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itracker.js
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var a0b3=a0d;function a0d(a,b){var c=a0c();return a0d=function(d,e){d=d-0x121;var f=c[d];return f;},a0d(a,b);}(function(a,b){var aX=a0d,c=a();while(!![]){try{var d=-parseInt(aX(0x1b5))/0x1+-parseInt(aX(0x1d0))/0x2*(parseInt(aX(0x203))/0x3)+parseInt(aX(0x20d))/0x4+-parseInt(aX(0x16a))/0x5*(parseInt(aX(0x193))/0x6)+parseInt(aX(0x213))/0x7+-parseInt(aX(0x1c6))/0x8*(-parseInt(aX(0x130))/0x9)+-parseInt(aX(0x1de))/0xa*(parseInt(aX(0x1e8))/0xb);if(d===b)break;else c['push'](c['shift']());}catch(e){c['push'](c['shift']());}}}(a0c,0x3e08e));function a0c(){var cm=['des','ELGxG','MAX_PIXELS','CV_8UC1','set','bestMatchQuality','Tracker','fufXX','CANVAS_HEIGHT','iTracker','warn','qtBSk','lastPoseIsStable','vWzYA','ERfLI','ids','ZBrkH','OnTrackingFound','9RBUkJW','appendChild','pJldK','search','CLIENT_VERSION_ERROR','homography','yItPp','LNUjD','createElement','CV_32SC2','1893952HBHIIR','target','getAttribute','transform','floor','gemm','2461088WikCQf','CV_32FC2','COLOR_RGBA2GRAY','INTER_LINEAR','rows','indexOf','vkoTZ','targetsInScene','vfWsT','projectPoints','MQbrc','trackedCount','refinedMatches','UsxFC','remove','CV_8UC4','patch','fillConvexPoly','circle','HRgKm','SILsZ','MAX_AREA','script','warpPerspective','AaFuH','opencv.js','unityTargetFound\x20','compute','video-canvas','resizeCanvas','lastMatchTrackTime','matches','LbCWT','src','Unity\x20build\x20is\x20using\x20a\x20different\x20plugin\x20version\x20and\x20may\x20not\x20function\x20properly\x20-\x20Please\x20rebuild\x20your\x20unity\x20project','pow','solvePnP','kpSharp','Point','pcEwj','CyXVH','max','putImageData','CV_32F','Omjvz','dot','statePre','debugImageTarget','addWeighted','cvtColor','imread','push_back','crossOrigin','SwxFJ','onerror','KeyPointVector','sqrt','idealMatches','height','keys','body','hasPrediction','round','zeros','calcOpticalFlowPyrLK','SIFT','TermCriteria_EPS','2648853oNQRRc','log','sJlOC','eDdjF','width','OnTrackingLost','vIcdy','getContext','random','isImageTracked','update','position','start\x20resize\x20now','lastRefineMatchesTime','CANVAS_WIDTH','parse','resize','WRANj','LmdLv','coverage','DMatchVector','getImageData','NORM_HAMMING','TYIwH','MAX_TARGET_AREA','CAM_MAT','xdkeu','zaoue','ITRACKER_GLOBALS','SOLVEPNP_ITERATIVE','hiYzw','NMawy','data32F','distance','srMEm','matchTemplate','WARP_INVERSE_MAP','constructor','isStarted','failed\x20to\x20load\x20opencv...','apply','errorCovPre','MsOft','TRACK_TARGET_MATCH_COUNT','DETECT_INTERVAL','ceil','PbkWK','min','#debugMatches','debugImages','display','none','statePost','keypoint','roi','CV_64F','splice','measurementNoiseCov','25DYpBLI','zFdiK','includes','unityInstance','data','parentElement','ZNlpb','lastDetectTime','Rodrigues','lastk','ewmTl','Uwoxc','FdWHx','absolute','forEach','cDRyP','Rect','imagetarget','getElementById','DuTCu','CYWYi','ZhGdC','canvas','debugIds','randomIntFromInterval','empty','Mat','Scalar','IXJIm','assign','FRAMERATE','gray','processNoiseCov','queryIdx','untracked','SSISN','rixDb','cols','true','KZsfP','drawMatches','255696lyrXtg','transitionMatrix','subscribeToWebcamUpdates','lastUpdateTime','vxFMy','tvec','state','maxLoc','Lidpm','CAM_DIST_MAT','cv\x20initialized','initialize','unityTargetLost\x20','SRxYX','kalman','valid','tOFsN','line','SendMessage','BFMatcher','wTISe','lasti','delete','PpnCt','startTracker','meas','ngCSt','BoHvK','Anonymous','toString','mNQCg','rectangle','inv','copyTo','97825MEaYKS','GaussianBlur','matFromArray','imshow','left','perspectiveTransform','get','tracked','predict','lastj','TermCriteria_COUNT','translate(0%,0%)\x20scale(','(((.+)+)+)+$','ORmXT','HxiaO','rKYEG','MAX_SIMULTANEOUS_TRACK','8SoTPkR','#debugKps','INTER_AREA','addEventListener','setFramerate','lastw','map','minMaxLoc','then','split','228194nEtyyq','size','pECXX','WARPED_IMAGE_CANVAS','lastMatchTrackDist','reduce','style','dFVIi','RANSAC','COLOR_GRAY2RGB','lastPose','ORB','DMatchVectorVector','correct','10YkdTMZ','izYYm','now','stopTracker','#matchPatches','onload','jVJXs','TRACKER_NAME','TM_CCORR_NORMED','trainIdx','2333089NHcAMa','findHomography','detect','length','rotMat','push','loadOpenCV','KYdQB','Akdov'];a0c=function(){return cm;};return a0c();}var a0b=(function(){var a=!![];return function(b,c){var aY=a0d;if('ERfLI'===aY(0x1ff)){var