30:T33d9,AR = { let AR = {}; AR.DICTIONARIES = { ARUCO: ARUCO, ARUCO_MIP_36h12: ARUCO_MIP_36h12, APRILTAG_36h11: APRILTAG_36h11, }; AR.Dictionary = function (dicName) { this.codes = {}; this.codeList = []; this.tau = 0; this._initialize(dicName); }; AR.Dictionary.prototype._initialize = function (dicName) { this.codes = {}; this.codeList = []; this.tau = 0; this.nBits = 0; this.markSize = 0; this.dicName = dicName; var dictionary = AR.DICTIONARIES[dicName]; if (!dictionary) throw 'The dictionary "' + dicName + '" is not recognized.'; this.nBits = dictionary.nBits; this.markSize = Math.sqrt(dictionary.nBits) + 2; for (var i = 0; i < dictionary.codeList.length; i++) { var code = null; if (typeof dictionary.codeList[i] === 'number') code = this._hex2bin(dictionary.codeList[i], dictionary.nBits); if (typeof dictionary.codeList[i] === 'string') code = this._hex2bin(parseInt(dictionary.codeList[i], 16), dictionary.nBits); if (Array.isArray(dictionary.codeList[i])) code = this._bytes2bin(dictionary.codeList[i], dictionary.nBits); if (code === null) throw 'Invalid code ' + i + ' in dictionary ' + dicName + ': ' + JSON.stringify(dictionary.codeList[i]); if (code.length != dictionary.nBits) throw 'The code ' + i + ' in dictionary ' + dicName + ' is not ' + dictionary.nBits + ' bits long but ' + code.length + ': ' + code; this.codeList.push(code); this.codes[code] = { id: i }; } this.tau = dictionary.tau || this._calculateTau(); }; AR.Dictionary.prototype.find = function (bits) { var val = '', i, j; for (i = 0; i < bits.length; i++) { var bitRow = bits[i]; for (j = 0; j < bitRow.length; j++) { val += bitRow[j]; } } var minFound = this.codes[val]; if (minFound) return { id: minFound.id, distance: 0 }; for (i = 0; i < this.codeList.length; i++) { var code = this.codeList[i]; var distance = this._hammingDistance(val, code); if (this._hammingDistance(val, code) < this.tau) { if (!minFound || minFound.distance > distance) { minFound = { id: this.codes[code].id, distance: distance }; } } } return minFound; }; AR.Dictionary.prototype._hex2bin = function (hex, nBits) { return hex.toString(2).padStart(nBits, '0'); }; AR.Dictionary.prototype._bytes2bin = function (byteList, nBits) { var bits = '', byte; for (byte of byteList) { bits += byte.toString(2).padStart(bits.length + 8 > nBits?nBits - bits.length:8, '0'); } return bits; }; AR.Dictionary.prototype._hammingDistance = function (str1, str2) { if (str1.length != str2.length) throw 'Hamming distance calculation require inputs of the same length'; var distance = 0, i; for (i = 0; i < str1.length; i++) if (str1[i] !== str2[i]) distance += 1; return distance; }; AR.Dictionary.prototype._calculateTau = function () { var tau = Number.MAX_VALUE; for(var i=0;i'; svg += ''; svg += ''; for(var y=0;y'; } } svg += ''; return svg; }; AR.Marker = function (id, corners, hammingDistance) { this.id = id; this.corners = corners; this.hammingDistance = hammingDistance; }; AR.Detector = function (config) { config = config || {}; this.grey = new CV.Image(); this.thres = new CV.Image(); this.homography = new CV.Image(); this.binary = []; this.contours = []; this.polys = []; this.candidates = []; config.dictionaryName = config.dictionaryName || 'ARUCO_MIP_36h12'; this.dictionary = new AR.Dictionary(config.dictionaryName); this.dictionary.tau = config.maxHammingDistance != null ? config.maxHammingDistance : this.dictionary.tau; }; AR.Detector.prototype.detectImage = function (width, height, data) { return this.detect({ width: width, height: height, data: data }); }; AR.Detector.prototype.detectStreamInit = function (width, height, callback) { this.streamConfig = {}; this.streamConfig.width = width; this.streamConfig.height = height; this.streamConfig.imageSize = width * height * 4; //provided image must be a sequence of rgba