image-sequencer/examples/orb.core.min.js

(function(){function r(e, n, t){function o(i, f){if(!n[i]){if(!e[i]){var c = 'function' == typeof require && require;if(!f && c)return c(i, !0);if(u)return u(i, !0);var a = new Error('Cannot find module \'' + i + '\'');throw a.code = 'MODULE_NOT_FOUND', a;}var p = n[i] = {exports:{}};e[i][0].call(p.exports, function(r){var n = e[i][1][r];return o(n || r);}, p, p.exports, r, e, n, t);}return n[i].exports;}for(var u = 'function' == typeof require && require, i = 0;i < t.length;i++)o(t[i]);return o;}return r;})()({1:[function(require, module, exports){var jsfeat = jsfeat || {REVISION:'ALPHA'};(function(r){var o = 1.192092896e-7;var l = 1e-37;var m = 256, i = 512, h = 1024, x = 2048, w = 4096;var A = 1, n = 2, b = 3, p = 4;var z = new Int32Array([-1, 1, 4, -1, 4, -1, -1, -1, 8, -1, -1, -1, -1, -1, -1, -1, 8]);var y = function(){return function(B){return B & 65280;};}();var k = function(){return function(B){return B & 255;};}();var c = function(){return function(B){return z[(B & 65280) >> 8];};}();var a = 0;var f = 1;var e = 2;var u = 3;var d = 1;var s = 1;var g = 2;var v = function(){function B(D, C){this.size = (D + 7 | 0) & -8;if(typeof C === 'undefined'){this.buffer = new ArrayBuffer(this.size);}else{this.buffer = C;this.size = C.length;}this.u8 = new Uint8Array(this.buffer);this.i32 = new Int32Array(this.buffer);this.f32 = new Float32Array(this.buffer);this.f64 = new Float64Array(this.buffer);}return B;}();var q = function(){function B(F, D, E, C){this.type = y(E) | 0;this.channel = k(E) | 0;this.cols = F | 0;this.rows = D | 0;if(typeof C === 'undefined'){this.allocate();}else{this.buffer = C;this.data = this.type & m ? this.buffer.u8 : this.type & i ? this.buffer.i32 : this.type & h ? this.buffer.f32 : this.buffer.f64;}}B.prototype.allocate = function(){delete this.data;delete this.buffer;this.buffer = new v(this.cols * c(this.type) * this.channel * this.rows);this.data = this.type & m ? this.buffer.u8 : this.type & i ? this.buffer.i32 : this.type & h ? this.buffer.f32 : this.buffer.f64;};B.prototype.copy_to = function(D){var C = D.data, G = this.data;var E = 0, F = this.cols * this.rows * this.channel | 0;for(;E < F - 4;E += 4){C[E] = G[E];C[E + 1] = G[E + 1];C[E + 2] = G[E + 2];C[E + 3] = G[E + 3];}for(;E < F;++E){C[E] = G[E];}};B.prototype.resize = function(F, D, C){if(typeof C === 'undefined'){C = this.channel;}var E = F * c(this.type) * C * D;if(E > this.buffer.size){this.cols = F;this.rows = D;this.channel = C;this.allocate();}else{this.cols = F;this.rows = D;this.channel = C;}};return B;}();var t = function(){function B(C){this.levels = C | 0;this.data = new Array(C);this.pyrdown = jsfeat.imgproc.pyrdown;}B.prototype.allocate = function(C, E, F){var D = this.levels;while(--D >= 0){this.data[D] = new q(C >> D, E >> D, F);}};B.prototype.build = function(F, E){if(typeof E === 'undefined'){E = true;}var H = 2, D = F, C = this.data[0];if(!E){var G = F.cols * F.rows;while(--G >= 0){C.data[G] = F.data[G];}}C = this.data[1];this.pyrdown(D, C);for(;H < this.levels;++H){D = C;C = this.data[H];this.pyrdown(D, C);}};return B;}();var j = function(){function B(C, G, E, F, D){if(typeof C === 'undefined'){C = 0;}if(typeof G === 'undefined'){G = 0;}if(typeof E === 'undefined'){E = 0;}if(typeof F === 'undefined'){F = 0;}if(typeof D === 'undefined'){D = -1;}this.x = C;this.y = G;this.score = E;this.level = F;this.angle = D;}return B;}();r.U8_t = m;r.S32_t = i;r.F32_t = h;r.S64_t = x;r.F64_t = w;r.C1_t = A;r.C2_t = n;r.C3_t = b;r.C4_t = p;r.U8C1_t = m | A;r.U8C3_t = m | b;r.U8C4_t = m | p;r.F32C1_t = h | A;r.F32C2_t = h | n;r.S32C1_t = i | A;r.S32C2_t = i | n;r.EPSILON = o;r.FLT_MIN = l;r.COLOR_RGBA2GRAY = a;r.COLOR_RGB2GRAY = f;r.COLOR_BGRA2GRAY = e;r.COLOR_BGR2GRAY = u;r.BOX_BLUR_NOSCALE = d;r.SVD_U_T = s;r.SVD_V_T = g;r.get_data_type = y;r.get_channel = k;r.get_data_type_size = c;r.data_t = v;r.matrix_t = q;r.pyramid_t = t;r.keypoint_t = j;})(jsfeat);(function(b){var a = function(){var f = function(){function g(h){this.next = null;this.data = new jsfeat.data_t(h);this.size = this.data.size;this.buffer = this.data.buffer;this.u8 = this.data.u8;this.i32 = this.data.i32;this.f32 = this.data.f32;this.f64 = this.data.f64;}g.prototype.resize = function(h){delete this.data;this.data = new jsfeat.data_t(h);this.size = this.data.size;this.buffer = this.data.buffer;this.u8 = this.data.u8;this.i32 = this.data.i32;this.f32 = this.data.f32;this.f64 = this.data.f64;};return g;}();var e, c;var d = 0;return{allocate:function(g, k){e = c = new f(k);for(var h = 0;h < g;++h){var j = new f(k);c = c.next = j;d++;}}, get_buffer:function(g){var h = e;e = e.next;d--;if(g > h.size){h.resize(g);}return h;}, put_buffer:function(g){c = c.next = g;d++;}};}();b.cache = a;a.allocate(30, 640 * 4);})(jsfeat);(function(b){var a = function(){var c = new Int32Array(48 * 2);return{get_gaussian_kernel:function(p, m, e, l){var f = 0, j = 0, o = 0, n = 0, d = 0;var g = 0;var h = jsfeat.cache.get_buffer(p << 2);var k = h.f32;if((p & 1) == 1 && p <= 7 && m <= 0){switch(p >> 1){case 0:k[0] = 1;g = 1;break;case 1:k[0] = .25, k[1] = .5, k[2] = .25;g = .25 + .5 + .25;break;case 2:k[0] = .0625, k[1] = .25, k[2] = .375, k[3] = .25, k[4] = .0625;g = .0625 + .25 + .375 + .25 + .0625;break;case 3:k[0] = .03125, k[1] = .109375, k[2] = .21875, k[3] = .28125, k[4] = .21875, k[5] = .109375, k[6] = .03125;g = .03125 + .109375 + .21875 + .28125 + .21875 + .109375 + .03125;break;}}else{n = m > 0 ? m : ((p - 1) * .5 - 1) * .3 + .8;d = -.5 / (n * n);for(;f < p;++f){j = f - (p - 1) * .5;o = Math.exp(d * j * j);k[f] = o;g += o;}}if(l & jsfeat.U8_t){g = 256 / g;for(f = 0;f < p;++f){e[f] = k[f] * g + .5 | 0;}}else{g = 1 / g;for(f = 0;f < p;++f){e[f] = k[f] * g;}}jsfeat.cache.put_buffer(h);}, perspective_4point_transform:function(x, B, r, w, g, A, q, v, f, z, p, u, e, y, o, t, d){var Y = B;var X = z;var W = q;var V = Y * X * W;var U = o;var T = Y * U;var S = X * T;var R = p;var n = Y * R;var m = A;var k = r;var j = y;var i = k * j;var h = i * m;var ax = j * m * R;var aw = j * W;var aq = j * R;var ao = X * W;var am = U * X;var aj = U * m;var ag = R * m;var Q = 1 / (aw - aq - ao + am - aj + ag);var O = Y * j;var N = k * m;var M = W * Y;var L = U * M;var K = k * X;var I = i * R;var G = k * R * m;var D = W * U * X;var C = U * k;var av = -(S - V + n * m - m * T - i * X + h - ax + aw * X) * Q;var au = (V - S - O * W + O * R + h - X * N + aj * X - ax) * Q;var ar = Y;var ap = (-R * T + L + K * W - i * W + I - G + aj * R - D) * Q;var an = (-L + M * R - C * X + I - G + C * m + D - aw * R) * Q;var al = k;var ai = (-n + M + K - N + aq - aw - am + aj) * Q;var af = (-T + n + i - K + aj - ag - aw + ao) * Q;Y = w;X = u;W = f;V = Y * X * W;U = d;T = Y * U;S = X * T;R = e;n = Y * R;m = v;k = g;j = t;i = k * j;h = i * m;ax = j * m * R;aw = j * W;aq = j * R;ao = X * W;am = U * X;aj = U * m;ag = R * m;Q = 1 / (aw - aq - ao + am - aj + ag);O = Y * j;N = k * m;M = W * Y;L = U * M;K = k * X;I = i * R;G = k * R * m;D = W * U * X;C = U * k;var ak = -(S - V + n * m - m * T - i * X + h - ax + aw * X) * Q;var ah = (V - S - O * W + O * R + h - X * N + aj * X - ax) * Q;var ae = Y;var ad = (-R * T + L + K * W - i * W + I - G + aj * R - D) * Q;var ac = (-L + M * R - C * X + I - G + C * m + D - aw * R) * Q;var ab = k;var aa = (-n + M + K - N + aq - aw - am + aj) * Q;var Z = (-T + n + i - K + aj - ag - aw + ao) * Q;X = an - af * al;W = av * an;V = av * al;T = ap * au;S = ar * ap;n = au * ai;var l = ar * ai;j = 1 / (W - V * af - T + S * af + n * al - l * an);h = -ap + al * ai;var at = -ap * af + an * ai;ag = -au + ar * af;var P = av - l;N = av * af - n;M = -au * al + ar * an;var J = V - S;var H = W - T;G = X * j;var F = ag * j;var E = M * j;var s = x.data;s[0] = ak * G + ah * (h * j) - ae * (at * j);s[1] = ak * F + ah * (P * j) - ae * (N * j);s[2] = -ak * E - ah * (J * j) + ae * (H * j);s[3] = ad * G + ac * (h * j) - ab * (at * j);s[4] = ad * F + ac * (P * j) - ab * (N * j);s[5] = -ad * E - ac * (J * j) + ab * (H * j);s[6] = aa * G + Z * (h * j) - at * j;s[7] = aa * F + Z * (P * j) - N * j;s[8] = -aa * E - Z * (J * j) + H * j;}, qsort:function(o, J, s, u){var D = 7;var v, r, q, p;var C = 0, j = 0, G = 0, B = 0, z = 0, A = 0, e = 0, y = 0, E = 0;var x = 0, w = 0, h = 0, g = 0, l = 0, I = 0, H = 0, F = 0, f = 0;var k = c;if(s - J + 1 <= 1){return;}k[0] = J;k[1] = s;while(C >= 0){j = k[C << 1];G = k[(C << 1) + 1];C--;for(;;){z = G - j + 1;if(z <= D){for(e = j + 1;e <= G;e++){for(y = e;y > j && u(o[y], o[y - 1]);y--){v = o[y];o[y] = o[y - 1];o[y - 1] = v;}}break;}else{f = 0;x = j;h = G;l = j + (z >> 1);if(z > 40){E = z >> 3;I = j, H = j + E, F = j + (E << 1);r = o[I], q = o[H], p = o[F];j = u(r, q) ? u(q, p) ? H : u(r, p) ? F : I : u(p, q) ? H : u(r, p) ? I : F;I = l - E, H = l, F = l + E;r = o[I], q = o[H], p = o[F];l = u(r, q) ? u(q, p) ? H : u(r, p) ? F : I : u(p, q) ? H : u(r, p) ? I : F;I = G - (E << 1), H = G - E, F = G;r = o[I], q = o[H], p = o[F];G = u(r, q) ? u(q, p) ? H : u(r, p) ? F : I : u(p, q) ? H : u(r, p) ? I : F;}I = j, H = l, F = G;r = o[I], q = o[H], p = o[F];l = u(r, q) ? u(q, p) ? H : u(r, p) ? F : I : u(p, q) ? H : u(r, p) ? I : F;if(l != x){v = o[l];o[l] = o[x];o[x] = v;l = x;}j = w = x + 1;G = g = h;r = o[l];for(;;){while(j <= G && !u(r, o[j])){if(!u(o[j], r)){if(j > w){v = o[w];o[w] = o[j];o[j] = v;}f = 1;w++;}j++;}while(j <= G && !u(o[G], r)){if(!u(r, o[G])){if(G < g){v = o[g];o[g] = o[G];o[G] = v;}f = 1;g--;}G--;}if(j > G){break;}v = o[j];o[j] = o[G];o[G] = v;f = 1;j++;G--;}if(f == 0){j = x, G = h;for(e = j + 1;e <= G;e++){for(y = e;y > j && u(o[y], o[y - 1]);y--){v = o[y];o[y] = o[y - 1];o[y - 1] = v;}}break;}z = Math.min(w - x, j - w);A = j - z | 0;for(B = 0;B < z;++B, ++A){v = o[x + B];o[x + B] = o[A];o[A] = v;}z = Math.min(h - g, g - G);A = h - z + 1 | 0;for(B = 0;B < z;++B, ++A){v = o[j + B];o[j + B] = o[A];o[A] = v;}z = j - w;A = g - G;if(z > 1){if(A > 1){if(z > A){++C;k[C << 1] = x;k[(C << 1) + 1] = x + z - 1;j = h - A + 1, G = h;}else{++C;k[C << 1] = h - A + 1;k[(C << 1) + 1] = h;j = x, G = x + z - 1;}}else{j = x, G = x + z - 1;}}else{if(A > 1){j = h - A + 1, G = h;}else{break;}}}}}}, median:function(k, d, i){var e;var f = 0, j = 0, g = 0, h = d + i >> 1;for(;;){if(i <= d){return k[h];}if(i == d + 1){if(k[d] > k[i]){e = k[d];k[d] = k[i];k[i] = e;}return k[h];}f = d + i >> 1;if(k[f] > k[i]){e = k[f];k[f] = k[i];k[i] = e;}if(k[d] > k[i]){e = k[d];k[d] = k[i];k[i] = e;}if(k[f] > k[d]){e = k[f];k[f] = k[d];k[d] = e;}j = d + 1;e = k[f];k[f] = k[j];k[j] = e;g = i;for(;;){do{++j;}while(k[d] > k[j]);do{--g;}while(k[g] > k[d]);if(g < j){break;}e = k[j];k[j] = k[g];k[g] = e;}e = k[d];k[d] = k[g];k[g] = e;if(g <= h){d = j;}else{if(g >= h){i = g - 1;}}}return 0;}};}();b.math = a;})(jsfeat);(function(b){var a = function(){return{identity:function(j, g){if(typeof g === 'undefined'){g = 1;}var i = j.data;var f = j.rows, h = j.cols, e = h + 1 | 0;var c = f * h;var d = c;while(--c >= 0){i[c] = 0;}c = d;d = 0;while(d < c){i[d] = g;d = d + e;}}, transpose:function(f, d){var l = 0, h = 0, k = d.rows, c = d.cols;var n = 0, e = 0, m = 0;var o = d.data, g = f.data;for(;l < k;e += 1, n += c, l++){m = e;for(h = 0;h < c;m += k, h++){g[m] = o[n + h];}}}, multiply:function(l, n, m){var u = 0, s = 0, o = 0;var r = 0, t = 0, q = 0, w = 0, g = 0;var f = n.cols, e = n.rows, p = m.cols;var v = n.data, d = m.data, h = l.data;var c = 0;for(;u < e;r += f, u++){for(w = 0, s = 0;s < p;g++, w++, s++){q = w;t = r;c = 0;for(o = 0;o < f;t++, q += p, o++){c += v[t] * d[q];}h[g] = c;}}}, multiply_ABt:function(c, g, d){var p = 0, n = 0, m = 0;var r = 0, l = 0, f = 0, u = 0;var e = g.cols, o = g.rows, q = d.rows;var v = g.data, t = d.data, h = c.data;var s = 0;for(;p < o;r += e, p++){for(f = 0, n = 0;n < q;u++, n++){l = r;s = 0;for(m = 0;m < e;l++, f++, m++){s += v[l] * t[f];}h[u] = s;}}}, multiply_AtB:function(l, n, m){var u = 0, s = 0, o = 0;var r = 0, t = 0, q = 0, w = 0, g = 0;var f = n.cols, e = n.rows, p = m.cols;var v = n.data, d = m.data, h = l.data;var c = 0;for(;u < f;r++, u++){for(w = 0, s = 0;s < p;g++, w++, s++){q = w;t = r;c = 0;for(o = 0;o < e;t += f, q += p, o++){c += v[t] * d[q];}h[g] = c;}}}, multiply_AAt:function(d, h){var q = 0, o = 0, n = 0;var c = 0, r = 0, m = 0, g = 0, e = 0, u = 0;var f = h.cols, p = h.rows;var t = h.data, l = d.data;var s = 0;for(;q < p;c += p + 1, r = m, q++){e = c;u = c;g = r;for(o = q;o < p;e++, u += p, o++){m = r;s = 0;for(n = 0;n < f;n++){s += t[m++] * t[g++];}l[e] = s;l[u] = s;}}}, multiply_AtA:function(c, g){var r = 0, p = 0, n = 0;var s = 0, m = 0, f = 0, o = 0, d = 0, l = 0;var e = g.cols, q = g.rows;var u = g.data, h = c.data;var t = 0;for(;r < e;o += e, r++){s = r;l = o + r;d = l;for(p = r;p < e;d++, l += e, p++){m = s;f = p;t = 0;for(n = 0;n < q;m += e, f += e, n++){t += u[m] * u[f];}h[d] = t;h[l] = t;}}}, identity_3x3:function(e, d){if(typeof d === 'undefined'){d = 1;}var c = e.data;c[0] = c[4] = c[8] = d;c[1] = c[2] = c[3] = 0;c[5] = c[6] = c[7] = 0;}, invert_3x3:function(s, e){var o = s.data, h = e.data;var n = o[4];var m = o[8];var l = o[5];var k = o[7];var j = o[0];var i = j * n;var v = j * l;var u = o[3];var t = o[1];var r = u * t;var q = o[2];var p = u * q;var g = o[6];var f = g * t;var d = g * q;var c = 1 / (i * m - v * k - r * m + p * k + f * l - d * n);h[0] = (n * m - l * k) * c;h[1] = -(t * m - q * k) * c;h[2] = -(-t * l + q * n) * c;h[3] = -(u * m - l * g) * c;h[4] = (j * m - d) * c;h[5] = -(v - p) * c;h[6] = -(-u * k + n * g) * c;h[7] = -(j * k - f) * c;h[8] = (i - r) * c;}, multiply_3x3:function(r, v, t){var y = r.data, z = v.data, l = t.data;var x = z[0], w = z[1], u = z[2];var s = z[3], q = z[4], p = z[5];var o = z[6], n = z[7], m = z[8];var k = l[0], j = l[1], i = l[2];var h = l[3], g = l[4], f = l[5];var e = l[6], d = l[7], c = l[8];y[0] = x * k + w * h + u * e;y[1] = x * j + w * g + u * d;y[2] = x * i + w * f + u * c;y[3] = s * k + q * h + p * e;y[4] = s * j + q * g + p * d;y[5] = s * i + q * f + p * c;y[6] = o * k + n * h + m * e;y[7] = o * j + n * g + m * d;y[8] = o * i + n * f + m * c;}, mat3x3_determinant:function(d){var c = d.data;return c[0] * c[4] * c[8] - c[0] * c[5] * c[7] - c[3] * c[1] * c[8] + c[3] * c[2] * c[7] + c[6] * c[1] * c[5] - c[6] * c[2] * c[4];}, determinant_3x3:function(h, g, f, e, d, c, k, j, i){return h * d * i - h * c * j - e * g * i + e * f * j + k * g * c - k * f * d;}};}();b.matmath = a;})(jsfeat);(function(b){var a = function(){var f = function(g, j, i, h){h = g[j];g[j] = g[i];g[i] = h;};var d = function(h, g){h = Math.abs(h);g = Math.abs(g);if(h > g){g /= h;return h * Math.sqrt(1 + g * g);}if(g > 0){h /= g;return g * Math.sqrt(1 + h * h);}return 0;};var c = function(H, o, q, r, h, I){var C = jsfeat.EPSILON;var N = 0, M = 0, L = 0, J = 0, K = 0, D = 0, R = 0, G = 0;var u = 0, v = I * I * 30;var E = 0, U = 0, F = 0, x = 0, z = 0, B = 0, Q = 0, T = 0, w = 0;var P = jsfeat.cache.get_buffer(I << 2);var S = jsfeat.cache.get_buffer(I << 2);var O = P.i32;var g = S.i32;if(r){for(;N < I;N++){L = N * h;for(M = 0;M < I;M++){r[L + M] = 0;}r[L + N] = 1;}}for(L = 0;L < I;L++){q[L] = H[(o + 1) * L];if(L < I - 1){for(J = L + 1, E = Math.abs(H[o * L + J]), N = L + 2;N < I;N++){U = Math.abs(H[o * L + N]);if(E < U){E = U, J = N;}}O[L] = J;}if(L > 0){for(J = 0, E = Math.abs(H[L]), N = 1;N < L;N++){U = Math.abs(H[o * N + L]);if(E < U){E = U, J = N;}}g[L] = J;}}if(I > 1){for(;u < v;u++){for(L = 0, E = Math.abs(H[O[0]]), N = 1;N < I - 1;N++){U = Math.abs(H[o * N + O[N]]);if(E < U){E = U, L = N;}}K = O[L];for(N = 1;N < I;N++){U = Math.abs(H[o * g[N] + N]);if(E < U){E = U, L = g[N], K = N;}}F = H[o * L + K];if(Math.abs(F) <= C){break;}x = (q[K] - q[L]) * .5;z = Math.abs(x) + d(F, x);B = d(F, z);Q = z / B;B = F / B;z = F / z * F;if(x < 0){B = -B, z = -z;}H[o * L + K] = 0;q[L] -= z;q[K] += z;for(N = 0;N < L;N++){R = o * N + L;G = o * N + K;T = H[R];w = H[G];H[R] = T * Q - w * B;H[G] = T * B + w * Q;}for(N = L + 1;N < K;N++){R = o * L + N;G = o * N + K;T = H[R];w = H[G];H[R] = T * Q - w * B;H[G] = T * B + w * Q;}N = K + 1;R = o * L + N;G = o * K + N;for(;N < I;N++, R++, G++){T = H[R];w = H[G];H[R] = T * Q - w * B;H[G] = T * B + w * Q;}if(r){R = h * L;G = h * K;for(N = 0;N < I;N++, R++, G++){T = r[R];w = r[G];r[R] = T * Q - w * B;r[G] = T * B + w * Q;}}for(M = 0;M < 2;M++){D = M == 0 ? L : K;if(D < I - 1){for(J = D + 1, E = Math.abs(H[o * D + J]), N = D + 2;N < I;N++){U = Math.abs(H[o * D + N]);if(E < U){E = U, J = N;}}O[D] = J;}if(D > 0){for(J = 0, E = Math.abs(H[D]), N = 1;N < D;N++){U = Math.abs(H[o * N + D]);if(E < U){E = U, J = N;}}g[D] = J;}}}}for(L = 0;L < I - 1;L++){J = L;for(N = L + 1;N < I;N++){if(q[J] < q[N]){J = N;}}if(L != J){f(q, J, L, E);if(r){for(N = 0;N < I;N++){f(r, h * J + N, h * L + N, E);}}}}jsfeat.cache.put_buffer(P);jsfeat.cache.put_buffer(S);};var e = function(D, l, h, M, v, T, S, E){var C = jsfeat.EPSILON * 2;var q = jsfeat.FLT_MIN;var X = 0, V = 0, U = 0, A = 0, u = Math.max(T, 30);var K = 0, J = 0, R = 0, Q = 0, F = 0;var Y = 0, O = 0, N = 0;var H = 0, G = 0, x = 0, I = 0, w = 0, L = 0, aa = 0, P = 0, Z = 0;var z = 4660;var B = 0, y = 0, o = 0;var r = jsfeat.cache.get_buffer(S << 3);var g = r.f64;for(;X < S;X++){for(U = 0, x = 0;U < T;U++){N = D[X * l + U];x += N * N;}g[X] = x;if(M){for(U = 0;U < S;U++){M[X * v + U] = 0;}M[X * v + X] = 1;}}for(;A < u;A++){F = 0;for(X = 0;X < S - 1;X++){for(V = X + 1;V < S;V++){K = X * l | 0, J = V * l | 0;aa = g[X], P = 0, Z = g[V];U = 2;P += D[K] * D[J];P += D[K + 1] * D[J + 1];for(;U < T;U++){P += D[K + U] * D[J + U];}if(Math.abs(P) <= C * Math.sqrt(aa * Z)){continue;}P *= 2;I = aa - Z, w = d(P, I);if(I < 0){L = (w - I) * .5;O = Math.sqrt(L / w);Y = P / (w * O * 2);}else{Y = Math.sqrt((w + I) / (w * 2));O = P / (w * Y * 2);}aa = 0, Z = 0;U = 2;H = Y * D[K] + O * D[J];G = -O * D[K] + Y * D[J];D[K] = H;D[J] = G;aa += H * H;Z += G * G;H = Y * D[K + 1] + O * D[J + 1];G = -O * D[K + 1] + Y * D[J + 1];D[K + 1] = H;D[J + 1] = G;aa += H * H;Z += G * G;for(;U < T;U++){H = Y * D[K + U] + O * D[J + U];G = -O * D[K + U] + Y * D[J + U];D[K + U] = H;D[J + U] = G;aa += H * H;Z += G * G;}g[X] = aa;g[V] = Z;F = 1;if(M){R = X * v | 0, Q = V * v | 0;U = 2;H = Y * M[R] + O * M[Q];G = -O * M[R] + Y * M[Q];M[R] = H;M[Q] = G;H = Y * M[R + 1] + O * M[Q + 1];G = -O * M[R + 1] + Y * M[Q + 1];M[R + 1] = H;M[Q + 1] = G;for(;U < S;U++){H = Y * M[R + U] + O * M[Q + U];G = -O * M[R + U] + Y * M[Q + U];M[R + U] = H;M[Q + U] = G;}}}}if(F == 0){break;}}for(X = 0;X < S;X++){for(U = 0, x = 0;U < T;U++){N = D[X * l + U];x += N * N;}g[X] = Math.sqrt(x);}for(X = 0;X < S - 1;X++){V = X;for(U = X + 1;U < S;U++){if(g[V] < g[U]){V = U;}}if(X != V){f(g, X, V, x);if(M){for(U = 0;U < T;U++){f(D, X * l + U, V * l + U, N);}for(U = 0;U < S;U++){f(M, X * v + U, V * v + U, N);}}}}for(X = 0;X < S;X++){h[X] = g[X];}if(!M){jsfeat.cache.put_buffer(r);return;}for(X = 0;X < E;X++){x = X < S ? g[X] : 0;while(x <= q){y = 1 / T;for(U = 0;U < T;U++){z = z * 214013 + 2531011;B = (z >> 16 & 32767 & 256) != 0 ? y : -y;D[X * l + U] = B;}for(A = 0;A < 2;A++){for(V = 0;V < X;V++){x = 0;for(U = 0;U < T;U++){x += D[X * l + U] * D[V * l + U];}o = 0;for(U = 0;U < T;U++){N = D[X * l + U] - x * D[V * l + U];D[X * l + U] = N;o += Math.abs(N);}o = o ? 1 / o : 0;for(U = 0;U < T;U++){D[X * l + U] *= o;}}}x = 0;for(U = 0;U < T;U++){N = D[X * l + U];x += N * N;}x = Math.sqrt(x);}O = 1 / x;for(U = 0;U < T;U++){D[X * l + U] *= O;}}jsfeat.cache.put_buffer(r);};return{lu_solve:function(l, g){var q = 0, o = 0, n = 0, h = 1, v = l.cols;var w = l.data, r = g.data;var x, m, u, y;for(q = 0;q < v;q++){n = q;for(o = q + 1;o < v;o++){if(Math.abs(w[o * v + q]) > Math.abs(w[n * v + q])){n = o;}}if(Math.abs(w[n * v + q]) < jsfeat.EPSILON){return 0;}if(n != q){for(o = q;o < v;o++){f(w, q * v + o, n * v + o, x);}f(r, q, n, x);h = -h;}u = -1 / w[q * v + q];for(o = q + 1;o < v;o++){m = w[o * v + q] * u;for(n = q + 1;n < v;n++){w[o * v + n] += m * w[q * v + n];}r[o] += m * r[q];}w[q * v + q] = -u;}for(q = v - 1;q >= 0;q--){y = r[q];for(n = q + 1;n < v;n++){y -= w[q * v + n] * r[n];}r[q] = y * w[q * v + q];}return 1;}, cholesky_solve:function(h, g){var l = 0, v = 0, r = 0, s = 0, n = 0, p = 0, o = 0;var u = h.cols;var t = h.data, q = g.data;var k, m;for(l = 0;l < u;l++){m = 1;s = l * u;n = s;for(v = l;v < u;v++){k = t[n + l];for(r = 0;r < l;r++){k -= t[r * u + l] * t[n + r];}if(v == l){t[n + l] = k;if(k == 0){return 0;}m = 1 / k;}else{t[s + v] = k;t[n + l] = k * m;}n = n + u;}}s = 0;for(p = 0;p < u;p++){k = q[p];for(o = 0;o < p;o++){k -= t[s + o] * q[o];}q[p] = k;s = s + u;}s = 0;for(p = 0;p < u;p++){q[p] /= t[s + p];s = s + u;}p = u - 1;for(;p >= 0;p--){k = q[p];o = p + 1;s = o * u;for(;o < u;o++){k -= t[s + p] * q[o];s = s + u;}q[p] = k;}return 1;}, svd_decompose:function(t, k, p, l, o){if(typeof o === 'undefined'){o = 0;}var r = 0, z = 0, x = 0, g = t.rows, D = t.cols, w = g, v = D;var s = t.type | jsfeat.C1_t;if(w < v){r = 1;z = w;w = v;v = z;}var q = jsfeat.cache.get_buffer(w * w << 3);var h = jsfeat.cache.get_buffer(v << 3);var C = jsfeat.cache.get_buffer(v * v << 3);var u = new jsfeat.matrix_t(w, w, s, q.data);var B = new jsfeat.matrix_t(1, v, s, h.data);var y = new jsfeat.matrix_t(v, v, s, C.data);if(r == 0){jsfeat.matmath.transpose(u, t);}else{for(z = 0;z < D * g;z++){u.data[z] = t.data[z];}for(;z < v * w;z++){u.data[z] = 0;}}e(u.data, w, B.data, y.data, v, w, v, w);if(k){for(z = 0;z < v;z++){k.data[z] = B.data[z];}for(;z < D;z++){k.data[z] = 0;}}if(r == 0){if(p && o & jsfeat.SVD_U_T){z = w * w;while(--z >= 0){p.data[z] = u.data[z];}}else{if(p){jsfeat.matmath.transpose(p, u);}}if(l && o & jsfeat.SVD_V_T){z = v * v;while(--z >= 0){l.data[z] = y.data[z];}}else{if(l){jsfeat.matmath.transpose(l, y);}}}else{if(p && o & jsfeat.SVD_U_T){z = v * v;while(--z >= 0){p.data[z] = y.data[z];}}else{if(p){jsfeat.matmath.transpose(p, y);}}if(l && o & jsfeat.SVD_V_T){z = w * w;while(--z >= 0){l.data[z] = u.data[z];}}else{if(l){jsfeat.matmath.transpose(l, u);}}}jsfeat.cache.put_buffer(q);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(C);}, svd_solve:function(v, l, s){var E = 0, C = 0, z = 0;var w = 0, u = 0;var o = v.rows, p = v.cols;var h = 0, I = 0, x = 0;var r = v.type | jsfeat.C1_t;var F = jsfeat.cache.get_buffer(o * o << 3);var m = jsfeat.cache.get_buffer(p << 3);var H = jsfeat.cache.get_buffer(p * p << 3);var t = new jsfeat.matrix_t(o, o, r, F.data);var G = new jsfeat.matrix_t(1, p, r, m.data);var D = new jsfeat.matrix_t(p, p, r, H.data);var n = s.data, y = t.data, q = G.data, g = D.data;this.svd_decompose(v, G, t, D, 0);x = jsfeat.EPSILON * q[0] * p;for(;E < p;E++, u += p){I = 0;for(C = 0;C < p;C++){if(q[C] > x){for(z = 0, h = 0, w = 0;z < o;z++, w += p){h += y[w + C] * n[z];}I += h * g[u + C] / q[C];}}l.data[E] = I;}jsfeat.cache.put_buffer(F);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(H);}, svd_invert:function(E, t){var C = 0, z = 0, y = 0;var v = 0, s = 0, h = 0;var n = t.rows, o = t.cols;var l = 0, w = 0;var q = t.type | jsfeat.C1_t;var D = jsfeat.cache.get_buffer(n * n << 3);var m = jsfeat.cache.get_buffer(o << 3);var G = jsfeat.cache.get_buffer(o * o << 3);var u = new jsfeat.matrix_t(n, n, q, D.data);var F = new jsfeat.matrix_t(1, o, q, m.data);var B = new jsfeat.matrix_t(o, o, q, G.data);var r = E.data, x = u.data, p = F.data, g = B.data;this.svd_decompose(t, F, u, B, 0);w = jsfeat.EPSILON * p[0] * o;for(;C < o;C++, s += o){for(z = 0, v = 0;z < n;z++, h++){for(y = 0, l = 0;y < o;y++, v++){if(p[y] > w){l += g[s + y] * x[v] / p[y];}}r[h] = l;}}jsfeat.cache.put_buffer(D);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(G);}, eigenVV:function(j, p, r){var k = j.cols, m = k * k;var g = j.type | jsfeat.C1_t;var o = jsfeat.cache.get_buffer(k * k << 3);var h = jsfeat.cache.get_buffer(k << 3);var l = new jsfeat.matrix_t(k, k, g, o.data);var q = new jsfeat.matrix_t(1, k, g, h.data);while(--m >= 0){l.data[m] = j.data[m];}c(l.data, k, q.data, p ? p.data : null, k, k);if(r){while(--k >= 0){r.data[k] = q.data[k];}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(h);}};}();b.linalg = a;})(jsfeat);(function(a){var c = function(){var m = function(p){return p * p;};var e = function(z, A, x, w, u){var t = 0;var y = 0, s = 0, q = 0, C = 0;var v = 0, r = 0, p = 0, B = 0;var E = 0, D = 0;for(;t < u;++t){y += z[t].x;s += z[t].y;v += A[t].x;r += A[t].y;}y /= u;s /= u;v /= u;r /= u;for(t = 0;t < u;++t){E = z[t].x - y;D = z[t].y - s;q += Math.sqrt(E * E + D * D);E = A[t].x - v;D = A[t].y - r;p += Math.sqrt(E * E + D * D);}q /= u;p /= u;C = Math.SQRT2 / q;B = Math.SQRT2 / p;x[0] = x[4] = C;x[2] = -y * C;x[5] = -s * C;x[1] = x[3] = x[6] = x[7] = 0;x[8] = 1;w[0] = w[4] = B;w[2] = -v * B;w[5] = -r * B;w[1] = w[3] = w[6] = w[7] = 0;w[8] = 1;};var h = function(x, u){var q = 0, p = 0, r = u - 1 | 0;var w = 0, t = 0, v = 0, s = 0;for(;q < r;++q){w = x[q].x - x[r].x;t = x[q].y - x[r].y;for(p = 0;p < q;++p){v = x[p].x - x[r].x;s = x[p].y - x[r].y;if(Math.abs(v * t - s * w) <= jsfeat.EPSILON * (Math.abs(w) + Math.abs(t) + Math.abs(v) + Math.abs(s))){return true;}}}return false;};var k = new jsfeat.matrix_t(3, 3, jsfeat.F32_t | jsfeat.C1_t);var i = new jsfeat.matrix_t(3, 3, jsfeat.F32_t | jsfeat.C1_t);var o = new jsfeat.matrix_t(6, 6, jsfeat.F32_t | jsfeat.C1_t);var n = new jsfeat.matrix_t(6, 1, jsfeat.F32_t | jsfeat.C1_t);var j = function(){function p(){}p.prototype.run = function(D, q, r, t){var G = 0, F = 0;var B = r.type | jsfeat.C1_t;var J = r.data, v = k.data, E = i.data;var x, w, A = 0, z = 0;e(D, q, v, E, t);var u = jsfeat.cache.get_buffer(2 * t * 6 << 3);var y = jsfeat.cache.get_buffer(2 * t << 3);var C = new jsfeat.matrix_t(6, 2 * t, B, u.data);var H = new jsfeat.matrix_t(1, 2 * t, B, y.data);var I = C.data, s = H.data;for(;G < t;++G){x = D[G];w = q[G];A = v[0] * x.x + v[1] * x.y + v[2];z = v[3] * x.x + v[4] * x.y + v[5];F = G * 2 * 6;I[F] = A, I[F + 1] = z, I[F + 2] = 1, I[F + 3] = 0, I[F + 4] = 0, I[F + 5] = 0;F += 6;I[F] = 0, I[F + 1] = 0, I[F + 2] = 0, I[F + 3] = A, I[F + 4] = z, I[F + 5] = 1;s[G << 1] = E[0] * w.x + E[1] * w.y + E[2];s[(G << 1) + 1] = E[3] * w.x + E[4] * w.y + E[5];}jsfeat.matmath.multiply_AtA(o, C);jsfeat.matmath.multiply_AtB(n, C, H);jsfeat.linalg.lu_solve(o, n);J[0] = n.data[0], J[1] = n.data[1], J[2] = n.data[2];J[3] = n.data[3], J[4] = n.data[4], J[5] = n.data[5];J[6] = 0, J[7] = 0, J[8] = 1;jsfeat.matmath.invert_3x3(i, i);jsfeat.matmath.multiply_3x3(r, i, r);jsfeat.matmath.multiply_3x3(r, r, k);jsfeat.cache.put_buffer(u);jsfeat.cache.put_buffer(y);return 