From 6fbc22785252f8be4ee0dee5738e62bf97bd50e4 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 04:35:56 -0800
Subject: [PATCH 01/46] Initial commit

---
 README.md | 4 ++++
 1 file changed, 4 insertions(+)
 create mode 100644 README.md

diff --git a/README.md b/README.md
new file mode 100644
index 0000000..0eb532b
--- /dev/null
+++ b/README.md
@@ -0,0 +1,4 @@
+jsfeat
+======
+
+JavaScript Computer Vision library.
\ No newline at end of file

From 231dae1584d602ff2c109d49645a9441ffa8793a Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 17:02:35 +0400
Subject: [PATCH 02/46] initial commit

---
 README.md                     |  45 ++++-
 src/jsfeat.js                 |  12 ++
 src/jsfeat_fast_corners.js    | 342 ++++++++++++++++++++++++++++++++++
 src/jsfeat_imgproc.js         | 148 +++++++++++++++
 src/jsfeat_math.js            |  38 ++++
 src/jsfeat_optical_flow_lk.js | 238 +++++++++++++++++++++++
 src/jsfeat_struct.js          |  50 +++++
 7 files changed, 869 insertions(+), 4 deletions(-)
 create mode 100644 src/jsfeat.js
 create mode 100644 src/jsfeat_fast_corners.js
 create mode 100644 src/jsfeat_imgproc.js
 create mode 100644 src/jsfeat_math.js
 create mode 100644 src/jsfeat_optical_flow_lk.js
 create mode 100644 src/jsfeat_struct.js

diff --git a/README.md b/README.md
index 0eb532b..6623562 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,41 @@
-jsfeat
-======
-
-JavaScript Computer Vision library.
\ No newline at end of file
+jsfeat
+======
+
+#### JavaScript Computer Vision library #### 
+
+The project aim is to explore JS/HTML5 possibilities using modern & state-of-art computer vision algorithms.
+
+### Features ###
+
+* Basic image processing methods (grayscale, derivatives, box-blur, resample, etc.)
+* Fast Corners feature detector (16/12/8 pattern size)
+* Lucas-Kanade optical flow
+* Fast math methods
+* Custom data structures
+* more is coming...
+
+### Change log ###
+
+2012 10 8 - **alpha**
+
+* First commit
+
+<pre>
+Copyright 2012 Eugene Zatepyakin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
+and associated documentation files (the "Software"), to deal in the Software without restriction, 
+including without limitation the rights to use, copy, modify, merge, publish, distribute, 
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software 
+is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies 
+or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
+INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
+PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
+FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, 
+TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 
+OR OTHER DEALINGS IN THE SOFTWARE.
+</pre>
\ No newline at end of file
diff --git a/src/jsfeat.js b/src/jsfeat.js
new file mode 100644
index 0000000..308f164
--- /dev/null
+++ b/src/jsfeat.js
@@ -0,0 +1,12 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+// namespace ?
+var jsfeat = jsfeat || { REVISION: 'ALPHA' };
+
+// use typed arrays if possible
+self.Int32Array = self.Int32Array || Array;
+self.Uint32Array = self.Uint32Array || Array;
+self.Uint8Array = self.Uint8Array || Array;
+self.Float32Array = self.Float32Array || Array;
\ No newline at end of file
diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
new file mode 100644
index 0000000..36e8aa9
--- /dev/null
+++ b/src/jsfeat_fast_corners.js
@@ -0,0 +1,342 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
+ */
+
+/*
+The references are:
+ * Machine learning for high-speed corner detection,
+   E. Rosten and T. Drummond, ECCV 2006
+ * Faster and better: A machine learning approach to corner detection
+   E. Rosten, R. Porter and T. Drummond, PAMI, 2009  
+*/
+
+(function(global) {
+    "use strict";
+    //
+    var fast_corners = (function() {
+
+        var offsets16 = 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 offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
+        var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
+
+        var threshold_tab = new Uint8Array(512);
+        var pixel_off = new Int32Array(25);
+        var score_diff = new Int32Array(25);
+
+        // private functions
+        var _cmp_offsets = function(pixel, step, pattern_size) {
+            var k = 0;
+            var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
+            for( ; k < pattern_size; ++k )
+            {
+                pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
+            }
+            for( ; k < 25; ++k )
+            {
+                pixel[k] = pixel[k - pattern_size];
+            }
+        },
+
+        _cmp_score_8 = function(src, off, pixel, d, threshold) {
+            var N = 15, k = 0, v = src[off];
+            var a0 = threshold,a=0,b0=0,b=0;
+            var _imin = jsfeat.math.imin;
+            var _imax = jsfeat.math.imax;
+
+            for( ; k < N; ++k ) {
+                d[k] = v - src[off+pixel[k]];
+            }
+
+            for( k = 0; k < 8; k += 2 )
+            {
+                a = _imin(d[k+1], d[k+2]);
+
+                if( a <= a0 ) continue;
+
+                a = _imin(a, d[k+3]);
+                a = _imin(a, d[k+4]);
+                a0 = _imax(a0, _imin(a, d[k]));
+                a0 = _imax(a0, _imin(a, d[k+5]));
+            }
+
+            b0 = -a0;
+            for( k = 0; k < 8; k += 2 )
+            {
+                b = _imax(d[k+1], d[k+2]);
+                b = _imax(b, d[k+3]);
+
+                if( b >= b0 ) continue;
+
+                b = _imax(b, d[k+4]);
+                b0 = _imin(b0, _imax(b, d[k]));
+                b0 = _imin(b0, _imax(b, d[k+5]));
+            }
+
+            return -b0-1;
+        },
+
+        _cmp_score_12 = function(src, off, pixel, d, threshold) {
+            var N = 19, k = 0, v = src[off];
+            var a0 = threshold,a=0,b0=0,b=0;
+            var _imin = jsfeat.math.imin;
+            var _imax = jsfeat.math.imax;
+
+            for( ; k < N; ++k ) {
+                d[k] = v - src[off+pixel[k]];
+            }
+
+            for( k = 0; k < 12; k += 2 )
+            {
+                a = _imin(d[k+1], d[k+2]);
+
+                if( a <= a0 ) continue;
+
+                a = _imin(a, d[k+3]);
+                a = _imin(a, d[k+4]);
+                a = _imin(a, d[k+5]);
+                a = _imin(a, d[k+6]);
+                a0 = _imax(a0, _imin(a, d[k]));
+                a0 = _imax(a0, _imin(a, d[k+7]));
+            }
+
+            b0 = -a0;
+            for( k = 0; k < 12; k += 2 )
+            {
+                b = _imax(d[k+1], d[k+2]);
+                b = _imax(b, d[k+3]);
+                b = _imax(b, d[k+4]);
+
+                if( b >= b0 ) continue;
+
+                b = _imax(b, d[k+5]);
+                b = _imax(b, d[k+6]);
+                b0 = _imin(b0, _imax(b, d[k]));
+                b0 = _imin(b0, _imax(b, d[k+7]));
+            }
+
+            return -b0-1;
+        },
+
+        _cmp_score_16 = function(src, off, pixel, d, threshold) {
+            var N = 25, k = 0, v = src[off];
+            var a0 = threshold,a=0,b0=0,b=0;
+            var _imin = jsfeat.math.imin;
+            var _imax = jsfeat.math.imax;
+
+            for( ; k < N; ++k ) {
+                d[k] = v - src[off+pixel[k]];
+            }
+
+            for( k = 0; k < 16; k += 2 )
+            {
+                a = _imin(d[k+1], d[k+2]);
+                a = _imin(a, d[k+3]);
+
+                if( a <= a0 ) continue;
+
+                a = _imin(a, d[k+4]);
+                a = _imin(a, d[k+5]);
+                a = _imin(a, d[k+6]);
+                a = _imin(a, d[k+7]);
+                a = _imin(a, d[k+8]);
+                a0 = _imax(a0, _imin(a, d[k]));
+                a0 = _imax(a0, _imin(a, d[k+9]));
+            }
+
+            b0 = -a0;
+            for( k = 0; k < 16; k += 2 )
+            {
+                b = _imax(d[k+1], d[k+2]);
+                b = _imax(b, d[k+3]);
+                b = _imax(b, d[k+4]);
+                b = _imax(b, d[k+5]);
+
+                if( b >= b0 ) continue;
+                b = _imax(b, d[k+6]);
+                b = _imax(b, d[k+7]);
+                b = _imax(b, d[k+8]);
+                b0 = _imin(b0, _imax(b, d[k]));
+                b0 = _imin(b0, _imax(b, d[k+9]));
+            }
+
+            return -b0-1;
+        };
+
+        var _threshold = 20;
+
+        return {
+            set_threshold: function(threshold)
+            {
+                _threshold = _imin(_imax(threshold, 0), 255);
+                for (var i = -255; i <= 255; ++i)
+                {
+                    threshold_tab[(i + 255)] = (i < -_threshold ? 1 : (i > _threshold ? 2 : 0));
+                }
+                return _threshold;
+            },
+            
+            detect: function(img, w, h, corners, border, pattern_size)
+            {
+                if (typeof pattern_size === "undefined") { pattern_size = 16; }
+                if (typeof border === "undefined") { border = 3; }
+
+                var K = (pattern_size/2)|0, N = (pattern_size + K + 1)|0;
+                var i=0, j=0, k=0, vt=0, x=0, m3=0;
+                var buf = new Uint8Array(w*3);
+                var cpbuf = new Int32Array((w+1)*3);
+                var pixel = pixel_off;
+                var sd = score_diff;
+                var sy = _imax(3, border);
+                var ey = _imin((h-2), (h-border));
+                var sx = _imax(3, border);
+                var ex = _imin((w - 3), (w - border));
+                var _count = 0, corners_cnt = 0;
+                var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
+                var thresh_tab = threshold_tab;
+                var threshold = _threshold;
+
+                var v=0,tab=0,d=0,ncorners=0,cornerpos=0,curr=0,ptr=0,prev=0,pprev=0;
+                var jp1=0,jm1=0,score=0;
+
+                _cmp_offsets(pixel, w, pattern_size);
+
+                // local vars are faster?
+                var pixel0 = pixel[0];
+                var pixel1 = pixel[1];
+                var pixel2 = pixel[2];
+                var pixel3 = pixel[3];
+                var pixel4 = pixel[4];
+                var pixel5 = pixel[5];
+                var pixel6 = pixel[6];
+                var pixel7 = pixel[7];
+                var pixel8 = pixel[8];
+                var pixel9 = pixel[9];
+                var pixel10 = pixel[10];
+                var pixel11 = pixel[11];
+                var pixel12 = pixel[12];
+                var pixel13 = pixel[13];
+                var pixel14 = pixel[14];
+                var pixel15 = pixel[15];
+
+                for(i = 0; i < w*3; ++i) {
+                    buf[i] = 0;
+                }
+
+                for(i = sy; i < ey; ++i) {
+                    ptr = ((i * w) + sx)|0;
+                    m3 = _mod3(i - 3);
+                    curr = (m3*w)|0;
+                    cornerpos = (m3*(w+1))|0;
+                    for (j = 0; j < w; ++j) buf[curr+j] = 0;
+                    ncorners = 0;
+                    
+                    if( i < (ey - 1) ) {
+                        j = sx;
+                        
+                        for( ; j < ex; ++j, ++ptr ) {
+                            v = img[ptr];
+                            tab = ( - v + 255 );
+                            d = ( thresh_tab[tab+img[ptr+pixel0]] | thresh_tab[tab+img[ptr+pixel8]] );
+                            
+                            if( d == 0 ) {
+                                continue;
+                            }
+                            
+                            d &= ( thresh_tab[tab+img[ptr+pixel2]] | thresh_tab[tab+img[ptr+pixel10]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel4]] | thresh_tab[tab+img[ptr+pixel12]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel6]] | thresh_tab[tab+img[ptr+pixel14]] );
+                            
+                            if( d == 0 ) {
+                                continue;
+                            }
+                            
+                            d &= ( thresh_tab[tab+img[ptr+pixel1]] | thresh_tab[tab+img[ptr+pixel9]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel3]] | thresh_tab[tab+img[ptr+pixel11]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel5]] | thresh_tab[tab+img[ptr+pixel13]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel7]] | thresh_tab[tab+img[ptr+pixel15]] );
+                            
+                            if( d & 1 ) {
+                                vt = (v - threshold);
+                                _count = 0;
+                                
+                                for( k = 0; k < N; ++k ) {
+                                    x = img[(ptr+pixel[k])];
+                                    if(x < vt) {
+                                        ++_count;
+                                        if( _count > K ) {
+                                            ++ncorners;
+                                            cpbuf[cornerpos+ncorners] = j;
+                                            buf[curr+j] = score_func(img, ptr, pixel, sd, threshold);
+                                            break;
+                                        }
+                                    }
+                                    else {
+                                        _count = 0;
+                                    }
+                                }
+                            }
+                            
+                            if( d & 2 ) {
+                                vt = (v + threshold);
+                                _count = 0;
+                                
+                                for( k = 0; k < N; ++k ) {
+                                    x = img[(ptr+pixel[k])];
+                                    if(x > vt) {
+                                        ++_count;
+                                        if( _count > K ) {
+                                            ++ncorners;
+                                            cpbuf[cornerpos+ncorners] = j;
+                                            buf[curr+j] = score_func(img, ptr, pixel, sd, threshold);
+                                            break;
+                                        }
+                                    }
+                                    else {
+                                        _count = 0;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    
+                    cpbuf[cornerpos+w] = ncorners;
+            
+                    if ( i == sy ) {
+                        continue;
+                    }
+                    
+                    m3 = _mod3(i - 4 + 3);
+                    prev = (m3*w)|0;
+                    cornerpos = (m3*(w+1))|0;
+                    m3 = _mod3(i - 5 + 3);
+                    pprev = (m3*w)|0;
+
+                    ncorners = cpbuf[cornerpos+w];
+                    
+                    for( k = 0; k < ncorners; ++k ) {
+                        j = cpbuf[cornerpos+k];
+                        jp1 = (j+1)|0;
+                        jm1 = (j-1)|0;
+                        score = buf[prev+j];
+                        if( (score > buf[prev+jp1] && score > buf[prev+jm1] &&
+                            score > buf[pprev+jm1] && score > buf[pprev+j] && score > buf[pprev+jp1] &&
+                            score > buf[curr+jm1] && score > buf[curr+j] && score > buf[curr+jp1]) ) {
+                            // save corner
+                            corners[corners_cnt*3] = j;
+                            corners[corners_cnt*3+1] = (i-1);
+                            corners[corners_cnt*3+2] = score;
+                            corners_cnt++;
+                        }
+                    }
+                } // y loop
+                return corners_cnt;
+            }
+        };
+    })();
+
+    global.fast_corners = fast_corners;
+    fast_corners.set_threshold(20); // set default
+
+})(jsfeat);
\ No newline at end of file
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
new file mode 100644
index 0000000..b4999d3
--- /dev/null
+++ b/src/jsfeat_imgproc.js
@@ -0,0 +1,148 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var imgproc = (function() {
+
+        var RGBA_2_GRAY_LUT = new Int32Array(256*3);
+
+        return {
+
+            init_grayscale_lut: function(blueIdx) {
+                var coeffs = new Int32Array(3);
+                coeffs[0] = 4899; coeffs[1] = 9617; coeffs[2] = 1868;
+
+                var b = 0, g = 0, r = (1 << (14-1));
+                var db = coeffs[blueIdx^2], dg = coeffs[1], dr = coeffs[blueIdx];
+                for( var i = 0; i < 256; i++, b += db, g += dg, r += dr ) {
+                    RGBA_2_GRAY_LUT[i] = b;
+                    RGBA_2_GRAY_LUT[i+256] = g;
+                    RGBA_2_GRAY_LUT[i+512] = r;
+                }
+            },
+
+            grayscale: function(src, dst) {
+                var srcLength = src.length | 0;
+                var _lut = RGBA_2_GRAY_LUT;
+                var j = 0;
+                for (var i = 0; i < srcLength; i += 4, ++j) {
+                    dst[j] = (_lut[src[i]] + _lut[src[i+1]+256] + _lut[src[i+2]+512]) >> 14;
+                    //dst[j] = ((src[i]*77)+(src[i+1]*151)+(src[i+2]*28)) >> 8;
+                }
+            },
+
+            box_blur: function(src, dst, w, h, hwin) {
+                var win = (2*hwin+1)|0;
+                var _buf = new Int32Array(w*win+w);
+                var sums = (w*win)|0;
+                var next_row=0,oldest_row=0;
+                var i=0, j=0, s0=0, s1=0;
+                var hsum = 0, back=0;
+
+                var input = 0, output = (w*hwin - hwin) | 0;
+
+                for(i = 0; i < w; ++i){ _buf[sums+i] = 0; }
+
+                for (i=0; i<h; ++i) {
+                    hsum = 0;
+                    back = input;
+
+                    for (j = 0; j < win-1; ++j) hsum += src[input+j];
+                    for (; j <= w-2; j+=2) {
+                        hsum += src[input+j];
+                        _buf[next_row+j] = hsum;
+                        _buf[sums+j] += hsum;
+                        hsum -= src[back++];
+                        //
+                        hsum += src[input+j+1];
+                        _buf[next_row+j+1] = hsum;
+                        _buf[sums+j+1] += hsum;
+                        hsum -= src[back++];
+                    }
+                    for (; j < w; ++j) {
+                        hsum += src[input+j];
+                        _buf[next_row+j] = hsum;
+                        _buf[sums+j] += hsum;
+                        hsum -= src[back++];
+                    }
+                    if (i >= win-1)  {
+                        for(j = win-1; j <= w-2; j+=2) {
+                            s0 = _buf[sums+j]; s1 = _buf[sums+j+1];
+                            dst[output+j] = s0; dst[output+j+1] = s1;
+                            _buf[sums+j] = s0 - _buf[oldest_row+j];
+                            _buf[sums+j+1] = s1 - _buf[oldest_row+j+1];
+                        }
+                        for(; j < w; ++j) {
+                            s0 = _buf[sums+j];
+                            dst[output+j] = s0;
+                            _buf[sums+j] = s0 - _buf[oldest_row+j];
+                        }
+                        output += w;
+                        oldest_row += w;
+                        oldest_row = (oldest_row < sums) * oldest_row;
+                    }
+                    input += w;
+                    next_row += w;
+                    next_row = (next_row < sums) * next_row;
+                }
+            },
+
+            pyrdown_fast_u8: function(src, dst) {
+                var w = src.width | 0;
+                var w2 = w >> 1, h2 = src.height >> 1;
+                var src_data = src.data_u8;
+                var dst_data = dst.data_u8;
+                var x=0,y=0,sptr=0,sline=0,dptr=0;
+
+                for(y = 0; y < h2; ++y) {
+                    sline = sptr;
+                    for(x = 0; x < w2; ++x, ++dptr) {
+                        dst_data[dptr] = (src_data[sline] + src_data[sline+1] +
+                                            src_data[sline+w] + src_data[sline+w+1] + 2) >> 2;
+                        sline += 2;
+                    }
+                    sptr += w << 1;
+                }
+            },
+
+            shar_derivatives: function(img, dst, w, h) {
+                var dstep = w<<1,x=0,y=0,x1=0,t0=0,t1=0;
+                var srow0=0,srow1=0,srow2=0,drow=0;
+                var trow0 = new Int32Array(w+2);
+                var trow1 = new Int32Array(w+2);
+
+                for(y=0; y < h; ++y) {
+                    srow1 = (y*w)|0;
+                    srow0 = ((y > 0 ? y-1 : 1)*w)|0;
+                    srow2 = ((y < h-1 ? y+1 : h-2)*w)|0;
+                    drow = (y*dstep)|0;
+                    // do vertical convolution
+                    for(x = 0, x1 = 1; x < w; ++x,++x1) {
+                        t0 = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
+                        t1 = ( (img[srow2+x]) - (img[srow0+x]) );
+                        trow0[x1] = t0;
+                        trow1[x1] = t1;
+                    }
+                    // make border
+                    x = (w + 1)|0;
+                    trow0[0] = trow0[1]; trow0[x] = trow0[w];
+                    trow1[0] = trow1[1]; trow1[x] = trow1[w];
+                    // do horizontal convolution, interleave the results and store them
+                    for(x = 0; x < w; ++x) {
+                        t0 = ( (trow0[x+2] - trow0[x]) );
+                        t1 = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
+                        dst[drow++] = t0;
+                        dst[drow++] = t1;
+                    }
+                }
+            }
+        };
+    })();
+
+    global.imgproc = imgproc;
+
+})(jsfeat);
diff --git a/src/jsfeat_math.js b/src/jsfeat_math.js
new file mode 100644
index 0000000..2c411b9
--- /dev/null
+++ b/src/jsfeat_math.js
@@ -0,0 +1,38 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var math = (function() {
+
+        return {
+            imin: function(value0, value1) {
+                return value1 ^ ((value0 ^ value1) & -(value0 < value1));
+            },
+            imax: function(value0, value1) {
+                return value0 ^ ((value0 ^ value1) & -(value0 < value1));
+            },
+            imod3: function(a) {
+                a = ((a >> 16) + (a & 0xFFFF)); /* sum base 2**16 digits a <= 0x1FFFE */
+                a = ((a >>  8) + (a & 0xFF));   /* sum base 2**8 digits a <= 0x2FD */
+                a = ((a >>  4) + (a & 0xF));    /* sum base 2**4 digits a <= 0x3C; worst case 0x3B */
+                a = ((a >>  4) + (a & 0xF));    /* sum base 2**4 digits a <= 0x3C; worst case 0x3B */
+                a = ((a >>  2) + (a & 0x3));    /* sum base 2**2 digits a <= 0x1D; worst case 0x1B */
+                a = ((a >>  2) + (a & 0x3));    /* sum base 2**2 digits a <= 0x9; worst case 0x7 */
+                //a = ((a >>  2) + (a & 0x3));    /* sum base 2**2 digits a <= 0x4 */
+                //if (a > 2) a = (a - 3);
+                return (a - 3*(a > 2));
+            },
+            fabs: function (value) {
+                return value * (1.0 - ((value < 0.0) << 1));
+            }
+        };
+
+    })();
+
+    global.math = math;
+
+})(jsfeat);
\ No newline at end of file
diff --git a/src/jsfeat_optical_flow_lk.js b/src/jsfeat_optical_flow_lk.js
new file mode 100644
index 0000000..92c3f19
--- /dev/null
+++ b/src/jsfeat_optical_flow_lk.js
@@ -0,0 +1,238 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * this code is a rewrite from OpenCV's Lucas-Kanade optical flow implementation
+ */
+
+(function(global) {
+    "use strict";
+    //
+    var optical_flow_lk = (function() {
+
+        // short link to shar deriv
+        var shar_deriv = jsfeat.imgproc.shar_derivatives;
+
+        return {
+            track: function(prev_pyr, curr_pyr, prev_xy, curr_xy, count, win_size, max_iter, status, eps, min_eigen_threshold) {
+                if (typeof max_iter === "undefined") { max_iter = 30; }
+                if (typeof status === "undefined") { status = new Uint8Array(count); }
+                if (typeof eps === "undefined") { eps = 0.01; }
+                if (typeof min_eigen_threshold === "undefined") { min_eigen_threshold = 0.0001; }
+
+                var half_win = (win_size-1)*0.5;
+                var win_area = (win_size*win_size)|0;
+                var win_area2 = win_area << 1;
+                var prev_imgs = prev_pyr.images, next_imgs = curr_pyr.images;
+                var img_prev=prev_imgs[0].data_u8,img_next=next_imgs[0].data_u8;
+                var w0 = prev_imgs[0].width, h0 = prev_imgs[0].height,lw=0,lh=0;
+
+                var iwin_buf = new Int32Array(win_area);
+                var deriv_iwin = new Int32Array(win_area2);
+                var deriv_lev = new Int32Array((w0*h0)*2);
+
+                var dstep=0,src=0,dsrc=0,iptr=0,diptr=0,jptr=0;
+                var lev_sc=0.0,prev_x=0.0,prev_y=0.0,next_x=0.0,next_y=0.0;
+                var prev_delta_x=0.0,prev_delta_y=0.0,delta_x=0.0,delta_y=0.0;
+                var iprev_x=0,iprev_y=0,inext_x=0,inext_y=0;
+                var i=0,j=0,x=0,y=0,level=0,ptid=0,iter=0;
+                var brd_tl=0,brd_r=0,brd_b=0;
+                var a=0.0,b=0.0,b1=0.0,b2=0.0;
+
+                var fabs = jsfeat.math.fabs;
+
+                // fixed point math
+                var W_BITS14 = 14;
+                var W_BITS4 = 14;
+                var W_BITS1m5 = W_BITS4 - 5;
+                var W_BITS1m51 = (1 << ((W_BITS1m5) - 1));
+                var W_BITS14_ = (1 << W_BITS14);
+                var W_BITS41 = (1 << ((W_BITS4) - 1));
+                var FLT_SCALE = 1.0/(1 << 20);
+                var iw00=0,iw01=0,iw10=0,iw11=0,ival=0,ixval=0,iyval=0;
+                var A11=0.0,A12=0.0,A22=0.0,D=0.0,min_eig=0.0;
+
+                var FLT_EPSILON = 0.00000011920929;
+                eps *= eps;
+
+                // reset status
+                for(; i < count; ++i) {
+                    status[i] = 1;
+                }
+
+                var max_level = (prev_pyr.levels - 1)|0;
+                level = max_level;
+
+                for(; level >= 0; --level) {
+                    lev_sc = (1.0/(1 << level));
+                    lw = w0 >> level;
+                    lh = h0 >> level;
+                    dstep = lw << 1;
+                    img_prev = prev_imgs[level].data_u8;
+                    img_next = next_imgs[level].data_u8;
+                    
+                    brd_r = (lw - win_size)|0;
+                    brd_b = (lh - win_size)|0;
+
+                    // calculate level derivatives
+                    shar_deriv(img_prev, deriv_lev, lw, lh);
+
+                    // iterate through points
+                    for(ptid = 0; ptid < count; ++ptid) {
+                        i = ptid << 1;
+                        j = i + 1;
+                        prev_x = prev_xy[i]*lev_sc;
+                        prev_y = prev_xy[j]*lev_sc;
+
+                        if( level == max_level ) {
+                            next_x = prev_x;
+                            next_y = prev_y;
+                        } else {
+                            next_x = curr_xy[i]*2.0;
+                            next_y = curr_xy[j]*2.0;
+                        }
+                        curr_xy[i] = next_x;
+                        curr_xy[j] = next_y;
+
+                        prev_x -= half_win;
+                        prev_y -= half_win;
+                        iprev_x = prev_x|0;
+                        iprev_y = prev_y|0;
+
+                        // border check
+                        x = (iprev_x <= brd_tl)|(iprev_x >= brd_r)|(iprev_y <= brd_tl)|(iprev_y >= brd_b);
+                        if( x != 0 ) {
+                            if( level == 0 ) {
+                                status[ptid] = 0;
+                            }
+                            continue;
+                        }
+
+                        a = prev_x - iprev_x;
+                        b = prev_y - iprev_y;
+                        iw00 = (((1.0 - a)*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                        iw01 = ((a*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                        iw10 = (((1.0 - a)*b*W_BITS14_) + 0.5)|0;
+                        iw11 = (W_BITS14_ - iw00 - iw01 - iw10);
+
+                        A11 = 0.0, A12 = 0.0, A22 = 0.0;
+
+                        // extract the patch from the first image, compute covariation matrix of derivatives
+                        for( y = 0; y < win_size; ++y ) {
+                            src = ( (y + iprev_y)*lw + iprev_x )|0;
+                            dsrc = src << 1;
+
+                            iptr = (y*win_size)|0;
+                            diptr = iptr << 1;
+                            for(x = 0 ; x < win_size; ++x, ++src, ++iptr, dsrc += 2) {
+                                ival = ( (img_prev[src])*iw00 + (img_prev[src+1])*iw01 +
+                                        (img_prev[src+lw])*iw10 + (img_prev[src+lw+1])*iw11 );
+                                ival = (((ival) + W_BITS1m51) >> (W_BITS1m5));
+
+                                ixval = ( deriv_lev[dsrc]*iw00 + deriv_lev[dsrc+2]*iw01 +
+                                        deriv_lev[dsrc+dstep]*iw10 + deriv_lev[dsrc+dstep+2]*iw11 );
+                                ixval = (((ixval) + W_BITS41) >> (W_BITS4));
+
+                                iyval = ( deriv_lev[dsrc+1]*iw00 + deriv_lev[dsrc+3]*iw01 + deriv_lev[dsrc+dstep+1]*iw10 +
+                                        deriv_lev[dsrc+dstep+3]*iw11 );
+                                iyval = (((iyval) + W_BITS41) >> (W_BITS4));
+
+                                iwin_buf[iptr] = ival;
+                                deriv_iwin[diptr++] = ixval;
+                                deriv_iwin[diptr++] = iyval;
+
+                                A11 += ixval*ixval;
+                                A12 += ixval*iyval;
+                                A22 += iyval*iyval;
+                            }
+                        }
+
+                        A11 *= FLT_SCALE; A12 *= FLT_SCALE; A22 *= FLT_SCALE;
+
+                        D = A11*A22 - A12*A12;
+                        min_eig = (A22 + A11 - Math.sqrt((A11-A22)*(A11-A22) + 4.0*A12*A12)) / win_area2;
+
+                        if( min_eig < min_eigen_threshold || D < FLT_EPSILON )
+                        {
+                            if( level == 0 ) {
+                                status[ptid] = 0;
+                            }
+                            continue;
+                        }
+
+                        D = 1.0/D;
+
+                        next_x -= half_win;
+                        next_y -= half_win;
+                        prev_delta_x = 0.0;
+                        prev_delta_y = 0.0;
+
+                        for( iter = 0; iter < max_iter; ++iter ) {
+                            inext_x = next_x|0;
+                            inext_y = next_y|0;
+
+                            x = (inext_x <= brd_tl)|(inext_x >= brd_r)|(inext_y <= brd_tl)|(inext_y >= brd_b);
+                            if( x != 0 ) {
+                                if( level == 0 ) {
+                                    status[ptid] = 0;
+                                }
+                                break;
+                            }
+
+                            a = next_x - inext_x;
+                            b = next_y - inext_y;
+                            iw00 = (((1.0 - a)*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                            iw01 = ((a*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                            iw10 = (((1.0 - a)*b*W_BITS14_) + 0.5)|0;
+                            iw11 = (W_BITS14_ - iw00 - iw01 - iw10);
+                            b1 = 0.0, b2 = 0.0;
+
+                            for( y = 0; y < win_size; ++y ) {
+                                jptr = ( (y + inext_y)*lw + inext_x )|0;
+
+                                iptr = (y*win_size)|0;
+                                diptr = iptr << 1;
+                                for( x = 0 ; x < win_size; ++x, ++jptr, ++iptr ) {
+                                    ival = ( (img_next[jptr])*iw00 + (img_next[jptr+1])*iw01 +
+                                            (img_next[jptr+lw])*iw10 + (img_next[jptr+lw+1])*iw11 );
+                                    ival = (((ival) + W_BITS1m51) >> (W_BITS1m5));
+                                    ival = (ival - iwin_buf[iptr]);
+
+                                    b1 += ival * deriv_iwin[diptr++];
+                                    b2 += ival * deriv_iwin[diptr++];
+                                }
+                            }
+
+                            b1 *= FLT_SCALE;
+                            b2 *= FLT_SCALE;
+
+                            delta_x = ((A12*b2 - A22*b1) * D);
+                            delta_y = ((A12*b1 - A11*b2) * D);
+
+                            next_x += delta_x;
+                            next_y += delta_y;
+                            curr_xy[i] = next_x + half_win;
+                            curr_xy[j] = next_y + half_win;
+
+                            if( delta_x*delta_x + delta_y*delta_y <= eps ) {
+                                break;
+                            }
+
+                            if( iter > 0 && fabs(delta_x + prev_delta_x) < 0.01 &&
+                                            fabs(delta_y + prev_delta_y) < 0.01 ) {
+                                curr_xy[i] -= delta_x*0.5;
+                                curr_xy[j] -= delta_y*0.5;
+                                break;
+                            }
+
+                            prev_delta_x = delta_x;
+                            prev_delta_y = delta_y;
+                        }
+                    } // points loop
+                } // levels loop
+            }
+        };
+    })();
+
+    global.optical_flow_lk = optical_flow_lk;
+
+})(jsfeat);
\ No newline at end of file
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
new file mode 100644
index 0000000..6956b80
--- /dev/null
+++ b/src/jsfeat_struct.js
@@ -0,0 +1,50 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var img_t = (function () {
+        function img_t(w, h, elem_size) {
+            this.width = w;
+            this.height = h;
+            this.buffer = new ArrayBuffer(w*h*elem_size);
+            this.data_u8 = new Uint8Array(this.buffer);
+            this.data_i32 = new Int32Array(this.buffer);
+            this.data_f32 = new Float32Array(this.buffer);
+        }
+        return img_t;
+    })();
+
+    var img_pyr_t = (function () {
+
+        function img_pyr_t(l) {
+            this.levels = l;
+            this.images = new Array(l);
+            this.pyrdown = jsfeat.imgproc.pyrdown_fast_u8;
+        }
+
+        img_pyr_t.prototype.allocate = function(start_w, start_h, elem_size) {
+            var i = this.levels;
+            while(--i >= 0) {
+                this.images[i] = new img_t(start_w >> i, start_h >> i, elem_size);
+            }
+        }
+
+        img_pyr_t.prototype.build = function(src) {
+            this.pyrdown(src, this.images[1]);
+            var i = 1;
+            for(; i < this.levels; ++i) {
+                this.pyrdown(this.images[i-1], this.images[i]);
+            }
+        }
+
+        return img_pyr_t;
+    })();
+
+    global.img_t = img_t;
+    global.img_pyr_t = img_pyr_t;
+
+})(jsfeat);
\ No newline at end of file

From be375de1d2a5e2502fcd9f85031a712b13d86f93 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 17:04:17 +0400
Subject: [PATCH 03/46] Update README.md

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 6623562..0c0d7de 100644
--- a/README.md
+++ b/README.md
@@ -1,7 +1,7 @@
 jsfeat
 ======
 
-#### JavaScript Computer Vision library #### 
+### JavaScript Computer Vision library ###
 
 The project aim is to explore JS/HTML5 possibilities using modern & state-of-art computer vision algorithms.
 

From 00ef6a09f01ffcea78957a50b48938be1af7845c Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 17:33:35 +0400
Subject: [PATCH 04/46] removed some flash based hacks

---
 src/jsfeat_fast_corners.js | 100 +++++++++++++++++--------------------
 src/jsfeat_math.js         |   6 ---
 2 files changed, 47 insertions(+), 59 deletions(-)

diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
index 36e8aa9..2437235 100644
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -42,8 +42,6 @@ The references are:
         _cmp_score_8 = function(src, off, pixel, d, threshold) {
             var N = 15, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
-            var _imin = jsfeat.math.imin;
-            var _imax = jsfeat.math.imax;
 
             for( ; k < N; ++k ) {
                 d[k] = v - src[off+pixel[k]];
@@ -51,27 +49,27 @@ The references are:
 
             for( k = 0; k < 8; k += 2 )
             {
-                a = _imin(d[k+1], d[k+2]);
+                a = Math.min(d[k+1], d[k+2]);
 
                 if( a <= a0 ) continue;
 
-                a = _imin(a, d[k+3]);
-                a = _imin(a, d[k+4]);
-                a0 = _imax(a0, _imin(a, d[k]));
-                a0 = _imax(a0, _imin(a, d[k+5]));
+                a = Math.min(a, d[k+3]);
+                a = Math.min(a, d[k+4]);
+                a0 = Math.max(a0, Math.min(a, d[k]));
+                a0 = Math.max(a0, Math.min(a, d[k+5]));
             }
 
             b0 = -a0;
             for( k = 0; k < 8; k += 2 )
             {
-                b = _imax(d[k+1], d[k+2]);
-                b = _imax(b, d[k+3]);
+                b = Math.max(d[k+1], d[k+2]);
+                b = Math.max(b, d[k+3]);
 
                 if( b >= b0 ) continue;
 
-                b = _imax(b, d[k+4]);
-                b0 = _imin(b0, _imax(b, d[k]));
-                b0 = _imin(b0, _imax(b, d[k+5]));
+                b = Math.max(b, d[k+4]);
+                b0 = Math.min(b0, Math.max(b, d[k]));
+                b0 = Math.min(b0, Math.max(b, d[k+5]));
             }
 
             return -b0-1;
@@ -80,8 +78,6 @@ The references are:
         _cmp_score_12 = function(src, off, pixel, d, threshold) {
             var N = 19, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
-            var _imin = jsfeat.math.imin;
-            var _imax = jsfeat.math.imax;
 
             for( ; k < N; ++k ) {
                 d[k] = v - src[off+pixel[k]];
@@ -89,31 +85,31 @@ The references are:
 
             for( k = 0; k < 12; k += 2 )
             {
-                a = _imin(d[k+1], d[k+2]);
+                a = Math.min(d[k+1], d[k+2]);
 
                 if( a <= a0 ) continue;
 
-                a = _imin(a, d[k+3]);
-                a = _imin(a, d[k+4]);
-                a = _imin(a, d[k+5]);
-                a = _imin(a, d[k+6]);
-                a0 = _imax(a0, _imin(a, d[k]));
-                a0 = _imax(a0, _imin(a, d[k+7]));
+                a = Math.min(a, d[k+3]);
+                a = Math.min(a, d[k+4]);
+                a = Math.min(a, d[k+5]);
+                a = Math.min(a, d[k+6]);
+                a0 = Math.max(a0, Math.min(a, d[k]));
+                a0 = Math.max(a0, Math.min(a, d[k+7]));
             }
 
             b0 = -a0;
             for( k = 0; k < 12; k += 2 )
             {
-                b = _imax(d[k+1], d[k+2]);
-                b = _imax(b, d[k+3]);
-                b = _imax(b, d[k+4]);
+                b = Math.max(d[k+1], d[k+2]);
+                b = Math.max(b, d[k+3]);
+                b = Math.max(b, d[k+4]);
 
                 if( b >= b0 ) continue;
 
-                b = _imax(b, d[k+5]);
-                b = _imax(b, d[k+6]);
-                b0 = _imin(b0, _imax(b, d[k]));
-                b0 = _imin(b0, _imax(b, d[k+7]));
+                b = Math.max(b, d[k+5]);
+                b = Math.max(b, d[k+6]);
+                b0 = Math.min(b0, Math.max(b, d[k]));
+                b0 = Math.min(b0, Math.max(b, d[k+7]));
             }
 
             return -b0-1;
@@ -122,8 +118,6 @@ The references are:
         _cmp_score_16 = function(src, off, pixel, d, threshold) {
             var N = 25, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
-            var _imin = jsfeat.math.imin;
-            var _imax = jsfeat.math.imax;
 
             for( ; k < N; ++k ) {
                 d[k] = v - src[off+pixel[k]];
@@ -131,34 +125,34 @@ The references are:
 
             for( k = 0; k < 16; k += 2 )
             {
-                a = _imin(d[k+1], d[k+2]);
-                a = _imin(a, d[k+3]);
+                a = Math.min(d[k+1], d[k+2]);
+                a = Math.min(a, d[k+3]);
 
                 if( a <= a0 ) continue;
 
-                a = _imin(a, d[k+4]);
-                a = _imin(a, d[k+5]);
-                a = _imin(a, d[k+6]);
-                a = _imin(a, d[k+7]);
-                a = _imin(a, d[k+8]);
-                a0 = _imax(a0, _imin(a, d[k]));
-                a0 = _imax(a0, _imin(a, d[k+9]));
+                a = Math.min(a, d[k+4]);
+                a = Math.min(a, d[k+5]);
+                a = Math.min(a, d[k+6]);
+                a = Math.min(a, d[k+7]);
+                a = Math.min(a, d[k+8]);
+                a0 = Math.max(a0, Math.min(a, d[k]));
+                a0 = Math.max(a0, Math.min(a, d[k+9]));
             }
 
             b0 = -a0;
             for( k = 0; k < 16; k += 2 )
             {
-                b = _imax(d[k+1], d[k+2]);
-                b = _imax(b, d[k+3]);
-                b = _imax(b, d[k+4]);
-                b = _imax(b, d[k+5]);
+                b = Math.max(d[k+1], d[k+2]);
+                b = Math.max(b, d[k+3]);
+                b = Math.max(b, d[k+4]);
+                b = Math.max(b, d[k+5]);
 
                 if( b >= b0 ) continue;
-                b = _imax(b, d[k+6]);
-                b = _imax(b, d[k+7]);
-                b = _imax(b, d[k+8]);
-                b0 = _imin(b0, _imax(b, d[k]));
-                b0 = _imin(b0, _imax(b, d[k+9]));
+                b = Math.max(b, d[k+6]);
+                b = Math.max(b, d[k+7]);
+                b = Math.max(b, d[k+8]);
+                b0 = Math.min(b0, Math.max(b, d[k]));
+                b0 = Math.min(b0, Math.max(b, d[k+9]));
             }
 
             return -b0-1;
@@ -169,7 +163,7 @@ The references are:
         return {
             set_threshold: function(threshold)
             {
-                _threshold = _imin(_imax(threshold, 0), 255);
+                _threshold = Math.min(Math.max(threshold, 0), 255);
                 for (var i = -255; i <= 255; ++i)
                 {
                     threshold_tab[(i + 255)] = (i < -_threshold ? 1 : (i > _threshold ? 2 : 0));
@@ -188,10 +182,10 @@ The references are:
                 var cpbuf = new Int32Array((w+1)*3);
                 var pixel = pixel_off;
                 var sd = score_diff;
-                var sy = _imax(3, border);
-                var ey = _imin((h-2), (h-border));
-                var sx = _imax(3, border);
-                var ex = _imin((w - 3), (w - border));
+                var sy = Math.max(3, border);
+                var ey = Math.min((h-2), (h-border));
+                var sx = Math.max(3, border);
+                var ex = Math.min((w - 3), (w - border));
                 var _count = 0, corners_cnt = 0;
                 var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var thresh_tab = threshold_tab;
diff --git a/src/jsfeat_math.js b/src/jsfeat_math.js
index 2c411b9..4550cc9 100644
--- a/src/jsfeat_math.js
+++ b/src/jsfeat_math.js
@@ -9,12 +9,6 @@
     var math = (function() {
 
         return {
-            imin: function(value0, value1) {
-                return value1 ^ ((value0 ^ value1) & -(value0 < value1));
-            },
-            imax: function(value0, value1) {
-                return value0 ^ ((value0 ^ value1) & -(value0 < value1));
-            },
             imod3: function(a) {
                 a = ((a >> 16) + (a & 0xFFFF)); /* sum base 2**16 digits a <= 0x1FFFE */
                 a = ((a >>  8) + (a & 0xFF));   /* sum base 2**8 digits a <= 0x2FD */

From 957e8b735ec369cd5fe85f9db6dfc03ac51eba30 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 18:05:35 +0400
Subject: [PATCH 05/46] fix missing mod3 link

have to test if it actually faster then using %3
---
 src/jsfeat_fast_corners.js | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
index 2437235..5cdb7b9 100644
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -190,6 +190,7 @@ The references are:
                 var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
+                var mod3 = jsfeat.math.imod3;
 
                 var v=0,tab=0,d=0,ncorners=0,cornerpos=0,curr=0,ptr=0,prev=0,pprev=0;
                 var jp1=0,jm1=0,score=0;
@@ -220,7 +221,7 @@ The references are:
 
                 for(i = sy; i < ey; ++i) {
                     ptr = ((i * w) + sx)|0;
-                    m3 = _mod3(i - 3);
+                    m3 = mod3(i - 3);
                     curr = (m3*w)|0;
                     cornerpos = (m3*(w+1))|0;
                     for (j = 0; j < w; ++j) buf[curr+j] = 0;
@@ -301,10 +302,10 @@ The references are:
                         continue;
                     }
                     
-                    m3 = _mod3(i - 4 + 3);
+                    m3 = mod3(i - 4 + 3);
                     prev = (m3*w)|0;
                     cornerpos = (m3*(w+1))|0;
-                    m3 = _mod3(i - 5 + 3);
+                    m3 = mod3(i - 5 + 3);
                     pprev = (m3*w)|0;
 
                     ncorners = cpbuf[cornerpos+w];

From ddd78284eeeb685e056a468d561c9509f2caebc6 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 18:46:33 +0400
Subject: [PATCH 06/46] roll back to original Math class

---
 src/jsfeat_fast_corners.js    | 40 ++++++++++++-----------------------
 src/jsfeat_math.js            | 17 +++------------
 src/jsfeat_optical_flow_lk.js |  6 ++----
 3 files changed, 19 insertions(+), 44 deletions(-)

diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
index 5cdb7b9..14d2dd0 100644
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -29,12 +29,10 @@ The references are:
         var _cmp_offsets = function(pixel, step, pattern_size) {
             var k = 0;
             var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
-            for( ; k < pattern_size; ++k )
-            {
+            for( ; k < pattern_size; ++k ) {
                 pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
             }
-            for( ; k < 25; ++k )
-            {
+            for( ; k < 25; ++k ) {
                 pixel[k] = pixel[k - pattern_size];
             }
         },
@@ -47,8 +45,7 @@ The references are:
                 d[k] = v - src[off+pixel[k]];
             }
 
-            for( k = 0; k < 8; k += 2 )
-            {
+            for( k = 0; k < 8; k += 2 ) {
                 a = Math.min(d[k+1], d[k+2]);
 
                 if( a <= a0 ) continue;
@@ -60,8 +57,7 @@ The references are:
             }
 
             b0 = -a0;
-            for( k = 0; k < 8; k += 2 )
-            {
+            for( k = 0; k < 8; k += 2 ) {
                 b = Math.max(d[k+1], d[k+2]);
                 b = Math.max(b, d[k+3]);
 
@@ -83,8 +79,7 @@ The references are:
                 d[k] = v - src[off+pixel[k]];
             }
 
-            for( k = 0; k < 12; k += 2 )
-            {
+            for( k = 0; k < 12; k += 2 ) {
                 a = Math.min(d[k+1], d[k+2]);
 
                 if( a <= a0 ) continue;
@@ -98,8 +93,7 @@ The references are:
             }
 
             b0 = -a0;
-            for( k = 0; k < 12; k += 2 )
-            {
+            for( k = 0; k < 12; k += 2 ) {
                 b = Math.max(d[k+1], d[k+2]);
                 b = Math.max(b, d[k+3]);
                 b = Math.max(b, d[k+4]);
@@ -123,8 +117,7 @@ The references are:
                 d[k] = v - src[off+pixel[k]];
             }
 
-            for( k = 0; k < 16; k += 2 )
-            {
+            for( k = 0; k < 16; k += 2 ) {
                 a = Math.min(d[k+1], d[k+2]);
                 a = Math.min(a, d[k+3]);
 
@@ -140,8 +133,7 @@ The references are:
             }
 
             b0 = -a0;
-            for( k = 0; k < 16; k += 2 )
-            {
+            for( k = 0; k < 16; k += 2 ) {
                 b = Math.max(d[k+1], d[k+2]);
                 b = Math.max(b, d[k+3]);
                 b = Math.max(b, d[k+4]);
@@ -161,18 +153,15 @@ The references are:
         var _threshold = 20;
 
         return {
-            set_threshold: function(threshold)
-            {
+            set_threshold: function(threshold) {
                 _threshold = Math.min(Math.max(threshold, 0), 255);
-                for (var i = -255; i <= 255; ++i)
-                {
+                for (var i = -255; i <= 255; ++i) {
                     threshold_tab[(i + 255)] = (i < -_threshold ? 1 : (i > _threshold ? 2 : 0));
                 }
                 return _threshold;
             },
             
-            detect: function(img, w, h, corners, border, pattern_size)
-            {
+            detect: function(img, w, h, corners, border, pattern_size) {
                 if (typeof pattern_size === "undefined") { pattern_size = 16; }
                 if (typeof border === "undefined") { border = 3; }
 
@@ -190,7 +179,6 @@ The references are:
                 var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
-                var mod3 = jsfeat.math.imod3;
 
                 var v=0,tab=0,d=0,ncorners=0,cornerpos=0,curr=0,ptr=0,prev=0,pprev=0;
                 var jp1=0,jm1=0,score=0;
@@ -221,7 +209,7 @@ The references are:
 
                 for(i = sy; i < ey; ++i) {
                     ptr = ((i * w) + sx)|0;
-                    m3 = mod3(i - 3);
+                    m3 = (i - 3)%3;
                     curr = (m3*w)|0;
                     cornerpos = (m3*(w+1))|0;
                     for (j = 0; j < w; ++j) buf[curr+j] = 0;
@@ -302,10 +290,10 @@ The references are:
                         continue;
                     }
                     
-                    m3 = mod3(i - 4 + 3);
+                    m3 = (i - 4 + 3)%3;
                     prev = (m3*w)|0;
                     cornerpos = (m3*(w+1))|0;
-                    m3 = mod3(i - 5 + 3);
+                    m3 = (i - 5 + 3)%3;
                     pprev = (m3*w)|0;
 
                     ncorners = cpbuf[cornerpos+w];
diff --git a/src/jsfeat_math.js b/src/jsfeat_math.js
index 4550cc9..1e8d2a5 100644
--- a/src/jsfeat_math.js
+++ b/src/jsfeat_math.js
@@ -9,20 +9,9 @@
     var math = (function() {
 
         return {
-            imod3: function(a) {
-                a = ((a >> 16) + (a & 0xFFFF)); /* sum base 2**16 digits a <= 0x1FFFE */
-                a = ((a >>  8) + (a & 0xFF));   /* sum base 2**8 digits a <= 0x2FD */
-                a = ((a >>  4) + (a & 0xF));    /* sum base 2**4 digits a <= 0x3C; worst case 0x3B */
-                a = ((a >>  4) + (a & 0xF));    /* sum base 2**4 digits a <= 0x3C; worst case 0x3B */
-                a = ((a >>  2) + (a & 0x3));    /* sum base 2**2 digits a <= 0x1D; worst case 0x1B */
-                a = ((a >>  2) + (a & 0x3));    /* sum base 2**2 digits a <= 0x9; worst case 0x7 */
-                //a = ((a >>  2) + (a & 0x3));    /* sum base 2**2 digits a <= 0x4 */
-                //if (a > 2) a = (a - 3);
-                return (a - 3*(a > 2));
-            },
-            fabs: function (value) {
-                return value * (1.0 - ((value < 0.0) << 1));
-            }
+            // looks like latest V8 engine is super smart :)
+            // so it turns none of hacks i published here can beat Math class
+            // probably next time...
         };
 
     })();
diff --git a/src/jsfeat_optical_flow_lk.js b/src/jsfeat_optical_flow_lk.js
index 92c3f19..179542b 100644
--- a/src/jsfeat_optical_flow_lk.js
+++ b/src/jsfeat_optical_flow_lk.js
@@ -38,8 +38,6 @@
                 var brd_tl=0,brd_r=0,brd_b=0;
                 var a=0.0,b=0.0,b1=0.0,b2=0.0;
 
-                var fabs = jsfeat.math.fabs;
-
                 // fixed point math
                 var W_BITS14 = 14;
                 var W_BITS4 = 14;
@@ -217,8 +215,8 @@
                                 break;
                             }
 
-                            if( iter > 0 && fabs(delta_x + prev_delta_x) < 0.01 &&
-                                            fabs(delta_y + prev_delta_y) < 0.01 ) {
+                            if( iter > 0 && Math.abs(delta_x + prev_delta_x) < 0.01 &&
+                                            Math.abs(delta_y + prev_delta_y) < 0.01 ) {
                                 curr_xy[i] -= delta_x*0.5;
                                 curr_xy[j] -= delta_y*0.5;
                                 break;

From 5683dba1b0ab92b7d26ca23df76f583f474d6d47 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 8 Nov 2012 18:55:52 +0400
Subject: [PATCH 07/46] fixed readme

no more fast math :)
---
 README.md | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/README.md b/README.md
index 0c0d7de..458fae7 100644
--- a/README.md
+++ b/README.md
@@ -10,9 +10,8 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
 * Basic image processing methods (grayscale, derivatives, box-blur, resample, etc.)
 * Fast Corners feature detector (16/12/8 pattern size)
 * Lucas-Kanade optical flow
-* Fast math methods
 * Custom data structures
-* more is coming...
+* more coming...
 
 ### Change log ###
 

From 605319ed2b6c055215e6c1a5c81e38e4a9b6fdde Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Fri, 9 Nov 2012 18:58:44 +0400
Subject: [PATCH 08/46] additions & improvements

gaussian filter
generic qsort implementation
median for numeric vectors
imgproc methods optimized with loop unrolling
added simple build scripts to concat and minify lib
---
 LICENSE                         |   21 +
 README.md                       |   20 -
 build/jsfeat-min.js             |    1 +
 build/jsfeat.js                 | 1157 +++++++++++++++++++++++++++++++
 compile/build.xml               |   25 +
 compile/yuicompressor-2.4.2.jar |  Bin 0 -> 851219 bytes
 src/jsfeat_imgproc.js           |  175 +++--
 src/jsfeat_math.js              |  271 +++++++-
 src/jsfeat_struct.js            |   18 +-
 9 files changed, 1618 insertions(+), 70 deletions(-)
 create mode 100644 LICENSE
 create mode 100644 build/jsfeat-min.js
 create mode 100644 build/jsfeat.js
 create mode 100644 compile/build.xml
 create mode 100644 compile/yuicompressor-2.4.2.jar

diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..d3a024d
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+The MIT License
+
+Copyright (c) 2012 Eugene Zatepyakin
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
\ No newline at end of file
diff --git a/README.md b/README.md
index 458fae7..749655a 100644
--- a/README.md
+++ b/README.md
@@ -18,23 +18,3 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
 2012 10 8 - **alpha**
 
 * First commit
-
-<pre>
-Copyright 2012 Eugene Zatepyakin
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software 
-and associated documentation files (the "Software"), to deal in the Software without restriction, 
-including without limitation the rights to use, copy, modify, merge, publish, distribute, 
-sublicense, and/or sell copies of the Software, and to permit persons to whom the Software 
-is furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all copies 
-or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 
-INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR 
-PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE 
-FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, 
-TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE 
-OR OTHER DEALINGS IN THE SOFTWARE.
-</pre>
\ No newline at end of file
diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
new file mode 100644
index 0000000..81945aa
--- /dev/null
+++ b/build/jsfeat-min.js
@@ -0,0 +1 @@
+var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(c){var a=2,g=4,b=8,e=16;var d=(function(){function h(i,k,j){this.width=i;this.height=k;this.buffer=new ArrayBuffer(i*k*j);this.data_u8=new Uint8Array(this.buffer);this.data_i32=new Int32Array(this.buffer);this.data_f32=new Float32Array(this.buffer)}return h})();var f=(function(){function h(i){this.levels=i;this.images=new Array(i);this.pyrdown=jsfeat.imgproc.pyrdown_fast_u8}h.prototype.allocate=function(j,m,l){var k=this.levels;while(--k>=0){this.images[k]=new d(j>>k,m>>k,l)}};h.prototype.build=function(m){var l=2,k=m,j=this.images[1];this.pyrdown(k.data_u8,k.width,k.height,j.data_u8);for(;l<this.levels;++l){k=j;j=this.images[l];this.pyrdown(k.data_u8,k.width,k.height,j.data_u8)}};return h})();c.U8_t=a;c.U32_t=g;c.I32_t=b;c.F32_t=e;c.img_t=d;c.img_pyr_t=f})(jsfeat);(function(b){var a=(function(){return{get_gaussian_kernel:function(n,k,d,j){var e=0,g=0,m=0,l=0,c=0;var f=0;var h=new Float32Array(n);if((n&1)==1&&n<=7&&k<=0){switch(n>>1){case 0:h[0]=1;f=1;break;case 1:h[0]=0.25,h[1]=0.5,h[2]=0.25;f=0.25+0.5+0.25;break;case 2:h[0]=0.0625,h[1]=0.25,h[2]=0.375,h[3]=0.25,h[4]=0.0625;f=0.0625+0.25+0.375+0.25+0.0625;break;case 3:h[0]=0.03125,h[1]=0.109375,h[2]=0.21875,h[3]=0.28125,h[4]=0.21875,h[5]=0.109375,h[6]=0.03125;f=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{l=k>0?k:((n-1)*0.5-1)*0.3+0.8;c=-0.5/(l*l);for(;e<n;++e){g=e-(n-1)*0.5;m=Math.exp(c*g*g);h[e]=m;f+=m}}if(j&jsfeat.U8_t){f=256/f;for(e=0;e<n;++e){d[e]=(h[e]*f+0.5)|0}}else{f=1/f;for(e=0;e<n;++e){d[e]=h[e]*f}}},qsort:function(o,G,p,q){var A=7;var r;var z=0,j=0,D=0,y=0,w=0,x=0,e=0,v=0,B=0;var u=0,s=0,h=0,g=0,l=0,F=0,E=0,C=0,f=0;var k=new Int32Array(48*2);if((p-G+1)<=1){return}k[0]=G;k[1]=p;while(z>=0){j=k[z<<1];D=k[(z<<1)+1];z--;for(;;){w=(D-j)+1;if(w<=A){for(e=j+1;e<=D;e++){for(v=e;v>j&&q(o[v],o[v-1]);v--){r=o[v];o[v]=o[v-1];o[v-1]=r}}break}else{f=0;u=j;h=D;l=j+(w>>1);if(w>40){B=w>>3;F=j,E=j+B,C=j+2*B;j=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C));F=l-B,E=l,C=l+B;l=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C));F=D-2*B,E=D-B,C=D;D=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C))}F=j,E=l,C=D;l=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C));if(l!=u){r=o[l];o[l]=o[u];o[u]=r;l=u}j=s=u+1;D=g=h;for(;;){while(j<=D&&!q(o[l],o[j])){if(!q(o[j],o[l])){if(j>s){r=o[s];o[s]=o[j];o[j]=r}f=1;s++}j++}while(j<=D&&!q(o[D],o[l])){if(!q(o[l],o[D])){if(D<g){r=o[g];o[g]=o[D];o[D]=r}f=1;g--}D--}if(j>D){break}r=o[j];o[j]=o[D];o[D]=r;f=1;j++;D--}if(f==0){j=u,D=h;for(e=j+1;e<=D;e++){for(v=e;v>j&&q(o[v],o[v-1]);v--){r=o[v];o[v]=o[v-1];o[v-1]=r}}break}w=Math.min((s-u),(j-s));for(y=0;y<w;y++){r=o[u+y];o[u+y]=o[j+y-w];o[j+y-w]=r}w=Math.min((h-g),(g-D));for(y=0;y<w;y++){r=o[j+y];o[j+y]=o[h+y-w+1];o[h+y-w+1]=r}w=(j-s);x=(g-D);if(w>1){if(x>1){if(w>x){++z;k[z<<1]=u;k[(z<<1)+1]=u+w-1;j=h-x+1,D=h}else{++z;k[z<<1]=h-x+1;k[(z<<1)+1]=h;j=u,D=u+w-1}}else{j=u,D=u+w-1}}else{if(x>1){j=h-x+1,D=h}else{break}}}}}},median:function(j,c,h){var 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n=M[15];for(ao=0;ao<W*3;++ao){J[ao]=0}for(ao=A;ao<Y;++ao){au=((ao*W)+B)|0;ap=(ao-3)%3;U=(ap*W)|0;T=(ap*(W+1))|0;for(am=0;am<W;++am){J[U+am]=0}av=0;if(ao<(Y-1)){am=B;for(;am<Z;++am,++au){X=z[au];an=(-X+255);at=(H[an+z[au+al]]|H[an+z[au+ab]]);if(at==0){continue}at&=(H[an+z[au+ai]]|H[an+z[au+u]]);at&=(H[an+z[au+af]]|H[an+z[au+s]]);at&=(H[an+z[au+ad]]|H[an+z[au+o]]);if(at==0){continue}at&=(H[an+z[au+aj]]|H[an+z[au+aa]]);at&=(H[an+z[au+ah]]|H[an+z[au+t]]);at&=(H[an+z[au+ae]]|H[an+z[au+p]]);at&=(H[an+z[au+ac]]|H[an+z[au+n]]);if(at&1){E=(X-r);ag=0;for(ak=0;ak<y;++ak){V=z[(au+M[ak])];if(V<E){++ag;if(ag>C){++av;F[T+av]=am;J[U+am]=P(z,au,M,L,r);break}}else{ag=0}}}if(at&2){E=(X+r);ag=0;for(ak=0;ak<y;++ak){V=z[(au+M[ak])];if(V>E){++ag;if(ag>C){++av;F[T+av]=am;J[U+am]=P(z,au,M,L,r);break}}else{ag=0}}}}}F[T+W]=av;if(ao==A){continue}ap=(ao-4+3)%3;Q=(ap*W)|0;T=(ap*(W+1))|0;ap=(ao-5+3)%3;ar=(ap*W)|0;av=F[T+W];for(ak=0;ak<av;++ak){am=F[T+ak];S=(am+1)|0;R=(am-1)|0;q=J[Q+am];if((q>J[Q+S]&&q>J[Q+R]&&q>J[ar+R]&&q>J[ar+am]&&q>J[ar+S]&&q>J[U+R]&&q>J[U+am]&&q>J[U+S])){I[O*3]=am;I[O*3+1]=(ao-1);I[O*3+2]=q;O++}}}return O}}})();a.fast_corners=b;b.set_threshold(20)})(jsfeat);(function(b){var a=(function(){var c=jsfeat.imgproc.shar_derivatives;return{track:function(n,s,am,aH,k,L,P,I,f,q){if(typeof P==="undefined"){P=30}if(typeof I==="undefined"){I=new Uint8Array(k)}if(typeof f==="undefined"){f=0.01}if(typeof q==="undefined"){q=0.0001}var e=(L-1)*0.5;var h=(L*L)|0;var X=h<<1;var r=n.images,Q=s.images;var g=r[0].data_u8,B=Q[0].data_u8;var K=r[0].width,ax=r[0].height,av=0,aD=0;var u=new Int32Array(h);var Z=new Int32Array(X);var aw=new Int32Array((K*ax)*2);var Y=0,G=0,aI=0,ap=0,aE=0,aq=0;var ai=0,aB=0,az=0,ac=0,ab=0;var A=0,v=0,V=0,T=0;var p=0,o=0,aA=0,ay=0;var O=0,N=0,H=0,F=0,af=0,ah=0,l=0;var d=0,w=0,M=0;var S=0,R=0,at=0,ar=0;var ae=14;var z=14;var W=z-5;var au=(1<<((W)-1));var aa=(1<<ae);var m=(1<<((z)-1));var U=1/(1<<20);var aG=0,aF=0,ao=0,an=0,aj=0,t=0,C=0;var al=0,ak=0,ad=0,ag=0,aC=0;var E=1.1920929e-7;f*=f;for(;O<k;++O){I[O]=1}var J=(n.levels-1)|0;af=J;for(;af>=0;--af){ai=(1/(1<<af));av=K>>af;aD=ax>>af;Y=av<<1;g=r[af].data_u8;B=Q[af].data_u8;w=(av-L)|0;M=(aD-L)|0;c(g,aw,av,aD);for(ah=0;ah<k;++ah){O=ah<<1;N=O+1;aB=am[O]*ai;az=am[N]*ai;if(af==J){ac=aB;ab=az}else{ac=aH[O]*2;ab=aH[N]*2}aH[O]=ac;aH[N]=ab;aB-=e;az-=e;p=aB|0;o=az|0;H=(p<=d)|(p>=w)|(o<=d)|(o>=M);if(H!=0){if(af==0){I[ah]=0}continue}S=aB-p;R=az-o;aG=(((1-S)*(1-R)*aa)+0.5)|0;aF=((S*(1-R)*aa)+0.5)|0;ao=(((1-S)*R*aa)+0.5)|0;an=(aa-aG-aF-ao);al=0,ak=0,ad=0;for(F=0;F<L;++F){G=((F+o)*av+p)|0;aI=G<<1;ap=(F*L)|0;aE=ap<<1;for(H=0;H<L;++H,++G,++ap,aI+=2){aj=((g[G])*aG+(g[G+1])*aF+(g[G+av])*ao+(g[G+av+1])*an);aj=(((aj)+au)>>(W));t=(aw[aI]*aG+aw[aI+2]*aF+aw[aI+Y]*ao+aw[aI+Y+2]*an);t=(((t)+m)>>(z));C=(aw[aI+1]*aG+aw[aI+3]*aF+aw[aI+Y+1]*ao+aw[aI+Y+3]*an);C=(((C)+m)>>(z));u[ap]=aj;Z[aE++]=t;Z[aE++]=C;al+=t*t;ak+=t*C;ad+=C*C}}al*=U;ak*=U;ad*=U;ag=al*ad-ak*ak;aC=(ad+al-Math.sqrt((al-ad)*(al-ad)+4*ak*ak))/X;if(aC<q||ag<E){if(af==0){I[ah]=0}continue}ag=1/ag;ac-=e;ab-=e;A=0;v=0;for(l=0;l<P;++l){aA=ac|0;ay=ab|0;H=(aA<=d)|(aA>=w)|(ay<=d)|(ay>=M);if(H!=0){if(af==0){I[ah]=0}break}S=ac-aA;R=ab-ay;aG=(((1-S)*(1-R)*aa)+0.5)|0;aF=((S*(1-R)*aa)+0.5)|0;ao=(((1-S)*R*aa)+0.5)|0;an=(aa-aG-aF-ao);at=0,ar=0;for(F=0;F<L;++F){aq=((F+ay)*av+aA)|0;ap=(F*L)|0;aE=ap<<1;for(H=0;H<L;++H,++aq,++ap){aj=((B[aq])*aG+(B[aq+1])*aF+(B[aq+av])*ao+(B[aq+av+1])*an);aj=(((aj)+au)>>(W));aj=(aj-u[ap]);at+=aj*Z[aE++];ar+=aj*Z[aE++]}}at*=U;ar*=U;V=((ak*ar-ad*at)*ag);T=((ak*at-al*ar)*ag);ac+=V;ab+=T;aH[O]=ac+e;aH[N]=ab+e;if(V*V+T*T<=f){break}if(l>0&&Math.abs(V+A)<0.01&&Math.abs(T+v)<0.01){aH[O]-=V*0.5;aH[N]-=T*0.5;break}A=V;v=T}}}}}})();b.optical_flow_lk=a})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
new file mode 100644
index 0000000..5d90441
--- /dev/null
+++ b/build/jsfeat.js
@@ -0,0 +1,1157 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+// namespace ?
+var jsfeat = jsfeat || { REVISION: 'ALPHA' };
+
+// use typed arrays if possible
+self.Int32Array = self.Int32Array || Array;
+self.Uint32Array = self.Uint32Array || Array;
+self.Uint8Array = self.Uint8Array || Array;
+self.Float32Array = self.Float32Array || Array;
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var U8_t = 2,
+        U32_t = 4,
+        I32_t = 8,
+        F32_t = 16;
+
+    var img_t = (function () {
+        function img_t(w, h, elem_size) {
+            this.width = w;
+            this.height = h;
+            this.buffer = new ArrayBuffer(w*h*elem_size);
+            this.data_u8 = new Uint8Array(this.buffer);
+            this.data_i32 = new Int32Array(this.buffer);
+            this.data_f32 = new Float32Array(this.buffer);
+        }
+        return img_t;
+    })();
+
+    var img_pyr_t = (function () {
+
+        function img_pyr_t(l) {
+            this.levels = l;
+            this.images = new Array(l);
+            this.pyrdown = jsfeat.imgproc.pyrdown_fast_u8;
+        }
+
+        img_pyr_t.prototype.allocate = function(start_w, start_h, elem_size) {
+            var i = this.levels;
+            while(--i >= 0) {
+                this.images[i] = new img_t(start_w >> i, start_h >> i, elem_size);
+            }
+        }
+
+        img_pyr_t.prototype.build = function(src) {
+            var i = 2, a = src, b = this.images[1];
+            this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
+            for(; i < this.levels; ++i) {
+                a = b;
+                b = this.images[i];
+                this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
+            }
+        }
+
+        return img_pyr_t;
+    })();
+
+    global.U8_t = U8_t;
+    global.U32_t = U32_t;
+    global.I32_t = I32_t;
+    global.F32_t = F32_t;
+
+    global.img_t = img_t;
+    global.img_pyr_t = img_pyr_t;
+
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var math = (function() {
+
+        return {
+            get_gaussian_kernel: function(size, sigma, kernel, data_type) {
+                var i=0,x=0.0,t=0.0,sigma_x=0.0,scale_2x=0.0;
+                var sum = 0.0;
+                var _kernel = new Float32Array(size);
+
+                if((size&1) == 1 && size <= 7 && sigma <= 0) {
+                    switch(size>>1) {
+                        case 0:
+                        _kernel[0] = 1.0;
+                        sum = 1.0;
+                        break;
+                        case 1:
+                        _kernel[0] = 0.25, _kernel[1] = 0.5, _kernel[2] = 0.25;
+                        sum = 0.25+0.5+0.25;
+                        break;
+                        case 2:
+                        _kernel[0] = 0.0625, _kernel[1] = 0.25, _kernel[2] = 0.375, 
+                        _kernel[3] = 0.25, _kernel[4] = 0.0625;
+                        sum = 0.0625+0.25+0.375+0.25+0.0625;
+                        break;
+                        case 3:
+                        _kernel[0] = 0.03125, _kernel[1] = 0.109375, _kernel[2] = 0.21875, 
+                        _kernel[3] = 0.28125, _kernel[4] = 0.21875, _kernel[5] = 0.109375, _kernel[6] = 0.03125;
+                        sum = 0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;
+                        break;
+                    }
+                } else {
+                    sigma_x = sigma > 0 ? sigma : ((size-1)*0.5 - 1.0)*0.3 + 0.8;
+                    scale_2x = -0.5/(sigma_x*sigma_x);
+
+                    for( ; i < size; ++i )
+                    {
+                        x = i - (size-1)*0.5;
+                        t = Math.exp(scale_2x*x*x);
+
+                        _kernel[i] = t;
+                        sum += t;
+                    }
+                }
+
+                if(data_type & jsfeat.U8_t) {
+                    // int based kernel
+                    sum = 256.0/sum;
+                    for (i = 0; i < size; ++i) {
+                        kernel[i] = (_kernel[i] * sum + 0.5)|0;
+                    }
+                } else {
+                    // classic kernel
+                    sum = 1.0/sum;
+                    for (i = 0; i < size; ++i) {
+                        kernel[i] = _kernel[i] * sum;
+                    }
+                }
+            },
+
+            // The current implementation was derived from *BSD system qsort():
+            // Copyright (c) 1992, 1993
+            // The Regents of the University of California.  All rights reserved.
+            qsort: function(array, low, high, cmp) {
+                var isort_thresh = 7;
+                var t;
+                var sp = 0,left=0,right=0,i=0,n=0,m=0,ptr=0,ptr2=0,d=0;
+                var left0=0,left1=0,right0=0,right1=0,pivot=0,a=0,b=0,c=0,swap_cnt=0;
+
+                var stack = new Int32Array(48*2);
+
+                if( (high-low+1) <= 1 ) return;
+
+                stack[0] = low;
+                stack[1] = high;
+
+                while( sp >= 0 ) {
+                
+                    left = stack[sp<<1];
+                    right = stack[(sp<<1)+1];
+                    sp--;
+
+                    for(;;) {
+                        n = (right - left) + 1;
+
+                        if( n <= isort_thresh ) {
+                        //insert_sort:
+                            for( ptr = left + 1; ptr <= right; ptr++ ) {
+                                for( ptr2 = ptr; ptr2 > left && cmp(array[ptr2],array[ptr2-1]); ptr2--) {
+                                    t = array[ptr2];
+                                    array[ptr2] = array[ptr2-1];
+                                    array[ptr2-1] = t;
+                                }
+                            }
+                            break;
+                        } else {
+                            swap_cnt = 0;
+
+                            left0 = left;
+                            right0 = right;
+                            pivot = left + (n>>1);
+
+                            if( n > 40 ) {
+                                d = n >> 3;
+                                a = left, b = left + d, c = left + 2*d;
+                                left = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
+                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+
+                                a = pivot - d, b = pivot, c = pivot + d;
+                                pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
+                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+
+                                a = right - 2*d, b = right - d, c = right;
+                                right = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
+                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                            }
+
+                            a = left, b = pivot, c = right;
+                            pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))   
+                                               : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                            if( pivot != left0 ) {
+                                t = array[pivot];
+                                array[pivot] = array[left0];
+                                array[left0] = t;
+                                pivot = left0;
+                            }
+                            left = left1 = left0 + 1;
+                            right = right1 = right0;
+
+                            for(;;) {
+                            
+                                while( left <= right && !cmp(array[pivot], array[left]) ) {
+                                    if( !cmp(array[left], array[pivot]) ) {
+                                        if( left > left1 ) {
+                                            t = array[left1];
+                                            array[left1] = array[left];
+                                            array[left] = t;
+                                        }
+                                        swap_cnt = 1;
+                                        left1++;
+                                    }
+                                    left++;
+                                }
+
+                                while( left <= right && !cmp(array[right], array[pivot]) ) {
+                                    if( !cmp(array[pivot], array[right]) ) {
+                                        if( right < right1 ) {
+                                            t = array[right1];
+                                            array[right1] = array[right];
+                                            array[right] = t;
+                                        }
+                                        swap_cnt = 1;
+                                        right1--;
+                                    }
+                                    right--;
+                                }
+
+                                if( left > right ) break;
+                                
+                                t = array[left];
+                                array[left] = array[right];
+                                array[right] = t;
+                                swap_cnt = 1;
+                                left++;
+                                right--;
+                            }
+
+                            if( swap_cnt == 0 ) {
+                                left = left0, right = right0;
+                                //goto insert_sort;
+                                for( ptr = left + 1; ptr <= right; ptr++ ) {
+                                    for( ptr2 = ptr; ptr2 > left && cmp(array[ptr2],array[ptr2-1]); ptr2--) {
+                                        t = array[ptr2];
+                                        array[ptr2] = array[ptr2-1];
+                                        array[ptr2-1] = t;
+                                    }
+                                }
+                                break;
+                            }
+
+                            n = Math.min( (left1 - left0), (left - left1) );
+                            for( i = 0; i < n; i++ ) {
+                                t = array[left0+i];
+                                array[left0+i] = array[left+i-n];
+                                array[left+i-n] = t;
+                            }
+
+                            n = Math.min( (right0 - right1), (right1 - right) );
+                            for( i = 0; i < n; i++ ) {
+                                t = array[left+i];
+                                array[left+i] = array[right0+i-n+1];
+                                array[right0+i-n+1] = t;
+                            }
+                            n = (left - left1);
+                            m = (right1 - right);
+                            if( n > 1 ) {
+                                if( m > 1 ) {
+                                    if( n > m ) {
+                                        ++sp;
+                                        stack[sp<<1] = left0;
+                                        stack[(sp<<1)+1] = left0 + n - 1;
+                                        left = right0 - m + 1, right = right0;
+                                    } else {
+                                        ++sp;
+                                        stack[sp<<1] = right0 - m + 1;
+                                        stack[(sp<<1)+1] = right0;
+                                        left = left0, right = left0 + n - 1;
+                                    }
+                                } else {
+                                    left = left0, right = left0 + n - 1;
+                                }
+                            }
+                            else if( m > 1 )
+                                left = right0 - m + 1, right = right0;
+                            else
+                                break;
+                        }
+                    }
+                }
+            },
+
+            median: function(array, low, high) {
+                var w;
+                var middle=0,ll=0,hh=0,median=(low+high)>>1;
+                for (;;) {
+                    if (high <= low) return array[median];
+                    if (high == (low + 1)) {
+                        if (array[low] > array[high]) {
+                            w = array[low];
+                            array[low] = array[high];
+                            array[high] = w;
+                        }
+                        return array[median];
+                    }
+                    middle = ((low + high) >> 1);
+                    if (array[middle] > array[high]) {
+                        w = array[middle];
+                        array[middle] = array[high];
+                        array[high] = w;
+                    }
+                    if (array[low] > array[high]) {
+                        w = array[low];
+                        array[low] = array[high];
+                        array[high] = w;
+                    }
+                    if (array[middle] > array[low]) {
+                        w = array[middle];
+                        array[middle] = array[low];
+                        array[low] = w;
+                    }
+                    ll = (low + 1);
+                    w = array[middle];
+                    array[middle] = array[ll];
+                    array[ll] = w;
+                    hh = high;
+                    for (;;) {
+                        do ++ll; while (array[low] > array[ll]);
+                        do --hh; while (array[hh] > array[low]);
+                        if (hh < ll) break;
+                        w = array[ll];
+                        array[ll] = array[hh];
+                        array[hh] = w;
+                    }
+                    w = array[low];
+                    array[low] = array[hh];
+                    array[hh] = w;
+                    if (hh <= median)
+                        low = ll;
+                    else if (hh >= median)
+                        high = (hh - 1);
+                }
+                return 0;
+            }
+        };
+
+    })();
+
+    global.math = math;
+
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var imgproc = (function() {
+
+        return {
+            // TODO: add support for RGB/BGR order
+            grayscale: function(src, dst) {
+                var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
+                var j = 0;
+                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
+                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
+                    dst[j + 1] = ((src[i + 4] * 77) + (src[i + 5] * 151) + (src[i + 6] * 28)) >> 8;
+
+                    dst[j + 2] = ((src[i + 8] * 77) + (src[i + 9] * 151) + (src[i + 10] * 28)) >> 8;
+                    dst[j + 3] = ((src[i + 12] * 77) + (src[i + 13] * 151) + (src[i + 14] * 28)) >> 8;
+                }
+                for (; i < srcLength; i += 4, ++j) {
+                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
+                }
+            },
+
+            box_blur: function(src, dst, w, h, hwin) {
+                var win = (2*hwin+1)|0;
+                var _buf = new Int32Array(w*win+w);
+                var sums = (w*win)|0;
+                var next_row=0,oldest_row=0;
+                var i=0, j=0, s0=0, s1=0;
+                var hsum = 0, back=0;
+
+                var input = 0, output = (w*hwin - hwin) | 0;
+
+                for(; i < w; ++i){ _buf[sums+i] = 0; }
+
+                for (i=0; i<h; ++i) {
+                    hsum = 0;
+                    back = input;
+
+                    for (j = 0; j < win-1; ++j) hsum += src[input+j];
+                    for (; j <= w-2; j+=2) {
+                        hsum += src[input+j];
+                        _buf[next_row+j] = hsum;
+                        _buf[sums+j] += hsum;
+                        hsum -= src[back++];
+                        //
+                        hsum += src[input+j+1];
+                        _buf[next_row+j+1] = hsum;
+                        _buf[sums+j+1] += hsum;
+                        hsum -= src[back++];
+                    }
+                    for (; j < w; ++j) {
+                        hsum += src[input+j];
+                        _buf[next_row+j] = hsum;
+                        _buf[sums+j] += hsum;
+                        hsum -= src[back++];
+                    }
+                    if (i >= win-1)  {
+                        for(j = win-1; j <= w-2; j+=2) {
+                            s0 = _buf[sums+j]; s1 = _buf[sums+j+1];
+                            dst[output+j] = s0; dst[output+j+1] = s1;
+                            _buf[sums+j] = s0 - _buf[oldest_row+j];
+                            _buf[sums+j+1] = s1 - _buf[oldest_row+j+1];
+                        }
+                        for(; j < w; ++j) {
+                            s0 = _buf[sums+j];
+                            dst[output+j] = s0;
+                            _buf[sums+j] = s0 - _buf[oldest_row+j];
+                        }
+                        output += w;
+                        oldest_row += w;
+                        oldest_row = (oldest_row < sums) * oldest_row;
+                    }
+                    input += w;
+                    next_row += w;
+                    next_row = (next_row < sums) * next_row;
+                }
+            },
+
+            gaussian_blur_u8: function(src, dst, w, h, kernel_size, sigma) {
+                if (typeof sigma === "undefined") { sigma = 0.0; }
+                if (typeof kernel_size === "undefined") { kernel_size = 0; }
+                kernel_size = kernel_size == 0 ? (Math.max(1, (4.0 * sigma + 1.0 - 1e-8)|0) * 2 + 1)|0 : kernel_size;
+                var half_kernel = kernel_size >> 1;
+                var i=0,j=0,k=0,sum=0,sum1=0,sp=0,dp=0,w2=w<<1;
+                var buf = new Uint8Array(kernel_size + Math.max(h, w));
+                // we use int based kernel
+                var filter = new Int32Array(kernel_size);
+
+                jsfeat.math.get_gaussian_kernel(kernel_size, sigma, filter, jsfeat.U8_t);
+
+                // hor pass
+                for (; i < h; ++i) { 
+                    sum = src[sp];
+                    for (j = 0; j < half_kernel; ++j) {
+                        buf[j] = sum;
+                    }
+                    for (j = 0; j <= w-2; j+=2) {
+                        buf[j + half_kernel] = src[sp+j];
+                        buf[j + half_kernel+1] = src[sp+j+1];
+                    }
+                    for (; j < w; ++j) {
+                        buf[j + half_kernel] = src[sp+j];
+                    }
+                    sum = src[sp+w-1];
+                    for (j = w; j < half_kernel + w; ++j) {
+                        buf[j + half_kernel] = sum;
+                    }
+                    for (j = 0; j <= w-2; j+=2) {
+                        sum = 0, sum1 = 0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                            sum1 += buf[k + j+1] * filter[k];
+                        }
+                        dst[dp+j] = sum >> 8;
+                        dst[dp+j+1] = sum1 >> 8;
+                    }
+                    for (; j < w; ++j) {
+                        sum = 0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                        }
+                        dst[dp+j] = sum >> 8;
+                    }
+                    sp += w;
+                    dp += w;
+                }
+
+                // vert pass
+                for (i = 0; i < w; ++i) {
+                    sum = dst[i];
+                    for (j = 0; j < half_kernel; ++j) {
+                        buf[j] = sum;
+                    }
+                    k = i;
+                    for (j = 0; j <= h-2; j+=2, k+=w2) {
+                        buf[j+half_kernel] = dst[k];
+                        buf[j+half_kernel+1] = dst[k+w];
+                    }
+                    for (; j < h; ++j, k+=w) {
+                        buf[j+half_kernel] = dst[k];
+                    }
+                    sum = dst[(h-1)*w + i];
+                    for (j = h; j < half_kernel + h; ++j) {
+                        buf[j + half_kernel] = sum;
+                    }
+                    dp = i;
+                    for (j = 0; j <= h-2; j+=2, dp+=w2) { 
+                        sum = 0, sum1=0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                            sum1 += buf[k + j+1] * filter[k];
+                        }
+                        dst[dp] = sum >> 8;
+                        dst[dp+w] = sum1 >> 8;
+                    }
+                    for (; j < h; ++j, dp+=w) {
+                        sum = 0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                        }
+                        dst[dp] = sum >> 8;
+                    }
+                }
+            },
+
+            pyrdown_fast_u8: function(src, w, h, dst) {
+                var w2 = w >> 1, h2 = h >> 1;
+                var x=0,y=0,sptr=0,sline=0,dptr=0;
+
+                for(y = 0; y < h2; ++y) {
+                    sline = sptr;
+                    for(x = 0; x <= w2-2; x+=2, dptr+=2, sline += 4) {
+                        dst[dptr] = (src[sline] + src[sline+1] +
+                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
+                        dst[dptr+1] = (src[sline+2] + src[sline+3] +
+                                            src[sline+w+2] + src[sline+w+3] + 2) >> 2;
+                    }
+                    for(; x < w2; ++x, ++dptr, sline += 2) {
+                        dst[dptr] = (src[sline] + src[sline+1] +
+                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
+                    }
+                    sptr += w << 1;
+                }
+            },
+
+            shar_derivatives: function(img, dst, w, h) {
+                var dstep = w<<1,x=0,y=0,x1=0;
+                var srow0=0,srow1=0,srow2=0,drow=0;
+                var trow0 = new Int32Array(w+2);
+                var trow1 = new Int32Array(w+2);
+
+                for(; y < h; ++y, srow1+=w) {
+                    srow0 = ((y > 0 ? y-1 : 1)*w)|0;
+                    srow2 = ((y < h-1 ? y+1 : h-2)*w)|0;
+                    drow = (y*dstep)|0;
+                    // do vertical convolution
+                    for(x = 0, x1 = 1; x <= w-2; x+=2, x1+=2) {
+                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                        //
+                        trow0[x1+1] = ( ((img[srow0+x+1]) + (img[srow2+x+1]))*3 + (img[srow1+x+1])*10 );
+                        trow1[x1+1] = ( (img[srow2+x+1]) - (img[srow0+x+1]) );
+                    }
+                    for(; x < w; ++x, ++x1) {
+                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                    }
+                    // make border
+                    x = (w + 1)|0;
+                    trow0[0] = trow0[1]; trow0[x] = trow0[w];
+                    trow1[0] = trow1[1]; trow1[x] = trow1[w];
+                    // do horizontal convolution, interleave the results and store them
+                    for(x = 0; x <= w-2; x+=2) {
+                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
+                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
+                        dst[drow++] = ( (trow0[x+3] - trow0[x+1]) );
+                        dst[drow++] = ( ((trow1[x+3] + trow1[x+1])*3 + trow1[x+2]*10) );
+                    }
+                    for(; x < w; ++x) {
+                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
+                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
+                    }
+                }
+            }
+        };
+    })();
+
+    global.imgproc = imgproc;
+
+})(jsfeat);
+
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * This is FAST corner detector, contributed to OpenCV by the author, Edward Rosten.
+ */
+
+/*
+The references are:
+ * Machine learning for high-speed corner detection,
+   E. Rosten and T. Drummond, ECCV 2006
+ * Faster and better: A machine learning approach to corner detection
+   E. Rosten, R. Porter and T. Drummond, PAMI, 2009  
+*/
+
+(function(global) {
+    "use strict";
+    //
+    var fast_corners = (function() {
+
+        var offsets16 = 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 offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
+        var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
+
+        var threshold_tab = new Uint8Array(512);
+        var pixel_off = new Int32Array(25);
+        var score_diff = new Int32Array(25);
+
+        // private functions
+        var _cmp_offsets = function(pixel, step, pattern_size) {
+            var k = 0;
+            var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
+            for( ; k < pattern_size; ++k ) {
+                pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
+            }
+            for( ; k < 25; ++k ) {
+                pixel[k] = pixel[k - pattern_size];
+            }
+        },
+
+        _cmp_score_8 = function(src, off, pixel, d, threshold) {
+            var N = 15, k = 0, v = src[off];
+            var a0 = threshold,a=0,b0=0,b=0;
+
+            for( ; k < N; ++k ) {
+                d[k] = v - src[off+pixel[k]];
+            }
+
+            for( k = 0; k < 8; k += 2 ) {
+                a = Math.min(d[k+1], d[k+2]);
+
+                if( a <= a0 ) continue;
+
+                a = Math.min(a, d[k+3]);
+                a = Math.min(a, d[k+4]);
+                a0 = Math.max(a0, Math.min(a, d[k]));
+                a0 = Math.max(a0, Math.min(a, d[k+5]));
+            }
+
+            b0 = -a0;
+            for( k = 0; k < 8; k += 2 ) {
+                b = Math.max(d[k+1], d[k+2]);
+                b = Math.max(b, d[k+3]);
+
+                if( b >= b0 ) continue;
+
+                b = Math.max(b, d[k+4]);
+                b0 = Math.min(b0, Math.max(b, d[k]));
+                b0 = Math.min(b0, Math.max(b, d[k+5]));
+            }
+
+            return -b0-1;
+        },
+
+        _cmp_score_12 = function(src, off, pixel, d, threshold) {
+            var N = 19, k = 0, v = src[off];
+            var a0 = threshold,a=0,b0=0,b=0;
+
+            for( ; k < N; ++k ) {
+                d[k] = v - src[off+pixel[k]];
+            }
+
+            for( k = 0; k < 12; k += 2 ) {
+                a = Math.min(d[k+1], d[k+2]);
+
+                if( a <= a0 ) continue;
+
+                a = Math.min(a, d[k+3]);
+                a = Math.min(a, d[k+4]);
+                a = Math.min(a, d[k+5]);
+                a = Math.min(a, d[k+6]);
+                a0 = Math.max(a0, Math.min(a, d[k]));
+                a0 = Math.max(a0, Math.min(a, d[k+7]));
+            }
+
+            b0 = -a0;
+            for( k = 0; k < 12; k += 2 ) {
+                b = Math.max(d[k+1], d[k+2]);
+                b = Math.max(b, d[k+3]);
+                b = Math.max(b, d[k+4]);
+
+                if( b >= b0 ) continue;
+
+                b = Math.max(b, d[k+5]);
+                b = Math.max(b, d[k+6]);
+                b0 = Math.min(b0, Math.max(b, d[k]));
+                b0 = Math.min(b0, Math.max(b, d[k+7]));
+            }
+
+            return -b0-1;
+        },
+
+        _cmp_score_16 = function(src, off, pixel, d, threshold) {
+            var N = 25, k = 0, v = src[off];
+            var a0 = threshold,a=0,b0=0,b=0;
+
+            for( ; k < N; ++k ) {
+                d[k] = v - src[off+pixel[k]];
+            }
+
+            for( k = 0; k < 16; k += 2 ) {
+                a = Math.min(d[k+1], d[k+2]);
+                a = Math.min(a, d[k+3]);
+
+                if( a <= a0 ) continue;
+
+                a = Math.min(a, d[k+4]);
+                a = Math.min(a, d[k+5]);
+                a = Math.min(a, d[k+6]);
+                a = Math.min(a, d[k+7]);
+                a = Math.min(a, d[k+8]);
+                a0 = Math.max(a0, Math.min(a, d[k]));
+                a0 = Math.max(a0, Math.min(a, d[k+9]));
+            }
+
+            b0 = -a0;
+            for( k = 0; k < 16; k += 2 ) {
+                b = Math.max(d[k+1], d[k+2]);
+                b = Math.max(b, d[k+3]);
+                b = Math.max(b, d[k+4]);
+                b = Math.max(b, d[k+5]);
+
+                if( b >= b0 ) continue;
+                b = Math.max(b, d[k+6]);
+                b = Math.max(b, d[k+7]);
+                b = Math.max(b, d[k+8]);
+                b0 = Math.min(b0, Math.max(b, d[k]));
+                b0 = Math.min(b0, Math.max(b, d[k+9]));
+            }
+
+            return -b0-1;
+        };
+
+        var _threshold = 20;
+
+        return {
+            set_threshold: function(threshold) {
+                _threshold = Math.min(Math.max(threshold, 0), 255);
+                for (var i = -255; i <= 255; ++i) {
+                    threshold_tab[(i + 255)] = (i < -_threshold ? 1 : (i > _threshold ? 2 : 0));
+                }
+                return _threshold;
+            },
+            
+            detect: function(img, w, h, corners, border, pattern_size) {
+                if (typeof pattern_size === "undefined") { pattern_size = 16; }
+                if (typeof border === "undefined") { border = 3; }
+
+                var K = (pattern_size/2)|0, N = (pattern_size + K + 1)|0;
+                var i=0, j=0, k=0, vt=0, x=0, m3=0;
+                var buf = new Uint8Array(w*3);
+                var cpbuf = new Int32Array((w+1)*3);
+                var pixel = pixel_off;
+                var sd = score_diff;
+                var sy = Math.max(3, border);
+                var ey = Math.min((h-2), (h-border));
+                var sx = Math.max(3, border);
+                var ex = Math.min((w - 3), (w - border));
+                var _count = 0, corners_cnt = 0;
+                var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
+                var thresh_tab = threshold_tab;
+                var threshold = _threshold;
+
+                var v=0,tab=0,d=0,ncorners=0,cornerpos=0,curr=0,ptr=0,prev=0,pprev=0;
+                var jp1=0,jm1=0,score=0;
+
+                _cmp_offsets(pixel, w, pattern_size);
+
+                // local vars are faster?
+                var pixel0 = pixel[0];
+                var pixel1 = pixel[1];
+                var pixel2 = pixel[2];
+                var pixel3 = pixel[3];
+                var pixel4 = pixel[4];
+                var pixel5 = pixel[5];
+                var pixel6 = pixel[6];
+                var pixel7 = pixel[7];
+                var pixel8 = pixel[8];
+                var pixel9 = pixel[9];
+                var pixel10 = pixel[10];
+                var pixel11 = pixel[11];
+                var pixel12 = pixel[12];
+                var pixel13 = pixel[13];
+                var pixel14 = pixel[14];
+                var pixel15 = pixel[15];
+
+                for(i = 0; i < w*3; ++i) {
+                    buf[i] = 0;
+                }
+
+                for(i = sy; i < ey; ++i) {
+                    ptr = ((i * w) + sx)|0;
+                    m3 = (i - 3)%3;
+                    curr = (m3*w)|0;
+                    cornerpos = (m3*(w+1))|0;
+                    for (j = 0; j < w; ++j) buf[curr+j] = 0;
+                    ncorners = 0;
+                    
+                    if( i < (ey - 1) ) {
+                        j = sx;
+                        
+                        for( ; j < ex; ++j, ++ptr ) {
+                            v = img[ptr];
+                            tab = ( - v + 255 );
+                            d = ( thresh_tab[tab+img[ptr+pixel0]] | thresh_tab[tab+img[ptr+pixel8]] );
+                            
+                            if( d == 0 ) {
+                                continue;
+                            }
+                            
+                            d &= ( thresh_tab[tab+img[ptr+pixel2]] | thresh_tab[tab+img[ptr+pixel10]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel4]] | thresh_tab[tab+img[ptr+pixel12]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel6]] | thresh_tab[tab+img[ptr+pixel14]] );
+                            
+                            if( d == 0 ) {
+                                continue;
+                            }
+                            
+                            d &= ( thresh_tab[tab+img[ptr+pixel1]] | thresh_tab[tab+img[ptr+pixel9]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel3]] | thresh_tab[tab+img[ptr+pixel11]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel5]] | thresh_tab[tab+img[ptr+pixel13]] );
+                            d &= ( thresh_tab[tab+img[ptr+pixel7]] | thresh_tab[tab+img[ptr+pixel15]] );
+                            
+                            if( d & 1 ) {
+                                vt = (v - threshold);
+                                _count = 0;
+                                
+                                for( k = 0; k < N; ++k ) {
+                                    x = img[(ptr+pixel[k])];
+                                    if(x < vt) {
+                                        ++_count;
+                                        if( _count > K ) {
+                                            ++ncorners;
+                                            cpbuf[cornerpos+ncorners] = j;
+                                            buf[curr+j] = score_func(img, ptr, pixel, sd, threshold);
+                                            break;
+                                        }
+                                    }
+                                    else {
+                                        _count = 0;
+                                    }
+                                }
+                            }
+                            
+                            if( d & 2 ) {
+                                vt = (v + threshold);
+                                _count = 0;
+                                
+                                for( k = 0; k < N; ++k ) {
+                                    x = img[(ptr+pixel[k])];
+                                    if(x > vt) {
+                                        ++_count;
+                                        if( _count > K ) {
+                                            ++ncorners;
+                                            cpbuf[cornerpos+ncorners] = j;
+                                            buf[curr+j] = score_func(img, ptr, pixel, sd, threshold);
+                                            break;
+                                        }
+                                    }
+                                    else {
+                                        _count = 0;
+                                    }
+                                }
+                            }
+                        }
+                    }
+                    
+                    cpbuf[cornerpos+w] = ncorners;
+            
+                    if ( i == sy ) {
+                        continue;
+                    }
+                    
+                    m3 = (i - 4 + 3)%3;
+                    prev = (m3*w)|0;
+                    cornerpos = (m3*(w+1))|0;
+                    m3 = (i - 5 + 3)%3;
+                    pprev = (m3*w)|0;
+
+                    ncorners = cpbuf[cornerpos+w];
+                    
+                    for( k = 0; k < ncorners; ++k ) {
+                        j = cpbuf[cornerpos+k];
+                        jp1 = (j+1)|0;
+                        jm1 = (j-1)|0;
+                        score = buf[prev+j];
+                        if( (score > buf[prev+jp1] && score > buf[prev+jm1] &&
+                            score > buf[pprev+jm1] && score > buf[pprev+j] && score > buf[pprev+jp1] &&
+                            score > buf[curr+jm1] && score > buf[curr+j] && score > buf[curr+jp1]) ) {
+                            // save corner
+                            corners[corners_cnt*3] = j;
+                            corners[corners_cnt*3+1] = (i-1);
+                            corners[corners_cnt*3+2] = score;
+                            corners_cnt++;
+                        }
+                    }
+                } // y loop
+                return corners_cnt;
+            }
+        };
+    })();
+
+    global.fast_corners = fast_corners;
+    fast_corners.set_threshold(20); // set default
+
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * this code is a rewrite from OpenCV's Lucas-Kanade optical flow implementation
+ */
+
+(function(global) {
+    "use strict";
+    //
+    var optical_flow_lk = (function() {
+
+        // short link to shar deriv
+        var shar_deriv = jsfeat.imgproc.shar_derivatives;
+
+        return {
+            track: function(prev_pyr, curr_pyr, prev_xy, curr_xy, count, win_size, max_iter, status, eps, min_eigen_threshold) {
+                if (typeof max_iter === "undefined") { max_iter = 30; }
+                if (typeof status === "undefined") { status = new Uint8Array(count); }
+                if (typeof eps === "undefined") { eps = 0.01; }
+                if (typeof min_eigen_threshold === "undefined") { min_eigen_threshold = 0.0001; }
+
+                var half_win = (win_size-1)*0.5;
+                var win_area = (win_size*win_size)|0;
+                var win_area2 = win_area << 1;
+                var prev_imgs = prev_pyr.images, next_imgs = curr_pyr.images;
+                var img_prev=prev_imgs[0].data_u8,img_next=next_imgs[0].data_u8;
+                var w0 = prev_imgs[0].width, h0 = prev_imgs[0].height,lw=0,lh=0;
+
+                var iwin_buf = new Int32Array(win_area);
+                var deriv_iwin = new Int32Array(win_area2);
+                var deriv_lev = new Int32Array((w0*h0)*2);
+
+                var dstep=0,src=0,dsrc=0,iptr=0,diptr=0,jptr=0;
+                var lev_sc=0.0,prev_x=0.0,prev_y=0.0,next_x=0.0,next_y=0.0;
+                var prev_delta_x=0.0,prev_delta_y=0.0,delta_x=0.0,delta_y=0.0;
+                var iprev_x=0,iprev_y=0,inext_x=0,inext_y=0;
+                var i=0,j=0,x=0,y=0,level=0,ptid=0,iter=0;
+                var brd_tl=0,brd_r=0,brd_b=0;
+                var a=0.0,b=0.0,b1=0.0,b2=0.0;
+
+                // fixed point math
+                var W_BITS14 = 14;
+                var W_BITS4 = 14;
+                var W_BITS1m5 = W_BITS4 - 5;
+                var W_BITS1m51 = (1 << ((W_BITS1m5) - 1));
+                var W_BITS14_ = (1 << W_BITS14);
+                var W_BITS41 = (1 << ((W_BITS4) - 1));
+                var FLT_SCALE = 1.0/(1 << 20);
+                var iw00=0,iw01=0,iw10=0,iw11=0,ival=0,ixval=0,iyval=0;
+                var A11=0.0,A12=0.0,A22=0.0,D=0.0,min_eig=0.0;
+
+                var FLT_EPSILON = 0.00000011920929;
+                eps *= eps;
+
+                // reset status
+                for(; i < count; ++i) {
+                    status[i] = 1;
+                }
+
+                var max_level = (prev_pyr.levels - 1)|0;
+                level = max_level;
+
+                for(; level >= 0; --level) {
+                    lev_sc = (1.0/(1 << level));
+                    lw = w0 >> level;
+                    lh = h0 >> level;
+                    dstep = lw << 1;
+                    img_prev = prev_imgs[level].data_u8;
+                    img_next = next_imgs[level].data_u8;
+                    
+                    brd_r = (lw - win_size)|0;
+                    brd_b = (lh - win_size)|0;
+
+                    // calculate level derivatives
+                    shar_deriv(img_prev, deriv_lev, lw, lh);
+
+                    // iterate through points
+                    for(ptid = 0; ptid < count; ++ptid) {
+                        i = ptid << 1;
+                        j = i + 1;
+                        prev_x = prev_xy[i]*lev_sc;
+                        prev_y = prev_xy[j]*lev_sc;
+
+                        if( level == max_level ) {
+                            next_x = prev_x;
+                            next_y = prev_y;
+                        } else {
+                            next_x = curr_xy[i]*2.0;
+                            next_y = curr_xy[j]*2.0;
+                        }
+                        curr_xy[i] = next_x;
+                        curr_xy[j] = next_y;
+
+                        prev_x -= half_win;
+                        prev_y -= half_win;
+                        iprev_x = prev_x|0;
+                        iprev_y = prev_y|0;
+
+                        // border check
+                        x = (iprev_x <= brd_tl)|(iprev_x >= brd_r)|(iprev_y <= brd_tl)|(iprev_y >= brd_b);
+                        if( x != 0 ) {
+                            if( level == 0 ) {
+                                status[ptid] = 0;
+                            }
+                            continue;
+                        }
+
+                        a = prev_x - iprev_x;
+                        b = prev_y - iprev_y;
+                        iw00 = (((1.0 - a)*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                        iw01 = ((a*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                        iw10 = (((1.0 - a)*b*W_BITS14_) + 0.5)|0;
+                        iw11 = (W_BITS14_ - iw00 - iw01 - iw10);
+
+                        A11 = 0.0, A12 = 0.0, A22 = 0.0;
+
+                        // extract the patch from the first image, compute covariation matrix of derivatives
+                        for( y = 0; y < win_size; ++y ) {
+                            src = ( (y + iprev_y)*lw + iprev_x )|0;
+                            dsrc = src << 1;
+
+                            iptr = (y*win_size)|0;
+                            diptr = iptr << 1;
+                            for(x = 0 ; x < win_size; ++x, ++src, ++iptr, dsrc += 2) {
+                                ival = ( (img_prev[src])*iw00 + (img_prev[src+1])*iw01 +
+                                        (img_prev[src+lw])*iw10 + (img_prev[src+lw+1])*iw11 );
+                                ival = (((ival) + W_BITS1m51) >> (W_BITS1m5));
+
+                                ixval = ( deriv_lev[dsrc]*iw00 + deriv_lev[dsrc+2]*iw01 +
+                                        deriv_lev[dsrc+dstep]*iw10 + deriv_lev[dsrc+dstep+2]*iw11 );
+                                ixval = (((ixval) + W_BITS41) >> (W_BITS4));
+
+                                iyval = ( deriv_lev[dsrc+1]*iw00 + deriv_lev[dsrc+3]*iw01 + deriv_lev[dsrc+dstep+1]*iw10 +
+                                        deriv_lev[dsrc+dstep+3]*iw11 );
+                                iyval = (((iyval) + W_BITS41) >> (W_BITS4));
+
+                                iwin_buf[iptr] = ival;
+                                deriv_iwin[diptr++] = ixval;
+                                deriv_iwin[diptr++] = iyval;
+
+                                A11 += ixval*ixval;
+                                A12 += ixval*iyval;
+                                A22 += iyval*iyval;
+                            }
+                        }
+
+                        A11 *= FLT_SCALE; A12 *= FLT_SCALE; A22 *= FLT_SCALE;
+
+                        D = A11*A22 - A12*A12;
+                        min_eig = (A22 + A11 - Math.sqrt((A11-A22)*(A11-A22) + 4.0*A12*A12)) / win_area2;
+
+                        if( min_eig < min_eigen_threshold || D < FLT_EPSILON )
+                        {
+                            if( level == 0 ) {
+                                status[ptid] = 0;
+                            }
+                            continue;
+                        }
+
+                        D = 1.0/D;
+
+                        next_x -= half_win;
+                        next_y -= half_win;
+                        prev_delta_x = 0.0;
+                        prev_delta_y = 0.0;
+
+                        for( iter = 0; iter < max_iter; ++iter ) {
+                            inext_x = next_x|0;
+                            inext_y = next_y|0;
+
+                            x = (inext_x <= brd_tl)|(inext_x >= brd_r)|(inext_y <= brd_tl)|(inext_y >= brd_b);
+                            if( x != 0 ) {
+                                if( level == 0 ) {
+                                    status[ptid] = 0;
+                                }
+                                break;
+                            }
+
+                            a = next_x - inext_x;
+                            b = next_y - inext_y;
+                            iw00 = (((1.0 - a)*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                            iw01 = ((a*(1.0 - b)*W_BITS14_) + 0.5)|0;
+                            iw10 = (((1.0 - a)*b*W_BITS14_) + 0.5)|0;
+                            iw11 = (W_BITS14_ - iw00 - iw01 - iw10);
+                            b1 = 0.0, b2 = 0.0;
+
+                            for( y = 0; y < win_size; ++y ) {
+                                jptr = ( (y + inext_y)*lw + inext_x )|0;
+
+                                iptr = (y*win_size)|0;
+                                diptr = iptr << 1;
+                                for( x = 0 ; x < win_size; ++x, ++jptr, ++iptr ) {
+                                    ival = ( (img_next[jptr])*iw00 + (img_next[jptr+1])*iw01 +
+                                            (img_next[jptr+lw])*iw10 + (img_next[jptr+lw+1])*iw11 );
+                                    ival = (((ival) + W_BITS1m51) >> (W_BITS1m5));
+                                    ival = (ival - iwin_buf[iptr]);
+
+                                    b1 += ival * deriv_iwin[diptr++];
+                                    b2 += ival * deriv_iwin[diptr++];
+                                }
+                            }
+
+                            b1 *= FLT_SCALE;
+                            b2 *= FLT_SCALE;
+
+                            delta_x = ((A12*b2 - A22*b1) * D);
+                            delta_y = ((A12*b1 - A11*b2) * D);
+
+                            next_x += delta_x;
+                            next_y += delta_y;
+                            curr_xy[i] = next_x + half_win;
+                            curr_xy[j] = next_y + half_win;
+
+                            if( delta_x*delta_x + delta_y*delta_y <= eps ) {
+                                break;
+                            }
+
+                            if( iter > 0 && Math.abs(delta_x + prev_delta_x) < 0.01 &&
+                                            Math.abs(delta_y + prev_delta_y) < 0.01 ) {
+                                curr_xy[i] -= delta_x*0.5;
+                                curr_xy[j] -= delta_y*0.5;
+                                break;
+                            }
+
+                            prev_delta_x = delta_x;
+                            prev_delta_y = delta_y;
+                        }
+                    } // points loop
+                } // levels loop
+            }
+        };
+    })();
+
+    global.optical_flow_lk = optical_flow_lk;
+
+})(jsfeat);
diff --git a/compile/build.xml b/compile/build.xml
new file mode 100644
index 0000000..df3665f
--- /dev/null
+++ b/compile/build.xml
@@ -0,0 +1,25 @@
+<project name="Build" default="compress">
+    <target name="concatenate">
+        <concat destfile="../build/jsfeat.js" encoding="UTF-8" outputencoding="UTF-8" fixlastline="true">
+            <filelist id="filelist" dir="../src">
+                <file name="jsfeat.js"/>
+                <file name="jsfeat_struct.js" />
+                <file name="jsfeat_math.js" />
+                <file name="jsfeat_imgproc.js" />
+                <file name="jsfeat_fast_corners.js" />
+                <file name="jsfeat_optical_flow_lk.js" />
+            </filelist>
+        </concat>
+    </target>
+    <target name="compress" depends="concatenate" description="Compress jsfeat.js to jsfeat-min.js">
+        <apply executable="java" parallel="false">
+            <filelist dir="../build" files="jsfeat.js" />
+            <arg line="-jar" />
+            <arg path="yuicompressor-2.4.2.jar" />
+            <srcfile />
+            <arg line="-o" />
+            <mapper type="glob" from="*.js" to="../build/*-min.js" />
+            <targetfile />
+        </apply>
+    </target>
+</project>
\ No newline at end of file
diff --git a/compile/yuicompressor-2.4.2.jar b/compile/yuicompressor-2.4.2.jar
new file mode 100644
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HcmV?d00001

diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index b4999d3..b6be6d9 100644
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -8,30 +8,20 @@
 
     var imgproc = (function() {
 
-        var RGBA_2_GRAY_LUT = new Int32Array(256*3);
-
         return {
-
-            init_grayscale_lut: function(blueIdx) {
-                var coeffs = new Int32Array(3);
-                coeffs[0] = 4899; coeffs[1] = 9617; coeffs[2] = 1868;
-
-                var b = 0, g = 0, r = (1 << (14-1));
-                var db = coeffs[blueIdx^2], dg = coeffs[1], dr = coeffs[blueIdx];
-                for( var i = 0; i < 256; i++, b += db, g += dg, r += dr ) {
-                    RGBA_2_GRAY_LUT[i] = b;
-                    RGBA_2_GRAY_LUT[i+256] = g;
-                    RGBA_2_GRAY_LUT[i+512] = r;
-                }
-            },
-
+            // TODO: add support for RGB/BGR order
             grayscale: function(src, dst) {
-                var srcLength = src.length | 0;
-                var _lut = RGBA_2_GRAY_LUT;
+                var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
                 var j = 0;
-                for (var i = 0; i < srcLength; i += 4, ++j) {
-                    dst[j] = (_lut[src[i]] + _lut[src[i+1]+256] + _lut[src[i+2]+512]) >> 14;
-                    //dst[j] = ((src[i]*77)+(src[i+1]*151)+(src[i+2]*28)) >> 8;
+                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
+                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
+                    dst[j + 1] = ((src[i + 4] * 77) + (src[i + 5] * 151) + (src[i + 6] * 28)) >> 8;
+
+                    dst[j + 2] = ((src[i + 8] * 77) + (src[i + 9] * 151) + (src[i + 10] * 28)) >> 8;
+                    dst[j + 3] = ((src[i + 12] * 77) + (src[i + 13] * 151) + (src[i + 14] * 28)) >> 8;
+                }
+                for (; i < srcLength; i += 4, ++j) {
+                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
                 }
             },
 
@@ -45,7 +35,7 @@
 
                 var input = 0, output = (w*hwin - hwin) | 0;
 
-                for(i = 0; i < w; ++i){ _buf[sums+i] = 0; }
+                for(; i < w; ++i){ _buf[sums+i] = 0; }
 
                 for (i=0; i<h; ++i) {
                     hsum = 0;
@@ -91,52 +81,149 @@
                 }
             },
 