bytes (4 bytes represent a pixel) this.streamConfig.index = 0; this.streamConfig.imageData = new Uint8ClampedArray(this.streamConfig.imageSize); this.streamConfig.callback = callback || function (image, markerList) {}; }; //accept data chunks of different sizes AR.Detector.prototype.detectStream = function (data) { for (var i = 0; i < data.length; i++) { this.streamConfig.imageData[this.streamConfig.index] = data[i]; this.streamConfig.index = (this.streamConfig.index + 1) % this.streamConfig.imageSize; if (this.streamConfig.index == 0) { var image = { width: this.streamConfig.width, height: this.streamConfig.height, data: this.streamConfig.imageData }; var markerList = this.detect(image); this.streamConfig.callback(image, markerList); } } }; AR.Detector.prototype.detectMJPEGStreamInit = function (width, height, callback, decoderFn) { this.mjpeg = { decoderFn: decoderFn, chunks: [], SOI: [0xff, 0xd8], EOI: [0xff, 0xd9] }; this.detectStreamInit(width, height, callback); }; AR.Detector.prototype.detectMJPEGStream = function (chunk) { var eoiPos = chunk.findIndex(function (element, index, array) { return this.mjpeg.EOI[0] == element && array.length > index + 1 && this.mjpeg.EOI[1] == array[index + 1]; }); var soiPos = chunk.findIndex(function (element, index, array) { return this.mjpeg.SOI[0] == element && array.length > index + 1 && this.mjpeg.SOI[1] == array[index + 1]; }); if (eoiPos === -1) { this.mjpeg.chunks.push(chunk); } else { var part1 = chunk.slice(0, eoiPos + 2); if (part1.length) { this.mjpeg.chunks.push(part1); } if (this.mjpeg.chunks.length) { var jpegImage = this.mjpeg.chunks.flat(); var rgba = this.mjpeg.decoderFn(jpegImage); this.detectStream(rgba); } this.mjpeg.chunks = []; } if (soiPos > -1) { this.mjpeg.chunks = []; this.mjpeg.chunks.push(chunk.slice(soiPos)); } }; 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); //Scale Fix: https://stackoverflow.com/questions/35936397/marker-detection-on-paper-sheet-using-javascript //this.candidates = this.findCandidates(this.contours, image.width * 0.20, 0.05, 10); this.candidates = this.findCandidates(this.contours, image.width * 0.01, 0.05, 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 markSize = this.dictionary.markSize; var width = (imageSrc.width / markSize) >>> 0, minZero = (width * width) >> 1, bits = [], rotations = [], square, inc, i, j; for (i = 0; i < markSize; ++i) { inc = (0 === i || (markSize - 1) === i) ? 1 : (markSize - 1); for (j = 0; j < markSize; 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 < markSize - 2; ++i) { bits[i] = []; for (j = 0; j < markSize - 2; ++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; var foundMin = null; var rot = 0; for (i = 0; i < 4; i++) { var found = this.dictionary.find(rotations[i]); if (found && (foundMin === null || found.distance < foundMin.distance)) { foundMin = found; rot = i; if (foundMin.distance === 0) break; } rotations[i + 1] = this.rotate(rotations[i]); } if (foundMin) return new AR.Marker(foundMin.id, this.rotate2(candidate, 4 - rot), foundMin.distance); return null; }; 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; }; return AR }31:T441a,CV = { let 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] * 0.299 + src[i + 1] * 0.587 + src[i + 2] * 0.114 + 0.5) & 0xff; } 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 = 0.0; 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 + 0.5) & 0xff; } } return imageDst; }; CV.gaussianKernel = function (kernelSize) { var tab = [ [1], [0.25, 0.5, 0.25], [0.0625, 0.25, 0.375, 0.25, 0.0625], [0.03125, 0.109375, 0.21875, 0.28125, 0.21875, 0.109375, 0.03125] ], kernel = [], center, sigma, scale2X, sum, x, i; if (kernelSize <= 7 && kernelSize % 2 === 1) { kernel = tab[kernelSize >> 1]; } else { center = (kernelSize - 1.0) * 0.5; sigma = 0.8 + 0.3 * (center - 1.0); scale2X = -0.5 / (sigma * sigma); sum = 0.0; 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 = 1.0 - dx1; sy1 = y >>> 0; sy2 = sy1 === height - 1 ? sy1 : sy1 + 1; dy1 = y - sy1; dy2 = 1.0 - 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])) & 0xff; } } 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 = 0.0, 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; }; return CV }32:T2639,ARUCO = ({ nBits: 25, tau: 3, codeList: [0x1084210,0x1084217,0x1084209,0x108420e,0x10842f0,0x10842f7,0x10842e9,0x10842ee,0x1084130,0x1084137,0x1084129,0x108412e,0x10841d0,0x10841d7,0x10841c9,0x10841ce,0x1085e10,0x1085e17,0x1085e09,0x1085e0e,0x1085ef0,0x1085ef7,0x1085ee9,0x1085eee,0x1085d30,0x1085d37,0x1085d29,0x1085d2e,0x1085dd0,0x1085dd7,0x1085dc9,0x1085dce,0x1082610,0x1082617,0x1082609,0x108260e,0x10826f0,0x10826f7,0x10826e9,0x10826ee,0x1082530,0x1082537,0x1082529,0x108252e,0x10825d0,0x10825d7,0x10825c9,0x10825ce,0x1083a10,0x1083a17,0x1083a09,0x1083a0e,0x1083af0,0x1083af7,0x1083ae9,0x1083aee,0x1083930,0x1083937,0x1083929,0x108392e,0x10839d0,0x10839d7,0x10839c9,0x10839ce,0x10bc210,0x10bc217,0x10bc209,0x10bc20e,0x10bc2f0,0x10bc2f7,0x10bc2e9,0x10bc2ee,0x10bc130,0x10bc137,0x10bc129,0x10bc12e,0x10bc1d0,0x10bc1d7,0x10bc1c9,0x10bc1ce,0x10bde10,0x10bde17,0x10bde09,0x10bde0e,0x10bdef0,0x10bdef7,0x10bdee9,0x10bdeee,0x10bdd30,0x10bdd37,0x10bdd29,0x10bdd2e,0x10bddd0,0x10bddd7,0x10bddc9,0x10bddce,0x10ba610,0x10ba617,0x10ba609,0x10ba60e,0x10ba6f0,0x10ba6f7,0x10ba6e9,0x10ba6ee,0x10ba530,0x10ba537,0x10ba529,0x10ba52e,0x10ba5d0,0x10ba5d7,0x10ba5c9,0x10ba5ce,0x10bba10,0x10bba17,0x10bba09,0x10bba0e,0x10bbaf0,0x10bbaf7,0x10bbae9,0x10bbaee,0x10bb930,0x10bb937,0x10bb929,0x10bb92e,0x10bb9d0,0x10bb9d7,0x10bb9c9,0x10bb9ce,0x104c210,0x104c217,0x104c209,0x104c20e,0x104c2f0,0x104c2f7,0x104c2e9,0x104c2ee,0x104c130,0x104c137,0x104c129,0x104c12e,0x104c1d0,0x104c1d7,0x104c1c9,0x104c1ce,0x104de10,0x104de17,0x104de09,0x104de0e,0x104def0,0x104def7,0x104dee9,0x104deee,0x104dd30,0x104dd37,0x104dd29,0x104dd2e,0x104ddd0,0x104ddd7,0x104ddc9,0x104ddce,0x104a610,0x104a617,0x104a609,0x104a60e,0x104a6f0,0x104a6f7,0x104a6e9,0x104a6ee,0x104a530,0x104a537,0x104a529,0x104a52e,0x104a5d0,0x104a5d7,0x104a5c9,0x104a5ce,0x104ba10,0x104ba17,0x104ba09,0x104ba0e,0x104baf0,0x104baf7,0x104bae9,0x104baee,0x104b930,0x104b937,0x104b929,0x104b92e,0x104b9d0,0x104b9d7,0x104b9c9,0x104b9ce,0x1074210,0x1074217,0x1074209,0x107420e,0x10742f0,0x10742f7,0x10742e9,0x10742ee,0x1074130,0x1074137,0x1074129,0x107412e,0x10741d0,0x10741d7,0x10741c9,0x10741ce,0x1075e10,0x1075e17,0x1075e09,0x1075e0e,0x1075ef0,0x1075ef7,0x1075ee9,0x1075eee,0x1075d30,0x1075d37,0x1075d29,0x1075d2e,0x1075dd0,0x1075dd7,0x1075dc9,0x1075dce,0x1072610,0x1072617,0x1072609,0x107260e,0x10726f0,0x10726f7,0x10726e9,0x10726ee,0x1072530,0x1072537,0x1072529,0x107252e,0x10725d0,0x10725d7,0x10725c9,0x10725ce,0x1073a10,0x1073a17,0x1073a09,0x1073a0e,0x1073af0,0x1073af7,0x1073ae9,0x1073aee,0x1073930,0x1073937,0x1073929,0x107392e,0x10739d0,0x10739d7,0x10739c9,0x10739ce,0x1784210,0x1784217,0x1784209,0x178420e,0x17842f0,0x17842f7,0x17842e9,0x17842ee,0x1784130,0x1784137,0x1784129,0x178412e,0x17841d0,0x17841d7,0x17841c9,0x17841ce,0x1785e10,0x1785e17,0x1785e09,0x1785e0e,0x1785ef0,0x1785ef7,0x1785ee9,0x1785eee,0x1785d30,0x1785d37,0x1785d29,0x1785d2e,0x1785dd0,0x1785dd7,0x1785dc9,0x1785dce,0x1782610,0x1782617,0x1782609,0x178260e,0x17826f0,0x17826f7,0x17826e9,0x17826ee,0x1782530,0x1782537,0x1782529,0x178252e,0x17825d0,0x17825d7,0x17825c9,0x17825ce,0x1783a10,0x1783a17,0x1783a09,0x1783a0e,0x1783af0,0x1783af7,0x1783ae9,0x1783aee,0x1783930,0x1783937,0x1783929,0x178392e,0x17839d0,0x17839d7,0x17839c9,0x17839ce,0x17bc210,0x17bc217,0x17bc209,0x17bc20e,0x17bc2f0,0x17bc2f7,0x17bc2e9,0x17bc2ee,0x17bc130,0x17bc137,0x17bc129,0x17bc12e,0x17bc1d0,0x17bc1d7,0x17bc1c9,0x17bc1ce,0x17bde10,0x17bde17,0x17bde09,0x17bde0e,0x17bdef0,0x17bdef7,0x17bdee9,0x17bdeee,0x17bdd30,0x17bdd37,0x17bdd29,0x17bdd2e,0x17bddd0,0x17bddd7,0x17bddc9,0x17bddce,0x17ba610,0x17ba617,0x17ba609,0x17ba60e,0x17ba6f0,0x17ba6f7,0x17ba6e9,0x17ba6ee,0x17ba530,0x17ba537,0x17ba529,0x17ba52e,0x17ba5d0,0x17ba5d7,0x17ba5c9,0x17ba5ce,0x17bba10,0x17bba17,0x17bba09,0x17bba0e,0x17bbaf0,0x17bbaf7,0x17bbae9,0x17bbaee,0x17bb930,0x17bb937,0x17bb929,0x17bb92e,0x17bb9d0,0x17bb9d7,0x17bb9c9,0x17bb9ce,0x174c210,0x174c217,0x174c209,0x174c20e,0x174c2f0,0x174c2f7,0x174c2e9,0x174c2ee,0x174c130,0x174c137,0x174c129,0x174c12e,0x174c1d0,0x174c1d7,0x174c1c9,0x174c1ce,0x174de10,0x174de17,0x174de09,0x174de0e,0x174def0,0x174def7,0x174dee9,0x174deee,0x174dd30,0x174dd37,0x174dd29,0x174dd2e,0x174ddd0,0x174ddd7,0x174ddc9,0x174ddce,0x174a610,0x174a617,0x174a609,0x174a60e,0x174a6f0,0x174a6f7,0x174a6e9,0x174a6ee,0x174a530,0x174a537,0x174a529,0x174a52e,0x174a5d0,0x174a5d7,0x174a5c9,0x174a5ce,0x174ba10,0x174ba17,0x174ba09,0x174ba0e,0x174baf0,0x174baf7,0x174bae9,0x174baee,0x174b930,0x174b937,0x174b929,0x174b92e,0x174b9d0,0x174b9d7,0x174b9c9,0x174b9ce,0x1774210,0x1774217,0x1774209,0x177420e,0x17742f0,0x17742f7,0x17742e9,0x17742ee,0x1774130,0x1774137,0x1774129,0x177412e,0x17741d0,0x17741d7,0x17741c9,0x17741ce,0x1775e10,0x1775e17,0x1775e09,0x1775e0e,0x1775ef0,0x1775ef7,0x1775ee9,0x1775eee,0x1775d30,0x1775d37,0x1775d29,0x1775d2e,0x1775dd0,0x1775dd7,0x1775dc9,0x1775dce,0x1772610,0x1772617,0x1772609,0x177260e,0x17726f0,0x17726f7,0x17726e9,0x17726ee,0x1772530,0x1772537,0x1772529,0x177252e,0x17725d0,0x17725d7,0x17725c9,0x17725ce,0x1773a10,0x1773a17,0x1773a09,0x1773a0e,0x1773af0,0x1773af7,0x1773ae9,0x1773aee,0x1773930,0x1773937,0x1773929,0x177392e,0x17739d0,0x17739d7,0x17739c9,0x17739ce,0x984210,0x984217,0x984209,0x98420e,0x9842f0,0x9842f7,0x9842e9,0x9842ee,0x984130,0x984137,0x984129,0x98412e,0x9841d0,0x9841d7,0x9841c9,0x9841ce,0x985e10,0x985e17,0x985e09,0x985e0e,0x985ef0,0x985ef7,0x985ee9,0x985eee,0x985d30,0x985d37,0x985d29,0x985d2e,0x985dd0,0x985dd7,0x985dc9,0x985dce,0x982610,0x982617,0x982609,0x98260e,0x9826f0,0x9826f7,0x9826e9,0x9826ee,0x982530,0x982537,0x982529,0x98252e,0x9825d0,0x9825d7,0x9825c9,0x9825ce,0x983a10,0x983a17,0x983a09,0x983a0e,0x983af0,0x983af7,0x983ae9,0x983aee,0x983930,0x983937,0x983929,0x98392e,0x9839d0,0x9839d7,0x9839c9,0x9839ce,0x9bc210,0x9bc217,0x9bc209,0x9bc20e,0x9bc2f0,0x9bc2f7,0x9bc2e9,0x9bc2ee,0x9bc130,0x9bc137,0x9bc129,0x9bc12e,0x9bc1d0,0x9bc1d7,0x9bc1c9,0x9bc1ce,0x9bde10,0x9bde17,0x9bde09,0x9bde0e,0x9bdef0,0x9bdef7,0x9bdee9,0x9bdeee,0x9bdd30,0x9bdd37,0x9bdd29,0x9bdd2e,0x9bddd0,0x9bddd7,0x9bddc9,0x9bddce,0x9ba610,0x9ba617,0x9ba609,0x9ba60e,0x9ba6f0,0x9ba6f7,0x9ba6e9,0x9ba6ee,0x9ba530,0x9ba537,0x9ba529,0x9ba52e,0x9ba5d0,0x9ba5d7,0x9ba5c9,0x9ba5ce,0x9bba10,0x9bba17,0x9bba09,0x9bba0e,0x9bbaf0,0x9bbaf7,0x9bbae9,0x9bbaee,0x9bb930,0x9bb937,0x9bb929,0x9bb92e,0x9bb9d0,0x9bb9d7,0x9bb9c9,0x9bb9ce,0x94c210,0x94c217,0x94c209,0x94c20e,0x94c2f0,0x94c2f7,0x94c2e9,0x94c2ee,0x94c130,0x94c137,0x94c129,0x94c12e,0x94c1d0,0x94c1d7,0x94c1c9,0x94c1ce,0x94de10,0x94de17,0x94de09,0x94de0e,0x94def0,0x94def7,0x94dee9,0x94deee,0x94dd30,0x94dd37,0x94dd29,0x94dd2e,0x94ddd0,0x94ddd7,0x94ddc9,0x94ddce,0x94a610,0x94a617,0x94a609,0x94a60e,0x94a6f0,0x94a6f7,0x94a6e9,0x94a6ee,0x94a530,0x94a537,0x94a529,0x94a52e,0x94a5d0,0x94a5d7,0x94a5c9,0x94a5ce,0x94ba10,0x94ba17,0x94ba09,0x94ba0e,0x94baf0,0x94baf7,0x94bae9,0x94baee,0x94b930,0x94b937,0x94b929,0x94b92e,0x94b9d0,0x94b9d7,0x94b9c9,0x94b9ce,0x974210,0x974217,0x974209,0x97420e,0x9742f0,0x9742f7,0x9742e9,0x9742ee,0x974130,0x974137,0x974129,0x97412e,0x9741d0,0x9741d7,0x9741c9,0x9741ce,0x975e10,0x975e17,0x975e09,0x975e0e,0x975ef0,0x975ef7,0x975ee9,0x975eee,0x975d30,0x975d37,0x975d29,0x975d2e,0x975dd0,0x975dd7,0x975dc9,0x975dce,0x972