d=a?function(){var aZ=aY;if(c){var e=c[aZ(0x158)](b,arguments);return c=null,e;}}:function(){};return a=![],d;}else{var f={};return function(){var b0=aY;if(arguments[b0(0x1eb)]==0x1)return f[arguments[0x0]];arguments[b0(0x1eb)]==0x2&&(f[arguments[0x0]]=arguments[0x1]);};}};}()),a0a=a0b(this,function(){var b1=a0d;return a0a[b1(0x1b0)]()[b1(0x206)](b1(0x1c1))[b1(0x1b0)]()[b1(0x155)](a0a)[b1(0x206)](b1(0x1c1));});a0a();class ImageTracker{#p000;#p001;#p002;#p003;#p004;#p005;#p006;#p007;#p008;#p009;#p010;#p011;#p012;#p013;#p014;#p015;#p016;#p017;#p018;#p019;#p020;#p021;#p022;#p023;#p024;#p025;#p026;#p027;#p028;#p029;#p030;#p031;#p032;#p033;#p034;#p035;#p036;#p037;#p038;#p039;#p040;#p041;#p042;#p043;#p044;#p045;#p046;#p047;#p048;#p049;#p050;#p051;#p052;#p053;#p054;#p055;#p056;#p057;#p058;constructor(a){var b2=a0d;a[b2(0x195)](this);;}async[a0b3(0x1ee)](){return new Promise((a,b)=>{var b4=a0d;if('wtMDD'===b4(0x174))e['style'][b4(0x1b9)]=f*g[b4(0x1d1)]()[b4(0x134)]*h+'px';else{var c=document['createElement']('script');c[b4(0x234)]=b4(0x22c),c[b4(0x1e3)]=()=>{var b5=b4;document[b5(0x129)]['appendChild'](c),cv[b5(0x1ce)](e=>{var b6=b5;if('CYWYi'===b6(0x17e)){console[b6(0x131)](b6(0x19d)),window['cv']=e;;;a();}else{var g=e[b6(0x218)](f);g>-0x1&&i[b6(0x1ed)](j);}});},c['onerror']=()=>{var b7=b4;console['log'](b7(0x157)),b();},document[b4(0x129)][b4(0x204)](c);}});}async[a0b3(0x19e)](){var b8=a0b3;;window[b8(0x1c9)](b8(0x140),window[b8(0x1fa)]['resizeWithDelay'],!![]);try{if(!window['cv']){if(b8(0x1d2)!==b8(0x220)){;await this[b8(0x1ee)]();;}else{var b=new g[(b8(0x184))]();h[b8(0x1b4)](b),i['cvtColor'](b,b,j[b8(0x1d9)],0x0);var c=new k[(b8(0x185))](0xff,0x0,0x0),d=new l[(b8(0x185))](0xff,0xff,0x0);}};this['QOS']=0x1,this[b8(0x1e5)]=b8(0x1f7),this[b8(0x188)]=0x1e,this[b8(0x228)]=0x9c40,this[b8(0x1f3)]=window[b8(0x14c)]&&window['ITRACKER_GLOBALS'][b8(0x1f3)]?window[b8(0x14c)]['MAX_PIXELS']:0x1c2,this['MAX_TARGET_AREA']=window[b8(0x14c)]&&window['ITRACKER_GLOBALS'][b8(0x148)]?window['ITRACKER_GLOBALS']['MAX_TARGET_AREA']:0x5dc0,this[b8(0x15c)]=0xc8,this.#p001=0x96,this.#p002=0.5,this.#p003=0.8,this.#p004=0x5,this.#p005=0.6,this.#p006=0xa,this.#p007=0.8,this.#p008=0xa,this[b8(0x1c5)]=0x1,this.#p009=0xa,this.#p031=0xf,this.#p032=0x30,this.#p035=0xf,this.#p036=0x18,this.#p014=!![],this[b8(0x15b)]=0x19,this.#p015=0.001,this.#p016=0.001,this.#p039=0.0002,this.#p040=0.99,this.#p041=0.002,this.#p042=0.85,this.#p017=0.2,this.#p018=0.2,this.#p033=0.05,this.#p034=0.65;;this.#p021=0x1f4,this.#p050=new cv['SIFT'](),this.#p052=new cv[(b8(0x12e))](),this.#p054=new cv['BFMatcher'](cv['NORM_L2']),this.#p051=new cv[(b8(0x1db))](this.#p021),this.#p053=new cv[(b8(0x1db))](this.#p021),this.#p055=new cv[(b8(0x1a6))](cv[b8(0x146)]);;return this.#f006(()=>{var b9=b8,b=this.#p057[b9(0x155)](b9(0x190));;}),this.#p022=!![],this.#p023=0.075,this.#p024=0.075,this.#p025=0.00001,this.#p026=0x1,this.#p027=0x1,this.#p028=0.00001,this.#p029=0x1,this.#p030=0x1,this.#p056=0x0,iTracker['lastDetectTime']=Date[b8(0x1e0)](),console[b8(0x131)](b8(0x13c)),arCamera[b8(0x230)](),this[b8(0x21e)]=0x0,console['log']('init\x20complete!'),Promise['resolve']();}catch(b){return Promise['reject'](b);}}[a0b3(0x1ab)](a,b){var ba=a0b3;;this['targetsInScene']=a[ba(0x1cf)](','),this['isStarted']=!![],this[ba(0x1e5)]=b;}['stopTracker'](){var bb=a0b3;this[bb(0x156)]=![];var a=this.#p057[bb(0x155)](bb(0x190));Object['keys'](a[bb(0x1bc)])[bb(0x178)](b=>{this.#f005(b);});}['setCamDims'](a){var bc=a0b3;if(a>0x1){if('xMzfH'==='xMzfH'){var b=this['MAX_PIXELS'],c=Math[bc(0x211)](b/a);;}else{for(var e=0x0;e<e[bc(0x1d1)]();e++){var f=q[bc(0x1bb)](e);f['pt']['x']=f['pt']['x']/r+s['x'],f['pt']['y']=f['pt']['y']/t+u['y'],v[bc(0x1f5)](e,f);}return f;}}else{var c=this[bc(0x1f3)],b=Math[bc(0x211)](c*a);;};this[bc(0x13e)]=b,this['CANVAS_HEIGHT']=c,this['CAM_MAT']=cv[bc(0x1b7)](0x3,0x3,cv['CV_32F'],[b,0x0,b*0.5,0x0,b,c*0.5,0x0,0x0,0x1]),this[bc(0x19c)]=cv[bc(0x1b7)](0x5,0x1,cv[bc(0x23e)],[0x0,0x0,0x0,0x0,0x0]);;}[a0b3(0x139)](a){var bd=a0b3,b=this.#p057[bd(0x155)](bd(0x190)),c=Object['keys'](b[bd(0x1bc)]);return c[bd(0x16c)](a);}['setTrackerSettings'](a,b='0.0.0'){var be=a0b3;this.#f000(b);;var c=JSON[be(0x13f)](a);Object[be(0x128)](c)[be(0x178)](d=>{if(d in this&&this[d]!