diff --git a/Gruntfile.js b/Gruntfile.js index f5b0e1f..c3f88ad 100644 --- a/Gruntfile.js +++ b/Gruntfile.js @@ -21,7 +21,7 @@ module.exports = function(grunt) { all : ['Gruntfile.js', 'src/*.js'] }, requirejs : { - quagga : { + compile : { options : { almond : true, wrap : { @@ -51,41 +51,6 @@ module.exports = function(grunt) { } }, - "paths" : { - "typedefs" : "typedefs", - "glMatrix" : "vendor/glMatrix", - "glMatrixAddon" : "glMatrixAddon" - } - } - }, - locator : { - options : { - almond : true, - wrap : { - startFile : 'build/locator_start.frag', - endFile : 'build/locator_end.frag' - }, - "baseUrl" : "src", - "name" : "barcode_locator", - "out" : "dist/locator.js", - "include" : ['barcode_locator'], - "optimize" : "none", - "findNestedDependencies" : true, - "skipSemiColonInsertion" : true, - "shim" : { - "typedefs" : { - "deps" : [], - "exports" : "typedefs" - }, - "glMatrix" : { - "deps" : ["typedefs"], - "exports" : "glMatrix" - }, - "glMatrixAddon" : { - "deps" : ["glMatrix"], - "exports" : "glMatrixAddon" - } - }, "paths" : { "typedefs" : "typedefs", "glMatrix" : "vendor/glMatrix", diff --git a/dist/locator.js b/dist/locator.js deleted file mode 100644 index c823c80..0000000 --- a/dist/locator.js +++ /dev/null @@ -1,5068 +0,0 @@ -(function (root, factory) { - if (typeof define === 'function' && define.amd) { - //Allow using this built library as an AMD module - //in another project. That other project will only - //see this AMD call, not the internal modules in - //the closure below. - define([], factory); - } else { - //Browser globals case. Just assign the - //result to a property on the global. - root.Locator = factory(); - } -}(this, function () {/** - * @license almond 0.2.9 Copyright (c) 2011-2014, The Dojo Foundation All Rights Reserved. - * Available via the MIT or new BSD license. - * see: http://github.com/jrburke/almond for details - */ -//Going sloppy to avoid 'use strict' string cost, but strict practices should -//be followed. -/*jslint sloppy: true */ -/*global setTimeout: false */ - -var requirejs, require, define; -(function (undef) { - var main, req, makeMap, handlers, - defined = {}, - waiting = {}, - config = {}, - defining = {}, - hasOwn = Object.prototype.hasOwnProperty, - aps = [].slice, - jsSuffixRegExp = /\.js$/; - - function hasProp(obj, prop) { - return hasOwn.call(obj, prop); - } - - /** - * Given a relative module name, like ./something, normalize it to - * a real name that can be mapped to a path. - * @param {String} name the relative name - * @param {String} baseName a real name that the name arg is relative - * to. - * @returns {String} normalized name - */ - function normalize(name, baseName) { - var nameParts, nameSegment, mapValue, foundMap, lastIndex, - foundI, foundStarMap, starI, i, j, part, - baseParts = baseName && baseName.split("/"), - map = config.map, - starMap = (map && map['*']) || {}; - - //Adjust any relative paths. - if (name && name.charAt(0) === ".") { - //If have a base name, try to normalize against it, - //otherwise, assume it is a top-level require that will - //be relative to baseUrl in the end. - if (baseName) { - //Convert baseName to array, and lop off the last part, - //so that . matches that "directory" and not name of the baseName's - //module. For instance, baseName of "one/two/three", maps to - //"one/two/three.js", but we want the directory, "one/two" for - //this normalization. - baseParts = baseParts.slice(0, baseParts.length - 1); - name = name.split('/'); - lastIndex = name.length - 1; - - // Node .js allowance: - if (config.nodeIdCompat && jsSuffixRegExp.test(name[lastIndex])) { - name[lastIndex] = name[lastIndex].replace(jsSuffixRegExp, ''); - } - - name = baseParts.concat(name); - - //start trimDots - for (i = 0; i < name.length; i += 1) { - part = name[i]; - if (part === ".") { - name.splice(i, 1); - i -= 1; - } else if (part === "..") { - if (i === 1 && (name[2] === '..' || name[0] === '..')) { - //End of the line. Keep at least one non-dot - //path segment at the front so it can be mapped - //correctly to disk. Otherwise, there is likely - //no path mapping for a path starting with '..'. - //This can still fail, but catches the most reasonable - //uses of .. - break; - } else if (i > 0) { - name.splice(i - 1, 2); - i -= 2; - } - } - } - //end trimDots - - name = name.join("/"); - } else if (name.indexOf('./') === 0) { - // No baseName, so this is ID is resolved relative - // to baseUrl, pull off the leading dot. - name = name.substring(2); - } - } - - //Apply map config if available. - if ((baseParts || starMap) && map) { - nameParts = name.split('/'); - - for (i = nameParts.length; i > 0; i -= 1) { - nameSegment = nameParts.slice(0, i).join("/"); - - if (baseParts) { - //Find the longest baseName segment match in the config. - //So, do joins on the biggest to smallest lengths of baseParts. - for (j = baseParts.length; j > 0; j -= 1) { - mapValue = map[baseParts.slice(0, j).join('/')]; - - //baseName segment has config, find if it has one for - //this name. - if (mapValue) { - mapValue = mapValue[nameSegment]; - if (mapValue) { - //Match, update name to the new value. - foundMap = mapValue; - foundI = i; - break; - } - } - } - } - - if (foundMap) { - break; - } - - //Check for a star map match, but just hold on to it, - //if there is a shorter segment match later in a matching - //config, then favor over this star map. - if (!foundStarMap && starMap && starMap[nameSegment]) { - foundStarMap = starMap[nameSegment]; - starI = i; - } - } - - if (!foundMap && foundStarMap) { - foundMap = foundStarMap; - foundI = starI; - } - - if (foundMap) { - nameParts.splice(0, foundI, foundMap); - name = nameParts.join('/'); - } - } - - return name; - } - - function makeRequire(relName, forceSync) { - return function () { - //A version of a require function that passes a moduleName - //value for items that may need to - //look up paths relative to the moduleName - return req.apply(undef, aps.call(arguments, 0).concat([relName, forceSync])); - }; - } - - function makeNormalize(relName) { - return function (name) { - return normalize(name, relName); - }; - } - - function makeLoad(depName) { - return function (value) { - defined[depName] = value; - }; - } - - function callDep(name) { - if (hasProp(waiting, name)) { - var args = waiting[name]; - delete waiting[name]; - defining[name] = true; - main.apply(undef, args); - } - - if (!hasProp(defined, name) && !hasProp(defining, name)) { - throw new Error('No ' + name); - } - return defined[name]; - } - - //Turns a plugin!resource to [plugin, resource] - //with the plugin being undefined if the name - //did not have a plugin prefix. - function splitPrefix(name) { - var prefix, - index = name ? name.indexOf('!') : -1; - if (index > -1) { - prefix = name.substring(0, index); - name = name.substring(index + 1, name.length); - } - return [prefix, name]; - } - - /** - * Makes a name map, normalizing the name, and using a plugin - * for normalization if necessary. Grabs a ref to plugin - * too, as an optimization. - */ - makeMap = function (name, relName) { - var plugin, - parts = splitPrefix(name), - prefix = parts[0]; - - name = parts[1]; - - if (prefix) { - prefix = normalize(prefix, relName); - plugin = callDep(prefix); - } - - //Normalize according - if (prefix) { - if (plugin && plugin.normalize) { - name = plugin.normalize(name, makeNormalize(relName)); - } else { - name = normalize(name, relName); - } - } else { - name = normalize(name, relName); - parts = splitPrefix(name); - prefix = parts[0]; - name = parts[1]; - if (prefix) { - plugin = callDep(prefix); - } - } - - //Using ridiculous property names for space reasons - return { - f: prefix ? prefix + '!' + name : name, //fullName - n: name, - pr: prefix, - p: plugin - }; - }; - - function makeConfig(name) { - return function () { - return (config && config.config && config.config[name]) || {}; - }; - } - - handlers = { - require: function (name) { - return makeRequire(name); - }, - exports: function (name) { - var e = defined[name]; - if (typeof e !== 'undefined') { - return e; - } else { - return (defined[name] = {}); - } - }, - module: function (name) { - return { - id: name, - uri: '', - exports: defined[name], - config: makeConfig(name) - }; - } - }; - - main = function (name, deps, callback, relName) { - var cjsModule, depName, ret, map, i, - args = [], - callbackType = typeof callback, - usingExports; - - //Use name if no relName - relName = relName || name; - - //Call the callback to define the module, if necessary. - if (callbackType === 'undefined' || callbackType === 'function') { - //Pull out the defined dependencies and pass the ordered - //values to the callback. - //Default to [require, exports, module] if no deps - deps = !deps.length && callback.length ? ['require', 'exports', 'module'] : deps; - for (i = 0; i < deps.length; i += 1) { - map = makeMap(deps[i], relName); - depName = map.f; - - //Fast path CommonJS standard dependencies. - if (depName === "require") { - args[i] = handlers.require(name); - } else if (depName === "exports") { - //CommonJS module spec 1.1 - args[i] = handlers.exports(name); - usingExports = true; - } else if (depName === "module") { - //CommonJS module spec 1.1 - cjsModule = args[i] = handlers.module(name); - } else if (hasProp(defined, depName) || - hasProp(waiting, depName) || - hasProp(defining, depName)) { - args[i] = callDep(depName); - } else if (map.p) { - map.p.load(map.n, makeRequire(relName, true), makeLoad(depName), {}); - args[i] = defined[depName]; - } else { - throw new Error(name + ' missing ' + depName); - } - } - - ret = callback ? callback.apply(defined[name], args) : undefined; - - if (name) { - //If setting exports via "module" is in play, - //favor that over return value and exports. After that, - //favor a non-undefined return value over exports use. - if (cjsModule && cjsModule.exports !== undef && - cjsModule.exports !== defined[name]) { - defined[name] = cjsModule.exports; - } else if (ret !== undef || !usingExports) { - //Use the return value from the function. - defined[name] = ret; - } - } - } else if (name) { - //May just be an object definition for the module. Only - //worry about defining if have a module name. - defined[name] = callback; - } - }; - - requirejs = require = req = function (deps, callback, relName, forceSync, alt) { - if (typeof deps === "string") { - if (handlers[deps]) { - //callback in this case is really relName - return handlers[deps](callback); - } - //Just return the module wanted. In this scenario, the - //deps arg is the module name, and second arg (if passed) - //is just the relName. - //Normalize module name, if it contains . or .. - return callDep(makeMap(deps, callback).f); - } else if (!deps.splice) { - //deps is a config object, not an array. - config = deps; - if (config.deps) { - req(config.deps, config.callback); - } - if (!callback) { - return; - } - - if (callback.splice) { - //callback is an array, which means it is a dependency list. - //Adjust args if there are dependencies - deps = callback; - callback = relName; - relName = null; - } else { - deps = undef; - } - } - - //Support require(['a']) - callback = callback || function () {}; - - //If relName is a function, it is an errback handler, - //so remove it. - if (typeof relName === 'function') { - relName = forceSync; - forceSync = alt; - } - - //Simulate async callback; - if (forceSync) { - main(undef, deps, callback, relName); - } else { - //Using a non-zero value because of concern for what old browsers - //do, and latest browsers "upgrade" to 4 if lower value is used: - //http://www.whatwg.org/specs/web-apps/current-work/multipage/timers.html#dom-windowtimers-settimeout: - //If want a value immediately, use require('id') instead -- something - //that works in almond on the global level, but not guaranteed and - //unlikely to work in other AMD implementations. - setTimeout(function () { - main(undef, deps, callback, relName); - }, 4); - } - - return req; - }; - - /** - * Just drops the config on the floor, but returns req in case - * the config return value is used. - */ - req.config = function (cfg) { - return req(cfg); - }; - - /** - * Expose module registry for debugging and tooling - */ - requirejs._defined = defined; - - define = function (name, deps, callback) { - - //This module may not have dependencies - if (!deps.splice) { - //deps is not an array, so probably means - //an object literal or factory function for - //the value. Adjust args. - callback = deps; - deps = []; - } - - if (!hasProp(defined, name) && !hasProp(waiting, name)) { - waiting[name] = [name, deps, callback]; - } - }; - - define.amd = { - jQuery: true - }; -}()); - -define("almond", function(){}); - -/* - * typedefs.js - * Normalizes browser-specific prefixes - */ - -glMatrixArrayType = Float32Array; -if (typeof window !== 'undefined') { - window.requestAnimFrame = (function () { - return window.requestAnimationFrame || - window.webkitRequestAnimationFrame || - window.mozRequestAnimationFrame || - window.oRequestAnimationFrame || - window.msRequestAnimationFrame || - function (/* function FrameRequestCallback */ callback, /* DOMElement Element */ element) { - window.setTimeout(callback, 1000 / 60); - }; - })(); - - navigator.getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia || navigator.msGetUserMedia; - window.URL = window.URL || window.webkitURL || window.mozURL || window.msURL; -} - -define("typedefs", (function (global) { - return function () { - var ret, fn; - return ret || global.typedefs; - }; -}(this))); - -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define */ - -define('subImage',["typedefs"], function() { - - - /** - * Construct representing a part of another {ImageWrapper}. Shares data - * between the parent and the child. - * @param from {ImageRef} The position where to start the {SubImage} from. (top-left corner) - * @param size {ImageRef} The size of the resulting image - * @param I {ImageWrapper} The {ImageWrapper} to share from - * @returns {SubImage} A shared part of the original image - */ - function SubImage(from, size, I) { - if (!I) { - I = { - data : null, - size : size - }; - } - this.data = I.data; - this.originalSize = I.size; - this.I = I; - - this.from = from; - this.size = size; - } - - /** - * Displays the {SubImage} in a given canvas - * @param canvas {Canvas} The canvas element to write to - * @param scale {Number} Scale which is applied to each pixel-value - */ - SubImage.prototype.show = function(canvas, scale) { - var ctx, - frame, - data, - current, - y, - x, - pixel; - - if (!scale) { - scale = 1.0; - } - ctx = canvas.getContext('2d'); - canvas.width = this.size.x; - canvas.height = this.size.y; - frame = ctx.getImageData(0, 0, canvas.width, canvas.height); - data = frame.data; - current = 0; - for (y = 0; y < this.size.y; y++) { - for (x = 0; x < this.size.x; x++) { - pixel = y * this.size.x + x; - current = this.get(x, y) * scale; - data[pixel * 4 + 0] = current; - data[pixel * 4 + 1] = current; - data[pixel * 4 + 2] = current; - data[pixel * 4 + 3] = 255; - } - } - frame.data = data; - ctx.putImageData(frame, 0, 0); - }; - - /** - * Retrieves a given pixel position from the {SubImage} - * @param x {Number} The x-position - * @param y {Number} The y-position - * @returns {Number} The grayscale value at the pixel-position - */ - SubImage.prototype.get = function(x, y) { - return this.data[(this.from.y + y) * this.originalSize.x + this.from.x + x]; - }; - - /** - * Updates the underlying data from a given {ImageWrapper} - * @param image {ImageWrapper} The updated image - */ - SubImage.prototype.updateData = function(image) { - this.originalSize = image.size; - this.data = image.data; - }; - - /** - * Updates the position of the shared area - * @param from {x,y} The new location - * @returns {SubImage} returns {this} for possible chaining - */ - SubImage.prototype.updateFrom = function(from) { - this.from = from; - return this; - }; - - return (SubImage); -}); -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define, vec2 */ - -define('cluster',[],function() { - - - /** - * Creates a cluster for grouping similar orientations of datapoints - */ - var Cluster = { - create : function(point, threshold) { - var points = [], center = { - rad : 0, - vec : vec2.create([0, 0]) - }, pointMap = {}; - - function init() { - add(point); - updateCenter(); - } - - function add(point) { - pointMap[point.id] = point; - points.push(point); - } - - function updateCenter() { - var i, sum = 0; - for ( i = 0; i < points.length; i++) { - sum += points[i].rad; - } - center.rad = sum / points.length; - center.vec = vec2.create([Math.cos(center.rad), Math.sin(center.rad)]); - } - - init(); - - return { - add : function(point) { - if (!pointMap[point.id]) { - add(point); - updateCenter(); - } - }, - fits : function(point) { - // check cosine similarity to center-angle - var similarity = Math.abs(vec2.dot(point.point.vec, center.vec)); - if (similarity > threshold) { - return true; - } - return false; - }, - getPoints : function() { - return points; - }, - getCenter : function() { - return center; - } - }; - }, - createPoint : function(point, id, property) { - return { - rad : point[property], - point : point, - id : id - }; - } - }; - - return (Cluster); -}); - -/* - * glMatrix.js - High performance matrix and vector operations for WebGL - * version 0.9.6 - */ - -/* - * Copyright (c) 2011 Brandon Jones - * - * This software is provided 'as-is', without any express or implied - * warranty. In no event will the authors be held liable for any damages - * arising from