var AR=AR||{};AR.Marker=function(id,corners){this.id=id;this.corners=corners};AR.Detector=function(){this.grey=new CV.Image;this.thres=new CV.Image;this.homography=new CV.Image;this.binary=[];this.contours=[];this.polys=[];this.candidates=[]};AR.Detector.prototype.detect=function(image){CV.grayscale(image,this.grey);CV.adaptiveThreshold(this.grey,this.thres,2,7);this.contours=CV.findContours(this.thres,this.binary);this.candidates=this.findCandidates(this.contours,image.width*.2,.05,10);this.candidates=this.clockwiseCorners(this.candidates);this.candidates=this.notTooNear(this.candidates,10);return this.findMarkers(this.grey,this.candidates,49)};AR.Detector.prototype.findCandidates=function(contours,minSize,epsilon,minLength){var candidates=[],len=contours.length,contour,poly,i;this.polys=[];for(i=0;i<len;++i){contour=contours[i];if(contour.length>=minSize){poly=CV.approxPolyDP(contour,contour.length*epsilon);this.polys.push(poly);if(4===poly.length&&CV.isContourConvex(poly)){if(CV.minEdgeLength(poly)>=minLength){candidates.push(poly)}}}}return candidates};AR.Detector.prototype.clockwiseCorners=function(candidates){var len=candidates.length,dx1,dx2,dy1,dy2,swap,i;for(i=0;i<len;++i){dx1=candidates[i][1].x-candidates[i][0].x;dy1=candidates[i][1].y-candidates[i][0].y;dx2=candidates[i][2].x-candidates[i][0].x;dy2=candidates[i][2].y-candidates[i][0].y;if(dx1*dy2-dy1*dx2<0){swap=candidates[i][1];candidates[i][1]=candidates[i][3];candidates[i][3]=swap}}return candidates};AR.Detector.prototype.notTooNear=function(candidates,minDist){var notTooNear=[],len=candidates.length,dist,dx,dy,i,j,k;for(i=0;i<len;++i){for(j=i+1;j<len;++j){dist=0;for(k=0;k<4;++k){dx=candidates[i][k].x-candidates[j][k].x;dy=candidates[i][k].y-candidates[j][k].y;dist+=dx*dx+dy*dy}if(dist/4<minDist*minDist){if(CV.perimeter(candidates[i])<CV.perimeter(candidates[j])){candidates[i].tooNear=true}else{candidates[j].tooNear=true}}}}for(i=0;i<len;++i){if(!candidates[i].tooNear){notTooNear.push(candidates[i])}}return notTooNear};AR.Detector.prototype.findMarkers=function(imageSrc,candidates,warpSize){var markers=[],len=candidates.length,candidate,marker,i;for(i=0;i<len;++i){candidate=candidates[i];CV.warp(imageSrc,this.homography,candidate,warpSize);CV.threshold(this.homography,this.homography,CV.otsu(this.homography));marker=this.getMarker(this.homography,candidate);if(marker){markers.push(marker)}}return markers};AR.Detector.prototype.getMarker=function(imageSrc,candidate){var width=imageSrc.width/7>>>0,minZero=width*width>>1,bits=[],rotations=[],distances=[],square,pair,inc,i,j;for(i=0;i<7;++i){inc=0===i||6===i?1:6;for(j=0;j<7;j+=inc){square={x:j*width,y:i*width,width:width,height:width};if(CV.countNonZero(imageSrc,square)>minZero){return null}}}for(i=0;i<5;++i){bits[i]=[];for(j=0;j<5;++j){square={x:(j+1)*width,y:(i+1)*width,width:width,height:width};bits[i][j]=CV.countNonZero(imageSrc,square)>minZero?1:0}}rotations[0]=bits;distances[0]=this.hammingDistance(rotations[0]);pair={first:distances[0],second:0};for(i=1;i<4;++i){rotations[i]=this.rotate(rotations[i-1]);distances[i]=this.hammingDistance(rotations[i]);if(distances[i]<pair.first){pair.first=distances[i];pair.second=i}}if(0!==pair.first){return null}return new AR.Marker(this.mat2id(rotations[pair.second]),this.rotate2(candidate,4-pair.second))};AR.Detector.prototype.hammingDistance=function(bits){var ids=[[1,0,0,0,0],[1,0,1,1,1],[0,1,0,0,1],[0,1,1,1,0]],dist=0,sum,minSum,i,j,k;for(i=0;i<5;++i){minSum=Infinity;for(j=0;j<4;++j){sum=0;for(k=0;k<5;++k){sum+=bits[i][k]===ids[j][k]?0:1}if(sum<minSum){minSum=sum}}dist+=minSum}return dist};AR.Detector.prototype.mat2id=function(bits){var id=0,i;for(i=0;i<5;++i){id<<=1;id|=bits[i][1];id<<=1;id|=bits[i][3]}return id};AR.Detector.prototype.rotate=function(src){var dst=[],len=src.length,i,j;for(i=0;i<len;++i){dst[i]=[];for(j=0;j<src[i].length;++j){dst[i][j]=src[src[i].length-j-1][i]}}return dst};AR.Detector.prototype.rotate2=function(src,rotation){var