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I was searching the same and found a paper by the author (Rainer Lienhart) where explains it: Empirical Analysis of Detection Cascades of Boosted Classifiers for Rapid Object Detection

I was searching the same and found a paper by the author (Rainer Lienhart) where he compare all the relevant parameters and explains it: which are the best: Empirical Analysis of Detection Cascades of Boosted Classifiers for Rapid Object Detection