diff --git a/apps/icf/acffeature.cpp b/apps/icf/acffeature.cpp
new file mode 100644
index 000000000..3eb0ba627
--- /dev/null
+++ b/apps/icf/acffeature.cpp
@@ -0,0 +1,137 @@
+#include "acffeature.hpp"
+
+using std::vector;
+
+#include <algorithm>
+using std::min;
+
+#include <opencv2/imgproc.hpp>
+#include <opencv2/imgproc/types_c.h>
+
+namespace cv
+{
+namespace adas
+{
+
+ACFFeatureEvaluator::ACFFeatureEvaluator(const vector<Point3i>& features):
+    features_(features), channels_(), position_()
+{
+}
+int ACFFeatureEvaluator::evaluate(size_t feature_ind) const
+{
+    /* Assume there are 10 channels */
+    CV_Assert(channels_.size() == 10);
+    CV_Assert(feature_ind < features_.size());
+
+    Point3i feature = features_.at(feature_ind);
+    int x = feature.x;
+    int y = feature.y;
+    int n = feature.z;
+    return channels_[n].at<int>(y, x);
+}
+
+void ACFFeatureEvaluator::setChannels(cv::InputArrayOfArrays channels)
+{
+    channels_.clear();
+    vector<Mat> ch;
+    channels.getMatVector(ch);
+    for( size_t i = 0; i < ch.size(); ++i )
+    {
+        const Mat &channel = ch[i];
+        Mat_<int> acf_channel(channel.rows / 4, channel.cols / 4);
+        for( int row = 0; row < channel.rows; row += 4 )
+        {
+            for( int col = 0; col < channel.cols; col += 4 )
+            {
+                int sum = 0;
+                for( int cell_row = row; cell_row < row + 4; ++cell_row )
+                    for( int cell_col = col; cell_col < col + 4; ++cell_col )
+                        sum += channel.at<float>(cell_row, cell_col);
+
+                acf_channel(row / 4, col / 4) = sum;
+            }
+        }
+        channels_.push_back(acf_channel);
+    }
+}
+
+void ACFFeatureEvaluator::setPosition(Size position)
+{
+    position_ = position;
+}
+
+void ACFFeatureEvaluator::evaluateAll(OutputArray feature_values) const
+{
+    Mat_<int> feature_vals(1, features_.size());
+    for( size_t i = 0; i < features_.size(); ++i )
+    {
+        feature_vals(0, i) = evaluate(i);
+    }
+    feature_values.setTo(feature_vals);
+}
+
+vector<Point3i> generateFeatures(Size window_size, int count)
+{
+    CV_Assert(count > 0);
+    int cur_count = 0;
+    int max_count = window_size.width * window_size.height / 16;
+    count = min(count, max_count);
+    vector<Point3i> features;
+    for( int x = 0; x < window_size.width / 4; ++x )
+    {
+        for( int y = 0; y < window_size.height / 4; ++y )
+        {
+            /* Assume there are 10 channel types */
+            for( int n = 0; n < 10; ++n )
+            {
+                features.push_back(Point3i(x, y, n));
+                if( (cur_count += 1) == count )
+                    break;
+            }
+        }
+    }
+    return features;
+}
+
+void computeChannels(cv::InputArray image, cv::OutputArrayOfArrays channels_)
+{
+    Mat src(image.getMat().rows, image.getMat().cols, CV_32FC3);
+    image.getMat().convertTo(src, CV_32FC3, 1./255);
+
+    Mat_<float> grad;
+    Mat gray;
+    cvtColor(src, gray, CV_RGB2GRAY);
+
+    Mat_<float> row_der, col_der;
+    Sobel(gray, row_der, CV_32F, 0, 1);
+    Sobel(gray, col_der, CV_32F, 1, 0);
+
+    magnitude(row_der, col_der, grad);
+
+    Mat_<Vec6f> hist(grad.rows, grad.cols);
+    const float to_deg = 180 / 3.1415926;
+    for (int row = 0; row < grad.rows; ++row) {
+        for (int col = 0; col < grad.cols; ++col) {
+            float angle = atan2(row_der(row, col), col_der(row, col)) * to_deg;
+            if (angle < 0)
+                angle += 180;
+            int ind = angle / 30;
+            hist(row, col)[ind] = grad(row, col);
+        }
+    }
+
+    vector<Mat> channels;
+    channels.push_back(gray);
+    channels.push_back(grad);
+
+    vector<Mat> hist_channels;
+    split(hist, hist_channels);
+
+    for( size_t i = 0; i < hist_channels.size(); ++i )
+        channels.push_back(hist_channels[i]);
+
+    channels_.setTo(channels);
+}
+
+} /* namespace adas */
+} /* namespace cv */