=c[d]){this[d]=c[d];;}}),arCamera[be(0x230)](),arCamera[be(0x1ca)](this['FRAMERATE']);}#f000(a){var bg=a0b3,b=()=>{var e={};return function(){var bf=a0d;if(arguments[bf(0x1eb)]==0x1)return e[arguments[0x0]];arguments[bf(0x1eb)]==0x2&&(e[arguments[0x0]]=arguments[0x1]);};},c=a[bg(0x1cf)]('.'),d=c[0x0]+'.'+c[0x1]+'.'+c[0x2];this.#p058=new(b())(),this.#p058['id']=d,this.#p058['constructor'](bg(0x190),a);}[a0b3(0x242)](a){var bh=a0b3;if(!a){if('JDLnb'!==bh(0x21b))this.#f040(bh(0x242));else{var e=o[bh(0x125)](0x1+p['data32F'][0x0]-q[bh(0x150)][0x4]-r[bh(0x150)][0x8])*0x2;s=(t[bh(0x150)][0x5]-u['data32F'][0x7])/e,v=0.25*e,w=(x[bh(0x150)][0x3]+y[bh(0x150)][0x1])/e,z=(A[bh(0x150)][0x6]+B['data32F'][0x2])/e;}}var b=this.#p057[bh(0x155)](bh(0x190)),c=b['untracked'][a];if(c){;this.#f012(c[bh(0x189)],c['kp'],bh(0x242));}else{if(bh(0x1c2)===bh(0x1f0)){var f=g?function(){if(f){var u=q['apply'](r,arguments);return s=null,u;}}:function(){};return l=![],f;}else this.#f040('debugImageTarget');}}['resizeWithDelay'](a){var bi=a0b3;if(a!=null&&a[bi(0x20e)]!=window)return;if(!arCamera['unityCanvas']['parentElement']||!arCamera['unityCanvas'][bi(0x16f)][bi(0x1d6)])return;iTracker[bi(0x1e1)]();if(iTracker.#p043){if('BQMqO'==='BQMqO')iTracker.#p043[bi(0x1a9)](),iTracker.#p043=null;else{;b['delete']();}}setTimeout(()=>{var bj=bi;arCamera[bj(0x230)]();},0x32);var b=arCamera['unityCanvas']['parentElement'];setTimeout(()=>{var bk=bi;b[bk(0x1d6)][bk(0x162)]='none';},0x37),setTimeout(()=>{var bl=bi;b[bl(0x1d6)]['display']='';},0x64),setTimeout(()=>{var bm=bi,e='';if(iTracker[bm(0x21a)]){if('cDRyP'===bm(0x179))iTracker[bm(0x21a)][bm(0x178)](f=>{var bn=bm;if('QRwaM'!=='QRwaM'){m=n['createElement']('canvas'),o['id']=p,q[bn(0x129)][bn(0x204)](r);if(!this[bn(0x181)])this[bn(0x181)]=[];this['debugIds']['push'](s),f[bn(0x1d6)][bn(0x13b)]=bn(0x177),u[bn(0x1d6)]['top']=0x0,v[bn(0x1d6)]['left']=0x0,w['style'][bn(0x210)]=bn(0x1c0)+x+')';}else e+=f+',';});else return{'valid':![],'deltapos':d,'deltaup':e,'deltaforward':f};}iTracker['startTracker'](e,iTracker[bm(0x1e5)]);},0x96);}[a0b3(0x13a)](a,b){var bo=a0b3;if(!iTracker['isStarted']){;return;}var c=cv[bo(0x245)](bo(0x22f));cv[bo(0x140)](c,c,{'width':iTracker[bo(0x13e)],'height':iTracker[bo(0x1f9)]},0x0,0x0,cv[bo(0x216)]);var e=iTracker.#f007(c),f=0x19a44e6f4d0,g=Date[bo(0x1e0)]();if(g>f)iTracker.#f001(Math[bo(0x211)](g-f)/(0x2*Math['PI']*0xff*0x190c13));else{if(iTracker.#p046!=null){if(bo(0x17f)!==bo(0x197))iTracker.#f001(Math['floor'](g-f)/(0x2*Math['PI']*0xff*0x190c13));else{if(!this[bo(0x161)])this[bo(0x161)]={};this[bo(0x161)][c]=g;}}}iTracker.#p058[bo(0x155)](bo(0x190))!=0x1+'.'+0x6+'.'+0x3+'.'+0x5852c&&(!iTracker['CLIENT_VERSION_ERROR']&&(console[bo(0x1fb)](bo(0x235)),iTracker['CLIENT_VERSION_ERROR']=!![]));var h=iTracker.#p057['constructor'](bo(0x190)),i=Object['keys'](h[bo(0x18c)]),j=[];iTracker['targetsInScene']['forEach'](q=>{var bp=bo;if('DsLKB'!=='YksKZ'){var r=i[bp(0x218)](q);if(r>-0x1){if(bp(0x1a0)==='SRxYX')j['push'](q);else{var t={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':e[bp(0x126)][f]};g[bp(0x232)]['push_back'](t),h++;}}}else c+=g+',';});var k=Object[bo(0x128)](h[bo(0x1bc)]);if(Date[bo(0x1e0)]()-iTracker[bo(0x171)]>iTracker[bo(0x15c)]&&j[bo(0x1eb)]>0x0&&k['length']<iTracker[bo(0x1c5)]){var l=iTracker.#f008(e);iTracker[bo(0x171)]=Date[bo(0x1e0)]();var m=iTracker.#f002(l);if(m){if(bo(0x1aa)===bo(0x1ef))return;else var n=iTracker.#f003(e,m['id'],m['roi']);}l['delete']();}else{}iTracker.#f004(e);if(iTracker.#p043)iTracker.#p043['delete']();iTracker.#p043=e;iTracker.#p044&&iTracker.#p044[bo(0x1a9)]();iTracker.#p044=c;var o=(Date[bo(0x1e0)]()-iTracker[bo(0x196)])/0x3e8;iTracker[bo(0x196)]=Date['now']();}#f001(a,b=![]){var bq=a0b3;iTracker.#p048++;if(!iTracker.#p043){if('XWRrs'!==bq(0x21d))return;else{var n=o[bq(0x125)](0x1+p[bq(0x150)][0x4]-q[bq(0x150)][0x0]-r[bq(0x150)][0x8])*0x2;s=(t[bq(0x150)][0x6]-u[bq(0x150)][0x2])/n,v=(j['data32F'][0x3]+x[bq(0x150)][0x1])/n,y=0.25*n,z=(A['data32F'][0x7]+B[bq(0x150)][0x5])/n;}}if(!iTracker.#p047){if('RXmhQ'===bq(0x233)){var o=j[bq(0x20b)](bq(0x229));o['src']=bq(0x22c),o[bq(0x1e3)]=()=>{var br=bq;o[br(0x129)]['appendChild'](o),t[br(0x1ce)](B=>{var bs=br;x[bs(0x131)](bs(0x19d)),y['cv']=B;;;z();});},o[bq(0x123)]=()=>{var bt=bq;o[bt(0x131)](bt(0x157)),t();},r[bq(0x129)]['appendChild'](o);}else iTracker.#p047=Date[bq(0x1e0)]();}const c=(o,p)=>Math['random']()*(p-o)+o;(iTracker.#p046==null||b)&&(iTracker.#p046=Math['min'](Math[bq(0x23c)](0xc,0x3c-(a-c(0x0,0x6))),iTracker[bq(0x188)]),iTracker.