the use of this software. - * - * Permission is granted to anyone to use this software for any purpose, - * including commercial applications, and to alter it and redistribute it - * freely, subject to the following restrictions: - * - * 1. The origin of this software must not be misrepresented; you must not - * claim that you wrote the original software. If you use this software - * in a product, an acknowledgment in the product documentation would be - * appreciated but is not required. - * - * 2. Altered source versions must be plainly marked as such, and must not - * be misrepresented as being the original software. - * - * 3. This notice may not be removed or altered from any source - * distribution. - */ - - - -/* - * vec3 - 3 Dimensional Vector - */ -var vec3 = {}; - -/* - * vec3.create - * Creates a new instance of a vec3 using the default array type - * Any javascript array containing at least 3 numeric elements can serve as a vec3 - * - * Params: - * vec - Optional, vec3 containing values to initialize with - * - * Returns: - * New vec3 - */ -vec3.create = function(vec) { - var dest; - if(vec) { - dest = new glMatrixArrayType(3); - dest[0] = vec[0]; - dest[1] = vec[1]; - dest[2] = vec[2]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0,0]); - else - dest = new glMatrixArrayType(3); - } - - return dest; -}; - -/* - * vec3.set - * Copies the values of one vec3 to another - * - * Params: - * vec - vec3 containing values to copy - * dest - vec3 receiving copied values - * - * Returns: - * dest - */ -vec3.set = function(vec, dest) { - dest[0] = vec[0]; - dest[1] = vec[1]; - dest[2] = vec[2]; - - return dest; -}; - -/* - * vec3.add - * Performs a vector addition - * - * Params: - * vec - vec3, first operand - * vec2 - vec3, second operand - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.add = function(vec, vec2, dest) { - if(!dest || vec == dest) { - vec[0] += vec2[0]; - vec[1] += vec2[1]; - vec[2] += vec2[2]; - return vec; - } - - dest[0] = vec[0] + vec2[0]; - dest[1] = vec[1] + vec2[1]; - dest[2] = vec[2] + vec2[2]; - return dest; -}; - -/* - * vec3.subtract - * Performs a vector subtraction - * - * Params: - * vec - vec3, first operand - * vec2 - vec3, second operand - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.subtract = function(vec, vec2, dest) { - if(!dest || vec == dest) { - vec[0] -= vec2[0]; - vec[1] -= vec2[1]; - vec[2] -= vec2[2]; - return vec; - } - - dest[0] = vec[0] - vec2[0]; - dest[1] = vec[1] - vec2[1]; - dest[2] = vec[2] - vec2[2]; - return dest; -}; - -/* - * vec3.negate - * Negates the components of a vec3 - * - * Params: - * vec - vec3 to negate - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.negate = function(vec, dest) { - if(!dest) { dest = vec; } - - dest[0] = -vec[0]; - dest[1] = -vec[1]; - dest[2] = -vec[2]; - return dest; -}; - -/* - * vec3.scale - * Multiplies the components of a vec3 by a scalar value - * - * Params: - * vec - vec3 to scale - * val - Numeric value to scale by - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.scale = function(vec, val, dest) { - if(!dest || vec == dest) { - vec[0] *= val; - vec[1] *= val; - vec[2] *= val; - return vec; - } - - dest[0] = vec[0]*val; - dest[1] = vec[1]*val; - dest[2] = vec[2]*val; - return dest; -}; - -/* - * vec3.normalize - * Generates a unit vector of the same direction as the provided vec3 - * If vector length is 0, returns [0, 0, 0] - * - * Params: - * vec - vec3 to normalize - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.normalize = function(vec, dest) { - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1], z = vec[2]; - var len = Math.sqrt(x*x + y*y + z*z); - - if (!len) { - dest[0] = 0; - dest[1] = 0; - dest[2] = 0; - return dest; - } else if (len == 1) { - dest[0] = x; - dest[1] = y; - dest[2] = z; - return dest; - } - - len = 1 / len; - dest[0] = x*len; - dest[1] = y*len; - dest[2] = z*len; - return dest; -}; - -/* - * vec3.cross - * Generates the cross product of two vec3s - * - * Params: - * vec - vec3, first operand - * vec2 - vec3, second operand - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.cross = function(vec, vec2, dest){ - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1], z = vec[2]; - var x2 = vec2[0], y2 = vec2[1], z2 = vec2[2]; - - dest[0] = y*z2 - z*y2; - dest[1] = z*x2 - x*z2; - dest[2] = x*y2 - y*x2; - return dest; -}; - -/* - * vec3.length - * Caclulates the length of a vec3 - * - * Params: - * vec - vec3 to calculate length of - * - * Returns: - * Length of vec - */ -vec3.length = function(vec){ - var x = vec[0], y = vec[1], z = vec[2]; - return Math.sqrt(x*x + y*y + z*z); -}; - -/* - * vec3.dot - * Caclulates the dot product of two vec3s - * - * Params: - * vec - vec3, first operand - * vec2 - vec3, second operand - * - * Returns: - * Dot product of vec and vec2 - */ -vec3.dot = function(vec, vec2){ - return vec[0]*vec2[0] + vec[1]*vec2[1] + vec[2]*vec2[2]; -}; - -/* - * vec3.direction - * Generates a unit vector pointing from one vector to another - * - * Params: - * vec - origin vec3 - * vec2 - vec3 to point to - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.direction = function(vec, vec2, dest) { - if(!dest) { dest = vec; } - - var x = vec[0] - vec2[0]; - var y = vec[1] - vec2[1]; - var z = vec[2] - vec2[2]; - - var len = Math.sqrt(x*x + y*y + z*z); - if (!len) { - dest[0] = 0; - dest[1] = 0; - dest[2] = 0; - return dest; - } - - len = 1 / len; - dest[0] = x * len; - dest[1] = y * len; - dest[2] = z * len; - return dest; -}; - -/* - * vec3.lerp - * Performs a linear interpolation between two vec3 - * - * Params: - * vec - vec3, first vector - * vec2 - vec3, second vector - * lerp - interpolation amount between the two inputs - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -vec3.lerp = function(vec, vec2, lerp, dest){ - if(!dest) { dest = vec; } - - dest[0] = vec[0] + lerp * (vec2[0] - vec[0]); - dest[1] = vec[1] + lerp * (vec2[1] - vec[1]); - dest[2] = vec[2] + lerp * (vec2[2] - vec[2]); - - return dest; -}; - -/* - * vec3.str - * Returns a string representation of a vector - * - * Params: - * vec - vec3 to represent as a string - * - * Returns: - * string representation of vec - */ -vec3.str = function(vec) { - return '[' + vec[0] + ', ' + vec[1] + ', ' + vec[2] + ']'; -}; - -/* - * mat3 - 3x3 Matrix - */ -var mat3 = {}; - -/* - * mat3.create - * Creates a new instance of a mat3 using the default array type - * Any javascript array containing at least 9 numeric elements can serve as a mat3 - * - * Params: - * mat - Optional, mat3 containing values to initialize with - * - * Returns: - * New mat3 - */ -mat3.create = function(mat) { - var dest; - - if(mat) { - dest = new glMatrixArrayType(9); - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - dest[4] = mat[4]; - dest[5] = mat[5]; - dest[6] = mat[6]; - dest[7] = mat[7]; - dest[8] = mat[8]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0,0,0,0,0,0,0,0]); - else - dest = new glMatrixArrayType(9); - } - - return dest; -}; - -/* - * mat3.set - * Copies the values of one mat3 to another - * - * Params: - * mat - mat3 containing values to copy - * dest - mat3 receiving copied values - * - * Returns: - * dest - */ -mat3.set = function(mat, dest) { - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - dest[4] = mat[4]; - dest[5] = mat[5]; - dest[6] = mat[6]; - dest[7] = mat[7]; - dest[8] = mat[8]; - return dest; -}; - -/* - * mat3.identity - * Sets a mat3 to an identity matrix - * - * Params: - * dest - mat3 to set - * - * Returns: - * dest - */ -mat3.identity = function(dest) { - dest[0] = 1; - dest[1] = 0; - dest[2] = 0; - dest[3] = 0; - dest[4] = 1; - dest[5] = 0; - dest[6] = 0; - dest[7] = 0; - dest[8] = 1; - return dest; -}; - -/* - * mat4.transpose - * Transposes a mat3 (flips the values over the diagonal) - * - * Params: - * mat - mat3 to transpose - * dest - Optional, mat3 receiving transposed values. If not specified result is written to mat - * - * Returns: - * dest is specified, mat otherwise - */ -mat3.transpose = function(mat, dest) { - // If we are transposing ourselves we can skip a few steps but have to cache some values - if(!dest || mat == dest) { - var a01 = mat[1], a02 = mat[2]; - var a12 = mat[5]; - - mat[1] = mat[3]; - mat[2] = mat[6]; - mat[3] = a01; - mat[5] = mat[7]; - mat[6] = a02; - mat[7] = a12; - return mat; - } - - dest[0] = mat[0]; - dest[1] = mat[3]; - dest[2] = mat[6]; - dest[3] = mat[1]; - dest[4] = mat[4]; - dest[5] = mat[7]; - dest[6] = mat[2]; - dest[7] = mat[5]; - dest[8] = mat[8]; - return dest; -}; - -/* - * mat3.toMat4 - * Copies the elements of a mat3 into the upper 3x3 elements of a mat4 - * - * Params: - * mat - mat3 containing values to copy - * dest - Optional, mat4 receiving copied values - * - * Returns: - * dest if specified, a new mat4 otherwise - */ -mat3.toMat4 = function(mat, dest) { - if(!dest) { dest = mat4.create(); } - - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = 0; - - dest[4] = mat[3]; - dest[5] = mat[4]; - dest[6] = mat[5]; - dest[7] = 0; - - dest[8] = mat[6]; - dest[9] = mat[7]; - dest[10] = mat[8]; - dest[11] = 0; - - dest[12] = 0; - dest[13] = 0; - dest[14] = 0; - dest[15] = 1; - - return dest; -}; - -/* - * mat3.str - * Returns a string representation of a mat3 - * - * Params: - * mat - mat3 to represent as a string - * - * Returns: - * string representation of mat - */ -mat3.str = function(mat) { - return '[' + mat[0] + ', ' + mat[1] + ', ' + mat[2] + - ', ' + mat[3] + ', '+ mat[4] + ', ' + mat[5] + - ', ' + mat[6] + ', ' + mat[7] + ', '+ mat[8] + ']'; -}; - -/* - * mat4 - 4x4 Matrix - */ -var mat4 = {}; - -/* - * mat4.create - * Creates a new instance of a mat4 using the default array type - * Any javascript array containing at least 16 numeric elements can serve as a mat4 - * - * Params: - * mat - Optional, mat4 containing values to initialize with - * - * Returns: - * New mat4 - */ -mat4.create = function(mat) { - var dest; - - if(mat) { - dest = new glMatrixArrayType(16); - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - dest[4] = mat[4]; - dest[5] = mat[5]; - dest[6] = mat[6]; - dest[7] = mat[7]; - dest[8] = mat[8]; - dest[9] = mat[9]; - dest[10] = mat[10]; - dest[11] = mat[11]; - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]); - else - dest = new glMatrixArrayType(16); - } - - return dest; -}; - -/* - * mat4.set - * Copies the values of one mat4 to another - * - * Params: - * mat - mat4 containing values to copy - * dest - mat4 receiving copied values - * - * Returns: - * dest - */ -mat4.set = function(mat, dest) { - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - dest[4] = mat[4]; - dest[5] = mat[5]; - dest[6] = mat[6]; - dest[7] = mat[7]; - dest[8] = mat[8]; - dest[9] = mat[9]; - dest[10] = mat[10]; - dest[11] = mat[11]; - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - return dest; -}; - -/* - * mat4.identity - * Sets a mat4 to an identity matrix - * - * Params: - * dest - mat4 to set - * - * Returns: - * dest - */ -mat4.identity = function(dest) { - dest[0] = 1; - dest[1] = 0; - dest[2] = 0; - dest[3] = 0; - dest[4] = 0; - dest[5] = 1; - dest[6] = 0; - dest[7] = 0; - dest[8] = 0; - dest[9] = 0; - dest[10] = 1; - dest[11] = 0; - dest[12] = 0; - dest[13] = 0; - dest[14] = 0; - dest[15] = 1; - return dest; -}; - -/* - * mat4.transpose - * Transposes a mat4 (flips the values over the diagonal) - * - * Params: - * mat - mat4 to transpose - * dest - Optional, mat4 receiving transposed values. If not specified result is written to mat - * - * Returns: - * dest is specified, mat otherwise - */ -mat4.transpose = function(mat, dest) { - // If we are transposing ourselves we can skip a few steps but have to cache some values - if(!dest || mat == dest) { - var a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a12 = mat[6], a13 = mat[7]; - var a23 = mat[11]; - - mat[1] = mat[4]; - mat[2] = mat[8]; - mat[3] = mat[12]; - mat[4] = a01; - mat[6] = mat[9]; - mat[7] = mat[13]; - mat[8] = a02; - mat[9] = a12; - mat[11] = mat[14]; - mat[12] = a03; - mat[13] = a13; - mat[14] = a23; - return mat; - } - - dest[0] = mat[0]; - dest[1] = mat[4]; - dest[2] = mat[8]; - dest[3] = mat[12]; - dest[4] = mat[1]; - dest[5] = mat[5]; - dest[6] = mat[9]; - dest[7] = mat[13]; - dest[8] = mat[2]; - dest[9] = mat[6]; - dest[10] = mat[10]; - dest[11] = mat[14]; - dest[12] = mat[3]; - dest[13] = mat[7]; - dest[14] = mat[11]; - dest[15] = mat[15]; - return dest; -}; - -/* - * mat4.determinant - * Calculates the determinant of a mat4 - * - * Params: - * mat - mat4 to calculate determinant of - * - * Returns: - * determinant of mat - */ -mat4.determinant = function(mat) { - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - var a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15]; - - return a30*a21*a12*a03 - a20*a31*a12*a03 - a30*a11*a22*a03 + a10*a31*a22*a03 + - a20*a11*a32*a03 - a10*a21*a32*a03 - a30*a21*a02*a13 + a20*a31*a02*a13 + - a30*a01*a22*a13 - a00*a31*a22*a13 - a20*a01*a32*a13 + a00*a21*a32*a13 + - a30*a11*a02*a23 - a10*a31*a02*a23 - a30*a01*a12*a23 + a00*a31*a12*a23 + - a10*a01*a32*a23 - a00*a11*a32*a23 - a20*a11*a02*a33 + a10*a21*a02*a33 + - a20*a01*a12*a33 - a00*a21*a12*a33 - a10*a01*a22*a33 + a00*a11*a22*a33; -}; - -/* - * mat4.inverse - * Calculates the inverse matrix of a mat4 - * - * Params: - * mat - mat4 to calculate inverse of - * dest - Optional, mat4 receiving inverse matrix. If not specified result is written to mat - * - * Returns: - * dest is specified, mat otherwise - */ -mat4.inverse = function(mat, dest) { - if(!dest) { dest = mat; } - - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - var a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15]; - - var b00 = a00*a11 - a01*a10; - var b01 = a00*a12 - a02*a10; - var b02 = a00*a13 - a03*a10; - var b03 = a01*a12 - a02*a11; - var b04 = a01*a13 - a03*a11; - var b05 = a02*a13 - a03*a12; - var b06 = a20*a31 - a21*a30; - var b07 = a20*a32 - a22*a30; - var b08 = a20*a33 - a23*a30; - var b09 = a21*a32 - a22*a31; - var b10 = a21*a33 - a23*a31; - var b11 = a22*a33 - a23*a32; - - // Calculate the determinant (inlined to avoid double-caching) - var invDet = 1/(b00*b11 - b01*b10 + b02*b09 + b03*b08 - b04*b07 + b05*b06); - - dest[0] = (a11*b11 - a12*b10 + a13*b09)*invDet; - dest[1] = (-a01*b11 + a02*b10 - a03*b09)*invDet; - dest[2] = (a31*b05 - a32*b04 + a33*b03)*invDet; - dest[3] = (-a21*b05 + a22*b04 - a23*b03)*invDet; - dest[4] = (-a10*b11 + a12*b08 - a13*b07)*invDet; - dest[5] = (a00*b11 - a02*b08 + a03*b07)*invDet; - dest[6] = (-a30*b05 + a32*b02 - a33*b01)*invDet; - dest[7] = (a20*b05 - a22*b02 + a23*b01)*invDet; - dest[8] = (a10*b10 - a11*b08 + a13*b06)*invDet; - dest[9] = (-a00*b10 + a01*b08 - a03*b06)*invDet; - dest[10] = (a30*b04 - a31*b02 + a33*b00)*invDet; - dest[11] = (-a20*b04 + a21*b02 - a23*b00)*invDet; - dest[12] = (-a10*b09 + a11*b07 - a12*b06)*invDet; - dest[13] = (a00*b09 - a01*b07 + a02*b06)*invDet; - dest[14] = (-a30*b03 + a31*b01 - a32*b00)*invDet; - dest[15] = (a20*b03 - a21*b01 + a22*b00)*invDet; - - return dest; -}; - -/* - * mat4.toRotationMat - * Copies the upper 3x3 elements of a mat4 into another mat4 - * - * Params: - * mat - mat4 containing values to copy - * dest - Optional, mat4 receiving copied values - * - * Returns: - * dest is specified, a new mat4 otherwise - */ -mat4.toRotationMat = function(mat, dest) { - if(!dest) { dest = mat4.create(); } - - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - dest[4] = mat[4]; - dest[5] = mat[5]; - dest[6] = mat[6]; - dest[7] = mat[7]; - dest[8] = mat[8]; - dest[9] = mat[9]; - dest[10] = mat[10]; - dest[11] = mat[11]; - dest[12] = 0; - dest[13] = 0; - dest[14] = 0; - dest[15] = 1; - - return dest; -}; - -/* - * mat4.toMat3 - * Copies the upper 3x3 elements of a mat4 into a mat3 - * - * Params: - * mat - mat4 containing values to copy - * dest - Optional, mat3 receiving copied values - * - * Returns: - * dest is specified, a new mat3 otherwise - */ -mat4.toMat3 = function(mat, dest) { - if(!dest) { dest = mat3.create(); } - - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[4]; - dest[4] = mat[5]; - dest[5] = mat[6]; - dest[6] = mat[8]; - dest[7] = mat[9]; - dest[8] = mat[10]; - - return dest; -}; - -/* - * mat4.toInverseMat3 - * Calculates the inverse of the upper 3x3 elements of a mat4 and copies the result into a mat3 - * The resulting matrix is useful for calculating transformed normals - * - * Params: - * mat - mat4 containing values to invert and copy - * dest - Optional, mat3 receiving values - * - * Returns: - * dest is specified, a new mat3 otherwise - */ -mat4.toInverseMat3 = function(mat, dest) { - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10]; - - var b01 = a22*a11-a12*a21; - var b11 = -a22*a10+a12*a20; - var b21 = a21*a10-a11*a20; - - var d = a00*b01 + a01*b11 + a02*b21; - if (!d) { return null; } - var id = 1/d; - - if(!dest) { dest = mat3.create(); } - - dest[0] = b01*id; - dest[1] = (-a22*a01 + a02*a21)*id; - dest[2] = (a12*a01 - a02*a11)*id; - dest[3] = b11*id; - dest[4] = (a22*a00 - a02*a20)*id; - dest[5] = (-a12*a00 + a02*a10)*id; - dest[6] = b21*id; - dest[7] = (-a21*a00 + a01*a20)*id; - dest[8] = (a11*a00 - a01*a10)*id; - - return dest; -}; - -/* - * mat4.multiply - * Performs a matrix multiplication - * - * Params: - * mat - mat4, first operand - * mat2 - mat4, second operand - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.multiply = function(mat, mat2, dest) { - if(!dest) { dest = mat; } - - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - var a30 = mat[12], a31 = mat[13], a32 = mat[14], a33 = mat[15]; - - var b00 = mat2[0], b01 = mat2[1], b02 = mat2[2], b03 = mat2[3]; - var b10 = mat2[4], b11 = mat2[5], b12 = mat2[6], b13 = mat2[7]; - var b20 = mat2[8], b21 = mat2[9], b22 = mat2[10], b23 = mat2[11]; - var b30 = mat2[12], b31 = mat2[13], b32 = mat2[14], b33 = mat2[15]; - - dest[0] = b00*a00 + b01*a10 + b02*a20 + b03*a30; - dest[1] = b00*a01 + b01*a11 + b02*a21 + b03*a31; - dest[2] = b00*a02 + b01*a12 + b02*a22 + b03*a32; - dest[3] = b00*a03 + b01*a13 + b02*a23 + b03*a33; - dest[4] = b10*a00 + b11*a10 + b12*a20 + b13*a30; - dest[5] = b10*a01 + b11*a11 + b12*a21 + b13*a31; - dest[6] = b10*a02 + b11*a12 + b12*a22 + b13*a32; - dest[7] = b10*a03 + b11*a13 + b12*a23 + b13*a33; - dest[8] = b20*a00 + b21*a10 + b22*a20 + b23*a30; - dest[9] = b20*a01 + b21*a11 + b22*a21 + b23*a31; - dest[10] = b20*a02 + b21*a12 + b22*a22 + b23*a32; - dest[11] = b20*a03 + b21*a13 + b22*a23 + b23*a33; - dest[12] = b30*a00 + b31*a10 + b32*a20 + b33*a30; - dest[13] = b30*a01 + b31*a11 + b32*a21 + b33*a31; - dest[14] = b30*a02 + b31*a12 + b32*a22 + b33*a32; - dest[15] = b30*a03 + b31*a13 + b32*a23 + b33*a33; - - return dest; -}; - -/* - * mat4.multiplyVec3 - * Transforms a vec3 with the given matrix - * 4th vector component is implicitly '1' - * - * Params: - * mat - mat4 to transform the vector with - * vec - vec3 to transform - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -mat4.multiplyVec3 = function(mat, vec, dest) { - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1], z = vec[2]; - - dest[0] = mat[0]*x + mat[4]*y + mat[8]*z + mat[12]; - dest[1] = mat[1]*x + mat[5]*y + mat[9]*z + mat[13]; - dest[2] = mat[2]*x + mat[6]*y + mat[10]*z + mat[14]; - - return dest; -}; - -/* - * mat4.multiplyVec4 - * Transforms a vec4 with the given matrix - * - * Params: - * mat - mat4 to transform the vector with - * vec - vec4 to transform - * dest - Optional, vec4 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -mat4.multiplyVec4 = function(mat, vec, dest) { - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1], z = vec[2], w = vec[3]; - - dest[0] = mat[0]*x + mat[4]*y + mat[8]*z + mat[12]*w; - dest[1] = mat[1]*x + mat[5]*y + mat[9]*z + mat[13]*w; - dest[2] = mat[2]*x + mat[6]*y + mat[10]*z + mat[14]*w; - dest[3] = mat[3]*x + mat[7]*y + mat[11]*z + mat[15]*w; - - return dest; -}; - -/* - * mat4.translate - * Translates a matrix by the given vector - * - * Params: - * mat - mat4 to translate - * vec - vec3 specifying the translation - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.translate = function(mat, vec, dest) { - var x = vec[0], y = vec[1], z = vec[2]; - - if(!dest || mat == dest) { - mat[12] = mat[0]*x + mat[4]*y + mat[8]*z + mat[12]; - mat[13] = mat[1]*x + mat[5]*y + mat[9]*z + mat[13]; - mat[14] = mat[2]*x + mat[6]*y + mat[10]*z + mat[14]; - mat[15] = mat[3]*x + mat[7]*y + mat[11]*z + mat[15]; - return mat; - } - - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - - dest[0] = a00; - dest[1] = a01; - dest[2] = a02; - dest[3] = a03; - dest[4] = a10; - dest[5] = a11; - dest[6] = a12; - dest[7] = a13; - dest[8] = a20; - dest[9] = a21; - dest[10] = a22; - dest[11] = a23; - - dest[12] = a00*x + a10*y + a20*z + mat[12]; - dest[13] = a01*x + a11*y + a21*z + mat[13]; - dest[14] = a02*x + a12*y + a22*z + mat[14]; - dest[15] = a03*x + a13*y + a23*z + mat[15]; - return dest; -}; - -/* - * mat4.scale - * Scales a matrix by the given vector - * - * Params: - * mat - mat4 to scale - * vec - vec3 specifying the scale for each axis - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.scale = function(mat, vec, dest) { - var x = vec[0], y = vec[1], z = vec[2]; - - if(!dest || mat == dest) { - mat[0] *= x; - mat[1] *= x; - mat[2] *= x; - mat[3] *= x; - mat[4] *= y; - mat[5] *= y; - mat[6] *= y; - mat[7] *= y; - mat[8] *= z; - mat[9] *= z; - mat[10] *= z; - mat[11] *= z; - return mat; - } - - dest[0] = mat[0]*x; - dest[1] = mat[1]*x; - dest[2] = mat[2]*x; - dest[3] = mat[3]*x; - dest[4] = mat[4]*y; - dest[5] = mat[5]*y; - dest[6] = mat[6]*y; - dest[7] = mat[7]*y; - dest[8] = mat[8]*z; - dest[9] = mat[9]*z; - dest[10] = mat[10]*z; - dest[11] = mat[11]*z; - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - return dest; -}; - -/* - * mat4.rotate - * Rotates a matrix by the given angle around the specified axis - * If rotating around a primary axis (X,Y,Z) one of the specialized rotation functions should be used instead for performance - * - * Params: - * mat - mat4 to rotate - * angle - angle (in radians) to rotate - * axis - vec3 representing the axis to rotate around - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.rotate = function(mat, angle, axis, dest) { - var x = axis[0], y = axis[1], z = axis[2]; - var len = Math.sqrt(x*x + y*y + z*z); - if (!len) { return null; } - if (len != 1) { - len = 1 / len; - x *= len; - y *= len; - z *= len; - } - - var s = Math.sin(angle); - var c = Math.cos(angle); - var t = 1-c; - - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - - // Construct the elements of the rotation matrix - var b00 = x*x*t + c, b01 = y*x*t + z*s, b02 = z*x*t - y*s; - var b10 = x*y*t - z*s, b11 = y*y*t + c, b12 = z*y*t + x*s; - var b20 = x*z*t + y*s, b21 = y*z*t - x*s, b22 = z*z*t + c; - - if(!dest) { - dest = mat; - } else if(mat != dest) { // If the source and destination differ, copy the unchanged last row - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - } - - // Perform rotation-specific matrix multiplication - dest[0] = a00*b00 + a10*b01 + a20*b02; - dest[1] = a01*b00 + a11*b01 + a21*b02; - dest[2] = a02*b00 + a12*b01 + a22*b02; - dest[3] = a03*b00 + a13*b01 + a23*b02; - - dest[4] = a00*b10 + a10*b11 + a20*b12; - dest[5] = a01*b10 + a11*b11 + a21*b12; - dest[6] = a02*b10 + a12*b11 + a22*b12; - dest[7] = a03*b10 + a13*b11 + a23*b12; - - dest[8] = a00*b20 + a10*b21 + a20*b22; - dest[9] = a01*b20 + a11*b21 + a21*b22; - dest[10] = a02*b20 + a12*b21 + a22*b22; - dest[11] = a03*b20 + a13*b21 + a23*b22; - return dest; -}; - -/* - * mat4.rotateX - * Rotates a matrix by the given angle around the X axis - * - * Params: - * mat - mat4 to rotate - * angle - angle (in radians) to rotate - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.rotateX = function(mat, angle, dest) { - var s = Math.sin(angle); - var c = Math.cos(angle); - - // Cache the matrix values (makes for huge speed increases!) - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - - if(!dest) { - dest = mat; - } else if(mat != dest) { // If the source and destination differ, copy the unchanged rows - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - } - - // Perform axis-specific matrix multiplication - dest[4] = a10*c + a20*s; - dest[5] = a11*c + a21*s; - dest[6] = a12*c + a22*s; - dest[7] = a13*c + a23*s; - - dest[8] = a10*-s + a20*c; - dest[9] = a11*-s + a21*c; - dest[10] = a12*-s + a22*c; - dest[11] = a13*-s + a23*c; - return dest; -}; - -/* - * mat4.rotateY - * Rotates a matrix by the given angle around the Y axis - * - * Params: - * mat - mat4 to rotate - * angle - angle (in radians) to rotate - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.rotateY = function(mat, angle, dest) { - var s = Math.sin(angle); - var c = Math.cos(angle); - - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a20 = mat[8], a21 = mat[9], a22 = mat[10], a23 = mat[11]; - - if(!dest) { - dest = mat; - } else if(mat != dest) { // If the source and destination differ, copy the unchanged rows - dest[4] = mat[4]; - dest[5] = mat[5]; - dest[6] = mat[6]; - dest[7] = mat[7]; - - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - } - - // Perform axis-specific matrix multiplication - dest[0] = a00*c + a20*-s; - dest[1] = a01*c + a21*-s; - dest[2] = a02*c + a22*-s; - dest[3] = a03*c + a23*-s; - - dest[8] = a00*s + a20*c; - dest[9] = a01*s + a21*c; - dest[10] = a02*s + a22*c; - dest[11] = a03*s + a23*c; - return dest; -}; - -/* - * mat4.rotateZ - * Rotates a matrix by the given angle around the Z axis - * - * Params: - * mat - mat4 to rotate - * angle - angle (in radians) to rotate - * dest - Optional, mat4 receiving operation result. If not specified result is written to mat - * - * Returns: - * dest if specified, mat otherwise - */ -mat4.rotateZ = function(mat, angle, dest) { - var s = Math.sin(angle); - var c = Math.cos(angle); - - // Cache the matrix values (makes for huge speed increases!) - var a00 = mat[0], a01 = mat[1], a02 = mat[2], a03 = mat[3]; - var a10 = mat[4], a11 = mat[5], a12 = mat[6], a13 = mat[7]; - - if(!dest) { - dest = mat; - } else if(mat != dest) { // If the source and destination differ, copy the unchanged last row - dest[8] = mat[8]; - dest[9] = mat[9]; - dest[10] = mat[10]; - dest[11] = mat[11]; - - dest[12] = mat[12]; - dest[13] = mat[13]; - dest[14] = mat[14]; - dest[15] = mat[15]; - } - - // Perform axis-specific matrix multiplication - dest[0] = a00*c + a10*s; - dest[1] = a01*c + a11*s; - dest[2] = a02*c + a12*s; - dest[3] = a03*c + a13*s; - - dest[4] = a00*-s + a10*c; - dest[5] = a01*-s + a11*c; - dest[6] = a02*-s + a12*c; - dest[7] = a03*-s + a13*c; - - return dest; -}; - -/* - * mat4.frustum - * Generates a frustum matrix with the given bounds - * - * Params: - * left, right - scalar, left and right bounds of the frustum - * bottom, top - scalar, bottom and top bounds of the frustum - * near, far - scalar, near and far bounds of the frustum - * dest - Optional, mat4 frustum matrix will be written into - * - * Returns: - * dest if specified, a new mat4 otherwise - */ -mat4.frustum = function(left, right, bottom, top, near, far, dest) { - if(!dest) { dest = mat4.create(); } - var rl = (right - left); - var tb = (top - bottom); - var fn = (far - near); - dest[0] = (near*2) / rl; - dest[1] = 0; - dest[2] = 0; - dest[3] = 0; - dest[4] = 0; - dest[5] = (near*2) / tb; - dest[6] = 0; - dest[7] = 0; - dest[8] = (right + left) / rl; - dest[9] = (top + bottom) / tb; - dest[10] = -(far + near) / fn; - dest[11] = -1; - dest[12] = 0; - dest[13] = 0; - dest[14] = -(far*near*2) / fn; - dest[15] = 0; - return dest; -}; - -/* - * mat4.perspective - * Generates a perspective projection matrix with the given bounds - * - * Params: - * fovy - scalar, vertical field of view - * aspect - scalar, aspect ratio. typically viewport width/height - * near, far - scalar, near and far bounds of the frustum - * dest - Optional, mat4 frustum matrix will be written into - * - * Returns: - * dest if specified, a new mat4 otherwise - */ -mat4.perspective = function(fovy, aspect, near, far, dest) { - var top = near*Math.tan(fovy*Math.PI / 360.0); - var right = top*aspect; - return mat4.frustum(-right, right, -top, top, near, far, dest); -}; - -/* - * mat4.ortho - * Generates a orthogonal projection matrix with the given bounds - * - * Params: - * left, right - scalar, left and right bounds of the frustum - * bottom, top - scalar, bottom and top bounds of the frustum - * near, far - scalar, near and far bounds of the frustum - * dest - Optional, mat4 frustum matrix will be written into - * - * Returns: - * dest if specified, a new mat4 otherwise - */ -mat4.ortho = function(left, right, bottom, top, near, far, dest) { - if(!dest) { dest = mat4.create(); } - var rl = (right - left); - var tb = (top - bottom); - var fn = (far - near); - dest[0] = 2 / rl; - dest[1] = 0; - dest[2] = 0; - dest[3] = 0; - dest[4] = 0; - dest[5] = 2 / tb; - dest[6] = 0; - dest[7] = 0; - dest[8] = 0; - dest[9] = 0; - dest[10] = -2 / fn; - dest[11] = 0; - dest[12] = -(left + right) / rl; - dest[13] = -(top + bottom) / tb; - dest[14] = -(far + near) / fn; - dest[15] = 1; - return dest; -}; - -/* - * mat4.ortho - * Generates a look-at matrix with the given eye position, focal point, and up axis - * - * Params: - * eye - vec3, position of the viewer - * center - vec3, point the viewer is looking at - * up - vec3 pointing "up" - * dest - Optional, mat4 frustum matrix will be written into - * - * Returns: - * dest if specified, a new mat4 otherwise - */ -mat4.lookAt = function(eye, center, up, dest) { - if(!dest) { dest = mat4.create(); } - - var eyex = eye[0], - eyey = eye[1], - eyez = eye[2], - upx = up[0], - upy = up[1], - upz = up[2], - centerx = center[0], - centery = center[1], - centerz = center[2]; - - if (eyex == centerx && eyey == centery && eyez == centerz) { - return mat4.identity(dest); - } - - var z0,z1,z2,x0,x1,x2,y0,y1,y2,len; - - //vec3.direction(eye, center, z); - z0 = eyex - center[0]; - z1 = eyey - center[1]; - z2 = eyez - center[2]; - - // normalize (no check needed for 0 because of early return) - len = 1/Math.sqrt(z0*z0 + z1*z1 + z2*z2); - z0 *= len; - z1 *= len; - z2 *= len; - - //vec3.normalize(vec3.cross(up, z, x)); - x0 = upy*z2 - upz*z1; - x1 = upz*z0 - upx*z2; - x2 = upx*z1 - upy*z0; - len = Math.sqrt(x0*x0 + x1*x1 + x2*x2); - if (!len) { - x0 = 0; - x1 = 0; - x2 = 0; - } else { - len = 1/len; - x0 *= len; - x1 *= len; - x2 *= len; - }; - - //vec3.normalize(vec3.cross(z, x, y)); - y0 = z1*x2 - z2*x1; - y1 = z2*x0 - z0*x2; - y2 = z0*x1 - z1*x0; - - len = Math.sqrt(y0*y0 + y1*y1 + y2*y2); - if (!len) { - y0 = 0; - y1 = 0; - y2 = 0; - } else { - len = 1/len; - y0 *= len; - y1 *= len; - y2 *= len; - } - - dest[0] = x0; - dest[1] = y0; - dest[2] = z0; - dest[3] = 0; - dest[4] = x1; - dest[5] = y1; - dest[6] = z1; - dest[7] = 0; - dest[8] = x2; - dest[9] = y2; - dest[10] = z2; - dest[11] = 0; - dest[12] = -(x0*eyex + x1*eyey + x2*eyez); - dest[13] = -(y0*eyex + y1*eyey + y2*eyez); - dest[14] = -(z0*eyex + z1*eyey + z2*eyez); - dest[15] = 1; - - return dest; -}; - -/* - * mat4.str - * Returns a string representation of a mat4 - * - * Params: - * mat - mat4 to represent as a string - * - * Returns: - * string representation of mat - */ -mat4.str = function(mat) { - return '[' + mat[0] + ', ' + mat[1] + ', ' + mat[2] + ', ' + mat[3] + - ',\n '+ mat[4] + ', ' + mat[5] + ', ' + mat[6] + ', ' + mat[7] + - ',\n '+ mat[8] + ', ' + mat[9] + ', ' + mat[10] + ', ' + mat[11] + - ',\n '+ mat[12] + ', ' + mat[13] + ', ' + mat[14] + ', ' + mat[15] + ']'; -}; - -/* - * quat4 - Quaternions - */ -quat4 = {}; - -/* - * quat4.create - * Creates a new instance of a quat4 using the default array type - * Any javascript array containing at least 4 numeric elements can serve as a quat4 - * - * Params: - * quat - Optional, quat4 containing values to initialize with - * - * Returns: - * New quat4 - */ -quat4.create = function(quat) { - var dest; - - if(quat) { - dest = new glMatrixArrayType(4); - dest[0] = quat[0]; - dest[1] = quat[1]; - dest[2] = quat[2]; - dest[3] = quat[3]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0,0,0]); - else - dest = new glMatrixArrayType(4); - } - - return dest; -}; - -/* - * quat4.set - * Copies the values of one quat4 to another - * - * Params: - * quat - quat4 containing values to copy - * dest - quat4 receiving copied values - * - * Returns: - * dest - */ -quat4.set = function(quat, dest) { - dest[0] = quat[0]; - dest[1] = quat[1]; - dest[2] = quat[2]; - dest[3] = quat[3]; - - return dest; -}; - -/* - * quat4.calculateW - * Calculates the W component of a quat4 from the X, Y, and Z components. - * Assumes that quaternion is 1 unit in length. - * Any existing W component will be ignored. - * - * Params: - * quat - quat4 to calculate W component of - * dest - Optional, quat4 receiving calculated values. If not specified result is written to quat - * - * Returns: - * dest if specified, quat otherwise - */ -quat4.calculateW = function(quat, dest) { - var x = quat[0], y = quat[1], z = quat[2]; - - if(!dest || quat == dest) { - quat[3] = -Math.sqrt(Math.abs(1.0 - x*x - y*y - z*z)); - return quat; - } - dest[0] = x; - dest[1] = y; - dest[2] = z; - dest[3] = -Math.sqrt(Math.abs(1.0 - x*x - y*y - z*z)); - return dest; -}; - -/* - * quat4.inverse - * Calculates the inverse of a quat4 - * - * Params: - * quat - quat4 to calculate inverse of - * dest - Optional, quat4 receiving inverse values. If not specified result is written to quat - * - * Returns: - * dest if specified, quat otherwise - */ -quat4.inverse = function(quat, dest) { - if(!dest || quat == dest) { - quat[0] *= -1; - quat[1] *= -1; - quat[2] *= -1; - return quat; - } - dest[0] = -quat[0]; - dest[1] = -quat[1]; - dest[2] = -quat[2]; - dest[3] = quat[3]; - return dest; -}; - -/* - * quat4.length - * Calculates the length of a quat4 - * - * Params: - * quat - quat4 to calculate length of - * - * Returns: - * Length of quat - */ -quat4.length = function(quat) { - var x = quat[0], y = quat[1], z = quat[2], w = quat[3]; - return Math.sqrt(x*x + y*y + z*z + w*w); -}; - -/* - * quat4.normalize - * Generates a unit quaternion of the same direction as the provided quat4 - * If quaternion length is 0, returns [0, 0, 0, 0] - * - * Params: - * quat - quat4 to normalize - * dest - Optional, quat4 receiving operation result. If not specified result is written to quat - * - * Returns: - * dest if specified, quat otherwise - */ -quat4.normalize = function(quat, dest) { - if(!dest) { dest = quat; } - - var x = quat[0], y = quat[1], z = quat[2], w = quat[3]; - var len = Math.sqrt(x*x + y*y + z*z + w*w); - if(len == 0) { - dest[0] = 0; - dest[1] = 0; - dest[2] = 0; - dest[3] = 0; - return dest; - } - len = 1/len; - dest[0] = x * len; - dest[1] = y * len; - dest[2] = z * len; - dest[3] = w * len; - - return dest; -}; - -/* - * quat4.multiply - * Performs a quaternion multiplication - * - * Params: - * quat - quat4, first operand - * quat2 - quat4, second operand - * dest - Optional, quat4 receiving operation result. If not specified result is written to quat - * - * Returns: - * dest if specified, quat otherwise - */ -quat4.multiply = function(quat, quat2, dest) { - if(!dest) { dest = quat; } - - var qax = quat[0], qay = quat[1], qaz = quat[2], qaw = quat[3]; - var qbx = quat2[0], qby = quat2[1], qbz = quat2[2], qbw = quat2[3]; - - dest[0] = qax*qbw + qaw*qbx + qay*qbz - qaz*qby; - dest[1] = qay*qbw + qaw*qby + qaz*qbx - qax*qbz; - dest[2] = qaz*qbw + qaw*qbz + qax*qby - qay*qbx; - dest[3] = qaw*qbw - qax*qbx - qay*qby - qaz*qbz; - - return dest; -}; - -/* - * quat4.multiplyVec3 - * Transforms a vec3 with the given quaternion - * - * Params: - * quat - quat4 to transform the vector with - * vec - vec3 to transform - * dest - Optional, vec3 receiving operation result. If not specified result is written to vec - * - * Returns: - * dest if specified, vec otherwise - */ -quat4.multiplyVec3 = function(quat, vec, dest) { - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1], z = vec[2]; - var qx = quat[0], qy = quat[1], qz = quat[2], qw = quat[3]; - - // calculate quat * vec - var ix = qw*x + qy*z - qz*y; - var iy = qw*y + qz*x - qx*z; - var iz = qw*z + qx*y - qy*x; - var iw = -qx*x - qy*y - qz*z; - - // calculate result * inverse quat - dest[0] = ix*qw + iw*-qx + iy*-qz - iz*-qy; - dest[1] = iy*qw + iw*-qy + iz*-qx - ix*-qz; - dest[2] = iz*qw + iw*-qz + ix*-qy - iy*-qx; - - return dest; -}; - -/* - * quat4.toMat3 - * Calculates a 3x3 matrix from the given quat4 - * - * Params: - * quat - quat4 to create matrix from - * dest - Optional, mat3 receiving operation result - * - * Returns: - * dest if specified, a new mat3 otherwise - */ -quat4.toMat3 = function(quat, dest) { - if(!dest) { dest = mat3.create(); } - - var x = quat[0], y = quat[1], z = quat[2], w = quat[3]; - - var x2 = x + x; - var y2 = y + y; - var z2 = z + z; - - var xx = x*x2; - var xy = x*y2; - var xz = x*z2; - - var yy = y*y2; - var yz = y*z2; - var zz = z*z2; - - var wx = w*x2; - var wy = w*y2; - var wz = w*z2; - - dest[0] = 1 - (yy + zz); - dest[1] = xy - wz; - dest[2] = xz + wy; - - dest[3] = xy + wz; - dest[4] = 1 - (xx + zz); - dest[5] = yz - wx; - - dest[6] = xz - wy; - dest[7] = yz + wx; - dest[8] = 1 - (xx + yy); - - return dest; -}; - -/* - * quat4.toMat4 - * Calculates a 4x4 matrix from the given quat4 - * - * Params: - * quat - quat4 to create matrix from - * dest - Optional, mat4 receiving operation result - * - * Returns: - * dest if specified, a new mat4 otherwise - */ -quat4.toMat4 = function(quat, dest) { - if(!dest) { dest = mat4.create(); } - - var x = quat[0], y = quat[1], z = quat[2], w = quat[3]; - - var x2 = x + x; - var y2 = y + y; - var z2 = z + z; - - var xx = x*x2; - var xy = x*y2; - var xz = x*z2; - - var yy = y*y2; - var yz = y*z2; - var zz = z*z2; - - var wx = w*x2; - var wy = w*y2; - var wz = w*z2; - - dest[0] = 1 - (yy + zz); - dest[1] = xy - wz; - dest[2] = xz + wy; - dest[3] = 0; - - dest[4] = xy + wz; - dest[5] = 1 - (xx + zz); - dest[6] = yz - wx; - dest[7] = 0; - - dest[8] = xz - wy; - dest[9] = yz + wx; - dest[10] = 1 - (xx + yy); - dest[11] = 0; - - dest[12] = 0; - dest[13] = 0; - dest[14] = 0; - dest[15] = 1; - - return dest; -}; - -/* - * quat4.slerp - * Performs a spherical linear interpolation between two quat4 - * - * Params: - * quat - quat4, first quaternion - * quat2 - quat4, second quaternion - * slerp - interpolation amount between the two inputs - * dest - Optional, quat4 receiving operation result. If not specified result is written to quat - * - * Returns: - * dest if specified, quat otherwise - */ -quat4.slerp = function(quat, quat2, slerp, dest) { - if(!dest) { dest = quat; } - - var cosHalfTheta = quat[0]*quat2[0] + quat[1]*quat2[1] + quat[2]*quat2[2] + quat[3]*quat2[3]; - - if (Math.abs(cosHalfTheta) >= 1.0){ - if(dest != quat) { - dest[0] = quat[0]; - dest[1] = quat[1]; - dest[2] = quat[2]; - dest[3] = quat[3]; - } - return dest; - } - - var halfTheta = Math.acos(cosHalfTheta); - var sinHalfTheta = Math.sqrt(1.0 - cosHalfTheta*cosHalfTheta); - - if (Math.abs(sinHalfTheta) < 0.001){ - dest[0] = (quat[0]*0.5 + quat2[0]*0.5); - dest[1] = (quat[1]*0.5 + quat2[1]*0.5); - dest[2] = (quat[2]*0.5 + quat2[2]*0.5); - dest[3] = (quat[3]*0.5 + quat2[3]*0.5); - return dest; - } - - var ratioA = Math.sin((1 - slerp)*halfTheta) / sinHalfTheta; - var ratioB = Math.sin(slerp*halfTheta) / sinHalfTheta; - - dest[0] = (quat[0]*ratioA + quat2[0]*ratioB); - dest[1] = (quat[1]*ratioA + quat2[1]*ratioB); - dest[2] = (quat[2]*ratioA + quat2[2]*ratioB); - dest[3] = (quat[3]*ratioA + quat2[3]*ratioB); - - return dest; -}; - - -/* - * quat4.str - * Returns a string representation of a quaternion - * - * Params: - * quat - quat4 to represent as a string - * - * Returns: - * string representation of quat - */ -quat4.str = function(quat) { - return '[' + quat[0] + ', ' + quat[1] + ', ' + quat[2] + ', ' + quat[3] + ']'; -}; - - -define("glMatrix", ["typedefs"], (function (global) { - return function () { - var ret, fn; - return ret || global.glMatrix; - }; -}(this))); - -/* - -Copyright (C) 2011 - - Christoph Oberhofer (ar.oberhofer@gmail.com) - - Jens Grubert (jg@jensgrubert.de) - - Gerhard Reitmayr (reitmayr@icg.tugraz.at) -This program is free software: you can redistribute it and/or modify -it under the terms of the GNU General Public License as published by -the Free Software Foundation, either version 3 of the License, or -(at your option) any later version. - -This program is distributed in the hope that it will be useful, -but WITHOUT ANY WARRANTY; without even the implied warranty of -MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the -GNU General Public License for more details. - -You should have received a copy of the GNU General Public License -along with this program. If not, see . -*/ - - -/* - * glMatrixAddon.js - * Extension to the glMatrix library. The original glMatrix library - * was created by Brandon Jones. - */ - - -mat4.xVec4 = function(mat, vec, dest){ - if(!dest) { dest = vec; } - var x = vec[0], y = vec[1], z = vec[2], w = vec[3]; - - dest[0] = mat[0]*x + mat[1]*y + mat[2]*z + mat[3]*w; - dest[1] = mat[4]*x + mat[5]*y + mat[6]*z + mat[7]*w; - dest[2] = mat[8]*x + mat[9]*y + mat[10]*z + mat[11]*w; - dest[3] = mat[12]*x + mat[13]*y + mat[14]*z + mat[15]*w; - - return dest; -}; - -mat3.scale = function(mat, scalar, dest){ - if(!dest || mat == dest) { - mat[0] *= scalar; - mat[1] *= scalar; - mat[2] *= scalar; - mat[3] *= scalar; - mat[4] *= scalar; - mat[5] *= scalar; - mat[6] *= scalar; - mat[7] *= scalar; - mat[8] *= scalar; - return mat; - } - dest = mat3.create(); - dest[0] = mat[0]*scalar; - dest[1] = mat[1]*scalar; - dest[2] = mat[2]*scalar; - dest[3] = mat[3]*scalar; - dest[4] = mat[4]*scalar; - dest[5] = mat[5]*scalar; - dest[6] = mat[6]*scalar; - dest[7] = mat[7]*scalar; - dest[8] = mat[8]*scalar; - return dest; -}; - -mat3.inverse = function(mat, dest){ - if(!dest) { dest = mat; } - - var ha00 = mat[0], ha01 = mat[1], ha02 = mat[2]; - var ha10 = mat[3], ha11 = mat[4], ha12 = mat[5]; - var ha20 = mat[6], ha21 = mat[7], ha22 = mat[8]; - - var invDetA = 1/(ha00*ha11*ha22 + ha01*ha12*ha20 + ha02*ha10*ha21 - ha02*ha11*ha20 - ha01*ha10*ha22 - ha00*ha12*ha21); - dest[0] = (ha11*ha22 - ha12*ha21)*invDetA; - dest[1] = (ha02*ha21 - ha01*ha22)*invDetA; - dest[2] = (ha01*ha12 - ha02*ha11)*invDetA; - dest[3] = (ha12*ha20 - ha10*ha22)*invDetA; - dest[4] = (ha00*ha22 - ha02*ha20)*invDetA; - dest[5] = (ha02*ha10 - ha00*ha12)*invDetA; - dest[6] = (ha10*ha21 - ha11*ha20)*invDetA; - dest[7] = (ha01*ha20 - ha00*ha21)*invDetA; - dest[8] = (ha00*ha11 - ha01*ha10)*invDetA; - return dest; -}; - -mat3.multiply = function(mat, mat2, dest) { - if(!dest) { dest = mat; } - - var ha00 = mat[0], ha01 = mat[1], ha02 = mat[2]; - var ha10 = mat[3], ha11 = mat[4], ha12 = mat[5]; - var ha20 = mat[6], ha21 = mat[7], ha22 = mat[8]; - - var hb00 = mat2[0], hb01 = mat2[1], hb02 = mat2[2]; - var hb10 = mat2[3], hb11 = mat2[4], hb12 = mat2[5]; - var hb20 = mat2[6], hb21 = mat2[7], hb22 = mat2[8]; - - dest[0] = ha00*hb00 + ha01*hb10 + ha02*hb20; - dest[1] = ha00*hb01 + ha01*hb11 + ha02*hb21; - dest[2] = ha00*hb02 + ha01*hb12 + ha02*hb22; - - dest[3] = ha10*hb00 + ha11*hb10 + ha12*hb20; - dest[4] = ha10*hb01 + ha11*hb11 + ha12*hb21; - dest[5] = ha10*hb02 + ha11*hb12 + ha12*hb22; - - dest[6] = ha20*hb00 + ha21*hb10 + ha22*hb20; - dest[7] = ha20*hb01 + ha21*hb11 + ha22*hb21; - dest[8] = ha20*hb02 + ha21*hb12 + ha22*hb22; - return dest; -}; - -mat3.xVec3 = function(mat, vec, dest){ - if(!dest) { dest = vec; } - var x = vec[0], y = vec[1], z = vec[2]; - - dest[0] = mat[0]*x + mat[1]*y + mat[2]*z; - dest[1] = mat[3]*x + mat[4]*y + mat[5]*z; - dest[2] = mat[6]*x + mat[7]*y + mat[8]*z; - - return dest; -}; - -var vec4={}; - -vec4.create = function(vec){ - var dest; - - if(vec) { - dest = new glMatrixArrayType(4); - dest[0] = vec[0]; - dest[1] = vec[1]; - dest[2] = vec[2]; - dest[3] = vec[3]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0,0,0]); - else - dest = new glMatrixArrayType(4); - } - - return dest; -}; - -vec4.project = function(vec, dest){ - if(!dest) { dest = vec; } - - dest[0] = vec[0]/vec[3]; - dest[1] = vec[1]/vec[3]; - dest[2] = vec[2]/vec[3]; - return dest; -}; - -vec4.scale = function(vec, val, dest){ - if(!dest || vec == dest) { - vec[0] *= val; - vec[1] *= val; - vec[2] *= val; - vec[4] *= val; - return vec; - } - - dest[0] = vec[0]*val; - dest[1] = vec[1]*val; - dest[2] = vec[2]*val; - dest[3] = vec[3]*val; - return dest; -}; - -vec4.xMat4 = function(vec, mat, dest){ - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1], z = vec[2], w = vec[3]; - - dest[0] = mat[0]*x + mat[4]*y + mat[8]*z + mat[12]*w; - dest[1] = mat[1]*x + mat[5]*y + mat[9]*z + mat[13]*w; - dest[2] = mat[2]*x + mat[6]*y + mat[10]*z + mat[14]*w; - dest[3] = mat[3]*x + mat[7]*y + mat[11]*z + mat[15]*w; - - return dest; -}; - - -var mat2 = {}; - -mat2.create = function(mat){ - var dest; - - if(mat) { - dest = new glMatrixArrayType(4); - dest[0] = mat[0]; - dest[1] = mat[1]; - dest[2] = mat[2]; - dest[3] = mat[3]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0,0,0]); - else - dest = new glMatrixArrayType(4); - } - - return dest; -}; - -mat2.xVec2 = function(mat, vec, dest){ - if(!dest) { dest = vec; } - var x = vec[0], y = vec[1]; - - dest[0] = mat[0]*x + mat[1]*y; - dest[1] = mat[2]*x + mat[3]*y; - - return dest; -}; - -mat2.scale = function(mat, scale, dest){ - if(!dest || mat == dest) { - mat[0] *= scale; - mat[1] *= scale; - mat[2] *= scale; - mat[3] *= scale; - return mat; - } - - dest[0] = mat[0]*scale; - dest[1] = mat[1]*scale; - dest[2] = mat[2]*scale; - dest[3] = mat[3]*scale; - return dest; -}; - -mat2.determinant = function(mat){ - return mat[0]*mat[3] - mat[1]*mat[2]; -}; - -mat2.inverse = function(mat){ - var scale = 1/(mat2.determinant(mat)); - var a = mat[3]*scale, - b = -mat[1]*scale, - c = -mat[2]*scale, - d = mat[0]; - mat[0] = a; - mat[1] = b; - mat[2] = c; - mat[3] = d; - return mat; -}; - -var vec2 = {}; -vec2.create = function(vec){ - var dest; - - if(vec) { - dest = new glMatrixArrayType(2); - dest[0] = vec[0]; - dest[1] = vec[1]; - } else { - if(glMatrixArrayType === Array) - dest = new glMatrixArrayType([0,0]); - else - dest = new glMatrixArrayType(2); - } - - return dest; -}; - -vec2.subtract = function(vec, vec2, dest) { - if(!dest || vec == dest) { - vec[0] -= vec2[0]; - vec[1] -= vec2[1]; - return vec; - } - - dest[0] = vec[0] - vec2[0]; - dest[1] = vec[1] - vec2[1]; - return dest; -}; - -vec2.add = function(vec, vec2, dest) { - if(!dest || vec == dest) { - vec[0] += vec2[0]; - vec[1] += vec2[1]; - return vec; - } - - dest[0] = vec[0] + vec2[0]; - dest[1] = vec[1] + vec2[1]; - return dest; -}; - -vec2.scale = function(vec, val, dest) { - if(!dest || vec == dest) { - vec[0] *= val; - vec[1] *= val; - return vec; - } - - dest[0] = vec[0]*val; - dest[1] = vec[1]*val; - return dest; -}; - -vec2.normalize = function(vec, dest) { - if(!dest) { dest = vec; } - - var x = vec[0], y = vec[1]; - var len = Math.sqrt(x*x + y*y); - - if (!len) { - dest[0] = 0; - dest[1] = 0; - return dest; - } else if (len == 1) { - dest[0] = x; - dest[1] = y; - return dest; - } - - len = 1 / len; - dest[0] = x*len; - dest[1] = y*len; - return dest; -}; - -vec2.dot = function(vec, vec2){ - return vec[0]*vec2[0] + vec[1]*vec2[1]; -}; - -vec2.multiply = function(vec, vec2, dest){ - if(!dest) { dest = vec; } - - dest[0] = vec[0]*vec2[0]; - dest[1] = vec[1]*vec2[1]; - return dest; -}; - -/** - * @param vec vec2 to be unprojected [x,y] -> [x,y,1] - * @returns vec3 unprojected vector - */ -vec2.unproject = function(vec){ - return vec3.create([vec[0], vec[1], 1]); -}; - -vec2.length = function(vec){ - return Math.sqrt(vec[0]*vec[0] + vec[1]*vec[1]); -}; - -vec2.perspectiveProject = function(vec){ - var result = vec2.create(vec); - return vec2.scale(result, 1/vec[2]); -}; - -/** - * @param vec vec3 to be projected [x,y,z] -> [x/z,y/z] - * @returns vec2 projected vector - */ -vec3.project = function(vec){ - return vec2.scale(vec2.create(vec), 1/vec[2]); -}; - -var vec6 = {}; -vec6.scale = function(vec, val, dest){ - if(!dest || vec == dest) { - vec[0] *= val; - vec[1] *= val; - vec[2] *= val; - vec[3] *= val; - vec[4] *= val; - vec[5] *= val; - return vec; - } - - dest[0] = vec[0]*val; - dest[1] = vec[1]*val; - dest[2] = vec[2]*val; - dest[3] = vec[3]*val; - dest[4] = vec[4]*val; - dest[5] = vec[5]*val; - return dest; -}; - -vec6.subtract = function(vec, vec2, dest){ - if(!dest || vec == dest) { - vec[0] -= vec2[0]; - vec[1] -= vec2[1]; - vec[2] -= vec2[2]; - vec[3] -= vec2[3]; - vec[4] -= vec2[4]; - vec[5] -= vec2[5]; - return vec; - } - - dest[0] = vec[0] - vec2[0]; - dest[1] = vec[1] - vec2[1]; - dest[2] = vec[2] - vec2[2]; - dest[3] = vec[3] - vec2[3]; - dest[4] = vec[4] - vec2[4]; - dest[5] = vec[5] - vec2[5]; - return dest; -}; - -vec6.dot = function(vec, vec2){ - return vec[0]*vec2[0] + vec[1]*vec2[1] + vec[2]*vec2[2] + vec[3]*vec2[3] + vec[4]*vec2[4] + vec[5]*vec2[5]; -}; - -var mat6 = {}; -mat6.xVec6 = function(mat, vec, dest){ - if(!dest) { dest = vec; } - var x = vec[0], y = vec[1], z = vec[2], u = vec[3], w = vec[4], v = vec[5]; - - dest[0] = mat[0]*x + mat[1]*y + mat[2]*z + mat[3]*u + mat[4]*w + mat[5]*v; - dest[1] = mat[6]*x + mat[7]*y + mat[8]*z + mat[9]*u + mat[10]*w + mat[11]*v; - dest[2] = mat[12]*x + mat[13]*y + mat[14]*z + mat[15]*u + mat[16]*w + mat[17]*v; - dest[3] = mat[18]*x + mat[19]*y + mat[20]*z + mat[21]*u + mat[22]*w + mat[23]*v; - dest[4] = mat[24]*x + mat[25]*y + mat[26]*z + mat[27]*u + mat[28]*w + mat[29]*v; - dest[5] = mat[30]*x + mat[31]*y + mat[32]*z + mat[33]*u + mat[34]*w + mat[35]*v; - - return dest; -}; - -mat3.xVec3 = function(mat, vec, dest){ - if(!dest) { dest = vec; } - var x = vec[0], y = vec[1], z = vec[2]; - - dest[0] = mat[0]*x + mat[1]*y + mat[2]*z; - dest[1] = mat[3]*x + mat[4]*y + mat[5]*z; - dest[2] = mat[6]*x + mat[7]*y + mat[8]*z; - - return dest; -}; -define("glMatrixAddon", ["glMatrix"], (function (global) { - return function () { - var ret, fn; - return ret || global.glMatrixAddon; - }; -}(this))); - -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define */ - -define('array_helper',[],function() { - - - return { - init : function(arr, val) { - var l = arr.length; - while (l--) { - arr[l] = val; - } - }, - - /** - * Shuffles the content of an array - * @return {Array} the array itself shuffled - */ - shuffle : function(arr) { - var i = arr.length - 1, j, x; - for (i; i >= 0; i--) { - j = Math.floor(Math.random() * i); - x = arr[i]; - arr[i] = arr[j]; - arr[j] = x; - } - return arr; - }, - - toPointList : function(arr) { - var i, j, row = [], rows = []; - for ( i = 0; i < arr.length; i++) { - row = []; - for ( j = 0; j < arr[i].length; j++) { - row[j] = arr[i][j]; - } - rows[i] = "[" + row.join(",") + "]"; - } - return "[" + rows.join(",\r\n") + "]"; - }, - - /** - * returns the elements which's score is bigger than the threshold - * @return {Array} the reduced array - */ - threshold : function(arr, threshold, scoreFunc) { - var i, queue = []; - for ( i = 0; i < arr.length; i++) { - if (scoreFunc.apply(arr, [arr[i]]) >= threshold) { - queue.push(arr[i]); - } - } - return queue; - }, - - maxIndex : function(arr) { - var i, max = 0; - for ( i = 0; i < arr.length; i++) { - if (arr[i] > arr[max]) { - max = i; - } - } - return max; - }, - - max : function(arr) { - var i, max = 0; - for ( i = 0; i < arr.length; i++) { - if (arr[i] > max) { - max = arr[i]; - } - } - return max; - } - }; -}); -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define, vec2, vec3 */ - -define('cv_utils',['cluster', 'glMatrixAddon', "array_helper"], function(Cluster2, glMatrixAddon, ArrayHelper) { - - - /* - * cv_utils.js - * Collection of CV functions and libraries - */ - - /** - * Namespace for various CV alorithms - * @class Represents a collection of useful CV algorithms/functions - */ - - var CVUtils = {}; - - /** - * @param x x-coordinate - * @param y y-coordinate - * @return ImageReference {x,y} Coordinate - */ - CVUtils.imageRef = function(x, y) { - var that = { - x : x, - y : y, - toVec2 : function() { - return vec2.create([this.x, this.y]); - }, - toVec3 : function() { - return vec3.create([this.x, this.y, 1]); - }, - round : function() { - this.x = this.x > 0.0 ? Math.floor(this.x + 0.5) : Math.floor(this.x - 0.5); - this.y = this.y > 0.0 ? Math.floor(this.y + 0.5) : Math.floor(this.y - 0.5); - return this; - } - }; - return that; - }; - - /** - * Computes an integral image of a given grayscale image. - * @param imageDataContainer {ImageDataContainer} the image to be integrated - */ - CVUtils.computeIntegralImage2 = function(imageWrapper, integralWrapper) { - var imageData = imageWrapper.data; - var width = imageWrapper.size.x; - var height = imageWrapper.size.y; - var integralImageData = integralWrapper.data; - var sum = 0, posA = 0, posB = 0, posC = 0, posD = 0, x, y; - - // sum up first column - posB = width; - sum = 0; - for ( y = 1; y < height; y++) { - sum += imageData[posA]; - integralImageData[posB] += sum; - posA += width; - posB += width; - } - - posA = 0; - posB = 1; - sum = 0; - for ( x = 1; x < width; x++) { - sum += imageData[posA]; - integralImageData[posB] += sum; - posA++; - posB++; - } - - for ( y = 1; y < height; y++) { - posA = y * width + 1; - posB = (y - 1) * width + 1; - posC = y * width; - posD = (y - 1) * width; - for ( x = 1; x < width; x++) { - integralImageData[posA] += imageData[posA] + integralImageData[posB] + integralImageData[posC] - integralImageData[posD]; - posA++; - posB++; - posC++; - posD++; - } - } - }; - - CVUtils.computeIntegralImage = function(imageWrapper, integralWrapper) { - var imageData = imageWrapper.data; - var width = imageWrapper.size.x; - var height = imageWrapper.size.y; - var integralImageData = integralWrapper.data; - var sum = 0; - - // sum up first row - for (var i = 0; i < width; i++) { - sum += imageData[i]; - integralImageData[i] = sum; - } - - for (var v = 1; v < height; v++) { - sum = 0; - for (var u = 0; u < width; u++) { - sum += imageData[v * width + u]; - integralImageData[((v) * width) + u] = sum + integralImageData[(v - 1) * width + u]; - } - } - }; - - CVUtils.thresholdImage = function(imageWrapper, threshold, targetWrapper) { - if (!targetWrapper) { - targetWrapper = imageWrapper; - } - var imageData = imageWrapper.data, length = imageData.length, targetData = targetWrapper.data; - - while (length--) { - targetData[length] = imageData[length] < threshold ? 