-            pyrdown_fast_u8: function(src, dst) {
-                var w = src.width | 0;
-                var w2 = w >> 1, h2 = src.height >> 1;
-                var src_data = src.data_u8;
-                var dst_data = dst.data_u8;
+            gaussian_blur_u8: function(src, dst, w, h, kernel_size, sigma) {
+                if (typeof sigma === "undefined") { sigma = 0.0; }
+                if (typeof kernel_size === "undefined") { kernel_size = 0; }
+                kernel_size = kernel_size == 0 ? (Math.max(1, (4.0 * sigma + 1.0 - 1e-8)|0) * 2 + 1)|0 : kernel_size;
+                var half_kernel = kernel_size >> 1;
+                var i=0,j=0,k=0,sum=0,sum1=0,sp=0,dp=0,w2=w<<1;
+                var buf = new Uint8Array(kernel_size + Math.max(h, w));
+                // we use int based kernel
+                var filter = new Int32Array(kernel_size);
+
+                jsfeat.math.get_gaussian_kernel(kernel_size, sigma, filter, jsfeat.U8_t);
+
+                // hor pass
+                for (; i < h; ++i) { 
+                    sum = src[sp];
+                    for (j = 0; j < half_kernel; ++j) {
+                        buf[j] = sum;
+                    }
+                    for (j = 0; j <= w-2; j+=2) {
+                        buf[j + half_kernel] = src[sp+j];
+                        buf[j + half_kernel+1] = src[sp+j+1];
+                    }
+                    for (; j < w; ++j) {
+                        buf[j + half_kernel] = src[sp+j];
+                    }
+                    sum = src[sp+w-1];
+                    for (j = w; j < half_kernel + w; ++j) {
+                        buf[j + half_kernel] = sum;
+                    }
+                    for (j = 0; j <= w-2; j+=2) {
+                        sum = 0, sum1 = 0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                            sum1 += buf[k + j+1] * filter[k];
+                        }
+                        dst[dp+j] = sum >> 8;
+                        dst[dp+j+1] = sum1 >> 8;
+                    }
+                    for (; j < w; ++j) {
+                        sum = 0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                        }
+                        dst[dp+j] = sum >> 8;
+                    }
+                    sp += w;
+                    dp += w;
+                }
+
+                // vert pass
+                for (i = 0; i < w; ++i) {
+                    sum = dst[i];
+                    for (j = 0; j < half_kernel; ++j) {
+                        buf[j] = sum;
+                    }
+                    k = i;
+                    for (j = 0; j <= h-2; j+=2, k+=w2) {
+                        buf[j+half_kernel] = dst[k];
+                        buf[j+half_kernel+1] = dst[k+w];
+                    }
+                    for (; j < h; ++j, k+=w) {
+                        buf[j+half_kernel] = dst[k];
+                    }
+                    sum = dst[(h-1)*w + i];
+                    for (j = h; j < half_kernel + h; ++j) {
+                        buf[j + half_kernel] = sum;
+                    }
+                    dp = i;
+                    for (j = 0; j <= h-2; j+=2, dp+=w2) { 
+                        sum = 0, sum1=0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                            sum1 += buf[k + j+1] * filter[k];
+                        }
+                        dst[dp] = sum >> 8;
+                        dst[dp+w] = sum1 >> 8;
+                    }
+                    for (; j < h; ++j, dp+=w) {
+                        sum = 0;
+                        for (k = 0; k < kernel_size; ++k) {
+                            sum += buf[k + j] * filter[k];
+                        }
+                        dst[dp] = sum >> 8;
+                    }
+                }
+            },
+
+            pyrdown_fast_u8: function(src, w, h, dst) {
+                var w2 = w >> 1, h2 = h >> 1;
                 var x=0,y=0,sptr=0,sline=0,dptr=0;
 
                 for(y = 0; y < h2; ++y) {
                     sline = sptr;
-                    for(x = 0; x < w2; ++x, ++dptr) {
-                        dst_data[dptr] = (src_data[sline] + src_data[sline+1] +
-                                            src_data[sline+w] + src_data[sline+w+1] + 2) >> 2;
-                        sline += 2;
+                    for(x = 0; x <= w2-2; x+=2, dptr+=2, sline += 4) {
+                        dst[dptr] = (src[sline] + src[sline+1] +
+                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
+                        dst[dptr+1] = (src[sline+2] + src[sline+3] +
+                                            src[sline+w+2] + src[sline+w+3] + 2) >> 2;
+                    }
+                    for(; x < w2; ++x, ++dptr, sline += 2) {
+                        dst[dptr] = (src[sline] + src[sline+1] +
+                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
                     }
                     sptr += w << 1;
                 }
             },
 
             shar_derivatives: function(img, dst, w, h) {
-                var dstep = w<<1,x=0,y=0,x1=0,t0=0,t1=0;
+                var dstep = w<<1,x=0,y=0,x1=0;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0 = new Int32Array(w+2);
                 var trow1 = new Int32Array(w+2);
 
-                for(y=0; y < h; ++y) {
-                    srow1 = (y*w)|0;
+                for(; y < h; ++y, srow1+=w) {
                     srow0 = ((y > 0 ? y-1 : 1)*w)|0;
                     srow2 = ((y < h-1 ? y+1 : h-2)*w)|0;
                     drow = (y*dstep)|0;
                     // do vertical convolution
-                    for(x = 0, x1 = 1; x < w; ++x,++x1) {
-                        t0 = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
-                        t1 = ( (img[srow2+x]) - (img[srow0+x]) );
-                        trow0[x1] = t0;
-                        trow1[x1] = t1;
+                    for(x = 0, x1 = 1; x <= w-2; x+=2, x1+=2) {
+                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                        //
+                        trow0[x1+1] = ( ((img[srow0+x+1]) + (img[srow2+x+1]))*3 + (img[srow1+x+1])*10 );
+                        trow1[x1+1] = ( (img[srow2+x+1]) - (img[srow0+x+1]) );
+                    }
+                    for(; x < w; ++x, ++x1) {
+                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
                     }
                     // make border
                     x = (w + 1)|0;
                     trow0[0] = trow0[1]; trow0[x] = trow0[w];
                     trow1[0] = trow1[1]; trow1[x] = trow1[w];
                     // do horizontal convolution, interleave the results and store them
-                    for(x = 0; x < w; ++x) {
-                        t0 = ( (trow0[x+2] - trow0[x]) );
-                        t1 = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
-                        dst[drow++] = t0;
-                        dst[drow++] = t1;
+                    for(x = 0; x <= w-2; x+=2) {
+                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
+                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
+                        dst[drow++] = ( (trow0[x+3] - trow0[x+1]) );
+                        dst[drow++] = ( ((trow1[x+3] + trow1[x+1])*3 + trow1[x+2]*10) );
+                    }
+                    for(; x < w; ++x) {
+                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
+                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
                     }
                 }
             }
diff --git a/src/jsfeat_math.js b/src/jsfeat_math.js
index 1e8d2a5..80b526b 100644
--- a/src/jsfeat_math.js
+++ b/src/jsfeat_math.js
@@ -9,9 +9,274 @@
     var math = (function() {
 
         return {
-            // looks like latest V8 engine is super smart :)
-            // so it turns none of hacks i published here can beat Math class
-            // probably next time...
+            get_gaussian_kernel: function(size, sigma, kernel, data_type) {
+                var i=0,x=0.0,t=0.0,sigma_x=0.0,scale_2x=0.0;
+                var sum = 0.0;
+                var _kernel = new Float32Array(size);
+
+                if((size&1) == 1 && size <= 7 && sigma <= 0) {
+                    switch(size>>1) {
+                        case 0:
+                        _kernel[0] = 1.0;
+                        sum = 1.0;
+                        break;
+                        case 1:
+                        _kernel[0] = 0.25, _kernel[1] = 0.5, _kernel[2] = 0.25;
+                        sum = 0.25+0.5+0.25;
+                        break;
+                        case 2:
+                        _kernel[0] = 0.0625, _kernel[1] = 0.25, _kernel[2] = 0.375, 
+                        _kernel[3] = 0.25, _kernel[4] = 0.0625;
+                        sum = 0.0625+0.25+0.375+0.25+0.0625;
+                        break;
+                        case 3:
+                        _kernel[0] = 0.03125, _kernel[1] = 0.109375, _kernel[2] = 0.21875, 
+                        _kernel[3] = 0.28125, _kernel[4] = 0.21875, _kernel[5] = 0.109375, _kernel[6] = 0.03125;
+                        sum = 0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;
+                        break;
+                    }
+                } else {
+                    sigma_x = sigma > 0 ? sigma : ((size-1)*0.5 - 1.0)*0.3 + 0.8;
+                    scale_2x = -0.5/(sigma_x*sigma_x);
+
+                    for( ; i < size; ++i )
+                    {
+                        x = i - (size-1)*0.5;
+                        t = Math.exp(scale_2x*x*x);
+
+                        _kernel[i] = t;
+                        sum += t;
+                    }
+                }
+
+                if(data_type & jsfeat.U8_t) {
+                    // int based kernel
+                    sum = 256.0/sum;
+                    for (i = 0; i < size; ++i) {
+                        kernel[i] = (_kernel[i] * sum + 0.5)|0;
+                    }
+                } else {
+                    // classic kernel
+                    sum = 1.0/sum;
+                    for (i = 0; i < size; ++i) {
+                        kernel[i] = _kernel[i] * sum;
+                    }
+                }
+            },
+
+            // The current implementation was derived from *BSD system qsort():
+            // Copyright (c) 1992, 1993
+            // The Regents of the University of California.  All rights reserved.
+            qsort: function(array, low, high, cmp) {
+                var isort_thresh = 7;
+                var t;
+                var sp = 0,left=0,right=0,i=0,n=0,m=0,ptr=0,ptr2=0,d=0;
+                var left0=0,left1=0,right0=0,right1=0,pivot=0,a=0,b=0,c=0,swap_cnt=0;
+
+                var stack = new Int32Array(48*2);
+
+                if( (high-low+1) <= 1 ) return;
+
+                stack[0] = low;
+                stack[1] = high;
+
+                while( sp >= 0 ) {
+                
+                    left = stack[sp<<1];
+                    right = stack[(sp<<1)+1];
+                    sp--;
+
+                    for(;;) {
+                        n = (right - left) + 1;
+
+                        if( n <= isort_thresh ) {
+                        //insert_sort:
+                            for( ptr = left + 1; ptr <= right; ptr++ ) {
+                                for( ptr2 = ptr; ptr2 > left && cmp(array[ptr2],array[ptr2-1]); ptr2--) {
+                                    t = array[ptr2];
+                                    array[ptr2] = array[ptr2-1];
+                                    array[ptr2-1] = t;
+                                }
+                            }
+                            break;
+                        } else {
+                            swap_cnt = 0;
+
+                            left0 = left;
+                            right0 = right;
+                            pivot = left + (n>>1);
+
+                            if( n > 40 ) {
+                                d = n >> 3;
+                                a = left, b = left + d, c = left + 2*d;
+                                left = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
+                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+
+                                a = pivot - d, b = pivot, c = pivot + d;
+                                pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
+                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+
+                                a = right - 2*d, b = right - d, c = right;
+                                right = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
+                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                            }
+
+                            a = left, b = pivot, c = right;
+                            pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))   
+                                               : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                            if( pivot != left0 ) {
+                                t = array[pivot];
+                                array[pivot] = array[left0];
+                                array[left0] = t;
+                                pivot = left0;
+                            }
+                            left = left1 = left0 + 1;
+                            right = right1 = right0;
+
+                            for(;;) {
+                            
+                                while( left <= right && !cmp(array[pivot], array[left]) ) {
+                                    if( !cmp(array[left], array[pivot]) ) {
+                                        if( left > left1 ) {
+                                            t = array[left1];
+                                            array[left1] = array[left];
+                                            array[left] = t;
+                                        }
+                                        swap_cnt = 1;
+                                        left1++;
+                                    }
+                                    left++;
+                                }
+
+                                while( left <= right && !cmp(array[right], array[pivot]) ) {
+                                    if( !cmp(array[pivot], array[right]) ) {
+                                        if( right < right1 ) {
+                                            t = array[right1];
+                                            array[right1] = array[right];
+                                            array[right] = t;
+                                        }
+                                        swap_cnt = 1;
+                                        right1--;
+                                    }
+                                    right--;
+                                }
+
+                                if( left > right ) break;
+                                
+                                t = array[left];
+                                array[left] = array[right];
+                                array[right] = t;
+                                swap_cnt = 1;
+                                left++;
+                                right--;
+                            }
+
+                            if( swap_cnt == 0 ) {
+                                left = left0, right = right0;
+                                //goto insert_sort;
+                                for( ptr = left + 1; ptr <= right; ptr++ ) {
+                                    for( ptr2 = ptr; ptr2 > left && cmp(array[ptr2],array[ptr2-1]); ptr2--) {
+                                        t = array[ptr2];
+                                        array[ptr2] = array[ptr2-1];
+                                        array[ptr2-1] = t;
+                                    }
+                                }
+                                break;
+                            }
+
+                            n = Math.min( (left1 - left0), (left - left1) );
+                            for( i = 0; i < n; i++ ) {
+                                t = array[left0+i];
+                                array[left0+i] = array[left+i-n];
+                                array[left+i-n] = t;
+                            }
+
+                            n = Math.min( (right0 - right1), (right1 - right) );
+                            for( i = 0; i < n; i++ ) {
+                                t = array[left+i];
+                                array[left+i] = array[right0+i-n+1];
+                                array[right0+i-n+1] = t;
+                            }
+                            n = (left - left1);
+                            m = (right1 - right);
+                            if( n > 1 ) {
+                                if( m > 1 ) {
+                                    if( n > m ) {
+                                        ++sp;
+                                        stack[sp<<1] = left0;
+                                        stack[(sp<<1)+1] = left0 + n - 1;
+                                        left = right0 - m + 1, right = right0;
+                                    } else {
+                                        ++sp;
+                                        stack[sp<<1] = right0 - m + 1;
+                                        stack[(sp<<1)+1] = right0;
+                                        left = left0, right = left0 + n - 1;
+                                    }
+                                } else {
+                                    left = left0, right = left0 + n - 1;
+                                }
+                            }
+                            else if( m > 1 )
+                                left = right0 - m + 1, right = right0;
+                            else
+                                break;
+                        }
+                    }
+                }
+            },
+
+            median: function(array, low, high) {
+                var w;
+                var middle=0,ll=0,hh=0,median=(low+high)>>1;
+                for (;;) {
+                    if (high <= low) return array[median];
+                    if (high == (low + 1)) {
+                        if (array[low] > array[high]) {
+                            w = array[low];
+                            array[low] = array[high];
+                            array[high] = w;
+                        }
+                        return array[median];
+                    }
+                    middle = ((low + high) >> 1);
+                    if (array[middle] > array[high]) {
+                        w = array[middle];
+                        array[middle] = array[high];
+                        array[high] = w;
+                    }
+                    if (array[low] > array[high]) {
+                        w = array[low];
+                        array[low] = array[high];
+                        array[high] = w;
+                    }
+                    if (array[middle] > array[low]) {
+                        w = array[middle];
+                        array[middle] = array[low];
+                        array[low] = w;
+                    }
+                    ll = (low + 1);
+                    w = array[middle];
+                    array[middle] = array[ll];
+                    array[ll] = w;
+                    hh = high;
+                    for (;;) {
+                        do ++ll; while (array[low] > array[ll]);
+                        do --hh; while (array[hh] > array[low]);
+                        if (hh < ll) break;
+                        w = array[ll];
+                        array[ll] = array[hh];
+                        array[hh] = w;
+                    }
+                    w = array[low];
+                    array[low] = array[hh];
+                    array[hh] = w;
+                    if (hh <= median)
+                        low = ll;
+                    else if (hh >= median)
+                        high = (hh - 1);
+                }
+                return 0;
+            }
         };
 
     })();
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 6956b80..128a155 100644
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -6,6 +6,11 @@
     "use strict";
     //
 
+    var U8_t = 2,
+        U32_t = 4,
+        I32_t = 8,
+        F32_t = 16;
+
     var img_t = (function () {
         function img_t(w, h, elem_size) {
             this.width = w;
@@ -34,16 +39,23 @@
         }
 
         img_pyr_t.prototype.build = function(src) {
-            this.pyrdown(src, this.images[1]);
-            var i = 1;
+            var i = 2, a = src, b = this.images[1];
+            this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
             for(; i < this.levels; ++i) {
-                this.pyrdown(this.images[i-1], this.images[i]);
+                a = b;
+                b = this.images[i];
+                this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
             }
         }
 
         return img_pyr_t;
     })();
 
+    global.U8_t = U8_t;
+    global.U32_t = U32_t;
+    global.I32_t = I32_t;
+    global.F32_t = F32_t;
+
     global.img_t = img_t;
     global.img_pyr_t = img_pyr_t;
 

From 9e3c8bb30019adc9c715ce55c1d43868a5d63570 Mon Sep 17 00:00:00 2001
From: Eugeny Zatepyakin <zatepyakin@gmail.com>
Date: Sat, 17 Nov 2012 23:29:40 +0400
Subject: [PATCH 09/46] global update

Added lots of new methods and modules
---
 build/jsfeat-min.js           |    2 +-
 build/jsfeat.js               | 2210 ++++++++++++++++++++++++++++++---
 cascades/bbf_face.js          |    3 +
 cascades/eye.js               |    7 +
 cascades/frontalface.js       |    7 +
 cascades/handfist.js          |    7 +
 cascades/handopen.js          |    7 +
 cascades/mouth.js             |    7 +
 cascades/profileface.js       |    7 +
 cascades/upperbody.js         |    7 +
 compile/build.xml             |    4 +
 src/jsfeat.js                 |    2 +-
 src/jsfeat_bbf.js             |  394 ++++++
 src/jsfeat_cache.js           |   71 ++
 src/jsfeat_fast_corners.js    |   30 +-
 src/jsfeat_haar.js            |  290 +++++
 src/jsfeat_imgproc.js         | 1008 +++++++++++++--
 src/jsfeat_math.js            |   61 +-
 src/jsfeat_optical_flow_lk.js |   30 +-
 src/jsfeat_struct.js          |  155 ++-
 src/jsfeat_transform.js       |  172 +++
 21 files changed, 4079 insertions(+), 402 deletions(-)
 mode change 100644 => 100755 build/jsfeat-min.js
 create mode 100755 cascades/bbf_face.js
 create mode 100755 cascades/eye.js
 create mode 100755 cascades/frontalface.js
 create mode 100755 cascades/handfist.js
 create mode 100755 cascades/handopen.js
 create mode 100755 cascades/mouth.js
 create mode 100755 cascades/profileface.js
 create mode 100755 cascades/upperbody.js
 mode change 100644 => 100755 compile/build.xml
 mode change 100644 => 100755 src/jsfeat.js
 create mode 100755 src/jsfeat_bbf.js
 create mode 100755 src/jsfeat_cache.js
 mode change 100644 => 100755 src/jsfeat_fast_corners.js
 create mode 100755 src/jsfeat_haar.js
 mode change 100644 => 100755 src/jsfeat_imgproc.js
 mode change 100644 => 100755 src/jsfeat_math.js
 mode change 100644 => 100755 src/jsfeat_optical_flow_lk.js
 mode change 100644 => 100755 src/jsfeat_struct.js
 create mode 100644 src/jsfeat_transform.js

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
old mode 100644
new mode 100755
index 81945aa..daf806f
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(c){var a=2,g=4,b=8,e=16;var d=(function(){function h(i,k,j){this.width=i;this.height=k;this.buffer=new ArrayBuffer(i*k*j);this.data_u8=new Uint8Array(this.buffer);this.data_i32=new Int32Array(this.buffer);this.data_f32=new Float32Array(this.buffer)}return h})();var f=(function(){function h(i){this.levels=i;this.images=new Array(i);this.pyrdown=jsfeat.imgproc.pyrdown_fast_u8}h.prototype.allocate=function(j,m,l){var k=this.levels;while(--k>=0){this.images[k]=new d(j>>k,m>>k,l)}};h.prototype.build=function(m){var l=2,k=m,j=this.images[1];this.pyrdown(k.data_u8,k.width,k.height,j.data_u8);for(;l<this.levels;++l){k=j;j=this.images[l];this.pyrdown(k.data_u8,k.width,k.height,j.data_u8)}};return h})();c.U8_t=a;c.U32_t=g;c.I32_t=b;c.F32_t=e;c.img_t=d;c.img_pyr_t=f})(jsfeat);(function(b){var a=(function(){return{get_gaussian_kernel:function(n,k,d,j){var e=0,g=0,m=0,l=0,c=0;var f=0;var h=new Float32Array(n);if((n&1)==1&&n<=7&&k<=0){switch(n>>1){case 0:h[0]=1;f=1;break;case 1:h[0]=0.25,h[1]=0.5,h[2]=0.25;f=0.25+0.5+0.25;break;case 2:h[0]=0.0625,h[1]=0.25,h[2]=0.375,h[3]=0.25,h[4]=0.0625;f=0.0625+0.25+0.375+0.25+0.0625;break;case 3:h[0]=0.03125,h[1]=0.109375,h[2]=0.21875,h[3]=0.28125,h[4]=0.21875,h[5]=0.109375,h[6]=0.03125;f=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{l=k>0?k:((n-1)*0.5-1)*0.3+0.8;c=-0.5/(l*l);for(;e<n;++e){g=e-(n-1)*0.5;m=Math.exp(c*g*g);h[e]=m;f+=m}}if(j&jsfeat.U8_t){f=256/f;for(e=0;e<n;++e){d[e]=(h[e]*f+0.5)|0}}else{f=1/f;for(e=0;e<n;++e){d[e]=h[e]*f}}},qsort:function(o,G,p,q){var A=7;var r;var z=0,j=0,D=0,y=0,w=0,x=0,e=0,v=0,B=0;var u=0,s=0,h=0,g=0,l=0,F=0,E=0,C=0,f=0;var k=new Int32Array(48*2);if((p-G+1)<=1){return}k[0]=G;k[1]=p;while(z>=0){j=k[z<<1];D=k[(z<<1)+1];z--;for(;;){w=(D-j)+1;if(w<=A){for(e=j+1;e<=D;e++){for(v=e;v>j&&q(o[v],o[v-1]);v--){r=o[v];o[v]=o[v-1];o[v-1]=r}}break}else{f=0;u=j;h=D;l=j+(w>>1);if(w>40){B=w>>3;F=j,E=j+B,C=j+2*B;j=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C));F=l-B,E=l,C=l+B;l=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C));F=D-2*B,E=D-B,C=D;D=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C))}F=j,E=l,C=D;l=q(o[F],o[E])?(q(o[E],o[C])?E:(q(o[F],o[C])?C:F)):(q(o[C],o[E])?E:(q(o[F],o[C])?F:C));if(l!=u){r=o[l];o[l]=o[u];o[u]=r;l=u}j=s=u+1;D=g=h;for(;;){while(j<=D&&!q(o[l],o[j])){if(!q(o[j],o[l])){if(j>s){r=o[s];o[s]=o[j];o[j]=r}f=1;s++}j++}while(j<=D&&!q(o[D],o[l])){if(!q(o[l],o[D])){if(D<g){r=o[g];o[g]=o[D];o[D]=r}f=1;g--}D--}if(j>D){break}r=o[j];o[j]=o[D];o[D]=r;f=1;j++;D--}if(f==0){j=u,D=h;for(e=j+1;e<=D;e++){for(v=e;v>j&&q(o[v],o[v-1]);v--){r=o[v];o[v]=o[v-1];o[v-1]=r}}break}w=Math.min((s-u),(j-s));for(y=0;y<w;y++){r=o[u+y];o[u+y]=o[j+y-w];o[j+y-w]=r}w=Math.min((h-g),(g-D));for(y=0;y<w;y++){r=o[j+y];o[j+y]=o[h+y-w+1];o[h+y-w+1]=r}w=(j-s);x=(g-D);if(w>1){if(x>1){if(w>x){++z;k[z<<1]=u;k[(z<<1)+1]=u+w-1;j=h-x+1,D=h}else{++z;k[z<<1]=h-x+1;k[(z<<1)+1]=h;j=u,D=u+w-1}}else{j=u,D=u+w-1}}else{if(x>1){j=h-x+1,D=h}else{break}}}}}},median:function(j,c,h){var d;var e=0,i=0,f=0,g=(c+h)>>1;for(;;){if(h<=c){return j[g]}if(h==(c+1)){if(j[c]>j[h]){d=j[c];j[c]=j[h];j[h]=d}return j[g]}e=((c+h)>>1);if(j[e]>j[h]){d=j[e];j[e]=j[h];j[h]=d}if(j[c]>j[h]){d=j[c];j[c]=j[h];j[h]=d}if(j[e]>j[c]){d=j[e];j[e]=j[c];j[c]=d}i=(c+1);d=j[e];j[e]=j[i];j[i]=d;f=h;for(;;){do{++i}while(j[c]>j[i]);do{--f}while(j[f]>j[c]);if(f<i){break}d=j[i];j[i]=j[f];j[f]=d}d=j[c];j[c]=j[f];j[f]=d;if(f<=g){c=i}else{if(f>=g){h=(f-1)}}}return 0}}})();b.math=a})(jsfeat);(function(b){var a=(function(){return{grayscale:function(g,h){var f=g.length|0,c=(f-16)|0;var d=0;for(var e=0;e<=c;e+=16,d+=4){h[d]=((g[e]*77)+(g[e+1]*151)+(g[e+2]*28))>>8;h[d+1]=((g[e+4]*77)+(g[e+5]*151)+(g[e+6]*28))>>8;h[d+2]=((g[e+8]*77)+(g[e+9]*151)+(g[e+10]*28))>>8;h[d+3]=((g[e+12]*77)+(g[e+13]*151)+(g[e+14]*28))>>8}for(;e<f;e+=4,++d){h[d]=((g[e]*77)+(g[e+1]*151)+(g[e+2]*28))>>8}},box_blur:function(g,x,l,u,r){var f=(2*r+1)|0;var c=new Int32Array(l*f+l);var n=(l*f)|0;var q=0,v=0;var t=0,s=0,e=0,d=0;var o=0,p=0;var m=0,k=(l*r-r)|0;for(;t<l;++t){c[n+t]=0}for(t=0;t<u;++t){o=0;p=m;for(s=0;s<f-1;++s){o+=g[m+s]}for(;s<=l-2;s+=2){o+=g[m+s];c[q+s]=o;c[n+s]+=o;o-=g[p++];o+=g[m+s+1];c[q+s+1]=o;c[n+s+1]+=o;o-=g[p++]}for(;s<l;++s){o+=g[m+s];c[q+s]=o;c[n+s]+=o;o-=g[p++]}if(t>=f-1){for(s=f-1;s<=l-2;s+=2){e=c[n+s];d=c[n+s+1];x[k+s]=e;x[k+s+1]=d;c[n+s]=e-c[v+s];c[n+s+1]=d-c[v+s+1]}for(;s<l;++s){e=c[n+s];x[k+s]=e;c[n+s]=e-c[v+s]}k+=l;v+=l;v=(v<n)*v}m+=l;q+=l;q=(q<n)*q}},gaussian_blur_u8:function(c,t,u,q,s,v){if(typeof v==="undefined"){v=0}if(typeof s==="undefined"){s=0}s=s==0?(Math.max(1,(4*v+1-1e-8)|0)*2+1)|0:s;var x=s>>1;var p=0,n=0,l=0,r=0,m=0,e=0,g=0,o=u<<1;var f=new Uint8Array(s+Math.max(q,u));var d=new Int32Array(s);jsfeat.math.get_gaussian_kernel(s,v,d,jsfeat.U8_t);for(;p<q;++p){r=c[e];for(n=0;n<x;++n){f[n]=r}for(n=0;n<=u-2;n+=2){f[n+x]=c[e+n];f[n+x+1]=c[e+n+1]}for(;n<u;++n){f[n+x]=c[e+n]}r=c[e+u-1];for(n=u;n<x+u;++n){f[n+x]=r}for(n=0;n<=u-2;n+=2){r=0,m=0;for(l=0;l<s;++l){r+=f[l+n]*d[l];m+=f[l+n+1]*d[l]}t[g+n]=r>>8;t[g+n+1]=m>>8}for(;n<u;++n){r=0;for(l=0;l<s;++l){r+=f[l+n]*d[l]}t[g+n]=r>>8}e+=u;g+=u}for(p=0;p<u;++p){r=t[p];for(n=0;n<x;++n){f[n]=r}l=p;for(n=0;n<=q-2;n+=2,l+=o){f[n+x]=t[l];f[n+x+1]=t[l+u]}for(;n<q;++n,l+=u){f[n+x]=t[l]}r=t[(q-1)*u+p];for(n=q;n<x+q;++n){f[n+x]=r}g=p;for(n=0;n<=q-2;n+=2,g+=o){r=0,m=0;for(l=0;l<s;++l){r+=f[l+n]*d[l];m+=f[l+n+1]*d[l]}t[g]=r>>8;t[g+u]=m>>8}for(;n<q;++n,g+=u){r=0;for(l=0;l<s;++l){r+=f[l+n]*d[l]}t[g]=r>>8}}},pyrdown_fast_u8:function(d,l,f,i){var e=l>>1,g=f>>1;var k=0,j=0,c=0,n=0,m=0;for(j=0;j<g;++j){n=c;for(k=0;k<=e-2;k+=2,m+=2,n+=4){i[m]=(d[n]+d[n+1]+d[n+l]+d[n+l+1]+2)>>2;i[m+1]=(d[n+2]+d[n+3]+d[n+l+2]+d[n+l+3]+2)>>2}for(;k<e;++k,++m,n+=2){i[m]=(d[n]+d[n+1]+d[n+l]+d[n+l+1]+2)>>2}c+=l<<1}},shar_derivatives:function(d,g,n,e){var f=n<<1,k=0,i=0,c=0;var q=0,o=0,m=0,p=0;var l=new Int32Array(n+2);var j=new Int32Array(n+2);for(;i<e;++i,o+=n){q=((i>0?i-1:1)*n)|0;m=((i<e-1?i+1:e-2)*n)|0;p=(i*f)|0;for(k=0,c=1;k<=n-2;k+=2,c+=2){l[c]=(((d[q+k])+(d[m+k]))*3+(d[o+k])*10);j[c]=((d[m+k])-(d[q+k]));l[c+1]=(((d[q+k+1])+(d[m+k+1]))*3+(d[o+k+1])*10);j[c+1]=((d[m+k+1])-(d[q+k+1]))}for(;k<n;++k,++c){l[c]=(((d[q+k])+(d[m+k]))*3+(d[o+k])*10);j[c]=((d[m+k])-(d[q+k]))}k=(n+1)|0;l[0]=l[1];l[k]=l[n];j[0]=j[1];j[k]=j[n];for(k=0;k<=n-2;k+=2){g[p++]=((l[k+2]-l[k]));g[p++]=(((j[k+2]+j[k])*3+j[k+1]*10));g[p++]=((l[k+3]-l[k+1]));g[p++]=(((j[k+3]+j[k+1])*3+j[k+2]*10))}for(;k<n;++k){g[p++]=((l[k+2]-l[k]));g[p++]=(((j[k+2]+j[k])*3+j[k+1]*10))}}}}})();b.imgproc=a})(jsfeat);(function(a){var b=(function(){var m=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 e=new Int32Array([0,2,1,2,2,1,2,0,2,-1,1,-2,0,-2,-1,-2,-2,-1,-2,0,-2,1,-1,2]);var c=new Int32Array([0,1,1,1,1,0,1,-1,0,-1,-1,-1,-1,0,-1,1]);var f=new Uint8Array(512);var k=new Int32Array(25);var i=new 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p=s,x=0,y=0,w=0;for(;r<t;++r){u[r]=z-n[q+o[r]]}for(r=0;r<12;r+=2){x=Math.min(u[r+1],u[r+2]);if(x<=p){continue}x=Math.min(x,u[r+3]);x=Math.min(x,u[r+4]);x=Math.min(x,u[r+5]);x=Math.min(x,u[r+6]);p=Math.max(p,Math.min(x,u[r]));p=Math.max(p,Math.min(x,u[r+7]))}y=-p;for(r=0;r<12;r+=2){w=Math.max(u[r+1],u[r+2]);w=Math.max(w,u[r+3]);w=Math.max(w,u[r+4]);if(w>=y){continue}w=Math.max(w,u[r+5]);w=Math.max(w,u[r+6]);y=Math.min(y,Math.max(w,u[r]));y=Math.min(y,Math.max(w,u[r+7]))}return -y-1},h=function(n,q,o,u,s){var t=25,r=0,z=n[q];var 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n=M[15];for(ao=0;ao<W*3;++ao){J[ao]=0}for(ao=A;ao<Y;++ao){au=((ao*W)+B)|0;ap=(ao-3)%3;U=(ap*W)|0;T=(ap*(W+1))|0;for(am=0;am<W;++am){J[U+am]=0}av=0;if(ao<(Y-1)){am=B;for(;am<Z;++am,++au){X=z[au];an=(-X+255);at=(H[an+z[au+al]]|H[an+z[au+ab]]);if(at==0){continue}at&=(H[an+z[au+ai]]|H[an+z[au+u]]);at&=(H[an+z[au+af]]|H[an+z[au+s]]);at&=(H[an+z[au+ad]]|H[an+z[au+o]]);if(at==0){continue}at&=(H[an+z[au+aj]]|H[an+z[au+aa]]);at&=(H[an+z[au+ah]]|H[an+z[au+t]]);at&=(H[an+z[au+ae]]|H[an+z[au+p]]);at&=(H[an+z[au+ac]]|H[an+z[au+n]]);if(at&1){E=(X-r);ag=0;for(ak=0;ak<y;++ak){V=z[(au+M[ak])];if(V<E){++ag;if(ag>C){++av;F[T+av]=am;J[U+am]=P(z,au,M,L,r);break}}else{ag=0}}}if(at&2){E=(X+r);ag=0;for(ak=0;ak<y;++ak){V=z[(au+M[ak])];if(V>E){++ag;if(ag>C){++av;F[T+av]=am;J[U+am]=P(z,au,M,L,r);break}}else{ag=0}}}}}F[T+W]=av;if(ao==A){continue}ap=(ao-4+3)%3;Q=(ap*W)|0;T=(ap*(W+1))|0;ap=(ao-5+3)%3;ar=(ap*W)|0;av=F[T+W];for(ak=0;ak<av;++ak){am=F[T+ak];S=(am+1)|0;R=(am-1)|0;q=J[Q+am];if((q>J[Q+S]&&q>J[Q+R]&&q>J[ar+R]&&q>J[ar+am]&&q>J[ar+S]&&q>J[U+R]&&q>J[U+am]&&q>J[U+S])){I[O*3]=am;I[O*3+1]=(ao-1);I[O*3+2]=q;O++}}}return 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J=(n.levels-1)|0;af=J;for(;af>=0;--af){ai=(1/(1<<af));av=K>>af;aD=ax>>af;Y=av<<1;g=r[af].data_u8;B=Q[af].data_u8;w=(av-L)|0;M=(aD-L)|0;c(g,aw,av,aD);for(ah=0;ah<k;++ah){O=ah<<1;N=O+1;aB=am[O]*ai;az=am[N]*ai;if(af==J){ac=aB;ab=az}else{ac=aH[O]*2;ab=aH[N]*2}aH[O]=ac;aH[N]=ab;aB-=e;az-=e;p=aB|0;o=az|0;H=(p<=d)|(p>=w)|(o<=d)|(o>=M);if(H!=0){if(af==0){I[ah]=0}continue}S=aB-p;R=az-o;aG=(((1-S)*(1-R)*aa)+0.5)|0;aF=((S*(1-R)*aa)+0.5)|0;ao=(((1-S)*R*aa)+0.5)|0;an=(aa-aG-aF-ao);al=0,ak=0,ad=0;for(F=0;F<L;++F){G=((F+o)*av+p)|0;aI=G<<1;ap=(F*L)|0;aE=ap<<1;for(H=0;H<L;++H,++G,++ap,aI+=2){aj=((g[G])*aG+(g[G+1])*aF+(g[G+av])*ao+(g[G+av+1])*an);aj=(((aj)+au)>>(W));t=(aw[aI]*aG+aw[aI+2]*aF+aw[aI+Y]*ao+aw[aI+Y+2]*an);t=(((t)+m)>>(z));C=(aw[aI+1]*aG+aw[aI+3]*aF+aw[aI+Y+1]*ao+aw[aI+Y+3]*an);C=(((C)+m)>>(z));u[ap]=aj;Z[aE++]=t;Z[aE++]=C;al+=t*t;ak+=t*C;ad+=C*C}}al*=U;ak*=U;ad*=U;ag=al*ad-ak*ak;aC=(ad+al-Math.sqrt((al-ad)*(al-ad)+4*ak*ak))/X;if(aC<q||ag<E){if(af==0){I[ah]=0}continue}ag=1/ag;ac-=e;ab-=e;A=0;v=0;for(l=0;l<P;++l){aA=ac|0;ay=ab|0;H=(aA<=d)|(aA>=w)|(ay<=d)|(ay>=M);if(H!=0){if(af==0){I[ah]=0}break}S=ac-aA;R=ab-ay;aG=(((1-S)*(1-R)*aa)+0.5)|0;aF=((S*(1-R)*aa)+0.5)|0;ao=(((1-S)*R*aa)+0.5)|0;an=(aa-aG-aF-ao);at=0,ar=0;for(F=0;F<L;++F){aq=((F+ay)*av+aA)|0;ap=(F*L)|0;aE=ap<<1;for(H=0;H<L;++H,++aq,++ap){aj=((B[aq])*aG+(B[aq+1])*aF+(B[aq+av])*ao+(B[aq+av+1])*an);aj=(((aj)+au)>>(W));aj=(aj-u[ap]);at+=aj*Z[aE++];ar+=aj*Z[aE++]}}at*=U;ar*=U;V=((ak*ar-ad*at)*ag);T=((ak*at-al*ar)*ag);ac+=V;ab+=T;aH[O]=ac+e;aH[N]=ab+e;if(V*V+T*T<=f){break}if(l>0&&Math.abs(V+A)<0.01&&Math.abs(T+v)<0.01){aH[O]-=V*0.5;aH[N]-=T*0.5;break}A=V;v=T}}}}}})();b.optical_flow_lk=a})(jsfeat);
\ No newline at end of file
+var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(k){var g=256,e=512,d=1024,o=2048,n=4096;var r=1,h=2,a=3,i=4;var q=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var p=(function(){return function(s){return(s&65280)}})();var f=(function(){return function(s){return(s&255)}})();var b=(function(){return function(s){return q[(s&65280)>>8]}})();var m=(function(){function s(t){this.size=t|0;this.buffer=new ArrayBuffer(t);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}return s})();var j=(function(){function s(v,t,u){this.type=p(u)|0;this.channel=f(u)|0;this.cols=v|0;this.rows=t|0;this.buffer=new m((v*b(u)*f(u))*t);this.data=this.type&g?this.buffer.u8:(this.type&e?this.buffer.i32:this.buffer.f32)}s.prototype.set_data_type=function(t){this.type=p(t)|0;this.channel=f(t)|0;delete this.data;delete this.buffer;this.buffer=new m((this.cols*b(t)*f(t))*this.rows);this.data=this.type&g?this.buffer.u8:(this.type&e?this.buffer.i32:this.buffer.f32)};return s})();var l=(function(){function s(t){this.levels=t|0;this.data=new Array(t);this.pyrdown=jsfeat.imgproc.pyrdown}s.prototype.allocate=function(t,v,w){var u=this.levels;while(--u>=0){this.data[u]=new j(t>>u,v>>u,w)}};s.prototype.build=function(w,v){if(typeof v==="undefined"){v=true}var y=2,u=w,t=this.data[0];if(!v){var x=w.cols*w.rows;while(--x>=0){t.data[x]=w.data[x]}}t=this.data[1];this.pyrdown(u,t);for(;y<this.levels;++y){u=t;t=this.data[y];this.pyrdown(u,t)}};return s})();var c=(function(){function s(t,w,u,v){if(typeof t==="undefined"){t=0}if(typeof w==="undefined"){w=0}if(typeof u==="undefined"){u=0}if(typeof v==="undefined"){v=0}this.x=t;this.y=w;this.score=u;this.level=v}return s})();k.U8_t=g;k.S32_t=e;k.F32_t=d;k.S64_t=o;k.F64_t=n;k.C1_t=r;k.C2_t=h;k.C3_t=a;k.C4_t=i;k.get_data_type=p;k.get_channel=f;k.get_data_type_size=b;k.data_t=m;k.matrix_t=j;k.pyramid_t=l;k.point2d_t=c})(jsfeat);(function(b){var a=(function(){var f=(function(){function g(h){this.next=null;this.size=h|0;this.buffer=new ArrayBuffer(h);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}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.buffer=new ArrayBuffer(g);h.u8=new Uint8Array(h.buffer);h.i32=new Int32Array(h.buffer);h.f32=new Float32Array(h.buffer);h.size=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 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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{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();b.imgproc=a})(jsfeat);(function(a){var b=(function(){var m=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 e=new Int32Array([0,2,1,2,2,1,2,0,2,-1,1,-2,0,-2,-1,-2,-2,-1,-2,0,-2,1,-1,2]);var c=new Int32Array([0,1,1,1,1,0,1,-1,0,-1,-1,-1,-1,0,-1,1]);var f=new Uint8Array(512);var k=new Int32Array(25);var i=new Int32Array(25);var l=function(o,q,r){var n=0;var p=r==16?m:(r==12?e:c);for(;n<r;++n){o[n]=p[n<<1]+p[(n<<1)+1]*q}for(;n<25;++n){o[n]=o[n-r]}},d=function(n,q,o,u,s){var t=13,r=0,z=n[q];var p=s,x=0,y=0,w=0;for(;r<t;++r){u[r]=z-n[q+o[r]]}for(r=0;r<8;r+=2){x=Math.min(u[r+1],u[r+2]);if(x<=p){continue}x=Math.min(x,u[r+3]);x=Math.min(x,u[r+4]);p=Math.max(p,Math.min(x,u[r]));p=Math.max(p,Math.min(x,u[r+5]))}y=-p;for(r=0;r<8;r+=2){w=Math.max(u[r+1],u[r+2]);w=Math.max(w,u[r+3]);if(w>=y){continue}w=Math.max(w,u[r+4]);y=Math.min(y,Math.max(w,u[r]));y=Math.min(y,Math.max(w,u[r+5]))}return -y-1},j=function(n,q,o,u,s){var t=19,r=0,z=n[q];var p=s,x=0,y=0,w=0;for(;r<t;++r){u[r]=z-n[q+o[r]]}for(r=0;r<12;r+=2){x=Math.min(u[r+1],u[r+2]);if(x<=p){continue}x=Math.min(x,u[r+3]);x=Math.min(x,u[r+4]);x=Math.min(x,u[r+5]);x=Math.min(x,u[r+6]);p=Math.max(p,Math.min(x,u[r]));p=Math.max(p,Math.min(x,u[r+7]))}y=-p;for(r=0;r<12;r+=2){w=Math.max(u[r+1],u[r+2]);w=Math.max(w,u[r+3]);w=Math.max(w,u[r+4]);if(w>=y){continue}w=Math.max(w,u[r+5]);w=Math.max(w,u[r+6]);y=Math.min(y,Math.max(w,u[r]));y=Math.min(y,Math.max(w,u[r+7]))}return -y-1},h=function(n,q,o,u,s){var t=25,r=0,z=n[q];var p=s,x=0,y=0,w=0;for(;r<t;++r){u[r]=z-n[q+o[r]]}for(r=0;r<16;r+=2){x=Math.min(u[r+1],u[r+2]);x=Math.min(x,u[r+3]);if(x<=p){continue}x=Math.min(x,u[r+4]);x=Math.min(x,u[r+5]);x=Math.min(x,u[r+6]);x=Math.min(x,u[r+7]);x=Math.min(x,u[r+8]);p=Math.max(p,Math.min(x,u[r]));p=Math.max(p,Math.min(x,u[r+9]))}y=-p;for(r=0;r<16;r+=2){w=Math.max(u[r+1],u[r+2]);w=Math.max(w,u[r+3]);w=Math.max(w,u[r+4]);w=Math.max(w,u[r+5]);if(w>=y){continue}w=Math.max(w,u[r+6]);w=Math.max(w,u[r+7]);w=Math.max(w,u[r+8]);y=Math.min(y,Math.max(w,u[r]));y=Math.min(y,Math.max(w,u[r+9]))}return -y-1};var g=20;return{set_threshold:function(n){g=Math.min(Math.max(n,0),255);for(var o=-255;o<=255;++o){f[(o+255)]=(o<-g?1:(o>g?2:0))}return g},detect:function(P,L,F,I){if(typeof I==="undefined"){I=16}else{if(I!=16&&I!=12&&I!=8){I=16}}if(typeof F==="undefined"){F=3}var C=(I>>1),y=(I+C+1)|0;var z=P.data,aa=P.cols,av=P.rows;var at=0,aq=0,ao=0,G=0,Z=0,au=0;var D=jsfeat.cache.get_buffer(3*aa);var 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L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 5d90441..baaec56 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -18,60 +18,220 @@ self.Float32Array = self.Float32Array || Array;
     "use strict";
     //
 
-    var U8_t = 2,
-        U32_t = 4,
-        I32_t = 8,
-        F32_t = 16;
-
-    var img_t = (function () {
-        function img_t(w, h, elem_size) {
-            this.width = w;
-            this.height = h;
-            this.buffer = new ArrayBuffer(w*h*elem_size);
-            this.data_u8 = new Uint8Array(this.buffer);
-            this.data_i32 = new Int32Array(this.buffer);
-            this.data_f32 = new Float32Array(this.buffer);
+    // implementation from CCV project
+    // currently working only with u8,s32,f32
+    var U8_t = 0x0100,
+        S32_t = 0x0200,
+        F32_t = 0x0400,
+        S64_t = 0x0800,
+        F64_t = 0x1000;
+
+    var C1_t = 0x01,
+        C2_t = 0x02,
+        C3_t = 0x03,
+        C4_t = 0x04;
+
+    var _data_type_size = new Int32Array([ -1, 1, 4, -1, 4, -1, -1, -1, 8, -1, -1, -1, -1, -1, -1, -1, 8 ]);
+
+    var get_data_type = (function () {
+        return function(type) {
+            return (type & 0xFF00);
         }
-        return img_t;
     })();
 
-    var img_pyr_t = (function () {
+    var get_channel = (function () {
+        return function(type) {
+            return (type & 0xFF);
+        }
+    })();
+
+    var get_data_type_size = (function () {
+        return function(type) {
+            return _data_type_size[(type & 0xFF00) >> 8];
+        }
+    })();
 
-        function img_pyr_t(l) {
-            this.levels = l;
-            this.images = new Array(l);
-            this.pyrdown = jsfeat.imgproc.pyrdown_fast_u8;
+    var data_t = (function () {
+        function data_t(size_in_bytes) {
+            this.size = size_in_bytes|0;
+            this.buffer = new ArrayBuffer(size_in_bytes);
+            this.u8 = new Uint8Array(this.buffer);
+            this.i32 = new Int32Array(this.buffer);
+            this.f32 = new Float32Array(this.buffer);
         }
+        return data_t;
+    })();
 
-        img_pyr_t.prototype.allocate = function(start_w, start_h, elem_size) {
+    var matrix_t = (function () {
+        // columns, rows, data_type
+        function matrix_t(c, r, data_type) {
+            this.type = get_data_type(data_type)|0;
+            this.channel = get_channel(data_type)|0;
+            this.cols = c|0;
+            this.rows = r|0;
+            this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+            // data user asked for
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+        }
+        matrix_t.prototype.set_data_type = function(data_type) {
+            this.type = get_data_type(data_type)|0;
+            this.channel = get_channel(data_type)|0;
+            // clear references
+            delete this.data;
+            delete this.buffer;
+            //
+            this.buffer = new data_t((this.cols * get_data_type_size(data_type) * get_channel(data_type)) * this.rows);
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+        }
+        return matrix_t;
+    })();
+
+    var pyramid_t = (function () {
+
+        function pyramid_t(levels) {
+            this.levels = levels|0;
+            this.data = new Array(levels);
+            this.pyrdown = jsfeat.imgproc.pyrdown;
+        }
+
+        pyramid_t.prototype.allocate = function(start_w, start_h, data_type) {
             var i = this.levels;
             while(--i >= 0) {
-                this.images[i] = new img_t(start_w >> i, start_h >> i, elem_size);
+                this.data[i] = new matrix_t(start_w >> i, start_h >> i, data_type);
             }
         }
 
-        img_pyr_t.prototype.build = function(src) {
-            var i = 2, a = src, b = this.images[1];
-            this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
+        pyramid_t.prototype.build = function(input, skip_first_level) {
+            if (typeof skip_first_level === "undefined") { skip_first_level = true; }
+            // just copy data to first level
+            var i = 2, a = input, b = this.data[0];
+            if(!skip_first_level) {
+                var j=input.cols*input.rows;
+                while(--j >= 0) {
+                    b.data[j] = input.data[j];
+                }
+            }
+            b = this.data[1];
+            this.pyrdown(a, b);
             for(; i < this.levels; ++i) {
                 a = b;
-                b = this.images[i];
-                this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
+                b = this.data[i];
+                this.pyrdown(a, b);
             }
         }
 
-        return img_pyr_t;
+        return pyramid_t;
     })();
 
+    var point2d_t = (function () {
+        function point2d_t(x,y,score,level) {
+            if (typeof x === "undefined") { x=0; }
+            if (typeof y === "undefined") { y=0; }
+            if (typeof score === "undefined") { score=0; }
+            if (typeof level === "undefined") { level=0; }
+
+            this.x = x;
+            this.y = y;
+            this.score = score;
+            this.level = level;
+        }
+        return point2d_t;
+    })();
+
+
+    // data types
     global.U8_t = U8_t;
-    global.U32_t = U32_t;
-    global.I32_t = I32_t;
+    global.S32_t = S32_t;
     global.F32_t = F32_t;
-
-    global.img_t = img_t;
-    global.img_pyr_t = img_pyr_t;
+    global.S64_t = S64_t;
+    global.F64_t = F64_t;
+    // data channels
+    global.C1_t = C1_t;
+    global.C2_t = C2_t;
+    global.C3_t = C3_t;
+    global.C4_t = C4_t;
+
+    global.get_data_type = get_data_type;
+    global.get_channel = get_channel;
+    global.get_data_type_size = get_data_type_size;
+
+    global.data_t = data_t;
+    global.matrix_t = matrix_t;
+    global.pyramid_t = pyramid_t;
+    global.point2d_t = point2d_t;
 
 })(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var cache = (function() {
+
+        // very primitive array cache, still need testing if it helps
+        // of course V8 has its own powerful cache sys but i'm not sure
+        // it caches several multichannel 640x480 buffer creations each frame
+
+        var _pool_node_t = (function () {
+            function _pool_node_t(size_in_bytes) {
+                this.next = null;
+                this.size = size_in_bytes|0;
+                this.buffer = new ArrayBuffer(size_in_bytes);
+                this.u8 = new Uint8Array(this.buffer);
+                this.i32 = new Int32Array(this.buffer);
+                this.f32 = new Float32Array(this.buffer);
+            }
+            return _pool_node_t;
+        })();
+
+        var _pool_head, _pool_tail;
+        var _pool_size = 0;
+
+        return {
+
+            allocate: function(capacity, data_size) {
+                _pool_head = _pool_tail = new _pool_node_t(data_size);
+                for (var i = 0; i < capacity; ++i) {
+                    var node = new _pool_node_t(data_size);
+                    _pool_tail = _pool_tail.next = node;
+
+                    _pool_size++;
+                }
+            },
+
+            get_buffer: function(size_in_bytes) {
+                // assume we have enough free nodes
+                var node = _pool_head;
+                _pool_head = _pool_head.next;
+                _pool_size--;
+
+                if(size_in_bytes > node.size) {
+                    node.buffer = new ArrayBuffer(size_in_bytes);
+                    node.u8 = new Uint8Array(node.buffer);
+                    node.i32 = new Int32Array(node.buffer);
+                    node.f32 = new Float32Array(node.buffer);
+                    node.size = size_in_bytes;
+                }
+
+                return node;
+            },
+
+            put_buffer: function(node) {
+                _pool_tail = _pool_tail.next = node;
+                _pool_size++;
+            }
+        };
+    })();
+
+    global.cache = cache;
+    // for now we dont need more than 30 buffers
+    // if having cache sys really helps we can add auto extending sys
+    cache.allocate(30, 640*4);
+
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -82,11 +242,14 @@ self.Float32Array = self.Float32Array || Array;
 
     var math = (function() {
 
+        var qsort_stack = new Int32Array(48*2);
+
         return {
             get_gaussian_kernel: function(size, sigma, kernel, data_type) {
                 var i=0,x=0.0,t=0.0,sigma_x=0.0,scale_2x=0.0;
                 var sum = 0.0;
-                var _kernel = new Float32Array(size);
+                var kern_node = jsfeat.cache.get_buffer(size<<2);
+                var _kernel = kern_node.f32;//new Float32Array(size);
 
                 if((size&1) == 1 && size <= 7 && sigma <= 0) {
                     switch(size>>1) {
@@ -136,6 +299,8 @@ self.Float32Array = self.Float32Array || Array;
                         kernel[i] = _kernel[i] * sum;
                     }
                 }
+
+                jsfeat.cache.put_buffer(kern_node);
             },
 
             // The current implementation was derived from *BSD system qsort():
@@ -143,11 +308,11 @@ self.Float32Array = self.Float32Array || Array;
             // The Regents of the University of California.  All rights reserved.
             qsort: function(array, low, high, cmp) {
                 var isort_thresh = 7;
-                var t;
+                var t,ta,tb,tc;
                 var sp = 0,left=0,right=0,i=0,n=0,m=0,ptr=0,ptr2=0,d=0;
                 var left0=0,left1=0,right0=0,right1=0,pivot=0,a=0,b=0,c=0,swap_cnt=0;
 
-                var stack = new Int32Array(48*2);
+                var stack = qsort_stack;
 
                 if( (high-low+1) <= 1 ) return;
 
@@ -182,22 +347,26 @@ self.Float32Array = self.Float32Array || Array;
 
                             if( n > 40 ) {
                                 d = n >> 3;
-                                a = left, b = left + d, c = left + 2*d;
-                                left = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
-                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                                a = left, b = left + d, c = left + (d<<1);
+                                ta = array[a],tb = array[b],tc = array[c];
+                                left = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))
+                                                  : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
 
                                 a = pivot - d, b = pivot, c = pivot + d;
-                                pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
-                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
-
-                                a = right - 2*d, b = right - d, c = right;
-                                right = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
-                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                                ta = array[a],tb = array[b],tc = array[c];
+                                pivot = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))
+                                                  : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
+
+                                a = right - (d<<1), b = right - d, c = right;
+                                ta = array[a],tb = array[b],tc = array[c];
+                                right = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))
+                                                  : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
                             }
 
                             a = left, b = pivot, c = right;
-                            pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))   
-                                               : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                            ta = array[a],tb = array[b],tc = array[c];
+                            pivot = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))   
+                                               : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
                             if( pivot != left0 ) {
                                 t = array[pivot];
                                 array[pivot] = array[left0];
@@ -207,10 +376,10 @@ self.Float32Array = self.Float32Array || Array;
                             left = left1 = left0 + 1;
                             right = right1 = right0;
 
+                            ta = array[pivot];
                             for(;;) {
-                            
-                                while( left <= right && !cmp(array[pivot], array[left]) ) {
-                                    if( !cmp(array[left], array[pivot]) ) {
+                                while( left <= right && !cmp(ta, array[left]) ) {
+                                    if( !cmp(array[left], ta) ) {
                                         if( left > left1 ) {
                                             t = array[left1];
                                             array[left1] = array[left];
@@ -222,8 +391,8 @@ self.Float32Array = self.Float32Array || Array;
                                     left++;
                                 }
 
-                                while( left <= right && !cmp(array[right], array[pivot]) ) {
-                                    if( !cmp(array[pivot], array[right]) ) {
+                                while( left <= right && !cmp(array[right], ta) ) {
+                                    if( !cmp(ta, array[right]) ) {
                                         if( right < right1 ) {
                                             t = array[right1];
                                             array[right1] = array[right];
@@ -259,17 +428,19 @@ self.Float32Array = self.Float32Array || Array;
                             }
 
                             n = Math.min( (left1 - left0), (left - left1) );
-                            for( i = 0; i < n; i++ ) {
+                            m = (left-n)|0;
+                            for( i = 0; i < n; ++i,++m ) {
                                 t = array[left0+i];
-                                array[left0+i] = array[left+i-n];
-                                array[left+i-n] = t;
+                                array[left0+i] = array[m];
+                                array[m] = t;
                             }
 
                             n = Math.min( (right0 - right1), (right1 - right) );
-                            for( i = 0; i < n; i++ ) {
+                            m = (right0-n+1)|0;
+                            for( i = 0; i < n; ++i,++m ) {
                                 t = array[left+i];
-                                array[left+i] = array[right0+i-n+1];
-                                array[right0+i-n+1] = t;
+                                array[left+i] = array[m];
+                                array[m] = t;
                             }
                             n = (left - left1);
                             m = (right1 - right);
@@ -362,73 +533,618 @@ self.Float32Array = self.Float32Array || Array;
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
 
+(function(global) {
+    "use strict";
+    //
+
+    var transform = (function() {
+        //
+        return {
+            affine_3point_transform: function(mat, src_x0, src_y0, dst_x0, dst_y0,
+                                                    src_x1, src_y1, dst_x1, dst_y1,
+                                                    src_x2, src_y2, dst_x2, dst_y2) {
+                // we need linear algebra module first
+            },
+
+            perspective_4point_transform: function(mat, src_x0, src_y0, dst_x0, dst_y0,
+                                                        src_x1, src_y1, dst_x1, dst_y1,
+                                                        src_x2, src_y2, dst_x2, dst_y2,
+                                                        src_x3, src_y3, dst_x3, dst_y3) {
+                var t1 = src_x0;
+                var t2 = src_x2;
+                var t4 = src_y1;
+                var t5 = t1 * t2 * t4;
+                var t6 = src_y3;
+                var t7 = t1 * t6;
+                var t8 = t2 * t7;
+                var t9 = src_y2;
+                var t10 = t1 * t9;
+                var t11 = src_x1;
+                var t14 = src_y0;
+                var t15 = src_x3;
+                var t16 = t14 * t15;
+                var t18 = t16 * t11;
+                var t20 = t15 * t11 * t9;
+                var t21 = t15 * t4;
+                var t24 = t15 * t9;
+                var t25 = t2 * t4;
+                var t26 = t6 * t2;
+                var t27 = t6 * t11;
+                var t28 = t9 * t11;
+                var t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                var t32 = t1 * t15;
+                var t35 = t14 * t11;
+                var t41 = t4 * t1;
+                var t42 = t6 * t41;
+                var t43 = t14 * t2;
+                var t46 = t16 * t9;
+                var t48 = t14 * t9 * t11;
+                var t51 = t4 * t6 * t2;
+                var t55 = t6 * t14;
+                var Hr0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hr1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hr2 = t1;
+                var Hr3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hr4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hr5 = t14;
+                var Hr6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hr7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+                
+                t1 = dst_x0;
+                t2 = dst_x2;
+                t4 = dst_y1;
+                t5 = t1 * t2 * t4;
+                t6 = dst_y3;
+                t7 = t1 * t6;
+                t8 = t2 * t7;
+                t9 = dst_y2;
+                t10 = t1 * t9;
+                t11 = dst_x1;
+                t14 = dst_y0;
+                t15 = dst_x3;
+                t16 = t14 * t15;
+                t18 = t16 * t11;
+                t20 = t15 * t11 * t9;
+                t21 = t15 * t4;
+                t24 = t15 * t9;
+                t25 = t2 * t4;
+                t26 = t6 * t2;
+                t27 = t6 * t11;
+                t28 = t9 * t11;
+                t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                t32 = t1 * t15;
+                t35 = t14 * t11;
+                t41 = t4 * t1;
+                t42 = t6 * t41;
+                t43 = t14 * t2;
+                t46 = t16 * t9;
+                t48 = t14 * t9 * t11;
+                t51 = t4 * t6 * t2;
+                t55 = t6 * t14;
+                var Hl0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hl1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hl2 = t1;
+                var Hl3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hl4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hl5 = t14;
+                var Hl6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hl7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+
+                // the following code computes R = Hl * inverse Hr
+                t2 = Hr4-Hr7*Hr5;
+                t4 = Hr0*Hr4;
+                t5 = Hr0*Hr5;
+                t7 = Hr3*Hr1;
+                t8 = Hr2*Hr3;
+                t10 = Hr1*Hr6;
+                var t12 = Hr2*Hr6;
+                t15 = 1.0 / (t4-t5*Hr7-t7+t8*Hr7+t10*Hr5-t12*Hr4);
+                t18 = -Hr3+Hr5*Hr6;
+                var t23 = -Hr3*Hr7+Hr4*Hr6;
+                t28 = -Hr1+Hr2*Hr7;
+                var t31 = Hr0-t12;
+                t35 = Hr0*Hr7-t10;
+                t41 = -Hr1*Hr5+Hr2*Hr4;
+                var t44 = t5-t8;
+                var t47 = t4-t7;
+                t48 = t2*t15;
+                var t49 = t28*t15;
+                var t50 = t41*t15;
+                mat[0] = Hl0*t48+Hl1*(t18*t15)-Hl2*(t23*t15);
+                mat[1] = Hl0*t49+Hl1*(t31*t15)-Hl2*(t35*t15);
+                mat[2] = -Hl0*t50-Hl1*(t44*t15)+Hl2*(t47*t15);
+                mat[3] = Hl3*t48+Hl4*(t18*t15)-Hl5*(t23*t15);
+                mat[4] = Hl3*t49+Hl4*(t31*t15)-Hl5*(t35*t15);
+                mat[5] = -Hl3*t50-Hl4*(t44*t15)+Hl5*(t47*t15);
+                mat[6] = Hl6*t48+Hl7*(t18*t15)-t23*t15;
+                mat[7] = Hl6*t49+Hl7*(t31*t15)-t35*t15;
+                mat[8] = -Hl6*t50-Hl7*(t44*t15)+t47*t15;
+            },
+
+            invert_affine_transform: function(src, dst) {
+                var m11 = src[0], m12 = src[1], m13 = src[2];
+                var m21 = src[3], m22 = src[4], m23 = src[5];
+
+                var det = 1.0 / (m11 * m22 - m12 * m21);
+
+                dst[0] = det * m22;
+                dst[1] = det * -m12;
+                dst[2] = det * (m12*m23 - m13*m22);
+
+                dst[3] = det * -m21;
+                dst[4] = det * m11;
+                dst[5] = det * (m13*m21 - m11*m23);
+            },
+
+            invert_perspective_transform: function(src, dst) {
+                var m11 = src[0], m12 = src[1], m13 = src[2];
+                var m21 = src[3], m22 = src[4], m23 = src[5];
+                var m31 = src[6], m32 = src[7], m33 = src[8];
+
+                var det = 1.0 / (m11 * (m22*m33 - m23*m32) - m12 * (m21*m33 - m23*m31) + m13 * (m21*m32 - m22*m31));
+
+                dst[0] = det * (m22*m33 - m23*m32);
+                dst[1] = det * (m13*m32 - m12*m33);
+                dst[2] = det * (m12*m23 - m13*m22);
+
+                dst[3] = det * (m23*m31 - m21*m33);
+                dst[4] = det * (m11*m33 - m13*m31);
+                dst[5] = det * (m13*m21 - m11*m23);
+
+                dst[6] = det * (m21*m32 - m22*m31);
+                dst[7] = det * (m12*m31 - m11*m32);
+                dst[8] = det * (m11*m22 - m12*m21);
+            }
+        };
+    })();
+
+    global.transform = transform;
+
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
 (function(global) {
     "use strict";
     //
 
     var imgproc = (function() {
 
+        var _resample_u8 = function(src, dst, nw, nh) {
+            var xofs = [],xofs_count=0;
+            var ch=src.channel,w=src.cols,h=src.rows;
+            var src_d=src.data,dst_d=dst.data;
+            var scale_x = w / nw, scale_y = h / nh;
+            var inv_scale_256 = (scale_x * scale_y * 0x10000)|0;
+            var dx=0,dy=0,sx=0,sy=0,sx1=0,sx2=0,i=0,k=0,fsx1=0.0,fsx2=0.0;
+            var a=0,b=0,dxn=0,alpha=0,beta=0,beta1=0;
+
+            var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+
+            var buf = buf_node.i32;
+            var sum = sum_node.i32;
+
+            for (; dx < nw; dx++) {
+                fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
+                sx1 = (fsx1 + 1.0 - 1e-6)|0, sx2 = fsx2|0;
+                sx1 = Math.min(sx1, w - 1);
+                sx2 = Math.min(sx2, w - 1);
+
+                if(sx1 > fsx1) {
+                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": ((sx1 - fsx1) * 0x100)|0};
+                }
+                for(sx = sx1; sx < sx2; sx++){
+                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": 256};
+                }
+                if(fsx2 - sx2 > 1e-3) {
+                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": ((fsx2 - sx2) * 256)|0};
+                }
+            }
+
+            for (dx = 0; dx < nw * ch; dx++) {
+                buf[dx] = sum[dx] = 0;
+            }
+            dy = 0;
+            for (sy = 0; sy < h; sy++) {
+                a = w * sy;
+                for (k = 0; k < xofs_count; k++) {
+                    dxn = xofs[k].di;
+                    alpha = xofs[k].alpha;
+                    sx1 = xofs[k].si;
+                    for (i = 0; i < ch; i++) {
+                        buf[dxn + i] += src_d[a+sx1+i] * alpha;
+                    }
+                }
+                if ((dy + 1) * scale_y <= sy + 1 || sy == h - 1) {
+                    beta = (Math.max(sy + 1 - (dy + 1) * scale_y, 0.0) * 256)|0;
+                    beta1 = 256 - beta;
+                    b = nw * dy;
+                    if (beta <= 0) {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = Math.min(Math.max((sum[dx] + buf[dx] * 256) / inv_scale_256, 0), 255);
+                            sum[dx] = buf[dx] = 0;
+                        }
+                    } else {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = Math.min(Math.max((sum[dx] + buf[dx] * beta1) / inv_scale_256, 0), 255);
+                            sum[dx] = buf[dx] * beta;
+                            buf[dx] = 0;
+                        }
+                    }
+                    dy++;
+                } else {
+                    for(dx = 0; dx < nw * ch; dx++) {
+                        sum[dx] += buf[dx] * 256;
+                        buf[dx] = 0;
+                    }
+                }
+            }
+
+            jsfeat.cache.put_buffer(sum_node);
+            jsfeat.cache.put_buffer(buf_node);
+        }
+
+        var _resample = function(src, dst, nw, nh) {
+            var xofs = [],xofs_count=0;
+            var ch=src.channel,w=src.cols,h=src.rows;
+            var src_d=src.data,dst_d=dst.data;
+            var scale_x = w / nw, scale_y = h / nh;
+            var scale = 1.0 / (scale_x * scale_y);
+            var dx=0,dy=0,sx=0,sy=0,sx1=0,sx2=0,i=0,k=0,fsx1=0.0,fsx2=0.0;
+            var a=0,b=0,dxn=0,alpha=0.0,beta=0.0,beta1=0.0;
+
+            var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+
+            var buf = buf_node.f32;
+            var sum = sum_node.f32;
+
+            for (; dx < nw; dx++) {
+                fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
+                sx1 = (fsx1 + 1.0 - 1e-6)|0, sx2 = fsx2|0;
+                sx1 = Math.min(sx1, w - 1);
+                sx2 = Math.min(sx2, w - 1);
+
+                if(sx1 > fsx1) {
+                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": (sx1 - fsx1) * scale};
+                }
+                for(sx = sx1; sx < sx2; sx++){
+                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": scale};
+                }
+                if(fsx2 - sx2 > 1e-3) {
+                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": (fsx2 - sx2) * scale};
+                }
+            }
+
+            for (dx = 0; dx < nw * ch; dx++) {
+                buf[dx] = sum[dx] = 0;
+            }
+            dy = 0;
+            for (sy = 0; sy < h; sy++) {
+                a = w * sy;
+                for (k = 0; k < xofs_count; k++) {
+                    dxn = xofs[k].di;
+                    alpha = xofs[k].alpha;
+                    sx1 = xofs[k].si;
+                    for (i = 0; i < ch; i++) {
+                        buf[dxn + i] += src_d[a+sx1+i] * alpha;
+                    }
+                }
+                if ((dy + 1) * scale_y <= sy + 1 || sy == h - 1) {
+                    beta = Math.max(sy + 1 - (dy + 1) * scale_y, 0.0);
+                    beta1 = 1.0 - beta;
+                    b = nw * dy;
+                    if (Math.abs(beta) < 1e-3) {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = sum[dx] + buf[dx];
+                            sum[dx] = buf[dx] = 0;
+                        }
+                    } else {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = sum[dx] + buf[dx] * beta1;
+                            sum[dx] = buf[dx] * beta;
+                            buf[dx] = 0;
+                        }
+                    }
+                    dy++;
+                } else {
+                    for(dx = 0; dx < nw * ch; dx++) {
+                        sum[dx] += buf[dx]; 
+                        buf[dx] = 0;
+                    }
+                }
+            }
+            jsfeat.cache.put_buffer(sum_node);
+            jsfeat.cache.put_buffer(buf_node);
+        }
+
+        var _convol_u8 = function(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel) {
+            var i=0,j=0,k=0,sp=0,dp=0,sum=0,sum1=0,sum2=0,sum3=0,f0=filter[0],fk=0;
+            var w2=w<<1,w3=w*3,w4=w<<2;
+            // hor pass
+            for (; i < h; ++i) { 
+                sum = src_d[sp];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                for (j = 0; j <= w-2; j+=2) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                    buf[j + half_kernel+1] = src_d[sp+j+1];
+                }
+                for (; j < w; ++j) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                }
+                sum = src_d[sp+w-1];
+                for (j = w; j < half_kernel + w; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                for (j = 0; j <= w-4; j+=4) {
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp+j] = sum >> 8;
+                    dst_d[dp+j+1] = sum1 >> 8;
+                    dst_d[dp+j+2] = sum2 >> 8;
+                    dst_d[dp+j+3] = sum3 >> 8;
+                }
+                for (; j < w; ++j) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp+j] = sum >> 8;
+                }
+                sp += w;
+                dp += w;
+            }
+
+            // vert pass
+            for (i = 0; i < w; ++i) {
+                sum = dst_d[i];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                k = i;
+                for (j = 0; j <= h-2; j+=2, k+=w2) {
+                    buf[j+half_kernel] = dst_d[k];
+                    buf[j+half_kernel+1] = dst_d[k+w];
+                }
+                for (; j < h; ++j, k+=w) {
+                    buf[j+half_kernel] = dst_d[k];
+                }
+                sum = dst_d[(h-1)*w + i];
+                for (j = h; j < half_kernel + h; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                dp = i;
+                for (j = 0; j <= h-4; j+=4, dp+=w4) { 
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp] = sum >> 8;
+                    dst_d[dp+w] = sum1 >> 8;
+                    dst_d[dp+w2] = sum2 >> 8;
+                    dst_d[dp+w3] = sum3 >> 8;
+                }
+                for (; j < h; ++j, dp+=w) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp] = sum >> 8;
+                }
+            }
+        }
+
+        var _convol = function(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel) {
+            var i=0,j=0,k=0,sp=0,dp=0,sum=0.0,sum1=0.0,sum2=0.0,sum3=0.0,f0=filter[0],fk=0.0;
+            var w2=w<<1,w3=w*3,w4=w<<2;
+            // hor pass
+            for (; i < h; ++i) { 
+                sum = src_d[sp];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                for (j = 0; j <= w-2; j+=2) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                    buf[j + half_kernel+1] = src_d[sp+j+1];
+                }
+                for (; j < w; ++j) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                }
+                sum = src_d[sp+w-1];
+                for (j = w; j < half_kernel + w; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                for (j = 0; j <= w-4; j+=4) {
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp+j] = sum;
+                    dst_d[dp+j+1] = sum1;
+                    dst_d[dp+j+2] = sum2;
+                    dst_d[dp+j+3] = sum3;
+                }
+                for (; j < w; ++j) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp+j] = sum;
+                }
+                sp += w;
+                dp += w;
+            }
+
+            // vert pass
+            for (i = 0; i < w; ++i) {
+                sum = dst_d[i];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                k = i;
+                for (j = 0; j <= h-2; j+=2, k+=w2) {
+                    buf[j+half_kernel] = dst_d[k];
+                    buf[j+half_kernel+1] = dst_d[k+w];
+                }
+                for (; j < h; ++j, k+=w) {
+                    buf[j+half_kernel] = dst_d[k];
+                }
+                sum = dst_d[(h-1)*w + i];
+                for (j = h; j < half_kernel + h; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                dp = i;
+                for (j = 0; j <= h-4; j+=4, dp+=w4) { 
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp] = sum;
+                    dst_d[dp+w] = sum1;
+                    dst_d[dp+w2] = sum2;
+                    dst_d[dp+w3] = sum3;
+                }
+                for (; j < h; ++j, dp+=w) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp] = sum;
+                }
+            }
+        }
+
         return {
             // TODO: add support for RGB/BGR order
+            // for raw arrays
             grayscale: function(src, dst) {
                 var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
                 var j = 0;
-                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
-                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
-                    dst[j + 1] = ((src[i + 4] * 77) + (src[i + 5] * 151) + (src[i + 6] * 28)) >> 8;
+                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868;
 
-                    dst[j + 2] = ((src[i + 8] * 77) + (src[i + 9] * 151) + (src[i + 10] * 28)) >> 8;
-                    dst[j + 3] = ((src[i + 12] * 77) + (src[i + 13] * 151) + (src[i + 14] * 28)) >> 8;
+                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
+                    dst[j]     = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                    dst[j + 1] = (src[i+4] * coeff_r + src[i+5] * coeff_g + src[i+6] * coeff_b + 8192) >> 14;
+                    dst[j + 2] = (src[i+8] * coeff_r + src[i+9] * coeff_g + src[i+10] * coeff_b + 8192) >> 14;
+                    dst[j + 3] = (src[i+12] * coeff_r + src[i+13] * coeff_g + src[i+14] * coeff_b + 8192) >> 14;
                 }
                 for (; i < srcLength; i += 4, ++j) {
-                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
+                    dst[j] = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                }
+            },
+            // derived from CCV library
+            resample: function(src, dst, nw, nh) {
+                var h=src.rows,w=src.cols;
+                if (h > nh && w > nw) {
+                    // using the fast alternative (fix point scale, 0x100 to avoid overflow)
+                    if (src.type&jsfeat.U8_t && dst.type&jsfeat.U8_t && h * w / (nh * nw) < 0x100) {
+                        _resample_u8(src, dst, nw, nh);
+                    } else {
+                        _resample(src, dst, nw, nh);
+                    }
                 }
             },
 
-            box_blur: function(src, dst, w, h, hwin) {
+            box_blur: function(src, dst, hwin, scale) {
+                if (typeof scale === "undefined") { scale = 1; }
                 var win = (2*hwin+1)|0;
-                var _buf = new Int32Array(w*win+w);
+                var w = src.cols, h = src.rows;
+                var data_type = src.type;
+                var _buf,buf_sz=(w*win+w)|0,src_d=src.data,dst_d=dst.data;
                 var sums = (w*win)|0;
                 var next_row=0,oldest_row=0;
-                var i=0, j=0, s0=0, s1=0;
-                var hsum = 0, back=0;
-
+                var i=0, j=0, s0, s1;
+                var hsum,back;
                 var input = 0, output = (w*hwin - hwin) | 0;
 
+                // select correct data type
+                var buf_node = jsfeat.cache.get_buffer(buf_sz<<2);
+                if((data_type&jsfeat.U8_t) || (data_type&jsfeat.S32_t)) {
+                    _buf = buf_node.i32;
+                } else {
+                    _buf = buf_node.f32;
+                }
+
                 for(; i < w; ++i){ _buf[sums+i] = 0; }
 
                 for (i=0; i<h; ++i) {
                     hsum = 0;
                     back = input;
 
-                    for (j = 0; j < win-1; ++j) hsum += src[input+j];
+                    for (j = 0; j < win-1; ++j) hsum += src_d[input+j];
                     for (; j <= w-2; j+=2) {
-                        hsum += src[input+j];
+                        hsum += src_d[input+j];
                         _buf[next_row+j] = hsum;
                         _buf[sums+j] += hsum;
-                        hsum -= src[back++];
+                        hsum -= src_d[back++];
                         //
-                        hsum += src[input+j+1];
+                        hsum += src_d[input+j+1];
                         _buf[next_row+j+1] = hsum;
                         _buf[sums+j+1] += hsum;
-                        hsum -= src[back++];
+                        hsum -= src_d[back++];
                     }
                     for (; j < w; ++j) {
-                        hsum += src[input+j];
+                        hsum += src_d[input+j];
                         _buf[next_row+j] = hsum;
                         _buf[sums+j] += hsum;
-                        hsum -= src[back++];
+                        hsum -= src_d[back++];
                     }
                     if (i >= win-1)  {
                         for(j = win-1; j <= w-2; j+=2) {
                             s0 = _buf[sums+j]; s1 = _buf[sums+j+1];
-                            dst[output+j] = s0; dst[output+j+1] = s1;
+                            dst_d[output+j] = s0*scale; dst_d[output+j+1] = s1*scale;
                             _buf[sums+j] = s0 - _buf[oldest_row+j];
                             _buf[sums+j+1] = s1 - _buf[oldest_row+j+1];
                         }
                         for(; j < w; ++j) {
                             s0 = _buf[sums+j];
-                            dst[output+j] = s0;
+                            dst_d[output+j] = s0*scale;
                             _buf[sums+j] = s0 - _buf[oldest_row+j];
                         }
                         output += w;
@@ -439,120 +1155,86 @@ self.Float32Array = self.Float32Array || Array;
                     next_row += w;
                     next_row = (next_row < sums) * next_row;
                 }
+
+                jsfeat.cache.put_buffer(buf_node);
             },
 
-            gaussian_blur_u8: function(src, dst, w, h, kernel_size, sigma) {
+            gaussian_blur: function(src, dst, kernel_size, sigma) {
                 if (typeof sigma === "undefined") { sigma = 0.0; }
                 if (typeof kernel_size === "undefined") { kernel_size = 0; }
-                kernel_size = kernel_size == 0 ? (Math.max(1, (4.0 * sigma + 1.0 - 1e-8)|0) * 2 + 1)|0 : kernel_size;
+                kernel_size = kernel_size == 0 ? (Math.max(1, (4.0 * sigma + 1.0 - 1e-8)) * 2 + 1)|0 : kernel_size;
                 var half_kernel = kernel_size >> 1;
-                var i=0,j=0,k=0,sum=0,sum1=0,sp=0,dp=0,w2=w<<1;
-                var buf = new Uint8Array(kernel_size + Math.max(h, w));
-                // we use int based kernel
-                var filter = new Int32Array(kernel_size);
-
-                jsfeat.math.get_gaussian_kernel(kernel_size, sigma, filter, jsfeat.U8_t);
-
-                // hor pass
-                for (; i < h; ++i) { 
-                    sum = src[sp];
-                    for (j = 0; j < half_kernel; ++j) {
-                        buf[j] = sum;
-                    }
-                    for (j = 0; j <= w-2; j+=2) {
-                        buf[j + half_kernel] = src[sp+j];
-                        buf[j + half_kernel+1] = src[sp+j+1];
-                    }
-                    for (; j < w; ++j) {
-                        buf[j + half_kernel] = src[sp+j];
-                    }
-                    sum = src[sp+w-1];
-                    for (j = w; j < half_kernel + w; ++j) {
-                        buf[j + half_kernel] = sum;
-                    }
-                    for (j = 0; j <= w-2; j+=2) {
-                        sum = 0, sum1 = 0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                            sum1 += buf[k + j+1] * filter[k];
-                        }
-                        dst[dp+j] = sum >> 8;
-                        dst[dp+j+1] = sum1 >> 8;
-                    }
-                    for (; j < w; ++j) {
-                        sum = 0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                        }
-                        dst[dp+j] = sum >> 8;
-                    }
-                    sp += w;
-                    dp += w;
+                var w = src.cols, h = src.rows;
+                var data_type = src.type, is_u8 = data_type&jsfeat.U8_t;
+                var src_d = src.data, dst_d = dst.data;
+                var buf,filter,buf_sz=(kernel_size + Math.max(h, w))|0;
+
+                var buf_node = jsfeat.cache.get_buffer(buf_sz<<2);
+                var filt_node = jsfeat.cache.get_buffer(kernel_size<<2);
+
+                if(is_u8) {
+                    buf = buf_node.u8;
+                    filter = filt_node.i32;
+                } else if(data_type&jsfeat.S32_t) {
+                    buf = buf_node.i32;
+                    filter = filt_node.f32;
+                } else {
+                    buf = buf_node.f32;
+                    filter = filt_node.f32;
                 }
 
-                // vert pass
-                for (i = 0; i < w; ++i) {
-                    sum = dst[i];
-                    for (j = 0; j < half_kernel; ++j) {
-                        buf[j] = sum;
-                    }
-                    k = i;
-                    for (j = 0; j <= h-2; j+=2, k+=w2) {
-                        buf[j+half_kernel] = dst[k];
-                        buf[j+half_kernel+1] = dst[k+w];
-                    }
-                    for (; j < h; ++j, k+=w) {
-                        buf[j+half_kernel] = dst[k];
-                    }
-                    sum = dst[(h-1)*w + i];
-                    for (j = h; j < half_kernel + h; ++j) {
-                        buf[j + half_kernel] = sum;
-                    }
-                    dp = i;
-                    for (j = 0; j <= h-2; j+=2, dp+=w2) { 
-                        sum = 0, sum1=0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                            sum1 += buf[k + j+1] * filter[k];
-                        }
-                        dst[dp] = sum >> 8;
-                        dst[dp+w] = sum1 >> 8;
-                    }
-                    for (; j < h; ++j, dp+=w) {
-                        sum = 0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                        }
-                        dst[dp] = sum >> 8;
-                    }
+                jsfeat.math.get_gaussian_kernel(kernel_size, sigma, filter, data_type);
+
+                if(is_u8) {
+                    _convol_u8(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel);
+                } else {
+                    _convol(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel);
                 }
-            },
 
-            pyrdown_fast_u8: function(src, w, h, dst) {
+                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(filt_node);
+            },
+            // assume we always need it for u8 image
+            pyrdown: function(src, dst) {
+                var w = src.cols, h = src.rows;
                 var w2 = w >> 1, h2 = h >> 1;
                 var x=0,y=0,sptr=0,sline=0,dptr=0;
+                var src_d = src.data, dst_d = dst.data;
 
                 for(y = 0; y < h2; ++y) {
                     sline = sptr;
                     for(x = 0; x <= w2-2; x+=2, dptr+=2, sline += 4) {
-                        dst[dptr] = (src[sline] + src[sline+1] +
-                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
-                        dst[dptr+1] = (src[sline+2] + src[sline+3] +
-                                            src[sline+w+2] + src[sline+w+3] + 2) >> 2;
+                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                                            src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
+                        dst_d[dptr+1] = (src_d[sline+2] + src_d[sline+3] +
+                                            src_d[sline+w+2] + src_d[sline+w+3] + 2) >> 2;
                     }
                     for(; x < w2; ++x, ++dptr, sline += 2) {
-                        dst[dptr] = (src[sline] + src[sline+1] +
-                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
+                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                                            src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
                     }
                     sptr += w << 1;
                 }
             },
 
-            shar_derivatives: function(img, dst, w, h) {
-                var dstep = w<<1,x=0,y=0,x1=0;
+            // dst: [gx,gy,...]
+            scharr_derivatives: function(src, dst) {
+                var w = src.cols, h = src.rows;
+                var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
-                var trow0 = new Int32Array(w+2);
-                var trow1 = new Int32Array(w+2);
+                var trow0,trow1;
+                var img = src.data;
+
+                var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
+                var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
+
+                if(src.type&jsfeat.U8_t || src.type&jsfeat.S32_t) {
+                    trow0 = buf0_node.i32;
+                    trow1 = buf1_node.i32;
+                } else {
+                    trow0 = buf0_node.f32;
+                    trow1 = buf1_node.f32;
+                }
 
                 for(; y < h; ++y, srow1+=w) {
                     srow0 = ((y > 0 ? y-1 : 1)*w)|0;
@@ -560,32 +1242,461 @@ self.Float32Array = self.Float32Array || Array;
                     drow = (y*dstep)|0;
                     // do vertical convolution
                     for(x = 0, x1 = 1; x <= w-2; x+=2, x1+=2) {
-                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
-                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b)*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( b - a );
                         //
-                        trow0[x1+1] = ( ((img[srow0+x+1]) + (img[srow2+x+1]))*3 + (img[srow1+x+1])*10 );
-                        trow1[x1+1] = ( (img[srow2+x+1]) - (img[srow0+x+1]) );
+                        a = img[srow0+x+1], b = img[srow2+x+1];
+                        trow0[x1+1] = ( (a + b)*3 + (img[srow1+x+1])*10 );
+                        trow1[x1+1] = ( b - a );
                     }
                     for(; x < w; ++x, ++x1) {
-                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
-                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b)*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( b - a );
                     }
                     // make border
                     x = (w + 1)|0;
                     trow0[0] = trow0[1]; trow0[x] = trow0[w];
                     trow1[0] = trow1[1]; trow1[x] = trow1[w];
                     // do horizontal convolution, interleave the results and store them
-                    for(x = 0; x <= w-2; x+=2) {
-                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
-                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
-                        dst[drow++] = ( (trow0[x+3] - trow0[x+1]) );
-                        dst[drow++] = ( ((trow1[x+3] + trow1[x+1])*3 + trow1[x+2]*10) );
+                    for(x = 0; x <= w-4; x+=4) {
+                        a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
+                        e = trow0[x+2], f = trow0[x+3];
+                        dst[drow++] = ( e - trow0[x] );
+                        dst[drow++] = ( (a + trow1[x])*3 + b*10 );
+                        dst[drow++] = ( f - trow0[x+1] );
+                        dst[drow++] = ( (c + b)*3 + a*10 );
+
+                        dst[drow++] = ( (trow0[x+4] - e) );
+                        dst[drow++] = ( ((d + a)*3 + c*10) );
+                        dst[drow++] = ( (trow0[x+5] - f) );
+                        dst[drow++] = ( ((trow1[x+5] + c)*3 + d*10) );
                     }
                     for(; x < w; ++x) {
                         dst[drow++] = ( (trow0[x+2] - trow0[x]) );
                         dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
                     }
                 }
+                jsfeat.cache.put_buffer(buf0_node);
+                jsfeat.cache.put_buffer(buf1_node);
+            },
+
+            // compute gradient using Sobel kernel [1 2 1] * [-1 0 1]^T
+            // dst: [gx,gy,...]
+            sobel_derivatives: function(src, dst) {
+                var w = src.cols, h = src.rows;
+                var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
+                var srow0=0,srow1=0,srow2=0,drow=0;
+                var trow0,trow1;
+                var img = src.data;
+
+                var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
+                var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
+
+                if(src.type&jsfeat.U8_t || src.type&jsfeat.S32_t) {
+                    trow0 = buf0_node.i32;
+                    trow1 = buf1_node.i32;
+                } else {
+                    trow0 = buf0_node.f32;
+                    trow1 = buf1_node.f32;
+                }
+
+                for(; y < h; ++y, srow1+=w) {
+                    srow0 = ((y > 0 ? y-1 : 1)*w)|0;
+                    srow2 = ((y < h-1 ? y+1 : h-2)*w)|0;
+                    drow = (y*dstep)|0;
+                    // do vertical convolution
+                    for(x = 0, x1 = 1; x <= w-2; x+=2, x1+=2) {
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b) + (img[srow1+x]*2) );
+                        trow1[x1] = ( b - a );
+                        //
+                        a = img[srow0+x+1], b = img[srow2+x+1];
+                        trow0[x1+1] = ( (a + b) + (img[srow1+x+1]*2) );
+                        trow1[x1+1] = ( b - a );
+                    }
+                    for(; x < w; ++x, ++x1) {
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b) + (img[srow1+x]*2) );
+                        trow1[x1] = ( b - a );
+                    }
+                    // make border
+                    x = (w + 1)|0;
+                    trow0[0] = trow0[1]; trow0[x] = trow0[w];
+                    trow1[0] = trow1[1]; trow1[x] = trow1[w];
+                    // do horizontal convolution, interleave the results and store them
+                    for(x = 0; x <= w-4; x+=4) {
+                        a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
+                        e = trow0[x+2], f = trow0[x+3];
+                        dst[drow++] = ( e - trow0[x] );
+                        dst[drow++] = ( a + trow1[x] + b*2 );
+                        dst[drow++] = ( f - trow0[x+1] );
+                        dst[drow++] = ( c + b + a*2 );
+
+                        dst[drow++] = ( trow0[x+4] - e );
+                        dst[drow++] = ( d + a + c*2 );
+                        dst[drow++] = ( trow0[x+5] - f );
+                        dst[drow++] = ( trow1[x+5] + c + d*2 );
+                    }
+                    for(; x < w; ++x) {
+                        dst[drow++] = ( trow0[x+2] - trow0[x] );
+                        dst[drow++] = ( trow1[x+2] + trow1[x] + trow1[x+1]*2 );
+                    }
+                }
+                jsfeat.cache.put_buffer(buf0_node);
+                jsfeat.cache.put_buffer(buf1_node);
+            },
+
+            // please note: 
+            // dst_(type) size should be cols = src.cols+1, rows = src.rows+1
+            compute_integral_image: function(src, dst_sum, dst_sqsum, dst_tilted) {
+                var w0=src.cols,h0=src.rows,src_d=src.data;
+                var w1=w0+1;
+                var s,s2,p,pup,i=0,j=0,v,k;
+
+                if(dst_sum && dst_sqsum) {
+                    // fill first row with zeros
+                    for(; i < w1; ++i) {
+                        dst_sum[i] = 0, dst_sqsum[i] = 0;
+                    }
+                    p = (w1+1)|0, pup = 1;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        s = s2 = 0;
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            v = src_d[k];
+                            s += v, s2 += v*v;
+                            dst_sum[p] = dst_sum[pup] + s;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+
+                            v = src_d[k+1];
+                            s += v, s2 += v*v;
+                            dst_sum[p+1] = dst_sum[pup+1] + s;
+                            dst_sqsum[p+1] = dst_sqsum[pup+1] + s2;
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            v = src_d[k];
+                            s += v, s2 += v*v;
+                            dst_sum[p] = dst_sum[pup] + s;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+                        }
+                    }
+                } else if(dst_sum) {
+                    // fill first row with zeros
+                    for(; i < w1; ++i) {
+                        dst_sum[i] = 0;
+                    }
+                    p = (w1+1)|0, pup = 1;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        s = 0;
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            s += src_d[k];
+                            dst_sum[p] = dst_sum[pup] + s;
+                            s += src_d[k+1];
+                            dst_sum[p+1] = dst_sum[pup+1] + s;
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            s += src_d[k];
+                            dst_sum[p] = dst_sum[pup] + s;
+                        }
+                    }
+                } else if(dst_sqsum) {
+                    // fill first row with zeros
+                    for(; i < w1; ++i) {
+                        dst_sqsum[i] = 0;
+                    }
+                    p = (w1+1)|0, pup = 1;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        s2 = 0;
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            v = src_d[k];
+                            s2 += v*v;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+                            v = src_d[k+1];
+                            s2 += v*v;
+                            dst_sqsum[p+1] = dst_sqsum[pup+1] + s2;
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            v = src_d[k];
+                            s2 += v*v;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+                        }
+                    }
+                }
+
+                if(dst_tilted) {
+                    // fill first row with zeros
+                    for(i = 0; i < w1; ++i) {
+                        dst_tilted[i] = 0;
+                    }
+                    // diagonal
+                    p = (w1+1)|0, pup = 0;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            dst_tilted[p] = src_d[k] + dst_tilted[pup];
+                            dst_tilted[p+1] = src_d[k+1] + dst_tilted[pup+1];
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            dst_tilted[p] = src_d[k] + dst_tilted[pup];
+                        }
+                    }
+                    // diagonal
+                    p = (w1+w0)|0, pup = w0;
+                    for(i = 0; i < h0; ++i, p+=w1, pup+=w1) {
+                        dst_tilted[p] += dst_tilted[pup];
+                    }
+
+                    for(j = w0-1; j > 0; --j) {
+                        p = j+h0*w1, pup=p-w1;
+                        for(i = h0; i > 0; --i, p-=w1, pup-=w1) {
+                            dst_tilted[p] += dst_tilted[pup] + dst_tilted[pup+1];
+                        }
+                    }
+                }
+            },
+            equalize_histogram: function(src, dst) {
+                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data,size=w*h;
+                var i=0,prev=0,hist0,norm;
+
+                var hist0_node = jsfeat.cache.get_buffer(256<<2);
+                hist0 = hist0_node.i32;
+                for(; i < 256; ++i) hist0[i] = 0;
+                for (i = 0; i < size; ++i) {
+                    ++hist0[src_d[i]];
+                }
+
+                prev = hist0[0];
+                for (i = 1; i < 256; ++i) {
+                    prev = hist0[i] += prev;
+                }
+
+                norm = 255 / size;
+                for (i = 0; i < size; ++i) {
+                    dst_d[i] = (hist0[src_d[i]] * norm + 0.5)|0;
+                }
+                jsfeat.cache.put_buffer(hist0_node);
+            },
+
+            canny: function(src, dst, low_thresh, high_thresh) {
+                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data;
+                var i=0,j=0,grad=0,w2=w<<1,_grad=0,suppress=0,f=0,x=0,y=0,s=0;
+                var tg22x=0,tg67x=0;
+
+                // cache buffers
+                var dxdy_node = jsfeat.cache.get_buffer((h * w2)<<2);
+                var buf_node = jsfeat.cache.get_buffer((3 * (w + 2))<<2);
+                var map_node = jsfeat.cache.get_buffer(((h+2) * (w + 2))<<2);
+                var stack_node = jsfeat.cache.get_buffer((h * w)<<2);
+                
+
+                var buf = buf_node.i32;
+                var map = map_node.i32;
+                var stack = stack_node.i32;
+                var dxdy = dxdy_node.i32;
+                var row0=1,row1=(w+2+1)|0,row2=(2*(w+2)+1)|0,map_w=(w+2)|0,map_i=(map_w+1)|0,stack_i=0;
+
+                this.sobel_derivatives(src, dxdy);
+
+                if(low_thresh > high_thresh) {
+                    i = low_thresh;
+                    low_thresh = high_thresh;
+                    high_thresh = i;
+                }
+
+                i = (3 * (w + 2))|0;
+                while(--i>=0) {
+                    buf[i] = 0;
+                }
+
+                i = ((h+2) * (w + 2))|0;
+                while(--i>=0) {
+                    map[i] = 0;
+                }
+
+                for (; j < w; ++j, grad+=2) {
+                    //buf[row1+j] = Math.abs(dxdy[grad]) + Math.abs(dxdy[grad+1]);
+                    x = dxdy[grad], y = dxdy[grad+1];
+                    //buf[row1+j] = x*x + y*y;
+                    buf[row1+j] = ((x ^ (x >> 31)) - (x >> 31)) + ((y ^ (y >> 31)) - (y >> 31));
+                }
+
+                for(i=1; i <= h; ++i, grad+=w2) {
+                    if(i == h) {
+                        j = row2+w;
+                        while(--j>=row2) {
+                            buf[j] = 0;
+                        }
+                    } else {
+                        for (j = 0; j < w; j++) {
+                            //buf[row2+j] =  Math.abs(dxdy[grad+(j<<1)]) + Math.abs(dxdy[grad+(j<<1)+1]);
+                            x = dxdy[grad+(j<<1)], y = dxdy[grad+(j<<1)+1];
+                            //buf[row2+j] = x*x + y*y;
+                            buf[row2+j] = ((x ^ (x >> 31)) - (x >> 31)) + ((y ^ (y >> 31)) - (y >> 31));
+                        }
+                    }
+                    _grad = (grad - w2)|0;
+                    map[map_i-1] = 0;
+                    suppress = 0;
+                    for(j = 0; j < w; ++j, _grad+=2) {
+                        f = buf[row1+j];
+                        if (f > low_thresh) {
+                            x = dxdy[_grad];
+                            y = dxdy[_grad+1];
+                            s = x ^ y;
+                            // seems ot be faster than Math.abs
+                            x = ((x ^ (x >> 31)) - (x >> 31))|0;
+                            y = ((y ^ (y >> 31)) - (y >> 31))|0;
+                            //x * tan(22.5) x * tan(67.5) == 2 * x + x * tan(22.5)
+                            tg22x = x * 13573;
+                            tg67x = tg22x + ((x + x) << 15);
+                            y <<= 15;
+                            if (y < tg22x) {
+                                if (f > buf[row1+j-1] && f >= buf[row1+j+1]) {
+                                    if (f > high_thresh && !suppress && map[map_i+j-map_w] != 2) {
+                                        map[map_i+j] = 2;
+                                        suppress = 1;
+                                        stack[stack_i++] = map_i + j;
+                                    } else {
+                                        map[map_i+j] = 1;
+                                    }
+                                    continue;
+                                }
+                            } else if (y > tg67x) {
+                                if (f > buf[row0+j] && f >= buf[row2+j]) {
+                                    if (f > high_thresh && !suppress && map[map_i+j-map_w] != 2) {
+                                        map[map_i+j] = 2;
+                                        suppress = 1;
+                                        stack[stack_i++] = map_i + j;
+                                    } else {
+                                        map[map_i+j] = 1;
+                                    }
+                                    continue;
+                                }
+                            } else {
+                                s = s < 0 ? -1 : 1;
+                                if (f > buf[row0+j-s] && f > buf[row2+j+s]) {
+                                    if (f > high_thresh && !suppress && map[map_i+j-map_w] != 2) {
+                                        map[map_i+j] = 2;
+                                        suppress = 1;
+                                        stack[stack_i++] = map_i + j;
+                                    } else {
+                                        map[map_i+j] = 1;
+                                    }
+                                    continue;
+                                }
+                            }
+                        }
+                        map[map_i+j] = 0;
+                        suppress = 0;
+                    }
+                    map[map_i+w] = 0;
+                    map_i += map_w;
+                    j = row0;
+                    row0 = row1;
+                    row1 = row2;
+                    row2 = j;
+                }
+
+                j = map_i - map_w - 1;
+                for(i = 0; i < map_w; ++i, ++j) {
+                    map[j] = 0;
+                }
+                // path following
+                while(stack_i > 0) {
+                    map_i = stack[--stack_i];
+                    map_i -= map_w+1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += map_w;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i -= 2;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += map_w;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                }
+
+                map_i = map_w + 1;
+                row0 = 0;
+                for(i = 0; i < h; ++i, map_i+=map_w) {
+                    for(j = 0; j < w; ++j) {
+                        dst_d[row0++] = (map[map_i+j] == 2) * 0xff;
+                    }
+                }
+
+                // free buffers
+                jsfeat.cache.put_buffer(dxdy_node);
+                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(map_node);
+                jsfeat.cache.put_buffer(stack_node);
+            },
+
+            warp_perspective: function(src, dst, transform, fill_value) {
+                if (typeof fill_value === "undefined") { fill_value = 0; }
+                var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
+                var src_d=src.data, dst_d=dst.data;
+                var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,xs0=0.0,ys0=0.0,ws=0.0,sc=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
+                var m00=transform[0],m01=transform[1],m02=transform[2],
+                    m10=transform[3],m11=transform[4],m12=transform[5],
+                    m20=transform[6],m21=transform[7],m22=transform[8];
+
+                for(var dptr = 0; y < dst_height; ++y) {
+                    xs0 = m01 * y + m02,
+                    ys0 = m11 * y + m12,
+                    ws  = m21 * y + m22;
+                    for(x = 0; x < dst_width; ++x, ++dptr, xs0+=m00, ys0+=m10, ws+=m20) {
+                        sc = 1.0 / ws;
+                        xs = xs0 * sc, ys = ys0 * sc;
+                        ixs = xs | 0, iys = ys | 0;
+
+                        if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
+                            a = Math.max(xs - ixs, 0.0);
+                            b = Math.max(ys - iys, 0.0);
+                            off = src_width*iys + ixs;
+
+                            p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
+                            p1 = src_d[off+src_width] + a * (src_d[off+src_width+1] - src_d[off+src_width]);
+
+                            dst_d[dptr] = p0 + b * (p1 - p0);
+                        }
+                        else dst_d[dptr] = fill_value;
+                    }
+                }
+            },
+
+            warp_affine: function(src, dst, transform, fill_value) {
+                if (typeof fill_value === "undefined") { fill_value = 0; }
+                var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
+                var src_d=src.data, dst_d=dst.data;
+                var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
+                var m00=transform[0],m01=transform[1],m02=transform[2],
+                    m10=transform[3],m11=transform[4],m12=transform[5];
+
+                for(var dptr = 0; y < dst_height; ++y) {
+                    xs = m01 * y + m02;
+                    ys = m11 * y + m12;
+                    for(x = 0; x < dst_width; ++x, ++dptr, xs+=m00, ys+=m10) {
+                        ixs = xs | 0; iys = ys | 0;
+
+                        if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
+                            a = Math.max(xs - ixs, 0.0);
+                            b = Math.max(ys - iys, 0.0);
+                            off = src_width*iys + ixs;
+
+                            p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
+                            p1 = src_d[off+src_width] + a * (src_d[off+src_width+1] - src_d[off+src_width]);
+
+                            dst_d[dptr] = p0 + b * (p1 - p0);
+                        }
+                        else dst_d[dptr] = fill_value;
+                    }
+                }
             }
         };
     })();
@@ -593,7 +1704,6 @@ self.Float32Array = self.Float32Array || Array;
     global.imgproc = imgproc;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -634,7 +1744,7 @@ The references are:
         },
 
         _cmp_score_8 = function(src, off, pixel, d, threshold) {
-            var N = 15, k = 0, v = src[off];
+            var N = 13, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
 
             for( ; k < N; ++k ) {
@@ -757,21 +1867,28 @@ The references are:
                 return _threshold;
             },
             
-            detect: function(img, w, h, corners, border, pattern_size) {
-                if (typeof pattern_size === "undefined") { pattern_size = 16; }
+            detect: function(src, corners, border, pattern_size) {
+                if (typeof pattern_size === "undefined") { 
+                    pattern_size = 16; 
+                } else if(pattern_size != 16 && pattern_size!=12 && pattern_size!=8) {
+                    pattern_size = 16;
+                }
                 if (typeof border === "undefined") { border = 3; }
 
-                var K = (pattern_size/2)|0, N = (pattern_size + K + 1)|0;
+                var K = (pattern_size>>1), N = (pattern_size + K + 1)|0;
+                var img = src.data, w = src.cols, h = src.rows;
                 var i=0, j=0, k=0, vt=0, x=0, m3=0;
-                var buf = new Uint8Array(w*3);
-                var cpbuf = new Int32Array((w+1)*3);
+                var buf_node = jsfeat.cache.get_buffer(3 * w);
+                var cpbuf_node = jsfeat.cache.get_buffer(((w+1)*3)<<2);
+                var buf = buf_node.u8;//new Uint8Array(w*3);
+                var cpbuf = cpbuf_node.i32;//new Int32Array((w+1)*3);
                 var pixel = pixel_off;
                 var sd = score_diff;
                 var sy = Math.max(3, border);
                 var ey = Math.min((h-2), (h-border));
                 var sx = Math.max(3, border);
                 var ex = Math.min((w - 3), (w - border));
-                var _count = 0, corners_cnt = 0;
+                var _count = 0, corners_cnt = 0, pt;
                 var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
@@ -903,13 +2020,14 @@ The references are:
                             score > buf[pprev+jm1] && score > buf[pprev+j] && score > buf[pprev+jp1] &&
                             score > buf[curr+jm1] && score > buf[curr+j] && score > buf[curr+jp1]) ) {
                             // save corner
-                            corners[corners_cnt*3] = j;
-                            corners[corners_cnt*3+1] = (i-1);
-                            corners[corners_cnt*3+2] = score;
+                            pt = corners[corners_cnt];
+                            pt.x = j, pt.y = (i-1), pt.score = score;
                             corners_cnt++;
                         }
                     }
                 } // y loop
+                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(cpbuf_node);
                 return corners_cnt;
             }
         };
@@ -931,7 +2049,7 @@ The references are:
     var optical_flow_lk = (function() {
 
         // short link to shar deriv
-        var shar_deriv = jsfeat.imgproc.shar_derivatives;
+        var scharr_deriv = jsfeat.imgproc.scharr_derivatives;
 
         return {
             track: function(prev_pyr, curr_pyr, prev_xy, curr_xy, count, win_size, max_iter, status, eps, min_eigen_threshold) {
@@ -943,13 +2061,17 @@ The references are:
                 var half_win = (win_size-1)*0.5;
                 var win_area = (win_size*win_size)|0;
                 var win_area2 = win_area << 1;
-                var prev_imgs = prev_pyr.images, next_imgs = curr_pyr.images;
-                var img_prev=prev_imgs[0].data_u8,img_next=next_imgs[0].data_u8;
-                var w0 = prev_imgs[0].width, h0 = prev_imgs[0].height,lw=0,lh=0;
+                var prev_imgs = prev_pyr.data, next_imgs = curr_pyr.data;
+                var img_prev=prev_imgs[0].data,img_next=next_imgs[0].data;
+                var w0 = prev_imgs[0].cols, h0 = prev_imgs[0].rows,lw=0,lh=0;
 
-                var iwin_buf = new Int32Array(win_area);
-                var deriv_iwin = new Int32Array(win_area2);
-                var deriv_lev = new Int32Array((w0*h0)*2);
+                var iwin_node = jsfeat.cache.get_buffer(win_area<<2);
+                var deriv_iwin_node = jsfeat.cache.get_buffer(win_area2<<2);
+                var deriv_lev_node = jsfeat.cache.get_buffer((h0*(w0<<1))<<2);
+
+                var iwin_buf = iwin_node.i32;//new Int32Array(win_area);
+                var deriv_iwin = deriv_iwin_node.i32;//new Int32Array(win_area2);
+                var deriv_lev = deriv_lev_node.i32;//deriv_m.data;
 
                 var dstep=0,src=0,dsrc=0,iptr=0,diptr=0,jptr=0;
                 var lev_sc=0.0,prev_x=0.0,prev_y=0.0,next_x=0.0,next_y=0.0;
@@ -986,14 +2108,14 @@ The references are:
                     lw = w0 >> level;
                     lh = h0 >> level;
                     dstep = lw << 1;
-                    img_prev = prev_imgs[level].data_u8;
-                    img_next = next_imgs[level].data_u8;
+                    img_prev = prev_imgs[level].data;
+                    img_next = next_imgs[level].data;
                     
                     brd_r = (lw - win_size)|0;
                     brd_b = (lh - win_size)|0;
 
                     // calculate level derivatives
-                    shar_deriv(img_prev, deriv_lev, lw, lh);
+                    scharr_deriv(prev_imgs[level], deriv_lev);
 
                     // iterate through points
                     for(ptid = 0; ptid < count; ++ptid) {
@@ -1148,10 +2270,698 @@ The references are:
                         }
                     } // points loop
                 } // levels loop
+
+                jsfeat.cache.put_buffer(iwin_node);
+                jsfeat.cache.put_buffer(deriv_iwin_node);
+                jsfeat.cache.put_buffer(deriv_lev_node);
             }
         };
     })();
 
     global.optical_flow_lk = optical_flow_lk;
 
