, -2.52882647e-003f,
1367        0.05717621f, -0.07529724f, -0.02848588f, -0.06868757f,
1368        -4.51729307e-003f, 0.06466042f, -0.05935378f, -0.04704857f,
1369        -0.07363959f, 0.04843248f, -0.13421375f, -0.09789340f, -0.10255270f,
1370        0.03509852f, 0.04751543f, -0.03822323f, 0.09740467f, 0.04762916f,
1371        0.03940146f, -0.08283259f, 0.09552965f, 0.05038739f, 0.21258622f,
1372        0.09646992f, 0.03241193f, 0.05167701f, 0.04614570f, 0.04330090f,
1373        -0.02671840f, -0.06259909f, -0.02301898f, 0.18829170f, 0.10522786f,
1374        0.04313190f, 0.01670948f, -0.08421925f, 0.05911417f, -0.10582602f,
1375        -0.04855484f, -0.08373898f, 0.07775915f, 0.03723533f, -0.12047344f,
1376        4.86345543e-003f, -0.10520902f, 0.06571782f, -0.07528137f,
1377        -0.03245651f, -0.09869066f, -0.02917477f, -0.18293270f, 0.14810945f,
1378        9.24033765e-003f, -0.04354914f, 0.02266885f, -0.11872729f,
1379        -0.04016589f, 0.02830229f, 0.22539048f, 0.20565644f, 0.16701797f,
1380        0.09019924f, 0.01300652f, 0.09760600f, -0.03675831f, -0.01935448f,
1381        -0.06894835f, 0.08077277f, 0.19047537f, 0.11312226f, 0.04106043f,
1382        -0.11187182f, 0.04312806f, -0.18548580f, -0.11287174f, -0.08794551f,
1383        0.02078281f, -0.15295486f, 0.11806386f, -0.01103218f, -0.15971117f,
1384        0.02153538f, -0.05232147f, -0.10835317f, -0.13910367f, 0.05920752f,
1385        -0.10122602f, 0.20174250f, 0.09105796f, -0.01881348f, 0.09559010f,
1386        -0.03725745f, -0.09442931f, -0.09763174f, 0.05854454f, 0.08287182f,
1387        0.12919849f, 0.08594352f, -2.49806582e-003f, 0.02398440f,
1388        5.67950122e-003f, -0.06296340f, -0.12993270f, 0.03855852f, 0.05186560f,
1389        0.10839908f, -0.03380463f, -0.12654832f, -0.05399339f, -0.07456800f,
1390        -0.04736232f, -0.10164231f, 0.07496139f, 0.08125214f, 0.07656177f,
1391        -0.04999603f, -0.12823077f, -0.07692395f, -0.11317524f, -0.09118655f,
1392        -0.05695669f, 0.10477209f, 0.07468581f, 0.01630048f, -8.00961629e-003f,
1393        -0.06582128f, -0.04019095f, -0.04682907f, -0.01907842f, -0.10997720f,
1394        0.04911406f, 0.02931030f, 0.04197735f, -0.05773980f, -0.09670641f,
1395        -0.03594951f, -0.03402121f, -0.07149299f, -0.10566200f, 0.10601286f,
1396        0.06340689f, -0.01518632f, -5.96402306e-003f, -0.07628012f,
1397        -3.52779147e-003f, -0.02683854f, -0.10265494f, -0.02680815f,
1398        0.16338381f, 0.03103515f, 0.02296976f, 0.01624348f, -0.10831620f,
1399        -0.02314233f, -0.04789969f, -0.05530700f, -0.06461314f, 0.10494506f,
1400        0.04642856f, -0.07592955f, -0.06197905f, -0.09042154f, -0.01445521f,
1401        -0.04297818f, -0.11262015f, -0.11430512f, 0.03174541f, -0.03677487f,
1402        -0.02963996f, -0.06610169f, -0.13292049f, -0.07059067f, -0.08444111f,
1403        -0.02640536f, -0.07136250f, 0.04559967f, 0.01459980f, 0.17989251f,
