diff --git a/CHANGELOG.md b/CHANGELOG.md
index 5870693..0816df4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,52 @@
 
+## 0.15.0 - 2026-09-03
+
+### 🐛 Bug Fixes
+
+- Rename vitest.config.ts to .mts to silence the CJS/ESM warning (63e802b)
+
+- Match_t is original, not derived from jsfeat (11572e4)
+
+- Reject mismatched descriptor widths and export the new types (1f0e55d)
+
+- Compare effective row bytes, not cols, and require U8 (6d87c69)
+
+
+### 📚 Documentation
+
+- Record the agreed 1.0.0 milestone plan (dcfb524)
+
+- Restore the class description displaced by the ic_angle change (9c3d8b0)
+
+
+### 📦 Build
+
+- Bump actions/upload-artifact from 5 to 7 (7d28d72)
+
+- Bump vite from 8.2.1 to 8.2.2 (4ff82fc)
+
+
+### 🚀 Features
+
+- Brute-force Hamming matcher and match_t (f82d402)
+
+- Use bfmatcher in the ORB samples instead of inline match_pattern (4c48c50)
+
+- Closed-form planar pose from homography and intrinsics (c0ca5d5)
+
+- Expose ic_angle, the keypoint orientation step (#96) (3baaf09)
+
+
+### 🧪 Testing
+
+- Cover ratio_test edge cases and empty-train cross-check (5fb2402)
+
+- Perturbed-H orthonormalization case; document pose_t.t (eb54c61)
+
+- Cover setIntrinsics, the n2 guard, and the normalize zero-fallback (24a9c65)
+
+
+
 ## 0.14.0 - 2026-08-25
 
 ### ⚡ Performance
diff --git a/dist/jsfeatNext.js b/dist/jsfeatNext.js
index 4731f19..28e557a 100644
--- a/dist/jsfeatNext.js
+++ b/dist/jsfeatNext.js
@@ -1,5 +1,5 @@
 /*!
- * jsfeatNext v0.14.0 — https://github.com/webarkit/jsfeatNext
+ * jsfeatNext v0.15.0 — https://github.com/webarkit/jsfeatNext
  *
  * SPDX-License-Identifier: LGPL-3.0-or-later
  * Copyright 2026 WebARKit. Author(s): Walter Perdan @kalwalt
@@ -11,4 +11,4 @@
  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  * GNU Lesser General Public License for details: http://www.gnu.org/licenses/
  */
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_=t,v=l,y=o,b=_*v*y,x=m,S=_*x,C=v*S,w=u,T=_*w,E=a,D=n,O=p,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D,te=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,q=(b-C-z*y+z*w+A-v*B+I*v-j)*R,ne=_,J=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,Y=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,X=D,Z=(-T+V+H-B+N-M-F+I)*R,Q=(-S+T+k-H+I-L-M+P)*R;_=r,v=d,y=c,b=_*v*y,x=g,S=_*x,C=v*S,w=f,T=_*w,E=s,D=i,O=h,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D;let re=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,ie=(b-C-z*y+z*w+A-v*B+I*v-j)*R,ae=_,oe=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,se=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,ce=D,le=(-T+V+H-B+N-M-F+I)*R,ue=(-S+T+k-H+I-L-M+P)*R;v=Y-Q*X,y=te*Y,b=te*X,S=J*q,C=ne*J,T=q*Z;let de=ne*Z;O=1/(y-b*Q-S+C*Q+T*X-de*Y),A=-J+X*Z;let fe=-J*Q+Y*Z;L=-q+ne*Q;let pe=te-de;B=te*Q-T,V=-q*X+ne*Y;let me=b-C,he=y-S;W=v*O;let ge=L*O,_e=V*O,$=e.data;$[0]=re*W+A*O*ie-fe*O*ae,$[1]=re*ge+pe*O*ie-B*O*ae,$[2]=-re*_e-me*O*ie+he*O*ae,$[3]=oe*W+A*O*se-fe*O*ce,$[4]=oe*ge+pe*O*se-B*O*ce,$[5]=-oe*_e-me*O*se+he*O*ce,$[6]=le*W+A*O*ue-fe*O,$[7]=le*ge+pe*O*ue-B*O,$[8]=-le*_e-me*O*ue+he*O}qsort(e,t,n,r){let i,a,o,s,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=0,S=0,C=0,w=0,T=0,E=this.qsort_stack;if(!(n-t+1<=1))for(E[0]=t,E[1]=n;c>=0;)for(l=E[c<<1],u=E[(c<<1)+1],c--;;){if(f=u-l+1,f<=7){for(m=l+1;m<=u;m++)for(h=m;h>l&&r(e[h],e[h-1]);h--)i=e[h],e[h]=e[h-1],e[h-1]=i;break}for(T=0,_=l,y=u,x=l+(f>>1),f>40&&(g=f>>3,S=l,C=l+g,w=l+(g<<1),a=e[S],o=e[C],s=e[w],l=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w,S=x-g,C=x,w=x+g,a=e[S],o=e[C],s=e[w],x=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w,S=u-(g<<1),C=u-g,w=u,a=e[S],o=e[C],s=e[w],u=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w),S=l,C=x,w=u,a=e[S],o=e[C],s=e[w],x=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w,x!=_&&(i=e[x],e[x]=e[_],e[_]=i,x=_),l=v=_+1,u=b=y,a=e[x];;){for(;l<=u&&!r(a,e[l]);)r(e[l],a)||(l>v&&(i=e[v],e[v]=e[l],e[l]=i),T=1,v++),l++;for(;l<=u&&!r(e[u],a);)r(a,e[u])||(u<b&&(i=e[b],e[b]=e[u],e[u]=i),T=1,b--),u--;if(l>u)break;i=e[l],e[l]=e[u],e[u]=i,T=1,l++,u--}if(T==0){for(l=_,u=y,m=l+1;m<=u;m++)for(h=m;h>l&&r(e[h],e[h-1]);h--)i=e[h],e[h]=e[h-1],e[h-1]=i;break}for(f=Math.min(v-_,l-v),p=l-f|0,d=0;d<f;++d,++p)i=e[_+d],e[_+d]=e[p],e[p]=i;for(f=Math.min(y-b,b-u),p=y-f+1|0,d=0;d<f;++d,++p)i=e[l+d],e[l+d]=e[p],e[p]=i;if(f=l-v,p=b-u,f>1)p>1?f>p?(++c,E[c<<1]=_,E[(c<<1)+1]=_+f-1,l=y-p+1,u=y):(++c,E[c<<1]=y-p+1,E[(c<<1)+1]=y,l=_,u=_+f-1):(l=_,u=_+f-1);else if(p>1)l=y-p+1,u=y;else break}}median(e,t,n){let r,i=0,a=0,o=0,s=t+n>>1;for(;;){if(n<=t)return e[s];if(n==t+1)return e[t]>e[n]&&(r=e[t],e[t]=e[n],e[n]=r),e[s];for(i=t+n>>1,e[i]>e[n]&&(r=e[i],e[i]=e[n],e[n]=r),e[t]>e[n]&&(r=e[t],e[t]=e[n],e[n]=r),e[i]>e[t]&&(r=e[i],e[i]=e[t],e[t]=r),a=t+1,r=e[i],e[i]=e[a],e[a]=r,o=n;;){do++a;while(e[t]>e[a]);do--o;while(e[o]>e[t]);if(o<a)break;r=e[a],e[a]=e[o],e[o]=r}r=e[t],e[t]=e[o],e[o]=r,o<=s?t=a:o>=s&&(n=o-1)}return 0}},h=class extends c{constructor(){super()}grayscale(e,t,n,r,a){a===void 0&&(a=i.COLOR_RGBA2GRAY);let o=0,s=0,c=0,l=0,u=0,d=0,f=4899,p=9617,m=1868,h=4;(a==i.COLOR_BGRA2GRAY||a==i.COLOR_BGR2GRAY)&&(f=1868,m=4899),(a==i.COLOR_RGB2GRAY||a==i.COLOR_BGR2GRAY)&&(h=3);let g=h<<1,_=h*3|0;r.resize(t,n,1);let v=r.data;for(s=0;s<n;++s,l+=t,c+=t*h){for(o=0,u=c,d=l;o<=t-4;o+=4,u+=h<<2,d+=4)v[d]=e[u]*f+e[u+1]*p+e[u+2]*m+8192>>14,v[d+1]=e[u+h]*f+e[u+h+1]*p+e[u+h+2]*m+8192>>14,v[d+2]=e[u+g]*f+e[u+g+1]*p+e[u+g+2]*m+8192>>14,v[d+3]=e[u+_]*f+e[u+_+1]*p+e[u+_+2]*m+8192>>14;for(;o<t;++o,++d,u+=h)v[d]=e[u]*f+e[u+1]*p+e[u+2]*m+8192>>14}}resample(e,t,n,r){let a=e.rows,o=e.cols;a>r&&o>n&&(t.resize(n,r,e.channel),e.type&i.U8_t&&t.type&i.U8_t&&a*o/(r*n)<256?u(e,t,this.cache,n,r):d(e,t,this.cache,n,r))}box_blur_gray(e,t,n,r){r===void 0&&(r=0),n|=0;let a=e.cols|0,o=e.rows|0,s=n+1|0,c=(n<<1)+1|0,l=c*c,u=(r&i.BOX_BLUR_NOSCALE)!