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * this code is a rewrite from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+
+(function(global) {
+    "use strict";
+    //
+    var haar = (function() {
+
+        var _group_func = function(r1, r2) {
+            var distance = (r1.width * 0.25 + 0.5)|0;
+
+            return r2.x <= r1.x + distance &&
+                   r2.x >= r1.x - distance &&
+                   r2.y <= r1.y + distance &&
+                   r2.y >= r1.y - distance &&
+                   r2.width <= (r1.width * 1.5 + 0.5)|0 &&
+                   (r2.width * 1.5 + 0.5)|0 >= r1.width;
+        }
+        
+        return {
+
+            edges_density: 0.07,
+
+            detect_single_scale: function(int_sum, int_sqsum, int_tilted, int_canny_sum, width, height, scale, classifier) {
+                var win_w = (classifier.size[0] * scale)|0,
+                    win_h = (classifier.size[1] * scale)|0,
+                    step_x = (0.5 * scale + 1.5)|0,
+                    step_y = step_x;
+                var i,j,k,x,y,ex=(width-win_w)|0,ey=(height-win_h)|0;
+                var w1=(width+1)|0,edge_dens,mean,variance,std;
+                var inv_area = 1.0 / (win_w * win_h);
+                var stages,stage,trees,tree,sn,tn,fn,found=true,stage_thresh,stage_sum,tree_sum,feature,features;
+                var fi_a,fi_b,fi_c,fi_d,fw,fh;
+
+                var ii_a=0,ii_b=win_w,ii_c=win_h*w1,ii_d=ii_c+win_w;
+                var edges_thresh = ((win_w*win_h) * 0xff * this.edges_density)|0;
+                // if too much gradient we also can skip
+                //var edges_thresh_high = ((win_w*win_h) * 0xff * 0.3)|0;
+
+                var rects = [];
+                for(y = 0; y < ey; y += step_y) {
+                    ii_a = y * w1;
+                    for(x = 0; x < ex; x += step_x, ii_a += step_x) {
+
+                        mean =    int_sum[ii_a] 
+                                - int_sum[ii_a+ii_b]
+                                - int_sum[ii_a+ii_c]
+                                + int_sum[ii_a+ii_d];
+
+                        // canny prune
+                        if(int_canny_sum) {
+                            edge_dens = (int_canny_sum[ii_a] 
+                                        - int_canny_sum[ii_a+ii_b]
+                                        - int_canny_sum[ii_a+ii_c]
+                                        + int_canny_sum[ii_a+ii_d]);
+                            if(edge_dens < edges_thresh || mean < 20) {
+                                x += step_x, ii_a += step_x;
+                                continue;
+                            }
+                        }
+
+                        mean *= inv_area;
+                        variance = (int_sqsum[ii_a] 
+                                    - int_sqsum[ii_a+ii_b]
+                                    - int_sqsum[ii_a+ii_c]
+                                    + int_sqsum[ii_a+ii_d]) * inv_area - mean * mean;
+
+                        std = variance > 0. ? Math.sqrt(variance) : 1;
+
+                        stages = classifier.complexClassifiers;
+                        sn = stages.length;
+                        found =  true;
+                        for(i = 0; i < sn; ++i) {
+                            stage = stages[i];
+                            stage_thresh = stage.threshold;
+                            trees = stage.simpleClassifiers;
+                            tn = trees.length;
+                            stage_sum = 0;
+                            for(j = 0; j < tn; ++j) {
+                                tree = trees[j];
+                                tree_sum = 0;
+                                features = tree.features;
+                                fn = features.length;
+                                if(tree.tilted === 1) {
+                                    for(k=0; k < fn; ++k) {
+                                        feature = features[k];
+                                        fi_a = ~~(x + feature[0] * scale) + ~~(y + feature[1] * scale) * w1;
+                                        fw = ~~(feature[2] * scale);
+                                        fh = ~~(feature[3] * scale);
+                                        fi_b = fw * w1;
+                                        fi_c =  fh * w1;
+
+                                        tree_sum += (int_tilted[fi_a]
+                                                    - int_tilted[fi_a + fw + fi_b]
+                                                    - int_tilted[fi_a - fh + fi_c]
+                                                    + int_tilted[fi_a + fw - fh + fi_b + fi_c]) * feature[4];
+                                    }
+                                } else {
+                                    for(k=0; k < fn; ++k) {
+                                        feature = features[k];
+                                        fi_a = ~~(x + feature[0] * scale) + ~~(y + feature[1] * scale) * w1;
+                                        fw = ~~(feature[2] * scale);
+                                        fh = ~~(feature[3] * scale);
+                                        fi_c = fh * w1;
+
+                                        tree_sum += (int_sum[fi_a] 
+                                                    - int_sum[fi_a+fw]
+                                                    - int_sum[fi_a+fi_c]
+                                                    + int_sum[fi_a+fi_c+fw]) * feature[4];
+                                    }
+                                }
+                                stage_sum += (tree_sum * inv_area < tree.threshold * std) ? tree.left_val : tree.right_val;
+                            }
+                            if (stage_sum < stage_thresh) {
+                                found = false;
+                                break;
+                            }
+                        }
+                        
+                        if(found) {
+                            rects.push({"x" : x,
+                                        "y" : y,
+                                        "width" : win_w,
+                                        "height" : win_h,
+                                        "neighbor" : 1,
+                                        "confidence" : stage_sum});
+                            x += step_x, ii_a += step_x;
+                        }
+                    }
+                }
+                return rects;
+            },
+
+            detect_multi_scale: function(int_sum, int_sqsum, int_tilted, int_canny_sum, width, height, classifier, scale_factor, scale_min) {
+                if (typeof scale_factor === "undefined") { scale_factor = 1.2; }
+                if (typeof scale_min === "undefined") { scale_min = 1.0; }
+                var win_w = classifier.size[0];
+                var win_h = classifier.size[1];
+                var rects = [];
+                while (scale_min * win_w < width && scale_min * win_h < height) {
+                    rects = rects.concat(this.detect_single_scale(int_sum, int_sqsum, int_tilted, int_canny_sum, width, height, scale_min, classifier));
+                    scale_min *= scale_factor;
+                }
+                return rects;
+            },
+
+            // OpenCV method to group detected rectangles
+            group_rectangles: function(rects, min_neighbors) {
+                if (typeof min_neighbors === "undefined") { min_neighbors = 1; }
+                var i, j, n = rects.length;
+                var node = [];
+                for (i = 0; i < n; ++i) {
+                    node[i] = {"parent" : -1,
+                               "element" : rects[i],
+                               "rank" : 0};
+                }
+                for (i = 0; i < n; ++i) {
+                    if (!node[i].element)
+                        continue;
+                    var root = i;
+                    while (node[root].parent != -1)
+                        root = node[root].parent;
+                    for (j = 0; j < n; ++j) {
+                        if( i != j && node[j].element && _group_func(node[i].element, node[j].element)) {
+                            var root2 = j;
+
+                            while (node[root2].parent != -1)
+                                root2 = node[root2].parent;
+
+                            if(root2 != root) {
+                                if(node[root].rank > node[root2].rank)
+                                    node[root2].parent = root;
+                                else {
+                                    node[root].parent = root2;
+                                    if (node[root].rank == node[root2].rank)
+                                    node[root2].rank++;
+                                    root = root2;
+                                }
+
+                                /* compress path from node2 to the root: */
+                                var temp, node2 = j;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+
+                                /* compress path from node to the root: */
+                                node2 = i;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+                            }
+                        }
+                    }
+                }
+                var idx_seq = [];
+                var class_idx = 0;
+                for(i = 0; i < n; i++) {
+                    j = -1;
+                    var node1 = i;
+                    if(node[node1].element) {
+                        while (node[node1].parent != -1)
+                            node1 = node[node1].parent;
+                        if(node[node1].rank >= 0)
+                            node[node1].rank = ~class_idx++;
+                        j = ~node[node1].rank;
+                    }
+                    idx_seq[i] = j;
+                }
+                
+                var comps = [];
+                for (i = 0; i < class_idx+1; ++i) {
+                    comps[i] = {"neighbors" : 0,
+                                "x" : 0,
+                                "y" : 0,
+                                "width" : 0,
+                                "height" : 0,
+                                "confidence" : 0};
+                }
+
+                // count number of neighbors
+                for(i = 0; i < n; ++i) {
+                    var r1 = rects[i];
+                    var idx = idx_seq[i];
+
+                    if (comps[idx].neighbors == 0)
+                        comps[idx].confidence = r1.confidence;
+
+                    ++comps[idx].neighbors;
+
+                    comps[idx].x += r1.x;
+                    comps[idx].y += r1.y;
+                    comps[idx].width += r1.width;
+                    comps[idx].height += r1.height;
+                    comps[idx].confidence = Math.max(comps[idx].confidence, r1.confidence);
+                }
+
+                var seq2 = [];
+                // calculate average bounding box
+                for(i = 0; i < class_idx; ++i) {
+                    n = comps[i].neighbors;
+                    if (n >= min_neighbors)
+                        seq2.push({"x" : (comps[i].x * 2 + n) / (2 * n),
+                                   "y" : (comps[i].y * 2 + n) / (2 * n),
+                                   "width" : (comps[i].width * 2 + n) / (2 * n),
+                                   "height" : (comps[i].height * 2 + n) / (2 * n),
+                                   "neighbors" : comps[i].neighbors,
+                                   "confidence" : comps[i].confidence});
+                }
+
+                var result_seq = [];
+                n = seq2.length;
+                // filter out small face rectangles inside large face rectangles
+                for(i = 0; i < n; ++i) {
+                    var r1 = seq2[i];
+                    var flag = true;
+                    for(j = 0; j < n; ++j) {
+                        var r2 = seq2[j];
+                        var distance = (r2.width * 0.25 + 0.5)|0;
+
+                        if(i != j &&
+                           r1.x >= r2.x - distance &&
+                           r1.y >= r2.y - distance &&
+                           r1.x + r1.width <= r2.x + r2.width + distance &&
+                           r1.y + r1.height <= r2.y + r2.height + distance &&
+                           (r2.neighbors > Math.max(3, r1.neighbors) || r1.neighbors < 3)) {
+                            flag = false;
+                            break;
+                        }
+                    }
+
+                    if(flag)
+                        result_seq.push(r1);
+                }
+                return result_seq;
+            }
+        };
+
+    })();
+
+    global.haar = haar;
+
+})(jsfeat);
+/**
+ * BBF: Brightness Binary Feature
+ *
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * this code is a rewrite from https://github.com/liuliu/ccv implementation
+ * @author Liu Liu / http://liuliu.me/
+ *
+ * The original paper refers to: YEF∗ Real-Time Object Detection, Yotam Abramson and Bruno Steux
+ */
+
+(function(global) {
+    "use strict";
+    //
+    var bbf = (function() {
+
+        var _group_func = function(r1, r2) {
+            var distance = (r1.width * 0.25 + 0.5)|0;
+
+            return r2.x <= r1.x + distance &&
+                   r2.x >= r1.x - distance &&
+                   r2.y <= r1.y + distance &&
+                   r2.y >= r1.y - distance &&
+                   r2.width <= (r1.width * 1.5 + 0.5)|0 &&
+                   (r2.width * 1.5 + 0.5)|0 >= r1.width;
+        }
+
+        return {
+
+            interval: 4,
+            scale: 1.1486,
+            next: 5,
+            scale_to: 1,
+
+            // make features local copy
+            // to avoid array allocation with each scale
+            // this is strange but array works faster than Int32 version???
+            prepare_cascade: function(cascade) {
+                var sn = cascade.stage_classifier.length;
+                for (var j = 0; j < sn; j++) {
+                    var orig_feature = cascade.stage_classifier[j].feature;
+                    var f_cnt = cascade.stage_classifier[j].count;
+                    var feature = cascade.stage_classifier[j]._feature = new Array(f_cnt);
+                    for (var k = 0; k < f_cnt; k++) {
+                        feature[k] = {"size" : orig_feature[k].size,
+                                      "px" : new Array(orig_feature[k].size),
+                                      "pz" : new Array(orig_feature[k].size),
+                                      "nx" : new Array(orig_feature[k].size),
+                                      "nz" : new Array(orig_feature[k].size)};
+                    }
+                }
+            },
+
+            build_pyramid: function(canvas, min_width, min_height, interval, do_grayscale) {
+                if (typeof interval === "undefined") { interval = 4; }
+                if (typeof do_grayscale === "undefined") { do_grayscale = true; }
+
+                // need to convert to grayscale
+                if(do_grayscale) {
+                    var ctx_input = canvas.getContext('2d');
+                    var in_size = canvas.width * canvas.height;
+                    var img_data_input = ctx_input.getImageData(0, 0, canvas.width, canvas.height);
+                    var data_input = img_data_input.data;
+                    var data_u32 = new Uint32Array(data_input.buffer);
+                    var gray_n = jsfeat.cache.get_buffer(in_size);
+                    var gray_data = gray_n.u8;
+                    jsfeat.imgproc.grayscale(data_input, gray_data);
+                    var alpha = (0xff << 24);
+                    var i = in_size,pix=0;
+                    while (--i >= 0) {
+                      pix = gray_data[i];
+                      data_u32[i] = alpha | (pix << 16) | (pix << 8) | pix;
+                    }
+                    ctx_input.putImageData(img_data_input, 0, 0);
+                    jsfeat.cache.put_buffer(gray_n);
+                }
+                //
+
+                this.interval = interval;
+                this.scale = Math.pow(2, 1 / (this.interval + 1));
+                this.next = (this.interval + 1)|0;
+                this.scale_to = (Math.log(Math.min(canvas.width / min_width, canvas.height / min_height)) / Math.log(this.scale))|0;
+
+                var _canvas = document.createElement('canvas');
+                _canvas.width = canvas.width;
+                _canvas.height = canvas.height;
+                var _ctx = _canvas.getContext('2d');
+
+                var ret = new Array((this.scale_to + this.next * 2) * 4);
+                ret[0] = { "width" : canvas.width,
+                           "height" : canvas.height,
+                           "data" : canvas.getContext("2d").getImageData(0, 0, canvas.width, canvas.height).data };
+                var nw, nh;
+                for (i = 1; i <= this.interval; ++i) {
+                    nw = (canvas.width / Math.pow(this.scale, i))|0;
+                    nh = (canvas.height / Math.pow(this.scale, i))|0;
+                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
+                    ret[i * 4] = { "width" : nw,
+                                   "height" : nh,
+                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                }
+                for (i = this.next; i < this.scale_to + this.next * 2; ++i) {
+                    nw = ret[i * 4 - this.next * 4].width >> 1;
+                    nh = ret[i * 4 - this.next * 4].height >> 1;
+                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
+                    ret[i * 4] = { "width" : nw,
+                                   "height" : nh,
+                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                }
+                for (i = this.next * 2; i < this.scale_to + this.next * 2; ++i) {
+                    nw = ret[i * 4 - this.next * 4].width >> 1;
+                    nh = ret[i * 4 - this.next * 4].height >> 1;
+
+                    _ctx.drawImage(canvas, 1, 0, canvas.width-1, canvas.height, 0, 0, nw-2, nh);
+
+                    ret[i * 4 + 1] = { "width" : nw,
+                                       "height" : nh,
+                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+
+                    _ctx.drawImage(canvas, 0, 1, canvas.width, canvas.height-1, 0, 0, nw, nh-2);
+
+                    ret[i * 4 + 2] = { "width" : nw,
+                                       "height" : nh,
+                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+
+                    _ctx.drawImage(canvas, 1, 1, canvas.width-1, canvas.height-1, 0, 0, nw-2, nh-2);
+
+                    ret[i * 4 + 3] = { "width" : nw,
+                                       "height" : nh,
+                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                }
+
+                return ret;
+            },
+
+            detect: function(pyr, cascade) {
+                var interval = this.interval;
+                var scale = this.scale;
+                var next = this.next;
+                var scale_upto = this.scale_to;
+                var i=0,j=0,k=0,n=0,x=0,y=0,q=0,sn=0,f_cnt=0,q_cnt=0,p=0,pmin=0,nmax=0,f=0,i4=0,qw=0,qh=0;
+                var sum=0.0, alpha, feature, orig_feature, feature_k, feature_o, flag = true, shortcut=true;
+                var scale_x = 1.0, scale_y = 1.0;
+                var dx = [0, 1, 0, 1];
+                var dy = [0, 0, 1, 1];
+                var seq = [];
+
+                var u8 = [], u8o = [0,0,0];
+                var step = [0,0,0];
+                var paddings = [0,0,0];
+
+                for (i = 0; i < scale_upto; i++) {
+                    i4 = (i<<2);
+                    qw = pyr[i4 + (next << 3)].width - (cascade.width >> 2);
+                    qh = pyr[i4 + (next << 3)].height - (cascade.height >> 2);
+                    step[0] = pyr[i4].width << 2; step[1] = pyr[i4 + (next << 2)].width << 2; step[2] = pyr[i4 + (next << 3)].width << 2;
+                    paddings[0] = (pyr[i4].width << 4) - (qw << 4);
+                    paddings[1] = (pyr[i4 + (next << 2)].width << 3) - (qw << 3);
+                    paddings[2] = (pyr[i4 + (next << 3)].width << 2) - (qw << 2);
+                    sn = cascade.stage_classifier.length;
+                    for (j = 0; j < sn; j++) {
+                        orig_feature = cascade.stage_classifier[j].feature;
+                        feature = cascade.stage_classifier[j]._feature;
+                        f_cnt = cascade.stage_classifier[j].count;
+                        for (k = 0; k < f_cnt; k++) {
+                            feature_k = feature[k];
+                            feature_o = orig_feature[k];
+                            q_cnt = feature_o.size|0;
+                            for (q = 0; q < q_cnt; q++) {
+                                feature_k.px[q] = (feature_o.px[q] << 2) + feature_o.py[q] * step[feature_o.pz[q]];
+                                feature_k.pz[q] = feature_o.pz[q];
+                                feature_k.nx[q] = (feature_o.nx[q] << 2) + feature_o.ny[q] * step[feature_o.nz[q]];
+                                feature_k.nz[q] = feature_o.nz[q];
+                            }
+                        }
+                    }
+                    u8[0] = pyr[i4].data; u8[1] = pyr[i4 + (next<<2)].data;
+                    for (q = 0; q < 4; q++) {
+                        u8[2] = pyr[i4 + (next<<3) + q].data;
+                        u8o[0] = (dx[q]<<3) + dy[q] * (pyr[i4].width<<3); u8o[1] = (dx[q]<<2) + dy[q] * (pyr[i4 + (next<<2)].width<<2); u8o[2]=0;
+                        for (y = 0; y < qh; y++) {
+                            for (x = 0; x < qw; x++) {
+                                sum = 0;
+                                flag = true;
+                                sn = cascade.stage_classifier.length;
+                                for (j = 0; j < sn; j++) {
+                                    sum = 0;
+                                    alpha = cascade.stage_classifier[j].alpha;
+                                    feature = cascade.stage_classifier[j]._feature;
+                                    f_cnt = cascade.stage_classifier[j].count;
+                                    for (k = 0; k < f_cnt; k++) {
+                                        feature_k = feature[k];
+                                        pmin = u8[feature_k.pz[0]][u8o[feature_k.pz[0]] + feature_k.px[0]];
+                                        nmax = u8[feature_k.nz[0]][u8o[feature_k.nz[0]] + feature_k.nx[0]];
+                                        if (pmin <= nmax) {
+                                            sum += alpha[k << 1];
+                                        } else {
+                                            shortcut = true;
+                                            q_cnt = feature_k.size;
+                                            for (f = 0; f < q_cnt; f++) {
+                                                if (feature_k.pz[f] >= 0) {
+                                                    p = u8[feature_k.pz[f]][u8o[feature_k.pz[f]] + feature_k.px[f]];
+                                                    if (p < pmin) {
+                                                        if (p <= nmax) {
+                                                            shortcut = false;
+                                                            break;
+                                                        }
+                                                        pmin = p;
+                                                    }
+                                                }
+                                                if (feature_k.nz[f] >= 0) {
+                                                    n = u8[feature_k.nz[f]][u8o[feature_k.nz[f]] + feature_k.nx[f]];
+                                                    if (n > nmax) {
+                                                        if (pmin <= n) {
+                                                            shortcut = false;
+                                                            break;
+                                                        }
+                                                        nmax = n;
+                                                    }
+                                                }
+                                            }
+                                            sum += (shortcut) ? alpha[(k << 1) + 1] : alpha[k << 1];
+                                        }
+                                    }
+                                    if (sum < cascade.stage_classifier[j].threshold) {
+                                        flag = false;
+                                        break;
+                                    }
+                                }
+                                if (flag) {
+                                    seq.push({"x" : (x * 4 + dx[q] * 2) * scale_x,
+                                              "y" : (y * 4 + dy[q] * 2) * scale_y,
+                                              "width" : cascade.width * scale_x,
+                                              "height" : cascade.height * scale_y,
+                                              "neighbor" : 1,
+                                              "confidence" : sum});
+                                }
+                                u8o[0] += 16;
+                                u8o[1] += 8;
+                                u8o[2] += 4;
+                            }
+                            u8o[0] += paddings[0];
+                            u8o[1] += paddings[1];
+                            u8o[2] += paddings[2];
+                        }
+                    }
+                    scale_x *= scale;
+                    scale_y *= scale;
+                }
+
+                return seq;
+            },
+
+            // OpenCV method to group detected rectangles
+            group_rectangles: function(rects, min_neighbors) {
+                if (typeof min_neighbors === "undefined") { min_neighbors = 1; }
+                var i, j, n = rects.length;
+                var node = [];
+                for (i = 0; i < n; ++i) {
+                    node[i] = {"parent" : -1,
+                               "element" : rects[i],
+                               "rank" : 0};
+                }
+                for (i = 0; i < n; ++i) {
+                    if (!node[i].element)
+                        continue;
+                    var root = i;
+                    while (node[root].parent != -1)
+                        root = node[root].parent;
+                    for (j = 0; j < n; ++j) {
+                        if( i != j && node[j].element && _group_func(node[i].element, node[j].element)) {
+                            var root2 = j;
+
+                            while (node[root2].parent != -1)
+                                root2 = node[root2].parent;
+
+                            if(root2 != root) {
+                                if(node[root].rank > node[root2].rank)
+                                    node[root2].parent = root;
+                                else {
+                                    node[root].parent = root2;
+                                    if (node[root].rank == node[root2].rank)
+                                    node[root2].rank++;
+                                    root = root2;
+                                }
+
+                                /* compress path from node2 to the root: */
+                                var temp, node2 = j;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+
+                                /* compress path from node to the root: */
+                                node2 = i;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+                            }
+                        }
+                    }
+                }
+                var idx_seq = [];
+                var class_idx = 0;
+                for(i = 0; i < n; i++) {
+                    j = -1;
+                    var node1 = i;
+                    if(node[node1].element) {
+                        while (node[node1].parent != -1)
+                            node1 = node[node1].parent;
+                        if(node[node1].rank >= 0)
+                            node[node1].rank = ~class_idx++;
+                        j = ~node[node1].rank;
+                    }
+                    idx_seq[i] = j;
+                }
+                
+                var comps = [];
+                for (i = 0; i < class_idx+1; ++i) {
+                    comps[i] = {"neighbors" : 0,
+                                "x" : 0,
+                                "y" : 0,
+                                "width" : 0,
+                                "height" : 0,
+                                "confidence" : 0};
+                }
+
+                // count number of neighbors
+                for(i = 0; i < n; ++i) {
+                    var r1 = rects[i];
+                    var idx = idx_seq[i];
+
+                    if (comps[idx].neighbors == 0)
+                        comps[idx].confidence = r1.confidence;
+
+                    ++comps[idx].neighbors;
+
+                    comps[idx].x += r1.x;
+                    comps[idx].y += r1.y;
+                    comps[idx].width += r1.width;
+                    comps[idx].height += r1.height;
+                    comps[idx].confidence = Math.max(comps[idx].confidence, r1.confidence);
+                }
+
+                var seq2 = [];
+                // calculate average bounding box
+                for(i = 0; i < class_idx; ++i) {
+                    n = comps[i].neighbors;
+                    if (n >= min_neighbors)
+                        seq2.push({"x" : (comps[i].x * 2 + n) / (2 * n),
+                                   "y" : (comps[i].y * 2 + n) / (2 * n),
+                                   "width" : (comps[i].width * 2 + n) / (2 * n),
+                                   "height" : (comps[i].height * 2 + n) / (2 * n),
+                                   "neighbors" : comps[i].neighbors,
+                                   "confidence" : comps[i].confidence});
+                }
+
+                var result_seq = [];
+                n = seq2.length;
+                // filter out small face rectangles inside large face rectangles
+                for(i = 0; i < n; ++i) {
+                    var r1 = seq2[i];
+                    var flag = true;
+                    for(j = 0; j < n; ++j) {
+                        var r2 = seq2[j];
+                        var distance = (r2.width * 0.25 + 0.5)|0;
+
+                        if(i != j &&
+                           r1.x >= r2.x - distance &&
+                           r1.y >= r2.y - distance &&
+                           r1.x + r1.width <= r2.x + r2.width + distance &&
+                           r1.y + r1.height <= r2.y + r2.height + distance &&
+                           (r2.neighbors > Math.max(3, r1.neighbors) || r1.neighbors < 3)) {
+                            flag = false;
+                            break;
+                        }
+                    }
+
+                    if(flag)
+                        result_seq.push(r1);
+                }
+                return result_seq;
+            }
+
+        };
+
+    })();
+
+    global.bbf = bbf;
+
 })(jsfeat);
diff --git a/cascades/bbf_face.js b/cascades/bbf_face.js
new file mode 100755
index 0000000..1f2ca01
--- /dev/null
+++ b/cascades/bbf_face.js
@@ -0,0 +1,3 @@
+(function(global) {
+    global.face_cascade = {"count" : 16, "width" : 24, "height" : 24, "stage_classifier" : 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+})(jsfeat.bbf);
diff --git a/cascades/eye.js b/cascades/eye.js
new file mode 100755
index 0000000..b9e805b
--- /dev/null
+++ b/cascades/eye.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+	global.eye = 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+})(jsfeat.haar);
\ No newline at end of file
diff --git a/cascades/frontalface.js b/cascades/frontalface.js
new file mode 100755
index 0000000..3a77ee6
--- /dev/null
+++ b/cascades/frontalface.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+	global.frontalface = 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+})(jsfeat.haar);
\ No newline at end of file
diff --git a/cascades/handfist.js b/cascades/handfist.js
new file mode 100755
index 0000000..ca623d5
--- /dev/null
+++ b/cascades/handfist.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+	global.handfist = 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+})(jsfeat.haar);
\ No newline at end of file
diff --git a/cascades/handopen.js b/cascades/handopen.js
new file mode 100755
index 0000000..f587675
--- /dev/null
+++ b/cascades/handopen.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+	global.handopen = 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+})(jsfeat.haar);
\ No newline at end of file
diff --git a/cascades/mouth.js b/cascades/mouth.js
new file mode 100755
index 0000000..2244665
--- /dev/null
+++ b/cascades/mouth.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+    global.mouth = 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+})(jsfeat.haar);
\ No newline at end of file
diff --git a/cascades/profileface.js b/cascades/profileface.js
new file mode 100755
index 0000000..a32cbfd
--- /dev/null
+++ b/cascades/profileface.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+	global.profileface = 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+})(jsfeat.haar);
\ No newline at end of file
diff --git a/cascades/upperbody.js b/cascades/upperbody.js
new file mode 100755
index 0000000..8e88c8f
--- /dev/null
+++ b/cascades/upperbody.js
@@ -0,0 +1,7 @@
+/**
+ * this cascade is derived from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+(function(global) {
+    global.upperbody = 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0,2.]],tilted:0,threshold:-0.1001026034355164,right_val:0.0405613481998444,left_val:-0.2616243064403534},{features:[[5,1,15,10,-1.],[10,1,5,10,3.]],tilted:0,threshold:-0.1402942985296249,right_val:-0.0374638698995113,left_val:0.1618638038635254},{features:[[0,9,18,4,-1.],[0,10,18,2,2.]],tilted:0,threshold:-0.0366291813552380,right_val:0.0224937591701746,left_val:-0.3798868954181671},{features:[[8,8,10,6,-1.],[8,10,10,2,3.]],tilted:0,threshold:0.1852793991565704,right_val:0.9997292160987854,left_val:-3.4648380242288113e-003},{features:[[4,8,10,6,-1.],[4,10,10,2,3.]],tilted:0,threshold:0.0134529303759336,right_val:-0.1520805060863495,left_val:0.0661910176277161},{features:[[11,6,10,12,-1.],[11,10,10,4,3.]],tilted:0,threshold:0.0846280604600906,right_val:0.2287780046463013,left_val:-0.0321342609822750},{features:[[8,5,4,8,-1.],[8,5,4,4,2.]],tilted:1,threshold:-0.0875683724880219,right_val:-0.0247350297868252,left_val:0.4322968125343323},{features:[[17,8,5,6,-1.],[17,11,5,3,2.]],tilted:0,threshold:0.0265023391693830,right_val:-0.2984949946403503,left_val:0.0235266294330359},{features:[[8,11,4,7,-1.],[10,11,2,7,2.]],tilted:0,threshold:-0.0182730592787266,right_val:-0.0197359491139650,left_val:0.5087803006172180},{features:[[9,5,12,3,-1.],[9,6,12,1,3.]],tilted:0,threshold:-1.1995369568467140e-003,right_val:-0.0738613903522491,left_val:0.0748677626252174},{features:[[2,9,13,3,-1.],[2,10,13,1,3.]],tilted:0,threshold:0.0313812308013439,right_val:0.3658395111560822,left_val:-0.0262804795056582},{features:[[3,13,16,3,-1.],[3,13,8,3,2.]],tilted:0,threshold:0.0231786705553532,right_val:-0.2546856999397278,left_val:0.0371552594006062},{features:[[5,12,8,4,-1.],[9,12,4,4,2.]],tilted:0,threshold:-0.0136446999385953,right_val:-0.0427927710115910,left_val:0.2071769982576370},{features:[[14,8,6,9,-1.],[14,11,6,3,3.]],tilted:0,threshold:7.8315278515219688e-003,right_val:-0.0803370401263237,left_val:0.0360285192728043},{features:[[4,10,12,3,-1.],[4,11,12,1,3.]],tilted:0,threshold:-0.0100357802584767,right_val:0.0429500304162502,left_val:-0.2225376963615418},{features:[[6,7,11,9,-1.],[6,10,11,3,3.]],tilted:0,threshold:-0.0511321313679218,right_val:-0.0270545892417431,left_val:0.3058665096759796},{features:[[4,1,9,4,-1.],[7,4,3,4,3.]],tilted:1,threshold:-0.0695447027683258,right_val:-0.0317362211644650,left_val:0.3468846082687378},{features:[[12,1,9,9,-1.],[15,1,3,9,3.]],tilted:0,threshold:-0.0240793600678444,right_val:-0.0302777793258429,left_val:0.1329156011343002},{features:[[1,1,9,9,-1.],[4,1,3,9,3.]],tilted:0,threshold:-6.6630518995225430e-003,right_val:0.0787502527236938,left_val:-0.1847348064184189},{features:[[14,1,6,6,-1.],[16,1,2,6,3.]],tilted:0,threshold:0.0431476905941963,right_val:0.2948581874370575,left_val:-9.1566536575555801e-003},{features:[[4,6,4,6,-1.],[6,6,2,6,2.]],tilted:0,threshold:-0.0138083398342133,right_val:0.0326221883296967,left_val:-0.2847915887832642},{features:[[7,5,12,7,-1.],[10,5,6,7,2.]],tilted:0,threshold:0.1635189950466156,right_val:0.5604218244552612,left_val:-3.7377059925347567e-003},{features:[[3,5,12,7,-1.],[6,5,6,7,2.]],tilted:0,threshold:-0.0240861494094133,right_val:-0.0662945136427879,left_val:0.1584143042564392}],threshold:-30.5550003051757810}],size:[22,18],tilted:true};
+})(jsfeat.haar);
\ No newline at end of file
diff --git a/compile/build.xml b/compile/build.xml
old mode 100644
new mode 100755
index df3665f..37ea670
--- a/compile/build.xml
+++ b/compile/build.xml
@@ -4,10 +4,14 @@
             <filelist id="filelist" dir="../src">
                 <file name="jsfeat.js"/>
                 <file name="jsfeat_struct.js" />
+                <file name="jsfeat_cache.js" />
                 <file name="jsfeat_math.js" />
+                <file name="jsfeat_transform.js" />
                 <file name="jsfeat_imgproc.js" />
                 <file name="jsfeat_fast_corners.js" />
                 <file name="jsfeat_optical_flow_lk.js" />
+                <file name="jsfeat_haar.js" />
+                <file name="jsfeat_bbf.js" />
             </filelist>
         </concat>
     </target>
diff --git a/src/jsfeat.js b/src/jsfeat.js
old mode 100644
new mode 100755
index 308f164..c4c09b8
--- a/src/jsfeat.js
+++ b/src/jsfeat.js
@@ -9,4 +9,4 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 self.Int32Array = self.Int32Array || Array;
 self.Uint32Array = self.Uint32Array || Array;
 self.Uint8Array = self.Uint8Array || Array;
-self.Float32Array = self.Float32Array || Array;
\ No newline at end of file
+self.Float32Array = self.Float32Array || Array;
diff --git a/src/jsfeat_bbf.js b/src/jsfeat_bbf.js
new file mode 100755
index 0000000..016dc2b
--- /dev/null
+++ b/src/jsfeat_bbf.js
@@ -0,0 +1,394 @@
+/**
+ * BBF: Brightness Binary Feature
+ *
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * this code is a rewrite from https://github.com/liuliu/ccv implementation
+ * @author Liu Liu / http://liuliu.me/
+ *
+ * The original paper refers to: YEF∗ Real-Time Object Detection, Yotam Abramson and Bruno Steux
+ */
+
+(function(global) {
+    "use strict";
+    //
+    var bbf = (function() {
+
+        var _group_func = function(r1, r2) {
+            var distance = (r1.width * 0.25 + 0.5)|0;
+
+            return r2.x <= r1.x + distance &&
+                   r2.x >= r1.x - distance &&
+                   r2.y <= r1.y + distance &&
+                   r2.y >= r1.y - distance &&
+                   r2.width <= (r1.width * 1.5 + 0.5)|0 &&
+                   (r2.width * 1.5 + 0.5)|0 >= r1.width;
+        }
+
+        return {
+
+            interval: 4,
+            scale: 1.1486,
+            next: 5,
+            scale_to: 1,
+
+            // make features local copy
+            // to avoid array allocation with each scale
+            // this is strange but array works faster than Int32 version???
+            prepare_cascade: function(cascade) {
+                var sn = cascade.stage_classifier.length;
+                for (var j = 0; j < sn; j++) {
+                    var orig_feature = cascade.stage_classifier[j].feature;
+                    var f_cnt = cascade.stage_classifier[j].count;
+                    var feature = cascade.stage_classifier[j]._feature = new Array(f_cnt);
+                    for (var k = 0; k < f_cnt; k++) {
+                        feature[k] = {"size" : orig_feature[k].size,
+                                      "px" : new Array(orig_feature[k].size),
+                                      "pz" : new Array(orig_feature[k].size),
+                                      "nx" : new Array(orig_feature[k].size),
+                                      "nz" : new Array(orig_feature[k].size)};
+                    }
+                }
+            },
+
+            build_pyramid: function(canvas, min_width, min_height, interval, do_grayscale) {
+                if (typeof interval === "undefined") { interval = 4; }
+                if (typeof do_grayscale === "undefined") { do_grayscale = true; }
+
+                // need to convert to grayscale
+                if(do_grayscale) {
+                    var ctx_input = canvas.getContext('2d');
+                    var in_size = canvas.width * canvas.height;
+                    var img_data_input = ctx_input.getImageData(0, 0, canvas.width, canvas.height);
+                    var data_input = img_data_input.data;
+                    var data_u32 = new Uint32Array(data_input.buffer);
+                    var gray_n = jsfeat.cache.get_buffer(in_size);
+                    var gray_data = gray_n.u8;
+                    jsfeat.imgproc.grayscale(data_input, gray_data);
+                    var alpha = (0xff << 24);
+                    var i = in_size,pix=0;
+                    while (--i >= 0) {
+                      pix = gray_data[i];
+                      data_u32[i] = alpha | (pix << 16) | (pix << 8) | pix;
+                    }
+                    ctx_input.putImageData(img_data_input, 0, 0);
+                    jsfeat.cache.put_buffer(gray_n);
+                }
+                //
+
+                this.interval = interval;
+                this.scale = Math.pow(2, 1 / (this.interval + 1));
+                this.next = (this.interval + 1)|0;
+                this.scale_to = (Math.log(Math.min(canvas.width / min_width, canvas.height / min_height)) / Math.log(this.scale))|0;
+
+                var _canvas = document.createElement('canvas');
+                _canvas.width = canvas.width;
+                _canvas.height = canvas.height;
+                var _ctx = _canvas.getContext('2d');
+
+                var ret = new Array((this.scale_to + this.next * 2) * 4);
+                ret[0] = { "width" : canvas.width,
+                           "height" : canvas.height,
+                           "data" : canvas.getContext("2d").getImageData(0, 0, canvas.width, canvas.height).data };
+                var nw, nh;
+                for (i = 1; i <= this.interval; ++i) {
+                    nw = (canvas.width / Math.pow(this.scale, i))|0;
+                    nh = (canvas.height / Math.pow(this.scale, i))|0;
+                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
+                    ret[i * 4] = { "width" : nw,
+                                   "height" : nh,
+                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                }
+                for (i = this.next; i < this.scale_to + this.next * 2; ++i) {
+                    nw = ret[i * 4 - this.next * 4].width >> 1;
+                    nh = ret[i * 4 - this.next * 4].height >> 1;
+                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
+                    ret[i * 4] = { "width" : nw,
+                                   "height" : nh,
+                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                }
+                for (i = this.next * 2; i < this.scale_to + this.next * 2; ++i) {
+                    nw = ret[i * 4 - this.next * 4].width >> 1;
+                    nh = ret[i * 4 - this.next * 4].height >> 1;
+
+                    _ctx.drawImage(canvas, 1, 0, canvas.width-1, canvas.height, 0, 0, nw-2, nh);
+
+                    ret[i * 4 + 1] = { "width" : nw,
+                                       "height" : nh,
+                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+
+                    _ctx.drawImage(canvas, 0, 1, canvas.width, canvas.height-1, 0, 0, nw, nh-2);
+
+                    ret[i * 4 + 2] = { "width" : nw,
+                                       "height" : nh,
+                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+
+                    _ctx.drawImage(canvas, 1, 1, canvas.width-1, canvas.height-1, 0, 0, nw-2, nh-2);
+
+                    ret[i * 4 + 3] = { "width" : nw,
+                                       "height" : nh,
+                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                }
+
+                return ret;
+            },
+
+            detect: function(pyr, cascade) {
+                var interval = this.interval;
+                var scale = this.scale;
+                var next = this.next;
+                var scale_upto = this.scale_to;
+                var i=0,j=0,k=0,n=0,x=0,y=0,q=0,sn=0,f_cnt=0,q_cnt=0,p=0,pmin=0,nmax=0,f=0,i4=0,qw=0,qh=0;
+                var sum=0.0, alpha, feature, orig_feature, feature_k, feature_o, flag = true, shortcut=true;
+                var scale_x = 1.0, scale_y = 1.0;
+                var dx = [0, 1, 0, 1];
+                var dy = [0, 0, 1, 1];
+                var seq = [];
+
+                var u8 = [], u8o = [0,0,0];
+                var step = [0,0,0];
+                var paddings = [0,0,0];
+
+                for (i = 0; i < scale_upto; i++) {
+                    i4 = (i<<2);
+                    qw = pyr[i4 + (next << 3)].width - (cascade.width >> 2);
+                    qh = pyr[i4 + (next << 3)].height - (cascade.height >> 2);
+                    step[0] = pyr[i4].width << 2; step[1] = pyr[i4 + (next << 2)].width << 2; step[2] = pyr[i4 + (next << 3)].width << 2;
+                    paddings[0] = (pyr[i4].width << 4) - (qw << 4);
+                    paddings[1] = (pyr[i4 + (next << 2)].width << 3) - (qw << 3);
+                    paddings[2] = (pyr[i4 + (next << 3)].width << 2) - (qw << 2);
+                    sn = cascade.stage_classifier.length;
+                    for (j = 0; j < sn; j++) {
+                        orig_feature = cascade.stage_classifier[j].feature;
+                        feature = cascade.stage_classifier[j]._feature;
+                        f_cnt = cascade.stage_classifier[j].count;
+                        for (k = 0; k < f_cnt; k++) {
+                            feature_k = feature[k];
+                            feature_o = orig_feature[k];
+                            q_cnt = feature_o.size|0;
+                            for (q = 0; q < q_cnt; q++) {
+                                feature_k.px[q] = (feature_o.px[q] << 2) + feature_o.py[q] * step[feature_o.pz[q]];
+                                feature_k.pz[q] = feature_o.pz[q];
+                                feature_k.nx[q] = (feature_o.nx[q] << 2) + feature_o.ny[q] * step[feature_o.nz[q]];
+                                feature_k.nz[q] = feature_o.nz[q];
+                            }
+                        }
+                    }
+                    u8[0] = pyr[i4].data; u8[1] = pyr[i4 + (next<<2)].data;
+                    for (q = 0; q < 4; q++) {
+                        u8[2] = pyr[i4 + (next<<3) + q].data;
+                        u8o[0] = (dx[q]<<3) + dy[q] * (pyr[i4].width<<3); u8o[1] = (dx[q]<<2) + dy[q] * (pyr[i4 + (next<<2)].width<<2); u8o[2]=0;
+                        for (y = 0; y < qh; y++) {
+                            for (x = 0; x < qw; x++) {
+                                sum = 0;
+                                flag = true;
+                                sn = cascade.stage_classifier.length;
+                                for (j = 0; j < sn; j++) {
+                                    sum = 0;
+                                    alpha = cascade.stage_classifier[j].alpha;
+                                    feature = cascade.stage_classifier[j]._feature;
+                                    f_cnt = cascade.stage_classifier[j].count;
+                                    for (k = 0; k < f_cnt; k++) {
+                                        feature_k = feature[k];
+                                        pmin = u8[feature_k.pz[0]][u8o[feature_k.pz[0]] + feature_k.px[0]];
+                                        nmax = u8[feature_k.nz[0]][u8o[feature_k.nz[0]] + feature_k.nx[0]];
+                                        if (pmin <= nmax) {
+                                            sum += alpha[k << 1];
+                                        } else {
+                                            shortcut = true;
+                                            q_cnt = feature_k.size;
+                                            for (f = 0; f < q_cnt; f++) {
+                                                if (feature_k.pz[f] >= 0) {
+                                                    p = u8[feature_k.pz[f]][u8o[feature_k.pz[f]] + feature_k.px[f]];
+                                                    if (p < pmin) {
+                                                        if (p <= nmax) {
+                                                            shortcut = false;
+                                                            break;
+                                                        }
+                                                        pmin = p;
+                                                    }
+                                                }
+                                                if (feature_k.nz[f] >= 0) {
+                                                    n = u8[feature_k.nz[f]][u8o[feature_k.nz[f]] + feature_k.nx[f]];
+                                                    if (n > nmax) {
+                                                        if (pmin <= n) {
+                                                            shortcut = false;
+                                                            break;
+                                                        }
+                                                        nmax = n;
+                                                    }
+                                                }
+                                            }
+                                            sum += (shortcut) ? alpha[(k << 1) + 1] : alpha[k << 1];
+                                        }
+                                    }
+                                    if (sum < cascade.stage_classifier[j].threshold) {
+                                        flag = false;
+                                        break;
+                                    }
+                                }
+                                if (flag) {
+                                    seq.push({"x" : (x * 4 + dx[q] * 2) * scale_x,
+                                              "y" : (y * 4 + dy[q] * 2) * scale_y,
+                                              "width" : cascade.width * scale_x,
+                                              "height" : cascade.height * scale_y,
+                                              "neighbor" : 1,
+                                              "confidence" : sum});
+                                }
+                                u8o[0] += 16;
+                                u8o[1] += 8;
+                                u8o[2] += 4;
+                            }
+                            u8o[0] += paddings[0];
+                            u8o[1] += paddings[1];
+                            u8o[2] += paddings[2];
+                        }
+                    }
+                    scale_x *= scale;
+                    scale_y *= scale;
+                }
+
+                return seq;
+            },
+
+            // OpenCV method to group detected rectangles
+            group_rectangles: function(rects, min_neighbors) {
+                if (typeof min_neighbors === "undefined") { min_neighbors = 1; }
+                var i, j, n = rects.length;
+                var node = [];
+                for (i = 0; i < n; ++i) {
+                    node[i] = {"parent" : -1,
+                               "element" : rects[i],
+                               "rank" : 0};
+                }
+                for (i = 0; i < n; ++i) {
+                    if (!node[i].element)
+                        continue;
+                    var root = i;
+                    while (node[root].parent != -1)
+                        root = node[root].parent;
+                    for (j = 0; j < n; ++j) {
+                        if( i != j && node[j].element && _group_func(node[i].element, node[j].element)) {
+                            var root2 = j;
+
+                            while (node[root2].parent != -1)
+                                root2 = node[root2].parent;
+
+                            if(root2 != root) {
+                                if(node[root].rank > node[root2].rank)
+                                    node[root2].parent = root;
+                                else {
+                                    node[root].parent = root2;
+                                    if (node[root].rank == node[root2].rank)
+                                    node[root2].rank++;
+                                    root = root2;
+                                }
+
+                                /* compress path from node2 to the root: */
+                                var temp, node2 = j;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+
+                                /* compress path from node to the root: */
+                                node2 = i;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+                            }
+                        }
+                    }
+                }
+                var idx_seq = [];
+                var class_idx = 0;
+                for(i = 0; i < n; i++) {
+                    j = -1;
+                    var node1 = i;
+                    if(node[node1].element) {
+                        while (node[node1].parent != -1)
+                            node1 = node[node1].parent;
+                        if(node[node1].rank >= 0)
+                            node[node1].rank = ~class_idx++;
+                        j = ~node[node1].rank;
+                    }
+                    idx_seq[i] = j;
+                }
+                
+                var comps = [];
+                for (i = 0; i < class_idx+1; ++i) {
+                    comps[i] = {"neighbors" : 0,
+                                "x" : 0,
+                                "y" : 0,
+                                "width" : 0,
+                                "height" : 0,
+                                "confidence" : 0};
+                }
+
+                // count number of neighbors
+                for(i = 0; i < n; ++i) {
+                    var r1 = rects[i];
+                    var idx = idx_seq[i];
+
+                    if (comps[idx].neighbors == 0)
+                        comps[idx].confidence = r1.confidence;
+
+                    ++comps[idx].neighbors;
+
+                    comps[idx].x += r1.x;
+                    comps[idx].y += r1.y;
+                    comps[idx].width += r1.width;
+                    comps[idx].height += r1.height;
+                    comps[idx].confidence = Math.max(comps[idx].confidence, r1.confidence);
+                }
+
+                var seq2 = [];
+                // calculate average bounding box
+                for(i = 0; i < class_idx; ++i) {
+                    n = comps[i].neighbors;
+                    if (n >= min_neighbors)
+                        seq2.push({"x" : (comps[i].x * 2 + n) / (2 * n),
+                                   "y" : (comps[i].y * 2 + n) / (2 * n),
+                                   "width" : (comps[i].width * 2 + n) / (2 * n),
+                                   "height" : (comps[i].height * 2 + n) / (2 * n),
+                                   "neighbors" : comps[i].neighbors,
+                                   "confidence" : comps[i].confidence});
+                }
+
+                var result_seq = [];
+                n = seq2.length;
+                // filter out small face rectangles inside large face rectangles
+                for(i = 0; i < n; ++i) {
+                    var r1 = seq2[i];
+                    var flag = true;
+                    for(j = 0; j < n; ++j) {
+                        var r2 = seq2[j];
+                        var distance = (r2.width * 0.25 + 0.5)|0;
+
+                        if(i != j &&
+                           r1.x >= r2.x - distance &&
+                           r1.y >= r2.y - distance &&
+                           r1.x + r1.width <= r2.x + r2.width + distance &&
+                           r1.y + r1.height <= r2.y + r2.height + distance &&
+                           (r2.neighbors > Math.max(3, r1.neighbors) || r1.neighbors < 3)) {
+                            flag = false;
+                            break;
+                        }
+                    }
+
+                    if(flag)
+                        result_seq.push(r1);
+                }
+                return result_seq;
+            }
+
+        };
+
+    })();
+
+    global.bbf = bbf;
+
+})(jsfeat);
diff --git a/src/jsfeat_cache.js b/src/jsfeat_cache.js
new file mode 100755
index 0000000..ac06a8a
--- /dev/null
+++ b/src/jsfeat_cache.js
@@ -0,0 +1,71 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var cache = (function() {
+
+        // very primitive array cache, still need testing if it helps
+        // of course V8 has its own powerful cache sys but i'm not sure
+        // it caches several multichannel 640x480 buffer creations each frame
+
+        var _pool_node_t = (function () {
+            function _pool_node_t(size_in_bytes) {
+                this.next = null;
+                this.size = size_in_bytes|0;
+                this.buffer = new ArrayBuffer(size_in_bytes);
+                this.u8 = new Uint8Array(this.buffer);
+                this.i32 = new Int32Array(this.buffer);
+                this.f32 = new Float32Array(this.buffer);
+            }
+            return _pool_node_t;
+        })();
+
+        var _pool_head, _pool_tail;
+        var _pool_size = 0;
+
+        return {
+
+            allocate: function(capacity, data_size) {
+                _pool_head = _pool_tail = new _pool_node_t(data_size);
+                for (var i = 0; i < capacity; ++i) {
+                    var node = new _pool_node_t(data_size);
+                    _pool_tail = _pool_tail.next = node;
+
+                    _pool_size++;
+                }
+            },
+
+            get_buffer: function(size_in_bytes) {
+                // assume we have enough free nodes
+                var node = _pool_head;
+                _pool_head = _pool_head.next;
+                _pool_size--;
+
+                if(size_in_bytes > node.size) {
+                    node.buffer = new ArrayBuffer(size_in_bytes);
+                    node.u8 = new Uint8Array(node.buffer);
+                    node.i32 = new Int32Array(node.buffer);
+                    node.f32 = new Float32Array(node.buffer);
+                    node.size = size_in_bytes;
+                }
+
+                return node;
+            },
+
+            put_buffer: function(node) {
+                _pool_tail = _pool_tail.next = node;
+                _pool_size++;
+            }
+        };
+    })();
+
+    global.cache = cache;
+    // for now we dont need more than 30 buffers
+    // if having cache sys really helps we can add auto extending sys
+    cache.allocate(30, 640*4);
+
+})(jsfeat);
diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
old mode 100644
new mode 100755
index 14d2dd0..0d2982e
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -38,7 +38,7 @@ The references are:
         },
 
         _cmp_score_8 = function(src, off, pixel, d, threshold) {
-            var N = 15, k = 0, v = src[off];
+            var N = 13, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
 
             for( ; k < N; ++k ) {
@@ -161,21 +161,28 @@ The references are:
                 return _threshold;
             },
             
-            detect: function(img, w, h, corners, border, pattern_size) {
-                if (typeof pattern_size === "undefined") { pattern_size = 16; }
+            detect: function(src, corners, border, pattern_size) {
+                if (typeof pattern_size === "undefined") { 
+                    pattern_size = 16; 
+                } else if(pattern_size != 16 && pattern_size!=12 && pattern_size!=8) {
+                    pattern_size = 16;
+                }
                 if (typeof border === "undefined") { border = 3; }
 
-                var K = (pattern_size/2)|0, N = (pattern_size + K + 1)|0;
+                var K = (pattern_size>>1), N = (pattern_size + K + 1)|0;
+                var img = src.data, w = src.cols, h = src.rows;
                 var i=0, j=0, k=0, vt=0, x=0, m3=0;
-                var buf = new Uint8Array(w*3);
-                var cpbuf = new Int32Array((w+1)*3);
+                var buf_node = jsfeat.cache.get_buffer(3 * w);
+                var cpbuf_node = jsfeat.cache.get_buffer(((w+1)*3)<<2);
+                var buf = buf_node.u8;//new Uint8Array(w*3);
+                var cpbuf = cpbuf_node.i32;//new Int32Array((w+1)*3);
                 var pixel = pixel_off;
                 var sd = score_diff;
                 var sy = Math.max(3, border);
                 var ey = Math.min((h-2), (h-border));
                 var sx = Math.max(3, border);
                 var ex = Math.min((w - 3), (w - border));
-                var _count = 0, corners_cnt = 0;
+                var _count = 0, corners_cnt = 0, pt;
                 var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
@@ -307,13 +314,14 @@ The references are:
                             score > buf[pprev+jm1] && score > buf[pprev+j] && score > buf[pprev+jp1] &&
                             score > buf[curr+jm1] && score > buf[curr+j] && score > buf[curr+jp1]) ) {
                             // save corner
-                            corners[corners_cnt*3] = j;
-                            corners[corners_cnt*3+1] = (i-1);
-                            corners[corners_cnt*3+2] = score;
+                            pt = corners[corners_cnt];
+                            pt.x = j, pt.y = (i-1), pt.score = score;
                             corners_cnt++;
                         }
                     }
                 } // y loop
+                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(cpbuf_node);
                 return corners_cnt;
             }
         };
@@ -322,4 +330,4 @@ The references are:
     global.fast_corners = fast_corners;
     fast_corners.set_threshold(20); // set default
 
-})(jsfeat);
\ No newline at end of file
+})(jsfeat);
diff --git a/src/jsfeat_haar.js b/src/jsfeat_haar.js
new file mode 100755
index 0000000..7d29544
--- /dev/null
+++ b/src/jsfeat_haar.js
@@ -0,0 +1,290 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * this code is a rewrite from https://github.com/mtschirs/js-objectdetect implementation
+ * @author Martin Tschirsich / http://www.tu-darmstadt.de/~m_t
+ */
+
+(function(global) {
+    "use strict";
+    //
+    var haar = (function() {
+
+        var _group_func = function(r1, r2) {
+            var distance = (r1.width * 0.25 + 0.5)|0;
+
+            return r2.x <= r1.x + distance &&
+                   r2.x >= r1.x - distance &&
+                   r2.y <= r1.y + distance &&
+                   r2.y >= r1.y - distance &&
+                   r2.width <= (r1.width * 1.5 + 0.5)|0 &&
+                   (r2.width * 1.5 + 0.5)|0 >= r1.width;
+        }
+        
+        return {
+
+            edges_density: 0.07,
+
+            detect_single_scale: function(int_sum, int_sqsum, int_tilted, int_canny_sum, width, height, scale, classifier) {
+                var win_w = (classifier.size[0] * scale)|0,
+                    win_h = (classifier.size[1] * scale)|0,
+                    step_x = (0.5 * scale + 1.5)|0,
+                    step_y = step_x;
+                var i,j,k,x,y,ex=(width-win_w)|0,ey=(height-win_h)|0;
+                var w1=(width+1)|0,edge_dens,mean,variance,std;
+                var inv_area = 1.0 / (win_w * win_h);
+                var stages,stage,trees,tree,sn,tn,fn,found=true,stage_thresh,stage_sum,tree_sum,feature,features;
+                var fi_a,fi_b,fi_c,fi_d,fw,fh;
+
+                var ii_a=0,ii_b=win_w,ii_c=win_h*w1,ii_d=ii_c+win_w;
+                var edges_thresh = ((win_w*win_h) * 0xff * this.edges_density)|0;
+                // if too much gradient we also can skip
+                //var edges_thresh_high = ((win_w*win_h) * 0xff * 0.3)|0;
+
+                var rects = [];
+                for(y = 0; y < ey; y += step_y) {
+                    ii_a = y * w1;
+                    for(x = 0; x < ex; x += step_x, ii_a += step_x) {
+
+                        mean =    int_sum[ii_a] 
+                                - int_sum[ii_a+ii_b]
+                                - int_sum[ii_a+ii_c]
+                                + int_sum[ii_a+ii_d];
+
+                        // canny prune
+                        if(int_canny_sum) {
+                            edge_dens = (int_canny_sum[ii_a] 
+                                        - int_canny_sum[ii_a+ii_b]
+                                        - int_canny_sum[ii_a+ii_c]
+                                        + int_canny_sum[ii_a+ii_d]);
+                            if(edge_dens < edges_thresh || mean < 20) {
+                                x += step_x, ii_a += step_x;
+                                continue;
+                            }
+                        }
+
+                        mean *= inv_area;
+                        variance = (int_sqsum[ii_a] 
+                                    - int_sqsum[ii_a+ii_b]
+                                    - int_sqsum[ii_a+ii_c]
+                                    + int_sqsum[ii_a+ii_d]) * inv_area - mean * mean;
+
+                        std = variance > 0. ? Math.sqrt(variance) : 1;
+
+                        stages = classifier.complexClassifiers;
+                        sn = stages.length;
+                        found =  true;
+                        for(i = 0; i < sn; ++i) {
+                            stage = stages[i];
+                            stage_thresh = stage.threshold;
+                            trees = stage.simpleClassifiers;
+                            tn = trees.length;
+                            stage_sum = 0;
+                            for(j = 0; j < tn; ++j) {
+                                tree = trees[j];
+                                tree_sum = 0;
+                                features = tree.features;
+                                fn = features.length;
+                                if(tree.tilted === 1) {
+                                    for(k=0; k < fn; ++k) {
+                                        feature = features[k];
+                                        fi_a = ~~(x + feature[0] * scale) + ~~(y + feature[1] * scale) * w1;
+                                        fw = ~~(feature[2] * scale);
+                                        fh = ~~(feature[3] * scale);
+                                        fi_b = fw * w1;
+                                        fi_c =  fh * w1;
+
+                                        tree_sum += (int_tilted[fi_a]
+                                                    - int_tilted[fi_a + fw + fi_b]
+                                                    - int_tilted[fi_a - fh + fi_c]
+                                                    + int_tilted[fi_a + fw - fh + fi_b + fi_c]) * feature[4];
+                                    }
+                                } else {
+                                    for(k=0; k < fn; ++k) {
+                                        feature = features[k];
+                                        fi_a = ~~(x + feature[0] * scale) + ~~(y + feature[1] * scale) * w1;
+                                        fw = ~~(feature[2] * scale);
+                                        fh = ~~(feature[3] * scale);
+                                        fi_c = fh * w1;
+
+                                        tree_sum += (int_sum[fi_a] 
+                                                    - int_sum[fi_a+fw]
+                                                    - int_sum[fi_a+fi_c]
+                                                    + int_sum[fi_a+fi_c+fw]) * feature[4];
+                                    }
+                                }
+                                stage_sum += (tree_sum * inv_area < tree.threshold * std) ? tree.left_val : tree.right_val;
+                            }
+                            if (stage_sum < stage_thresh) {
+                                found = false;
+                                break;
+                            }
+                        }
+                        
+                        if(found) {
+                            rects.push({"x" : x,
+                                        "y" : y,
+                                        "width" : win_w,
+                                        "height" : win_h,
+                                        "neighbor" : 1,
+                                        "confidence" : stage_sum});
+                            x += step_x, ii_a += step_x;
+                        }
+                    }
+                }
+                return rects;
+            },
+
+            detect_multi_scale: function(int_sum, int_sqsum, int_tilted, int_canny_sum, width, height, classifier, scale_factor, scale_min) {
+                if (typeof scale_factor === "undefined") { scale_factor = 1.2; }
+                if (typeof scale_min === "undefined") { scale_min = 1.0; }
+                var win_w = classifier.size[0];
+                var win_h = classifier.size[1];
+                var rects = [];
+                while (scale_min * win_w < width && scale_min * win_h < height) {
+                    rects = rects.concat(this.detect_single_scale(int_sum, int_sqsum, int_tilted, int_canny_sum, width, height, scale_min, classifier));
+                    scale_min *= scale_factor;
+                }
+                return rects;
+            },
+
+            // OpenCV method to group detected rectangles
+            group_rectangles: function(rects, min_neighbors) {
+                if (typeof min_neighbors === "undefined") { min_neighbors = 1; }
+                var i, j, n = rects.length;
+                var node = [];
+                for (i = 0; i < n; ++i) {
+                    node[i] = {"parent" : -1,
+                               "element" : rects[i],
+                               "rank" : 0};
+                }
+                for (i = 0; i < n; ++i) {
+                    if (!node[i].element)
+                        continue;
+                    var root = i;
+                    while (node[root].parent != -1)
+                        root = node[root].parent;
+                    for (j = 0; j < n; ++j) {
+                        if( i != j && node[j].element && _group_func(node[i].element, node[j].element)) {
+                            var root2 = j;
+
+                            while (node[root2].parent != -1)
+                                root2 = node[root2].parent;
+
+                            if(root2 != root) {
+                                if(node[root].rank > node[root2].rank)
+                                    node[root2].parent = root;
+                                else {
+                                    node[root].parent = root2;
+                                    if (node[root].rank == node[root2].rank)
+                                    node[root2].rank++;
+                                    root = root2;
+                                }
+
+                                /* compress path from node2 to the root: */
+                                var temp, node2 = j;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+
+                                /* compress path from node to the root: */
+                                node2 = i;
+                                while (node[node2].parent != -1) {
+                                    temp = node2;
+                                    node2 = node[node2].parent;
+                                    node[temp].parent = root;
+                                }
+                            }
+                        }
+                    }
+                }
+                var idx_seq = [];
+                var class_idx = 0;
+                for(i = 0; i < n; i++) {
+                    j = -1;
+                    var node1 = i;
+                    if(node[node1].element) {
+                        while (node[node1].parent != -1)
+                            node1 = node[node1].parent;
+                        if(node[node1].rank >= 0)
+                            node[node1].rank = ~class_idx++;
+                        j = ~node[node1].rank;
+                    }
+                    idx_seq[i] = j;
+                }
+                
+                var comps = [];
+                for (i = 0; i < class_idx+1; ++i) {
+                    comps[i] = {"neighbors" : 0,
+                                "x" : 0,
+                                "y" : 0,
+                                "width" : 0,
+                                "height" : 0,
+                                "confidence" : 0};
+                }
+
+                // count number of neighbors
+                for(i = 0; i < n; ++i) {
+                    var r1 = rects[i];
+                    var idx = idx_seq[i];
+
+                    if (comps[idx].neighbors == 0)
+                        comps[idx].confidence = r1.confidence;
+
+                    ++comps[idx].neighbors;
+
+                    comps[idx].x += r1.x;
+                    comps[idx].y += r1.y;
+                    comps[idx].width += r1.width;
+                    comps[idx].height += r1.height;
+                    comps[idx].confidence = Math.max(comps[idx].confidence, r1.confidence);
+                }
+
+                var seq2 = [];
+                // calculate average bounding box
+                for(i = 0; i < class_idx; ++i) {
+                    n = comps[i].neighbors;
+                    if (n >= min_neighbors)
+                        seq2.push({"x" : (comps[i].x * 2 + n) / (2 * n),
+                                   "y" : (comps[i].y * 2 + n) / (2 * n),
+                                   "width" : (comps[i].width * 2 + n) / (2 * n),
+                                   "height" : (comps[i].height * 2 + n) / (2 * n),
+                                   "neighbors" : comps[i].neighbors,
+                                   "confidence" : comps[i].confidence});
+                }
+
+                var result_seq = [];
+                n = seq2.length;
+                // filter out small face rectangles inside large face rectangles
+                for(i = 0; i < n; ++i) {
+                    var r1 = seq2[i];
+                    var flag = true;
+                    for(j = 0; j < n; ++j) {
+                        var r2 = seq2[j];
+                        var distance = (r2.width * 0.25 + 0.5)|0;
+
+                        if(i != j &&
+                           r1.x >= r2.x - distance &&
+                           r1.y >= r2.y - distance &&
+                           r1.x + r1.width <= r2.x + r2.width + distance &&
+                           r1.y + r1.height <= r2.y + r2.height + distance &&
+                           (r2.neighbors > Math.max(3, r1.neighbors) || r1.neighbors < 3)) {
+                            flag = false;
+                            break;
+                        }
+                    }
+
+                    if(flag)
+                        result_seq.push(r1);
+                }
+                return result_seq;
+            }
+        };
+
+    })();
+
+    global.haar = haar;
+
+})(jsfeat);
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
old mode 100644
new mode 100755
index b6be6d9..256bbfb
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -8,67 +8,440 @@
 
     var imgproc = (function() {
 
+        var _resample_u8 = function(src, dst, nw, nh) {
+            var xofs = [],xofs_count=0;
+            var ch=src.channel,w=src.cols,h=src.rows;
+            var src_d=src.data,dst_d=dst.data;
+            var scale_x = w / nw, scale_y = h / nh;
+            var inv_scale_256 = (scale_x * scale_y * 0x10000)|0;
+            var dx=0,dy=0,sx=0,sy=0,sx1=0,sx2=0,i=0,k=0,fsx1=0.0,fsx2=0.0;
+            var a=0,b=0,dxn=0,alpha=0,beta=0,beta1=0;
+
+            var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+
+            var buf = buf_node.i32;
+            var sum = sum_node.i32;
+
+            for (; dx < nw; dx++) {
+                fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
+                sx1 = (fsx1 + 1.0 - 1e-6)|0, sx2 = fsx2|0;
+                sx1 = Math.min(sx1, w - 1);
+                sx2 = Math.min(sx2, w - 1);
+
+                if(sx1 > fsx1) {
+                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": ((sx1 - fsx1) * 0x100)|0};
+                }
+                for(sx = sx1; sx < sx2; sx++){
+                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": 256};
+                }
+                if(fsx2 - sx2 > 1e-3) {
+                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": ((fsx2 - sx2) * 256)|0};
+                }
+            }
+
+            for (dx = 0; dx < nw * ch; dx++) {
+                buf[dx] = sum[dx] = 0;
+            }
+            dy = 0;
+            for (sy = 0; sy < h; sy++) {
+                a = w * sy;
+                for (k = 0; k < xofs_count; k++) {
+                    dxn = xofs[k].di;
+                    alpha = xofs[k].alpha;
+                    sx1 = xofs[k].si;
+                    for (i = 0; i < ch; i++) {
+                        buf[dxn + i] += src_d[a+sx1+i] * alpha;
+                    }
+                }
+                if ((dy + 1) * scale_y <= sy + 1 || sy == h - 1) {
+                    beta = (Math.max(sy + 1 - (dy + 1) * scale_y, 0.0) * 256)|0;
+                    beta1 = 256 - beta;
+                    b = nw * dy;
+                    if (beta <= 0) {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = Math.min(Math.max((sum[dx] + buf[dx] * 256) / inv_scale_256, 0), 255);
+                            sum[dx] = buf[dx] = 0;
+                        }
+                    } else {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = Math.min(Math.max((sum[dx] + buf[dx] * beta1) / inv_scale_256, 0), 255);
+                            sum[dx] = buf[dx] * beta;
+                            buf[dx] = 0;
+                        }
+                    }
+                    dy++;
+                } else {
+                    for(dx = 0; dx < nw * ch; dx++) {
+                        sum[dx] += buf[dx] * 256;
+                        buf[dx] = 0;
+                    }
+                }
+            }
+
+            jsfeat.cache.put_buffer(sum_node);
+            jsfeat.cache.put_buffer(buf_node);
+        }
+
+        var _resample = function(src, dst, nw, nh) {
+            var xofs = [],xofs_count=0;
+            var ch=src.channel,w=src.cols,h=src.rows;
+            var src_d=src.data,dst_d=dst.data;
+            var scale_x = w / nw, scale_y = h / nh;
+            var scale = 1.0 / (scale_x * scale_y);
+            var dx=0,dy=0,sx=0,sy=0,sx1=0,sx2=0,i=0,k=0,fsx1=0.0,fsx2=0.0;
+            var a=0,b=0,dxn=0,alpha=0.0,beta=0.0,beta1=0.0;
+
+            var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+
+            var buf = buf_node.f32;
+            var sum = sum_node.f32;
+
+            for (; dx < nw; dx++) {
+                fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
+                sx1 = (fsx1 + 1.0 - 1e-6)|0, sx2 = fsx2|0;
+                sx1 = Math.min(sx1, w - 1);
+                sx2 = Math.min(sx2, w - 1);
+
+                if(sx1 > fsx1) {
+                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": (sx1 - fsx1) * scale};
+                }
+                for(sx = sx1; sx < sx2; sx++){
+                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": scale};
+                }
+                if(fsx2 - sx2 > 1e-3) {
+                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
+                                          "di": (dx * ch)|0, 
+                                          "alpha": (fsx2 - sx2) * scale};
+                }
+            }
+
+            for (dx = 0; dx < nw * ch; dx++) {
+                buf[dx] = sum[dx] = 0;
+            }
+            dy = 0;
+            for (sy = 0; sy < h; sy++) {
+                a = w * sy;
+                for (k = 0; k < xofs_count; k++) {
+                    dxn = xofs[k].di;
+                    alpha = xofs[k].alpha;
+                    sx1 = xofs[k].si;
+                    for (i = 0; i < ch; i++) {
+                        buf[dxn + i] += src_d[a+sx1+i] * alpha;
+                    }
+                }
+                if ((dy + 1) * scale_y <= sy + 1 || sy == h - 1) {
+                    beta = Math.max(sy + 1 - (dy + 1) * scale_y, 0.0);
+                    beta1 = 1.0 - beta;
+                    b = nw * dy;
+                    if (Math.abs(beta) < 1e-3) {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = sum[dx] + buf[dx];
+                            sum[dx] = buf[dx] = 0;
+                        }
+                    } else {
+                        for (dx = 0; dx < nw * ch; dx++) {
+                            dst_d[b+dx] = sum[dx] + buf[dx] * beta1;
+                            sum[dx] = buf[dx] * beta;
+                            buf[dx] = 0;
+                        }
+                    }
+                    dy++;
+                } else {
+                    for(dx = 0; dx < nw * ch; dx++) {
+                        sum[dx] += buf[dx]; 
+                        buf[dx] = 0;
+                    }
+                }
+            }
+            jsfeat.cache.put_buffer(sum_node);
+            jsfeat.cache.put_buffer(buf_node);
+        }
+
+        var _convol_u8 = function(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel) {
+            var i=0,j=0,k=0,sp=0,dp=0,sum=0,sum1=0,sum2=0,sum3=0,f0=filter[0],fk=0;
+            var w2=w<<1,w3=w*3,w4=w<<2;
+            // hor pass
+            for (; i < h; ++i) { 
+                sum = src_d[sp];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                for (j = 0; j <= w-2; j+=2) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                    buf[j + half_kernel+1] = src_d[sp+j+1];
+                }
+                for (; j < w; ++j) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                }
+                sum = src_d[sp+w-1];
+                for (j = w; j < half_kernel + w; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                for (j = 0; j <= w-4; j+=4) {
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp+j] = sum >> 8;
+                    dst_d[dp+j+1] = sum1 >> 8;
+                    dst_d[dp+j+2] = sum2 >> 8;
+                    dst_d[dp+j+3] = sum3 >> 8;
+                }
+                for (; j < w; ++j) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp+j] = sum >> 8;
+                }
+                sp += w;
+                dp += w;
+            }
+
+            // vert pass
+            for (i = 0; i < w; ++i) {
+                sum = dst_d[i];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                k = i;
+                for (j = 0; j <= h-2; j+=2, k+=w2) {
+                    buf[j+half_kernel] = dst_d[k];
+                    buf[j+half_kernel+1] = dst_d[k+w];
+                }
+                for (; j < h; ++j, k+=w) {
+                    buf[j+half_kernel] = dst_d[k];
+                }
+                sum = dst_d[(h-1)*w + i];
+                for (j = h; j < half_kernel + h; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                dp = i;
+                for (j = 0; j <= h-4; j+=4, dp+=w4) { 
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp] = sum >> 8;
+                    dst_d[dp+w] = sum1 >> 8;
+                    dst_d[dp+w2] = sum2 >> 8;
+                    dst_d[dp+w3] = sum3 >> 8;
+                }
+                for (; j < h; ++j, dp+=w) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp] = sum >> 8;
+                }
+            }
+        }
+
+        var _convol = function(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel) {
+            var i=0,j=0,k=0,sp=0,dp=0,sum=0.0,sum1=0.0,sum2=0.0,sum3=0.0,f0=filter[0],fk=0.0;
+            var w2=w<<1,w3=w*3,w4=w<<2;
+            // hor pass
+            for (; i < h; ++i) { 
+                sum = src_d[sp];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                for (j = 0; j <= w-2; j+=2) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                    buf[j + half_kernel+1] = src_d[sp+j+1];
+                }
+                for (; j < w; ++j) {
+                    buf[j + half_kernel] = src_d[sp+j];
+                }
+                sum = src_d[sp+w-1];
+                for (j = w; j < half_kernel + w; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                for (j = 0; j <= w-4; j+=4) {
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp+j] = sum;
+                    dst_d[dp+j+1] = sum1;
+                    dst_d[dp+j+2] = sum2;
+                    dst_d[dp+j+3] = sum3;
+                }
+                for (; j < w; ++j) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp+j] = sum;
+                }
+                sp += w;
+                dp += w;
+            }
+
+            // vert pass
+            for (i = 0; i < w; ++i) {
+                sum = dst_d[i];
+                for (j = 0; j < half_kernel; ++j) {
+                    buf[j] = sum;
+                }
+                k = i;
+                for (j = 0; j <= h-2; j+=2, k+=w2) {
+                    buf[j+half_kernel] = dst_d[k];
+                    buf[j+half_kernel+1] = dst_d[k+w];
+                }
+                for (; j < h; ++j, k+=w) {
+                    buf[j+half_kernel] = dst_d[k];
+                }
+                sum = dst_d[(h-1)*w + i];
+                for (j = h; j < half_kernel + h; ++j) {
+                    buf[j + half_kernel] = sum;
+                }
+                dp = i;
+                for (j = 0; j <= h-4; j+=4, dp+=w4) { 
+                    sum = buf[j] * f0, 
+                    sum1 = buf[j+1] * f0,
+                    sum2 = buf[j+2] * f0,
+                    sum3 = buf[j+3] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        fk = filter[k];
+                        sum += buf[k + j] * fk;
+                        sum1 += buf[k + j+1] * fk;
+                        sum2 += buf[k + j+2] * fk;
+                        sum3 += buf[k + j+3] * fk;
+                    }
+                    dst_d[dp] = sum;
+                    dst_d[dp+w] = sum1;
+                    dst_d[dp+w2] = sum2;
+                    dst_d[dp+w3] = sum3;
+                }
+                for (; j < h; ++j, dp+=w) {
+                    sum = buf[j] * f0;
+                    for (k = 1; k < kernel_size; ++k) {
+                        sum += buf[k + j] * filter[k];
+                    }
+                    dst_d[dp] = sum;
+                }
+            }
+        }
+
         return {
             // TODO: add support for RGB/BGR order
+            // for raw arrays
             grayscale: function(src, dst) {
                 var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
                 var j = 0;
-                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
-                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
-                    dst[j + 1] = ((src[i + 4] * 77) + (src[i + 5] * 151) + (src[i + 6] * 28)) >> 8;
+                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868;
 
-                    dst[j + 2] = ((src[i + 8] * 77) + (src[i + 9] * 151) + (src[i + 10] * 28)) >> 8;
-                    dst[j + 3] = ((src[i + 12] * 77) + (src[i + 13] * 151) + (src[i + 14] * 28)) >> 8;
+                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
+                    dst[j]     = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                    dst[j + 1] = (src[i+4] * coeff_r + src[i+5] * coeff_g + src[i+6] * coeff_b + 8192) >> 14;
+                    dst[j + 2] = (src[i+8] * coeff_r + src[i+9] * coeff_g + src[i+10] * coeff_b + 8192) >> 14;
+                    dst[j + 3] = (src[i+12] * coeff_r + src[i+13] * coeff_g + src[i+14] * coeff_b + 8192) >> 14;
                 }
                 for (; i < srcLength; i += 4, ++j) {
-                    dst[j] = ((src[i] * 77) + (src[i + 1] * 151) + (src[i + 2] * 28)) >> 8;
+                    dst[j] = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                }
+            },
+            // derived from CCV library
+            resample: function(src, dst, nw, nh) {
+                var h=src.rows,w=src.cols;
+                if (h > nh && w > nw) {
+                    // using the fast alternative (fix point scale, 0x100 to avoid overflow)
+                    if (src.type&jsfeat.U8_t && dst.type&jsfeat.U8_t && h * w / (nh * nw) < 0x100) {
+                        _resample_u8(src, dst, nw, nh);
+                    } else {
+                        _resample(src, dst, nw, nh);
+                    }
                 }
             },
 
-            box_blur: function(src, dst, w, h, hwin) {
+            box_blur: function(src, dst, hwin, scale) {
+                if (typeof scale === "undefined") { scale = 1; }
                 var win = (2*hwin+1)|0;
-                var _buf = new Int32Array(w*win+w);
+                var w = src.cols, h = src.rows;
+                var data_type = src.type;
+                var _buf,buf_sz=(w*win+w)|0,src_d=src.data,dst_d=dst.data;
                 var sums = (w*win)|0;
                 var next_row=0,oldest_row=0;
-                var i=0, j=0, s0=0, s1=0;
-                var hsum = 0, back=0;
-
+                var i=0, j=0, s0, s1;
+                var hsum,back;
                 var input = 0, output = (w*hwin - hwin) | 0;
 
+                // select correct data type
+                var buf_node = jsfeat.cache.get_buffer(buf_sz<<2);
+                if((data_type&jsfeat.U8_t) || (data_type&jsfeat.S32_t)) {
+                    _buf = buf_node.i32;
+                } else {
+                    _buf = buf_node.f32;
+                }
+
                 for(; i < w; ++i){ _buf[sums+i] = 0; }
 
                 for (i=0; i<h; ++i) {
                     hsum = 0;
                     back = input;
 
-                    for (j = 0; j < win-1; ++j) hsum += src[input+j];
+                    for (j = 0; j < win-1; ++j) hsum += src_d[input+j];
                     for (; j <= w-2; j+=2) {
-                        hsum += src[input+j];
+                        hsum += src_d[input+j];
                         _buf[next_row+j] = hsum;
                         _buf[sums+j] += hsum;
-                        hsum -= src[back++];
+                        hsum -= src_d[back++];
                         //
-                        hsum += src[input+j+1];
+                        hsum += src_d[input+j+1];
                         _buf[next_row+j+1] = hsum;
                         _buf[sums+j+1] += hsum;
-                        hsum -= src[back++];
+                        hsum -= src_d[back++];
                     }
                     for (; j < w; ++j) {
-                        hsum += src[input+j];
+                        hsum += src_d[input+j];
                         _buf[next_row+j] = hsum;
                         _buf[sums+j] += hsum;
-                        hsum -= src[back++];
+                        hsum -= src_d[back++];
                     }
                     if (i >= win-1)  {
                         for(j = win-1; j <= w-2; j+=2) {
                             s0 = _buf[sums+j]; s1 = _buf[sums+j+1];
-                            dst[output+j] = s0; dst[output+j+1] = s1;
+                            dst_d[output+j] = s0*scale; dst_d[output+j+1] = s1*scale;
                             _buf[sums+j] = s0 - _buf[oldest_row+j];
                             _buf[sums+j+1] = s1 - _buf[oldest_row+j+1];
                         }
                         for(; j < w; ++j) {
                             s0 = _buf[sums+j];
-                            dst[output+j] = s0;
+                            dst_d[output+j] = s0*scale;
                             _buf[sums+j] = s0 - _buf[oldest_row+j];
                         }
                         output += w;
@@ -79,120 +452,86 @@
                     next_row += w;
                     next_row = (next_row < sums) * next_row;
                 }
+
+                jsfeat.cache.put_buffer(buf_node);
             },
 
-            gaussian_blur_u8: function(src, dst, w, h, kernel_size, sigma) {
+            gaussian_blur: function(src, dst, kernel_size, sigma) {
                 if (typeof sigma === "undefined") { sigma = 0.0; }
                 if (typeof kernel_size === "undefined") { kernel_size = 0; }
-                kernel_size = kernel_size == 0 ? (Math.max(1, (4.0 * sigma + 1.0 - 1e-8)|0) * 2 + 1)|0 : kernel_size;
+                kernel_size = kernel_size == 0 ? (Math.max(1, (4.0 * sigma + 1.0 - 1e-8)) * 2 + 1)|0 : kernel_size;
                 var half_kernel = kernel_size >> 1;
-                var i=0,j=0,k=0,sum=0,sum1=0,sp=0,dp=0,w2=w<<1;
-                var buf = new Uint8Array(kernel_size + Math.max(h, w));
-                // we use int based kernel
-                var filter = new Int32Array(kernel_size);
+                var w = src.cols, h = src.rows;
+                var data_type = src.type, is_u8 = data_type&jsfeat.U8_t;
+                var src_d = src.data, dst_d = dst.data;
+                var buf,filter,buf_sz=(kernel_size + Math.max(h, w))|0;
 
-                jsfeat.math.get_gaussian_kernel(kernel_size, sigma, filter, jsfeat.U8_t);
+                var buf_node = jsfeat.cache.get_buffer(buf_sz<<2);
+                var filt_node = jsfeat.cache.get_buffer(kernel_size<<2);
 
-                // hor pass
-                for (; i < h; ++i) { 
-                    sum = src[sp];
-                    for (j = 0; j < half_kernel; ++j) {
-                        buf[j] = sum;
-                    }
-                    for (j = 0; j <= w-2; j+=2) {
-                        buf[j + half_kernel] = src[sp+j];
-                        buf[j + half_kernel+1] = src[sp+j+1];
-                    }
-                    for (; j < w; ++j) {
-                        buf[j + half_kernel] = src[sp+j];
-                    }
-                    sum = src[sp+w-1];
-                    for (j = w; j < half_kernel + w; ++j) {
-                        buf[j + half_kernel] = sum;
-                    }
-                    for (j = 0; j <= w-2; j+=2) {
-                        sum = 0, sum1 = 0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                            sum1 += buf[k + j+1] * filter[k];
-                        }
-                        dst[dp+j] = sum >> 8;
-                        dst[dp+j+1] = sum1 >> 8;
-                    }
-                    for (; j < w; ++j) {
-                        sum = 0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                        }
-                        dst[dp+j] = sum >> 8;
-                    }
-                    sp += w;
-                    dp += w;
+                if(is_u8) {
+                    buf = buf_node.u8;
+                    filter = filt_node.i32;
+                } else if(data_type&jsfeat.S32_t) {
+                    buf = buf_node.i32;
+                    filter = filt_node.f32;
+                } else {
+                    buf = buf_node.f32;
+                    filter = filt_node.f32;
                 }
 
-                // vert pass
-                for (i = 0; i < w; ++i) {
-                    sum = dst[i];
-                    for (j = 0; j < half_kernel; ++j) {
-                        buf[j] = sum;
-                    }
-                    k = i;
-                    for (j = 0; j <= h-2; j+=2, k+=w2) {
-                        buf[j+half_kernel] = dst[k];
-                        buf[j+half_kernel+1] = dst[k+w];
-                    }
-                    for (; j < h; ++j, k+=w) {
-                        buf[j+half_kernel] = dst[k];
-                    }
-                    sum = dst[(h-1)*w + i];
-                    for (j = h; j < half_kernel + h; ++j) {
-                        buf[j + half_kernel] = sum;
-                    }
-                    dp = i;
-                    for (j = 0; j <= h-2; j+=2, dp+=w2) { 
-                        sum = 0, sum1=0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                            sum1 += buf[k + j+1] * filter[k];
-                        }
-                        dst[dp] = sum >> 8;
-                        dst[dp+w] = sum1 >> 8;
-                    }
-                    for (; j < h; ++j, dp+=w) {
-                        sum = 0;
-                        for (k = 0; k < kernel_size; ++k) {
-                            sum += buf[k + j] * filter[k];
-                        }
-                        dst[dp] = sum >> 8;
-                    }
+                jsfeat.math.get_gaussian_kernel(kernel_size, sigma, filter, data_type);
+
+                if(is_u8) {
+                    _convol_u8(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel);
+                } else {
+                    _convol(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel);
                 }
-            },
 
-            pyrdown_fast_u8: function(src, w, h, dst) {
+                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(filt_node);
+            },
+            // assume we always need it for u8 image
+            pyrdown: function(src, dst) {
+                var w = src.cols, h = src.rows;
                 var w2 = w >> 1, h2 = h >> 1;
                 var x=0,y=0,sptr=0,sline=0,dptr=0;
+                var src_d = src.data, dst_d = dst.data;
 
                 for(y = 0; y < h2; ++y) {
                     sline = sptr;
                     for(x = 0; x <= w2-2; x+=2, dptr+=2, sline += 4) {
-                        dst[dptr] = (src[sline] + src[sline+1] +
-                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
-                        dst[dptr+1] = (src[sline+2] + src[sline+3] +
-                                            src[sline+w+2] + src[sline+w+3] + 2) >> 2;
+                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                                            src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
+                        dst_d[dptr+1] = (src_d[sline+2] + src_d[sline+3] +
+                                            src_d[sline+w+2] + src_d[sline+w+3] + 2) >> 2;
                     }
                     for(; x < w2; ++x, ++dptr, sline += 2) {
-                        dst[dptr] = (src[sline] + src[sline+1] +
-                                            src[sline+w] + src[sline+w+1] + 2) >> 2;
+                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                                            src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
                     }
                     sptr += w << 1;
                 }
             },
 
-            shar_derivatives: function(img, dst, w, h) {
-                var dstep = w<<1,x=0,y=0,x1=0;
+            // dst: [gx,gy,...]
+            scharr_derivatives: function(src, dst) {
+                var w = src.cols, h = src.rows;
+                var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
-                var trow0 = new Int32Array(w+2);
-                var trow1 = new Int32Array(w+2);
+                var trow0,trow1;
+                var img = src.data;
+
+                var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
+                var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
+
+                if(src.type&jsfeat.U8_t || src.type&jsfeat.S32_t) {
+                    trow0 = buf0_node.i32;
+                    trow1 = buf1_node.i32;
+                } else {
+                    trow0 = buf0_node.f32;
+                    trow1 = buf1_node.f32;
+                }
 
                 for(; y < h; ++y, srow1+=w) {
                     srow0 = ((y > 0 ? y-1 : 1)*w)|0;
@@ -200,32 +539,461 @@
                     drow = (y*dstep)|0;
                     // do vertical convolution
                     for(x = 0, x1 = 1; x <= w-2; x+=2, x1+=2) {
-                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
-                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b)*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( b - a );
                         //
-                        trow0[x1+1] = ( ((img[srow0+x+1]) + (img[srow2+x+1]))*3 + (img[srow1+x+1])*10 );
-                        trow1[x1+1] = ( (img[srow2+x+1]) - (img[srow0+x+1]) );
+                        a = img[srow0+x+1], b = img[srow2+x+1];
+                        trow0[x1+1] = ( (a + b)*3 + (img[srow1+x+1])*10 );
+                        trow1[x1+1] = ( b - a );
                     }
                     for(; x < w; ++x, ++x1) {
-                        trow0[x1] = ( ((img[srow0+x]) + (img[srow2+x]))*3 + (img[srow1+x])*10 );
-                        trow1[x1] = ( (img[srow2+x]) - (img[srow0+x]) );
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b)*3 + (img[srow1+x])*10 );
+                        trow1[x1] = ( b - a );
                     }
                     // make border
                     x = (w + 1)|0;
                     trow0[0] = trow0[1]; trow0[x] = trow0[w];
                     trow1[0] = trow1[1]; trow1[x] = trow1[w];
                     // do horizontal convolution, interleave the results and store them
-                    for(x = 0; x <= w-2; x+=2) {
-                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
-                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
-                        dst[drow++] = ( (trow0[x+3] - trow0[x+1]) );
-                        dst[drow++] = ( ((trow1[x+3] + trow1[x+1])*3 + trow1[x+2]*10) );
+                    for(x = 0; x <= w-4; x+=4) {
+                        a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
+                        e = trow0[x+2], f = trow0[x+3];
+                        dst[drow++] = ( e - trow0[x] );
+                        dst[drow++] = ( (a + trow1[x])*3 + b*10 );
+                        dst[drow++] = ( f - trow0[x+1] );
+                        dst[drow++] = ( (c + b)*3 + a*10 );
+
+                        dst[drow++] = ( (trow0[x+4] - e) );
+                        dst[drow++] = ( ((d + a)*3 + c*10) );
+                        dst[drow++] = ( (trow0[x+5] - f) );
+                        dst[drow++] = ( ((trow1[x+5] + c)*3 + d*10) );
                     }
                     for(; x < w; ++x) {
                         dst[drow++] = ( (trow0[x+2] - trow0[x]) );
                         dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
                     }
                 }
+                jsfeat.cache.put_buffer(buf0_node);
+                jsfeat.cache.put_buffer(buf1_node);
+            },
+
+            // compute gradient using Sobel kernel [1 2 1] * [-1 0 1]^T
+            // dst: [gx,gy,...]
+            sobel_derivatives: function(src, dst) {
+                var w = src.cols, h = src.rows;
+                var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
+                var srow0=0,srow1=0,srow2=0,drow=0;
+                var trow0,trow1;
+                var img = src.data;
+
+                var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
+                var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
+
+                if(src.type&jsfeat.U8_t || src.type&jsfeat.S32_t) {
+                    trow0 = buf0_node.i32;
+                    trow1 = buf1_node.i32;
+                } else {
+                    trow0 = buf0_node.f32;
+                    trow1 = buf1_node.f32;
+                }
+
+                for(; y < h; ++y, srow1+=w) {
+                    srow0 = ((y > 0 ? y-1 : 1)*w)|0;
+                    srow2 = ((y < h-1 ? y+1 : h-2)*w)|0;
+                    drow = (y*dstep)|0;
+                    // do vertical convolution
+                    for(x = 0, x1 = 1; x <= w-2; x+=2, x1+=2) {
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b) + (img[srow1+x]*2) );
+                        trow1[x1] = ( b - a );
+                        //
+                        a = img[srow0+x+1], b = img[srow2+x+1];
+                        trow0[x1+1] = ( (a + b) + (img[srow1+x+1]*2) );
+                        trow1[x1+1] = ( b - a );
+                    }
+                    for(; x < w; ++x, ++x1) {
+                        a = img[srow0+x], b = img[srow2+x];
+                        trow0[x1] = ( (a + b) + (img[srow1+x]*2) );
+                        trow1[x1] = ( b - a );
+                    }
+                    // make border
+                    x = (w + 1)|0;
+                    trow0[0] = trow0[1]; trow0[x] = trow0[w];
+                    trow1[0] = trow1[1]; trow1[x] = trow1[w];
+                    // do horizontal convolution, interleave the results and store them
+                    for(x = 0; x <= w-4; x+=4) {
+                        a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
+                        e = trow0[x+2], f = trow0[x+3];
+                        dst[drow++] = ( e - trow0[x] );
+                        dst[drow++] = ( a + trow1[x] + b*2 );
+                        dst[drow++] = ( f - trow0[x+1] );
+                        dst[drow++] = ( c + b + a*2 );
+
+                        dst[drow++] = ( trow0[x+4] - e );
+                        dst[drow++] = ( d + a + c*2 );
+                        dst[drow++] = ( trow0[x+5] - f );
+                        dst[drow++] = ( trow1[x+5] + c + d*2 );
+                    }
+                    for(; x < w; ++x) {
+                        dst[drow++] = ( trow0[x+2] - trow0[x] );
+                        dst[drow++] = ( trow1[x+2] + trow1[x] + trow1[x+1]*2 );
+                    }
+                }
+                jsfeat.cache.put_buffer(buf0_node);
+                jsfeat.cache.put_buffer(buf1_node);
+            },
+
+            // please note: 
+            // dst_(type) size should be cols = src.cols+1, rows = src.rows+1
+            compute_integral_image: function(src, dst_sum, dst_sqsum, dst_tilted) {
+                var w0=src.cols,h0=src.rows,src_d=src.data;
+                var w1=w0+1;
+                var s,s2,p,pup,i=0,j=0,v,k;
+
+                if(dst_sum && dst_sqsum) {
+                    // fill first row with zeros
+                    for(; i < w1; ++i) {
+                        dst_sum[i] = 0, dst_sqsum[i] = 0;
+                    }
+                    p = (w1+1)|0, pup = 1;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        s = s2 = 0;
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            v = src_d[k];
+                            s += v, s2 += v*v;
+                            dst_sum[p] = dst_sum[pup] + s;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+
+                            v = src_d[k+1];
+                            s += v, s2 += v*v;
+                            dst_sum[p+1] = dst_sum[pup+1] + s;
+                            dst_sqsum[p+1] = dst_sqsum[pup+1] + s2;
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            v = src_d[k];
+                            s += v, s2 += v*v;
+                            dst_sum[p] = dst_sum[pup] + s;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+                        }
+                    }
+                } else if(dst_sum) {
+                    // fill first row with zeros
+                    for(; i < w1; ++i) {
+                        dst_sum[i] = 0;
+                    }
+                    p = (w1+1)|0, pup = 1;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        s = 0;
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            s += src_d[k];
+                            dst_sum[p] = dst_sum[pup] + s;
+                            s += src_d[k+1];
+                            dst_sum[p+1] = dst_sum[pup+1] + s;
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            s += src_d[k];
+                            dst_sum[p] = dst_sum[pup] + s;
+                        }
+                    }
+                } else if(dst_sqsum) {
+                    // fill first row with zeros
+                    for(; i < w1; ++i) {
+                        dst_sqsum[i] = 0;
+                    }
+                    p = (w1+1)|0, pup = 1;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        s2 = 0;
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            v = src_d[k];
+                            s2 += v*v;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+                            v = src_d[k+1];
+                            s2 += v*v;
+                            dst_sqsum[p+1] = dst_sqsum[pup+1] + s2;
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            v = src_d[k];
+                            s2 += v*v;
+                            dst_sqsum[p] = dst_sqsum[pup] + s2;
+                        }
+                    }
+                }
+
+                if(dst_tilted) {
+                    // fill first row with zeros
+                    for(i = 0; i < w1; ++i) {
+                        dst_tilted[i] = 0;
+                    }
+                    // diagonal
+                    p = (w1+1)|0, pup = 0;
+                    for(i = 0, k = 0; i < h0; ++i, ++p, ++pup) {
+                        for(j = 0; j <= w0-2; j+=2, k+=2, p+=2, pup+=2) {
+                            dst_tilted[p] = src_d[k] + dst_tilted[pup];
+                            dst_tilted[p+1] = src_d[k+1] + dst_tilted[pup+1];
+                        }
+                        for(; j < w0; ++j, ++k, ++p, ++pup) {
+                            dst_tilted[p] = src_d[k] + dst_tilted[pup];
+                        }
+                    }
+                    // diagonal
+                    p = (w1+w0)|0, pup = w0;
+                    for(i = 0; i < h0; ++i, p+=w1, pup+=w1) {
+                        dst_tilted[p] += dst_tilted[pup];
+                    }
+
+                    for(j = w0-1; j > 0; --j) {
+                        p = j+h0*w1, pup=p-w1;
+                        for(i = h0; i > 0; --i, p-=w1, pup-=w1) {
+                            dst_tilted[p] += dst_tilted[pup] + dst_tilted[pup+1];
+                        }
+                    }
+                }
+            },
+            equalize_histogram: function(src, dst) {
+                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data,size=w*h;
+                var i=0,prev=0,hist0,norm;
+
+                var hist0_node = jsfeat.cache.get_buffer(256<<2);
+                hist0 = hist0_node.i32;
+                for(; i < 256; ++i) hist0[i] = 0;
+                for (i = 0; i < size; ++i) {
+                    ++hist0[src_d[i]];
+                }
+
+                prev = hist0[0];
+                for (i = 1; i < 256; ++i) {
+                    prev = hist0[i] += prev;
+                }
+
+                norm = 255 / size;
+                for (i = 0; i < size; ++i) {
+                    dst_d[i] = (hist0[src_d[i]] * norm + 0.5)|0;
+                }
+                jsfeat.cache.put_buffer(hist0_node);
+            },
+
+            canny: function(src, dst, low_thresh, high_thresh) {
+                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data;
+                var i=0,j=0,grad=0,w2=w<<1,_grad=0,suppress=0,f=0,x=0,y=0,s=0;
+                var tg22x=0,tg67x=0;
+
+                // cache buffers
+                var dxdy_node = jsfeat.cache.get_buffer((h * w2)<<2);
+                var buf_node = jsfeat.cache.get_buffer((3 * (w + 2))<<2);
+                var map_node = jsfeat.cache.get_buffer(((h+2) * (w + 2))<<2);
+                var stack_node = jsfeat.cache.get_buffer((h * w)<<2);
+                
+
+                var buf = buf_node.i32;
+                var map = map_node.i32;
+                var stack = stack_node.i32;
+                var dxdy = dxdy_node.i32;
+                var row0=1,row1=(w+2+1)|0,row2=(2*(w+2)+1)|0,map_w=(w+2)|0,map_i=(map_w+1)|0,stack_i=0;
+
+                this.sobel_derivatives(src, dxdy);
+
+                if(low_thresh > high_thresh) {
+                    i = low_thresh;
+                    low_thresh = high_thresh;
+                    high_thresh = i;
+                }
+
+                i = (3 * (w + 2))|0;
+                while(--i>=0) {
+                    buf[i] = 0;
+                }
+
+                i = ((h+2) * (w + 2))|0;
+                while(--i>=0) {
+                    map[i] = 0;
+                }
+
+                for (; j < w; ++j, grad+=2) {
+                    //buf[row1+j] = Math.abs(dxdy[grad]) + Math.abs(dxdy[grad+1]);
+                    x = dxdy[grad], y = dxdy[grad+1];
+                    //buf[row1+j] = x*x + y*y;
+                    buf[row1+j] = ((x ^ (x >> 31)) - (x >> 31)) + ((y ^ (y >> 31)) - (y >> 31));
+                }
+
+                for(i=1; i <= h; ++i, grad+=w2) {
+                    if(i == h) {
+                        j = row2+w;
+                        while(--j>=row2) {
+                            buf[j] = 0;
+                        }
+                    } else {
+                        for (j = 0; j < w; j++) {
+                            //buf[row2+j] =  Math.abs(dxdy[grad+(j<<1)]) + Math.abs(dxdy[grad+(j<<1)+1]);
+                            x = dxdy[grad+(j<<1)], y = dxdy[grad+(j<<1)+1];
+                            //buf[row2+j] = x*x + y*y;
+                            buf[row2+j] = ((x ^ (x >> 31)) - (x >> 31)) + ((y ^ (y >> 31)) - (y >> 31));
+                        }
+                    }
+                    _grad = (grad - w2)|0;
+                    map[map_i-1] = 0;
+                    suppress = 0;
+                    for(j = 0; j < w; ++j, _grad+=2) {
+                        f = buf[row1+j];
+                        if (f > low_thresh) {
+                            x = dxdy[_grad];
+                            y = dxdy[_grad+1];
+                            s = x ^ y;
+                            // seems ot be faster than Math.abs
+                            x = ((x ^ (x >> 31)) - (x >> 31))|0;
+                            y = ((y ^ (y >> 31)) - (y >> 31))|0;
+                            //x * tan(22.5) x * tan(67.5) == 2 * x + x * tan(22.5)
+                            tg22x = x * 13573;
+                            tg67x = tg22x + ((x + x) << 15);
+                            y <<= 15;
+                            if (y < tg22x) {
+                                if (f > buf[row1+j-1] && f >= buf[row1+j+1]) {
+                                    if (f > high_thresh && !suppress && map[map_i+j-map_w] != 2) {
+                                        map[map_i+j] = 2;
+                                        suppress = 1;
+                                        stack[stack_i++] = map_i + j;
+                                    } else {
+                                        map[map_i+j] = 1;
+                                    }
+                                    continue;
+                                }
+                            } else if (y > tg67x) {
+                                if (f > buf[row0+j] && f >= buf[row2+j]) {
+                                    if (f > high_thresh && !suppress && map[map_i+j-map_w] != 2) {
+                                        map[map_i+j] = 2;
+                                        suppress = 1;
+                                        stack[stack_i++] = map_i + j;
+                                    } else {
+                                        map[map_i+j] = 1;
+                                    }
+                                    continue;
+                                }
+                            } else {
+                                s = s < 0 ? -1 : 1;
+                                if (f > buf[row0+j-s] && f > buf[row2+j+s]) {
+                                    if (f > high_thresh && !suppress && map[map_i+j-map_w] != 2) {
+                                        map[map_i+j] = 2;
+                                        suppress = 1;
+                                        stack[stack_i++] = map_i + j;
+                                    } else {
+                                        map[map_i+j] = 1;
+                                    }
+                                    continue;
+                                }
+                            }
+                        }
+                        map[map_i+j] = 0;
+                        suppress = 0;
+                    }
+                    map[map_i+w] = 0;
+                    map_i += map_w;
+                    j = row0;
+                    row0 = row1;
+                    row1 = row2;
+                    row2 = j;
+                }
+
+                j = map_i - map_w - 1;
+                for(i = 0; i < map_w; ++i, ++j) {
+                    map[j] = 0;
+                }
+                // path following
+                while(stack_i > 0) {
+                    map_i = stack[--stack_i];
+                    map_i -= map_w+1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += map_w;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i -= 2;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += map_w;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                    map_i += 1;
+                    if(map[map_i] == 1) map[map_i] = 2, stack[stack_i++] = map_i;
+                }
+
+                map_i = map_w + 1;
+                row0 = 0;
+                for(i = 0; i < h; ++i, map_i+=map_w) {
+                    for(j = 0; j < w; ++j) {
+                        dst_d[row0++] = (map[map_i+j] == 2) * 0xff;
+                    }
+                }
+
+                // free buffers
+                jsfeat.cache.put_buffer(dxdy_node);
+                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(map_node);
+                jsfeat.cache.put_buffer(stack_node);
+            },
+
+            warp_perspective: function(src, dst, transform, fill_value) {
+                if (typeof fill_value === "undefined") { fill_value = 0; }
+                var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
+                var src_d=src.data, dst_d=dst.data;
+                var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,xs0=0.0,ys0=0.0,ws=0.0,sc=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
+                var m00=transform[0],m01=transform[1],m02=transform[2],
+                    m10=transform[3],m11=transform[4],m12=transform[5],
+                    m20=transform[6],m21=transform[7],m22=transform[8];
+
+                for(var dptr = 0; y < dst_height; ++y) {
+                    xs0 = m01 * y + m02,
+                    ys0 = m11 * y + m12,
+                    ws  = m21 * y + m22;
+                    for(x = 0; x < dst_width; ++x, ++dptr, xs0+=m00, ys0+=m10, ws+=m20) {
+                        sc = 1.0 / ws;
+                        xs = xs0 * sc, ys = ys0 * sc;
+                        ixs = xs | 0, iys = ys | 0;
+
+                        if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
+                            a = Math.max(xs - ixs, 0.0);
+                            b = Math.max(ys - iys, 0.0);
+                            off = src_width*iys + ixs;
+
+                            p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
+                            p1 = src_d[off+src_width] + a * (src_d[off+src_width+1] - src_d[off+src_width]);
+
+                            dst_d[dptr] = p0 + b * (p1 - p0);
+                        }
+                        else dst_d[dptr] = fill_value;
+                    }
+                }
+            },
+
+            warp_affine: function(src, dst, transform, fill_value) {
+                if (typeof fill_value === "undefined") { fill_value = 0; }
+                var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
+                var src_d=src.data, dst_d=dst.data;
+                var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
+                var m00=transform[0],m01=transform[1],m02=transform[2],
+                    m10=transform[3],m11=transform[4],m12=transform[5];
+
+                for(var dptr = 0; y < dst_height; ++y) {
+                    xs = m01 * y + m02;
+                    ys = m11 * y + m12;
+                    for(x = 0; x < dst_width; ++x, ++dptr, xs+=m00, ys+=m10) {
+                        ixs = xs | 0; iys = ys | 0;
+
+                        if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
+                            a = Math.max(xs - ixs, 0.0);
+                            b = Math.max(ys - iys, 0.0);
+                            off = src_width*iys + ixs;
+
+                            p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
+                            p1 = src_d[off+src_width] + a * (src_d[off+src_width+1] - src_d[off+src_width]);
+
+                            dst_d[dptr] = p0 + b * (p1 - p0);
+                        }
+                        else dst_d[dptr] = fill_value;
+                    }
+                }
             }
         };
     })();
diff --git a/src/jsfeat_math.js b/src/jsfeat_math.js
old mode 100644
new mode 100755
index 80b526b..aad272a
--- a/src/jsfeat_math.js
+++ b/src/jsfeat_math.js
@@ -8,11 +8,14 @@
 
     var math = (function() {
 
+        var qsort_stack = new Int32Array(48*2);
+
         return {
             get_gaussian_kernel: function(size, sigma, kernel, data_type) {
                 var i=0,x=0.0,t=0.0,sigma_x=0.0,scale_2x=0.0;
                 var sum = 0.0;
-                var _kernel = new Float32Array(size);
+                var kern_node = jsfeat.cache.get_buffer(size<<2);
+                var _kernel = kern_node.f32;//new Float32Array(size);
 
                 if((size&1) == 1 && size <= 7 && sigma <= 0) {
                     switch(size>>1) {
@@ -62,6 +65,8 @@
                         kernel[i] = _kernel[i] * sum;
                     }
                 }
+
+                jsfeat.cache.put_buffer(kern_node);
             },
 
             // The current implementation was derived from *BSD system qsort():
@@ -69,11 +74,11 @@
             // The Regents of the University of California.  All rights reserved.
             qsort: function(array, low, high, cmp) {
                 var isort_thresh = 7;
-                var t;
+                var t,ta,tb,tc;
                 var sp = 0,left=0,right=0,i=0,n=0,m=0,ptr=0,ptr2=0,d=0;
                 var left0=0,left1=0,right0=0,right1=0,pivot=0,a=0,b=0,c=0,swap_cnt=0;
 
-                var stack = new Int32Array(48*2);
+                var stack = qsort_stack;
 
                 if( (high-low+1) <= 1 ) return;
 
@@ -108,22 +113,26 @@
 
                             if( n > 40 ) {
                                 d = n >> 3;
-                                a = left, b = left + d, c = left + 2*d;
-                                left = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
-                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                                a = left, b = left + d, c = left + (d<<1);
+                                ta = array[a],tb = array[b],tc = array[c];
+                                left = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))
+                                                  : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
 
                                 a = pivot - d, b = pivot, c = pivot + d;
-                                pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
-                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                                ta = array[a],tb = array[b],tc = array[c];
+                                pivot = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))
+                                                  : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
 
-                                a = right - 2*d, b = right - d, c = right;
-                                right = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))
-                                                  : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                                a = right - (d<<1), b = right - d, c = right;
+                                ta = array[a],tb = array[b],tc = array[c];
+                                right = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))
+                                                  : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
                             }
 
                             a = left, b = pivot, c = right;
-                            pivot = cmp(array[a], array[b]) ? (cmp(array[b], array[c]) ? b : (cmp(array[a], array[c]) ? c : a))   
-                                               : (cmp(array[c], array[b]) ? b : (cmp(array[a], array[c]) ? a : c));
+                            ta = array[a],tb = array[b],tc = array[c];
+                            pivot = cmp(ta, tb) ? (cmp(tb, tc) ? b : (cmp(ta, tc) ? c : a))   
+                                               : (cmp(tc, tb) ? b : (cmp(ta, tc) ? a : c));
                             if( pivot != left0 ) {
                                 t = array[pivot];
                                 array[pivot] = array[left0];
@@ -133,10 +142,10 @@
                             left = left1 = left0 + 1;
                             right = right1 = right0;
 
+                            ta = array[pivot];
                             for(;;) {
-                            
-                                while( left <= right && !cmp(array[pivot], array[left]) ) {
-                                    if( !cmp(array[left], array[pivot]) ) {
+                                while( left <= right && !cmp(ta, array[left]) ) {
+                                    if( !cmp(array[left], ta) ) {
                                         if( left > left1 ) {
                                             t = array[left1];
                                             array[left1] = array[left];
@@ -148,8 +157,8 @@
                                     left++;
                                 }
 
-                                while( left <= right && !cmp(array[right], array[pivot]) ) {
-                                    if( !cmp(array[pivot], array[right]) ) {
+                                while( left <= right && !cmp(array[right], ta) ) {
+                                    if( !cmp(ta, array[right]) ) {
                                         if( right < right1 ) {
                                             t = array[right1];
                                             array[right1] = array[right];
@@ -185,17 +194,19 @@
                             }
 
                             n = Math.min( (left1 - left0), (left - left1) );
-                            for( i = 0; i < n; i++ ) {
+                            m = (left-n)|0;
+                            for( i = 0; i < n; ++i,++m ) {
                                 t = array[left0+i];
-                                array[left0+i] = array[left+i-n];
-                                array[left+i-n] = t;
+                                array[left0+i] = array[m];
+                                array[m] = t;
                             }
 
                             n = Math.min( (right0 - right1), (right1 - right) );
-                            for( i = 0; i < n; i++ ) {
+                            m = (right0-n+1)|0;
+                            for( i = 0; i < n; ++i,++m ) {
                                 t = array[left+i];
-                                array[left+i] = array[right0+i-n+1];
-                                array[right0+i-n+1] = t;
+                                array[left+i] = array[m];
+                                array[m] = t;
                             }
                             n = (left - left1);
                             m = (right1 - right);
@@ -283,4 +294,4 @@
 
     global.math = math;
 
-})(jsfeat);
\ No newline at end of file
+})(jsfeat);
diff --git a/src/jsfeat_optical_flow_lk.js b/src/jsfeat_optical_flow_lk.js
old mode 100644
new mode 100755
index 179542b..df8b833
--- a/src/jsfeat_optical_flow_lk.js
+++ b/src/jsfeat_optical_flow_lk.js
@@ -10,7 +10,7 @@
     var optical_flow_lk = (function() {
 
         // short link to shar deriv
-        var shar_deriv = jsfeat.imgproc.shar_derivatives;
+        var scharr_deriv = jsfeat.imgproc.scharr_derivatives;
 
         return {
             track: function(prev_pyr, curr_pyr, prev_xy, curr_xy, count, win_size, max_iter, status, eps, min_eigen_threshold) {
@@ -22,13 +22,17 @@
                 var half_win = (win_size-1)*0.5;
                 var win_area = (win_size*win_size)|0;
                 var win_area2 = win_area << 1;
-                var prev_imgs = prev_pyr.images, next_imgs = curr_pyr.images;
-                var img_prev=prev_imgs[0].data_u8,img_next=next_imgs[0].data_u8;
-                var w0 = prev_imgs[0].width, h0 = prev_imgs[0].height,lw=0,lh=0;
+                var prev_imgs = prev_pyr.data, next_imgs = curr_pyr.data;
+                var img_prev=prev_imgs[0].data,img_next=next_imgs[0].data;
+                var w0 = prev_imgs[0].cols, h0 = prev_imgs[0].rows,lw=0,lh=0;
 
-                var iwin_buf = new Int32Array(win_area);
-                var deriv_iwin = new Int32Array(win_area2);
-                var deriv_lev = new Int32Array((w0*h0)*2);
+                var iwin_node = jsfeat.cache.get_buffer(win_area<<2);
+                var deriv_iwin_node = jsfeat.cache.get_buffer(win_area2<<2);
+                var deriv_lev_node = jsfeat.cache.get_buffer((h0*(w0<<1))<<2);
+
+                var iwin_buf = iwin_node.i32;//new Int32Array(win_area);
+                var deriv_iwin = deriv_iwin_node.i32;//new Int32Array(win_area2);
+                var deriv_lev = deriv_lev_node.i32;//deriv_m.data;
 
                 var dstep=0,src=0,dsrc=0,iptr=0,diptr=0,jptr=0;
                 var lev_sc=0.0,prev_x=0.0,prev_y=0.0,next_x=0.0,next_y=0.0;
@@ -65,14 +69,14 @@
                     lw = w0 >> level;
                     lh = h0 >> level;
                     dstep = lw << 1;
-                    img_prev = prev_imgs[level].data_u8;
-                    img_next = next_imgs[level].data_u8;
+                    img_prev = prev_imgs[level].data;
+                    img_next = next_imgs[level].data;
                     
                     brd_r = (lw - win_size)|0;
                     brd_b = (lh - win_size)|0;
 
                     // calculate level derivatives
-                    shar_deriv(img_prev, deriv_lev, lw, lh);
+                    scharr_deriv(prev_imgs[level], deriv_lev);
 
                     // iterate through points
                     for(ptid = 0; ptid < count; ++ptid) {
@@ -227,10 +231,14 @@
                         }
                     } // points loop
                 } // levels loop
+
+                jsfeat.cache.put_buffer(iwin_node);
+                jsfeat.cache.put_buffer(deriv_iwin_node);
+                jsfeat.cache.put_buffer(deriv_lev_node);
             }
         };
     })();
 
     global.optical_flow_lk = optical_flow_lk;
 
-})(jsfeat);
\ No newline at end of file
+})(jsfeat);
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
old mode 100644
new mode 100755
index 128a155..44d1826
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -6,57 +6,146 @@
     "use strict";
     //
 
-    var U8_t = 2,
-        U32_t = 4,
-        I32_t = 8,
-        F32_t = 16;
-
-    var img_t = (function () {
-        function img_t(w, h, elem_size) {
-            this.width = w;
-            this.height = h;
-            this.buffer = new ArrayBuffer(w*h*elem_size);
-            this.data_u8 = new Uint8Array(this.buffer);
-            this.data_i32 = new Int32Array(this.buffer);
-            this.data_f32 = new Float32Array(this.buffer);
-        }
-        return img_t;
+    // implementation from CCV project
+    // currently working only with u8,s32,f32
+    var U8_t = 0x0100,
+        S32_t = 0x0200,
+        F32_t = 0x0400,
+        S64_t = 0x0800,
+        F64_t = 0x1000;
+
+    var C1_t = 0x01,
+        C2_t = 0x02,
+        C3_t = 0x03,
+        C4_t = 0x04;
+
+    var _data_type_size = new Int32Array([ -1, 1, 4, -1, 4, -1, -1, -1, 8, -1, -1, -1, -1, -1, -1, -1, 8 ]);
+
+    var get_data_type = (function () {
+        return function(type) {
+            return (type & 0xFF00);
+        }
+    })();
+
+    var get_channel = (function () {
+        return function(type) {
+            return (type & 0xFF);
+        }
+    })();
+
+    var get_data_type_size = (function () {
+        return function(type) {
+            return _data_type_size[(type & 0xFF00) >> 8];
+        }
+    })();
+
+    var data_t = (function () {
+        function data_t(size_in_bytes) {
+            this.size = size_in_bytes|0;
+            this.buffer = new ArrayBuffer(size_in_bytes);
+            this.u8 = new Uint8Array(this.buffer);
+            this.i32 = new Int32Array(this.buffer);
+            this.f32 = new Float32Array(this.buffer);
+        }
+        return data_t;
+    })();
+
+    var matrix_t = (function () {
+        // columns, rows, data_type
+        function matrix_t(c, r, data_type) {
+            this.type = get_data_type(data_type)|0;
+            this.channel = get_channel(data_type)|0;
+            this.cols = c|0;
+            this.rows = r|0;
+            this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+            // data user asked for
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+        }
+        matrix_t.prototype.set_data_type = function(data_type) {
+            this.type = get_data_type(data_type)|0;
+            this.channel = get_channel(data_type)|0;
+            // clear references
+            delete this.data;
+            delete this.buffer;
+            //
+            this.buffer = new data_t((this.cols * get_data_type_size(data_type) * get_channel(data_type)) * this.rows);
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+        }
+        return matrix_t;
     })();
 
-    var img_pyr_t = (function () {
+    var pyramid_t = (function () {
 
-        function img_pyr_t(l) {
-            this.levels = l;
-            this.images = new Array(l);
-            this.pyrdown = jsfeat.imgproc.pyrdown_fast_u8;
+        function pyramid_t(levels) {
+            this.levels = levels|0;
+            this.data = new Array(levels);
+            this.pyrdown = jsfeat.imgproc.pyrdown;
         }
 
-        img_pyr_t.prototype.allocate = function(start_w, start_h, elem_size) {
+        pyramid_t.prototype.allocate = function(start_w, start_h, data_type) {
             var i = this.levels;
             while(--i >= 0) {
-                this.images[i] = new img_t(start_w >> i, start_h >> i, elem_size);
+                this.data[i] = new matrix_t(start_w >> i, start_h >> i, data_type);
             }
         }
 
-        img_pyr_t.prototype.build = function(src) {
-            var i = 2, a = src, b = this.images[1];
-            this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
+        pyramid_t.prototype.build = function(input, skip_first_level) {
+            if (typeof skip_first_level === "undefined") { skip_first_level = true; }
+            // just copy data to first level
+            var i = 2, a = input, b = this.data[0];
+            if(!skip_first_level) {
+                var j=input.cols*input.rows;
+                while(--j >= 0) {
+                    b.data[j] = input.data[j];
+                }
+            }
+            b = this.data[1];
+            this.pyrdown(a, b);
             for(; i < this.levels; ++i) {
                 a = b;
-                b = this.images[i];
-                this.pyrdown(a.data_u8, a.width, a.height, b.data_u8);
+                b = this.data[i];
+                this.pyrdown(a, b);
             }
         }
 
-        return img_pyr_t;
+        return pyramid_t;
     })();
 
+    var point2d_t = (function () {
+        function point2d_t(x,y,score,level) {
+            if (typeof x === "undefined") { x=0; }
+            if (typeof y === "undefined") { y=0; }
+            if (typeof score === "undefined") { score=0; }
+            if (typeof level === "undefined") { level=0; }
+
+            this.x = x;
+            this.y = y;
+            this.score = score;
+            this.level = level;
+        }
+        return point2d_t;
+    })();
+
+
+    // data types
     global.U8_t = U8_t;
-    global.U32_t = U32_t;
-    global.I32_t = I32_t;
+    global.S32_t = S32_t;
     global.F32_t = F32_t;
+    global.S64_t = S64_t;
+    global.F64_t = F64_t;
+    // data channels
+    global.C1_t = C1_t;
+    global.C2_t = C2_t;
+    global.C3_t = C3_t;
+    global.C4_t = C4_t;
+
+    global.get_data_type = get_data_type;
+    global.get_channel = get_channel;
+    global.get_data_type_size = get_data_type_size;
 
-    global.img_t = img_t;
-    global.img_pyr_t = img_pyr_t;
+    global.data_t = data_t;
+    global.matrix_t = matrix_t;
+    global.pyramid_t = pyramid_t;
+    global.point2d_t = point2d_t;
 
-})(jsfeat);
\ No newline at end of file
+})(jsfeat);
diff --git a/src/jsfeat_transform.js b/src/jsfeat_transform.js
new file mode 100644
index 0000000..9684426
--- /dev/null
+++ b/src/jsfeat_transform.js
@@ -0,0 +1,172 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var transform = (function() {
+        //
+        return {
+            affine_3point_transform: function(mat, src_x0, src_y0, dst_x0, dst_y0,
+                                                    src_x1, src_y1, dst_x1, dst_y1,
+                                                    src_x2, src_y2, dst_x2, dst_y2) {
+                // we need linear algebra module first
+            },
+
+            perspective_4point_transform: function(mat, src_x0, src_y0, dst_x0, dst_y0,
+                                                        src_x1, src_y1, dst_x1, dst_y1,
+                                                        src_x2, src_y2, dst_x2, dst_y2,
+                                                        src_x3, src_y3, dst_x3, dst_y3) {
+                var t1 = src_x0;
+                var t2 = src_x2;
+                var t4 = src_y1;
+                var t5 = t1 * t2 * t4;
+                var t6 = src_y3;
+                var t7 = t1 * t6;
+                var t8 = t2 * t7;
+                var t9 = src_y2;
+                var t10 = t1 * t9;
+                var t11 = src_x1;
+                var t14 = src_y0;
+                var t15 = src_x3;
+                var t16 = t14 * t15;
+                var t18 = t16 * t11;
+                var t20 = t15 * t11 * t9;
+                var t21 = t15 * t4;
+                var t24 = t15 * t9;
+                var t25 = t2 * t4;
+                var t26 = t6 * t2;
+                var t27 = t6 * t11;
+                var t28 = t9 * t11;
+                var t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                var t32 = t1 * t15;
+                var t35 = t14 * t11;
+                var t41 = t4 * t1;
+                var t42 = t6 * t41;
+                var t43 = t14 * t2;
+                var t46 = t16 * t9;
+                var t48 = t14 * t9 * t11;
+                var t51 = t4 * t6 * t2;
+                var t55 = t6 * t14;
+                var Hr0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hr1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hr2 = t1;
+                var Hr3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hr4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hr5 = t14;
+                var Hr6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hr7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+                
+                t1 = dst_x0;
+                t2 = dst_x2;
+                t4 = dst_y1;
+                t5 = t1 * t2 * t4;
+                t6 = dst_y3;
+                t7 = t1 * t6;
+                t8 = t2 * t7;
+                t9 = dst_y2;
+                t10 = t1 * t9;
+                t11 = dst_x1;
+                t14 = dst_y0;
+                t15 = dst_x3;
+                t16 = t14 * t15;
+                t18 = t16 * t11;
+                t20 = t15 * t11 * t9;
+                t21 = t15 * t4;
+                t24 = t15 * t9;
+                t25 = t2 * t4;
+                t26 = t6 * t2;
+                t27 = t6 * t11;
+                t28 = t9 * t11;
+                t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                t32 = t1 * t15;
+                t35 = t14 * t11;
+                t41 = t4 * t1;
+                t42 = t6 * t41;
+                t43 = t14 * t2;
+                t46 = t16 * t9;
+                t48 = t14 * t9 * t11;
+                t51 = t4 * t6 * t2;
+                t55 = t6 * t14;
+                var Hl0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hl1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hl2 = t1;
+                var Hl3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hl4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hl5 = t14;
+                var Hl6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hl7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+
+                // the following code computes R = Hl * inverse Hr
+                t2 = Hr4-Hr7*Hr5;
+                t4 = Hr0*Hr4;
+                t5 = Hr0*Hr5;
+                t7 = Hr3*Hr1;
+                t8 = Hr2*Hr3;
+                t10 = Hr1*Hr6;
+                var t12 = Hr2*Hr6;
+                t15 = 1.0 / (t4-t5*Hr7-t7+t8*Hr7+t10*Hr5-t12*Hr4);
+                t18 = -Hr3+Hr5*Hr6;
+                var t23 = -Hr3*Hr7+Hr4*Hr6;
+                t28 = -Hr1+Hr2*Hr7;
+                var t31 = Hr0-t12;
+                t35 = Hr0*Hr7-t10;
+                t41 = -Hr1*Hr5+Hr2*Hr4;
+                var t44 = t5-t8;
+                var t47 = t4-t7;
+                t48 = t2*t15;
+                var t49 = t28*t15;
+                var t50 = t41*t15;
+                mat[0] = Hl0*t48+Hl1*(t18*t15)-Hl2*(t23*t15);
+                mat[1] = Hl0*t49+Hl1*(t31*t15)-Hl2*(t35*t15);
+                mat[2] = -Hl0*t50-Hl1*(t44*t15)+Hl2*(t47*t15);
+                mat[3] = Hl3*t48+Hl4*(t18*t15)-Hl5*(t23*t15);
+                mat[4] = Hl3*t49+Hl4*(t31*t15)-Hl5*(t35*t15);
+                mat[5] = -Hl3*t50-Hl4*(t44*t15)+Hl5*(t47*t15);
+                mat[6] = Hl6*t48+Hl7*(t18*t15)-t23*t15;
+                mat[7] = Hl6*t49+Hl7*(t31*t15)-t35*t15;
+                mat[8] = -Hl6*t50-Hl7*(t44*t15)+t47*t15;
+            },
+
+            invert_affine_transform: function(src, dst) {
+                var m11 = src[0], m12 = src[1], m13 = src[2];
+                var m21 = src[3], m22 = src[4], m23 = src[5];
+
+                var det = 1.0 / (m11 * m22 - m12 * m21);
+
+                dst[0] = det * m22;
+                dst[1] = det * -m12;
+                dst[2] = det * (m12*m23 - m13*m22);
+
+                dst[3] = det * -m21;
+                dst[4] = det * m11;
+                dst[5] = det * (m13*m21 - m11*m23);
+            },
+
+            invert_perspective_transform: function(src, dst) {
+                var m11 = src[0], m12 = src[1], m13 = src[2];
+                var m21 = src[3], m22 = src[4], m23 = src[5];
+                var m31 = src[6], m32 = src[7], m33 = src[8];
+
+                var det = 1.0 / (m11 * (m22*m33 - m23*m32) - m12 * (m21*m33 - m23*m31) + m13 * (m21*m32 - m22*m31));
+
+                dst[0] = det * (m22*m33 - m23*m32);
+                dst[1] = det * (m13*m32 - m12*m33);
+                dst[2] = det * (m12*m23 - m13*m22);
+
+                dst[3] = det * (m23*m31 - m21*m33);
+                dst[4] = det * (m11*m33 - m13*m31);
+                dst[5] = det * (m13*m21 - m11*m23);
+
+                dst[6] = det * (m21*m32 - m22*m31);
+                dst[7] = det * (m12*m31 - m11*m32);
+                dst[8] = det * (m11*m22 - m12*m21);
+            }
+        };
+    })();
+
+    global.transform = transform;
+
+})(jsfeat);
\ No newline at end of file

From ba0c2cd19f666dd22ff833c7df14b00f7ce5562d Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Sat, 17 Nov 2012 23:49:52 +0400
Subject: [PATCH 10/46] Update README.md

---
 README.md | 23 +++++++++++++----------
 1 file changed, 13 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index 749655a..919b66d 100644
--- a/README.md
+++ b/README.md
@@ -5,16 +5,19 @@ jsfeat
 
 The project aim is to explore JS/HTML5 possibilities using modern & state-of-art computer vision algorithms.
 