1404        0.04435328f, -0.12464730f, -0.02871115f, -0.10752209f, -0.03393742f,
1405        -0.03791408f, 0.02548251f, 0.01956050f, 0.19245651f, 0.13963254f,
1406        -0.05904696f, -0.07424626f, -0.10411884f, 1.54176133e-003f,
1407        0.01797429f, 0.13025844f, 0.04547642f, -0.05710349f, -0.10697161f,
1408        -0.13489437f, -0.06515755f, -0.06406886f, -4.08572936e-003f,
1409        -0.01336483f, 0.04368737f, -0.11259720f, -0.05701635f, -0.06469971f,
1410        -0.08346602f, -0.04166770f, -0.05795543f, -0.08247511f, -0.05742628f,
1411        0.08452254f, -0.03350224f, 0.13980860f, 0.13252275f, 0.07589617f,
1412        0.07539988f, 0.12155797f, 0.19087289f, 0.15050751f, 0.21250245f,
1413        0.14206800f, 0.01298489f, 0.07450245f, 0.06559097f, 0.01700557f,
1414        0.04512971f, 0.16950700f, 0.10261577f, 0.16389982f, 0.05505059f,
1415        -0.03453077f, 0.08622462f, 0.07935954f, 0.03976260f, 0.02036091f,
1416        3.95744899e-003f, 0.03267065f, 0.15235919f, 0.01297494f, -0.08109194f,
1417        0.01407558f, 4.40693414e-003f, -0.15157418f, -0.11390478f,
1418        -0.07487597f, -7.81322457e-003f, -0.02749545f, -0.10181408f,
1419        0.13755716f, 0.14007211f, 0.13482562f, 0.27517235f, 0.34251109f,
1420        0.07639657f, 0.07268607f, 0.19823882f, 0.16135791f, -0.04186463f,
1421        -0.12784107f, -0.09846287f, 0.03169041f, 0.10974082f, -0.15051922f,
1422        -0.08916726f, -0.07138767f, -0.04153349f, 6.25418453e-003f,
1423        0.01266654f, 0.10533249f, 0.12749144f, 0.15148053f, 0.01498513f,
1424        0.06305949f, -0.01247123f, -0.08778401f, -0.08551880f, -0.11955146f,
1425        -0.08493572f, -0.02901620f, -0.02394859f, -0.13427313f, -0.11053200f,
1426        -0.14413260f, -0.15203285f, 0.03972760f, -3.72127310e-004f,
1427        -0.04200919f, 0.06105104f, 0.01904975f, -0.01106191f,
1428        -7.27445772e-003f, -0.01520341f, 1.10228511e-003f, -0.04949187f,
1429        -0.08013099f, 5.72071038e-003f, 0.08415454f, -0.06523152f, 0.03664081f,
1430        -0.02673042f, -0.12066154f, -0.03702074f, 0.06006580f, 0.01628682f,
1431        -6.17772620e-003f, 0.08192339f, -3.41629819e-003f, 0.02870512f,
1432        0.05807141f, 0.04959986f, 0.04618251f, -0.04901629f, -0.10579574f,
1433        0.02274442f, 0.12070961f, 2.23597488e-003f, 0.09831765f, -0.03019848f,
1434        -0.11181970f, -0.04961075f, 0.02498928f, -0.03714991f, -0.01619653f,
1435        0.02643486f, -7.62964319e-003f, -0.02882290f, -0.06242594f,
1436        -0.08439861f, 0.07220893f, 0.07263952f, 0.01561574f, 0.03091968f,
1437        0.01708712f, -0.03797151f, -3.18561122e-003f, 0.01624021f,
1438        -0.02828573f, 0.11284444f, -1.32280716e-003f, -0.07784860f,
1439        -0.07209100f, 0.03372242f, 0.12154529f, 0.02278104f, -0.05275500f,
1440        -0.01918484f, 0.12989293f, 0.05424401f, 0.02333086f, 0.04029022f,
1441        0.12392918f, 0.09495489f, 0.09190340f, 0.07935889f, 8.76816828e-003f,