==0,d=this.cache.get_buffer(a*o<<2),f=d.i32;t.resize(a,o,e.channel);let p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=e.data;for(m=0;m<o;++m){for(_=m*a,g=s*b[_],h=1;h<=n;++h)g+=b[_+(h<a?h:a-1)];for(p=0;p<a;++p)f[p*o+m]=g,y=p+s,v=p-n,g+=b[_+(y<a?y:a-1)]-b[_+(v>0?v:0)]}let x=t.data;for(m=0;m<a;++m){for(_=m*o,g=s*f[_],h=1;h<=n;++h)g+=f[_+(h<o?h:o-1)];for(p=0;p<o;++p)x[p*a+m]=u?g:Math.floor(g/l),y=p+s,v=p-n,g+=f[_+(y<o?y:o-1)]-f[_+(v>0?v:0)]}this.cache.put_buffer(d)}gaussian_blur(e,t,n,r){let a=new m;r===void 0&&(r=0),n===void 0&&(n=0),n=n==0?Math.max(1,4*r+1-1e-8)*2+1|0:n;let o=n>>1,s=e.cols,c=e.rows,l=e.type,u=l&i.U8_t;t.resize(s,c,e.channel);let d=e.data,h=t.data,g,_,v=n+Math.max(c,s)|0,y=this.cache.get_buffer(v<<2),b=this.cache.get_buffer(n<<2);u?(g=y.i32,_=b.i32):l&i.S32_t?(g=y.i32,_=b.f32):(g=y.f32,_=b.f32),a.get_gaussian_kernel(n,r,_,l),u?f(g,d,h,s,c,_,n,o):p(g,d,h,s,c,_,n,o),this.cache.put_buffer(y),this.cache.put_buffer(b)}hough_transform(e,t,n,r){let i,a,o=e.data,s=e.cols,c=e.rows,l=s,u=Math.round((Math.PI-0)/n),d=Math.round(((s+c)*2+1)/t),f=1/t,p=new Int32Array((u+2)*(d+2)),m=new Float32Array(u),h=new Float32Array(u),g=0,_=0;for(;g<u;g++)m[g]=Math.sin(_)*f,h[g]=Math.cos(_)*f,_+=n;for(a=0;a<c;a++)for(let e=0;e<s;e++)if(o[a*l+e]!=0)for(g=0;g<u;g++)i=Math.round(e*h[g]+a*m[g]),i+=(d-1)/2,p[(g+1)*(d+2)+i+1]+=1;let v=[];for(i=0;i<d;i++)for(g=0;g<u;g++){let e=(g+1)*(d+2)+i+1;p[e]>r&&p[e]>p[e-1]&&p[e]>=p[e+1]&&p[e]>p[e-d-2]&&p[e]>=p[e+d+2]&&v.push(e)}v.sort(function(e,t){return p[e]>p[t]||p[e]==p[t]&&e<t});let y=Math.min(u*d,v.length),b=1/(d+2),x=[];for(a=0;a<y;a++){let e=v[a];g=Math.floor(e*b)-1,i=e-(g+1)*(d+2)-1;let r=(i-(d-1)*.5)*t,o=g*n;x.push([r,o])}return x}pyrdown(e,t,n,r){n===void 0&&(n=0),r===void 0&&(r=0);let i=e.cols,a=e.rows,o=i>>1,s=a>>1,c=o-(n<<1),l=s-(r<<1),u=0,d=0,f=n+r*i,p=0,m=0,h=0;t.resize(o,s,e.channel);let g=e.data,_=t.data;for(d=0;d<l;++d){for(p=f,h=m,u=0;u<=c-2;u+=2,h+=2,p+=4)_[h]=g[p]+g[p+1]+g[p+i]+g[p+i+1]+2>>2,_[h+1]=g[p+2]+g[p+3]+g[p+i+2]+g[p+i+3]+2>>2;for(;u<c;++u,++h,p+=2)_[h]=g[p]+g[p+1]+g[p+i]+g[p+i+1]+2>>2;f+=i<<1,m+=o}}scharr_derivatives(e,t){let n=e.cols,r=e.rows,a=n<<1,o=0,s=0,c=0,l,u,d,f,p,m,h=0,g=0,_=0,v=0,y,b;t.resize(n,r,2);let x=e.data,S=t.data,C=this.cache.get_buffer(n+2<<2),w=this.cache.get_buffer(n+2<<2);for(e.type&i.U8_t||e.type&i.S32_t?(y=C.i32,b=w.i32):(y=C.f32,b=w.f32);s<r;++s,g+=n){for(h=(s>0?s-1:1)*n|0,_=(s<r-1?s+1:r-2)*n|0,v=s*a|0,o=0,c=1;o<=n-2;o+=2,c+=2)l=x[h+o],u=x[_+o],y[c]=(l+u)*3+x[g+o]*10,b[c]=u-l,l=x[h+o+1],u=x[_+o+1],y[c+1]=(l+u)*3+x[g+o+1]*10,b[c+1]=u-l;for(;o<n;++o,++c)l=x[h+o],u=x[_+o],y[c]=(l+u)*3+x[g+o]*10,b[c]=u-l;for(o=n+1|0,y[0]=y[1],y[o]=y[n],b[0]=b[1],b[o]=b[n],o=0;o<=n-4;o+=4)l=b[o+2],u=b[o+1],d=b[o+3],f=b[o+4],p=y[o+2],m=y[o+3],S[v++]=p-y[o],S[v++]=(l+b[o])*3+u*10,S[v++]=m-y[o+1],S[v++]=(d+u)*3+l*10,S[v++]=y[o+4]-p,S[v++]=(f+l)*3+d*10,S[v++]=y[o+5]-m,S[v++]=(b[o+5]+d)*3+f*10;for(;o<n;++o)S[v++]=y[o+2]-y[o],S[v++]=(b[o+2]+b[o])*3+b[o+1]*10}this.cache.put_buffer(C),this.cache.put_buffer(w)}sobel_derivatives(e,t){let n=e.cols,r=e.rows,a=n<<1,o=0,s=0,c=0,l,u,d,f,p,m,h=0,g=0,_=0,v=0,y,b;t.resize(n,r,2);let x=e.data,S=t.data,C=this.cache.get_buffer(n+2<<2),w=this.cache.get_buffer(n+2<<2);for(e.type&i.U8_t||e.type&i.S32_t?(y=C.i32,b=w.i32):(y=C.f32,b=w.f32);s<r;++s,g+=n){for(h=(s>0?s-1:1)*n|0,_=(s<r-1?s+1:r-2)*n|0,v=s*a|0,o=0,c=1;o<=n-2;o+=2,c+=2)l=x[h+o],u=x[_+o],y[c]=l+u+x[g+o]*2,b[c]=u-l,l=x[h+o+1],u=x[_+o+1],y[c+1]=l+u+x[g+o+1]*2,b[c+1]=u-l;for(;o<n;++o,++c)l=x[h+o],u=x[_+o],y[c]=l+u+x[g+o]*2,b[c]=u-l;for(o=n+1|0,y[0]=y[1],y[o]=y[n],b[0]=b[1],b[o]=b[n],o=0;o<=n-4;o+=4)l=b[o+2],u=b[o+1],d=b[o+3],f=b[o+4],p=y[o+2],m=y[o+3],S[v++]=p-y[o],S[v++]=l+b[o]+u*2,S[v++]=m-y[o+1],S[v++]=d+u+l*2,S[v++]=y[o+4]-p,S[v++]=f+l+d*2,S[v++]=y[o+5]-m,S[v++]=b[o+5]+d+f*2;for(;o<n;++o)S[v++]=y[o+2]-y[o],S[v++]=b[o+2]+b[o]+b[o+1]*2}this.cache.put_buffer(C),this.cache.put_buffer(w)}compute_integral_image(e,t,n,r){let i=e.cols|0,a=e.rows|0,o=e.data,s=i+1|0,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0;if(t&&n){for(;f<s;++f)t[f]=0,n[f]=0;for(u=s+1|0,d=1,f=0,h=0;f<a;++f,++u,++d){for(c=l=0,p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)m=o[h],c+=m,l+=m*m,t[u]=t[d]+c,n[u]=n[d]+l,m=o[h+1],c+=m,l+=m*m,t[u+1]=t[d+1]+c,n[u+1]=n[d+1]+l;for(;p<i;++p,++h,++u,++d)m=o[h],c+=m,l+=m*m,t[u]=t[d]+c,n[u]=n[d]+l}}else if(t){for(;f<s;++f)t[f]=0;for(u=s+1|0,d=1,f=0,h=0;f<a;++f,++u,++d){for(c=0,p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)c+=o[h],t[u]=t[d]+c,c+=o[h+1],t[u+1]=t[d+1]+c;for(;p<i;++p,++h,++u,++d)c+=o[h],t[u]=t[d]+c}}else if(n){for(;f<s;++f)n[f]=0;for(u=s+1|0,d=1,f=0,h=0;f<a;++f,++u,++d){for(l=0,p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)m=o[h],l+=m*m,n[u]=n[d]+l,m=o[h+1],l+=m*m,n[u+1]=n[d+1]+l;for(;p<i;++p,++h,++u,++d)m=o[h],l+=m*m,n[u]=n[d]+l}}if(r){for(f=0;f<s;++f)r[f]=0;for(u=s+1|0,d=0,f=0,h=0;f<a;++f,++u,++d){for(p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)r[u]=o[h]+r[d],r[u+1]=o[h+1]+r[d+1];for(;p<i;++p,++h,++u,++d)r[u]=o[h]+r[d]}for(u=s+i|0,d=i,f=0;f<a;++f,u+=s,d+=s)r[u]+=r[d];for(p=i-1;p>0;--p)for(u=p+a*s,d=u-s,f=a;f>0;--f,u-=s,d-=s)r[u]+=r[d]+r[d+1]}}equalize_histogram(e,t){let n=e.cols,r=e.rows,i=e.data;t.resize(n,r,e.channel);let a=t.data,o=n*r,s=0,c=0,l,u,d=this.cache.get_buffer(1024);for(l=d.i32;s<256;++s)l[s]=0;for(s=0;s<o;++s)++l[i[s]];for(c=l[0],s=1;s<256;++s)c=l[s]+=c;for(u=255/o,s=0;s<o;++s)a[s]=l[i[s]]*u+.5|0;this.cache.put_buffer(d)}canny(e,t,n,r){let a=e.cols,o=e.rows;e.data,t.resize(a,o,e.channel);let s=t.data,c=0,u=0,d=0,f=a<<1,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=this.cache.get_buffer(o*f<<2),S=this.cache.get_buffer(3*(a+2)<<2),C=this.cache.get_buffer((o+2)*(a+2)<<2),w=this.cache.get_buffer(o*a<<2),T=S.i32,E=C.i32,D=w.i32,O=x.i32,k=new l(a,o,i.S32C2_t,x.data),A=1,j=a+2+1|0,M=2*(a+2)+1|0,N=a+2|0,P=N+1|0,F=0;for(this.sobel_derivatives(e,k),n>r&&(c=n,n=r,r=c),c=3*(a+2)|0;--c>=0;)T[c]=0;for(c=(o+2)*(a+2)|0;--c>=0;)E[c]=0;for(;u<a;++u,d+=2)g=O[d],_=O[d+1],T[j+u]=(g^g>>31)-(g>>31)+((_^_>>31)-(_>>31));for(c=1;c<=o;++c,d+=f){if(c==o)for(u=M+a;--u>=M;)T[u]=0;else for(u=0;u<a;u++)g=O[d+(u<<1)],_=O[d+(u<<1)+1],T[M+u]=(g^g>>31)-(g>>31)+((_^_>>31)-(_>>31));for(p=d-f|0,E[P-1]=0,m=0,u=0;u<a;++u,p+=2){if(h=T[j+u],h>n){if(g=O[p],_=O[p+1],v=g^_,g=(g^g>>31)-(g>>31)|0,_=(_^_>>31)-(_>>31)|0,y=g*13573,b=y+(g+g<<15),_<<=15,_<y){if(h>T[j+u-1]&&h>=T[j+u+1]){h>r&&!m&&E[P+u-N]!