1;};p.prototype.error = function(v, w, t, r, u){var s = 0;var y, x;var q = t.data;for(;s < u;++s){y = v[s];x = w[s];r[s] = m(x.x - q[0] * y.x - q[1] * y.y - q[2]) + m(x.y - q[3] * y.x - q[4] * y.y - q[5]);}};p.prototype.check_subset = function(s, r, q){return true;};return p;}();var g = new jsfeat.matrix_t(9, 9, jsfeat.F32_t | jsfeat.C1_t);var f = new jsfeat.matrix_t(9, 9, jsfeat.F32_t | jsfeat.C1_t);var l = function(){function p(){}p.prototype.run = function(I, r, v, C){var L = 0, K = 0;var O = v.data, D = k.data, J = i.data;var M = g.data, N = f.data;var H = 0, G = 0, s = 0, q = 0;var u = 0, t = 0, B = 0, A = 0, z = 0, w = 0, F = 0, E = 0;for(;L < C;++L){B += r[L].x;A += r[L].y;F += I[L].x;E += I[L].y;}B /= C;A /= C;F /= C;E /= C;for(L = 0;L < C;++L){u += Math.abs(r[L].x - B);t += Math.abs(r[L].y - A);z += Math.abs(I[L].x - F);w += Math.abs(I[L].y - E);}if(Math.abs(u) < jsfeat.EPSILON || Math.abs(t) < jsfeat.EPSILON || Math.abs(z) < jsfeat.EPSILON || Math.abs(w) < jsfeat.EPSILON){return 0;}u = C / u;t = C / t;z = C / z;w = C / w;D[0] = z;D[1] = 0;D[2] = -F * z;D[3] = 0;D[4] = w;D[5] = -E * w;D[6] = 0;D[7] = 0;D[8] = 1;J[0] = 1 / u;J[1] = 0;J[2] = B;J[3] = 0;J[4] = 1 / t;J[5] = A;J[6] = 0;J[7] = 0;J[8] = 1;L = 81;while(--L >= 0){M[L] = 0;}for(L = 0;L < C;++L){H = (r[L].x - B) * u;G = (r[L].y - A) * t;s = (I[L].x - F) * z;q = (I[L].y - E) * w;M[0] += s * s;M[1] += s * q;M[2] += s;M[6] += s * -H * s;M[7] += s * -H * q;M[8] += s * -H;M[10] += q * q;M[11] += q;M[15] += q * -H * s;M[16] += q * -H * q;M[17] += q * -H;M[20] += 1;M[24] += -H * s;M[25] += -H * q;M[26] += -H;M[30] += s * s;M[31] += s * q;M[32] += s;M[33] += s * -G * s;M[34] += s * -G * q;M[35] += s * -G;M[40] += q * q;M[41] += q;M[42] += q * -G * s;M[43] += q * -G * q;M[44] += q * -G;M[50] += 1;M[51] += -G * s;M[52] += -G * q;M[53] += -G;M[60] += -H * s * -H * s + -G * s * -G * s;M[61] += -H * s * -H * q + -G * s * -G * q;M[62] += -H * s * -H + -G * s * -G;M[70] += -H * q * -H * q + -G * q * -G * q;M[71] += -H * q * -H + -G * q * -G;M[80] += -H * -H + -G * -G;}for(L = 0;L < 9;++L){for(K = 0;K < L;++K){M[L * 9 + K] = M[K * 9 + L];}}jsfeat.linalg.eigenVV(g, f);O[0] = N[72], O[1] = N[73], O[2] = N[74];O[3] = N[75], O[4] = N[76], O[5] = N[77];O[6] = N[78], O[7] = N[79], O[8] = N[80];jsfeat.matmath.multiply_3x3(v, i, v);jsfeat.matmath.multiply_3x3(v, v, k);H = 1 / O[8];O[0] *= H;O[1] *= H;O[2] *= H;O[3] *= H;O[4] *= H;O[5] *= H;O[6] *= H;O[7] *= H;O[8] = 1;return 1;};p.prototype.error = function(w, x, u, r, v){var t = 0;var z, y, s = 0, B = 0, A = 0;var q = u.data;for(;t < v;++t){z = w[t];y = x[t];s = 1 / (q[6] * z.x + q[7] * z.y + 1);B = (q[0] * z.x + q[1] * z.y + q[2]) * s - y.x;A = (q[3] * z.x + q[4] * z.y + q[5]) * s - y.y;r[t] = B * B + A * A;}};p.prototype.check_subset = function(M, s, B){if(B == 4){var N = 0;var I = M[0], H = M[1], G = M[2], E = M[3];var A = s[0], y = s[1], w = s[2], u = s[3];var L = I.x, K = I.y, J = 1;var V = H.x, U = H.y, T = 1;var z = G.x, x = G.y, v = 1;var t = A.x, r = A.y, q = 1;var F = y.x, D = y.y, C = 1;var Q = w.x, P = w.y, O = 1;var S = jsfeat.matmath.determinant_3x3(L, K, J, V, U, T, z, x, v);var R = jsfeat.matmath.determinant_3x3(t, r, q, F, D, C, Q, P, O);if(S * R < 0){N++;}L = H.x, K = H.y;V = G.x, U = G.y;z = E.x, x = E.y;t = y.x, r = y.y;F = w.x, D = w.y;Q = u.x, P = u.y;S = jsfeat.matmath.determinant_3x3(L, K, J, V, U, T, z, x, v);R = jsfeat.matmath.determinant_3x3(t, r, q, F, D, C, Q, P, O);if(S * R < 0){N++;}L = I.x, K = I.y;V = G.x, U = G.y;z = E.x, x = E.y;t = A.x, r = A.y;F = w.x, D = w.y;Q = u.x, P = u.y;S = jsfeat.matmath.determinant_3x3(L, K, J, V, U, T, z, x, v);R = jsfeat.matmath.determinant_3x3(t, r, q, F, D, C, Q, P, O);if(S * R < 0){N++;}L = I.x, K = I.y;V = H.x, U = H.y;z = E.x, x = E.y;t = A.x, r = A.y;F = y.x, D = y.y;Q = u.x, P = u.y;S = jsfeat.matmath.determinant_3x3(L, K, J, V, U, T, z, x, v);R = jsfeat.matmath.determinant_3x3(t, r, q, F, D, C, Q, P, O);if(S * R < 0){N++;}if(N != 0 && N != 4){return false;}}return true;};return p;}();return{affine2d:j, homography2d:l};}();var b = function(){function e(h, i, f, g){if(typeof h === 'undefined'){h = 0;}if(typeof i === 'undefined'){i = .5;}if(typeof f === 'undefined'){f = .5;}if(typeof g === 'undefined'){g = .99;}this.size = h;this.thresh = i;this.eps = f;this.prob = g;}e.prototype.update_iters = function(g, i){var h = Math.log(1 - this.prob);var f = Math.log(1 - Math.pow(1 - g, this.size));return(f >= 0 || -h >= i * -f ? i : Math.round(h / f)) | 0;};return e;}();var d = function(){var e = function(l, q, r, p, t, m, g){var v = 1e3;var s = [];var n = 0, k = 0, u = 0, h = 0, o = false;for(;u < v;++u){n = 0;for(;n < p && u < v;){o = false;h = 0;while(!o){o = true;h = s[n] = Math.floor(Math.random() * t) | 0;for(k = 0;k < n;++k){if(h == s[k]){o = false;break;}}}m[n] = q[h];g[n] = r[h];if(!l.check_subset(m, g, n + 1)){u++;continue;}++n;}break;}return n == p && u < v;};var f = function(k, m, p, q, o, g, h, s){var j = 0, l = 0, n = 0;var r = g * g;k.error(p, q, m, h, o);for(;l < o;++l){n = h[l] <= r;s[l] = n;j += n;}return j;};return{ransac:function(E, m, x, i, l, j, y, g){if(typeof g === 'undefined'){g = 1e3;}if(l < E.size){return false;}var v = E.size;var A = g, z = 0;var q = false;var D = [];var C = [];var r = false;var G = j.cols, w = j.rows;var u = j.type | jsfeat.C1_t;var B = jsfeat.cache.get_buffer(G * w << 3);var h = jsfeat.cache.get_buffer(l);var t = jsfeat.cache.get_buffer(l << 2);var o = new jsfeat.matrix_t(G, w, u, B.data);var s = new jsfeat.matrix_t(l, 1, jsfeat.U8C1_t, h.data);var F = -1, p = 0;var n = 0;var k = t.f32;if(l == v){if(m.run(x, i, o, l) <= 0){jsfeat.cache.put_buffer(B);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(t);return false;}o.copy_to(j);if(y){while(--l >= 0){y.data[l] = 1;}}jsfeat.cache.put_buffer(B);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(t);return true;}for(;z < A;++z){r = e(m, x, i, v, l, D, C);if(!r){if(z == 0){jsfeat.cache.put_buffer(B);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(t);return false;}break;}n = m.run(D, C, o, v);if(n <= 0){continue;}p = f(m, o, x, i, l, E.thresh, k, s.data);if(p > Math.max(F, v - 1)){o.copy_to(j);F = p;if(y){s.copy_to(y);}A = E.update_iters((l - p) / l, A);q = true;}}jsfeat.cache.put_buffer(B);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(t);return q;}, lmeds:function(H, n, z, i, l, j, B, g){if(typeof g === 'undefined'){g = 1e3;}if(l < H.size){return false;}var w = H.size;var D = g, C = 0;var r = false;var G = [];var F = [];var s = false;var I = j.cols, y = j.rows;var v = j.type | jsfeat.C1_t;var E = jsfeat.cache.get_buffer(I * y << 3);var h = jsfeat.cache.get_buffer(l);var u = jsfeat.cache.get_buffer(l << 2);var p = new jsfeat.matrix_t(I, y, v, E.data);var t = new jsfeat.matrix_t(l, 1, jsfeat.U8_t | jsfeat.C1_t, h.data);var q = 0;var o = 0;var k = u.f32;var A = 1e9, x = 0, m = 0;H.eps = .45;D = H.update_iters(H.eps, D);if(l == w){if(n.run(z, i, p, l) <= 0){jsfeat.cache.put_buffer(E);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(u);return false;}p.copy_to(j);if(B){while(--l >= 0){B.data[l] = 1;}}jsfeat.cache.put_buffer(E);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(u);return true;}for(;C < D;++C){s = e(n, z, i, w, l, G, F);if(!s){if(C == 0){jsfeat.cache.put_buffer(E);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(u);return false;}break;}o = n.run(G, F, p, w);if(o <= 0){continue;}n.error(z, i, p, k, l);m = jsfeat.math.median(k, 0, l - 1);if(m < A){A = m;p.copy_to(j);r = true;}}if(r){x = 2.5 * 1.4826 * (1 + 5 / (l - w)) * Math.sqrt(A);x = Math.max(x, .001);q = f(n, j, z, i, l, x, k, t.data);if(B){t.copy_to(B);}r = q >= w;}jsfeat.cache.put_buffer(E);jsfeat.cache.put_buffer(h);jsfeat.cache.put_buffer(u);return r;}};}();a.ransacParamsT = b;a.motion_model = c;a.motion_estimator = d;})(jsfeat);(function(b){var a = function(){var c = function(q, S, O, p){var r = 0;var y = q.channel, v = q.cols, J = q.rows;var P = q.data, m = S.data;var I = v / O, H = J / p;var n = I * H * 65536 | 0;var x = 0, u = 0, C = 0, A = 0, t = 0, s = 0, G = 0, F = 0, D = 0, B = 0;var Q = 0, N = 0, K = 0, o = 0, M = 0, E = 0;var l = jsfeat.cache.get_buffer(O * y << 2);var g = jsfeat.cache.get_buffer(O * y << 2);var R = jsfeat.cache.get_buffer(v * 2 * 3 << 2);var L = l.i32;var j = g.i32;var z = R.i32;for(;x < O;x++){D = x * I, B = D + I;t = D + 1 - 1e-6 | 0, s = B | 0;t = Math.min(t, v - 1);s = Math.min(s, v - 1);if(t > D){z[F++] = x * y | 0;z[F++] = (t - 1) * y | 0;z[F++] = (t - D) * 256 | 0;r++;}for(C = t;C < s;C++){r++;z[F++] = x * y | 0;z[F++] = C * y | 0;z[F++] = 256;}if(B - s > .001){r++;z[F++] = x * y | 0;z[F++] = s * y | 0;z[F++] = (B - s) * 256 | 0;}}for(x = 0;x < O * y;x++){L[x] = j[x] = 0;}u = 0;for(A = 0;A < J;A++){Q = v * A;for(F = 0;F < r;F++){K = z[F * 3];t = z[F * 3 + 1];o = z[F * 3 + 2];for(G = 0;G < y;G++){L[K + G] += P[Q + t + G] * o;}}if((u + 1) * H <= A + 1 || A == J - 1){M = Math.max(A + 1 - (u + 1) * H, 0) * 256 | 0;E = 256 - M;N = O * u;if(M <= 0){for(x = 0;x < O * y;x++){m[N + x] = Math.min(Math.max((j[x] + L[x] * 256) / n, 0), 255);j[x] = L[x] = 0;}}else{for(x = 0;x < O * y;x++){m[N + x] = Math.min(Math.max((j[x] + L[x] * E) / n, 0), 255);j[x] = L[x] * M;L[x] = 0;}}u++;}else{for(x = 0;x < O * y;x++){j[x] += L[x] * 256;L[x] = 0;}}}jsfeat.cache.put_buffer(g);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(R);};var f = function(p, S, N, o){var q = 0;var x = p.channel, u = p.cols, I = p.rows;var O = p.data, m = S.data;var H = u / N, G = I / o;var Q = 1 / (H * G);var v = 0, t = 0, B = 0, z = 0, s = 0, r = 0, F = 0, E = 0, C = 0, A = 0;var P = 0, M = 0, J = 0, n = 0, L = 0, D = 0;var l = jsfeat.cache.get_buffer(N * x << 2);var g = jsfeat.cache.get_buffer(N * x << 2);var R = jsfeat.cache.get_buffer(u * 2 * 3 << 2);var K = l.f32;var j = g.f32;var y = R.f32;for(;v < N;v++){C = v * H, A = C + H;s = C + 1 - 1e-6 | 0, r = A | 0;s = Math.min(s, u - 1);r = Math.min(r, u - 1);if(s > C){q++;y[E++] = (s - 1) * x | 0;y[E++] = v * x | 0;y[E++] = (s - C) * Q;}for(B = s;B < r;B++){q++;y[E++] = B * x | 0;y[E++] = v * x | 0;y[E++] = Q;}if(A - r > .001){q++;y[E++] = r * x | 0;y[E++] = v * x | 0;y[E++] = (A - r) * Q;}}for(v = 0;v < N * x;v++){K[v] = j[v] = 0;}t = 0;for(z = 0;z < I;z++){P = u * z;for(E = 0;E < q;E++){s = y[E * 3] | 0;J = y[E * 3 + 1] | 0;n = y[E * 3 + 2];for(F = 0;F < x;F++){K[J + F] += O[P + s + F] * n;}}if((t + 1) * G <= z + 1 || z == I - 1){L = Math.max(z + 1 - (t + 1) * G, 0);D = 1 - L;M = N * t;if(Math.abs(L) < .001){for(v = 0;v < N * x;v++){m[M + v] = j[v] + K[v];j[v] = K[v] = 0;}}else{for(v = 0;v < N * x;v++){m[M + v] = j[v] + K[v] * D;j[v] = K[v] * L;K[v] = 0;}}t++;}else{for(v = 0;v < N * x;v++){j[v] += K[v];K[v] = 0;}}}jsfeat.cache.put_buffer(g);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(R);};var e = function(D, F, m, s, B, t, g, n){var z = 0, y = 0, x = 0, A = 0, u = 0, l = 0, G = 0, E = 0, C = 0, v = t[0], r = 0;var q = s << 1, p = s * 3, o = s << 2;for(;z < B;++z){l = F[A];for(y = 0;y < n;++y){D[y] = l;}for(y = 0;y <= s - 2;y += 2){D[y + n] = F[A + y];D[y + n + 1] = F[A + y + 1];}for(;y < s;++y){D[y + n] = F[A + y];}l = F[A + s - 1];for(y = s;y < n + s;++y){D[y + n] = l;}for(y = 0;y <= s - 4;y += 4){l = D[y] * v, G = D[y + 1] * v, E = D[y + 2] * v, C = D[y + 3] * v;for(x = 1;x < g;++x){r = t[x];l += D[x + y] * r;G += D[x + y + 1] * r;E += D[x + y + 2] * r;C += D[x + y + 3] * r;}m[u + y] = Math.min(l >> 8, 255);m[u + y + 1] = Math.min(G >> 8, 255);m[u + y + 2] = Math.min(E >> 8, 255);m[u + y + 3] = Math.min(C >> 8, 255);}for(;y < s;++y){l = D[y] * v;for(x = 1;x < g;++x){l += D[x + y] * t[x];}m[u + y] = Math.min(l >> 8, 255);}A += s;u += s;}for(z = 0;z < s;++z){l = m[z];for(y = 0;y < n;++y){D[y] = l;}x = z;for(y = 0;y <= B - 2;y += 2, x += q){D[y + n] = m[x];D[y + n + 1] = m[x + s];}for(;y < B;++y, x += s){D[y + n] = m[x];}l = m[(B - 1) * s + z];for(y = B;y < n + B;++y){D[y + n] = l;}u = z;for(y = 0;y <= B - 4;y += 4, u += o){l = D[y] * v, G = D[y + 1] * v, E = D[y + 2] * v, C = D[y + 3] * v;for(x = 1;x < g;++x){r = t[x];l += D[x + y] * r;G += D[x + y + 1] * r;E += D[x + y + 2] * r;C += D[x + y + 3] * r;}m[u] = Math.min(l >> 8, 255);m[u + s] = Math.min(G >> 8, 255);m[u + q] = Math.min(E >> 8, 255);m[u + p] = Math.min(C >> 8, 255);}for(;y < B;++y, u += s){l = D[y] * v;for(x = 1;x < g;++x){l += D[x + y] * t[x];}m[u] = Math.min(l >> 8, 255);}}};var d = function(D, F, m, s, B, t, g, n){var z = 0, y = 0, x = 0, A = 0, u = 0, l = 0, G = 0, E = 0, C = 0, v = t[0], r = 0;var q = s << 1, p = s * 3, o = s << 2;for(;z < B;++z){l = F[A];for(y = 0;y < n;++y){D[y] = l;}for(y = 0;y <= s - 2;y += 2){D[y + n] = F[A + y];D[y + n + 1] = F[A + y + 1];}for(;y < s;++y){D[y + n] = F[A + y];}l = F[A + s - 1];for(y = s;y < n + s;++y){D[y + n] = l;}for(y = 0;y <= s - 4;y += 4){l = D[y] * v, G = D[y + 1] * v, E = D[y + 2] * v, C = D[y + 3] * v;for(x = 1;x < g;++x){r = t[x];l += D[x + y] * r;G += D[x + y + 1] * r;E += D[x + y + 2] * r;C += D[x + y + 3] * r;}m[u + y] = l;m[u + y + 1] = G;m[u + y + 2] = E;m[u + y + 3] = C;}for(;y < s;++y){l = D[y] * v;for(x = 1;x < g;++x){l += D[x + y] * t[x];}m[u + y] = l;}A += s;u += s;}for(z = 0;z < s;++z){l = m[z];for(y = 0;y < n;++y){D[y] = l;}x = z;for(y = 0;y <= B - 2;y += 2, x += q){D[y + n] = m[x];D[y + n + 1] = m[x + s];}for(;y < B;++y, x += s){D[y + n] = m[x];}l = m[(B - 1) * s + z];for(y = B;y < n + B;++y){D[y + n] = l;}u = z;for(y = 0;y <= B - 4;y += 4, u += o){l = D[y] * v, G = D[y + 1] * v, E = D[y + 2] * v, C = D[y + 3] * v;for(x = 1;x < g;++x){r = t[x];l += D[x + y] * r;G += D[x + y + 1] * r;E += D[x + y + 2] * r;C += D[x + y + 3] * r;}m[u] = l;m[u + s] = G;m[u + q] = E;m[u + p] = C;}for(;y < B;++y, u += s){l = D[y] * v;for(x = 1;x < g;++x){l += D[x + y] * t[x];}m[u] = l;}}};return{grayscale:function(n, r, A, D, g){if(typeof g === 'undefined'){g = jsfeat.COLOR_RGBA2GRAY;}var q = 0, p = 0, z = 0, v = 0, m = 0, u = 0;var s = 4899, B = 9617, C = 1868, o = 4;if(g == jsfeat.COLOR_BGRA2GRAY || g == jsfeat.COLOR_BGR2GRAY){s = 1868;C = 4899;}if(g == jsfeat.COLOR_RGB2GRAY || g == jsfeat.COLOR_BGR2GRAY){o = 3;}var l = o << 1, k = o * 3 | 0;D.resize(r, A, 1);var t = D.data;for(p = 0;p < A;++p, v += r, z += r * o){for(q = 0, m = z, u = v;q <= r - 4;q += 4, m += o << 2, u += 4){t[u] = n[m] * s + n[m + 1] * B + n[m + 2] * C + 8192 >> 14;t[u + 1] = n[m + o] * s + n[m + o + 1] * B + n[m + o + 2] * C + 8192 >> 14;t[u + 2] = n[m + l] * s + n[m + l + 1] * B + n[m + l + 2] * C + 8192 >> 14;t[u + 3] = n[m + k] * s + n[m + k + 1] * B + n[m + k + 2] * C + 8192 >> 14;}for(;q < r;++q, ++u, m += o){t[u] = n[m] * s + n[m + 1] * B + n[m + 2] * C + 8192 >> 14;}}}, resample:function(l, m, i, k){var j = l.rows, g = l.cols;if(j > k && g > i){m.resize(i, k, l.channel);if(l.type & jsfeat.U8_t && m.type & jsfeat.U8_t && j * g / (k * i) < 256){c(l, m, i, k);}else{f(l, m, i, k);}}}, box_blur_gray:function(r, J, n, l){if(typeof l === 'undefined'){l = 0;}var z = r.cols, E = r.rows, s = E << 1, v = z << 1;var D = 0, u = 0, t = 0, m = 0;var B = (n << 1) + 1 | 0;var p = n + 1 | 0, H = p + 1 | 0;var I = l & jsfeat.BOX_BLUR_NOSCALE ? 