dst=[],len=src.length,i;for(i=0;i<len;++i){dst[i]=src[(rotation+i)%len]}return dst};var CV=CV||{};CV.Image=function(width,height,data){this.width=width||0;this.height=height||0;this.data=data||[]};CV.grayscale=function(imageSrc,imageDst){var src=imageSrc.data,dst=imageDst.data,len=src.length,i=0,j=0;for(;i<len;i+=4){dst[j++]=src[i]*.299+src[i+1]*.587+src[i+2]*.114+.5&255}imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;return imageDst};CV.threshold=function(imageSrc,imageDst,threshold){var src=imageSrc.data,dst=imageDst.data,len=src.length,tab=[],i;for(i=0;i<256;++i){tab[i]=i<=threshold?0:255}for(i=0;i<len;++i){dst[i]=tab[src[i]]}imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;return imageDst};CV.adaptiveThreshold=function(imageSrc,imageDst,kernelSize,threshold){var src=imageSrc.data,dst=imageDst.data,len=src.length,tab=[],i;CV.stackBoxBlur(imageSrc,imageDst,kernelSize);for(i=0;i<768;++i){tab[i]=i-255<=-threshold?255:0}for(i=0;i<len;++i){dst[i]=tab[src[i]-dst[i]+255]}imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;return imageDst};CV.otsu=function(imageSrc){var src=imageSrc.data,len=src.length,hist=[],threshold=0,sum=0,sumB=0,wB=0,wF=0,max=0,mu,between,i;for(i=0;i<256;++i){hist[i]=0}for(i=0;i<len;++i){hist[src[i]]++}for(i=0;i<256;++i){sum+=hist[i]*i}for(i=0;i<256;++i){wB+=hist[i];if(0!==wB){wF=len-wB;if(0===wF){break}sumB+=hist[i]*i;mu=sumB/wB-(sum-sumB)/wF;between=wB*wF*mu*mu;if(between>max){max=between;threshold=i}}}return threshold};CV.stackBoxBlurMult=[1,171,205,293,57,373,79,137,241,27,391,357,41,19,283,265];CV.stackBoxBlurShift=[0,9,10,11,9,12,10,11,12,9,13,13,10,9,13,13];CV.BlurStack=function(){this.color=0;this.next=null};CV.stackBoxBlur=function(imageSrc,imageDst,kernelSize){var src=imageSrc.data,dst=imageDst.data,height=imageSrc.height,width=imageSrc.width,heightMinus1=height-1,widthMinus1=width-1,size=kernelSize+kernelSize+1,radius=kernelSize+1,mult=CV.stackBoxBlurMult[kernelSize],shift=CV.stackBoxBlurShift[kernelSize],stack,stackStart,color,sum,pos,start,p,x,y,i;stack=stackStart=new CV.BlurStack;for(i=1;i<size;++i){stack=stack.next=new CV.BlurStack}stack.next=stackStart;pos=0;for(y=0;y<height;++y){start=pos;color=src[pos];sum=radius*color;stack=stackStart;for(i=0;i<radius;++i){stack.color=color;stack=stack.next}for(i=1;i<radius;++i){stack.color=src[pos+i];sum+=stack.color;stack=stack.next}stack=stackStart;for(x=0;x<width;++x){dst[pos++]=sum*mult>>>shift;p=x+radius;p=start+(p<widthMinus1?p:widthMinus1);sum-=stack.color-src[p];stack.color=src[p];stack=stack.next}}for(x=0;x<width;++x){pos=x;start=pos+width;color=dst[pos];sum=radius*color;stack=stackStart;for(i=0;i<radius;++i){stack.color=color;stack=stack.next}for(i=1;i<radius;++i){stack.color=dst[start];sum+=stack.color;stack=stack.next;start+=width}stack=stackStart;for(y=0;y<height;++y){dst[pos]=sum*mult>>>shift;p=y+radius;p=x+(p<heightMinus1?p:heightMinus1)*width;sum-=stack.color-dst[p];stack.color=dst[p];stack=stack.next;pos+=width}}return imageDst};CV.gaussianBlur=function(imageSrc,imageDst,imageMean,kernelSize){var kernel=CV.gaussianKernel(kernelSize);imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;imageMean.width=imageSrc.width;imageMean.height=imageSrc.height;CV.gaussianBlurFilter(imageSrc,imageMean,kernel,true);CV.gaussianBlurFilter(imageMean,imageDst,kernel,false);return imageDst};CV.gaussianBlurFilter=function(imageSrc,imageDst,kernel,horizontal){var src=imageSrc.data,dst=imageDst.data,height=imageSrc.height,width=imageSrc.width,pos=0,limit=kernel.length>>1,cur,value,i,j,k;for(i=0;i<height;++i){for(j=0;j<width;++j){value=0;for(k=-limit;k<=limit;++k){if(horizontal){cur=pos+k;if(j+k<0){cur=pos}else if(j+k>=width){cur=pos}}else{cur=pos+k*width;if(i+k<0){cur=pos}else if(i+k>=height){cur=pos}}value+=kernel[limit+k]*src[cur]}dst[pos++]=horizontal?value:value+.5&255}}return imageDst};CV.gaussianKernel=function(kernelSize){var tab=[[1],[.25,.5,.25],[.0625,.25,.375,.25,.0625],[.03125,.109375,.21875,.28125,.21875,.109375,.03125]],kernel=[],center,sigma,scale2X,sum,x,i;if(kernelSize<=7&&kernelSize%2===1){kernel=tab[kernelSize>>1]}else{center=(kernelSize-1)*.5;sigma=.8+.3*(center-1);scale2X=-.5/(sigma*sigma);sum=0;for(i=0;i<kernelSize;++i){x=i-center;sum+=kernel[i]=Math.exp(scale2X*x*x)}sum=1/sum;for(i=0;i<kernelSize;++i){kernel[i]*=sum}}return kernel};CV.findContours=function(imageSrc,binary){var width=imageSrc.width,height=imageSrc.height,contours=[],src,deltas,pos,pix,nbd,outer,hole,i,j;src=CV.binaryBorder(imageSrc,binary);deltas=CV.neighborhoodDeltas(width+2);pos=width+3;nbd=1;for(i=0;i<height;++i,pos+=2){for(j=0;j<width;++j,++pos){pix=src[pos];if(0!