=2?(E[P+u]=2,m=1,D[F++]=P+u):E[P+u]=1;continue}}else if(_>b){if(h>T[A+u]&&h>=T[M+u]){h>r&&!m&&E[P+u-N]!=2?(E[P+u]=2,m=1,D[F++]=P+u):E[P+u]=1;continue}}else if(v=v<0?-1:1,h>T[A+u-v]&&h>T[M+u+v]){h>r&&!m&&E[P+u-N]!=2?(E[P+u]=2,m=1,D[F++]=P+u):E[P+u]=1;continue}}E[P+u]=0,m=0}E[P+a]=0,P+=N,u=A,A=j,j=M,M=u}for(u=P-N-1,c=0;c<N;++c,++u)E[u]=0;for(;F>0;)P=D[--F],P-=N+1,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P),P+=N,E[P]==1&&(E[P]=2,D[F++]=P),P-=2,E[P]==1&&(E[P]=2,D[F++]=P),P+=N,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P);for(P=N+1,A=0,c=0;c<o;++c,P+=N)for(u=0;u<a;++u)s[A++]=Number(E[P+u]==2)*255;this.cache.put_buffer(x),this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w)}warp_perspective(e,t,n,r){r===void 0&&(r=0);let i=e.cols|0,a=e.rows|0,o=t.cols|0,s=t.rows|0,c=e.data,l=t.data,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=0,S=0,C=0,w=0,T=n.data,E=T[0],D=T[1],O=T[2],k=T[3],A=T[4],j=T[5],M=T[6],N=T[7],P=T[8];for(let e=0;d<s;++d)for(_=D*d+O,v=A*d+j,y=N*d+P,u=0;u<o;++u,++e,_+=E,v+=k,y+=M)b=1/y,h=_*b,g=v*b,p=h|0,m=g|0,h>0&&g>0&&p<i-1&&m<a-1?(x=Math.max(h-p,0),S=Math.max(g-m,0),f=i*m+p|0,C=c[f]+x*(c[f+1]-c[f]),w=c[f+i]+x*(c[f+i+1]-c[f+i]),l[e]=C+S*(w-C)):l[e]=r}warp_affine(e,t,n,r){r===void 0&&(r=0);let i=e.cols,a=e.rows,o=t.cols,s=t.rows,c=e.data,l=t.data,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=n.data,S=x[0],C=x[1],w=x[2],T=x[3],E=x[4],D=x[5];for(let e=0;d<s;++d)for(h=C*d+w,g=E*d+D,u=0;u<o;++u,++e,h+=S,g+=T)p=h|0,m=g|0,h>=0&&g>=0&&p<i-1&&m<a-1?(_=h-p,v=g-m,f=i*m+p,y=c[f]+_*(c[f+1]-c[f]),b=c[f+i]+_*(c[f+i+1]-c[f+i]),l[e]=y+v*(b-y)):l[e]=r}skindetector(e,t){let n,r,i,a,o=e.width*e.height;for(;o--;)a=o*4,n=e.data[a],r=e.data[a+1],i=e.data[a+2],n>95&&r>40&&i>20&&n>r&&n>i&&n-Math.min(r,i)>15&&Math.abs(n-r)>15?t[o]=255:t[o]=0}};function g(e,t,n,r){r=e[t],e[t]=e[n],e[n]=r}function _(e,t){return e=Math.abs(e),t=Math.abs(t),e>t?(t/=e,e*Math.sqrt(1+t*t)):t>0?(e/=t,t*Math.sqrt(1+e*e)):0}var v=i.EPSILON,y=class{constructor(){}identity(e,t){t===void 0&&(t=1);let n=e.data,r=e.rows,i=e.cols,a=i+1|0,o=r*i,s=o;for(;--o>=0;)n[o]=0;for(o=s,s=0;s<o;)n[s]=t,s+=a}transpose(e,t){let n=0,r=0,i=t.rows,a=t.cols,o=0,s=0,c=0,l=t.data,u=e.data;for(;n<i;s+=1,o+=a,n++)for(c=s,r=0;r<a;c+=i,r++)u[c]=l[o+r]}multiply(e,t,n){let r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=n.cols,m=t.data,h=n.data,g=e.data,_=0;for(;r<f;o+=d,r++)for(l=0,i=0;i<p;u++,l++,i++){for(c=l,s=o,_=0,a=0;a<d;s++,c+=p,a++)_+=m[s]*h[c];g[u]=_}}multiply_ABt(e,t,n){let r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=t.cols,d=t.rows,f=n.rows,p=t.data,m=n.data,h=e.data,g=0;for(;r<d;o+=u,r++)for(c=0,i=0;i<f;l++,i++){for(s=o,g=0,a=0;a<u;s++,c++,a++)g+=p[s]*m[c];h[l]=g}}multiply_AtB(e,t,n){let r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=n.cols,m=t.data,h=n.data,g=e.data,_=0;for(;r<d;o++,r++)for(l=0,i=0;i<p;u++,l++,i++){for(c=l,s=o,_=0,a=0;a<f;s+=d,c+=p,a++)_+=m[s]*h[c];g[u]=_}}multiply_AAt(e,t){let n=0,r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=t.data,m=e.data,h=0;for(;n<f;a+=f+1,o=s,n++)for(l=a,u=a,c=o,r=n;r<f;l++,u+=f,r++){for(s=o,h=0,i=0;i<d;i++)h+=p[s++]*p[c++];m[l]=h,m[u]=h}}multiply_AtA(e,t){let n=0,r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=t.data,m=e.data,h=0;for(;n<d;c+=d,n++)for(a=n,u=c+n,l=u,r=n;r<d;l++,u+=d,r++){for(o=a,s=r,h=0,i=0;i<f;o+=d,s+=d,i++)h+=p[o]*p[s];m[l]=h,m[u]=h}}identity_3x3(e,t){t===void 0&&(t=1);let n=e.data;n[0]=n[4]=n[8]=t,n[1]=n[2]=n[3]=0,n[5]=n[6]=n[7]=0}invert_3x3(e,t){let n=e.data,r=t.data,i=n[4],a=n[8],o=n[5],s=n[7],c=n[0],l=c*i,u=c*o,d=n[3],f=n[1],p=d*f,m=n[2],h=d*m,g=n[6],_=g*f,y=g*m,b=l*a-u*s-p*a+h*s+_*o-y*i,x=1/b;return r[0]=(i*a-o*s)*x,r[1]=-(f*a-m*s)*x,r[2]=-(-f*o+m*i)*x,r[3]=-(d*a-o*g)*x,r[4]=(c*a-y)*x,r[5]=-(u-h)*x,r[6]=-(-d*s+i*g)*x,r[7]=-(c*s-_)*x,r[8]=(l-p)*x,b<v&&b>-v?0:1}multiply_3x3(e,t,n){let r=e.data,i=t.data,a=n.data,o=i[0],s=i[1],c=i[2],l=i[3],u=i[4],d=i[5],f=i[6],p=i[7],m=i[8],h=a[0],g=a[1],_=a[2],v=a[3],y=a[4],b=a[5],x=a[6],S=a[7],C=a[8];r[0]=o*h+s*v+c*x,r[1]=o*g+s*y+c*S,r[2]=o*_+s*b+c*C,r[3]=l*h+u*v+d*x,r[4]=l*g+u*y+d*S,r[5]=l*_+u*b+d*C,r[6]=f*h+p*v+m*x,r[7]=f*g+p*y+m*S,r[8]=f*_+p*b+m*C}mat3x3_determinant(e){let t=e.data;return t[0]*t[4]*t[8]-t[0]*t[5]*t[7]-t[3]*t[1]*t[8]+t[3]*t[2]*t[7]+t[6]*t[1]*t[5]-t[6]*t[2]*t[4]}determinant_3x3(e,t,n,r,i,a,o,s,c){return e*i*c-e*a*s-r*t*c+r*n*s+o*t*a-o*n*i}},b=class extends c{constructor(){super(),this.matmath=new y}JacobiImpl(e,t,n,r,a,o){let s=i.EPSILON,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0,v=0,y=o*o*30,b=0,x=0,S=0,C=0,w=0,T=0,E=0,D=0,O=0,k=this.cache.get_buffer(o<<2),A=this.cache.get_buffer(o<<2),j=k.i32,M=A.i32;if(r)for(;c<o;c++){for(u=c*a,l=0;l<o;l++)r[u+l]=0;r[u+c]=1}for(u=0;u<o;u++){if(n[u]=e[(t+1)*u],u<o-1){for(d=u+1,b=Math.abs(e[t*u+d]),c=u+2;c<o;c++)x=Math.abs(e[t*u+c]),b<x&&(b=x,d=c);j[u]=d}if(u>0){for(d=0,b=Math.abs(e[u]),c=1;c<u;c++)x=Math.abs(e[t*c+u]),b<x&&(b=x,d=c);M[u]=d}}if(o>1)for(;v<y;v++){for(u=0,b=Math.abs(e[j[0]]),c=1;c<o-1;c++)x=Math.abs(e[t*c+j[c]]),b<x&&(b=x,u=c);for(f=j[u],c=1;c<o;c++)x=Math.abs(e[t*M[c]+c]),b<x&&(b=x,u=M[c],f=c);if(S=e[t*u+f],Math.abs(S)<=s)break;for(C=(n[f]-n[u])*.5,w=Math.abs(C)+_(S,C),T=_(S,w),E=w/T,T=S/T,w=S/w*S,C<0&&(T=-T,w=-w),e[t*u+f]=0,n[u]-=w,n[f]+=w,c=0;c<u;c++)m=t*c+u,h=t*c+f,D=e[m],O=e[h],e[m]=D*E-O*T,e[h]=D*T+O*E;for(c=u+1;c<f;c++)m=t*u+c,h=t*c+f,D=e[m],O=e[h],e[m]=D*E-O*T,e[h]=D*T+O*E;for(c=f+1,m=t*u+c,h=t*f+c;c<o;c++,m++,h++)D=e[m],O=e[h],e[m]=D*E-O*T,e[h]=D*T+O*E;if(r)for(m=a*u,h=a*f,c=0;c<o;c++,m++,h++)D=r[m],O=r[h],r[m]=D*E-O*T,r[h]=D*T+O*E;for(l=0;l<2;l++){if(p=l==0?u:f,p<o-1){for(d=p+1,b=Math.abs(e[t*p+d]),c=p+2;c<o;c++)x=Math.abs(e[t*p+c]),b<x&&(b=x,d=c);j[p]=d}if(p>0){for(d=0,b=Math.abs(e[p]),c=1;c<p;c++)x=Math.abs(e[t*c+p]),b<x&&(b=x,d=c);M[p]=d}}}for(u=0;u<o-1;u++){for(d=u,c=u+1;c<o;c++)n[d]<n[c]&&(d=c);if(u!