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diff --git a/thirdparty1/linux/include/opencv2/xfeatures2d/cuda.hpp b/thirdparty1/linux/include/opencv2/xfeatures2d/cuda.hpp
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+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_XFEATURES2D_CUDA_HPP__
+#define __OPENCV_XFEATURES2D_CUDA_HPP__
+
+#include "opencv2/core/cuda.hpp"
+
+namespace cv { namespace cuda {
+
+//! @addtogroup xfeatures2d_nonfree
+//! @{
+
+/** @brief Class used for extracting Speeded Up Robust Features (SURF) from an image. :
+
+The class SURF_CUDA implements Speeded Up Robust Features descriptor. There is a fast multi-scale
+Hessian keypoint detector that can be used to find the keypoints (which is the default option). But
+the descriptors can also be computed for the user-specified keypoints. Only 8-bit grayscale images
+are supported.
+
+The class SURF_CUDA can store results in the GPU and CPU memory. It provides functions to convert
+results between CPU and GPU version ( uploadKeypoints, downloadKeypoints, downloadDescriptors ). The
+format of CPU results is the same as SURF results. GPU results are stored in GpuMat. The keypoints
+matrix is \f$\texttt{nFeatures} \times 7\f$ matrix with the CV_32FC1 type.
+
+-   keypoints.ptr\<float\>(X_ROW)[i] contains x coordinate of the i-th feature.
+-   keypoints.ptr\<float\>(Y_ROW)[i] contains y coordinate of the i-th feature.
+-   keypoints.ptr\<float\>(LAPLACIAN_ROW)[i] contains the laplacian sign of the i-th feature.
+-   keypoints.ptr\<float\>(OCTAVE_ROW)[i] contains the octave of the i-th feature.
+-   keypoints.ptr\<float\>(SIZE_ROW)[i] contains the size of the i-th feature.
+-   keypoints.ptr\<float\>(ANGLE_ROW)[i] contain orientation of the i-th feature.
+-   keypoints.ptr\<float\>(HESSIAN_ROW)[i] contains the response of the i-th feature.
+
+The descriptors matrix is \f$\texttt{nFeatures} \times \texttt{descriptorSize}\f$ matrix with the
+CV_32FC1 type.
+
+The class SURF_CUDA uses some buffers and provides access to it. All buffers can be safely released
+between function calls.
+
+@sa SURF
+
+@note
+   -   An example for using the SURF keypoint matcher on GPU can be found at
+        opencv_source_code/samples/gpu/surf_keypoint_matcher.cpp
+
+ */
+class CV_EXPORTS SURF_CUDA
+{
+public:
+    enum KeypointLayout
+    {
+        X_ROW = 0,
+        Y_ROW,
+        LAPLACIAN_ROW,
+        OCTAVE_ROW,
+        SIZE_ROW,
+        ANGLE_ROW,
+        HESSIAN_ROW,
+        ROWS_COUNT
+    };
+
+    //! the default constructor
+    SURF_CUDA();
+    //! the full constructor taking all the necessary parameters
+    explicit SURF_CUDA(double _hessianThreshold, int _nOctaves=4,
+         int _nOctaveLayers=2, bool _extended=false, float _keypointsRatio=0.01f, bool _upright = false);
+
+    //! returns the descriptor size in float's (64 or 128)
+    int descriptorSize() const;
+    //! returns the default norm type
+    int defaultNorm() const;
+
+    //! upload host keypoints to device memory
+    void uploadKeypoints(const std::vector<KeyPoint>& keypoints, GpuMat& keypointsGPU);
+    //! download keypoints from device to host memory
+    void downloadKeypoints(const GpuMat& keypointsGPU, std::vector<KeyPoint>& keypoints);
+
+    //! download descriptors from device to host memory
+    void downloadDescriptors(const GpuMat& descriptorsGPU, std::vector<float>& descriptors);
+
+    //! finds the keypoints using fast hessian detector used in SURF
+    //! supports CV_8UC1 images
+    //! keypoints will have nFeature cols and 6 rows
+    //! keypoints.ptr<float>(X_ROW)[i] will contain x coordinate of i'th feature
+    //! keypoints.ptr<float>(Y_ROW)[i] will contain y coordinate of i'th feature
+    //! keypoints.ptr<float>(LAPLACIAN_ROW)[i] will contain laplacian sign of i'th feature
+    //! keypoints.ptr<float>(OCTAVE_ROW)[i] will contain octave of i'th feature
+    //! keypoints.ptr<float>(SIZE_ROW)[i] will contain size of i'th feature
+    //! keypoints.ptr<float>(ANGLE_ROW)[i] will contain orientation of i'th feature
+    //! keypoints.ptr<float>(HESSIAN_ROW)[i] will contain response of i'th feature
+    void operator()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints);
+    //! finds the keypoints and computes their descriptors.