1 : 1 / (B * B);var C = jsfeat.cache.get_buffer(z * E << 2);var j = 0, G = 0, o = 0, q = 0, k = 0;var F = C.i32;var g = r.data;var A = 0;J.resize(z, E, r.channel);for(t = 0;t < E;++t){G = t;j = p * g[o];for(D = o + 1 | 0, m = o + n | 0;D <= m;++D){j += g[D];}q = o + p | 0;k = o;A = g[k];for(u = 0;u < n;++u, G += E){F[G] = j;j += g[q] - A;q++;}for(;u < z - H;u += 2, G += s){F[G] = j;j += g[q] - g[k];F[G + E] = j;j += g[q + 1] - g[k + 1];q += 2;k += 2;}for(;u < z - p;++u, G += E){F[G] = j;j += g[q] - g[k];q++;k++;}A = g[q - 1];for(;u < z;++u, G += E){F[G] = j;j += A - g[k];k++;}o += z;}o = 0;g = J.data;if(I == 1){for(t = 0;t < z;++t){G = t;j = p * F[o];for(D = o + 1 | 0, m = o + n | 0;D <= m;++D){j += F[D];}q = o + p;k = o;A = F[k];for(u = 0;u < n;++u, G += z){g[G] = j;j += F[q] - A;q++;}for(;u < E - H;u += 2, G += v){g[G] = j;j += F[q] - F[k];g[G + z] = j;j += F[q + 1] - F[k + 1];q += 2;k += 2;}for(;u < E - p;++u, G += z){g[G] = j;j += F[q] - F[k];q++;k++;}A = F[q - 1];for(;u < E;++u, G += z){g[G] = j;j += A - F[k];k++;}o += E;}}else{for(t = 0;t < z;++t){G = t;j = p * F[o];for(D = o + 1 | 0, m = o + n | 0;D <= m;++D){j += F[D];}q = o + p;k = o;A = F[k];for(u = 0;u < n;++u, G += z){g[G] = j * I;j += F[q] - A;q++;}for(;u < E - H;u += 2, G += v){g[G] = j * I;j += F[q] - F[k];g[G + z] = j * I;j += F[q + 1] - F[k + 1];q += 2;k += 2;}for(;u < E - p;++u, G += z){g[G] = j * I;j += F[q] - F[k];q++;k++;}A = F[q - 1];for(;u < E;++u, G += z){g[G] = j * I;j += A - F[k];k++;}o += E;}}jsfeat.cache.put_buffer(C);}, gaussian_blur:function(g, s, r, v){if(typeof v === 'undefined'){v = 0;}if(typeof r === 'undefined'){r = 0;}r = r == 0 ? Math.max(1, 4 * v + 1 - 1e-8) * 2 + 1 | 0 : r;var x = r >> 1;var t = g.cols, p = g.rows;var u = g.type, n = u & jsfeat.U8_t;s.resize(t, p, g.channel);var m = g.data, j = s.data;var k, i, q = r + Math.max(p, t) | 0;var l = jsfeat.cache.get_buffer(q << 2);var o = jsfeat.cache.get_buffer(r << 2);if(n){k = l.i32;i = o.i32;}else{if(u & jsfeat.S32_t){k = l.i32;i = o.f32;}else{k = l.f32;i = o.f32;}}jsfeat.math.get_gaussian_kernel(r, v, i, u);if(n){e(k, m, j, t, p, i, r, x);}else{d(k, m, j, t, p, i, r, x);}jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(o);}, pyrdown:function(k, A, s, r){if(typeof s === 'undefined'){s = 0;}if(typeof r === 'undefined'){r = 0;}var q = k.cols, t = k.rows;var p = q >> 1, l = t >> 1;var B = p - (s << 1), u = l - (r << 1);var o = 0, n = 0, g = s + r * q, m = 0, v = 0, i = 0;A.resize(p, l, k.channel);var z = k.data, j = A.data;for(n = 0;n < u;++n){m = g;i = v;for(o = 0;o <= B - 2;o += 2, i += 2, m += 4){j[i] = z[m] + z[m + 1] + z[m + q] + z[m + q + 1] + 2 >> 2;j[i + 1] = z[m + 2] + z[m + 3] + z[m + q + 2] + z[m + q + 3] + 2 >> 2;}for(;o < B;++o, ++i, m += 2){j[i] = z[m] + z[m + 1] + z[m + q] + z[m + q + 1] + 2 >> 2;}g += q << 1;v += p;}}, scharr_derivatives:function(j, G){var p = j.cols, s = j.rows;var H = p << 1, o = 0, m = 0, u = 0, E, D, C, B, A, z;var v = 0, t = 0, r = 0, i = 0;var n, l;G.resize(p, s, 2);var F = j.data, g = G.data;var k = jsfeat.cache.get_buffer(p + 2 << 2);var q = jsfeat.cache.get_buffer(p + 2 << 2);if(j.type & jsfeat.U8_t || j.type & jsfeat.S32_t){n = k.i32;l = q.i32;}else{n = k.f32;l = q.f32;}for(;m < s;++m, t += p){v = (m > 0 ? m - 1 : 1) * p | 0;r = (m < s - 1 ? m + 1 : s - 2) * p | 0;i = m * H | 0;for(o = 0, u = 1;o <= p - 2;o += 2, u += 2){E = F[v + o], D = F[r + o];n[u] = (E + D) * 3 + F[t + o] * 10;l[u] = D - E;E = F[v + o + 1], D = F[r + o + 1];n[u + 1] = (E + D) * 3 + F[t + o + 1] * 10;l[u + 1] = D - E;}for(;o < p;++o, ++u){E = F[v + o], D = F[r + o];n[u] = (E + D) * 3 + F[t + o] * 10;l[u] = D - E;}o = p + 1 | 0;n[0] = n[1];n[o] = n[p];l[0] = l[1];l[o] = l[p];for(o = 0;o <= p - 4;o += 4){E = l[o + 2], D = l[o + 1], C = l[o + 3], B = l[o + 4], A = n[o + 2], z = n[o + 3];g[i++] = A - n[o];g[i++] = (E + l[o]) * 3 + D * 10;g[i++] = z - n[o + 1];g[i++] = (C + D) * 3 + E * 10;g[i++] = n[o + 4] - A;g[i++] = (B + E) * 3 + C * 10;g[i++] = n[o + 5] - z;g[i++] = (l[o + 5] + C) * 3 + B * 10;}for(;o < p;++o){g[i++] = n[o + 2] - n[o];g[i++] = (l[o + 2] + l[o]) * 3 + l[o + 1] * 10;}}jsfeat.cache.put_buffer(k);jsfeat.cache.put_buffer(q);}, sobel_derivatives:function(j, G){var p = j.cols, s = j.rows;var H = p << 1, o = 0, m = 0, u = 0, E, D, C, B, A, z;var v = 0, t = 0, r = 0, i = 0;var n, l;G.resize(p, s, 2);var F = j.data, g = G.data;var k = jsfeat.cache.get_buffer(p + 2 << 2);var q = jsfeat.cache.get_buffer(p + 2 << 2);if(j.type & jsfeat.U8_t || j.type & jsfeat.S32_t){n = k.i32;l = q.i32;}else{n = k.f32;l = q.f32;}for(;m < s;++m, t += p){v = (m > 0 ? m - 1 : 1) * p | 0;r = (m < s - 1 ? m + 1 : s - 2) * p | 0;i = m * H | 0;for(o = 0, u = 1;o <= p - 2;o += 2, u += 2){E = F[v + o], D = F[r + o];n[u] = E + D + F[t + o] * 2;l[u] = D - E;E = F[v + o + 1], D = F[r + o + 1];n[u + 1] = E + D + F[t + o + 1] * 2;l[u + 1] = D - E;}for(;o < p;++o, ++u){E = F[v + o], D = F[r + o];n[u] = E + D + F[t + o] * 2;l[u] = D - E;}o = p + 1 | 0;n[0] = n[1];n[o] = n[p];l[0] = l[1];l[o] = l[p];for(o = 0;o <= p - 4;o += 4){E = l[o + 2], D = l[o + 1], C = l[o + 3], B = l[o + 4], A = n[o + 2], z = n[o + 3];g[i++] = A - n[o];g[i++] = E + l[o] + D * 2;g[i++] = z - n[o + 1];g[i++] = C + D + E * 2;g[i++] = n[o + 4] - A;g[i++] = B + E + C * 2;g[i++] = n[o + 5] - z;g[i++] = l[o + 5] + C + B * 2;}for(;o < p;++o){g[i++] = n[o + 2] - n[o];g[i++] = l[o + 2] + l[o] + l[o + 1] * 2;}}jsfeat.cache.put_buffer(k);jsfeat.cache.put_buffer(q);}, compute_integral_image:function(g, l, y, u){var t = g.cols | 0, w = g.rows | 0, o = g.data;var r = t + 1 | 0;var B = 0, z = 0, h = 0, x = 0, q = 0, n = 0, A = 0, m = 0;if(l && y){for(;q < r;++q){l[q] = 0, y[q] = 0;}h = r + 1 | 0, x = 1;for(q = 0, m = 0;q < w;++q, ++h, ++x){B = z = 0;for(n = 0;n <= t - 2;n += 2, m += 2, h += 2, x += 2){A = o[m];B += A, z += A * A;l[h] = l[x] + B;y[h] = y[x] + z;A = o[m + 1];B += A, z += A * A;l[h + 1] = l[x + 1] + B;y[h + 1] = y[x + 1] + z;}for(;n < t;++n, ++m, ++h, ++x){A = o[m];B += A, z += A * A;l[h] = l[x] + B;y[h] = y[x] + z;}}}else{if(l){for(;q < r;++q){l[q] = 0;}h = r + 1 | 0, x = 1;for(q = 0, m = 0;q < w;++q, ++h, ++x){B = 0;for(n = 0;n <= t - 2;n += 2, m += 2, h += 2, x += 2){B += o[m];l[h] = l[x] + B;B += o[m + 1];l[h + 1] = l[x + 1] + B;}for(;n < t;++n, ++m, ++h, ++x){B += o[m];l[h] = l[x] + B;}}}else{if(y){for(;q < r;++q){y[q] = 0;}h = r + 1 | 0, x = 1;for(q = 0, m = 0;q < w;++q, ++h, ++x){z = 0;for(n = 0;n <= t - 2;n += 2, m += 2, h += 2, x += 2){A = o[m];z += A * A;y[h] = y[x] + z;A = o[m + 1];z += A * A;y[h + 1] = y[x + 1] + z;}for(;n < t;++n, ++m, ++h, ++x){A = o[m];z += A * A;y[h] = y[x] + z;}}}}}if(u){for(q = 0;q < r;++q){u[q] = 0;}h = r + 1 | 0, x = 0;for(q = 0, m = 0;q < w;++q, ++h, ++x){for(n = 0;n <= t - 2;n += 2, m += 2, h += 2, x += 2){u[h] = o[m] + u[x];u[h + 1] = o[m + 1] + u[x + 1];}for(;n < t;++n, ++m, ++h, ++x){u[h] = o[m] + u[x];}}h = r + t | 0, x = t;for(q = 0;q < w;++q, h += r, x += r){u[h] += u[x];}for(n = t - 1;n > 0;--n){h = n + w * r, x = h - r;for(q = w;q > 0;--q, h -= r, x -= r){u[h] += u[x] + u[x + 1];}}}}, equalize_histogram:function(j, r){var s = j.cols, q = j.rows, o = j.data;r.resize(s, q, j.channel);var l = r.data, t = s * q;var p = 0, n = 0, k, g;var m = jsfeat.cache.get_buffer(256 << 2);k = m.i32;for(;p < 256;++p){k[p] = 0;}for(p = 0;p < t;++p){++k[o[p]];}n = k[0];for(p = 1;p < 256;++p){n = k[p] += n;}g = 255 / t;for(p = 0;p < t;++p){l[p] = k[o[p]] * g + .5 | 0;}jsfeat.cache.put_buffer(m);}, canny:function(u, V, E, k){var C = u.cols, L = u.rows, S = u.data;V.resize(C, L, u.channel);var o = V.data;var K = 0, H = 0, q = 0, A = C << 1, R = 0, J = 0, N = 0, z = 0, v = 0, D = 0;var g = 0, U = 0;var p = jsfeat.cache.get_buffer(L * A << 2);var m = jsfeat.cache.get_buffer(3 * (C + 2) << 2);var n = jsfeat.cache.get_buffer((L + 2) * (C + 2) << 2);var t = jsfeat.cache.get_buffer(L * C << 2);var Q = m.i32;var T = n.i32;var r = t.i32;var G = p.i32;var l = new jsfeat.matrix_t(C, L, jsfeat.S32C2_t, p.data);var P = 1, O = C + 2 + 1 | 0, M = 2 * (C + 2) + 1 | 0, B = C + 2 | 0, I = B + 1 | 0, F = 0;this.sobel_derivatives(u, l);if(E > k){K = E;E = k;k = K;}K = 3 * (C + 2) | 0;while(--K >= 0){Q[K] = 0;}K = (L + 2) * (C + 2) | 0;while(--K >= 0){T[K] = 0;}for(;H < C;++H, q += 2){z = G[q], v = G[q + 1];Q[O + H] = (z ^ z >> 31) - (z >> 31) + ((v ^ v >> 31) - (v >> 31));}for(K = 1;K <= L;++K, q += A){if(K == L){H = M + C;while(--H >= M){Q[H] = 0;}}else{for(H = 0;H < C;H++){z = G[q + (H << 1)], v = G[q + (H << 1) + 1];Q[M + H] = (z ^ z >> 31) - (z >> 31) + ((v ^ v >> 31) - (v >> 31));}}R = q - A | 0;T[I - 1] = 0;J = 0;for(H = 0;H < C;++H, R += 2){N = Q[O + H];if(N > E){z = G[R];v = G[R + 1];D = z ^ v;z = (z ^ z >> 31) - (z >> 31) | 0;v = (v ^ v >> 31) - (v >> 31) | 0;g = z * 13573;U = g + (z + z << 15);v <<= 15;if(v < g){if(N > Q[O + H - 1] && N >= Q[O + H + 1]){if(N > k && !J && T[I + H - B] != 2){T[I + H] = 2;J = 1;r[F++] = I + H;}else{T[I + H] = 1;}continue;}}else{if(v > U){if(N > Q[P + H] && N >= Q[M + H]){if(N > k && !J && T[I + H - B] != 2){T[I + H] = 2;J = 1;r[F++] = I + H;}else{T[I + H] = 1;}continue;}}else{D = D < 0 ? -1 : 1;if(N > Q[P + H - D] && N > Q[M + H + D]){if(N > k && !J && T[I + H - B] != 2){T[I + H] = 2;J = 1;r[F++] = I + H;}else{T[I + H] = 1;}continue;}}}}T[I + H] = 0;J = 0;}T[I + C] = 0;I += B;H = P;P = O;O = M;M = H;}H = I - B - 1;for(K = 0;K < B;++K, ++H){T[H] = 0;}while(F > 0){I = r[--F];I -= B + 1;if(T[I] == 1){T[I] = 2, r[F++] = I;}I += 1;if(T[I] == 1){T[I] = 2, r[F++] = I;}I += 1;if(T[I] == 1){T[I] = 2, r[F++] = I;}I += B;if(T[I] == 1){T[I] = 2, r[F++] = I;}I -= 2;if(T[I] == 1){T[I] = 2, r[F++] = I;}I += B;if(T[I] == 1){T[I] = 2, r[F++] = I;}I += 1;if(T[I] == 1){T[I] = 2, r[F++] = I;}I += 1;if(T[I] == 1){T[I] = 2, r[F++] = I;}}I = B + 1;P = 0;for(K = 0;K < L;++K, I += B){for(H = 0;H < C;++H){o[P++] = (T[I + H] == 2) * 255;}}jsfeat.cache.put_buffer(p);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(n);jsfeat.cache.put_buffer(t);}, warp_perspective:function(t, D, A, r){if(typeof r === 'undefined'){r = 0;}var l = t.cols | 0, v = t.rows | 0, L = D.cols | 0, j = D.rows | 0;var H = t.data, q = D.data;var F = 0, E = 0, G = 0, u = 0, k = 0, C = 0, p = 0, h = 0, O = 0, P = 0, s = 0, R = 0, Q = 0, N = 0, M = 0;var i = A.data;var o = i[0], n = i[1], m = i[2], K = i[3], J = i[4], I = i[5], B = i[6], z = i[7], w = i[8];for(var g = 0;E < j;++E){h = n * E + m, O = J * E + I, P = z * E + w;for(F = 0;F < L;++F, ++g, h += o, O += K, P += B){s = 1 / P;C = h * s, p = O * s;u = C | 0, k = p | 0;if(C > 0 && p > 0 && u < l - 1 && k < v - 1){R = Math.max(C - u, 0);Q = Math.max(p - k, 0);G = l * k + u | 0;N = H[G] + R * (H[G + 1] - H[G]);M = H[G + l] + R * (H[G + l + 1] - H[G + l]);q[g] = N + Q * (M - N);}else{q[g] = r;}}}}, warp_affine:function(k, K, p, J){if(typeof J === 'undefined'){J = 0;}var u = k.cols, z = k.rows, j = K.cols, v = K.rows;var E = k.data, i = K.data;var o = 0, n = 0, I = 0, q = 0, A = 0, m = 0, w = 0, G = 0, D = 0, h = 0, g = 0;var l = p.data;var t = l[0], s = l[1], r = l[2], H = l[3], F = l[4], C = l[5];for(var B = 0;n < v;++n){m = s * n + r;w = F * n + C;for(o = 0;o < j;++o, ++B, m += t, w += H){q = m | 0;A = w | 0;if(q >= 0 && A >= 0 && q < u - 1 && A < z - 1){G = m - q;D = w - A;I = u * A + q;h = E[I] + G * (E[I + 1] - E[I]);g = E[I + u] + G * (E[I + u + 1] - E[I + u]);i[B] = h + D * (g - h);}else{i[B] = J;}}}}, skindetector:function(o, p){var n, m, h, k;var l = o.width * o.height;while(l--){k = l * 4;n = o.data[k];m = o.data[k + 1];h = o.data[k + 2];if(n > 95 && m > 40 && h > 20 && n > m && n > h && n - Math.min(m, h) > 15 && Math.abs(n - m) > 15){p[l] = 255;}else{p[l] = 0;}}}};}();b.imgproc = a;})(jsfeat);(function(a){var b = function(){var h = new Int32Array([0, 3, 1, 3, 2, 2, 3, 1, 3, 0, 3, -1, 2, -2, 1, -3, 0, -3, -1, -3, -2, -2, -3, -1, -3, 0, -3, 1, -2, 2, -1, 3]);var f = new Uint8Array(512);var e = new Int32Array(25);var i = new Int32Array(25);var d = function(l, n, o){var j = 0;var m = h;for(;j < o;++j){l[j] = m[j << 1] + m[(j << 1) + 1] * n;}for(;j < 25;++j){l[j] = l[j - o];}}, g = function(j, n, l, r, p){var q = 25, o = 0, w = j[n];var m = p, t = 0, u = 0, s = 0;for(;o < q;++o){r[o] = w - j[n + l[o]];}for(o = 0;o < 16;o += 2){t = Math.min(r[o + 1], r[o + 2]);t = Math.min(t, r[o + 3]);if(t <= m){continue;}t = Math.min(t, r[o + 4]);t = Math.min(t, r[o + 5]);t = Math.min(t, r[o + 6]);t = Math.min(t, r[o + 7]);t = Math.min(t, r[o + 8]);m = Math.max(m, Math.min(t, r[o]));m = Math.max(m, Math.min(t, r[o + 9]));}u = -m;for(o = 0;o < 16;o += 2){s = Math.max(r[o + 1], r[o + 2]);s = Math.max(s, r[o + 3]);s = Math.max(s, r[o + 4]);s = Math.max(s, r[o + 5]);if(s >= u){continue;}s = Math.max(s, r[o + 6]);s = Math.max(s, r[o + 7]);s = Math.max(s, r[o + 8]);u = Math.min(u, Math.max(s, r[o]));u = Math.min(u, Math.max(s, r[o + 9]));}return-u - 1;};var c = 20;return{set_threshold:function(j){c = Math.min(Math.max(j, 0), 255);for(var k = -255;k <= 255;++k){f[k + 255] = k < -c ? 