==pix){outer=hole=false;if(1===pix&&0===src[pos-1]){outer=true}else if(pix>=1&&0===src[pos+1]){hole=true}if(outer||hole){++nbd;contours.push(CV.borderFollowing(src,pos,nbd,{x:j,y:i},hole,deltas))}}}}return contours};CV.borderFollowing=function(src,pos,nbd,point,hole,deltas){var contour=[],pos1,pos3,pos4,s,s_end,s_prev;contour.hole=hole;s=s_end=hole?0:4;do{s=s-1&7;pos1=pos+deltas[s];if(src[pos1]!==0){break}}while(s!==s_end);if(s===s_end){src[pos]=-nbd;contour.push({x:point.x,y:point.y})}else{pos3=pos;s_prev=s^4;while(true){s_end=s;do{pos4=pos3+deltas[++s]}while(src[pos4]===0);s&=7;if(s-1>>>0<s_end>>>0){src[pos3]=-nbd}else if(src[pos3]===1){src[pos3]=nbd}contour.push({x:point.x,y:point.y});s_prev=s;point.x+=CV.neighborhood[s][0];point.y+=CV.neighborhood[s][1];if(pos4===pos&&pos3===pos1){break}pos3=pos4;s=s+4&7}}return contour};CV.neighborhood=[[1,0],[1,-1],[0,-1],[-1,-1],[-1,0],[-1,1],[0,1],[1,1]];CV.neighborhoodDeltas=function(width){var deltas=[],len=CV.neighborhood.length,i=0;for(;i<len;++i){deltas[i]=CV.neighborhood[i][0]+CV.neighborhood[i][1]*width}return deltas.concat(deltas)};CV.approxPolyDP=function(contour,epsilon){var slice={start_index:0,end_index:0},right_slice={start_index:0,end_index:0},poly=[],stack=[],len=contour.length,pt,start_pt,end_pt,dist,max_dist,le_eps,dx,dy,i,j,k;epsilon*=epsilon;k=0;for(i=0;i<3;++i){max_dist=0;k=(k+right_slice.start_index)%len;start_pt=contour[k];if(++k===len){k=0}for(j=1;j<len;++j){pt=contour[k];if(++k===len){k=0}dx=pt.x-start_pt.x;dy=pt.y-start_pt.y;dist=dx*dx+dy*dy;if(dist>max_dist){max_dist=dist;right_slice.start_index=j}}}if(max_dist<=epsilon){poly.push({x:start_pt.x,y:start_pt.y})}else{slice.start_index=k;slice.end_index=right_slice.start_index+=slice.start_index;right_slice.start_index-=right_slice.start_index>=len?len:0;right_slice.end_index=slice.start_index;if(right_slice.end_index<right_slice.start_index){right_slice.end_index+=len}stack.push({start_index:right_slice.start_index,end_index:right_slice.end_index});stack.push({start_index:slice.start_index,end_index:slice.end_index})}while(stack.length!==0){slice=stack.pop();end_pt=contour[slice.end_index%len];start_pt=contour[k=slice.start_index%len];if(++k===len){k=0}if(slice.end_index<=slice.start_index+1){le_eps=true}else{max_dist=0;dx=end_pt.x-start_pt.x;dy=end_pt.y-start_pt.y;for(i=slice.start_index+1;i<slice.end_index;++i){pt=contour[k];if(++k===len){k=0}dist=Math.abs((pt.y-start_pt.y)*dx-(pt.x-start_pt.x)*dy);if(dist>max_dist){max_dist=dist;right_slice.start_index=i}}le_eps=max_dist*max_dist<=epsilon*(dx*dx+dy*dy)}if(le_eps){poly.push({x:start_pt.x,y:start_pt.y})}else{right_slice.end_index=slice.end_index;slice.end_index=right_slice.start_index;stack.push({start_index:right_slice.start_index,end_index:right_slice.end_index});stack.push({start_index:slice.start_index,end_index:slice.end_index})}}return poly};CV.warp=function(imageSrc,imageDst,contour,warpSize){var src=imageSrc.data,dst=imageDst.data,width=imageSrc.width,height=imageSrc.height,pos=0,sx1,sx2,dx1,dx2,sy1,sy2,dy1,dy2,p1,p2,p3,p4,m,r,s,t,u,v,w,x,y,i,j;m=CV.getPerspectiveTransform(contour,warpSize-1);r=m[8];s=m[2];t=m[5];for(i=0;i<warpSize;++i){r+=m[7];s+=m[1];t+=m[4];u=r;v=s;w=t;for(j=0;j<warpSize;++j){u+=m[6];v+=m[0];w+=m[3];x=v/u;y=w/u;sx1=x>>>0;sx2=sx1===width-1?sx1:sx1+1;dx1=x-sx1;dx2=1-dx1;sy1=y>>>0;sy2=sy1===height-1?sy1:sy1+1;dy1=y-sy1;dy2=1-dy1;p1=p2=sy1*width;p3=p4=sy2*width;dst[pos++]=dy2*(dx2*src[p1+sx1]+dx1*src[p2+sx2])+dy1*(dx2*src[p3+sx1]+dx1*src[p4+sx2])&255}}imageDst.width=warpSize;imageDst.height=warpSize;return