+    //! Optionally it can compute descriptors for the user-provided keypoints and recompute keypoints direction
+    void operator()(const GpuMat& img, const GpuMat& mask, GpuMat& keypoints, GpuMat& descriptors,
+        bool useProvidedKeypoints = false);
+
+    void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints);
+    void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints, GpuMat& descriptors,
+        bool useProvidedKeypoints = false);
+
+    void operator()(const GpuMat& img, const GpuMat& mask, std::vector<KeyPoint>& keypoints, std::vector<float>& descriptors,
+        bool useProvidedKeypoints = false);
+
+    void releaseMemory();
+
+    // SURF parameters
+    double hessianThreshold;
+    int nOctaves;
+    int nOctaveLayers;
+    bool extended;
+    bool upright;
+
+    //! max keypoints = min(keypointsRatio * img.size().area(), 65535)
+    float keypointsRatio;
+
+    GpuMat sum, mask1, maskSum;
+
+    GpuMat det, trace;
+
+    GpuMat maxPosBuffer;
+};
+
+//! @}
+
+}} // namespace cv { namespace cuda {
+
+#endif // __OPENCV_XFEATURES2D_CUDA_HPP__
diff --git a/thirdparty1/linux/include/opencv2/xfeatures2d/nonfree.hpp b/thirdparty1/linux/include/opencv2/xfeatures2d/nonfree.hpp
new file mode 100644
index 0000000..9533972
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+++ b/thirdparty1/linux/include/opencv2/xfeatures2d/nonfree.hpp
@@ -0,0 +1,156 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                           License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#ifndef __OPENCV_XFEATURES2D_FEATURES_2D_HPP__
+#define __OPENCV_XFEATURES2D_FEATURES_2D_HPP__
+
+#include "opencv2/features2d.hpp"
+
+namespace cv
+{
+namespace xfeatures2d
+{
+
+//! @addtogroup xfeatures2d_nonfree
+//! @{
+
+/** @brief Class for extracting keypoints and computing descriptors using the Scale Invariant Feature Transform
+(SIFT) algorithm by D. Lowe @cite Lowe04 .
+ */
+class CV_EXPORTS_W SIFT : public Feature2D
+{
+public:
+    /**
+    @param nfeatures The number of best features to retain. The features are ranked by their scores
+    (measured in SIFT algorithm as the local contrast)
+
+    @param nOctaveLayers The number of layers in each octave. 3 is the value used in D. Lowe paper. The
+    number of octaves is computed automatically from the image resolution.
+
+    @param contrastThreshold The contrast threshold used to filter out weak features in semi-uniform
+    (low-contrast) regions. The larger the threshold, the less features are produced by the detector.
+
+    @param edgeThreshold The threshold used to filter out edge-like features. Note that the its meaning
+    is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are
+    filtered out (more features are retained).
+
+    @param sigma The sigma of the Gaussian applied to the input image at the octave \#0. If your image
+    is captured with a weak camera with soft lenses, you might want to reduce the number.
+     */
+    CV_WRAP static Ptr<SIFT> create( int nfeatures = 0, int nOctaveLayers = 3,
+                                    double contrastThreshold = 0.04, double edgeThreshold = 10,
+                                    double sigma = 1.6);
+};
+
+typedef SIFT SiftFeatureDetector;
+typedef SIFT SiftDescriptorExtractor;
+
+/** @brief Class for extracting Speeded Up Robust Features from an image @cite Bay06 .
+
+The algorithm parameters:
+-   member int extended
+    -   0 means that the basic descriptors (64 elements each) shall be computed
+    -   1 means that the extended descriptors (128 elements each) shall be computed
+-   member int upright
+    -   0 means that detector computes orientation of each feature.
+    -   1 means that the orientation is not computed (which is much, much faster). For example,
+if you match images from a stereo pair, or do image stitching, the matched features
+likely have very similar angles, and you can speed up feature extraction by setting
+upright=1.
+-   member double hessianThreshold
+Threshold for the keypoint detector. Only features, whose hessian is larger than
+hessianThreshold are retained by the detector. Therefore, the larger the value, the less
+keypoints you will get. A good default value could be from 300 to 500, depending from the
+image contrast.
+-   member int nOctaves
+The number of a gaussian pyramid octaves that the detector uses. It is set to 4 by default.
+If you want to get very large features, use the larger value. If you want just small
+features, decrease it.
+-   member int nOctaveLayers
+The number of images within each octave of a gaussian pyramid. It is set to 2 by default.
+@note
+   -   An example using the SURF feature detector can be found at
+        opencv_source_code/samples/cpp/generic_descriptor_match.cpp
+    -   Another example using the SURF feature detector, extractor and matcher can be found at
+        opencv_source_code/samples/cpp/matcher_simple.cpp
+ */
+class CV_EXPORTS_W SURF : public Feature2D
+{
+public:
+    /**
+    @param hessianThreshold Threshold for hessian keypoint detector used in SURF.
+    @param nOctaves Number of pyramid octaves the keypoint detector will use.
+    @param nOctaveLayers Number of octave layers within each octave.
+    @param extended Extended descriptor flag (true - use extended 128-element descriptors; false - use
+    64-element descriptors).
+    @param upright Up-right or rotated features flag (true - do not compute orientation of features;
+    false - compute orientation).
+     */
+    CV_WRAP static Ptr<SURF> create(double hessianThreshold=100,
+                  int nOctaves = 4, int nOctaveLayers = 3,
+                  bool extended = false, bool upright = false);
+
+    CV_WRAP virtual void setHessianThreshold(double hessianThreshold) = 0;
+    CV_WRAP virtual double getHessianThreshold() const = 0;
+
+    CV_WRAP virtual void setNOctaves(int nOctaves) = 0;
+    CV_WRAP virtual int getNOctaves() const = 0;
+
+    CV_WRAP virtual void setNOctaveLayers(int nOctaveLayers) = 0;
+    CV_WRAP virtual int getNOctaveLayers() const = 0;
+
+    CV_WRAP virtual void setExtended(bool extended) = 0;
+    CV_WRAP virtual bool getExtended() const = 0;
+
+    CV_WRAP virtual void setUpright(bool upright) = 0;
+    CV_WRAP virtual bool getUpright() const = 0;
+};
+
+typedef SURF SurfFeatureDetector;
+typedef SURF SurfDescriptorExtractor;
+
+//! @}
+
+}
+} /* namespace cv */
+
+#endif