1 : k > c ? 2 : 0;}return c;}, detect:function(L, H, D){if(typeof D === 'undefined'){D = 3;}var A = 8, t = 25;var u = L.data, X = L.cols, ar = L.rows;var ap = 0, an = 0, al = 0, E = 0, W = 0, aq = 0;var B = jsfeat.cache.get_buffer(3 * X);var O = jsfeat.cache.get_buffer((X + 1) * 3 << 2);var I = B.u8;var F = O.i32;var M = e;var J = i;var y = Math.max(3, D);var Z = Math.min(ar - 2, ar - D);var z = Math.max(3, D);var aa = Math.min(X - 3, X - D);var ah = 0, P = 0, C;var Q = g;var G = f;var p = c;var Y = 0, ao = 0, au = 0, aw = 0, U = 0, V = 0, av = 0, R = 0, at = 0;var T = 0, S = 0, o = 0;d(M, X, 16);var am = M[0];var ak = M[1];var aj = M[2];var ai = M[3];var ag = M[4];var af = M[5];var ae = M[6];var ad = M[7];var ac = M[8];var ab = M[9];var s = M[10];var r = M[11];var q = M[12];var n = M[13];var m = M[14];var l = M[15];for(ap = 0;ap < X * 3;++ap){I[ap] = 0;}for(ap = y;ap < Z;++ap){av = ap * X + z | 0;aq = (ap - 3) % 3;V = aq * X | 0;U = aq * (X + 1) | 0;for(an = 0;an < X;++an){I[V + an] = 0;}aw = 0;if(ap < Z - 1){an = z;for(;an < aa;++an, ++av){Y = u[av];ao = -Y + 255;au = G[ao + u[av + am]] | G[ao + u[av + ac]];if(au == 0){continue;}au &= G[ao + u[av + aj]] | G[ao + u[av + s]];au &= G[ao + u[av + ag]] | G[ao + u[av + q]];au &= G[ao + u[av + ae]] | G[ao + u[av + m]];if(au == 0){continue;}au &= G[ao + u[av + ak]] | G[ao + u[av + ab]];au &= G[ao + u[av + ai]] | G[ao + u[av + r]];au &= G[ao + u[av + af]] | G[ao + u[av + n]];au &= G[ao + u[av + ad]] | G[ao + u[av + l]];if(au & 1){E = Y - p;ah = 0;for(al = 0;al < t;++al){W = u[av + M[al]];if(W < E){++ah;if(ah > A){++aw;F[U + aw] = an;I[V + an] = Q(u, av, M, J, p);break;}}else{ah = 0;}}}if(au & 2){E = Y + p;ah = 0;for(al = 0;al < t;++al){W = u[av + M[al]];if(W > E){++ah;if(ah > A){++aw;F[U + aw] = an;I[V + an] = Q(u, av, M, J, p);break;}}else{ah = 0;}}}}}F[U + X] = aw;if(ap == y){continue;}aq = (ap - 4 + 3) % 3;R = aq * X | 0;U = aq * (X + 1) | 0;aq = (ap - 5 + 3) % 3;at = aq * X | 0;aw = F[U + X];for(al = 0;al < aw;++al){an = F[U + al];T = an + 1 | 0;S = an - 1 | 0;o = I[R + an];if(o > I[R + T] && o > I[R + S] && o > I[at + S] && o > I[at + an] && o > I[at + T] && o > I[V + S] && o > I[V + an] && o > I[V + T]){C = H[P];C.x = an, C.y = ap - 1, C.score = o;P++;}}}jsfeat.cache.put_buffer(B);jsfeat.cache.put_buffer(O);return P;}};}();a.fast_corners = b;b.set_threshold(20);})(jsfeat);(function(b){var a = function(){var d = function(e, l, q, i, r, g, p, n, k, j){var m = 0, o = 0, f = n * q + p | 0, s = f;for(m = n;m < j;++m, f += q, s = f){for(o = p;o < k;++o, ++s){l[s] = -4 * e[s] + e[s + r] + e[s - r] + e[s + g] + e[s - g];}}};var c = function(e, f, k, m, g, l, h){var o = -2 * e[f] + e[f + m] + e[f - m];var i = -2 * e[f] + e[f + g] + e[f - g];var n = e[f + l] + e[f - l] - e[f + h] - e[f - h];var j = Math.sqrt((o - i) * (o - i) + 4 * n * n) | 0;return Math.min(Math.abs(k - j), Math.abs(-(k + j)));};return{laplacian_threshold:30, min_eigen_value_threshold:25, detect:function(l, A, z){if(typeof z === 'undefined'){z = 5;}var o = 0, n = 0;var p = l.cols, B = l.rows, q = l.data;var H = 5, f = 5 * p | 0;var G = 3 + 3 * p | 0, g = 3 - 3 * p | 0;var e = jsfeat.cache.get_buffer(p * B << 2);var j = e.i32;var i = 0, k = 0, m = 0, r = 0, v;var u = 0;var F = this.laplacian_threshold;var D = this.min_eigen_value_threshold;var t = Math.max(5, z) | 0;var s = Math.max(3, z) | 0;var E = Math.min(p - 5, p - z) | 0;var C = Math.min(B - 3, B - z) | 0;o = p * B;while(--o >= 0){j[o] = 0;}d(q, j, p, B, H, f, t, s, E, C);k = s * p + t | 0;for(n = s;n < C;++n, k += p){for(o = t, m = k;o < E;++o, ++m){i = j[m];if(i < -F && i < j[m - 1] && i < j[m + 1] && i < j[m - p] && i < j[m + p] && i < j[m - p - 1] && i < j[m + p - 1] && i < j[m - p + 1] && i < j[m + p + 1] || i > F && i > j[m - 1] && i > j[m + 1] && i > j[m - p] && i > j[m + p] && i > j[m - p - 1] && i > j[m + p - 1] && i > j[m - p + 1] && i > j[m + p + 1]){r = c(q, m, i, H, f, G, g);if(r > D){v = A[u];v.x = o, v.y = n, v.score = r;++u;++o, ++m;}}}}jsfeat.cache.put_buffer(e);return u;}};}();b.yape06 = a;})(jsfeat);(function(a){var b = function(){var d = function(l, m, k){var j = 0;var h, n;h = k;for(n = 0;n < h;n++, j++){h = Math.sqrt(k * k - n * n) + .5 | 0;m[j] = h + l * n;}for(h--;h < n && h >= 0;h--, j++){n = Math.sqrt(k * k - h * h) + .5 | 0;m[j] = h + l * n;}for(;-h < n;h--, j++){n = Math.sqrt(k * k - h * h) + .5 | 0;m[j] = h + l * n;}for(n--;n >= 0;n--, j++){h = -Math.sqrt(k * k - n * n) - .5 | 0;m[j] = h + l * n;}for(;n > h;n--, j++){h = -Math.sqrt(k * k - n * n) - .5 | 0;m[j] = h + l * n;}for(h++;h <= 0;h++, j++){n = -Math.sqrt(k * k - h * h) - .5 | 0;m[j] = h + l * n;}for(;h < -n;h++, j++){n = -Math.sqrt(k * k - h * h) - .5 | 0;m[j] = h + l * n;}for(n++;n < 0;n++, j++){h = Math.sqrt(k * k - n * n) + .5 | 0;m[j] = h + l * n;}m[j] = m[0];m[j + 1] = m[1];return j;};var g = function(h, j, i){var k = 0;if(h[j + 1] != 0){k++;}if(h[j - 1] != 0){k++;}if(h[j + i] != 0){k++;}if(h[j + i + 1] != 0){k++;}if(h[j + i - 1] != 0){k++;}if(h[j - i] != 0){k++;}if(h[j - i + 1] != 0){k++;}if(h[j - i - 1] != 0){k++;}return k;};var c = function(l, m, i, k, j){var h, n;if(i > 0){m -= k * j;for(n = -j;n <= j;++n){for(h = -j;h <= j;++h){if(l[m + h] > i){return false;}}m += k;}}else{m -= k * j;for(n = -j;n <= j;++n){for(h = -j;h <= j;++h){if(l[m + h] < i){return false;}}m += k;}}return true;};var e = function(s, r, m, u, p, i, l, n){var k = 0;var q = 0, o = l - 1 | 0;var j = 0, w = 0, v = 0, t = 0;var h = 0;j = s[r + i[q]];if(j <= p){if(j >= u){w = s[r + i[o]];if(w <= p){if(w >= u){m[r] = 0;return;}else{o++;v = s[r + i[o]];if(v > p){o++;t = s[r + i[o]];if(t > p){h = 3;}else{if(t < u){h = 6;}else{m[r] = 0;return;}}}else{o++;t = s[r + i[o]];if(t > p){h = 7;}else{if(t < u){h = 2;}else{m[r] = 0;return;}}}}}else{o++;v = s[r + i[o]];if(v > p){o++;t = s[r + i[o]];if(t > p){h = 3;}else{if(t < u){h = 6;}else{m[r] = 0;return;}}}else{if(v < u){o++;t = s[r + i[o]];if(t > p){h = 7;}else{if(t < u){h = 2;}else{m[r] = 0;return;}}}else{m[r] = 0;return;}}}}else{w = s[r + i[o]];if(w > p){m[r] = 0;return;}o++;v = s[r + i[o]];if(v > p){m[r] = 0;return;}o++;t = s[r + i[o]];if(t > p){m[r] = 0;return;}h = 1;}}else{w = s[r + i[o]];if(w < u){m[r] = 0;return;}o++;v = s[r + i[o]];if(v < u){m[r] = 0;return;}o++;t = s[r + i[o]];if(t < u){m[r] = 0;return;}h = 0;}for(q = 1;q <= l;q++){j = s[r + i[q]];switch(h){case 0:if(j > p){v = t;o++;t = s[r + i[o]];if(t < u){m[r] = 0;return;}k -= j + v;h = 0;break;}if(j < u){if(v > p){m[r] = 0;return;}if(t > p){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t > p){m[r] = 0;return;}k -= j + v;h = 8;break;}if(v <= p){m[r] = 0;return;}if(t <= p){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t > p){k -= j + v;h = 3;break;}if(t < u){k -= j + v;h = 6;break;}m[r] = 0;return;case 1:if(j < u){v = t;o++;t = s[r + i[o]];if(t > p){m[r] = 0;return;}k -= j + v;h = 1;break;}if(j > p){if(v < u){m[r] = 0;return;}if(t < u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t < u){m[r] = 0;return;}k -= j + v;h = 9;break;}if(v >= u){m[r] = 0;return;}if(t >= u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t < u){k -= j + v;h = 2;break;}if(t > p){k -= j + v;h = 7;break;}m[r] = 0;return;case 2:if(j > p){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(j < u){if(t > p){m[r] = 0;return;}k -= j + v;h = 4;break;}if(t > p){k -= j + v;h = 7;break;}if(t < u){k -= j + v;h = 2;break;}m[r] = 0;return;case 3:if(j < u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(j > p){if(t < u){m[r] = 0;return;}k -= j + v;h = 5;break;}if(t > p){k -= j + v;h = 3;break;}if(t < u){k -= j + v;h = 6;break;}m[r] = 0;return;case 4:if(j > p){m[r] = 0;return;}if(j < u){v = t;o++;t = s[r + i[o]];if(t > p){m[r] = 0;return;}k -= j + v;h = 1;break;}if(t >= u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t < u){k -= j + v;h = 2;break;}if(t > p){k -= j + v;h = 7;break;}m[r] = 0;return;case 5:if(j < u){m[r] = 0;return;}if(j > p){v = t;o++;t = s[r + i[o]];if(t < u){m[r] = 0;return;}k -= j + v;h = 0;break;}if(t <= p){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t > p){k -= j + v;h = 3;break;}if(t < u){k -= j + v;h = 6;break;}m[r] = 0;return;case 7:if(j > p){m[r] = 0;return;}if(j < u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t > p){k -= j + v;h = 3;break;}if(t < u){k -= j + v;h = 6;break;}m[r] = 0;return;case 6:if(j > p){m[r] = 0;return;}if(j < u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t < u){k -= j + v;h = 2;break;}if(t > p){k -= j + v;h = 7;break;}m[r] = 0;return;case 8:if(j > p){if(t < u){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t < u){m[r] = 0;return;}k -= j + v;h = 9;break;}if(j < u){v = t;o++;t = s[r + i[o]];if(t > p){m[r] = 0;return;}k -= j + v;h = 1;break;}m[r] = 0;return;case 9:if(j < u){if(t > p){m[r] = 0;return;}v = t;o++;t = s[r + i[o]];if(t > p){m[r] = 0;return;}k -= j + v;h = 8;break;}if(j > p){v = t;o++;t = s[r + i[o]];if(t < u){m[r] = 0;return;}k -= j + v;h = 0;break;}m[r] = 0;return;default:break;}}m[r] = k + n * s[r];};var f = function(){function h(i, j, k){this.dirs = new Int32Array(1024);this.dirs_count = d(i, this.dirs, k) | 0;this.scores = new Int32Array(i * j);this.radius = k | 0;}return h;}();return{level_tables:[], tau:7, init:function(m, j, h, l){if(typeof l === 'undefined'){l = 1;}var k;h = Math.min(h, 7);h = Math.max(h, 3);for(k = 0;k < l;++k){this.level_tables[k] = new f(m >> k, j >> k, h);}}, detect:function(k, J, G){if(typeof G === 'undefined'){G = 4;}var A = this.level_tables[0];var i = A.radius | 0, q = i - 1 | 0;var m = A.dirs;var n = A.dirs_count | 0;var v = n >> 1;var O = k.data, u = k.cols | 0, K = k.rows | 0, N = u >> 1;var H = A.scores;var s = 0, r = 0, j = 0, l = 0, o = 0, p = 0, z = 0, I = 0;var F = this.tau | 0;var D = 0, E;var C = Math.max(i + 1, G) | 0;var B = Math.max(i + 1, G) | 0;var M = Math.min(u - i - 2, u - G) | 0;var L = Math.min(K - i - 2, K - G) | 0;j = B * u + C | 0;for(r = B;r < L;++r, j += u){for(s = C, l = j;s < M;++s, ++l){o = O[l] + F, p = O[l] - F;if(p < O[l + i] && O[l + i] < o && p < O[l - i] && O[l - i] < o){H[l] = 0;}else{e(O, l, H, p, o, m, v, n);}}}j = B * u + C | 0;for(r = B;r < L;++r, j += u){for(s = C, l = j;s < M;++s, ++l){I = H[l];z = Math.abs(I);if(z < 5){++s, ++l;}else{if(g(H, l, u) >= 3 && c(H, l, I, N, i)){E = J[D];E.x = s, E.y = r, E.score = z;++D;s += q, l += q;}}}}return D;}};}();a.yape = b;})(jsfeat);(function(b){var a = function(){var d = new Int32Array([8, -3, 9, 5, 4, 2, 7, -12, -11, 9, -8, 2, 7, -12, 12, -13, 2, -13, 2, 12, 1, -7, 1, 6, -2, -10, -2, -4, -13, -13, -11, -8, -13, -3, -12, -9, 10, 4, 11, 9, -13, -8, -8, -9, -11, 7, -9, 12, 7, 7, 12, 6, -4, -5, -3, 0, -13, 2, -12, -3, -9, 0, -7, 5, 12, -6, 12, -1, -3, 6, -2, 12, -6, -13, -4, -8, 11, -13, 12, -8, 4, 7, 5, 1, 5, -3, 10, -3, 3, -7, 6, 12, -8, -7, -6, -2, -2, 11, -1, -10, -13, 12, -8, 10, -7, 3, -5, -3, -4, 2, -3, 7, -10, -12, -6, 11, 5, -12, 6, -7, 5, -6, 7, -1, 1, 0, 4, -5, 9, 11, 11, -13, 4, 7, 4, 12, 2, -1, 4, 4, -4, -12, -2, 7, -8, -5, -7, -10, 4, 11, 9, 12, 0, -8, 1, -13, -13, -2, -8, 2, -3, -2, -2, 3, -6, 9, -4, -9, 8, 12, 10, 7, 0, 9, 1, 3, 7, -5, 11, -10, -13, -6, -11, 0, 10, 7, 12, 1, -6, -3, -6, 12, 10, -9, 12, -4, -13, 8, -8, -12, -13, 0, -8, -4, 3, 3, 7, 8, 5, 7, 10, -7, -1, 7, 1, -12, 3, -10, 5, 6, 2, -4, 3, -10, -13, 0, -13, 5, -13, -7, -12, 12, -13, 3, -11, 8, -7, 12, -4, 7, 6, -10, 12, 8, -9, -1, -7, -6, -2, -5, 0, 12, -12, 5, -7, 5, 3, -10, 8, -13, -7, -7, -4, 5, -3, -2, -1, -7, 2, 9, 5, -11, -11, -13, -5, -13, -1, 6, 0, -1, 5, -3, 5, 