1442        0.17148446f, -8.51302687e-003f, -0.08011249f, -0.06796283f,
1443        0.04884845f, 0.01112272f, -0.07835306f, -1.14811445e-003f,
1444        -0.03440760f, 0.02845243f, 0.07695542f, -0.07069533f, -0.01151784f,
1445        -8.53884313e-003f, -0.01662786f, -0.04163864f, 0.05400505f,
1446        0.02859163f, 0.02921852f, 0.05003135f, -6.85718050e-003f, -0.01632611f,
1447        0.07780217f, 0.04042810f, -0.01216440f, 3.60914599e-003f, -0.06322435f,
1448        0.09516726f, 0.12877031f, -9.69162490e-003f, 0.01031179f, 0.05180895f,
1449        -9.34659224e-003f, -0.01644533f, -0.04849347f, -0.04343236f,
1450        0.10514783f, 0.08046635f, -0.04615205f, -0.03975486f, -0.01485525f,
1451        0.13096830f, -0.01517950f, -0.06571898f, -0.04016372f, 0.01849786f,
1452        0.02439670f, 0.08067258f, 1.74824719e-003f, 0.07053747f, 0.08819518f,
1453        -5.08352555e-003f, -0.06550863f, -0.08266170f, -0.07780605f,
1454        0.01453450f, -0.08756890f, 0.01096501f, -8.71319138e-003f, 0.10110464f,
1455        0.02420769f, -0.06708383f, 0.02007811f, 5.93133038e-003f, 0.05398923f,
1456        0.07538138f, 0.02049227f, 0.02242589f, 0.04011070f, -1.44875818e-003f,
1457        -4.19115182e-003f, 0.06367654f, 0.02506934f, 0.02434536f, 0.05879405f,
1458        -8.22952855e-003f, -0.01242441f, 0.04224926f, -0.01754923f,
1459        0.05958161f, 0.03818886f, -0.01830363f, -0.04308917f, -0.04422197f,
1460        -0.02432721f, 0.02264866f, 2.03751423e-003f, 0.01197031f, 0.04439203f,
1461        0.12169247f, 0.03602713f, -0.02599251f, -1.98226492e-003f, 0.02046336f,
1462        -0.02639058f, -1.91242550e-003f, -0.09334669f, -0.03595153f,
1463        -9.88179818e-003f, -0.06848445f, -0.04666303f, -0.09955736f,
1464        -0.04206430f, 0.02609075f, 9.09005292e-003f, -0.07138551f,
1465        -4.22313227e-004f, 0.01766645f, 0.02756404f, 0.01308276f, 0.04052891f,
1466        0.02387515f, 0.05337298f, 0.02500631f, -0.04970853f, -0.12467445f,
1467        0.17604403f, 0.12256411f, -0.07512254f, 8.70451052e-003f, -0.05697548f,
1468        -0.03626474f, -8.76623299e-003f, -0.01210897f, -0.09451522f,
1469        0.07490732f, -0.02008001f, -0.02681278f, -0.06463405f, -0.01517507f,
1470        7.33757764e-003f, 6.07147906e-003f, -0.09316964f, -0.04575328f,
1471        0.13261597f, 0.15424870f, -0.01655918f, -0.02772390f, -0.05243644f,
1472        -0.02356456f, -0.02351753f, -0.10211615f, -0.12873036f, 0.14549787f,
1473        0.12519856f, 4.38762689e-003f, 0.02795992f, 0.05170322f, 0.09223596f,
1474        0.05890015f, 0.02376701f, -0.02777346f, 0.09506908f, 0.02328936f,
1475        -0.02319928f, -0.03218696f, -0.01527841f, -0.01016694f, -0.02674719f,
1476        0.05137179f, 0.01980666f, 0.06544447f, -0.01746171f, 0.01026380f,
1477        0.01561806f, 7.97004555e-004f, 0.07601810f, 0.01907250f, -0.03083035f,
1478        -0.05987392f, 0.09242783f, 0.14555025f, 0.01035827f, 0.03092401f,