610,0x972617,0x972609,0x97260e,0x9726f0,0x9726f7,0x9726e9,0x9726ee,0x972530,0x972537,0x972529,0x97252e,0x9725d0,0x9725d7,0x9725c9,0x9725ce,0x973a10,0x973a17,0x973a09,0x973a0e,0x973af0,0x973af7,0x973ae9,0x973aee,0x973930,0x973937,0x973929,0x97392e,0x9739d0,0x9739d7,0x9739c9,0x9739ce,0xe84210,0xe84217,0xe84209,0xe8420e,0xe842f0,0xe842f7,0xe842e9,0xe842ee,0xe84130,0xe84137,0xe84129,0xe8412e,0xe841d0,0xe841d7,0xe841c9,0xe841ce,0xe85e10,0xe85e17,0xe85e09,0xe85e0e,0xe85ef0,0xe85ef7,0xe85ee9,0xe85eee,0xe85d30,0xe85d37,0xe85d29,0xe85d2e,0xe85dd0,0xe85dd7,0xe85dc9,0xe85dce,0xe82610,0xe82617,0xe82609,0xe8260e,0xe826f0,0xe826f7,0xe826e9,0xe826ee,0xe82530,0xe82537,0xe82529,0xe8252e,0xe825d0,0xe825d7,0xe825c9,0xe825ce,0xe83a10,0xe83a17,0xe83a09,0xe83a0e,0xe83af0,0xe83af7,0xe83ae9,0xe83aee,0xe83930,0xe83937,0xe83929,0xe8392e,0xe839d0,0xe839d7,0xe839c9,0xe839ce,0xebc210,0xebc217,0xebc209,0xebc20e,0xebc2f0,0xebc2f7,0xebc2e9,0xebc2ee,0xebc130,0xebc137,0xebc129,0xebc12e,0xebc1d0,0xebc1d7,0xebc1c9,0xebc1ce,0xebde10,0xebde17,0xebde09,0xebde0e,0xebdef0,0xebdef7,0xebdee9,0xebdeee,0xebdd30,0xebdd37,0xebdd29,0xebdd2e,0xebddd0,0xebddd7,0xebddc9,0xebddce,0xeba610,0xeba617,0xeba609,0xeba60e,0xeba6f0,0xeba6f7,0xeba6e9,0xeba6ee,0xeba530,0xeba537,0xeba529,0xeba52e,0xeba5d0,0xeba5d7,0xeba5c9,0xeba5ce,0xebba10,0xebba17,0xebba09,0xebba0e,0xebbaf0,0xebbaf7,0xebbae9,0xebbaee,0xebb930,0xebb937,0xebb929,0xebb92e,0xebb9d0,0xebb9d7,0xebb9c9,0xebb9ce,0xe4c210,0xe4c217,0xe4c209,0xe4c20e,0xe4c2f0,0xe4c2f7,0xe4c2e9,0xe4c2ee,0xe4c130,0xe4c137,0xe4c129,0xe4c12e,0xe4c1d0,0xe4c1d7,0xe4c1c9,0xe4c1ce,0xe4de10,0xe4de17,0xe4de09,0xe4de0e,0xe4def0,0xe4def7,0xe4dee9,0xe4deee,0xe4dd30,0xe4dd37,0xe4dd29,0xe4dd2e,0xe4ddd0,0xe4ddd7,0xe4ddc9,0xe4ddce,0xe4a610,0xe4a617,0xe4a609,0xe4a60e,0xe4a6f0,0xe4a6f7,0xe4a6e9,0xe4a6ee,0xe4a530,0xe4a537,0xe4a529,0xe4a52e,0xe4a5d0,0xe4a5d7,0xe4a5c9,0xe4a5ce,0xe4ba10,0xe4ba17,0xe4ba09,0xe4ba0e,0xe4baf0,0xe4baf7,0xe4bae9,0xe4baee,0xe4b930,0xe4b937,0xe4b929,0xe4b92e,0xe4b9d0,0xe4b9d7,0xe4b9c9,0xe4b9ce,0xe74210,0xe74217,0xe74209,0xe7420e,0xe742f0,0xe742f7,0xe742e9,0xe742ee,0xe74130,0xe74137,0xe74129,0xe7412e,0xe741d0,0xe741d7,0xe741c9,0xe741ce,0xe75e10,0xe75e17,0xe75e09,0xe75e0e,0xe75ef0,0xe75ef7,0xe75ee9,0xe75eee,0xe75d30,0xe75d37,0xe75d29,0xe75d2e,0xe75dd0,0xe75dd7,0xe75dc9,0xe75dce,0xe72610,0xe72617,0xe72609,0xe7260e,0xe726f0,0xe726f7,0xe726e9,0xe726ee,0xe72530,0xe72537,0xe72529,0xe7252e,0xe725d0,0xe725d7,0xe725c9,0xe725ce,0xe73a10,0xe73a17,0xe73a09,0xe73a0e,0xe73af0,0xe73af7,0xe73ae9,0xe73aee,0xe73930,0xe73937,0xe73929,0xe7392e,0xe739d0,0xe739d7,0xe739c9] })33:Tbf3,ARUCO_MIP_36h12 = ({ nBits: 36, tau: 12, codeList: [0xd2b63a09d,0x6001134e5,0x1206fbe72,0xff8ad6cb4,0x85da9bc49,0xb461afe9c,0x6db51fe13,0x5248c541f,0x8f34503,0x8ea462ece,0xeac2be76d,0x1af615c44,0xb48a49f27,0x2e4e1283b,0x78b1f2fa8,0x27d34f57e,0x89222fff1,0x4c1669406,0xbf49b3511,0xdc191cd5d,0x11d7c3f85,0x16a130e35,0xe29f27eff,0x428d8ae0c,0x90d548477,0x2319cbc93,0xc3b0c3dfc,0x424bccc9,0x2a081d630,0x762743d96,0xd0645bf19,0xf38d7fd60,0xc6cbf9a10,0x3c1be7c65,0x276f75e63,0x4490a3f63,0xda60acd52,0x3cc68df59,0xab46f9dae,0x88d533d78,0xb6d62ec21,0xb3c02b646,0x22e56d408,0xac5f5770a,0xaaa993f66,0x4caa07c8d,0x5c9b4f7b0,0xaa9ef0e05,0x705c5750,0xac81f545e,0x735b91e74,0x8cc35cee4,0xe44694d04,0xb5e121de0,0x261017d0f,0xf1d439eb5,0xa1a33ac96,0x174c62c02,0x1ee27f716,0x8b1c5ece9,0x6a05b0c6a,0xd0568dfc,0x192d25e5f,0x1adbeccc8,0xcfec87f00,0xd0b9dde7a,0x88dcef81e,0x445681cb9,0xdbb2ffc83,0xa48d96df1,0xb72cc2e7d,0xc295b53f,0xf49832704,0x9968edc29,0x9e4e1af85,0x8683e2d1b,0x810b45c04,0x6ac44bfe2,0x645346615,0x3990bd598,0x1c9ed0f6a,0xc26729d65,0x83993f795,0x3ac05ac5d,0x357adff3b,0xd5c05565,0x2f547ef44,0x86c115041,0x640fd9e5f,0xce08bbcf7,0x109bb343e,0xc21435c92,0x35b4dfce4,0x459752cf2,0xec915b82c,0x51881eed0,0x2dda7dc97,0x2e