+[Examples and Documentation](http://inspirit.github.com/jsfeat/)
+
 ### Features ###
 
-* Basic image processing methods (grayscale, derivatives, box-blur, resample, etc.)
-* Fast Corners feature detector (16/12/8 pattern size)
-* Lucas-Kanade optical flow
 * Custom data structures
-* more coming...
-
-### Change log ###
-
-2012 10 8 - **alpha**
-
-* First commit
+* Basic image processing methods (grayscale, derivatives, box-blur, resample, etc.)
+ * grayscale ([Demo](http://inspirit.github.com/jsfeat/sample_grayscale.html))
+ * box blur ([Demo](http://inspirit.github.com/jsfeat/sample_boxblur.html))
+ * gaussian blur ([Demo](http://inspirit.github.com/jsfeat/sample_gaussblur.html))
+ * equalize histogram ([Demo](http://inspirit.github.com/jsfeat/sample_equalize_hist.html))
+ * canny edges ([Demo](http://inspirit.github.com/jsfeat/sample_canny_edge.html))
+ * find more at Examples and Documentation page
+* Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))
+* Lucas-Kanade optical flow ([Demo](http://inspirit.github.com/jsfeat/sample_oflow_lk.html) - click to add points)
+* HAAR object detector ([Demo](http://inspirit.github.com/jsfeat/sample_haar_face.html))
+* BBF object detector ([Demo](http://inspirit.github.com/jsfeat/sample_bbf_face.html))

From dd80498e6731b9a94f6fb004da5d9a7799086892 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 19 Nov 2012 10:32:37 +0400
Subject: [PATCH 11/46] minor fixes

optimized box blur
simplifier fast corner detector
---
 build/jsfeat-min.js        |   2 +-
 build/jsfeat.js            | 237 ++++++++++++++++++++++++++-----------
 src/jsfeat_fast_corners.js |  26 ++--
 src/jsfeat_imgproc.js      | 196 +++++++++++++++++++++---------
 src/jsfeat_struct.js       |   6 +
 5 files changed, 332 insertions(+), 135 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index daf806f..57d7902 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(k){var g=256,e=512,d=1024,o=2048,n=4096;var r=1,h=2,a=3,i=4;var q=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var p=(function(){return function(s){return(s&65280)}})();var f=(function(){return function(s){return(s&255)}})();var b=(function(){return function(s){return q[(s&65280)>>8]}})();var m=(function(){function s(t){this.size=t|0;this.buffer=new ArrayBuffer(t);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}return s})();var j=(function(){function s(v,t,u){this.type=p(u)|0;this.channel=f(u)|0;this.cols=v|0;this.rows=t|0;this.buffer=new m((v*b(u)*f(u))*t);this.data=this.type&g?this.buffer.u8:(this.type&e?this.buffer.i32:this.buffer.f32)}s.prototype.set_data_type=function(t){this.type=p(t)|0;this.channel=f(t)|0;delete this.data;delete this.buffer;this.buffer=new m((this.cols*b(t)*f(t))*this.rows);this.data=this.type&g?this.buffer.u8:(this.type&e?this.buffer.i32:this.buffer.f32)};return s})();var l=(function(){function s(t){this.levels=t|0;this.data=new Array(t);this.pyrdown=jsfeat.imgproc.pyrdown}s.prototype.allocate=function(t,v,w){var u=this.levels;while(--u>=0){this.data[u]=new j(t>>u,v>>u,w)}};s.prototype.build=function(w,v){if(typeof v==="undefined"){v=true}var y=2,u=w,t=this.data[0];if(!v){var x=w.cols*w.rows;while(--x>=0){t.data[x]=w.data[x]}}t=this.data[1];this.pyrdown(u,t);for(;y<this.levels;++y){u=t;t=this.data[y];this.pyrdown(u,t)}};return s})();var c=(function(){function s(t,w,u,v){if(typeof t==="undefined"){t=0}if(typeof w==="undefined"){w=0}if(typeof u==="undefined"){u=0}if(typeof v==="undefined"){v=0}this.x=t;this.y=w;this.score=u;this.level=v}return s})();k.U8_t=g;k.S32_t=e;k.F32_t=d;k.S64_t=o;k.F64_t=n;k.C1_t=r;k.C2_t=h;k.C3_t=a;k.C4_t=i;k.get_data_type=p;k.get_channel=f;k.get_data_type_size=b;k.data_t=m;k.matrix_t=j;k.pyramid_t=l;k.point2d_t=c})(jsfeat);(function(b){var a=(function(){var f=(function(){function g(h){this.next=null;this.size=h|0;this.buffer=new ArrayBuffer(h);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}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.buffer=new ArrayBuffer(g);h.u8=new Uint8Array(h.buffer);h.i32=new Int32Array(h.buffer);h.f32=new Float32Array(h.buffer);h.size=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 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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{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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:function(q,H,A,G){if(typeof G==="undefined"){G=1}var p=(2*A+1)|0;var t=q.cols,D=q.rows;var n=q.type;var g,s=(t*p+t)|0,E=q.data,o=H.data;var v=(t*p)|0;var z=0,F=0;var C=0,B=0,l,k;var x,y;var u=0,r=(t*A-A)|0;var m=jsfeat.cache.get_buffer(s<<2);if((n&jsfeat.U8_t)||(n&jsfeat.S32_t)){g=m.i32}else{g=m.f32}for(;C<t;++C){g[v+C]=0}for(C=0;C<D;++C){x=0;y=u;for(B=0;B<p-1;++B){x+=E[u+B]}for(;B<=t-2;B+=2){x+=E[u+B];g[z+B]=x;g[v+B]+=x;x-=E[y++];x+=E[u+B+1];g[z+B+1]=x;g[v+B+1]+=x;x-=E[y++]}for(;B<t;++B){x+=E[u+B];g[z+B]=x;g[v+B]+=x;x-=E[y++]}if(C>=p-1){for(B=p-1;B<=t-2;B+=2){l=g[v+B];k=g[v+B+1];o[r+B]=l*G;o[r+B+1]=k*G;g[v+B]=l-g[F+B];g[v+B+1]=k-g[F+B+1]}for(;B<t;++B){l=g[v+B];o[r+B]=l*G;g[v+B]=l-g[F+B]}r+=t;F+=t;F=(F<v)*F}u+=t;z+=t;z=(z<v)*z}jsfeat.cache.put_buffer(m)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},compute_integral_image:function(g,l,y,u){var t=g.cols,w=g.rows,o=g.data;var r=t+1;var B,z,h,x,q=0,n=0,A,m;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();b.imgproc=a})(jsfeat);(function(a){var b=(function(){var 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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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|0;return 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u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
+var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(l){var h=256,f=512,e=1024,p=2048,o=4096;var s=1,i=2,a=3,j=4;var r=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var q=(function(){return function(t){return(t&65280)}})();var g=(function(){return function(t){return(t&255)}})();var b=(function(){return function(t){return r[(t&65280)>>8]}})();var d=1;var n=(function(){function t(u){this.size=u|0;this.buffer=new ArrayBuffer(u);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}return t})();var k=(function(){function t(w,u,v){this.type=q(v)|0;this.channel=g(v)|0;this.cols=w|0;this.rows=u|0;this.buffer=new n((w*b(v)*g(v))*u);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)}t.prototype.set_data_type=function(u){this.type=q(u)|0;this.channel=g(u)|0;delete this.data;delete this.buffer;this.buffer=new n((this.cols*b(u)*g(u))*this.rows);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)};return t})();var m=(function(){function t(u){this.levels=u|0;this.data=new Array(u);this.pyrdown=jsfeat.imgproc.pyrdown}t.prototype.allocate=function(u,w,x){var v=this.levels;while(--v>=0){this.data[v]=new k(u>>v,w>>v,x)}};t.prototype.build=function(x,w){if(typeof w==="undefined"){w=true}var z=2,v=x,u=this.data[0];if(!w){var y=x.cols*x.rows;while(--y>=0){u.data[y]=x.data[y]}}u=this.data[1];this.pyrdown(v,u);for(;z<this.levels;++z){v=u;u=this.data[z];this.pyrdown(v,u)}};return t})();var c=(function(){function t(u,z,v,w){if(typeof u==="undefined"){u=0}if(typeof z==="undefined"){z=0}if(typeof v==="undefined"){v=0}if(typeof w==="undefined"){w=0}this.x=u;this.y=z;this.score=v;this.level=w}return t})();l.U8_t=h;l.S32_t=f;l.F32_t=e;l.S64_t=p;l.F64_t=o;l.C1_t=s;l.C2_t=i;l.C3_t=a;l.C4_t=j;l.BOX_BLUR_NOSCALE=d;l.get_data_type=q;l.get_channel=g;l.get_data_type_size=b;l.data_t=n;l.matrix_t=k;l.pyramid_t=m;l.point2d_t=c})(jsfeat);(function(b){var a=(function(){var f=(function(){function g(h){this.next=null;this.size=h|0;this.buffer=new ArrayBuffer(h);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}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.buffer=new ArrayBuffer(g);h.u8=new Uint8Array(h.buffer);h.i32=new Int32Array(h.buffer);h.f32=new Float32Array(h.buffer);h.size=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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(q,H,l,k){if(typeof k==="undefined"){k=0}var u=q.cols,D=q.rows;var C,t,s;var A=l*2+1;var n=l+1;var o=8192;var G=k&jsfeat.BOX_BLUR_NOSCALE?1:(16384*(1/(A*A)))|0;var B=jsfeat.cache.get_buffer((u*D)<<2);var g,E,m=0,p,j;var F=B.i32;var v,r;var z;v=q.data;r=F;for(s=0;s<D;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];for(t=0;t<l;++t,E+=D){r[E]=g;g+=v[p]-z;p++}for(;t<=u-n-2;t+=2,E+=D<<1){r[E]=g;g+=v[p]-v[j];r[E+D]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<u-n;++t,E+=D){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<u;++t,E+=D){r[E]=g;g+=z-v[j];j++}m+=u}m=0;v=F;r=H.data;for(s=0;s<u;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];if(G==1){for(t=0;t<l;++t,E+=u){r[E]=g;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=g;g+=v[p]-v[j];r[E+u]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=g;g+=z-v[j];j++}}else{for(t=0;t<l;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=(g*G+o)>>14;g+=v[p]-v[j];r[E+u]=(g*G+o)>>14;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=(g*G+o)>>14;g+=z-v[j];j++}}m+=D}jsfeat.cache.put_buffer(B)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},compute_integral_image:function(g,l,y,u){var t=g.cols,w=g.rows,o=g.data;var r=t+1;var 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P}}})();a.fast_corners=b;b.set_threshold(20)})(jsfeat);(function(b){var a=(function(){var c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index baaec56..b536f27 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -10,6 +10,7 @@ self.Int32Array = self.Int32Array || Array;
 self.Uint32Array = self.Uint32Array || Array;
 self.Uint8Array = self.Uint8Array || Array;
 self.Float32Array = self.Float32Array || Array;
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -51,6 +52,9 @@ self.Float32Array = self.Float32Array || Array;
         }
     })();
 
+    // box blur option
+    var BOX_BLUR_NOSCALE = 0x01;
+
     var data_t = (function () {
         function data_t(size_in_bytes) {
             this.size = size_in_bytes|0;
@@ -151,6 +155,9 @@ self.Float32Array = self.Float32Array || Array;
     global.C3_t = C3_t;
     global.C4_t = C4_t;
 
+    // options
+    global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
+
     global.get_data_type = get_data_type;
     global.get_channel = get_channel;
     global.get_data_type_size = get_data_type_size;
@@ -161,6 +168,7 @@ self.Float32Array = self.Float32Array || Array;
     global.point2d_t = point2d_t;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -232,6 +240,7 @@ self.Float32Array = self.Float32Array || Array;
     cache.allocate(30, 640*4);
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -529,6 +538,7 @@ self.Float32Array = self.Float32Array || Array;
     global.math = math;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -700,7 +710,7 @@ self.Float32Array = self.Float32Array || Array;
 
     global.transform = transform;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -1091,72 +1101,154 @@ self.Float32Array = self.Float32Array || Array;
                 }
             },
 
-            box_blur: function(src, dst, hwin, scale) {
-                if (typeof scale === "undefined") { scale = 1; }
-                var win = (2*hwin+1)|0;
-                var w = src.cols, h = src.rows;
-                var data_type = src.type;
-                var _buf,buf_sz=(w*win+w)|0,src_d=src.data,dst_d=dst.data;
-                var sums = (w*win)|0;
-                var next_row=0,oldest_row=0;
-                var i=0, j=0, s0, s1;
-                var hsum,back;
-                var input = 0, output = (w*hwin - hwin) | 0;
-
-                // select correct data type
-                var buf_node = jsfeat.cache.get_buffer(buf_sz<<2);
-                if((data_type&jsfeat.U8_t) || (data_type&jsfeat.S32_t)) {
-                    _buf = buf_node.i32;
-                } else {
-                    _buf = buf_node.f32;
-                }
+            box_blur_gray: function(src, dst, radius, options) {
+                if (typeof options === "undefined") { options = 0; }
+                var w=src.cols, h=src.rows;
+                var i,x,y;
+                var windowSize = radius * 2 + 1;
+                var radiusPlusOne = radius + 1;
+                var offset = 8192;
+                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 * (1.0/(windowSize*windowSize)))|0;
+
+                var tmp_buff = jsfeat.cache.get_buffer((w*h)<<2);
+
+                var sum, dstIndex, srcIndex = 0, nextPixelIndex, previousPixelIndex;
+                var tmp = tmp_buff.i32; // to prevent overflow
+                var input, output;
+                var hold;
+
+                // first pass
+                // no need to scale 
+                input = src.data;
+                output = tmp;
+                for (y = 0; y < h; ++y) {
+                    dstIndex = y;
+                    sum = radiusPlusOne * input[srcIndex];
+
+                    for(i = 1; i <= radius; ++i) {
+                        sum += input[srcIndex + i];
+                    }
 
-                for(; i < w; ++i){ _buf[sums+i] = 0; }
+                    nextPixelIndex = srcIndex + radiusPlusOne;
+                    previousPixelIndex = srcIndex;
+                    hold = input[previousPixelIndex];
+                    for(x = 0; x < radius; ++x, dstIndex += h) {
+                        output[dstIndex] = sum;
+                        sum += input[nextPixelIndex]- hold;
+                        nextPixelIndex ++;
+                    }
+                    for(; x <= w-radiusPlusOne-2; x+=2, dstIndex += h<<1) {
+                        output[dstIndex] = sum;
+                        sum += input[nextPixelIndex]- input[previousPixelIndex];
 
-                for (i=0; i<h; ++i) {
-                    hsum = 0;
-                    back = input;
+                        output[dstIndex+h] = sum;
+                        sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
 
-                    for (j = 0; j < win-1; ++j) hsum += src_d[input+j];
-                    for (; j <= w-2; j+=2) {
-                        hsum += src_d[input+j];
-                        _buf[next_row+j] = hsum;
-                        _buf[sums+j] += hsum;
-                        hsum -= src_d[back++];
-                        //
-                        hsum += src_d[input+j+1];
-                        _buf[next_row+j+1] = hsum;
-                        _buf[sums+j+1] += hsum;
-                        hsum -= src_d[back++];
+                        nextPixelIndex +=2;
+                        previousPixelIndex +=2;
                     }
-                    for (; j < w; ++j) {
-                        hsum += src_d[input+j];
-                        _buf[next_row+j] = hsum;
-                        _buf[sums+j] += hsum;
-                        hsum -= src_d[back++];
+                    for(; x < w-radiusPlusOne; ++x, dstIndex += h) {
+                        output[dstIndex] = sum;
+                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+
+                        nextPixelIndex ++;
+                        previousPixelIndex ++;
                     }
-                    if (i >= win-1)  {
-                        for(j = win-1; j <= w-2; j+=2) {
-                            s0 = _buf[sums+j]; s1 = _buf[sums+j+1];
-                            dst_d[output+j] = s0*scale; dst_d[output+j+1] = s1*scale;
-                            _buf[sums+j] = s0 - _buf[oldest_row+j];
-                            _buf[sums+j+1] = s1 - _buf[oldest_row+j+1];
+                    
+                    hold = input[nextPixelIndex-1];
+                    for(; x < w; ++x, dstIndex += h) {
+                        output[dstIndex] = sum;
+
+                        sum += hold- input[previousPixelIndex];
+                        previousPixelIndex ++;
+                    }
+
+                    srcIndex += w;
+                }
+                //
+                // second pass
+                srcIndex = 0;
+                input = tmp; // this is a transpose
+                output = dst.data;
+                for (y = 0; y < w; ++y) {
+                    dstIndex = y;
+                    sum = radiusPlusOne * input[srcIndex];
+
+                    for(i = 1; i <= radius; ++i) {
+                        sum += input[srcIndex + i];
+                    }
+
+                    nextPixelIndex = srcIndex + radiusPlusOne;
+                    previousPixelIndex = srcIndex;
+                    hold = input[previousPixelIndex];
+
+                    // dont scale result
+                    if(scale == 1) {
+                        for(x = 0; x < radius; ++x, dstIndex += w) {
+                            output[dstIndex] = sum;
+                            sum += input[nextPixelIndex]- hold;
+                            nextPixelIndex ++;
+                        }
+                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
+                            output[dstIndex] = sum;
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+
+                            output[dstIndex+w] = sum;
+                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+
+                            nextPixelIndex +=2;
+                            previousPixelIndex +=2;
+                        }
+                        for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
+                            output[dstIndex] = sum;
+
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            nextPixelIndex ++;
+                            previousPixelIndex ++;
+                        }
+                        hold = input[nextPixelIndex-1];
+                        for(; x < h; ++x, dstIndex += w) {
+                            output[dstIndex] = sum;
+
+                            sum += hold- input[previousPixelIndex];
+                            previousPixelIndex ++;
+                        }
+                    } else {
+                        for(x = 0; x < radius; ++x, dstIndex += w) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+                            sum += input[nextPixelIndex]- hold;
+                            nextPixelIndex ++;
+                        }
+                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+
+                            output[dstIndex+w] = (sum*scale+offset)>>14;
+                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+
+                            nextPixelIndex +=2;
+                            previousPixelIndex +=2;
+                        }
+                        for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            nextPixelIndex ++;
+                            previousPixelIndex ++;
                         }
-                        for(; j < w; ++j) {
-                            s0 = _buf[sums+j];
-                            dst_d[output+j] = s0*scale;
-                            _buf[sums+j] = s0 - _buf[oldest_row+j];
+                        hold = input[nextPixelIndex-1];
+                        for(; x < h; ++x, dstIndex += w) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+
+                            sum += hold- input[previousPixelIndex];
+                            previousPixelIndex ++;
                         }
-                        output += w;
-                        oldest_row += w;
-                        oldest_row = (oldest_row < sums) * oldest_row;
                     }
-                    input += w;
-                    next_row += w;
-                    next_row = (next_row < sums) * next_row;
+
+                    srcIndex += h;
                 }
 
-                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(tmp_buff);
             },
 
             gaussian_blur: function(src, dst, kernel_size, sigma) {
@@ -1704,6 +1796,7 @@ self.Float32Array = self.Float32Array || Array;
     global.imgproc = imgproc;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -1724,8 +1817,10 @@ The references are:
     var fast_corners = (function() {
 
         var offsets16 = 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 offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
-        var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
+
+        // decided to switch it off since other pattern sizes return quite poor points
+        //var offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
+        //var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
 
         var threshold_tab = new Uint8Array(512);
         var pixel_off = new Int32Array(25);
@@ -1734,7 +1829,8 @@ The references are:
         // private functions
         var _cmp_offsets = function(pixel, step, pattern_size) {
             var k = 0;
-            var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
+            //var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
+            var offsets = offsets16;
             for( ; k < pattern_size; ++k ) {
                 pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
             }
@@ -1742,7 +1838,7 @@ The references are:
                 pixel[k] = pixel[k - pattern_size];
             }
         },
-
+/*
         _cmp_score_8 = function(src, off, pixel, d, threshold) {
             var N = 13, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
@@ -1814,7 +1910,7 @@ The references are:
 
             return -b0-1;
         },
-
+*/
         _cmp_score_16 = function(src, off, pixel, d, threshold) {
             var N = 25, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
@@ -1867,21 +1963,23 @@ The references are:
                 return _threshold;
             },
             
-            detect: function(src, corners, border, pattern_size) {
+            detect: function(src, corners, border) {
+                /*
                 if (typeof pattern_size === "undefined") { 
                     pattern_size = 16; 
                 } else if(pattern_size != 16 && pattern_size!=12 && pattern_size!=8) {
                     pattern_size = 16;
                 }
+                */
                 if (typeof border === "undefined") { border = 3; }
 
-                var K = (pattern_size>>1), N = (pattern_size + K + 1)|0;
+                var K = 8, N = 25;
                 var img = src.data, w = src.cols, h = src.rows;
                 var i=0, j=0, k=0, vt=0, x=0, m3=0;
                 var buf_node = jsfeat.cache.get_buffer(3 * w);
                 var cpbuf_node = jsfeat.cache.get_buffer(((w+1)*3)<<2);
-                var buf = buf_node.u8;//new Uint8Array(w*3);
-                var cpbuf = cpbuf_node.i32;//new Int32Array((w+1)*3);
+                var buf = buf_node.u8;
+                var cpbuf = cpbuf_node.i32;
                 var pixel = pixel_off;
                 var sd = score_diff;
                 var sy = Math.max(3, border);
@@ -1889,7 +1987,8 @@ The references are:
                 var sx = Math.max(3, border);
                 var ex = Math.min((w - 3), (w - border));
                 var _count = 0, corners_cnt = 0, pt;
-                var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
+                //var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
+                var score_func = _cmp_score_16;
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
 
@@ -2037,6 +2136,7 @@ The references are:
     fast_corners.set_threshold(20); // set default
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -2281,6 +2381,7 @@ The references are:
     global.optical_flow_lk = optical_flow_lk;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -2571,6 +2672,7 @@ The references are:
     global.haar = haar;
 
 })(jsfeat);
+
 /**
  * BBF: Brightness Binary Feature
  *
@@ -2965,3 +3067,4 @@ The references are:
     global.bbf = bbf;
 
 })(jsfeat);
+
diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
index 0d2982e..dcd425a 100755
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -18,8 +18,10 @@ The references are:
     var fast_corners = (function() {
 
         var offsets16 = 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 offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
-        var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
+
+        // decided to switch it off since other pattern sizes return quite poor points
+        //var offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
+        //var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
 
         var threshold_tab = new Uint8Array(512);
         var pixel_off = new Int32Array(25);
@@ -28,7 +30,8 @@ The references are:
         // private functions
         var _cmp_offsets = function(pixel, step, pattern_size) {
             var k = 0;
-            var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
+            //var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
+            var offsets = offsets16;
             for( ; k < pattern_size; ++k ) {
                 pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
             }
@@ -36,7 +39,7 @@ The references are:
                 pixel[k] = pixel[k - pattern_size];
             }
         },
-
+/*
         _cmp_score_8 = function(src, off, pixel, d, threshold) {
             var N = 13, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
@@ -108,7 +111,7 @@ The references are:
 
             return -b0-1;
         },
-
+*/
         _cmp_score_16 = function(src, off, pixel, d, threshold) {
             var N = 25, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
@@ -161,21 +164,23 @@ The references are:
                 return _threshold;
             },
             
-            detect: function(src, corners, border, pattern_size) {
+            detect: function(src, corners, border) {
+                /*
                 if (typeof pattern_size === "undefined") { 
                     pattern_size = 16; 
                 } else if(pattern_size != 16 && pattern_size!=12 && pattern_size!=8) {
                     pattern_size = 16;
                 }
+                */
                 if (typeof border === "undefined") { border = 3; }
 
-                var K = (pattern_size>>1), N = (pattern_size + K + 1)|0;
+                var K = 8, N = 25;
                 var img = src.data, w = src.cols, h = src.rows;
                 var i=0, j=0, k=0, vt=0, x=0, m3=0;
                 var buf_node = jsfeat.cache.get_buffer(3 * w);
                 var cpbuf_node = jsfeat.cache.get_buffer(((w+1)*3)<<2);
-                var buf = buf_node.u8;//new Uint8Array(w*3);
-                var cpbuf = cpbuf_node.i32;//new Int32Array((w+1)*3);
+                var buf = buf_node.u8;
+                var cpbuf = cpbuf_node.i32;
                 var pixel = pixel_off;
                 var sd = score_diff;
                 var sy = Math.max(3, border);
@@ -183,7 +188,8 @@ The references are:
                 var sx = Math.max(3, border);
                 var ex = Math.min((w - 3), (w - border));
                 var _count = 0, corners_cnt = 0, pt;
-                var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
+                //var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
+                var score_func = _cmp_score_16;
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
 
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 256bbfb..90331dd 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -388,72 +388,154 @@
                 }
             },
 
-            box_blur: function(src, dst, hwin, scale) {
-                if (typeof scale === "undefined") { scale = 1; }
-                var win = (2*hwin+1)|0;
-                var w = src.cols, h = src.rows;
-                var data_type = src.type;
-                var _buf,buf_sz=(w*win+w)|0,src_d=src.data,dst_d=dst.data;
-                var sums = (w*win)|0;
-                var next_row=0,oldest_row=0;
-                var i=0, j=0, s0, s1;
-                var hsum,back;
-                var input = 0, output = (w*hwin - hwin) | 0;
-
-                // select correct data type
-                var buf_node = jsfeat.cache.get_buffer(buf_sz<<2);
-                if((data_type&jsfeat.U8_t) || (data_type&jsfeat.S32_t)) {
-                    _buf = buf_node.i32;
-                } else {
-                    _buf = buf_node.f32;
+            box_blur_gray: function(src, dst, radius, options) {
+                if (typeof options === "undefined") { options = 0; }
+                var w=src.cols, h=src.rows;
+                var i,x,y;
+                var windowSize = radius * 2 + 1;
+                var radiusPlusOne = radius + 1;
+                var offset = 8192;
+                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 * (1.0/(windowSize*windowSize)))|0;
+
+                var tmp_buff = jsfeat.cache.get_buffer((w*h)<<2);
+
+                var sum, dstIndex, srcIndex = 0, nextPixelIndex, previousPixelIndex;
+                var tmp = tmp_buff.i32; // to prevent overflow
+                var input, output;
+                var hold;
+
+                // first pass
+                // no need to scale 
+                input = src.data;
+                output = tmp;
+                for (y = 0; y < h; ++y) {
+                    dstIndex = y;
+                    sum = radiusPlusOne * input[srcIndex];
+
+                    for(i = 1; i <= radius; ++i) {
+                        sum += input[srcIndex + i];
+                    }
+
+                    nextPixelIndex = srcIndex + radiusPlusOne;
+                    previousPixelIndex = srcIndex;
+                    hold = input[previousPixelIndex];
+                    for(x = 0; x < radius; ++x, dstIndex += h) {
+                        output[dstIndex] = sum;
+                        sum += input[nextPixelIndex]- hold;
+                        nextPixelIndex ++;
+                    }
+                    for(; x <= w-radiusPlusOne-2; x+=2, dstIndex += h<<1) {
+                        output[dstIndex] = sum;
+                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+
+                        output[dstIndex+h] = sum;
+                        sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+
+                        nextPixelIndex +=2;
+                        previousPixelIndex +=2;
+                    }
+                    for(; x < w-radiusPlusOne; ++x, dstIndex += h) {
+                        output[dstIndex] = sum;
+                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+
+                        nextPixelIndex ++;
+                        previousPixelIndex ++;
+                    }
+                    
+                    hold = input[nextPixelIndex-1];
+                    for(; x < w; ++x, dstIndex += h) {
+                        output[dstIndex] = sum;
+
+                        sum += hold- input[previousPixelIndex];
+                        previousPixelIndex ++;
+                    }
+
+                    srcIndex += w;
                 }
+                //
+                // second pass
+                srcIndex = 0;
+                input = tmp; // this is a transpose
+                output = dst.data;
+                for (y = 0; y < w; ++y) {
+                    dstIndex = y;
+                    sum = radiusPlusOne * input[srcIndex];
+
+                    for(i = 1; i <= radius; ++i) {
+                        sum += input[srcIndex + i];
+                    }
+
+                    nextPixelIndex = srcIndex + radiusPlusOne;
+                    previousPixelIndex = srcIndex;
+                    hold = input[previousPixelIndex];
 
-                for(; i < w; ++i){ _buf[sums+i] = 0; }
+                    // dont scale result
+                    if(scale == 1) {
+                        for(x = 0; x < radius; ++x, dstIndex += w) {
+                            output[dstIndex] = sum;
+                            sum += input[nextPixelIndex]- hold;
+                            nextPixelIndex ++;
+                        }
+                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
+                            output[dstIndex] = sum;
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
 
-                for (i=0; i<h; ++i) {
-                    hsum = 0;
-                    back = input;
+                            output[dstIndex+w] = sum;
+                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
 
-                    for (j = 0; j < win-1; ++j) hsum += src_d[input+j];
-                    for (; j <= w-2; j+=2) {
-                        hsum += src_d[input+j];
-                        _buf[next_row+j] = hsum;
-                        _buf[sums+j] += hsum;
-                        hsum -= src_d[back++];
-                        //
-                        hsum += src_d[input+j+1];
-                        _buf[next_row+j+1] = hsum;
-                        _buf[sums+j+1] += hsum;
-                        hsum -= src_d[back++];
-                    }
-                    for (; j < w; ++j) {
-                        hsum += src_d[input+j];
-                        _buf[next_row+j] = hsum;
-                        _buf[sums+j] += hsum;
-                        hsum -= src_d[back++];
-                    }
-                    if (i >= win-1)  {
-                        for(j = win-1; j <= w-2; j+=2) {
-                            s0 = _buf[sums+j]; s1 = _buf[sums+j+1];
-                            dst_d[output+j] = s0*scale; dst_d[output+j+1] = s1*scale;
-                            _buf[sums+j] = s0 - _buf[oldest_row+j];
-                            _buf[sums+j+1] = s1 - _buf[oldest_row+j+1];
+                            nextPixelIndex +=2;
+                            previousPixelIndex +=2;
+                        }
+                        for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
+                            output[dstIndex] = sum;
+
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            nextPixelIndex ++;
+                            previousPixelIndex ++;
+                        }
+                        hold = input[nextPixelIndex-1];
+                        for(; x < h; ++x, dstIndex += w) {
+                            output[dstIndex] = sum;
+
+                            sum += hold- input[previousPixelIndex];
+                            previousPixelIndex ++;
+                        }
+                    } else {
+                        for(x = 0; x < radius; ++x, dstIndex += w) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+                            sum += input[nextPixelIndex]- hold;
+                            nextPixelIndex ++;
                         }
-                        for(; j < w; ++j) {
-                            s0 = _buf[sums+j];
-                            dst_d[output+j] = s0*scale;
-                            _buf[sums+j] = s0 - _buf[oldest_row+j];
+                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+
+                            output[dstIndex+w] = (sum*scale+offset)>>14;
+                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+
+                            nextPixelIndex +=2;
+                            previousPixelIndex +=2;
+                        }
+                        for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+
+                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            nextPixelIndex ++;
+                            previousPixelIndex ++;
+                        }
+                        hold = input[nextPixelIndex-1];
+                        for(; x < h; ++x, dstIndex += w) {
+                            output[dstIndex] = (sum*scale+offset)>>14;
+
+                            sum += hold- input[previousPixelIndex];
+                            previousPixelIndex ++;
                         }
-                        output += w;
-                        oldest_row += w;
-                        oldest_row = (oldest_row < sums) * oldest_row;
                     }
-                    input += w;
-                    next_row += w;
-                    next_row = (next_row < sums) * next_row;
+
+                    srcIndex += h;
                 }
 
-                jsfeat.cache.put_buffer(buf_node);
+                jsfeat.cache.put_buffer(tmp_buff);
             },
 
             gaussian_blur: function(src, dst, kernel_size, sigma) {
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 44d1826..9e4280e 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -39,6 +39,9 @@
         }
     })();
 
+    // box blur option
+    var BOX_BLUR_NOSCALE = 0x01;
+
     var data_t = (function () {
         function data_t(size_in_bytes) {
             this.size = size_in_bytes|0;
@@ -139,6 +142,9 @@
     global.C3_t = C3_t;
     global.C4_t = C4_t;
 
+    // options
+    global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
+
     global.get_data_type = get_data_type;
     global.get_channel = get_channel;
     global.get_data_type_size = get_data_type_size;

From cfe697ff56cda9a9fdc1ccbc8b7efe13d458d18a Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 19 Nov 2012 10:46:31 +0400
Subject: [PATCH 12/46] fix fast corners

---
 build/jsfeat-min.js        | 2 +-
 build/jsfeat.js            | 2 +-
 src/jsfeat_fast_corners.js | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 57d7902..3115504 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(l){var h=256,f=512,e=1024,p=2048,o=4096;var s=1,i=2,a=3,j=4;var r=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var q=(function(){return function(t){return(t&65280)}})();var g=(function(){return function(t){return(t&255)}})();var b=(function(){return function(t){return r[(t&65280)>>8]}})();var d=1;var n=(function(){function t(u){this.size=u|0;this.buffer=new ArrayBuffer(u);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}return t})();var k=(function(){function t(w,u,v){this.type=q(v)|0;this.channel=g(v)|0;this.cols=w|0;this.rows=u|0;this.buffer=new n((w*b(v)*g(v))*u);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)}t.prototype.set_data_type=function(u){this.type=q(u)|0;this.channel=g(u)|0;delete this.data;delete this.buffer;this.buffer=new n((this.cols*b(u)*g(u))*this.rows);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)};return t})();var m=(function(){function t(u){this.levels=u|0;this.data=new Array(u);this.pyrdown=jsfeat.imgproc.pyrdown}t.prototype.allocate=function(u,w,x){var v=this.levels;while(--v>=0){this.data[v]=new k(u>>v,w>>v,x)}};t.prototype.build=function(x,w){if(typeof w==="undefined"){w=true}var z=2,v=x,u=this.data[0];if(!w){var y=x.cols*x.rows;while(--y>=0){u.data[y]=x.data[y]}}u=this.data[1];this.pyrdown(v,u);for(;z<this.levels;++z){v=u;u=this.data[z];this.pyrdown(v,u)}};return t})();var c=(function(){function t(u,z,v,w){if(typeof u==="undefined"){u=0}if(typeof z==="undefined"){z=0}if(typeof v==="undefined"){v=0}if(typeof w==="undefined"){w=0}this.x=u;this.y=z;this.score=v;this.level=w}return t})();l.U8_t=h;l.S32_t=f;l.F32_t=e;l.S64_t=p;l.F64_t=o;l.C1_t=s;l.C2_t=i;l.C3_t=a;l.C4_t=j;l.BOX_BLUR_NOSCALE=d;l.get_data_type=q;l.get_channel=g;l.get_data_type_size=b;l.data_t=n;l.matrix_t=k;l.pyramid_t=m;l.point2d_t=c})(jsfeat);(function(b){var a=(function(){var f=(function(){function g(h){this.next=null;this.size=h|0;this.buffer=new ArrayBuffer(h);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}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.buffer=new ArrayBuffer(g);h.u8=new Uint8Array(h.buffer);h.i32=new Int32Array(h.buffer);h.f32=new Float32Array(h.buffer);h.size=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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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 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O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(q,H,l,k){if(typeof k==="undefined"){k=0}var u=q.cols,D=q.rows;var C,t,s;var A=l*2+1;var n=l+1;var o=8192;var G=k&jsfeat.BOX_BLUR_NOSCALE?1:(16384*(1/(A*A)))|0;var B=jsfeat.cache.get_buffer((u*D)<<2);var g,E,m=0,p,j;var F=B.i32;var v,r;var z;v=q.data;r=F;for(s=0;s<D;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];for(t=0;t<l;++t,E+=D){r[E]=g;g+=v[p]-z;p++}for(;t<=u-n-2;t+=2,E+=D<<1){r[E]=g;g+=v[p]-v[j];r[E+D]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<u-n;++t,E+=D){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<u;++t,E+=D){r[E]=g;g+=z-v[j];j++}m+=u}m=0;v=F;r=H.data;for(s=0;s<u;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];if(G==1){for(t=0;t<l;++t,E+=u){r[E]=g;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=g;g+=v[p]-v[j];r[E+u]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=g;g+=z-v[j];j++}}else{for(t=0;t<l;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=(g*G+o)>>14;g+=v[p]-v[j];r[E+u]=(g*G+o)>>14;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=(g*G+o)>>14;g+=z-v[j];j++}}m+=D}jsfeat.cache.put_buffer(B)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},compute_integral_image:function(g,l,y,u){var t=g.cols,w=g.rows,o=g.data;var r=t+1;var B,z,h,x,q=0,n=0,A,m;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof 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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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
+var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(l){var h=256,f=512,e=1024,p=2048,o=4096;var s=1,i=2,a=3,j=4;var r=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var q=(function(){return function(t){return(t&65280)}})();var g=(function(){return function(t){return(t&255)}})();var b=(function(){return function(t){return r[(t&65280)>>8]}})();var d=1;var n=(function(){function t(u){this.size=u|0;this.buffer=new ArrayBuffer(u);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}return t})();var k=(function(){function t(w,u,v){this.type=q(v)|0;this.channel=g(v)|0;this.cols=w|0;this.rows=u|0;this.buffer=new n((w*b(v)*g(v))*u);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)}t.prototype.set_data_type=function(u){this.type=q(u)|0;this.channel=g(u)|0;delete this.data;delete this.buffer;this.buffer=new n((this.cols*b(u)*g(u))*this.rows);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)};return t})();var m=(function(){function t(u){this.levels=u|0;this.data=new Array(u);this.pyrdown=jsfeat.imgproc.pyrdown}t.prototype.allocate=function(u,w,x){var v=this.levels;while(--v>=0){this.data[v]=new k(u>>v,w>>v,x)}};t.prototype.build=function(x,w){if(typeof w==="undefined"){w=true}var z=2,v=x,u=this.data[0];if(!w){var y=x.cols*x.rows;while(--y>=0){u.data[y]=x.data[y]}}u=this.data[1];this.pyrdown(v,u);for(;z<this.levels;++z){v=u;u=this.data[z];this.pyrdown(v,u)}};return t})();var c=(function(){function t(u,z,v,w){if(typeof u==="undefined"){u=0}if(typeof z==="undefined"){z=0}if(typeof v==="undefined"){v=0}if(typeof w==="undefined"){w=0}this.x=u;this.y=z;this.score=v;this.level=w}return t})();l.U8_t=h;l.S32_t=f;l.F32_t=e;l.S64_t=p;l.F64_t=o;l.C1_t=s;l.C2_t=i;l.C3_t=a;l.C4_t=j;l.BOX_BLUR_NOSCALE=d;l.get_data_type=q;l.get_channel=g;l.get_data_type_size=b;l.data_t=n;l.matrix_t=k;l.pyramid_t=m;l.point2d_t=c})(jsfeat);(function(b){var a=(function(){var f=(function(){function g(h){this.next=null;this.size=h|0;this.buffer=new ArrayBuffer(h);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}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.buffer=new ArrayBuffer(g);h.u8=new Uint8Array(h.buffer);h.i32=new Int32Array(h.buffer);h.f32=new Float32Array(h.buffer);h.size=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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(q,H,l,k){if(typeof k==="undefined"){k=0}var u=q.cols,D=q.rows;var C,t,s;var A=l*2+1;var n=l+1;var o=8192;var G=k&jsfeat.BOX_BLUR_NOSCALE?1:(16384*(1/(A*A)))|0;var B=jsfeat.cache.get_buffer((u*D)<<2);var g,E,m=0,p,j;var F=B.i32;var v,r;var z;v=q.data;r=F;for(s=0;s<D;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];for(t=0;t<l;++t,E+=D){r[E]=g;g+=v[p]-z;p++}for(;t<=u-n-2;t+=2,E+=D<<1){r[E]=g;g+=v[p]-v[j];r[E+D]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<u-n;++t,E+=D){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<u;++t,E+=D){r[E]=g;g+=z-v[j];j++}m+=u}m=0;v=F;r=H.data;for(s=0;s<u;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];if(G==1){for(t=0;t<l;++t,E+=u){r[E]=g;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=g;g+=v[p]-v[j];r[E+u]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=g;g+=z-v[j];j++}}else{for(t=0;t<l;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=(g*G+o)>>14;g+=v[p]-v[j];r[E+u]=(g*G+o)>>14;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=(g*G+o)>>14;g+=z-v[j];j++}}m+=D}jsfeat.cache.put_buffer(B)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},compute_integral_image:function(g,l,y,u){var t=g.cols,w=g.rows,o=g.data;var r=t+1;var B,z,h,x,q=0,n=0,A,m;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index b536f27..069b69e 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -1995,7 +1995,7 @@ The references are:
                 var v=0,tab=0,d=0,ncorners=0,cornerpos=0,curr=0,ptr=0,prev=0,pprev=0;
                 var jp1=0,jm1=0,score=0;
 
-                _cmp_offsets(pixel, w, pattern_size);
+                _cmp_offsets(pixel, w, 16);
 
                 // local vars are faster?
                 var pixel0 = pixel[0];
diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
index dcd425a..bf99dd2 100755
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -196,7 +196,7 @@ The references are:
                 var v=0,tab=0,d=0,ncorners=0,cornerpos=0,curr=0,ptr=0,prev=0,pprev=0;
                 var jp1=0,jm1=0,score=0;
 
-                _cmp_offsets(pixel, w, pattern_size);
+                _cmp_offsets(pixel, w, 16);
 
                 // local vars are faster?
                 var pixel0 = pixel[0];

From d6fac1005ffbeb15538977755da4427adbc26c39 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 6 Dec 2012 14:32:15 +0400
Subject: [PATCH 13/46] new functionality

added Linear Algebra and Matrix Math modules
added new Feature detectors
improved and extended matrixt_t initiation with custom data
---
 build/jsfeat-min.js    |    2 +-
 build/jsfeat.js        | 1598 +++++++++++++++++++++++++++++++++++++---
 compile/build.xml      |    4 +
 src/jsfeat.js          |    1 +
 src/jsfeat_cache.js    |   28 +-
 src/jsfeat_imgproc.js  |  158 ++--
 src/jsfeat_linalg.js   |  721 ++++++++++++++++++
 src/jsfeat_mat_math.js |  140 ++++
 src/jsfeat_struct.js   |   44 +-
 src/jsfeat_yape.js     |  410 +++++++++++
 src/jsfeat_yape06.js   |   95 +++
 11 files changed, 3024 insertions(+), 177 deletions(-)
 create mode 100644 src/jsfeat_linalg.js
 create mode 100644 src/jsfeat_mat_math.js
 create mode 100644 src/jsfeat_yape.js
 create mode 100644 src/jsfeat_yape06.js

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 3115504..c721956 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;(function(l){var h=256,f=512,e=1024,p=2048,o=4096;var s=1,i=2,a=3,j=4;var r=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var q=(function(){return function(t){return(t&65280)}})();var g=(function(){return function(t){return(t&255)}})();var b=(function(){return function(t){return r[(t&65280)>>8]}})();var d=1;var n=(function(){function t(u){this.size=u|0;this.buffer=new ArrayBuffer(u);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}return t})();var k=(function(){function t(w,u,v){this.type=q(v)|0;this.channel=g(v)|0;this.cols=w|0;this.rows=u|0;this.buffer=new n((w*b(v)*g(v))*u);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)}t.prototype.set_data_type=function(u){this.type=q(u)|0;this.channel=g(u)|0;delete this.data;delete this.buffer;this.buffer=new n((this.cols*b(u)*g(u))*this.rows);this.data=this.type&h?this.buffer.u8:(this.type&f?this.buffer.i32:this.buffer.f32)};return t})();var m=(function(){function t(u){this.levels=u|0;this.data=new Array(u);this.pyrdown=jsfeat.imgproc.pyrdown}t.prototype.allocate=function(u,w,x){var v=this.levels;while(--v>=0){this.data[v]=new k(u>>v,w>>v,x)}};t.prototype.build=function(x,w){if(typeof w==="undefined"){w=true}var z=2,v=x,u=this.data[0];if(!w){var y=x.cols*x.rows;while(--y>=0){u.data[y]=x.data[y]}}u=this.data[1];this.pyrdown(v,u);for(;z<this.levels;++z){v=u;u=this.data[z];this.pyrdown(v,u)}};return t})();var c=(function(){function t(u,z,v,w){if(typeof u==="undefined"){u=0}if(typeof z==="undefined"){z=0}if(typeof v==="undefined"){v=0}if(typeof w==="undefined"){w=0}this.x=u;this.y=z;this.score=v;this.level=w}return t})();l.U8_t=h;l.S32_t=f;l.F32_t=e;l.S64_t=p;l.F64_t=o;l.C1_t=s;l.C2_t=i;l.C3_t=a;l.C4_t=j;l.BOX_BLUR_NOSCALE=d;l.get_data_type=q;l.get_channel=g;l.get_data_type_size=b;l.data_t=n;l.matrix_t=k;l.pyramid_t=m;l.point2d_t=c})(jsfeat);(function(b){var a=(function(){var f=(function(){function g(h){this.next=null;this.size=h|0;this.buffer=new ArrayBuffer(h);this.u8=new Uint8Array(this.buffer);this.i32=new Int32Array(this.buffer);this.f32=new Float32Array(this.buffer)}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.buffer=new ArrayBuffer(g);h.u8=new Uint8Array(h.buffer);h.i32=new Int32Array(h.buffer);h.f32=new Float32Array(h.buffer);h.size=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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var 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O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(q,H,l,k){if(typeof k==="undefined"){k=0}var u=q.cols,D=q.rows;var C,t,s;var A=l*2+1;var n=l+1;var o=8192;var G=k&jsfeat.BOX_BLUR_NOSCALE?1:(16384*(1/(A*A)))|0;var B=jsfeat.cache.get_buffer((u*D)<<2);var g,E,m=0,p,j;var F=B.i32;var v,r;var z;v=q.data;r=F;for(s=0;s<D;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];for(t=0;t<l;++t,E+=D){r[E]=g;g+=v[p]-z;p++}for(;t<=u-n-2;t+=2,E+=D<<1){r[E]=g;g+=v[p]-v[j];r[E+D]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<u-n;++t,E+=D){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<u;++t,E+=D){r[E]=g;g+=z-v[j];j++}m+=u}m=0;v=F;r=H.data;for(s=0;s<u;++s){E=s;g=n*v[m];for(C=1;C<=l;++C){g+=v[m+C]}p=m+n;j=m;z=v[j];if(G==1){for(t=0;t<l;++t,E+=u){r[E]=g;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=g;g+=v[p]-v[j];r[E+u]=g;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=g;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=g;g+=z-v[j];j++}}else{for(t=0;t<l;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-z;p++}for(;t<=D-n-2;t+=2,E+=u<<1){r[E]=(g*G+o)>>14;g+=v[p]-v[j];r[E+u]=(g*G+o)>>14;g+=v[p+1]-v[j+1];p+=2;j+=2}for(;t<D-n;++t,E+=u){r[E]=(g*G+o)>>14;g+=v[p]-v[j];p++;j++}z=v[p-1];for(;t<D;++t,E+=u){r[E]=(g*G+o)>>14;g+=z-v[j];j++}}m+=D}jsfeat.cache.put_buffer(B)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},compute_integral_image:function(g,l,y,u){var t=g.cols,w=g.rows,o=g.data;var r=t+1;var B,z,h,x,q=0,n=0,A,m;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof 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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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|0;return 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r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
+var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;self.Float64Array=self.Float64Array||Array;(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var 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a=(function(){var c=function(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 069b69e..12e1f2c 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -10,6 +10,7 @@ self.Int32Array = self.Int32Array || Array;
 self.Uint32Array = self.Uint32Array || Array;
 self.Uint8Array = self.Uint8Array || Array;
 self.Float32Array = self.Float32Array || Array;
+self.Float64Array = self.Float64Array || Array;
 
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
@@ -19,6 +20,10 @@ self.Float32Array = self.Float32Array || Array;
     "use strict";
     //
 
+    // CONSTANTS
+    var EPSILON = 0.0000001192092896;
+    var FLT_MIN = 1E-37;
+
     // implementation from CCV project
     // currently working only with u8,s32,f32
     var U8_t = 0x0100,
@@ -54,28 +59,42 @@ self.Float32Array = self.Float32Array || Array;
 
     // box blur option
     var BOX_BLUR_NOSCALE = 0x01;
+    // svd options
+    var SVD_U_T = 0x01;
+    var SVD_V_T = 0x02;
 
     var data_t = (function () {
-        function data_t(size_in_bytes) {
-            this.size = size_in_bytes|0;
-            this.buffer = new ArrayBuffer(size_in_bytes);
+        function data_t(size_in_bytes, buffer) {
+            // we need align size to multiple of 8
+            this.size = ((size_in_bytes + 7) | 0) & -8;
+            if (typeof buffer === "undefined") { 
+                this.buffer = new ArrayBuffer(this.size);
+            } else {
+                this.buffer = buffer;
+                this.size = buffer.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 data_t;
     })();
 
     var matrix_t = (function () {
         // columns, rows, data_type
-        function matrix_t(c, r, data_type) {
+        function matrix_t(c, r, data_type, data_buffer) {
             this.type = get_data_type(data_type)|0;
             this.channel = get_channel(data_type)|0;
             this.cols = c|0;
             this.rows = r|0;
-            this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+            if (typeof data_buffer === "undefined") { 
+                this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+            } else {
+                this.buffer = data_buffer;
+            }
             // data user asked for
-            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
         matrix_t.prototype.set_data_type = function(data_type) {
             this.type = get_data_type(data_type)|0;
@@ -85,7 +104,13 @@ self.Float32Array = self.Float32Array || Array;
             delete this.buffer;
             //
             this.buffer = new data_t((this.cols * get_data_type_size(data_type) * get_channel(data_type)) * this.rows);
-            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
+        }
+        matrix_t.prototype.set_data = function(array) {
+            var i = array.length;
+            while(--i >= 0) {
+                this.data[i] = array[i];
+            }
         }
         return matrix_t;
     })();
@@ -155,8 +180,14 @@ self.Float32Array = self.Float32Array || Array;
     global.C3_t = C3_t;
     global.C4_t = C4_t;
 
+    // constants
+    global.EPSILON = EPSILON;
+    global.FLT_MIN = FLT_MIN;
+
     // options
     global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
+    global.SVD_U_T = SVD_U_T;
+    global.SVD_V_T = SVD_V_T;
 
     global.get_data_type = get_data_type;
     global.get_channel = get_channel;
@@ -186,11 +217,23 @@ self.Float32Array = self.Float32Array || Array;
         var _pool_node_t = (function () {
             function _pool_node_t(size_in_bytes) {
                 this.next = null;
-                this.size = size_in_bytes|0;
-                this.buffer = new ArrayBuffer(size_in_bytes);
-                this.u8 = new Uint8Array(this.buffer);
-                this.i32 = new Int32Array(this.buffer);
-                this.f32 = new Float32Array(this.buffer);
+                this.data = new jsfeat.data_t(size_in_bytes);
+                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;
+            }
+            _pool_node_t.prototype.resize = function(size_in_bytes) {
+                delete this.data;
+                this.data = new jsfeat.data_t(size_in_bytes);
+                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 _pool_node_t;
         })();
@@ -217,11 +260,7 @@ self.Float32Array = self.Float32Array || Array;
                 _pool_size--;
 
                 if(size_in_bytes > node.size) {
-                    node.buffer = new ArrayBuffer(size_in_bytes);
-                    node.u8 = new Uint8Array(node.buffer);
-                    node.i32 = new Int32Array(node.buffer);
-                    node.f32 = new Float32Array(node.buffer);
-                    node.size = size_in_bytes;
+                    node.resize(size_in_bytes);
                 }
 
                 return node;
@@ -539,6 +578,867 @@ self.Float32Array = self.Float32Array || Array;
 
 })(jsfeat);
 
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var matmath = (function() {
+        
+        return {
+            transpose: function(At, A) {
+                var i=0,j=0,nrows=A.rows,ncols=A.cols;
+                var Ai=0,Ati=0,pAt=0;
+                var ad=A.data,atd=At.data;
+
+                for (; i < nrows; Ati += 1, Ai += ncols, i++) {
+                    pAt = Ati;
+                    for (j = 0; j < ncols; pAt += nrows, j++) atd[pAt] = ad[Ai+j];
+                }
+            },
+
+            // C = A * B
+            multiply: function(C, A, B) {
+                var i=0,j=0,k=0;
+                var Ap=0,pA=0,pB=0,p_B=0,Cp=0;
+                var ncols=A.cols,nrows=A.rows,mcols=B.cols;
+                var ad=A.data,bd=B.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < nrows; Ap += ncols, i++) {
+                    for (p_B = 0, j = 0; j < mcols; Cp++, p_B++, j++) {
+                        pB = p_B;
+                        pA = Ap;
+                        sum = 0.0;
+                        for (k = 0; k < ncols; pA++, pB += mcols, k++) {
+                            sum += ad[pA] * bd[pB];
+                        }
+                        cd[Cp] = sum;
+                    }
+                }
+            },
+
+            // C = A * B'
+            multiply_ABt: function(C, A, B) {
+                var i=0,j=0,k=0;
+                var Ap=0,pA=0,pB=0,Cp=0;
+                var ncols=A.cols,nrows=A.rows,mrows=B.rows;
+                var ad=A.data,bd=B.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < nrows; Ap += ncols, i++) {
+                    for (pB = 0, j = 0; j < mrows; Cp++, j++) {
+                        pA = Ap;
+                        sum = 0.0;
+                        for (k = 0; k < ncols; pA++, pB++, k++) {
+                            sum += ad[pA] * bd[pB];
+                        }
+                        cd[Cp] = sum;
+                    }
+                }
+            },
+
+            // C = A' * B
+            multiply_AtB: function(C, A, B) {
+                var i=0,j=0,k=0;
+                var Ap=0,pA=0,pB=0,p_B=0,Cp=0;
+                var ncols=A.cols,nrows=A.rows,mcols=B.cols;
+                var ad=A.data,bd=B.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < ncols; Ap++, i++) {
+                    for (p_B = 0, j = 0; j < mcols; Cp++, p_B++, j++) {
+                        pB = p_B;
+                        pA = Ap;
+                        sum = 0.0;
+                        for (k = 0; k < nrows; pA += ncols, pB += mcols, k++) {
+                            sum += ad[pA] * bd[pB];
+                        }
+                        cd[Cp] = sum;
+                    }
+                }
+            },
+
+            // C = A * A'
+            multiply_AAt: function(C, A) {
+                var i=0,j=0,k=0;
+                var pCdiag=0,p_A=0,pA=0,pB=0,pC=0,pCt=0;
+                var ncols=A.cols,nrows=A.rows;
+                var ad=A.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < nrows; pCdiag += nrows + 1, p_A = pA, i++) {
+                    pC = pCdiag;
+                    pCt = pCdiag;
+                    pB = p_A; 
+                    for (j = i; j < nrows; pC++, pCt += nrows, j++) {
+                        pA = p_A;
+                        sum = 0.0;
+                        for (k = 0; k < ncols; k++) {
+                            sum += ad[pA++] * ad[pB++];
+                        }
+                        cd[pC] = sum
+                        cd[pCt] = sum;
+                    }
+                }
+            },
+
+            // C = A' * A
+            multiply_AtA: function(C, A) {
+                var i=0,j=0,k=0;
+                var p_A=0,pA=0,pB=0,p_C=0,pC=0,p_CC=0;
+                var ncols=A.cols,nrows=A.rows;
+                var ad=A.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < ncols; p_C += ncols, i++) {
+                    p_A = i;
+                    p_CC = p_C + i;
+                    pC = p_CC;
+                    for (j = i; j < ncols; pC++, p_CC += ncols, j++) {
+                        pA = p_A;
+                        pB = j;
+                        sum = 0.0;
+                        for (k = 0; k < nrows; pA += ncols, pB += ncols, k++) {
+                            sum += ad[pA] * ad[pB];
+                        }
+                        cd[pC] = sum
+                        cd[p_CC] = sum;
+                    }
+                }
+            }
+        };
+
+    })();
+
+    global.matmath = matmath;
+
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var linalg = (function() {
+
+        var swap = function(A, i0, i1, t) {
+            t = A[i0];
+            A[i0] = A[i1];
+            A[i1] = t;
+        }
+
+        var hypot = function(a, b) {
+            a = Math.abs(a);
+            b = Math.abs(b);
+            if( a > b ) {
+                b /= a;
+                return a*Math.sqrt(1.0 + b*b);
+            }
+            if( b > 0 ) {
+                a /= b;
+                return b*Math.sqrt(1.0 + a*a);
+            }
+            return 0.0;
+        }
+
+        var JacobiImpl = function(A, astep, W, V, vstep, n) {
+            var eps = jsfeat.EPSILON;
+            var i=0,j=0,k=0,m=0,l=0,idx=0,_in=0,_in2=0;
+            var iters=0,max_iter=n*n*30;
+            var mv=0.0,val=0.0,p=0.0,y=0.0,t=0.0,s=0.0,c=0.0,a0=0.0,b0=0.0;
+
+            var indR_buff = jsfeat.cache.get_buffer(n<<2);
+            var indC_buff = jsfeat.cache.get_buffer(n<<2);
+            var indR = indR_buff.i32;
+            var indC = indC_buff.i32;
+
+            if(V) {
+                for(; i < n; i++) {
+                    k = i*vstep;
+                    for(j = 0; j < n; j++) {
+                        V[k + j] = 0.0;
+                    }
+                    V[k + i] = 1.0;
+                }
+            }
+
+            for(k = 0; k < n; k++) {
+                W[k] = A[(astep + 1)*k];
+                if(k < n - 1) {
+                    for(m = k+1, mv = Math.abs(A[astep*k + m]), i = k+2; i < n; i++) {
+                        val = Math.abs(A[astep*k+i]);
+                        if(mv < val)
+                            mv = val, m = i;
+                    }
+                    indR[k] = m;
+                }
+                if(k > 0) {
+                    for(m = 0, mv = Math.abs(A[k]), i = 1; i < k; i++) {
+                        val = Math.abs(A[astep*i+k]);
+                        if(mv < val)
+                            mv = val, m = i;
+                    }
+                    indC[k] = m;
+                }
+            }
+
+            if(n > 1) for( ; iters < max_iter; iters++) {
+                // find index (k,l) of pivot p
+                for(k = 0, mv = Math.abs(A[indR[0]]), i = 1; i < n-1; i++) {
+                    val = Math.abs(A[astep*i + indR[i]]);
+                    if( mv < val )
+                        mv = val, k = i;
+                }
+                l = indR[k];
+                for(i = 1; i < n; i++) {
+                    val = Math.abs(A[astep*indC[i] + i]);
+                    if( mv < val )
+                        mv = val, k = indC[i], l = i;
+                }
+                
+                p = A[astep*k + l];
+
+                if(Math.abs(p) <= eps) break;
+
+                y = (W[l] - W[k])*0.5;
+                t = Math.abs(y) + hypot(p, y);
+                s = hypot(p, t);
+                c = t/s;
+                s = p/s; t = (p/t)*p;
+                if(y < 0)
+                    s = -s, t = -t;
+                A[astep*k + l] = 0;
+                
+                W[k] -= t;
+                W[l] += t;
+                
+                // rotate rows and columns k and l
+                for (i = 0; i < k; i++) {
+                    _in = (astep * i + k);
+                    _in2 = (astep * i + l);
+                    a0 = A[_in];
+                    b0 = A[_in2];
+                    A[_in] = a0 * c - b0 * s;
+                    A[_in2] = a0 * s + b0 * c;
+                }
+                for (i = (k + 1); i < l; i++) {
+                    _in = (astep * k + i);
+                    _in2 = (astep * i + l);
+                    a0 = A[_in];
+                    b0 = A[_in2];
+                    A[_in] = a0 * c - b0 * s;
+                    A[_in2] = a0 * s + b0 * c;
+                }
+                i = l + 1;
+                _in = (astep * k + i);
+                _in2 = (astep * l + i);
+                for (; i < n; i++, _in++, _in2++) {
+                    a0 = A[_in];
+                    b0 = A[_in2];
+                    A[_in] = a0 * c - b0 * s;
+                    A[_in2] = a0 * s + b0 * c;
+                }
+                
+                // rotate eigenvectors
+                if (V) {
+                    _in = vstep * k;
+                    _in2 = vstep * l;
+                    for (i = 0; i < n; i++, _in++, _in2++) {
+                        a0 = V[_in];
+                        b0 = V[_in2];
+                        V[_in] = a0 * c - b0 * s;
+                        V[_in2] = a0 * s + b0 * c;
+                    }
+                }
+                
+                for(j = 0; j < 2; j++) {
+                    idx = j == 0 ? k : l;
+                    if(idx < n - 1) {
+                        for(m = idx+1, mv = Math.abs(A[astep*idx + m]), i = idx+2; i < n; i++) {
+                            val = Math.abs(A[astep*idx+i]);
+                            if( mv < val )
+                                mv = val, m = i;
+                        }
+                        indR[idx] = m;
+                    }
+                    if(idx > 0) {
+                        for(m = 0, mv = Math.abs(A[idx]), i = 1; i < idx; i++) {
+                            val = Math.abs(A[astep*i+idx]);
+                            if( mv < val )
+                                mv = val, m = i;
+                        }
+                        indC[idx] = m;
+                    }
+                }
+            }
+
+            // sort eigenvalues & eigenvectors
+            for(k = 0; k < n-1; k++) {
+                m = k;
+                for(i = k+1; i < n; i++) {
+                    if(W[m] < W[i])
+                        m = i;
+                }
+                if(k != m) {
+                    swap(W, m, k, mv);
+                    if(V) {
+                        for(i = 0; i < n; i++) {
+                            swap(V, vstep*m + i, vstep*k + i, mv);
+                        }
+                    }
+                }
+            }
+
+
+            jsfeat.cache.put_buffer(indR_buff);
+            jsfeat.cache.put_buffer(indC_buff);
+        }
+
+        var JacobiSVDImpl = function(At, astep, _W, Vt, vstep, m, n, n1) {
+            var eps = jsfeat.EPSILON * 10.0;
+            var minval = jsfeat.FLT_MIN;
+            var i=0,j=0,k=0,iter=0,max_iter=Math.max(m, 30);
+            var Ai=0,Aj=0,Vi=0,Vj=0,changed=0;
+            var c=0.0, s=0.0, t=0.0;
+            var t0=0.0,t1=0.0,sd=0.0,beta=0.0,gamma=0.0,delta=0.0,a=0.0,p=0.0,b=0.0;
+            var seed = 0x1234;
+            var val=0.0,val0=0.0,asum=0.0;
+
+            var W_buff = jsfeat.cache.get_buffer(n<<3);
+            var W = W_buff.f64;
+            
+            for(; i < n; i++) {
+                for(k = 0, sd = 0; k < m; k++) {
+                    t = At[i*astep + k];
+                    sd += t*t;
+                }
+                W[i] = sd;
+                
+                if(Vt) {
+                    for(k = 0; k < n; k++) {
+                        Vt[i*vstep + k] = 0;
+                    }
+                    Vt[i*vstep + i] = 1;
+                }
+            }
+            
+            for(; iter < max_iter; iter++) {
+                changed = 0;
+                
+                for(i = 0; i < n-1; i++) {
+                    for(j = i+1; j < n; j++) {
+                        Ai = (i*astep)|0, Aj = (j*astep)|0;
+                        a = W[i], p = 0, b = W[j];
+                        
+                        k = 3;
+                        p += At[Ai]*At[Aj];
+                        p += At[Ai+1]*At[Aj+1];
+                        p += At[Ai+2]*At[Aj+2];
+
+                        for(; k < m; k++)
+                            p += At[Ai+k]*At[Aj+k];
+                        
+                        if(Math.abs(p) <= eps*Math.sqrt(a*b)) continue;
+                        
+                        p *= 2.0;
+                        beta = a - b, gamma = hypot(p, beta);
+                        if(beta < 0) {
+                            delta = (gamma - beta)*0.5;
+                            s = Math.sqrt(delta/gamma);
+                            c = (p/(gamma*s*2.0));
+                        } else {
+                            c = Math.sqrt((gamma + beta)/(gamma*2.0));
+                            s = (p/(gamma*c*2.0));
+                            delta = p*p*0.5/(gamma + beta);
+                        }
+                        
+                        W[i] += delta;
+                        W[j] -= delta;
+                        
+                        if( (iter & 1) && W[i] > 0 && W[j] > 0 ) {
+                            k = 3;//unroll 3x3
+                            t0 = c*At[Ai] + s*At[Aj];
+                            t1 = -s*At[Ai] + c*At[Aj];
+                            At[Ai] = t0; At[Aj] = t1;
+
+                            t0 = c*At[Ai+1] + s*At[Aj+1];
+                            t1 = -s*At[Ai+1] + c*At[Aj+1];
+                            At[Ai+1] = t0; At[Aj+1] = t1;
+
+                            t0 = c*At[Ai+2] + s*At[Aj+2];
+                            t1 = -s*At[Ai+2] + c*At[Aj+2];
+                            At[Ai+2] = t0; At[Aj+2] = t1;
+
+                            for(; k < m; k++) {
+                                t0 = c*At[Ai+k] + s*At[Aj+k];
+                                t1 = -s*At[Ai+k] + c*At[Aj+k];
+                                At[Ai+k] = t0; At[Aj+k] = t1;
+                            }
+                        } else {
+                            a = b = 0;
+                            k = 3; // unroll
+                            t0 = c*At[Ai] + s*At[Aj];
+                            t1 = -s*At[Ai] + c*At[Aj];
+                            At[Ai] = t0; At[Aj] = t1;
+                            a += t0*t0; b += t1*t1;
+
+                            t0 = c*At[Ai+1] + s*At[Aj+1];
+                            t1 = -s*At[Ai+1] + c*At[Aj+1];
+                            At[Ai+1] = t0; At[Aj+1] = t1;
+                            a += t0*t0; b += t1*t1;
+
+                            t0 = c*At[Ai+2] + s*At[Aj+2];
+                            t1 = -s*At[Ai+2] + c*At[Aj+2];
+                            At[Ai+2] = t0; At[Aj+2] = t1;
+                            a += t0*t0; b += t1*t1;
+
+                            for( ; k < m; k++ )
+                            {
+                                t0 = c*At[Ai+k] + s*At[Aj+k];
+                                t1 = -s*At[Ai+k] + c*At[Aj+k];
+                                At[Ai+k] = t0; At[Aj+k] = t1;
+                                
+                                a += t0*t0; b += t1*t1;
+                            }
+                            W[i] = a; W[j] = b;
+                        }
+                        
+                        changed = 1;
+                        
+                        if(Vt) {
+                            Vi = (i*vstep)|0, Vj = (j*vstep)|0;
+
+                            k = 3;
+                            t0 = c*Vt[Vi] + s*Vt[Vj];
+                            t1 = -s*Vt[Vi] + c*Vt[Vj];
+                            Vt[Vi] = t0; Vt[Vj] = t1;
+
+                            t0 = c*Vt[Vi+1] + s*Vt[Vj+1];
+                            t1 = -s*Vt[Vi+1] + c*Vt[Vj+1];
+                            Vt[Vi+1] = t0; Vt[Vj+1] = t1;
+
+                            t0 = c*Vt[Vi+2] + s*Vt[Vj+2];
+                            t1 = -s*Vt[Vi+2] + c*Vt[Vj+2];
+                            Vt[Vi+2] = t0; Vt[Vj+2] = t1;
+
+                            for(; k < n; k++) {
+                                t0 = c*Vt[Vi+k] + s*Vt[Vj+k];
+                                t1 = -s*Vt[Vi+k] + c*Vt[Vj+k];
+                                Vt[Vi+k] = t0; Vt[Vj+k] = t1;
+                            }
+                        }
+                    }
+                }
+                if(changed == 0) break;
+            }
+            
+            for(i = 0; i < n; i++) {
+                for(k = 0, sd = 0; k < m; k++) {
+                    t = At[i*astep + k];
+                    sd += t*t;
+                }
+                W[i] = Math.sqrt(sd);
+            }
+            
+            for(i = 0; i < n-1; i++) {
+                j = i;
+                for(k = i+1; k < n; k++) {
+                    if(W[j] < W[k])
+                        j = k;
+                }
+                if(i != j) {
+                    swap(W, i, j, sd);
+                    if(Vt) {
+                        for(k = 0; k < m; k++) {
+                            swap(At, i*astep + k, j*astep + k, t);
+                        }
+                        
+                        for(k = 0; k < n; k++) {
+                            swap(Vt, i*vstep + k, j*vstep + k, t);
+                        }
+                    }
+                }
+            }
+            
+            for(i = 0; i < n; i++) {
+                _W[i] = W[i];
+            }
+            
+            if(!Vt) {
+                jsfeat.cache.put_buffer(W_buff);
+                return;
+            }
+
+            for(i = 0; i < n1; i++) {
+
+                sd = i < n ? W[i] : 0;
+                
+                while(sd <= minval) {
+                    // if we got a zero singular value, then in order to get the corresponding left singular vector
+                    // we generate a random vector, project it to the previously computed left singular vectors,
+                    // subtract the projection and normalize the difference.
+                    val0 = (1.0/m);
+                    for(k = 0; k < m; k++) {
+                        seed = (seed * 214013 + 2531011);
+                        val = (((seed >> 16) & 0x7fff) & 256) != 0 ? val0 : -val0;
+                        At[i*astep + k] = val;
+                    }
+                    for(iter = 0; iter < 2; iter++) {
+                        for(j = 0; j < i; j++) {
+                            sd = 0;
+                            for(k = 0; k < m; k++) {
+                                sd += At[i*astep + k]*At[j*astep + k];
+                            }
+                            asum = 0.0;
+                            for(k = 0; k < m; k++) {
+                                t = (At[i*astep + k] - sd*At[j*astep + k]);
+                                At[i*astep + k] = t;
+                                asum += Math.abs(t);
+                            }
+                            asum = asum ? 1.0/asum : 0;
+                            for(k = 0; k < m; k++) {
+                                At[i*astep + k] *= asum;
+                            }
+                        }
+                    }
+                    sd = 0;
+                    for(k = 0; k < m; k++) {
+                        t = At[i*astep + k];
+                        sd += t*t;
+                    }
+                    sd = Math.sqrt(sd);
+                }
+                
+                s = (1.0/sd);
+                for(k = 0; k < m; k++) {
+                    At[i*astep + k] *= s;
+                }
+            }
+
+            jsfeat.cache.put_buffer(W_buff);
+        }
+        
+        return {
+
+            lu_solve: function(A, B) {
+                var i=0,j=0,k=0,p=1,astep=A.cols;
+                var ad=A.data, bd=B.data;
+                var t,alpha,d,s;
+
+                for(i = 0; i < astep; i++) {
+                    k = i;                    
+                    for(j = i+1; j < astep; j++) {
+                        if(Math.abs(ad[j*astep + i]) > Math.abs(ad[k*astep+i])) {
+                            k = j;
+                        }
+                    }
+                    
+                    if(Math.abs(ad[k*astep+i]) < jsfeat.EPSILON) {
+                        return 0; // FAILED
+                    }
+                    
+                    if(k != i) {
+                        for(j = i; j < astep; j++ ) {
+                            swap(ad, i*astep+j, k*astep+j, t);
+                        }
+                        
+                        swap(bd, i, k, t);
+                        p = -p;
+                    }
+                    
+                    d = -1.0/ad[i*astep+i];
+                    
+                    for(j = i+1; j < astep; j++) {
+                        alpha = ad[j*astep+i]*d;
+                        
+                        for(k = i+1; k < astep; k++) {
+                            ad[j*astep+k] += alpha*ad[i*astep+k];
+                        }
+                        
+                        bd[j] += alpha*bd[i];
+                    }
+                    
+                    ad[i*astep+i] = -d;
+                }
+                
+                for(i = astep-1; i >= 0; i--) {
+                    s = bd[i];
+                    for(k = i+1; k < astep; k++) {
+                        s -= ad[i*astep+k]*bd[k];
+                    }
+                    bd[i] = s*ad[i*astep+i];
+                }
+
+                return 1; // OK
+            },
+
+            cholesky_solve: function(A, B) {
+                var col=0,row=0,col2=0,cs=0,rs=0,i=0,j=0;
+                var size = A.cols;
+                var ad=A.data, bd=B.data;
+                var val,inv_diag;
+
+                for (col = 0; col < size; col++) {
+                    inv_diag = 1.0;
+                    cs = (col * size);
+                    rs = cs;
+                    for (row = col; row < size; row++)
+                    {
+                        // correct for the parts of cholesky already computed
+                        val = ad[(rs+col)];
+                        for (col2 = 0; col2 < col; col2++) {
+                            val -= ad[(col2*size+col)] * ad[(rs+col2)];
+                        }
+                        if (row == col) {
+                            // this is the diagonal element so don't divide
+                            ad[(rs+col)] = val;
+                            if(val == 0) {
+                                return 0;
+                            }
+                            inv_diag = 1.0 / val;
+                        } else {
+                            // cache the value without division in the upper half
+                            ad[(cs+row)] = val;
+                            // divide my the diagonal element for all others
+                            ad[(rs+col)] = val * inv_diag;
+                        }
+                        rs = (rs + size);
+                    }
+                }
+
+                // first backsub through L
+                cs = 0;
+                for (i = 0; i < size; i++) {
+                    val = bd[i];
+                    for (j = 0; j < i; j++) {
+                        val -= ad[(cs+j)] * bd[j];
+                    }
+                    bd[i] = val;
+                    cs = (cs + size);
+                }
+                // backsub through diagonal
+                cs = 0;
+                for (i = 0; i < size; i++) {
+                    bd[i] /= ad[(cs + i)];
+                    cs = (cs + size);
+                }
+                // backsub through L Transpose
+                i = (size-1);
+                for (; i >= 0; i--) {
+                    val = bd[i];
+                    j = (i + 1);
+                    cs = (j * size);
+                    for (; j < size; j++) {
+                        val -= ad[(cs + i)] * bd[j];
+                        cs = (cs + size);
+                    }
+                    bd[i] = val;
+                }
+
+                return 1;
+            },
+
+            svd_decompose: function(A, W, U, V, options) {
+                if (typeof options === "undefined") { options = 0; };
+                var at=0,i=0,j=0,_m=A.rows,_n=A.cols,m=_m,n=_n;
+                var dt = A.type | jsfeat.C1_t; // we only work with single channel
+
+                if(m < n) {
+                    at = 1;
+                    i = m;
+                    m = n;
+                    n = i;
+                }
+
+                var a_buff = jsfeat.cache.get_buffer((m*m)<<3);
+                var w_buff = jsfeat.cache.get_buffer(n<<3);
+                var v_buff = jsfeat.cache.get_buffer((n*n)<<3);
+
+                var a_mt = new jsfeat.matrix_t(m, m, dt, a_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, n, dt, w_buff.data);
+                var v_mt = new jsfeat.matrix_t(n, n, dt, v_buff.data);
+
+                if(at == 0) {
+                    // transpose
+                    jsfeat.matmath.transpose(a_mt, A);
+                } else {
+                    for(i = 0; i < _n*_m; i++) {
+                        a_mt.data[i] = A.data[i];
+                    }
+                    for(; i < n*m; i++) {
+                        a_mt.data[i] = 0;
+                    }
+                }
+
+                JacobiSVDImpl(a_mt.data, m, w_mt.data, v_mt.data, n, m, n, m);
+
+                if(W) {
+                    for(i=0; i < n; i++) {
+                        W.data[i] = w_mt.data[i];
+                    }
+                    for(; i < _n; i++) {
+                        W.data[i] = 0;
+                    }
+                }
+
+                if (at == 0) {
+                    if(U && (options & jsfeat.SVD_U_T)) {
+                        i = m*m;
+                        while(--i >= 0) {
+                            U.data[i] = a_mt.data[i];
+                        }
+                    } else if(U) {
+                        jsfeat.matmath.transpose(U, a_mt);
+                    }
+
+                    if(V && (options & jsfeat.SVD_V_T)) {
+                        i = n*n;
+                        while(--i >= 0) {
+                            V.data[i] = v_mt.data[i];
+                        }
+                    } else if(V) {
+                        jsfeat.matmath.transpose(V, v_mt);
+                    }
+                } else {
+                    if(U && (options & jsfeat.SVD_U_T)) {
+                        i = n*n;
+                        while(--i >= 0) {
+                            U.data[i] = v_mt.data[i];
+                        }
+                    } else if(U) {
+                        jsfeat.matmath.transpose(U, v_mt);
+                    }
+
+                    if(V && (options & jsfeat.SVD_V_T)) {
+                        i = m*m;
+                        while(--i >= 0) {
+                            V.data[i] = a_mt.data[i];
+                        }
+                    } else if(V) {
+                        jsfeat.matmath.transpose(V, a_mt);
+                    }
+                }
+
+                jsfeat.cache.put_buffer(a_buff);
+                jsfeat.cache.put_buffer(w_buff);
+                jsfeat.cache.put_buffer(v_buff);
+
+            },
+
+            svd_solve: function(A, X, B) {
+                var i=0,j=0,k=0;
+                var pu=0,pv=0;
+                var nrows=A.rows,ncols=A.cols;
+                var sum=0.0,xsum=0.0,tol=0.0;
+                var dt = A.type | jsfeat.C1_t;
+
+                var u_buff = jsfeat.cache.get_buffer((nrows*nrows)<<3);
+                var w_buff = jsfeat.cache.get_buffer(ncols<<3);
+                var v_buff = jsfeat.cache.get_buffer((ncols*ncols)<<3);
+
+                var u_mt = new jsfeat.matrix_t(nrows, nrows, dt, u_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, ncols, dt, w_buff.data);
+                var v_mt = new jsfeat.matrix_t(ncols, ncols, dt, v_buff.data);
+
+                var bd = B.data, ud = u_mt.data, wd = w_mt.data, vd = v_mt.data;
+
+                this.svd_decompose(A, w_mt, u_mt, v_mt, 0);
+
+                tol = jsfeat.EPSILON * wd[0] * ncols;
+
+                for (; i < ncols; i++, pv += ncols) {
+                    xsum = 0.0;
+                    for(j = 0; j < ncols; j++) {
+                        if(wd[j] > tol) {
+                            for(k = 0, sum = 0.0, pu = 0; k < nrows; k++, pu += ncols) {
+                                sum += ud[pu + j] * bd[k];
+                            }
+                            xsum += sum * vd[pv + j] / wd[j];
+                        }
+                    }
+                    X.data[i] = xsum;
+                }
+
+                jsfeat.cache.put_buffer(u_buff);
+                jsfeat.cache.put_buffer(w_buff);
+                jsfeat.cache.put_buffer(v_buff);
+            },
+
+            svd_invert: function(Ai, A) {
+                var i=0,j=0,k=0;
+                var pu=0,pv=0,pa=0;
+                var nrows=A.rows,ncols=A.cols;
+                var sum=0.0,tol=0.0;
+                var dt = A.type | jsfeat.C1_t;
+
+                var u_buff = jsfeat.cache.get_buffer((nrows*nrows)<<3);
+                var w_buff = jsfeat.cache.get_buffer(ncols<<3);
+                var v_buff = jsfeat.cache.get_buffer((ncols*ncols)<<3);
+
+                var u_mt = new jsfeat.matrix_t(nrows, nrows, dt, u_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, ncols, dt, w_buff.data);
+                var v_mt = new jsfeat.matrix_t(ncols, ncols, dt, v_buff.data);
+
+                var id = Ai.data, ud = u_mt.data, wd = w_mt.data, vd = v_mt.data;
+
+                this.svd_decompose(A, w_mt, u_mt, v_mt, 0);
+
+                tol = jsfeat.EPSILON * wd[0] * ncols;
+
+                for (; i < ncols; i++, pv += ncols) {
+                    for (j = 0, pu = 0; j < nrows; j++, pa++) {
+                        for (k = 0, sum = 0.0; k < ncols; k++, pu++) {
+                            if (wd[k] > tol) sum += vd[pv + k] * ud[pu] / wd[k];
+                        }
+                        id[pa] = sum;
+                    }
+                }
+
+                jsfeat.cache.put_buffer(u_buff);
+                jsfeat.cache.put_buffer(w_buff);
+                jsfeat.cache.put_buffer(v_buff);
+            },
+
+            eigenVV: function(A, vects, vals) {
+                var n=A.cols,i=n*n;
+                var dt = A.type | jsfeat.C1_t;
+
+                var a_buff = jsfeat.cache.get_buffer((n*n)<<3);
+                var w_buff = jsfeat.cache.get_buffer(n<<3);
+                var a_mt = new jsfeat.matrix_t(n, n, dt, a_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, n, dt, w_buff.data);
+
+                while(--i >= 0) {
+                    a_mt.data[i] = A.data[i];
+                }
+
+                JacobiImpl(a_mt.data, n, w_mt.data, vects ? vects.data : null, n, n);
+
+                if(vals) {
+                    while(--n >= 0) {
+                        vals.data[n] = w_mt.data[n];
+                    }
+                }
+
+                jsfeat.cache.put_buffer(a_buff);
+                jsfeat.cache.put_buffer(w_buff);
+            }
+
+        };
+
+    })();
+
+    global.linalg = linalg;
+
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -1103,63 +2003,63 @@ self.Float32Array = self.Float32Array || Array;
 
             box_blur_gray: function(src, dst, radius, options) {
                 if (typeof options === "undefined") { options = 0; }
-                var w=src.cols, h=src.rows;
-                var i,x,y;
-                var windowSize = radius * 2 + 1;
-                var radiusPlusOne = radius + 1;
+                var w=src.cols, h=src.rows, h2=h<<1, w2=w<<1;
+                var i=0,x=0,y=0,end=0;
+                var windowSize = ((radius << 1) + 1)|0;
+                var radiusPlusOne = (radius + 1)|0, radiusPlus2 = (radiusPlusOne+1)|0;
                 var offset = 8192;
-                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 * (1.0/(windowSize*windowSize)))|0;
+                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 / (windowSize*windowSize) + 0.5)|0;
 
                 var tmp_buff = jsfeat.cache.get_buffer((w*h)<<2);
 
-                var sum, dstIndex, srcIndex = 0, nextPixelIndex, previousPixelIndex;
-                var tmp = tmp_buff.i32; // to prevent overflow
-                var input, output;
-                var hold;
+                var sum=0, dstIndex=0, srcIndex = 0, nextPixelIndex=0, previousPixelIndex=0;
+                var data_i32 = tmp_buff.i32; // to prevent overflow
+                var data_u8 = src.data;
+                var hold=0;
 
                 // first pass
                 // no need to scale 
-                input = src.data;
-                output = tmp;
+                //data_u8 = src.data;
+                //data_i32 = tmp;
                 for (y = 0; y < h; ++y) {
                     dstIndex = y;
-                    sum = radiusPlusOne * input[srcIndex];
+                    sum = radiusPlusOne * data_u8[srcIndex];
 
-                    for(i = 1; i <= radius; ++i) {
-                        sum += input[srcIndex + i];
+                    for(i = (srcIndex+1)|0, end=(srcIndex+radius)|0; i <= end; ++i) {
+                        sum += data_u8[i];
                     }
 
-                    nextPixelIndex = srcIndex + radiusPlusOne;
+                    nextPixelIndex = (srcIndex + radiusPlusOne)|0;
                     previousPixelIndex = srcIndex;
-                    hold = input[previousPixelIndex];
+                    hold = data_u8[previousPixelIndex];
                     for(x = 0; x < radius; ++x, dstIndex += h) {
-                        output[dstIndex] = sum;
-                        sum += input[nextPixelIndex]- hold;
+                        data_i32[dstIndex] = sum;
+                        sum += data_u8[nextPixelIndex]- hold;
                         nextPixelIndex ++;
                     }
-                    for(; x <= w-radiusPlusOne-2; x+=2, dstIndex += h<<1) {
-                        output[dstIndex] = sum;
-                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+                    for(; x < w-radiusPlus2; x+=2, dstIndex += h2) {
+                        data_i32[dstIndex] = sum;
+                        sum += data_u8[nextPixelIndex]- data_u8[previousPixelIndex];
 
-                        output[dstIndex+h] = sum;
-                        sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+                        data_i32[dstIndex+h] = sum;
+                        sum += data_u8[nextPixelIndex+1]- data_u8[previousPixelIndex+1];
 
                         nextPixelIndex +=2;
                         previousPixelIndex +=2;
                     }
                     for(; x < w-radiusPlusOne; ++x, dstIndex += h) {
-                        output[dstIndex] = sum;
-                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+                        data_i32[dstIndex] = sum;
+                        sum += data_u8[nextPixelIndex]- data_u8[previousPixelIndex];
 
                         nextPixelIndex ++;
                         previousPixelIndex ++;
                     }
                     
-                    hold = input[nextPixelIndex-1];
+                    hold = data_u8[nextPixelIndex-1];
                     for(; x < w; ++x, dstIndex += h) {
-                        output[dstIndex] = sum;
+                        data_i32[dstIndex] = sum;
 
-                        sum += hold- input[previousPixelIndex];
+                        sum += hold- data_u8[previousPixelIndex];
                         previousPixelIndex ++;
                     }
 
@@ -1168,84 +2068,100 @@ self.Float32Array = self.Float32Array || Array;
                 //
                 // second pass
                 srcIndex = 0;
-                input = tmp; // this is a transpose
-                output = dst.data;
-                for (y = 0; y < w; ++y) {
-                    dstIndex = y;
-                    sum = radiusPlusOne * input[srcIndex];
+                //data_i32 = tmp; // this is a transpose
+                data_u8 = dst.data;
 
-                    for(i = 1; i <= radius; ++i) {
-                        sum += input[srcIndex + i];
-                    }
+                // dont scale result
+                if(scale == 1) {
+                    for (y = 0; y < w; ++y) {
+                        dstIndex = y;
+                        sum = radiusPlusOne * data_i32[srcIndex];
 
-                    nextPixelIndex = srcIndex + radiusPlusOne;
-                    previousPixelIndex = srcIndex;
-                    hold = input[previousPixelIndex];
+                        for(i = (srcIndex+1)|0, end=(srcIndex+radius)|0; i <= end; ++i) {
+                            sum += data_i32[i];
+                        }
+
+                        nextPixelIndex = srcIndex + radiusPlusOne;
+                        previousPixelIndex = srcIndex;
+                        hold = data_i32[previousPixelIndex];
 
-                    // dont scale result
-                    if(scale == 1) {
                         for(x = 0; x < radius; ++x, dstIndex += w) {
-                            output[dstIndex] = sum;
-                            sum += input[nextPixelIndex]- hold;
+                            data_u8[dstIndex] = sum;
+                            sum += data_i32[nextPixelIndex]- hold;
                             nextPixelIndex ++;
                         }
-                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
-                            output[dstIndex] = sum;
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                        for(; x < h-radiusPlus2; x+=2, dstIndex += w2) {
+                            data_u8[dstIndex] = sum;
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
 
-                            output[dstIndex+w] = sum;
-                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+                            data_u8[dstIndex+w] = sum;
+                            sum += data_i32[nextPixelIndex+1]- data_i32[previousPixelIndex+1];
 
                             nextPixelIndex +=2;
                             previousPixelIndex +=2;
                         }
                         for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
-                            output[dstIndex] = sum;
+                            data_u8[dstIndex] = sum;
 
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
                             nextPixelIndex ++;
                             previousPixelIndex ++;
                         }
-                        hold = input[nextPixelIndex-1];
+                        hold = data_i32[nextPixelIndex-1];
                         for(; x < h; ++x, dstIndex += w) {
-                            output[dstIndex] = sum;
+                            data_u8[dstIndex] = sum;
 
-                            sum += hold- input[previousPixelIndex];
+                            sum += hold- data_i32[previousPixelIndex];
                             previousPixelIndex ++;
                         }
-                    } else {
+
+                        srcIndex += h;
+                    }
+                } else {
+                    for (y = 0; y < w; ++y) {
+                        dstIndex = y;
+                        sum = radiusPlusOne * data_i32[srcIndex];
+
+                        for(i = (srcIndex+1)|0, end=(srcIndex+radius)|0; i <= end; ++i) {
+                            sum += data_i32[i];
+                        }
+
+                        nextPixelIndex = srcIndex + radiusPlusOne;
+                        previousPixelIndex = srcIndex;
+                        hold = data_i32[previousPixelIndex];
+
                         for(x = 0; x < radius; ++x, dstIndex += w) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
-                            sum += input[nextPixelIndex]- hold;
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            sum += data_i32[nextPixelIndex]- hold;
                             nextPixelIndex ++;
                         }
-                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                        for(; x < h-radiusPlus2; x+=2, dstIndex += w2) {
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
 
-                            output[dstIndex+w] = (sum*scale+offset)>>14;
-                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+                            data_u8[dstIndex+w] = (sum*scale+offset)>>14;
+                            sum += data_i32[nextPixelIndex+1]- data_i32[previousPixelIndex+1];
 
                             nextPixelIndex +=2;
                             previousPixelIndex +=2;
                         }
                         for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
 
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
                             nextPixelIndex ++;
                             previousPixelIndex ++;
                         }
-                        hold = input[nextPixelIndex-1];
+                        hold = data_i32[nextPixelIndex-1];
                         for(; x < h; ++x, dstIndex += w) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
 
-                            sum += hold- input[previousPixelIndex];
+                            sum += hold- data_i32[previousPixelIndex];
                             previousPixelIndex ++;
                         }
-                    }
 
-                    srcIndex += h;
+                        srcIndex += h;
+                    }
                 }
 
                 jsfeat.cache.put_buffer(tmp_buff);
@@ -1443,9 +2359,9 @@ self.Float32Array = self.Float32Array || Array;
             // please note: 
             // dst_(type) size should be cols = src.cols+1, rows = src.rows+1
             compute_integral_image: function(src, dst_sum, dst_sqsum, dst_tilted) {
-                var w0=src.cols,h0=src.rows,src_d=src.data;
-                var w1=w0+1;
-                var s,s2,p,pup,i=0,j=0,v,k;
+                var w0=src.cols|0,h0=src.rows|0,src_d=src.data;
+                var w1=(w0+1)|0;
+                var s=0,s2=0,p=0,pup=0,i=0,j=0,v=0,k=0;
 
                 if(dst_sum && dst_sqsum) {
                     // fill first row with zeros
@@ -2137,6 +3053,512 @@ The references are:
 
 })(jsfeat);
 
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * Copyright 2007 Computer Vision Lab,
+ * Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland.
+ * @author Vincent Lepetit (http://cvlab.epfl.ch/~lepetit)
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var yape06 = (function() {
+        
+        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
+            var y=0,x=0,yrow=(Dxx*w)|0,row=yrow;
+
+            for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
+                for(x = w - Dxx; x >= Dxx; --x) {
+                    dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
+                    ++row;
+                }
+            }
+        }
+
+        var hessian_min_eigen_value = function(src, off, tr, Dxx, Dyy, Dxy, Dyx) {
+            var Ixx = -2 * src[off] + src[off + Dxx] + src[off - Dxx];
+            var Iyy = -2 * src[off] + src[off + Dyy] + src[off - Dyy];
+            var Ixy = src[off + Dxy] + src[off - Dxy] - src[off + Dyx] - src[off - Dyx];
+            var sqrt_delta = ( Math.sqrt(((Ixx - Iyy) * (Ixx - Iyy) + 4 * Ixy * Ixy) ) )|0;
+
+            return Math.min(Math.abs(tr - sqrt_delta), Math.abs(-(tr + sqrt_delta)));
+        }
+
+        return {
+
+            laplacian_threshold: 30,
+            min_eigen_value_threshold: 25,
+
+            detect: function(src, points) {
+                var x=0,y=0;
+                var w=src.cols, h=src.rows, srd_d=src.data;
+                var Dxx = 5, Dyy = (5 * w)|0;
+                var Dxy = (3 + 3 * w)|0, Dyx = (3 - 3 * w)|0;
+                var lap_buf = jsfeat.cache.get_buffer((w*h)<<2);
+                var laplacian = lap_buf.i32;
+                var lv=0, row=0,rowx=0,min_eigen_value=0,pt;
+                var number_of_points = 0;
+                var lap_thresh = this.laplacian_threshold;
+                var eigen_thresh = this.min_eigen_value_threshold;
+
+                x = w*h;
+                while(--x>=0) {laplacian[x]=0;}
+                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
+
+                row = (w+1)|0;
+                for(y = 1; y < h-1; ++y, row += w) {
+                    for(x = 1, rowx=row; x < w-1; ++x, ++rowx) {
+
+                        lv = laplacian[rowx];
+                        if ((lv < -lap_thresh &&
+                            lv < laplacian[rowx - 1]      && lv < laplacian[rowx + 1] &&
+                            lv < laplacian[rowx - w]     && lv < laplacian[rowx + w] &&
+                            lv < laplacian[rowx - w - 1] && lv < laplacian[rowx + w - 1] &&
+                            lv < laplacian[rowx - w + 1] && lv < laplacian[rowx + w + 1])
+                            ||
+                            (lv > lap_thresh &&
+                            lv > laplacian[rowx - 1]      && lv > laplacian[rowx + 1] &&
+                            lv > laplacian[rowx - w]     && lv > laplacian[rowx + w] &&
+                            lv > laplacian[rowx - w - 1] && lv > laplacian[rowx + w - 1] &&
+                            lv > laplacian[rowx - w + 1] && lv > laplacian[rowx + w + 1])
+                            ) {
+
+                            min_eigen_value = hessian_min_eigen_value(srd_d, rowx, lv, Dxx, Dyy, Dxy, Dyx);
+                            if (min_eigen_value > eigen_thresh) {
+                                pt = points[number_of_points];
+                                pt.x = x, pt.y = y, pt.score = min_eigen_value;
+                                ++number_of_points;
+                                ++x, ++rowx;
+                            }
+                        }
+                    }
+                }
+
+                jsfeat.cache.put_buffer(lap_buf);
+
+                return number_of_points;
+            }
+
+        };
+    })();
+
+    global.yape06 = yape06;
+
+})(jsfeat);
+
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * Copyright 2007 Computer Vision Lab,
+ * Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland.
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var yape = (function() {
+
+        var precompute_directions = function(step, dirs, R) {
+            var i = 0;
+            var x, y;
+
+            x = R;
+            for(y = 0; y < x; y++, i++)
+            {
+                x = (Math.sqrt((R * R - y * y)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(x-- ; x < y && x >= 0; x--, i++)
+            {
+                y = (Math.sqrt((R * R - x * x)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for( ; -x < y; x--, i++)
+            {
+                y = (Math.sqrt((R * R - x * x)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(y-- ; y >= 0; y--, i++)
+            {
+                x = (-Math.sqrt((R * R - y * y)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(; y > x; y--, i++)
+            {
+                x = (-Math.sqrt((R * R - y * y)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(x++ ; x <= 0; x++, i++)
+            {
+                y = (-Math.sqrt((R * R - x * x)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for( ; x < -y; x++, i++)
+            {
+                y = (-Math.sqrt((R * R - x * x)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(y++ ; y < 0; y++, i++)
+            {
+                x = (Math.sqrt((R * R - y * y)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+
+            dirs[i] = dirs[0];
+            dirs[i + 1] = dirs[1];
+            return i;
+        }
+
+        var third_check = function (Sb, off, step) {
+            var n = 0;
+            if(Sb[off+1]   != 0) n++;
+            if(Sb[off-1]   != 0) n++;
+            if(Sb[off+step]   != 0) n++;
+            if(Sb[off+step+1] != 0) n++;
+            if(Sb[off+step-1] != 0) n++;
+            if(Sb[off-step]   != 0) n++;
+            if(Sb[off-step+1] != 0) n++;
+            if(Sb[off-step-1] != 0) n++;
+
+            return n;
+        }
+
+        var is_local_maxima = function(p, off, v, step, neighborhood) {
+            var x, y;
+
+            if (v > 0) {
+                off -= step*neighborhood;
+                for (y= -neighborhood; y<=neighborhood; ++y) {
+                    for (x= -neighborhood; x<=neighborhood; ++x) {
+                        if (p[off+x] > v) return false;
+                    }
+                    off += step;
+                }
+            } else {
+                off -= step*neighborhood;
+                for (y= -neighborhood; y<=neighborhood; ++y) {
+                    for (x= -neighborhood; x<=neighborhood; ++x) {
+                        if (p[off+x] < v) return false;
+                    }
+                    off += step;
+                }
+            }
+            return true;
+        }
+
+        var perform_one_point = function(I, x, Scores, Im, Ip, dirs, opposite, dirs_nb) {
+          var score = 0;
+          var a = 0, b = (opposite - 1)|0;
+          var A=0, B0=0, B1=0, B2=0;
+          var state=0;
+
+          // WE KNOW THAT NOT(A ~ I0 & B1 ~ I0):
+          A = I[x+dirs[a]];
+          if ((A <= Ip)) {
+            if ((A >= Im)) { // A ~ I0
+              B0 = I[x+dirs[b]];
+              if ((B0 <= Ip)) {
+                if ((B0 >= Im)) { Scores[x] = 0; return; }
+                else {
+                  b++; B1 = I[x+dirs[b]];
+                  if ((B1 > Ip)) {
+                    b++; B2 = I[x+dirs[b]];
+                    if ((B2 > Ip)) state = 3;
+                    else if ((B2 < Im)) state = 6;
+                    else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                  }
+                  else/* if ((B1 < Im))*/ {
+                    b++; B2 = I[x+dirs[b]];
+                    if ((B2 > Ip)) state = 7;
+                    else if ((B2 < Im)) state = 2;
+                    else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                  }
+                  //else { Scores[x] = 0; return; } // A ~ I0, B1 ~ I0
+                }
+              }
+              else { // B0 < I0
+                b++; B1 = I[x+dirs[b]];
+                if ((B1 > Ip)) {
+                  b++; B2 = I[x+dirs[b]];
+                  if ((B2 > Ip)) state = 3;
+                  else if ((B2 < Im)) state = 6;
+                  else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                }
+                else if ((B1 < Im)) {
+                  b++; B2 = I[x+dirs[b]];
+                  if ((B2 > Ip)) state = 7;
+                  else if ((B2 < Im)) state = 2;
+                  else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                }
+                else { Scores[x] = 0; return; } // A ~ I0, B1 ~ I0
+              }
+            }
+            else { // A > I0
+              B0 = I[x+dirs[b]];
+              if ((B0 > Ip)) { Scores[x] = 0; return; }
+                b++; B1 = I[x+dirs[b]];
+              if ((B1 > Ip)) { Scores[x] = 0; return; }
+                b++; B2 = I[x+dirs[b]];
+              if ((B2 > Ip)) { Scores[x] = 0; return; }
+                state = 1;
+            }
+          }
+          else // A < I0
+          {
+            B0 = I[x+dirs[b]];
+            if ((B0 < Im)) { Scores[x] = 0; return; }
+              b++; B1 = I[x+dirs[b]];
+            if ((B1 < Im)) { Scores[x] = 0; return; }
+              b++; B2 = I[x+dirs[b]];
+            if ((B2 < Im)) { Scores[x] = 0; return; }
+              state = 0;
+          }
+
+          for(a = 1; a <= opposite; a++)
+          {
+            A = I[x+dirs[a]];
+
+            switch(state)
+            {
+            case 0:
+              if ((A > Ip)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 0; break; };
+              }
+              if ((A < Im)) {
+                if ((B1 > Ip)) { Scores[x] = 0; return; }
+                  if ((B2 > Ip)) { Scores[x] = 0; return; }
+                    B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 8; break; };
+              } 
+              // A ~ I0
+              if ((B1 <= Ip)) { Scores[x] = 0; return; }
+                if ((B2 <= Ip)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+              { Scores[x] = 0; return; }
+
+            case 1:
+              if ((A < Im)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 1; break; };
+              }
+              if ((A > Ip)) {
+                if ((B1 < Im)) { Scores[x] = 0; return; }
+                  if ((B2 < Im)) { Scores[x] = 0; return; }
+                    B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 9; break; };
+              }
+              // A ~ I0
+              if ((B1 >= Im)) { Scores[x] = 0; return; }
+                if ((B2 >= Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+              if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+              { Scores[x] = 0; return; }
+
+            case 2:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((A < Im))
+              {
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 4; break; };
+              } 
+              // A ~ I0
+              if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+              { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+
+            case 3:
+              if ((A < Im)) { Scores[x] = 0; return; }
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((A > Ip)) {
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 5; break; };
+              }
+              // A ~ I0
+              if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+              { Scores[x] = 0; return; }
+
+            case 4:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                if ((A < Im)) {
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                  if ((B2 > Ip)) { Scores[x] = 0; return; }
+                    { score -= A + B1; state = 1; break; };
+                }
+                if ((B2 >= Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+                if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+                { Scores[x] = 0; return; }
+
+            case 5:
+              if ((A < Im)) { Scores[x] = 0; return; }
+                if ((A > Ip)) {
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                  if ((B2 < Im)) { Scores[x] = 0; return; }
+                    { score -= A + B1; state = 0; break; };
+                }
+                // A ~ I0
+                if ((B2 <= Ip)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+                if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+                { Scores[x] = 0; return; }
+
+            case 7:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                if ((A < Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              // A ~ I0
+              if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+              { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+
+            case 6:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                if ((A < Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              // A ~ I0
+              if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+              if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+              { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+
+            case 8:
+              if ((A > Ip)) {
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 9; break; };
+              }
+              if ((A < Im)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 1; break; };
+              }
+              { Scores[x] = 0; return; }
+
+            case 9:
+              if ((A < Im)) {
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 8; break; };
+              }
+              if ((A > Ip)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 0; break; };
+              }
+              { Scores[x] = 0; return; }
+
+            default:
+              //"PB default";
+              break;
+            } // switch(state)
+          } // for(a...)
+
+          Scores[x] = (score + dirs_nb * I[x]);
+        }
+
+        var lev_table_t = (function () {
+            function lev_table_t(w, h, r) {
+                this.dirs = new Int32Array(1024);
+                this.dirs_count = precompute_directions(w, this.dirs, r)|0;
+                this.scores = new Int32Array(w*h);
+                this.radius = r|0;
+            }
+            return lev_table_t;
+        })();
+        
+        return {
+
+            level_tables: [],
+            tau: 7,
+
+            init: function(width, height, radius, pyramid_levels) {
+                if (typeof pyramid_levels === "undefined") { pyramid_levels = 1; }
+                var i;
+                radius = Math.min(radius, 7);
+                radius = Math.max(radius, 3);
+                for(i = 0; i < pyramid_levels; ++i) {
+                    this.level_tables[i] = new lev_table_t(width>>i, height>>i, radius);
+                }
+            },
+
+            detect: function(src, points, border) {
+                if (typeof border === "undefined") { border = 4; }
+                var t = this.level_tables[0];
+                var R = t.radius|0, Rm1 = (R-1)|0;
+                var dirs = t.dirs;
+                var dirs_count = t.dirs_count|0;
+                var opposite = dirs_count >> 1;
+                var img = src.data, w=src.cols|0, h=src.rows|0,hw=w>>1;
+                var scores = t.scores;
+                var x=0,y=0,row=0,rowx=0,ip=0,im=0,abs_score=0, score=0;
+                var tau = this.tau|0;
+                var number_of_points = 0, pt;
+
+                var sx = Math.max(R+1, border)|0;
+                var sy = Math.max(R+1, border)|0;
+                var ex = Math.min(w-R-2, w-border)|0;
+                var ey = Math.min(h-R-2, h-border)|0;
+
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row+=w) {
+                    for(x = sx, rowx = row; x < ex; ++x, ++rowx) {
+                        ip = img[rowx] + tau, im = img[rowx] - tau;
+
+                        if (im<img[rowx+R] && img[rowx+R]<ip && im<img[rowx-R] && img[rowx-R]<ip) {
+                            scores[rowx] = 0;
+                        } else {
+                            perform_one_point(img, rowx, scores, im, ip, dirs, opposite, dirs_count);
+                        }
+                    }
+                }
+
+                // local maxima
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row+=w) {
+                    for(x = sx, rowx = row; x < ex; ++x, ++rowx) {
+                        score = scores[rowx];
+                        abs_score = Math.abs(score);
+                        if(abs_score < 5) {
+                            // if this pixel is 0, the next one will not be good enough. Skip it.
+                            ++x, ++rowx;
+                        } else {
+                            if(third_check(scores, rowx, w) >= 3 && is_local_maxima(scores, rowx, score, hw, R)) {
+                                pt = points[number_of_points];
+                                pt.x = x, pt.y = y, pt.score = abs_score;
+                                ++number_of_points;
+
+                                x += Rm1, rowx += Rm1;
+                            }
+                        }
+                    }
+                }
+
+                return number_of_points;
+            }
+        };
+
+    })();
+
+    global.yape = yape;
+
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
diff --git a/compile/build.xml b/compile/build.xml
index 37ea670..2b93237 100755
--- a/compile/build.xml
+++ b/compile/build.xml
@@ -6,9 +6,13 @@
                 <file name="jsfeat_struct.js" />
                 <file name="jsfeat_cache.js" />
                 <file name="jsfeat_math.js" />
+                <file name="jsfeat_mat_math.js" />
+                <file name="jsfeat_linalg.js" />
                 <file name="jsfeat_transform.js" />
                 <file name="jsfeat_imgproc.js" />
                 <file name="jsfeat_fast_corners.js" />
+                <file name="jsfeat_yape06.js" />
+                <file name="jsfeat_yape.js" />
                 <file name="jsfeat_optical_flow_lk.js" />
                 <file name="jsfeat_haar.js" />
                 <file name="jsfeat_bbf.js" />
diff --git a/src/jsfeat.js b/src/jsfeat.js
index c4c09b8..9b4b5f2 100755
--- a/src/jsfeat.js
+++ b/src/jsfeat.js
@@ -10,3 +10,4 @@ self.Int32Array = self.Int32Array || Array;
 self.Uint32Array = self.Uint32Array || Array;
 self.Uint8Array = self.Uint8Array || Array;
 self.Float32Array = self.Float32Array || Array;
+self.Float64Array = self.Float64Array || Array;
diff --git a/src/jsfeat_cache.js b/src/jsfeat_cache.js
index ac06a8a..3bbe170 100755
--- a/src/jsfeat_cache.js
+++ b/src/jsfeat_cache.js
@@ -15,11 +15,23 @@
         var _pool_node_t = (function () {
             function _pool_node_t(size_in_bytes) {
                 this.next = null;
-                this.size = size_in_bytes|0;
-                this.buffer = new ArrayBuffer(size_in_bytes);
-                this.u8 = new Uint8Array(this.buffer);
-                this.i32 = new Int32Array(this.buffer);
-                this.f32 = new Float32Array(this.buffer);
+                this.data = new jsfeat.data_t(size_in_bytes);
+                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;
+            }
+            _pool_node_t.prototype.resize = function(size_in_bytes) {
+                delete this.data;
+                this.data = new jsfeat.data_t(size_in_bytes);
+                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 _pool_node_t;
         })();
@@ -46,11 +58,7 @@
                 _pool_size--;
 
                 if(size_in_bytes > node.size) {
-                    node.buffer = new ArrayBuffer(size_in_bytes);
-                    node.u8 = new Uint8Array(node.buffer);
-                    node.i32 = new Int32Array(node.buffer);
-                    node.f32 = new Float32Array(node.buffer);
-                    node.size = size_in_bytes;
+                    node.resize(size_in_bytes);
                 }
 
                 return node;
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 90331dd..c135134 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -390,63 +390,63 @@
 
             box_blur_gray: function(src, dst, radius, options) {
                 if (typeof options === "undefined") { options = 0; }
-                var w=src.cols, h=src.rows;
-                var i,x,y;
-                var windowSize = radius * 2 + 1;
-                var radiusPlusOne = radius + 1;
+                var w=src.cols, h=src.rows, h2=h<<1, w2=w<<1;
+                var i=0,x=0,y=0,end=0;
+                var windowSize = ((radius << 1) + 1)|0;
+                var radiusPlusOne = (radius + 1)|0, radiusPlus2 = (radiusPlusOne+1)|0;
                 var offset = 8192;
-                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 * (1.0/(windowSize*windowSize)))|0;
+                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 / (windowSize*windowSize) + 0.5)|0;
 
                 var tmp_buff = jsfeat.cache.get_buffer((w*h)<<2);
 