1479        -0.09562709f, -0.03802354f, 0.02531144f, 0.03079449f, -0.07100715f,
1480        0.03330721f, -2.69116857e-003f, 0.03167490f, 0.05744999f, 0.03259895f,
1481        1.91266940e-003f, 0.03194578f, 0.07389776f, 0.02198060f, 0.07633314f,
1482        0.03293105f, -0.09103648f, 0.04718142f, 0.06102672f, -0.01003063f,
1483        5.85481385e-003f, -0.01522574f, 0.02323526f, 0.10584345f,
1484        4.35879454e-003f, 0.06107873f, 0.05868603f, -0.03115531f, 0.01214679f,
1485        0.08567052f, 3.93926632e-003f, -0.02521488f, -1.88425183e-003f,
1486        0.02038053f, -6.26854831e-004f, 0.04897438f, -0.04280585f,
1487        -0.04819689f, -0.04812867f, -0.01451186f, 0.05101469f,
1488        -9.01125465e-003f, -0.03333859f, 0.03917955f, 0.04196448f, 0.04292135f,
1489        0.02809529f, 0.02999715f, 0.04081348f, 9.10039060e-003f, 0.09703232f,
1490        0.10379741f, 0.02348725f, -4.72756615e-003f, 0.01027325f, 0.10402658f,
1491        0.12071823f, 0.09817299f, -0.02612033f, 0.03638414f, 0.05896405f,
1492        0.04865025f, 0.04793910f, -0.03882321f, -0.02962117f, -0.01222268f,
1493        0.04071597f, 0.01922777f, -0.02287866f, 0.03328381f, 0.01859092f,
1494        0.09024994f, 0.03804455f, -0.01424510f, 0.01953739f, 0.02509617f,
1495        -0.03390914f, -0.05663941f, -0.01641979f, 0.05848591f, 0.04639670f,
1496        0.02092116f, 0.12911791f, 0.19918139f, 0.07739855f, -7.25806039e-003f,
1497        0.04074838f, 0.03183993f, 1.39251316e-003f, -0.01428625f, 0.01865480f,
1498        0.08529541f, 0.13547510f, 0.11189661f, 0.03998901f, 0.09575938f,
1499        -0.02631102f, -0.03458253f, -0.04749985f, -0.06070716f,
1500        4.71884012e-003f, 0.06445789f, -0.02450038f, -0.05483776f,
1501        -0.04657237f, -0.02030717f, -0.03480766f, -0.09397731f, -0.06399718f,
1502        -0.01804585f, 5.62348310e-003f, -6.64811488e-003f, -0.06517869f,
1503        6.96210237e-003f, -0.01860148f, -0.04245830f, -0.05850367f,
1504        -3.24417115e-003f, 0.07700698f, 0.11290991f, 0.09923030f, -0.02970599f,
1505        0.05592411f, 0.04813979f, -0.09811195f, -0.09357996f, -0.03276114f,
1506        0.05218338f, 0.04141375f, 3.92977800e-003f, -0.05047480f, 0.15960084f,
1507        0.04612800f, -0.03114098f, -0.04650044f, -0.03249795f, -0.02425641f,
1508        -0.04311355f, 0.04307659f, -0.09401883f, -0.04742785f, -0.01254499f,
1509        -0.06598741f, 3.41369561e-003f, -0.05620445f, -7.28127593e-003f,
1510        -0.05998361f, -0.03274450f, -0.07376868f, 3.19015374e-003f,
1511        -0.07733069f, 0.05815864f, -0.02471071f, 0.03850617f, 0.13838784f,
1512        0.15399861f, 0.01731321f, -0.01477586f, 0.10393341f, 0.05159833f,
1513        -0.01945555f, -0.03427503f, -0.04867341f, 0.09237480f, 0.10732719f,
1514        0.06071450f, -0.01355071f, 0.01844356f, -0.03480803f, -0.03796671f,
1515        2.15628621e-004f, -0.05440186f, 0.01889855f, -0.01443413f,