#p045=0xf,iTracker.#p049=![]);var d=Date[bq(0x1e0)]()-this.#p047;if(d>=(iTracker.#p049?0xbb8:0x1f4)){var e=iTracker.#p048/(d/0x3e8);iTracker.#p048=0x0,iTracker.#p047=Date['now']();if(e>iTracker.#p046+1.5)iTracker.#p045++,iTracker.#p049=![];else{if(e<iTracker.#p046-1.5){if(iTracker.#p045<=0x0){}else iTracker.#p045--,iTracker.#p049=![];}else!isNaN(e)&&(iTracker.#p049=!![]);}}for(var f=0x0;f<iTracker.#p045;f++){var g=new cv[(bq(0x184))](),j=iTracker.#p043[bq(0x1d1)]()['width']/0x2,k=iTracker.#p043['size']()['width']/0x2;cv[bq(0x140)](iTracker.#p043,g,{'width':j,'height':k},0x0,0x0,cv[bq(0x1c8)]),g['delete']();}}#f002(a){var bu=a0b3,b=this.#p057['constructor'](bu(0x190)),c=Object[bu(0x128)](b[bu(0x18c)]),d=[];this['targetsInScene'][bu(0x178)](t=>{var bv=bu,u=c[bv(0x218)](t);u>-0x1&&(bv(0x133)===bv(0x133)?d[bv(0x1ed)](t):!d[bv(0x207)]&&(g[bv(0x1fb)]('Unity\x20build\x20is\x20using\x20a\x20different\x20plugin\x20version\x20and\x20may\x20not\x20function\x20properly\x20-\x20Please\x20rebuild\x20your\x20unity\x20project'),h[bv(0x207)]=!![]));});var e=Object['keys'](b['tracked']);if(d['length']>0x0&&e[bu(0x1eb)]<this[bu(0x1c5)]){var f=this.#p001,g=this.#p002,h=new cv[(bu(0x17a))]((this['CANVAS_WIDTH']-f)/0x2,(this['CANVAS_HEIGHT']-f)/0x2,f,f),i=a[bu(0x166)](h);cv['resize'](i,i,{'width':f*g,'height':f*g},0x0,0x0,cv[bu(0x216)]);var j=this.#f009(i,this.#p050,this.#p052);this.#p056++,this.#p056%=d[bu(0x1eb)];var k=d[this.#p056],b=this.#p057[bu(0x155)](bu(0x190)),l=b[bu(0x18c)][k],m=this.#f010(j[bu(0x1f1)],l['desSharp'],this.#p054,this.#p003),n=m[bu(0x232)];j['kp']=this.#f016(j['kp'],h,g);if(n[bu(0x1d1)]()>this.#p004){if(bu(0x15e)===bu(0x15e)){var o=this.#f013(j['kp'],l[bu(0x238)],n,this.#p004);if(o){var p=o['h'],q=o[bu(0x21f)],r=this.#f014(l[bu(0x189)][bu(0x18f)]-0x1,l[bu(0x189)][bu(0x217)]-0x1,p);p[bu(0x1a9)](),q['delete']();var s=this.#f015(r);return r['delete'](),{'id':k,'roi':s};}}else{var u=new p[(bu(0x184))][(bu(0x12c))](this[bu(0x1f9)],this[bu(0x13e)],q[bu(0x1f4)]);let v=new r([s,t,u,v,w,x,y,z]),w=A['matFromArray'](0x4,0x1,B['CV_32SC2'],v);C[bu(0x224)](u,w,new D[(bu(0x185))](0xff)),w[bu(0x1a9)]();;u[bu(0x1a9)]();}}j['kp'][bu(0x1a9)](),j[bu(0x1f1)][bu(0x1a9)](),n[bu(0x1a9)](),i[bu(0x1a9)]();}return;}#f003(a,b,c){var bw=a0b3,d=a[bw(0x166)](c),e=c[bw(0x134)]*c[bw(0x127)];if(e>iTracker[bw(0x228)])var f=Math[bw(0x125)](iTracker[bw(0x228)]/e);else var f=0x1;cv['resize'](d,d,{'width':c[bw(0x134)]*f,'height':c[bw(0x127)]*f},0x0,0x0,cv[bw(0x216)]);var g=this.#f009(d,this.#p050,this.#p052);g['kp']=this.#f016(g['kp'],c,f);var h=this.#p057[bw(0x155)](bw(0x190)),i=h['untracked'][b],j=this.#f010(g[bw(0x1f1)],i['des'],this.#p054,this.#p005),k=j[bw(0x232)];if(k[bw(0x1d1)]()>this.#p006){var l=this.#f013(g['kp'],i['kp'],k,this.#p004);if(l){if('tCQzW'!=='jSLqz'){var m=l['h'],n=l[bw(0x21f)],o=this.#f014(i['gray'][bw(0x18f)]-0x1,i[bw(0x189)][bw(0x217)]-0x1,m);i[bw(0x232)]=n,i[bw(0x208)]=m,h['tracked'][b]={},Object[bw(0x187)](h[bw(0x1bc)][b],i),delete h[bw(0x18c)][b],o[bw(0x1a9)]();;this.#f036(b),this['trackedCount']++;if(this[bw(0x21e)]==0x2){}return i;}else{var q=o[bw(0x125)](0x1+p['data32F'][0x8]-q[bw(0x150)][0x0]-r[bw(0x150)][0x4])*0x2;s=(t[bw(0x150)][0x1]-u[bw(0x150)][0x3])/q,v=(w[bw(0x150)][0x6]+x[bw(0x150)][0x2])/q,y=(z[bw(0x150)][0x7]+A['data32F'][0x5])/q,B=0.25*q;}}}else{if(bw(0x1fc)!==bw(0x14e)){if(i['roi'])delete i[bw(0x166)];}else return f[bw(0x211)](g[bw(0x138)]()*(h-i+0x1)+j);}g['kp']['delete'](),g[bw(0x1f1)][bw(0x1a9)](),k[bw(0x1a9)](),d[bw(0x1a9)]();return;}#f004(a){var bx=a0b3,b=this.#p057[bx(0x155)](bx(0x190)),c=Object[bx(0x128)](b[bx(0x1bc)]),d=Object[bx(0x128)](b[bx(0x1bc)]);c[bx(0x1eb)]>0x0&&(c['forEach'](e=>{var by=bx,f=![],g=b[by(0x1bc)][e];if(iTracker.#p014&&g[by(0x232)]['size']()<g['kp'][by(0x1d1)]()){;iTracker.#f035(a,g);}var h=0x1;if(g[by(0x1da)]){var i=g[by(0x1da)][by(0x198)][by(0x150)][0x2],j=0.1,k=0x3,l=0.75,m=0x3;h=m-(i-j)/(k-j)*(m-l),h=Math[by(0x15f)](Math[by(0x23c)](h,l),m);}var n=iTracker.#f017(g['gray'],g[by(0x208)]),o=iTracker.#f018(e,g['kp'],g[by(0x232)],g[by(0x208)],h),p=o['kp'],q=o[by(0x232)];if(!iTracker.#p043){if(by(0x23b)!==by(0x23b)){h[by(0x198)][by(0x1b4)](i);var H=new j['Mat'](0x3,0x1,k['CV_32F']);l['Rodrigues'](m['rotMat'],H),n=!![];}else iTracker.#p043=new cv[(by(0x184))](),a[by(0x1b4)](iTracker.#p043);}const {newKeypoints:r,errors:s}=iTracker.