imageDst};CV.getPerspectiveTransform=function(src,size){var rq=CV.square2quad(src);rq[0]/=size;rq[1]/=size;rq[3]/=size;rq[4]/=size;rq[6]/=size;rq[7]/=size;return rq};CV.square2quad=function(src){var sq=[],px,py,dx1,dx2,dy1,dy2,den;px=src[0].x-src[1].x+src[2].x-src[3].x;py=src[0].y-src[1].y+src[2].y-src[3].y;if(0===px&&0===py){sq[0]=src[1].x-src[0].x;sq[1]=src[2].x-src[1].x;sq[2]=src[0].x;sq[3]=src[1].y-src[0].y;sq[4]=src[2].y-src[1].y;sq[5]=src[0].y;sq[6]=0;sq[7]=0;sq[8]=1}else{dx1=src[1].x-src[2].x;dx2=src[3].x-src[2].x;dy1=src[1].y-src[2].y;dy2=src[3].y-src[2].y;den=dx1*dy2-dx2*dy1;sq[6]=(px*dy2-dx2*py)/den;sq[7]=(dx1*py-px*dy1)/den;sq[8]=1;sq[0]=src[1].x-src[0].x+sq[6]*src[1].x;sq[1]=src[3].x-src[0].x+sq[7]*src[3].x;sq[2]=src[0].x;sq[3]=src[1].y-src[0].y+sq[6]*src[1].y;sq[4]=src[3].y-src[0].y+sq[7]*src[3].y;sq[5]=src[0].y}return sq};CV.isContourConvex=function(contour){var orientation=0,convex=true,len=contour.length,i=0,j=0,cur_pt,prev_pt,dxdy0,dydx0,dx0,dy0,dx,dy;prev_pt=contour[len-1];cur_pt=contour[0];dx0=cur_pt.x-prev_pt.x;dy0=cur_pt.y-prev_pt.y;for(;i<len;++i){if(++j===len){j=0}prev_pt=cur_pt;cur_pt=contour[j];dx=cur_pt.x-prev_pt.x;dy=cur_pt.y-prev_pt.y;dxdy0=dx*dy0;dydx0=dy*dx0;orientation|=dydx0>dxdy0?1:dydx0<dxdy0?2:3;if(3===orientation){convex=false;break}dx0=dx;dy0=dy}return convex};CV.perimeter=function(poly){var len=poly.length,i=0,j=len-1,p=0,dx,dy;for(;i<len;j=i++){dx=poly[i].x-poly[j].x;dy=poly[i].y-poly[j].y;p+=Math.sqrt(dx*dx+dy*dy)}return p};CV.minEdgeLength=function(poly){var len=poly.length,i=0,j=len-1,min=Infinity,d,dx,dy;for(;i<len;j=i++){dx=poly[i].x-poly[j].x;dy=poly[i].y-poly[j].y;d=dx*dx+dy*dy;if(d<min){min=d}}return Math.sqrt(min)};CV.countNonZero=function(imageSrc,square){var src=imageSrc.data,height=square.height,width=square.width,pos=square.x+square.y*imageSrc.width,span=imageSrc.width-width,nz=0,i,j;for(i=0;i<height;++i){for(j=0;j<width;++j){if(0!==src[pos++]){++nz}}pos+=span}return nz};CV.binaryBorder=function(imageSrc,dst){var src=imageSrc.data,height=imageSrc.height,width=imageSrc.width,posSrc=0,posDst=0,i,j;for(j=-2;j<width;++j){dst[posDst++]=0}for(i=0;i<height;++i){dst[posDst++]=0;for(j=0;j<width;++j){dst[posDst++]=0===src[posSrc++]?0:1}dst[posDst++]=0}for(j=-2;j<width;++j){dst[posDst++]=0}return dst};var POS=POS||{};POS.Posit=function(modelSize,focalLength){this.objectPoints=this.buildModel(modelSize);this.focalLength=focalLength;this.objectVectors=[];this.objectNormal=[];this.objectMatrix=[[],[],[]];this.init()};POS.Posit.prototype.buildModel=function(modelSize){var half=modelSize/2;return[[-half,half,0],[half,half,0],[half,-half,0],[-half,-half,0]]};POS.Posit.prototype.init=function(){var np=this.objectPoints.length,vectors=[],n=[],len=0,row=2,i;for(i=0;i<np;++i){this.objectVectors[i]=[this.objectPoints[i][0]-this.objectPoints[0][0],this.objectPoints[i][1]-this.objectPoints[0][1],this.objectPoints[i][2]-this.objectPoints[0][2]];vectors[i]=[this.objectVectors[i][0],this.objectVectors[i][1],this.objectVectors[i][2]]}while(0===len){n[0]=this.objectVectors[1][1]*this.objectVectors[row][2]-this.objectVectors[1][2]*this.objectVectors[row][1];n[1]=this.objectVectors[1][2]*this.objectVectors[row][0]-this.objectVectors[1][0]*this.objectVectors[row][2];n[2]=this.objectVectors[1][0]*this.objectVectors[row][1]-this.objectVectors[1][1]*this.objectVectors[row][0];len=Math.sqrt(n[0]*n[0]+n[1]*n[1]+n[2]*n[2]);++row}for(i=0;i<3;++i){this.objectNormal[i]=n[i]/len}POS.pseudoInverse(vectors,np,this.objectMatrix)};POS.Posit.prototype.pose=function(imagePoints){var