=d&&(g(n,d,u,b),r))for(c=0;c<o;c++)g(r,a*d+c,a*u+c,b)}this.cache.put_buffer(k),this.cache.put_buffer(A)}JacobiSVDImpl(e,t,n,r,a,o,s,c){let l=i.EPSILON*2,u=i.FLT_MIN,d=0,f=0,p=0,m=0,h=Math.max(o,30),v=0,y=0,b=0,x=0,S=0,C=0,w=0,T=0,E=0,D=0,O=0,k=0,A=0,j=0,M=0,N=0,P=0,F=4660,I=0,L=0,R=0,z=this.cache.get_buffer(s<<3),B=z.f64;for(;d<s;d++){for(p=0,O=0;p<o;p++)T=e[d*t+p],O+=T*T;if(B[d]=O,r){for(p=0;p<s;p++)r[d*a+p]=0;r[d*a+d]=1}}for(;m<h;m++){for(S=0,d=0;d<s-1;d++)for(f=d+1;f<s;f++){for(v=d*t|0,y=f*t|0,M=B[d],N=0,P=B[f],p=2,N+=e[v]*e[y],N+=e[v+1]*e[y+1];p<o;p++)N+=e[v+p]*e[y+p];if(!(Math.abs(N)<=l*Math.sqrt(M*P))){for(N*=2,k=M-P,A=_(N,k),k<0?(j=(A-k)*.5,w=Math.sqrt(j/A),C=N/(A*w*2)):(C=Math.sqrt((A+k)/(A*2)),w=N/(A*C*2)),M=0,P=0,p=2,E=C*e[v]+w*e[y],D=-w*e[v]+C*e[y],e[v]=E,e[y]=D,M+=E*E,P+=D*D,E=C*e[v+1]+w*e[y+1],D=-w*e[v+1]+C*e[y+1],e[v+1]=E,e[y+1]=D,M+=E*E,P+=D*D;p<o;p++)E=C*e[v+p]+w*e[y+p],D=-w*e[v+p]+C*e[y+p],e[v+p]=E,e[y+p]=D,M+=E*E,P+=D*D;if(B[d]=M,B[f]=P,S=1,r)for(b=d*a|0,x=f*a|0,p=2,E=C*r[b]+w*r[x],D=-w*r[b]+C*r[x],r[b]=E,r[x]=D,E=C*r[b+1]+w*r[x+1],D=-w*r[b+1]+C*r[x+1],r[b+1]=E,r[x+1]=D;p<s;p++)E=C*r[b+p]+w*r[x+p],D=-w*r[b+p]+C*r[x+p],r[b+p]=E,r[x+p]=D}}if(S==0)break}for(d=0;d<s;d++){for(p=0,O=0;p<o;p++)T=e[d*t+p],O+=T*T;B[d]=Math.sqrt(O)}for(d=0;d<s-1;d++){for(f=d,p=d+1;p<s;p++)B[f]<B[p]&&(f=p);if(d!=f&&(g(B,d,f,O),r)){for(p=0;p<o;p++)g(e,d*t+p,f*t+p,T);for(p=0;p<s;p++)g(r,d*a+p,f*a+p,T)}}for(d=0;d<s;d++)n[d]=B[d];if(!r){this.cache.put_buffer(z);return}for(d=0;d<c;d++){for(O=d<s?B[d]:0;O<=u;){for(L=1/o,p=0;p<o;p++)F=F*214013+2531011,I=F>>16&256?L:-L,e[d*t+p]=I;for(m=0;m<2;m++)for(f=0;f<d;f++){for(O=0,p=0;p<o;p++)O+=e[d*t+p]*e[f*t+p];for(R=0,p=0;p<o;p++)T=e[d*t+p]-O*e[f*t+p],e[d*t+p]=T,R+=Math.abs(T);for(R=R?1/R:0,p=0;p<o;p++)e[d*t+p]*=R}for(O=0,p=0;p<o;p++)T=e[d*t+p],O+=T*T;O=Math.sqrt(O)}for(w=1/O,p=0;p<o;p++)e[d*t+p]*=w}this.cache.put_buffer(z)}lu_solve(e,t){let n=0,r=0,a=0,o=1,s=e.cols,c=e.data,l=t.data,u,d,f,p;for(n=0;n<s;n++){for(a=n,r=n+1;r<s;r++)Math.abs(c[r*s+n])>Math.abs(c[a*s+n])&&(a=r);if(Math.abs(c[a*s+n])<i.EPSILON)return 0;if(a!=n){for(r=n;r<s;r++)g(c,n*s+r,a*s+r,u);g(l,n,a,u),o=-o}for(f=-1/c[n*s+n],r=n+1;r<s;r++){for(d=c[r*s+n]*f,a=n+1;a<s;a++)c[r*s+a]+=d*c[n*s+a];l[r]+=d*l[n]}c[n*s+n]=-f}for(n=s-1;n>=0;n--){for(p=l[n],a=n+1;a<s;a++)p-=c[n*s+a]*l[a];l[n]=p*c[n*s+n]}return 1}cholesky_solve(e,t){let n=0,r=0,i=0,a=0,o=0,s=0,c=0,l=e.cols,u=e.data,d=t.data,f,p;for(n=0;n<l;n++)for(p=1,a=n*l,o=a,r=n;r<l;r++){for(f=u[o+n],i=0;i<n;i++)f-=u[i*l+n]*u[o+i];if(r==n){if(u[o+n]=f,f==0)return 0;p=1/f}else u[a+r]=f,u[o+n]=f*p;o+=l}for(a=0,s=0;s<l;s++){for(f=d[s],c=0;c<s;c++)f-=u[a+c]*d[c];d[s]=f,a+=l}for(a=0,s=0;s<l;s++)d[s]/=u[a+s],a+=l;for(s=l-1;s>=0;s--){for(f=d[s],c=s+1,a=c*l;c<l;c++)f-=u[a+s]*d[c],a+=l;d[s]=f}return 1}svd_decompose(e,t,n,r,a){a===void 0&&(a=0);let o=0,s=0,c=e.rows,u=e.cols,d=c,f=u,p=e.type|i.C1_t;d<f&&(o=1,s=d,d=f,f=s);let m=this.cache.get_buffer(d*d<<3),h=this.cache.get_buffer(f<<3),g=this.cache.get_buffer(f*f<<3),_=new l(d,d,p,m.data),v=new l(1,f,p,h.data),y=new l(f,f,p,g.data);if(o==0)this.matmath.transpose(_,e);else{for(s=0;s<u*c;s++)_.data[s]=e.data[s];for(;s<f*d;s++)_.data[s]=0}if(this.JacobiSVDImpl(_.data,d,v.data,y.data,f,d,f,d),t){for(s=0;s<f;s++)t.data[s]=v.data[s];for(;s<u;s++)t.data[s]=0}if(o==0){if(n&&a&i.SVD_U_T)for(s=d*d;--s>=0;)n.data[s]=_.data[s];else n&&this.matmath.transpose(n,_);if(r&&a&i.SVD_V_T)for(s=f*f;--s>=0;)r.data[s]=y.data[s];else r&&this.matmath.transpose(r,y)}else{if(n&&a&i.SVD_U_T)for(s=f*f;--s>=0;)n.data[s]=y.data[s];else n&&this.matmath.transpose(n,y);if(r&&a&i.SVD_V_T)for(s=d*d;--s>=0;)r.data[s]=_.data[s];else r&&this.matmath.transpose(r,_)}this.cache.put_buffer(m),this.cache.put_buffer(h),this.cache.put_buffer(g)}svd_solve(e,t,n){let r=0,a=0,o=0,s=0,c=0,u=e.rows,d=e.cols,f=0,p=0,m=0,h=e.type|i.C1_t,g=this.cache.get_buffer(u*u<<3),_=this.cache.get_buffer(d<<3),v=this.cache.get_buffer(d*d<<3),y=new l(u,u,h,g.data),b=new l(1,d,h,_.data),x=new l(d,d,h,v.data),S=n.data,C=y.data,w=b.data,T=x.data;for(this.svd_decompose(e,b,y,x,0),m=i.EPSILON*w[0]*d;r<d;r++,c+=d){for(p=0,a=0;a<d;a++)if(w[a]>m){for(o=0,f=0,s=0;o<u;o++,s+=d)f+=C[s+a]*S[o];p+=f*T[c+a]/w[a]}t.data[r]=p}this.cache.put_buffer(g),this.cache.put_buffer(_),this.cache.put_buffer(v)}svd_invert(e,t){if(t.cols!==t.rows)throw Error(`jsfeatNext.linalg.svd_invert: only square matrices are supported, got ${t.rows}x${t.cols} (rows x cols). The rectangular pseudo-inverse is not implemented correctly yet — see issue #102.`);let n=0,r=0,a=0,o=0,s=0,c=0,u=t.rows,d=t.cols,f=0,p=0,m=t.type|i.C1_t,h=this.cache.get_buffer(u*u<<3),g=this.cache.get_buffer(d<<3),_=this.cache.get_buffer(d*d<<3),v=new l(u,u,m,h.data),y=new l(1,d,m,g.data),b=new l(d,d,m,_.data),x=e.data,S=v.data,C=y.data,w=b.data;for(this.svd_decompose(t,y,v,b,0),p=i.EPSILON*C[0]*d;n<d;n++,s+=d)for(r=0,o=0;r<u;r++,c++){for(a=0,f=0;a<d;a++,o++)C[a]>p&&(f+=w[s+a]*S[o]/C[a]);x[c]=f}this.cache.put_buffer(h),this.cache.put_buffer(g),this.cache.put_buffer(_)}eigenVV(e,t,n){let r=e.cols,a=r*r,o=e.type|i.C1_t,s=this.cache.get_buffer(r*r<<3),c=this.cache.get_buffer(r<<3),u=new l(r,r,o,s.data),d=new l(1,r,o,c.data);for(;--a>=0;)u.data[a]=e.data[a];if(this.JacobiImpl(u.data,r,d.data,t?t.data:null,r,r),n)for(;--r>=0;)n.data[r]=d.data[r];this.cache.put_buffer(s),this.cache.put_buffer(c)}};function x(e,t,n,r,i){let a=0,o=e[t],s=i,c=0,l=0,u=0;for(;a<25;++a)r[a]=o-e[t+n[a]];for(a=0;a<16;a+=2)c=Math.min(r[a+1],r[a+2]),c=Math.min(c,r[a+3]),!