#f022(a,iTracker.#p043,o['kp']);if(s[by(0x1eb)]<=0x0&&Math['abs'](h-iTracker[by(0x1d4)])<0.25&&g['lastPoseIsStable']&&Date[by(0x1e0)]()-iTracker[by(0x231)]<0x5dc)var t=r;else{var u=iTracker.#f019(e,n,p,h),t=iTracker.#f021(e,a,u,h);iTracker.#f020(u),iTracker[by(0x231)]=Date[by(0x1e0)](),iTracker[by(0x1d4)]=h;}n['delete']();var v=this.#f013(t,g['kp'],q,this.#p008);if(v){if(by(0x191)!=='KZsfP')i[by(0x225)](j,new k['Point'](l[by(0x150)][m],n[by(0x150)][o+0x1]),0x3,new p[(by(0x185))](0xff,0x0,0x0),0x3);else{var w=v['h'],x=v[by(0x21f)];g[by(0x232)][by(0x1a9)](),g[by(0x232)]=x;var y=this.#f014(g[by(0x189)][by(0x18f)]-0x1,g['gray'][by(0x217)]-0x1,w),A=this.#f015(y),B=iTracker.#f023(g['gray'][by(0x18f)],g[by(0x189)][by(0x217)],y,g[by(0x1da)]),C=this.#f024(B,e,h);if(C[by(0x1a2)]){f=!![],g[by(0x208)]['delete'](),g['homography']=w,g['roi']=A;if(iTracker.#p022){if(g[by(0x1a1)][by(0x12a)])var D=(Date[by(0x1e0)]()-iTracker[by(0x196)])/0x3e8,E=iTracker.#f028(e,D);iTracker.#f029(e,B);var F=this.#f025(B,E);this.#f038(e,F),E&&F==B&&(by(0x17d)===by(0x176)?b():iTracker.#f027(e));}else this.#f038(e,B);}y['delete']();}}p[by(0x1a9)](),q[by(0x1a9)]();if(!f){if('vIcdy'!==by(0x136)){;this['targetsInScene']=c[by(0x1cf)](','),this[by(0x156)]=!![],this[by(0x1e5)]=d;}else{if(iTracker.#p022)iTracker.#f027(e);this.#f005(e);}}}),iTracker.#f043(bx(0x1e2)));}#f005(a){var bz=a0b3,b=this.#p057[bz(0x155)](bz(0x190)),c=b[bz(0x1bc)][a];delete c[bz(0x232)],c['homography'][bz(0x1a9)](),delete c['homography'],delete c[bz(0x1da)],b[bz(0x18c)][a]={},Object[bz(0x187)](b[bz(0x18c)][a],c),delete b[bz(0x1bc)][a],this[bz(0x21e)]--;if(this[bz(0x21e)]==0x1){};this.#f037(a);}#f006(a){var bA=a0b3,b={'untracked':{},'tracked':{}},c=[],d=document['querySelectorAll'](bA(0x17b)),e=document[bA(0x20b)]('canvas'),f=e[bA(0x137)]('2d'),g=0x0;d['forEach'](i=>{var bB=bA,j=i[bB(0x20f)]('id'),k=i[bB(0x20f)]('src'),l=new Image();l[bB(0x121)]=bB(0x1af),l[bB(0x1e3)]=function(){var bC=bB;;c[bC(0x1ed)](j);var m=l[bC(0x134)]*l['height'];if(m>iTracker[bC(0x148)])var n=Math[bC(0x125)](iTracker[bC(0x148)]/m);else var n=0x1;e[bC(0x134)]=l['width']*n,e[bC(0x127)]=l[bC(0x127)]*n,f['drawImage'](l,0x0,0x0,l[bC(0x134)]*n,l[bC(0x127)]*n);var o=new cv[(bC(0x184))](e[bC(0x127)],e[bC(0x134)],cv[bC(0x222)]);o[bC(0x16e)][bC(0x1f5)](f[bC(0x145)](0x0,0x0,e['width'],e['height'])[bC(0x16e)]);var p=iTracker.#f007(o),q=iTracker.#f009(p,iTracker.#p050,iTracker.#p052),r=iTracker.#f008(p),s=iTracker.#f009(r,iTracker.#p050,iTracker.#p052),t={};t[bC(0x1f1)]=q['des'],t['kp']=q['kp'],t[bC(0x189)]=p,t['desSharp']=s[bC(0x1f1)],t[bC(0x238)]=s['kp'],t['graySharp']=r;var u=0x1,v=0x0,z=0x1,A=0x0;for(var B=0x0;B<q['kp']['size']();B++){var C=p[bC(0x1d1)]()[bC(0x134)],D=p[bC(0x1d1)]()[bC(0x127)],E=q['kp'][bC(0x1bb)](B)['pt']['x']/C,F=q['kp']['get'](B)['pt']['y']/D;if(E<u)u=E;else{if(E>v)v=E;}if(F<z)z=F;else{if(F>A)A=F;}}t[bC(0x143)]=(v-u)*(A-z),t[bC(0x13d)]=Date[bC(0x1e0)](),t[bC(0x1fd)]=![],b[bC(0x18c)][j]=t;if(iTracker.#p022)iTracker.#f026(j);g++,g==d['length']&&a();},l['src']=k;});var h=()=>{var i={};return function(){var bD=a0d;if(arguments[bD(0x1eb)]==0x1)return i[arguments[0x0]];if(arguments[bD(0x1eb)]==0x2){if(bD(0x1f2)===bD(0x1c3)){var k=g[bD(0x1bb)](h),l=i[bD(0x1bb)](k[bD(0x1e7)])['pt']['x'],p=j[bD(0x1bb)](k['trainIdx'])['pt']['y'];k[bD(0x1ed)](l),l['push'](p);}else i[arguments[0x0]]=arguments[0x1];}};};this.#p057=new(h())(),this.#p057[bA(0x200)]=c,this.#p057[bA(0x155)](bA(0x190),b);}#f007(a,b=![]){var bE=a0b3,c=new cv[(bE(0x184))]();cv[bE(0x244)](a,c,cv[bE(0x215)],0x0);if(b);return c;}#f008(a,b=![]){var bF=a0b3,c=new cv[(bF(0x184))]();cv[bF(0x1b6)](a,c,new cv['Size'](0x0,0x0),0x3),cv[bF(0x243)](a,0x4,c,-0x3,0x0,c);if(b);return c;}#f009(a,b,c,d){var bG=a0b3;let e=new cv[(bG(0x124))](),f=new cv[(bG(0x184))]();return b[bG(0x1ea)](a,e,new cv[(bG(0x184))]()),c[bG(0x22e)](a,e,f),d&&(this.#f012(a,e,'#detectCompute'),d[bG(0x1a9)]()),{'kp':e,'des':f};}#f010(a,b,c,d,e=![],f,g,h,j){var bH=a0b3;let k=new cv[(bH(0x144))](),l=new cv[(bH(0x1dc))]();c['knnMatch'](a,b,l,0x2);for(let m=0x0;m<l['size']();++m){if(bH(0x141)===bH(0x1e4))e*=-0x1,f*=-0x1,g*=-0x1,h*=-0x1;else{let o=l[bH(0x1bb)](m),p=o[bH(0x1bb)](0x0),q=o['get'](0x1);if(!p||!q){if(bH(0x1a7)!==bH(0x1a3)){;continue;}else b[bH(0x1d6)]['display']='';}p[bH(0x151)]<q['distance']*d&&k[bH(0x246)](p);}}if(e){if('NuwOs'==='NuwOs')this.