posRotation1=[[],[],[]],posRotation2=[[],[],[]],posTranslation=[],rotation1=[[],[],[]],rotation2=[[],[],[]],translation1=[],translation2=[],error1,error2,valid1,valid2,i,j;this.pos(imagePoints,posRotation1,posRotation2,posTranslation);valid1=this.isValid(posRotation1,posTranslation);if(valid1){error1=this.iterate(imagePoints,posRotation1,posTranslation,rotation1,translation1)}else{error1={euclidean:-1,pixels:-1,maximum:-1}}valid2=this.isValid(posRotation2,posTranslation);if(valid2){error2=this.iterate(imagePoints,posRotation2,posTranslation,rotation2,translation2)}else{error2={euclidean:-1,pixels:-1,maximum:-1}}for(i=0;i<3;++i){for(j=0;j<3;++j){if(valid1){translation1[i]-=rotation1[i][j]*this.objectPoints[0][j]}if(valid2){translation2[i]-=rotation2[i][j]*this.objectPoints[0][j]}}}return error1.euclidean<error2.euclidean?new POS.Pose(error1.pixels,rotation1,translation1,error2.pixels,rotation2,translation2):new POS.Pose(error2.pixels,rotation2,translation2,error1.pixels,rotation1,translation1)};POS.Posit.prototype.pos=function(imagePoints,rotation1,rotation2,translation){var np=this.objectPoints.length,imageVectors=[],i0=[],j0=[],ivec=[],jvec=[],row1=[],row2=[],row3=[],i0i0,j0j0,i0j0,delta,q,lambda,mu,scale,i,j;for(i=0;i<np;++i){imageVectors[i]=[imagePoints[i].x-imagePoints[0].x,imagePoints[i].y-imagePoints[0].y]}for(i=0;i<3;++i){i0[i]=0;j0[i]=0;for(j=0;j<np;++j){i0[i]+=this.objectMatrix[i][j]*imageVectors[j][0];j0[i]+=this.objectMatrix[i][j]*imageVectors[j][1]}}i0i0=i0[0]*i0[0]+i0[1]*i0[1]+i0[2]*i0[2];j0j0=j0[0]*j0[0]+j0[1]*j0[1]+j0[2]*j0[2];i0j0=i0[0]*j0[0]+i0[1]*j0[1]+i0[2]*j0[2];delta=(j0j0-i0i0)*(j0j0-i0i0)+4*(i0j0*i0j0);if(j0j0-i0i0>=0){q=(j0j0-i0i0+Math.sqrt(delta))/2}else{q=(j0j0-i0i0-Math.sqrt(delta))/2}if(q>=0){lambda=Math.sqrt(q);if(0===lambda){mu=0}else{mu=-i0j0/lambda}}else{lambda=Math.sqrt(-(i0j0*i0j0)/q);if(0===lambda){mu=Math.sqrt(i0i0-j0j0)}else{mu=-i0j0/lambda}}for(i=0;i<3;++i){ivec[i]=i0[i]+lambda*this.objectNormal[i];jvec[i]=j0[i]+mu*this.objectNormal[i]}scale=Math.sqrt(ivec[0]*ivec[0]+ivec[1]*ivec[1]+ivec[2]*ivec[2]);for(i=0;i<3;++i){row1[i]=ivec[i]/scale;row2[i]=jvec[i]/scale}row3[0]=row1[1]*row2[2]-row1[2]*row2[1];row3[1]=row1[2]*row2[0]-row1[0]*row2[2];row3[2]=row1[0]*row2[1]-row1[1]*row2[0];for(i=0;i<3;++i){rotation1[0][i]=row1[i];rotation1[1][i]=row2[i];rotation1[2][i]=row3[i]}for(i=0;i<3;++i){ivec[i]=i0[i]-lambda*this.objectNormal[i];jvec[i]=j0[i]-mu*this.objectNormal[i]}for(i=0;i<3;++i){row1[i]=ivec[i]/scale;row2[i]=jvec[i]/scale}row3[0]=row1[1]*row2[2]-row1[2]*row2[1];row3[1]=row1[2]*row2[0]-row1[0]*row2[2];row3[2]=row1[0]*row2[1]-row1[1]*row2[0];for(i=0;i<3;++i){rotation2[0][i]=row1[i];rotation2[1][i]=row2[i];rotation2[2][i]=row3[i]}translation[0]=imagePoints[0].x/scale;translation[1]=imagePoints[0].y/scale;translation[2]=this.focalLength/scale};POS.Posit.prototype.isValid=function(rotation,translation){var np=this.objectPoints.length,zmin=Infinity,i=0,zi;for(;i<np;++i){zi=translation[2]+(rotation[2][0]*this.objectVectors[i][0]+rotation[2][1]*this.objectVectors[i][1]+rotation[2][2]*this.objectVectors[i][2]);if(zi<zmin){zmin=zi}}return zmin>=0};POS.Posit.prototype.iterate=function(imagePoints,posRotation,posTranslation,rotation,translation){var np=this.objectPoints.length,oldSopImagePoints=[],sopImagePoints=[],rotation1=[[],[],[]],rotation2=[[],[],[]],translation1=[],translation2=[],converged=false,iteration=0,oldImageDifference,imageDifference,factor,error,error1,error2,delta,i,j;for(i=0;i<np;++i){oldSopImagePoints[i]={x:imagePoints[i].x,y:imagePoints[i].y}}for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=posRotation[i][j]}translation[i]=posTranslation[i]}for(i=0;i<np;++i){factor=0;for(j=0;j<3;++j){factor+=this.objectVectors[i][j]*rotation[2][j]/translation[2]}sopImagePoints[i]={x:(1+factor)*imagePoints[i].x,y:(1+factor)*imagePoints[i].y}}imageDifference=0;for(i=0;i<np;++i){imageDifference+=Math.abs(sopImagePoints[i].x-oldSopImagePoints[i].x);imageDifference+=Math.abs(sopImagePoints[i].y-oldSopImagePoints[i].y)}for(i=0;i<3;++i){translation1[i]=translation[i]-(rotation[i][0]*this.objectPoints[0][0]+rotation[i][1]*this.objectPoints[0][1]+rotation[i][2]*this.objectPoints[0][2])}error=error1=this.error(imagePoints,rotation,translation1);converged=0===error1.pixels||imageDifference<.01;while(iteration++<100&&!converged){