(c<=s)&&(c=Math.min(c,r[a+4]),c=Math.min(c,r[a+5]),c=Math.min(c,r[a+6]),c=Math.min(c,r[a+7]),c=Math.min(c,r[a+8]),s=Math.max(s,Math.min(c,r[a])),s=Math.max(s,Math.min(c,r[a+9])));for(l=-s,a=0;a<16;a+=2)u=Math.max(r[a+1],r[a+2]),u=Math.max(u,r[a+3]),u=Math.max(u,r[a+4]),u=Math.max(u,r[a+5]),!(u>=l)&&(u=Math.max(u,r[a+6]),u=Math.max(u,r[a+7]),u=Math.max(u,r[a+8]),l=Math.min(l,Math.max(u,r[a])),l=Math.min(l,Math.max(u,r[a+9])));return-l-1}var S=class extends c{constructor(){super(),this.offsets16=new Int32Array([0,3,1,3,2,2,3,1,3,0,3,-1,2,-2,1,-3,0,-3,-1,-3,-2,-2,-3,-1,-3,0,-3,1,-2,2,-1,3]),this.threshold_tab=new Uint8Array(512),this._threshold=20,this.pixel_off=new Int32Array(25),this.score_diff=new Int32Array(25)}set_threshold(e){this._threshold=Math.min(Math.max(e,0),255);for(let e=-255;e<=255;++e)this.threshold_tab[e+255]=e<-this._threshold?1:e>this._threshold?2:0;return this._threshold}detect(e,t,n){n===void 0&&(n=3);let r=e.data,i=e.cols,a=e.rows,o=0,s=0,c=0,l=0,u=0,d=0,f=this.cache.get_buffer(3*i),p=this.cache.get_buffer((i+1)*3<<2),m=f.u8,h=p.i32,g=this.pixel_off,_=this.score_diff,v=Math.max(3,n),y=Math.min(a-2,a-n),b=Math.max(3,n),S=Math.min(i-3,i-n),C=0,w=0,T,E=x,D=this.threshold_tab,O=this._threshold,k=0,A=0,j=0,M=0,N=0,P=0,F=0,I=0,L=0,R=0,z=0,B=0;this._cmp_offsets(g,i,16);let V=g[0],ee=g[1],H=g[2],U=g[3],W=g[4],G=g[5],K=g[6],te=g[7],q=g[8],ne=g[9],J=g[10],Y=g[11],X=g[12],Z=g[13],Q=g[14],re=g[15];for(o=0;o<i*3;++o)m[o]=0;for(o=v;o<y;++o){for(F=o*i+b|0,d=(o-3)%3,P=d*i|0,N=d*(i+1)|0,s=0;s<i;++s)m[P+s]=0;if(M=0,o<y-1){for(s=b;s<S;++s,++F)if(k=r[F],A=-k+255,j=D[A+r[F+V]]|D[A+r[F+q]],j!=0&&(j&=D[A+r[F+H]]|D[A+r[F+J]],j&=D[A+r[F+W]]|D[A+r[F+X]],j&=D[A+r[F+K]]|D[A+r[F+Q]],j!=0)){if(j&=D[A+r[F+ee]]|D[A+r[F+ne]],j&=D[A+r[F+U]]|D[A+r[F+Y]],j&=D[A+r[F+G]]|D[A+r[F+Z]],j&=D[A+r[F+te]]|D[A+r[F+re]],j&1)for(l=k-O,C=0,c=0;c<25;++c)if(u=r[F+g[c]],u<l){if(++C,C>8){++M,h[N+M]=s,m[P+s]=E(r,F,g,_,O);break}}else C=0;if(j&2)for(l=k+O,C=0,c=0;c<25;++c)if(u=r[F+g[c]],u>l){if(++C,C>8){++M,h[N+M]=s,m[P+s]=E(r,F,g,_,O);break}}else C=0}}if(h[N+i]=M,o!=v)for(d=(o-4+3)%3,I=d*i|0,N=d*(i+1)|0,d=(o-5+3)%3,L=d*i|0,M=h[N+i],c=0;c<M;++c)s=h[N+c],R=s+1|0,z=s-1|0,B=m[I+s],B>m[I+R]&&B>m[I+z]&&B>m[L+z]&&B>m[L+s]&&B>m[L+R]&&B>m[P+z]&&B>m[P+s]&&B>m[P+R]&&(T=t[w],T.x=s,T.y=o-1,T.score=B,w++)}return this.cache.put_buffer(f),this.cache.put_buffer(p),w}_cmp_offsets(e,t,n){let r=0,i=this.offsets16;for(;r<n;++r)e[r]=i[r<<1]+i[(r<<1)+1]*t;for(;r<25;++r)e[r]=e[r-n]}},C=class extends c{constructor(e){super(),this.levels=e|0,this.data=Array(e);let t=new h;this.pyrdown=t.pyrdown}allocate(e,t,n){let r=this.levels;for(;--r>=0;)this.data[r]=new l(e>>r,t>>r,n)}build(e,t){t===void 0&&(t=!0);let n=2,r=e,i=this.data[0];if(!t){let t=e.cols*e.rows;for(;--t>=0;)i.data[t]=e.data[t]}for(i=this.data[1],this.pyrdown(r,i);n<this.levels;++n)r=i,i=this.data[n],this.pyrdown(r,i)}},w=class{constructor(){}perspective_4point_transform(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){let _=t,v=l,y=o,b=_*v*y,x=m,S=_*x,C=v*S,w=u,T=_*w,E=a,D=n,O=p,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D,te=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,q=(b-C-z*y+z*w+A-v*B+I*v-j)*R,ne=_,J=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,Y=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,X=D,Z=(-T+V+H-B+N-M-F+I)*R,Q=(-S+T+k-H+I-L-M+P)*R;_=r,v=d,y=c,b=_*v*y,x=g,S=_*x,C=v*S,w=f,T=_*w,E=s,D=i,O=h,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D;let re=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,ie=(b-C-z*y+z*w+A-v*B+I*v-j)*R,ae=_,oe=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,se=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,ce=D,le=(-T+V+H-B+N-M-F+I)*R,ue=(-S+T+k-H+I-L-M+P)*R;v=Y-Q*X,y=te*Y,b=te*X,S=J*q,C=ne*J,T=q*Z;let de=ne*Z;O=1/(y-b*Q-S+C*Q+T*X-de*Y),A=-J+X*Z;let fe=-J*Q+Y*Z;L=-q+ne*Q;let pe=te-de;B=te*Q-T,V=-q*X+ne*Y;let me=b-C,he=y-S;W=v*O;let ge=L*O,_e=V*O,$=e.data;$[0]=re*W+A*O*ie-fe*O*ae,$[1]=re*ge+pe*O*ie-B*O*ae,$[2]=-re*_e-me*O*ie+he*O*ae,$[3]=oe*W+A*O*se-fe*O*ce,$[4]=oe*ge+pe*O*se-B*O*ce,$[5]=-oe*_e-me*O*se+he*O*ce,$[6]=le*W+A*O*ue-fe*O,$[7]=le*ge+pe*O*ue-B*O,$[8]=-le*_e-me*O*ue+he*O}invert_affine_transform(e,t){let n=e.data,r=t.data,i=n[0],a=n[1],o=n[2],s=n[3],c=n[4],l=n[5],u=1/(i*c-a*s);r[0]=u*c,r[1]=u*-a,r[2]=u*(a*l-o*c),r[3]=u*-s,r[4]=u*i,r[5]=u*(o*s-i*l)}invert_perspective_transform(e,t){let n=e.data,r=t.data,i=n[0],a=n[1],o=n[2],s=n[3],c=n[4],l=n[5],u=n[6],d=n[7],f=n[8],p=1/(i*(c*f-l*d)-a*(s*f-l*u)+o*(s*d-c*u));r[0]=p*(c*f-l*d),r[1]=p*(o*d-a*f),r[2]=p*(a*l-o*c),r[3]=p*(l*u-s*f),r[4]=p*(i*f-o*u),r[5]=p*(o*s-i*l),r[6]=p*(s*d-c*u),r[7]=p*(a*u-i*d),r[8]=p*(i*c-a*s)}},T=class{constructor(e=0,t=0,n=0,r=0,i=-1){this.x=e,this.y=t,this.score=n,this.level=r,this.angle=i}},E=[8,-3,9,5,4,2,7,-12,-11,9,-8,2,7,-12,12,-13,2,-13,2,12,1,-7,1,6,-2,-10,-2,-4,-13,-13,-11,-8,-13,-3,-12,-9,10,4,11,9,-13,-8,-8,-9,-11,7,-9,12,7,7,12,6,-4,-5,-3,0,-13,2,-12,-3,-9,0,-7,5,12,-6,12,-1,-3,6,-2,12,-6,-13,-4,-8,11,-13,12,-8,4,7,5,1,5,-3,10,-3,3,-7,6,12,-8,-7,-6,-2,-2,11,-1,-10,-13,12,-8,10,-7,3,-5,-3,-4,2,-3,7,-10,-12,-6,11,5,-12,6,-7,5,-6,7,-1,1,0,4,-5,9,11,11,-13,4,7,4,12,2,-1,4,4,-4,-12,-2,7,-8,-5,-7,-10,4,11,9,12,0,-8,1,-13,-13,-2,-8,2,-3,-2,-2,3,-6,9,-4,-9,8,12,10,7,0,9,1,3,7,-5,11,-10,-13,-6,-11,0,10,7,12,1,-6,-3,-6,12,10,-9,12,-4,-13,8,-8,-12,-13,0,-8,-4,3,3,7,8,5,7,10,-7,-1,7,1,-12,3,-10,5,6,2,-4,3,-10,-13,0,-13,5,-13,-7,-12,12,-13,3,-11,8,-7,12,-4,7,6,-10,12,8,-9,-1,-7,-6,-2,-5,0,12,-12,5,-7,5,3,-10,8,-13,-7,-7,-4,5,-3,-2,-1,-7,2,9,5,-11,-11,-13,-5,-13,-1,6,0,-1,5,-3,5,2,-4,-13,-4,12,-9,-6,-9,6,-12,-10,-8,-4,10,2,12,-3,7,12,12,12,-7,-13,-6,5,-4,9,-3,4,7,-1,12,2,-7,6,-5,1,-13,11,-12,5,-3,7,-2,-6,7,-8,12,-7,-13,-7,-11,-12,1,-3,12,12,2,-6,3,0,-4,3,-2,-13,-1,-13,1,9,7,1,8,-6,1,-1,3,12,9,1,12,6,-1,-9,-1,3,-13,-13,-10,5,7,7,10,12,12,-5,12,9,6,3,7,11,5,-13,6,10,2,-12,2,3,3,8,4,-6,2,6,12,-13,9,-12,10,3,-8,4,-7,9,-11,12,-4,-6,1