2, -4, -13, -4, 12, -9, -6, -9, 6, -12, -10, -8, -4, 10, 2, 12, -3, 7, 12, 12, 12, -7, -13, -6, 5, -4, 9, -3, 4, 7, -1, 12, 2, -7, 6, -5, 1, -13, 11, -12, 5, -3, 7, -2, -6, 7, -8, 12, -7, -13, -7, -11, -12, 1, -3, 12, 12, 2, -6, 3, 0, -4, 3, -2, -13, -1, -13, 1, 9, 7, 1, 8, -6, 1, -1, 3, 12, 9, 1, 12, 6, -1, -9, -1, 3, -13, -13, -10, 5, 7, 7, 10, 12, 12, -5, 12, 9, 6, 3, 7, 11, 5, -13, 6, 10, 2, -12, 2, 3, 3, 8, 4, -6, 2, 6, 12, -13, 9, -12, 10, 3, -8, 4, -7, 9, -11, 12, -4, -6, 1, 12, 2, -8, 6, -9, 7, -4, 2, 3, 3, -2, 6, 3, 11, 0, 3, -3, 8, -8, 7, 8, 9, 3, -11, -5, -6, -4, -10, 11, -5, 10, -5, -8, -3, 12, -10, 5, -9, 0, 8, -1, 12, -6, 4, -6, 6, -11, -10, 12, -8, 7, 4, -2, 6, 7, -2, 0, -2, 12, -5, -8, -5, 2, 7, -6, 10, 12, -9, -13, -8, -8, -5, -13, -5, -2, 8, -8, 9, -13, -9, -11, -9, 0, 1, -8, 1, -2, 7, -4, 9, 1, -2, 1, -1, -4, 11, -6, 12, -11, -12, -9, -6, 4, 3, 7, 7, 12, 5, 5, 10, 8, 0, -4, 2, 8, -9, 12, -5, -13, 0, 7, 2, 12, -1, 2, 1, 7, 5, 11, 7, -9, 3, 5, 6, -8, -13, -4, -8, 9, -5, 9, -3, -3, -4, -7, -3, -12, 6, 5, 8, 0, -7, 6, -6, 12, -13, 6, -5, -2, 1, -10, 3, 10, 4, 1, 8, -4, -2, -2, 2, -13, 2, -12, 12, 12, -2, -13, 0, -6, 4, 1, 9, 3, -6, -10, -3, -5, -3, -13, -1, 1, 7, 5, 12, -11, 4, -2, 5, -7, -13, 9, -9, -5, 7, 1, 8, 6, 7, -8, 7, 6, -7, -4, -7, 1, -8, 11, -7, -8, -13, 6, -12, -8, 2, 4, 3, 9, 10, -5, 12, 3, -6, -5, -6, 7, 8, -3, 9, -8, 2, -12, 2, 8, -11, -2, -10, 3, -12, -13, -7, -9, -11, 0, -10, -5, 5, -3, 11, 8, -2, -13, -1, 12, -1, -8, 0, 9, -13, -11, -12, -5, -10, -2, -10, 11, -3, 9, -2, -13, 2, -3, 3, 2, -9, -13, -4, 0, -4, 6, -3, -10, -4, 12, -2, -7, -6, -11, -4, 9, 6, -3, 6, 11, -13, 11, -5, 5, 11, 11, 12, 6, 7, -5, 12, -2, -1, 12, 0, 7, -4, -8, -3, -2, -7, 1, -6, 7, -13, -12, -8, -13, -7, -2, -6, -8, -8, 5, -6, -9, -5, -1, -4, 5, -13, 7, -8, 10, 1, 5, 5, -13, 1, 0, 10, -13, 9, 12, 10, -1, 5, -8, 10, -9, -1, 11, 1, -13, -9, -3, -6, 2, -1, -10, 1, 12, -13, 1, -8, -10, 8, -11, 10, -6, 2, -13, 3, -6, 7, -13, 12, -9, -10, -10, -5, -7, -10, -8, -8, -13, 4, -6, 8, 5, 3, 12, 8, -13, -4, 2, -3, -3, 5, -13, 10, -12, 4, -13, 5, -1, -9, 9, -4, 3, 0, 3, 3, -9, -12, 1, -6, 1, 3, 2, 4, -8, -10, -10, -10, 9, 8, -13, 12, 12, -8, -12, -6, -5, 2, 2, 3, 7, 10, 6, 11, -8, 6, 8, 8, -12, -7, 10, -6, 5, -3, -9, -3, 9, -1, -13, -1, 5, -3, -7, -3, 4, -8, -2, -8, 3, 4, 2, 12, 12, 2, -5, 3, 11, 6, -9, 11, -13, 3, -1, 7, 12, 11, -1, 12, 4, -3, 0, -3, 6, 4, -11, 4, 12, 2, -4, 2, 1, -10, -6, -8, 1, -13, 7, -11, 1, -13, 12, -11, -13, 6, 0, 11, -13, 0, -1, 1, 4, -13, 3, -9, -2, -9, 8, -6, -3, -13, -6, -8, -2, 5, -9, 8, 10, 2, 7, 3, -9, -1, -6, -1, -1, 9, 5, 11, -2, 11, -3, 12, -8, 3, 0, 3, 5, -1, 4, 0, 10, 3, -6, 4, 5, -13, 0, -10, 5, 5, 8, 12, 11, 8, 9, 9, -6, 7, -4, 8, -12, -10, 4, -10, 9, 7, 3, 12, 4, 9, -7, 10, -2, 7, 0, 12, -2, -1, -6, 0, -11]);var c = new jsfeat.matrix_t(3, 3, jsfeat.F32_t | jsfeat.C1_t);var f = new jsfeat.matrix_t(32, 32, jsfeat.U8_t | jsfeat.C1_t);var e = function(l, n, k, i, h, j){var m = Math.cos(k);var g = Math.sin(k);c.data[0] = m, c.data[1] = -g, c.data[2] = (-m + g) * j * .5 + i, c.data[3] = g, c.data[4] = m, c.data[5] = (-g - m) * j * .5 + h;jsfeat.imgproc.warp_affine(l, n, c, 128);};return{describe:function(j, u, g, B){var r = 32;var x = 0, A = 0, q = 0, p = 0, z = 0;var o = 0, m = 0, D = 0;var C = j.data, n = j.cols, y = j.rows;var t = f.data;var v = 16 * 32 + 16;var k = 0;if(!(B.type & jsfeat.U8_t)){B.type = jsfeat.U8_t;B.cols = r;B.rows = g;B.channel = 1;B.allocate();}else{B.resize(r, g, 1);}var l = B.data;var s = 0;for(x = 0;x < g;++x){q = u[x].x;p = u[x].y;z = u[x].angle;e(j, f, z, q, p, 32);k = 0;for(A = 0;A < r;++A){o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D = o < m | 0;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 1;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 2;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 3;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 4;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 5;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 6;o = t[v + d[k + 1] * 32 + d[k]];k += 2;m = t[v + d[k + 1] * 32 + d[k]];k += 2;D |= (o < m) << 7;l[s + A] = D;}s += r;}}};}();b.orb = a;})(jsfeat);(function(b){var a = function(){var c = jsfeat.imgproc.scharr_derivatives;return{track:function(n, u, ap, aL, k, N, R, K, f, q){if(typeof R === 'undefined'){R = 30;}if(typeof K === 'undefined'){K = new Uint8Array(k);}if(typeof f === 'undefined'){f = .01;}if(typeof q === 'undefined'){q = 1e-4;}var e = (N - 1) * .5;var h = N * N | 0;var aa = h << 1;var r = n.data, S = u.data;var g = r[0].data, F = S[0].data;var M = r[0].cols, aB = r[0].rows, ay = 0, aH = 0;var az = jsfeat.cache.get_buffer(h << 2);var s = jsfeat.cache.get_buffer(aa << 2);var t = jsfeat.cache.get_buffer(aB * (M << 1) << 2);var V = new jsfeat.matrix_t(M, aB, jsfeat.S32C2_t, t.data);var w = az.i32;var ac = s.i32;var aA = t.i32;var ab = 0, I = 0, aM = 0, at = 0, aI = 0, au = 0;var am = 0, aF = 0, aD = 0, af = 0, ae = 0;var E = 0, z = 0, Y = 0, W = 0;var p = 0, o = 0, aE = 0, aC = 0;var Q = 0, P = 0, J = 0, H = 0, ai = 0, ak = 0, l = 0;var d = 0, A = 0, O = 0;var U = 0, T = 0, aw = 0, av = 0;var ah = 14;var C = 14;var Z = C - 5;var ax = 1 << Z - 1;var ad = 1 << ah;var m = 1 << C - 1;var X = 1 / (1 << 20);var aK = 0, aJ = 0, ar = 0, aq = 0, al = 0, v = 0, B = 0;var ao = 0, an = 0, ag = 0, aj = 0, aG = 0;var G = 1.1920929e-7;f *= f;for(;Q < k;++Q){K[Q] = 1;}var L = n.levels - 1 | 0;ai = L;for(;ai >= 0;--ai){am = 1 / (1 << ai);ay = M >> ai;aH = aB >> ai;ab = ay << 1;g = r[ai].data;F = S[ai].data;A = ay - N | 0;O = aH - N | 0;c(r[ai], V);for(ak = 0;ak < k;++ak){Q = ak << 1;P = Q + 1;aF = ap[Q] * am;aD = ap[P] * am;if(ai == L){af = aF;ae = aD;}else{af = aL[Q] * 2;ae = aL[P] * 2;}aL[Q] = af;aL[P] = ae;aF -= e;aD -= e;p = aF | 0;o = aD | 0;J = p <= d | p >= A | o <= d | o >= O;if(J != 0){if(ai == 0){K[ak] = 0;}continue;}U = aF - p;T = aD - o;aK = (1 - U) * (1 - T) * ad + .5 | 0;aJ = U * (1 - T) * ad + .5 | 0;ar = (1 - U) * T * ad + .5 | 0;aq = ad - aK - aJ - ar;ao = 0, an = 0, ag = 0;for(H = 0;H < N;++H){I = (H + o) * ay + p | 0;aM = I << 1;at = H * N | 0;aI = at << 1;for(J = 0;J < N;++J, ++I, ++at, aM += 2){al = g[I] * aK + g[I + 1] * aJ + g[I + ay] * ar + g[I + ay + 1] * aq;al = al + ax >> Z;v = aA[aM] * aK + aA[aM + 2] * aJ + aA[aM + ab] * ar + aA[aM + ab + 2] * aq;v = v + m >> C;B = aA[aM + 1] * aK + aA[aM + 3] * aJ + aA[aM + ab + 1] * ar + aA[aM + ab + 3] * aq;B = B + m >> C;w[at] = al;ac[aI++] = v;ac[aI++] = B;ao += v * v;an += v * B;ag += B * B;}}ao *= X;an *= X;ag *= X;aj = ao * ag - an * an;aG = (ag + ao - Math.sqrt((ao - ag) * (ao - ag) + 4 * an * an)) / aa;if(aG < q || aj < G){if(ai == 0){K[ak] = 0;}continue;}aj = 1 / aj;af -= e;ae -= e;E = 0;z = 0;for(l = 0;l < R;++l){aE = af | 0;aC = ae | 0;J = aE <= d | aE >= A | aC <= d | aC >= O;if(J != 0){if(ai == 0){K[ak] = 0;}break;}U = af - aE;T = ae - aC;aK = (1 - U) * (1 - T) * ad + .5 | 0;aJ = U * (1 - T) * ad + .5 | 0;ar = (1 - U) * T * ad + .5 | 0;aq = ad - aK - aJ - ar;aw = 0, av = 0;for(H = 0;H < N;++H){au = (H + aC) * ay + aE | 0;at = H * N | 0;aI = at << 1;for(J = 0;J < N;++J, ++au, ++at){al = F[au] * aK + F[au + 1] * aJ + F[au + ay] * ar + F[au + ay + 1] * aq;al = al + ax >> Z;al = al - w[at];aw += al * ac[aI++];av += al * ac[aI++];}}aw *= X;av *= X;Y = (an * av - ag * aw) * aj;W = (an * aw - ao * av) * aj;af += Y;ae += W;aL[Q] = af + e;aL[P] = ae + e;if(Y * Y + W * W <= f){break;}if(l > 0 && Math.abs(Y + E) < .01 && Math.abs(W + z) < .01){aL[Q] -= Y * .5;aL[P] -= W * .5;break;}E = Y;z = W;}}}jsfeat.cache.put_buffer(az);jsfeat.cache.put_buffer(s);jsfeat.cache.put_buffer(t);}};}();b.optical_flow_lk = a;})(jsfeat);(function(b){var a = function(){var c = function(e, d){var f = e.width * .25 + .5 | 0;return d.x <= e.x + f && d.x >= e.x - f && d.y <= e.y + f && d.y >= e.y - f && d.width <= e.width * 1.5 + .5 | 0 && d.width * 1.5 + .5 | 0 >= e.width;};return{edges_density:.07, detect_single_scale:function(E, ad, af, q, d, f, D, B){var z = B.size[0] * D | 0, N = B.size[1] * D | 0, V = .5 * D + 1.5 | 0, U = V;var Z, X, W, Q, O, T = d - z | 0, R = f - N | 0;var H = d + 1 | 0, w, p, r, S;var e = 1 / (z * N);var t, o, l, u, s, ae, A, g = true, L, h, n, G, m;var M, K, J, I, v, C;var ac = 0, ab = z, aa = N * H, Y = aa + z;var F = z * N * 255 * this.edges_density | 0;var P = [];for(O = 0;O < R;O += U){ac = O * H;for(Q = 0;Q < T;Q += V, ac += V){p = E[ac] - E[ac + ab] - E[ac + aa] + E[ac + Y];if(q){w = q[ac] - q[ac + ab] - q[ac + aa] + q[ac + Y];if(w < F || p < 20){Q += V, ac += V;continue;}}p *= e;r = (ad[ac] - ad[ac + ab] - ad[ac + aa] + ad[ac + Y]) * e - p * p;S = r > 0 ? Math.sqrt(r) : 1;t = B.complexClassifiers;s = t.length;g = true;for(Z = 0;Z < s;++Z){o = t[Z];L = o.threshold;l = o.simpleClassifiers;ae = l.length;h = 0;for(X = 0;X < ae;++X){u = l[X];n = 0;m = u.features;A = m.length;if(u.tilted === 1){for(W = 0;W < A;++W){G = m[W];M = ~~(Q + G[0] * D) + ~~(O + G[1] * D) * H;v = ~~(G[2] * D);C = ~~(G[3] * D);K = v * H;J = C * H;n += (af[M] - af[M + v + K] - af[M - C + J] + af[M + v - C + K + J]) * G[4];}}else{for(W = 0;W < A;++W){G = m[W];M = ~~(Q + G[0] * D) + ~~(O + G[1] * D) * H;v = ~~(G[2] * D);C = ~~(G[3] * D);J = C * H;n += (E[M] - E[M + v] - E[M + J] + E[M + J + v]) * G[4];}}h += n * e < u.threshold * S ? u.left_val : u.right_val;}if(h < L){g = false;break;}}if(g){P.push({x:Q, y:O, width:z, height:N, neighbor:1, confidence:h});Q += V, ac += V;}}}return P;}, detect_multi_scale:function(e, m, f, h, d, n, i, g, k){if(typeof g === 'undefined'){g = 1.2;}if(typeof k === 'undefined'){k = 1;}var o = i.size[0];var j = i.size[1];var l = [];while(k * o < d && k * j < n){l = l.concat(this.detect_single_scale(e, m, f, h, d, n, k, i));k *= g;}return l;}, group_rectangles:function(g, l){if(typeof l === 'undefined'){l = 1;}var y, v, q = g.length;var r = [];for(y = 0;y < q;++y){r[y] = {parent:-1, element:g[y], rank:0};}for(y = 0;y < q;++y){if(!r[y].element){continue;}var t = y;while(r[t].parent != -1){t = r[t].parent;}for(v = 0;v < q;++v){if(y != v && r[v].element && c(r[y].element, r[v].element)){var s = v;while(r[s].parent != -1){s = r[s].parent;}if(s != t){if(r[t].rank > r[s].rank){r[s].parent = t;}else{r[t].parent = s;if(r[t].rank == r[s].rank){r[s].rank++;}t = s;}var A, d = v;while(r[d].parent != -1){A = d;d = r[d].parent;r[A].parent = t;}d = y;while(r[d].parent != -1){A = d;d = r[d].parent;r[A].parent = t;}}}}}var w = [];var o = 0;for(y = 0;y < q;y++){v = -1;var e = y;if(r[e].element){while(r[e].parent != -1){e = r[e].parent;}if(r[e].rank >= 0){r[e].rank = ~o++;}v = ~r[e].rank;}w[y] = v;}var m = [];for(y = 0;y < o + 1;++y){m[y] = {neighbors:0, x:0, y:0, width:0, height:0, confidence:0};}for(y = 0;y < q;++y){var z = g[y];var k = w[y];if(m[k].neighbors == 0){m[k].confidence = z.confidence;}++m[k].neighbors;m[k].x += z.x;m[k].y += z.y;m[k].width += z.width;m[k].height += z.height;m[k].confidence = Math.max(m[k].confidence, z.confidence);}var h = [];for(y = 0;y < o;++y){q = m[y].neighbors;if(q >= l){h.push({x:(m[y].x * 2 + q) / (2 * q), y:(m[y].y * 2 + q) / (2 * q), width:(m[y].width * 2 + q) / (2 * q), height:(m[y].height * 2 + q) / (2 * q), neighbors:m[y].neighbors, confidence:m[y].confidence});}}var p = [];q = h.length;for(y = 0;y < q;++y){var z = h[y];var x = true;for(v = 0;v < q;++v){var u = h[v];var f = u.width * .25 + .5 | 0;if(y != v && z.x >= u.x - f && z.y >= u.y - f && z.x + z.width <= u.x + u.width + f && z.y + z.height <= u.y + u.height + f && (u.neighbors > Math.max(3, z.neighbors) || z.neighbors < 3)){x = false;break;}}if(x){p.push(z);}}return p;}};}();b.haar = a;})(jsfeat);(function(a){var b = function(){var c = function(f, e){var g = f.width * .25 + .5 | 0;return e.x <= f.x + g && e.x >= f.x - g && e.y <= f.y + g && e.y >= f.y - g && e.width <= f.width * 1.5 + .5 | 0 && e.width * 1.5 + .5 | 0 >= f.width;};var d = new jsfeat.pyramid_t(1);return{interval:4, scale:1.1486, next:5, scale_to:1, prepare_cascade:function(g){var m = g.stage_classifier.length;for(var h = 0;h < m;h++){var l = g.stage_classifier[h].feature;var e = g.stage_classifier[h].count;var i = g.stage_classifier[h]._feature = new Array(e);for(var f = 0;f < e;f++){i[f] = {size:l[f].size, px:new Array(l[f].size), pz:new Array(l[f].size), nx:new Array(l[f].size), nz:new Array(l[f].size)};}}}, build_pyramid:function(e, k, s, f){if(typeof f === 'undefined'){f = 4;}var q = e.cols, m = e.rows;var l = 0, n = 0, h = 0;var p = false;var j = e, g = e;var r = jsfeat.U8_t | jsfeat.C1_t;this.interval = f;this.scale = Math.pow(2, 1 / (this.interval + 1));this.next = this.interval + 1 | 0;this.scale_to = Math.log(Math.min(q / k, m / s)) / Math.log(this.scale) | 0;var o = (this.scale_to + this.next * 2) * 4 | 0;if(d.levels != o){d.levels = o;d.data = new Array(o);p = true;d.data[0] = e;}for(l = 1;l <= this.interval;++l){n = q / Math.pow(this.scale, l) | 0;h = m / Math.pow(this.scale, l) | 0;j = d.data[l << 2];if(p || n != j.cols || h != j.rows){d.data[l << 2] = new jsfeat.matrix_t(n, h, r);j = d.data[l << 2];}jsfeat.imgproc.resample(e, j, n, h);}for(l = this.next;l < this.scale_to + this.next * 2;++l){g = d.data[(l << 2) - (this.next << 2)];j = d.data[l << 2];n = g.cols >> 1;h = g.rows >> 1;if(p || n != j.cols || h != j.rows){d.data[l << 2] = new jsfeat.matrix_t(n, h, r);j = d.data[l << 2];}jsfeat.imgproc.pyrdown(g, j);}for(l = this.next * 2;l < this.scale_to + this.next * 2;++l){g = d.data[(l << 2) - (this.next << 2)];n = g.cols >> 1;h = g.rows >> 1;j = d.data[(l << 2) + 1];if(p || n != j.cols || h != j.rows){d.data[(l << 2) + 1] = new jsfeat.matrix_t(n, h, r);j = d.data[(l << 2) + 1];}jsfeat.imgproc.pyrdown(g, j, 1, 0);j = d.data[(l << 2) + 2];if(p || n != j.cols || h != j.rows){d.data[(l << 2) + 2] = new jsfeat.matrix_t(n, h, r);j = d.data[(l << 2) + 2];}jsfeat.imgproc.pyrdown(g, j, 0, 1);j = d.data[(l << 2) + 3];if(p || n != j.cols || h != j.rows){d.data[(l << 2) + 3] = new jsfeat.matrix_t(n, h, r);j = d.data[(l << 2) + 3];}jsfeat.imgproc.pyrdown(g, j, 1, 1);}return d;}, detect:function(G, L){var h = this.interval;var N = this.scale;var m = this.next;var l = this.scale_to;var ab = 0, aa = 0, Z = 0, W = 0, S = 0, R = 0, U = 0, B = 0, J = 0, I = 0, V = 0, ae = 0, M = 0, ad = 0, w = 0, Y = 0, g = 0;var E = 0, X, Q, D, H, F, O = true, o = true;var z = 1, v = 1;var s = [0, 1, 0, 1];var r = [0, 0, 1, 1];var K = [];var C = G.data, ac = 1, u = 2, t = 4;var A = [], e = [0, 0, 0];var P = [0, 0, 0];var T = [0, 0, 0];for(ab = 0;ab < l;ab++){w = ab << 2;Y = C[w + (m << 3)].cols - (L.width >> 2);g = C[w + (m << 3)].rows - (L.height >> 2);P[0] = C[w].cols * ac;P[1] = C[w + (m << 2)].cols * ac;P[2] = C[w + (m << 3)].cols * ac;T[0] = C[w].cols * t - Y * t;T[1] = C[w + (m << 2)].cols * u - Y * u;T[2] = C[w + (m << 3)].cols * ac - Y * ac;B = L.stage_classifier.length;for(aa = 0;aa < B;aa++){D = L.stage_classifier[aa].feature;Q = L.stage_classifier[aa]._feature;J = L.stage_classifier[aa].count;for(Z = 0;Z < J;Z++){H = Q[Z];F = D[Z];I = F.size | 0;for(U = 0;U < I;U++){H.px[U] = F.px[U] * ac + F.py[U] * P[F.pz[U]];H.pz[U] = F.pz[U];H.nx[U] = F.nx[U] * ac + F.ny[U] * P[F.nz[U]];H.nz[U] = F.nz[U];}}}A[0] = C[w].data;A[1] = C[w + (m << 2)].data;for(U = 0;U < 4;U++){A[2] = C[w + (m << 3) + U].data;e[0] = s[U] * u + r[U] * (C[w].cols * u);e[1] = s[U] * ac + r[U] * (C[w + (m << 2)].cols * ac);e[2] = 0;for(R = 0;R < g;R++){for(S = 0;S < Y;S++){E = 0;O = true;B = L.stage_classifier.length;for(aa = 0;aa < B;aa++){E = 0;X = L.stage_classifier[aa].alpha;Q = L.stage_classifier[aa]._feature;J = L.stage_classifier[aa].count;for(Z = 0;Z < J;Z++){H = Q[Z];ae = A[H.pz[0]][e[H.pz[0]] + H.px[0]];M = A[H.nz[0]][e[H.nz[0]] + H.nx[0]];if(ae <= M){E += X[Z << 1];}else{o = true;I = H.size;for(ad = 1;ad < I;ad++){if(H.pz[ad] >= 0){V = A[H.pz[ad]][e[H.pz[ad]] + H.px[ad]];if(V < ae){if(V <= M){o = false;break;}ae = V;}}if(H.nz[ad] >= 0){W = A[H.nz[ad]][e[H.nz[ad]] + H.nx[ad]];if(W > M){if(ae <= W){o = false;break;}M = W;}}}E += o ? X[(Z << 1) + 1] : X[Z << 1];}}if(E < L.stage_classifier[aa].threshold){O = false;break;}}if(O){K.push({x:(S * 4 + s[U] * 2) * z, y:(R * 4 + r[U] * 2) * v, width:L.width * z, height:L.height * v, neighbor:1, confidence:E});++S;e[0] += t;e[1] += u;e[2] += ac;}e[0] += t;e[1] += u;e[2] += ac;}e[0] += T[0];e[1] += T[1];e[2] += T[2];}}z *= N;v *= N;}return K;}, group_rectangles:function(h, m){if(typeof m === 'undefined'){m = 1;}var z, w, r = h.length;var s = [];for(z = 0;z < r;++z){s[z] = {parent:-1, element:h[z], rank:0};}for(z = 0;z < r;++z){if(!s[z].element){continue;}var u = z;while(s[u].parent != -1){u = s[u].parent;}for(w = 0;w < r;++w){if(z != w && s[w].element && c(s[z].element, s[w].element)){var t = w;while(s[t].parent != -1){t = s[t].parent;}if(t != u){if(s[u].rank > s[t].rank){s[t].parent = u;}else{s[u].parent = t;if(s[u].rank == s[t].rank){s[t].rank++;}u = t;}var B, e = w;while(s[e].parent != -1){B = e;e = s[e].parent;s[B].parent = u;}e = z;while(s[e].parent != -1){B = e;e = s[e].parent;s[B].parent = u;}}}}}var x = [];var p = 0;for(z = 0;z < r;z++){w = -1;var f = z;if(s[f].element){while(s[f].parent != -1){f = s[f].parent;}if(s[f].rank >= 0){s[f].rank = ~p++;}w = ~s[f].rank;}x[z] = w;}var o = [];for(z = 0;z < p + 1;++z){o[z] = {neighbors:0, x:0, y:0, width:0, height:0, confidence:0};}for(z = 0;z < r;++z){var A = h[z];var l = x[z];if(o[l].neighbors == 0){o[l].confidence = A.confidence;}++o[l].neighbors;o[l].x += A.x;o[l].y += A.y;o[l].width += A.width;o[l].height += A.height;o[l].confidence = Math.max(o[l].confidence, A.confidence);}var k = [];for(z = 0;z < p;++z){r = o[z].neighbors;if(r >= m){k.push({x:(o[z].x * 2 + r) / (2 * r), y:(o[z].y * 2 + r) / (2 * r), width:(o[z].width * 2 + r) / (2 * r), height:(o[z].height * 2 + r) / (2 * r), neighbors:o[z].neighbors, confidence:o[z].confidence});}}var q = [];r = k.length;for(z = 0;z < r;++z){var A = k[z];var y = true;for(w = 0;w < r;++w){var v = k[w];var g = v.width * .25 + .5 | 0;if(z != w && A.x >= v.x - g && A.y >= v.y - g && A.x + A.width <= v.x + v.width + g && A.y + A.height <= v.y + v.height + g && (v.neighbors > Math.max(3, A.neighbors) || A.neighbors < 3)){y = false;break;}}if(y){q.push(A);}}return q;}};}();a.bbf = b;})(jsfeat);(function(a){if(typeof module === 'undefined' || typeof module.exports === 'undefined'){window.jsfeat = a;}else{module.exports = a;}})(jsfeat);exports.jsfeat = jsfeat;}, {}], 2:[function(require, module, exports){const jsfeat = require('../js/jsfeat.min.js');const{icAngle:icAngle} = require('./orb.icAngle.js');function detectKeypoints(img, corners, maxAllowed){let count = jsfeat.yape06.detect(img, corners, 17);const uMax = new Int32Array([15, 15, 15, 15, 14, 14, 14, 13, 13, 12, 11, 10, 9, 8, 6, 3, 0]);if(count > maxAllowed){jsfeat.math.qsort(corners, 0, count - 1, function(a, b){return b.score < a.score;});count = maxAllowed;}for(let i = 0;i < count;++i){corners[i].angle = icAngle(uMax, img, corners[i].x, corners[i].y);}return count;}exports.detectKeypoints = detectKeypoints;}, {'../js/jsfeat.min.js':1, './orb.icAngle.js':4}], 3:[function(require, module, exports){const jsfeat = require('../js/jsfeat.min.js');function findTransform(matches, count, patternCorners, screenCorners, homo3x3, matchMask){const mmKernel = new jsfeat.motion_model.homography2d;const numModelPoints = 4;const reprojThreshold = 3;const ransacParam = new jsfeat.ransacParamsT(numModelPoints, reprojThreshold, .5, .99);const patternXY = [];const screenXY = [];for(let i = 0;i < count;++i){const m = matches[i];const sKp = screenCorners[m.screenIdx];const pKp = patternCorners[m.patternLev][m.patternIdx];patternXY[i] = {x:pKp.x, y:pKp.y};screenXY[i] = {x:sKp.x, y:sKp.y};}let ok = false;ok = jsfeat.motion_estimator.ransac(ransacParam, mmKernel, patternXY, screenXY, count, homo3x3, matchMask, 1e3);let goodCnt = 0;if(ok){for(let i = 0;i < count;++i){if(matchMask.data[i]){patternXY[goodCnt].x = patternXY[i].x;patternXY[goodCnt].y = patternXY[i].y;screenXY[goodCnt].x = screenXY[i].x;screenXY[goodCnt].y = screenXY[i].y;goodCnt++;}}mmKernel.run(patternXY, screenXY, homo3x3, goodCnt);}else{jsfeat.matmath.identity_3x3(homo3x3, 1);}return goodCnt;}exports.findTransform = findTransform;}, {'../js/jsfeat.min.js':1}], 4:[function(require, module, exports){function icAngle(uMax, img, px, py){const halfK = 15;let m01 = 0;let m10 = 0;const src = img.data;const step = img.cols;let u = 0;let v = 0;const centerOff = py * step + px | 0;let vSum = 0;let d = 0;let valPlus = 0;let valMinus = 0;for(u = -halfK;u <= halfK;++u){m10 += u * src[centerOff + u];}for(v = 1;v <= halfK;++v){vSum = 0;d = uMax[v];for(u = -d;u <= d;++u){valPlus = src[centerOff + u + v * step];valMinus = src[centerOff + u - v * step];vSum += valPlus - valMinus;m10 += u * (valPlus + valMinus);}m01 += v * vSum;}return Math.atan2(m01, m10);}exports.icAngle = icAngle;}, {}], 5:[function(require, module, exports){const{popcnt32:popcnt32} = require('./orb.popcnt32.js');function matchPattern(matches, screenDescriptors, patternDescriptors, numTrainLevels, options){const qCnt = screenDescriptors.rows;const queryU32 = screenDescriptors.buffer.i32;let qdOff = 0;let qidx = 0;let lev = 0;let pidx = 0;let k = 0;let numMatches = 0;for(qidx = 0;qidx < qCnt;++qidx){let bestDist = 256;let bestDist2 = 256;let bestIdx = -1;let bestLev = -1;for(lev = 0;lev < numTrainLevels;++lev){const levDescriptors = patternDescriptors[lev];const ldCnt = levDescriptors.rows;const ldI32 = levDescriptors.buffer.i32;let ldOff = 0;for(pidx = 0;pidx < ldCnt;++pidx){let currD = 0;for(k = 0;k < 8;++k){currD += popcnt32(queryU32[qdOff + k] ^ ldI32[ldOff + k]);}if(currD < bestDist){bestDist2 = bestDist;bestDist = currD;bestLev = lev;bestIdx = pidx;}else if(currD < bestDist2){bestDist2 = currD;}ldOff += 8;}}if(bestDist < options.matchThreshold){matches[numMatches].screenIdx = qidx;matches[numMatches].patternLev = bestLev;matches[numMatches].patternIdx = bestIdx;numMatches++;}qdOff += 8;}return numMatches;}exports.matchPattern = matchPattern;}, {'./orb.popcnt32.js':6}], 6:[function(require, module, exports){function popcnt32(n){n -= n >> 1 & 1431655765;n = (n & 858993459) + (n >> 2 & 858993459);return(n + (n >> 4) & 252645135) * 16843009 >> 24;}exports.popcnt32 = popcnt32;}, {}], 7:[function(require, module, exports){async function renderCorners(args, cornersArray, corners, count){for(let i = 0;i < count;++i){const x = await corners[i].x;const y = await corners[i].y;const cornersOut = {x:x, y:y};if(!args.browser){console.log(`Corners: ${await JSON.stringify(cornersOut).toString()}`);}if(cornersArray.indexOf(cornersOut) === -1 && cornersArray.length < count){await cornersArray.push(cornersOut);}}return await cornersArray;}exports.renderCorners = renderCorners;}, {}], 8:[function(require, module, exports){async function renderMatches(args, ctx, matches, count, screenCorners, patternCorners, matchesArray, matchMask){for(let i = 0;i < count;++i){const m = await matches[i];const sKp = await screenCorners[m.screenIdx];const pKp = await patternCorners[m.patternLev][m.patternIdx];const matchedPair = await({confidence:{c1:pKp.score, c2:sKp.score}, x1:pKp.x, y1:pKp.y, x2:sKp.x, y2:sKp.y, population:count});if(!args.browser){console.log(`Pairs: ${await JSON.stringify(matchedPair).toString()}`);}if(matchesArray.indexOf(matchedPair) === -1 && matchesArray.length < count){await matchesArray.push(matchedPair);}}return await matchesArray;}exports.renderMatches = renderMatches;}, {}], 9:[function(require, module, exports){(function(process){function normalizeArray(parts, allowAboveRoot){var up = 0;for(var i = parts.length - 1;i >= 0;i--){var last = parts[i];if(last === '.'){parts.splice(i, 1);}else if(last === '..'){parts.splice(i, 1);up++;}else if(up){parts.splice(i, 1);up--;}}if(allowAboveRoot){for(;up--;up){parts.unshift('..');}}return parts;}exports.resolve = function(){var resolvedPath = '', resolvedAbsolute = false;for(var i = arguments.length - 1;i >= -1 && !resolvedAbsolute;i--){var path = i >= 0 ? arguments[i] : process.cwd();if(typeof path !== 'string'){throw new TypeError('Arguments to path.resolve must be strings');}else if(!path){continue;}resolvedPath = path + '/' + resolvedPath;resolvedAbsolute = path.charAt(0) === '/';}resolvedPath = normalizeArray(filter(resolvedPath.split('/'), function(p){return!!p;}), !resolvedAbsolute).join('/');return(resolvedAbsolute ? '/' : '') + resolvedPath || '.';};exports.normalize = function(path){var isAbsolute = exports.isAbsolute(path), trailingSlash = substr(path, -1) === '/';path = normalizeArray(filter(path.split('/'), function(p){return!!p;}), !isAbsolute).join('/');if(!path && !isAbsolute){path = '.';}if(path && trailingSlash){path += '/';}return(isAbsolute ? '/' : '') + path;};exports.isAbsolute = function(path){return path.charAt(0) === '/';};exports.join = function(){var paths = Array.prototype.slice.call(arguments, 0);return exports.normalize(filter(paths, function(p, index){if(typeof p !== 'string'){throw new TypeError('Arguments to path.join must be strings');}return p;}).join('/'));};exports.relative = function(from, to){from = exports.resolve(from).substr(1);to = exports.resolve(to).substr(1);function trim(arr){var start = 0;for(;start < arr.length;start++){if(arr[start] !== '')break;}var end = arr.length - 1;for(;end >= 0;end--){if(arr[end] !== '')break;}if(start > end)return[];return arr.slice(start, end - start + 1);}var fromParts = trim(from.split('/'));var toParts = trim(to.split('/'));var length = Math.min(fromParts.length, toParts.length);var samePartsLength = length;for(var i = 0;i < length;i++){if(fromParts[i] !== toParts[i]){samePartsLength = i;break;}}var outputParts = [];for(var i = samePartsLength;i < fromParts.length;i++){outputParts.push('..');}outputParts = outputParts.concat(toParts.slice(samePartsLength));return outputParts.join('/');};exports.sep = '/';exports.delimiter = ':';exports.dirname = function(path){if(typeof path !== 'string')path = path + '';if(path.length === 0)return'.';var code = path.charCodeAt(0);var hasRoot = code === 47;var end = -1;var matchedSlash = true;for(var i = path.length - 1;i >= 1;--i){code = path.charCodeAt(i);if(code === 47){if(!matchedSlash){end = i;break;}}else{matchedSlash = false;}}if(end === -1)return hasRoot ? '/' : '.';if(hasRoot && end === 1){return'/';}return path.slice(0, end);};function basename(path){if(typeof path !