-                var sum, dstIndex, srcIndex = 0, nextPixelIndex, previousPixelIndex;
-                var tmp = tmp_buff.i32; // to prevent overflow
-                var input, output;
-                var hold;
+                var sum=0, dstIndex=0, srcIndex = 0, nextPixelIndex=0, previousPixelIndex=0;
+                var data_i32 = tmp_buff.i32; // to prevent overflow
+                var data_u8 = src.data;
+                var hold=0;
 
                 // first pass
                 // no need to scale 
-                input = src.data;
-                output = tmp;
+                //data_u8 = src.data;
+                //data_i32 = tmp;
                 for (y = 0; y < h; ++y) {
                     dstIndex = y;
-                    sum = radiusPlusOne * input[srcIndex];
+                    sum = radiusPlusOne * data_u8[srcIndex];
 
-                    for(i = 1; i <= radius; ++i) {
-                        sum += input[srcIndex + i];
+                    for(i = (srcIndex+1)|0, end=(srcIndex+radius)|0; i <= end; ++i) {
+                        sum += data_u8[i];
                     }
 
-                    nextPixelIndex = srcIndex + radiusPlusOne;
+                    nextPixelIndex = (srcIndex + radiusPlusOne)|0;
                     previousPixelIndex = srcIndex;
-                    hold = input[previousPixelIndex];
+                    hold = data_u8[previousPixelIndex];
                     for(x = 0; x < radius; ++x, dstIndex += h) {
-                        output[dstIndex] = sum;
-                        sum += input[nextPixelIndex]- hold;
+                        data_i32[dstIndex] = sum;
+                        sum += data_u8[nextPixelIndex]- hold;
                         nextPixelIndex ++;
                     }
-                    for(; x <= w-radiusPlusOne-2; x+=2, dstIndex += h<<1) {
-                        output[dstIndex] = sum;
-                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+                    for(; x < w-radiusPlus2; x+=2, dstIndex += h2) {
+                        data_i32[dstIndex] = sum;
+                        sum += data_u8[nextPixelIndex]- data_u8[previousPixelIndex];
 
-                        output[dstIndex+h] = sum;
-                        sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+                        data_i32[dstIndex+h] = sum;
+                        sum += data_u8[nextPixelIndex+1]- data_u8[previousPixelIndex+1];
 
                         nextPixelIndex +=2;
                         previousPixelIndex +=2;
                     }
                     for(; x < w-radiusPlusOne; ++x, dstIndex += h) {
-                        output[dstIndex] = sum;
-                        sum += input[nextPixelIndex]- input[previousPixelIndex];
+                        data_i32[dstIndex] = sum;
+                        sum += data_u8[nextPixelIndex]- data_u8[previousPixelIndex];
 
                         nextPixelIndex ++;
                         previousPixelIndex ++;
                     }
                     
-                    hold = input[nextPixelIndex-1];
+                    hold = data_u8[nextPixelIndex-1];
                     for(; x < w; ++x, dstIndex += h) {
-                        output[dstIndex] = sum;
+                        data_i32[dstIndex] = sum;
 
-                        sum += hold- input[previousPixelIndex];
+                        sum += hold- data_u8[previousPixelIndex];
                         previousPixelIndex ++;
                     }
 
@@ -455,84 +455,100 @@
                 //
                 // second pass
                 srcIndex = 0;
-                input = tmp; // this is a transpose
-                output = dst.data;
-                for (y = 0; y < w; ++y) {
-                    dstIndex = y;
-                    sum = radiusPlusOne * input[srcIndex];
+                //data_i32 = tmp; // this is a transpose
+                data_u8 = dst.data;
 
-                    for(i = 1; i <= radius; ++i) {
-                        sum += input[srcIndex + i];
-                    }
+                // dont scale result
+                if(scale == 1) {
+                    for (y = 0; y < w; ++y) {
+                        dstIndex = y;
+                        sum = radiusPlusOne * data_i32[srcIndex];
 
-                    nextPixelIndex = srcIndex + radiusPlusOne;
-                    previousPixelIndex = srcIndex;
-                    hold = input[previousPixelIndex];
+                        for(i = (srcIndex+1)|0, end=(srcIndex+radius)|0; i <= end; ++i) {
+                            sum += data_i32[i];
+                        }
+
+                        nextPixelIndex = srcIndex + radiusPlusOne;
+                        previousPixelIndex = srcIndex;
+                        hold = data_i32[previousPixelIndex];
 
-                    // dont scale result
-                    if(scale == 1) {
                         for(x = 0; x < radius; ++x, dstIndex += w) {
-                            output[dstIndex] = sum;
-                            sum += input[nextPixelIndex]- hold;
+                            data_u8[dstIndex] = sum;
+                            sum += data_i32[nextPixelIndex]- hold;
                             nextPixelIndex ++;
                         }
-                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
-                            output[dstIndex] = sum;
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                        for(; x < h-radiusPlus2; x+=2, dstIndex += w2) {
+                            data_u8[dstIndex] = sum;
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
 
-                            output[dstIndex+w] = sum;
-                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+                            data_u8[dstIndex+w] = sum;
+                            sum += data_i32[nextPixelIndex+1]- data_i32[previousPixelIndex+1];
 
                             nextPixelIndex +=2;
                             previousPixelIndex +=2;
                         }
                         for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
-                            output[dstIndex] = sum;
+                            data_u8[dstIndex] = sum;
 
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
                             nextPixelIndex ++;
                             previousPixelIndex ++;
                         }
-                        hold = input[nextPixelIndex-1];
+                        hold = data_i32[nextPixelIndex-1];
                         for(; x < h; ++x, dstIndex += w) {
-                            output[dstIndex] = sum;
+                            data_u8[dstIndex] = sum;
 
-                            sum += hold- input[previousPixelIndex];
+                            sum += hold- data_i32[previousPixelIndex];
                             previousPixelIndex ++;
                         }
-                    } else {
+
+                        srcIndex += h;
+                    }
+                } else {
+                    for (y = 0; y < w; ++y) {
+                        dstIndex = y;
+                        sum = radiusPlusOne * data_i32[srcIndex];
+
+                        for(i = (srcIndex+1)|0, end=(srcIndex+radius)|0; i <= end; ++i) {
+                            sum += data_i32[i];
+                        }
+
+                        nextPixelIndex = srcIndex + radiusPlusOne;
+                        previousPixelIndex = srcIndex;
+                        hold = data_i32[previousPixelIndex];
+
                         for(x = 0; x < radius; ++x, dstIndex += w) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
-                            sum += input[nextPixelIndex]- hold;
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            sum += data_i32[nextPixelIndex]- hold;
                             nextPixelIndex ++;
                         }
-                        for(; x <= h-radiusPlusOne-2; x+=2, dstIndex += w<<1) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                        for(; x < h-radiusPlus2; x+=2, dstIndex += w2) {
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
 
-                            output[dstIndex+w] = (sum*scale+offset)>>14;
-                            sum += input[nextPixelIndex+1]- input[previousPixelIndex+1];
+                            data_u8[dstIndex+w] = (sum*scale+offset)>>14;
+                            sum += data_i32[nextPixelIndex+1]- data_i32[previousPixelIndex+1];
 
                             nextPixelIndex +=2;
                             previousPixelIndex +=2;
                         }
                         for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
 
-                            sum += input[nextPixelIndex]- input[previousPixelIndex];
+                            sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
                             nextPixelIndex ++;
                             previousPixelIndex ++;
                         }
-                        hold = input[nextPixelIndex-1];
+                        hold = data_i32[nextPixelIndex-1];
                         for(; x < h; ++x, dstIndex += w) {
-                            output[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = (sum*scale+offset)>>14;
 
-                            sum += hold- input[previousPixelIndex];
+                            sum += hold- data_i32[previousPixelIndex];
                             previousPixelIndex ++;
                         }
-                    }
 
-                    srcIndex += h;
+                        srcIndex += h;
+                    }
                 }
 
                 jsfeat.cache.put_buffer(tmp_buff);
@@ -730,9 +746,9 @@
             // please note: 
             // dst_(type) size should be cols = src.cols+1, rows = src.rows+1
             compute_integral_image: function(src, dst_sum, dst_sqsum, dst_tilted) {
-                var w0=src.cols,h0=src.rows,src_d=src.data;
-                var w1=w0+1;
-                var s,s2,p,pup,i=0,j=0,v,k;
+                var w0=src.cols|0,h0=src.rows|0,src_d=src.data;
+                var w1=(w0+1)|0;
+                var s=0,s2=0,p=0,pup=0,i=0,j=0,v=0,k=0;
 
                 if(dst_sum && dst_sqsum) {
                     // fill first row with zeros
diff --git a/src/jsfeat_linalg.js b/src/jsfeat_linalg.js
new file mode 100644
index 0000000..bf1666d
--- /dev/null
+++ b/src/jsfeat_linalg.js
@@ -0,0 +1,721 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var linalg = (function() {
+
+        var swap = function(A, i0, i1, t) {
+            t = A[i0];
+            A[i0] = A[i1];
+            A[i1] = t;
+        }
+
+        var hypot = function(a, b) {
+            a = Math.abs(a);
+            b = Math.abs(b);
+            if( a > b ) {
+                b /= a;
+                return a*Math.sqrt(1.0 + b*b);
+            }
+            if( b > 0 ) {
+                a /= b;
+                return b*Math.sqrt(1.0 + a*a);
+            }
+            return 0.0;
+        }
+
+        var JacobiImpl = function(A, astep, W, V, vstep, n) {
+            var eps = jsfeat.EPSILON;
+            var i=0,j=0,k=0,m=0,l=0,idx=0,_in=0,_in2=0;
+            var iters=0,max_iter=n*n*30;
+            var mv=0.0,val=0.0,p=0.0,y=0.0,t=0.0,s=0.0,c=0.0,a0=0.0,b0=0.0;
+
+            var indR_buff = jsfeat.cache.get_buffer(n<<2);
+            var indC_buff = jsfeat.cache.get_buffer(n<<2);
+            var indR = indR_buff.i32;
+            var indC = indC_buff.i32;
+
+            if(V) {
+                for(; i < n; i++) {
+                    k = i*vstep;
+                    for(j = 0; j < n; j++) {
+                        V[k + j] = 0.0;
+                    }
+                    V[k + i] = 1.0;
+                }
+            }
+
+            for(k = 0; k < n; k++) {
+                W[k] = A[(astep + 1)*k];
+                if(k < n - 1) {
+                    for(m = k+1, mv = Math.abs(A[astep*k + m]), i = k+2; i < n; i++) {
+                        val = Math.abs(A[astep*k+i]);
+                        if(mv < val)
+                            mv = val, m = i;
+                    }
+                    indR[k] = m;
+                }
+                if(k > 0) {
+                    for(m = 0, mv = Math.abs(A[k]), i = 1; i < k; i++) {
+                        val = Math.abs(A[astep*i+k]);
+                        if(mv < val)
+                            mv = val, m = i;
+                    }
+                    indC[k] = m;
+                }
+            }
+
+            if(n > 1) for( ; iters < max_iter; iters++) {
+                // find index (k,l) of pivot p
+                for(k = 0, mv = Math.abs(A[indR[0]]), i = 1; i < n-1; i++) {
+                    val = Math.abs(A[astep*i + indR[i]]);
+                    if( mv < val )
+                        mv = val, k = i;
+                }
+                l = indR[k];
+                for(i = 1; i < n; i++) {
+                    val = Math.abs(A[astep*indC[i] + i]);
+                    if( mv < val )
+                        mv = val, k = indC[i], l = i;
+                }
+                
+                p = A[astep*k + l];
+
+                if(Math.abs(p) <= eps) break;
+
+                y = (W[l] - W[k])*0.5;
+                t = Math.abs(y) + hypot(p, y);
+                s = hypot(p, t);
+                c = t/s;
+                s = p/s; t = (p/t)*p;
+                if(y < 0)
+                    s = -s, t = -t;
+                A[astep*k + l] = 0;
+                
+                W[k] -= t;
+                W[l] += t;
+                
+                // rotate rows and columns k and l
+                for (i = 0; i < k; i++) {
+                    _in = (astep * i + k);
+                    _in2 = (astep * i + l);
+                    a0 = A[_in];
+                    b0 = A[_in2];
+                    A[_in] = a0 * c - b0 * s;
+                    A[_in2] = a0 * s + b0 * c;
+                }
+                for (i = (k + 1); i < l; i++) {
+                    _in = (astep * k + i);
+                    _in2 = (astep * i + l);
+                    a0 = A[_in];
+                    b0 = A[_in2];
+                    A[_in] = a0 * c - b0 * s;
+                    A[_in2] = a0 * s + b0 * c;
+                }
+                i = l + 1;
+                _in = (astep * k + i);
+                _in2 = (astep * l + i);
+                for (; i < n; i++, _in++, _in2++) {
+                    a0 = A[_in];
+                    b0 = A[_in2];
+                    A[_in] = a0 * c - b0 * s;
+                    A[_in2] = a0 * s + b0 * c;
+                }
+                
+                // rotate eigenvectors
+                if (V) {
+                    _in = vstep * k;
+                    _in2 = vstep * l;
+                    for (i = 0; i < n; i++, _in++, _in2++) {
+                        a0 = V[_in];
+                        b0 = V[_in2];
+                        V[_in] = a0 * c - b0 * s;
+                        V[_in2] = a0 * s + b0 * c;
+                    }
+                }
+                
+                for(j = 0; j < 2; j++) {
+                    idx = j == 0 ? k : l;
+                    if(idx < n - 1) {
+                        for(m = idx+1, mv = Math.abs(A[astep*idx + m]), i = idx+2; i < n; i++) {
+                            val = Math.abs(A[astep*idx+i]);
+                            if( mv < val )
+                                mv = val, m = i;
+                        }
+                        indR[idx] = m;
+                    }
+                    if(idx > 0) {
+                        for(m = 0, mv = Math.abs(A[idx]), i = 1; i < idx; i++) {
+                            val = Math.abs(A[astep*i+idx]);
+                            if( mv < val )
+                                mv = val, m = i;
+                        }
+                        indC[idx] = m;
+                    }
+                }
+            }
+
+            // sort eigenvalues & eigenvectors
+            for(k = 0; k < n-1; k++) {
+                m = k;
+                for(i = k+1; i < n; i++) {
+                    if(W[m] < W[i])
+                        m = i;
+                }
+                if(k != m) {
+                    swap(W, m, k, mv);
+                    if(V) {
+                        for(i = 0; i < n; i++) {
+                            swap(V, vstep*m + i, vstep*k + i, mv);
+                        }
+                    }
+                }
+            }
+
+
+            jsfeat.cache.put_buffer(indR_buff);
+            jsfeat.cache.put_buffer(indC_buff);
+        }
+
+        var JacobiSVDImpl = function(At, astep, _W, Vt, vstep, m, n, n1) {
+            var eps = jsfeat.EPSILON * 10.0;
+            var minval = jsfeat.FLT_MIN;
+            var i=0,j=0,k=0,iter=0,max_iter=Math.max(m, 30);
+            var Ai=0,Aj=0,Vi=0,Vj=0,changed=0;
+            var c=0.0, s=0.0, t=0.0;
+            var t0=0.0,t1=0.0,sd=0.0,beta=0.0,gamma=0.0,delta=0.0,a=0.0,p=0.0,b=0.0;
+            var seed = 0x1234;
+            var val=0.0,val0=0.0,asum=0.0;
+
+            var W_buff = jsfeat.cache.get_buffer(n<<3);
+            var W = W_buff.f64;
+            
+            for(; i < n; i++) {
+                for(k = 0, sd = 0; k < m; k++) {
+                    t = At[i*astep + k];
+                    sd += t*t;
+                }
+                W[i] = sd;
+                
+                if(Vt) {
+                    for(k = 0; k < n; k++) {
+                        Vt[i*vstep + k] = 0;
+                    }
+                    Vt[i*vstep + i] = 1;
+                }
+            }
+            
+            for(; iter < max_iter; iter++) {
+                changed = 0;
+                
+                for(i = 0; i < n-1; i++) {
+                    for(j = i+1; j < n; j++) {
+                        Ai = (i*astep)|0, Aj = (j*astep)|0;
+                        a = W[i], p = 0, b = W[j];
+                        
+                        k = 3;
+                        p += At[Ai]*At[Aj];
+                        p += At[Ai+1]*At[Aj+1];
+                        p += At[Ai+2]*At[Aj+2];
+
+                        for(; k < m; k++)
+                            p += At[Ai+k]*At[Aj+k];
+                        
+                        if(Math.abs(p) <= eps*Math.sqrt(a*b)) continue;
+                        
+                        p *= 2.0;
+                        beta = a - b, gamma = hypot(p, beta);
+                        if(beta < 0) {
+                            delta = (gamma - beta)*0.5;
+                            s = Math.sqrt(delta/gamma);
+                            c = (p/(gamma*s*2.0));
+                        } else {
+                            c = Math.sqrt((gamma + beta)/(gamma*2.0));
+                            s = (p/(gamma*c*2.0));
+                            delta = p*p*0.5/(gamma + beta);
+                        }
+                        
+                        W[i] += delta;
+                        W[j] -= delta;
+                        
+                        if( (iter & 1) && W[i] > 0 && W[j] > 0 ) {
+                            k = 3;//unroll 3x3
+                            t0 = c*At[Ai] + s*At[Aj];
+                            t1 = -s*At[Ai] + c*At[Aj];
+                            At[Ai] = t0; At[Aj] = t1;
+
+                            t0 = c*At[Ai+1] + s*At[Aj+1];
+                            t1 = -s*At[Ai+1] + c*At[Aj+1];
+                            At[Ai+1] = t0; At[Aj+1] = t1;
+
+                            t0 = c*At[Ai+2] + s*At[Aj+2];
+                            t1 = -s*At[Ai+2] + c*At[Aj+2];
+                            At[Ai+2] = t0; At[Aj+2] = t1;
+
+                            for(; k < m; k++) {
+                                t0 = c*At[Ai+k] + s*At[Aj+k];
+                                t1 = -s*At[Ai+k] + c*At[Aj+k];
+                                At[Ai+k] = t0; At[Aj+k] = t1;
+                            }
+                        } else {
+                            a = b = 0;
+                            k = 3; // unroll
+                            t0 = c*At[Ai] + s*At[Aj];
+                            t1 = -s*At[Ai] + c*At[Aj];
+                            At[Ai] = t0; At[Aj] = t1;
+                            a += t0*t0; b += t1*t1;
+
+                            t0 = c*At[Ai+1] + s*At[Aj+1];
+                            t1 = -s*At[Ai+1] + c*At[Aj+1];
+                            At[Ai+1] = t0; At[Aj+1] = t1;
+                            a += t0*t0; b += t1*t1;
+
+                            t0 = c*At[Ai+2] + s*At[Aj+2];
+                            t1 = -s*At[Ai+2] + c*At[Aj+2];
+                            At[Ai+2] = t0; At[Aj+2] = t1;
+                            a += t0*t0; b += t1*t1;
+
+                            for( ; k < m; k++ )
+                            {
+                                t0 = c*At[Ai+k] + s*At[Aj+k];
+                                t1 = -s*At[Ai+k] + c*At[Aj+k];
+                                At[Ai+k] = t0; At[Aj+k] = t1;
+                                
+                                a += t0*t0; b += t1*t1;
+                            }
+                            W[i] = a; W[j] = b;
+                        }
+                        
+                        changed = 1;
+                        
+                        if(Vt) {
+                            Vi = (i*vstep)|0, Vj = (j*vstep)|0;
+
+                            k = 3;
+                            t0 = c*Vt[Vi] + s*Vt[Vj];
+                            t1 = -s*Vt[Vi] + c*Vt[Vj];
+                            Vt[Vi] = t0; Vt[Vj] = t1;
+
+                            t0 = c*Vt[Vi+1] + s*Vt[Vj+1];
+                            t1 = -s*Vt[Vi+1] + c*Vt[Vj+1];
+                            Vt[Vi+1] = t0; Vt[Vj+1] = t1;
+
+                            t0 = c*Vt[Vi+2] + s*Vt[Vj+2];
+                            t1 = -s*Vt[Vi+2] + c*Vt[Vj+2];
+                            Vt[Vi+2] = t0; Vt[Vj+2] = t1;
+
+                            for(; k < n; k++) {
+                                t0 = c*Vt[Vi+k] + s*Vt[Vj+k];
+                                t1 = -s*Vt[Vi+k] + c*Vt[Vj+k];
+                                Vt[Vi+k] = t0; Vt[Vj+k] = t1;
+                            }
+                        }
+                    }
+                }
+                if(changed == 0) break;
+            }
+            
+            for(i = 0; i < n; i++) {
+                for(k = 0, sd = 0; k < m; k++) {
+                    t = At[i*astep + k];
+                    sd += t*t;
+                }
+                W[i] = Math.sqrt(sd);
+            }
+            
+            for(i = 0; i < n-1; i++) {
+                j = i;
+                for(k = i+1; k < n; k++) {
+                    if(W[j] < W[k])
+                        j = k;
+                }
+                if(i != j) {
+                    swap(W, i, j, sd);
+                    if(Vt) {
+                        for(k = 0; k < m; k++) {
+                            swap(At, i*astep + k, j*astep + k, t);
+                        }
+                        
+                        for(k = 0; k < n; k++) {
+                            swap(Vt, i*vstep + k, j*vstep + k, t);
+                        }
+                    }
+                }
+            }
+            
+            for(i = 0; i < n; i++) {
+                _W[i] = W[i];
+            }
+            
+            if(!Vt) {
+                jsfeat.cache.put_buffer(W_buff);
+                return;
+            }
+
+            for(i = 0; i < n1; i++) {
+
+                sd = i < n ? W[i] : 0;
+                
+                while(sd <= minval) {
+                    // if we got a zero singular value, then in order to get the corresponding left singular vector
+                    // we generate a random vector, project it to the previously computed left singular vectors,
+                    // subtract the projection and normalize the difference.
+                    val0 = (1.0/m);
+                    for(k = 0; k < m; k++) {
+                        seed = (seed * 214013 + 2531011);
+                        val = (((seed >> 16) & 0x7fff) & 256) != 0 ? val0 : -val0;
+                        At[i*astep + k] = val;
+                    }
+                    for(iter = 0; iter < 2; iter++) {
+                        for(j = 0; j < i; j++) {
+                            sd = 0;
+                            for(k = 0; k < m; k++) {
+                                sd += At[i*astep + k]*At[j*astep + k];
+                            }
+                            asum = 0.0;
+                            for(k = 0; k < m; k++) {
+                                t = (At[i*astep + k] - sd*At[j*astep + k]);
+                                At[i*astep + k] = t;
+                                asum += Math.abs(t);
+                            }
+                            asum = asum ? 1.0/asum : 0;
+                            for(k = 0; k < m; k++) {
+                                At[i*astep + k] *= asum;
+                            }
+                        }
+                    }
+                    sd = 0;
+                    for(k = 0; k < m; k++) {
+                        t = At[i*astep + k];
+                        sd += t*t;
+                    }
+                    sd = Math.sqrt(sd);
+                }
+                
+                s = (1.0/sd);
+                for(k = 0; k < m; k++) {
+                    At[i*astep + k] *= s;
+                }
+            }
+
+            jsfeat.cache.put_buffer(W_buff);
+        }
+        
+        return {
+
+            lu_solve: function(A, B) {
+                var i=0,j=0,k=0,p=1,astep=A.cols;
+                var ad=A.data, bd=B.data;
+                var t,alpha,d,s;
+
+                for(i = 0; i < astep; i++) {
+                    k = i;                    
+                    for(j = i+1; j < astep; j++) {
+                        if(Math.abs(ad[j*astep + i]) > Math.abs(ad[k*astep+i])) {
+                            k = j;
+                        }
+                    }
+                    
+                    if(Math.abs(ad[k*astep+i]) < jsfeat.EPSILON) {
+                        return 0; // FAILED
+                    }
+                    
+                    if(k != i) {
+                        for(j = i; j < astep; j++ ) {
+                            swap(ad, i*astep+j, k*astep+j, t);
+                        }
+                        
+                        swap(bd, i, k, t);
+                        p = -p;
+                    }
+                    
+                    d = -1.0/ad[i*astep+i];
+                    
+                    for(j = i+1; j < astep; j++) {
+                        alpha = ad[j*astep+i]*d;
+                        
+                        for(k = i+1; k < astep; k++) {
+                            ad[j*astep+k] += alpha*ad[i*astep+k];
+                        }
+                        
+                        bd[j] += alpha*bd[i];
+                    }
+                    
+                    ad[i*astep+i] = -d;
+                }
+                
+                for(i = astep-1; i >= 0; i--) {
+                    s = bd[i];
+                    for(k = i+1; k < astep; k++) {
+                        s -= ad[i*astep+k]*bd[k];
+                    }
+                    bd[i] = s*ad[i*astep+i];
+                }
+
+                return 1; // OK
+            },
+
+            cholesky_solve: function(A, B) {
+                var col=0,row=0,col2=0,cs=0,rs=0,i=0,j=0;
+                var size = A.cols;
+                var ad=A.data, bd=B.data;
+                var val,inv_diag;
+
+                for (col = 0; col < size; col++) {
+                    inv_diag = 1.0;
+                    cs = (col * size);
+                    rs = cs;
+                    for (row = col; row < size; row++)
+                    {
+                        // correct for the parts of cholesky already computed
+                        val = ad[(rs+col)];
+                        for (col2 = 0; col2 < col; col2++) {
+                            val -= ad[(col2*size+col)] * ad[(rs+col2)];
+                        }
+                        if (row == col) {
+                            // this is the diagonal element so don't divide
+                            ad[(rs+col)] = val;
+                            if(val == 0) {
+                                return 0;
+                            }
+                            inv_diag = 1.0 / val;
+                        } else {
+                            // cache the value without division in the upper half
+                            ad[(cs+row)] = val;
+                            // divide my the diagonal element for all others
+                            ad[(rs+col)] = val * inv_diag;
+                        }
+                        rs = (rs + size);
+                    }
+                }
+
+                // first backsub through L
+                cs = 0;
+                for (i = 0; i < size; i++) {
+                    val = bd[i];
+                    for (j = 0; j < i; j++) {
+                        val -= ad[(cs+j)] * bd[j];
+                    }
+                    bd[i] = val;
+                    cs = (cs + size);
+                }
+                // backsub through diagonal
+                cs = 0;
+                for (i = 0; i < size; i++) {
+                    bd[i] /= ad[(cs + i)];
+                    cs = (cs + size);
+                }
+                // backsub through L Transpose
+                i = (size-1);
+                for (; i >= 0; i--) {
+                    val = bd[i];
+                    j = (i + 1);
+                    cs = (j * size);
+                    for (; j < size; j++) {
+                        val -= ad[(cs + i)] * bd[j];
+                        cs = (cs + size);
+                    }
+                    bd[i] = val;
+                }
+
+                return 1;
+            },
+
+            svd_decompose: function(A, W, U, V, options) {
+                if (typeof options === "undefined") { options = 0; };
+                var at=0,i=0,j=0,_m=A.rows,_n=A.cols,m=_m,n=_n;
+                var dt = A.type | jsfeat.C1_t; // we only work with single channel
+
+                if(m < n) {
+                    at = 1;
+                    i = m;
+                    m = n;
+                    n = i;
+                }
+
+                var a_buff = jsfeat.cache.get_buffer((m*m)<<3);
+                var w_buff = jsfeat.cache.get_buffer(n<<3);
+                var v_buff = jsfeat.cache.get_buffer((n*n)<<3);
+
+                var a_mt = new jsfeat.matrix_t(m, m, dt, a_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, n, dt, w_buff.data);
+                var v_mt = new jsfeat.matrix_t(n, n, dt, v_buff.data);
+
+                if(at == 0) {
+                    // transpose
+                    jsfeat.matmath.transpose(a_mt, A);
+                } else {
+                    for(i = 0; i < _n*_m; i++) {
+                        a_mt.data[i] = A.data[i];
+                    }
+                    for(; i < n*m; i++) {
+                        a_mt.data[i] = 0;
+                    }
+                }
+
+                JacobiSVDImpl(a_mt.data, m, w_mt.data, v_mt.data, n, m, n, m);
+
+                if(W) {
+                    for(i=0; i < n; i++) {
+                        W.data[i] = w_mt.data[i];
+                    }
+                    for(; i < _n; i++) {
+                        W.data[i] = 0;
+                    }
+                }
+
+                if (at == 0) {
+                    if(U && (options & jsfeat.SVD_U_T)) {
+                        i = m*m;
+                        while(--i >= 0) {
+                            U.data[i] = a_mt.data[i];
+                        }
+                    } else if(U) {
+                        jsfeat.matmath.transpose(U, a_mt);
+                    }
+
+                    if(V && (options & jsfeat.SVD_V_T)) {
+                        i = n*n;
+                        while(--i >= 0) {
+                            V.data[i] = v_mt.data[i];
+                        }
+                    } else if(V) {
+                        jsfeat.matmath.transpose(V, v_mt);
+                    }
+                } else {
+                    if(U && (options & jsfeat.SVD_U_T)) {
+                        i = n*n;
+                        while(--i >= 0) {
+                            U.data[i] = v_mt.data[i];
+                        }
+                    } else if(U) {
+                        jsfeat.matmath.transpose(U, v_mt);
+                    }
+
+                    if(V && (options & jsfeat.SVD_V_T)) {
+                        i = m*m;
+                        while(--i >= 0) {
+                            V.data[i] = a_mt.data[i];
+                        }
+                    } else if(V) {
+                        jsfeat.matmath.transpose(V, a_mt);
+                    }
+                }
+
+                jsfeat.cache.put_buffer(a_buff);
+                jsfeat.cache.put_buffer(w_buff);
+                jsfeat.cache.put_buffer(v_buff);
+
+            },
+
+            svd_solve: function(A, X, B) {
+                var i=0,j=0,k=0;
+                var pu=0,pv=0;
+                var nrows=A.rows,ncols=A.cols;
+                var sum=0.0,xsum=0.0,tol=0.0;
+                var dt = A.type | jsfeat.C1_t;
+
+                var u_buff = jsfeat.cache.get_buffer((nrows*nrows)<<3);
+                var w_buff = jsfeat.cache.get_buffer(ncols<<3);
+                var v_buff = jsfeat.cache.get_buffer((ncols*ncols)<<3);
+
+                var u_mt = new jsfeat.matrix_t(nrows, nrows, dt, u_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, ncols, dt, w_buff.data);
+                var v_mt = new jsfeat.matrix_t(ncols, ncols, dt, v_buff.data);
+
+                var bd = B.data, ud = u_mt.data, wd = w_mt.data, vd = v_mt.data;
+
+                this.svd_decompose(A, w_mt, u_mt, v_mt, 0);
+
+                tol = jsfeat.EPSILON * wd[0] * ncols;
+
+                for (; i < ncols; i++, pv += ncols) {
+                    xsum = 0.0;
+                    for(j = 0; j < ncols; j++) {
+                        if(wd[j] > tol) {
+                            for(k = 0, sum = 0.0, pu = 0; k < nrows; k++, pu += ncols) {
+                                sum += ud[pu + j] * bd[k];
+                            }
+                            xsum += sum * vd[pv + j] / wd[j];
+                        }
+                    }
+                    X.data[i] = xsum;
+                }
+
+                jsfeat.cache.put_buffer(u_buff);
+                jsfeat.cache.put_buffer(w_buff);
+                jsfeat.cache.put_buffer(v_buff);
+            },
+
+            svd_invert: function(Ai, A) {
+                var i=0,j=0,k=0;
+                var pu=0,pv=0,pa=0;
+                var nrows=A.rows,ncols=A.cols;
+                var sum=0.0,tol=0.0;
+                var dt = A.type | jsfeat.C1_t;
+
+                var u_buff = jsfeat.cache.get_buffer((nrows*nrows)<<3);
+                var w_buff = jsfeat.cache.get_buffer(ncols<<3);
+                var v_buff = jsfeat.cache.get_buffer((ncols*ncols)<<3);
+
+                var u_mt = new jsfeat.matrix_t(nrows, nrows, dt, u_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, ncols, dt, w_buff.data);
+                var v_mt = new jsfeat.matrix_t(ncols, ncols, dt, v_buff.data);
+
+                var id = Ai.data, ud = u_mt.data, wd = w_mt.data, vd = v_mt.data;
+
+                this.svd_decompose(A, w_mt, u_mt, v_mt, 0);
+
+                tol = jsfeat.EPSILON * wd[0] * ncols;
+
+                for (; i < ncols; i++, pv += ncols) {
+                    for (j = 0, pu = 0; j < nrows; j++, pa++) {
+                        for (k = 0, sum = 0.0; k < ncols; k++, pu++) {
+                            if (wd[k] > tol) sum += vd[pv + k] * ud[pu] / wd[k];
+                        }
+                        id[pa] = sum;
+                    }
+                }
+
+                jsfeat.cache.put_buffer(u_buff);
+                jsfeat.cache.put_buffer(w_buff);
+                jsfeat.cache.put_buffer(v_buff);
+            },
+
+            eigenVV: function(A, vects, vals) {
+                var n=A.cols,i=n*n;
+                var dt = A.type | jsfeat.C1_t;
+
+                var a_buff = jsfeat.cache.get_buffer((n*n)<<3);
+                var w_buff = jsfeat.cache.get_buffer(n<<3);
+                var a_mt = new jsfeat.matrix_t(n, n, dt, a_buff.data);
+                var w_mt = new jsfeat.matrix_t(1, n, dt, w_buff.data);
+
+                while(--i >= 0) {
+                    a_mt.data[i] = A.data[i];
+                }
+
+                JacobiImpl(a_mt.data, n, w_mt.data, vects ? vects.data : null, n, n);
+
+                if(vals) {
+                    while(--n >= 0) {
+                        vals.data[n] = w_mt.data[n];
+                    }
+                }
+
+                jsfeat.cache.put_buffer(a_buff);
+                jsfeat.cache.put_buffer(w_buff);
+            }
+
+        };
+
+    })();
+
+    global.linalg = linalg;
+
+})(jsfeat);
\ No newline at end of file
diff --git a/src/jsfeat_mat_math.js b/src/jsfeat_mat_math.js
new file mode 100644
index 0000000..6516785
--- /dev/null
+++ b/src/jsfeat_mat_math.js
@@ -0,0 +1,140 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var matmath = (function() {
+        
+        return {
+            transpose: function(At, A) {
+                var i=0,j=0,nrows=A.rows,ncols=A.cols;
+                var Ai=0,Ati=0,pAt=0;
+                var ad=A.data,atd=At.data;
+
+                for (; i < nrows; Ati += 1, Ai += ncols, i++) {
+                    pAt = Ati;
+                    for (j = 0; j < ncols; pAt += nrows, j++) atd[pAt] = ad[Ai+j];
+                }
+            },
+
+            // C = A * B
+            multiply: function(C, A, B) {
+                var i=0,j=0,k=0;
+                var Ap=0,pA=0,pB=0,p_B=0,Cp=0;
+                var ncols=A.cols,nrows=A.rows,mcols=B.cols;
+                var ad=A.data,bd=B.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < nrows; Ap += ncols, i++) {
+                    for (p_B = 0, j = 0; j < mcols; Cp++, p_B++, j++) {
+                        pB = p_B;
+                        pA = Ap;
+                        sum = 0.0;
+                        for (k = 0; k < ncols; pA++, pB += mcols, k++) {
+                            sum += ad[pA] * bd[pB];
+                        }
+                        cd[Cp] = sum;
+                    }
+                }
+            },
+
+            // C = A * B'
+            multiply_ABt: function(C, A, B) {
+                var i=0,j=0,k=0;
+                var Ap=0,pA=0,pB=0,Cp=0;
+                var ncols=A.cols,nrows=A.rows,mrows=B.rows;
+                var ad=A.data,bd=B.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < nrows; Ap += ncols, i++) {
+                    for (pB = 0, j = 0; j < mrows; Cp++, j++) {
+                        pA = Ap;
+                        sum = 0.0;
+                        for (k = 0; k < ncols; pA++, pB++, k++) {
+                            sum += ad[pA] * bd[pB];
+                        }
+                        cd[Cp] = sum;
+                    }
+                }
+            },
+
+            // C = A' * B
+            multiply_AtB: function(C, A, B) {
+                var i=0,j=0,k=0;
+                var Ap=0,pA=0,pB=0,p_B=0,Cp=0;
+                var ncols=A.cols,nrows=A.rows,mcols=B.cols;
+                var ad=A.data,bd=B.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < ncols; Ap++, i++) {
+                    for (p_B = 0, j = 0; j < mcols; Cp++, p_B++, j++) {
+                        pB = p_B;
+                        pA = Ap;
+                        sum = 0.0;
+                        for (k = 0; k < nrows; pA += ncols, pB += mcols, k++) {
+                            sum += ad[pA] * bd[pB];
+                        }
+                        cd[Cp] = sum;
+                    }
+                }
+            },
+
+            // C = A * A'
+            multiply_AAt: function(C, A) {
+                var i=0,j=0,k=0;
+                var pCdiag=0,p_A=0,pA=0,pB=0,pC=0,pCt=0;
+                var ncols=A.cols,nrows=A.rows;
+                var ad=A.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < nrows; pCdiag += nrows + 1, p_A = pA, i++) {
+                    pC = pCdiag;
+                    pCt = pCdiag;
+                    pB = p_A; 
+                    for (j = i; j < nrows; pC++, pCt += nrows, j++) {
+                        pA = p_A;
+                        sum = 0.0;
+                        for (k = 0; k < ncols; k++) {
+                            sum += ad[pA++] * ad[pB++];
+                        }
+                        cd[pC] = sum
+                        cd[pCt] = sum;
+                    }
+                }
+            },
+
+            // C = A' * A
+            multiply_AtA: function(C, A) {
+                var i=0,j=0,k=0;
+                var p_A=0,pA=0,pB=0,p_C=0,pC=0,p_CC=0;
+                var ncols=A.cols,nrows=A.rows;
+                var ad=A.data,cd=C.data;
+                var sum=0.0;
+
+                for (; i < ncols; p_C += ncols, i++) {
+                    p_A = i;
+                    p_CC = p_C + i;
+                    pC = p_CC;
+                    for (j = i; j < ncols; pC++, p_CC += ncols, j++) {
+                        pA = p_A;
+                        pB = j;
+                        sum = 0.0;
+                        for (k = 0; k < nrows; pA += ncols, pB += ncols, k++) {
+                            sum += ad[pA] * ad[pB];
+                        }
+                        cd[pC] = sum
+                        cd[p_CC] = sum;
+                    }
+                }
+            }
+        };
+
+    })();
+
+    global.matmath = matmath;
+
+})(jsfeat);
\ No newline at end of file
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 9e4280e..3943f59 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -6,6 +6,10 @@
     "use strict";
     //
 
+    // CONSTANTS
+    var EPSILON = 0.0000001192092896;
+    var FLT_MIN = 1E-37;
+
     // implementation from CCV project
     // currently working only with u8,s32,f32
     var U8_t = 0x0100,
@@ -41,28 +45,42 @@
 
     // box blur option
     var BOX_BLUR_NOSCALE = 0x01;
+    // svd options
+    var SVD_U_T = 0x01;
+    var SVD_V_T = 0x02;
 
     var data_t = (function () {
-        function data_t(size_in_bytes) {
-            this.size = size_in_bytes|0;
-            this.buffer = new ArrayBuffer(size_in_bytes);
+        function data_t(size_in_bytes, buffer) {
+            // we need align size to multiple of 8
+            this.size = ((size_in_bytes + 7) | 0) & -8;
+            if (typeof buffer === "undefined") { 
+                this.buffer = new ArrayBuffer(this.size);
+            } else {
+                this.buffer = buffer;
+                this.size = buffer.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 data_t;
     })();
 
     var matrix_t = (function () {
         // columns, rows, data_type
-        function matrix_t(c, r, data_type) {
+        function matrix_t(c, r, data_type, data_buffer) {
             this.type = get_data_type(data_type)|0;
             this.channel = get_channel(data_type)|0;
             this.cols = c|0;
             this.rows = r|0;
-            this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+            if (typeof data_buffer === "undefined") { 
+                this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+            } else {
+                this.buffer = data_buffer;
+            }
             // data user asked for
-            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
         matrix_t.prototype.set_data_type = function(data_type) {
             this.type = get_data_type(data_type)|0;
@@ -72,7 +90,13 @@
             delete this.buffer;
             //
             this.buffer = new data_t((this.cols * get_data_type_size(data_type) * get_channel(data_type)) * this.rows);
-            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : this.buffer.f32);
+            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
+        }
+        matrix_t.prototype.set_data = function(array) {
+            var i = array.length;
+            while(--i >= 0) {
+                this.data[i] = array[i];
+            }
         }
         return matrix_t;
     })();
@@ -142,8 +166,14 @@
     global.C3_t = C3_t;
     global.C4_t = C4_t;
 
+    // constants
+    global.EPSILON = EPSILON;
+    global.FLT_MIN = FLT_MIN;
+
     // options
     global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
+    global.SVD_U_T = SVD_U_T;
+    global.SVD_V_T = SVD_V_T;
 
     global.get_data_type = get_data_type;
     global.get_channel = get_channel;
diff --git a/src/jsfeat_yape.js b/src/jsfeat_yape.js
new file mode 100644
index 0000000..46616df
--- /dev/null
+++ b/src/jsfeat_yape.js
@@ -0,0 +1,410 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * Copyright 2007 Computer Vision Lab,
+ * Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland.
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var yape = (function() {
+
+        var precompute_directions = function(step, dirs, R) {
+            var i = 0;
+            var x, y;
+
+            x = R;
+            for(y = 0; y < x; y++, i++)
+            {
+                x = (Math.sqrt((R * R - y * y)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(x-- ; x < y && x >= 0; x--, i++)
+            {
+                y = (Math.sqrt((R * R - x * x)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for( ; -x < y; x--, i++)
+            {
+                y = (Math.sqrt((R * R - x * x)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(y-- ; y >= 0; y--, i++)
+            {
+                x = (-Math.sqrt((R * R - y * y)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(; y > x; y--, i++)
+            {
+                x = (-Math.sqrt((R * R - y * y)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(x++ ; x <= 0; x++, i++)
+            {
+                y = (-Math.sqrt((R * R - x * x)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for( ; x < -y; x++, i++)
+            {
+                y = (-Math.sqrt((R * R - x * x)) - 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+            for(y++ ; y < 0; y++, i++)
+            {
+                x = (Math.sqrt((R * R - y * y)) + 0.5)|0;
+                dirs[i] = (x + step * y);
+            }
+
+            dirs[i] = dirs[0];
+            dirs[i + 1] = dirs[1];
+            return i;
+        }
+
+        var third_check = function (Sb, off, step) {
+            var n = 0;
+            if(Sb[off+1]   != 0) n++;
+            if(Sb[off-1]   != 0) n++;
+            if(Sb[off+step]   != 0) n++;
+            if(Sb[off+step+1] != 0) n++;
+            if(Sb[off+step-1] != 0) n++;
+            if(Sb[off-step]   != 0) n++;
+            if(Sb[off-step+1] != 0) n++;
+            if(Sb[off-step-1] != 0) n++;
+
+            return n;
+        }
+
+        var is_local_maxima = function(p, off, v, step, neighborhood) {
+            var x, y;
+
+            if (v > 0) {
+                off -= step*neighborhood;
+                for (y= -neighborhood; y<=neighborhood; ++y) {
+                    for (x= -neighborhood; x<=neighborhood; ++x) {
+                        if (p[off+x] > v) return false;
+                    }
+                    off += step;
+                }
+            } else {
+                off -= step*neighborhood;
+                for (y= -neighborhood; y<=neighborhood; ++y) {
+                    for (x= -neighborhood; x<=neighborhood; ++x) {
+                        if (p[off+x] < v) return false;
+                    }
+                    off += step;
+                }
+            }
+            return true;
+        }
+
+        var perform_one_point = function(I, x, Scores, Im, Ip, dirs, opposite, dirs_nb) {
+          var score = 0;
+          var a = 0, b = (opposite - 1)|0;
+          var A=0, B0=0, B1=0, B2=0;
+          var state=0;
+
+          // WE KNOW THAT NOT(A ~ I0 & B1 ~ I0):
+          A = I[x+dirs[a]];
+          if ((A <= Ip)) {
+            if ((A >= Im)) { // A ~ I0
+              B0 = I[x+dirs[b]];
+              if ((B0 <= Ip)) {
+                if ((B0 >= Im)) { Scores[x] = 0; return; }
+                else {
+                  b++; B1 = I[x+dirs[b]];
+                  if ((B1 > Ip)) {
+                    b++; B2 = I[x+dirs[b]];
+                    if ((B2 > Ip)) state = 3;
+                    else if ((B2 < Im)) state = 6;
+                    else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                  }
+                  else/* if ((B1 < Im))*/ {
+                    b++; B2 = I[x+dirs[b]];
+                    if ((B2 > Ip)) state = 7;
+                    else if ((B2 < Im)) state = 2;
+                    else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                  }
+                  //else { Scores[x] = 0; return; } // A ~ I0, B1 ~ I0
+                }
+              }
+              else { // B0 < I0
+                b++; B1 = I[x+dirs[b]];
+                if ((B1 > Ip)) {
+                  b++; B2 = I[x+dirs[b]];
+                  if ((B2 > Ip)) state = 3;
+                  else if ((B2 < Im)) state = 6;
+                  else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                }
+                else if ((B1 < Im)) {
+                  b++; B2 = I[x+dirs[b]];
+                  if ((B2 > Ip)) state = 7;
+                  else if ((B2 < Im)) state = 2;
+                  else { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+                }
+                else { Scores[x] = 0; return; } // A ~ I0, B1 ~ I0
+              }
+            }
+            else { // A > I0
+              B0 = I[x+dirs[b]];
+              if ((B0 > Ip)) { Scores[x] = 0; return; }
+                b++; B1 = I[x+dirs[b]];
+              if ((B1 > Ip)) { Scores[x] = 0; return; }
+                b++; B2 = I[x+dirs[b]];
+              if ((B2 > Ip)) { Scores[x] = 0; return; }
+                state = 1;
+            }
+          }
+          else // A < I0
+          {
+            B0 = I[x+dirs[b]];
+            if ((B0 < Im)) { Scores[x] = 0; return; }
+              b++; B1 = I[x+dirs[b]];
+            if ((B1 < Im)) { Scores[x] = 0; return; }
+              b++; B2 = I[x+dirs[b]];
+            if ((B2 < Im)) { Scores[x] = 0; return; }
+              state = 0;
+          }
+
+          for(a = 1; a <= opposite; a++)
+          {
+            A = I[x+dirs[a]];
+
+            switch(state)
+            {
+            case 0:
+              if ((A > Ip)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 0; break; };
+              }
+              if ((A < Im)) {
+                if ((B1 > Ip)) { Scores[x] = 0; return; }
+                  if ((B2 > Ip)) { Scores[x] = 0; return; }
+                    B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 8; break; };
+              } 
+              // A ~ I0
+              if ((B1 <= Ip)) { Scores[x] = 0; return; }
+                if ((B2 <= Ip)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+              { Scores[x] = 0; return; }
+
+            case 1:
+              if ((A < Im)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 1; break; };
+              }
+              if ((A > Ip)) {
+                if ((B1 < Im)) { Scores[x] = 0; return; }
+                  if ((B2 < Im)) { Scores[x] = 0; return; }
+                    B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 9; break; };
+              }
+              // A ~ I0
+              if ((B1 >= Im)) { Scores[x] = 0; return; }
+                if ((B2 >= Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+              if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+              { Scores[x] = 0; return; }
+
+            case 2:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((A < Im))
+              {
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 4; break; };
+              } 
+              // A ~ I0
+              if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+              { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+
+            case 3:
+              if ((A < Im)) { Scores[x] = 0; return; }
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+              if ((A > Ip)) {
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 5; break; };
+              }
+              // A ~ I0
+              if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+              { Scores[x] = 0; return; }
+
+            case 4:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                if ((A < Im)) {
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                  if ((B2 > Ip)) { Scores[x] = 0; return; }
+                    { score -= A + B1; state = 1; break; };
+                }
+                if ((B2 >= Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+                if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+                { Scores[x] = 0; return; }
+
+            case 5:
+              if ((A < Im)) { Scores[x] = 0; return; }
+                if ((A > Ip)) {
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                  if ((B2 < Im)) { Scores[x] = 0; return; }
+                    { score -= A + B1; state = 0; break; };
+                }
+                // A ~ I0
+                if ((B2 <= Ip)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+                if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+                { Scores[x] = 0; return; }
+
+            case 7:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                if ((A < Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              // A ~ I0
+              if ((B2 > Ip)) { score -= A + B1; state = 3; break; };
+              if ((B2 < Im)) { score -= A + B1; state = 6; break; };
+              { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+
+            case 6:
+              if ((A > Ip)) { Scores[x] = 0; return; }
+                if ((A < Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+              // A ~ I0
+              if ((B2 < Im)) { score -= A + B1; state = 2; break; };
+              if ((B2 > Ip)) { score -= A + B1; state = 7; break; };
+              { Scores[x] = 0; return; } // A ~ I0, B2 ~ I0
+
+            case 8:
+              if ((A > Ip)) {
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 9; break; };
+              }
+              if ((A < Im)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 1; break; };
+              }
+              { Scores[x] = 0; return; }
+
+            case 9:
+              if ((A < Im)) {
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 > Ip)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 8; break; };
+              }
+              if ((A > Ip)) {
+                B1 = B2; b++; B2 = I[x+dirs[b]];
+                if ((B2 < Im)) { Scores[x] = 0; return; }
+                  { score -= A + B1; state = 0; break; };
+              }
+              { Scores[x] = 0; return; }
+
+            default:
+              //"PB default";
+              break;
+            } // switch(state)
+          } // for(a...)
+
+          Scores[x] = (score + dirs_nb * I[x]);
+        }
+
+        var lev_table_t = (function () {
+            function lev_table_t(w, h, r) {
+                this.dirs = new Int32Array(1024);
+                this.dirs_count = precompute_directions(w, this.dirs, r)|0;
+                this.scores = new Int32Array(w*h);
+                this.radius = r|0;
+            }
+            return lev_table_t;
+        })();
+        
+        return {
+
+            level_tables: [],
+            tau: 7,
+
+            init: function(width, height, radius, pyramid_levels) {
+                if (typeof pyramid_levels === "undefined") { pyramid_levels = 1; }
+                var i;
+                radius = Math.min(radius, 7);
+                radius = Math.max(radius, 3);
+                for(i = 0; i < pyramid_levels; ++i) {
+                    this.level_tables[i] = new lev_table_t(width>>i, height>>i, radius);
+                }
+            },
+
+            detect: function(src, points, border) {
+                if (typeof border === "undefined") { border = 4; }
+                var t = this.level_tables[0];
+                var R = t.radius|0, Rm1 = (R-1)|0;
+                var dirs = t.dirs;
+                var dirs_count = t.dirs_count|0;
+                var opposite = dirs_count >> 1;
+                var img = src.data, w=src.cols|0, h=src.rows|0,hw=w>>1;
+                var scores = t.scores;
+                var x=0,y=0,row=0,rowx=0,ip=0,im=0,abs_score=0, score=0;
+                var tau = this.tau|0;
+                var number_of_points = 0, pt;
+
+                var sx = Math.max(R+1, border)|0;
+                var sy = Math.max(R+1, border)|0;
+                var ex = Math.min(w-R-2, w-border)|0;
+                var ey = Math.min(h-R-2, h-border)|0;
+
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row+=w) {
+                    for(x = sx, rowx = row; x < ex; ++x, ++rowx) {
+                        ip = img[rowx] + tau, im = img[rowx] - tau;
+
+                        if (im<img[rowx+R] && img[rowx+R]<ip && im<img[rowx-R] && img[rowx-R]<ip) {
+                            scores[rowx] = 0;
+                        } else {
+                            perform_one_point(img, rowx, scores, im, ip, dirs, opposite, dirs_count);
+                        }
+                    }
+                }
+
+                // local maxima
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row+=w) {
+                    for(x = sx, rowx = row; x < ex; ++x, ++rowx) {
+                        score = scores[rowx];
+                        abs_score = Math.abs(score);
+                        if(abs_score < 5) {
+                            // if this pixel is 0, the next one will not be good enough. Skip it.
+                            ++x, ++rowx;
+                        } else {
+                            if(third_check(scores, rowx, w) >= 3 && is_local_maxima(scores, rowx, score, hw, R)) {
+                                pt = points[number_of_points];
+                                pt.x = x, pt.y = y, pt.score = abs_score;
+                                ++number_of_points;
+
+                                x += Rm1, rowx += Rm1;
+                            }
+                        }
+                    }
+                }
+
+                return number_of_points;
+            }
+        };
+
+    })();
+
+    global.yape = yape;
+
+})(jsfeat);
\ No newline at end of file
diff --git a/src/jsfeat_yape06.js b/src/jsfeat_yape06.js
new file mode 100644
index 0000000..2d1559b
--- /dev/null
+++ b/src/jsfeat_yape06.js
@@ -0,0 +1,95 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * Copyright 2007 Computer Vision Lab,
+ * Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland.
+ * @author Vincent Lepetit (http://cvlab.epfl.ch/~lepetit)
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var yape06 = (function() {
+        
+        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
+            var y=0,x=0,yrow=(Dxx*w)|0,row=yrow;
+
+            for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
+                for(x = w - Dxx; x >= Dxx; --x) {
+                    dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
+                    ++row;
+                }
+            }
+        }
+
+        var hessian_min_eigen_value = function(src, off, tr, Dxx, Dyy, Dxy, Dyx) {
+            var Ixx = -2 * src[off] + src[off + Dxx] + src[off - Dxx];
+            var Iyy = -2 * src[off] + src[off + Dyy] + src[off - Dyy];
+            var Ixy = src[off + Dxy] + src[off - Dxy] - src[off + Dyx] - src[off - Dyx];
+            var sqrt_delta = ( Math.sqrt(((Ixx - Iyy) * (Ixx - Iyy) + 4 * Ixy * Ixy) ) )|0;
+
+            return Math.min(Math.abs(tr - sqrt_delta), Math.abs(-(tr + sqrt_delta)));
+        }
+
+        return {
+
+            laplacian_threshold: 30,
+            min_eigen_value_threshold: 25,
+
+            detect: function(src, points) {
+                var x=0,y=0;
+                var w=src.cols, h=src.rows, srd_d=src.data;
+                var Dxx = 5, Dyy = (5 * w)|0;
+                var Dxy = (3 + 3 * w)|0, Dyx = (3 - 3 * w)|0;
+                var lap_buf = jsfeat.cache.get_buffer((w*h)<<2);
+                var laplacian = lap_buf.i32;
+                var lv=0, row=0,rowx=0,min_eigen_value=0,pt;
+                var number_of_points = 0;
+                var lap_thresh = this.laplacian_threshold;
+                var eigen_thresh = this.min_eigen_value_threshold;
+
+                x = w*h;
+                while(--x>=0) {laplacian[x]=0;}
+                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
+
+                row = (w+1)|0;
+                for(y = 1; y < h-1; ++y, row += w) {
+                    for(x = 1, rowx=row; x < w-1; ++x, ++rowx) {
+
+                        lv = laplacian[rowx];
+                        if ((lv < -lap_thresh &&
+                            lv < laplacian[rowx - 1]      && lv < laplacian[rowx + 1] &&
+                            lv < laplacian[rowx - w]     && lv < laplacian[rowx + w] &&
+                            lv < laplacian[rowx - w - 1] && lv < laplacian[rowx + w - 1] &&
+                            lv < laplacian[rowx - w + 1] && lv < laplacian[rowx + w + 1])
+                            ||
+                            (lv > lap_thresh &&
+                            lv > laplacian[rowx - 1]      && lv > laplacian[rowx + 1] &&
+                            lv > laplacian[rowx - w]     && lv > laplacian[rowx + w] &&
+                            lv > laplacian[rowx - w - 1] && lv > laplacian[rowx + w - 1] &&
+                            lv > laplacian[rowx - w + 1] && lv > laplacian[rowx + w + 1])
+                            ) {
+
+                            min_eigen_value = hessian_min_eigen_value(srd_d, rowx, lv, Dxx, Dyy, Dxy, Dyx);
+                            if (min_eigen_value > eigen_thresh) {
+                                pt = points[number_of_points];
+                                pt.x = x, pt.y = y, pt.score = min_eigen_value;
+                                ++number_of_points;
+                                ++x, ++rowx;
+                            }
+                        }
+                    }
+                }
+
+                jsfeat.cache.put_buffer(lap_buf);
+
+                return number_of_points;
+            }
+
+        };
+    })();
+
+    global.yape06 = yape06;
+
+})(jsfeat);

From 8c2b440c0e82d71835a2c8289b2ed2e976b06ed7 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 6 Dec 2012 14:40:33 +0400
Subject: [PATCH 14/46] Update README.md

---
 README.md | 11 ++++++++++-
 1 file changed, 10 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 919b66d..af7a457 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,16 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
  * equalize histogram ([Demo](http://inspirit.github.com/jsfeat/sample_equalize_hist.html))
  * canny edges ([Demo](http://inspirit.github.com/jsfeat/sample_canny_edge.html))
  * find more at Examples and Documentation page
-* Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))
+* Linear Algebra module
+ * LU (Gaussian elimination) solver
+ * Cholesky solver
+ * SVD decomposition, solver and pseudo-inverse
+ * Eigen Vectors and Values
+* Matrix Math module for various matrix operation such as traspose, multiply etc.
+* Features 2D
+ * Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))
+ * YAPE06 feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape06.html))
+ * YAPE feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape.html))
 * Lucas-Kanade optical flow ([Demo](http://inspirit.github.com/jsfeat/sample_oflow_lk.html) - click to add points)
 * HAAR object detector ([Demo](http://inspirit.github.com/jsfeat/sample_haar_face.html))
 * BBF object detector ([Demo](http://inspirit.github.com/jsfeat/sample_bbf_face.html))

From 3b2d42d7d6ba4ca5d326bbb627957d650111de05 Mon Sep 17 00:00:00 2001
From: Eugeny Zatepyakin <zatepyakin@gmail.com>
Date: Sat, 8 Dec 2012 17:18:11 +0400
Subject: [PATCH 15/46] export module

added export to support NodeJS export. didn't test since I don't use NodeJS
---
 build/jsfeat-min.js  |  2 +-
 build/jsfeat.js      | 45 +++++++++++++++++++++++---------------------
 compile/build.xml    |  1 +
 package.json         |  8 ++++++++
 src/jsfeat_export.js | 20 ++++++++++++++++++++
 5 files changed, 54 insertions(+), 22 deletions(-)
 create mode 100644 package.json
 create mode 100644 src/jsfeat_export.js

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index c721956..6b1be6c 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};self.Int32Array=self.Int32Array||Array;self.Uint32Array=self.Uint32Array||Array;self.Uint8Array=self.Uint8Array||Array;self.Float32Array=self.Float32Array||Array;self.Float64Array=self.Float64Array||Array;(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},gaussian_blur:function(g,s,r,v){if(typeof 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof 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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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);
\ No newline at end of file
+var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);(function(a){var b={};if(typeof(exports)==="undefined"){b.exports=window}else{b.exports=exports}if(typeof(b.exports)!=="undefined"){b.exports.jsfeat=a}})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 12e1f2c..29eecc5 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4,14 +4,6 @@
 
 // namespace ?
 var jsfeat = jsfeat || { REVISION: 'ALPHA' };
-
-// use typed arrays if possible
-self.Int32Array = self.Int32Array || Array;
-self.Uint32Array = self.Uint32Array || Array;
-self.Uint8Array = self.Uint8Array || Array;
-self.Float32Array = self.Float32Array || Array;
-self.Float64Array = self.Float64Array || Array;
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -199,7 +191,6 @@ self.Float64Array = self.Float64Array || Array;
     global.point2d_t = point2d_t;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -279,7 +270,6 @@ self.Float64Array = self.Float64Array || Array;
     cache.allocate(30, 640*4);
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -577,7 +567,6 @@ self.Float64Array = self.Float64Array || Array;
     global.math = math;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -717,7 +706,7 @@ self.Float64Array = self.Float64Array || Array;
 
     global.matmath = matmath;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -1438,7 +1427,7 @@ self.Float64Array = self.Float64Array || Array;
 
     global.linalg = linalg;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -1610,7 +1599,7 @@ self.Float64Array = self.Float64Array || Array;
 
     global.transform = transform;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -2712,7 +2701,6 @@ self.Float64Array = self.Float64Array || Array;
     global.imgproc = imgproc;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3052,7 +3040,6 @@ The references are:
     fast_corners.set_threshold(20); // set default
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3148,7 +3135,6 @@ The references are:
     global.yape06 = yape06;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3558,7 +3544,7 @@ The references are:
 
     global.yape = yape;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3803,7 +3789,6 @@ The references are:
     global.optical_flow_lk = optical_flow_lk;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4094,7 +4079,6 @@ The references are:
     global.haar = haar;
 
 })(jsfeat);
-
 /**
  * BBF: Brightness Binary Feature
  *
@@ -4489,4 +4473,23 @@ The references are:
     global.bbf = bbf;
 
 })(jsfeat);
-
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+ 
+(function(lib) {
+    "use strict";
+
+    var shim = {};
+    if (typeof(exports) === 'undefined') {
+        // in a browser, define its namespaces in global
+        shim.exports = window;
+    } else {    
+        // in commonjs, define its namespaces in exports
+        shim.exports = exports;
+    }
+
+    if(typeof(shim.exports) !== 'undefined') {
+        shim.exports.jsfeat = lib;
+    }
+})(jsfeat);
diff --git a/compile/build.xml b/compile/build.xml
index 2b93237..83a1631 100755
--- a/compile/build.xml
+++ b/compile/build.xml
@@ -16,6 +16,7 @@
                 <file name="jsfeat_optical_flow_lk.js" />
                 <file name="jsfeat_haar.js" />
                 <file name="jsfeat_bbf.js" />
+                <file name="jsfeat_export.js" />
             </filelist>
         </concat>
     </target>
diff --git a/package.json b/package.json
new file mode 100644
index 0000000..19f4f0e
--- /dev/null
+++ b/package.json
@@ -0,0 +1,8 @@
+{
+    "name" : "jsfeat",
+    "version" : "0.0.1",
+    "description" : "JavaScript Computer Vision library",
+    "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
+    "files" : "build/jsfeat.js",
+    "main" : "build/jsfeat"
+}
\ No newline at end of file
diff --git a/src/jsfeat_export.js b/src/jsfeat_export.js
new file mode 100644
index 0000000..09dff3b
--- /dev/null
+++ b/src/jsfeat_export.js
@@ -0,0 +1,20 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ */
+ 
+(function(lib) {
+    "use strict";
+
+    var shim = {};
+    if (typeof(exports) === 'undefined') {
+        // in a browser, define its namespaces in global
+        shim.exports = window;
+    } else {    
+        // in commonjs, define its namespaces in exports
+        shim.exports = exports;
+    }
+
+    if(typeof(shim.exports) !== 'undefined') {
+        shim.exports.jsfeat = lib;
+    }
+})(jsfeat);
\ No newline at end of file

From 2708971bcaf475b9acdcf36169c0c994fe3b7559 Mon Sep 17 00:00:00 2001
From: Adam Ahmed <hitsthings@gmail.com>
Date: Sun, 9 Dec 2012 07:44:33 +1100
Subject: [PATCH 16/46] Move jsfeat to the root of the exports.

This way it can be require'd like:

var jsfeat = require('jsfeat');

Rather than:

var jsfeat = require('jsfeat').jsfeat;
---
 package.json         |  4 ++--
 src/jsfeat_export.js | 19 +++++++------------
 2 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/package.json b/package.json
index 19f4f0e..e259c5f 100644
--- a/package.json
+++ b/package.json
@@ -1,8 +1,8 @@
 {
     "name" : "jsfeat",
-    "version" : "0.0.1",
+    "version" : "0.0.2",
     "description" : "JavaScript Computer Vision library",
     "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
     "files" : "build/jsfeat.js",
     "main" : "build/jsfeat"
-}
\ No newline at end of file
+}
diff --git a/src/jsfeat_export.js b/src/jsfeat_export.js
index 09dff3b..2764bc3 100644
--- a/src/jsfeat_export.js
+++ b/src/jsfeat_export.js
@@ -1,20 +1,15 @@
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
- 
+
 (function(lib) {
     "use strict";
 
-    var shim = {};
-    if (typeof(exports) === 'undefined') {
+    if (!module || !module.exports) {
         // in a browser, define its namespaces in global
-        shim.exports = window;
-    } else {    
-        // in commonjs, define its namespaces in exports
-        shim.exports = exports;
-    }
-
-    if(typeof(shim.exports) !== 'undefined') {
-        shim.exports.jsfeat = lib;
+        window.jsfeat = lib;
+    } else {
+        // in commonjs, or when AMD wrapping has been applied, define its namespaces as exports
+        module.exports = lib;
     }
-})(jsfeat);
\ No newline at end of file
+})(jsfeat);

From 9eade0581f348b0b5cfb3b00a90f7da8a8ae2f2b Mon Sep 17 00:00:00 2001
From: Eugeny Zatepyakin <zatepyakin@gmail.com>
Date: Sun, 9 Dec 2012 12:54:32 +0400
Subject: [PATCH 17/46] node export

modified node export code and rebuild all-in-one libraries
---
 build/jsfeat-min.js  |  2 +-
 build/jsfeat.js      | 17 ++++++-----------
 package.json         |  2 +-
 src/jsfeat_export.js |  2 +-
 4 files changed, 9 insertions(+), 14 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 6b1be6c..553aa78 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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{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}}}}})();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])*0.5;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*10;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=3;P+=D[K]*D[J];P+=D[K+1]*D[J+1];P+=D[K+2]*D[J+2];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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=3;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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}}else{aa=Z=0;U=3;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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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=3;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;H=Y*M[R+2]+O*M[Q+2];G=-O*M[R+2]+Y*M[Q+2];M[R+2]=H;M[Q+2]=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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return 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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=3;P+=D[K]*D[J];P+=D[K+1]*D[J+1];P+=D[K+2]*D[J+2];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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=3;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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}}else{aa=Z=0;U=3;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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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=3;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;H=Y*M[R+2]+O*M[Q+2];G=-O*M[R+2]+Y*M[Q+2];M[R+2]=H;M[Q+2]=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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var P=[0,0,0];for(X=0;X<h;X++){t=(X<<2);U=z[t+(l<<3)].width-(H.width>>2);e=z[t+(l<<3)].height-(H.height>>2);L[0]=z[t].width<<2;L[1]=z[t+(l<<2)].width<<2;L[2]=z[t+(l<<3)].width<<2;P[0]=(z[t].width<<4)-(U<<4);P[1]=(z[t+(l<<2)].width<<3)-(U<<3);P[2]=(z[t+(l<<3)].width<<2)-(U<<2);w=H.stage_classifier.length;for(W=0;W<w;W++){A=H.stage_classifier[W].feature;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];C=A[V];E=C.size|0;for(Q=0;Q<E;Q++){D.px[Q]=(C.px[Q]<<2)+C.py[Q]*L[C.pz[Q]];D.pz[Q]=C.pz[Q];D.nx[Q]=(C.nx[Q]<<2)+C.ny[Q]*L[C.nz[Q]];D.nz[Q]=C.nz[Q]}}}v[0]=z[t].data;v[1]=z[t+(l<<2)].data;for(Q=0;Q<4;Q++){v[2]=z[t+(l<<3)+Q].data;d[0]=(r[Q]<<3)+o[Q]*(z[t].width<<3);d[1]=(r[Q]<<2)+o[Q]*(z[t+(l<<2)].width<<2);d[2]=0;for(N=0;N<e;N++){for(O=0;O<U;O++){B=0;K=true;w=H.stage_classifier.length;for(W=0;W<w;W++){B=0;T=H.stage_classifier[W].alpha;M=H.stage_classifier[W]._feature;F=H.stage_classifier[W].count;for(V=0;V<F;V++){D=M[V];Z=v[D.pz[0]][d[D.pz[0]]+D.px[0]];I=v[D.nz[0]][d[D.nz[0]]+D.nx[0]];if(Z<=I){B+=T[V<<1]}else{m=true;E=D.size;for(Y=0;Y<E;Y++){if(D.pz[Y]>=0){R=v[D.pz[Y]][d[D.pz[Y]]+D.px[Y]];if(R<Z){if(R<=I){m=false;break}Z=R}}if(D.nz[Y]>=0){S=v[D.nz[Y]][d[D.nz[Y]]+D.nx[Y]];if(S>I){if(Z<=S){m=false;break}I=S}}}B+=(m)?T[(V<<1)+1]:T[V<<1]}}if(B<H.stage_classifier[W].threshold){K=false;break}}if(K){G.push({x:(O*4+r[Q]*2)*u,y:(N*4+o[Q]*2)*s,width:H.width*u,height:H.height*s,neighbor:1,confidence:B})}d[0]+=16;d[1]+=8;d[2]+=4}d[0]+=P[0];d[1]+=P[1];d[2]+=P[2]}}u*=J;s*=J}return G},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*0.25+0.5)|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}}})();a.bbf=b})(jsfeat);(function(a){if(typeof module==="undefined"||typeof module.exports==="undefined"){window.jsfeat=a}else{module.exports=a}})(jsfeat);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 29eecc5..9ab81de 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4476,20 +4476,15 @@ The references are:
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
- 
+
 (function(lib) {
     "use strict";
 
-    var shim = {};
-    if (typeof(exports) === 'undefined') {
+    if (typeof module === "undefined" || typeof module.exports === "undefined") {
         // in a browser, define its namespaces in global
-        shim.exports = window;
-    } else {    
-        // in commonjs, define its namespaces in exports
-        shim.exports = exports;
-    }
-
-    if(typeof(shim.exports) !== 'undefined') {
-        shim.exports.jsfeat = lib;
+        window.jsfeat = lib;
+    } else {
+        // in commonjs, or when AMD wrapping has been applied, define its namespaces as exports
+        module.exports = lib;
     }
 })(jsfeat);
diff --git a/package.json b/package.json
index e259c5f..aa767a2 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name" : "jsfeat",
-    "version" : "0.0.2",
+    "version" : "0.0.3",
     "description" : "JavaScript Computer Vision library",
     "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
     "files" : "build/jsfeat.js",
diff --git a/src/jsfeat_export.js b/src/jsfeat_export.js
index 2764bc3..0ee0507 100644
--- a/src/jsfeat_export.js
+++ b/src/jsfeat_export.js
@@ -5,7 +5,7 @@
 (function(lib) {
     "use strict";
 
-    if (!module || !module.exports) {
+    if (typeof module === "undefined" || typeof module.exports === "undefined") {
         // in a browser, define its namespaces in global
         window.jsfeat = lib;
     } else {

From 2f6a03218f06d98e1be78bef07489bd2ea2c32a8 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Tue, 11 Dec 2012 18:11:15 +0400
Subject: [PATCH 18/46] bbf no canvas dependency

removed bbf canvas dependency
---
 build/jsfeat-min.js   |   2 +-
 build/jsfeat.js       | 206 +++++++++++++++++++++++-------------------
 package.json          |   2 +-
 src/jsfeat_bbf.js     | 164 ++++++++++++++++-----------------
 src/jsfeat_imgproc.js |  23 +++--
 5 files changed, 211 insertions(+), 186 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 553aa78..7bd2751 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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{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}}}}})();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])*0.5;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*10;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=3;P+=D[K]*D[J];P+=D[K+1]*D[J+1];P+=D[K+2]*D[J+2];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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=3;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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}}else{aa=Z=0;U=3;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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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=3;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;H=Y*M[R+2]+O*M[Q+2];G=-O*M[R+2]+Y*M[Q+2];M[R+2]=H;M[Q+2]=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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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(i,o){var r=i.cols,m=i.rows;var l=r>>1,n=m>>1;var q=0,p=0,g=0,t=0,s=0;var k=i.data,j=o.data;for(p=0;p<n;++p){t=g;for(q=0;q<=l-2;q+=2,s+=2,t+=4){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2;j[s+1]=(k[t+2]+k[t+3]+k[t+r+2]+k[t+r+3]+2)>>2}for(;q<l;++q,++s,t+=2){j[s]=(k[t]+k[t+1]+k[t+r]+k[t+r+1]+2)>>2}g+=r<<1}},scharr_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{interval:4,scale:1.1486,next:5,scale_to:1,prepare_cascade:function(f){var l=f.stage_classifier.length;for(var g=0;g<l;g++){var i=f.stage_classifier[g].feature;var d=f.stage_classifier[g].count;var h=f.stage_classifier[g]._feature=new Array(d);for(var e=0;e<d;e++){h[e]={size:i[e].size,px:new Array(i[e].size),pz:new Array(i[e].size),nx:new Array(i[e].size),nz:new Array(i[e].size)}}}},build_pyramid:function(e,p,x,t,m){if(typeof t==="undefined"){t=4}if(typeof m==="undefined"){m=true}if(m){var l=e.getContext("2d");var n=e.width*e.height;var v=l.getImageData(0,0,e.width,e.height);var k=v.data;var o=new Uint32Array(k.buffer);var j=jsfeat.cache.get_buffer(n);var f=j.u8;jsfeat.imgproc.grayscale(k,f);var h=(255<<24);var r=n,d=0;while(--r>=0){d=f[r];o[r]=h|(d<<16)|(d<<8)|d}l.putImageData(v,0,0);jsfeat.cache.put_buffer(j)}this.interval=t;this.scale=Math.pow(2,1/(this.interval+1));this.next=(this.interval+1)|0;this.scale_to=(Math.log(Math.min(e.width/p,e.height/x))/Math.log(this.scale))|0;var q=document.createElement("canvas");q.width=e.width;q.height=e.height;var s=q.getContext("2d");var w=new Array((this.scale_to+this.next*2)*4);w[0]={width:e.width,height:e.height,data:e.getContext("2d").getImageData(0,0,e.width,e.height).data};var u,g;for(r=1;r<=this.interval;++r){u=(e.width/Math.pow(this.scale,r))|0;g=(e.height/Math.pow(this.scale,r))|0;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,0,0,e.width,e.height,0,0,u,g);w[r*4]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}for(r=this.next*2;r<this.scale_to+this.next*2;++r){u=w[r*4-this.next*4].width>>1;g=w[r*4-this.next*4].height>>1;s.drawImage(e,1,0,e.width-1,e.height,0,0,u-2,g);w[r*4+1]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,0,1,e.width,e.height-1,0,0,u,g-2);w[r*4+2]={width:u,height:g,data:s.getImageData(0,0,u,g).data};s.drawImage(e,1,1,e.width-1,e.height-1,0,0,u-2,g-2);w[r*4+3]={width:u,height:g,data:s.getImageData(0,0,u,g).data}}return w},detect:function(z,H){var g=this.interval;var J=this.scale;var l=this.next;var h=this.scale_to;var X=0,W=0,V=0,S=0,O=0,N=0,Q=0,w=0,F=0,E=0,R=0,Z=0,I=0,Y=0,t=0,U=0,e=0;var B=0,T,M,A,D,C,K=true,m=true;var u=1,s=1;var r=[0,1,0,1];var o=[0,0,1,1];var G=[];var v=[],d=[0,0,0];var L=[0,0,0];var 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c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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 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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])*0.5;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*10;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=3;P+=D[K]*D[J];P+=D[K+1]*D[J+1];P+=D[K+2]*D[J+2];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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=3;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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}}else{aa=Z=0;U=3;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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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=3;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;H=Y*M[R+2]+O*M[Q+2];G=-O*M[R+2]+Y*M[Q+2];M[R+2]=H;M[Q+2]=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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var 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a=(function(){var c=function(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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=0;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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 9ab81de..9d875a0 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4,6 +4,7 @@
 
 // namespace ?
 var jsfeat = jsfeat || { REVISION: 'ALPHA' };
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -191,6 +192,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.point2d_t = point2d_t;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -270,6 +272,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     cache.allocate(30, 640*4);
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -567,6 +570,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.math = math;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -706,7 +710,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.matmath = matmath;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -1427,7 +1431,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.linalg = linalg;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -1599,7 +1603,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.transform = transform;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -2192,25 +2196,32 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 jsfeat.cache.put_buffer(filt_node);
             },
             // assume we always need it for u8 image
-            pyrdown: function(src, dst) {
+            pyrdown: function(src, dst, sx, sy) {
+                // this is needed for bbf
+                if (typeof sx === "undefined") { sx = 0; }
+                if (typeof sy === "undefined") { sy = 0; }
+
                 var w = src.cols, h = src.rows;
                 var w2 = w >> 1, h2 = h >> 1;
-                var x=0,y=0,sptr=0,sline=0,dptr=0;
+                var _w2 = w2 - (sx << 1), _h2 = h2 - (sy << 1);
+                var x=0,y=0,sptr=sx+sy*w,sline=0,dptr=0,dline=0;
                 var src_d = src.data, dst_d = dst.data;
 
-                for(y = 0; y < h2; ++y) {
+                for(y = 0; y < _h2; ++y) {
                     sline = sptr;
-                    for(x = 0; x <= w2-2; x+=2, dptr+=2, sline += 4) {
-                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                    dline = dptr;
+                    for(x = 0; x <= _w2-2; x+=2, dline+=2, sline += 4) {
+                        dst_d[dline] = (src_d[sline] + src_d[sline+1] +
                                             src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
-                        dst_d[dptr+1] = (src_d[sline+2] + src_d[sline+3] +
+                        dst_d[dline+1] = (src_d[sline+2] + src_d[sline+3] +
                                             src_d[sline+w+2] + src_d[sline+w+3] + 2) >> 2;
                     }
-                    for(; x < w2; ++x, ++dptr, sline += 2) {
-                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                    for(; x < _w2; ++x, ++dline, sline += 2) {
+                        dst_d[dline] = (src_d[sline] + src_d[sline+1] +
                                             src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
                     }
                     sptr += w << 1;
+                    dptr += w2;
                 }
             },
 
@@ -2701,6 +2712,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.imgproc = imgproc;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3040,6 +3052,7 @@ The references are:
     fast_corners.set_threshold(20); // set default
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3135,6 +3148,7 @@ The references are:
     global.yape06 = yape06;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3544,7 +3558,7 @@ The references are:
 
     global.yape = yape;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3789,6 +3803,7 @@ The references are:
     global.optical_flow_lk = optical_flow_lk;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4079,6 +4094,7 @@ The references are:
     global.haar = haar;
 
 })(jsfeat);
+
 /**
  * BBF: Brightness Binary Feature
  *
@@ -4106,6 +4122,8 @@ The references are:
                    (r2.width * 1.5 + 0.5)|0 >= r1.width;
         }
 
+        var img_pyr = new jsfeat.pyramid_t(1);
+
         return {
 
             interval: 4,
@@ -4132,89 +4150,78 @@ The references are:
                 }
             },
 
-            build_pyramid: function(canvas, min_width, min_height, interval, do_grayscale) {
+            build_pyramid: function(src, min_width, min_height, interval) {
                 if (typeof interval === "undefined") { interval = 4; }
-                if (typeof do_grayscale === "undefined") { do_grayscale = true; }
-
-                // need to convert to grayscale
-                if(do_grayscale) {
-                    var ctx_input = canvas.getContext('2d');
-                    var in_size = canvas.width * canvas.height;
-                    var img_data_input = ctx_input.getImageData(0, 0, canvas.width, canvas.height);
-                    var data_input = img_data_input.data;
-                    var data_u32 = new Uint32Array(data_input.buffer);
-                    var gray_n = jsfeat.cache.get_buffer(in_size);
-                    var gray_data = gray_n.u8;
-                    jsfeat.imgproc.grayscale(data_input, gray_data);
-                    var alpha = (0xff << 24);
-                    var i = in_size,pix=0;
-                    while (--i >= 0) {
-                      pix = gray_data[i];
-                      data_u32[i] = alpha | (pix << 16) | (pix << 8) | pix;
-                    }
-                    ctx_input.putImageData(img_data_input, 0, 0);
-                    jsfeat.cache.put_buffer(gray_n);
-                }
-                //
+
+                var sw=src.cols,sh=src.rows;
+                var i=0,nw=0,nh=0;
+                var new_pyr=false;
+                var src0=src,src1=src;
+                var data_type = jsfeat.U8_t | jsfeat.C1_t;
 
                 this.interval = interval;
                 this.scale = Math.pow(2, 1 / (this.interval + 1));
                 this.next = (this.interval + 1)|0;
-                this.scale_to = (Math.log(Math.min(canvas.width / min_width, canvas.height / min_height)) / Math.log(this.scale))|0;
-
-                var _canvas = document.createElement('canvas');
-                _canvas.width = canvas.width;
-                _canvas.height = canvas.height;
-                var _ctx = _canvas.getContext('2d');
-
-                var ret = new Array((this.scale_to + this.next * 2) * 4);
-                ret[0] = { "width" : canvas.width,
-                           "height" : canvas.height,
-                           "data" : canvas.getContext("2d").getImageData(0, 0, canvas.width, canvas.height).data };
-                var nw, nh;
+                this.scale_to = (Math.log(Math.min(sw / min_width, sh / min_height)) / Math.log(this.scale))|0;
+
+                var pyr_l = ((this.scale_to + this.next * 2) * 4) | 0;
+                if(img_pyr.levels != pyr_l) {
+                    img_pyr.levels = pyr_l;
+                    img_pyr.data = new Array(pyr_l);
+                    new_pyr = true;
+                    img_pyr.data[0] = src; // first is src
+                }
+
                 for (i = 1; i <= this.interval; ++i) {
-                    nw = (canvas.width / Math.pow(this.scale, i))|0;
-                    nh = (canvas.height / Math.pow(this.scale, i))|0;
-                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
-                    ret[i * 4] = { "width" : nw,
-                                   "height" : nh,
-                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                    nw = (sw / Math.pow(this.scale, i))|0;
+                    nh = (sh / Math.pow(this.scale, i))|0;
+                    src0 = img_pyr.data[i<<2];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[i<<2] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[i<<2];
+                    }
+                    jsfeat.imgproc.resample(src, src0, nw, nh);
                 }
                 for (i = this.next; i < this.scale_to + this.next * 2; ++i) {
-                    nw = ret[i * 4 - this.next * 4].width >> 1;
-                    nh = ret[i * 4 - this.next * 4].height >> 1;
-                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
-                    ret[i * 4] = { "width" : nw,
-                                   "height" : nh,
-                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                    src1 = img_pyr.data[(i << 2) - (this.next << 2)];
+                    src0 = img_pyr.data[i<<2];
+                    nw = src1.cols >> 1;
+                    nh = src1.rows >> 1;
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[i<<2] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[i<<2];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0);
                 }
                 for (i = this.next * 2; i < this.scale_to + this.next * 2; ++i) {
-                    nw = ret[i * 4 - this.next * 4].width >> 1;
-                    nh = ret[i * 4 - this.next * 4].height >> 1;
-
-                    _ctx.drawImage(canvas, 1, 0, canvas.width-1, canvas.height, 0, 0, nw-2, nh);
-
-                    ret[i * 4 + 1] = { "width" : nw,
-                                       "height" : nh,
-                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
-
-                    _ctx.drawImage(canvas, 0, 1, canvas.width, canvas.height-1, 0, 0, nw, nh-2);
-
-                    ret[i * 4 + 2] = { "width" : nw,
-                                       "height" : nh,
-                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
-
-                    _ctx.drawImage(canvas, 1, 1, canvas.width-1, canvas.height-1, 0, 0, nw-2, nh-2);
-
-                    ret[i * 4 + 3] = { "width" : nw,
-                                       "height" : nh,
-                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                    src1 = img_pyr.data[(i << 2) - (this.next << 2)];
+                    nw = src1.cols >> 1;
+                    nh = src1.rows >> 1;
+                    src0 = img_pyr.data[(i<<2)+1];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[(i<<2)+1] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[(i<<2)+1];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0, 1, 0);
+                    //
+                    src0 = img_pyr.data[(i<<2)+2];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[(i<<2)+2] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[(i<<2)+2];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0, 0, 1);
+                    //
+                    src0 = img_pyr.data[(i<<2)+3];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[(i<<2)+3] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[(i<<2)+3];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0, 1, 1);
                 }
-
-                return ret;
+                return img_pyr;
             },
 
-            detect: function(pyr, cascade) {
+            detect: function(pyramid, cascade) {
                 var interval = this.interval;
                 var scale = this.scale;
                 var next = this.next;
@@ -4225,6 +4232,7 @@ The references are:
                 var dx = [0, 1, 0, 1];
                 var dy = [0, 0, 1, 1];
                 var seq = [];
+                var pyr=pyramid.data, bpp = 1, bpp2 = 2, bpp4 = 4;
 
                 var u8 = [], u8o = [0,0,0];
                 var step = [0,0,0];
@@ -4232,12 +4240,14 @@ The references are:
 
                 for (i = 0; i < scale_upto; i++) {
                     i4 = (i<<2);
-                    qw = pyr[i4 + (next << 3)].width - (cascade.width >> 2);
-                    qh = pyr[i4 + (next << 3)].height - (cascade.height >> 2);
-                    step[0] = pyr[i4].width << 2; step[1] = pyr[i4 + (next << 2)].width << 2; step[2] = pyr[i4 + (next << 3)].width << 2;
-                    paddings[0] = (pyr[i4].width << 4) - (qw << 4);
-                    paddings[1] = (pyr[i4 + (next << 2)].width << 3) - (qw << 3);
-                    paddings[2] = (pyr[i4 + (next << 3)].width << 2) - (qw << 2);
+                    qw = pyr[i4 + (next << 3)].cols - (cascade.width >> 2);
+                    qh = pyr[i4 + (next << 3)].rows - (cascade.height >> 2);
+                    step[0] = pyr[i4].cols * bpp;
+                    step[1] = pyr[i4 + (next << 2)].cols * bpp;
+                    step[2] = pyr[i4 + (next << 3)].cols * bpp;
+                    paddings[0] = (pyr[i4].cols * bpp4) - (qw * bpp4);
+                    paddings[1] = (pyr[i4 + (next << 2)].cols * bpp2) - (qw * bpp2);
+                    paddings[2] = (pyr[i4 + (next << 3)].cols * bpp) - (qw * bpp);
                     sn = cascade.stage_classifier.length;
                     for (j = 0; j < sn; j++) {
                         orig_feature = cascade.stage_classifier[j].feature;
@@ -4248,9 +4258,9 @@ The references are:
                             feature_o = orig_feature[k];
                             q_cnt = feature_o.size|0;
                             for (q = 0; q < q_cnt; q++) {
-                                feature_k.px[q] = (feature_o.px[q] << 2) + feature_o.py[q] * step[feature_o.pz[q]];
+                                feature_k.px[q] = (feature_o.px[q] * bpp) + feature_o.py[q] * step[feature_o.pz[q]];
                                 feature_k.pz[q] = feature_o.pz[q];
-                                feature_k.nx[q] = (feature_o.nx[q] << 2) + feature_o.ny[q] * step[feature_o.nz[q]];
+                                feature_k.nx[q] = (feature_o.nx[q] * bpp) + feature_o.ny[q] * step[feature_o.nz[q]];
                                 feature_k.nz[q] = feature_o.nz[q];
                             }
                         }
@@ -4258,7 +4268,9 @@ The references are:
                     u8[0] = pyr[i4].data; u8[1] = pyr[i4 + (next<<2)].data;
                     for (q = 0; q < 4; q++) {
                         u8[2] = pyr[i4 + (next<<3) + q].data;
-                        u8o[0] = (dx[q]<<3) + dy[q] * (pyr[i4].width<<3); u8o[1] = (dx[q]<<2) + dy[q] * (pyr[i4 + (next<<2)].width<<2); u8o[2]=0;
+                        u8o[0] = (dx[q]*bpp2) + dy[q] * (pyr[i4].cols*bpp2); 
+                        u8o[1] = (dx[q]*bpp) + dy[q] * (pyr[i4 + (next<<2)].cols*bpp); 
+                        u8o[2] = 0;
                         for (y = 0; y < qh; y++) {
                             for (x = 0; x < qw; x++) {
                                 sum = 0;
@@ -4315,10 +4327,14 @@ The references are:
                                               "height" : cascade.height * scale_y,
                                               "neighbor" : 1,
                                               "confidence" : sum});
+                                    ++x;
+                                    u8o[0] += bpp4;
+                                    u8o[1] += bpp2;
+                                    u8o[2] += bpp;
                                 }
-                                u8o[0] += 16;
-                                u8o[1] += 8;
-                                u8o[2] += 4;
+                                u8o[0] += bpp4;
+                                u8o[1] += bpp2;
+                                u8o[2] += bpp;
                             }
                             u8o[0] += paddings[0];
                             u8o[1] += paddings[1];
@@ -4473,6 +4489,7 @@ The references are:
     global.bbf = bbf;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -4488,3 +4505,4 @@ The references are:
         module.exports = lib;
     }
 })(jsfeat);
+
diff --git a/package.json b/package.json
index aa767a2..d66c21e 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name" : "jsfeat",
-    "version" : "0.0.3",
+    "version" : "0.0.4",
     "description" : "JavaScript Computer Vision library",
     "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
     "files" : "build/jsfeat.js",
diff --git a/src/jsfeat_bbf.js b/src/jsfeat_bbf.js
index 016dc2b..b06e355 100755
--- a/src/jsfeat_bbf.js
+++ b/src/jsfeat_bbf.js
@@ -25,6 +25,8 @@
                    (r2.width * 1.5 + 0.5)|0 >= r1.width;
         }
 
+        var img_pyr = new jsfeat.pyramid_t(1);
+
         return {
 
             interval: 4,
@@ -51,89 +53,78 @@
                 }
             },
 
-            build_pyramid: function(canvas, min_width, min_height, interval, do_grayscale) {
+            build_pyramid: function(src, min_width, min_height, interval) {
                 if (typeof interval === "undefined") { interval = 4; }
-                if (typeof do_grayscale === "undefined") { do_grayscale = true; }
-
-                // need to convert to grayscale
-                if(do_grayscale) {
-                    var ctx_input = canvas.getContext('2d');
-                    var in_size = canvas.width * canvas.height;
-                    var img_data_input = ctx_input.getImageData(0, 0, canvas.width, canvas.height);
-                    var data_input = img_data_input.data;
-                    var data_u32 = new Uint32Array(data_input.buffer);
-                    var gray_n = jsfeat.cache.get_buffer(in_size);
-                    var gray_data = gray_n.u8;
-                    jsfeat.imgproc.grayscale(data_input, gray_data);
-                    var alpha = (0xff << 24);
-                    var i = in_size,pix=0;
-                    while (--i >= 0) {
-                      pix = gray_data[i];
-                      data_u32[i] = alpha | (pix << 16) | (pix << 8) | pix;
-                    }
-                    ctx_input.putImageData(img_data_input, 0, 0);
-                    jsfeat.cache.put_buffer(gray_n);
-                }
-                //
+
+                var sw=src.cols,sh=src.rows;
+                var i=0,nw=0,nh=0;
+                var new_pyr=false;
+                var src0=src,src1=src;
+                var data_type = jsfeat.U8_t | jsfeat.C1_t;
 
                 this.interval = interval;
                 this.scale = Math.pow(2, 1 / (this.interval + 1));
                 this.next = (this.interval + 1)|0;
-                this.scale_to = (Math.log(Math.min(canvas.width / min_width, canvas.height / min_height)) / Math.log(this.scale))|0;
-
-                var _canvas = document.createElement('canvas');
-                _canvas.width = canvas.width;
-                _canvas.height = canvas.height;
-                var _ctx = _canvas.getContext('2d');
-
-                var ret = new Array((this.scale_to + this.next * 2) * 4);
-                ret[0] = { "width" : canvas.width,
-                           "height" : canvas.height,
-                           "data" : canvas.getContext("2d").getImageData(0, 0, canvas.width, canvas.height).data };
-                var nw, nh;
+                this.scale_to = (Math.log(Math.min(sw / min_width, sh / min_height)) / Math.log(this.scale))|0;
+
+                var pyr_l = ((this.scale_to + this.next * 2) * 4) | 0;
+                if(img_pyr.levels != pyr_l) {
+                    img_pyr.levels = pyr_l;
+                    img_pyr.data = new Array(pyr_l);
+                    new_pyr = true;
+                    img_pyr.data[0] = src; // first is src
+                }
+
                 for (i = 1; i <= this.interval; ++i) {
-                    nw = (canvas.width / Math.pow(this.scale, i))|0;
-                    nh = (canvas.height / Math.pow(this.scale, i))|0;
-                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
-                    ret[i * 4] = { "width" : nw,
-                                   "height" : nh,
-                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                    nw = (sw / Math.pow(this.scale, i))|0;
+                    nh = (sh / Math.pow(this.scale, i))|0;
+                    src0 = img_pyr.data[i<<2];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[i<<2] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[i<<2];
+                    }
+                    jsfeat.imgproc.resample(src, src0, nw, nh);
                 }
                 for (i = this.next; i < this.scale_to + this.next * 2; ++i) {
-                    nw = ret[i * 4 - this.next * 4].width >> 1;
-                    nh = ret[i * 4 - this.next * 4].height >> 1;
-                    _ctx.drawImage(canvas, 0, 0, canvas.width, canvas.height, 0, 0, nw, nh);
-                    ret[i * 4] = { "width" : nw,
-                                   "height" : nh,
-                                   "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                    src1 = img_pyr.data[(i << 2) - (this.next << 2)];
+                    src0 = img_pyr.data[i<<2];
+                    nw = src1.cols >> 1;
+                    nh = src1.rows >> 1;
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[i<<2] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[i<<2];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0);
                 }
                 for (i = this.next * 2; i < this.scale_to + this.next * 2; ++i) {
-                    nw = ret[i * 4 - this.next * 4].width >> 1;
-                    nh = ret[i * 4 - this.next * 4].height >> 1;
-
-                    _ctx.drawImage(canvas, 1, 0, canvas.width-1, canvas.height, 0, 0, nw-2, nh);
-
-                    ret[i * 4 + 1] = { "width" : nw,
-                                       "height" : nh,
-                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
-
-                    _ctx.drawImage(canvas, 0, 1, canvas.width, canvas.height-1, 0, 0, nw, nh-2);
-
-                    ret[i * 4 + 2] = { "width" : nw,
-                                       "height" : nh,
-                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
-
-                    _ctx.drawImage(canvas, 1, 1, canvas.width-1, canvas.height-1, 0, 0, nw-2, nh-2);
-
-                    ret[i * 4 + 3] = { "width" : nw,
-                                       "height" : nh,
-                                       "data" : _ctx.getImageData(0, 0, nw, nh).data };
+                    src1 = img_pyr.data[(i << 2) - (this.next << 2)];
+                    nw = src1.cols >> 1;
+                    nh = src1.rows >> 1;
+                    src0 = img_pyr.data[(i<<2)+1];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[(i<<2)+1] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[(i<<2)+1];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0, 1, 0);
+                    //
+                    src0 = img_pyr.data[(i<<2)+2];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[(i<<2)+2] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[(i<<2)+2];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0, 0, 1);
+                    //
+                    src0 = img_pyr.data[(i<<2)+3];
+                    if(new_pyr || nw != src0.cols || nh != src0.rows) {
+                        img_pyr.data[(i<<2)+3] = new jsfeat.matrix_t(nw, nh, data_type);
+                        src0 = img_pyr.data[(i<<2)+3];
+                    }
+                    jsfeat.imgproc.pyrdown(src1, src0, 1, 1);
                 }
-
-                return ret;
+                return img_pyr;
             },
 
-            detect: function(pyr, cascade) {
+            detect: function(pyramid, cascade) {
                 var interval = this.interval;
                 var scale = this.scale;
                 var next = this.next;
@@ -144,6 +135,7 @@
                 var dx = [0, 1, 0, 1];
                 var dy = [0, 0, 1, 1];
                 var seq = [];
+                var pyr=pyramid.data, bpp = 1, bpp2 = 2, bpp4 = 4;
 
                 var u8 = [], u8o = [0,0,0];
                 var step = [0,0,0];
@@ -151,12 +143,14 @@
 
                 for (i = 0; i < scale_upto; i++) {
                     i4 = (i<<2);
-                    qw = pyr[i4 + (next << 3)].width - (cascade.width >> 2);
-                    qh = pyr[i4 + (next << 3)].height - (cascade.height >> 2);
-                    step[0] = pyr[i4].width << 2; step[1] = pyr[i4 + (next << 2)].width << 2; step[2] = pyr[i4 + (next << 3)].width << 2;
-                    paddings[0] = (pyr[i4].width << 4) - (qw << 4);
-                    paddings[1] = (pyr[i4 + (next << 2)].width << 3) - (qw << 3);
-                    paddings[2] = (pyr[i4 + (next << 3)].width << 2) - (qw << 2);
+                    qw = pyr[i4 + (next << 3)].cols - (cascade.width >> 2);
+                    qh = pyr[i4 + (next << 3)].rows - (cascade.height >> 2);
+                    step[0] = pyr[i4].cols * bpp;
+                    step[1] = pyr[i4 + (next << 2)].cols * bpp;
+                    step[2] = pyr[i4 + (next << 3)].cols * bpp;
+                    paddings[0] = (pyr[i4].cols * bpp4) - (qw * bpp4);
+                    paddings[1] = (pyr[i4 + (next << 2)].cols * bpp2) - (qw * bpp2);
+                    paddings[2] = (pyr[i4 + (next << 3)].cols * bpp) - (qw * bpp);
                     sn = cascade.stage_classifier.length;
                     for (j = 0; j < sn; j++) {
                         orig_feature = cascade.stage_classifier[j].feature;
@@ -167,9 +161,9 @@
                             feature_o = orig_feature[k];
                             q_cnt = feature_o.size|0;
                             for (q = 0; q < q_cnt; q++) {
-                                feature_k.px[q] = (feature_o.px[q] << 2) + feature_o.py[q] * step[feature_o.pz[q]];
+                                feature_k.px[q] = (feature_o.px[q] * bpp) + feature_o.py[q] * step[feature_o.pz[q]];
                                 feature_k.pz[q] = feature_o.pz[q];
-                                feature_k.nx[q] = (feature_o.nx[q] << 2) + feature_o.ny[q] * step[feature_o.nz[q]];
+                                feature_k.nx[q] = (feature_o.nx[q] * bpp) + feature_o.ny[q] * step[feature_o.nz[q]];
                                 feature_k.nz[q] = feature_o.nz[q];
                             }
                         }
@@ -177,7 +171,9 @@
                     u8[0] = pyr[i4].data; u8[1] = pyr[i4 + (next<<2)].data;
                     for (q = 0; q < 4; q++) {
                         u8[2] = pyr[i4 + (next<<3) + q].data;
-                        u8o[0] = (dx[q]<<3) + dy[q] * (pyr[i4].width<<3); u8o[1] = (dx[q]<<2) + dy[q] * (pyr[i4 + (next<<2)].width<<2); u8o[2]=0;
+                        u8o[0] = (dx[q]*bpp2) + dy[q] * (pyr[i4].cols*bpp2); 
+                        u8o[1] = (dx[q]*bpp) + dy[q] * (pyr[i4 + (next<<2)].cols*bpp); 
+                        u8o[2] = 0;
                         for (y = 0; y < qh; y++) {
                             for (x = 0; x < qw; x++) {
                                 sum = 0;
@@ -234,10 +230,14 @@
                                               "height" : cascade.height * scale_y,
                                               "neighbor" : 1,
                                               "confidence" : sum});
+                                    ++x;
+                                    u8o[0] += bpp4;
+                                    u8o[1] += bpp2;
+                                    u8o[2] += bpp;
                                 }
-                                u8o[0] += 16;
-                                u8o[1] += 8;
-                                u8o[2] += 4;
+                                u8o[0] += bpp4;
+                                u8o[1] += bpp2;
+                                u8o[2] += bpp;
                             }
                             u8o[0] += paddings[0];
                             u8o[1] += paddings[1];
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index c135134..0e27608 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -590,25 +590,32 @@
                 jsfeat.cache.put_buffer(filt_node);
             },
             // assume we always need it for u8 image
-            pyrdown: function(src, dst) {
+            pyrdown: function(src, dst, sx, sy) {
+                // this is needed for bbf
+                if (typeof sx === "undefined") { sx = 0; }
+                if (typeof sy === "undefined") { sy = 0; }
+
                 var w = src.cols, h = src.rows;
                 var w2 = w >> 1, h2 = h >> 1;
-                var x=0,y=0,sptr=0,sline=0,dptr=0;
+                var _w2 = w2 - (sx << 1), _h2 = h2 - (sy << 1);
+                var x=0,y=0,sptr=sx+sy*w,sline=0,dptr=0,dline=0;
                 var src_d = src.data, dst_d = dst.data;
 
-                for(y = 0; y < h2; ++y) {
+                for(y = 0; y < _h2; ++y) {
                     sline = sptr;
-                    for(x = 0; x <= w2-2; x+=2, dptr+=2, sline += 4) {
-                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                    dline = dptr;
+                    for(x = 0; x <= _w2-2; x+=2, dline+=2, sline += 4) {
+                        dst_d[dline] = (src_d[sline] + src_d[sline+1] +
                                             src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
-                        dst_d[dptr+1] = (src_d[sline+2] + src_d[sline+3] +
+                        dst_d[dline+1] = (src_d[sline+2] + src_d[sline+3] +
                                             src_d[sline+w+2] + src_d[sline+w+3] + 2) >> 2;
                     }
-                    for(; x < w2; ++x, ++dptr, sline += 2) {
-                        dst_d[dptr] = (src_d[sline] + src_d[sline+1] +
+                    for(; x < _w2; ++x, ++dline, sline += 2) {
+                        dst_d[dline] = (src_d[sline] + src_d[sline+1] +
                                             src_d[sline+w] + src_d[sline+w+1] + 2) >> 2;
                     }
                     sptr += w << 1;
+                    dptr += w2;
                 }
             },
 

From eef92e8456145ec5678d84a75375bfa3bfae2010 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Wed, 12 Dec 2012 17:11:57 +0400
Subject: [PATCH 19/46] small bbf fix

---
 build/jsfeat-min.js |  2 +-
 build/jsfeat.js     |  2 +-
 package.json        | 16 ++++++++--------
 3 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 7bd2751..40aa40c 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();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 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a=(function(){var c=function(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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 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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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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=0;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 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e=function(D,l,h,M,v,T,S,E){var C=jsfeat.EPSILON*10;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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(q,Q,u,P){if(typeof P==="undefined"){P=0}var C=q.cols,F=q.rows,o=Q.cols,D=Q.rows;var K=q.data,l=Q.data;var t=0,s=0,O=0,v=0,G=0,r=0,E=0,w=0,i=0,h=0,g=0,M=0,J=0,k=0,j=0;var B=u[0],A=u[1],z=u[2],N=u[3],L=u[4],I=u[5],p=u[6],n=u[7],m=u[8];for(var H=0;s<D;++s){w=A*s+z,i=L*s+I,h=n*s+m;for(t=0;t<o;++t,++H,w+=B,i+=N,h+=p){g=1/h;r=w*g,E=i*g;v=r|0,G=E|0;if(r>0&&E>0&&v<(C-1)&&G<(F-1)){M=Math.max(r-v,0);J=Math.max(E-G,0);O=C*G+v;k=K[O]+M*(K[O+1]-K[O]);j=K[O+C]+M*(K[O+C+1]-K[O+C]);l[H]=k+J*(j-k)}else{l[H]=P}}}},warp_affine:function(k,J,o,I){if(typeof I==="undefined"){I=0}var t=k.cols,w=k.rows,j=J.cols,u=J.rows;var D=k.data,i=J.data;var n=0,m=0,H=0,p=0,z=0,l=0,v=0,F=0,C=0,h=0,g=0;var s=o[0],r=o[1],q=o[2],G=o[3],E=o[4],B=o[5];for(var A=0;m<u;++m){l=r*m+q;v=E*m+B;for(n=0;n<j;++n,++A,l+=s,v+=G){p=l|0;z=v|0;if(l>0&&v>0&&p<(t-1)&&z<(w-1)){F=Math.max(l-p,0);C=Math.max(v-z,0);H=t*z+p;h=D[H]+F*(D[H+1]-D[H]);g=D[H+t]+F*(D[H+t+1]-D[H+t]);i[A]=h+C*(g-h)}else{i[A]=I}}}}}})();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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var 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L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 9d875a0..e8c52ec 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4290,7 +4290,7 @@ The references are:
                                         } else {
                                             shortcut = true;
                                             q_cnt = feature_k.size;
-                                            for (f = 0; f < q_cnt; f++) {
+                                            for (f = 1; f < q_cnt; f++) {
                                                 if (feature_k.pz[f] >= 0) {
                                                     p = u8[feature_k.pz[f]][u8o[feature_k.pz[f]] + feature_k.px[f]];
                                                     if (p < pmin) {
diff --git a/package.json b/package.json
index d66c21e..0994ffb 100644
--- a/package.json
+++ b/package.json
@@ -1,8 +1,8 @@
-{
-    "name" : "jsfeat",
-    "version" : "0.0.4",
-    "description" : "JavaScript Computer Vision library",
-    "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
-    "files" : "build/jsfeat.js",
-    "main" : "build/jsfeat"
-}
+{
+    "name" : "jsfeat",
+    "version" : "0.0.5",
+    "description" : "JavaScript Computer Vision library",
+    "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
+    "files" : "build/jsfeat.js",
+    "main" : "build/jsfeat"
+}

From 9b0b10630df723653c0219d12f90e7bcd2f3f588 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Wed, 12 Dec 2012 17:32:22 +0400
Subject: [PATCH 20/46] update bbf src file

---
 src/jsfeat_bbf.js | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/jsfeat_bbf.js b/src/jsfeat_bbf.js
index b06e355..e4e5878 100755
--- a/src/jsfeat_bbf.js
+++ b/src/jsfeat_bbf.js
@@ -193,7 +193,7 @@
                                         } else {
                                             shortcut = true;
                                             q_cnt = feature_k.size;
-                                            for (f = 0; f < q_cnt; f++) {
+                                            for (f = 1; f < q_cnt; f++) {
                                                 if (feature_k.pz[f] >= 0) {
                                                     p = u8[feature_k.pz[f]][u8o[feature_k.pz[f]] + feature_k.px[f]];
                                                     if (p < pmin) {

From 764f8193715661acb2beeba69f69813ad6326217 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Sat, 23 Mar 2013 20:48:03 +0400
Subject: [PATCH 21/46] Motion Estimator

1. Added Affine2D and Homography2D kernels for motion estimation between corresponding pints.
2. Added RANSAC and LMEDS algorithms for robust motion estimation when point sets contain wrong matches.
(not tested in real app though)
because of the above additions i removed Transform module.
3. several improvements and optimizations.
---
 build/jsfeat-min.js            |    2 +-
 build/jsfeat.js                | 1124 +++++++++++++++++++++++++-------
 compile/build.xml              |    2 +-
 src/jsfeat.js                  |    7 -
 src/jsfeat_export.js           |    0
 src/jsfeat_imgproc.js          |   80 ++-
 src/jsfeat_linalg.js           |   24 +-
 src/jsfeat_mat_math.js         |   70 ++
 src/jsfeat_math.js             |  117 ++++
 src/jsfeat_motion_estimator.js |  653 +++++++++++++++++++
 src/jsfeat_struct.js           |   35 +-
 src/jsfeat_yape.js             |    0
 src/jsfeat_yape06.js           |    0
 13 files changed, 1817 insertions(+), 297 deletions(-)
 mode change 100644 => 100755 src/jsfeat_export.js
 mode change 100644 => 100755 src/jsfeat_linalg.js
 mode change 100644 => 100755 src/jsfeat_mat_math.js
 create mode 100644 src/jsfeat_motion_estimator.js
 mode change 100644 => 100755 src/jsfeat_yape.js
 mode change 100644 => 100755 src/jsfeat_yape06.js