,12,2,-8,6,-9,7,-4,2,3,3,-2,6,3,11,0,3,-3,8,-8,7,8,9,3,-11,-5,-6,-4,-10,11,-5,10,-5,-8,-3,12,-10,5,-9,0,8,-1,12,-6,4,-6,6,-11,-10,12,-8,7,4,-2,6,7,-2,0,-2,12,-5,-8,-5,2,7,-6,10,12,-9,-13,-8,-8,-5,-13,-5,-2,8,-8,9,-13,-9,-11,-9,0,1,-8,1,-2,7,-4,9,1,-2,1,-1,-4,11,-6,12,-11,-12,-9,-6,4,3,7,7,12,5,5,10,8,0,-4,2,8,-9,12,-5,-13,0,7,2,12,-1,2,1,7,5,11,7,-9,3,5,6,-8,-13,-4,-8,9,-5,9,-3,-3,-4,-7,-3,-12,6,5,8,0,-7,6,-6,12,-13,6,-5,-2,1,-10,3,10,4,1,8,-4,-2,-2,2,-13,2,-12,12,12,-2,-13,0,-6,4,1,9,3,-6,-10,-3,-5,-3,-13,-1,1,7,5,12,-11,4,-2,5,-7,-13,9,-9,-5,7,1,8,6,7,-8,7,6,-7,-4,-7,1,-8,11,-7,-8,-13,6,-12,-8,2,4,3,9,10,-5,12,3,-6,-5,-6,7,8,-3,9,-8,2,-12,2,8,-11,-2,-10,3,-12,-13,-7,-9,-11,0,-10,-5,5,-3,11,8,-2,-13,-1,12,-1,-8,0,9,-13,-11,-12,-5,-10,-2,-10,11,-3,9,-2,-13,2,-3,3,2,-9,-13,-4,0,-4,6,-3,-10,-4,12,-2,-7,-6,-11,-4,9,6,-3,6,11,-13,11,-5,5,11,11,12,6,7,-5,12,-2,-1,12,0,7,-4,-8,-3,-2,-7,1,-6,7,-13,-12,-8,-13,-7,-2,-6,-8,-8,5,-6,-9,-5,-1,-4,5,-13,7,-8,10,1,5,5,-13,1,0,10,-13,9,12,10,-1,5,-8,10,-9,-1,11,1,-13,-9,-3,-6,2,-1,-10,1,12,-13,1,-8,-10,8,-11,10,-6,2,-13,3,-6,7,-13,12,-9,-10,-10,-5,-7,-10,-8,-8,-13,4,-6,8,5,3,12,8,-13,-4,2,-3,-3,5,-13,10,-12,4,-13,5,-1,-9,9,-4,3,0,3,3,-9,-12,1,-6,1,3,2,4,-8,-10,-10,-10,9,8,-13,12,12,-8,-12,-6,-5,2,2,3,7,10,6,11,-8,6,8,8,-12,-7,10,-6,5,-3,-9,-3,9,-1,-13,-1,5,-3,-7,-3,4,-8,-2,-8,3,4,2,12,12,2,-5,3,11,6,-9,11,-13,3,-1,7,12,11,-1,12,4,-3,0,-3,6,4,-11,4,12,2,-4,2,1,-10,-6,-8,1,-13,7,-11,1,-13,12,-11,-13,6,0,11,-13,0,-1,1,4,-13,3,-9,-2,-9,8,-6,-3,-13,-6,-8,-2,5,-9,8,10,2,7,3,-9,-1,-6,-1,-1,9,5,11,-2,11,-3,12,-8,3,0,3,5,-1,4,0,10,3,-6,4,5,-13,0,-10,5,5,8,12,11,8,9,9,-6,7,-4,8,-12,-10,4,-10,9,7,3,12,4,9,-7,10,-2,7,0,12,-2,-1,-6,0,-11];function D(e,t,n,r,i,a,o,s){let c=Math.cos(n),l=Math.sin(n);o.data[0]=c,o.data[1]=-l,o.data[2]=(-c+l)*a*.5+r,o.data[3]=l,o.data[4]=c,o.data[5]=(-l-c)*a*.5+i,s.warp_affine(e,t,o,128)}var O=class extends c{constructor(){super(),this.bit_pattern_31_=new Int32Array(E),this.H=new l(3,3,i.F32_t|i.C1_t),this.patch_img=new l(32,32,i.U8_t|i.C1_t),this.imgproc=new h}describe(e,t,n,r){let a=0,o=0,s=0,c=0,l=0,u=0,d=0,f=0,p=this.patch_img.data,m=0;r.type&i.U8_t?r.resize(32,n,1):(r.type=i.U8_t,r.cols=32,r.rows=n,r.channel=1,r.allocate());let h=r.data,g=0;for(a=0;a<n;++a){for(s=t[a].x,c=t[a].y,l=t[a].angle,D(e,this.patch_img,l,s,c,32,this.H,this.imgproc),m=0,o=0;o<32;++o)u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f=u<d|0,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<1,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<2,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<3,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<4,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<5,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<6,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<7,h[g+o]=f;g+=32}}};function k(e,t,n){let r=0,i,a;for(i=n,a=0;a<i;a++,r++)i=Math.sqrt(n*n-a*a)+.5|0,t[r]=i+e*a;for(i--;i<a&&i>=0;i--,r++)a=Math.sqrt(n*n-i*i)+.5|0,t[r]=i+e*a;for(;-i<a;i--,r++)a=Math.sqrt(n*n-i*i)+.5|0,t[r]=i+e*a;for(a--;a>=0;a--,r++)i=-Math.sqrt(n*n-a*a)-.5|0,t[r]=i+e*a;for(;a>i;a--,r++)i=-Math.sqrt(n*n-a*a)-.5|0,t[r]=i+e*a;for(i++;i<=0;i++,r++)a=-Math.sqrt(n*n-i*i)-.5|0,t[r]=i+e*a;for(;i<-a;i++,r++)a=-Math.sqrt(n*n-i*i)-.5|0,t[r]=i+e*a;for(a++;a<0;a++,r++)i=Math.sqrt(n*n-a*a)+.5|0,t[r]=i+e*a;return t[r]=t[0],t[r+1]=t[1],r}function A(e,t,n){let r=0;return e[t+1]!=0&&r++,e[t-1]!=0&&r++,e[t+n]!=0&&r++,e[t+n+1]!=0&&r++,e[t+n-1]!=0&&r++,e[t-n]!=0&&r++,e[t-n+1]!=0&&r++,e[t-n-1]!=0&&r++,r}function j(e,t,n,r,i){let a,o;if(n>0)for(t-=r*i,o=-i;o<=i;++o){for(a=-i;a<=i;++a)if(e[t+a]>n)return!1;t+=r}else for(t-=r*i,o=-i;o<=i;++o){for(a=-i;a<=i;++a)if(e[t+a]<n)return!1;t+=r}return!0}function M(e,t,n,r,i,a,o,s){let c=0,l=0,u=o-1|0,d=0,f=0,p=0,m=0,h=0;if(d=e[t+a[l]],d<=i){if(d>=r){if(f=e[t+a[u]],f<=i){if(f>=r){n[t]=0;return}if(u++,p=e[t+a[u]],p>i){if(u++,m=e[t+a[u]],m>i)h=3;else if(m<r)h=6;else{n[t]=0;return}}else if(u++,m=e[t+a[u]],m>i)h=7;else if(m<r)h=2;else{n[t]=0;return}}else if(u++,p=e[t+a[u]],p>i){if(u++,m=e[t+a[u]],m>i)h=3;else if(m<r)h=6;else{n[t]=0;return}}else if(p<r){if(u++,m=e[t+a[u]],m>i)h=7;else if(m<r)h=2;else{n[t]=0;return}}else{n[t]=0;return}}else{if(f=e[t+a[u]],f>i){n[t]=0;return}if(u++,p=e[t+a[u]],p>i){n[t]=0;return}if(u++,m=e[t+a[u]],m>i){n[t]=0;return}h=1}}else{if(f=e[t+a[u]],f<r){n[t]=0;return}if(u++,p=e[t+a[u]],p<r){n[t]=0;return}if(u++,m=e[t+a[u]],m<r){n[t]=0;return}h=0}for(l=1;l<=o;l++)switch(d=e[t+a[l]],h){case 0:if(d>i){if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=0;break}if(d<r){if(p>i){n[t]=0;return}if(m>i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=8;break}if(p<=i){n[t]=0;return}if(m<=i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 1:if(d<r){if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=1;break}if(d>i){if(p<r){n[t]=0;return}if(m<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=9;break}if(p>=r){n[t]=0;return}if(m>=r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){c-=d+p,h=2;break}if(m>i){c-=d+p,h=7;break}n[t]=0;return;case 2:if(d>i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],d<r){if(m>i){n[t]=0;return}c-=d+p,h=4;break}if(m>i){c-=d+p,h=7;break}if(m<r){c-=d+p,h=2;break}n[t]=0;return;case 3:if(d<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],d>i){if(m<r){n[t]=0;return}c-=d+p,h=5;break}if(m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 4:if(d>i){n[t]=0;return}if(d<r){if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=1;break}if(m>=r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){c-=d+p,h=2;break}if(m>i){c-=d+p,h=7;break}n[t]=0;return;case 5:if(d<r){n[t]=0;return}if(d>i){if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=0;break}if(m<=i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 7:if(d>i){n[t]=0;return}if(d<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 