1516        -0.02607902f, -0.02938001f, 0.02720689f, -0.06228397f, -0.02970936f,
1517        -0.03426210f, -0.10280876f, -0.06739304f, -0.05227850f, 0.03360292f,
1518        -0.11278441f, -0.06966180f, -0.13937433f, 9.10932291e-003f,
1519        2.52020749e-004f, -4.07359656e-003f, 0.12310639f, 0.09343060f,
1520        0.07302511f, 0.03222093f, 0.07532879f, 0.03792387f, -0.04985180f,
1521        0.01804602f, 0.02694195f, 0.13481498f, 0.04601225f, 0.04106982f,
1522        0.08511057f, 0.12314661f, 0.01320830f, 0.05044121f, -5.52943908e-003f,
1523        -0.08992624f, -0.02249301f, -0.08181777f, 0.06165213f, -0.03256603f,
1524        -0.01068920f, -0.01323473f, -0.11970232f, -0.04616347f, -0.12088681f,
1525        -0.06762606f, -0.08676834f, -0.06434575f, 0.01772529f, 0.03469615f,
1526        -0.10926618f, 0.03013873f, 0.14030397f, 0.16130108f, 0.17985588f,
1527        0.11281928f, 0.10530639f, 0.08905948f, 0.07733764f, 0.06695238f,
1528        0.02142088f, 0.06438877f, 0.09794453f, 0.05745072f, 0.02788557f,
1529        0.02632830f, 0.07985807f, 4.24902979e-003f, 8.47890321e-003f,
1530        -0.02679466f, -5.28812688e-003f, -0.02162580f, -0.07490715f,
1531        -0.08251337f, -0.02056576f, -0.01026194f, -1.15492963e-003f,
1532        -5.75720915e-004f, -0.07210591f, -0.07320981f, -0.04883312f,
1533        -0.10897151f, -0.07477258f, -0.08867134f, -0.09222437f, -0.10924666f,
1534        -0.10430276f, 0.07953499f, 0.02767959f, 0.11393359f, 0.18779543f,
1535        0.03313421f, 0.02143700f, 0.05852016f, -2.12067598e-003f,
1536        -3.76984011e-003f, 0.02774167f, -0.03124610f, 0.01465141f, 0.01616004f,
1537        -0.01391913f, -0.04404102f, -0.05444227f, -0.14684731f, -0.15016587f,
1538        0.04509468f, 1.29563001e-003f, 0.01398350f, 0.05610404f, -0.04868806f,
1539        -0.04776716f, -8.16873740e-003f, -2.30126386e-003f, -0.02286313f,
1540        0.11983398f, -0.04703261f, -0.08814441f, -0.07585249f, -0.10799607f,
1541        -0.03232087f, 0.01509786f, -0.04843464f, -0.03967846f, 0.09589416f,
1542        0.01352560f, -0.01458119f, 0.01050829f, -0.03038946f, 0.01608388f,
1543        1.11975556e-003f, -0.01250656f, 2.86211423e-003f, 0.04333691f,
1544        -0.14603497f, -0.01946543f, -0.02327525f, -0.01973944f, 0.07944400f,
1545        -0.02224544f, -0.06701808f, 0.03476532f, 0.11505594f, -0.02712801f,
1546        -0.01665113f, 0.06315716f, -0.08205860f, 0.07431999f, 0.04915778f,
1547        -0.04468752f, -0.01490402f, 0.07400476f, -0.11650901f, 0.05102430f,
1548        0.04559118f, -0.05916039f, 0.08840760f, -0.01587902f, -0.14890194f,
1549        0.07857784f, 0.04710254f, -0.05381983f, -0.07331945f, -0.03604643f,
1550        0.15611970f, 0.07649943f, -0.05959348f, -0.02776607f, 0.11098688f,
1551        0.03758875f, -0.04446875f, 0.04933187f, 0.01345535f, 0.06921103f,
1552        0.07364785f, 0.05518956f, 0.02899585f, 0.09375840f, 0.10518434f,
1553        -0.04420241f, 0.01915282f, -3.56386811e-003f, 0.14586878f, 0.10286101f,