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 40aa40c..82b2231 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.buffer=new r((B*b(A)*h(A))*z)}else{this.buffer=y}this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}x.prototype.set_data_type=function(y){this.type=u(y)|0;this.channel=h(y)|0;delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(y)*h(y))*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.set_data=function(z){var y=z.length;while(--y>=0){this.data[y]=z[y]}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|0}}else{g=1/g;for(f=0;f<p;++f){e[f]=k[f]*g}}jsfeat.cache.put_buffer(h)},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{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}}}}})();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])*0.5;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*10;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=3;P+=D[K]*D[J];P+=D[K+1]*D[J+1];P+=D[K+2]*D[J+2];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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=3;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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}}else{aa=Z=0;U=3;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;H=Y*D[K+2]+O*D[J+2];G=-O*D[K+2]+Y*D[J+2];D[K+2]=H;D[J+2]=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=3;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;H=Y*M[R+2]+O*M[Q+2];G=-O*M[R+2]+Y*M[Q+2];M[R+2]=H;M[Q+2]=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 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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(b){var a=(function(){return{affine_3point_transform:function(l,h,o,f,m,g,n,d,j,e,k,c,i){},perspective_4point_transform:function(B,w,ac,s,Z,v,ab,r,W,u,aa,p,U,t,Y,m,S){var J=w;var I=u;var H=ab;var G=J*I*H;var F=Y;var E=J*F;var D=I*E;var C=aa;var o=J*C;var l=v;var h=ac;var f=t;var d=h*f;var au=d*l;var T=f*l*C;var R=f*H;var O=f*C;var N=I*H;var M=F*I;var L=F*l;var K=C*l;var A=1/(R-O-N+M-L+K);var y=J*f;var x=h*l;var q=H*J;var n=F*q;var k=h*I;var g=d*C;var c=h*C*l;var V=H*F*I;var Q=F*h;var at=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var ar=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aq=J;var ap=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ao=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var am=h;var ak=(-o+q+k-x+O-R-M+L)*A;var ai=(-E+o+d-k+L-K-R+N)*A;J=s;I=p;H=W;G=J*I*H;F=S;E=J*F;D=I*E;C=U;o=J*C;l=r;h=Z;f=m;d=h*f;au=d*l;T=f*l*C;R=f*H;O=f*C;N=I*H;M=F*I;L=F*l;K=C*l;A=1/(R-O-N+M-L+K);y=J*f;x=h*l;q=H*J;n=F*q;k=h*I;g=d*C;c=h*C*l;V=H*F*I;Q=F*h;var an=-(D-G+o*l-l*E-d*I+au-T+R*I)*A;var al=(G-D-y*H+y*C+au-I*x+L*I-T)*A;var aj=J;var ah=(-C*E+n+k*H-d*H+g-c+L*C-V)*A;var ag=(-n+q*C-Q*I+g-c+Q*l+V-R*C)*A;var af=h;var ae=(-o+q+k-x+O-R-M+L)*A;var ad=(-E+o+d-k+L-K-R+N)*A;I=ao-ai*am;H=at*ao;G=at*am;E=ap*ar;D=aq*ap;o=ar*ak;var j=aq*ak;f=1/(H-G*ai-E+D*ai+o*am-j*ao);au=-ap+am*ak;var P=-ap*ai+ao*ak;K=-ar+aq*ai;var z=at-j;x=at*ai-o;q=-ar*am+aq*ao;var i=G-D;var e=H-E;c=I*f;var av=K*f;var X=q*f;B[0]=an*c+al*(au*f)-aj*(P*f);B[1]=an*av+al*(z*f)-aj*(x*f);B[2]=-an*X-al*(i*f)+aj*(e*f);B[3]=ah*c+ag*(au*f)-af*(P*f);B[4]=ah*av+ag*(z*f)-af*(x*f);B[5]=-ah*X-ag*(i*f)+af*(e*f);B[6]=ae*c+ad*(au*f)-P*f;B[7]=ae*av+ad*(z*f)-x*f;B[8]=-ae*X-ad*(i*f)+e*f},invert_affine_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var j=1/(i*e-h*f);k[0]=j*e;k[1]=j*-h;k[2]=j*(h*d-g*e);k[3]=j*-f;k[4]=j*i;k[5]=j*(g*f-i*d)},invert_perspective_transform:function(c,k){var i=c[0],h=c[1],g=c[2];var f=c[3],e=c[4],d=c[5];var n=c[6],m=c[7],l=c[8];var j=1/(i*(e*l-d*m)-h*(f*l-d*n)+g*(f*m-e*n));k[0]=j*(e*l-d*m);k[1]=j*(g*m-h*l);k[2]=j*(h*d-g*e);k[3]=j*(d*n-f*l);k[4]=j*(i*l-g*n);k[5]=j*(g*f-i*d);k[6]=j*(f*m-e*n);k[7]=j*(h*n-i*m);k[8]=j*(i*e-h*f)}}})();b.transform=a})(jsfeat);(function(b){var a=(function(){var c=function(q,R,O,p){var z=[],r=0;var y=q.channel,v=q.cols,J=q.rows;var P=q.data,m=R.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 L=l.i32;var j=g.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|0,s=B|0;t=Math.min(t,v-1);s=Math.min(s,v-1);if(t>D){z[r++]={si:((t-1)*y)|0,di:(x*y)|0,alpha:((t-D)*256)|0}}for(C=t;C<s;C++){z[r++]={si:(C*y)|0,di:(x*y)|0,alpha:256}}if(B-s>0.001){z[r++]={si:(s*y)|0,di:(x*y)|0,alpha:((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].di;o=z[F].alpha;t=z[F].si;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)};var f=function(p,R,N,o){var y=[],q=0;var x=p.channel,u=p.cols,I=p.rows;var O=p.data,m=R.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 K=l.f32;var j=g.f32;for(;v<N;v++){C=v*H,A=C+H;s=(C+1-0.000001)|0,r=A|0;s=Math.min(s,u-1);r=Math.min(r,u-1);if(s>C){y[q++]={si:((s-1)*x)|0,di:(v*x)|0,alpha:(s-C)*Q}}for(B=s;B<r;B++){y[q++]={si:(B*x)|0,di:(v*x)|0,alpha:Q}}if(A-r>0.001){y[q++]={si:(r*x)|0,di:(v*x)|0,alpha:(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++){J=y[E].di;n=y[E].alpha;s=y[E].si;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)<0.001){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)};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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var 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a=(function(){var c=function(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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 f=function(j){return j*j};var i=function(t,u,r,q,o){var n=0;var s=0,m=0,k=0,w=0;var p=0,l=0,j=0,v=0;var y=0,x=0;for(;n<o;++n){s+=t[n].x;m+=t[n].y;p+=u[n].x;l+=u[n].y}s/=o;m/=o;p/=o;l/=o;for(n=0;n<o;++n){y=t[n].x-s;x=t[n].y-m;k+=Math.sqrt(y*y+x*x);y=u[n].x-p;x=u[n].y-l;j+=Math.sqrt(y*y+x*x)}k/=o;j/=o;w=Math.SQRT2/k;v=Math.SQRT2/j;r[0]=r[4]=w;r[2]=-s*w;r[5]=-m*w;r[1]=r[3]=r[6]=r[7]=0;r[8]=1;q[0]=q[4]=v;q[2]=-p*v;q[5]=-l*v;q[1]=q[3]=q[6]=q[7]=0;q[8]=1};var g=function(t,q){var m=0,l=0,n=(q-1)|0;var s=0,p=0,r=0,o=0;for(;m<n;++m){s=t[m].x-t[n].x;p=t[m].y-t[n].y;for(l=0;l<m;++l){r=t[l].x-t[n].x;o=t[l].y-t[n].y;if(Math.abs(r*p-o*s)<=jsfeat.EPSILON*(Math.abs(s)+Math.abs(p)+Math.abs(r)+Math.abs(o))){return true}}}return false};var e=(function(){function j(){this.T0=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.T1=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.AtA=new jsfeat.matrix_t(6,6,jsfeat.F32_t|jsfeat.C1_t);this.AtB=new jsfeat.matrix_t(6,1,jsfeat.F32_t|jsfeat.C1_t)}j.prototype.run=function(x,k,l,n){var A=0,z=0;var v=l.type|jsfeat.C1_t;var D=l.data,p=this.T0.data,y=this.T1.data;var r,q,u=0,t=0;i(x,k,p,y,n);var o=jsfeat.cache.get_buffer((2*n*6)<<3);var s=jsfeat.cache.get_buffer((2*n)<<3);var w=new jsfeat.matrix_t(6,2*n,v,o.data);var B=new jsfeat.matrix_t(1,2*n,v,s.data);var C=w.data,m=B.data;for(;A<n;++A){r=x[A];q=k[A];u=p[0]*r.x+p[1]*r.y+p[2];t=p[3]*r.x+p[4]*r.y+p[5];z=A*2*6;C[z]=u,C[z+1]=t,C[z+2]=1,C[z+3]=0,C[z+4]=0,C[z+5]=0;z+=6;C[z]=0,C[z+1]=0,C[z+2]=0,C[z+3]=u,C[z+4]=t,C[z+5]=1;m[A<<1]=y[0]*q.x+y[1]*q.y+y[2];m[(A<<1)+1]=y[3]*q.x+y[4]*q.y+y[5]}jsfeat.matmath.multiply_AtA(this.AtA,w);jsfeat.matmath.multiply_AtB(this.AtB,w,B);jsfeat.linalg.lu_solve(this.AtA,this.AtB);D[0]=this.AtB.data[0],D[1]=this.AtB.data[1],D[2]=this.AtB.data[2];D[3]=this.AtB.data[3],D[4]=this.AtB.data[4],D[5]=this.AtB.data[5];D[6]=0,D[7]=0,D[8]=1;jsfeat.matmath.invert_3x3(this.T1,this.T1);jsfeat.matmath.multiply_3x3(l,this.T1,l);jsfeat.matmath.multiply_3x3(l,l,this.T0);jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(s);return 1};j.prototype.error=function(q,r,o,l,p){var n=0;var t,s;var k=o.data;for(;n<p;++n){t=q[n];s=r[n];l[n]=f(s.x-k[0]*t.x-k[1]*t.y-k[2])+f(s.y-k[3]*t.x-k[4]*t.y-k[5])}};j.prototype.check_subset=function(m,l,k){return true};return j})();var h=(function(){function j(){this.T0=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.T1=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.mLtL=new jsfeat.matrix_t(9,9,jsfeat.F32_t|jsfeat.C1_t);this.Evec=new jsfeat.matrix_t(9,9,jsfeat.F32_t|jsfeat.C1_t)}j.prototype.run=function(C,l,p,u){var F=0,E=0;var I=p.data,v=this.T0.data,D=this.T1.data;var G=this.mLtL.data,H=this.Evec.data;var B=0,A=0,m=0,k=0;var o=0,n=0,t=0,s=0,r=0,q=0,z=0,w=0;for(;F<u;++F){t+=l[F].x;s+=l[F].y;z+=C[F].x;w+=C[F].y}t/=u;s/=u;z/=u;w/=u;for(F=0;F<u;++F){o+=Math.abs(l[F].x-t);n+=Math.abs(l[F].y-s);r+=Math.abs(C[F].x-z);q+=Math.abs(C[F].y-w)}if(Math.abs(o)<jsfeat.EPSILON||Math.abs(n)<jsfeat.EPSILON||Math.abs(r)<jsfeat.EPSILON||Math.abs(q)<jsfeat.EPSILON){return 0}o=u/o;n=u/n;r=u/r;q=u/q;v[0]=r;v[1]=0;v[2]=-z*r;v[3]=0;v[4]=q;v[5]=-w*q;v[6]=0;v[7]=0;v[8]=1;D[0]=1/o;D[1]=0;D[2]=t;D[3]=0;D[4]=1/n;D[5]=s;D[6]=0;D[7]=0;D[8]=1;F=81;while(--F>=0){G[F]=0}for(F=0;F<u;++F){B=(l[F].x-t)*o;A=(l[F].y-s)*n;m=(C[F].x-z)*r;k=(C[F].y-w)*q;G[0]+=m*m;G[1]+=m*k;G[2]+=m;G[6]+=m*-B*m;G[7]+=m*-B*k;G[8]+=m*-B;G[10]+=k*k;G[11]+=k;G[15]+=k*-B*m;G[16]+=k*-B*k;G[17]+=k*-B;G[20]+=1;G[24]+=-B*m;G[25]+=-B*k;G[26]+=-B;G[30]+=m*m;G[31]+=m*k;G[32]+=m;G[33]+=m*-A*m;G[34]+=m*-A*k;G[35]+=m*-A;G[40]+=k*k;G[41]+=k;G[42]+=k*-A*m;G[43]+=k*-A*k;G[44]+=k*-A;G[50]+=1;G[51]+=-A*m;G[52]+=-A*k;G[53]+=-A;G[60]+=-B*m*-B*m+-A*m*-A*m;G[61]+=-B*m*-B*k+-A*m*-A*k;G[62]+=-B*m*-B+-A*m*-A;G[70]+=-B*k*-B*k+-A*k*-A*k;G[71]+=-B*k*-B+-A*k*-A;G[80]+=-B*-B+-A*-A}for(F=0;F<9;++F){for(E=0;E<F;++E){G[F*9+E]=G[E*9+F]}}jsfeat.linalg.eigenVV(this.mLtL,this.Evec);I[0]=H[72],I[1]=H[73],I[2]=H[74];I[3]=H[75],I[4]=H[76],I[5]=H[77];I[6]=H[78],I[7]=H[79],I[8]=H[80];jsfeat.matmath.multiply_3x3(p,this.T1,p);jsfeat.matmath.multiply_3x3(p,p,this.T0);B=1/I[8];I[0]*=B;I[1]*=B;I[2]*=B;I[3]*=B;I[4]*=B;I[5]*=B;I[6]*=B;I[7]*=B;I[8]=1;return 1};j.prototype.error=function(r,s,p,l,q){var o=0;var u,t,n=0,w=0,v=0;var k=p.data;for(;o<q;++o){u=r[o];t=s[o];n=1/(k[6]*u.x+k[7]*u.y+1);w=(k[0]*u.x+k[1]*u.y+k[2])*n-t.x;v=(k[3]*u.x+k[4]*u.y+k[5])*n-t.y;l[o]=(w*w+v*v)}};j.prototype.check_subset=function(G,m,v){if(g(G,v)||g(m,v)){return false}if(v==4){var H=0;var C=G[0],B=G[1],A=G[2],y=G[3];var u=m[0],s=m[1],q=m[2],o=m[3];var F=C.x,E=C.y,D=1;var P=B.x,O=B.y,N=1;var t=A.x,r=A.y,p=1;var n=u.x,l=u.y,k=1;var z=s.x,x=s.y,w=1;var K=q.x,J=q.y,I=1;var M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);var L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}F=B.x,E=B.y;P=A.x,O=A.y;t=y.x,r=y.y;n=s.x,l=s.y;z=q.x,x=q.y;K=o.x,J=o.y;M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}F=C.x,E=C.y;P=A.x,O=A.y;t=y.x,r=y.y;n=u.x,l=u.y;z=q.x,x=q.y;K=o.x,J=o.y;M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}F=C.x,E=C.y;P=B.x,O=B.y;t=y.x,r=y.y;n=u.x,l=u.y;z=s.x,x=s.y;K=o.x,J=o.y;M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}if(H!=0&&H!=4){return false}}return true};return j})();return{affine2d:e,homography2d:h}})();var b=(function(){function e(h,i,f,g){if(typeof h==="undefined"){h=0}if(typeof i==="undefined"){i=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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|0;j+=n}return j};return{ransac:function(E,m,x,i,l,j,y,g){if(typeof g==="undefined"){g=1000}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.U8_t|jsfeat.C1_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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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(minMedian);x=Math.max(x,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index e8c52ec..fb74086 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4,7 +4,6 @@
 
 // namespace ?
 var jsfeat = jsfeat || { REVISION: 'ALPHA' };
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -82,29 +81,44 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             this.cols = c|0;
             this.rows = r|0;
             if (typeof data_buffer === "undefined") { 
-                this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+                this.allocate();
             } else {
                 this.buffer = data_buffer;
+                // data user asked for
+                this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
             }
-            // data user asked for
-            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
-        matrix_t.prototype.set_data_type = function(data_type) {
-            this.type = get_data_type(data_type)|0;
-            this.channel = get_channel(data_type)|0;
+        matrix_t.prototype.allocate = function() {
             // clear references
             delete this.data;
             delete this.buffer;
             //
-            this.buffer = new data_t((this.cols * get_data_type_size(data_type) * get_channel(data_type)) * this.rows);
+            this.buffer = new data_t((this.cols * get_data_type_size(this.type) * this.channel) * this.rows);
             this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
-        matrix_t.prototype.set_data = function(array) {
-            var i = array.length;
+        matrix_t.prototype.copy_to = function(other) {
+            var od = other.data;
+            var i = this.cols*this.rows*this.channel;
             while(--i >= 0) {
-                this.data[i] = array[i];
+                od[i] = this.data[i];
             }
         }
+        matrix_t.prototype.resize = function(c, r, ch) {
+            if (typeof ch === "undefined") { ch = this.channel; }
+            // change buffer only if new size doesnt fit
+            var new_size = (c * ch) * r;
+            if(new_size > this.rows*this.cols*this.channel) {
+                this.cols = c;
+                this.rows = r;
+                this.channel = ch;
+                this.allocate();
+            } else {
+                this.cols = c;
+                this.rows = r;
+                this.channel = ch;
+            }
+        }
+
         return matrix_t;
     })();
 
@@ -192,7 +206,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.point2d_t = point2d_t;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -272,7 +285,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     cache.allocate(30, 640*4);
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -344,6 +356,123 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 jsfeat.cache.put_buffer(kern_node);
             },
 
+            // model is 3x3 matrix_t
+            perspective_4point_transform: function(model, src_x0, src_y0, dst_x0, dst_y0,
+                                                        src_x1, src_y1, dst_x1, dst_y1,
+                                                        src_x2, src_y2, dst_x2, dst_y2,
+                                                        src_x3, src_y3, dst_x3, dst_y3) {
+                var t1 = src_x0;
+                var t2 = src_x2;
+                var t4 = src_y1;
+                var t5 = t1 * t2 * t4;
+                var t6 = src_y3;
+                var t7 = t1 * t6;
+                var t8 = t2 * t7;
+                var t9 = src_y2;
+                var t10 = t1 * t9;
+                var t11 = src_x1;
+                var t14 = src_y0;
+                var t15 = src_x3;
+                var t16 = t14 * t15;
+                var t18 = t16 * t11;
+                var t20 = t15 * t11 * t9;
+                var t21 = t15 * t4;
+                var t24 = t15 * t9;
+                var t25 = t2 * t4;
+                var t26 = t6 * t2;
+                var t27 = t6 * t11;
+                var t28 = t9 * t11;
+                var t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                var t32 = t1 * t15;
+                var t35 = t14 * t11;
+                var t41 = t4 * t1;
+                var t42 = t6 * t41;
+                var t43 = t14 * t2;
+                var t46 = t16 * t9;
+                var t48 = t14 * t9 * t11;
+                var t51 = t4 * t6 * t2;
+                var t55 = t6 * t14;
+                var Hr0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hr1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hr2 = t1;
+                var Hr3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hr4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hr5 = t14;
+                var Hr6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hr7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+                
+                t1 = dst_x0;
+                t2 = dst_x2;
+                t4 = dst_y1;
+                t5 = t1 * t2 * t4;
+                t6 = dst_y3;
+                t7 = t1 * t6;
+                t8 = t2 * t7;
+                t9 = dst_y2;
+                t10 = t1 * t9;
+                t11 = dst_x1;
+                t14 = dst_y0;
+                t15 = dst_x3;
+                t16 = t14 * t15;
+                t18 = t16 * t11;
+                t20 = t15 * t11 * t9;
+                t21 = t15 * t4;
+                t24 = t15 * t9;
+                t25 = t2 * t4;
+                t26 = t6 * t2;
+                t27 = t6 * t11;
+                t28 = t9 * t11;
+                t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                t32 = t1 * t15;
+                t35 = t14 * t11;
+                t41 = t4 * t1;
+                t42 = t6 * t41;
+                t43 = t14 * t2;
+                t46 = t16 * t9;
+                t48 = t14 * t9 * t11;
+                t51 = t4 * t6 * t2;
+                t55 = t6 * t14;
+                var Hl0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hl1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hl2 = t1;
+                var Hl3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hl4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hl5 = t14;
+                var Hl6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hl7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+
+                // the following code computes R = Hl * inverse Hr
+                t2 = Hr4-Hr7*Hr5;
+                t4 = Hr0*Hr4;
+                t5 = Hr0*Hr5;
+                t7 = Hr3*Hr1;
+                t8 = Hr2*Hr3;
+                t10 = Hr1*Hr6;
+                var t12 = Hr2*Hr6;
+                t15 = 1.0 / (t4-t5*Hr7-t7+t8*Hr7+t10*Hr5-t12*Hr4);
+                t18 = -Hr3+Hr5*Hr6;
+                var t23 = -Hr3*Hr7+Hr4*Hr6;
+                t28 = -Hr1+Hr2*Hr7;
+                var t31 = Hr0-t12;
+                t35 = Hr0*Hr7-t10;
+                t41 = -Hr1*Hr5+Hr2*Hr4;
+                var t44 = t5-t8;
+                var t47 = t4-t7;
+                t48 = t2*t15;
+                var t49 = t28*t15;
+                var t50 = t41*t15;
+                var mat = model.data;
+                mat[0] = Hl0*t48+Hl1*(t18*t15)-Hl2*(t23*t15);
+                mat[1] = Hl0*t49+Hl1*(t31*t15)-Hl2*(t35*t15);
+                mat[2] = -Hl0*t50-Hl1*(t44*t15)+Hl2*(t47*t15);
+                mat[3] = Hl3*t48+Hl4*(t18*t15)-Hl5*(t23*t15);
+                mat[4] = Hl3*t49+Hl4*(t31*t15)-Hl5*(t35*t15);
+                mat[5] = -Hl3*t50-Hl4*(t44*t15)+Hl5*(t47*t15);
+                mat[6] = Hl6*t48+Hl7*(t18*t15)-t23*t15;
+                mat[7] = Hl6*t49+Hl7*(t31*t15)-t35*t15;
+                mat[8] = -Hl6*t50-Hl7*(t44*t15)+t47*t15;
+            },
+
             // The current implementation was derived from *BSD system qsort():
             // Copyright (c) 1992, 1993
             // The Regents of the University of California.  All rights reserved.
@@ -570,7 +699,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.math = math;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -703,6 +831,76 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         cd[p_CC] = sum;
                     }
                 }
+            },
+
+            // various small matrix operations
+            invert_3x3: function(from, to) {
+                var A = from.data, invA = to.data;
+                var t1 = A[4];
+                var t2 = A[8];
+                var t4 = A[5];
+                var t5 = A[7];
+                var t8 = A[0];
+
+                var t9 = t8*t1;
+                var t11 = t8*t4;
+                var t13 = A[3];
+                var t14 = A[1];
+                var t15 = t13*t14;
+                var t17 = A[2];
+                var t18 = t13*t17;
+                var t20 = A[6];
+                var t21 = t20*t14;
+                var t23 = t20*t17;
+                var t26 = 1.0/(t9*t2-t11*t5-t15*t2+t18*t5+t21*t4-t23*t1);
+                invA[0] = (t1*t2-t4*t5)*t26;
+                invA[1] = -(t14*t2-t17*t5)*t26;
+                invA[2] = -(-t14*t4+t17*t1)*t26;
+                invA[3] = -(t13*t2-t4*t20)*t26;
+                invA[4] = (t8*t2-t23)*t26;
+                invA[5] = -(t11-t18)*t26;
+                invA[6] = -(-t13*t5+t1*t20)*t26;
+                invA[7] = -(t8*t5-t21)*t26;
+                invA[8] = (t9-t15)*t26;
+            },
+            // C = A * B
+            multiply_3x3: function(C, A, B) {
+                var Cd=C.data, Ad=A.data, Bd=B.data;
+                var m1_0 = Ad[0], m1_1 = Ad[1], m1_2 = Ad[2];
+                var m1_3 = Ad[3], m1_4 = Ad[4], m1_5 = Ad[5];
+                var m1_6 = Ad[6], m1_7 = Ad[7], m1_8 = Ad[8];
+
+                var m2_0 = Bd[0], m2_1 = Bd[1], m2_2 = Bd[2];
+                var m2_3 = Bd[3], m2_4 = Bd[4], m2_5 = Bd[5];
+                var m2_6 = Bd[6], m2_7 = Bd[7], m2_8 = Bd[8];
+
+                Cd[0] = m1_0 * m2_0 + m1_1 * m2_3 + m1_2 * m2_6;
+                Cd[1] = m1_0 * m2_1 + m1_1 * m2_4 + m1_2 * m2_7;
+                Cd[2] = m1_0 * m2_2 + m1_1 * m2_5 + m1_2 * m2_8;
+                Cd[3] = m1_3 * m2_0 + m1_4 * m2_3 + m1_5 * m2_6;
+                Cd[4] = m1_3 * m2_1 + m1_4 * m2_4 + m1_5 * m2_7;
+                Cd[5] = m1_3 * m2_2 + m1_4 * m2_5 + m1_5 * m2_8;
+                Cd[6] = m1_6 * m2_0 + m1_7 * m2_3 + m1_8 * m2_6;
+                Cd[7] = m1_6 * m2_1 + m1_7 * m2_4 + m1_8 * m2_7;
+                Cd[8] = m1_6 * m2_2 + m1_7 * m2_5 + m1_8 * m2_8;
+            },
+
+            mat3x3_determinant: function(M) {
+                var md=M.data;
+                return  md[0] * md[4] * md[8] -
+                        md[0] * md[5] * md[7] -
+                        md[3] * md[1] * md[8] +
+                        md[3] * md[2] * md[7] +
+                        md[6] * md[1] * md[5] -
+                        md[6] * md[2] * md[4];
+            },
+
+            determinant_3x3: function(M11, M12, M13, 
+                                      M21, M22, M23, 
+                                      M31, M32, M33) {
+                return  M11 * M22 * M33 - M11 * M23 * M32 -
+                          M21 * M12 * M33 + M21 * M13 * M32 +
+                          M31 * M12 * M23 - M31 * M13 * M22;
             }
         };
 
@@ -710,7 +908,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.matmath = matmath;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -896,7 +1094,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         }
 
         var JacobiSVDImpl = function(At, astep, _W, Vt, vstep, m, n, n1) {
-            var eps = jsfeat.EPSILON * 10.0;
+            var eps = jsfeat.EPSILON * 2.0;
             var minval = jsfeat.FLT_MIN;
             var i=0,j=0,k=0,iter=0,max_iter=Math.max(m, 30);
             var Ai=0,Aj=0,Vi=0,Vj=0,changed=0;
@@ -931,10 +1129,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         Ai = (i*astep)|0, Aj = (j*astep)|0;
                         a = W[i], p = 0, b = W[j];
                         
-                        k = 3;
+                        k = 2;
                         p += At[Ai]*At[Aj];
                         p += At[Ai+1]*At[Aj+1];
-                        p += At[Ai+2]*At[Aj+2];
 
                         for(; k < m; k++)
                             p += At[Ai+k]*At[Aj+k];
@@ -957,7 +1154,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         W[j] -= delta;
                         
                         if( (iter & 1) && W[i] > 0 && W[j] > 0 ) {
-                            k = 3;//unroll 3x3
+                            k = 2;//unroll 2x2
                             t0 = c*At[Ai] + s*At[Aj];
                             t1 = -s*At[Ai] + c*At[Aj];
                             At[Ai] = t0; At[Aj] = t1;
@@ -966,10 +1163,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                             t1 = -s*At[Ai+1] + c*At[Aj+1];
                             At[Ai+1] = t0; At[Aj+1] = t1;
 
-                            t0 = c*At[Ai+2] + s*At[Aj+2];
-                            t1 = -s*At[Ai+2] + c*At[Aj+2];
-                            At[Ai+2] = t0; At[Aj+2] = t1;
-
                             for(; k < m; k++) {
                                 t0 = c*At[Ai+k] + s*At[Aj+k];
                                 t1 = -s*At[Ai+k] + c*At[Aj+k];
@@ -977,7 +1170,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                             }
                         } else {
                             a = b = 0;
-                            k = 3; // unroll
+                            k = 2; // unroll
                             t0 = c*At[Ai] + s*At[Aj];
                             t1 = -s*At[Ai] + c*At[Aj];
                             At[Ai] = t0; At[Aj] = t1;
@@ -988,11 +1181,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                             At[Ai+1] = t0; At[Aj+1] = t1;
                             a += t0*t0; b += t1*t1;
 
-                            t0 = c*At[Ai+2] + s*At[Aj+2];
-                            t1 = -s*At[Ai+2] + c*At[Aj+2];
-                            At[Ai+2] = t0; At[Aj+2] = t1;
-                            a += t0*t0; b += t1*t1;
-
                             for( ; k < m; k++ )
                             {
                                 t0 = c*At[Ai+k] + s*At[Aj+k];
@@ -1009,7 +1197,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         if(Vt) {
                             Vi = (i*vstep)|0, Vj = (j*vstep)|0;
 
-                            k = 3;
+                            k = 2;
                             t0 = c*Vt[Vi] + s*Vt[Vj];
                             t1 = -s*Vt[Vi] + c*Vt[Vj];
                             Vt[Vi] = t0; Vt[Vj] = t1;
@@ -1018,10 +1206,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                             t1 = -s*Vt[Vi+1] + c*Vt[Vj+1];
                             Vt[Vi+1] = t0; Vt[Vj+1] = t1;
 
-                            t0 = c*Vt[Vi+2] + s*Vt[Vj+2];
-                            t1 = -s*Vt[Vi+2] + c*Vt[Vj+2];
-                            Vt[Vi+2] = t0; Vt[Vj+2] = t1;
-
                             for(; k < n; k++) {
                                 t0 = c*Vt[Vi+k] + s*Vt[Vj+k];
                                 t1 = -s*Vt[Vi+k] + c*Vt[Vj+k];
@@ -1431,179 +1615,660 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.linalg = linalg;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
  */
 
 (function(global) {
     "use strict";
     //
 
-    var transform = (function() {
-        //
-        return {
-            affine_3point_transform: function(mat, src_x0, src_y0, dst_x0, dst_y0,
-                                                    src_x1, src_y1, dst_x1, dst_y1,
-                                                    src_x2, src_y2, dst_x2, dst_y2) {
-                // we need linear algebra module first
-            },
+    var motion_model = (function() {
+
+    	var sqr = function(x) {
+    		return x*x;
+    	}
+
+    	// does isotropic normalization
+    	var iso_normalize_points = function(from, to, T0, T1, count) {
+			var i=0;
+		    var cx0=0.0, cy0=0.0, d0=0.0, s0=0.0;
+		    var cx1=0.0, cy1=0.0, d1=0.0, s1=0.0;
+		    var dx=0.0,dy=0.0;
+
+		    for (; i < count; ++i) {
+		        cx0 += from[i].x;
+		        cy0 += from[i].y;
+		        cx1 += to[i].x;
+		        cy1 += to[i].y;
+		    }
+
+		    cx0 /= count; cy0 /= count;
+		    cx1 /= count; cy1 /= count;
+
+		    for (i = 0; i < count; ++i) {
+		        dx = from[i].x - cx0;
+		        dy = from[i].y - cy0;
+		        d0 += Math.sqrt(dx*dx + dy*dy);
+		        dx = to[i].x - cx1;
+		        dy = to[i].y - cy1;
+		        d1 += Math.sqrt(dx*dx + dy*dy);
+		    }
+
+		    d0 /= count; d1 /= count;
+
+		    s0 = Math.SQRT2 / d0; s1 = Math.SQRT2 / d1;
+
+		    T0[0] = T0[4] = s0;
+		    T0[2] = -cx0*s0;
+		    T0[5] = -cy0*s0;
+		    T0[1] = T0[3] = T0[6] = T0[7] = 0.0;
+		    T0[8] = 1.0;
+
+		    T1[0] = T1[4] = s1;
+		    T1[2] = -cx1*s1;
+		    T1[5] = -cy1*s1;
+		    T1[1] = T1[3] = T1[6] = T1[7] = 0.0;
+		    T1[8] = 1.0;
+		}
+
+		var have_collinear_points = function(points, count) {
+		    var j=0,k=0,i=(count-1)|0;
+		    var dx1=0.0,dy1=0.0,dx2=0.0,dy2=0.0;
+
+		    // check that the i-th selected point does not belong
+		    // to a line connecting some previously selected points
+		    for(; j < i; ++j) {
+		        dx1 = points[j].x - points[i].x;
+		        dy1 = points[j].y - points[i].y;
+		        for(k = 0; k < j; ++k) {
+		            dx2 = points[k].x - points[i].x;
+		            dy2 = points[k].y - points[i].y;
+		            if( Math.abs(dx2*dy1 - dy2*dx1) <= jsfeat.EPSILON*(Math.abs(dx1) + Math.abs(dy1) + Math.abs(dx2) + Math.abs(dy2)))
+		                return true;
+		        }
+		    }
+		    return false;
+		}
+    	
+    	var affine2d = (function () {
+
+	        function affine2d() {
+	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.AtA = new jsfeat.matrix_t(6, 6, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.AtB = new jsfeat.matrix_t(6, 1, jsfeat.F32_t|jsfeat.C1_t);
+	        }
+
+	        affine2d.prototype.run = function(from, to, model, count) {
+	        	var i=0,j=0;
+	        	var dt=model.type|jsfeat.C1_t;
+	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
+	        	var pt0,pt1,px=0.0,py=0.0;
+
+	            iso_normalize_points(from, to, t0d, t1d, count);
+
+	            var a_buff = jsfeat.cache.get_buffer((2*count*6)<<3);
+                var b_buff = jsfeat.cache.get_buffer((2*count)<<3);
+
+                var a_mt = new jsfeat.matrix_t(6, 2*count, dt, a_buff.data);
+                var b_mt = new jsfeat.matrix_t(1, 2*count, dt, b_buff.data);
+                var ad=a_mt.data, bd=b_mt.data;
+
+			    for (; i < count; ++i) {
+			    	pt0 = from[i];
+			        pt1 = to[i];
+
+			        px = t0d[0]*pt0.x + t0d[1]*pt0.y + t0d[2];
+			        py = t0d[3]*pt0.x + t0d[4]*pt0.y + t0d[5];
+
+			        j = i*2*6;
+			        ad[j]=px, ad[j+1]=py, ad[j+2]=1.0, ad[j+3]=0.0, ad[j+4]=0.0, ad[j+5]=0.0;
+
+			        j += 6;
+			        ad[j]=0.0, ad[j+1]=0.0, ad[j+2]=0.0, ad[j+3]=px, ad[j+4]=py, ad[j+5]=1.0;
+
+			        bd[i<<1] = t1d[0]*pt1.x + t1d[1]*pt1.y + t1d[2];
+			        bd[(i<<1)+1] = t1d[3]*pt1.x + t1d[4]*pt1.y + t1d[5];
+			    }
+
+			    jsfeat.matmath.multiply_AtA(this.AtA, a_mt);
+			    jsfeat.matmath.multiply_AtB(this.AtB, a_mt, b_mt);
+
+			    jsfeat.linalg.lu_solve(this.AtA, this.AtB);
+
+			    md[0] = this.AtB.data[0], md[1]=this.AtB.data[1], md[2]=this.AtB.data[2];
+			    md[3] = this.AtB.data[3], md[4]=this.AtB.data[4], md[5]=this.AtB.data[5];
+			    md[6] = 0.0, md[7] = 0.0, md[8] = 1.0; // fill last row
+
+			    // denormalize
+			    jsfeat.matmath.invert_3x3(this.T1, this.T1);
+			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+
+			    // free buffer
+			    jsfeat.cache.put_buffer(a_buff);
+			    jsfeat.cache.put_buffer(b_buff);
+
+			    return 1;
+	        }
+
+	        affine2d.prototype.error = function(from, to, model, err, count) {
+	        	var i=0;
+	        	var pt0,pt1;
+	        	var m=model.data;
+
+			    for (; i < count; ++i) {
+			        pt0 = from[i];
+			        pt1 = to[i];
+
+			        err[i] = sqr(pt1.x - m[0]*pt0.x - m[1]*pt0.y - m[2]) +
+			                 sqr(pt1.y - m[3]*pt0.x - m[4]*pt0.y - m[5]);
+			    }
+	        }
+
+	        affine2d.prototype.check_subset = function(from, to, count) {
+	            return true; // all good
+	        }
+
+	        return affine2d;
+	    })();
+
+	    var homography2d = (function () {
+
+	        function homography2d() {
+	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        }
+
+	        homography2d.prototype.run = function(from, to, model, count) {
+	        	var i=0,j=0;
+	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
+	        	var LtL=this.mLtL.data, evd=this.Evec.data;
+	        	var x=0.0,y=0.0,X=0.0,Y=0.0;
+
+			    // norm
+				var smx=0.0, smy=0.0, cmx=0.0, cmy=0.0, sMx=0.0, sMy=0.0, cMx=0.0, cMy=0.0;
+
+				for(; i < count; ++i) {
+				    cmx += to[i].x;
+				    cmy += to[i].y;
+				    cMx += from[i].x;
+				    cMy += from[i].y;
+				}
+
+			    cmx /= count; cmy /= count;
+			    cMx /= count; cMy /= count;
+
+			    for(i = 0; i < count; ++i)
+			    {
+				    smx += Math.abs(to[i].x - cmx);
+				    smy += Math.abs(to[i].y - cmy);
+				    sMx += Math.abs(from[i].x - cMx);
+				    sMy += Math.abs(from[i].y - cMy);
+				}
+
+			    if( Math.abs(smx) < jsfeat.EPSILON 
+			    	|| Math.abs(smy) < jsfeat.EPSILON 
+			    	|| Math.abs(sMx) < jsfeat.EPSILON 
+			    	|| Math.abs(sMy) < jsfeat.EPSILON ) return 0;
+
+			    smx = count/smx; smy = count/smy;
+			    sMx = count/sMx; sMy = count/sMy;
+
+			    t0d[0] = sMx; 	t0d[1] = 0; 	t0d[2] = -cMx*sMx; 
+			    t0d[3] = 0; 	t0d[4] = sMy; 	t0d[5] = -cMy*sMy; 
+			    t0d[6] = 0; 	t0d[7] = 0; 	t0d[8] = 1;
+
+				t1d[0] = 1.0/smx; 	t1d[1] = 0; 		t1d[2] = cmx;
+				t1d[3] = 0; 		t1d[4] = 1.0/smy; 	t1d[5] = cmy;
+				t1d[6] = 0; 		t1d[7] = 0; 		t1d[8] = 1;
+				//
+
+				// construct system
+				i = 81;
+				while(--i >= 0) {
+					LtL[i] = 0.0;
+				}
+				for(i = 0; i < count; ++i) {
+					x = (to[i].x - cmx) * smx;
+					y = (to[i].y - cmy) * smy;
+					X = (from[i].x - cMx) * sMx;
+					Y = (from[i].y - cMy) * sMy;
+
+					LtL[0] += X*X;
+					LtL[1] += X*Y;
+					LtL[2] += X;
+
+					LtL[6] += X*-x*X;
+					LtL[7] += X*-x*Y;
+					LtL[8] += X*-x;
+					LtL[10] += Y*Y;
+					LtL[11] += Y;
+
+					LtL[15] += Y*-x*X;
+					LtL[16] += Y*-x*Y;
+					LtL[17] += Y*-x;
+					LtL[20] += 1.0;
+
+					LtL[24] += -x*X;
+					LtL[25] += -x*Y;
+					LtL[26] += -x;
+					LtL[30] += X*X;
+					LtL[31] += X*Y;
+					LtL[32] += X;
+					LtL[33] += X*-y*X;
+					LtL[34] += X*-y*Y;
+					LtL[35] += X*-y;
+					LtL[40] += Y*Y;
+					LtL[41] += Y;
+					LtL[42] += Y*-y*X;
+					LtL[43] += Y*-y*Y;
+					LtL[44] += Y*-y;
+					LtL[50] += 1.0;
+					LtL[51] += -y*X;
+					LtL[52] += -y*Y;
+					LtL[53] += -y;
+					LtL[60] += -x*X*-x*X + -y*X*-y*X;
+					LtL[61] += -x*X*-x*Y + -y*X*-y*Y;
+					LtL[62] += -x*X*-x + -y*X*-y;
+					LtL[70] += -x*Y*-x*Y + -y*Y*-y*Y;
+					LtL[71] += -x*Y*-x + -y*Y*-y;
+					LtL[80] += -x*-x + -y*-y;
+				}
+				//
+
+				// symmetry
+			    for(i = 0; i < 9; ++i) {
+			        for(j = 0; j < i; ++j)
+			            LtL[i*9+j] = LtL[j*9+i];
+			    }
+
+				jsfeat.linalg.eigenVV(this.mLtL, this.Evec);
+
+				md[0]=evd[72], md[1]=evd[73], md[2]=evd[74];
+			    md[3]=evd[75], md[4]=evd[76], md[5]=evd[77];
+			    md[6]=evd[78], md[7]=evd[79], md[8]=evd[80];
+
+				// denormalize
+			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+
+			    // set bottom right to 1.0
+			    x = 1.0/md[8];
+			    md[0] *= x; md[1] *= x; md[2] *= x;
+			    md[3] *= x; md[4] *= x; md[5] *= x;
+			    md[6] *= x; md[7] *= x; md[8] = 1.0;
+
+			    return 1;
+	        }
+
+	        homography2d.prototype.error = function(from, to, model, err, count) {
+	        	var i=0;
+	        	var pt0,pt1,ww=0.0,dx=0.0,dy=0.0;
+	        	var m=model.data;
+
+			    for (; i < count; ++i) {
+			        pt0 = from[i];
+			        pt1 = to[i];
+
+			        ww = 1.0/(m[6]*pt0.x + m[7]*pt0.y + 1.0);
+			        dx = (m[0]*pt0.x + m[1]*pt0.y + m[2])*ww - pt1.x;
+			        dy = (m[3]*pt0.x + m[4]*pt0.y + m[5])*ww - pt1.y;
+			        err[i] = (dx*dx + dy*dy);
+			    }
+	        }
+
+	        homography2d.prototype.check_subset = function(from, to, count) {
+	        	if( have_collinear_points(from, count) || have_collinear_points(to, count) ) {
+        			return false;
+        		}
+        		if( count == 4 ) {
+			        var negative = 0;
+
+			        var fp0=from[0],fp1=from[1],fp2=from[2],fp3=from[3];
+			        var tp0=to[0],tp1=to[1],tp2=to[2],tp3=to[3];
+
+			        // set1
+			        var A11=fp0.x, A12=fp0.y, A13=1.0;
+			        var A21=fp1.x, A22=fp1.y, A23=1.0;
+			        var A31=fp2.x, A32=fp2.y, A33=1.0;
+
+			        var B11=tp0.x, B12=tp0.y, B13=1.0;
+			        var B21=tp1.x, B22=tp1.y, B23=1.0;
+			        var B31=tp2.x, B32=tp2.y, B33=1.0;
+
+			        var detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					var detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
+
+					if(detA*detB < 0) negative++;
+
+					// set2
+					A11=fp1.x, A12=fp1.y;
+			        A21=fp2.x, A22=fp2.y;
+			        A31=fp3.x, A32=fp3.y;
+
+			        B11=tp1.x, B12=tp1.y;
+			        B21=tp2.x, B22=tp2.y;
+			        B31=tp3.x, B32=tp3.y;
+
+			        detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
+
+					if(detA*detB < 0) negative++;
+
+					// set3
+					A11=fp0.x, A12=fp0.y;
+			        A21=fp2.x, A22=fp2.y;
+			        A31=fp3.x, A32=fp3.y;
+
+			        B11=tp0.x, B12=tp0.y;
+			        B21=tp2.x, B22=tp2.y;
+			        B31=tp3.x, B32=tp3.y;
+
+			        detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
 
-            perspective_4point_transform: function(mat, src_x0, src_y0, dst_x0, dst_y0,
-                                                        src_x1, src_y1, dst_x1, dst_y1,
-                                                        src_x2, src_y2, dst_x2, dst_y2,
-                                                        src_x3, src_y3, dst_x3, dst_y3) {
-                var t1 = src_x0;
-                var t2 = src_x2;
-                var t4 = src_y1;
-                var t5 = t1 * t2 * t4;
-                var t6 = src_y3;
-                var t7 = t1 * t6;
-                var t8 = t2 * t7;
-                var t9 = src_y2;
-                var t10 = t1 * t9;
-                var t11 = src_x1;
-                var t14 = src_y0;
-                var t15 = src_x3;
-                var t16 = t14 * t15;
-                var t18 = t16 * t11;
-                var t20 = t15 * t11 * t9;
-                var t21 = t15 * t4;
-                var t24 = t15 * t9;
-                var t25 = t2 * t4;
-                var t26 = t6 * t2;
-                var t27 = t6 * t11;
-                var t28 = t9 * t11;
-                var t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
-                var t32 = t1 * t15;
-                var t35 = t14 * t11;
-                var t41 = t4 * t1;
-                var t42 = t6 * t41;
-                var t43 = t14 * t2;
-                var t46 = t16 * t9;
-                var t48 = t14 * t9 * t11;
-                var t51 = t4 * t6 * t2;
-                var t55 = t6 * t14;
-                var Hr0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
-                var Hr1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
-                var Hr2 = t1;
-                var Hr3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
-                var Hr4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
-                var Hr5 = t14;
-                var Hr6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
-                var Hr7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
-                
-                t1 = dst_x0;
-                t2 = dst_x2;
-                t4 = dst_y1;
-                t5 = t1 * t2 * t4;
-                t6 = dst_y3;
-                t7 = t1 * t6;
-                t8 = t2 * t7;
-                t9 = dst_y2;
-                t10 = t1 * t9;
-                t11 = dst_x1;
-                t14 = dst_y0;
-                t15 = dst_x3;
-                t16 = t14 * t15;
-                t18 = t16 * t11;
-                t20 = t15 * t11 * t9;
-                t21 = t15 * t4;
-                t24 = t15 * t9;
-                t25 = t2 * t4;
-                t26 = t6 * t2;
-                t27 = t6 * t11;
-                t28 = t9 * t11;
-                t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
-                t32 = t1 * t15;
-                t35 = t14 * t11;
-                t41 = t4 * t1;
-                t42 = t6 * t41;
-                t43 = t14 * t2;
-                t46 = t16 * t9;
-                t48 = t14 * t9 * t11;
-                t51 = t4 * t6 * t2;
-                t55 = t6 * t14;
-                var Hl0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
-                var Hl1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
-                var Hl2 = t1;
-                var Hl3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
-                var Hl4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
-                var Hl5 = t14;
-                var Hl6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
-                var Hl7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
-
-                // the following code computes R = Hl * inverse Hr
-                t2 = Hr4-Hr7*Hr5;
-                t4 = Hr0*Hr4;
-                t5 = Hr0*Hr5;
-                t7 = Hr3*Hr1;
-                t8 = Hr2*Hr3;
-                t10 = Hr1*Hr6;
-                var t12 = Hr2*Hr6;
-                t15 = 1.0 / (t4-t5*Hr7-t7+t8*Hr7+t10*Hr5-t12*Hr4);
-                t18 = -Hr3+Hr5*Hr6;
-                var t23 = -Hr3*Hr7+Hr4*Hr6;
-                t28 = -Hr1+Hr2*Hr7;
-                var t31 = Hr0-t12;
-                t35 = Hr0*Hr7-t10;
-                t41 = -Hr1*Hr5+Hr2*Hr4;
-                var t44 = t5-t8;
-                var t47 = t4-t7;
-                t48 = t2*t15;
-                var t49 = t28*t15;
-                var t50 = t41*t15;
-                mat[0] = Hl0*t48+Hl1*(t18*t15)-Hl2*(t23*t15);
-                mat[1] = Hl0*t49+Hl1*(t31*t15)-Hl2*(t35*t15);
-                mat[2] = -Hl0*t50-Hl1*(t44*t15)+Hl2*(t47*t15);
-                mat[3] = Hl3*t48+Hl4*(t18*t15)-Hl5*(t23*t15);
-                mat[4] = Hl3*t49+Hl4*(t31*t15)-Hl5*(t35*t15);
-                mat[5] = -Hl3*t50-Hl4*(t44*t15)+Hl5*(t47*t15);
-                mat[6] = Hl6*t48+Hl7*(t18*t15)-t23*t15;
-                mat[7] = Hl6*t49+Hl7*(t31*t15)-t35*t15;
-                mat[8] = -Hl6*t50-Hl7*(t44*t15)+t47*t15;
-            },
+					if(detA*detB < 0) negative++;
 
-            invert_affine_transform: function(src, dst) {
-                var m11 = src[0], m12 = src[1], m13 = src[2];
-                var m21 = src[3], m22 = src[4], m23 = src[5];
+					// set4
+					A11=fp0.x, A12=fp0.y;
+			        A21=fp1.x, A22=fp1.y;
+			        A31=fp3.x, A32=fp3.y;
 
-                var det = 1.0 / (m11 * m22 - m12 * m21);
+			        B11=tp0.x, B12=tp0.y;
+			        B21=tp1.x, B22=tp1.y;
+			        B31=tp3.x, B32=tp3.y;
 
-                dst[0] = det * m22;
-                dst[1] = det * -m12;
-                dst[2] = det * (m12*m23 - m13*m22);
+			        detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
 
-                dst[3] = det * -m21;
-                dst[4] = det * m11;
-                dst[5] = det * (m13*m21 - m11*m23);
-            },
+					if(detA*detB < 0) negative++;
 
-            invert_perspective_transform: function(src, dst) {
-                var m11 = src[0], m12 = src[1], m13 = src[2];
-                var m21 = src[3], m22 = src[4], m23 = src[5];
-                var m31 = src[6], m32 = src[7], m33 = src[8];
+			        if(negative != 0 && negative != 4) {
+			        	return false;
+			        }
+			    }
+	            return true; // all good
+	        }
 
-                var det = 1.0 / (m11 * (m22*m33 - m23*m32) - m12 * (m21*m33 - m23*m31) + m13 * (m21*m32 - m22*m31));
+	        return homography2d;
+	    })();
 
-                dst[0] = det * (m22*m33 - m23*m32);
-                dst[1] = det * (m13*m32 - m12*m33);
-                dst[2] = det * (m12*m23 - m13*m22);
+	    return {
 
-                dst[3] = det * (m23*m31 - m21*m33);
-                dst[4] = det * (m11*m33 - m13*m31);
-                dst[5] = det * (m13*m21 - m11*m23);
+    		affine2d:affine2d,
+    		homography2d:homography2d
 
-                dst[6] = det * (m21*m32 - m22*m31);
-                dst[7] = det * (m12*m31 - m11*m32);
-                dst[8] = det * (m11*m22 - m12*m21);
-            }
+    	};
+
+    })();
+
+    var ransac_params_t = (function () {
+        function ransac_params_t(size, thresh, eps, prob) {
+            if (typeof size === "undefined") { size=0; }
+            if (typeof thresh === "undefined") { thresh=0.5; }
+            if (typeof eps === "undefined") { eps=0.5; }
+            if (typeof prob === "undefined") { prob=0.99; }
+
+            this.size = size;
+            this.thresh = thresh;
+            this.eps = eps;
+            this.prob = prob;
         };
+        ransac_params_t.prototype.update_iters = function(_eps, max_iters) {
+	        var num = Math.log(1 - this.prob);
+	        var denom = Math.log(1 - Math.pow(1 - _eps, this.size));
+	        return (denom >= 0 || -num >= max_iters*(-denom) ? max_iters : Math.round(num/denom))|0;
+        };
+        return ransac_params_t;
     })();
 
-    global.transform = transform;
+    var motion_estimator = (function() {
+
+    	var get_subset = function(kernel, from, to, need_cnt, max_cnt, from_sub, to_sub) {
+    		var max_try = 1000;
+    		var indices = [];
+		    var i=0, j=0, ssiter=0, idx_i=0, ok=false;
+		    for(; ssiter < max_try; ++ssiter)  {
+		        i = 0;
+		        for (; i < need_cnt && ssiter < max_try;) {
+		            ok = false;
+		            idx_i = 0;
+		            while (!ok) {
+		                ok = true;
+		                idx_i = indices[i] = Math.floor(Math.random() * max_cnt)|0;
+		                for (j = 0; j < i; ++j) {
+		                    if (idx_i == indices[j])
+		                    { ok = false; break; }
+		                }
+		            }
+		            from_sub[i] = from[idx_i];
+		            to_sub[i] = to[idx_i];
+		            if( !kernel.check_subset( from_sub, to_sub, i+1 ) ) {
+		                ssiter++;
+		                continue;
+		            }
+		            ++i;
+		        }
+		        break;
+		    }
+
+		    return (i == need_cnt && ssiter < max_try);
+    	}
+
+    	var find_inliers = function(kernel, model, from, to, count, thresh, err, mask) {
+    		var numinliers = 0, i=0, f=0;
+    		var t = thresh*thresh;
+
+    		kernel.error(from, to, model, err, count);
+
+		    for(; i < count; ++i) {
+		        f = err[i] <= t;
+		        mask[i] = f|0;
+		        numinliers += f;
+		    }
+		    return numinliers;
+    	}
+
+    	return {
+
+    		ransac: function(params, kernel, from, to, count, model, mask, max_iters) {
+    			if (typeof max_iters === "undefined") { max_iters=1000; }
+
+    			if(count < params.size) return false;
+
+    			var model_points = params.size;
+			    var niters = max_iters, iter=0;
+			    var result = false;
+
+			    var subset0 = [];
+			    var subset1 = [];
+			    var found = false;
+
+			    var mc=model.cols,mr=model.rows;
+                var dt = model.type | jsfeat.C1_t;
+
+			    var m_buff = jsfeat.cache.get_buffer((mc*mr)<<3);
+			    var ms_buff = jsfeat.cache.get_buffer(count);
+			    var err_buff = jsfeat.cache.get_buffer(count<<2);
+			    var M = new jsfeat.matrix_t(mc, mr, dt, m_buff.data);
+			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8_t|jsfeat.C1_t, ms_buff.data);
+
+			    var inliers_max = -1, numinliers=0;
+			    var nmodels = 0;
+
+			    var err = err_buff.f32;
+
+			    // special case
+			    if(count == model_points) {
+			        if(kernel.run(from, to, M, count) <= 0) {
+			        	jsfeat.cache.put_buffer(m_buff);
+			        	jsfeat.cache.put_buffer(ms_buff);
+			        	jsfeat.cache.put_buffer(err_buff);
+			        	return false;
+			        }
+
+			        M.copy_to(model);
+			        if(mask) {
+			        	while(--count >= 0) {
+			        		mask.data[count] = 1;
+			        	}
+			        }
+			        jsfeat.cache.put_buffer(m_buff);
+			        jsfeat.cache.put_buffer(ms_buff);
+			        jsfeat.cache.put_buffer(err_buff);
+			        return true;
+			    }
+
+			    for (; iter < niters; ++iter) {
+			        // generate subset
+			        found = get_subset(kernel, from, to, model_points, count, subset0, subset1);
+			        if(!found) {
+			            if(iter == 0) {
+			            	jsfeat.cache.put_buffer(m_buff);
+			            	jsfeat.cache.put_buffer(ms_buff);
+			            	jsfeat.cache.put_buffer(err_buff);
+			                return false;
+			            }
+			            break;
+			        }
+
+			        nmodels = kernel.run( subset0, subset1, M, model_points );
+			        if(nmodels <= 0)
+			            continue;
+
+			        // TODO handle multimodel output
+
+			        numinliers = find_inliers(kernel, M, from, to, count, params.thresh, err, curr_mask.data);
+
+			        if( numinliers > Math.max(inliers_max, model_points-1) ) {
+			            M.copy_to(model);
+			            inliers_max = numinliers;
+			            if(mask) curr_mask.copy_to(mask);
+			            niters = params.update_iters((count - numinliers)/count, niters);
+			            result = true;
+			        }
+			    }
+
+			    jsfeat.cache.put_buffer(m_buff);
+			    jsfeat.cache.put_buffer(ms_buff);
+			    jsfeat.cache.put_buffer(err_buff);
+
+			    return result;
+    		},
+
+    		lmeds: function(params, kernel, from, to, count, model, mask, max_iters) {
+    			if (typeof max_iters === "undefined") { max_iters=1000; }
+
+    			if(count < params.size) return false;
+
+    			var model_points = params.size;
+			    var niters = max_iters, iter=0;
+			    var result = false;
+
+			    var subset0 = [];
+			    var subset1 = [];
+			    var found = false;
+
+			    var mc=model.cols,mr=model.rows;
+                var dt = model.type | jsfeat.C1_t;
+
+			    var m_buff = jsfeat.cache.get_buffer((mc*mr)<<3);
+			    var ms_buff = jsfeat.cache.get_buffer(count);
+			    var err_buff = jsfeat.cache.get_buffer(count<<2);
+			    var M = new jsfeat.matrix_t(mc, mr, dt, m_buff.data);
+			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8_t|jsfeat.C1_t, ms_buff.data);
+
+			    var numinliers=0;
+			    var nmodels = 0;
+
+			    var err = err_buff.f32;
+			    var min_median = 1000000000.0, sigma=0.0, median=0.0;
+
+			    params.eps = 0.45;
+			    niters = params.update_iters(params.eps, niters);
+
+			    // special case
+			    if(count == model_points) {
+			        if(kernel.run(from, to, M, count) <= 0) {
+			        	jsfeat.cache.put_buffer(m_buff);
+			        	jsfeat.cache.put_buffer(ms_buff);
+			        	jsfeat.cache.put_buffer(err_buff);
+			        	return false;
+			        }
+
+			        M.copy_to(model);
+			        if(mask) {
+			        	while(--count >= 0) {
+			        		mask.data[count] = 1;
+			        	}
+			        }
+			        jsfeat.cache.put_buffer(m_buff);
+			        jsfeat.cache.put_buffer(ms_buff);
+			        jsfeat.cache.put_buffer(err_buff);
+			        return true;
+			    }
+
+			    for (; iter < niters; ++iter) {
+			        // generate subset
+			        found = get_subset(kernel, from, to, model_points, count, subset0, subset1);
+			        if(!found) {
+			            if(iter == 0) {
+			            	jsfeat.cache.put_buffer(m_buff);
+			            	jsfeat.cache.put_buffer(ms_buff);
+			            	jsfeat.cache.put_buffer(err_buff);
+			                return false;
+			            }
+			            break;
+			        }
+
+			        nmodels = kernel.run( subset0, subset1, M, model_points );
+			        if(nmodels <= 0)
+			            continue;
+
+			        // TODO handle multimodel output
+
+			        kernel.error(from, to, M, err, count);
+			        median = jsfeat.math.median(err, 0, count-1);
+
+			        if(median < min_median) {
+			            min_median = median;
+			            M.copy_to(model);
+			            result = true;
+			        }
+			    }
+
+			    if(result) {
+			        sigma = 2.5*1.4826*(1 + 5.0/(count - model_points))*Math.sqrt(minMedian);
+			        sigma = Math.max(sigma, 0.001);
+
+			        numinliers = find_inliers(kernel, model, from, to, count, sigma, err, curr_mask.data);
+			        if(mask) curr_mask.copy_to(mask);
+			        
+			        result = numinliers >= model_points;
+			    }
+
+			    jsfeat.cache.put_buffer(m_buff);
+			    jsfeat.cache.put_buffer(ms_buff);
+			    jsfeat.cache.put_buffer(err_buff);
+
+			    return result;
+    		}
+
+    	};
 
-})(jsfeat);
+    })();
+
+    global.ransac_params_t = ransac_params_t;
+    global.motion_model = motion_model;
+    global.motion_estimator = motion_estimator;
+
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -1615,7 +2280,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     var imgproc = (function() {
 
         var _resample_u8 = function(src, dst, nw, nh) {
-            var xofs = [],xofs_count=0;
+            var xofs_count=0;
             var ch=src.channel,w=src.cols,h=src.rows;
             var src_d=src.data,dst_d=dst.data;
             var scale_x = w / nw, scale_y = h / nh;
@@ -1625,9 +2290,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
             var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
             var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var xofs_node = jsfeat.cache.get_buffer((w*2*3)<<2);
 
             var buf = buf_node.i32;
             var sum = sum_node.i32;
+            var xofs = xofs_node.i32;
 
             for (; dx < nw; dx++) {
                 fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
@@ -1636,19 +2303,22 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 sx2 = Math.min(sx2, w - 1);
 
                 if(sx1 > fsx1) {
-                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": ((sx1 - fsx1) * 0x100)|0};
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = ((sx1 - 1)*ch)|0; 
+                    xofs[k++] = ((sx1 - fsx1) * 0x100)|0;
+                    xofs_count++;
                 }
                 for(sx = sx1; sx < sx2; sx++){
-                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": 256};
+                    xofs_count++;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (sx * ch)|0;
+                    xofs[k++] = 256;
                 }
                 if(fsx2 - sx2 > 1e-3) {
-                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": ((fsx2 - sx2) * 256)|0};
+                    xofs_count++;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (sx2 * ch)|0;
+                    xofs[k++] = ((fsx2 - sx2) * 256)|0;
                 }
             }
 
@@ -1659,9 +2329,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             for (sy = 0; sy < h; sy++) {
                 a = w * sy;
                 for (k = 0; k < xofs_count; k++) {
-                    dxn = xofs[k].di;
-                    alpha = xofs[k].alpha;
-                    sx1 = xofs[k].si;
+                    dxn = xofs[k*3];
+                    sx1 = xofs[k*3+1];
+                    alpha = xofs[k*3+2];
                     for (i = 0; i < ch; i++) {
                         buf[dxn + i] += src_d[a+sx1+i] * alpha;
                     }
@@ -1693,10 +2363,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
             jsfeat.cache.put_buffer(sum_node);
             jsfeat.cache.put_buffer(buf_node);
+            jsfeat.cache.put_buffer(xofs_node);
         }
 
         var _resample = function(src, dst, nw, nh) {
-            var xofs = [],xofs_count=0;
+            var xofs_count=0;
             var ch=src.channel,w=src.cols,h=src.rows;
             var src_d=src.data,dst_d=dst.data;
             var scale_x = w / nw, scale_y = h / nh;
@@ -1706,9 +2377,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
             var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
             var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var xofs_node = jsfeat.cache.get_buffer((w*2*3)<<2);
 
             var buf = buf_node.f32;
             var sum = sum_node.f32;
+            var xofs = xofs_node.f32;
 
             for (; dx < nw; dx++) {
                 fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
@@ -1717,19 +2390,22 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 sx2 = Math.min(sx2, w - 1);
 
                 if(sx1 > fsx1) {
-                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": (sx1 - fsx1) * scale};
+                    xofs_count++;
+                    xofs[k++] = ((sx1 - 1)*ch)|0;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (sx1 - fsx1) * scale;
                 }
                 for(sx = sx1; sx < sx2; sx++){
-                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": scale};
+                    xofs_count++;
+                    xofs[k++] = (sx * ch)|0;
+                    xofs[k++] = (dx * ch)|0; 
+                    xofs[k++] = scale;
                 }
                 if(fsx2 - sx2 > 1e-3) {
-                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": (fsx2 - sx2) * scale};
+                    xofs_count++;
+                    xofs[k++] = (sx2 * ch)|0;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (fsx2 - sx2) * scale;
                 }
             }
 
@@ -1740,9 +2416,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             for (sy = 0; sy < h; sy++) {
                 a = w * sy;
                 for (k = 0; k < xofs_count; k++) {
-                    dxn = xofs[k].di;
-                    alpha = xofs[k].alpha;
-                    sx1 = xofs[k].si;
+                    sx1 = xofs[k*3]|0;
+                    dxn = xofs[k*3+1]|0;
+                    alpha = xofs[k*3+2];
                     for (i = 0; i < ch; i++) {
                         buf[dxn + i] += src_d[a+sx1+i] * alpha;
                     }
@@ -1773,6 +2449,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             }
             jsfeat.cache.put_buffer(sum_node);
             jsfeat.cache.put_buffer(buf_node);
+            jsfeat.cache.put_buffer(xofs_node);
         }
 
         var _convol_u8 = function(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel) {
@@ -2644,15 +3321,16 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 jsfeat.cache.put_buffer(map_node);
                 jsfeat.cache.put_buffer(stack_node);
             },
-
+            // transform is 3x3 matrix_t
             warp_perspective: function(src, dst, transform, fill_value) {
                 if (typeof fill_value === "undefined") { fill_value = 0; }
                 var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
                 var src_d=src.data, dst_d=dst.data;
                 var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,xs0=0.0,ys0=0.0,ws=0.0,sc=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
-                var m00=transform[0],m01=transform[1],m02=transform[2],
-                    m10=transform[3],m11=transform[4],m12=transform[5],
-                    m20=transform[6],m21=transform[7],m22=transform[8];
+                var td=transform.data;
+                var m00=td[0],m01=td[1],m02=td[2],
+                    m10=td[3],m11=td[4],m12=td[5],
+                    m20=td[6],m21=td[7],m22=td[8];
 
                 for(var dptr = 0; y < dst_height; ++y) {
                     xs0 = m01 * y + m02,
@@ -2677,14 +3355,15 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                     }
                 }
             },
-
+            // transform is 3x3 or 2x3 matrix_t only first 6 values referenced
             warp_affine: function(src, dst, transform, fill_value) {
                 if (typeof fill_value === "undefined") { fill_value = 0; }
                 var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
                 var src_d=src.data, dst_d=dst.data;
                 var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
-                var m00=transform[0],m01=transform[1],m02=transform[2],
-                    m10=transform[3],m11=transform[4],m12=transform[5];
+                var td=transform.data;
+                var m00=td[0],m01=td[1],m02=td[2],
+                    m10=td[3],m11=td[4],m12=td[5];
 
                 for(var dptr = 0; y < dst_height; ++y) {
                     xs = m01 * y + m02;
@@ -2712,7 +3391,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.imgproc = imgproc;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3052,7 +3730,6 @@ The references are:
     fast_corners.set_threshold(20); // set default
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3148,7 +3825,6 @@ The references are:
     global.yape06 = yape06;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3558,7 +4234,7 @@ The references are:
 
     global.yape = yape;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3803,7 +4479,6 @@ The references are:
     global.optical_flow_lk = optical_flow_lk;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4094,7 +4769,6 @@ The references are:
     global.haar = haar;
 
 })(jsfeat);
-
 /**
  * BBF: Brightness Binary Feature
  *
@@ -4489,7 +5163,6 @@ The references are:
     global.bbf = bbf;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -4505,4 +5178,3 @@ The references are:
         module.exports = lib;
     }
 })(jsfeat);
-
diff --git a/compile/build.xml b/compile/build.xml
index 83a1631..d14c688 100755
--- a/compile/build.xml
+++ b/compile/build.xml
@@ -8,7 +8,7 @@
                 <file name="jsfeat_math.js" />
                 <file name="jsfeat_mat_math.js" />
                 <file name="jsfeat_linalg.js" />
-                <file name="jsfeat_transform.js" />
+                <file name="jsfeat_motion_estimator.js" />
                 <file name="jsfeat_imgproc.js" />
                 <file name="jsfeat_fast_corners.js" />
                 <file name="jsfeat_yape06.js" />
diff --git a/src/jsfeat.js b/src/jsfeat.js
index 9b4b5f2..86526d0 100755
--- a/src/jsfeat.js
+++ b/src/jsfeat.js
@@ -4,10 +4,3 @@
 
 // namespace ?
 var jsfeat = jsfeat || { REVISION: 'ALPHA' };
-
-// use typed arrays if possible
-self.Int32Array = self.Int32Array || Array;
-self.Uint32Array = self.Uint32Array || Array;
-self.Uint8Array = self.Uint8Array || Array;
-self.Float32Array = self.Float32Array || Array;
-self.Float64Array = self.Float64Array || Array;
diff --git a/src/jsfeat_export.js b/src/jsfeat_export.js
old mode 100644
new mode 100755
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 0e27608..0110f74 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -9,7 +9,7 @@
     var imgproc = (function() {
 
         var _resample_u8 = function(src, dst, nw, nh) {
-            var xofs = [],xofs_count=0;
+            var xofs_count=0;
             var ch=src.channel,w=src.cols,h=src.rows;
             var src_d=src.data,dst_d=dst.data;
             var scale_x = w / nw, scale_y = h / nh;
@@ -19,9 +19,11 @@
 
             var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
             var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var xofs_node = jsfeat.cache.get_buffer((w*2*3)<<2);
 
             var buf = buf_node.i32;
             var sum = sum_node.i32;
+            var xofs = xofs_node.i32;
 
             for (; dx < nw; dx++) {
                 fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
@@ -30,19 +32,22 @@
                 sx2 = Math.min(sx2, w - 1);
 
                 if(sx1 > fsx1) {
-                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": ((sx1 - fsx1) * 0x100)|0};
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = ((sx1 - 1)*ch)|0; 
+                    xofs[k++] = ((sx1 - fsx1) * 0x100)|0;
+                    xofs_count++;
                 }
                 for(sx = sx1; sx < sx2; sx++){
-                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": 256};
+                    xofs_count++;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (sx * ch)|0;
+                    xofs[k++] = 256;
                 }
                 if(fsx2 - sx2 > 1e-3) {
-                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": ((fsx2 - sx2) * 256)|0};
+                    xofs_count++;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (sx2 * ch)|0;
+                    xofs[k++] = ((fsx2 - sx2) * 256)|0;
                 }
             }
 
@@ -53,9 +58,9 @@
             for (sy = 0; sy < h; sy++) {
                 a = w * sy;
                 for (k = 0; k < xofs_count; k++) {
-                    dxn = xofs[k].di;
-                    alpha = xofs[k].alpha;
-                    sx1 = xofs[k].si;
+                    dxn = xofs[k*3];
+                    sx1 = xofs[k*3+1];
+                    alpha = xofs[k*3+2];
                     for (i = 0; i < ch; i++) {
                         buf[dxn + i] += src_d[a+sx1+i] * alpha;
                     }
@@ -87,10 +92,11 @@
 
             jsfeat.cache.put_buffer(sum_node);
             jsfeat.cache.put_buffer(buf_node);
+            jsfeat.cache.put_buffer(xofs_node);
         }
 
         var _resample = function(src, dst, nw, nh) {
-            var xofs = [],xofs_count=0;
+            var xofs_count=0;
             var ch=src.channel,w=src.cols,h=src.rows;
             var src_d=src.data,dst_d=dst.data;
             var scale_x = w / nw, scale_y = h / nh;
@@ -100,9 +106,11 @@
 
             var buf_node = jsfeat.cache.get_buffer((nw*ch)<<2);
             var sum_node = jsfeat.cache.get_buffer((nw*ch)<<2);
+            var xofs_node = jsfeat.cache.get_buffer((w*2*3)<<2);
 
             var buf = buf_node.f32;
             var sum = sum_node.f32;
+            var xofs = xofs_node.f32;
 
             for (; dx < nw; dx++) {
                 fsx1 = dx * scale_x, fsx2 = fsx1 + scale_x;
@@ -111,19 +119,22 @@
                 sx2 = Math.min(sx2, w - 1);
 
                 if(sx1 > fsx1) {
-                    xofs[xofs_count++] = {"si": ((sx1 - 1)*ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": (sx1 - fsx1) * scale};
+                    xofs_count++;
+                    xofs[k++] = ((sx1 - 1)*ch)|0;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (sx1 - fsx1) * scale;
                 }
                 for(sx = sx1; sx < sx2; sx++){
-                    xofs[xofs_count++] = {"si": (sx * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": scale};
+                    xofs_count++;
+                    xofs[k++] = (sx * ch)|0;
+                    xofs[k++] = (dx * ch)|0; 
+                    xofs[k++] = scale;
                 }
                 if(fsx2 - sx2 > 1e-3) {
-                    xofs[xofs_count++] = {"si": (sx2 * ch)|0, 
-                                          "di": (dx * ch)|0, 
-                                          "alpha": (fsx2 - sx2) * scale};
+                    xofs_count++;
+                    xofs[k++] = (sx2 * ch)|0;
+                    xofs[k++] = (dx * ch)|0;
+                    xofs[k++] = (fsx2 - sx2) * scale;
                 }
             }
 
@@ -134,9 +145,9 @@
             for (sy = 0; sy < h; sy++) {
                 a = w * sy;
                 for (k = 0; k < xofs_count; k++) {
-                    dxn = xofs[k].di;
-                    alpha = xofs[k].alpha;
-                    sx1 = xofs[k].si;
+                    sx1 = xofs[k*3]|0;
+                    dxn = xofs[k*3+1]|0;
+                    alpha = xofs[k*3+2];
                     for (i = 0; i < ch; i++) {
                         buf[dxn + i] += src_d[a+sx1+i] * alpha;
                     }
@@ -167,6 +178,7 @@
             }
             jsfeat.cache.put_buffer(sum_node);
             jsfeat.cache.put_buffer(buf_node);
+            jsfeat.cache.put_buffer(xofs_node);
         }
 
         var _convol_u8 = function(buf, src_d, dst_d, w, h, filter, kernel_size, half_kernel) {
@@ -1038,15 +1050,16 @@
                 jsfeat.cache.put_buffer(map_node);
                 jsfeat.cache.put_buffer(stack_node);
             },
-
+            // transform is 3x3 matrix_t
             warp_perspective: function(src, dst, transform, fill_value) {
                 if (typeof fill_value === "undefined") { fill_value = 0; }
                 var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
                 var src_d=src.data, dst_d=dst.data;
                 var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,xs0=0.0,ys0=0.0,ws=0.0,sc=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
-                var m00=transform[0],m01=transform[1],m02=transform[2],
-                    m10=transform[3],m11=transform[4],m12=transform[5],
-                    m20=transform[6],m21=transform[7],m22=transform[8];
+                var td=transform.data;
+                var m00=td[0],m01=td[1],m02=td[2],
+                    m10=td[3],m11=td[4],m12=td[5],
+                    m20=td[6],m21=td[7],m22=td[8];
 
                 for(var dptr = 0; y < dst_height; ++y) {
                     xs0 = m01 * y + m02,
@@ -1071,14 +1084,15 @@
                     }
                 }
             },
-
+            // transform is 3x3 or 2x3 matrix_t only first 6 values referenced
             warp_affine: function(src, dst, transform, fill_value) {
                 if (typeof fill_value === "undefined") { fill_value = 0; }
                 var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
                 var src_d=src.data, dst_d=dst.data;
                 var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
-                var m00=transform[0],m01=transform[1],m02=transform[2],
-                    m10=transform[3],m11=transform[4],m12=transform[5];
+                var td=transform.data;
+                var m00=td[0],m01=td[1],m02=td[2],
+                    m10=td[3],m11=td[4],m12=td[5];
 
                 for(var dptr = 0; y < dst_height; ++y) {
                     xs = m01 * y + m02;
diff --git a/src/jsfeat_linalg.js b/src/jsfeat_linalg.js
old mode 100644
new mode 100755
index bf1666d..1fb6f50
--- a/src/jsfeat_linalg.js
+++ b/src/jsfeat_linalg.js
@@ -183,7 +183,7 @@
         }
 
         var JacobiSVDImpl = function(At, astep, _W, Vt, vstep, m, n, n1) {
-            var eps = jsfeat.EPSILON * 10.0;
+            var eps = jsfeat.EPSILON * 2.0;
             var minval = jsfeat.FLT_MIN;
             var i=0,j=0,k=0,iter=0,max_iter=Math.max(m, 30);
             var Ai=0,Aj=0,Vi=0,Vj=0,changed=0;
@@ -218,10 +218,9 @@
                         Ai = (i*astep)|0, Aj = (j*astep)|0;
                         a = W[i], p = 0, b = W[j];
                         
-                        k = 3;
+                        k = 2;
                         p += At[Ai]*At[Aj];
                         p += At[Ai+1]*At[Aj+1];
-                        p += At[Ai+2]*At[Aj+2];
 
                         for(; k < m; k++)
                             p += At[Ai+k]*At[Aj+k];
@@ -244,7 +243,7 @@
                         W[j] -= delta;
                         
                         if( (iter & 1) && W[i] > 0 && W[j] > 0 ) {
-                            k = 3;//unroll 3x3
+                            k = 2;//unroll 2x2
                             t0 = c*At[Ai] + s*At[Aj];
                             t1 = -s*At[Ai] + c*At[Aj];
                             At[Ai] = t0; At[Aj] = t1;
@@ -253,10 +252,6 @@
                             t1 = -s*At[Ai+1] + c*At[Aj+1];
                             At[Ai+1] = t0; At[Aj+1] = t1;
 
-                            t0 = c*At[Ai+2] + s*At[Aj+2];
-                            t1 = -s*At[Ai+2] + c*At[Aj+2];
-                            At[Ai+2] = t0; At[Aj+2] = t1;
-
                             for(; k < m; k++) {
                                 t0 = c*At[Ai+k] + s*At[Aj+k];
                                 t1 = -s*At[Ai+k] + c*At[Aj+k];
@@ -264,7 +259,7 @@
                             }
                         } else {
                             a = b = 0;
-                            k = 3; // unroll
+                            k = 2; // unroll
                             t0 = c*At[Ai] + s*At[Aj];
                             t1 = -s*At[Ai] + c*At[Aj];
                             At[Ai] = t0; At[Aj] = t1;
@@ -275,11 +270,6 @@
                             At[Ai+1] = t0; At[Aj+1] = t1;
                             a += t0*t0; b += t1*t1;
 
-                            t0 = c*At[Ai+2] + s*At[Aj+2];
-                            t1 = -s*At[Ai+2] + c*At[Aj+2];
-                            At[Ai+2] = t0; At[Aj+2] = t1;
-                            a += t0*t0; b += t1*t1;
-
                             for( ; k < m; k++ )
                             {
                                 t0 = c*At[Ai+k] + s*At[Aj+k];
@@ -296,7 +286,7 @@
                         if(Vt) {
                             Vi = (i*vstep)|0, Vj = (j*vstep)|0;
 
-                            k = 3;
+                            k = 2;
                             t0 = c*Vt[Vi] + s*Vt[Vj];
                             t1 = -s*Vt[Vi] + c*Vt[Vj];
                             Vt[Vi] = t0; Vt[Vj] = t1;
@@ -305,10 +295,6 @@
                             t1 = -s*Vt[Vi+1] + c*Vt[Vj+1];
                             Vt[Vi+1] = t0; Vt[Vj+1] = t1;
 
-                            t0 = c*Vt[Vi+2] + s*Vt[Vj+2];
-                            t1 = -s*Vt[Vi+2] + c*Vt[Vj+2];
-                            Vt[Vi+2] = t0; Vt[Vj+2] = t1;
-
                             for(; k < n; k++) {
                                 t0 = c*Vt[Vi+k] + s*Vt[Vj+k];
                                 t1 = -s*Vt[Vi+k] + c*Vt[Vj+k];
diff --git a/src/jsfeat_mat_math.js b/src/jsfeat_mat_math.js
old mode 100644
new mode 100755
index 6516785..64e6c73
--- a/src/jsfeat_mat_math.js
+++ b/src/jsfeat_mat_math.js
@@ -130,6 +130,76 @@
                         cd[p_CC] = sum;
                     }
                 }
+            },
+
+            // various small matrix operations
+            invert_3x3: function(from, to) {
+                var A = from.data, invA = to.data;
+                var t1 = A[4];
+                var t2 = A[8];
+                var t4 = A[5];
+                var t5 = A[7];
+                var t8 = A[0];
+
+                var t9 = t8*t1;
+                var t11 = t8*t4;
+                var t13 = A[3];
+                var t14 = A[1];
+                var t15 = t13*t14;
+                var t17 = A[2];
+                var t18 = t13*t17;
+                var t20 = A[6];
+                var t21 = t20*t14;
+                var t23 = t20*t17;
+                var t26 = 1.0/(t9*t2-t11*t5-t15*t2+t18*t5+t21*t4-t23*t1);
+                invA[0] = (t1*t2-t4*t5)*t26;
+                invA[1] = -(t14*t2-t17*t5)*t26;
+                invA[2] = -(-t14*t4+t17*t1)*t26;
+                invA[3] = -(t13*t2-t4*t20)*t26;
+                invA[4] = (t8*t2-t23)*t26;
+                invA[5] = -(t11-t18)*t26;
+                invA[6] = -(-t13*t5+t1*t20)*t26;
+                invA[7] = -(t8*t5-t21)*t26;
+                invA[8] = (t9-t15)*t26;
+            },
+            // C = A * B
+            multiply_3x3: function(C, A, B) {
+                var Cd=C.data, Ad=A.data, Bd=B.data;
+                var m1_0 = Ad[0], m1_1 = Ad[1], m1_2 = Ad[2];
+                var m1_3 = Ad[3], m1_4 = Ad[4], m1_5 = Ad[5];
+                var m1_6 = Ad[6], m1_7 = Ad[7], m1_8 = Ad[8];
+
+                var m2_0 = Bd[0], m2_1 = Bd[1], m2_2 = Bd[2];
+                var m2_3 = Bd[3], m2_4 = Bd[4], m2_5 = Bd[5];
+                var m2_6 = Bd[6], m2_7 = Bd[7], m2_8 = Bd[8];
+
+                Cd[0] = m1_0 * m2_0 + m1_1 * m2_3 + m1_2 * m2_6;
+                Cd[1] = m1_0 * m2_1 + m1_1 * m2_4 + m1_2 * m2_7;
+                Cd[2] = m1_0 * m2_2 + m1_1 * m2_5 + m1_2 * m2_8;
+                Cd[3] = m1_3 * m2_0 + m1_4 * m2_3 + m1_5 * m2_6;
+                Cd[4] = m1_3 * m2_1 + m1_4 * m2_4 + m1_5 * m2_7;
+                Cd[5] = m1_3 * m2_2 + m1_4 * m2_5 + m1_5 * m2_8;
+                Cd[6] = m1_6 * m2_0 + m1_7 * m2_3 + m1_8 * m2_6;
+                Cd[7] = m1_6 * m2_1 + m1_7 * m2_4 + m1_8 * m2_7;
+                Cd[8] = m1_6 * m2_2 + m1_7 * m2_5 + m1_8 * m2_8;
+            },
+
+            mat3x3_determinant: function(M) {
+                var md=M.data;
+                return  md[0] * md[4] * md[8] -
+                        md[0] * md[5] * md[7] -
+                        md[3] * md[1] * md[8] +
+                        md[3] * md[2] * md[7] +
+                        md[6] * md[1] * md[5] -
+                        md[6] * md[2] * md[4];
+            },
+
+            determinant_3x3: function(M11, M12, M13, 
+                                      M21, M22, M23, 
+                                      M31, M32, M33) {
+                return  M11 * M22 * M33 - M11 * M23 * M32 -
+                          M21 * M12 * M33 + M21 * M13 * M32 +
+                          M31 * M12 * M23 - M31 * M13 * M22;
             }
         };
 
diff --git a/src/jsfeat_math.js b/src/jsfeat_math.js
index aad272a..f5ce94b 100755
--- a/src/jsfeat_math.js
+++ b/src/jsfeat_math.js
@@ -69,6 +69,123 @@
                 jsfeat.cache.put_buffer(kern_node);
             },
 
+            // model is 3x3 matrix_t
+            perspective_4point_transform: function(model, src_x0, src_y0, dst_x0, dst_y0,
+                                                        src_x1, src_y1, dst_x1, dst_y1,
+                                                        src_x2, src_y2, dst_x2, dst_y2,
+                                                        src_x3, src_y3, dst_x3, dst_y3) {
+                var t1 = src_x0;
+                var t2 = src_x2;
+                var t4 = src_y1;
+                var t5 = t1 * t2 * t4;
+                var t6 = src_y3;
+                var t7 = t1 * t6;
+                var t8 = t2 * t7;
+                var t9 = src_y2;
+                var t10 = t1 * t9;
+                var t11 = src_x1;
+                var t14 = src_y0;
+                var t15 = src_x3;
+                var t16 = t14 * t15;
+                var t18 = t16 * t11;
+                var t20 = t15 * t11 * t9;
+                var t21 = t15 * t4;
+                var t24 = t15 * t9;
+                var t25 = t2 * t4;
+                var t26 = t6 * t2;
+                var t27 = t6 * t11;
+                var t28 = t9 * t11;
+                var t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                var t32 = t1 * t15;
+                var t35 = t14 * t11;
+                var t41 = t4 * t1;
+                var t42 = t6 * t41;
+                var t43 = t14 * t2;
+                var t46 = t16 * t9;
+                var t48 = t14 * t9 * t11;
+                var t51 = t4 * t6 * t2;
+                var t55 = t6 * t14;
+                var Hr0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hr1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hr2 = t1;
+                var Hr3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hr4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hr5 = t14;
+                var Hr6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hr7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+                
+                t1 = dst_x0;
+                t2 = dst_x2;
+                t4 = dst_y1;
+                t5 = t1 * t2 * t4;
+                t6 = dst_y3;
+                t7 = t1 * t6;
+                t8 = t2 * t7;
+                t9 = dst_y2;
+                t10 = t1 * t9;
+                t11 = dst_x1;
+                t14 = dst_y0;
+                t15 = dst_x3;
+                t16 = t14 * t15;
+                t18 = t16 * t11;
+                t20 = t15 * t11 * t9;
+                t21 = t15 * t4;
+                t24 = t15 * t9;
+                t25 = t2 * t4;
+                t26 = t6 * t2;
+                t27 = t6 * t11;
+                t28 = t9 * t11;
+                t30 = 1.0 / (t21-t24 - t25 + t26 - t27 + t28);
+                t32 = t1 * t15;
+                t35 = t14 * t11;
+                t41 = t4 * t1;
+                t42 = t6 * t41;
+                t43 = t14 * t2;
+                t46 = t16 * t9;
+                t48 = t14 * t9 * t11;
+                t51 = t4 * t6 * t2;
+                t55 = t6 * t14;
+                var Hl0 = -(t8-t5 + t10 * t11 - t11 * t7 - t16 * t2 + t18 - t20 + t21 * t2) * t30;
+                var Hl1 = (t5 - t8 - t32 * t4 + t32 * t9 + t18 - t2 * t35 + t27 * t2 - t20) * t30;
+                var Hl2 = t1;
+                var Hl3 = (-t9 * t7 + t42 + t43 * t4 - t16 * t4 + t46 - t48 + t27 * t9 - t51) * t30;
+                var Hl4 = (-t42 + t41 * t9 - t55 * t2 + t46 - t48 + t55 * t11 + t51 - t21 * t9) * t30;
+                var Hl5 = t14;
+                var Hl6 = (-t10 + t41 + t43 - t35 + t24 - t21 - t26 + t27) * t30;
+                var Hl7 = (-t7 + t10 + t16 - t43 + t27 - t28 - t21 + t25) * t30;
+
+                // the following code computes R = Hl * inverse Hr
+                t2 = Hr4-Hr7*Hr5;
+                t4 = Hr0*Hr4;
+                t5 = Hr0*Hr5;
+                t7 = Hr3*Hr1;
+                t8 = Hr2*Hr3;
+                t10 = Hr1*Hr6;
+                var t12 = Hr2*Hr6;
+                t15 = 1.0 / (t4-t5*Hr7-t7+t8*Hr7+t10*Hr5-t12*Hr4);
+                t18 = -Hr3+Hr5*Hr6;
+                var t23 = -Hr3*Hr7+Hr4*Hr6;
+                t28 = -Hr1+Hr2*Hr7;
+                var t31 = Hr0-t12;
+                t35 = Hr0*Hr7-t10;
+                t41 = -Hr1*Hr5+Hr2*Hr4;
+                var t44 = t5-t8;
+                var t47 = t4-t7;
+                t48 = t2*t15;
+                var t49 = t28*t15;
+                var t50 = t41*t15;
+                var mat = model.data;
+                mat[0] = Hl0*t48+Hl1*(t18*t15)-Hl2*(t23*t15);
+                mat[1] = Hl0*t49+Hl1*(t31*t15)-Hl2*(t35*t15);
+                mat[2] = -Hl0*t50-Hl1*(t44*t15)+Hl2*(t47*t15);
+                mat[3] = Hl3*t48+Hl4*(t18*t15)-Hl5*(t23*t15);
+                mat[4] = Hl3*t49+Hl4*(t31*t15)-Hl5*(t35*t15);
+                mat[5] = -Hl3*t50-Hl4*(t44*t15)+Hl5*(t47*t15);
+                mat[6] = Hl6*t48+Hl7*(t18*t15)-t23*t15;
+                mat[7] = Hl6*t49+Hl7*(t31*t15)-t35*t15;
+                mat[8] = -Hl6*t50-Hl7*(t44*t15)+t47*t15;
+            },
+
             // The current implementation was derived from *BSD system qsort():
             // Copyright (c) 1992, 1993
             // The Regents of the University of California.  All rights reserved.
diff --git a/src/jsfeat_motion_estimator.js b/src/jsfeat_motion_estimator.js
new file mode 100644
index 0000000..a1de55e
--- /dev/null
+++ b/src/jsfeat_motion_estimator.js
@@ -0,0 +1,653 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var motion_model = (function() {
+
+    	var sqr = function(x) {
+    		return x*x;
+    	}
+
+    	// does isotropic normalization
+    	var iso_normalize_points = function(from, to, T0, T1, count) {
+			var i=0;
+		    var cx0=0.0, cy0=0.0, d0=0.0, s0=0.0;
+		    var cx1=0.0, cy1=0.0, d1=0.0, s1=0.0;
+		    var dx=0.0,dy=0.0;
+
+		    for (; i < count; ++i) {
+		        cx0 += from[i].x;
+		        cy0 += from[i].y;
+		        cx1 += to[i].x;
+		        cy1 += to[i].y;
+		    }
+
+		    cx0 /= count; cy0 /= count;
+		    cx1 /= count; cy1 /= count;
+
+		    for (i = 0; i < count; ++i) {
+		        dx = from[i].x - cx0;
+		        dy = from[i].y - cy0;
+		        d0 += Math.sqrt(dx*dx + dy*dy);
+		        dx = to[i].x - cx1;
+		        dy = to[i].y - cy1;
+		        d1 += Math.sqrt(dx*dx + dy*dy);
+		    }
+
+		    d0 /= count; d1 /= count;
+
+		    s0 = Math.SQRT2 / d0; s1 = Math.SQRT2 / d1;
+
+		    T0[0] = T0[4] = s0;
+		    T0[2] = -cx0*s0;
+		    T0[5] = -cy0*s0;
+		    T0[1] = T0[3] = T0[6] = T0[7] = 0.0;
+		    T0[8] = 1.0;
+
+		    T1[0] = T1[4] = s1;
+		    T1[2] = -cx1*s1;
+		    T1[5] = -cy1*s1;
+		    T1[1] = T1[3] = T1[6] = T1[7] = 0.0;
+		    T1[8] = 1.0;
+		}
+
+		var have_collinear_points = function(points, count) {
+		    var j=0,k=0,i=(count-1)|0;
+		    var dx1=0.0,dy1=0.0,dx2=0.0,dy2=0.0;
+
+		    // check that the i-th selected point does not belong
+		    // to a line connecting some previously selected points
+		    for(; j < i; ++j) {
+		        dx1 = points[j].x - points[i].x;
+		        dy1 = points[j].y - points[i].y;
+		        for(k = 0; k < j; ++k) {
+		            dx2 = points[k].x - points[i].x;
+		            dy2 = points[k].y - points[i].y;
+		            if( Math.abs(dx2*dy1 - dy2*dx1) <= jsfeat.EPSILON*(Math.abs(dx1) + Math.abs(dy1) + Math.abs(dx2) + Math.abs(dy2)))
+		                return true;
+		        }
+		    }
+		    return false;
+		}
+    	
+    	var affine2d = (function () {
+
+	        function affine2d() {
+	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.AtA = new jsfeat.matrix_t(6, 6, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.AtB = new jsfeat.matrix_t(6, 1, jsfeat.F32_t|jsfeat.C1_t);
+	        }
+
+	        affine2d.prototype.run = function(from, to, model, count) {
+	        	var i=0,j=0;
+	        	var dt=model.type|jsfeat.C1_t;
+	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
+	        	var pt0,pt1,px=0.0,py=0.0;
+
+	            iso_normalize_points(from, to, t0d, t1d, count);
+
+	            var a_buff = jsfeat.cache.get_buffer((2*count*6)<<3);
+                var b_buff = jsfeat.cache.get_buffer((2*count)<<3);
+
+                var a_mt = new jsfeat.matrix_t(6, 2*count, dt, a_buff.data);
+                var b_mt = new jsfeat.matrix_t(1, 2*count, dt, b_buff.data);
+                var ad=a_mt.data, bd=b_mt.data;
+
+			    for (; i < count; ++i) {
+			    	pt0 = from[i];
+			        pt1 = to[i];
+
+			        px = t0d[0]*pt0.x + t0d[1]*pt0.y + t0d[2];
+			        py = t0d[3]*pt0.x + t0d[4]*pt0.y + t0d[5];
+
+			        j = i*2*6;
+			        ad[j]=px, ad[j+1]=py, ad[j+2]=1.0, ad[j+3]=0.0, ad[j+4]=0.0, ad[j+5]=0.0;
+
+			        j += 6;
+			        ad[j]=0.0, ad[j+1]=0.0, ad[j+2]=0.0, ad[j+3]=px, ad[j+4]=py, ad[j+5]=1.0;
+
+			        bd[i<<1] = t1d[0]*pt1.x + t1d[1]*pt1.y + t1d[2];
+			        bd[(i<<1)+1] = t1d[3]*pt1.x + t1d[4]*pt1.y + t1d[5];
+			    }
+
+			    jsfeat.matmath.multiply_AtA(this.AtA, a_mt);
+			    jsfeat.matmath.multiply_AtB(this.AtB, a_mt, b_mt);
+
+			    jsfeat.linalg.lu_solve(this.AtA, this.AtB);
+
+			    md[0] = this.AtB.data[0], md[1]=this.AtB.data[1], md[2]=this.AtB.data[2];
+			    md[3] = this.AtB.data[3], md[4]=this.AtB.data[4], md[5]=this.AtB.data[5];
+			    md[6] = 0.0, md[7] = 0.0, md[8] = 1.0; // fill last row
+
+			    // denormalize
+			    jsfeat.matmath.invert_3x3(this.T1, this.T1);
+			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+
+			    // free buffer
+			    jsfeat.cache.put_buffer(a_buff);
+			    jsfeat.cache.put_buffer(b_buff);
+
+			    return 1;
+	        }
+
+	        affine2d.prototype.error = function(from, to, model, err, count) {
+	        	var i=0;
+	        	var pt0,pt1;
+	        	var m=model.data;
+
+			    for (; i < count; ++i) {
+			        pt0 = from[i];
+			        pt1 = to[i];
+
+			        err[i] = sqr(pt1.x - m[0]*pt0.x - m[1]*pt0.y - m[2]) +
+			                 sqr(pt1.y - m[3]*pt0.x - m[4]*pt0.y - m[5]);
+			    }
+	        }
+
+	        affine2d.prototype.check_subset = function(from, to, count) {
+	            return true; // all good
+	        }
+
+	        return affine2d;
+	    })();
+
+	    var homography2d = (function () {
+
+	        function homography2d() {
+	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        	this.Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        }
+
+	        homography2d.prototype.run = function(from, to, model, count) {
+	        	var i=0,j=0;
+	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
+	        	var LtL=this.mLtL.data, evd=this.Evec.data;
+	        	var x=0.0,y=0.0,X=0.0,Y=0.0;
+
+			    // norm
+				var smx=0.0, smy=0.0, cmx=0.0, cmy=0.0, sMx=0.0, sMy=0.0, cMx=0.0, cMy=0.0;
+
+				for(; i < count; ++i) {
+				    cmx += to[i].x;
+				    cmy += to[i].y;
+				    cMx += from[i].x;
+				    cMy += from[i].y;
+				}
+
+			    cmx /= count; cmy /= count;
+			    cMx /= count; cMy /= count;
+
+			    for(i = 0; i < count; ++i)
+			    {
+				    smx += Math.abs(to[i].x - cmx);
+				    smy += Math.abs(to[i].y - cmy);
+				    sMx += Math.abs(from[i].x - cMx);
+				    sMy += Math.abs(from[i].y - cMy);
+				}
+
+			    if( Math.abs(smx) < jsfeat.EPSILON 
+			    	|| Math.abs(smy) < jsfeat.EPSILON 
+			    	|| Math.abs(sMx) < jsfeat.EPSILON 
+			    	|| Math.abs(sMy) < jsfeat.EPSILON ) return 0;
+
+			    smx = count/smx; smy = count/smy;
+			    sMx = count/sMx; sMy = count/sMy;
+
+			    t0d[0] = sMx; 	t0d[1] = 0; 	t0d[2] = -cMx*sMx; 
+			    t0d[3] = 0; 	t0d[4] = sMy; 	t0d[5] = -cMy*sMy; 
+			    t0d[6] = 0; 	t0d[7] = 0; 	t0d[8] = 1;
+
+				t1d[0] = 1.0/smx; 	t1d[1] = 0; 		t1d[2] = cmx;
+				t1d[3] = 0; 		t1d[4] = 1.0/smy; 	t1d[5] = cmy;
+				t1d[6] = 0; 		t1d[7] = 0; 		t1d[8] = 1;
+				//
+
+				// construct system
+				i = 81;
+				while(--i >= 0) {
+					LtL[i] = 0.0;
+				}
+				for(i = 0; i < count; ++i) {
+					x = (to[i].x - cmx) * smx;
+					y = (to[i].y - cmy) * smy;
+					X = (from[i].x - cMx) * sMx;
+					Y = (from[i].y - cMy) * sMy;
+
+					LtL[0] += X*X;
+					LtL[1] += X*Y;
+					LtL[2] += X;
+
+					LtL[6] += X*-x*X;
+					LtL[7] += X*-x*Y;
+					LtL[8] += X*-x;
+					LtL[10] += Y*Y;
+					LtL[11] += Y;
+
+					LtL[15] += Y*-x*X;
+					LtL[16] += Y*-x*Y;
+					LtL[17] += Y*-x;
+					LtL[20] += 1.0;
+
+					LtL[24] += -x*X;
+					LtL[25] += -x*Y;
+					LtL[26] += -x;
+					LtL[30] += X*X;
+					LtL[31] += X*Y;
+					LtL[32] += X;
+					LtL[33] += X*-y*X;
+					LtL[34] += X*-y*Y;
+					LtL[35] += X*-y;
+					LtL[40] += Y*Y;
+					LtL[41] += Y;
+					LtL[42] += Y*-y*X;
+					LtL[43] += Y*-y*Y;
+					LtL[44] += Y*-y;
+					LtL[50] += 1.0;
+					LtL[51] += -y*X;
+					LtL[52] += -y*Y;
+					LtL[53] += -y;
+					LtL[60] += -x*X*-x*X + -y*X*-y*X;
+					LtL[61] += -x*X*-x*Y + -y*X*-y*Y;
+					LtL[62] += -x*X*-x + -y*X*-y;
+					LtL[70] += -x*Y*-x*Y + -y*Y*-y*Y;
+					LtL[71] += -x*Y*-x + -y*Y*-y;
+					LtL[80] += -x*-x + -y*-y;
+				}
+				//
+
+				// symmetry
+			    for(i = 0; i < 9; ++i) {
+			        for(j = 0; j < i; ++j)
+			            LtL[i*9+j] = LtL[j*9+i];
+			    }
+
+				jsfeat.linalg.eigenVV(this.mLtL, this.Evec);
+
+				md[0]=evd[72], md[1]=evd[73], md[2]=evd[74];
+			    md[3]=evd[75], md[4]=evd[76], md[5]=evd[77];
+			    md[6]=evd[78], md[7]=evd[79], md[8]=evd[80];
+
+				// denormalize
+			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+
+			    // set bottom right to 1.0
+			    x = 1.0/md[8];
+			    md[0] *= x; md[1] *= x; md[2] *= x;
+			    md[3] *= x; md[4] *= x; md[5] *= x;
+			    md[6] *= x; md[7] *= x; md[8] = 1.0;
+
+			    return 1;
+	        }
+
+	        homography2d.prototype.error = function(from, to, model, err, count) {
+	        	var i=0;
+	        	var pt0,pt1,ww=0.0,dx=0.0,dy=0.0;
+	        	var m=model.data;
+
+			    for (; i < count; ++i) {
+			        pt0 = from[i];
+			        pt1 = to[i];
+
+			        ww = 1.0/(m[6]*pt0.x + m[7]*pt0.y + 1.0);
+			        dx = (m[0]*pt0.x + m[1]*pt0.y + m[2])*ww - pt1.x;
+			        dy = (m[3]*pt0.x + m[4]*pt0.y + m[5])*ww - pt1.y;
+			        err[i] = (dx*dx + dy*dy);
+			    }
+	        }
+
+	        homography2d.prototype.check_subset = function(from, to, count) {
+	        	if( have_collinear_points(from, count) || have_collinear_points(to, count) ) {
+        			return false;
+        		}
+        		if( count == 4 ) {
+			        var negative = 0;
+
+			        var fp0=from[0],fp1=from[1],fp2=from[2],fp3=from[3];
+			        var tp0=to[0],tp1=to[1],tp2=to[2],tp3=to[3];
+
+			        // set1
+			        var A11=fp0.x, A12=fp0.y, A13=1.0;
+			        var A21=fp1.x, A22=fp1.y, A23=1.0;
+			        var A31=fp2.x, A32=fp2.y, A33=1.0;
+
+			        var B11=tp0.x, B12=tp0.y, B13=1.0;
+			        var B21=tp1.x, B22=tp1.y, B23=1.0;
+			        var B31=tp2.x, B32=tp2.y, B33=1.0;
+
+			        var detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					var detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
+
+					if(detA*detB < 0) negative++;
+
+					// set2
+					A11=fp1.x, A12=fp1.y;
+			        A21=fp2.x, A22=fp2.y;
+			        A31=fp3.x, A32=fp3.y;
+
+			        B11=tp1.x, B12=tp1.y;
+			        B21=tp2.x, B22=tp2.y;
+			        B31=tp3.x, B32=tp3.y;
+
+			        detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
+
+					if(detA*detB < 0) negative++;
+
+					// set3
+					A11=fp0.x, A12=fp0.y;
+			        A21=fp2.x, A22=fp2.y;
+			        A31=fp3.x, A32=fp3.y;
+
+			        B11=tp0.x, B12=tp0.y;
+			        B21=tp2.x, B22=tp2.y;
+			        B31=tp3.x, B32=tp3.y;
+
+			        detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
+
+					if(detA*detB < 0) negative++;
+
+					// set4
+					A11=fp0.x, A12=fp0.y;
+			        A21=fp1.x, A22=fp1.y;
+			        A31=fp3.x, A32=fp3.y;
+
+			        B11=tp0.x, B12=tp0.y;
+			        B21=tp1.x, B22=tp1.y;
+			        B31=tp3.x, B32=tp3.y;
+
+			        detA = jsfeat.matmath.determinant_3x3(A11,A12,A13, A21,A22,A23, A31,A32,A33);
+					detB = jsfeat.matmath.determinant_3x3(B11,B12,B13, B21,B22,B23, B31,B32,B33);
+
+					if(detA*detB < 0) negative++;
+
+			        if(negative != 0 && negative != 4) {
+			        	return false;
+			        }
+			    }
+	            return true; // all good
+	        }
+
+	        return homography2d;
+	    })();
+
+	    return {
+
+    		affine2d:affine2d,
+    		homography2d:homography2d
+
+    	};
+
+    })();
+
+    var ransac_params_t = (function () {
+        function ransac_params_t(size, thresh, eps, prob) {
+            if (typeof size === "undefined") { size=0; }
+            if (typeof thresh === "undefined") { thresh=0.5; }
+            if (typeof eps === "undefined") { eps=0.5; }
+            if (typeof prob === "undefined") { prob=0.99; }
+
+            this.size = size;
+            this.thresh = thresh;
+            this.eps = eps;
+            this.prob = prob;
+        };
+        ransac_params_t.prototype.update_iters = function(_eps, max_iters) {
+	        var num = Math.log(1 - this.prob);
+	        var denom = Math.log(1 - Math.pow(1 - _eps, this.size));
+	        return (denom >= 0 || -num >= max_iters*(-denom) ? max_iters : Math.round(num/denom))|0;
+        };
+        return ransac_params_t;
+    })();
+
+    var motion_estimator = (function() {
+
+    	var get_subset = function(kernel, from, to, need_cnt, max_cnt, from_sub, to_sub) {
+    		var max_try = 1000;
+    		var indices = [];
+		    var i=0, j=0, ssiter=0, idx_i=0, ok=false;
+		    for(; ssiter < max_try; ++ssiter)  {
+		        i = 0;
+		        for (; i < need_cnt && ssiter < max_try;) {
+		            ok = false;
+		            idx_i = 0;
+		            while (!ok) {
+		                ok = true;
+		                idx_i = indices[i] = Math.floor(Math.random() * max_cnt)|0;
+		                for (j = 0; j < i; ++j) {
+		                    if (idx_i == indices[j])
+		                    { ok = false; break; }
+		                }
+		            }
+		            from_sub[i] = from[idx_i];
+		            to_sub[i] = to[idx_i];
+		            if( !kernel.check_subset( from_sub, to_sub, i+1 ) ) {
+		                ssiter++;
+		                continue;
+		            }
+		            ++i;
+		        }
+		        break;
+		    }
+
+		    return (i == need_cnt && ssiter < max_try);
+    	}
+
+    	var find_inliers = function(kernel, model, from, to, count, thresh, err, mask) {
+    		var numinliers = 0, i=0, f=0;
+    		var t = thresh*thresh;
+
+    		kernel.error(from, to, model, err, count);
+
+		    for(; i < count; ++i) {
+		        f = err[i] <= t;
+		        mask[i] = f|0;
+		        numinliers += f;
+		    }
+		    return numinliers;
+    	}
+
+    	return {
+
+    		ransac: function(params, kernel, from, to, count, model, mask, max_iters) {
+    			if (typeof max_iters === "undefined") { max_iters=1000; }
+
+    			if(count < params.size) return false;
+
+    			var model_points = params.size;
+			    var niters = max_iters, iter=0;
+			    var result = false;
+
+			    var subset0 = [];
+			    var subset1 = [];
+			    var found = false;
+
+			    var mc=model.cols,mr=model.rows;
+                var dt = model.type | jsfeat.C1_t;
+
+			    var m_buff = jsfeat.cache.get_buffer((mc*mr)<<3);
+			    var ms_buff = jsfeat.cache.get_buffer(count);
+			    var err_buff = jsfeat.cache.get_buffer(count<<2);
+			    var M = new jsfeat.matrix_t(mc, mr, dt, m_buff.data);
+			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8_t|jsfeat.C1_t, ms_buff.data);
+
+			    var inliers_max = -1, numinliers=0;
+			    var nmodels = 0;
+
+			    var err = err_buff.f32;
+
+			    // special case
+			    if(count == model_points) {
+			        if(kernel.run(from, to, M, count) <= 0) {
+			        	jsfeat.cache.put_buffer(m_buff);
+			        	jsfeat.cache.put_buffer(ms_buff);
+			        	jsfeat.cache.put_buffer(err_buff);
+			        	return false;
+			        }
+
+			        M.copy_to(model);
+			        if(mask) {
+			        	while(--count >= 0) {
+			        		mask.data[count] = 1;
+			        	}
+			        }
+			        jsfeat.cache.put_buffer(m_buff);
+			        jsfeat.cache.put_buffer(ms_buff);
+			        jsfeat.cache.put_buffer(err_buff);
+			        return true;
+			    }
+
+			    for (; iter < niters; ++iter) {
+			        // generate subset
+			        found = get_subset(kernel, from, to, model_points, count, subset0, subset1);
+			        if(!found) {
+			            if(iter == 0) {
+			            	jsfeat.cache.put_buffer(m_buff);
+			            	jsfeat.cache.put_buffer(ms_buff);
+			            	jsfeat.cache.put_buffer(err_buff);
+			                return false;
+			            }
+			            break;
+			        }
+
+			        nmodels = kernel.run( subset0, subset1, M, model_points );
+			        if(nmodels <= 0)
+			            continue;
+
+			        // TODO handle multimodel output
+
+			        numinliers = find_inliers(kernel, M, from, to, count, params.thresh, err, curr_mask.data);
+
+			        if( numinliers > Math.max(inliers_max, model_points-1) ) {
+			            M.copy_to(model);
+			            inliers_max = numinliers;
+			            if(mask) curr_mask.copy_to(mask);
+			            niters = params.update_iters((count - numinliers)/count, niters);
+			            result = true;
+			        }
+			    }
+
+			    jsfeat.cache.put_buffer(m_buff);
+			    jsfeat.cache.put_buffer(ms_buff);
+			    jsfeat.cache.put_buffer(err_buff);
+
+			    return result;
+    		},
+
+    		lmeds: function(params, kernel, from, to, count, model, mask, max_iters) {
+    			if (typeof max_iters === "undefined") { max_iters=1000; }
+
+    			if(count < params.size) return false;
+
+    			var model_points = params.size;
+			    var niters = max_iters, iter=0;
+			    var result = false;
+
+			    var subset0 = [];
+			    var subset1 = [];
+			    var found = false;
+
+			    var mc=model.cols,mr=model.rows;
+                var dt = model.type | jsfeat.C1_t;
+
+			    var m_buff = jsfeat.cache.get_buffer((mc*mr)<<3);
+			    var ms_buff = jsfeat.cache.get_buffer(count);
+			    var err_buff = jsfeat.cache.get_buffer(count<<2);
+			    var M = new jsfeat.matrix_t(mc, mr, dt, m_buff.data);
+			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8_t|jsfeat.C1_t, ms_buff.data);
+
+			    var numinliers=0;
+			    var nmodels = 0;
+
+			    var err = err_buff.f32;
+			    var min_median = 1000000000.0, sigma=0.0, median=0.0;
+
+			    params.eps = 0.45;
+			    niters = params.update_iters(params.eps, niters);
+
+			    // special case
+			    if(count == model_points) {
+			        if(kernel.run(from, to, M, count) <= 0) {
+			        	jsfeat.cache.put_buffer(m_buff);
+			        	jsfeat.cache.put_buffer(ms_buff);
+			        	jsfeat.cache.put_buffer(err_buff);
+			        	return false;
+			        }
+
+			        M.copy_to(model);
+			        if(mask) {
+			        	while(--count >= 0) {
+			        		mask.data[count] = 1;
+			        	}
+			        }
+			        jsfeat.cache.put_buffer(m_buff);
+			        jsfeat.cache.put_buffer(ms_buff);
+			        jsfeat.cache.put_buffer(err_buff);
+			        return true;
+			    }
+
+			    for (; iter < niters; ++iter) {
+			        // generate subset
+			        found = get_subset(kernel, from, to, model_points, count, subset0, subset1);
+			        if(!found) {
+			            if(iter == 0) {
+			            	jsfeat.cache.put_buffer(m_buff);
+			            	jsfeat.cache.put_buffer(ms_buff);
+			            	jsfeat.cache.put_buffer(err_buff);
+			                return false;
+			            }
+			            break;
+			        }
+
+			        nmodels = kernel.run( subset0, subset1, M, model_points );
+			        if(nmodels <= 0)
+			            continue;
+
+			        // TODO handle multimodel output
+
+			        kernel.error(from, to, M, err, count);
+			        median = jsfeat.math.median(err, 0, count-1);
+
+			        if(median < min_median) {
+			            min_median = median;
+			            M.copy_to(model);
+			            result = true;
+			        }
+			    }
+
+			    if(result) {
+			        sigma = 2.5*1.4826*(1 + 5.0/(count - model_points))*Math.sqrt(minMedian);
+			        sigma = Math.max(sigma, 0.001);
+
+			        numinliers = find_inliers(kernel, model, from, to, count, sigma, err, curr_mask.data);
+			        if(mask) curr_mask.copy_to(mask);
+			        
+			        result = numinliers >= model_points;
+			    }
+
+			    jsfeat.cache.put_buffer(m_buff);
+			    jsfeat.cache.put_buffer(ms_buff);
+			    jsfeat.cache.put_buffer(err_buff);
+
+			    return result;
+    		}
+
+    	};
+
+    })();
+
+    global.ransac_params_t = ransac_params_t;
+    global.motion_model = motion_model;
+    global.motion_estimator = motion_estimator;
+
+})(jsfeat);
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 3943f59..74c9a2b 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -75,29 +75,44 @@
             this.cols = c|0;
             this.rows = r|0;
             if (typeof data_buffer === "undefined") { 
-                this.buffer = new data_t((c * get_data_type_size(data_type) * get_channel(data_type)) * r);
+                this.allocate();
             } else {
                 this.buffer = data_buffer;
+                // data user asked for
+                this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
             }
-            // data user asked for
-            this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
-        matrix_t.prototype.set_data_type = function(data_type) {
-            this.type = get_data_type(data_type)|0;
-            this.channel = get_channel(data_type)|0;
+        matrix_t.prototype.allocate = function() {
             // clear references
             delete this.data;
             delete this.buffer;
             //
-            this.buffer = new data_t((this.cols * get_data_type_size(data_type) * get_channel(data_type)) * this.rows);
+            this.buffer = new data_t((this.cols * get_data_type_size(this.type) * this.channel) * this.rows);
             this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
-        matrix_t.prototype.set_data = function(array) {
-            var i = array.length;
+        matrix_t.prototype.copy_to = function(other) {
+            var od = other.data;
+            var i = this.cols*this.rows*this.channel;
             while(--i >= 0) {
-                this.data[i] = array[i];
+                od[i] = this.data[i];
             }
         }
+        matrix_t.prototype.resize = function(c, r, ch) {
+            if (typeof ch === "undefined") { ch = this.channel; }
+            // change buffer only if new size doesnt fit
+            var new_size = (c * ch) * r;
+            if(new_size > this.rows*this.cols*this.channel) {
+                this.cols = c;
+                this.rows = r;
+                this.channel = ch;
+                this.allocate();
+            } else {
+                this.cols = c;
+                this.rows = r;
+                this.channel = ch;
+            }
+        }
+
         return matrix_t;
     })();
 
diff --git a/src/jsfeat_yape.js b/src/jsfeat_yape.js
old mode 100644
new mode 100755
diff --git a/src/jsfeat_yape06.js b/src/jsfeat_yape06.js
old mode 100644
new mode 100755