6:if(d>i){n[t]=0;return}if(d<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){c-=d+p,h=2;break}if(m>i){c-=d+p,h=7;break}n[t]=0;return;case 8:if(d>i){if(m<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=9;break}if(d<r){if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=1;break}n[t]=0;return;case 9:if(d<r){if(m>i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=8;break}if(d>i){if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=0;break}n[t]=0;return}n[t]=c+s*e[t]}var N=class{constructor(e,t,n){this.dirs=new Int32Array(1024),this.dirs_count=k(e,this.dirs,n)|0,this.scores=new Int32Array(e*t),this.radius=n|0}},P=A,F=j,I=M,L=class{constructor(){this.level_tables=[],this.tau=7}init(e,t,n,r=1){n=Math.min(n,7),n=Math.max(n,3);for(let i=0;i<r;++i)this.level_tables[i]=new N(e>>i,t>>i,n)}detect(e,t,n=4){let r=this.level_tables[0],i=r.radius|0,a=i-1|0,o=r.dirs,s=r.dirs_count|0,c=s>>1,l=e.data,u=e.cols|0,d=e.rows|0,f=u>>1,p=r.scores,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=0,S=this.tau|0,C=0,w,T=Math.max(i+1,n)|0,E=Math.max(i+1,n)|0,D=Math.min(u-i-2,u-n)|0,O=Math.min(d-i-2,d-n)|0;for(g=E*u+T|0,h=E;h<O;++h,g+=u)for(m=T,_=g;m<D;++m,++_)v=l[_]+S,y=l[_]-S,y<l[_+i]&&l[_+i]<v&&y<l[_-i]&&l[_-i]<v?p[_]=0:I(l,_,p,y,v,o,c,s);for(g=E*u+T|0,h=E;h<O;++h,g+=u)for(m=T,_=g;m<D;++m,++_)x=p[_],b=Math.abs(x),b<5?(++m,++_):P(p,_,u)>=3&&F(p,_,x,f,i)&&(w=t[C],w.x=m,w.y=h,w.score=b,++C,m+=a,_+=a);return C}};function R(e,t,n,r,i,a,o,s,c){let l=0,u=0,d=o*n+a|0,f=d;for(l=o;l<c;++l,d+=n,f=d)for(u=a;u<s;++u,++f)f+r<e.length&&f-r>=0&&f+i<e.length&&f-i>=0?t[f]=-4*e[f]+e[f+r]+e[f-r]+e[f+i]+e[f-i]:t[f]=0}function z(e,t,n,r,i,a,o){let s=-2*e[t]+e[t+r]+e[t-r],c=-2*e[t]+e[t+i]+e[t-i],l=e[t+a]+e[t-a]-e[t+o]-e[t-o],u=Math.sqrt((s-c)*(s-c)+4*l*l)|0;return Math.min(Math.abs(n-u),Math.abs(-(n+u)))}var B=R,V=z,ee=class extends c{constructor(){super(),this.laplacian_threshold=30,this.min_eigen_value_threshold=25}detect(e,t,n){n===void 0&&(n=5);let r=0,i=0,a=e.cols,o=e.rows,s=e.data,c=5*a|0,l=3+3*a|0,u=3-3*a|0,d=this.cache.get_buffer(a*o<<2),f=d.i32,p=0,m=0,h=0,g=0,_,v=0,y=this.laplacian_threshold,b=this.min_eigen_value_threshold,x=Math.max(5,n)|0,S=Math.max(3,n)|0,C=Math.min(a-5,a-n)|0,w=Math.min(o-3,o-n)|0;for(r=a*o;--r>=0;)f[r]=0;for(B(s,f,a,5,c,x,S,C,w),m=S*a+x|0,i=S;i<w;++i,m+=a)for(r=x,h=m;r<C;++r,++h)p=f[h],(p<-y&&p<f[h-1]&&p<f[h+1]&&p<f[h-a]&&p<f[h+a]&&p<f[h-a-1]&&p<f[h+a-1]&&p<f[h-a+1]&&p<f[h+a+1]||p>y&&p>f[h-1]&&p>f[h+1]&&p>f[h-a]&&p>f[h+a]&&p>f[h-a-1]&&p>f[h+a-1]&&p>f[h-a+1]&&p>f[h+a+1])&&(g=V(s,h,p,5,c,l,u),g>b&&(_=t[v],_.x=r,_.y=i,_.score=g,++v,++r,++h));return this.cache.put_buffer(d),v}},H=class{constructor(e=0,t=.5,n=.5,r=.99){this.size=e,this.thresh=t,this.eps=n,this.prob=r}update_iters(e,t){let n=Math.log(1-this.prob),r=Math.log(1-Math.pow(1-e,this.size));return(r>=0||-n>=t*-r?t:Math.round(n/r))|0}},U=class extends c{constructor(){super()}get_subset(e,t,n,r,i,a,o){let s=1e3,c=[],l=0,u=0,d=0,f=0,p=!1;for(;d<s;++d){for(l=0;l<r&&d<s;){for(p=!1,f=0;!p;)for(p=!0,f=c[l]=Math.floor(Math.random()*i)|0,u=0;u<l;++u)if(f==c[u]){p=!1;break}if(a[l]=t[f],o[l]=n[f],!e.check_subset(a,o,l+1)){d++;continue}++l}break}return l==r&&d<s}find_inliers(e,t,n,r,i,a,o,s){let c=0,l=0,u=0,d=a*a;for(e.error(n,r,t,o,i);l<i;++l)u=o[l]<=d,s[l]=u,c+=u;return c}ransac(e,t,n,r,a,o,s,c){if(c===void 0&&(c=1e3),a<e.size)return!1;let u=e.size,d=c,f=0,p=!1,m=[],h=[],g=!1,_=o.cols,v=o.rows,y=o.type|i.C1_t,b=this.cache.get_buffer(_*v<<3),x=this.cache.get_buffer(a),S=this.cache.get_buffer(a<<2),C=new l(_,v,y,b.data),w=new l(a,1,i.U8C1_t,x.data),T=-1,E=0,D=0,O=S.f32;if(a==u){if(t.run(n,r,C,a)<=0)return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),!1;if(C.copy_to(o),s)for(;--a>=0;)s.data[a]=1;return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),!0}for(;f<d;++f){if(g=this.get_subset(t,n,r,u,a,m,h),!g){if(f==0)return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),!1;break}D=t.run(m,h,C,u),!(D<=0)&&(E=this.find_inliers(t,C,n,r,a,e.thresh,O,w.data),E>Math.max(T,u-1)&&(C.copy_to(o),T=E,s&&w.copy_to(s),d=e.update_iters((a-E)/a,d),p=!0))}return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),p}lmeds(e,t,n,r,a,o,s,c){if(c===void 0&&(c=1e3),a<e.size)return!1;let u=e.size,d=c,f=0,p=!1,h=new m,g=[],_=[],v=!1,y=o.cols,b=o.rows,x=o.type|i.C1_t,S=this.cache.get_buffer(y*b<<3),C=this.cache.get_buffer(a),w=this.cache.get_buffer(a<<2),T=new l(y,b,x,S.data),E=new l(a,1,i.U8_t|i.C1_t,C.data),D=0,O=0,k=w.f32,A=1e9,j=0,M=0;if(e.eps=.45,d=e.update_iters(e.eps,d),a==u){if(t.run(n,r,T,a)<=0)return this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),!1;if(T.copy_to(o),s)for(;--a>=0;)s.data[a]=1;return this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),!0}for(;f<d;++f){if(v=this.get_subset(t,n,r,u,a,g,_),!v){if(f==0)return this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),!1;break}O=t.run(g,_,T,u),!(O<=0)&&(t.error(n,r,T,k,a),M=h.median(k,0,a-1),M<A&&(A=M,T.copy_to(o),p=!0))}return p&&(j=2.5*1.4826*(1+5/(a-u))*Math.sqrt(A),j=Math.max(j,.001),D=this.find_inliers(t,o,n,r,a,j,k,E.data),s&&E.copy_to(s),p=D>=u),this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),p}},W=class extends c{constructor(){super(),this.T0=new l(3,3,i.F32_t|i.C1_t),this.T1=new l(3,3,i.F32_t|i.C1_t),this.AtA=new l(6,6,i.F32_t|i.C1_t),this.AtB=new l(6,1,i.F32_t|i.C1_t)}sqr(e){return e*e}iso_normalize_points(e,t,n,r,i){let a=0,o=0,s=0,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0;for(;a<i;++a)o+=e[a].x,s+=e[a].y,u+=t[a].x,d+=t[a].y;for(o/=i,s/=i,u/=i,d/=i,a=0;a<i;++a)m=e[a].x-o,h=e[a].y-s,c+=Math.sqrt(m*m+h*h),m=t[a].x-u,h=t[a].y-d,f+=Math.sqrt(m*m+h*h);c/=i,f/=i,l=Math.SQRT2/c,p=Math.SQRT2/f,n[0]=n[4]=l,n[2]=-o*l,n[5]=-s*l,n[1]=n[3]=n[6]=n[7]=0,n[8]=1,r[0]=r[4]=p,r[2]=-u*p,r[5]=-d*p,r[1]=r[3]=r[6]=r[7]=0,r[8]=1}have_collinear_points(e,t){let