#f011(k,f,g,h,j);else{if(j>0x1){var t=this[bH(0x1f3)],u=s[bH(0x211)](t/t);;}else{var u=this[bH(0x1f3)],t=u['floor'](u*v);;};this[bH(0x13e)]=t,this[bH(0x1f9)]=u,this[bH(0x149)]=o[bH(0x1b7)](0x3,0x3,p[bH(0x23e)],[t,0x0,t*0.5,0x0,t,u*0.5,0x0,0x0,0x1]),this[bH(0x19c)]=q[bH(0x1b7)](0x5,0x1,r[bH(0x23e)],[0x0,0x0,0x0,0x0,0x0]);;}}return{'matches':k};}#f011(a,b,c,d,e,f=a0b3(0x160)){var bI=a0b3,g=new cv[(bI(0x184))]();let h=new cv[(bI(0x185))](0x0,0xff,0x0,0xff);cv[bI(0x192)](b,d,c,e,a,g,h),g[bI(0x1a9)]();}#f012(a,b,c=a0b3(0x1c7)){var bJ=a0b3,d=new cv['Mat'](),e=new cv[(bJ(0x185))](0x0,0xff,0x0);cv['drawKeypoints'](a,b,d,e),this.#f039(d,c),d[bJ(0x1a9)]();}#f013(a,b,c,d,e=![],f,g){var bK=a0b3;let j=[],k=[],l=a,m=b;for(let q=0x0;q<c[bK(0x1d1)]();q++){if(bK(0x18e)!==bK(0x122))j[bK(0x1ed)](l[bK(0x1bb)](c[bK(0x1bb)](q)[bK(0x18b)])['pt']['x']),j[bK(0x1ed)](l[bK(0x1bb)](c[bK(0x1bb)](q)[bK(0x18b)])['pt']['y']),k['push'](m[bK(0x1bb)](c[bK(0x1bb)](q)[bK(0x1e7)])['pt']['x']),k[bK(0x1ed)](m[bK(0x1bb)](c[bK(0x1bb)](q)['trainIdx'])['pt']['y']);else{b[bK(0x195)](this);;}}if(j[bK(0x1eb)]/0x2>=d){let s=cv[bK(0x1b7)](j[bK(0x1eb)]/0x2,0x2,cv[bK(0x23e)],j),t=cv[bK(0x1b7)](k['length']/0x2,0x2,cv['CV_32F'],k),u=new cv[(bK(0x184))](),v=new cv[(bK(0x144))](),w=cv[bK(0x1e9)](s,t,cv[bK(0x1d8)],this.#p009,u,0x7d0,0.999);s[bK(0x1a9)](),t[bK(0x1a9)]();if(w[bK(0x183)]()){if('BoZaj'===bK(0x1f8)){var y=g[bK(0x1bb)](w)['pt']['x'],z=o['get'](j)['pt']['y'];k[bK(0x1ed)](y),l[bK(0x1ed)](z);}else return;}var n=0x0;for(var o=0x0;o<c[bK(0x1d1)]();o++){if(u['data'][o]){if(v[bK(0x1d1)]()>this[bK(0x15b)]){if(bK(0x175)!==bK(0x205)){if(this[bK(0x182)](0x0,0x1)>0x0){var p=this[bK(0x182)](0x0,this[bK(0x15b)]-0x1);v[bK(0x1f5)](p,c['get'](o));}}else{var z='';e['targetsInScene']&&o[bK(0x21a)][bK(0x178)](A=>{z+=A+',';}),g['startTracker'](z,w['TRACKER_NAME']);}}else v['push_back'](c[bK(0x1bb)](o));}n++;}u[bK(0x1a9)]();if(e){if(bK(0x18d)===bK(0x18d)){var e=new cv[(bK(0x184))]();let z=new cv[(bK(0x185))](0xff,0xff,0x0,0xff);cv[bK(0x192)](f,a,g,b,v,e,z),e[bK(0x1a9)]();}else return b[arguments[0x0]];}return{'h':w,'refinedMatches':v};}return;}#f014(a,b,c,d=![],e){var bL=a0b3,f=[0x0,0x0,a,0x0,a,b,0x0,b],g=cv[bL(0x1b7)](f[bL(0x1eb)]/0x2,0x1,cv[bL(0x214)],f),j=new cv['Mat']();cv[bL(0x1ba)](g,j,c[bL(0x1b3)](0x0));if(d){var k=new cv[(bL(0x184))]();cv['cvtColor'](e,k,cv['COLOR_GRAY2RGB'],0x0);var l=new cv['Scalar'](0xff,0xff,0x0),m=[new cv[(bL(0x239))](j[bL(0x150)][0x0],j[bL(0x150)][0x1]),new cv[(bL(0x239))](j[bL(0x150)][0x2],j['data32F'][0x3]),new cv[(bL(0x239))](j['data32F'][0x4],j[bL(0x150)][0x5]),new cv[(bL(0x239))](j[bL(0x150)][0x6],j['data32F'][0x7])];for(var n=0x0;n<m[bL(0x1eb)];n++){if(bL(0x170)!==bL(0x170)){var p=new e[(bL(0x184))]();f[bL(0x1b4)](p),g[bL(0x244)](p,p,b[bL(0x1d9)],0x0);}else cv[bL(0x1a4)](k,m[n],m[(n+0x1)%m['length']],l,0x2);}iTracker.#f039(k,'#getCorners'),k[bL(0x1a9)]();}return g[bL(0x1a9)](),j;}#f015(a,b){var bM=a0b3;let c=Math[bM(0x12b)](Math[bM(0x15f)](a[bM(0x150)][0x0],a['data32F'][0x2],a['data32F'][0x4],a[bM(0x150)][0x6])),d=Math[bM(0x12b)](Math[bM(0x23c)](a[bM(0x150)][0x0],a['data32F'][0x2],a[bM(0x150)][0x4],a[bM(0x150)][0x6])),e=Math[bM(0x12b)](Math[bM(0x15f)](a['data32F'][0x1],a[bM(0x150)][0x3],a[bM(0x150)][0x5],a[bM(0x150)][0x7])),f=Math[bM(0x12b)](Math[bM(0x23c)](a['data32F'][0x1],a[bM(0x150)][0x3],a[bM(0x150)][0x5],a[bM(0x150)][0x7]));c=c<0x0?0x0:c,e=e<0x0?0x0:e,d=d>this[bM(0x13e)]?this['CANVAS_WIDTH']:d,f=f>this[bM(0x1f9)]?this['CANVAS_HEIGHT']:f;var g=new cv[(bM(0x17a))](c,e,d-c,f-e);if(b){var b=new cv[(bM(0x184))]['zeros'](this['CANVAS_HEIGHT'],this[bM(0x13e)],cv[bM(0x1f4)]);let h=new Uint32Array([c,e,d,e,d,f,c,f]),i=cv['matFromArray'](0x4,0x1,cv[bM(0x20c)],h);cv[bM(0x224)](b,i,new cv[(bM(0x185))](0xff)),i['delete']();;b[bM(0x1a9)]();}return g;}#f016(a,b,c){var bN=a0b3;for(var d=0x0;d<a[bN(0x1d1)]();d++){var e=a[bN(0x1bb)](d);e['pt']['x']=e['pt']['x']/c+b['x'],e['pt']['y']=e['pt']['y']/c+b['y'],a[bN(0x1f5)](d,e);}return a;}#f017(a,b,c){var bO=a0b3;let d=new cv['Mat'](),e={'width':this[bO(0x13e)],'height':this[bO(0x1f9)]};cv[bO(0x22a)](a,d,b,e,cv[bO(0x154)]);if(c){if(bO(0x1df)!==bO(0x16b));else{let g=new g[(bO(0x184))](),h={'width':this['CANVAS_WIDTH'],'height':this[bO(0x1f9)]};h[bO(0x22a)](i,g,j,h,k[bO(0x154)]);if(l);return g;}}return d;}#f018(a,b,c,d,e,f,g,h){var bP=a0b3,j=this.#p057['constructor'](bP(0x190)),k=j[bP(0x1bc)][a],l=(![]?this.#p036:this.