1554        -0.04360626f, -0.12723237f, 0.09076386f, 0.11119842f, -0.06035013f,
1555        0.09674817f, 0.08938243f, 0.07065924f, 0.02603180f, 5.84815582e-003f,
1556        -0.05922065f, 0.12360309f, 3.59695964e-003f, 2.99844006e-003f,
1557        0.03697936f, 0.02043072f, 0.04168725f, 0.01025975f, -0.01359980f,
1558        -0.01600920f, 0.02581056f, 0.02329250f, 2.98100687e-003f, 0.01629762f,
1559        0.06652115f, 0.05855627f, 0.01237463f, -0.01297135f, 0.01761587f,
1560        0.05090865f, 0.06549342f, -0.04425945f, 2.43203156e-003f,
1561        3.07327788e-003f, 0.06678630f, -0.04303836f, 0.01082393f, -0.06476044f,
1562        0.04077786f, 0.12441979f, 0.08237778f, 0.07424165f, 0.04065890f,
1563        0.06905543f, 0.09556347f, 0.12724875f, -0.02132082f, 0.08514154f,
1564        -0.04175328f, -0.02666954f, 0.01897836f, 0.03317382f, 9.45465732e-003f,
1565        -0.01238974f, -0.04242500f, -0.01419479f, -0.03545213f, -0.02440874f,
1566        0.08684119f, 0.04212951f, 0.02462858f, -0.01104825f, -5.01706870e-003f,
1567        0.02968982f, 0.02597476f, -0.01568939f, 0.04514892f, 0.06974549f,
1568        0.08670278f, 0.06828108f, 0.10238872f, 0.05405957f, 0.06548470f,
1569        -0.03763957f, 0.01366090f, 0.07069602f, 0.05363748f, 0.04798120f,
1570        0.11706422f, 0.05466456f, -0.01869259f, 0.06344382f, 0.03106543f,
1571        0.08432506f, -0.02061096f, 0.03821088f, -6.92190882e-003f,
1572        6.40467042e-003f, -0.01271779f, 6.89014705e-005f, 0.04541415f,
1573        -0.01899539f, -0.05020239f, 0.03000903f, 0.01090422f, 4.52452758e-003f,
1574        0.02573632f, -0.02388454f, -0.04200457f, 1.72783900e-003f,
1575        -0.05978370f, -0.02720562f, 0.06573715f, 0.01154317f, 0.01265615f,
1576        0.07375994f, -9.19828378e-003f, -0.04914120f, 0.02124831f, 0.06455322f,
1577        0.04372910f, -0.03310043f, 0.03605788f, -6.78055827e-003f,
1578        9.36202332e-003f, 0.01747596f, -0.06406314f, -0.06812935f, 0.08080816f,
1579        -0.02778088f, 0.02735260f, 0.06393493f, 0.06652229f, 0.05676993f,
1580        0.08640018f, -7.59188086e-003f, -0.02012847f, -0.04741159f,
1581        -0.01657069f, -0.01624399f, 0.05547778f, -2.33309763e-003f,
1582        0.01120033f, 0.06141156f, -0.06285004f, -0.08732341f, -0.09313398f,
1583        -0.04267832f, 5.57443965e-003f, 0.04809862f, 0.01773641f,
1584        5.37361018e-003f, 0.14842421f, -0.06298012f, -0.02935147f, 0.11443478f,
1585        -0.05034208f, 5.65494271e-003f, 0.02076526f, -0.04577984f,
1586        -0.04735741f, 0.02961071f, -0.09307127f, -0.04417921f, -0.04990027f,
1587        -0.03940028f, 0.01306016f, 0.06267900f, 0.03758737f, 0.08460117f,
1588        0.13858789f, 0.04862388f, -0.06319809f, -0.05655516f, 0.01885816f,
1589        -0.03285607f, 0.03371567f, -0.07040928f, -0.04514049f, 0.01392166f,
1590        0.08184422f, -0.07230316f, 0.02386871f, 0.02184591f, 0.02605764f,