0142144,0x42e890f99,0x9a8856527,0x8e80d9d80,0x891cbcf34,0x25dd82410,0x239551d34,0x8fe8f0c70,0x94106a970,0x82609b40c,0xfc9caf36,0x688181d11,0x718613c08,0xf1ab7629,0xa357bfc18,0x4c03b7a46,0x204dedce6,0xad6300d37,0x84cc4cd09,0x42160e5c4,0x87d2adfa8,0x7850e7749,0x4e750fc7c,0xbf2e5dfda,0xd88324da5,0x234b52f80,0x378204514,0xabdf2ad53,0x365e78ef9,0x49caa6ca2,0x3c39ddf3,0xc68c5385d,0x5bfcbbf67,0x623241e21,0xabc90d5cc,0x388c6fe85,0xda0e2d62d,0x10855dfe9,0x4d46efd6b,0x76ea12d61,0x9db377d3d,0xeed0efa71,0xe6ec3ae2f,0x441faee83,0xba19c8ff5,0x313035eab,0x6ce8f7625,0x880dab58d,0x8d3409e0d,0x2be92ee21,0xd60302c6c,0x469ffc724,0x87eebeed3,0x42587ef7a,0x7a8cc4e52,0x76a437650,0x999e41ef4,0x7d0969e42,0xc02baf46b,0x9259f3e47,0x2116a1dc0,0x9f2de4d84,0xeffac29,0x7b371ff8c,0x668339da9,0xd010aee3f,0x1cd00b4c0,0x95070fc3b,0xf84c9a770,0x38f863d76,0x3646ff045,0xce1b96412,0x7a5d45da8,0x14e00ef6c,0x5e95abfd8,0xb2e9cb729,0x36c47dd7,0xb8ee97c6b,0xe9e8f657,0xd4ad2ef1a,0x8811c7f32,0x47bde7c31,0x3adadfb64,0x6e5b28574,0x33e67cd91,0x2ab9fdd2d,0x8afa67f2b,0xe6a28fc5e,0x72049cdbd,0xae65dac12,0x1251a4526,0x1089ab841,0xe2f096ee0,0xb0caee573,0xfd6677e86,0x444b3f518,0xbe8b3a56a,0x680a75cfc,0xac02baea8,0x97d815e1c,0x1d4386e08,0x1a14f5b0e,0xe658a8d81,0xa3868efa7,0x3668a9673,0xe8fc53d85,0x2e2b7edd5,0x8b2470f13,0xf69795f32,0x4589ffc8e,0x2e2080c9c,0x64265f7d,0x3d714dd10,0x1692c6ef1,0x3e67f2f49,0x5041dad63,0x1a1503415,0x64c18c742,0xa72eec35,0x1f0f9dc60,0xa9559bc67,0xf32911d0d,0x21c0d4ffc,0xe01cef5b0,0x4e23a3520,0xaa4f04e49,0xe1c4fcc43,0x208e8f6e8,0x8486774a5,0x9e98c7558,0x2c59fb7dc,0x9446a4613,0x8292dcc2e,0x4d61631,0xd05527809,0xa0163852d,0x8f657f639,0xcca6c3e37,0xcb136bc7a,0xfc5a83e53,0x9aa44fc30,0xbdec1bd3c,0xe020b9f7c,0x4b8f35fb0,0xb8165f637,0x33dc88d69,0x10a2f7e4d,0xc8cb5ff53,0xde259ff6b,0x46d070dd4,0x32d3b9741,0x7075f1c04,0x4d58dbea0] })34:T1b99,APRILTAG_36h11 = ({ nBits: 36, tau: 11, codeList: [0xd5d628584,0xd97f18b49,0xdd280910e,0xe479e9c98,0xebcbca822,0xf31dab3ac,0x56a5d085,0x10652e1d4,0x22b1dfead,0x265ad0472,0x34fe91b86,0x3ff962cd5,0x43a25329a,0x474b4385f,0x4e9d243e9,0x5246149ae,0x5997f5538,0x683bb6c4c,0x6be4a7211,0x7e3158eea,0x81da494af,0x858339a74,0x8cd51a5fe,0x9f21cc2d7,0xa2cabc89c,0xadc58d9eb,0xb16e7dfb0,0xb8c05eb3a,0xd25ef139d,0xd607e1962,0xe4aba3076,0x2dde6a3da,0x43d40c678,0x5620be351,0x64c47fa65,0x686d7002a,0x6c16605ef,0x6fbf50bb4,0x8d06d39dc,0x9f53856b5,0xadf746dc9,0xbc9b084dd,0xd290aa77b,0xd9e28b305,0xe4dd5c454,0xfad2fe6f2,0x181a8151a,0x26be42c2e,0x2e10237b8,0x405cd5491,0x7742eab1c,0x85e6ac230,0x8d388cdba,0x9f853ea93,0xc41ea2445,0xcf1973594,0x14a34a333,0x31eacd15b,0x6c79d2dab,0x73cbb3935,0x89c155bd3,0x8d6a46198,0x91133675d,0xa708d89fb,0xae5ab9585,0xb9558a6d4,0xb98743ab2,0xd6cec68da,0x1506bcaef,0x4becd217a,0x4f95c273f,0x658b649dd,0xa76c4b1b7,0xecf621f56,0x1c8a56a57,0x3628e92ba,0x53706c0e2,0x5e6b3d231,0x7809cfa94,0xe97eead6f,0x5af40604a,0x7492988ad,0xed5994712,0x5eceaf9ed,0x7c1632815,0xc1a0095b4,0xe9e25d52b,0x3a6705419,0xa8333012f,0x4ce5704d0,0x508e60a95,0x877476120,0xa864e950d,0xea45cfce7,0x19da047e8,0x24d4d5937,0x6e079cc9b,0x99f2e11d7,0x33aa50429,0x499ff26c7,0x50f1d3251,0x66e7754ef,0x96ad633ce,0x9a5653993,0xaca30566c,0xc298a790a,0x8be44b65d,0xdc68f354b,0x16f7f919b,0x4dde0e826,0xd548cbd9f,0xe0439ceee,0xfd8b1fd16,0x76521bb7b,0xd92375742,0xcab16d40c,0x730c9dd72,0xad9ba39c2,0xb14493f87,0x52b15651f,0x185409cad,0x77ae2c68d,0x94f5af4b5,0xa13bad55,0x61ea437cd,0xa022399e2,0x203b163d1,0x7bba8f40e,0x95bc9442d,0x41c0b5358,0x8e9c6cc81,0xeb549670,0x9da3a0b51,0xd832a67a1,0xdcd4350bc,0x4aa05fdd2,0x60c7bb44e,0x4b358b96c,0x67299b45,0xb9c89b5fa,0x6975acaea,0x62b8f7afa,0x33567c3d7,0xbac139950,0xa5927c62a,0x5c916e6a4,0x260ecb7d5,0x29b7bbd9a,0x903205f26,0xae72270a4,0x3d2ec51a7,0x82ea55324,0x11a6f3427,0x1ca1c4576,0xa40c81aef,0xbddccd730,0xe617561e,0x969317b0f,0x67f781364,0x610912f96,0xb2