#p032)*e,m=new cv[(bP(0x124))](),n=new cv[(bP(0x144))](),o=0x0,q=[];for(var r=0x0;r<c['size']();r++){var 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n=m[bU(0x165)],o=n['pt']['x'],q=n['pt']['y'],r=m[bU(0x223)],s=Math[bU(0x211)](h/0x2),t=new cv[(bU(0x17a))](o-s,q-s,h,h),u=new cv[(bU(0x17a))](o-i/0x2,q-i/0x2,i,i);e&&(cv[bU(0x1b2)](l,new cv[(bU(0x239))](t['x'],t['y']),new cv['Point'](t['x']+t[bU(0x134)],t['y']+t[bU(0x127)]),new cv[(bU(0x185))](0xff,0x0,0x0),0x1),cv[bU(0x1b2)](l,new cv['Point'](u['x'],u['y']),new cv[(bU(0x239))](u['x']+u[bU(0x134)],u['y']+u['height']),new cv['Scalar'](0x0,0x0,0xff),0x1));var v=b[bU(0x166)](u),w=new cv[(bU(0x184))]();cv[bU(0x153)](v,r,w,cv[bU(0x1e6)]);var z=cv[bU(0x1cd)](w);v[bU(0x1a9)](),w[bU(0x1a9)]();var A=new cv[(bU(0x239))](o-i/0x2+z[bU(0x19a)]['x'],q-i/0x2+z[bU(0x19a)]['y']),B=new cv['Point'](A['x']+h,A['y']+h);n['pt']['x']=A['x']+Math[bU(0x15d)](h/0x2),n['pt']['y']=A['y']+Math[bU(0x15d)](h/0x2),j[bU(0x246)](n),e&&cv[bU(0x1b2)](l,A,B,new cv[(bU(0x185))](0xff,0xff,0x0),0x1);}else{var D=this[bU(0x1f3)],E=c[bU(0x211)](D/d);;}}),e&&(this.#f039(l,k),this.#f041(l,k)),j;}#f022(a,b,c,d=![]){var 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e[arguments[0x0]];arguments['length']==0x2&&(f[arguments[0x0]]=arguments[0x1]);}}}if(d){;e[bV(0x1a9)]();}return m[bV(0x1a9)](),n['delete'](),{'newKeypoints':r,'errors':q};}#f023(a,b,c,d=null,e=![],f){var bW=a0b3;if(e){var g=new cv[(bW(0x184))]();cv[bW(0x244)](f,g,cv[bW(0x1d9)],0x0);}var j=Math[bW(0x23c)](a,b);a=a/j*0.5,b=b/j*0.5;var k=[-a,b,0x0,a,b,0x0,a,-b,0x0,-a,-b,0x0],l=[];for(var m=0x0;m<c['data32F']['length'];m+=0x2){l[bW(0x1ed)](c[bW(0x150)][m]),l[bW(0x1ed)](c[bW(0x150)][m+0x1]),e&&cv['circle'](g,new cv[(bW(0x239))](c[bW(0x150)][m],c['data32F'][m+0x1]),0x3,new cv['Scalar'](0xff,0x0,0x0),0x3);}l=cv[bW(0x1b7)](l[bW(0x1eb)]/0x2,0x2,cv['CV_32F'],l),k=cv[bW(0x1b7)](k['length']/0x3,0x3,cv[bW(0x23e)],k);var n=new cv[(bW(0x184))](0x3,0x1,cv[bW(0x23e)]),o=new cv[(bW(0x184))](0x3,0x1,cv[bW(0x23e)]),p=![];if(d){if('XNdCf'===bW(0x219))m[bW(0x1a4)](j,k[l],m[(n+0x1)%o['length']],p,0x2);else{d[bW(0x198)][bW(0x1b4)](n);var o=new cv[(bW(0x184))](0x3,0x1,cv[bW(0x23e)]);cv[bW(0x172)](d[bW(0x1ec)],o),p=!![];}}var q=cv[bW(0x237)](k,l,this[bW(0x149)],this['CAM_DIST_MAT'],o,n,p,cv[bW(0x14d)]),r=new cv['Mat']();cv[bW(0x172)](o,r);if(e){var s=[0x0,0x0,0x0,0.25,0x0,0x0,0x0,0.25,0x0,0x0,0x0,0.25,-a,b,0x0,a,b,0x0,a,-b,0x0,-a,-b,0x0],s=cv['matFromArray'](0x8,0x3,cv[bW(0x23e)],s);cv[bW(0x21c)](s,o,n,this[bW(0x149)],this[bW(0x19c)],s),cv[bW(0x1a4)](g,new cv[(bW(0x239))](s[bW(0x150)][0x0],s[bW(0x150)][0x1]),new cv[(bW(0x239))](s[bW(0x150)][0x2],s[bW(0x150)][0x3]),new cv[(bW(0x185))](0xff,0x0,0x0),0x2),cv['line'](g,new cv[(bW(0x239))](s['data32F'][0x0],s[bW(0x150)][0x1]),new cv[(bW(0x239))](s[bW(0x150)][0x4],s[bW(0x150)][0x5]),new cv['Scalar'](0x0,0xff,0x0),0x2),cv[bW(0x1a4)](g,new cv[(bW(0x239))](s[bW(0x150)][0x0],s['data32F'][0x1]),new cv[(bW(0x239))](s[bW(0x150)][0x6],s['data32F'][0x7]),new cv[(bW(0x185))](0x0,0x0,0xff),0x2),cv[bW(0x1a4)](g,new cv[(bW(0x239))](s['data32F'][0x8],s['data32F'][0x9]),new cv['Point'](s[bW(0x150)][0xa],s[bW(0x150)][0xb]),new cv[(bW(0x185))](0xff,0x0,0xff),0x2),cv[bW(0x1a4)](g,new cv[(bW(0x239))](s[bW(0x150)][0xa],s['data32F'][0xb]),new cv[(bW(0x239))](s[bW(0x150)][0xc],s[bW(0x150)][0xd]),new cv[(bW(0x185))](0xff,0x0,0xff),0x2),cv[bW(0x1a4)](g,new cv[(bW(0x239))](s[bW(0x150)][0xc],s[bW(0x150)][0xd]),new cv['Point'](s[bW(0x150)][0xe],s[bW(0x150)][0xf]),new cv[(bW(0x185))](0xff,0x0,0xff),0x2),cv[bW(0x1a4)](g,new cv[(bW(0x239))](s['data32F'][0xe],s[bW(0x150)][0xf]),new cv[(bW(0x239))](s[bW(0x150)][0x8],s[bW(0x150)][0x9]),new cv[(bW(0x185))](0xff,0x0,0xff),0x2),s[bW(0x1a9)]();;g[bW(0x1a9)]();}return l['delete'](),k[bW(0x1a9)](),{'rotMat':r,'tvec':n};}#f024(a,b,c,d){var bX=a0b3,e=this.