1 : 0; - } - }; - - CVUtils.computeHistogram = function(imageWrapper) { - var imageData = imageWrapper.data, length = imageData.length, i, hist = new Int32Array(256); - - // init histogram - for ( i = 0; i < 256; i++) { - hist[i] = 0; - } - - while (length--) { - hist[imageData[length]]++; - } - return hist; - }; - - CVUtils.otsuThreshold = function(imageWrapper, targetWrapper) { - var hist, threshold; - - function px(init, end) { - var sum = 0, i; - for ( i = init; i <= end; i++) { - sum += hist[i]; - } - return sum; - } - - function mx(init, end) { - var i, sum = 0; - - for ( i = init; i <= end; i++) { - sum += i * hist[i]; - } - - return sum; - } - - function determineThreshold() { - var vet = [0], p1, p2, p12, k, m1, m2, m12; - - hist = CVUtils.computeHistogram(imageWrapper); - for ( k = 1; k < 255; k++) { - p1 = px(0, k); - p2 = px(k + 1, 255); - p12 = p1 * p2; - if (p12 === 0) { - p12 = 1; - } - m1 = mx(0, k) * p2; - m2 = mx(k + 1, 255) * p1; - m12 = m1 - m2; - vet[k] = m12 * m12 / p12; - } - return ArrayHelper.maxIndex(vet); - } - - threshold = determineThreshold(); - CVUtils.thresholdImage(imageWrapper, threshold, targetWrapper); - return threshold; - }; - - // local thresholding - CVUtils.computeBinaryImage = function(imageWrapper, integralWrapper, targetWrapper) { - CVUtils.computeIntegralImage(imageWrapper, integralWrapper); - - if (!targetWrapper) { - targetWrapper = imageWrapper; - } - var imageData = imageWrapper.data; - var targetData = targetWrapper.data; - var width = imageWrapper.size.x; - var height = imageWrapper.size.y; - var integralImageData = integralWrapper.data; - var sum = 0, v, u, kernel = 3, A, B, C, D, avg, size = (kernel * 2 + 1) * (kernel * 2 + 1); - - // clear out top & bottom-border - for ( v = 0; v <= kernel; v++) { - for ( u = 0; u < width; u++) { - targetData[((v) * width) + u] = 0; - targetData[(((height - 1) - v) * width) + u] = 0; - } - } - - // clear out left & right border - for ( v = kernel; v < height - kernel; v++) { - for ( u = 0; u <= kernel; u++) { - targetData[((v) * width) + u] = 0; - targetData[((v) * width) + (width - 1 - u)] = 0; - } - } - - for ( v = kernel + 1; v < height - kernel - 1; v++) { - for ( u = kernel + 1; u < width - kernel; u++) { - A = integralImageData[(v - kernel - 1) * width + (u - kernel - 1)]; - B = integralImageData[(v - kernel - 1) * width + (u + kernel)]; - C = integralImageData[(v + kernel) * width + (u - kernel - 1)]; - D = integralImageData[(v + kernel) * width + (u + kernel)]; - sum = D - C - B + A; - avg = sum / (size); - targetData[v * width + u] = imageData[v * width + u] > (avg + 5) ? 0 : 1; - } - } - }; - - CVUtils.cluster = function(points, threshold, property) { - var i, k, cluster, point, clusters = []; - - if (!property) { - property = "rad"; - } - - function addToCluster(point) { - var found = false; - for ( k = 0; k < clusters.length; k++) { - cluster = clusters[k]; - if (cluster.fits(point)) { - cluster.add(point); - found = true; - } - } - return found; - } - - // iterate over each cloud - for ( i = 0; i < points.length; i++) { - point = Cluster2.createPoint(points[i], i, property); - if (!addToCluster(point)) { - clusters.push(Cluster2.create(point, threshold)); - } - } - - return clusters; - - }; - - CVUtils.Tracer = { - trace : function(points, vec) { - var iteration, maxIterations = 10, top = [], result = [], centerPos = 0, currentPos = 0; - - function trace(idx, forward) { - var from, to, toIdx, predictedPos, thresholdX = 1, thresholdY = Math.abs(vec[1] / 10), found = false; - - function match(pos, predicted) { - if (pos.x > (predicted.x - thresholdX) && pos.x < (predicted.x + thresholdX) && pos.y > (predicted.y - thresholdY) && pos.y < (predicted.y + thresholdY)) { - return true; - } else { - return false; - } - } - - // check if the next index is within the vec specifications - // if not, check as long as the threshold is met - - from = points[idx]; - if (forward) { - predictedPos = { - x : from.x + vec[0], - y : from.y + vec[1] - }; - } else { - predictedPos = { - x : from.x - vec[0], - y : from.y - vec[1] - }; - } - - toIdx = forward ? idx + 1 : idx - 1; - to = points[toIdx]; - while (to && ( found = match(to, predictedPos)) !== true && (Math.abs(to.y - from.y) < vec[1])) { - toIdx = forward ? toIdx + 1 : toIdx - 1; - to = points[toIdx]; - } - - return found ? toIdx : null; - } - - for ( iteration = 0; iteration < maxIterations; iteration++) { - // randomly select point to start with - centerPos = Math.floor(Math.random() * points.length); - - // trace forward - top = []; - currentPos = centerPos; - top.push(points[currentPos]); - while (( currentPos = trace(currentPos, true)) !== null) { - top.push(points[currentPos]); - } - if (centerPos > 0) { - currentPos = centerPos; - while (( currentPos = trace(currentPos, false)) !== null) { - top.push(points[currentPos]); - } - } - - if (top.length > result.length) { - result = top; - } - } - - return result; - - } - }; - - CVUtils.DILATE = 1; - CVUtils.ERODE = 2; - - CVUtils.dilate = function(inImageWrapper, outImageWrapper) { - var v, u, inImageData = inImageWrapper.data, outImageData = outImageWrapper.data, height = inImageWrapper.size.y, width = inImageWrapper.size.x, sum, yStart1, yStart2, xStart1, xStart2; - - for ( v = 1; v < height - 1; v++) { - for ( u = 1; u < width - 1; u++) { - yStart1 = v - 1; - yStart2 = v + 1; - xStart1 = u - 1; - xStart2 = u + 1; - sum = inImageData[yStart1 * width + xStart1]/* + inImageData[yStart1*width+u] */ + inImageData[yStart1 * width + xStart2] + - /* inImageData[v*width+xStart1] + */ - inImageData[v * width + u] + /* inImageData[v*width+xStart2] +*/ - inImageData[yStart2 * width + xStart1]/* + inImageData[yStart2*width+u]*/ + inImageData[yStart2 * width + xStart2]; - outImageData[v * width + u] = sum > 0 ? 1 : 0; - } - } - }; - - CVUtils.erode = function(inImageWrapper, outImageWrapper) { - var v, u, inImageData = inImageWrapper.data, outImageData = outImageWrapper.data, height = inImageWrapper.size.y, width = inImageWrapper.size.x, sum, yStart1, yStart2, xStart1, xStart2; - - for ( v = 1; v < height - 1; v++) { - for ( u = 1; u < width - 1; u++) { - yStart1 = v - 1; - yStart2 = v + 1; - xStart1 = u - 1; - xStart2 = u + 1; - sum = inImageData[yStart1 * width + xStart1]/* + inImageData[yStart1*width+u] */ + inImageData[yStart1 * width + xStart2] + - /* inImageData[v*width+xStart1] + */ - inImageData[v * width + u] + /* inImageData[v*width+xStart2] +*/ - inImageData[yStart2 * width + xStart1]/* + inImageData[yStart2*width+u]*/ + inImageData[yStart2 * width + xStart2]; - outImageData[v * width + u] = sum === 5 ? 1 : 0; - } - } - }; - - CVUtils.subtract = function(aImageWrapper, bImageWrapper, resultImageWrapper) { - if (!resultImageWrapper) { - resultImageWrapper = aImageWrapper; - } - var length = aImageWrapper.data.length, aImageData = aImageWrapper.data, bImageData = bImageWrapper.data, cImageData = resultImageWrapper.data; - - while (length--) { - cImageData[length] = aImageData[length] - bImageData[length]; - } - }; - - CVUtils.bitwiseOr = function(aImageWrapper, bImageWrapper, resultImageWrapper) { - if (!resultImageWrapper) { - resultImageWrapper = aImageWrapper; - } - var length = aImageWrapper.data.length, aImageData = aImageWrapper.data, bImageData = bImageWrapper.data, cImageData = resultImageWrapper.data; - - while (length--) { - cImageData[length] = aImageData[length] || bImageData[length]; - } - }; - - CVUtils.countNonZero = function(imageWrapper) { - var length = imageWrapper.data.length, data = imageWrapper.data, sum = 0; - - while (length--) { - sum += data[length]; - } - return sum; - }; - - CVUtils.topGeneric = function(list, top, scoreFunc) { - var i, minIdx = 0, min = 0, queue = [], score, hit, pos; - - for ( i = 0; i < top; i++) { - queue[i] = { - score : 0, - item : null - }; - } - - for ( i = 0; i < list.length; i++) { - score = scoreFunc.apply(this, [list[i]]); - if (score > min) { - hit = queue[minIdx]; - hit.score = score; - hit.item = list[i]; - min = Number.MAX_VALUE; - for ( pos = 0; pos < top; pos++) { - if (queue[pos].score < min) { - min = queue[pos].score; - minIdx = pos; - } - } - } - } - - return queue; - }; - - CVUtils.grayArrayFromImage = function(htmlImage, offsetX, ctx, array) { - ctx.drawImage(htmlImage, offsetX, 0, htmlImage.width, htmlImage.height); - var ctxData = ctx.getImageData(offsetX, 0, htmlImage.width, htmlImage.height).data; - CVUtils.computeGray(ctxData, array); - }; - - CVUtils.grayArrayFromContext = function(ctx, size, offset, array) { - var ctxData = ctx.getImageData(offset.x, offset.y, size.x, size.y).data; - CVUtils.computeGray(ctxData, array); - }; - - CVUtils.grayAndHalfSampleFromCanvasData = function(canvasData, size, outArray) { - var topRowIdx = 0; - var bottomRowIdx = size.x; - var endIdx = Math.floor(canvasData.length / 4); - var outWidth = size.x / 2; - var outImgIdx = 0; - var inWidth = size.x; - var i; - - while (bottomRowIdx < endIdx) { - for ( i = 0; i < outWidth; i++) { - outArray[outImgIdx] = Math.floor(((0.299 * canvasData[topRowIdx * 4 + 0] + 0.587 * canvasData[topRowIdx * 4 + 1] + 0.114 * canvasData[topRowIdx * 4 + 2]) + (0.299 * canvasData[(topRowIdx + 1) * 4 + 0] + 0.587 * canvasData[(topRowIdx + 1) * 4 + 1] + 0.114 * canvasData[(topRowIdx + 1) * 4 + 2]) + (0.299 * canvasData[(bottomRowIdx) * 4 + 0] + 0.587 * canvasData[(bottomRowIdx) * 4 + 1] + 0.114 * canvasData[(bottomRowIdx) * 4 + 2]) + (0.299 * canvasData[(bottomRowIdx + 1) * 4 + 0] + 0.587 * canvasData[(bottomRowIdx + 1) * 4 + 1] + 0.114 * canvasData[(bottomRowIdx + 1) * 4 + 2])) / 4); - outImgIdx++; - topRowIdx = topRowIdx + 2; - bottomRowIdx = bottomRowIdx + 2; - } - topRowIdx = topRowIdx + inWidth; - bottomRowIdx = bottomRowIdx + inWidth; - } - - }; - - CVUtils.computeGray = function(imageData, outArray) { - var l = imageData.length / 4; - var i = 0; - for ( i = 0; i < l; i++) { - //outArray[i] = (0.299*imageData[i*4+0] + 0.587*imageData[i*4+1] + 0.114*imageData[i*4+2]); - - outArray[i] = Math.floor(0.299 * imageData[i * 4 + 0] + 0.587 * imageData[i * 4 + 1] + 0.114 * imageData[i * 4 + 2]); - } - }; - - CVUtils.loadImageArray = function(src, callback, canvas) { - if (!canvas) - canvas = document.createElement('canvas'); - var img = new Image(); - img.callback = callback; - img.onload = function() { - canvas.width = this.width; - canvas.height = this.height; - var ctx = canvas.getContext('2d'); - ctx.drawImage(this, 0, 0); - var array = new Uint8Array(this.width * this.height); - ctx.drawImage(this, 0, 0); - var data = ctx.getImageData(0, 0, this.width, this.height).data; - CVUtils.computeGray(data, array); - this.callback(array, { - x : this.width, - y : this.height - }, this); - }; - img.src = src; - }; - - /** - * @param inImg {ImageWrapper} input image to be sampled - * @param outImg {ImageWrapper} to be stored in - */ - CVUtils.halfSample = function(inImgWrapper, outImgWrapper) { - var inImg = inImgWrapper.data; - var inWidth = inImgWrapper.size.x; - var outImg = outImgWrapper.data; - var topRowIdx = 0; - var bottomRowIdx = inWidth; - var endIdx = inImg.length; - var outWidth = inWidth / 2; - var outImgIdx = 0; - while (bottomRowIdx < endIdx) { - for (var i = 0; i < outWidth; i++) { - outImg[outImgIdx] = Math.floor((inImg[topRowIdx] + inImg[topRowIdx + 1] + inImg[bottomRowIdx] + inImg[bottomRowIdx + 1]) / 4); - outImgIdx++; - topRowIdx = topRowIdx + 2; - bottomRowIdx = bottomRowIdx + 2; - } - topRowIdx = topRowIdx + inWidth; - bottomRowIdx = bottomRowIdx + inWidth; - } - }; - - CVUtils.hsv2rgb = function(hsv, rgb) { - var h = hsv[0], s = hsv[1], v = hsv[2], c = v * s, x = c * (1 - Math.abs((h / 60) % 2 - 1)), m = v - c, r = 0, g = 0, b = 0; - rgb = rgb || [0, 0, 0]; - - if (h < 60) { - r = c; - g = x; - } else if (h < 120) { - r = x; - g = c; - } else if (h < 180) { - g = c; - b = x; - } else if (h < 240) { - g = x; - b = c; - } else if (h < 300) { - r = x; - b = c; - } else if (h < 360) { - r = c; - b = x; - } - rgb[0] = ((r + m) * 255) | 0; - rgb[1] = ((g + m) * 255) | 0; - rgb[2] = ((b + m) * 255) | 0; - return rgb; - }; - - return (CVUtils); -}); - - -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define, vec2, mat2 */ - -define('image_wrapper',[ - "subImage", - "cv_utils", - "array_helper" - ], - function(SubImage, CVUtils, ArrayHelper) { - - - - /** - * Represents a basic image combining the data and size. - * In addition, some methods for manipulation are contained. - * @param size {x,y} The size of the image in pixel - * @param data {Array} If given, a flat array containing the pixel data - * @param ArrayType {Type} If given, the desired DataType of the Array (may be typed/non-typed) - * @param initialize {Boolean} Indicating if the array should be initialized on creation. - * @returns {ImageWrapper} - */ - function ImageWrapper(size, data, ArrayType, initialize) { - if (!data) { - if (ArrayType) { - this.data = new ArrayType(size.x * size.y); - if (ArrayType === Array && initialize) { - ArrayHelper.init(this.data, 0); - } - } else { - this.data = new Uint8Array(size.x * size.y); - if (Uint8Array === Array && initialize) { - ArrayHelper.init(this.data, 0); - } - } - - } else { - this.data = data; - } - this.size = size; - } - - /** - * tests if a position is within the image with a given offset - * @param imgRef {x, y} The location to test - * @param border Number the padding value in pixel - * @returns {Boolean} true if location inside the image's border, false otherwise - * @see cvd/image.h - */ - ImageWrapper.prototype.inImageWithBorder = function(imgRef, border) { - return (imgRef.x >= border) && (imgRef.y >= border) && (imgRef.x < (this.size.x - border)) && (imgRef.y < (this.size.y - border)); - }; - - /** - * Transforms an image according to the given affine-transformation matrix. - * @param inImg ImageWrapper a image containing the information to be extracted. - * @param outImg ImageWrapper the image to be filled. The whole image out image is filled by the in image. - * @param M mat2 the matrix used to map point in the out matrix to those in the in matrix - * @param inOrig vec2 origin in the in image - * @param outOrig vec2 origin in the out image - * @returns Number the number of pixels not in the in image - * @see cvd/vision.h - */ - ImageWrapper.transform = function(inImg, outImg, M, inOrig, outOrig) { - var w = outImg.size.x, h = outImg.size.y, iw = inImg.size.x, ih = inImg.size.y; - var across = vec2.create([M[0], M[2]]); - var down = vec2.create([M[1], M[3]]); - var defaultValue = 0; - - var p0 = vec2.subtract(inOrig, mat2.xVec2(M, outOrig, vec2.create()), vec2.create()); - - var min_x = p0[0], min_y = p0[1]; - var max_x = min_x, max_y = min_y; - var p, i, j; - - var sampleFunc = ImageWrapper.sample; - - if (across[0] < 0) - min_x += w * across[0]; - else - max_x += w * across[0]; - - if (down[0] < 0) - min_x += h * down[0]; - else - max_x += h * down[0]; - - if (across[1] < 0) - min_y += w * across[1]; - else - max_y += w * across[1]; - - if (down[1] < 0) - min_y += h * down[1]; - else - max_y += h * down[1]; - - var carrigeReturn = vec2.subtract(down, vec2.scale(across, w, vec2.create()), vec2.create()); - - if (min_x >= 0 && min_y >= 0 && max_x < iw - 1 && max_y < ih - 1) { - p = p0; - for ( i = 0; i < h; ++i, vec2.add(p, carrigeReturn)) - for ( j = 0; j < w; ++j, vec2.add(p, across)) - outImg.set(j, i, sampleFunc(inImg, p[0], p[1])); - return 0; - } else { - var x_bound = iw - 1; - var y_bound = ih - 1; - var count = 0; - p = p0; - for ( i = 0; i < h; ++i, vec2.add(p, carrigeReturn)) { - for ( j = 0; j < w; ++j, vec2.add(p, across)) { - if (0 <= p[0] && 0 <= p[1] && p[0] < x_bound && p[1] < y_bound) { - outImg.set(j, i, sampleFunc(inImg, p[0], p[1])); - } else { - outImg.set(j, i, defaultValue); ++count; - } - } - } - return count; - } - }; - - /** - * Performs bilinear sampling - * @param inImg Image to extract sample from - * @param x the x-coordinate - * @param y the y-coordinate - * @returns the sampled value - * @see cvd/vision.h - */ - ImageWrapper.sample = function(inImg, x, y) { - var lx = Math.floor(x); - var