From 7821169d321cbe79fc88cb959e6c17ff47894a72 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Sat, 23 Mar 2013 20:54:36 +0400
Subject: [PATCH 22/46] readme update

---
 README.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/README.md b/README.md
index af7a457..8b1d7bb 100644
--- a/README.md
+++ b/README.md
@@ -22,6 +22,11 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
  * Cholesky solver
  * SVD decomposition, solver and pseudo-inverse
  * Eigen Vectors and Values
+* Multiview module
+ * Affine2D motion kernel
+ * Homography2D motion kernel
+ * RANSAC motion estimator
+ * LMEDS motion estimator
 * Matrix Math module for various matrix operation such as traspose, multiply etc.
 * Features 2D
  * Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))

From 4377893ab02504abc2adf3d5354f2eae369dcf65 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Tue, 26 Mar 2013 20:43:48 +0400
Subject: [PATCH 23/46] various improvements

did some small improvements to make video stabilizer demo
---
 README.md                      |   2 +-
 build/jsfeat-min.js            |   2 +-
 build/jsfeat.js                | 183 ++++++++++++++++++++++-----------
 src/jsfeat_imgproc.js          |  52 +++++-----
 src/jsfeat_mat_math.js         |  23 +++++
 src/jsfeat_motion_estimator.js |  56 +++++-----
 src/jsfeat_optical_flow_lk.js  |  10 +-
 src/jsfeat_struct.js           |  24 ++++-
 8 files changed, 229 insertions(+), 123 deletions(-)
 mode change 100644 => 100755 build/jsfeat.js
 mode change 100644 => 100755 src/jsfeat_motion_estimator.js

diff --git a/README.md b/README.md
index 8b1d7bb..ff84d24 100644
--- a/README.md
+++ b/README.md
@@ -22,7 +22,7 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
  * Cholesky solver
  * SVD decomposition, solver and pseudo-inverse
  * Eigen Vectors and Values
-* Multiview module
+* Multiview module  ([Demo](http://inspirit.github.com/jsfeat/sample_videostab.html))
  * Affine2D motion kernel
  * Homography2D motion kernel
  * RANSAC motion estimator
diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 82b2231..48bcf6f 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data;var A=this.cols*this.rows*this.channel;while(--A>=0){y[A]=this.data[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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 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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}}},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])*0.5;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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=2;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;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}}else{aa=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 f=function(j){return j*j};var i=function(t,u,r,q,o){var n=0;var s=0,m=0,k=0,w=0;var p=0,l=0,j=0,v=0;var y=0,x=0;for(;n<o;++n){s+=t[n].x;m+=t[n].y;p+=u[n].x;l+=u[n].y}s/=o;m/=o;p/=o;l/=o;for(n=0;n<o;++n){y=t[n].x-s;x=t[n].y-m;k+=Math.sqrt(y*y+x*x);y=u[n].x-p;x=u[n].y-l;j+=Math.sqrt(y*y+x*x)}k/=o;j/=o;w=Math.SQRT2/k;v=Math.SQRT2/j;r[0]=r[4]=w;r[2]=-s*w;r[5]=-m*w;r[1]=r[3]=r[6]=r[7]=0;r[8]=1;q[0]=q[4]=v;q[2]=-p*v;q[5]=-l*v;q[1]=q[3]=q[6]=q[7]=0;q[8]=1};var g=function(t,q){var m=0,l=0,n=(q-1)|0;var s=0,p=0,r=0,o=0;for(;m<n;++m){s=t[m].x-t[n].x;p=t[m].y-t[n].y;for(l=0;l<m;++l){r=t[l].x-t[n].x;o=t[l].y-t[n].y;if(Math.abs(r*p-o*s)<=jsfeat.EPSILON*(Math.abs(s)+Math.abs(p)+Math.abs(r)+Math.abs(o))){return true}}}return false};var e=(function(){function j(){this.T0=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.T1=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.AtA=new jsfeat.matrix_t(6,6,jsfeat.F32_t|jsfeat.C1_t);this.AtB=new jsfeat.matrix_t(6,1,jsfeat.F32_t|jsfeat.C1_t)}j.prototype.run=function(x,k,l,n){var A=0,z=0;var v=l.type|jsfeat.C1_t;var D=l.data,p=this.T0.data,y=this.T1.data;var r,q,u=0,t=0;i(x,k,p,y,n);var o=jsfeat.cache.get_buffer((2*n*6)<<3);var s=jsfeat.cache.get_buffer((2*n)<<3);var w=new jsfeat.matrix_t(6,2*n,v,o.data);var B=new jsfeat.matrix_t(1,2*n,v,s.data);var C=w.data,m=B.data;for(;A<n;++A){r=x[A];q=k[A];u=p[0]*r.x+p[1]*r.y+p[2];t=p[3]*r.x+p[4]*r.y+p[5];z=A*2*6;C[z]=u,C[z+1]=t,C[z+2]=1,C[z+3]=0,C[z+4]=0,C[z+5]=0;z+=6;C[z]=0,C[z+1]=0,C[z+2]=0,C[z+3]=u,C[z+4]=t,C[z+5]=1;m[A<<1]=y[0]*q.x+y[1]*q.y+y[2];m[(A<<1)+1]=y[3]*q.x+y[4]*q.y+y[5]}jsfeat.matmath.multiply_AtA(this.AtA,w);jsfeat.matmath.multiply_AtB(this.AtB,w,B);jsfeat.linalg.lu_solve(this.AtA,this.AtB);D[0]=this.AtB.data[0],D[1]=this.AtB.data[1],D[2]=this.AtB.data[2];D[3]=this.AtB.data[3],D[4]=this.AtB.data[4],D[5]=this.AtB.data[5];D[6]=0,D[7]=0,D[8]=1;jsfeat.matmath.invert_3x3(this.T1,this.T1);jsfeat.matmath.multiply_3x3(l,this.T1,l);jsfeat.matmath.multiply_3x3(l,l,this.T0);jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(s);return 1};j.prototype.error=function(q,r,o,l,p){var n=0;var t,s;var k=o.data;for(;n<p;++n){t=q[n];s=r[n];l[n]=f(s.x-k[0]*t.x-k[1]*t.y-k[2])+f(s.y-k[3]*t.x-k[4]*t.y-k[5])}};j.prototype.check_subset=function(m,l,k){return true};return j})();var h=(function(){function j(){this.T0=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.T1=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);this.mLtL=new jsfeat.matrix_t(9,9,jsfeat.F32_t|jsfeat.C1_t);this.Evec=new jsfeat.matrix_t(9,9,jsfeat.F32_t|jsfeat.C1_t)}j.prototype.run=function(C,l,p,u){var F=0,E=0;var I=p.data,v=this.T0.data,D=this.T1.data;var G=this.mLtL.data,H=this.Evec.data;var B=0,A=0,m=0,k=0;var o=0,n=0,t=0,s=0,r=0,q=0,z=0,w=0;for(;F<u;++F){t+=l[F].x;s+=l[F].y;z+=C[F].x;w+=C[F].y}t/=u;s/=u;z/=u;w/=u;for(F=0;F<u;++F){o+=Math.abs(l[F].x-t);n+=Math.abs(l[F].y-s);r+=Math.abs(C[F].x-z);q+=Math.abs(C[F].y-w)}if(Math.abs(o)<jsfeat.EPSILON||Math.abs(n)<jsfeat.EPSILON||Math.abs(r)<jsfeat.EPSILON||Math.abs(q)<jsfeat.EPSILON){return 0}o=u/o;n=u/n;r=u/r;q=u/q;v[0]=r;v[1]=0;v[2]=-z*r;v[3]=0;v[4]=q;v[5]=-w*q;v[6]=0;v[7]=0;v[8]=1;D[0]=1/o;D[1]=0;D[2]=t;D[3]=0;D[4]=1/n;D[5]=s;D[6]=0;D[7]=0;D[8]=1;F=81;while(--F>=0){G[F]=0}for(F=0;F<u;++F){B=(l[F].x-t)*o;A=(l[F].y-s)*n;m=(C[F].x-z)*r;k=(C[F].y-w)*q;G[0]+=m*m;G[1]+=m*k;G[2]+=m;G[6]+=m*-B*m;G[7]+=m*-B*k;G[8]+=m*-B;G[10]+=k*k;G[11]+=k;G[15]+=k*-B*m;G[16]+=k*-B*k;G[17]+=k*-B;G[20]+=1;G[24]+=-B*m;G[25]+=-B*k;G[26]+=-B;G[30]+=m*m;G[31]+=m*k;G[32]+=m;G[33]+=m*-A*m;G[34]+=m*-A*k;G[35]+=m*-A;G[40]+=k*k;G[41]+=k;G[42]+=k*-A*m;G[43]+=k*-A*k;G[44]+=k*-A;G[50]+=1;G[51]+=-A*m;G[52]+=-A*k;G[53]+=-A;G[60]+=-B*m*-B*m+-A*m*-A*m;G[61]+=-B*m*-B*k+-A*m*-A*k;G[62]+=-B*m*-B+-A*m*-A;G[70]+=-B*k*-B*k+-A*k*-A*k;G[71]+=-B*k*-B+-A*k*-A;G[80]+=-B*-B+-A*-A}for(F=0;F<9;++F){for(E=0;E<F;++E){G[F*9+E]=G[E*9+F]}}jsfeat.linalg.eigenVV(this.mLtL,this.Evec);I[0]=H[72],I[1]=H[73],I[2]=H[74];I[3]=H[75],I[4]=H[76],I[5]=H[77];I[6]=H[78],I[7]=H[79],I[8]=H[80];jsfeat.matmath.multiply_3x3(p,this.T1,p);jsfeat.matmath.multiply_3x3(p,p,this.T0);B=1/I[8];I[0]*=B;I[1]*=B;I[2]*=B;I[3]*=B;I[4]*=B;I[5]*=B;I[6]*=B;I[7]*=B;I[8]=1;return 1};j.prototype.error=function(r,s,p,l,q){var o=0;var u,t,n=0,w=0,v=0;var k=p.data;for(;o<q;++o){u=r[o];t=s[o];n=1/(k[6]*u.x+k[7]*u.y+1);w=(k[0]*u.x+k[1]*u.y+k[2])*n-t.x;v=(k[3]*u.x+k[4]*u.y+k[5])*n-t.y;l[o]=(w*w+v*v)}};j.prototype.check_subset=function(G,m,v){if(g(G,v)||g(m,v)){return false}if(v==4){var H=0;var C=G[0],B=G[1],A=G[2],y=G[3];var u=m[0],s=m[1],q=m[2],o=m[3];var F=C.x,E=C.y,D=1;var P=B.x,O=B.y,N=1;var t=A.x,r=A.y,p=1;var n=u.x,l=u.y,k=1;var z=s.x,x=s.y,w=1;var K=q.x,J=q.y,I=1;var M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);var L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}F=B.x,E=B.y;P=A.x,O=A.y;t=y.x,r=y.y;n=s.x,l=s.y;z=q.x,x=q.y;K=o.x,J=o.y;M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}F=C.x,E=C.y;P=A.x,O=A.y;t=y.x,r=y.y;n=u.x,l=u.y;z=q.x,x=q.y;K=o.x,J=o.y;M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}F=C.x,E=C.y;P=B.x,O=B.y;t=y.x,r=y.y;n=u.x,l=u.y;z=s.x,x=s.y;K=o.x,J=o.y;M=jsfeat.matmath.determinant_3x3(F,E,D,P,O,N,t,r,p);L=jsfeat.matmath.determinant_3x3(n,l,k,z,x,w,K,J,I);if(M*L<0){H++}if(H!=0&&H!=4){return false}}return true};return j})();return{affine2d:e,homography2d:h}})();var b=(function(){function e(h,i,f,g){if(typeof h==="undefined"){h=0}if(typeof i==="undefined"){i=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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|0;j+=n}return j};return{ransac:function(E,m,x,i,l,j,y,g){if(typeof g==="undefined"){g=1000}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.U8_t|jsfeat.C1_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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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(minMedian);x=Math.max(x,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)*3+(E[s+n+1])*10);k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)*3+(E[s+n])*10);k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=((D+k[n])*3+C*10);F[g++]=(v-m[n+1]);F[g++]=((B+C)*3+D*10);F[g++]=((m[n+4]-z));F[g++]=(((A+D)*3+B*10));F[g++]=((m[n+5]-v));F[g++]=(((k[n+5]+B)*3+A*10))}for(;n<o;++n){F[g++]=((m[n+2]-m[n]));F[g++]=(((k[n+2]+k[n])*3+k[n+1]*10))}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},sobel_derivatives:function(i,F){var o=i.cols,r=i.rows;var G=o<<1,n=0,l=0,t=0,D,C,B,A,z,v;var u=0,s=0,q=0,g=0;var m,k;var E=i.data;var j=jsfeat.cache.get_buffer((o+2)<<2);var p=jsfeat.cache.get_buffer((o+2)<<2);if(i.type&jsfeat.U8_t||i.type&jsfeat.S32_t){m=j.i32;k=p.i32}else{m=j.f32;k=p.f32}for(;l<r;++l,s+=o){u=((l>0?l-1:1)*o)|0;q=((l<r-1?l+1:r-2)*o)|0;g=(l*G)|0;for(n=0,t=1;n<=o-2;n+=2,t+=2){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D);D=E[u+n+1],C=E[q+n+1];m[t+1]=((D+C)+(E[s+n+1]*2));k[t+1]=(C-D)}for(;n<o;++n,++t){D=E[u+n],C=E[q+n];m[t]=((D+C)+(E[s+n]*2));k[t]=(C-D)}n=(o+1)|0;m[0]=m[1];m[n]=m[o];k[0]=k[1];k[n]=k[o];for(n=0;n<=o-4;n+=4){D=k[n+2],C=k[n+1],B=k[n+3],A=k[n+4],z=m[n+2],v=m[n+3];F[g++]=(z-m[n]);F[g++]=(D+k[n]+C*2);F[g++]=(v-m[n+1]);F[g++]=(B+C+D*2);F[g++]=(m[n+4]-z);F[g++]=(A+D+B*2);F[g++]=(m[n+5]-v);F[g++]=(k[n+5]+B+A*2)}for(;n<o;++n){F[g++]=(m[n+2]-m[n]);F[g++]=(k[n+2]+k[n]+k[n+1]*2)}}jsfeat.cache.put_buffer(j);jsfeat.cache.put_buffer(p)},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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},warp_perspective:function(t,D,A,r){if(typeof r==="undefined"){r=0}var l=t.cols,v=t.rows,L=D.cols,j=D.rows;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;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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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z=this.min_eigen_value_threshold;o=p*v;while(--o>=0){j[o]=0}d(q,j,p,v,C,f);k=(p+1)|0;for(n=1;n<v-1;++n,k+=p){for(o=1,m=k;o<p-1;++o,++m){i=j[m];if((i<-A&&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>A&&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,C,f,B,g);if(r>z){t=u[s];t.x=o,t.y=n,t.score=r;++s;++o,++m}}}}jsfeat.cache.put_buffer(e);return s}}})();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))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 c=jsfeat.imgproc.scharr_derivatives;return{track:function(n,u,ao,aK,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;var h=(N*N)|0;var Z=h<<1;var r=n.data,S=u.data;var g=r[0].data,F=S[0].data;var M=r[0].cols,aA=r[0].rows,ax=0,aG=0;var ay=jsfeat.cache.get_buffer(h<<2);var s=jsfeat.cache.get_buffer(Z<<2);var t=jsfeat.cache.get_buffer((aA*(M<<1))<<2);var w=ay.i32;var ab=s.i32;var az=t.i32;var aa=0,I=0,aL=0,ar=0,aH=0,at=0;var al=0,aE=0,aC=0,ae=0,ad=0;var E=0,z=0,X=0,V=0;var p=0,o=0,aD=0,aB=0;var Q=0,P=0,J=0,H=0,ah=0,aj=0,l=0;var d=0,A=0,O=0;var U=0,T=0,av=0,au=0;var ag=14;var C=14;var Y=C-5;var aw=(1<<((Y)-1));var ac=(1<<ag);var m=(1<<((C)-1));var W=1/(1<<20);var aJ=0,aI=0,aq=0,ap=0,ak=0,v=0,B=0;var an=0,am=0,af=0,ai=0,aF=0;var G=1.1920929e-7;f*=f;for(;Q<k;++Q){K[Q]=1}var L=(n.levels-1)|0;ah=L;for(;ah>=0;--ah){al=(1/(1<<ah));ax=M>>ah;aG=aA>>ah;aa=ax<<1;g=r[ah].data;F=S[ah].data;A=(ax-N)|0;O=(aG-N)|0;c(r[ah],az);for(aj=0;aj<k;++aj){Q=aj<<1;P=Q+1;aE=ao[Q]*al;aC=ao[P]*al;if(ah==L){ae=aE;ad=aC}else{ae=aK[Q]*2;ad=aK[P]*2}aK[Q]=ae;aK[P]=ad;aE-=e;aC-=e;p=aE|0;o=aC|0;J=(p<=d)|(p>=A)|(o<=d)|(o>=O);if(J!=0){if(ah==0){K[aj]=0}continue}U=aE-p;T=aC-o;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);an=0,am=0,af=0;for(H=0;H<N;++H){I=((H+o)*ax+p)|0;aL=I<<1;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++I,++ar,aL+=2){ak=((g[I])*aJ+(g[I+1])*aI+(g[I+ax])*aq+(g[I+ax+1])*ap);ak=(((ak)+aw)>>(Y));v=(az[aL]*aJ+az[aL+2]*aI+az[aL+aa]*aq+az[aL+aa+2]*ap);v=(((v)+m)>>(C));B=(az[aL+1]*aJ+az[aL+3]*aI+az[aL+aa+1]*aq+az[aL+aa+3]*ap);B=(((B)+m)>>(C));w[ar]=ak;ab[aH++]=v;ab[aH++]=B;an+=v*v;am+=v*B;af+=B*B}}an*=W;am*=W;af*=W;ai=an*af-am*am;aF=(af+an-Math.sqrt((an-af)*(an-af)+4*am*am))/Z;if(aF<q||ai<G){if(ah==0){K[aj]=0}continue}ai=1/ai;ae-=e;ad-=e;E=0;z=0;for(l=0;l<R;++l){aD=ae|0;aB=ad|0;J=(aD<=d)|(aD>=A)|(aB<=d)|(aB>=O);if(J!=0){if(ah==0){K[aj]=0}break}U=ae-aD;T=ad-aB;aJ=(((1-U)*(1-T)*ac)+0.5)|0;aI=((U*(1-T)*ac)+0.5)|0;aq=(((1-U)*T*ac)+0.5)|0;ap=(ac-aJ-aI-aq);av=0,au=0;for(H=0;H<N;++H){at=((H+aB)*ax+aD)|0;ar=(H*N)|0;aH=ar<<1;for(J=0;J<N;++J,++at,++ar){ak=((F[at])*aJ+(F[at+1])*aI+(F[at+ax])*aq+(F[at+ax+1])*ap);ak=(((ak)+aw)>>(Y));ak=(ak-w[ar]);av+=ak*ab[aH++];au+=ak*ab[aH++]}}av*=W;au*=W;X=((am*au-af*av)*ai);V=((am*av-an*au)*ai);ae+=X;ad+=V;aK[Q]=ae+e;aK[P]=ad+e;if(X*X+V*V<=f){break}if(l>0&&Math.abs(X+E)<0.01&&Math.abs(V+z)<0.01){aK[Q]-=X*0.5;aK[P]-=V*0.5;break}E=X;z=V}}}jsfeat.cache.put_buffer(ay);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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},gaussian_blur:function(g,s,r,v){if(typeof 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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a=(function(){var c=function(e,d){var f=(e.width*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
old mode 100644
new mode 100755
index fb74086..c63f4ce
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4,6 +4,7 @@
 
 // namespace ?
 var jsfeat = jsfeat || { REVISION: 'ALPHA' };
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -97,10 +98,16 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
         matrix_t.prototype.copy_to = function(other) {
-            var od = other.data;
-            var i = this.cols*this.rows*this.channel;
-            while(--i >= 0) {
-                od[i] = this.data[i];
+            var od = other.data, td = this.data;
+            var i = 0, n = (this.cols*this.rows*this.channel)|0;
+            for(; i < n-4; i+=4) {
+                od[i] = td[i];
+                od[i+1] = td[i+1];
+                od[i+2] = td[i+2];
+                od[i+3] = td[i+3];
+            }
+            for(; i < n; ++i) {
+                od[i] = td[i];
             }
         }
         matrix_t.prototype.resize = function(c, r, ch) {
@@ -187,6 +194,16 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.C3_t = C3_t;
     global.C4_t = C4_t;
 
+    // popular formats
+    global.U8C1_t = U8_t | C1_t;
+    global.U8C3_t = U8_t | C3_t;
+    global.U8C4_t = U8_t | C4_t;
+
+    global.F32C1_t = F32_t | C1_t;
+    global.F32C2_t = F32_t | C2_t;
+    global.S32C1_t = S32_t | C1_t;
+    global.S32C2_t = S32_t | C2_t;
+
     // constants
     global.EPSILON = EPSILON;
     global.FLT_MIN = FLT_MIN;
@@ -206,6 +223,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.point2d_t = point2d_t;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -285,6 +303,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     cache.allocate(30, 640*4);
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -699,6 +718,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.math = math;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -711,6 +731,21 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     var matmath = (function() {
         
         return {
+            identity: function(M, value) {
+                if (typeof value === "undefined") { value=1; }
+                var src=M.data;
+                var rows=M.rows, cols=M.cols, cols_1=(cols+1)|0;
+                var len = rows * cols;
+                var k = len;
+                while(--len >= 0) src[len] = 0.0;
+                len = k;
+                k = 0;
+                while(k < len)  {
+                    src[k] = value;
+                    k = k + cols_1;
+                }
+            },
+
             transpose: function(At, A) {
                 var i=0,j=0,nrows=A.rows,ncols=A.cols;
                 var Ai=0,Ati=0,pAt=0;
@@ -834,6 +869,14 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             },
 
             // various small matrix operations
+            identity_3x3: function(M, value) {
+                if (typeof value === "undefined") { value=1; }
+                var dt=M.data;
+                dt[0] = dt[4] = dt[8] = value;
+                dt[1] = dt[2] = dt[3] = 0;
+                dt[5] = dt[6] = dt[7] = 0;
+            },
+
             invert_3x3: function(from, to) {
                 var A = from.data, invA = to.data;
                 var t1 = A[4];
@@ -908,7 +951,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.matmath = matmath;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -1615,7 +1658,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.linalg = linalg;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -1692,20 +1735,22 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 		    }
 		    return false;
 		}
+
+		var T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+    	var T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+    	var AtA = new jsfeat.matrix_t(6, 6, jsfeat.F32_t|jsfeat.C1_t);
+    	var AtB = new jsfeat.matrix_t(6, 1, jsfeat.F32_t|jsfeat.C1_t);
     	
     	var affine2d = (function () {
 
 	        function affine2d() {
-	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.AtA = new jsfeat.matrix_t(6, 6, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.AtB = new jsfeat.matrix_t(6, 1, jsfeat.F32_t|jsfeat.C1_t);
+	        	// empty constructor
 	        }
 
 	        affine2d.prototype.run = function(from, to, model, count) {
 	        	var i=0,j=0;
 	        	var dt=model.type|jsfeat.C1_t;
-	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
+	        	var md=model.data, t0d=T0.data, t1d=T1.data;
 	        	var pt0,pt1,px=0.0,py=0.0;
 
 	            iso_normalize_points(from, to, t0d, t1d, count);
@@ -1734,19 +1779,19 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 			        bd[(i<<1)+1] = t1d[3]*pt1.x + t1d[4]*pt1.y + t1d[5];
 			    }
 
-			    jsfeat.matmath.multiply_AtA(this.AtA, a_mt);
-			    jsfeat.matmath.multiply_AtB(this.AtB, a_mt, b_mt);
+			    jsfeat.matmath.multiply_AtA(AtA, a_mt);
+			    jsfeat.matmath.multiply_AtB(AtB, a_mt, b_mt);
 
-			    jsfeat.linalg.lu_solve(this.AtA, this.AtB);
+			    jsfeat.linalg.lu_solve(AtA, AtB);
 
-			    md[0] = this.AtB.data[0], md[1]=this.AtB.data[1], md[2]=this.AtB.data[2];
-			    md[3] = this.AtB.data[3], md[4]=this.AtB.data[4], md[5]=this.AtB.data[5];
+			    md[0] = AtB.data[0], md[1]=AtB.data[1], md[2]=AtB.data[2];
+			    md[3] = AtB.data[3], md[4]=AtB.data[4], md[5]=AtB.data[5];
 			    md[6] = 0.0, md[7] = 0.0, md[8] = 1.0; // fill last row
 
 			    // denormalize
-			    jsfeat.matmath.invert_3x3(this.T1, this.T1);
-			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
-			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+			    jsfeat.matmath.invert_3x3(T1, T1);
+			    jsfeat.matmath.multiply_3x3(model, T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, T0);
 
 			    // free buffer
 			    jsfeat.cache.put_buffer(a_buff);
@@ -1776,19 +1821,23 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 	        return affine2d;
 	    })();
 
+	    var mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	    var Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+
 	    var homography2d = (function () {
 
 	        function homography2d() {
-	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        	// empty constructor
+	        	//this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	//this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	//this.mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        	//this.Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
 	        }
 
 	        homography2d.prototype.run = function(from, to, model, count) {
 	        	var i=0,j=0;
-	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
-	        	var LtL=this.mLtL.data, evd=this.Evec.data;
+	        	var md=model.data, t0d=T0.data, t1d=T1.data;
+	        	var LtL=mLtL.data, evd=Evec.data;
 	        	var x=0.0,y=0.0,X=0.0,Y=0.0;
 
 			    // norm
@@ -1888,15 +1937,15 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 			            LtL[i*9+j] = LtL[j*9+i];
 			    }
 
-				jsfeat.linalg.eigenVV(this.mLtL, this.Evec);
+				jsfeat.linalg.eigenVV(mLtL, Evec);
 
 				md[0]=evd[72], md[1]=evd[73], md[2]=evd[74];
 			    md[3]=evd[75], md[4]=evd[76], md[5]=evd[77];
 			    md[6]=evd[78], md[7]=evd[79], md[8]=evd[80];
 
 				// denormalize
-			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
-			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+			    jsfeat.matmath.multiply_3x3(model, T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, T0);
 
 			    // set bottom right to 1.0
 			    x = 1.0/md[8];
@@ -2069,7 +2118,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
 		    for(; i < count; ++i) {
 		        f = err[i] <= t;
-		        mask[i] = f|0;
+		        mask[i] = f;
 		        numinliers += f;
 		    }
 		    return numinliers;
@@ -2097,7 +2146,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 			    var ms_buff = jsfeat.cache.get_buffer(count);
 			    var err_buff = jsfeat.cache.get_buffer(count<<2);
 			    var M = new jsfeat.matrix_t(mc, mr, dt, m_buff.data);
-			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8_t|jsfeat.C1_t, ms_buff.data);
+			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8C1_t, ms_buff.data);
 
 			    var inliers_max = -1, numinliers=0;
 			    var nmodels = 0;
@@ -2244,7 +2293,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 			    }
 
 			    if(result) {
-			        sigma = 2.5*1.4826*(1 + 5.0/(count - model_points))*Math.sqrt(minMedian);
+			        sigma = 2.5*1.4826*(1 + 5.0/(count - model_points))*Math.sqrt(min_median);
 			        sigma = Math.max(sigma, 0.001);
 
 			        numinliers = find_inliers(kernel, model, from, to, count, sigma, err, curr_mask.data);
@@ -2269,6 +2318,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.motion_estimator = motion_estimator;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -2908,7 +2958,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
-                var img = src.data;
+                var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
                 var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -2948,19 +2998,19 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                     for(x = 0; x <= w-4; x+=4) {
                         a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
                         e = trow0[x+2], f = trow0[x+3];
-                        dst[drow++] = ( e - trow0[x] );
-                        dst[drow++] = ( (a + trow1[x])*3 + b*10 );
-                        dst[drow++] = ( f - trow0[x+1] );
-                        dst[drow++] = ( (c + b)*3 + a*10 );
-
-                        dst[drow++] = ( (trow0[x+4] - e) );
-                        dst[drow++] = ( ((d + a)*3 + c*10) );
-                        dst[drow++] = ( (trow0[x+5] - f) );
-                        dst[drow++] = ( ((trow1[x+5] + c)*3 + d*10) );
+                        gxgy[drow++] = ( e - trow0[x] );
+                        gxgy[drow++] = ( (a + trow1[x])*3 + b*10 );
+                        gxgy[drow++] = ( f - trow0[x+1] );
+                        gxgy[drow++] = ( (c + b)*3 + a*10 );
+
+                        gxgy[drow++] = ( (trow0[x+4] - e) );
+                        gxgy[drow++] = ( ((d + a)*3 + c*10) );
+                        gxgy[drow++] = ( (trow0[x+5] - f) );
+                        gxgy[drow++] = ( ((trow1[x+5] + c)*3 + d*10) );
                     }
                     for(; x < w; ++x) {
-                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
-                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
+                        gxgy[drow++] = ( (trow0[x+2] - trow0[x]) );
+                        gxgy[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
                     }
                 }
                 jsfeat.cache.put_buffer(buf0_node);
@@ -2974,7 +3024,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
-                var img = src.data;
+                var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
                 var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -3014,19 +3064,19 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                     for(x = 0; x <= w-4; x+=4) {
                         a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
                         e = trow0[x+2], f = trow0[x+3];
-                        dst[drow++] = ( e - trow0[x] );
-                        dst[drow++] = ( a + trow1[x] + b*2 );
-                        dst[drow++] = ( f - trow0[x+1] );
-                        dst[drow++] = ( c + b + a*2 );
-
-                        dst[drow++] = ( trow0[x+4] - e );
-                        dst[drow++] = ( d + a + c*2 );
-                        dst[drow++] = ( trow0[x+5] - f );
-                        dst[drow++] = ( trow1[x+5] + c + d*2 );
+                        gxgy[drow++] = ( e - trow0[x] );
+                        gxgy[drow++] = ( a + trow1[x] + b*2 );
+                        gxgy[drow++] = ( f - trow0[x+1] );
+                        gxgy[drow++] = ( c + b + a*2 );
+
+                        gxgy[drow++] = ( trow0[x+4] - e );
+                        gxgy[drow++] = ( d + a + c*2 );
+                        gxgy[drow++] = ( trow0[x+5] - f );
+                        gxgy[drow++] = ( trow1[x+5] + c + d*2 );
                     }
                     for(; x < w; ++x) {
-                        dst[drow++] = ( trow0[x+2] - trow0[x] );
-                        dst[drow++] = ( trow1[x+2] + trow1[x] + trow1[x+1]*2 );
+                        gxgy[drow++] = ( trow0[x+2] - trow0[x] );
+                        gxgy[drow++] = ( trow1[x+2] + trow1[x] + trow1[x+1]*2 );
                     }
                 }
                 jsfeat.cache.put_buffer(buf0_node);
@@ -3324,7 +3374,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             // transform is 3x3 matrix_t
             warp_perspective: function(src, dst, transform, fill_value) {
                 if (typeof fill_value === "undefined") { fill_value = 0; }
-                var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
+                var src_width=src.cols|0, src_height=src.rows|0, dst_width=dst.cols|0, dst_height=dst.rows|0;
                 var src_d=src.data, dst_d=dst.data;
                 var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,xs0=0.0,ys0=0.0,ws=0.0,sc=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
                 var td=transform.data;
@@ -3344,7 +3394,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
                             a = Math.max(xs - ixs, 0.0);
                             b = Math.max(ys - iys, 0.0);
-                            off = src_width*iys + ixs;
+                            off = (src_width*iys + ixs)|0;
 
                             p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
                             p1 = src_d[off+src_width] + a * (src_d[off+src_width+1] - src_d[off+src_width]);
@@ -3391,6 +3441,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.imgproc = imgproc;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3730,6 +3781,7 @@ The references are:
     fast_corners.set_threshold(20); // set default
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3825,6 +3877,7 @@ The references are:
     global.yape06 = yape06;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4234,7 +4287,7 @@ The references are:
 
     global.yape = yape;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4267,9 +4320,11 @@ The references are:
                 var deriv_iwin_node = jsfeat.cache.get_buffer(win_area2<<2);
                 var deriv_lev_node = jsfeat.cache.get_buffer((h0*(w0<<1))<<2);
 
-                var iwin_buf = iwin_node.i32;//new Int32Array(win_area);
-                var deriv_iwin = deriv_iwin_node.i32;//new Int32Array(win_area2);
-                var deriv_lev = deriv_lev_node.i32;//deriv_m.data;
+                var deriv_m = new jsfeat.matrix_t(w0, h0, jsfeat.S32C2_t, deriv_lev_node.data);
+
+                var iwin_buf = iwin_node.i32;
+                var deriv_iwin = deriv_iwin_node.i32;
+                var deriv_lev = deriv_lev_node.i32;
 
                 var dstep=0,src=0,dsrc=0,iptr=0,diptr=0,jptr=0;
                 var lev_sc=0.0,prev_x=0.0,prev_y=0.0,next_x=0.0,next_y=0.0;
@@ -4313,7 +4368,7 @@ The references are:
                     brd_b = (lh - win_size)|0;
 
                     // calculate level derivatives
-                    scharr_deriv(prev_imgs[level], deriv_lev);
+                    scharr_deriv(prev_imgs[level], deriv_m);
 
                     // iterate through points
                     for(ptid = 0; ptid < count; ++ptid) {
@@ -4479,6 +4534,7 @@ The references are:
     global.optical_flow_lk = optical_flow_lk;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4769,6 +4825,7 @@ The references are:
     global.haar = haar;
 
 })(jsfeat);
+
 /**
  * BBF: Brightness Binary Feature
  *
@@ -5163,6 +5220,7 @@ The references are:
     global.bbf = bbf;
 
 })(jsfeat);
+
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -5178,3 +5236,4 @@ The references are:
         module.exports = lib;
     }
 })(jsfeat);
+
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 0110f74..0c90666 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -637,7 +637,7 @@
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
-                var img = src.data;
+                var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
                 var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -677,19 +677,19 @@
                     for(x = 0; x <= w-4; x+=4) {
                         a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
                         e = trow0[x+2], f = trow0[x+3];
-                        dst[drow++] = ( e - trow0[x] );
-                        dst[drow++] = ( (a + trow1[x])*3 + b*10 );
-                        dst[drow++] = ( f - trow0[x+1] );
-                        dst[drow++] = ( (c + b)*3 + a*10 );
-
-                        dst[drow++] = ( (trow0[x+4] - e) );
-                        dst[drow++] = ( ((d + a)*3 + c*10) );
-                        dst[drow++] = ( (trow0[x+5] - f) );
-                        dst[drow++] = ( ((trow1[x+5] + c)*3 + d*10) );
+                        gxgy[drow++] = ( e - trow0[x] );
+                        gxgy[drow++] = ( (a + trow1[x])*3 + b*10 );
+                        gxgy[drow++] = ( f - trow0[x+1] );
+                        gxgy[drow++] = ( (c + b)*3 + a*10 );
+
+                        gxgy[drow++] = ( (trow0[x+4] - e) );
+                        gxgy[drow++] = ( ((d + a)*3 + c*10) );
+                        gxgy[drow++] = ( (trow0[x+5] - f) );
+                        gxgy[drow++] = ( ((trow1[x+5] + c)*3 + d*10) );
                     }
                     for(; x < w; ++x) {
-                        dst[drow++] = ( (trow0[x+2] - trow0[x]) );
-                        dst[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
+                        gxgy[drow++] = ( (trow0[x+2] - trow0[x]) );
+                        gxgy[drow++] = ( ((trow1[x+2] + trow1[x])*3 + trow1[x+1]*10) );
                     }
                 }
                 jsfeat.cache.put_buffer(buf0_node);
@@ -703,7 +703,7 @@
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
-                var img = src.data;
+                var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
                 var buf1_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -743,19 +743,19 @@
                     for(x = 0; x <= w-4; x+=4) {
                         a = trow1[x+2], b = trow1[x+1], c = trow1[x+3], d = trow1[x+4],
                         e = trow0[x+2], f = trow0[x+3];
-                        dst[drow++] = ( e - trow0[x] );
-                        dst[drow++] = ( a + trow1[x] + b*2 );
-                        dst[drow++] = ( f - trow0[x+1] );
-                        dst[drow++] = ( c + b + a*2 );
-
-                        dst[drow++] = ( trow0[x+4] - e );
-                        dst[drow++] = ( d + a + c*2 );
-                        dst[drow++] = ( trow0[x+5] - f );
-                        dst[drow++] = ( trow1[x+5] + c + d*2 );
+                        gxgy[drow++] = ( e - trow0[x] );
+                        gxgy[drow++] = ( a + trow1[x] + b*2 );
+                        gxgy[drow++] = ( f - trow0[x+1] );
+                        gxgy[drow++] = ( c + b + a*2 );
+
+                        gxgy[drow++] = ( trow0[x+4] - e );
+                        gxgy[drow++] = ( d + a + c*2 );
+                        gxgy[drow++] = ( trow0[x+5] - f );
+                        gxgy[drow++] = ( trow1[x+5] + c + d*2 );
                     }
                     for(; x < w; ++x) {
-                        dst[drow++] = ( trow0[x+2] - trow0[x] );
-                        dst[drow++] = ( trow1[x+2] + trow1[x] + trow1[x+1]*2 );
+                        gxgy[drow++] = ( trow0[x+2] - trow0[x] );
+                        gxgy[drow++] = ( trow1[x+2] + trow1[x] + trow1[x+1]*2 );
                     }
                 }
                 jsfeat.cache.put_buffer(buf0_node);
@@ -1053,7 +1053,7 @@
             // transform is 3x3 matrix_t
             warp_perspective: function(src, dst, transform, fill_value) {
                 if (typeof fill_value === "undefined") { fill_value = 0; }
-                var src_width=src.cols, src_height=src.rows, dst_width=dst.cols, dst_height=dst.rows;
+                var src_width=src.cols|0, src_height=src.rows|0, dst_width=dst.cols|0, dst_height=dst.rows|0;
                 var src_d=src.data, dst_d=dst.data;
                 var x=0,y=0,off=0,ixs=0,iys=0,xs=0.0,ys=0.0,xs0=0.0,ys0=0.0,ws=0.0,sc=0.0,a=0.0,b=0.0,p0=0.0,p1=0.0;
                 var td=transform.data;
@@ -1073,7 +1073,7 @@
                         if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
                             a = Math.max(xs - ixs, 0.0);
                             b = Math.max(ys - iys, 0.0);
-                            off = src_width*iys + ixs;
+                            off = (src_width*iys + ixs)|0;
 
                             p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
                             p1 = src_d[off+src_width] + a * (src_d[off+src_width+1] - src_d[off+src_width]);
diff --git a/src/jsfeat_mat_math.js b/src/jsfeat_mat_math.js
index 64e6c73..9dc25ec 100755
--- a/src/jsfeat_mat_math.js
+++ b/src/jsfeat_mat_math.js
@@ -10,6 +10,21 @@
     var matmath = (function() {
         
         return {
+            identity: function(M, value) {
+                if (typeof value === "undefined") { value=1; }
+                var src=M.data;
+                var rows=M.rows, cols=M.cols, cols_1=(cols+1)|0;
+                var len = rows * cols;
+                var k = len;
+                while(--len >= 0) src[len] = 0.0;
+                len = k;
+                k = 0;
+                while(k < len)  {
+                    src[k] = value;
+                    k = k + cols_1;
+                }
+            },
+
             transpose: function(At, A) {
                 var i=0,j=0,nrows=A.rows,ncols=A.cols;
                 var Ai=0,Ati=0,pAt=0;
@@ -133,6 +148,14 @@
             },
 
             // various small matrix operations
+            identity_3x3: function(M, value) {
+                if (typeof value === "undefined") { value=1; }
+                var dt=M.data;
+                dt[0] = dt[4] = dt[8] = value;
+                dt[1] = dt[2] = dt[3] = 0;
+                dt[5] = dt[6] = dt[7] = 0;
+            },
+
             invert_3x3: function(from, to) {
                 var A = from.data, invA = to.data;
                 var t1 = A[4];
diff --git a/src/jsfeat_motion_estimator.js b/src/jsfeat_motion_estimator.js
old mode 100644
new mode 100755
index a1de55e..055e0f1
--- a/src/jsfeat_motion_estimator.js
+++ b/src/jsfeat_motion_estimator.js
@@ -74,20 +74,22 @@
 		    }
 		    return false;
 		}
+
+		var T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+    	var T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+    	var AtA = new jsfeat.matrix_t(6, 6, jsfeat.F32_t|jsfeat.C1_t);
+    	var AtB = new jsfeat.matrix_t(6, 1, jsfeat.F32_t|jsfeat.C1_t);
     	
     	var affine2d = (function () {
 
 	        function affine2d() {
-	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.AtA = new jsfeat.matrix_t(6, 6, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.AtB = new jsfeat.matrix_t(6, 1, jsfeat.F32_t|jsfeat.C1_t);
+	        	// empty constructor
 	        }
 
 	        affine2d.prototype.run = function(from, to, model, count) {
 	        	var i=0,j=0;
 	        	var dt=model.type|jsfeat.C1_t;
-	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
+	        	var md=model.data, t0d=T0.data, t1d=T1.data;
 	        	var pt0,pt1,px=0.0,py=0.0;
 
 	            iso_normalize_points(from, to, t0d, t1d, count);
@@ -116,19 +118,19 @@
 			        bd[(i<<1)+1] = t1d[3]*pt1.x + t1d[4]*pt1.y + t1d[5];
 			    }
 
-			    jsfeat.matmath.multiply_AtA(this.AtA, a_mt);
-			    jsfeat.matmath.multiply_AtB(this.AtB, a_mt, b_mt);
+			    jsfeat.matmath.multiply_AtA(AtA, a_mt);
+			    jsfeat.matmath.multiply_AtB(AtB, a_mt, b_mt);
 
-			    jsfeat.linalg.lu_solve(this.AtA, this.AtB);
+			    jsfeat.linalg.lu_solve(AtA, AtB);
 
-			    md[0] = this.AtB.data[0], md[1]=this.AtB.data[1], md[2]=this.AtB.data[2];
-			    md[3] = this.AtB.data[3], md[4]=this.AtB.data[4], md[5]=this.AtB.data[5];
+			    md[0] = AtB.data[0], md[1]=AtB.data[1], md[2]=AtB.data[2];
+			    md[3] = AtB.data[3], md[4]=AtB.data[4], md[5]=AtB.data[5];
 			    md[6] = 0.0, md[7] = 0.0, md[8] = 1.0; // fill last row
 
 			    // denormalize
-			    jsfeat.matmath.invert_3x3(this.T1, this.T1);
-			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
-			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+			    jsfeat.matmath.invert_3x3(T1, T1);
+			    jsfeat.matmath.multiply_3x3(model, T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, T0);
 
 			    // free buffer
 			    jsfeat.cache.put_buffer(a_buff);
@@ -158,19 +160,23 @@
 	        return affine2d;
 	    })();
 
+	    var mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	    var Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+
 	    var homography2d = (function () {
 
 	        function homography2d() {
-	        	this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
-	        	this.Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        	// empty constructor
+	        	//this.T0 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	//this.T1 = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	        	//this.mLtL = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
+	        	//this.Evec = new jsfeat.matrix_t(9, 9, jsfeat.F32_t|jsfeat.C1_t);
 	        }
 
 	        homography2d.prototype.run = function(from, to, model, count) {
 	        	var i=0,j=0;
-	        	var md=model.data, t0d=this.T0.data, t1d=this.T1.data;
-	        	var LtL=this.mLtL.data, evd=this.Evec.data;
+	        	var md=model.data, t0d=T0.data, t1d=T1.data;
+	        	var LtL=mLtL.data, evd=Evec.data;
 	        	var x=0.0,y=0.0,X=0.0,Y=0.0;
 
 			    // norm
@@ -270,15 +276,15 @@
 			            LtL[i*9+j] = LtL[j*9+i];
 			    }
 
-				jsfeat.linalg.eigenVV(this.mLtL, this.Evec);
+				jsfeat.linalg.eigenVV(mLtL, Evec);
 
 				md[0]=evd[72], md[1]=evd[73], md[2]=evd[74];
 			    md[3]=evd[75], md[4]=evd[76], md[5]=evd[77];
 			    md[6]=evd[78], md[7]=evd[79], md[8]=evd[80];
 
 				// denormalize
-			    jsfeat.matmath.multiply_3x3(model, this.T1, model);
-			    jsfeat.matmath.multiply_3x3(model, model, this.T0);
+			    jsfeat.matmath.multiply_3x3(model, T1, model);
+			    jsfeat.matmath.multiply_3x3(model, model, T0);
 
 			    // set bottom right to 1.0
 			    x = 1.0/md[8];
@@ -451,7 +457,7 @@
 
 		    for(; i < count; ++i) {
 		        f = err[i] <= t;
-		        mask[i] = f|0;
+		        mask[i] = f;
 		        numinliers += f;
 		    }
 		    return numinliers;
@@ -479,7 +485,7 @@
 			    var ms_buff = jsfeat.cache.get_buffer(count);
 			    var err_buff = jsfeat.cache.get_buffer(count<<2);
 			    var M = new jsfeat.matrix_t(mc, mr, dt, m_buff.data);
-			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8_t|jsfeat.C1_t, ms_buff.data);
+			    var curr_mask = new jsfeat.matrix_t(count, 1, jsfeat.U8C1_t, ms_buff.data);
 
 			    var inliers_max = -1, numinliers=0;
 			    var nmodels = 0;
@@ -626,7 +632,7 @@
 			    }
 
 			    if(result) {
-			        sigma = 2.5*1.4826*(1 + 5.0/(count - model_points))*Math.sqrt(minMedian);
+			        sigma = 2.5*1.4826*(1 + 5.0/(count - model_points))*Math.sqrt(min_median);
 			        sigma = Math.max(sigma, 0.001);
 
 			        numinliers = find_inliers(kernel, model, from, to, count, sigma, err, curr_mask.data);
diff --git a/src/jsfeat_optical_flow_lk.js b/src/jsfeat_optical_flow_lk.js
index df8b833..85730d2 100755
--- a/src/jsfeat_optical_flow_lk.js
+++ b/src/jsfeat_optical_flow_lk.js
@@ -30,9 +30,11 @@
                 var deriv_iwin_node = jsfeat.cache.get_buffer(win_area2<<2);
                 var deriv_lev_node = jsfeat.cache.get_buffer((h0*(w0<<1))<<2);
 
-                var iwin_buf = iwin_node.i32;//new Int32Array(win_area);
-                var deriv_iwin = deriv_iwin_node.i32;//new Int32Array(win_area2);
-                var deriv_lev = deriv_lev_node.i32;//deriv_m.data;
+                var deriv_m = new jsfeat.matrix_t(w0, h0, jsfeat.S32C2_t, deriv_lev_node.data);
+
+                var iwin_buf = iwin_node.i32;
+                var deriv_iwin = deriv_iwin_node.i32;
+                var deriv_lev = deriv_lev_node.i32;
 
                 var dstep=0,src=0,dsrc=0,iptr=0,diptr=0,jptr=0;
                 var lev_sc=0.0,prev_x=0.0,prev_y=0.0,next_x=0.0,next_y=0.0;
@@ -76,7 +78,7 @@
                     brd_b = (lh - win_size)|0;
 
                     // calculate level derivatives
-                    scharr_deriv(prev_imgs[level], deriv_lev);
+                    scharr_deriv(prev_imgs[level], deriv_m);
 
                     // iterate through points
                     for(ptid = 0; ptid < count; ++ptid) {
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 74c9a2b..b95d96d 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -91,10 +91,16 @@
             this.data = this.type&U8_t ? this.buffer.u8 : (this.type&S32_t ? this.buffer.i32 : (this.type&F32_t ? this.buffer.f32 : this.buffer.f64));
         }
         matrix_t.prototype.copy_to = function(other) {
-            var od = other.data;
-            var i = this.cols*this.rows*this.channel;
-            while(--i >= 0) {
-                od[i] = this.data[i];
+            var od = other.data, td = this.data;
+            var i = 0, n = (this.cols*this.rows*this.channel)|0;
+            for(; i < n-4; i+=4) {
+                od[i] = td[i];
+                od[i+1] = td[i+1];
+                od[i+2] = td[i+2];
+                od[i+3] = td[i+3];
+            }
+            for(; i < n; ++i) {
+                od[i] = td[i];
             }
         }
         matrix_t.prototype.resize = function(c, r, ch) {
@@ -181,6 +187,16 @@
     global.C3_t = C3_t;
     global.C4_t = C4_t;
 
+    // popular formats
+    global.U8C1_t = U8_t | C1_t;
+    global.U8C3_t = U8_t | C3_t;
+    global.U8C4_t = U8_t | C4_t;
+
+    global.F32C1_t = F32_t | C1_t;
+    global.F32C2_t = F32_t | C2_t;
+    global.S32C1_t = S32_t | C1_t;
+    global.S32C2_t = S32_t | C2_t;
+
     // constants
     global.EPSILON = EPSILON;
     global.FLT_MIN = FLT_MIN;

From 26f5d69bf415300e7b69749366412234094c2ecd Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Wed, 27 Mar 2013 21:18:16 +0400
Subject: [PATCH 24/46] box blur overflow fix

---
 README.md             |  2 ++
 build/jsfeat-min.js   |  2 +-
 build/jsfeat.js       | 31 +++++++++----------------------
 package.json          |  2 +-
 src/jsfeat_imgproc.js | 13 ++++++-------
 5 files changed, 19 insertions(+), 31 deletions(-)
 mode change 100755 => 100644 build/jsfeat.js

diff --git a/README.md b/README.md
index ff84d24..77fdf42 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,8 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
  * gaussian blur ([Demo](http://inspirit.github.com/jsfeat/sample_gaussblur.html))
  * equalize histogram ([Demo](http://inspirit.github.com/jsfeat/sample_equalize_hist.html))
  * canny edges ([Demo](http://inspirit.github.com/jsfeat/sample_canny_edge.html))
+ * sobel deriv ([Demo](http://inspirit.github.com/jsfeat/sample_sobel.html))
+ * scharr deriv ([Demo](http://inspirit.github.com/jsfeat/sample_scharr.html))
  * find more at Examples and Documentation page
 * Linear Algebra module
  * LU (Gaussian elimination) solver
diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 48bcf6f..a93d716 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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(s,K,n,l){if(typeof l==="undefined"){l=0}var A=s.cols,F=s.rows,t=F<<1,z=A<<1;var E=0,v=0,u=0,m=0;var C=((n<<1)+1)|0;var p=(n+1)|0,I=(p+1)|0;var q=8192;var J=l&jsfeat.BOX_BLUR_NOSCALE?1:(16384/(C*C)+0.5)|0;var D=jsfeat.cache.get_buffer((A*F)<<2);var j=0,H=0,o=0,r=0,k=0;var G=D.i32;var g=s.data;var B=0;for(u=0;u<F;++u){H=u;j=p*g[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=g[E]}r=(o+p)|0;k=o;B=g[k];for(v=0;v<n;++v,H+=F){G[H]=j;j+=g[r]-B;r++}for(;v<A-I;v+=2,H+=t){G[H]=j;j+=g[r]-g[k];G[H+F]=j;j+=g[r+1]-g[k+1];r+=2;k+=2}for(;v<A-p;++v,H+=F){G[H]=j;j+=g[r]-g[k];r++;k++}B=g[r-1];for(;v<A;++v,H+=F){G[H]=j;j+=B-g[k];k++}o+=A}o=0;g=K.data;if(J==1){for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=j;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=j;j+=G[r]-G[k];g[H+A]=j;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=j;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=j;j+=B-G[k];k++}o+=F}}else{for(u=0;u<A;++u){H=u;j=p*G[o];for(E=(o+1)|0,m=(o+n)|0;E<=m;++E){j+=G[E]}r=o+p;k=o;B=G[k];for(v=0;v<n;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-B;r++}for(;v<F-I;v+=2,H+=z){g[H]=(j*J+q)>>14;j+=G[r]-G[k];g[H+A]=(j*J+q)>>14;j+=G[r+1]-G[k+1];r+=2;k+=2}for(;v<F-p;++v,H+=A){g[H]=(j*J+q)>>14;j+=G[r]-G[k];r++;k++}B=G[r-1];for(;v<F;++v,H+=A){g[H]=(j*J+q)>>14;j+=B-G[k];k++}o+=F}}jsfeat.cache.put_buffer(D)},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;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.u8;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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z=R.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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.u8;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var 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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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
old mode 100755
new mode 100644
index c63f4ce..708d8b7
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4,7 +4,6 @@
 
 // namespace ?
 var jsfeat = jsfeat || { REVISION: 'ALPHA' };
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -223,7 +222,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.point2d_t = point2d_t;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -303,7 +301,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     cache.allocate(30, 640*4);
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -718,7 +715,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.math = math;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -951,7 +947,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.matmath = matmath;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -1658,7 +1654,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 
     global.linalg = linalg;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -2318,7 +2314,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.motion_estimator = motion_estimator;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -2727,8 +2722,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var i=0,x=0,y=0,end=0;
                 var windowSize = ((radius << 1) + 1)|0;
                 var radiusPlusOne = (radius + 1)|0, radiusPlus2 = (radiusPlusOne+1)|0;
-                var offset = 8192;
-                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 / (windowSize*windowSize) + 0.5)|0;
+                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (1.0 / (windowSize*windowSize));
 
                 var tmp_buff = jsfeat.cache.get_buffer((w*h)<<2);
 
@@ -2851,22 +2845,22 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         hold = data_i32[previousPixelIndex];
 
                         for(x = 0; x < radius; ++x, dstIndex += w) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
                             sum += data_i32[nextPixelIndex]- hold;
                             nextPixelIndex ++;
                         }
                         for(; x < h-radiusPlus2; x+=2, dstIndex += w2) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
                             sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
 
-                            data_u8[dstIndex+w] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex+w] = sum*scale;
                             sum += data_i32[nextPixelIndex+1]- data_i32[previousPixelIndex+1];
 
                             nextPixelIndex +=2;
                             previousPixelIndex +=2;
                         }
                         for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
 
                             sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
                             nextPixelIndex ++;
@@ -2874,7 +2868,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         }
                         hold = data_i32[nextPixelIndex-1];
                         for(; x < h; ++x, dstIndex += w) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
 
                             sum += hold- data_i32[previousPixelIndex];
                             previousPixelIndex ++;
@@ -3441,7 +3435,6 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.imgproc = imgproc;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3781,7 +3774,6 @@ The references are:
     fast_corners.set_threshold(20); // set default
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -3877,7 +3869,6 @@ The references are:
     global.yape06 = yape06;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4287,7 +4278,7 @@ The references are:
 
     global.yape = yape;
 
-})(jsfeat);
+})(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4534,7 +4525,6 @@ The references are:
     global.optical_flow_lk = optical_flow_lk;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  *
@@ -4825,7 +4815,6 @@ The references are:
     global.haar = haar;
 
 })(jsfeat);
-
 /**
  * BBF: Brightness Binary Feature
  *
@@ -5220,7 +5209,6 @@ The references are:
     global.bbf = bbf;
 
 })(jsfeat);
-
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
  */
@@ -5236,4 +5224,3 @@ The references are:
         module.exports = lib;
     }
 })(jsfeat);
-
diff --git a/package.json b/package.json
index 0994ffb..6484ba2 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name" : "jsfeat",
-    "version" : "0.0.5",
+    "version" : "0.0.7",
     "description" : "JavaScript Computer Vision library",
     "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
     "files" : "build/jsfeat.js",
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 0c90666..340a70f 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -406,8 +406,7 @@
                 var i=0,x=0,y=0,end=0;
                 var windowSize = ((radius << 1) + 1)|0;
                 var radiusPlusOne = (radius + 1)|0, radiusPlus2 = (radiusPlusOne+1)|0;
-                var offset = 8192;
-                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (16384 / (windowSize*windowSize) + 0.5)|0;
+                var scale = options&jsfeat.BOX_BLUR_NOSCALE ? 1 : (1.0 / (windowSize*windowSize));
 
                 var tmp_buff = jsfeat.cache.get_buffer((w*h)<<2);
 
@@ -530,22 +529,22 @@
                         hold = data_i32[previousPixelIndex];
 
                         for(x = 0; x < radius; ++x, dstIndex += w) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
                             sum += data_i32[nextPixelIndex]- hold;
                             nextPixelIndex ++;
                         }
                         for(; x < h-radiusPlus2; x+=2, dstIndex += w2) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
                             sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
 
-                            data_u8[dstIndex+w] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex+w] = sum*scale;
                             sum += data_i32[nextPixelIndex+1]- data_i32[previousPixelIndex+1];
 
                             nextPixelIndex +=2;
                             previousPixelIndex +=2;
                         }
                         for(; x < h-radiusPlusOne; ++x, dstIndex += w) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
 
                             sum += data_i32[nextPixelIndex]- data_i32[previousPixelIndex];
                             nextPixelIndex ++;
@@ -553,7 +552,7 @@
                         }
                         hold = data_i32[nextPixelIndex-1];
                         for(; x < h; ++x, dstIndex += w) {
-                            data_u8[dstIndex] = (sum*scale+offset)>>14;
+                            data_u8[dstIndex] = sum*scale;
 
                             sum += hold- data_i32[previousPixelIndex];
                             previousPixelIndex ++;

From 105da9ed4de5442e8aae8448fd3df0f8a0fda263 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Tue, 2 Sep 2014 12:28:23 +0100
Subject: [PATCH 25/46] features2d point2d->keypoint

---
 src/jsfeat_struct.js |  8 ++++----
 src/jsfeat_yape06.js | 24 +++++++++++++++---------
 2 files changed, 19 insertions(+), 13 deletions(-)

diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 4d7aaf0..8b0cf6d 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -159,8 +159,8 @@
         return pyramid_t;
     })();
 
-    var point2d_t = (function () {
-        function point2d_t(x,y,score,level,angle) {
+    var keypoint_t = (function () {
+        function keypoint_t(x,y,score,level,angle) {
             if (typeof x === "undefined") { x=0; }
             if (typeof y === "undefined") { y=0; }
             if (typeof score === "undefined") { score=0; }
@@ -173,7 +173,7 @@
             this.level = level;
             this.angle = angle;
         }
-        return point2d_t;
+        return keypoint_t;
     })();
 
 
@@ -215,6 +215,6 @@
     global.data_t = data_t;
     global.matrix_t = matrix_t;
     global.pyramid_t = pyramid_t;
-    global.point2d_t = point2d_t;
+    global.keypoint_t = keypoint_t;
 
 })(jsfeat);
diff --git a/src/jsfeat_yape06.js b/src/jsfeat_yape06.js
index 55664dd..205266d 100755
--- a/src/jsfeat_yape06.js
+++ b/src/jsfeat_yape06.js
@@ -12,11 +12,11 @@
 
     var yape06 = (function() {
         
-        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
-            var y=0,x=0,yrow=(Dxx*w+Dxx)|0,row=yrow;
+        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy, sx,sy, ex,ey) {
+            var y=0,x=0,yrow=(sy*w+sx)|0,row=yrow;
 
-            for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
-                for(x = Dxx; x < w - Dxx; ++x, ++row) {
+            for(y = sy; y < ey; ++y, yrow+=w, row = yrow) {
+                for(x = sx; x < ex; ++x, ++row) {
                     dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
                 }
             }
@@ -36,7 +36,8 @@
             laplacian_threshold: 30,
             min_eigen_value_threshold: 25,
 
-            detect: function(src, points) {
+            detect: function(src, points, border) {
+                if (typeof border === "undefined") { border = 5; }
                 var x=0,y=0;
                 var w=src.cols, h=src.rows, srd_d=src.data;
                 var Dxx = 5, Dyy = (5 * w)|0;
@@ -48,13 +49,18 @@
                 var lap_thresh = this.laplacian_threshold;
                 var eigen_thresh = this.min_eigen_value_threshold;
 
+                var sx = Math.max(5, border)|0;
+                var sy = Math.max(3, border)|0;
+                var ex = Math.min(w-5, w-border)|0;
+                var ey = Math.min(h-3, h-border)|0;
+
                 x = w*h;
                 while(--x>=0) {laplacian[x]=0;}
-                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
+                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy, sx,sy, ex,ey);
 
-                row = (Dxx*w+Dxx)|0;
-                for(y = Dxx; y < h-Dxx; ++y, row += w) {
-                    for(x = Dxx, rowx=row; x < w-Dxx; ++x, ++rowx) {
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row += w) {
+                    for(x = sx, rowx=row; x < ex; ++x, ++rowx) {
 
                         lv = laplacian[rowx];
                         if ((lv < -lap_thresh &&

From 339347c21b6302a2dbe7ce73f36218ab6979dd1a Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Thu, 28 Mar 2013 23:16:01 +0400
Subject: [PATCH 26/46] fix canny due to sobel_deriv use changed

---
 build/jsfeat-min.js   | 2 +-
 build/jsfeat.js       | 3 ++-
 src/jsfeat_imgproc.js | 3 ++-
 3 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index a93d716..d3423f5 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return 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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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=2;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;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}}else{aa=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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(t,U,D,k){var B=t.cols,K=t.rows,R=t.data,n=U.data;var J=0,G=0,p=0,z=B<<1,Q=0,I=0,M=0,v=0,u=0,C=0;var g=0,T=0;var o=jsfeat.cache.get_buffer((K*z)<<2);var l=jsfeat.cache.get_buffer((3*(B+2))<<2);var m=jsfeat.cache.get_buffer(((K+2)*(B+2))<<2);var r=jsfeat.cache.get_buffer((K*B)<<2);var P=l.i32;var S=m.i32;var q=r.i32;var F=o.i32;var O=1,N=(B+2+1)|0,L=(2*(B+2)+1)|0,A=(B+2)|0,H=(A+1)|0,E=0;this.sobel_derivatives(t,F);if(D>k){J=D;D=k;k=J}J=(3*(B+2))|0;while(--J>=0){P[J]=0}J=((K+2)*(B+2))|0;while(--J>=0){S[J]=0}for(;G<B;++G,p+=2){v=F[p],u=F[p+1];P[N+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}for(J=1;J<=K;++J,p+=z){if(J==K){G=L+B;while(--G>=L){P[G]=0}}else{for(G=0;G<B;G++){v=F[p+(G<<1)],u=F[p+(G<<1)+1];P[L+G]=((v^(v>>31))-(v>>31))+((u^(u>>31))-(u>>31))}}Q=(p-z)|0;S[H-1]=0;I=0;for(G=0;G<B;++G,Q+=2){M=P[N+G];if(M>D){v=F[Q];u=F[Q+1];C=v^u;v=((v^(v>>31))-(v>>31))|0;u=((u^(u>>31))-(u>>31))|0;g=v*13573;T=g+((v+v)<<15);u<<=15;if(u<g){if(M>P[N+G-1]&&M>=P[N+G+1]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{if(u>T){if(M>P[O+G]&&M>=P[L+G]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}else{C=C<0?-1:1;if(M>P[O+G-C]&&M>P[L+G+C]){if(M>k&&!I&&S[H+G-A]!=2){S[H+G]=2;I=1;q[E++]=H+G}else{S[H+G]=1}continue}}}}S[H+G]=0;I=0}S[H+B]=0;H+=A;G=O;O=N;N=L;L=G}G=H-A-1;for(J=0;J<A;++J,++G){S[G]=0}while(E>0){H=q[--E];H-=A+1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H-=2;if(S[H]==1){S[H]=2,q[E++]=H}H+=A;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}H+=1;if(S[H]==1){S[H]=2,q[E++]=H}}H=A+1;O=0;for(J=0;J<K;++J,H+=A){for(G=0;G<B;++G){n[O++]=(S[H+G]==2)*255}}jsfeat.cache.put_buffer(o);jsfeat.cache.put_buffer(l);jsfeat.cache.put_buffer(m);jsfeat.cache.put_buffer(r)},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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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\ No newline at end of file
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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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=2;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;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}}else{aa=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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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(w0,h0,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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 708d8b7..be54d4c 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -3222,9 +3222,10 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var map = map_node.i32;
                 var stack = stack_node.i32;
                 var dxdy = dxdy_node.i32;
+                var dxdy_m = new jsfeat.matrix_t(w0, h0, jsfeat.S32C2_t, dxdy_node.data);
                 var row0=1,row1=(w+2+1)|0,row2=(2*(w+2)+1)|0,map_w=(w+2)|0,map_i=(map_w+1)|0,stack_i=0;
 
-                this.sobel_derivatives(src, dxdy);
+                this.sobel_derivatives(src, dxdy_m);
 
                 if(low_thresh > high_thresh) {
                     i = low_thresh;
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 340a70f..43023c1 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -906,9 +906,10 @@
                 var map = map_node.i32;
                 var stack = stack_node.i32;
                 var dxdy = dxdy_node.i32;
+                var dxdy_m = new jsfeat.matrix_t(w0, h0, jsfeat.S32C2_t, dxdy_node.data);
                 var row0=1,row1=(w+2+1)|0,row2=(2*(w+2)+1)|0,map_w=(w+2)|0,map_i=(map_w+1)|0,stack_i=0;
 
-                this.sobel_derivatives(src, dxdy);
+                this.sobel_derivatives(src, dxdy_m);
 
                 if(low_thresh > high_thresh) {
                     i = low_thresh;

From 1fc51c19e996809cd8b0c35e6417cbdcc245a0fd Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Tue, 2 Sep 2014 18:43:26 +0100
Subject: [PATCH 27/46] fix API flows

---
 build/jsfeat-min.js   |   2 +-
 build/jsfeat.js       | 116 +++++++++++++++++++++++++++++++-----------
 src/jsfeat_imgproc.js |  66 +++++++++++++++++++-----
 src/jsfeat_struct.js  |  18 +++++--
 4 files changed, 154 insertions(+), 48 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 4d6e607..8e47cac 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new 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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)*0.5;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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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 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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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|0>=f.width};var d=new 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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 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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+0.5)|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 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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 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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))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 6f7bf4a..5618d41 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -49,6 +49,12 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         }
     })();
 
+    // color conversion
+    var COLOR_RGBA2GRAY = 0;
+    var COLOR_RGB2GRAY = 1;
+    var COLOR_BGRA2GRAY = 2;
+    var COLOR_BGR2GRAY = 3;
+
     // box blur option
     var BOX_BLUR_NOSCALE = 0x01;
     // svd options
@@ -111,9 +117,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         }
         matrix_t.prototype.resize = function(c, r, ch) {
             if (typeof ch === "undefined") { ch = this.channel; }
-            // change buffer only if new size doesnt fit
-            var new_size = (c * ch) * r;
-            if(new_size > this.rows*this.cols*this.channel) {
+            // relocate buffer only if new size doesnt fit
+            var new_size = (c * get_data_type_size(this.type) * ch) * r;
+            if(new_size > this.buffer.size) {
                 this.cols = c;
                 this.rows = r;
                 this.channel = ch;
@@ -165,8 +171,8 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         return pyramid_t;
     })();
 
-    var point2d_t = (function () {
-        function point2d_t(x,y,score,level,angle) {
+    var keypoint_t = (function () {
+        function keypoint_t(x,y,score,level,angle) {
             if (typeof x === "undefined") { x=0; }
             if (typeof y === "undefined") { y=0; }
             if (typeof score === "undefined") { score=0; }
@@ -179,7 +185,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             this.level = level;
             this.angle = angle;
         }
-        return point2d_t;
+        return keypoint_t;
     })();
 
 
@@ -209,6 +215,12 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.EPSILON = EPSILON;
     global.FLT_MIN = FLT_MIN;
 
+    // color convert
+    global.COLOR_RGBA2GRAY = COLOR_RGBA2GRAY;
+    global.COLOR_RGB2GRAY = COLOR_RGB2GRAY;
+    global.COLOR_BGRA2GRAY = COLOR_BGRA2GRAY;
+    global.COLOR_BGR2GRAY = COLOR_BGR2GRAY;
+
     // options
     global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
     global.SVD_U_T = SVD_U_T;
@@ -221,7 +233,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.data_t = data_t;
     global.matrix_t = matrix_t;
     global.pyramid_t = pyramid_t;
-    global.point2d_t = point2d_t;
+    global.keypoint_t = keypoint_t;
 
 })(jsfeat);
 /**
@@ -2672,25 +2684,41 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         return {
             // TODO: add support for RGB/BGR order
             // for raw arrays
-            grayscale: function(src, dst) {
-                var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
-                var j = 0;
-                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868;
-
-                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
-                    dst[j]     = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
-                    dst[j + 1] = (src[i+4] * coeff_r + src[i+5] * coeff_g + src[i+6] * coeff_b + 8192) >> 14;
-                    dst[j + 2] = (src[i+8] * coeff_r + src[i+9] * coeff_g + src[i+10] * coeff_b + 8192) >> 14;
-                    dst[j + 3] = (src[i+12] * coeff_r + src[i+13] * coeff_g + src[i+14] * coeff_b + 8192) >> 14;
+            grayscale: function(src, w, h, dst, code) {
+                // this is default image data representation in browser
+                if (typeof code === "undefined") { code = jsfeat.COLOR_RGBA2GRAY; }
+                var x=0, y=0, i=0, j=0, ir=0,jr=0;
+                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868, cn = 4;
+
+                if(code == jsfeat.COLOR_BGRA2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    coeff_r = 1868;
+                    coeff_b = 4899;
                 }
-                for (; i < srcLength; i += 4, ++j) {
-                    dst[j] = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                if(code == jsfeat.COLOR_RGB2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    cn = 3;
+                }
+                var cn2 = cn<<1, cn3 = (cn*3)|0;
+
+                dst.resize(w, h, 1);
+                var dst_u8 = dst.data;
+
+                for(y = 0; y < h; ++y, j+=w, i+=w*cn) {
+                    for(x = 0, ir = i, jr = j; x <= w-4; x+=4, ir+=cn<<2, jr+=4) {
+                        dst_u8[jr]     = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 1] = (src[ir+cn] * coeff_r + src[ir+cn+1] * coeff_g + src[ir+cn+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 2] = (src[ir+cn2] * coeff_r + src[ir+cn2+1] * coeff_g + src[ir+cn2+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 3] = (src[ir+cn3] * coeff_r + src[ir+cn3+1] * coeff_g + src[ir+cn3+2] * coeff_b + 8192) >> 14;
+                    }
+                    for (; x < w; ++x, ++jr, ir+=cn) {
+                        dst_u8[jr] = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                    }
                 }
             },
             // derived from CCV library
             resample: function(src, dst, nw, nh) {
                 var h=src.rows,w=src.cols;
                 if (h > nh && w > nw) {
+                    dst.resize(nw, nh, src.channel);
                     // using the fast alternative (fix point scale, 0x100 to avoid overflow)
                     if (src.type&jsfeat.U8_t && dst.type&jsfeat.U8_t && h * w / (nh * nw) < 0x100) {
                         _resample_u8(src, dst, nw, nh);
@@ -2715,6 +2743,8 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var data_u8 = src.data;
                 var hold=0;
 
+                dst.resize(w, h, src.channel);
+
                 // first pass
                 // no need to scale 
                 //data_u8 = src.data;
@@ -2872,6 +2902,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var half_kernel = kernel_size >> 1;
                 var w = src.cols, h = src.rows;
                 var data_type = src.type, is_u8 = data_type&jsfeat.U8_t;
+
+                dst.resize(w, h, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
                 var buf,filter,buf_sz=(kernel_size + Math.max(h, w))|0;
 
@@ -2910,6 +2943,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var w2 = w >> 1, h2 = h >> 1;
                 var _w2 = w2 - (sx << 1), _h2 = h2 - (sy << 1);
                 var x=0,y=0,sptr=sx+sy*w,sline=0,dptr=0,dline=0;
+
+                dst.resize(w2, h2, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
 
                 for(y = 0; y < _h2; ++y) {
@@ -2936,6 +2972,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -3002,6 +3041,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -3168,7 +3210,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 }
             },
             equalize_histogram: function(src, dst) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data,size=w*h;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+
+                var dst_d=dst.data,size=w*h;
                 var i=0,prev=0,hist0,norm;
 
                 var hist0_node = jsfeat.cache.get_buffer(256<<2);
@@ -3191,7 +3237,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             },
 
             canny: function(src, dst, low_thresh, high_thresh) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+                
+                var dst_d=dst.data;
                 var i=0,j=0,grad=0,w2=w<<1,_grad=0,suppress=0,f=0,x=0,y=0,s=0;
                 var tg22x=0,tg67x=0;
 
@@ -3709,11 +3759,11 @@ The references are:
 
     var yape06 = (function() {
         
-        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
-            var y=0,x=0,yrow=(Dxx*w+Dxx)|0,row=yrow;
+        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy, sx,sy, ex,ey) {
+            var y=0,x=0,yrow=(sy*w+sx)|0,row=yrow;
 
-            for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
-                for(x = Dxx; x < w - Dxx; ++x, ++row) {
+            for(y = sy; y < ey; ++y, yrow+=w, row = yrow) {
+                for(x = sx; x < ex; ++x, ++row) {
                     dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
                 }
             }
@@ -3733,7 +3783,8 @@ The references are:
             laplacian_threshold: 30,
             min_eigen_value_threshold: 25,
 
-            detect: function(src, points) {
+            detect: function(src, points, border) {
+                if (typeof border === "undefined") { border = 5; }
                 var x=0,y=0;
                 var w=src.cols, h=src.rows, srd_d=src.data;
                 var Dxx = 5, Dyy = (5 * w)|0;
@@ -3745,13 +3796,18 @@ The references are:
                 var lap_thresh = this.laplacian_threshold;
                 var eigen_thresh = this.min_eigen_value_threshold;
 
+                var sx = Math.max(5, border)|0;
+                var sy = Math.max(3, border)|0;
+                var ex = Math.min(w-5, w-border)|0;
+                var ey = Math.min(h-3, h-border)|0;
+
                 x = w*h;
                 while(--x>=0) {laplacian[x]=0;}
-                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
+                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy, sx,sy, ex,ey);
 
-                row = (Dxx*w+Dxx)|0;
-                for(y = Dxx; y < h-Dxx; ++y, row += w) {
-                    for(x = Dxx, rowx=row; x < w-Dxx; ++x, ++rowx) {
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row += w) {
+                    for(x = sx, rowx=row; x < ex; ++x, ++rowx) {
 
                         lv = laplacian[rowx];
                         if ((lv < -lap_thresh &&
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index e50b00c..e804760 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -372,25 +372,41 @@
         return {
             // TODO: add support for RGB/BGR order
             // for raw arrays
-            grayscale: function(src, dst) {
-                var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
-                var j = 0;
-                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868;
-
-                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
-                    dst[j]     = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
-                    dst[j + 1] = (src[i+4] * coeff_r + src[i+5] * coeff_g + src[i+6] * coeff_b + 8192) >> 14;
-                    dst[j + 2] = (src[i+8] * coeff_r + src[i+9] * coeff_g + src[i+10] * coeff_b + 8192) >> 14;
-                    dst[j + 3] = (src[i+12] * coeff_r + src[i+13] * coeff_g + src[i+14] * coeff_b + 8192) >> 14;
+            grayscale: function(src, w, h, dst, code) {
+                // this is default image data representation in browser
+                if (typeof code === "undefined") { code = jsfeat.COLOR_RGBA2GRAY; }
+                var x=0, y=0, i=0, j=0, ir=0,jr=0;
+                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868, cn = 4;
+
+                if(code == jsfeat.COLOR_BGRA2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    coeff_r = 1868;
+                    coeff_b = 4899;
                 }
-                for (; i < srcLength; i += 4, ++j) {
-                    dst[j] = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                if(code == jsfeat.COLOR_RGB2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    cn = 3;
+                }
+                var cn2 = cn<<1, cn3 = (cn*3)|0;
+
+                dst.resize(w, h, 1);
+                var dst_u8 = dst.data;
+
+                for(y = 0; y < h; ++y, j+=w, i+=w*cn) {
+                    for(x = 0, ir = i, jr = j; x <= w-4; x+=4, ir+=cn<<2, jr+=4) {
+                        dst_u8[jr]     = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 1] = (src[ir+cn] * coeff_r + src[ir+cn+1] * coeff_g + src[ir+cn+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 2] = (src[ir+cn2] * coeff_r + src[ir+cn2+1] * coeff_g + src[ir+cn2+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 3] = (src[ir+cn3] * coeff_r + src[ir+cn3+1] * coeff_g + src[ir+cn3+2] * coeff_b + 8192) >> 14;
+                    }
+                    for (; x < w; ++x, ++jr, ir+=cn) {
+                        dst_u8[jr] = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                    }
                 }
             },
             // derived from CCV library
             resample: function(src, dst, nw, nh) {
                 var h=src.rows,w=src.cols;
                 if (h > nh && w > nw) {
+                    dst.resize(nw, nh, src.channel);
                     // using the fast alternative (fix point scale, 0x100 to avoid overflow)
                     if (src.type&jsfeat.U8_t && dst.type&jsfeat.U8_t && h * w / (nh * nw) < 0x100) {
                         _resample_u8(src, dst, nw, nh);
@@ -415,6 +431,8 @@
                 var data_u8 = src.data;
                 var hold=0;
 
+                dst.resize(w, h, src.channel);
+
                 // first pass
                 // no need to scale 
                 //data_u8 = src.data;
@@ -572,6 +590,9 @@
                 var half_kernel = kernel_size >> 1;
                 var w = src.cols, h = src.rows;
                 var data_type = src.type, is_u8 = data_type&jsfeat.U8_t;
+
+                dst.resize(w, h, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
                 var buf,filter,buf_sz=(kernel_size + Math.max(h, w))|0;
 
@@ -610,6 +631,9 @@
                 var w2 = w >> 1, h2 = h >> 1;
                 var _w2 = w2 - (sx << 1), _h2 = h2 - (sy << 1);
                 var x=0,y=0,sptr=sx+sy*w,sline=0,dptr=0,dline=0;
+
+                dst.resize(w2, h2, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
 
                 for(y = 0; y < _h2; ++y) {
@@ -636,6 +660,9 @@
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -702,6 +729,9 @@
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -868,7 +898,11 @@
                 }
             },
             equalize_histogram: function(src, dst) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data,size=w*h;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+
+                var dst_d=dst.data,size=w*h;
                 var i=0,prev=0,hist0,norm;
 
                 var hist0_node = jsfeat.cache.get_buffer(256<<2);
@@ -891,7 +925,11 @@
             },
 
             canny: function(src, dst, low_thresh, high_thresh) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+                
+                var dst_d=dst.data;
                 var i=0,j=0,grad=0,w2=w<<1,_grad=0,suppress=0,f=0,x=0,y=0,s=0;
                 var tg22x=0,tg67x=0;
 
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 8b0cf6d..c7cbbcc 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -43,6 +43,12 @@
         }
     })();
 
+    // color conversion
+    var COLOR_RGBA2GRAY = 0;
+    var COLOR_RGB2GRAY = 1;
+    var COLOR_BGRA2GRAY = 2;
+    var COLOR_BGR2GRAY = 3;
+
     // box blur option
     var BOX_BLUR_NOSCALE = 0x01;
     // svd options
@@ -105,9 +111,9 @@
         }
         matrix_t.prototype.resize = function(c, r, ch) {
             if (typeof ch === "undefined") { ch = this.channel; }
-            // change buffer only if new size doesnt fit
-            var new_size = (c * ch) * r;
-            if(new_size > this.rows*this.cols*this.channel) {
+            // relocate buffer only if new size doesnt fit
+            var new_size = (c * get_data_type_size(this.type) * ch) * r;
+            if(new_size > this.buffer.size) {
                 this.cols = c;
                 this.rows = r;
                 this.channel = ch;
@@ -203,6 +209,12 @@
     global.EPSILON = EPSILON;
     global.FLT_MIN = FLT_MIN;
 
+    // color convert
+    global.COLOR_RGBA2GRAY = COLOR_RGBA2GRAY;
+    global.COLOR_RGB2GRAY = COLOR_RGB2GRAY;
+    global.COLOR_BGRA2GRAY = COLOR_BGRA2GRAY;
+    global.COLOR_BGR2GRAY = COLOR_BGR2GRAY;
+
     // options
     global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
     global.SVD_U_T = SVD_U_T;

From 2eed4d08e38fa866e866cc15cf6cc5d79f888294 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 8 Apr 2013 20:22:38 +0400
Subject: [PATCH 28/46] gauss overflow fix and SVD improve

---
 build/jsfeat-min.js   |  2 +-
 build/jsfeat.js       | 63 +++++++++++++++----------------------------
 src/jsfeat_imgproc.js |  2 +-
 src/jsfeat_linalg.js  | 61 +++++++++++++++--------------------------
 4 files changed, 45 insertions(+), 83 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index d3423f5..f0caecf 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return 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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)*0.5;O=Math.sqrt(L/w);Y=(P/(w*O*2))}else{Y=Math.sqrt((w+I)/(w*2));O=(P/(w*Y*2));L=P*P*0.5/(w+I)}g[X]+=L;g[V]-=L;if((A&1)&&g[X]>0&&g[V]>0){U=2;H=Y*D[K]+O*D[J];G=-O*D[K]+Y*D[J];D[K]=H;D[J]=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;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}}else{aa=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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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(w0,h0,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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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\ No newline at end of file
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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)*0.5;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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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 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s=j.cols,q=j.rows,o=j.data,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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(w0,h0,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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index be54d4c..5f824d1 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -1179,58 +1179,39 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         
                         p *= 2.0;
                         beta = a - b, gamma = hypot(p, beta);
-                        if(beta < 0) {
+                        if( beta < 0 ) {
                             delta = (gamma - beta)*0.5;
                             s = Math.sqrt(delta/gamma);
                             c = (p/(gamma*s*2.0));
                         } else {
                             c = Math.sqrt((gamma + beta)/(gamma*2.0));
                             s = (p/(gamma*c*2.0));
-                            delta = p*p*0.5/(gamma + beta);
                         }
                         
-                        W[i] += delta;
-                        W[j] -= delta;
+                        a=0.0, b=0.0;
                         
-                        if( (iter & 1) && W[i] > 0 && W[j] > 0 ) {
-                            k = 2;//unroll 2x2
-                            t0 = c*At[Ai] + s*At[Aj];
-                            t1 = -s*At[Ai] + c*At[Aj];
-                            At[Ai] = t0; At[Aj] = t1;
-
-                            t0 = c*At[Ai+1] + s*At[Aj+1];
-                            t1 = -s*At[Ai+1] + c*At[Aj+1];
-                            At[Ai+1] = t0; At[Aj+1] = t1;
-
-                            for(; k < m; k++) {
-                                t0 = c*At[Ai+k] + s*At[Aj+k];
-                                t1 = -s*At[Ai+k] + c*At[Aj+k];
-                                At[Ai+k] = t0; At[Aj+k] = t1;
-                            }
-                        } else {
-                            a = b = 0;
-                            k = 2; // unroll
-                            t0 = c*At[Ai] + s*At[Aj];
-                            t1 = -s*At[Ai] + c*At[Aj];
-                            At[Ai] = t0; At[Aj] = t1;
-                            a += t0*t0; b += t1*t1;
-
-                            t0 = c*At[Ai+1] + s*At[Aj+1];
-                            t1 = -s*At[Ai+1] + c*At[Aj+1];
-                            At[Ai+1] = t0; At[Aj+1] = t1;
+                        k = 2; // unroll
+                        t0 = c*At[Ai] + s*At[Aj];
+                        t1 = -s*At[Ai] + c*At[Aj];
+                        At[Ai] = t0; At[Aj] = t1;
+                        a += t0*t0; b += t1*t1;
+
+                        t0 = c*At[Ai+1] + s*At[Aj+1];
+                        t1 = -s*At[Ai+1] + c*At[Aj+1];
+                        At[Ai+1] = t0; At[Aj+1] = t1;
+                        a += t0*t0; b += t1*t1;
+
+                        for( ; k < m; k++ )
+                        {
+                            t0 = c*At[Ai+k] + s*At[Aj+k];
+                            t1 = -s*At[Ai+k] + c*At[Aj+k];
+                            At[Ai+k] = t0; At[Aj+k] = t1;
+                            
                             a += t0*t0; b += t1*t1;
-
-                            for( ; k < m; k++ )
-                            {
-                                t0 = c*At[Ai+k] + s*At[Aj+k];
-                                t1 = -s*At[Ai+k] + c*At[Aj+k];
-                                At[Ai+k] = t0; At[Aj+k] = t1;
-                                
-                                a += t0*t0; b += t1*t1;
-                            }
-                            W[i] = a; W[j] = b;
                         }
                         
+                        W[i] = a; W[j] = b;
+                        
                         changed = 1;
                         
                         if(Vt) {
@@ -2895,7 +2876,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var filt_node = jsfeat.cache.get_buffer(kernel_size<<2);
 
                 if(is_u8) {
-                    buf = buf_node.u8;
+                    buf = buf_node.i32;
                     filter = filt_node.i32;
                 } else if(data_type&jsfeat.S32_t) {
                     buf = buf_node.i32;
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 43023c1..c56d0f5 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -579,7 +579,7 @@
                 var filt_node = jsfeat.cache.get_buffer(kernel_size<<2);
 
                 if(is_u8) {
-                    buf = buf_node.u8;
+                    buf = buf_node.i32;
                     filter = filt_node.i32;
                 } else if(data_type&jsfeat.S32_t) {
                     buf = buf_node.i32;
diff --git a/src/jsfeat_linalg.js b/src/jsfeat_linalg.js
index 1fb6f50..a695b3e 100755
--- a/src/jsfeat_linalg.js
+++ b/src/jsfeat_linalg.js
@@ -229,58 +229,39 @@
                         
                         p *= 2.0;
                         beta = a - b, gamma = hypot(p, beta);
-                        if(beta < 0) {
+                        if( beta < 0 ) {
                             delta = (gamma - beta)*0.5;
                             s = Math.sqrt(delta/gamma);
                             c = (p/(gamma*s*2.0));
                         } else {
                             c = Math.sqrt((gamma + beta)/(gamma*2.0));
                             s = (p/(gamma*c*2.0));
-                            delta = p*p*0.5/(gamma + beta);
                         }
                         
-                        W[i] += delta;
-                        W[j] -= delta;
+                        a=0.0, b=0.0;
                         
-                        if( (iter & 1) && W[i] > 0 && W[j] > 0 ) {
-                            k = 2;//unroll 2x2
-                            t0 = c*At[Ai] + s*At[Aj];
-                            t1 = -s*At[Ai] + c*At[Aj];
-                            At[Ai] = t0; At[Aj] = t1;
-
-                            t0 = c*At[Ai+1] + s*At[Aj+1];
-                            t1 = -s*At[Ai+1] + c*At[Aj+1];
-                            At[Ai+1] = t0; At[Aj+1] = t1;
-
-                            for(; k < m; k++) {
-                                t0 = c*At[Ai+k] + s*At[Aj+k];
-                                t1 = -s*At[Ai+k] + c*At[Aj+k];
-                                At[Ai+k] = t0; At[Aj+k] = t1;
-                            }
-                        } else {
-                            a = b = 0;
-                            k = 2; // unroll
-                            t0 = c*At[Ai] + s*At[Aj];
-                            t1 = -s*At[Ai] + c*At[Aj];
-                            At[Ai] = t0; At[Aj] = t1;
-                            a += t0*t0; b += t1*t1;
-
-                            t0 = c*At[Ai+1] + s*At[Aj+1];
-                            t1 = -s*At[Ai+1] + c*At[Aj+1];
-                            At[Ai+1] = t0; At[Aj+1] = t1;
+                        k = 2; // unroll
+                        t0 = c*At[Ai] + s*At[Aj];
+                        t1 = -s*At[Ai] + c*At[Aj];
+                        At[Ai] = t0; At[Aj] = t1;
+                        a += t0*t0; b += t1*t1;
+
+                        t0 = c*At[Ai+1] + s*At[Aj+1];
+                        t1 = -s*At[Ai+1] + c*At[Aj+1];
+                        At[Ai+1] = t0; At[Aj+1] = t1;
+                        a += t0*t0; b += t1*t1;
+
+                        for( ; k < m; k++ )
+                        {
+                            t0 = c*At[Ai+k] + s*At[Aj+k];
+                            t1 = -s*At[Ai+k] + c*At[Aj+k];
+                            At[Ai+k] = t0; At[Aj+k] = t1;
+                            
                             a += t0*t0; b += t1*t1;
-
-                            for( ; k < m; k++ )
-                            {
-                                t0 = c*At[Ai+k] + s*At[Aj+k];
-                                t1 = -s*At[Ai+k] + c*At[Aj+k];
-                                At[Ai+k] = t0; At[Aj+k] = t1;
-                                
-                                a += t0*t0; b += t1*t1;
-                            }
-                            W[i] = a; W[j] = b;
                         }
                         
+                        W[i] = a; W[j] = b;
+                        
                         changed = 1;
                         
                         if(Vt) {

From 05807c790fc14ca97895877d001d877e482a8815 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <inspirit@users.noreply.github.com>
Date: Wed, 3 Sep 2014 12:06:00 +0400
Subject: [PATCH 29/46] Update README.md

---
 README.md | 1 +
 1 file changed, 1 insertion(+)

diff --git a/README.md b/README.md
index 77fdf42..581dd1e 100644
--- a/README.md
+++ b/README.md
@@ -34,6 +34,7 @@ The project aim is to explore JS/HTML5 possibilities using modern & state-of-art
  * Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))
  * YAPE06 feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape06.html))
  * YAPE feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape.html))
+ * ORB feature descriptor ([Demo](http://inspirit.github.com/jsfeat/sample_orb.html))
 * Lucas-Kanade optical flow ([Demo](http://inspirit.github.com/jsfeat/sample_oflow_lk.html) - click to add points)
 * HAAR object detector ([Demo](http://inspirit.github.com/jsfeat/sample_haar_face.html))
 * BBF object detector ([Demo](http://inspirit.github.com/jsfeat/sample_bbf_face.html))

From 751b194dbe2defa69aea1a1d7ae58ad3943978b0 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Tue, 9 Apr 2013 21:20:41 +0400
Subject: [PATCH 30/46] gauss u8 fix

---
 build/jsfeat-min.js   |  2 +-
 build/jsfeat.js       | 20 ++++++++++----------
 src/jsfeat_imgproc.js | 20 ++++++++++----------
 3 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index f0caecf..7a60867 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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]=l>>8;m[u+y+1]=G>>8;m[u+y+2]=E>>8;m[u+y+3]=C>>8}for(;y<s;++y){l=D[y]*v;for(x=1;x<g;++x){l+=D[x+y]*t[x]}m[u+y]=l>>8}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>>8;m[u+s]=G>>8;m[u+q]=E>>8;m[u+p]=C>>8}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>>8}}};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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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(w0,h0,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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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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 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z=this.min_eigen_value_threshold;o=p*v;while(--o>=0){j[o]=0}d(q,j,p,v,C,f);k=(p+1)|0;for(n=1;n<v-1;++n,k+=p){for(o=1,m=k;o<p-1;++o,++m){i=j[m];if((i<-A&&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>A&&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,C,f,B,g);if(r>z){t=u[s];t.x=o,t.y=n,t.score=r;++s;++o,++m}}}}jsfeat.cache.put_buffer(e);return s}}})();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))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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 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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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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z=R.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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(w0,h0,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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 5f824d1..cfaa4f6 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -2510,17 +2510,17 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         sum2 += buf[k + j+2] * fk;
                         sum3 += buf[k + j+3] * fk;
                     }
-                    dst_d[dp+j] = sum >> 8;
-                    dst_d[dp+j+1] = sum1 >> 8;
-                    dst_d[dp+j+2] = sum2 >> 8;
-                    dst_d[dp+j+3] = sum3 >> 8;
+                    dst_d[dp+j] = Math.min(sum >> 8, 255);
+                    dst_d[dp+j+1] = Math.min(sum1 >> 8, 255);
+                    dst_d[dp+j+2] = Math.min(sum2 >> 8, 255);
+                    dst_d[dp+j+3] = Math.min(sum3 >> 8, 255);
                 }
                 for (; j < w; ++j) {
                     sum = buf[j] * f0;
                     for (k = 1; k < kernel_size; ++k) {
                         sum += buf[k + j] * filter[k];
                     }
-                    dst_d[dp+j] = sum >> 8;
+                    dst_d[dp+j] = Math.min(sum >> 8, 255);
                 }
                 sp += w;
                 dp += w;
@@ -2557,17 +2557,17 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         sum2 += buf[k + j+2] * fk;
                         sum3 += buf[k + j+3] * fk;
                     }
-                    dst_d[dp] = sum >> 8;
-                    dst_d[dp+w] = sum1 >> 8;
-                    dst_d[dp+w2] = sum2 >> 8;
-                    dst_d[dp+w3] = sum3 >> 8;
+                    dst_d[dp] = Math.min(sum >> 8, 255);
+                    dst_d[dp+w] = Math.min(sum1 >> 8, 255);
+                    dst_d[dp+w2] = Math.min(sum2 >> 8, 255);
+                    dst_d[dp+w3] = Math.min(sum3 >> 8, 255);
                 }
                 for (; j < h; ++j, dp+=w) {
                     sum = buf[j] * f0;
                     for (k = 1; k < kernel_size; ++k) {
                         sum += buf[k + j] * filter[k];
                     }
-                    dst_d[dp] = sum >> 8;
+                    dst_d[dp] = Math.min(sum >> 8, 255);
                 }
             }
         }
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index c56d0f5..02949c6 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -213,17 +213,17 @@
                         sum2 += buf[k + j+2] * fk;
                         sum3 += buf[k + j+3] * fk;
                     }
-                    dst_d[dp+j] = sum >> 8;
-                    dst_d[dp+j+1] = sum1 >> 8;
-                    dst_d[dp+j+2] = sum2 >> 8;
-                    dst_d[dp+j+3] = sum3 >> 8;
+                    dst_d[dp+j] = Math.min(sum >> 8, 255);
+                    dst_d[dp+j+1] = Math.min(sum1 >> 8, 255);
+                    dst_d[dp+j+2] = Math.min(sum2 >> 8, 255);
+                    dst_d[dp+j+3] = Math.min(sum3 >> 8, 255);
                 }
                 for (; j < w; ++j) {
                     sum = buf[j] * f0;
                     for (k = 1; k < kernel_size; ++k) {
                         sum += buf[k + j] * filter[k];
                     }
-                    dst_d[dp+j] = sum >> 8;
+                    dst_d[dp+j] = Math.min(sum >> 8, 255);
                 }
                 sp += w;
                 dp += w;
@@ -260,17 +260,17 @@
                         sum2 += buf[k + j+2] * fk;
                         sum3 += buf[k + j+3] * fk;
                     }
-                    dst_d[dp] = sum >> 8;
-                    dst_d[dp+w] = sum1 >> 8;
-                    dst_d[dp+w2] = sum2 >> 8;
-                    dst_d[dp+w3] = sum3 >> 8;
+                    dst_d[dp] = Math.min(sum >> 8, 255);
+                    dst_d[dp+w] = Math.min(sum1 >> 8, 255);
+                    dst_d[dp+w2] = Math.min(sum2 >> 8, 255);
+                    dst_d[dp+w3] = Math.min(sum3 >> 8, 255);
                 }
                 for (; j < h; ++j, dp+=w) {
                     sum = buf[j] * f0;
                     for (k = 1; k < kernel_size; ++k) {
                         sum += buf[k + j] * filter[k];
                     }
-                    dst_d[dp] = sum >> 8;
+                    dst_d[dp] = Math.min(sum >> 8, 255);
                 }
             }
         }

From a8a10f48c2629bda7d94baa7957ff09750926634 Mon Sep 17 00:00:00 2001
From: Bartek Drozdz <bartek@everyday3d.com>
Date: Fri, 12 Sep 2014 09:11:10 -0700
Subject: [PATCH 31/46] Adding bower.json

---
 bower.json | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 bower.json

diff --git a/bower.json b/bower.json
new file mode 100644
index 0000000..3abd8d3
--- /dev/null
+++ b/bower.json
@@ -0,0 +1,13 @@
+{
+
+    "name": "jsfeat",
+    "version" : "0.0.8",
+    "description" : "JavaScript Computer Vision library",
+    "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
+
+    "ignore": [
+      "src",
+      "compile",
+      "node_modules"
+    ]
+}
\ No newline at end of file

From ce980651b98072973aec9ea10d0ada66f0ce32d5 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Sat, 13 Apr 2013 09:56:14 +0400
Subject: [PATCH 32/46] fix canny

---
 build/jsfeat-min.js   | 2 +-
 build/jsfeat.js       | 2 +-
 src/jsfeat_imgproc.js | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 7a60867..38323c9 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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z=R.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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(w0,h0,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 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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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index cfaa4f6..7a7b160 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -3203,7 +3203,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var map = map_node.i32;
                 var stack = stack_node.i32;
                 var dxdy = dxdy_node.i32;
-                var dxdy_m = new jsfeat.matrix_t(w0, h0, jsfeat.S32C2_t, dxdy_node.data);
+                var dxdy_m = new jsfeat.matrix_t(w, h, jsfeat.S32C2_t, dxdy_node.data);
                 var row0=1,row1=(w+2+1)|0,row2=(2*(w+2)+1)|0,map_w=(w+2)|0,map_i=(map_w+1)|0,stack_i=0;
 
                 this.sobel_derivatives(src, dxdy_m);
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 02949c6..9eef253 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -906,7 +906,7 @@
                 var map = map_node.i32;
                 var stack = stack_node.i32;
                 var dxdy = dxdy_node.i32;
-                var dxdy_m = new jsfeat.matrix_t(w0, h0, jsfeat.S32C2_t, dxdy_node.data);
+                var dxdy_m = new jsfeat.matrix_t(w, h, jsfeat.S32C2_t, dxdy_node.data);
                 var row0=1,row1=(w+2+1)|0,row2=(2*(w+2)+1)|0,map_w=(w+2)|0,map_i=(map_w+1)|0,stack_i=0;
 
                 this.sobel_derivatives(src, dxdy_m);

From 63978a08f285d079399f1eac812b40d328b22244 Mon Sep 17 00:00:00 2001
From: Charles Law <charles.law@gmail.com>
Date: Sat, 7 Mar 2015 22:06:13 -0800
Subject: [PATCH 33/46] Issue #27: Add a hough transform implementation ported
 from opencv

---
 src/jsfeat_imgproc.js | 73 +++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 73 insertions(+)

diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index e804760..58e8839 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -621,6 +621,79 @@
                 jsfeat.cache.put_buffer(buf_node);
                 jsfeat.cache.put_buffer(filt_node);
             },
+            hough_transform: function( img, rho_res, theta_res, threshold ) {
+                var image = img.data;
+
+                var width = img.cols;
+                var height = img.rows;
+                var step = width;
+
+                min_theta = 0.0;
+                max_theta = Math.PI;
+
+                numangle = Math.round((max_theta - min_theta) / theta_res);
+                numrho = Math.round(((width + height) * 2 + 1) / rho_res);
+                irho = 1.0 / rho_res;
+
+                var accum = new Int32Array((numangle+2) * (numrho+2)); //typed arrays are initialized to 0
+                var tabSin = new Float32Array(numangle);
+                var tabCos = new Float32Array(numangle);
+
+                var n=0;
+                var ang = min_theta;
+                for(; n < numangle; n++ ) {
+                    tabSin[n] = Math.sin(ang) * irho;
+                    tabCos[n] = Math.cos(ang) * irho;
+                    ang += theta_res
+                }
+
+                // stage 1. fill accumulator
+                for( var i = 0; i < height; i++ ) {
+                    for( var j = 0; j < width; j++ ) {
+                        if( image[i * step + j] != 0 ) {
+                            //console.log(r, (n+1) * (numrho+2) + r+1, tabCos[n], tabSin[n]);
+                            for(var n = 0; n < numangle; n++ ) {
+                                var r = Math.round( j * tabCos[n] + i * tabSin[n] );
+                                r += (numrho - 1) / 2;
+                                accum[(n+1) * (numrho+2) + r+1] += 1;
+                            }
+                        }
+                    }
+                }
+
+                // stage 2. find local maximums
+                //TODO: Consider making a vector class that uses typed arrays
+                _sort_buf = new Array();
+                for(var r = 0; r < numrho; r++ ) {
+                    for(var n = 0; n < numangle; n++ ) {
+                        var base = (n+1) * (numrho+2) + r+1;
+                        if( accum[base] > threshold &&
+                            accum[base] > accum[base - 1] && accum[base] >= accum[base + 1] &&
+                            accum[base] > accum[base - numrho - 2] && accum[base] >= accum[base + numrho + 2] ) {
+                            _sort_buf.push(base);
+                        }
+                    }
+                }
+
+                // stage 3. sort the detected lines by accumulator value
+                _sort_buf.sort(function(l1, l2) {
+                    return accum[l1] > accum[l2] || (accum[l1] == accum[l2] && l1 < l2);
+                });
+
+                // stage 4. store the first min(total,linesMax) lines to the output buffer
+                linesMax = Math.min(numangle*numrho, _sort_buf.length);
+                scale = 1.0 / (numrho+2);
+                lines = new Array();
+                for( var i = 0; i < linesMax; i++ ) {
+                    var idx = _sort_buf[i];
+                    var n = Math.floor(idx*scale) - 1;
+                    var r = idx - (n+1)*(numrho+2) - 1;
+                    var lrho = (r - (numrho - 1)*0.5) * rho_res;
+                    var langle = n * theta_res;
+                    lines.push([lrho, langle]);
+                }
+                return lines;
+            },
             // assume we always need it for u8 image
             pyrdown: function(src, dst, sx, sy) {
                 // this is needed for bbf

From b7021a7a6177c5d7f771a8a5432d472a2791a6b3 Mon Sep 17 00:00:00 2001
From: David Corvoysier <david.corvoysier@orange.com>
Date: Wed, 22 May 2013 09:46:29 +0200
Subject: [PATCH 34/46] imgproc: Added a very basic RGB skin detector From:
 http://popscan.blogspot.fr/2012/08/skin-detection-in-digital-images.html

---
 src/jsfeat_imgproc.js | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)

diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 9eef253..6bbb672 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -1113,6 +1113,27 @@
                         else dst_d[dptr] = fill_value;
                     }
                 }
+            },
+            
+            // Basic RGB Skin detection filter
+            // from http://popscan.blogspot.fr/2012/08/skin-detection-in-digital-images.html
+            skindetector: function(src,dst) {
+                var r,g,b,j;
+                var i = src.width*src.height;
+                while(i--){
+                    j = i*4;
+                    r = src.data[j];
+                    g = src.data[j+1];
+                    b = src.data[j+2];
+                    if((r>95)&&(g>40)&&(b>20)
+                     &&(r>g)&&(r>b)
+                     &&(r-Math.min(g,b)>15)
+                     &&(Math.abs(r-g)>15)){
+                         dst[i] = 255;
+                    } else {
+                        dst[i] = 0;
+                    }
+                }                
             }
         };
     })();

From 42f54c0b9f1cf4827536a790d1a05851e774e1ce Mon Sep 17 00:00:00 2001
From: Joshua Morris <josh@masteryconnect.com>
Date: Thu, 25 Jun 2015 15:45:37 -0600
Subject: [PATCH 35/46] Added main to bower.json

---
 bower.json | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/bower.json b/bower.json
index 3abd8d3..83146f2 100644
--- a/bower.json
+++ b/bower.json
@@ -4,10 +4,11 @@
     "version" : "0.0.8",
     "description" : "JavaScript Computer Vision library",
     "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
+    "main" : "build/jsfeat-min.js",
 
     "ignore": [
       "src",
       "compile",
       "node_modules"
     ]
-}
\ No newline at end of file
+}

From a10e0cbe93fafc4acd313de06235f189a8ce44c6 Mon Sep 17 00:00:00 2001
From: David Corvoysier <david.corvoysier@orange.com>
Date: Wed, 22 May 2013 09:47:29 +0200
Subject: [PATCH 36/46] build: Rebuilt files after basic Skin Detector addition

---
 build/jsfeat-min.js |  2 +-
 build/jsfeat.js     | 21 +++++++++++++++++++++
 2 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 38323c9..44cea59 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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+1-0.000001)|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>0.001){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)<0.001){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 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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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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(m>0&&w>0&&q<(u-1)&&A<(z-1)){G=Math.max(m-q,0);D=Math.max(w-A,0);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}}}}}})();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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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z=R.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 7a7b160..fa133dd 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -3410,6 +3410,27 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                         else dst_d[dptr] = fill_value;
                     }
                 }
+            },
+            
+            // Basic RGB Skin detection filter
+            // from http://popscan.blogspot.fr/2012/08/skin-detection-in-digital-images.html
+            skindetector: function(src,dst) {
+                var r,g,b,j;
+                var i = src.width*src.height;
+                while(i--){
+                    j = i*4;
+                    r = src.data[j];
+                    g = src.data[j+1];
+                    b = src.data[j+2];
+                    if((r>95)&&(g>40)&&(b>20)
+                     &&(r>g)&&(r>b)
+                     &&(r-Math.min(g,b)>15)
+                     &&(Math.abs(r-g)>15)){
+                         dst[i] = 255;
+                    } else {
+                        dst[i] = 0;
+                    }
+                }                
             }
         };
     })();

From 2e0fcd2446cf1182c6189b838e358193b0600667 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <eugene.zatepyakin@jumio.com>
Date: Fri, 18 Dec 2015 14:09:28 +0100
Subject: [PATCH 37/46] fix links for all external resources

---
 README.md | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/README.md b/README.md
index 581dd1e..586e954 100644
--- a/README.md
+++ b/README.md
@@ -5,36 +5,36 @@ jsfeat
 
 The project aim is to explore JS/HTML5 possibilities using modern & state-of-art computer vision algorithms.
 