1591        -0.01033954f, 9.29878280e-003f, 7.67351175e-003f, 0.15189242f,
1592        0.02069071f, -0.09738296f, -0.08894105f, -0.07768748f, 0.02332268f,
1593        -0.01778995f, -0.03258888f, -0.08180822f, -0.08492987f, 0.02290156f,
1594        -0.11368170f, -0.03554465f, -0.04533844f, -0.02861580f, 0.06782424f,
1595        0.01113123f, 0.02453644f, 0.12721945f, 0.08084814f, -0.03607795f,
1596        0.01109122f, 0.04803548f, -0.03489929f, 0.03399536f, -0.05682014f,
1597        8.59533902e-003f, -4.27904585e-003f, 0.03230887f, -0.01300198f,
1598        -0.01038137f, -0.07930113f, 8.33097473e-003f, 0.02296994f,
1599        -0.01306500f, -0.01881626f, 0.04413369f, 0.05729880f, -0.03761553f,
1600        0.01942326f, 1.64540811e-003f, -0.03811319f, 0.04190650f, -0.14978096f,
1601        -0.04514487f, 0.01209545f, -5.46460645e-003f, -0.01647195f,
1602        7.63064111e-003f, -0.07494587f, 0.08415288f, 0.10020141f, -0.01228561f,
1603        0.06553826f, 0.04554005f, 0.07890417f, 0.03041138f, 0.01752007f,
1604        0.09208256f, -3.74419295e-004f, 0.10549527f, 0.04686913f, 0.01894833f,
1605        -0.02651412f, -4.34682379e-003f, 5.44942822e-003f, 0.01444484f,
1606        0.05882156f, -0.03336544f, 0.04603891f, -0.10432546f, 0.01923928f,
1607        0.01842845f, -0.01712168f, -0.02222766f, 0.04693324f, -0.06202956f,
1608        -0.01422159f, 0.08732220f, -0.07706107f, 0.02661049f, -0.04300238f,
1609        -0.03092422f, -0.03552184f, -0.01886088f, -0.04979934f, 0.03906401f,
1610        0.04608644f, 0.04966111f, 0.04275464f, -0.04621769f, -0.02653212f,
1611        8.57011229e-003f, 0.03839684f, 0.05818764f, 0.03880796f,
1612        -2.76100676e-004f, 0.03076511f, -0.03266929f, -0.05374557f,
1613        0.04986527f, -9.45429131e-003f, 0.03582499f, -2.64564669e-003f,
1614        -1.07461517e-003f, 0.02962313f, -0.01483363f, 0.03060869f, 0.02448327f,
1615        0.01845641f, 0.03282966f, -0.03534438f, -0.01084059f, -0.01119136f,
1616        -1.85360224e-003f, -5.94652840e-004f, -0.04451817f, 2.98327743e-003f,
1617        0.06272484f, -0.02152076f, -3.05971340e-003f, -0.05070828f,
1618        0.01531762f, 0.01282815f, 0.05167150f, 9.46266949e-003f,
1619        -3.34558333e-003f, 0.11442288f, -0.03906701f, -2.67325155e-003f,
1620        0.03069184f, -0.01134165f, 0.02949462f, 0.02879886f, 0.03855566f,
1621        -0.03450781f, 0.09142872f, -0.02156654f, 0.06075062f, -0.06220816f,
1622        0.01944680f, 6.68372354e-003f, -0.06656796f, 8.70784000e-003f,
1623        0.03456013f, 0.02434320f, -0.13236357f, -0.04177035f, -0.02069627f,
1624        0.01068112f, 0.01505432f, -0.07517391f, -3.83571628e-003f,
1625        -0.06298508f, -0.02881260f, -0.13101046f, -0.07221562f,
1626        -5.79945277e-003f, -8.57300125e-003f, 0.03782469f, 0.02762164f,
1627        0.04942456f, -0.02936396f, 0.09597211f, 0.01921411f, 0.06101191f,
1628        -0.04787507f, -0.01379578f, -7.40224449e-003f, -0.02220136f,