ly = Math.floor(y); - var w = inImg.size.x; - var base = ly * inImg.size.x + lx; - var a = inImg.data[base + 0]; - var b = inImg.data[base + 1]; - var c = inImg.data[base + w]; - var d = inImg.data[base + w + 1]; - var e = a - b; - x -= lx; - y -= ly; - - var result = Math.floor(x * (y * (e - c + d) - e) + y * (c - a) + a); - return result; - }; - - /** - * Initializes a given array. Sets each element to zero. - * @param array {Array} The array to initialize - */ - ImageWrapper.clearArray = function(array) { - var l = array.length; - while (l--) { - array[l] = 0; - } - }; - - /** - * Creates a {SubImage} from the current image ({this}). - * @param from {ImageRef} The position where to start the {SubImage} from. (top-left corner) - * @param size {ImageRef} The size of the resulting image - * @returns {SubImage} A shared part of the original image - */ - ImageWrapper.prototype.subImage = function(from, size) { - return new SubImage(from, size, this); - }; - - /** - * Creates an {ImageWrapper) and copies the needed underlying image-data area - * @param imageWrapper {ImageWrapper} The target {ImageWrapper} where the data should be copied - * @param from {ImageRef} The location where to copy from (top-left location) - */ - ImageWrapper.prototype.subImageAsCopy = function(imageWrapper, from) { - var sizeY = imageWrapper.size.y, sizeX = imageWrapper.size.x; - var x, y; - for ( x = 0; x < sizeX; x++) { - for ( y = 0; y < sizeY; y++) { - imageWrapper.data[y * sizeX + x] = this.data[(from.y + y) * this.size.x + from.x + x]; - } - } - }; - - ImageWrapper.prototype.copyTo = function(imageWrapper) { - var length = this.data.length, srcData = this.data, dstData = imageWrapper.data; - - while (length--) { - dstData[length] = srcData[length]; - } - }; - - /** - * Retrieves a given pixel position from the image - * @param x {Number} The x-position - * @param y {Number} The y-position - * @returns {Number} The grayscale value at the pixel-position - */ - ImageWrapper.prototype.get = function(x, y) { - return this.data[y * this.size.x + x]; - }; - - /** - * Retrieves a given pixel position from the image - * @param x {Number} The x-position - * @param y {Number} The y-position - * @returns {Number} The grayscale value at the pixel-position - */ - ImageWrapper.prototype.getSafe = function(x, y) { - var i; - - if (!this.indexMapping) { - this.indexMapping = { - x : [], - y : [] - }; - for (i = 0; i < this.size.x; i++) { - this.indexMapping.x[i] = i; - this.indexMapping.x[i + this.size.x] = i; - } - for (i = 0; i < this.size.y; i++) { - this.indexMapping.y[i] = i; - this.indexMapping.y[i + this.size.y] = i; - } - } - return this.data[(this.indexMapping.y[y + this.size.y]) * this.size.x + this.indexMapping.x[x + this.size.x]]; - }; - - /** - * Sets a given pixel position in the image - * @param x {Number} The x-position - * @param y {Number} The y-position - * @param value {Number} The grayscale value to set - * @returns {ImageWrapper} The Image itself (for possible chaining) - */ - ImageWrapper.prototype.set = function(x, y, value) { - this.data[y * this.size.x + x] = value; - return this; - }; - - /** - * Sets the border of the image (1 pixel) to zero - */ - ImageWrapper.prototype.zeroBorder = function() { - var i, width = this.size.x, height = this.size.y, data = this.data; - for ( i = 0; i < width; i++) { - data[i] = data[(height - 1) * width + i] = 0; - } - for ( i = 1; i < height - 1; i++) { - data[i * width] = data[i * width + (width - 1)] = 0; - } - }; - - /** - * Inverts a binary image in place - */ - ImageWrapper.prototype.invert = function() { - var data = this.data, length = data.length; - - while (length--) { - data[length] = data[length] ? 0 : 1; - } - - }; - - ImageWrapper.prototype.convolve = function(kernel) { - var x, y, kx, ky, kSize = (kernel.length / 2) | 0, accu = 0; - for ( y = 0; y < this.size.y; y++) { - for ( x = 0; x < this.size.x; x++) { - accu = 0; - for ( ky = -kSize; ky <= kSize; ky++) { - for ( kx = -kSize; kx <= kSize; kx++) { - accu += kernel[ky+kSize][kx + kSize] * this.getSafe(x + kx, y + ky); - } - } - this.data[y * this.size.x + x] = accu; - } - } - }; - - ImageWrapper.prototype.moments = function(labelcount) { - var data = this.data, - x, - y, - height = this.size.y, - width = this.size.x, - val, - ysq, - labelsum = [], - i, - label, - mu11, - mu02, - mu20, - x_, - y_, - tmp, - result = [], - PI = Math.PI, - PI_4 = PI / 4; - - if (labelcount <= 0) { - return result; - } - - for ( i = 0; i < labelcount; i++) { - labelsum[i] = { - m00 : 0, - m01 : 0, - m10 : 0, - m11 : 0, - m02 : 0, - m20 : 0, - theta : 0, - rad : 0 - }; - } - - for ( y = 0; y < height; y++) { - ysq = y * y; - for ( x = 0; x < width; x++) { - val = data[y * width + x]; - if (val > 0) { - label = labelsum[val - 1]; - label.m00 += 1; - label.m01 += y; - label.m10 += x; - label.m11 += x * y; - label.m02 += ysq; - label.m20 += x * x; - } - } - } - - for ( i = 0; i < labelcount; i++) { - label = labelsum[i]; - if (!isNaN(label.m00) && label.m00 !== 0) { - x_ = label.m10 / label.m00; - y_ = label.m01 / label.m00; - mu11 = label.m11 / label.m00 - x_ * y_; - mu02 = label.m02 / label.m00 - y_ * y_; - mu20 = label.m20 / label.m00 - x_ * x_; - tmp = (mu02 - mu20) / (2 * mu11); - tmp = 0.5 * Math.atan(tmp) + (mu11 >= 0 ? PI_4 : -PI_4 ) + PI; - label.theta = (tmp * 180 / PI + 90) % 180 - 90; - if (label.theta < 0) { - label.theta += 180; - } - label.rad = tmp > PI ? tmp - PI : tmp; - label.vec = vec2.create([Math.cos(tmp), Math.sin(tmp)]); - result.push(label); - } - } - - return result; - }; - - /** - * Displays the {ImageWrapper} in a given canvas - * @param canvas {Canvas} The canvas element to write to - * @param scale {Number} Scale which is applied to each pixel-value - */ - ImageWrapper.prototype.show = function(canvas, scale) { - var ctx, - frame, - data, - current, - pixel, - x, - y; - - if (!scale) { - scale = 1.0; - } - ctx = canvas.getContext('2d'); - canvas.width = this.size.x; - canvas.height = this.size.y; - frame = ctx.getImageData(0, 0, canvas.width, canvas.height); - data = frame.data; - current = 0; - for (y = 0; y < this.size.y; y++) { - for (x = 0; x < this.size.x; x++) { - pixel = y * this.size.x + x; - current = this.get(x, y) * scale; - data[pixel * 4 + 0] = current; - data[pixel * 4 + 1] = current; - data[pixel * 4 + 2] = current; - data[pixel * 4 + 3] = 255; - } - } - //frame.data = data; - ctx.putImageData(frame, 0, 0); - }; - - /** - * Displays the {SubImage} in a given canvas - * @param canvas {Canvas} The canvas element to write to - * @param scale {Number} Scale which is applied to each pixel-value - */ - ImageWrapper.prototype.overlay = function(canvas, scale, from) { - if (!scale || scale < 0 || scale > 360) { - scale = 360; - } - var hsv = [0, 1, 1]; - var rgb = [0, 0, 0]; - var whiteRgb = [255, 255, 255]; - var blackRgb = [0, 0, 0]; - var result = []; - var ctx = canvas.getContext('2d'); - var frame = ctx.getImageData(from.x, from.y, this.size.x, this.size.y); - var data = frame.data; - var length = this.data.length; - while (length--) { - hsv[0] = this.data[length] * scale; - result = hsv[0] <= 0 ? whiteRgb : hsv[0] >= 360 ? blackRgb : CVUtils.hsv2rgb(hsv, rgb); - data[length * 4 + 0] = result[0]; - data[length * 4 + 1] = result[1]; - data[length * 4 + 2] = result[2]; - data[length * 4 + 3] = 255; - } - ctx.putImageData(frame, from.x, from.y); - }; - - return (ImageWrapper); -}); -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define */ - -/** - * http://www.codeproject.com/Tips/407172/Connected-Component-Labeling-and-Vectorization - */ -define('tracer',[],function() { - - - var Tracer = { - searchDirections : [[0, 1], [1, 1], [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1]], - create : function(imageWrapper, labelWrapper) { - var imageData = imageWrapper.data, - labelData = labelWrapper.data, - searchDirections = this.searchDirections, - width = imageWrapper.size.x, - pos; - - function trace(current, color, label, edgelabel) { - var i, - y, - x; - - for ( i = 0; i < 7; i++) { - y = current.cy + searchDirections[current.dir][0]; - x = current.cx + searchDirections[current.dir][1]; - pos = y * width + x; - if ((imageData[pos] === color) && ((labelData[pos] === 0) || (labelData[pos] === label))) { - labelData[pos] = label; - current.cy = y; - current.cx = x; - return true; - } else { - if (labelData[pos] === 0) { - labelData[pos] = edgelabel; - } - current.dir = (current.dir + 1) % 8; - } - } - return false; - } - - function vertex2D(x, y, dir) { - return { - dir : dir, - x : x, - y : y, - next : null, - prev : null - }; - } - - function contourTracing(sy, sx, label, color, edgelabel) { - var Fv = null, - Cv, - P, - ldir, - current = { - cx : sx, - cy : sy, - dir : 0 - }; - - if (trace(current, color, label, edgelabel)) { - Fv = vertex2D(sx, sy, current.dir); - Cv = Fv; - ldir = current.dir; - P = vertex2D(current.cx, current.cy, 0); - P.prev = Cv; - Cv.next = P; - P.next = null; - Cv = P; - do { - current.dir = (current.dir + 6) % 8; - trace(current, color, label, edgelabel); - if (ldir != current.dir) { - Cv.dir = current.dir; - P = vertex2D(current.cx, current.cy, 0); - P.prev = Cv; - Cv.next = P; - P.next = null; - Cv = P; - } else { - Cv.dir = ldir; - Cv.x = current.cx; - Cv.y = current.cy; - } - ldir = current.dir; - } while(current.cx != sx || current.cy != sy); - Fv.prev = Cv.prev; - Cv.prev.next = Fv; - } - return Fv; - } - - return { - trace : function(current, color, label, edgelabel) { - return trace(current, color, label, edgelabel); - }, - contourTracing : function(sy, sx, label, color, edgelabel) { - return contourTracing(sy, sx, label, color, edgelabel); - } - }; - } - }; - - return (Tracer); -}); - -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define */ - -/** - * http://www.codeproject.com/Tips/407172/Connected-Component-Labeling-and-Vectorization - */ -define('rasterizer',["tracer"], function(Tracer) { - - - var Rasterizer = { - createContour2D : function() { - return { - dir : null, - index : null, - firstVertex : null, - insideContours : null, - nextpeer : null, - prevpeer : null - }; - }, - CONTOUR_DIR : { - CW_DIR : 0, - CCW_DIR : 1, - UNKNOWN_DIR : 2 - }, - DIR : { - OUTSIDE_EDGE : -32767, - INSIDE_EDGE : -32766 - }, - create : function(imageWrapper, labelWrapper) { - var imageData = imageWrapper.data, - labelData = labelWrapper.data, - width = imageWrapper.size.x, - height = imageWrapper.size.y, - tracer = Tracer.create(imageWrapper, labelWrapper); - - return { - rasterize : function(depthlabel) { - var color, - bc, - lc, - labelindex, - cx, - cy, - colorMap = [], - vertex, - p, - cc, - sc, - pos, - connectedCount = 0, - i; - - for ( i = 0; i < 400; i++) { - colorMap[i] = 0; - } - - colorMap[0] = imageData[0]; - cc = null; - for ( cy = 1; cy < height - 1; cy++) { - labelindex = 0; - bc = colorMap[0]; - for ( cx = 1; cx < width - 1; cx++) { - pos = cy * width + cx; - if (labelData[pos] === 0) { - color = imageData[pos]; - if (color !== bc) { - if (labelindex === 0) { - lc = connectedCount + 1; - colorMap[lc] = color; - bc = color; - vertex = tracer.contourTracing(cy, cx, lc, color, Rasterizer.DIR.OUTSIDE_EDGE); - if (vertex !== null) { - connectedCount++; - labelindex = lc; - p = Rasterizer.createContour2D(); - p.dir = Rasterizer.CONTOUR_DIR.CW_DIR; - p.index = labelindex; - p.firstVertex = vertex; - p.nextpeer = cc; - p.insideContours = null; - if (cc !== null) { - cc.prevpeer = p; - } - cc = p; - } - } else { - vertex = tracer.contourTracing(cy, cx, Rasterizer.DIR.INSIDE_EDGE, color, labelindex); - if (vertex !== null) { - p = Rasterizer.createContour2D(); - p.firstVertex = vertex; - p.insideContours = null; - if (depthlabel === 0) { - p.dir = Rasterizer.CONTOUR_DIR.CCW_DIR; - } else { - p.dir = Rasterizer.CONTOUR_DIR.CW_DIR; - } - p.index = depthlabel; - sc = cc; - while ((sc !== null) && sc.index !== labelindex) { - sc = sc.nextpeer; - } - if (sc !== null) { - p.nextpeer = sc.insideContours; - if (sc.insideContours !== null) { - sc.insideContours.prevpeer = p; - } - sc.insideContours = p; - } - } - } - } else { - labelData[pos] = labelindex; - } - } else if (labelData[pos] === Rasterizer.DIR.OUTSIDE_EDGE || labelData[pos] === Rasterizer.DIR.INSIDE_EDGE) { - labelindex = 0; - if (labelData[pos] === Rasterizer.DIR.INSIDE_EDGE) { - bc = imageData[pos]; - } else { - bc = colorMap[0]; - } - } else { - labelindex = labelData[pos]; - bc = colorMap[labelindex]; - } - } - } - sc = cc; - while (sc !== null) { - sc.index = depthlabel; - sc = sc.nextpeer; - } - return { - cc : cc, - count : connectedCount - }; - }, - debug: { - drawContour : function(canvas, firstContour) { - var ctx = canvas.getContext("2d"), - pq = firstContour, - iq, - q, - p; - - ctx.strokeStyle = "red"; - ctx.fillStyle = "red"; - ctx.lineWidth = 1; - - if (pq !== null) { - iq = pq.insideContours; - } else { - iq = null; - } - - while (pq !== null) { - if (iq !== null) { - q = iq; - iq = iq.nextpeer; - } else { - q = pq; - pq = pq.nextpeer; - if (pq !== null) { - iq = pq.insideContours; - } else { - iq = null; - } - } - - switch(q.dir) { - case Rasterizer.CONTOUR_DIR.CW_DIR: - ctx.strokeStyle = "red"; - break; - case Rasterizer.CONTOUR_DIR.CCW_DIR: - ctx.strokeStyle = "blue"; - break; - case Rasterizer.CONTOUR_DIR.UNKNOWN_DIR: - ctx.strokeStyle = "green"; - break; - } - - p = q.firstVertex; - ctx.beginPath(); - ctx.moveTo(p.x, p.y); - do { - p = p.next; - ctx.lineTo(p.x, p.y); - } while(p !== q.firstVertex); - ctx.stroke(); - } - } - } - }; - } - }; - - return (Rasterizer); -}); - -/* jshint undef: true, unused: true, browser:true, devel: true, -W041: false */ -/* global define */ - -define('skeletonizer',[],function() { - - - function Skeletonizer(stdlib, foreign, buffer) { - "use asm"; - - var images = new stdlib.Uint8Array(buffer), - size = foreign.size | 0, - imul = stdlib.Math.imul; - - function erode(inImagePtr, outImagePtr) { - inImagePtr = inImagePtr | 0; - outImagePtr = outImagePtr | 0; - - var v = 0, - u = 0, - sum = 0, - yStart1 = 0, - yStart2 = 0, - xStart1 = 0, - xStart2 = 0, - offset = 0; - - for ( v = 1; (v | 0) < ((size - 1) | 0); v = (v + 1) | 0) { - offset = (offset + size) | 0; - for ( u = 1; (u | 0) < ((size - 1) | 0); u = (u + 1) | 0) { - yStart1 = (offset - size) | 0; - yStart2 = (offset + size) | 0; - xStart1 = (u - 1) | 0; - xStart2 = (u + 1) | 0; - sum = ((images[(inImagePtr + yStart1 + xStart1) | 0] | 0) + (images[(inImagePtr + yStart1 + xStart2) | 0] | 0) + (images[(inImagePtr + offset + u) | 0] | 0) + (images[(inImagePtr + yStart2 + xStart1) | 0] | 0) + (images[(inImagePtr + yStart2 + xStart2) | 0] | 0)) | 0; - if ((sum | 0) == (5 | 0)) { - images[(outImagePtr + offset + u) | 0] = 1; - } else { - images[(outImagePtr + offset + u) | 0] = 0; - } - } - } - return; - } - - function subtract(aImagePtr, bImagePtr, outImagePtr) { - aImagePtr = aImagePtr | 0; - bImagePtr = bImagePtr | 0; - outImagePtr = outImagePtr | 0; - - var length = 0; - - length = imul(size, size) | 0; - - while ((length | 0) > 0) { - length = (length - 1) | 0; - images[(outImagePtr + length) | 0] = ((images[(aImagePtr + length) | 0] | 0) - (images[(bImagePtr + length) | 0] | 0)) | 0; - } - } - - function bitwiseOr(aImagePtr, bImagePtr, outImagePtr) { - aImagePtr = aImagePtr | 0; - bImagePtr = bImagePtr | 0; - outImagePtr = outImagePtr | 0; - - var length = 0; - - length = imul(size, size) | 0; - - while ((length | 0) > 0) { - length = (length - 1) | 0; - images[(outImagePtr + length) | 0] = ((images[(aImagePtr + length) | 0] | 0) | (images[(bImagePtr + length) | 0] | 0)) | 0; - } - } - - function countNonZero(imagePtr) { - imagePtr = imagePtr | 0; - - var sum = 0, - length = 0; - - length = imul(size, size) | 0; - - while ((length | 0) > 0) { - length = (length - 1) | 0; - sum = ((sum | 0) + (images[(imagePtr + length) | 0] | 0)) | 0; - } - - return (sum | 0); - } - - function init(imagePtr, value) { - imagePtr = imagePtr | 0; - value = value | 0; - - var length = 0; - - length = imul(size, size) | 0; - - while ((length | 0) > 0) { - length = (length - 1) | 0; - images[(imagePtr + length) | 0] = value; - } - } - - function dilate(inImagePtr, outImagePtr) { - inImagePtr = inImagePtr | 0; - outImagePtr = outImagePtr | 0; - - var v = 0, - u = 0, - sum = 0, - yStart1 = 0, - yStart2 = 0, - xStart1 = 0, - xStart2 = 0, - offset = 0; - - for ( v = 1; (v | 0) < ((size - 1) | 0); v = (v + 1) | 0) { - offset = (offset + size) | 0; - for ( u = 1; (u | 0) < ((size - 1) | 0); u = (u + 1) | 0) { - yStart1 = (offset - size) | 0; - yStart2 = (offset + size) | 0; - xStart1 = (u - 1) | 0; - xStart2 = (u + 1) | 0; - sum = ((images[(inImagePtr + yStart1 + xStart1) | 0] | 0) + (images[(inImagePtr + yStart1 + xStart2) | 0] | 0) + (images[(inImagePtr + offset + u) | 0] | 0) + (images[(inImagePtr + yStart2 + xStart1) | 0] | 0) + (images[(inImagePtr + yStart2 + xStart2) | 0] | 0)) | 0; - if ((sum | 0) > (0 | 0)) { - images[(outImagePtr + offset + u) | 0] = 1; - } else { - images[(outImagePtr + offset + u) | 0] = 0; - } - } - } - return; - } - - function memcpy(srcImagePtr, dstImagePtr) { - srcImagePtr = srcImagePtr | 0; - dstImagePtr = dstImagePtr | 0; - - var length = 0; - - length = imul(size, size) | 0; - - while ((length | 0) > 0) { - length = (length - 1) | 0; - images[(dstImagePtr + length) | 0] = (images[(srcImagePtr + length) | 0] | 0); - } - } - - function zeroBorder(imagePtr) { - imagePtr = imagePtr | 0; - - var x = 0, - y = 0; - - for ( x = 0; (x | 0) < ((size - 1) | 0); x = (x + 1) | 0) { - images[(imagePtr + x) | 0] = 0; - images[(imagePtr + y) | 0] = 0; - y = ((y + size) - 1) | 0; - images[(imagePtr + y) | 