549fdfc,0x6e5aaa6b,0xb6c475339,0xc56836a4d,0x844e351eb,0x4647f83b4,0x908a04f5,0x7f51034c9,0xaee537fca,0x5e92494ba,0xd445808f4,0x28d68b563,0x4d25374b,0x2bc065f65,0x96dc3ea0c,0x4b2ade817,0x7c3fd502,0xe768b5caf,0x17605cf6c,0x182741ee4,0x62846097c,0x72b5ebf80,0x263da6e13,0xfa841bcb5,0x7e45e8c69,0x653c81fa0,0x7443b5e70,0xa5234afd,0x74756f24e,0x157ebf02a,0x82ef46939,0x80d420264,0x2aeed3e98,0xb0a1dd4f8,0xb5436be13,0x7b7b4b13b,0x1ce80d6d3,0x16c08427d,0xee54462dd,0x1f7644cce,0x9c7b5cc92,0xe369138f8,0x5d5a66e91,0x485d62f49,0xe6e819e94,0xb1f340eb5,0x9d198ce2,0xd60717437,0x196b856c,0xf0a6173a5,0x12c0e1ec6,0x62b82d5cf,0xad154c067,0xce3778832,0x6b0a7b864,0x4c7686694,0x5058ff3ec,0xd5e21ea23,0x9ff4a76ee,0x9dd981019,0x1bad4d30a,0xc601896d1,0x973439b48,0x1ce7431a8,0x57a8021d6,0xf9dba96e6,0x83a2e4e7c,0x8ea585380,0xaf6c0e744,0x875b73bab,0xda34ca901,0x2ab9727ef,0xd39f21b9a,0x8a10b742f,0x5f8952dba,0xf8da71ab0,0xc25f9df96,0x6f8a5d94,0xe42e63e1a,0xb78409d1b,0x792229add,0x5acf8c455,0x2fc29a9b0,0xea486237b,0xb0c9685a0,0x1ad748a47,0x3b4712d5,0xf29216d30,0x8dad65e49,0xa2cf09dd,0xb5f174c6,0xe54f57743,0xb9cf54d78,0x4a312a88a,0x27babc962,0xb86897111,0xf2ff6c116,0x82274bd8a,0x97023505e,0x52d46edd1,0x585c1f538,0xbddd00e43,0x5590b74df,0x729404a1f,0x65320855e,0xd3d4b6956,0x7ae374f14,0x2d7a60e06,0x315cd9b5e,0xfd36b4eac,0xf1df7642b,0x55db27726,0x8f15ebc19,0x992f8c531,0x62dea2a40,0x928275cab,0x69c263cb9,0xa774cca9e,0x266b2110e,0x1b14acbb8,0x624b8a71b,0x1c539406b,0x3086d529b,0x111dd66e,0x98cd630bf,0x8b9d1ffdc,0x72b2f61e7,0x9ed9d672b,0x96cdd15f3,0x6366c2504,0x6ca9df73a,0xa066d60f0,0xe7a4b8add,0x8264647ef,0xaa195bf81,0x9a3db8244,0x14d2df6a,0xb63265b7,0x2f010de73,0x97e774986,0x248affc29,0xfb57dcd11,0xb1a7e4d9,0x4bfa2d07d,0x54e5cdf96,0x4c15c1c86,0xcd9c61166,0x499380b2a,0x540308d09,0x8b63fe66f,0xc81aeb35e,0x86fe0bd5c,0xce2480c2a,0x1ab29ee60,0x8048daa15,0xdbfeb2d39,0x567c9858c,0x2b6edc5bc,0x2078fca82,0xadacc22aa,0xb92486f49,0x51fac5964,0x691ee6420,0xf63b3e129,0x39be7e572,0xda2ce6c74,0x20cf17a5c,0xee55f9b6e,0xfb8572726,0xb2c2de548,0xcaa9bce92,0xae9182db3,0x74b6e5bd1,0x137b252af,0x51f686881,0xd672f6c02,0x654146ce4,0xf944bc825,0xe8327f809,0x76a73fd59,0xf79da4cb4,0x956f8099b,0x7b5f2655c,0xd06b114a6,0xd0697ca50,0x27c390797,0xbc61ed9b2,0xcc12dd19b,0xeb7818d2c,0x92fcecda,0x89ded4ea1,0x256a0ba34,0xb6948e627,0x1ef6b1054,0x8639294a2,0xeda3780a4,0x39ee2af1d,0xcd257edc5,0x2d9d6bc22,0x121d3b47d,0x37e23f8ad,0x119f31cf6,0x2c97f4f09,0xd502abfe0,0x10bc3ca77,0x53d7190ef,0x90c3e62a6,0x7e9ebf675,0x979ce23d1,0x27f0c98e9,0xeafb4ae59,0x7ca7fe2bd,0x1490ca8f6,0x9123387ba,0xb3bc73888,0x3ea87e325,0x4888964aa,0xa0188a6b9,0xcd383c666,0x40029a3fd,0xe1c00ac5c,0x39e6f2b6e,0xde664f622,0xe979a75e8,0x7c6b4c86c,0xfd492e071,0x8fbb35118,0x40b4a09b7,0xaf80bd6da,0x70e0b2521,0x2f5c54d93,0x3f4a118d5,0x9c1897b9,0x79776eac,0x84b00b17,0x3a95ad90e,0x28c544095,0x39d457c05,0x7a3791a78,0xbb770e22e,0x9a822bd6c,0x68a4b1fed,0xa5fd27b3b,0xc3995b79,0xd1519dff1,0x8e7eee359,0xcd3ca50b1,0xb73b8b793,0x57aca1c43,0xec2655277,0x785a2c1b3,0x75a07985a,0xa4b01eb69,0xa18a11347,0xdb1f28ca3,0x877ec3e25,0x31f6341b8,0x1363a3a4c,0x75d8b9ba,0x7ae0792a9,0xa83a21651,0x7f08f9fb5,0xd0cf73a9,0xb04dcc98e,0xf65c7b0f8,0x65ddaf69a,0x2cf9b86b3,0x14cb51e25,0xf48027b5b,0xec26ea8b,0x44bafd45c,0xb12c7c0c4,0x959fd9d82,0xc77c9725a,0x48a22d462,0x8398e8072,0xec89b05ce,0xbb682d4c9,0xe5a86d2ff,0x358f01134,0x8556ddcf6,0x67584b6e2,0x11609439f,0x8488816e,0xaaf1a2c46,0xf879898cf,0x8bbe5e2f7,0x101eee363,0x690f69377,0xf5bd93cd9,0xcea4c2bf6,0x9550be706,0x2c5b38a60,0xe72033547,0x4458b0629,0xee8d9ed41,0xd2f918d72,0x78dc39fd3,0x8212636f6,0x7450a72a7,0xc4f0cf4c6,0x367bcddcd,0xc1caf8cc6,0xa7f5b853d,0x9d536818b,0x535e021b0,0xa7eb8729e,0x422a67b49,0x929e928a6,0x48e8aefcc,0xa9897393c,0x5eb81d37e,0x1e80287b7,0x34770d903,0x2eef86728,0x59266ccb6,0x110bba61,0x1dfd284ef,0x447439d1b,0xfece