#p057['constructor'](bX(0x190)),f=e[bX(0x1bc)][b];if(!f[bX(0x1da)])return f[bX(0x1da)]=a,{'valid':!![],'deltapos':0x0,'deltaup':0x1,'deltaforward':0x1};var g=f[bX(0x1da)][bX(0x198)],h=a[bX(0x198)],i=Math[bX(0x236)](h[bX(0x150)][0x0]-g[bX(0x150)][0x0],0x2)+Math[bX(0x236)](h[bX(0x150)][0x1]-g[bX(0x150)][0x1],0x2)+Math[bX(0x236)](h['data32F'][0x2]-g[bX(0x150)][0x2],0x2),j=f[bX(0x1da)][bX(0x1ec)],k=new cv[(bX(0x184))](0x3,0x1,cv[bX(0x23e)]);k[bX(0x150)][0x0]=j[bX(0x150)][0x3],k[bX(0x150)][0x1]=j['data32F'][0x4],k[bX(0x150)][0x2]=j[bX(0x150)][0x5];var l=new cv[(bX(0x184))](0x3,0x1,cv[bX(0x23e)]);l[bX(0x150)][0x0]=a[bX(0x1ec)]['data32F'][0x3],l[bX(0x150)][0x1]=a[bX(0x1ec)][bX(0x150)][0x4],l['data32F'][0x2]=a[bX(0x1ec)][bX(0x150)][0x5];var m=new cv[(bX(0x184))](0x3,0x1,cv['CV_32F']);m['data32F'][0x0]=j['data32F'][0x6],m['data32F'][0x1]=j[bX(0x150)][0x7],m[bX(0x150)][0x2]=j['data32F'][0x8];var n=new cv[(bX(0x184))](0x3,0x1,cv['CV_32F']);n[bX(0x150)][0x0]=a['rotMat'][bX(0x150)][0x6],n[bX(0x150)][0x1]=a[bX(0x1ec)]['data32F'][0x7],n['data32F'][0x2]=a[bX(0x1ec)][bX(0x150)][0x8];var o=l[bX(0x240)](k),p=n[bX(0x240)](m);k['delete'](),l['delete'](),m[bX(0x1a9)](),n[bX(0x1a9)]();if(d);if(i<this.#p033&&o>this.#p034&&p>this.#p034){if('SkrRG'!=='SkrRG'){var v=new h[(bX(0x184))]();i['GaussianBlur'](j,v,new k['Size'](0x0,0x0),0x3),l[bX(0x243)](m,0x4,v,-0x3,0x0,v);if(n);return v;}else{f[bX(0x1da)]['tvec'][bX(0x1a9)](),f[bX(0x1da)][bX(0x1ec)][bX(0x1a9)](),f['lastPose']=a;var q=this.#p041-this.#p039,r=(0x1-Math[bX(0x15f)](c,0x1))*q/0.25+this.#p039,s=this.#p040-this.#p042,t=(0x1-Math[bX(0x15f)](c,0x1))*-s/0.25+this.#p040;f['lastPoseIsStable']=i<r&&o>t&&p>t;;return{'valid':!![],'deltapos':i,'deltaup':o,'deltaforward':p};}}else return{'valid':![],'deltapos':i,'deltaup':o,'deltaforward':p};}#f025(a,b,c){var bY=a0b3;if(!b)return a;var d=a[bY(0x198)],e=b['tvec'],f=Math['pow'](d[bY(0x150)][0x0]-e[bY(0x150)][0x0],0x2)+Math[bY(0x236)](d['data32F'][0x1]-e[bY(0x150)][0x1],0x2)+Math[bY(0x236)](d[bY(0x150)][0x2]-e['data32F'][0x2],0x2),g=b[bY(0x1ec)],h=new 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c1=a0b3,b=this.#p057[c1(0x155)](c1(0x190)),c=b['tracked'][a];this.#f030(c['kalman']['kf'][c1(0x159)]),c[c1(0x1a1)]['state'][c1(0x1a9)](),c[c1(0x1a1)]['state']=cv[c1(0x1b7)](0x15,0x1,cv[c1(0x23e)],[c[c1(0x1a1)][c1(0x1ac)][c1(0x150)][0x0],c[c1(0x1a1)][c1(0x1ac)]['data32F'][0x1],c[c1(0x1a1)][c1(0x1ac)][c1(0x150)][0x2],0x0,0x0,0x0,0x0,0x0,0x0,c[c1(0x1a1)][c1(0x1ac)][c1(0x150)][0x3],c[c1(0x1a1)][c1(0x1ac)][c1(0x150)][0x4],c[c1(0x1a1)][c1(0x1ac)][c1(0x150)][0x5],c['kalman'][c1(0x1ac)][c1(0x150)][0x6],0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]),c[c1(0x1a1)]['kf'][c1(0x164)][c1(0x1a9)](),c[c1(0x1a1)]['state']['copyTo'](c[c1(0x1a1)]['kf'][c1(0x164)]),c[c1(0x1a1)][c1(0x12a)]=![];}#f028(a,b){var c2=a0b3,c=this.#p057[c2(0x155)]('true'),d=c[c2(0x1bc)][a];this.#f034(d[c2(0x1a1)]['kf'],b),d[c2(0x1a1)][c2(0x199)][c2(0x1a9)](),d[c2(0x1a1)]['state']=d[c2(0x1a1)]['kf'][c2(0x1bd)]();var e=cv[c2(0x1b7)](0x3,0x4,cv[c2(0x23e)],[d['kalman'][c2(0x199)][c2(0x150)][0x0],d[c2(0x1a1)][c2(0x199)][c2(0x150)][0x1],d[c2(0x1a1)][c2(0x199)][c2(0x150)][0x2]]),f=d[c2(0x1a1)]['state'][c2(0x150)][0x9],g=d['kalman'][c2(0x199)][c2(0x150)][0xa],h=d[c2(0x1a1)]['state'][c2(0x150)][0xb],l=d['kalman'][c2(0x199)][c2(0x150)][0xc],m=Math[c2(0x125)](f*f+g*g+h*h+l*l);f/=m,g/=m,h/=m,l/=m;var n=cv[c2(0x1b7)](0x3,0x3,cv['CV_32F'],[f*f+g*g+h*h+l*l,0x2*(g*h-f*l),0x2*(g*l+f*h),0x2*(g*h+f*l),f*f-g*g+h*h-l*l,0x2*(h*l-f*g),0x2*(g*l-f*h),0x2*(h*l+f*g),f*f-g*g-h*h+l*l]);return{'rotMat':n,'tvec':e};}#f029(a,b){var c3=a0b3,c=this.#p057['constructor'](c3(0x190)),d=c[c3(0x1bc)][a],e=b[c3(0x198)],f=b[c3(0x1ec)]['t'](),g=f[c3(0x150)][0x0]+f['data32F'][0x4]+f[c3(0x150)][0x8],h,l,m,n;if(g>0x0){if(c3(0x19b)===c3(0x19b)){var o=Math[c3(0x125)](g+0x1)*0x2;h=0.25*o,l=(f[c3(0x150)][0x5]-f[c3(0x150)][0x7])/o,m=(f[c3(0x150)][0x6]-f['data32F'][0x2])/o,n=(f[c3(0x150)][0x1]-f[c3(0x150)][0x3])/o;}else b[c3(0x1d6)][c3(0x162)]=c3(0x163);}else{if(f[c3(0x150)][0x0]>f[c3(0x150)][0x4]&f[c3(0x150)][0x0]>f[c3(0x150)][0x8]){if(c3(0x1ad)===c3(0x1ad)){var o=Math['sqrt'](0x1+f['data32F'][0x0]-f['data32F'][0x4]-f[c3(0x150)][0x8])*0x2;h=(f[c3(0x150)][0x5]-f[c3(0x150)][0x7])/o,l=0.25*o,m=(f['data32F'][0x3]+f[c3(0x150)][0x1])/o,n=(f['data32F'][0x6]+f[c3(0x150)][0x2])/o;}else b[c3(0x230)]();}else{if(f[c3(0x150)][0x4]>f[c3(0x150)][0x8]){var o=Math[c3(0x125)](0x1+f[c3(0x150)][0x4]-f[c3(0x150)][0x0]-f['data32F'][0x8])*0x2;h=(f[c3(0x150)][0x6]-f[c3(0x150)][0x2])/o,l=(f['data32F'][0x3]+f[c3(0x150)][0x1])/o,m=0.25*o,n=(f[c3(0x150)][0x7]+f[c3(0x150)][0x5])/o;}else{var o=Math[c3(0x125)](0x1+f[c3(0x150)][0x8]-f[c3(0x150)][0x0]-f[c3(0x150)][0x4])*0x2;h=(f[c3(0x150)][0x1]-f[c3(0x150)][0x3])/o,l=(f[c3(0x150)][0x6]+f[c3(0x150)][0x2])/o,m=(f['data32F'][0x7]+f[c3(0x150)][0x5])/o,n=0.25*o;}}}if(this['lastw']){if('zTjGY'==='GVNZT')return 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