0] = 0; - y = (y + 1) | 0; - } - for ( x = 0; (x | 0) < (size | 0); x = (x + 1) | 0) { - images[(imagePtr + y) | 0] = 0; - y = (y + 1) | 0; - } - } - - function skeletonize() { - var subImagePtr = 0, - erodedImagePtr = 0, - tempImagePtr = 0, - skelImagePtr = 0, - sum = 0, - done = 0; - - erodedImagePtr = imul(size, size) | 0; - tempImagePtr = (erodedImagePtr + erodedImagePtr) | 0; - skelImagePtr = (tempImagePtr + erodedImagePtr) | 0; - - // init skel-image - init(skelImagePtr, 0); - zeroBorder(subImagePtr); - - do { - erode(subImagePtr, erodedImagePtr); - dilate(erodedImagePtr, tempImagePtr); - subtract(subImagePtr, tempImagePtr, tempImagePtr); - bitwiseOr(skelImagePtr, tempImagePtr, skelImagePtr); - memcpy(erodedImagePtr, subImagePtr); - sum = countNonZero(subImagePtr) | 0; - done = ((sum | 0) == 0 | 0); - } while(!done); - } - - return { - skeletonize : skeletonize - }; - } - - return Skeletonizer; -}); - -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define */ - -define('image_debug',[],function() { - - - return { - drawRect: function(pos, size, ctx, style){ - ctx.strokeStyle = style.color; - ctx.fillStyle = style.color; - ctx.lineWidth = 1; - ctx.beginPath(); - ctx.strokeRect(pos.x, pos.y, size.x, size.y); - }, - drawPath: function(path, def, ctx, style) { - ctx.strokeStyle = style.color; - ctx.fillStyle = style.color; - ctx.lineWidth = style.lineWidth; - ctx.beginPath(); - ctx.moveTo(path[0][def.x], path[0][def.y]); - for (var j = 1; j < path.length; j++) { - ctx.lineTo(path[j][def.x], path[j][def.y]); - } - ctx.closePath(); - ctx.stroke(); - } - }; - -}); - -/* jshint undef: true, unused: true, browser:true, devel: true */ -/* global define, mat2, vec2 */ - -define('barcode_locator',["image_wrapper", "cv_utils", "rasterizer", "tracer", "skeletonizer", "array_helper", "image_debug"], -function(ImageWrapper, CVUtils, Rasterizer, Tracer, skeletonizer, ArrayHelper, ImageDebug) { - - - var _config, - _currentImageWrapper, - _skelImageWrapper, - _subImageWrapper, - _labelImageWrapper, - _patchGrid, - _patchLabelGrid, - _imageToPatchGrid, - _binaryImageWrapper, - _patchSize, - _canvasContainer = { - ctx : { - binary : null - }, - dom : { - binary : null - } - }, - _numPatches = {x: 0, y: 0}, - _inputImageWrapper, - _skeletonizer, - self = this, - _worker, - _locatedCb, - _initialized; - - function initBuffers() { - var skeletonImageData; - - if (_config.halfSample) { - _currentImageWrapper = new ImageWrapper({ - x : _inputImageWrapper.size.x / 2 | 0, - y : _inputImageWrapper.size.y / 2 | 0 - }); - } else { - _currentImageWrapper = _inputImageWrapper; - } - - _patchSize = { - x : 16 * ( _config.halfSample ? 1 : 2), - y : 16 * ( _config.halfSample ? 1 : 2) - }; - - _numPatches.x = _currentImageWrapper.size.x / _patchSize.x | 0; - _numPatches.y = _currentImageWrapper.size.y / _patchSize.y | 0; - - _binaryImageWrapper = new ImageWrapper(_currentImageWrapper.size, undefined, Uint8Array, false); - - _labelImageWrapper = new ImageWrapper(_patchSize, undefined, Array, true); - - skeletonImageData = new ArrayBuffer(64*1024); - _subImageWrapper = new ImageWrapper(_patchSize, new Uint8Array(skeletonImageData, 0, _patchSize.x * _patchSize.y)); - _skelImageWrapper = new ImageWrapper(_patchSize, new Uint8Array(skeletonImageData, _patchSize.x * _patchSize.y * 3, _patchSize.x * _patchSize.y), undefined, true); - _skeletonizer = skeletonizer(self, { - size : _patchSize.x - }, skeletonImageData); - - _imageToPatchGrid = new ImageWrapper({ - x : (_currentImageWrapper.size.x / _subImageWrapper.size.x) | 0, - y : (_currentImageWrapper.size.y / _subImageWrapper.size.y) | 0 - }, undefined, Array, true); - _patchGrid = new ImageWrapper(_imageToPatchGrid.size, undefined, undefined, true); - _patchLabelGrid = new ImageWrapper(_imageToPatchGrid.size, undefined, Int32Array, true); - } - - function initCanvas() { - if (_config.useWorker || typeof document === 'undefined') { - return; - } - _canvasContainer.dom.binary = document.createElement("canvas"); - _canvasContainer.dom.binary.className = "binaryBuffer"; - if (_config.showCanvas === true) { - document.querySelector("#debug").appendChild(_canvasContainer.dom.binary); - } - _canvasContainer.ctx.binary = _canvasContainer.dom.binary.getContext("2d"); - _canvasContainer.dom.binary.width = _binaryImageWrapper.size.x; - _canvasContainer.dom.binary.height = _binaryImageWrapper.size.y; - } - - /** - * Creates a bounding box which encloses all the given patches - * @returns {Array} The minimal bounding box - */ - function boxFromPatches(patches) { - var overAvg, i, j, patch, transMat, minx = _binaryImageWrapper.size.x, miny = _binaryImageWrapper.size.y, maxx = -_binaryImageWrapper.size.x, maxy = -_binaryImageWrapper.size.y, box, scale; - - // draw all patches which are to be taken into consideration - overAvg = 0; - for ( i = 0; i < patches.length; i++) { - patch = patches[i]; - overAvg += patch.rad; - if (_config.showPatches) { - ImageDebug.drawRect(patch.pos, _subImageWrapper.size, _canvasContainer.ctx.binary, {color: "red"}); - } - } - - overAvg /= patches.length; - overAvg = (overAvg * 180 / Math.PI + 90) % 180 - 90; - if (overAvg < 0) { - overAvg += 180; - } - - //console.log(overAvg); - overAvg = (180 - overAvg) * Math.PI / 180; - transMat = mat2.create([Math.cos(overAvg), -Math.sin(overAvg), Math.sin(overAvg), Math.cos(overAvg)]); - - // iterate over patches and rotate by angle - for ( i = 0; i < patches.length; i++) { - patch = patches[i]; - for ( j = 0; j < 4; j++) { - mat2.xVec2(transMat, patch.box[j]); - } - - if (_config.boxFromPatches.showTransformed) { - ImageDebug.drawPath(patch.box, {x: 0, y: 1}, _canvasContainer.ctx.binary, {color: '#99ff00', lineWidth: 2}); - } - } - - // find bounding box - for ( i = 0; i < patches.length; i++) { - patch = patches[i]; - for ( j = 0; j < 4; j++) { - if (patch.box[j][0] < minx) { - minx = patch.box[j][0]; - } - if (patch.box[j][0] > maxx) { - maxx = patch.box[j][0]; - } - if (patch.box[j][1] < miny) { - miny = patch.box[j][1]; - } - if (patch.box[j][1] > maxy) { - maxy = patch.box[j][1]; - } - } - } - - box = [[minx, miny], [maxx, miny], [maxx, maxy], [minx, maxy]]; - - if (_config.boxFromPatches.showTransformedBox) { - ImageDebug.drawPath(box, {x: 0, y: 1}, _canvasContainer.ctx.binary, {color: '#ff0000', lineWidth: 2}); - } - - scale = _config.halfSample ? 2 : 1; - // reverse rotation; - transMat = mat2.inverse(transMat); - for ( j = 0; j < 4; j++) { - mat2.xVec2(transMat, box[j]); - } - - if (_config.boxFromPatches.showBB) { - ImageDebug.drawPath(box, {x: 0, y: 1}, _canvasContainer.ctx.binary, {color: '#ff0000', lineWidth: 2}); - } - - for ( j = 0; j < 4; j++) { - vec2.scale(box[j], scale); - } - - return box; - } - - /** - * Creates a binary image of the current image - */ - function binarizeImage() { - CVUtils.otsuThreshold(_currentImageWrapper, _binaryImageWrapper); - _binaryImageWrapper.zeroBorder(); - if (_config.showCanvas) { - _binaryImageWrapper.show(_canvasContainer.dom.binary, 255); - } - } - - /** - * Iterate over the entire image - * extract patches - */ - function findPatches() { - var i, - j, - x, - y, - moments, - patchesFound = [], - rasterizer, - rasterResult, - patch; - for ( i = 0; i < _numPatches.x; i++) { - for ( j = 0; j < _numPatches.y; j++) { - - x = _subImageWrapper.size.x * i; - y = _subImageWrapper.size.y * j; - - // seperate parts - skeletonize(x, y); - - // Rasterize, find individual bars - _skelImageWrapper.zeroBorder(); - ArrayHelper.init(_labelImageWrapper.data, 0); - rasterizer = Rasterizer.create(_skelImageWrapper, _labelImageWrapper); - rasterResult = rasterizer.rasterize(0); - - if (_config.showLabels) { - _labelImageWrapper.overlay(_canvasContainer.dom.binary, Math.floor(360 / rasterResult.count), {x : x, y : y}); - } - - // calculate moments from the skeletonized patch - moments = _labelImageWrapper.moments(rasterResult.count); - - // extract eligible patches - patchesFound = patchesFound.concat(describePatch(moments, [i, j], x, y)); - } - } - - if (_config.showFoundPatches) { - for ( i = 0; i < patchesFound.length; i++) { - patch = patchesFound[i]; - ImageDebug.drawRect(patch.pos, _subImageWrapper.size, _canvasContainer.ctx.binary, {color: "#99ff00", lineWidth: 2}); - } - } - - return patchesFound; - } - - /** - * Finds those connected areas which contain at least 6 patches - * and returns them ordered DESC by the number of contained patches - * @param {Number} maxLabel - */ - function findBiggestConnectedAreas(maxLabel){ - var i, - sum, - labelHist = [], - topLabels = []; - - for ( i = 0; i < maxLabel; i++) { - labelHist.push(0); - } - sum = _patchLabelGrid.data.length; - while (sum--) { - if (_patchLabelGrid.data[sum] > 0) { - labelHist[_patchLabelGrid.data[sum] - 1]++; - } - } - - labelHist = labelHist.map(function(val, idx) { - return { - val : val, - label : idx + 1 - }; - }); - - labelHist.sort(function(a, b) { - return b.val - a.val; - }); - - // extract top areas with at least 6 patches present - topLabels = labelHist.filter(function(el) { - return el.val >= 5; - }); - - return topLabels; - } - - /** - * - */ - function findBoxes(topLabels, maxLabel) { - var i, - j, - sum, - patches = [], - patch, - box, - boxes = [], - hsv = [0, 1, 1], - rgb = [0, 0, 0]; - - for ( i = 0; i < topLabels.length; i++) { - sum = _patchLabelGrid.data.length; - patches.length = 0; - while (sum--) { - if (_patchLabelGrid.data[sum] === topLabels[i].label) { - patch = _imageToPatchGrid.data[sum]; - patches.push(patch); - } - } - box = boxFromPatches(patches); - if (box) { - boxes.push(box); - - // draw patch-labels if requested - if (_config.showRemainingPatchLabels) { - for ( j = 0; j < patches.length; j++) { - patch = patches[j]; - hsv[0] = (topLabels[i].label / (maxLabel + 1)) * 360; - CVUtils.hsv2rgb(hsv, rgb); - ImageDebug.drawRect(patch.pos, _subImageWrapper.size, _canvasContainer.ctx.binary, {color: "rgb(" + rgb.join(",") + ")", lineWidth: 2}); - } - } - } - } - return boxes; - } - - /** - * Find similar moments (via cluster) - * @param {Object} moments - */ - function similarMoments(moments) { - var clusters = CVUtils.cluster(moments, 0.90); - var topCluster = CVUtils.topGeneric(clusters, 1, function(e) { - return e.getPoints().length; - }); - var points = [], result = []; - if (topCluster.length === 1) { - points = topCluster[0].item.getPoints(); - for (var i = 0; i < points.length; i++) { - result.push(points[i].point); - } - } - return result; - } - - function skeletonize(x, y) { - _binaryImageWrapper.subImageAsCopy(_subImageWrapper, CVUtils.imageRef(x, y)); - _skeletonizer.skeletonize(); - - // Show skeleton if requested - if (_config.showSkeleton) { - _skelImageWrapper.overlay(_canvasContainer.dom.binary, 360, CVUtils.imageRef(x, y)); - } - } - - /** - * Extracts and describes those patches which seem to contain a barcode pattern - * @param {Array} moments - * @param {Object} patchPos, - * @param {Number} x - * @param {Number} y - * @returns {Array} list of patches - */ - function describePatch(moments, patchPos, x, y) { - var k, avg, sum = 0, eligibleMoments = [], matchingMoments, patch, patchesFound = []; - if (moments.length >= 2) { - // only collect moments which's area covers at least 6 pixels. - for ( k = 0; k < moments.length; k++) { - if (moments[k].m00 > 6) { - eligibleMoments.push(moments[k]); - } - } - - // if at least 2 moments are found which have 6pixels covered - if (eligibleMoments.length >= 2) { - sum = eligibleMoments.length; - matchingMoments = similarMoments(eligibleMoments); - avg = 0; - // determine the similarity of the moments - for ( k = 0; k < matchingMoments.length; k++) { - avg += matchingMoments[k].rad; - } - - // Only two of the moments are allowed not to fit into the equation - // add the patch to the set - if (matchingMoments.length > 1 && matchingMoments.length >= (eligibleMoments.length / 4) * 3 && matchingMoments.length > moments.length / 4) { - avg /= matchingMoments.length; - patch = { - index : patchPos[1] * _numPatches.x + patchPos[0], - pos : { - x : x, - y : y - }, - box : [vec2.create([x, y]), vec2.create([x + _subImageWrapper.size.x, y]), vec2.create([x + _subImageWrapper.size.x, y + _subImageWrapper.size.y]), vec2.create([x, y + _subImageWrapper.size.y])], - moments : matchingMoments, - rad : avg, - vec : vec2.create([Math.cos(avg), Math.sin(avg)]) - }; - patchesFound.push(patch); - } - } - } - return patchesFound; - } - - /** - * finds patches which are connected and share the same orientation - * @param {Object} patchesFound - */ - function rasterizeAngularSimilarity(patchesFound) { - var label = 0, - threshold = 0.95, - currIdx = 0, - j, - patch, - hsv = [0, 1, 1], - rgb = [0, 0, 0]; - - function notYetProcessed() { - var i; - for ( i = 0; i < _patchLabelGrid.data.length; i++) { - if (_patchLabelGrid.data[i] === 0 && _patchGrid.data[i] === 1) { - return i; - } - } - return _patchLabelGrid.length; - } - - function trace(currentIdx) { - var x, y, currentPatch, patch, idx, dir, current = { - x : currentIdx % _patchLabelGrid.size.x, - y : (currentIdx / _patchLabelGrid.size.x) | 0 - }, similarity; - - if (currentIdx < _patchLabelGrid.data.length) { - currentPatch = _imageToPatchGrid.data[currentIdx]; - // assign label - _patchLabelGrid.data[currentIdx] = label; - for ( dir = 0; dir < Tracer.searchDirections.length; dir++) { - y = current.y + Tracer.searchDirections[dir][0]; - x = current.x + Tracer.searchDirections[dir][1]; - idx = y * _patchLabelGrid.size.x + x; - - // continue if patch empty - if (_patchGrid.data[idx] === 0) { - _patchLabelGrid.data[idx] = Number.MAX_VALUE; - continue; - } - - patch = _imageToPatchGrid.data[idx]; - if (_patchLabelGrid.data[idx] === 0) { - similarity = Math.abs(vec2.dot(patch.vec, currentPatch.vec)); - if (similarity > threshold) { - trace(idx); - } - } - } - } - } - - // prepare for finding the right patches - ArrayHelper.init(_patchGrid.data, 0); - ArrayHelper.init(_patchLabelGrid.data, 0); - ArrayHelper.init(_imageToPatchGrid.data, null); - - for ( j = 0; j < patchesFound.length; j++) { - patch = patchesFound[j]; - _imageToPatchGrid.data[patch.index] = patch; - _patchGrid.data[patch.index] = 1; - } - - // rasterize the patches found to determine area - _patchGrid.zeroBorder(); - - while (( currIdx = notYetProcessed()) < _patchLabelGrid.data.length) { - label++; - trace(currIdx); - } - - // draw patch-labels if requested - if (_config.showPatchLabels) { - for ( j = 0; j < _patchLabelGrid.data.length; j++) { - if (_patchLabelGrid.data[j] > 0 && _patchLabelGrid.data[j] <= label) { - patch = _imageToPatchGrid.data[j]; - hsv[0] = (_patchLabelGrid.data[j] / (label + 1)) * 360; - CVUtils.hsv2rgb(hsv, rgb); - ImageDebug.drawRect(patch.pos, _subImageWrapper.size, _canvasContainer.ctx.binary, {color: "rgb(" + rgb.join(",") + ")", lineWidth: 2}); - } - } - } - - return label; - } - - function initWorker(cb) { - var tmpData; - - _worker = new Worker('../src/worker_locator.js'); - tmpData = _inputImageWrapper.data; - _inputImageWrapper.data = null; // do not send the data along - _worker.postMessage({cmd: 'init', inputImageWrapper: _inputImageWrapper, config: _config}); - _inputImageWrapper.data = tmpData; - _worker.onmessage = function(e) { - if (e.data.event === 'initialized') { - _initialized = true; - cb(); - } else if (e.data.event === 'located') { - _inputImageWrapper.data = new Uint8Array(e.data.buffer); - _locatedCb(e.data.result); - } - }; - } - - return { - init : function(inputImageWrapper, config, cb) { - _config = config; - _inputImageWrapper = inputImageWrapper; - - // 1. check config for web-worker - if (_config.useWorker) { - initWorker(cb); - } else { - initBuffers(); - initCanvas(); - cb(); - } - }, - locate : function(cb) { - var patchesFound, - topLabels = [], - boxes = []; - - if (_config.useWorker) { - _locatedCb = cb; - _worker.postMessage({cmd: 'locate', buffer: _inputImageWrapper.data}, [_inputImageWrapper.data.buffer]); - } else { - if (_config.halfSample) { - CVUtils.halfSample(_inputImageWrapper, _currentImageWrapper); - } - - binarizeImage(); - patchesFound = findPatches(); - // return unless 5% or more patches are found - if (patchesFound.length < _numPatches.x * _numPatches.y * 0.05) { - return cb(null); - } - - // rasterrize area by comparing angular similarity; - var maxLabel = rasterizeAngularSimilarity(patchesFound); - if (maxLabel <= 1) { - return cb(null); - } - - // search for area with the most patches (biggest connected area) - topLabels = findBiggestConnectedAreas(maxLabel); - if (topLabels.length === 0) { - return cb(null); - } - - boxes = findBoxes(topLabels, maxLabel); - cb(boxes); - } - } - }; -}); - - - return require('barcode_locator'); -})); \ No newline at end of file diff --git a/dist/quagga.js b/dist/quagga.js index 964aa47..30a3d7f 100644 --- a/dist/quagga.js +++ b/dist/quagga.js @@ -6173,9 +6173,13 @@ function(ImageWrapper, CVUtils, Rasterizer, Tracer, skeletonizer, ArrayHelper, I } function initWorker(cb) { - var tmpData; + var tmpData, + blobURL; + + blobURL = generateWorkerBlob(); + _worker = new Worker(blobURL); + URL.revokeObjectURL(blobURL); - _worker = new Worker('../src/worker_locator.js'); tmpData = _inputImageWrapper.data; _inputImageWrapper.data = null; // do not send the data along _worker.postMessage({cmd: 'init', inputImageWrapper: _inputImageWrapper, config: _config}); @@ -6191,6 +6195,50 @@ function(ImageWrapper, CVUtils, Rasterizer, Tracer, skeletonizer, ArrayHelper, I }; } + function generateWorkerBlob() { + var blob, + quaggaAbsoluteUrl, + scripts = document.getElementsByTagName('script'), + regex = new RegExp('\/' + _config.scriptName + '$'); + + quaggaAbsoluteUrl = Array.prototype.slice.apply(scripts).filter(function(script) { + return script.src && script.src.match(regex); + }).map(function(script) { + return script.src; + })[0]; + + /* jshint ignore:start */ + blob = new Blob(['(' + + (function(scriptUrl){ + importScripts(scriptUrl); + var inputImageWrapper, + config, + Locator = Quagga.Locator; + + self.onmessage = function(e) { + if (e.data.cmd === 'init') { + inputImageWrapper = e.data.inputImageWrapper; + config = e.data.config; + + config.useWorker = false; + Locator.init(inputImageWrapper, config, function() { + self.postMessage({'event': 'initialized'}); + }); + } else if (e.data.cmd === 'locate') { + inputImageWrapper.data = new Uint8Array(e.data.buffer); + Locator.locate(function(result) { + self.postMessage({'event': 'located', result: result, buffer : inputImageWrapper.data}, [inputImageWrapper.data.buffer]); + }); + } + }; + }).toString() + ')("' + quaggaAbsoluteUrl + '");' + ], {type : 'text/javascript'}); + + /* jshint ignore:end */ + return window.URL.createObjectURL(blob); + } + + return { init : function(inputImageWrapper, config, cb) { _config = config; @@ -6859,6 +6907,7 @@ define('config',[],function(){ locator: { halfSample: true, useWorker: true, + scriptName: 'quagga.js', showCanvas: false, showPatches: false, showFoundPatches: false, @@ -7296,7 +7345,8 @@ function(Code128Reader, EANReader, InputStream, ImageWrapper, BarcodeLocator, Ba Reader: { EANReader : EANReader, Code128Reader : Code128Reader - } + }, + Locator: BarcodeLocator }; }); diff --git a/dist/quagga.min.js b/dist/quagga.min.js deleted file mode 100644 index cfa4b2f..0000000 --- a/dist/quagga.min.js +++ /dev/null @@ -1,3 +0,0 @@ -/*! quagga 2014-12-19 */ -!function(a,b){"function"==typeof define&&define.amd?define([],b):a.Quagga=b()}(this,function(){var 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c=a[0],d=a[1],e=a[2],f=a[3],g=a[4],h=a[5],i=a[6],j=a[7],k=a[8],l=a[9],m=a[10],n=a[11],o=a[12],p=a[13],q=a[14],r=a[15],s=c*h-d*g,t=c*i-e*g,u=c*j-f*g,v=d*i-e*h,w=d*j-f*h,x=e*j-f*i,y=k*p-l*o,z=k*q-m*o,A=k*r-n*o,B=l*q-m*p,C=l*r-n*p,D=m*r-n*q,E=1/(s*D-t*C+u*B+v*A-w*z+x*y);return b[0]=(h*D-i*C+j*B)*E,b[1]=(-d*D+e*C-f*B)*E,b[2]=(p*x-q*w+r*v)*E,b[3]=(-l*x+m*w-n*v)*E,b[4]=(-g*D+i*A-j*z)*E,b[5]=(c*D-e*A+f*z)*E,b[6]=(-o*x+q*u-r*t)*E,b[7]=(k*x-m*u+n*t)*E,b[8]=(g*C-h*A+j*y)*E,b[9]=(-c*C+d*A-f*y)*E,b[10]=(o*w-p*u+r*s)*E,b[11]=(-k*w+l*u-n*s)*E,b[12]=(-g*B+h*z-i*y)*E,b[13]=(c*B-d*z+e*y)*E,b[14]=(-o*v+p*t-q*s)*E,b[15]=(k*v-l*t+m*s)*E,b},f.toRotationMat=function(a,b){return b||(b=f.create()),b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3],b[4]=a[4],b[5]=a[5],b[6]=a[6],b[7]=a[7],b[8]=a[8],b[9]=a[9],b[10]=a[10],b[11]=a[11],b[12]=0,b[13]=0,b[14]=0,b[15]=1,b},f.toMat3=function(a,b){return b||(b=e.create()),b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[4],b[4]=a[5],b[5]=a[6],b[6]=a[8],b[7]=a[9],b[8]=a[10],b},f.toInverseMat3=function(a,b){var c=a[0],d=a[1],f=a[2],g=a[4],h=a[5],i=a[6],j=a[8],k=a[9],l=a[10],m=l*h-i*k,n=-l*g+i*j,o=k*g-h*j,p=c*m+d*n+f*o;if(!p)return null;var q=1/p;return b||(b=e.create()),b[0]=m*q,b[1]=(-l*d+f*k)*q,b[2]=(i*d-f*h)*q,b[3]=n*q,b[4]=(l*c-f*j)*q,b[5]=(-i*c+f*g)*q,b[6]=o*q,b[7]=(-k*c+d*j)*q,b[8]=(h*c-d*g)*q,b},f.multiply=function(a,b,c){c||(c=a);var d=a[0],e=a[1],f=a[2],g=a[3],h=a[4],i=a[5],j=a[6],k=a[7],l=a[8],m=a[9],n=a[10],o=a[11],p=a[12],q=a[13],r=a[14],s=a[15],t=b[0],u=b[1],v=b[2],w=b[3],x=b[4],y=b[5],z=b[6],A=b[7],B=b[8],C=b[9],D=b[10],E=b[11],F=b[12],G=b[13],H=b[14],I=b[15];return c[0]=t*d+u*h+v*l+w*p,c[1]=t*e+u*i+v*m+w*q,c[2]=t*f+u*j+v*n+w*r,c[3]=t*g+u*k+v*o+w*s,c[4]=x*d+y*h+z*l+A*p,c[5]=x*e+y*i+z*m+A*q,c[6]=x*f+y*j+z*n+A*r,c[7]=x*g+y*k+z*o+A*s,c[8]=B*d+C*h+D*l+E*p,c[9]=B*e+C*i+D*m+E*q,c[10]=B*f+C*j+D*n+E*r,c[11]=B*g+C*k+D*o+E*s,c[12]=F*d+G*h+H*l+I*p,c[13]=F*e+G*i+H*m+I*q,c[14]=F*f+G*j+H*n+I*r,c[15]=F*g+G*k+H*o+I*s,c},f.multiplyVec3=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2];return c[0]=a[0]*d+a[4]*e+a[8]*f+a[12],c[1]=a[1]*d+a[5]*e+a[9]*f+a[13],c[2]=a[2]*d+a[6]*e+a[10]*f+a[14],c},f.multiplyVec4=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2],g=b[3];return c[0]=a[0]*d+a[4]*e+a[8]*f+a[12]*g,c[1]=a[1]*d+a[5]*e+a[9]*f+a[13]*g,c[2]=a[2]*d+a[6]*e+a[10]*f+a[14]*g,c[3]=a[3]*d+a[7]*e+a[11]*f+a[15]*g,c},f.translate=function(a,b,c){var d=b[0],e=b[1],f=b[2];if(!c||a==c)return a[12]=a[0]*d+a[4]*e+a[8]*f+a[12],a[13]=a[1]*d+a[5]*e+a[9]*f+a[13],a[14]=a[2]*d+a[6]*e+a[10]*f+a[14],a[15]=a[3]*d+a[7]*e+a[11]*f+a[15],a;var g=a[0],h=a[1],i=a[2],j=a[3],k=a[4],l=a[5],m=a[6],n=a[7],o=a[8],p=a[9],q=a[10],r=a[11];return c[0]=g,c[1]=h,c[2]=i,c[3]=j,c[4]=k,c[5]=l,c[6]=m,c[7]=n,c[8]=o,c[9]=p,c[10]=q,c[11]=r,c[12]=g*d+k*e+o*f+a[12],c[13]=h*d+l*e+p*f+a[13],c[14]=i*d+m*e+q*f+a[14],c[15]=j*d+n*e+r*f+a[15],c},f.scale=function(a,b,c){var d=b[0],e=b[1],f=b[2];return c&&a!=c?(c[0]=a[0]*d,c[1]=a[1]*d,c[2]=a[2]*d,c[3]=a[3]*d,c[4]=a[4]*e,c[5]=a[5]*e,c[6]=a[6]*e,c[7]=a[7]*e,c[8]=a[8]*f,c[9]=a[9]*f,c[10]=a[10]*f,c[11]=a[11]*f,c[12]=a[12],c[13]=a[13],c[14]=a[14],c[15]=a[15],c):(a[0]*=d,a[1]*=d,a[2]*=d,a[3]*=d,a[4]*=e,a[5]*=e,a[6]*=e,a[7]*=e,a[8]*=f,a[9]*=f,a[10]*=f,a[11]*=f,a)},f.rotate=function(a,b,c,d){var e=c[0],f=c[1],g=c[2],h=Math.sqrt(e*e+f*f+g*g);if(!h)return null;1!=h&&(h=1/h,e*=h,f*=h,g*=h);var i=Math.sin(b),j=Math.cos(b),k=1-j,l=a[0],m=a[1],n=a[2],o=a[3],p=a[4],q=a[5],r=a[6],s=a[7],t=a[8],u=a[9],v=a[10],w=a[11],x=e*e*k+j,y=f*e*k+g*i,z=g*e*k-f*i,A=e*f*k-g*i,B=f*f*k+j,C=g*f*k+e*i,D=e*g*k+f*i,E=f*g*k-e*i,F=g*g*k+j;return d?a!=d&&(d[12]=a[12],d[13]=a[13],d[14]=a[14],d[15]=a[15]):d=a,d[0]=l*x+p*y+t*z,d[1]=m*x+q*y+u*z,d[2]=n*x+r*y+v*z,d[3]=o*x+s*y+w*z,d[4]=l*A+p*B+t*C,d[5]=m*A+q*B+u*C,d[6]=n*A+r*B+v*C,d[7]=o*A+s*B+w*C,d[8]=l*D+p*E+t*F,d[9]=m*D+q*E+u*F,d[10]=n*D+r*E+v*F,d[11]=o*D+s*E+w*F,d},f.rotateX=function(a,b,c){var d=Math.sin(b),e=Math.cos(b),f=a[4],g=a[5],h=a[6],i=a[7],j=a[8],k=a[9],l=a[10],m=a[11];return c?a!=c&&(c[0]=a[0],c[1]=a[1],c[2]=a[2],c[3]=a[3],c[12]=a[12],c[13]=a[13],c[14]=a[14],c[15]=a[15]):c=a,c[4]=f*e+j*d,c[5]=g*e+k*d,c[6]=h*e+l*d,c[7]=i*e+m*d,c[8]=f*-d+j*e,c[9]=g*-d+k*e,c[10]=h*-d+l*e,c[11]=i*-d+m*e,c},f.rotateY=function(a,b,c){var d=Math.sin(b),e=Math.cos(b),f=a[0],g=a[1],h=a[2],i=a[3],j=a[8],k=a[9],l=a[10],m=a[11];return c?a!=c&&(c[4]=a[4],c[5]=a[5],c[6]=a[6],c[7]=a[7],c[12]=a[12],c[13]=a[13],c[14]=a[14],c[15]=a[15]):c=a,c[0]=f*e+j*-d,c[1]=g*e+k*-d,c[2]=h*e+l*-d,c[3]=i*e+m*-d,c[8]=f*d+j*e,c[9]=g*d+k*e,c[10]=h*d+l*e,c[11]=i*d+m*e,c},f.rotateZ=function(a,b,c){var d=Math.sin(b),e=Math.cos(b),f=a[0],g=a[1],h=a[2],i=a[3],j=a[4],k=a[5],l=a[6],m=a[7];return c?a!=c&&(c[8]=a[8],c[9]=a[9],c[10]=a[10],c[11]=a[11],c[12]=a[12],c[13]=a[13],c[14]=a[14],c[15]=a[15]):c=a,c[0]=f*e+j*d,c[1]=g*e+k*d,c[2]=h*e+l*d,c[3]=i*e+m*d,c[4]=f*-d+j*e,c[5]=g*-d+k*e,c[6]=h*-d+l*e,c[7]=i*-d+m*e,c},f.frustum=function(a,b,c,d,e,g,h){h||(h=f.create());var i=b-a,j=d-c,k=g-e;return h[0]=2*e/i,h[1]=0,h[2]=0,h[3]=0,h[4]=0,h[5]=2*e/j,h[6]=0,h[7]=0,h[8]=(b+a)/i,h[9]=(d+c)/j,h[10]=-(g+e)/k,h[11]=-1,h[12]=0,h[13]=0,h[14]=-(g*e*2)/k,h[15]=0,h},f.perspective=function(a,b,c,d,e){var g=c*Math.tan(a*Math.PI/360),h=g*b;return f.frustum(-h,h,-g,g,c,d,e)},f.ortho=function(a,b,c,d,e,g,h){h||(h=f.create());var i=b-a,j=d-c,k=g-e;return h[0]=2/i,h[1]=0,h[2]=0,h[3]=0,h[4]=0,h[5]=2/j,h[6]=0,h[7]=0,h[8]=0,h[9]=0,h[10]=-2/k,h[11]=0,h[12]=-(a+b)/i,h[13]=-(d+c)/j,h[14]=-(g+e)/k,h[15]=1,h},f.lookAt=function(a,b,c,d){d||(d=f.create());var e=a[0],g=a[1],h=a[2],i=c[0],j=c[1],k=c[2],l=b[0],m=b[1],n=b[2];if(e==l&&g==m&&h==n)return f.identity(d);var o,p,q,r,s,t,u,v,w,x;return o=e-b[0],p=g-b[1],q=h-b[2],x=1/Math.sqrt(o*o+p*p+q*q),o*=x,p*=x,q*=x,r=j*q-k*p,s=k*o-i*q,t=i*p-j*o,x=Math.sqrt(r*r+s*s+t*t),x?(x=1/x,r*=x,s*=x,t*=x):(r=0,s=0,t=0),u=p*t-q*s,v=q*r-o*t,w=o*s-p*r,x=Math.sqrt(u*u+v*v+w*w),x?(x=1/x,u*=x,v*=x,w*=x):(u=0,v=0,w=0),d[0]=r,d[1]=u,d[2]=o,d[3]=0,d[4]=s,d[5]=v,d[6]=p,d[7]=0,d[8]=t,d[9]=w,d[10]=q,d[11]=0,d[12]=-(r*e+s*g+t*h),d[13]=-(u*e+v*g+w*h),d[14]=-(o*e+p*g+q*h),d[15]=1,d},f.str=function(a){return"["+a[0]+", "+a[1]+", "+a[2]+", "+a[3]+",\n "+a[4]+", "+a[5]+", "+a[6]+", "+a[7]+",\n "+a[8]+", "+a[9]+", "+a[10]+", "+a[11]+",\n "+a[12]+", "+a[13]+", "+a[14]+", "+a[15]+"]"},quat4={},quat4.create=function(a){var b;return a?(b=new glMatrixArrayType(4),b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3]):b=new glMatrixArrayType(glMatrixArrayType===Array?[0,0,0,0]:4),b},quat4.set=function(a,b){return b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3],b},quat4.calculateW=function(a,b){var c=a[0],d=a[1],e=a[2];return b&&a!=b?(b[0]=c,b[1]=d,b[2]=e,b[3]=-Math.sqrt(Math.abs(1-c*c-d*d-e*e)),b):(a[3]=-Math.sqrt(Math.abs(1-c*c-d*d-e*e)),a)},quat4.inverse=function(a,b){return b&&a!=b?(b[0]=-a[0],b[1]=-a[1],b[2]=-a[2],b[3]=a[3],b):(a[0]*=-1,a[1]*=-1,a[2]*=-1,a)},quat4.length=function(a){var b=a[0],c=a[1],d=a[2],e=a[3];return Math.sqrt(b*b+c*c+d*d+e*e)},quat4.normalize=function(a,b){b||(b=a);var c=a[0],d=a[1],e=a[2],f=a[3],g=Math.sqrt(c*c+d*d+e*e+f*f);return 0==g?(b[0]=0,b[1]=0,b[2]=0,b[3]=0,b):(g=1/g,b[0]=c*g,b[1]=d*g,b[2]=e*g,b[3]=f*g,b)},quat4.multiply=function(a,b,c){c||(c=a);var d=a[0],e=a[1],f=a[2],g=a[3],h=b[0],i=b[1],j=b[2],k=b[3];return c[0]=d*k+g*h+e*j-f*i,c[1]=e*k+g*i+f*h-d*j,c[2]=f*k+g*j+d*i-e*h,c[3]=g*k-d*h-e*i-f*j,c},quat4.multiplyVec3=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2],g=a[0],h=a[1],i=a[2],j=a[3],k=j*d+h*f-i*e,l=j*e+i*d-g*f,m=j*f+g*e-h*d,n=-g*d-h*e-i*f;return c[0]=k*j+n*-g+l*-i-m*-h,c[1]=l*j+n*-h+m*-g-k*-i,c[2]=m*j+n*-i+k*-h-l*-g,c},quat4.toMat3=function(a,b){b||(b=e.create());var c=a[0],d=a[1],f=a[2],g=a[3],h=c+c,i=d+d,j=f+f,k=c*h,l=c*i,m=c*j,n=d*i,o=d*j,p=f*j,q=g*h,r=g*i,s=g*j;return b[0]=1-(n+p),b[1]=l-s,b[2]=m+r,b[3]=l+s,b[4]=1-(k+p),b[5]=o-q,b[6]=m-r,b[7]=o+q,b[8]=1-(k+n),b},quat4.toMat4=function(a,b){b||(b=f.create());var c=a[0],d=a[1],e=a[2],g=a[3],h=c+c,i=d+d,j=e+e,k=c*h,l=c*i,m=c*j,n=d*i,o=d*j,p=e*j,q=g*h,r=g*i,s=g*j;return b[0]=1-(n+p),b[1]=l-s,b[2]=m+r,b[3]=0,b[4]=l+s,b[5]=1-(k+p),b[6]=o-q,b[7]=0,b[8]=m-r,b[9]=o+q,b[10]=1-(k+n),b[11]=0,b[12]=0,b[13]=0,b[14]=0,b[15]=1,b},quat4.slerp=function(a,b,c,d){d||(d=a);var e=a[0]*b[0]+a[1]*b[1]+a[2]*b[2]+a[3]*b[3];if(Math.abs(e)>=1)return d!=a&&(d[0]=a[0],d[1]=a[1],d[2]=a[2],d[3]=a[3]),d;var f=Math.acos(e),g=Math.sqrt(1-e*e);if(Math.abs(g)<.001)return d[0]=.5*a[0]+.5*b[0],d[1]=.5*a[1]+.5*b[1],d[2]=.5*a[2]+.5*b[2],d[3]=.5*a[3]+.5*b[3],d;var h=Math.sin((1-c)*f)/g,i=Math.sin(c*f)/g;return d[0]=a[0]*h+b[0]*i,d[1]=a[1]*h+b[1]*i,d[2]=a[2]*h+b[2]*i,d[3]=a[3]*h+b[3]*i,d},quat4.str=function(a){return"["+a[0]+", "+a[1]+", "+a[2]+", "+a[3]+"]"},c("glMatrix",["typedefs"],function(a){return function(){var b;return b||a.glMatrix}}(this)),f.xVec4=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2],g=b[3];return c[0]=a[0]*d+a[1]*e+a[2]*f+a[3]*g,c[1]=a[4]*d+a[5]*e+a[6]*f+a[7]*g,c[2]=a[8]*d+a[9]*e+a[10]*f+a[11]*g,c[3]=a[12]*d+a[13]*e+a[14]*f+a[15]*g,c},e.scale=function(a,b,c){return c&&a!=c?(c=e.create(),c[0]=a[0]*b,c[1]=a[1]*b,c[2]=a[2]*b,c[3]=a[3]*b,c[4]=a[4]*b,c[5]=a[5]*b,c[6]=a[6]*b,c[7]=a[7]*b,c[8]=a[8]*b,c):(a[0]*=b,a[1]*=b,a[2]*=b,a[3]*=b,a[4]*=b,a[5]*=b,a[6]*=b,a[7]*=b,a[8]*=b,a)},e.inverse=function(a,b){b||(b=a);var c=a[0],d=a[1],e=a[2],f=a[3],g=a[4],h=a[5],i=a[6],j=a[7],k=a[8],l=1/(c*g*k+d*h*i+e*f*j-e*g*i-d*f*k-c*h*j);return b[0]=(g*k-h*j)*l,b[1]=(e*j-d*k)*l,b[2]=(d*h-e*g)*l,b[3]=(h*i-f*k)*l,b[4]=(c*k-e*i)*l,b[5]=(e*f-c*h)*l,b[6]=(f*j-g*i)*l,b[7]=(d*i-c*j)*l,b[8]=(c*g-d*f)*l,b},e.multiply=function(a,b,c){c||(c=a);var d=a[0],e=a[1],f=a[2],g=a[3],h=a[4],i=a[5],j=a[6],k=a[7],l=a[8],m=b[0],n=b[1],o=b[2],p=b[3],q=b[4],r=b[5],s=b[6],t=b[7],u=b[8];return c[0]=d*m+e*p+f*s,c[1]=d*n+e*q+f*t,c[2]=d*o+e*r+f*u,c[3]=g*m+h*p+i*s,c[4]=g*n+h*q+i*t,c[5]=g*o+h*r+i*u,c[6]=j*m+k*p+l*s,c[7]=j*n+k*q+l*t,c[8]=j*o+k*r+l*u,c},e.xVec3=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2];return c[0]=a[0]*d+a[1]*e+a[2]*f,c[1]=a[3]*d+a[4]*e+a[5]*f,c[2]=a[6]*d+a[7]*e+a[8]*f,c};var g={};g.create=function(a){var b;return a?(b=new glMatrixArrayType(4),b[0]=a[0],b[1]=a[1],b[2]=a[2],b[3]=a[3]):b=new glMatrixArrayType(glMatrixArrayType===Array?[0,0,0,0]:4),b},g.project=function(a,b){return 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i={};i.create=function(a){var b;return a?(b=new glMatrixArrayType(2),b[0]=a[0],b[1]=a[1]):b=new glMatrixArrayType(glMatrixArrayType===Array?[0,0]:2),b},i.subtract=function(a,b,c){return c&&a!=c?(c[0]=a[0]-b[0],c[1]=a[1]-b[1],c):(a[0]-=b[0],a[1]-=b[1],a)},i.add=function(a,b,c){return c&&a!=c?(c[0]=a[0]+b[0],c[1]=a[1]+b[1],c):(a[0]+=b[0],a[1]+=b[1],a)},i.scale=function(a,b,c){return c&&a!=c?(c[0]=a[0]*b,c[1]=a[1]*b,c):(a[0]*=b,a[1]*=b,a)},i.normalize=function(a,b){b||(b=a);var c=a[0],d=a[1],e=Math.sqrt(c*c+d*d);return e?1==e?(b[0]=c,b[1]=d,b):(e=1/e,b[0]=c*e,b[1]=d*e,b):(b[0]=0,b[1]=0,b)},i.dot=function(a,b){return a[0]*b[0]+a[1]*b[1]},i.multiply=function(a,b,c){return c||(c=a),c[0]=a[0]*b[0],c[1]=a[1]*b[1],c -},i.unproject=function(a){return d.create([a[0],a[1],1])},i.length=function(a){return Math.sqrt(a[0]*a[0]+a[1]*a[1])},i.perspectiveProject=function(a){var b=i.create(a);return i.scale(b,1/a[2])},d.project=function(a){return i.scale(i.create(a),1/a[2])};var j={};j.scale=function(a,b,c){return c&&a!=c?(c[0]=a[0]*b,c[1]=a[1]*b,c[2]=a[2]*b,c[3]=a[3]*b,c[4]=a[4]*b,c[5]=a[5]*b,c):(a[0]*=b,a[1]*=b,a[2]*=b,a[3]*=b,a[4]*=b,a[5]*=b,a)},j.subtract=function(a,b,c){return c&&a!=c?(c[0]=a[0]-b[0],c[1]=a[1]-b[1],c[2]=a[2]-b[2],c[3]=a[3]-b[3],c[4]=a[4]-b[4],c[5]=a[5]-b[5],c):(a[0]-=b[0],a[1]-=b[1],a[2]-=b[2],a[3]-=b[3],a[4]-=b[4],a[5]-=b[5],a)},j.dot=function(a,b){return a[0]*b[0]+a[1]*b[1]+a[2]*b[2]+a[3]*b[3]+a[4]*b[4]+a[5]*b[5]};var k={};return k.xVec6=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2],g=b[3],h=b[4],i=b[5];return c[0]=a[0]*d+a[1]*e+a[2]*f+a[3]*g+a[4]*h+a[5]*i,c[1]=a[6]*d+a[7]*e+a[8]*f+a[9]*g+a[10]*h+a[11]*i,c[2]=a[12]*d+a[13]*e+a[14]*f+a[15]*g+a[16]*h+a[17]*i,c[3]=a[18]*d+a[19]*e+a[20]*f+a[21]*g+a[22]*h+a[23]*i,c[4]=a[24]*d+a[25]*e+a[26]*f+a[27]*g+a[28]*h+a[29]*i,c[5]=a[30]*d+a[31]*e+a[32]*f+a[33]*g+a[34]*h+a[35]*i,c},e.xVec3=function(a,b,c){c||(c=b);var d=b[0],e=b[1],f=b[2];return 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c,d,e,f,g,h,i,j=a.data,k=b.data,l=a.size.y,m=a.size.x;for(c=1;l-1>c;c++)for(d=1;m-1>d;d++)f=c-1,g=c+1,h=d-1,i=d+1,e=j[f*m+h]+j[f*m+i]+j[c*m+d]+j[g*m+h]+j[g*m+i],k[c*m+d]=e>0?1:0},e.erode=function(a,b){var c,d,e,f,g,h,i,j=a.data,k=b.data,l=a.size.y,m=a.size.x;for(c=1;l-1>c;c++)for(d=1;m-1>d;d++)f=c-1,g=c+1,h=d-1,i=d+1,e=j[f*m+h]+j[f*m+i]+j[c*m+d]+j[g*m+h]+j[g*m+i],k[c*m+d]=5===e?1:0},e.subtract=function(a,b,c){c||(c=a);for(var d=a.data.length,e=a.data,f=b.data,g=c.data;d--;)g[d]=e[d]-f[d]},e.bitwiseOr=function(a,b,c){c||(c=a);for(var d=a.data.length,e=a.data,f=b.data,g=c.data;d--;)g[d]=e[d]||f[d]},e.countNonZero=function(a){for(var b=a.data.length,c=a.data,d=0;b--;)d+=c[b];return d},e.topGeneric=function(a,b,c){var d,e,f,g,h=0,i=0,j=[];for(d=0;b>d;d++)j[d]={score:0,item:null};for(d=0;di)for(f=j[h],f.score=e,f.item=a[d],i=Number.MAX_VALUE,g=0;b>g;g++)j[g].scoref;){for(d=0;h>d;d++)c[i]=Math.floor((.299*a[4*e+0]+.587*a[4*e+1]+.114*a[4*e+2]+(.299*a[4*(e+1)+0]+.587*a[4*(e+1)+1]+.114*a[4*(e+1)+2])+(.299*a[4*f+0]+.587*a[4*f+1]+.114*a[4*f+2])+(.299*a[4*(f+1)+0]+.587*a[4*(f+1)+1]+.114*a[4*(f+1)+2]))/4),i++,e+=2,f+=2;e+=j,f+=j}},e.computeGray=function(a,b){var c=a.length/4,d=0;for(d=0;c>d;d++)b[d]=Math.floor(.299*a[4*d+0]+.587*a[4*d+1]+.114*a[4*d+2])},e.loadImageArray=function(a,b,c){c||(c=document.createElement("canvas"));var d=new Image;d.callback=b,d.onload=function(){c.width=this.width,c.height=this.height;var a=c.getContext("2d");a.drawImage(this,0,0);var b=new Uint8Array(this.width*this.height);a.drawImage(this,0,0);var d=a.getImageData(0,0,this.width,this.height).data;e.computeGray(d,b),this.callback(b,{x:this.width,y:this.height},this)},d.src=a},e.halfSample=function(a,b){for(var c=a.data,d=a.size.x,e=b.data,f=0,g=d,h=c.length,i=d/2,j=0;h>g;){for(var k=0;i>k;k++)e[j]=Math.floor((c[f]+c[f+1]+c[g]+c[g+1])/4),j++,f+=2,g+=2;f+=d,g+=d}},e.hsv2rgb=function(a,b){var c=a[0],d=a[1],e=a[2],f=e*d,g=f*(1-Math.abs(c/60%2-1)),h=e-f,i=0,j=0,k=0;return b=b||[0,0,0],60>c?(i=f,j=g):120>c?(i=g,j=f):180>c?(j=f,k=g):240>c?(j=g,k=f):300>c?(i=g,k=f):360>c&&(i=f,k=g),b[0]=255*(i+h)|0,b[1]=255*(j+h)|0,b[2]=255*(k+h)|0,b},e}),c("image_wrapper",["subImage","cv_utils","array_helper"],function(a,b,c){function d(a,b,d,e){b?this.data=b:d?(this.data=new d(a.x*a.y),d===Array&&e&&c.init(this.data,0)):(this.data=new Uint8Array(a.x*a.y),Uint8Array===Array&&e&&c.init(this.data,0)),this.size=a}return d.prototype.inImageWithBorder=function(a,b){return a.x>=b&&a.y>=b&&a.x=0&&u>=0&&n-1>v&&o-1>w){for(g=s,j=0;m>j;++j,i.add(g,y))for(k=0;l>k;++k,i.add(g,p))b.set(k,j,x(a,g[0],g[1]));return 0}var z=n-1,A=o-1,B=0;for(g=s,j=0;m>j;++j,i.add(g,y))for(k=0;l>k;++k,i.add(g,p))0<=g[0]&&0<=g[1]&&g[0]c;c++)for(d=0;e>d;d++)a.data[d*f+c]=this.data[(b.y+d)*this.size.x+b.x+c]},d.prototype.copyTo=function(a){for(var b=this.data.length,c=this.data,d=a.data;b--;)d[b]=c[b]},d.prototype.get=function(a,b){return this.data[b*this.size.x+a]},d.prototype.getSafe=function(a,b){var c;if(!this.indexMapping){for(this.indexMapping={x:[],y:[]},c=0;ca;a++)d[a]=d[(c-1)*b+a]=0;for(a=1;c-1>a;a++)d[a*b]=d[a*b+(b-1)]=0},d.prototype.invert=function(){for(var a=this.data,b=a.length;b--;)a[b]=a[b]?0:1},d.prototype.convolve=function(a){var b,c,d,e,f=a.length/2|0,g=0;for(c=0;c=e;e++)for(d=-f;f>=d;d++)g+=a[e+f][d+f]*this.getSafe(b+d,c+e);this.data[c*this.size.x+b]=g}},d.prototype.moments=function(a){var b,c,d,e,f,g,h,j,k,l,m,n,o=this.data,p=this.size.y,q=this.size.x,r=[],s=[],t=Math.PI,u=t/4;if(0>=a)return 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