0e599,0x9309f3703,0x80764d1dd,0x353f1e6a0,0x2c1c12dcc,0xc1d21b9d7,0x457ee453e,0xd66faf540,0x44831e652,0xcfd49a848,0x9312d4133,0x3f097d3ee,0x8c9ebef7a,0xa99e29e88,0xe9fab22c,0x4e748f4fb,0xecdee4288,0xabce5f1d0,0xc42f6876c,0x7ed402ea0,0xe5c4242c3,0xd5b2c31ae,0x286863be6,0x160444d94,0x5f0f5808e,0xae3d44b2a,0x9f5c5d109,0x8ad9316d7,0x3422ba064,0x2fed11d56,0xbea6e3e04,0x4b029eec,0x6deed7435,0x3718ce17c,0x55857f5e2,0x2edac7b62,0x85d6c512,0xd6ca88e0f,0x2b7e1fc69,0xa699d5c1b,0xf05ad74de,0x4cf5fb56d,0x5725e07e1,0x72f18a2de,0x1cec52609,0x48534243c,0x2523a4d69,0x35c1b80d1,0xa4d7338a7,0xdb1af012,0xe61a9475d,0x5df03f91,0x97ae260bb,0x32d627fef,0xb640f73c2,0x45a1ac9c6,0x6a2202de1,0x57d3e25f2,0x5aa9f986e,0xcc859d8a,0xe3ec6cca8,0x54e95e1ae,0x446887b06,0x7516732be,0x3817ac8f5,0x3e26d938c,0xaa81bc235,0xdf387ca1b,0xf3a3b3f2,0xb4bf69677,0xae21868ed,0x81e1d2d9d,0xa0a9ea14c,0x8eee297a9,0x4740c0559,0xe8b141837,0xac69e0a3d,0x9ed83a1e1,0x5edb55ecb,0x7340fe81,0x50dfbc6bf,0x4f583508a,0xcb1fb78bc,0x4025ced2f,0x39791ebec,0x53ee388f1,0x7d6c0bd23,0x93a995fbe,0x8a41728de,0x2fe70e053,0xab3db443a,0x1364edb05,0x47b6eeed6,0x12e71af01,0x52ff83587,0x3a1575dd8,0x3feaa3564,0xeacf78ba7,0x872b94f8,0xda8ddf9a2,0x9aa920d2b,0x1f350ed36,0x18a5e861f,0x2c35b89c3,0x3347ac48a,0x7f23e022e,0x2459068fb,0xe83be4b73] })35:[] 2e:{"title":"JS Aruco 2","cells":[{"id":0,"value":"# JS Aruco 2\nThis notebook is a partial copy of [js-aruco2](https://github.com/damianofalcioni/js-aruco2) . I wanted to add some functionality, mainly about how to generate the tags. I'm using [apriltag-js-standalone](https://github.com/arenaxr/apriltag-js-standalone) for recognizing the tags in another notebook since it seems to be faster and more robust.\n\n```js\nimport { AR } from \"@enjalot/js-aruco-2\"\n```","pinned":false,"hidden":false,"mode":"md"},{"id":34,"value":"Example usage\n","pinned":false,"hidden":false,"mode":"md"},{"id":37,"value":"dictionary = new AR.Dictionary(\"APRILTAG_36h11\")","pinned":true,"hidden":false,"mode":"ojs"},{"id":83,"value":"viewof index = Inputs.range([0, dictionary.codeList.length - 1], {label: \"ID\", step: 1, value: 0})","pinned":true,"hidden":false,"mode":"ojs"},{"id":46,"value":"pattern = dictionary.generatePattern(index)","pinned":true,"hidden":false,"mode":"ojs"},{"id":67,"value":"{\n let size = 200;\n let ctx = DOM.context2d(size, size)\n let rw = size / dictionary.markSize;\n ctx.fillStyle = \"black\"\n ctx.fillRect(0, 0, size, size)\n pattern.forEach(d => {\n ctx.fillStyle = d.code ? \"white\" : \"black\"\n ctx.fillRect((d.x + 1) * rw, (d.y + 1) * rw, rw, rw)\n })\n return ctx.canvas\n}","pinned":true,"hidden":false,"mode":"ojs"},{"id":39,"value":"

${dictionary.generateSVG(10)}

","pinned":true,"hidden":false,"mode":"md"},{"id":48,"value":"Plot.cell(pattern, { x: \"x\", y: \"y\", fill: \"code\", stroke:\"code\"}).plot({\n marks: [\n Plot.rect([{x1:-2, x2: 7, y1:-2, y2: 7}], {x1:\"x1\",x2:\"x2\", y1:\"y1\", y2:\"y2\", fill:\"black\"})\n ],\n width: 200,\n height: 200,\n padding: 0,\n y: { axis: false },\n x: { axis: false },\n color: {\n domain: [0, 1],\n range: [\"black\", \"white\"]\n }\n})","pinned":true,"hidden":false,"mode":"ojs"},{"id":32,"value":"## AR class\n","pinned":false,"hidden":false,"mode":"md"},{"id":5,"value":"$30","pinned":true,"hidden":false,"mode":"ojs"},{"id":25,"value":"$31","pinned":true,"hidden":false,"mode":"ojs"},{"id":14,"value":"# Dictionaries\nMany more [dictionaries](https://github.com/damianofalcioni/js-aruco2/tree/master/src/dictionaries) are available.","pinned":false,"hidden":false,"mode":"md"},{"id":12,"value":"$32","pinned":false,"hidden":false,"mode":"ojs"},{"id":20,"value":"$33","pinned":false,"hidden":false,"mode":"ojs"},{"id":7,"value":"$34","pinned":false,"hidden":false,"mode":"ojs"}],"files":"$W35","stdlib":"1","titling":"auto"}