for(i=0;i<np;++i){oldSopImagePoints[i].x=sopImagePoints[i].x;oldSopImagePoints[i].y=sopImagePoints[i].y}this.pos(sopImagePoints,rotation1,rotation2,translation);for(i=0;i<3;++i){translation1[i]=translation[i]-(rotation1[i][0]*this.objectPoints[0][0]+rotation1[i][1]*this.objectPoints[0][1]+rotation1[i][2]*this.objectPoints[0][2]);translation2[i]=translation[i]-(rotation2[i][0]*this.objectPoints[0][0]+rotation2[i][1]*this.objectPoints[0][1]+rotation2[i][2]*this.objectPoints[0][2])}error1=this.error(imagePoints,rotation1,translation1);error2=this.error(imagePoints,rotation2,translation2);if(error1.euclidean>=0&&error2.euclidean>=0){if(error2.euclidean<error1.euclidean){error=error2;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation2[i][j]}}}else{error=error1;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation1[i][j]}}}}if(error1.euclidean<0&&error2.euclidean>=0){error=error2;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation2[i][j]}}}if(error2.euclidean<0&&error1.euclidean>=0){error=error1;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation1[i][j]}}}for(i=0;i<np;++i){factor=0;for(j=0;j<3;++j){factor+=this.objectVectors[i][j]*rotation[2][j]/translation[2]}sopImagePoints[i].x=(1+factor)*imagePoints[i].x;sopImagePoints[i].y=(1+factor)*imagePoints[i].y}oldImageDifference=imageDifference;imageDifference=0;for(i=0;i<np;++i){imageDifference+=Math.abs(sopImagePoints[i].x-oldSopImagePoints[i].x);imageDifference+=Math.abs(sopImagePoints[i].y-oldSopImagePoints[i].y)}delta=Math.abs(imageDifference-oldImageDifference);converged=0===error.pixels||delta<.01}return error};POS.Posit.prototype.error=function(imagePoints,rotation,translation){var np=this.objectPoints.length,move=[],projection=[],errorvec=[],euclidean=0,pixels=0,maximum=0,i,j,k;if(!this.isValid(rotation,translation)){return{euclidean:-1,pixels:-1,maximum:-1}}for(i=0;i<np;++i){move[i]=[];for(j=0;j<3;++j){move[i][j]=translation[j]}}for(i=0;i<np;++i){for(j=0;j<3;++j){for(k=0;k<3;++k){move[i][j]+=rotation[j][k]*this.objectPoints[i][k]}}}for(i=0;i<np;++i){projection[i]=[];for(j=0;j<2;++j){projection[i][j]=this.focalLength*move[i][j]/move[i][2]}}for(i=0;i<np;++i){errorvec[i]=[projection[i][0]-imagePoints[i].x,projection[i][1]-imagePoints[i].y]}for(i=0;i<np;++i){euclidean+=Math.sqrt(errorvec[i][0]*errorvec[i][0]+errorvec[i][1]*errorvec[i][1]);pixels+=Math.abs(Math.round(projection[i][0])-Math.round(imagePoints[i].x))+Math.abs(Math.round(projection[i][1])-Math.round(imagePoints[i].y));if(Math.abs(errorvec[i][0])>maximum){maximum=Math.abs(errorvec[i][0])}if(Math.abs(errorvec[i][1])>maximum){maximum=Math.abs(errorvec[i][1])}}return{euclidean:euclidean/np,pixels:pixels,maximum:maximum}};POS.pseudoInverse=function(a,n,b){var w=[],v=[[],[],[]],s=[[],[],[]],wmax=0,cn=0,i,j,k;SVD.svdcmp(a,n,3,w,v);for(i=0;i<3;++i){if(w[i]>wmax){wmax=w[i]}}wmax*=.01;for(i=0;i<3;++i){if(w[i]<wmax){w[i]=0}}for(j=0;j<3;++j){if(0===w[j]){++cn;for(k=j;k<2;++k){for(i=0;i<n;++i){a[i][k]=a[i][k+1]}for(i=0;i<3;++i){v[i][k]=v[i][k+1]}}}}for(j=0;j<2;++j){if(0===w[j]){w[j]=w[j+1]}}for(i=0;i<3;++i){for(j=0;j<3-cn;++j){s[i][j]=v[i][j]/w[j]}}for(i=0;i<3;++i){for(j=0;j<n;++j){b[i][j]=0;for(k=0;k<3-cn;++k){b[i][j]+=s[i][k]*a[j][k]}}}};POS.Pose=function(error1,rotation1,translation1,error2,rotation2,translation2){this.bestError=error1;this.bestRotation=rotation1;this.bestTranslation=translation1;this.alternativeError=error2;this.alternativeRotation=rotation2;this.alternativeTranslation=translation2};var SVD=SVD||{};SVD.svdcmp=function(a,m,n,w,v){var flag,i,its,j,jj,k,l,nm,anorm=0,c,f,g=0,h,s,scale=0,x,y,z,rv1=[];for(i=0;i<n;++i){l=i+1;rv1[i]=scale*g;g=s=scale=0;if(i<m){for(k=i;k<m;++k){scale+=Math.abs(a[k][i])}if(0!==scale){for(k=i;k<m;++k){a[k][i]/=scale;s+=a[k][i]*a[k][i]}f=a[i][i];g=-SVD.sign(Math.sqrt(s),f);h=f*g-s;a[i][i]=f-g;for(j=l;j<n;++j){for(s=0,k=i;k<m;++k){s+=a[k][i]*a[k][j]}f=s/h;for(k=i;k<m;++k){a[k][j]+=f*a[k][i]}}for(k=i;k<m;++k){a[k][i]*=scale}}}w[i]=scale*g;g=s=scale=0;if(i<m&&i!