-[Examples and Documentation](http://inspirit.github.com/jsfeat/)
+[Examples and Documentation](https://inspirit.github.io/jsfeat/)
 
 ### Features ###
 
 * Custom data structures
 * Basic image processing methods (grayscale, derivatives, box-blur, resample, etc.)
- * grayscale ([Demo](http://inspirit.github.com/jsfeat/sample_grayscale.html))
- * box blur ([Demo](http://inspirit.github.com/jsfeat/sample_boxblur.html))
- * gaussian blur ([Demo](http://inspirit.github.com/jsfeat/sample_gaussblur.html))
- * equalize histogram ([Demo](http://inspirit.github.com/jsfeat/sample_equalize_hist.html))
- * canny edges ([Demo](http://inspirit.github.com/jsfeat/sample_canny_edge.html))
- * sobel deriv ([Demo](http://inspirit.github.com/jsfeat/sample_sobel.html))
- * scharr deriv ([Demo](http://inspirit.github.com/jsfeat/sample_scharr.html))
+ * grayscale ([Demo](https://inspirit.github.io/jsfeat/sample_grayscale.html))
+ * box blur ([Demo](https://inspirit.github.io/jsfeat/sample_boxblur.html))
+ * gaussian blur ([Demo](https://inspirit.github.io/jsfeat/sample_gaussblur.html))
+ * equalize histogram ([Demo](https://inspirit.github.io/jsfeat/sample_equalize_hist.html))
+ * canny edges ([Demo](https://inspirit.github.io/jsfeat/sample_canny_edge.html))
+ * sobel deriv ([Demo](https://inspirit.github.io/jsfeat/sample_sobel.html))
+ * scharr deriv ([Demo](https://inspirit.github.io/jsfeat/sample_scharr.html))
  * find more at Examples and Documentation page
 * Linear Algebra module
  * LU (Gaussian elimination) solver
  * Cholesky solver
  * SVD decomposition, solver and pseudo-inverse
  * Eigen Vectors and Values
-* Multiview module  ([Demo](http://inspirit.github.com/jsfeat/sample_videostab.html))
+* Multiview module  ([Demo](https://inspirit.github.io/jsfeat/sample_videostab.html))
  * Affine2D motion kernel
  * Homography2D motion kernel
  * RANSAC motion estimator
  * LMEDS motion estimator
 * Matrix Math module for various matrix operation such as traspose, multiply etc.
 * Features 2D
- * Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))
- * YAPE06 feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape06.html))
- * YAPE feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape.html))
- * ORB feature descriptor ([Demo](http://inspirit.github.com/jsfeat/sample_orb.html))
-* Lucas-Kanade optical flow ([Demo](http://inspirit.github.com/jsfeat/sample_oflow_lk.html) - click to add points)
-* HAAR object detector ([Demo](http://inspirit.github.com/jsfeat/sample_haar_face.html))
-* BBF object detector ([Demo](http://inspirit.github.com/jsfeat/sample_bbf_face.html))
+ * Fast Corners feature detector ([Demo](https://inspirit.github.io/jsfeat/sample_fast_corners.html))
+ * YAPE06 feature detector ([Demo](https://inspirit.github.io/jsfeat/sample_yape06.html))
+ * YAPE feature detector ([Demo](https://inspirit.github.io/jsfeat/sample_yape.html))
+ * ORB feature descriptor ([Demo](https://inspirit.github.io/jsfeat/sample_orb.html))
+* Lucas-Kanade optical flow ([Demo](https://inspirit.github.io/jsfeat/sample_oflow_lk.html) - click to add points)
+* HAAR object detector ([Demo](https://inspirit.github.io/jsfeat/sample_haar_face.html))
+* BBF object detector ([Demo](https://inspirit.github.io/jsfeat/sample_bbf_face.html))

From 7b778162577a72fd7cedf35565f42a90b3d62d97 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 1 Sep 2014 17:32:13 +0100
Subject: [PATCH 38/46] various fixes, added ORB descriptor

---
 build/jsfeat-min.js            |   2 +-
 build/jsfeat.js                | 511 ++++++++++++++++++++++++++-------
 compile/build.xml              |   1 +
 package.json                   |   2 +-
 src/jsfeat_fast_corners.js     |  85 ------
 src/jsfeat_imgproc.js          |   6 +-
 src/jsfeat_motion_estimator.js |   7 +-
 src/jsfeat_orb.js              | 396 +++++++++++++++++++++++++
 src/jsfeat_struct.js           |   4 +-
 src/jsfeat_yape06.js           |  13 +-
 10 files changed, 827 insertions(+), 200 deletions(-)
 create mode 100644 src/jsfeat_orb.js

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 44cea59..a36ba48 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,C,A,B){if(typeof z==="undefined"){z=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=0}if(typeof B==="undefined"){B=0}this.x=z;this.y=C;this.score=A;this.level=B}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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 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3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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(h(M,B)||h(s,B)){return false}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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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z=R.i32;for(;x<O;x++){D=x*I,B=D+I;t=(D+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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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 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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 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f=new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]);ic_angle=function(h,j,o,p,n){var k=0,i=0;var s=0,q=0,g=(n*j+p)|0;var l=0,m=0,r=0;for(s=-o;s<=o;++s){i+=s*h[g+s]}for(q=1;q<=o;++q){l=0;m=f[q];for(s=-m;s<=m;++s){r=h[g+s+q*j],val_minus=h[g+s-q*j];l+=(r-val_minus);i+=s*(r+val_minus)}k+=q*l}return Math.atan2(k,i)};var c=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);var e=new jsfeat.matrix_t(32,32,jsfeat.U8_t|jsfeat.C1_t);rectify_patch=function(l,n,k,i,h,j){var m=(k>=0)?Math.cos(k*Math.PI/180):1;var g=(k>=0)?Math.sin(k*Math.PI/180):0;c.data[0]=m,c.data[1]=-g,c.data[2]=(-m+g)*j*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+h;jsfeat.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=e.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;if(z==-1){u[x].angle=z=ic_angle(C,n,15,q,p)}rectify_patch(j,e,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index fa133dd..646743c 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -166,16 +166,18 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     })();
 
     var point2d_t = (function () {
-        function point2d_t(x,y,score,level) {
+        function point2d_t(x,y,score,level,angle) {
             if (typeof x === "undefined") { x=0; }
             if (typeof y === "undefined") { y=0; }
             if (typeof score === "undefined") { score=0; }
             if (typeof level === "undefined") { level=0; }
+            if (typeof angle === "undefined") { angle=-1.0; }
 
             this.x = x;
             this.y = y;
             this.score = score;
             this.level = level;
+            this.angle = angle;
         }
         return point2d_t;
     })();
@@ -1950,9 +1952,10 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
 	        }
 
 	        homography2d.prototype.check_subset = function(from, to, count) {
-	        	if( have_collinear_points(from, count) || have_collinear_points(to, count) ) {
-        			return false;
-        		}
+	        	// seems to reject good subsets actually
+	        	//if( have_collinear_points(from, count) || have_collinear_points(to, count) ) {
+        			//return false;
+        		//}
         		if( count == 4 ) {
 			        var negative = 0;
 
@@ -3397,9 +3400,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                     for(x = 0; x < dst_width; ++x, ++dptr, xs+=m00, ys+=m10) {
                         ixs = xs | 0; iys = ys | 0;
 
-                        if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
-                            a = Math.max(xs - ixs, 0.0);
-                            b = Math.max(ys - iys, 0.0);
+                        if(ixs >= 0 && iys >= 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
+                            a = xs - ixs;
+                            b = ys - iys;
                             off = src_width*iys + ixs;
 
                             p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
@@ -3459,10 +3462,6 @@ The references are:
 
         var offsets16 = 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]);
 
-        // decided to switch it off since other pattern sizes return quite poor points
-        //var offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
-        //var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
-
         var threshold_tab = new Uint8Array(512);
         var pixel_off = new Int32Array(25);
         var score_diff = new Int32Array(25);
@@ -3470,7 +3469,6 @@ The references are:
         // private functions
         var _cmp_offsets = function(pixel, step, pattern_size) {
             var k = 0;
-            //var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
             var offsets = offsets16;
             for( ; k < pattern_size; ++k ) {
                 pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
@@ -3479,79 +3477,7 @@ The references are:
                 pixel[k] = pixel[k - pattern_size];
             }
         },
-/*
-        _cmp_score_8 = function(src, off, pixel, d, threshold) {
-            var N = 13, k = 0, v = src[off];
-            var a0 = threshold,a=0,b0=0,b=0;
-
-            for( ; k < N; ++k ) {
-                d[k] = v - src[off+pixel[k]];
-            }
-
-            for( k = 0; k < 8; k += 2 ) {
-                a = Math.min(d[k+1], d[k+2]);
-
-                if( a <= a0 ) continue;
-
-                a = Math.min(a, d[k+3]);
-                a = Math.min(a, d[k+4]);
-                a0 = Math.max(a0, Math.min(a, d[k]));
-                a0 = Math.max(a0, Math.min(a, d[k+5]));
-            }
-
-            b0 = -a0;
-            for( k = 0; k < 8; k += 2 ) {
-                b = Math.max(d[k+1], d[k+2]);
-                b = Math.max(b, d[k+3]);
-
-                if( b >= b0 ) continue;
-
-                b = Math.max(b, d[k+4]);
-                b0 = Math.min(b0, Math.max(b, d[k]));
-                b0 = Math.min(b0, Math.max(b, d[k+5]));
-            }
-
-            return -b0-1;
-        },
-
-        _cmp_score_12 = function(src, off, pixel, d, threshold) {
-            var N = 19, k = 0, v = src[off];
-            var a0 = threshold,a=0,b0=0,b=0;
-
-            for( ; k < N; ++k ) {
-                d[k] = v - src[off+pixel[k]];
-            }
-
-            for( k = 0; k < 12; k += 2 ) {
-                a = Math.min(d[k+1], d[k+2]);
-
-                if( a <= a0 ) continue;
-
-                a = Math.min(a, d[k+3]);
-                a = Math.min(a, d[k+4]);
-                a = Math.min(a, d[k+5]);
-                a = Math.min(a, d[k+6]);
-                a0 = Math.max(a0, Math.min(a, d[k]));
-                a0 = Math.max(a0, Math.min(a, d[k+7]));
-            }
-
-            b0 = -a0;
-            for( k = 0; k < 12; k += 2 ) {
-                b = Math.max(d[k+1], d[k+2]);
-                b = Math.max(b, d[k+3]);
-                b = Math.max(b, d[k+4]);
-
-                if( b >= b0 ) continue;
-
-                b = Math.max(b, d[k+5]);
-                b = Math.max(b, d[k+6]);
-                b0 = Math.min(b0, Math.max(b, d[k]));
-                b0 = Math.min(b0, Math.max(b, d[k+7]));
-            }
 
-            return -b0-1;
-        },
-*/
         _cmp_score_16 = function(src, off, pixel, d, threshold) {
             var N = 25, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
@@ -3605,13 +3531,6 @@ The references are:
             },
             
             detect: function(src, corners, border) {
-                /*
-                if (typeof pattern_size === "undefined") { 
-                    pattern_size = 16; 
-                } else if(pattern_size != 16 && pattern_size!=12 && pattern_size!=8) {
-                    pattern_size = 16;
-                }
-                */
                 if (typeof border === "undefined") { border = 3; }
 
                 var K = 8, N = 25;
@@ -3628,7 +3547,6 @@ The references are:
                 var sx = Math.max(3, border);
                 var ex = Math.min((w - 3), (w - border));
                 var _count = 0, corners_cnt = 0, pt;
-                //var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var score_func = _cmp_score_16;
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
@@ -3792,12 +3710,11 @@ The references are:
     var yape06 = (function() {
         
         var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
-            var y=0,x=0,yrow=(Dxx*w)|0,row=yrow;
+            var y=0,x=0,yrow=(Dxx*w+Dxx)|0,row=yrow;
 
             for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
-                for(x = w - Dxx; x >= Dxx; --x) {
+                for(x = Dxx; x < w - Dxx; ++x, ++row) {
                     dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
-                    ++row;
                 }
             }
         }
@@ -3832,9 +3749,9 @@ The references are:
                 while(--x>=0) {laplacian[x]=0;}
                 compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
 
-                row = (w+1)|0;
-                for(y = 1; y < h-1; ++y, row += w) {
-                    for(x = 1, rowx=row; x < w-1; ++x, ++rowx) {
+                row = (Dxx*w+Dxx)|0;
+                for(y = Dxx; y < h-Dxx; ++y, row += w) {
+                    for(x = Dxx, rowx=row; x < w-Dxx; ++x, ++rowx) {
 
                         lv = laplacian[rowx];
                         if ((lv < -lap_thresh &&
@@ -3855,7 +3772,7 @@ The references are:
                                 pt = points[number_of_points];
                                 pt.x = x, pt.y = y, pt.score = min_eigen_value;
                                 ++number_of_points;
-                                ++x, ++rowx;
+                                ++x, ++rowx; // skip next pixel since this is maxima in 3x3
                             }
                         }
                     }
@@ -4281,6 +4198,402 @@ The references are:
 
     global.yape = yape;
 
+})(jsfeat);
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * Original implementation derived from OpenCV,
+ * @authors Ethan Rublee, Vincent Rabaud, Gary Bradski
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var orb = (function() {
+
+    	var bit_pattern_31_ = new Int32Array([
+		    8,-3, 9,5/*mean (0), correlation (0)*/,
+		    4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/,
+		    -11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/,
+		    7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/,
+		    2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/,
+		    1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/,
+		    -2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/,
+		    -13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/,
+		    -13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/,
+		    10,4, 11,9/*mean (0.122065), correlation (0.093285)*/,
+		    -13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/,
+		    -11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/,
+		    7,7, 12,6/*mean (0.160583), correlation (0.130064)*/,
+		    -4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/,
+		    -13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/,
+		    -9,0, -7,5/*mean (0.198234), correlation (0.143636)*/,
+		    12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/,
+		    -3,6, -2,12/*mean (0.166847), correlation (0.171682)*/,
+		    -6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/,
+		    11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/,
+		    4,7, 5,1/*mean (0.205106), correlation (0.186848)*/,
+		    5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/,
+		    3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/,
+		    -8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/,
+		    -2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/,
+		    -13,12, -8,10/*mean (0.14783), correlation (0.206356)*/,
+		    -7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/,
+		    -4,2, -3,7/*mean (0.188237), correlation (0.21384)*/,
+		    -10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/,
+		    5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/,
+		    5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/,
+		    1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/,
+		    9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/,
+		    4,7, 4,12/*mean (0.131005), correlation (0.257622)*/,
+		    2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/,
+		    -4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/,
+		    -8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/,
+		    4,11, 9,12/*mean (0.226226), correlation (0.258255)*/,
+		    0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/,
+		    -13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/,
+		    -3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/,
+		    -6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/,
+		    8,12, 10,7/*mean (0.225337), correlation (0.282851)*/,
+		    0,9, 1,3/*mean (0.226687), correlation (0.278734)*/,
+		    7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/,
+		    -13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/,
+		    10,7, 12,1/*mean (0.125517), correlation (0.31089)*/,
+		    -6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/,
+		    10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/,
+		    -13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/,
+		    -13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/,
+		    3,3, 7,8/*mean (0.177755), correlation (0.309394)*/,
+		    5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/,
+		    -1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/,
+		    3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/,
+		    2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/,
+		    -13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/,
+		    -13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/,
+		    -13,3, -11,8/*mean (0.134222), correlation (0.322922)*/,
+		    -7,12, -4,7/*mean (0.153284), correlation (0.337061)*/,
+		    6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/,
+		    -9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/,
+		    -2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/,
+		    -12,5, -7,5/*mean (0.207805), correlation (0.335631)*/,
+		    3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/,
+		    -7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/,
+		    -3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/,
+		    2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/,
+		    -11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/,
+		    -1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/,
+		    5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/,
+		    -4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/,
+		    -9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/,
+		    -12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/,
+		    10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/,
+		    7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/,
+		    -7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/,
+		    -4,9, -3,4/*mean (0.099865), correlation (0.372276)*/,
+		    7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/,
+		    -7,6, -5,1/*mean (0.126125), correlation (0.369606)*/,
+		    -13,11, -12,5/*mean (0.130364), correlation (0.358502)*/,
+		    -3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/,
+		    7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/,
+		    -13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/,
+		    1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/,
+		    2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/,
+		    -4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/,
+		    -1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/,
+		    7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/,
+		    1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/,
+		    9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/,
+		    -1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/,
+		    -13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/,
+		    7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/,
+		    12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/,
+		    6,3, 7,11/*mean (0.1074), correlation (0.413224)*/,
+		    5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/,
+		    2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/,
+		    3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/,
+		    2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/,
+		    9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/,
+		    -8,4, -7,9/*mean (0.183682), correlation (0.402956)*/,
+		    -11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/,
+		    1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/,
+		    6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/,
+		    2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/,
+		    6,3, 11,0/*mean (0.204588), correlation (0.411762)*/,
+		    3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/,
+		    7,8, 9,3/*mean (0.213237), correlation (0.409306)*/,
+		    -11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/,
+		    -10,11, -5,10/*mean (0.247672), correlation (0.413392)*/,
+		    -5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/,
+		    -10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/,
+		    8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/,
+		    4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/,
+		    -10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/,
+		    4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/,
+		    -2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/,
+		    -5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/,
+		    7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/,
+		    -9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/,
+		    -5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/,
+		    8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/,
+		    -9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/,
+		    1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/,
+		    7,-4, 9,1/*mean (0.132692), correlation (0.454)*/,
+		    -2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/,
+		    11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/,
+		    -12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/,
+		    3,7, 7,12/*mean (0.147627), correlation (0.456643)*/,
+		    5,5, 10,8/*mean (0.152901), correlation (0.455036)*/,
+		    0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/,
+		    -9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/,
+		    0,7, 2,12/*mean (0.18312), correlation (0.433855)*/,
+		    -1,2, 1,7/*mean (0.185504), correlation (0.443838)*/,
+		    5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/,
+		    3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/,
+		    -13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/,
+		    -5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/,
+		    -4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/,
+		    6,5, 8,0/*mean (0.1972), correlation (0.450481)*/,
+		    -7,6, -6,12/*mean (0.199438), correlation (0.458156)*/,
+		    -13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/,
+		    1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/,
+		    4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/,
+		    -2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/,
+		    2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/,
+		    -2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/,
+		    4,1, 9,3/*mean (0.23962), correlation (0.444824)*/,
+		    -6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/,
+		    -3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/,
+		    7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/,
+		    4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/,
+		    -13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/,
+		    7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/,
+		    7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/,
+		    -7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/,
+		    -8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/,
+		    -13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/,
+		    2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/,
+		    10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/,
+		    -6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/,
+		    8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/,
+		    2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/,
+		    -11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/,
+		    -12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/,
+		    -11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/,
+		    5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/,
+		    -2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/,
+		    -1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/,
+		    -13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/,
+		    -10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/,
+		    -3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/,
+		    2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/,
+		    -9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/,
+		    -4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/,
+		    -4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/,
+		    -6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/,
+		    6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/,
+		    -13,11, -5,5/*mean (0.162427), correlation (0.501907)*/,
+		    11,11, 12,6/*mean (0.16652), correlation (0.497632)*/,
+		    7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/,
+		    -1,12, 0,7/*mean (0.169456), correlation (0.495339)*/,
+		    -4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/,
+		    -7,1, -6,7/*mean (0.175), correlation (0.500024)*/,
+		    -13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/,
+		    -7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/,
+		    -8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/,
+		    -5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/,
+		    -13,7, -8,10/*mean (0.196739), correlation (0.496503)*/,
+		    1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/,
+		    1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/,
+		    9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/,
+		    5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/,
+		    -1,11, 1,-13/*mean (0.212), correlation (0.499414)*/,
+		    -9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/,
+		    -1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/,
+		    -13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/,
+		    8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/,
+		    2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/,
+		    7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/,
+		    -10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/,
+		    -10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/,
+		    4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/,
+		    3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/,
+		    -4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/,
+		    5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/,
+		    4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/,
+		    -9,9, -4,3/*mean (0.236977), correlation (0.497739)*/,
+		    0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/,
+		    -12,1, -6,1/*mean (0.243297), correlation (0.489447)*/,
+		    3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/,
+		    -10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/,
+		    8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/,
+		    -8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/,
+		    2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/,
+		    10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/,
+		    6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/,
+		    -7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/,
+		    -3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/,
+		    -1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/,
+		    -3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/,
+		    -8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/,
+		    4,2, 12,12/*mean (0.01778), correlation (0.546921)*/,
+		    2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/,
+		    6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/,
+		    3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/,
+		    11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/,
+		    -3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/,
+		    4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/,
+		    2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/,
+		    -10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/,
+		    -13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/,
+		    -13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/,
+		    6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/,
+		    0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/,
+		    -13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/,
+		    -9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/,
+		    -13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/,
+		    5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/,
+		    2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/,
+		    -1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/,
+		    9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/,
+		    11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/,
+		    3,0, 3,5/*mean (0.101147), correlation (0.525576)*/,
+		    -1,4, 0,10/*mean (0.105263), correlation (0.531498)*/,
+		    3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/,
+		    -13,0, -10,5/*mean (0.112798), correlation (0.536582)*/,
+		    5,8, 12,11/*mean (0.114181), correlation (0.555793)*/,
+		    8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/,
+		    7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/,
+		    -10,4, -10,9/*mean (0.12094), correlation (0.554785)*/,
+		    7,3, 12,4/*mean (0.122582), correlation (0.555825)*/,
+		    9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
+		    7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
+		    -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
+		]);
+
+		var u_max = new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]);
+
+		ic_angle = function(src, step, half_k, ptx, pty) {
+	        var m_01 = 0, m_10 = 0;
+	        var u=0, v=0, center_off=(pty*step + ptx)|0;
+	        var v_sum=0,d=0,val_plus=0;
+	        
+	        // Treat the center line differently, v=0
+	        for (u = -half_k; u <= half_k; ++u)
+	            m_10 += u * src[center_off+u];
+	        
+	        // Go line by line in the circular patch
+	        for (v = 1; v <= half_k; ++v) {
+	            // Proceed over the two lines
+	            v_sum = 0;
+	            d = u_max[v];
+	            for (u = -d; u <= d; ++u) {
+	                val_plus = src[center_off+u+v*step], val_minus = src[center_off+u-v*step];
+	                v_sum += (val_plus - val_minus);
+	                m_10 += u * (val_plus + val_minus);
+	            }
+	            m_01 += v * v_sum;
+	        }
+	        
+	        return Math.atan2(m_01, m_10);
+	    };
+
+	    var H = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	    var patch_img = new jsfeat.matrix_t(32, 32, jsfeat.U8_t|jsfeat.C1_t);
+
+	    rectify_patch = function(src, dst, angle, px, py, psize) {
+	    	var cosine = (angle>=0) ? Math.cos(angle*Math.PI/180) : 1.0;
+	    	var sine   = (angle>=0) ? Math.sin(angle*Math.PI/180) : 0.0;
+
+	        H.data[0] = cosine, H.data[1] = -sine,    H.data[2] = (-cosine + sine  ) * psize*0.5 + px,
+	        H.data[3] = sine,   H.data[4] =  cosine,  H.data[5] = (-sine   - cosine) * psize*0.5 + py;
+
+	        jsfeat.warp_affine(src, dst, H, 128);
+	    };
+
+    	return {
+
+    		describe: function(src, corners, count, descriptors) {
+    			var DESCR_SIZE = 32; // bytes;
+				var i=0,b=0,px=0.0,py=0.0,angle=0.0;
+				var t0=0, t1=0, val=0;
+				var img = src.data, w = src.cols, h = src.rows;
+				var patch_d = patch_img.data;
+				var patch_off = 16*32 + 16; // center of patch
+				var patt=0;
+
+				if(!(descriptors.type&jsfeat.U8_t)) {
+					// relocate to U8 type
+					descriptors.type = jsfeat.U8_t;
+					descriptors.cols = DESCR_SIZE;
+	                descriptors.rows = count;
+	                descriptors.channel = 1;
+					descriptors.allocate();
+				} else {
+					descriptors.resize(DESCR_SIZE, count, 1);
+				}
+
+				var descr_d = descriptors.data;
+				var descr_off = 0;
+
+				for(i = 0; i < count; ++i) {
+					px = corners[i].x;
+					py = corners[i].y;
+					angle = corners[i].angle;
+
+					// estimate rotation if not available
+					if(angle == -1.0) {
+						corners[i].angle = angle = ic_angle(img, w, 15, px, py);
+					}
+
+					rectify_patch(src, patch_img, angle, px, py, 32);
+
+					// describe the patch
+					patt = 0;
+					for (b = 0; b < DESCR_SIZE; ++b) {
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val = (t0 < t1)|0;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 1;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 2;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 3;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 4;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 5;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 6;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 7;
+			            
+			            descr_d[descr_off+b] = val;
+			        }
+			        descr_off += DESCR_SIZE;
+				}
+    		}
+    	};
+    })();
+
+    global.orb = orb;
+
 })(jsfeat);
 /**
  * @author Eugene Zatepyakin / http://inspirit.ru/
diff --git a/compile/build.xml b/compile/build.xml
index d14c688..8225c78 100755
--- a/compile/build.xml
+++ b/compile/build.xml
@@ -13,6 +13,7 @@
                 <file name="jsfeat_fast_corners.js" />
                 <file name="jsfeat_yape06.js" />
                 <file name="jsfeat_yape.js" />
+                <file name="jsfeat_orb.js" />
                 <file name="jsfeat_optical_flow_lk.js" />
                 <file name="jsfeat_haar.js" />
                 <file name="jsfeat_bbf.js" />
diff --git a/package.json b/package.json
index 6484ba2..6bc3310 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
     "name" : "jsfeat",
-    "version" : "0.0.7",
+    "version" : "0.0.8",
     "description" : "JavaScript Computer Vision library",
     "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
     "files" : "build/jsfeat.js",
diff --git a/src/jsfeat_fast_corners.js b/src/jsfeat_fast_corners.js
index bf99dd2..5689439 100755
--- a/src/jsfeat_fast_corners.js
+++ b/src/jsfeat_fast_corners.js
@@ -19,10 +19,6 @@ The references are:
 
         var offsets16 = 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]);
 
-        // decided to switch it off since other pattern sizes return quite poor points
-        //var offsets12 = new Int32Array([0, 2, 1, 2, 2, 1, 2, 0, 2, -1, 1, -2, 0, -2, -1, -2, -2, -1, -2, 0, -2, 1, -1, 2]);
-        //var offsets8 = new Int32Array([0, 1, 1, 1, 1, 0, 1, -1, 0, -1, -1, -1, -1, 0, -1, 1]);
-
         var threshold_tab = new Uint8Array(512);
         var pixel_off = new Int32Array(25);
         var score_diff = new Int32Array(25);
@@ -30,7 +26,6 @@ The references are:
         // private functions
         var _cmp_offsets = function(pixel, step, pattern_size) {
             var k = 0;
-            //var offsets = pattern_size == 16 ? offsets16 : (pattern_size == 12 ? offsets12 : offsets8);
             var offsets = offsets16;
             for( ; k < pattern_size; ++k ) {
                 pixel[k] = offsets[k<<1] + offsets[(k<<1)+1] * step;
@@ -39,79 +34,7 @@ The references are:
                 pixel[k] = pixel[k - pattern_size];
             }
         },
-/*
-        _cmp_score_8 = function(src, off, pixel, d, threshold) {
-            var N = 13, k = 0, v = src[off];
-            var a0 = threshold,a=0,b0=0,b=0;
-
-            for( ; k < N; ++k ) {
-                d[k] = v - src[off+pixel[k]];
-            }
-
-            for( k = 0; k < 8; k += 2 ) {
-                a = Math.min(d[k+1], d[k+2]);
-
-                if( a <= a0 ) continue;
-
-                a = Math.min(a, d[k+3]);
-                a = Math.min(a, d[k+4]);
-                a0 = Math.max(a0, Math.min(a, d[k]));
-                a0 = Math.max(a0, Math.min(a, d[k+5]));
-            }
-
-            b0 = -a0;
-            for( k = 0; k < 8; k += 2 ) {
-                b = Math.max(d[k+1], d[k+2]);
-                b = Math.max(b, d[k+3]);
-
-                if( b >= b0 ) continue;
-
-                b = Math.max(b, d[k+4]);
-                b0 = Math.min(b0, Math.max(b, d[k]));
-                b0 = Math.min(b0, Math.max(b, d[k+5]));
-            }
-
-            return -b0-1;
-        },
-
-        _cmp_score_12 = function(src, off, pixel, d, threshold) {
-            var N = 19, k = 0, v = src[off];
-            var a0 = threshold,a=0,b0=0,b=0;
 
-            for( ; k < N; ++k ) {
-                d[k] = v - src[off+pixel[k]];
-            }
-
-            for( k = 0; k < 12; k += 2 ) {
-                a = Math.min(d[k+1], d[k+2]);
-
-                if( a <= a0 ) continue;
-
-                a = Math.min(a, d[k+3]);
-                a = Math.min(a, d[k+4]);
-                a = Math.min(a, d[k+5]);
-                a = Math.min(a, d[k+6]);
-                a0 = Math.max(a0, Math.min(a, d[k]));
-                a0 = Math.max(a0, Math.min(a, d[k+7]));
-            }
-
-            b0 = -a0;
-            for( k = 0; k < 12; k += 2 ) {
-                b = Math.max(d[k+1], d[k+2]);
-                b = Math.max(b, d[k+3]);
-                b = Math.max(b, d[k+4]);
-
-                if( b >= b0 ) continue;
-
-                b = Math.max(b, d[k+5]);
-                b = Math.max(b, d[k+6]);
-                b0 = Math.min(b0, Math.max(b, d[k]));
-                b0 = Math.min(b0, Math.max(b, d[k+7]));
-            }
-
-            return -b0-1;
-        },
-*/
         _cmp_score_16 = function(src, off, pixel, d, threshold) {
             var N = 25, k = 0, v = src[off];
             var a0 = threshold,a=0,b0=0,b=0;
@@ -165,13 +88,6 @@ The references are:
             },
             
             detect: function(src, corners, border) {
-                /*
-                if (typeof pattern_size === "undefined") { 
-                    pattern_size = 16; 
-                } else if(pattern_size != 16 && pattern_size!=12 && pattern_size!=8) {
-                    pattern_size = 16;
-                }
-                */
                 if (typeof border === "undefined") { border = 3; }
 
                 var K = 8, N = 25;
@@ -188,7 +104,6 @@ The references are:
                 var sx = Math.max(3, border);
                 var ex = Math.min((w - 3), (w - border));
                 var _count = 0, corners_cnt = 0, pt;
-                //var score_func = pattern_size == 16 ? _cmp_score_16 : (pattern_size == 12 ? _cmp_score_12 : _cmp_score_8);
                 var score_func = _cmp_score_16;
                 var thresh_tab = threshold_tab;
                 var threshold = _threshold;
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 6bbb672..e50b00c 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -1100,9 +1100,9 @@
                     for(x = 0; x < dst_width; ++x, ++dptr, xs+=m00, ys+=m10) {
                         ixs = xs | 0; iys = ys | 0;
 
-                        if(xs > 0 && ys > 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
-                            a = Math.max(xs - ixs, 0.0);
-                            b = Math.max(ys - iys, 0.0);
+                        if(ixs >= 0 && iys >= 0 && ixs < (src_width - 1) && iys < (src_height - 1)) {
+                            a = xs - ixs;
+                            b = ys - iys;
                             off = src_width*iys + ixs;
 
                             p0 = src_d[off] +  a * (src_d[off+1] - src_d[off]);
diff --git a/src/jsfeat_motion_estimator.js b/src/jsfeat_motion_estimator.js
index 055e0f1..b9eeea5 100755
--- a/src/jsfeat_motion_estimator.js
+++ b/src/jsfeat_motion_estimator.js
@@ -312,9 +312,10 @@
 	        }
 
 	        homography2d.prototype.check_subset = function(from, to, count) {
-	        	if( have_collinear_points(from, count) || have_collinear_points(to, count) ) {
-        			return false;
-        		}
+	        	// seems to reject good subsets actually
+	        	//if( have_collinear_points(from, count) || have_collinear_points(to, count) ) {
+        			//return false;
+        		//}
         		if( count == 4 ) {
 			        var negative = 0;
 
diff --git a/src/jsfeat_orb.js b/src/jsfeat_orb.js
new file mode 100644
index 0000000..c89e609
--- /dev/null
+++ b/src/jsfeat_orb.js
@@ -0,0 +1,396 @@
+/**
+ * @author Eugene Zatepyakin / http://inspirit.ru/
+ *
+ * Original implementation derived from OpenCV,
+ * @authors Ethan Rublee, Vincent Rabaud, Gary Bradski
+ */
+
+(function(global) {
+    "use strict";
+    //
+
+    var orb = (function() {
+
+    	var bit_pattern_31_ = new Int32Array([
+		    8,-3, 9,5/*mean (0), correlation (0)*/,
+		    4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/,
+		    -11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/,
+		    7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/,
+		    2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/,
+		    1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/,
+		    -2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/,
+		    -13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/,
+		    -13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/,
+		    10,4, 11,9/*mean (0.122065), correlation (0.093285)*/,
+		    -13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/,
+		    -11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/,
+		    7,7, 12,6/*mean (0.160583), correlation (0.130064)*/,
+		    -4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/,
+		    -13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/,
+		    -9,0, -7,5/*mean (0.198234), correlation (0.143636)*/,
+		    12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/,
+		    -3,6, -2,12/*mean (0.166847), correlation (0.171682)*/,
+		    -6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/,
+		    11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/,
+		    4,7, 5,1/*mean (0.205106), correlation (0.186848)*/,
+		    5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/,
+		    3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/,
+		    -8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/,
+		    -2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/,
+		    -13,12, -8,10/*mean (0.14783), correlation (0.206356)*/,
+		    -7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/,
+		    -4,2, -3,7/*mean (0.188237), correlation (0.21384)*/,
+		    -10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/,
+		    5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/,
+		    5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/,
+		    1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/,
+		    9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/,
+		    4,7, 4,12/*mean (0.131005), correlation (0.257622)*/,
+		    2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/,
+		    -4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/,
+		    -8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/,
+		    4,11, 9,12/*mean (0.226226), correlation (0.258255)*/,
+		    0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/,
+		    -13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/,
+		    -3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/,
+		    -6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/,
+		    8,12, 10,7/*mean (0.225337), correlation (0.282851)*/,
+		    0,9, 1,3/*mean (0.226687), correlation (0.278734)*/,
+		    7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/,
+		    -13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/,
+		    10,7, 12,1/*mean (0.125517), correlation (0.31089)*/,
+		    -6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/,
+		    10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/,
+		    -13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/,
+		    -13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/,
+		    3,3, 7,8/*mean (0.177755), correlation (0.309394)*/,
+		    5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/,
+		    -1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/,
+		    3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/,
+		    2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/,
+		    -13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/,
+		    -13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/,
+		    -13,3, -11,8/*mean (0.134222), correlation (0.322922)*/,
+		    -7,12, -4,7/*mean (0.153284), correlation (0.337061)*/,
+		    6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/,
+		    -9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/,
+		    -2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/,
+		    -12,5, -7,5/*mean (0.207805), correlation (0.335631)*/,
+		    3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/,
+		    -7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/,
+		    -3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/,
+		    2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/,
+		    -11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/,
+		    -1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/,
+		    5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/,
+		    -4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/,
+		    -9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/,
+		    -12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/,
+		    10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/,
+		    7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/,
+		    -7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/,
+		    -4,9, -3,4/*mean (0.099865), correlation (0.372276)*/,
+		    7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/,
+		    -7,6, -5,1/*mean (0.126125), correlation (0.369606)*/,
+		    -13,11, -12,5/*mean (0.130364), correlation (0.358502)*/,
+		    -3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/,
+		    7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/,
+		    -13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/,
+		    1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/,
+		    2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/,
+		    -4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/,
+		    -1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/,
+		    7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/,
+		    1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/,
+		    9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/,
+		    -1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/,
+		    -13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/,
+		    7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/,
+		    12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/,
+		    6,3, 7,11/*mean (0.1074), correlation (0.413224)*/,
+		    5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/,
+		    2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/,
+		    3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/,
+		    2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/,
+		    9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/,
+		    -8,4, -7,9/*mean (0.183682), correlation (0.402956)*/,
+		    -11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/,
+		    1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/,
+		    6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/,
+		    2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/,
+		    6,3, 11,0/*mean (0.204588), correlation (0.411762)*/,
+		    3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/,
+		    7,8, 9,3/*mean (0.213237), correlation (0.409306)*/,
+		    -11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/,
+		    -10,11, -5,10/*mean (0.247672), correlation (0.413392)*/,
+		    -5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/,
+		    -10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/,
+		    8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/,
+		    4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/,
+		    -10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/,
+		    4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/,
+		    -2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/,
+		    -5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/,
+		    7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/,
+		    -9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/,
+		    -5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/,
+		    8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/,
+		    -9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/,
+		    1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/,
+		    7,-4, 9,1/*mean (0.132692), correlation (0.454)*/,
+		    -2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/,
+		    11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/,
+		    -12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/,
+		    3,7, 7,12/*mean (0.147627), correlation (0.456643)*/,
+		    5,5, 10,8/*mean (0.152901), correlation (0.455036)*/,
+		    0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/,
+		    -9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/,
+		    0,7, 2,12/*mean (0.18312), correlation (0.433855)*/,
+		    -1,2, 1,7/*mean (0.185504), correlation (0.443838)*/,
+		    5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/,
+		    3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/,
+		    -13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/,
+		    -5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/,
+		    -4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/,
+		    6,5, 8,0/*mean (0.1972), correlation (0.450481)*/,
+		    -7,6, -6,12/*mean (0.199438), correlation (0.458156)*/,
+		    -13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/,
+		    1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/,
+		    4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/,
+		    -2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/,
+		    2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/,
+		    -2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/,
+		    4,1, 9,3/*mean (0.23962), correlation (0.444824)*/,
+		    -6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/,
+		    -3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/,
+		    7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/,
+		    4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/,
+		    -13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/,
+		    7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/,
+		    7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/,
+		    -7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/,
+		    -8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/,
+		    -13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/,
+		    2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/,
+		    10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/,
+		    -6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/,
+		    8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/,
+		    2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/,
+		    -11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/,
+		    -12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/,
+		    -11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/,
+		    5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/,
+		    -2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/,
+		    -1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/,
+		    -13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/,
+		    -10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/,
+		    -3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/,
+		    2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/,
+		    -9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/,
+		    -4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/,
+		    -4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/,
+		    -6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/,
+		    6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/,
+		    -13,11, -5,5/*mean (0.162427), correlation (0.501907)*/,
+		    11,11, 12,6/*mean (0.16652), correlation (0.497632)*/,
+		    7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/,
+		    -1,12, 0,7/*mean (0.169456), correlation (0.495339)*/,
+		    -4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/,
+		    -7,1, -6,7/*mean (0.175), correlation (0.500024)*/,
+		    -13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/,
+		    -7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/,
+		    -8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/,
+		    -5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/,
+		    -13,7, -8,10/*mean (0.196739), correlation (0.496503)*/,
+		    1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/,
+		    1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/,
+		    9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/,
+		    5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/,
+		    -1,11, 1,-13/*mean (0.212), correlation (0.499414)*/,
+		    -9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/,
+		    -1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/,
+		    -13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/,
+		    8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/,
+		    2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/,
+		    7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/,
+		    -10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/,
+		    -10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/,
+		    4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/,
+		    3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/,
+		    -4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/,
+		    5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/,
+		    4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/,
+		    -9,9, -4,3/*mean (0.236977), correlation (0.497739)*/,
+		    0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/,
+		    -12,1, -6,1/*mean (0.243297), correlation (0.489447)*/,
+		    3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/,
+		    -10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/,
+		    8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/,
+		    -8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/,
+		    2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/,
+		    10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/,
+		    6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/,
+		    -7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/,
+		    -3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/,
+		    -1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/,
+		    -3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/,
+		    -8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/,
+		    4,2, 12,12/*mean (0.01778), correlation (0.546921)*/,
+		    2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/,
+		    6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/,
+		    3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/,
+		    11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/,
+		    -3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/,
+		    4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/,
+		    2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/,
+		    -10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/,
+		    -13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/,
+		    -13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/,
+		    6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/,
+		    0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/,
+		    -13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/,
+		    -9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/,
+		    -13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/,
+		    5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/,
+		    2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/,
+		    -1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/,
+		    9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/,
+		    11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/,
+		    3,0, 3,5/*mean (0.101147), correlation (0.525576)*/,
+		    -1,4, 0,10/*mean (0.105263), correlation (0.531498)*/,
+		    3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/,
+		    -13,0, -10,5/*mean (0.112798), correlation (0.536582)*/,
+		    5,8, 12,11/*mean (0.114181), correlation (0.555793)*/,
+		    8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/,
+		    7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/,
+		    -10,4, -10,9/*mean (0.12094), correlation (0.554785)*/,
+		    7,3, 12,4/*mean (0.122582), correlation (0.555825)*/,
+		    9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
+		    7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
+		    -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
+		]);
+
+		var u_max = new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]);
+
+		ic_angle = function(src, step, half_k, ptx, pty) {
+	        var m_01 = 0, m_10 = 0;
+	        var u=0, v=0, center_off=(pty*step + ptx)|0;
+	        var v_sum=0,d=0,val_plus=0;
+	        
+	        // Treat the center line differently, v=0
+	        for (u = -half_k; u <= half_k; ++u)
+	            m_10 += u * src[center_off+u];
+	        
+	        // Go line by line in the circular patch
+	        for (v = 1; v <= half_k; ++v) {
+	            // Proceed over the two lines
+	            v_sum = 0;
+	            d = u_max[v];
+	            for (u = -d; u <= d; ++u) {
+	                val_plus = src[center_off+u+v*step], val_minus = src[center_off+u-v*step];
+	                v_sum += (val_plus - val_minus);
+	                m_10 += u * (val_plus + val_minus);
+	            }
+	            m_01 += v * v_sum;
+	        }
+	        
+	        return Math.atan2(m_01, m_10);
+	    };
+
+	    var H = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
+	    var patch_img = new jsfeat.matrix_t(32, 32, jsfeat.U8_t|jsfeat.C1_t);
+
+	    rectify_patch = function(src, dst, angle, px, py, psize) {
+	    	var cosine = (angle>=0) ? Math.cos(angle*Math.PI/180) : 1.0;
+	    	var sine   = (angle>=0) ? Math.sin(angle*Math.PI/180) : 0.0;
+
+	        H.data[0] = cosine, H.data[1] = -sine,    H.data[2] = (-cosine + sine  ) * psize*0.5 + px,
+	        H.data[3] = sine,   H.data[4] =  cosine,  H.data[5] = (-sine   - cosine) * psize*0.5 + py;
+
+	        jsfeat.warp_affine(src, dst, H, 128);
+	    };
+
+    	return {
+
+    		describe: function(src, corners, count, descriptors) {
+    			var DESCR_SIZE = 32; // bytes;
+				var i=0,b=0,px=0.0,py=0.0,angle=0.0;
+				var t0=0, t1=0, val=0;
+				var img = src.data, w = src.cols, h = src.rows;
+				var patch_d = patch_img.data;
+				var patch_off = 16*32 + 16; // center of patch
+				var patt=0;
+
+				if(!(descriptors.type&jsfeat.U8_t)) {
+					// relocate to U8 type
+					descriptors.type = jsfeat.U8_t;
+					descriptors.cols = DESCR_SIZE;
+	                descriptors.rows = count;
+	                descriptors.channel = 1;
+					descriptors.allocate();
+				} else {
+					descriptors.resize(DESCR_SIZE, count, 1);
+				}
+
+				var descr_d = descriptors.data;
+				var descr_off = 0;
+
+				for(i = 0; i < count; ++i) {
+					px = corners[i].x;
+					py = corners[i].y;
+					angle = corners[i].angle;
+
+					// estimate rotation if not available
+					if(angle == -1.0) {
+						corners[i].angle = angle = ic_angle(img, w, 15, px, py);
+					}
+
+					rectify_patch(src, patch_img, angle, px, py, 32);
+
+					// describe the patch
+					patt = 0;
+					for (b = 0; b < DESCR_SIZE; ++b) {
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val = (t0 < t1)|0;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 1;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 2;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 3;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 4;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 5;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 6;
+			            
+			            t0 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            t1 = patch_d[patch_off + bit_pattern_31_[patt+1] * 32 + bit_pattern_31_[patt]]; patt += 2
+			            val |= (t0 < t1) << 7;
+			            
+			            descr_d[descr_off+b] = val;
+			        }
+			        descr_off += DESCR_SIZE;
+				}
+    		}
+    	};
+    })();
+
+    global.orb = orb;
+
+})(jsfeat);
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index b95d96d..4d7aaf0 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -160,16 +160,18 @@
     })();
 
     var point2d_t = (function () {
-        function point2d_t(x,y,score,level) {
+        function point2d_t(x,y,score,level,angle) {
             if (typeof x === "undefined") { x=0; }
             if (typeof y === "undefined") { y=0; }
             if (typeof score === "undefined") { score=0; }
             if (typeof level === "undefined") { level=0; }
+            if (typeof angle === "undefined") { angle=-1.0; }
 
             this.x = x;
             this.y = y;
             this.score = score;
             this.level = level;
+            this.angle = angle;
         }
         return point2d_t;
     })();
diff --git a/src/jsfeat_yape06.js b/src/jsfeat_yape06.js
index 2d1559b..55664dd 100755
--- a/src/jsfeat_yape06.js
+++ b/src/jsfeat_yape06.js
@@ -13,12 +13,11 @@
     var yape06 = (function() {
         
         var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
-            var y=0,x=0,yrow=(Dxx*w)|0,row=yrow;
+            var y=0,x=0,yrow=(Dxx*w+Dxx)|0,row=yrow;
 
             for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
-                for(x = w - Dxx; x >= Dxx; --x) {
+                for(x = Dxx; x < w - Dxx; ++x, ++row) {
                     dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
-                    ++row;
                 }
             }
         }
@@ -53,9 +52,9 @@
                 while(--x>=0) {laplacian[x]=0;}
                 compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
 
-                row = (w+1)|0;
-                for(y = 1; y < h-1; ++y, row += w) {
-                    for(x = 1, rowx=row; x < w-1; ++x, ++rowx) {
+                row = (Dxx*w+Dxx)|0;
+                for(y = Dxx; y < h-Dxx; ++y, row += w) {
+                    for(x = Dxx, rowx=row; x < w-Dxx; ++x, ++rowx) {
 
                         lv = laplacian[rowx];
                         if ((lv < -lap_thresh &&
@@ -76,7 +75,7 @@
                                 pt = points[number_of_points];
                                 pt.x = x, pt.y = y, pt.score = min_eigen_value;
                                 ++number_of_points;
-                                ++x, ++rowx;
+                                ++x, ++rowx; // skip next pixel since this is maxima in 3x3
                             }
                         }
                     }

From f57e88cbba55d9565e773ecf5e4a9a1cbe59f274 Mon Sep 17 00:00:00 2001
From: Seamus Minogue <sminogue@yahoo.com>
Date: Thu, 13 Apr 2017 13:39:11 -0400
Subject: [PATCH 39/46] updated build files.

Changes to the master have been made since the last time the combined and minimized jsfeat.js files were last updated. Specifically hough_transform support has been added.
---
 build/jsfeat-min.js |  2 +-
 build/jsfeat.js     | 73 +++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 74 insertions(+), 1 deletion(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 8e47cac..f1dc9da 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-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 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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)*0.5;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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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 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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+0.5)|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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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*0.25+0.5)|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);
\ No newline at end of file
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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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+1-0.000001)|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>0.001){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)<0.001){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 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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)},hough_transform:function(D,q,C,m){var v=D.data;var x=D.cols;var u=D.rows;var p=x;min_theta=0;max_theta=Math.PI;numangle=Math.round((max_theta-min_theta)/C);numrho=Math.round(((x+u)*2+1)/q);irho=1/q;var A=new Int32Array((numangle+2)*(numrho+2));var g=new Float32Array(numangle);var k=new Float32Array(numangle);var w=0;var B=min_theta;for(;w<numangle;w++){g[w]=Math.sin(B)*irho;k[w]=Math.cos(B)*irho;B+=C}for(var z=0;z<u;z++){for(var y=0;y<x;y++){if(v[z*p+y]!=0){for(var w=0;w<numangle;w++){var t=Math.round(y*k[w]+z*g[w]);t+=(numrho-1)/2;A[(w+1)*(numrho+2)+t+1]+=1}}}}_sort_buf=new Array();for(var t=0;t<numrho;t++){for(var w=0;w<numangle;w++){var o=(w+1)*(numrho+2)+t+1;if(A[o]>m&&A[o]>A[o-1]&&A[o]>=A[o+1]&&A[o]>A[o-numrho-2]&&A[o]>=A[o+numrho+2]){_sort_buf.push(o)}}}_sort_buf.sort(function(j,i){return A[j]>A[i]||(A[j]==A[i]&&j<i)});linesMax=Math.min(numangle*numrho,_sort_buf.length);scale=1/(numrho+2);lines=new Array();for(var z=0;z<linesMax;z++){var s=_sort_buf[z];var w=Math.floor(s*scale)-1;var t=s-(w+1)*(numrho+2)-1;var l=(t-(numrho-1)*0.5)*q;var h=w*C;lines.push([l,h])}return lines},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 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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+0.5)|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 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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 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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))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 5618d41..f9cc93b 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -2933,6 +2933,79 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 jsfeat.cache.put_buffer(buf_node);
                 jsfeat.cache.put_buffer(filt_node);
             },
+            hough_transform: function( img, rho_res, theta_res, threshold ) {
+                var image = img.data;
+
+                var width = img.cols;
+                var height = img.rows;
+                var step = width;
+
+                min_theta = 0.0;
+                max_theta = Math.PI;
+
+                numangle = Math.round((max_theta - min_theta) / theta_res);
+                numrho = Math.round(((width + height) * 2 + 1) / rho_res);
+                irho = 1.0 / rho_res;
+
+                var accum = new Int32Array((numangle+2) * (numrho+2)); //typed arrays are initialized to 0
+                var tabSin = new Float32Array(numangle);
+                var tabCos = new Float32Array(numangle);
+
+                var n=0;
+                var ang = min_theta;
+                for(; n < numangle; n++ ) {
+                    tabSin[n] = Math.sin(ang) * irho;
+                    tabCos[n] = Math.cos(ang) * irho;
+                    ang += theta_res
+                }
+
+                // stage 1. fill accumulator
+                for( var i = 0; i < height; i++ ) {
+                    for( var j = 0; j < width; j++ ) {
+                        if( image[i * step + j] != 0 ) {
+                            //console.log(r, (n+1) * (numrho+2) + r+1, tabCos[n], tabSin[n]);
+                            for(var n = 0; n < numangle; n++ ) {
+                                var r = Math.round( j * tabCos[n] + i * tabSin[n] );
+                                r += (numrho - 1) / 2;
+                                accum[(n+1) * (numrho+2) + r+1] += 1;
+                            }
+                        }
+                    }
+                }
+
+                // stage 2. find local maximums
+                //TODO: Consider making a vector class that uses typed arrays
+                _sort_buf = new Array();
+                for(var r = 0; r < numrho; r++ ) {
+                    for(var n = 0; n < numangle; n++ ) {
+                        var base = (n+1) * (numrho+2) + r+1;
+                        if( accum[base] > threshold &&
+                            accum[base] > accum[base - 1] && accum[base] >= accum[base + 1] &&
+                            accum[base] > accum[base - numrho - 2] && accum[base] >= accum[base + numrho + 2] ) {
+                            _sort_buf.push(base);
+                        }
+                    }
+                }
+
+                // stage 3. sort the detected lines by accumulator value
+                _sort_buf.sort(function(l1, l2) {
+                    return accum[l1] > accum[l2] || (accum[l1] == accum[l2] && l1 < l2);
+                });
+
+                // stage 4. store the first min(total,linesMax) lines to the output buffer
+                linesMax = Math.min(numangle*numrho, _sort_buf.length);
+                scale = 1.0 / (numrho+2);
+                lines = new Array();
+                for( var i = 0; i < linesMax; i++ ) {
+                    var idx = _sort_buf[i];
+                    var n = Math.floor(idx*scale) - 1;
+                    var r = idx - (n+1)*(numrho+2) - 1;
+                    var lrho = (r - (numrho - 1)*0.5) * rho_res;
+                    var langle = n * theta_res;
+                    lines.push([lrho, langle]);
+                }
+                return lines;
+            },
             // assume we always need it for u8 image
             pyrdown: function(src, dst, sx, sy) {
                 // this is needed for bbf

From 8a1bbf97005a84d4d032aad1e07c814041d1efa4 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 1 Sep 2014 20:35:24 +0100
Subject: [PATCH 40/46] orb

---
 src/jsfeat_orb.js | 40 ++++------------------------------------
 1 file changed, 4 insertions(+), 36 deletions(-)

diff --git a/src/jsfeat_orb.js b/src/jsfeat_orb.js
index c89e609..bf5f22a 100644
--- a/src/jsfeat_orb.js
+++ b/src/jsfeat_orb.js
@@ -270,45 +270,18 @@
 		    -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
 		]);
 
-		var u_max = new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]);
-
-		ic_angle = function(src, step, half_k, ptx, pty) {
-	        var m_01 = 0, m_10 = 0;
-	        var u=0, v=0, center_off=(pty*step + ptx)|0;
-	        var v_sum=0,d=0,val_plus=0;
-	        
-	        // Treat the center line differently, v=0
-	        for (u = -half_k; u <= half_k; ++u)
-	            m_10 += u * src[center_off+u];
-	        
-	        // Go line by line in the circular patch
-	        for (v = 1; v <= half_k; ++v) {
-	            // Proceed over the two lines
-	            v_sum = 0;
-	            d = u_max[v];
-	            for (u = -d; u <= d; ++u) {
-	                val_plus = src[center_off+u+v*step], val_minus = src[center_off+u-v*step];
-	                v_sum += (val_plus - val_minus);
-	                m_10 += u * (val_plus + val_minus);
-	            }
-	            m_01 += v * v_sum;
-	        }
-	        
-	        return Math.atan2(m_01, m_10);
-	    };
-
 	    var H = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
 	    var patch_img = new jsfeat.matrix_t(32, 32, jsfeat.U8_t|jsfeat.C1_t);
 
-	    rectify_patch = function(src, dst, angle, px, py, psize) {
-	    	var cosine = (angle>=0) ? Math.cos(angle*Math.PI/180) : 1.0;
-	    	var sine   = (angle>=0) ? Math.sin(angle*Math.PI/180) : 0.0;
+	    var rectify_patch = function(src, dst, angle, px, py, psize) {
+	    	var cosine = Math.cos(angle);
+	    	var sine   = Math.sin(angle);
 
 	        H.data[0] = cosine, H.data[1] = -sine,    H.data[2] = (-cosine + sine  ) * psize*0.5 + px,
 	        H.data[3] = sine,   H.data[4] =  cosine,  H.data[5] = (-sine   - cosine) * psize*0.5 + py;
 
 	        jsfeat.warp_affine(src, dst, H, 128);
-	    };
+	    }
 
     	return {
 
@@ -340,11 +313,6 @@
 					py = corners[i].y;
 					angle = corners[i].angle;
 
-					// estimate rotation if not available
-					if(angle == -1.0) {
-						corners[i].angle = angle = ic_angle(img, w, 15, px, py);
-					}
-
 					rectify_patch(src, patch_img, angle, px, py, 32);
 
 					// describe the patch

From c152e30e627f1771b1930f3dfb6006f8e734f1e3 Mon Sep 17 00:00:00 2001
From: literalpie <benjaminkindle@yahoo.com>
Date: Wed, 14 Feb 2018 16:02:19 -0500
Subject: [PATCH 41/46] fix: declare all variables in Hough Transform

Some variables in the `hough_transform` function were not declared.
---
 src/jsfeat_imgproc.js | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index 58e8839..5462684 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -628,12 +628,12 @@
                 var height = img.rows;
                 var step = width;
 
-                min_theta = 0.0;
-                max_theta = Math.PI;
+                var min_theta = 0.0;
+                var max_theta = Math.PI;
 
-                numangle = Math.round((max_theta - min_theta) / theta_res);
-                numrho = Math.round(((width + height) * 2 + 1) / rho_res);
-                irho = 1.0 / rho_res;
+                var numangle = Math.round((max_theta - min_theta) / theta_res);
+                var numrho = Math.round(((width + height) * 2 + 1) / rho_res);
+                var irho = 1.0 / rho_res;
 
                 var accum = new Int32Array((numangle+2) * (numrho+2)); //typed arrays are initialized to 0
                 var tabSin = new Float32Array(numangle);
@@ -663,7 +663,7 @@
 
                 // stage 2. find local maximums
                 //TODO: Consider making a vector class that uses typed arrays
-                _sort_buf = new Array();
+                var _sort_buf = new Array();
                 for(var r = 0; r < numrho; r++ ) {
                     for(var n = 0; n < numangle; n++ ) {
                         var base = (n+1) * (numrho+2) + r+1;
@@ -681,9 +681,9 @@
                 });
 
                 // stage 4. store the first min(total,linesMax) lines to the output buffer
-                linesMax = Math.min(numangle*numrho, _sort_buf.length);
-                scale = 1.0 / (numrho+2);
-                lines = new Array();
+                var linesMax = Math.min(numangle*numrho, _sort_buf.length);
+                var scale = 1.0 / (numrho+2);
+                var lines = new Array();
                 for( var i = 0; i < linesMax; i++ ) {
                     var idx = _sort_buf[i];
                     var n = Math.floor(idx*scale) - 1;

From 8ed79550605fc1a544f4ab6c098956817ad3b551 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 1 Sep 2014 21:28:12 +0100
Subject: [PATCH 42/46] recompile

---
 build/jsfeat-min.js |  2 +-
 build/jsfeat.js     | 40 ++++------------------------------------
 2 files changed, 5 insertions(+), 37 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index a36ba48..f703a5a 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,D,B,C,A){if(typeof z==="undefined"){z=0}if(typeof D==="undefined"){D=0}if(typeof B==="undefined"){B=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=-1}this.x=z;this.y=D;this.score=B;this.level=C;this.angle=A}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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+1-0.000001)|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>0.001){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)<0.001){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 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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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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f=new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]);ic_angle=function(h,j,o,p,n){var k=0,i=0;var s=0,q=0,g=(n*j+p)|0;var l=0,m=0,r=0;for(s=-o;s<=o;++s){i+=s*h[g+s]}for(q=1;q<=o;++q){l=0;m=f[q];for(s=-m;s<=m;++s){r=h[g+s+q*j],val_minus=h[g+s-q*j];l+=(r-val_minus);i+=s*(r+val_minus)}k+=q*l}return Math.atan2(k,i)};var c=new jsfeat.matrix_t(3,3,jsfeat.F32_t|jsfeat.C1_t);var e=new jsfeat.matrix_t(32,32,jsfeat.U8_t|jsfeat.C1_t);rectify_patch=function(l,n,k,i,h,j){var m=(k>=0)?Math.cos(k*Math.PI/180):1;var g=(k>=0)?Math.sin(k*Math.PI/180):0;c.data[0]=m,c.data[1]=-g,c.data[2]=(-m+g)*j*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+h;jsfeat.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=e.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;if(z==-1){u[x].angle=z=ic_angle(C,n,15,q,p)}rectify_patch(j,e,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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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)*0.5;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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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 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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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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h,n;h=k;for(n=0;n<h;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|0;m[j]=(h+l*n)}for(h--;h<n&&h>=0;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(;-h<n;h--,j++){n=(Math.sqrt((k*k-h*h))+0.5)|0;m[j]=(h+l*n)}for(n--;n>=0;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(;n>h;n--,j++){h=(-Math.sqrt((k*k-n*n))-0.5)|0;m[j]=(h+l*n)}for(h++;h<=0;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(;h<-n;h++,j++){n=(-Math.sqrt((k*k-h*h))-0.5)|0;m[j]=(h+l*n)}for(n++;n<0;n++,j++){h=(Math.sqrt((k*k-n*n))+0.5)|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 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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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+h;jsfeat.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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 646743c..1a7aa26 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4471,45 +4471,18 @@ The references are:
 		    -1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
 		]);
 
-		var u_max = new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]);
-
-		ic_angle = function(src, step, half_k, ptx, pty) {
-	        var m_01 = 0, m_10 = 0;
-	        var u=0, v=0, center_off=(pty*step + ptx)|0;
-	        var v_sum=0,d=0,val_plus=0;
-	        
-	        // Treat the center line differently, v=0
-	        for (u = -half_k; u <= half_k; ++u)
-	            m_10 += u * src[center_off+u];
-	        
-	        // Go line by line in the circular patch
-	        for (v = 1; v <= half_k; ++v) {
-	            // Proceed over the two lines
-	            v_sum = 0;
-	            d = u_max[v];
-	            for (u = -d; u <= d; ++u) {
-	                val_plus = src[center_off+u+v*step], val_minus = src[center_off+u-v*step];
-	                v_sum += (val_plus - val_minus);
-	                m_10 += u * (val_plus + val_minus);
-	            }
-	            m_01 += v * v_sum;
-	        }
-	        
-	        return Math.atan2(m_01, m_10);
-	    };
-
 	    var H = new jsfeat.matrix_t(3, 3, jsfeat.F32_t|jsfeat.C1_t);
 	    var patch_img = new jsfeat.matrix_t(32, 32, jsfeat.U8_t|jsfeat.C1_t);
 
-	    rectify_patch = function(src, dst, angle, px, py, psize) {
-	    	var cosine = (angle>=0) ? Math.cos(angle*Math.PI/180) : 1.0;
-	    	var sine   = (angle>=0) ? Math.sin(angle*Math.PI/180) : 0.0;
+	    var rectify_patch = function(src, dst, angle, px, py, psize) {
+	    	var cosine = Math.cos(angle);
+	    	var sine   = Math.sin(angle);
 
 	        H.data[0] = cosine, H.data[1] = -sine,    H.data[2] = (-cosine + sine  ) * psize*0.5 + px,
 	        H.data[3] = sine,   H.data[4] =  cosine,  H.data[5] = (-sine   - cosine) * psize*0.5 + py;
 
 	        jsfeat.warp_affine(src, dst, H, 128);
-	    };
+	    }
 
     	return {
 
@@ -4541,11 +4514,6 @@ The references are:
 					py = corners[i].y;
 					angle = corners[i].angle;
 
-					// estimate rotation if not available
-					if(angle == -1.0) {
-						corners[i].angle = angle = ic_angle(img, w, 15, px, py);
-					}
-
 					rectify_patch(src, patch_img, angle, px, py, 32);
 
 					// describe the patch

From 572684e0a854eec140cdb454ac3fa24d076e962e Mon Sep 17 00:00:00 2001
From: Iwo Kadziela <ikadziela@admins-MacBook-Pro-5.local>
Date: Fri, 21 Jun 2019 13:48:16 -0400
Subject: [PATCH 43/46] fixing demos, createObjectURL is deprecated, trying
 srcObject first

---
 sample_bbf_face.html         | 4 ++--
 sample_boxblur.html          | 4 ++--
 sample_canny_edge.html       | 4 ++--
 sample_equalize_hist.html    | 4 ++--
 sample_fast_corners.html     | 4 ++--
 sample_gaussblur.html        | 4 ++--
 sample_grayscale.html        | 4 ++--
 sample_haar_face.html        | 4 ++--
 sample_oflow_lk.html         | 4 ++--
 sample_orb.html              | 4 ++--
 sample_pyrdown.html          | 4 ++--
 sample_scharr.html           | 4 ++--
 sample_sobel.html            | 4 ++--
 sample_sobel_edge.html       | 4 ++--
 sample_videostab.html        | 4 ++--
 sample_warp_affine.html      | 4 ++--
 sample_warp_perspective.html | 4 ++--
 sample_yape.html             | 4 ++--
 sample_yape06.html           | 4 ++--
 19 files changed, 38 insertions(+), 38 deletions(-)

diff --git a/sample_bbf_face.html b/sample_bbf_face.html
index d0185e3..fa42d06 100755
--- a/sample_bbf_face.html
+++ b/sample_bbf_face.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_boxblur.html b/sample_boxblur.html
index b5cb0ff..1bf8351 100755
--- a/sample_boxblur.html
+++ b/sample_boxblur.html
@@ -72,9 +72,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_canny_edge.html b/sample_canny_edge.html
index 202583b..a733167 100755
--- a/sample_canny_edge.html
+++ b/sample_canny_edge.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_equalize_hist.html b/sample_equalize_hist.html
index e342791..98dc658 100755
--- a/sample_equalize_hist.html
+++ b/sample_equalize_hist.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_fast_corners.html b/sample_fast_corners.html
index a7d7c56..5b04c19 100755
--- a/sample_fast_corners.html
+++ b/sample_fast_corners.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_gaussblur.html b/sample_gaussblur.html
index a8c7db4..4644dfb 100755
--- a/sample_gaussblur.html
+++ b/sample_gaussblur.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_grayscale.html b/sample_grayscale.html
index 70aa0f7..1710487 100755
--- a/sample_grayscale.html
+++ b/sample_grayscale.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_haar_face.html b/sample_haar_face.html
index c9b9fcd..d7b849b 100755
--- a/sample_haar_face.html
+++ b/sample_haar_face.html
@@ -72,9 +72,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_oflow_lk.html b/sample_oflow_lk.html
index 69f1092..1d9d78a 100755
--- a/sample_oflow_lk.html
+++ b/sample_oflow_lk.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_orb.html b/sample_orb.html
index 6443ee8..3e7392f 100644
--- a/sample_orb.html
+++ b/sample_orb.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_pyrdown.html b/sample_pyrdown.html
index 7e1ba2b..850ac43 100755
--- a/sample_pyrdown.html
+++ b/sample_pyrdown.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_scharr.html b/sample_scharr.html
index 62b8cf3..09fe1f7 100644
--- a/sample_scharr.html
+++ b/sample_scharr.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_sobel.html b/sample_sobel.html
index b877beb..5d332ce 100644
--- a/sample_sobel.html
+++ b/sample_sobel.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_sobel_edge.html b/sample_sobel_edge.html
index 9fd833a..e9b6a2b 100644
--- a/sample_sobel_edge.html
+++ b/sample_sobel_edge.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_videostab.html b/sample_videostab.html
index e239d06..52e761c 100644
--- a/sample_videostab.html
+++ b/sample_videostab.html
@@ -222,9 +222,9 @@
 
                     compatibility.getUserMedia({video: true}, function(stream) {
                         try {
-                            video.src = compatibility.URL.createObjectURL(stream);
+                            video.srcObject = tream;
                         } catch (error) {
-                            video.src = stream;
+                            video.src = compatibility.URL.createObjectURL(stream);
                         }
                         setTimeout(function() {
                                 video.play();
diff --git a/sample_warp_affine.html b/sample_warp_affine.html
index a86be3e..935d4d7 100755
--- a/sample_warp_affine.html
+++ b/sample_warp_affine.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_warp_perspective.html b/sample_warp_perspective.html
index 3b6c7b4..24fea87 100755
--- a/sample_warp_perspective.html
+++ b/sample_warp_perspective.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_yape.html b/sample_yape.html
index a8e4b3c..c5cf24f 100755
--- a/sample_yape.html
+++ b/sample_yape.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_yape06.html b/sample_yape06.html
index b1711a2..eeea9f6 100755
--- a/sample_yape06.html
+++ b/sample_yape06.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = tream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();

From 57fd776d5947c54fc367f45854d92b526cf02850 Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Mon, 1 Sep 2014 21:35:02 +0100
Subject: [PATCH 44/46] method call fix

---
 build/jsfeat-min.js | 2 +-
 build/jsfeat.js     | 2 +-
 src/jsfeat_orb.js   | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index f703a5a..4d6e607 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
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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)*0.5;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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+h;jsfeat.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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 1a7aa26..6f7bf4a 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -4481,7 +4481,7 @@ The references are:
 	        H.data[0] = cosine, H.data[1] = -sine,    H.data[2] = (-cosine + sine  ) * psize*0.5 + px,
 	        H.data[3] = sine,   H.data[4] =  cosine,  H.data[5] = (-sine   - cosine) * psize*0.5 + py;
 
-	        jsfeat.warp_affine(src, dst, H, 128);
+	        jsfeat.imgproc.warp_affine(src, dst, H, 128);
 	    }
 
     	return {
diff --git a/src/jsfeat_orb.js b/src/jsfeat_orb.js
index bf5f22a..4b09186 100644
--- a/src/jsfeat_orb.js
+++ b/src/jsfeat_orb.js
@@ -280,7 +280,7 @@
 	        H.data[0] = cosine, H.data[1] = -sine,    H.data[2] = (-cosine + sine  ) * psize*0.5 + px,
 	        H.data[3] = sine,   H.data[4] =  cosine,  H.data[5] = (-sine   - cosine) * psize*0.5 + py;
 
-	        jsfeat.warp_affine(src, dst, H, 128);
+	        jsfeat.imgproc.warp_affine(src, dst, H, 128);
 	    }
 
     	return {

From ca17e49b7ac9261c1a255a5ff930698c65775973 Mon Sep 17 00:00:00 2001
From: Iwo Kadziela <ikadziela@admins-MacBook-Pro-5.local>
Date: Fri, 21 Jun 2019 20:36:40 -0400
Subject: [PATCH 45/46] typo fix

---
 sample_bbf_face.html         | 2 +-
 sample_boxblur.html          | 2 +-
 sample_canny_edge.html       | 2 +-
 sample_equalize_hist.html    | 2 +-
 sample_fast_corners.html     | 2 +-
 sample_gaussblur.html        | 2 +-
 sample_grayscale.html        | 2 +-
 sample_haar_face.html        | 2 +-
 sample_oflow_lk.html         | 2 +-
 sample_orb.html              | 2 +-
 sample_pyrdown.html          | 2 +-
 sample_scharr.html           | 2 +-
 sample_sobel.html            | 2 +-
 sample_sobel_edge.html       | 2 +-
 sample_videostab.html        | 2 +-
 sample_warp_affine.html      | 2 +-
 sample_warp_perspective.html | 2 +-
 sample_yape.html             | 2 +-
 sample_yape06.html           | 2 +-
 19 files changed, 19 insertions(+), 19 deletions(-)

diff --git a/sample_bbf_face.html b/sample_bbf_face.html
index fa42d06..efe4e0e 100755
--- a/sample_bbf_face.html
+++ b/sample_bbf_face.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_boxblur.html b/sample_boxblur.html
index 1bf8351..084ed1d 100755
--- a/sample_boxblur.html
+++ b/sample_boxblur.html
@@ -72,7 +72,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_canny_edge.html b/sample_canny_edge.html
index a733167..017a227 100755
--- a/sample_canny_edge.html
+++ b/sample_canny_edge.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_equalize_hist.html b/sample_equalize_hist.html
index 98dc658..57cf8b0 100755
--- a/sample_equalize_hist.html
+++ b/sample_equalize_hist.html
@@ -70,7 +70,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_fast_corners.html b/sample_fast_corners.html
index 5b04c19..5e0dce0 100755
--- a/sample_fast_corners.html
+++ b/sample_fast_corners.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_gaussblur.html b/sample_gaussblur.html
index 4644dfb..8113f84 100755
--- a/sample_gaussblur.html
+++ b/sample_gaussblur.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_grayscale.html b/sample_grayscale.html
index 1710487..48c2edc 100755
--- a/sample_grayscale.html
+++ b/sample_grayscale.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_haar_face.html b/sample_haar_face.html
index d7b849b..6d11c9d 100755
--- a/sample_haar_face.html
+++ b/sample_haar_face.html
@@ -72,7 +72,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_oflow_lk.html b/sample_oflow_lk.html
index 1d9d78a..fad2972 100755
--- a/sample_oflow_lk.html
+++ b/sample_oflow_lk.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_orb.html b/sample_orb.html
index 3e7392f..b31c1c7 100644
--- a/sample_orb.html
+++ b/sample_orb.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_pyrdown.html b/sample_pyrdown.html
index 850ac43..fdde283 100755
--- a/sample_pyrdown.html
+++ b/sample_pyrdown.html
@@ -70,7 +70,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_scharr.html b/sample_scharr.html
index 09fe1f7..ce6c56a 100644
--- a/sample_scharr.html
+++ b/sample_scharr.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_sobel.html b/sample_sobel.html
index 5d332ce..51bbc47 100644
--- a/sample_sobel.html
+++ b/sample_sobel.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_sobel_edge.html b/sample_sobel_edge.html
index e9b6a2b..66cbbb5 100644
--- a/sample_sobel_edge.html
+++ b/sample_sobel_edge.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_videostab.html b/sample_videostab.html
index 52e761c..73889b4 100644
--- a/sample_videostab.html
+++ b/sample_videostab.html
@@ -222,7 +222,7 @@
 
                     compatibility.getUserMedia({video: true}, function(stream) {
                         try {
-                            video.srcObject = tream;
+                            video.srcObject = stream;
                         } catch (error) {
                             video.src = compatibility.URL.createObjectURL(stream);
                         }
diff --git a/sample_warp_affine.html b/sample_warp_affine.html
index 935d4d7..111fb47 100755
--- a/sample_warp_affine.html
+++ b/sample_warp_affine.html
@@ -70,7 +70,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_warp_perspective.html b/sample_warp_perspective.html
index 24fea87..b11df4c 100755
--- a/sample_warp_perspective.html
+++ b/sample_warp_perspective.html
@@ -70,7 +70,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_yape.html b/sample_yape.html
index c5cf24f..d636e70 100755
--- a/sample_yape.html
+++ b/sample_yape.html
@@ -70,7 +70,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }
diff --git a/sample_yape06.html b/sample_yape06.html
index eeea9f6..b26121b 100755
--- a/sample_yape06.html
+++ b/sample_yape06.html
@@ -71,7 +71,7 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.srcObject = tream;
+                        video.srcObject = stream;
                     } catch (error) {
                         video.src = compatibility.URL.createObjectURL(stream);
                     }

From cef54071c7f1db92e7067af6781ffebe801c5e4d Mon Sep 17 00:00:00 2001
From: Eugene Zatepyakin <zatepyakin@gmail.com>
Date: Tue, 2 Sep 2014 12:28:23 +0100
Subject: [PATCH 46/46] Squash all commits

---
 README.md                    |  31 +++---
 bower.json                   |  14 +++
 build/jsfeat-min.js          |   2 +-
 build/jsfeat.js              | 189 +++++++++++++++++++++++++++++------
 sample_bbf_face.html         |   4 +-
 sample_boxblur.html          |   4 +-
 sample_canny_edge.html       |   4 +-
 sample_equalize_hist.html    |   4 +-
 sample_fast_corners.html     |   4 +-
 sample_gaussblur.html        |   4 +-
 sample_grayscale.html        |   4 +-
 sample_haar_face.html        |   4 +-
 sample_oflow_lk.html         |   4 +-
 sample_orb.html              |   4 +-
 sample_pyrdown.html          |   4 +-
 sample_scharr.html           |   4 +-
 sample_sobel.html            |   4 +-
 sample_sobel_edge.html       |   4 +-
 sample_videostab.html        |   4 +-
 sample_warp_affine.html      |   4 +-
 sample_warp_perspective.html |   4 +-
 sample_yape.html             |   4 +-
 sample_yape06.html           |   4 +-
 src/jsfeat_imgproc.js        | 139 +++++++++++++++++++++++---
 src/jsfeat_struct.js         |  26 +++--
 src/jsfeat_yape06.js         |  24 +++--
 26 files changed, 387 insertions(+), 114 deletions(-)
 create mode 100644 bower.json

diff --git a/README.md b/README.md
index 77fdf42..586e954 100644
--- a/README.md
+++ b/README.md
@@ -5,35 +5,36 @@ jsfeat
 
 The project aim is to explore JS/HTML5 possibilities using modern & state-of-art computer vision algorithms.
 
-[Examples and Documentation](http://inspirit.github.com/jsfeat/)
+[Examples and Documentation](https://inspirit.github.io/jsfeat/)
 
 ### Features ###
 
 * Custom data structures
 * Basic image processing methods (grayscale, derivatives, box-blur, resample, etc.)
- * grayscale ([Demo](http://inspirit.github.com/jsfeat/sample_grayscale.html))
- * box blur ([Demo](http://inspirit.github.com/jsfeat/sample_boxblur.html))
- * gaussian blur ([Demo](http://inspirit.github.com/jsfeat/sample_gaussblur.html))
- * equalize histogram ([Demo](http://inspirit.github.com/jsfeat/sample_equalize_hist.html))
- * canny edges ([Demo](http://inspirit.github.com/jsfeat/sample_canny_edge.html))
- * sobel deriv ([Demo](http://inspirit.github.com/jsfeat/sample_sobel.html))
- * scharr deriv ([Demo](http://inspirit.github.com/jsfeat/sample_scharr.html))
+ * grayscale ([Demo](https://inspirit.github.io/jsfeat/sample_grayscale.html))
+ * box blur ([Demo](https://inspirit.github.io/jsfeat/sample_boxblur.html))
+ * gaussian blur ([Demo](https://inspirit.github.io/jsfeat/sample_gaussblur.html))
+ * equalize histogram ([Demo](https://inspirit.github.io/jsfeat/sample_equalize_hist.html))
+ * canny edges ([Demo](https://inspirit.github.io/jsfeat/sample_canny_edge.html))
+ * sobel deriv ([Demo](https://inspirit.github.io/jsfeat/sample_sobel.html))
+ * scharr deriv ([Demo](https://inspirit.github.io/jsfeat/sample_scharr.html))
  * find more at Examples and Documentation page
 * Linear Algebra module
  * LU (Gaussian elimination) solver
  * Cholesky solver
  * SVD decomposition, solver and pseudo-inverse
  * Eigen Vectors and Values
-* Multiview module  ([Demo](http://inspirit.github.com/jsfeat/sample_videostab.html))
+* Multiview module  ([Demo](https://inspirit.github.io/jsfeat/sample_videostab.html))
  * Affine2D motion kernel
  * Homography2D motion kernel
  * RANSAC motion estimator
  * LMEDS motion estimator
 * Matrix Math module for various matrix operation such as traspose, multiply etc.
 * Features 2D
- * Fast Corners feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_fast_corners.html))
- * YAPE06 feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape06.html))
- * YAPE feature detector ([Demo](http://inspirit.github.com/jsfeat/sample_yape.html))
-* Lucas-Kanade optical flow ([Demo](http://inspirit.github.com/jsfeat/sample_oflow_lk.html) - click to add points)
-* HAAR object detector ([Demo](http://inspirit.github.com/jsfeat/sample_haar_face.html))
-* BBF object detector ([Demo](http://inspirit.github.com/jsfeat/sample_bbf_face.html))
+ * Fast Corners feature detector ([Demo](https://inspirit.github.io/jsfeat/sample_fast_corners.html))
+ * YAPE06 feature detector ([Demo](https://inspirit.github.io/jsfeat/sample_yape06.html))
+ * YAPE feature detector ([Demo](https://inspirit.github.io/jsfeat/sample_yape.html))
+ * ORB feature descriptor ([Demo](https://inspirit.github.io/jsfeat/sample_orb.html))
+* Lucas-Kanade optical flow ([Demo](https://inspirit.github.io/jsfeat/sample_oflow_lk.html) - click to add points)
+* HAAR object detector ([Demo](https://inspirit.github.io/jsfeat/sample_haar_face.html))
+* BBF object detector ([Demo](https://inspirit.github.io/jsfeat/sample_bbf_face.html))
diff --git a/bower.json b/bower.json
new file mode 100644
index 0000000..83146f2
--- /dev/null
+++ b/bower.json
@@ -0,0 +1,14 @@
+{
+
+    "name": "jsfeat",
+    "version" : "0.0.8",
+    "description" : "JavaScript Computer Vision library",
+    "author" : "Eugene Zatepyakin (http://www.inspirit.ru/)",
+    "main" : "build/jsfeat-min.js",
+
+    "ignore": [
+      "src",
+      "compile",
+      "node_modules"
+    ]
+}
diff --git a/build/jsfeat-min.js b/build/jsfeat-min.js
index 4d6e607..f1dc9da 100755
--- a/build/jsfeat-min.js
+++ b/build/jsfeat-min.js
@@ -1 +1 @@
-var jsfeat=jsfeat||{REVISION:"ALPHA"};(function(o){var l=1.192092896e-7;var i=1e-37;var j=256,g=512,f=1024,t=2048,s=4096;var w=1,k=2,a=3,m=4;var v=new Int32Array([-1,1,4,-1,4,-1,-1,-1,8,-1,-1,-1,-1,-1,-1,-1,8]);var u=(function(){return function(x){return(x&65280)}})();var h=(function(){return function(x){return(x&255)}})();var b=(function(){return function(x){return v[(x&65280)>>8]}})();var d=1;var p=1;var e=2;var r=(function(){function x(z,y){this.size=((z+7)|0)&-8;if(typeof y==="undefined"){this.buffer=new ArrayBuffer(this.size)}else{this.buffer=y;this.size=y.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 x})();var n=(function(){function x(B,z,A,y){this.type=u(A)|0;this.channel=h(A)|0;this.cols=B|0;this.rows=z|0;if(typeof y==="undefined"){this.allocate()}else{this.buffer=y;this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))}}x.prototype.allocate=function(){delete this.data;delete this.buffer;this.buffer=new r((this.cols*b(this.type)*this.channel)*this.rows);this.data=this.type&j?this.buffer.u8:(this.type&g?this.buffer.i32:(this.type&f?this.buffer.f32:this.buffer.f64))};x.prototype.copy_to=function(z){var y=z.data,C=this.data;var A=0,B=(this.cols*this.rows*this.channel)|0;for(;A<B-4;A+=4){y[A]=C[A];y[A+1]=C[A+1];y[A+2]=C[A+2];y[A+3]=C[A+3]}for(;A<B;++A){y[A]=C[A]}};x.prototype.resize=function(B,z,y){if(typeof y==="undefined"){y=this.channel}var A=(B*y)*z;if(A>this.rows*this.cols*this.channel){this.cols=B;this.rows=z;this.channel=y;this.allocate()}else{this.cols=B;this.rows=z;this.channel=y}};return x})();var q=(function(){function x(y){this.levels=y|0;this.data=new Array(y);this.pyrdown=jsfeat.imgproc.pyrdown}x.prototype.allocate=function(y,A,B){var z=this.levels;while(--z>=0){this.data[z]=new n(y>>z,A>>z,B)}};x.prototype.build=function(B,A){if(typeof A==="undefined"){A=true}var D=2,z=B,y=this.data[0];if(!A){var C=B.cols*B.rows;while(--C>=0){y.data[C]=B.data[C]}}y=this.data[1];this.pyrdown(z,y);for(;D<this.levels;++D){z=y;y=this.data[D];this.pyrdown(z,y)}};return x})();var c=(function(){function x(z,D,B,C,A){if(typeof z==="undefined"){z=0}if(typeof D==="undefined"){D=0}if(typeof B==="undefined"){B=0}if(typeof C==="undefined"){C=0}if(typeof A==="undefined"){A=-1}this.x=z;this.y=D;this.score=B;this.level=C;this.angle=A}return x})();o.U8_t=j;o.S32_t=g;o.F32_t=f;o.S64_t=t;o.F64_t=s;o.C1_t=w;o.C2_t=k;o.C3_t=a;o.C4_t=m;o.U8C1_t=j|w;o.U8C3_t=j|a;o.U8C4_t=j|m;o.F32C1_t=f|w;o.F32C2_t=f|k;o.S32C1_t=g|w;o.S32C2_t=g|k;o.EPSILON=l;o.FLT_MIN=i;o.BOX_BLUR_NOSCALE=d;o.SVD_U_T=p;o.SVD_V_T=e;o.get_data_type=u;o.get_channel=h;o.get_data_type_size=b;o.data_t=r;o.matrix_t=n;o.pyramid_t=q;o.point2d_t=c})(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]=0.25,k[1]=0.5,k[2]=0.25;g=0.25+0.5+0.25;break;case 2:k[0]=0.0625,k[1]=0.25,k[2]=0.375,k[3]=0.25,k[4]=0.0625;g=0.0625+0.25+0.375+0.25+0.0625;break;case 3:k[0]=0.03125,k[1]=0.109375,k[2]=0.21875,k[3]=0.28125,k[4]=0.21875,k[5]=0.109375,k[6]=0.03125;g=0.03125+0.109375+0.21875+0.28125+0.21875+0.109375+0.03125;break}}else{n=m>0?m:((p-1)*0.5-1)*0.3+0.8;d=-0.5/(n*n);for(;f<p;++f){j=f-(p-1)*0.5;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+0.5)|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 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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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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 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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+1-0.000001)|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>0.001){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)<0.001){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(g,p){var k=g.length|0,q=(k-16)|0;var m=0;var o=4899,h=9617,l=1868;for(var n=0;n<=q;n+=16,m+=4){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14;p[m+1]=(g[n+4]*o+g[n+5]*h+g[n+6]*l+8192)>>14;p[m+2]=(g[n+8]*o+g[n+9]*h+g[n+10]*l+8192)>>14;p[m+3]=(g[n+12]*o+g[n+13]*h+g[n+14]*l+8192)>>14}for(;n<k;n+=4,++m){p[m]=(g[n]*o+g[n+1]*h+g[n+2]*l+8192)>>14}},resample:function(l,m,i,k){var j=l.rows,g=l.cols;if(j>k&&g>i){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;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;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;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;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;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,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+0.5)|0}jsfeat.cache.put_buffer(m)},canny:function(u,V,E,k){var C=u.cols,L=u.rows,S=u.data,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 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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 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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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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 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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)*0.5;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=0.5}if(typeof f==="undefined"){f=0.5}if(typeof g==="undefined"){g=0.99}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=1000;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=1000}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=1000}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=1000000000,x=0,m=0;H.eps=0.45;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,0.001);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.ransac_params_t=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+1-0.000001)|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>0.001){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+1-0.000001)|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>0.001){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)<0.001){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 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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+0.5)|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 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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 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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 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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*0.5+i,c.data[3]=g,c.data[4]=m,c.data[5]=(-g-m)*j*0.5+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=0.01}if(typeof q==="undefined"){q=0.0001}var e=(N-1)*0.5;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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)+0.5)|0;aJ=((U*(1-T)*ad)+0.5)|0;ar=(((1-U)*T*ad)+0.5)|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)<0.01&&Math.abs(W+z)<0.01){aL[Q]-=Y*0.5;aL[P]-=W*0.5;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*0.25+0.5)|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+0.5)|0&&(d.width*1.5+0.5)|0>=e.width};return{edges_density:0.07,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=(0.5*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*0.25+0.5)|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*0.25+0.5)|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+0.5)|0&&(e.width*1.5+0.5)|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*0.25+0.5)|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);
\ No newline at end of file
diff --git a/build/jsfeat.js b/build/jsfeat.js
index 6f7bf4a..f9cc93b 100644
--- a/build/jsfeat.js
+++ b/build/jsfeat.js
@@ -49,6 +49,12 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         }
     })();
 
+    // color conversion
+    var COLOR_RGBA2GRAY = 0;
+    var COLOR_RGB2GRAY = 1;
+    var COLOR_BGRA2GRAY = 2;
+    var COLOR_BGR2GRAY = 3;
+
     // box blur option
     var BOX_BLUR_NOSCALE = 0x01;
     // svd options
@@ -111,9 +117,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         }
         matrix_t.prototype.resize = function(c, r, ch) {
             if (typeof ch === "undefined") { ch = this.channel; }
-            // change buffer only if new size doesnt fit
-            var new_size = (c * ch) * r;
-            if(new_size > this.rows*this.cols*this.channel) {
+            // relocate buffer only if new size doesnt fit
+            var new_size = (c * get_data_type_size(this.type) * ch) * r;
+            if(new_size > this.buffer.size) {
                 this.cols = c;
                 this.rows = r;
                 this.channel = ch;
@@ -165,8 +171,8 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         return pyramid_t;
     })();
 
-    var point2d_t = (function () {
-        function point2d_t(x,y,score,level,angle) {
+    var keypoint_t = (function () {
+        function keypoint_t(x,y,score,level,angle) {
             if (typeof x === "undefined") { x=0; }
             if (typeof y === "undefined") { y=0; }
             if (typeof score === "undefined") { score=0; }
@@ -179,7 +185,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             this.level = level;
             this.angle = angle;
         }
-        return point2d_t;
+        return keypoint_t;
     })();
 
 
@@ -209,6 +215,12 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.EPSILON = EPSILON;
     global.FLT_MIN = FLT_MIN;
 
+    // color convert
+    global.COLOR_RGBA2GRAY = COLOR_RGBA2GRAY;
+    global.COLOR_RGB2GRAY = COLOR_RGB2GRAY;
+    global.COLOR_BGRA2GRAY = COLOR_BGRA2GRAY;
+    global.COLOR_BGR2GRAY = COLOR_BGR2GRAY;
+
     // options
     global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
     global.SVD_U_T = SVD_U_T;
@@ -221,7 +233,7 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
     global.data_t = data_t;
     global.matrix_t = matrix_t;
     global.pyramid_t = pyramid_t;
-    global.point2d_t = point2d_t;
+    global.keypoint_t = keypoint_t;
 
 })(jsfeat);
 /**
@@ -2672,25 +2684,41 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
         return {
             // TODO: add support for RGB/BGR order
             // for raw arrays
-            grayscale: function(src, dst) {
-                var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
-                var j = 0;
-                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868;
-
-                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
-                    dst[j]     = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
-                    dst[j + 1] = (src[i+4] * coeff_r + src[i+5] * coeff_g + src[i+6] * coeff_b + 8192) >> 14;
-                    dst[j + 2] = (src[i+8] * coeff_r + src[i+9] * coeff_g + src[i+10] * coeff_b + 8192) >> 14;
-                    dst[j + 3] = (src[i+12] * coeff_r + src[i+13] * coeff_g + src[i+14] * coeff_b + 8192) >> 14;
+            grayscale: function(src, w, h, dst, code) {
+                // this is default image data representation in browser
+                if (typeof code === "undefined") { code = jsfeat.COLOR_RGBA2GRAY; }
+                var x=0, y=0, i=0, j=0, ir=0,jr=0;
+                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868, cn = 4;
+
+                if(code == jsfeat.COLOR_BGRA2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    coeff_r = 1868;
+                    coeff_b = 4899;
                 }
-                for (; i < srcLength; i += 4, ++j) {
-                    dst[j] = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                if(code == jsfeat.COLOR_RGB2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    cn = 3;
+                }
+                var cn2 = cn<<1, cn3 = (cn*3)|0;
+
+                dst.resize(w, h, 1);
+                var dst_u8 = dst.data;
+
+                for(y = 0; y < h; ++y, j+=w, i+=w*cn) {
+                    for(x = 0, ir = i, jr = j; x <= w-4; x+=4, ir+=cn<<2, jr+=4) {
+                        dst_u8[jr]     = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 1] = (src[ir+cn] * coeff_r + src[ir+cn+1] * coeff_g + src[ir+cn+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 2] = (src[ir+cn2] * coeff_r + src[ir+cn2+1] * coeff_g + src[ir+cn2+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 3] = (src[ir+cn3] * coeff_r + src[ir+cn3+1] * coeff_g + src[ir+cn3+2] * coeff_b + 8192) >> 14;
+                    }
+                    for (; x < w; ++x, ++jr, ir+=cn) {
+                        dst_u8[jr] = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                    }
                 }
             },
             // derived from CCV library
             resample: function(src, dst, nw, nh) {
                 var h=src.rows,w=src.cols;
                 if (h > nh && w > nw) {
+                    dst.resize(nw, nh, src.channel);
                     // using the fast alternative (fix point scale, 0x100 to avoid overflow)
                     if (src.type&jsfeat.U8_t && dst.type&jsfeat.U8_t && h * w / (nh * nw) < 0x100) {
                         _resample_u8(src, dst, nw, nh);
@@ -2715,6 +2743,8 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var data_u8 = src.data;
                 var hold=0;
 
+                dst.resize(w, h, src.channel);
+
                 // first pass
                 // no need to scale 
                 //data_u8 = src.data;
@@ -2872,6 +2902,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var half_kernel = kernel_size >> 1;
                 var w = src.cols, h = src.rows;
                 var data_type = src.type, is_u8 = data_type&jsfeat.U8_t;
+
+                dst.resize(w, h, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
                 var buf,filter,buf_sz=(kernel_size + Math.max(h, w))|0;
 
@@ -2900,6 +2933,79 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 jsfeat.cache.put_buffer(buf_node);
                 jsfeat.cache.put_buffer(filt_node);
             },
+            hough_transform: function( img, rho_res, theta_res, threshold ) {
+                var image = img.data;
+
+                var width = img.cols;
+                var height = img.rows;
+                var step = width;
+
+                min_theta = 0.0;
+                max_theta = Math.PI;
+
+                numangle = Math.round((max_theta - min_theta) / theta_res);
+                numrho = Math.round(((width + height) * 2 + 1) / rho_res);
+                irho = 1.0 / rho_res;
+
+                var accum = new Int32Array((numangle+2) * (numrho+2)); //typed arrays are initialized to 0
+                var tabSin = new Float32Array(numangle);
+                var tabCos = new Float32Array(numangle);
+
+                var n=0;
+                var ang = min_theta;
+                for(; n < numangle; n++ ) {
+                    tabSin[n] = Math.sin(ang) * irho;
+                    tabCos[n] = Math.cos(ang) * irho;
+                    ang += theta_res
+                }
+
+                // stage 1. fill accumulator
+                for( var i = 0; i < height; i++ ) {
+                    for( var j = 0; j < width; j++ ) {
+                        if( image[i * step + j] != 0 ) {
+                            //console.log(r, (n+1) * (numrho+2) + r+1, tabCos[n], tabSin[n]);
+                            for(var n = 0; n < numangle; n++ ) {
+                                var r = Math.round( j * tabCos[n] + i * tabSin[n] );
+                                r += (numrho - 1) / 2;
+                                accum[(n+1) * (numrho+2) + r+1] += 1;
+                            }
+                        }
+                    }
+                }
+
+                // stage 2. find local maximums
+                //TODO: Consider making a vector class that uses typed arrays
+                _sort_buf = new Array();
+                for(var r = 0; r < numrho; r++ ) {
+                    for(var n = 0; n < numangle; n++ ) {
+                        var base = (n+1) * (numrho+2) + r+1;
+                        if( accum[base] > threshold &&
+                            accum[base] > accum[base - 1] && accum[base] >= accum[base + 1] &&
+                            accum[base] > accum[base - numrho - 2] && accum[base] >= accum[base + numrho + 2] ) {
+                            _sort_buf.push(base);
+                        }
+                    }
+                }
+
+                // stage 3. sort the detected lines by accumulator value
+                _sort_buf.sort(function(l1, l2) {
+                    return accum[l1] > accum[l2] || (accum[l1] == accum[l2] && l1 < l2);
+                });
+
+                // stage 4. store the first min(total,linesMax) lines to the output buffer
+                linesMax = Math.min(numangle*numrho, _sort_buf.length);
+                scale = 1.0 / (numrho+2);
+                lines = new Array();
+                for( var i = 0; i < linesMax; i++ ) {
+                    var idx = _sort_buf[i];
+                    var n = Math.floor(idx*scale) - 1;
+                    var r = idx - (n+1)*(numrho+2) - 1;
+                    var lrho = (r - (numrho - 1)*0.5) * rho_res;
+                    var langle = n * theta_res;
+                    lines.push([lrho, langle]);
+                }
+                return lines;
+            },
             // assume we always need it for u8 image
             pyrdown: function(src, dst, sx, sy) {
                 // this is needed for bbf
@@ -2910,6 +3016,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var w2 = w >> 1, h2 = h >> 1;
                 var _w2 = w2 - (sx << 1), _h2 = h2 - (sy << 1);
                 var x=0,y=0,sptr=sx+sy*w,sline=0,dptr=0,dline=0;
+
+                dst.resize(w2, h2, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
 
                 for(y = 0; y < _h2; ++y) {
@@ -2936,6 +3045,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -3002,6 +3114,9 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -3168,7 +3283,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
                 }
             },
             equalize_histogram: function(src, dst) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data,size=w*h;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+
+                var dst_d=dst.data,size=w*h;
                 var i=0,prev=0,hist0,norm;
 
                 var hist0_node = jsfeat.cache.get_buffer(256<<2);
@@ -3191,7 +3310,11 @@ var jsfeat = jsfeat || { REVISION: 'ALPHA' };
             },
 
             canny: function(src, dst, low_thresh, high_thresh) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+                
+                var dst_d=dst.data;
                 var i=0,j=0,grad=0,w2=w<<1,_grad=0,suppress=0,f=0,x=0,y=0,s=0;
                 var tg22x=0,tg67x=0;
 
@@ -3709,11 +3832,11 @@ The references are:
 
     var yape06 = (function() {
         
-        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
-            var y=0,x=0,yrow=(Dxx*w+Dxx)|0,row=yrow;
+        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy, sx,sy, ex,ey) {
+            var y=0,x=0,yrow=(sy*w+sx)|0,row=yrow;
 
-            for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
-                for(x = Dxx; x < w - Dxx; ++x, ++row) {
+            for(y = sy; y < ey; ++y, yrow+=w, row = yrow) {
+                for(x = sx; x < ex; ++x, ++row) {
                     dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
                 }
             }
@@ -3733,7 +3856,8 @@ The references are:
             laplacian_threshold: 30,
             min_eigen_value_threshold: 25,
 
-            detect: function(src, points) {
+            detect: function(src, points, border) {
+                if (typeof border === "undefined") { border = 5; }
                 var x=0,y=0;
                 var w=src.cols, h=src.rows, srd_d=src.data;
                 var Dxx = 5, Dyy = (5 * w)|0;
@@ -3745,13 +3869,18 @@ The references are:
                 var lap_thresh = this.laplacian_threshold;
                 var eigen_thresh = this.min_eigen_value_threshold;
 
+                var sx = Math.max(5, border)|0;
+                var sy = Math.max(3, border)|0;
+                var ex = Math.min(w-5, w-border)|0;
+                var ey = Math.min(h-3, h-border)|0;
+
                 x = w*h;
                 while(--x>=0) {laplacian[x]=0;}
-                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
+                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy, sx,sy, ex,ey);
 
-                row = (Dxx*w+Dxx)|0;
-                for(y = Dxx; y < h-Dxx; ++y, row += w) {
-                    for(x = Dxx, rowx=row; x < w-Dxx; ++x, ++rowx) {
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row += w) {
+                    for(x = sx, rowx=row; x < ex; ++x, ++rowx) {
 
                         lv = laplacian[rowx];
                         if ((lv < -lap_thresh &&
diff --git a/sample_bbf_face.html b/sample_bbf_face.html
index d0185e3..efe4e0e 100755
--- a/sample_bbf_face.html
+++ b/sample_bbf_face.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_boxblur.html b/sample_boxblur.html
index b5cb0ff..084ed1d 100755
--- a/sample_boxblur.html
+++ b/sample_boxblur.html
@@ -72,9 +72,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_canny_edge.html b/sample_canny_edge.html
index 202583b..017a227 100755
--- a/sample_canny_edge.html
+++ b/sample_canny_edge.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_equalize_hist.html b/sample_equalize_hist.html
index e342791..57cf8b0 100755
--- a/sample_equalize_hist.html
+++ b/sample_equalize_hist.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_fast_corners.html b/sample_fast_corners.html
index a7d7c56..5e0dce0 100755
--- a/sample_fast_corners.html
+++ b/sample_fast_corners.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_gaussblur.html b/sample_gaussblur.html
index a8c7db4..8113f84 100755
--- a/sample_gaussblur.html
+++ b/sample_gaussblur.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_grayscale.html b/sample_grayscale.html
index 70aa0f7..48c2edc 100755
--- a/sample_grayscale.html
+++ b/sample_grayscale.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_haar_face.html b/sample_haar_face.html
index c9b9fcd..6d11c9d 100755
--- a/sample_haar_face.html
+++ b/sample_haar_face.html
@@ -72,9 +72,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_oflow_lk.html b/sample_oflow_lk.html
index 69f1092..fad2972 100755
--- a/sample_oflow_lk.html
+++ b/sample_oflow_lk.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_orb.html b/sample_orb.html
index 6443ee8..b31c1c7 100644
--- a/sample_orb.html
+++ b/sample_orb.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_pyrdown.html b/sample_pyrdown.html
index 7e1ba2b..fdde283 100755
--- a/sample_pyrdown.html
+++ b/sample_pyrdown.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_scharr.html b/sample_scharr.html
index 62b8cf3..ce6c56a 100644
--- a/sample_scharr.html
+++ b/sample_scharr.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_sobel.html b/sample_sobel.html
index b877beb..51bbc47 100644
--- a/sample_sobel.html
+++ b/sample_sobel.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_sobel_edge.html b/sample_sobel_edge.html
index 9fd833a..66cbbb5 100644
--- a/sample_sobel_edge.html
+++ b/sample_sobel_edge.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_videostab.html b/sample_videostab.html
index e239d06..73889b4 100644
--- a/sample_videostab.html
+++ b/sample_videostab.html
@@ -222,9 +222,9 @@
 
                     compatibility.getUserMedia({video: true}, function(stream) {
                         try {
-                            video.src = compatibility.URL.createObjectURL(stream);
+                            video.srcObject = stream;
                         } catch (error) {
-                            video.src = stream;
+                            video.src = compatibility.URL.createObjectURL(stream);
                         }
                         setTimeout(function() {
                                 video.play();
diff --git a/sample_warp_affine.html b/sample_warp_affine.html
index a86be3e..111fb47 100755
--- a/sample_warp_affine.html
+++ b/sample_warp_affine.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_warp_perspective.html b/sample_warp_perspective.html
index 3b6c7b4..b11df4c 100755
--- a/sample_warp_perspective.html
+++ b/sample_warp_perspective.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_yape.html b/sample_yape.html
index a8e4b3c..d636e70 100755
--- a/sample_yape.html
+++ b/sample_yape.html
@@ -70,9 +70,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/sample_yape06.html b/sample_yape06.html
index b1711a2..b26121b 100755
--- a/sample_yape06.html
+++ b/sample_yape06.html
@@ -71,9 +71,9 @@
 
                 compatibility.getUserMedia({video: true}, function(stream) {
                     try {
-                        video.src = compatibility.URL.createObjectURL(stream);
+                        video.srcObject = stream;
                     } catch (error) {
-                        video.src = stream;
+                        video.src = compatibility.URL.createObjectURL(stream);
                     }
                     setTimeout(function() {
                             video.play();
diff --git a/src/jsfeat_imgproc.js b/src/jsfeat_imgproc.js
index e50b00c..5462684 100755
--- a/src/jsfeat_imgproc.js
+++ b/src/jsfeat_imgproc.js
@@ -372,25 +372,41 @@
         return {
             // TODO: add support for RGB/BGR order
             // for raw arrays
-            grayscale: function(src, dst) {
-                var srcLength = src.length|0, srcLength_16 = (srcLength - 16)|0;
-                var j = 0;
-                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868;
-
-                for (var i = 0; i <= srcLength_16; i += 16, j += 4) {
-                    dst[j]     = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
-                    dst[j + 1] = (src[i+4] * coeff_r + src[i+5] * coeff_g + src[i+6] * coeff_b + 8192) >> 14;
-                    dst[j + 2] = (src[i+8] * coeff_r + src[i+9] * coeff_g + src[i+10] * coeff_b + 8192) >> 14;
-                    dst[j + 3] = (src[i+12] * coeff_r + src[i+13] * coeff_g + src[i+14] * coeff_b + 8192) >> 14;
+            grayscale: function(src, w, h, dst, code) {
+                // this is default image data representation in browser
+                if (typeof code === "undefined") { code = jsfeat.COLOR_RGBA2GRAY; }
+                var x=0, y=0, i=0, j=0, ir=0,jr=0;
+                var coeff_r = 4899, coeff_g = 9617, coeff_b = 1868, cn = 4;
+
+                if(code == jsfeat.COLOR_BGRA2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    coeff_r = 1868;
+                    coeff_b = 4899;
+                }
+                if(code == jsfeat.COLOR_RGB2GRAY || code == jsfeat.COLOR_BGR2GRAY) {
+                    cn = 3;
                 }
-                for (; i < srcLength; i += 4, ++j) {
-                    dst[j] = (src[i] * coeff_r + src[i+1] * coeff_g + src[i+2] * coeff_b + 8192) >> 14;
+                var cn2 = cn<<1, cn3 = (cn*3)|0;
+
+                dst.resize(w, h, 1);
+                var dst_u8 = dst.data;
+
+                for(y = 0; y < h; ++y, j+=w, i+=w*cn) {
+                    for(x = 0, ir = i, jr = j; x <= w-4; x+=4, ir+=cn<<2, jr+=4) {
+                        dst_u8[jr]     = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 1] = (src[ir+cn] * coeff_r + src[ir+cn+1] * coeff_g + src[ir+cn+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 2] = (src[ir+cn2] * coeff_r + src[ir+cn2+1] * coeff_g + src[ir+cn2+2] * coeff_b + 8192) >> 14;
+                        dst_u8[jr + 3] = (src[ir+cn3] * coeff_r + src[ir+cn3+1] * coeff_g + src[ir+cn3+2] * coeff_b + 8192) >> 14;
+                    }
+                    for (; x < w; ++x, ++jr, ir+=cn) {
+                        dst_u8[jr] = (src[ir] * coeff_r + src[ir+1] * coeff_g + src[ir+2] * coeff_b + 8192) >> 14;
+                    }
                 }
             },
             // derived from CCV library
             resample: function(src, dst, nw, nh) {
                 var h=src.rows,w=src.cols;
                 if (h > nh && w > nw) {
+                    dst.resize(nw, nh, src.channel);
                     // using the fast alternative (fix point scale, 0x100 to avoid overflow)
                     if (src.type&jsfeat.U8_t && dst.type&jsfeat.U8_t && h * w / (nh * nw) < 0x100) {
                         _resample_u8(src, dst, nw, nh);
@@ -415,6 +431,8 @@
                 var data_u8 = src.data;
                 var hold=0;
 
+                dst.resize(w, h, src.channel);
+
                 // first pass
                 // no need to scale 
                 //data_u8 = src.data;
@@ -572,6 +590,9 @@
                 var half_kernel = kernel_size >> 1;
                 var w = src.cols, h = src.rows;
                 var data_type = src.type, is_u8 = data_type&jsfeat.U8_t;
+
+                dst.resize(w, h, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
                 var buf,filter,buf_sz=(kernel_size + Math.max(h, w))|0;
 
@@ -600,6 +621,79 @@
                 jsfeat.cache.put_buffer(buf_node);
                 jsfeat.cache.put_buffer(filt_node);
             },
+            hough_transform: function( img, rho_res, theta_res, threshold ) {
+                var image = img.data;
+
+                var width = img.cols;
+                var height = img.rows;
+                var step = width;
+
+                var min_theta = 0.0;
+                var max_theta = Math.PI;
+
+                var numangle = Math.round((max_theta - min_theta) / theta_res);
+                var numrho = Math.round(((width + height) * 2 + 1) / rho_res);
+                var irho = 1.0 / rho_res;
+
+                var accum = new Int32Array((numangle+2) * (numrho+2)); //typed arrays are initialized to 0
+                var tabSin = new Float32Array(numangle);
+                var tabCos = new Float32Array(numangle);
+
+                var n=0;
+                var ang = min_theta;
+                for(; n < numangle; n++ ) {
+                    tabSin[n] = Math.sin(ang) * irho;
+                    tabCos[n] = Math.cos(ang) * irho;
+                    ang += theta_res
+                }
+
+                // stage 1. fill accumulator
+                for( var i = 0; i < height; i++ ) {
+                    for( var j = 0; j < width; j++ ) {
+                        if( image[i * step + j] != 0 ) {
+                            //console.log(r, (n+1) * (numrho+2) + r+1, tabCos[n], tabSin[n]);
+                            for(var n = 0; n < numangle; n++ ) {
+                                var r = Math.round( j * tabCos[n] + i * tabSin[n] );
+                                r += (numrho - 1) / 2;
+                                accum[(n+1) * (numrho+2) + r+1] += 1;
+                            }
+                        }
+                    }
+                }
+
+                // stage 2. find local maximums
+                //TODO: Consider making a vector class that uses typed arrays
+                var _sort_buf = new Array();
+                for(var r = 0; r < numrho; r++ ) {
+                    for(var n = 0; n < numangle; n++ ) {
+                        var base = (n+1) * (numrho+2) + r+1;
+                        if( accum[base] > threshold &&
+                            accum[base] > accum[base - 1] && accum[base] >= accum[base + 1] &&
+                            accum[base] > accum[base - numrho - 2] && accum[base] >= accum[base + numrho + 2] ) {
+                            _sort_buf.push(base);
+                        }
+                    }
+                }
+
+                // stage 3. sort the detected lines by accumulator value
+                _sort_buf.sort(function(l1, l2) {
+                    return accum[l1] > accum[l2] || (accum[l1] == accum[l2] && l1 < l2);
+                });
+
+                // stage 4. store the first min(total,linesMax) lines to the output buffer
+                var linesMax = Math.min(numangle*numrho, _sort_buf.length);
+                var scale = 1.0 / (numrho+2);
+                var lines = new Array();
+                for( var i = 0; i < linesMax; i++ ) {
+                    var idx = _sort_buf[i];
+                    var n = Math.floor(idx*scale) - 1;
+                    var r = idx - (n+1)*(numrho+2) - 1;
+                    var lrho = (r - (numrho - 1)*0.5) * rho_res;
+                    var langle = n * theta_res;
+                    lines.push([lrho, langle]);
+                }
+                return lines;
+            },
             // assume we always need it for u8 image
             pyrdown: function(src, dst, sx, sy) {
                 // this is needed for bbf
@@ -610,6 +704,9 @@
                 var w2 = w >> 1, h2 = h >> 1;
                 var _w2 = w2 - (sx << 1), _h2 = h2 - (sy << 1);
                 var x=0,y=0,sptr=sx+sy*w,sline=0,dptr=0,dline=0;
+
+                dst.resize(w2, h2, src.channel);
+
                 var src_d = src.data, dst_d = dst.data;
 
                 for(y = 0; y < _h2; ++y) {
@@ -636,6 +733,9 @@
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -702,6 +802,9 @@
                 var dstep = w<<1,x=0,y=0,x1=0,a,b,c,d,e,f;
                 var srow0=0,srow1=0,srow2=0,drow=0;
                 var trow0,trow1;
+
+                dst.resize(w, h, 2); // 2 channel output gx, gy
+
                 var img = src.data, gxgy=dst.data;
 
                 var buf0_node = jsfeat.cache.get_buffer((w+2)<<2);
@@ -868,7 +971,11 @@
                 }
             },
             equalize_histogram: function(src, dst) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data,size=w*h;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+
+                var dst_d=dst.data,size=w*h;
                 var i=0,prev=0,hist0,norm;
 
                 var hist0_node = jsfeat.cache.get_buffer(256<<2);
@@ -891,7 +998,11 @@
             },
 
             canny: function(src, dst, low_thresh, high_thresh) {
-                var w=src.cols,h=src.rows,src_d=src.data,dst_d=dst.data;
+                var w=src.cols,h=src.rows,src_d=src.data;
+
+                dst.resize(w, h, src.channel);
+                
+                var dst_d=dst.data;
                 var i=0,j=0,grad=0,w2=w<<1,_grad=0,suppress=0,f=0,x=0,y=0,s=0;
                 var tg22x=0,tg67x=0;
 
diff --git a/src/jsfeat_struct.js b/src/jsfeat_struct.js
index 4d7aaf0..c7cbbcc 100755
--- a/src/jsfeat_struct.js
+++ b/src/jsfeat_struct.js
@@ -43,6 +43,12 @@
         }
     })();
 
+    // color conversion
+    var COLOR_RGBA2GRAY = 0;
+    var COLOR_RGB2GRAY = 1;
+    var COLOR_BGRA2GRAY = 2;
+    var COLOR_BGR2GRAY = 3;
+
     // box blur option
     var BOX_BLUR_NOSCALE = 0x01;
     // svd options
@@ -105,9 +111,9 @@
         }
         matrix_t.prototype.resize = function(c, r, ch) {
             if (typeof ch === "undefined") { ch = this.channel; }
-            // change buffer only if new size doesnt fit
-            var new_size = (c * ch) * r;
-            if(new_size > this.rows*this.cols*this.channel) {
+            // relocate buffer only if new size doesnt fit
+            var new_size = (c * get_data_type_size(this.type) * ch) * r;
+            if(new_size > this.buffer.size) {
                 this.cols = c;
                 this.rows = r;
                 this.channel = ch;
@@ -159,8 +165,8 @@
         return pyramid_t;
     })();
 
-    var point2d_t = (function () {
-        function point2d_t(x,y,score,level,angle) {
+    var keypoint_t = (function () {
+        function keypoint_t(x,y,score,level,angle) {
             if (typeof x === "undefined") { x=0; }
             if (typeof y === "undefined") { y=0; }
             if (typeof score === "undefined") { score=0; }
@@ -173,7 +179,7 @@
             this.level = level;
             this.angle = angle;
         }
-        return point2d_t;
+        return keypoint_t;
     })();
 
 
@@ -203,6 +209,12 @@
     global.EPSILON = EPSILON;
     global.FLT_MIN = FLT_MIN;
 
+    // color convert
+    global.COLOR_RGBA2GRAY = COLOR_RGBA2GRAY;
+    global.COLOR_RGB2GRAY = COLOR_RGB2GRAY;
+    global.COLOR_BGRA2GRAY = COLOR_BGRA2GRAY;
+    global.COLOR_BGR2GRAY = COLOR_BGR2GRAY;
+
     // options
     global.BOX_BLUR_NOSCALE = BOX_BLUR_NOSCALE;
     global.SVD_U_T = SVD_U_T;
@@ -215,6 +227,6 @@
     global.data_t = data_t;
     global.matrix_t = matrix_t;
     global.pyramid_t = pyramid_t;
-    global.point2d_t = point2d_t;
+    global.keypoint_t = keypoint_t;
 
 })(jsfeat);
diff --git a/src/jsfeat_yape06.js b/src/jsfeat_yape06.js
index 55664dd..205266d 100755
--- a/src/jsfeat_yape06.js
+++ b/src/jsfeat_yape06.js
@@ -12,11 +12,11 @@
 
     var yape06 = (function() {
         
-        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy) {
-            var y=0,x=0,yrow=(Dxx*w+Dxx)|0,row=yrow;
+        var compute_laplacian = function(src, dst, w, h, Dxx, Dyy, sx,sy, ex,ey) {
+            var y=0,x=0,yrow=(sy*w+sx)|0,row=yrow;
 
-            for(y = Dxx; y < h - Dxx; ++y, yrow+=w, row = yrow) {
-                for(x = Dxx; x < w - Dxx; ++x, ++row) {
+            for(y = sy; y < ey; ++y, yrow+=w, row = yrow) {
+                for(x = sx; x < ex; ++x, ++row) {
                     dst[row] = -4 * src[row] + src[row+Dxx] + src[row-Dxx] + src[row+Dyy] + src[row-Dyy];
                 }
             }
@@ -36,7 +36,8 @@
             laplacian_threshold: 30,
             min_eigen_value_threshold: 25,
 
-            detect: function(src, points) {
+            detect: function(src, points, border) {
+                if (typeof border === "undefined") { border = 5; }
                 var x=0,y=0;
                 var w=src.cols, h=src.rows, srd_d=src.data;
                 var Dxx = 5, Dyy = (5 * w)|0;
@@ -48,13 +49,18 @@
                 var lap_thresh = this.laplacian_threshold;
                 var eigen_thresh = this.min_eigen_value_threshold;
 
+                var sx = Math.max(5, border)|0;
+                var sy = Math.max(3, border)|0;
+                var ex = Math.min(w-5, w-border)|0;
+                var ey = Math.min(h-3, h-border)|0;
+
                 x = w*h;
                 while(--x>=0) {laplacian[x]=0;}
-                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy);
+                compute_laplacian(srd_d, laplacian, w, h, Dxx, Dyy, sx,sy, ex,ey);
 
-                row = (Dxx*w+Dxx)|0;
-                for(y = Dxx; y < h-Dxx; ++y, row += w) {
-                    for(x = Dxx, rowx=row; x < w-Dxx; ++x, ++rowx) {
+                row = (sy*w+sx)|0;
+                for(y = sy; y < ey; ++y, row += w) {
+                    for(x = sx, rowx=row; x < ex; ++x, ++rowx) {
 
                         lv = laplacian[rowx];
                         if ((lv < -lap_thresh &&