== 'string')path = path + '';var start = 0;var end = -1;var matchedSlash = true;var i;for(i = path.length - 1;i >= 0;--i){if(path.charCodeAt(i) === 47){if(!matchedSlash){start = i + 1;break;}}else if(end === -1){matchedSlash = false;end = i + 1;}}if(end === -1)return'';return path.slice(start, end);}exports.basename = function(path, ext){var f = basename(path);if(ext && f.substr(-1 * ext.length) === ext){f = f.substr(0, f.length - ext.length);}return f;};exports.extname = function(path){if(typeof path !== 'string')path = path + '';var startDot = -1;var startPart = 0;var end = -1;var matchedSlash = true;var preDotState = 0;for(var i = path.length - 1;i >= 0;--i){var code = path.charCodeAt(i);if(code === 47){if(!matchedSlash){startPart = i + 1;break;}continue;}if(end === -1){matchedSlash = false;end = i + 1;}if(code === 46){if(startDot === -1)startDot = i;else if(preDotState !== 1)preDotState = 1;}else if(startDot !== -1){preDotState = -1;}}if(startDot === -1 || end === -1 || preDotState === 0 || preDotState === 1 && startDot === end - 1 && startDot === startPart + 1){return'';}return path.slice(startDot, end);};function filter(xs, f){if(xs.filter)return xs.filter(f);var res = [];for(var i = 0;i < xs.length;i++){if(f(xs[i], i, xs))res.push(xs[i]);}return res;}var substr = 'ab'.substr(-1) === 'b' ? function(str, start, len){return str.substr(start, len);} : function(str, start, len){if(start < 0)start = str.length + start;return str.substr(start, len);};}).call(this, require('_process'));}, {_process:10}], 10:[function(require, module, exports){var process = module.exports = {};var cachedSetTimeout;var cachedClearTimeout;function defaultSetTimout(){throw new Error('setTimeout has not been defined');}function defaultClearTimeout(){throw new Error('clearTimeout has not been defined');}(function(){try{if(typeof setTimeout === 'function'){cachedSetTimeout = setTimeout;}else{cachedSetTimeout = defaultSetTimout;}}catch(e){cachedSetTimeout = defaultSetTimout;}try{if(typeof clearTimeout === 'function'){cachedClearTimeout = clearTimeout;}else{cachedClearTimeout = defaultClearTimeout;}}catch(e){cachedClearTimeout = defaultClearTimeout;}})();function runTimeout(fun){if(cachedSetTimeout === setTimeout){return setTimeout(fun, 0);}if((cachedSetTimeout === defaultSetTimout || !cachedSetTimeout) && setTimeout){cachedSetTimeout = setTimeout;return setTimeout(fun, 0);}try{return cachedSetTimeout(fun, 0);}catch(e){try{return cachedSetTimeout.call(null, fun, 0);}catch(e){return cachedSetTimeout.call(this, fun, 0);}}}function runClearTimeout(marker){if(cachedClearTimeout === clearTimeout){return clearTimeout(marker);}if((cachedClearTimeout === defaultClearTimeout || !cachedClearTimeout) && clearTimeout){cachedClearTimeout = clearTimeout;return clearTimeout(marker);}try{return cachedClearTimeout(marker);}catch(e){try{return cachedClearTimeout.call(null, marker);}catch(e){return cachedClearTimeout.call(this, marker);}}}var queue = [];var draining = false;var currentQueue;var queueIndex = -1;function cleanUpNextTick(){if(!draining || !currentQueue){return;}draining = false;if(currentQueue.length){queue = currentQueue.concat(queue);}else{queueIndex = -1;}if(queue.length){drainQueue();}}function drainQueue(){if(draining){return;}var timeout = runTimeout(cleanUpNextTick);draining = true;var len = queue.length;while(len){currentQueue = queue;queue = [];while(++queueIndex < len){if(currentQueue){currentQueue[queueIndex].run();}}queueIndex = -1;len = queue.length;}currentQueue = null;draining = false;runClearTimeout(timeout);}process.nextTick = function(fun){var args = new Array(arguments.length - 1);if(arguments.length > 1){for(var i = 1;i < arguments.length;i++){args[i - 1] = arguments[i];}}queue.push(new Item(fun, args));if(queue.length === 1 && !draining){runTimeout(drainQueue);}};function Item(fun, array){this.fun = fun;this.array = array;}Item.prototype.run = function(){this.fun.apply(null, this.array);};process.title = 'browser';process.browser = true;process.env = {};process.argv = [];process.version = '';process.versions = {};function noop(){}process.on = noop;process.addListener = noop;process.once = noop;process.off = noop;process.removeListener = noop;process.removeAllListeners = noop;process.emit = noop;process.prependListener = noop;process.prependOnceListener = noop;process.listeners = function(name){return[];};process.binding = function(name){throw new Error('process.binding is not supported');};process.cwd = function(){return'/';};process.chdir = function(dir){throw new Error('process.chdir is not supported');};process.umask = function(){return 0;};}, {}], 11:[function(require, module, exports){const jsfeat = require('../assets/js/jsfeat.min.js');const resolve = require('path').resolve;const{detectKeypoints:detectKeypoints} = require('../assets/utils/orb.detectKeypoints.js');const{findTransform:findTransform} = require('../assets/utils/orb.findTransform.js');const{matchPattern:matchPattern} = require('../assets/utils/orb.matchPattern.js');const{renderCorners:renderCorners} = require('../assets/utils/orb.renderCorners.js');const{renderMatches:renderMatches} = require('../assets/utils/orb.renderMatches.js');const orbify = function(X, Y, cb, args = {}){args.browser = true;args.caching = args.caching == true || args.caching == undefined ? true : false;args.leniency = args.leniency || 30;args.dimensions = args.dimensions || [640, 480];this.args = args;self = this;const canvas = document.createElement('CANVAS'), c = document.createElement('CANVAS'), primaryImage = new Image, secImage = new Image;let options, matchesArray = [], cornersArray = [];primaryImage.src = resolve(X);secImage.src = resolve(Y);canvas.setAttribute('id', 'canvas');canvas.setAttribute('width', self.args.dimensions[0]);canvas.setAttribute('height', self.args.dimensions[1]);c.setAttribute('id', 'myCanvas');c.setAttribute('style', 'border:1px solid #d3d3d3');(function core(){'use strict';let ctx, imgU8, imgU8Smooth, screenCorners, numCorners, screenDescriptors, patternCorners, patternDescriptors, patternPreview, matches, homo3x3, matchMask;const matchT = function(){function matchT(screenIdx, patternLev, patternIdx, distance){if(typeof screenIdx === 'undefined'){screenIdx = 0;}if(typeof patternLev === 'undefined'){patternLev = 0;}if(typeof patternIdx === 'undefined'){patternIdx = 0;}if(typeof distance === 'undefined'){distance = 0;}matchT.screenIdx = screenIdx;matchT.patternLev = patternLev;matchT.patternIdx = patternIdx;matchT.distance = distance;}return matchT;}(), numTrainLevels = 4;const demoOpt = function(){const params = self.args.params || {};this.blur_size = params.blur_size || 5;this.lap_thres = params.lap_thres || 30;this.eigen_thres = params.eigen_thres || 35;this.matchThreshold = params.matchThreshold || 49;this.train_pattern = function(){const maxPatternSize = 512, maxPerLevel = 300, scInc = Math.sqrt(2), ctxx = c.getContext('2d'), imgData = ctxx.getImageData(0, 0, primaryImage.width, primaryImage.height), imgg = new jsfeat.matrix_t(primaryImage.width, primaryImage.height, jsfeat.U8_t | jsfeat.C1_t), sc0 = Math.min(maxPatternSize / primaryImage.width, maxPatternSize / primaryImage.height), lev0Img = new jsfeat.matrix_t(imgU8.cols, imgU8.rows, jsfeat.U8_t | jsfeat.C1_t), levImg = new jsfeat.matrix_t(imgU8.cols, imgU8.rows, jsfeat.U8_t | jsfeat.C1_t);let lev = 0, i = 0, sc = 1, newWidth = primaryImage.width * sc0 | 0, newHeight = primaryImage.height * sc0 | 0, levCorners, levDescriptors, cornersNum = 0;patternPreview = new jsfeat.matrix_t(newWidth >> 1, newHeight >> 1, jsfeat.U8_t | jsfeat.C1_t);for(lev = 0;lev < numTrainLevels;++lev){patternCorners[lev] = [];levCorners = patternCorners[lev];i = newWidth * newHeight >> lev;while(--i >= 0){levCorners[i] = new jsfeat.keypoint_t(0, 0, 0, 0, -1);}patternDescriptors[lev] = new jsfeat.matrix_t(32, maxPerLevel, jsfeat.U8_t | jsfeat.C1_t);}levCorners = patternCorners[0];levDescriptors = patternDescriptors[0];jsfeat.imgproc.grayscale(imgData.data, primaryImage.width, primaryImage.height, imgg);jsfeat.imgproc.resample(imgg, lev0Img, newWidth, newHeight);jsfeat.imgproc.pyrdown(lev0Img, patternPreview);jsfeat.imgproc.gaussian_blur(lev0Img, levImg, options.blur_size | 0);cornersNum = detectKeypoints(levImg, levCorners, maxPerLevel);jsfeat.orb.describe(levImg, levCorners, cornersNum, levDescriptors);sc /= scInc;for(lev = 1;lev < numTrainLevels;++lev){levCorners = patternCorners[lev];levDescriptors = patternDescriptors[lev];newWidth = lev0Img.cols * sc | 0;newHeight = lev0Img.rows * sc | 0;jsfeat.imgproc.resample(lev0Img, levImg, newWidth, newHeight);jsfeat.imgproc.gaussian_blur(levImg, levImg, options.blur_size | 0);cornersNum = detectKeypoints(levImg, levCorners, maxPerLevel);jsfeat.orb.describe(levImg, levCorners, cornersNum, levDescriptors);for(i = 0;i < cornersNum;++i){levCorners[i].x *= 1 / sc;levCorners[i].y *= 1 / sc;}sc /= scInc;}};};function demoApp(){imgU8 = new jsfeat.matrix_t(self.args.dimensions[0], self.args.dimensions[1], jsfeat.U8_t | jsfeat.C1_t);imgU8Smooth = new jsfeat.matrix_t(self.args.dimensions[0], self.args.dimensions[1], jsfeat.U8_t | jsfeat.C1_t);screenDescriptors = new jsfeat.matrix_t(32, 500, jsfeat.U8_t | jsfeat.C1_t);patternDescriptors = [];screenCorners = [];patternCorners = [];matches = [];homo3x3 = new jsfeat.matrix_t(3, 3, jsfeat.F32C1_t);matchMask = new jsfeat.matrix_t(500, 1, jsfeat.U8C1_t);options = new demoOpt;ctx = canvas.getContext('2d');ctx.fillStyle = 'rgb(0,255,0)';ctx.strokeStyle = 'rgb(0,255,0)';let i = self.args.dimensions[0] * self.args.dimensions[1];while(--i >= 0){screenCorners[i] = new jsfeat.keypoint_t(0, 0, 0, 0, -1);matches[i] = new matchT;}}async function findPoints(){if(await cornersArray.length){return true;}window.requestAnimationFrame(findPoints);const primaryImageData = ctx.getImageData(0, 0, self.args.dimensions[0], self.args.dimensions[1]);ctx.putImageData(primaryImageData, 0, 0);ctx.drawImage(secImage, 0, 0, self.args.dimensions[0], self.args.dimensions[1]);jsfeat.imgproc.grayscale(primaryImageData.data, self.args.dimensions[0], self.args.dimensions[1], imgU8);jsfeat.imgproc.gaussian_blur(imgU8, imgU8Smooth, options.blur_size | 0);jsfeat.yape06.laplacian_threshold = options.lap_thres | 0;jsfeat.yape06.min_eigen_value_threshold = options.eigen_thres | 0;numCorners = await detectKeypoints(imgU8Smooth, screenCorners, 500);jsfeat.orb.describe(imgU8Smooth, screenCorners, numCorners, screenDescriptors);cornersArray = await renderCorners(self.args, cornersArray, screenCorners, numCorners);}async function findMatchedPoints(){let numMatches = 0, goodMatches = 0;if(findPoints()){if(await matchesArray.length){return;}requestAnimationFrame(findMatchedPoints);if(patternPreview){numMatches = await matchPattern(matches, screenDescriptors, patternDescriptors, numTrainLevels, options);goodMatches = await findTransform(matches, numMatches, patternCorners, screenCorners, homo3x3, matchMask);}if(numMatches){if(goodMatches >= numMatches * self.args.leniency / 100){matchesArray = await renderMatches(self.args, ctx, matches, numMatches, screenCorners, patternCorners, matchesArray, matchMask);}}}}window.onload = function(){c.width = primaryImage.width;c.height = primaryImage.height;c.style.display = 'none';const ctxx = c.getContext('2d');ctxx.drawImage(primaryImage, 0, 0, primaryImage.width, primaryImage.height);options.train_pattern();};demoApp();if(args.query === 'corners'){eval('findPoints()');}else{eval('findMatchedPoints()');}})();if(!self.args.caching || localStorage.getItem('X') !== X && localStorage.getItem('X') !== Y || localStorage.getItem('Y') !== X && localStorage.getItem('Y') !== Y){localStorage.removeItem('utils');window.data = null;}this.utils = new Promise(function(resolve){if(self.args.query === 'corners'){setTimeout(function(){resolve(cornersArray);}, 5e3);}function uncachedResponse(){localStorage.setItem('utils', JSON.stringify({points:cornersArray, matched_points:matchesArray}));localStorage.setItem('X', X);localStorage.setItem('Y', Y);resolve(JSON.parse(localStorage.getItem('utils')));return;}let timer = 0, continueThread = false;if(!self.args.caching){setTimeout(uncachedResponse, timer);}else{if(JSON.parse(localStorage.getItem('utils')) && JSON.parse(localStorage.getItem('utils')).points && JSON.parse(localStorage.getItem('utils')).points.length && JSON.parse(localStorage.getItem('utils')).matched_points && JSON.parse(localStorage.getItem('utils')).matched_points.length){window.data = {points:cornersArray, matched_points:matchesArray};resolve(JSON.parse(localStorage.getItem('utils')));this.utils = Promise.resolve(this.utils);}else{setInterval(function(){if(!continueThread){if(!matchesArray.length || !cornersArray.length){timer += 1;return;}else{setTimeout(function(){if(continueThread){return;}window.data = {points:cornersArray, matched_points:matchesArray};uncachedResponse();continueThread = true;}, timer);}}else{return;}}, 1);}}});if(cb){cb(this.utils);}else{console.warn('No callback function supplied');}};window.Matcher = orbify;}, {'../assets/js/jsfeat.min.js':1, '../assets/utils/orb.detectKeypoints.js':2, '../assets/utils/orb.findTransform.js':3, '../assets/utils/orb.matchPattern.js':5, '../assets/utils/orb.renderCorners.js':7, '../assets/utils/orb.renderMatches.js':8, path:9}]}, {}, [11]);