==n-1){for(k=l;k<n;++k){scale+=Math.abs(a[i][k])}if(0!==scale){for(k=l;k<n;++k){a[i][k]/=scale;s+=a[i][k]*a[i][k]}f=a[i][l];g=-SVD.sign(Math.sqrt(s),f);h=f*g-s;a[i][l]=f-g;for(k=l;k<n;++k){rv1[k]=a[i][k]/h}for(j=l;j<m;++j){for(s=0,k=l;k<n;++k){s+=a[j][k]*a[i][k]}for(k=l;k<n;++k){a[j][k]+=s*rv1[k]}}for(k=l;k<n;++k){a[i][k]*=scale}}}anorm=Math.max(anorm,Math.abs(w[i])+Math.abs(rv1[i]))}for(i=n-1;i>=0;--i){if(i<n-1){if(0!==g){for(j=l;j<n;++j){v[j][i]=a[i][j]/a[i][l]/g}for(j=l;j<n;++j){for(s=0,k=l;k<n;++k){s+=a[i][k]*v[k][j]}for(k=l;k<n;++k){v[k][j]+=s*v[k][i]}}}for(j=l;j<n;++j){v[i][j]=v[j][i]=0}}v[i][i]=1;g=rv1[i];l=i}for(i=Math.min(n,m)-1;i>=0;--i){l=i+1;g=w[i];for(j=l;j<n;++j){a[i][j]=0}if(0!==g){g=1/g;for(j=l;j<n;++j){for(s=0,k=l;k<m;++k){s+=a[k][i]*a[k][j]}f=s/a[i][i]*g;for(k=i;k<m;++k){a[k][j]+=f*a[k][i]}}for(j=i;j<m;++j){a[j][i]*=g}}else{for(j=i;j<m;++j){a[j][i]=0}}++a[i][i]}for(k=n-1;k>=0;--k){for(its=1;its<=30;++its){flag=true;for(l=k;l>=0;--l){nm=l-1;if(Math.abs(rv1[l])+anorm===anorm){flag=false;break}if(Math.abs(w[nm])+anorm===anorm){break}}if(flag){c=0;s=1;for(i=l;i<=k;++i){f=s*rv1[i];if(Math.abs(f)+anorm===anorm){break}g=w[i];h=SVD.pythag(f,g);w[i]=h;h=1/h;c=g*h;s=-f*h;for(j=1;j<=m;++j){y=a[j][nm];z=a[j][i];a[j][nm]=y*c+z*s;a[j][i]=z*c-y*s}}}z=w[k];if(l===k){if(z<0){w[k]=-z;for(j=0;j<n;++j){v[j][k]=-v[j][k]}}break}if(30===its){return false}x=w[l];nm=k-1;y=w[nm];g=rv1[nm];h=rv1[k];f=((y-z)*(y+z)+(g-h)*(g+h))/(2*h*y);g=SVD.pythag(f,1);f=((x-z)*(x+z)+h*(y/(f+SVD.sign(g,f))-h))/x;c=s=1;for(j=l;j<=nm;++j){i=j+1;g=rv1[i];y=w[i];h=s*g;g=c*g;z=SVD.pythag(f,h);rv1[j]=z;c=f/z;s=h/z;f=x*c+g*s;g=g*c-x*s;h=y*s;y*=c;for(jj=0;jj<n;++jj){x=v[jj][j];z=v[jj][i];v[jj][j]=x*c+z*s;v[jj][i]=z*c-x*s}z=SVD.pythag(f,h);w[j]=z;if(0!==z){z=1/z;c=f*z;s=h*z}f=c*g+s*y;x=c*y-s*g;for(jj=0;jj<m;++jj){y=a[jj][j];z=a[jj][i];a[jj][j]=y*c+z*s;a[jj][i]=z*c-y*s}}rv1[l]=0;rv1[k]=f;w[k]=x}}return true};SVD.pythag=function(a,b){var at=Math.abs(a),bt=Math.abs(b),ct;if(at>bt){ct=bt/at;return at*Math.sqrt(1+ct*ct)}if(0===bt){return 0}ct=at/bt;return bt*Math.sqrt(1+ct*ct)};SVD.sign=function(a,b){return b>=0?Math.abs(a):-Math.abs(a)};var THREEx=THREEx||{};THREEx.ArucoContext=function(markerSize){this.canvas=document.createElement("canvas");this.canvas.width=80*4;this.canvas.height=60*4;var imageSmoothingEnabled=false;var context=this.canvas.getContext("2d");context.mozImageSmoothingEnabled=imageSmoothingEnabled;context.webkitImageSmoothingEnabled=imageSmoothingEnabled;context.msImageSmoothingEnabled=imageSmoothingEnabled;context.imageSmoothingEnabled=imageSmoothingEnabled;this.detector=new AR.Detector;this.posit=new POS.Posit(markerSize,this.canvas.width)};THREEx.ArucoContext.prototype.detect=function(videoElement){var _this=this;var canvas=this.canvas;var context=canvas.getContext("2d");context.drawImage(videoElement,0,0,canvas.width,canvas.height);var imageData=context.getImageData(0,0,canvas.width,canvas.height);var detectedMarkers=this.detector.detect(imageData);detectedMarkers.forEach(function(detectedMarker){var markerCorners=detectedMarker.corners;var poseCorners=new Array(markerCorners.length);for(var i=0;i<markerCorners.length;++i){var markerCorner=markerCorners[i];poseCorners[i]={x:markerCorner.x-canvas.width/2,y:-markerCorner.y+canvas.height/2}}detectedMarker.pose=_this.posit.pose(poseCorners)});return detectedMarkers};THREEx.ArucoContext.updateObject3D=function(object3D,detectedMarker){var rotation=detectedMarker.pose.bestRotation;var translation=detectedMarker.pose.bestTranslation;object3D.position.x=translation[0];object3D.position.y=translation[1];object3D.position.z=-translation[2];object3D.rotation.x=-Math.asin(-rotation[1][2]);object3D.rotation.y=-Math.atan2(rotation[0][2],rotation[2][2]);object3D.rotation.z=Math.atan2(rotation[1][0],rotation[1][1]);object3D.scale.x=markerSize;object3D.scale.y=markerSize;object3D.scale.z=markerSize};var