1629        -0.01313756f, 7.77558051e-003f, 0.12296968f, 0.02939998f, 0.03594062f,
1630        -0.07788624f, -0.01133144f, 3.99316690e-004f, -0.06090347f,
1631        -0.01122066f, -4.68682544e-003f, 0.07633100f, -0.06748922f,
1632        -0.05640298f, -0.05265681f, -0.01139122f, -0.01624347f, -0.04715714f,
1633        -0.01099092f, 0.01048561f, 3.28499987e-003f, -0.05810167f,
1634        -0.07699911f, -0.03330683f, 0.04185145f, 0.03478536f, 0.02275165f,
1635        0.02304766f, 6.66040834e-003f, 0.10968148f, -5.93013782e-003f,
1636        -0.04858336f, -0.04203213f, -0.09316786f, -6.13074889e-003f,
1637        -0.02544625f, 0.01366201f, 9.18555818e-003f, -0.01846578f,
1638        -0.05622401f, -0.03989377f, -0.07810296f, 6.91275718e-003f,
1639        0.05957597f, -0.03901334f, 0.01572002f, -0.01193903f,
1640        -6.89400872e-003f, -0.03093356f, -0.04136098f, -0.01562869f,
1641        -0.04604580f, 0.02865234f, -0.08678447f, -0.03232484f, -0.05364593f,
1642        -0.01445016f, -0.07003860f, -0.08669746f, -0.04520775f, 0.04274122f,
1643        0.03117515f, 0.08175703f, 0.01081109f, 0.06379741f, 0.06199206f,
1644        0.02865988f, 0.02360346f, 0.06725410f, -0.03248780f, -9.37702879e-003f,
1645        0.08265898f, -0.02245839f, 0.05125763f, -0.01862395f, 0.01973453f,
1646        -0.01994494f, -0.10770868f, 0.03180375f, 3.23935156e-003f,
1647        -0.02142080f, -0.04256190f, 0.04760900f, 0.04282863f, 0.05635953f,
1648        -0.01870849f, 0.05540622f, -0.03042666f, 0.01455277f, -0.06630179f,
1649        -0.05843807f, -0.03739681f, -0.09739155f, -0.03220233f, -0.05620182f,
1650        -0.10381401f, 0.07400211f, 4.20676917e-003f, 0.03258535f,
1651        2.14308966e-003f, 0.05121966f, -0.01274337f, 0.02384761f, 0.06335578f,
1652        -0.07905591f, 0.08375625f, -0.07898903f, -0.06508528f, -0.02498444f,
1653        0.06535810f, 0.03970535f, 0.04895468f, -0.01169566f, -0.03980601f,
1654        0.05682293f, 0.05925463f, -0.01165808f, -0.07936699f, -0.04208954f,
1655        0.01333987f, 0.09051196f, 0.10098671f, -0.03974256f, 0.01238771f,
1656        -0.07501741f, -0.03655440f, -0.04301528f, 0.09216860f,
1657        4.63579083e-004f, 0.02851115f, 0.02142735f, 1.28244064e-004f,
1658        0.02879687f, -0.08554889f, -0.04838862f, 0.08135369f, -0.05756533f,
1659        0.01413900f, 0.03451880f, -0.06619488f, -0.03053130f, 0.02961676f,
1660        -0.07384635f, 0.01135692f, 0.05283910f, -0.07778034f, -0.02107482f,
1661        -0.05511716f, -0.13473752f, 0.03030157f, 0.06722020f, -0.06218817f,
1662        -0.05826827f, 0.06254654f, 0.02895772f, -0.01664000f, -0.03620280f,
1663        -0.01612278f, -1.46097376e-003f, 0.14013411f, -8.96181818e-003f,
1664        -0.03250246f, 3.38630192e-003f, 2.64779478e-003f, 0.03359732f,
1665        -0.02411991f, -0.04229729f, 0.10666174f, -6.66579151f };
1666     return vector<float>(detector, detector + sizeof(detector)/sizeof(detector[0]));
1667 }
1668
1669 }