THREEx=THREEx||{};THREEx.ArucoDebug=function(arucoContext){this.arucoContext=arucoContext;this.canvasElement=document.createElement("canvas");this.canvasElement.width=this.arucoContext.canvas.width;this.canvasElement.height=this.arucoContext.canvas.height};THREEx.ArucoDebug.prototype.clear=function(){var canvas=this.canvasElement;var context=canvas.getContext("2d");context.clearRect(0,0,canvas.width,canvas.height)};THREEx.ArucoDebug.prototype.drawContoursContours=function(){var contours=this.arucoContext.detector.contours;var canvas=this.canvasElement;this.drawContours(contours,0,0,canvas.width,canvas.height,function(hole){return hole?"magenta":"blue"})};THREEx.ArucoDebug.prototype.drawContoursPolys=function(){var contours=this.arucoContext.detector.polys;var canvas=this.canvasElement;this.drawContours(contours,0,0,canvas.width,canvas.height,function(){return"green"})};THREEx.ArucoDebug.prototype.drawContoursCandidates=function(){var contours=this.arucoContext.detector.candidates;var canvas=this.canvasElement;this.drawContours(contours,0,0,canvas.width,canvas.height,function(){return"red"})};THREEx.ArucoDebug.prototype.drawContours=function(contours,x,y,width,height,fn){var i=contours.length,j,contour,point;var canvas=this.canvasElement;var context=canvas.getContext("2d");context.save();while(i--){contour=contours[i];context.strokeStyle=fn(contour.hole);context.beginPath();for(j=0;j<contour.length;++j){point=contour[j];context.moveTo(x+point.x,y+point.y);point=contour[(j+1)%contour.length];context.lineTo(x+point.x,y+point.y)}context.stroke();context.closePath()}context.restore()};THREEx.ArucoDebug.prototype.drawDetectorGrey=function(){var cvImage=arucoContext.detector.grey;this.drawCVImage(cvImage)};THREEx.ArucoDebug.prototype.drawDetectorThreshold=function(){var cvImage=arucoContext.detector.thres;this.drawCVImage(cvImage)};THREEx.ArucoDebug.prototype.drawCVImage=function(cvImage){var detector=this.arucoContext.detector;var canvas=this.canvasElement;var context=canvas.getContext("2d");var imageData=context.createImageData(canvas.width,canvas.height);copyImage(cvImage,imageData);context.putImageData(imageData,0,0);return;function copyImage(src,dst){var i=src.data.length,j=i*4+3;while(i--){dst.data[j-=4]=255;dst.data[j-1]=dst.data[j-2]=dst.data[j-3]=src.data[i]}return dst}};THREEx.ArucoDebug.prototype.drawVideo=function(videoElement){var canvas=this.canvasElement;var context=canvas.getContext("2d");context.drawImage(videoElement,0,0,canvas.width,canvas.height)};THREEx.ArucoDebug.prototype.drawMarkerIDs=function(markers){var canvas=this.canvasElement;var context=canvas.getContext("2d");var corners,corner,x,y,i,j;context.save();context.strokeStyle="blue";context.lineWidth=1;for(i=0;i!==markers.length;++i){corners=markers[i].corners;x=Infinity;y=Infinity;for(j=0;j!==corners.length;++j){corner=corners[j];x=Math.min(x,corner.x);y=Math.min(y,corner.y)}context.strokeText(markers[i].id,x,y)}context.restore()};THREEx.ArucoDebug.prototype.drawMarkerCorners=function(markers){var canvas=this.canvasElement;var corners,corner,i,j;var context=canvas.getContext("2d");context.save();context.lineWidth=3;for(i=0;i<markers.length;++i){corners=markers[i].corners;context.strokeStyle="red";context.beginPath();for(j=0;j<corners.length;++j){corner=corners[j];context.moveTo(corner.x,corner.y);corner=corners[(j+1)%corners.length];context.lineTo(corner.x,corner.y)}context.stroke();context.closePath();context.strokeStyle="green";context.strokeRect(corners[0].x-2,corners[0].y-2,4,4)}context.restore()};var THREEx=THREEx||{};THREEx.ArucoMarkerGenerator=function(){};THREEx.ArucoMarkerGenerator.createSVG=function(markerId,svgSize){var domElement=document.createElement("div");domElement.innerHTML=new ArucoMarker(markerId).toSVG(svgSize);return domElement};THREEx.ArucoMarkerGenerator.createIMG=function(markerId,svgSize){var svgElement=THREEx.ArucoMarkerGenerator.createSVG(markerId,svgSize).firstChild;var xml=(new XMLSerializer).serializeToString(svgElement);var imageURL="data:image/svg+xml;base64,"+btoa(xml);var imageElement=document.createElement("img");
imageElement.src=imageURL;return imageElement};