n=0,r=0,a=t-1|0,o=0,s=0,c=0,l=0;for(;n<a;++n)for(o=e[n].x-e[a].x,s=e[n].y-e[a].y,r=0;r<n;++r)if(c=e[r].x-e[a].x,l=e[r].y-e[a].y,Math.abs(c*s-l*o)<=i.EPSILON*(Math.abs(o)+Math.abs(s)+Math.abs(c)+Math.abs(l)))return!0;return!1}},G=class extends W{constructor(){super()}run(e,t,n,r){let a=0,o=0,s=n.type|i.C1_t,c=n.data,u=this.T0.data,d=this.T1.data,f,p,m=0,h=0,g=new y,_=new b;this.iso_normalize_points(e,t,u,d,r);let v=this.cache.get_buffer(2*r*6<<3),x=this.cache.get_buffer(2*r<<3),S=new l(6,2*r,s,v.data),C=new l(1,2*r,s,x.data),w=S.data,T=C.data;for(;a<r;++a)f=e[a],p=t[a],m=u[0]*f.x+u[1]*f.y+u[2],h=u[3]*f.x+u[4]*f.y+u[5],o=a*2*6,w[o]=m,w[o+1]=h,w[o+2]=1,w[o+3]=0,w[o+4]=0,w[o+5]=0,o+=6,w[o]=0,w[o+1]=0,w[o+2]=0,w[o+3]=m,w[o+4]=h,w[o+5]=1,T[a<<1]=d[0]*p.x+d[1]*p.y+d[2],T[(a<<1)+1]=d[3]*p.x+d[4]*p.y+d[5];return g.multiply_AtA(this.AtA,S),g.multiply_AtB(this.AtB,S,C),_.lu_solve(this.AtA,this.AtB),c[0]=this.AtB.data[0],c[1]=this.AtB.data[1],c[2]=this.AtB.data[2],c[3]=this.AtB.data[3],c[4]=this.AtB.data[4],c[5]=this.AtB.data[5],c[6]=0,c[7]=0,c[8]=1,g.invert_3x3(this.T1,this.T1),g.multiply_3x3(n,this.T1,n),g.multiply_3x3(n,n,this.T0),this.cache.put_buffer(v),this.cache.put_buffer(x),1}error(e,t,n,r,i){let a=0,o,s,c=n.data;for(;a<i;++a)o=e[a],s=t[a],r[a]=this.sqr(s.x-c[0]*o.x-c[1]*o.y-c[2])+this.sqr(s.y-c[3]*o.x-c[4]*o.y-c[5])}check_subset(e,t,n){return!0}},K=class extends W{constructor(){super(),this.mLtL=new l(9,9,i.F32_t|i.C1_t),this.Evec=new l(9,9,i.F32_t|i.C1_t)}run(e,t,n,r){let a=0,o=0,s=n.data,c=this.T0.data,l=this.T1.data,u=this.mLtL.data,d=this.Evec.data,f=0,p=0,m=0,h=0,g=new b,_=new y,v=0,x=0,S=0,C=0,w=0,T=0,E=0,D=0;for(;a<r;++a)S+=t[a].x,C+=t[a].y,E+=e[a].x,D+=e[a].y;for(S/=r,C/=r,E/=r,D/=r,a=0;a<r;++a)v+=Math.abs(t[a].x-S),x+=Math.abs(t[a].y-C),w+=Math.abs(e[a].x-E),T+=Math.abs(e[a].y-D);if(Math.abs(v)<i.EPSILON||Math.abs(x)<i.EPSILON||Math.abs(w)<i.EPSILON||Math.abs(T)<i.EPSILON)return 0;for(v=r/v,x=r/x,w=r/w,T=r/T,c[0]=w,c[1]=0,c[2]=-E*w,c[3]=0,c[4]=T,c[5]=-D*T,c[6]=0,c[7]=0,c[8]=1,l[0]=1/v,l[1]=0,l[2]=S,l[3]=0,l[4]=1/x,l[5]=C,l[6]=0,l[7]=0,l[8]=1,a=81;--a>=0;)u[a]=0;for(a=0;a<r;++a)f=(t[a].x-S)*v,p=(t[a].y-C)*x,m=(e[a].x-E)*w,h=(e[a].y-D)*T,u[0]+=m*m,u[1]+=m*h,u[2]+=m,u[6]+=m*-f*m,u[7]+=m*-f*h,u[8]+=m*-f,u[10]+=h*h,u[11]+=h,u[15]+=h*-f*m,u[16]+=h*-f*h,u[17]+=h*-f,u[20]+=1,u[24]+=-f*m,u[25]+=-f*h,u[26]+=-f,u[30]+=m*m,u[31]+=m*h,u[32]+=m,u[33]+=m*-p*m,u[34]+=m*-p*h,u[35]+=m*-p,u[40]+=h*h,u[41]+=h,u[42]+=h*-p*m,u[43]+=h*-p*h,u[44]+=h*-p,u[50]+=1,u[51]+=-p*m,u[52]+=-p*h,u[53]+=-p,u[60]+=-f*m*-f*m+-p*m*-p*m,u[61]+=-f*m*-f*h+-p*m*-p*h,u[62]+=-f*m*-f+-p*m*-p,u[70]+=-f*h*-f*h+-p*h*-p*h,u[71]+=-f*h*-f+-p*h*-p,u[80]+=-f*-f+-p*-p;for(a=0;a<9;++a)for(o=0;o<a;++o)u[a*9+o]=u[o*9+a];return g.eigenVV(this.mLtL,this.Evec),s[0]=d[72],s[1]=d[73],s[2]=d[74],s[3]=d[75],s[4]=d[76],s[5]=d[77],s[6]=d[78],s[7]=d[79],s[8]=d[80],_.multiply_3x3(n,this.T1,n),_.multiply_3x3(n,n,this.T0),f=1/s[8],s[0]*=f,s[1]*=f,s[2]*=f,s[3]*=f,s[4]*=f,s[5]*=f,s[6]*=f,s[7]*=f,s[8]=1,1}error(e,t,n,r,i){let a=0,o,s,c=0,l=0,u=0,d=n.data;for(;a<i;++a)o=e[a],s=t[a],c=1/(d[6]*o.x+d[7]*o.y+1),l=(d[0]*o.x+d[1]*o.y+d[2])*c-s.x,u=(d[3]*o.x+d[4]*o.y+d[5])*c-s.y,r[a]=l*l+u*u}check_subset(e,t,n){let r=new y;if(n==4){let n=0,i=e[0],a=e[1],o=e[2],s=e[3],c=t[0],l=t[1],u=t[2],d=t[3],f=i.x,p=i.y,m=a.x,h=a.y,g=o.x,_=o.y,v=c.x,y=c.y,b=l.x,x=l.y,S=u.x,C=u.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1);if(w*T<0&&n++,f=a.x,p=a.y,m=o.x,h=o.y,g=s.x,_=s.y,v=l.x,y=l.y,b=u.x,x=u.y,S=d.x,C=d.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1),w*T<0&&n++,f=i.x,p=i.y,m=o.x,h=o.y,g=s.x,_=s.y,v=c.x,y=c.y,b=u.x,x=u.y,S=d.x,C=d.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1),w*T<0&&n++,f=i.x,p=i.y,m=a.x,h=a.y,g=s.x,_=s.y,v=c.x,y=c.y,b=l.x,x=l.y,S=d.x,C=d.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1),w*T<0&&n++,n!=0&&n!=4)return!1}return!0}},te=class extends c{constructor(){super();let e=new h;this.scharr_deriv=e.scharr_derivatives}track(e,t,n,r,a,o,s,c,u,d){s===void 0&&(s=30),c===void 0&&(c=new Uint8Array(a)),u===void 0&&(u=.01),d===void 0&&(d=1e-4);let f=(o-1)*.5,p=o*o|0,m=p<<1,h=e.data,g=t.data,_=h[0].data,v=g[0].data,y=h[0].cols,b=h[0].rows,x=0,S=0,C=this.cache.get_buffer(p<<2),w=this.cache.get_buffer(m<<2),T=this.cache.get_buffer(b*(y<<1)<<2),E=new l(y,b,i.S32C2_t,T.data),D=C.i32,O=w.i32,k=T.i32,A=0,j=0,M=0,N=0,P=0,F=0,I=0,L=0,R=0,z=0,B=0,V=0,ee=0,H=0,U=0,W=0,G=0,K=0,te=0,q=0,ne=0,J=0,Y=0,X=0,Z=0,Q=0,re=0,ie=0,ae=0,oe=0,se=0,ce=0,le=16384,ue=8192,de=1/(1<<20),fe=0,pe=0,me=0,he=0,ge=0,_e=0,$=0,ve=0,ye=0,be=0,xe=0,Se=0;for(u*=u;q<a;++q)c[q]=1;let Ce=e.levels-1|0;for(X=Ce;X>=0;--X)for(I=1/(1<<X),x=y>>X,S=b>>X,A=x<<1,_=h[X].data,v=g[X].data,re=x-o|0,ie=S-o|0,this.scharr_deriv(h[X],E),Z=0;Z<a;++Z){if(q=Z<<1,ne=q+1,L=n[q]*I,R=n[ne]*I,X==Ce?(z=L,B=R):(z=r[q]*2,B=r[ne]*2),r[q]=z,r[ne]=B,L-=f,R-=f,W=L|0,G=R|0,J=W<=0||W>=re||G<=0||G>=ie,J!=0){X==0&&(c[Z]=0);continue}for(ae=L-W,oe=R-G,fe=(1-ae)*(1-oe)*le+.5|0,pe=ae*(1-oe)*le+.5|0,me=(1-ae)*oe*le+.5|0,he=le-fe-pe-me,ve=0,ye=0,be=0,Y=0;Y<o;++Y)for(j=(Y+G)*x+W|0,M=j<<1,N=Y*o|0,P=N<<1,J=0;J<o;++J,++j,++N,M+=2)ge=_[j]*fe+_[j+1]*pe+_[j+x]*me+_[j+x+1]*he,ge=ge+256>>9,_e=k[M]*fe+k[M+2]*pe+k[M+A]*me+k[M+A+2]*he,_e=_e+ue>>14,$=k[M+1]*fe+k[M+3]*pe+k[M+A+1]*me+k[M+A+3]*he,$=$+ue>>14,D[N]=ge,O[P++]=_e,O[P++]=$,ve+=_e*_e,ye+=_e*$,be+=$*$;if(ve*=de,ye*=de,be*=de,xe=ve*be-ye*ye,Se=(be+ve-Math.sqrt((ve-be)*(ve-be)+4*ye*ye))/m,Se<d||xe<1.1920929e-7){X==0&&(c[Z]=0);continue}for(xe=1/xe,z-=f,B-=f,V=0,ee=0,Q=0;Q<s;++Q){if(K=z|0,te=B|0,J=K<=0||K>=re||te<=0||te>=ie,J!=0){X==0&&(c[Z]=0);break}for(ae=z-K,oe=B-te,fe=(1-ae)*(1-oe)*le+.5|0,pe=ae*(1-oe)*le+.5|0,me=(1-ae)*oe*le+.5|0,he=le-fe-pe-me,se=0,ce=0,Y=0;Y<o;++Y)for(F=(Y+te)*x+K|0,N=Y*o|0,P=N<<1,J=0;J<o;++J,++F,++N)ge=v[F]*fe+v[F+1]*pe+v[F+x]*me+v[F+x+1]*he,ge=ge+256>>9,ge-=D[N],se+=ge*O[P++],ce+=ge*O[P++];if(se*=de,ce*=de,H=(ye*ce-be*se)*xe,U=(ye*se-ve*ce)*xe,z+=H,B+=U,r[q]=z+f,r[ne]=B+f,H*H+U*U<=u)break;if(Q>0&&Math.abs(H+V)<.01&&Math.abs(U+ee)<.01){r[q]-=H*.5,r[ne]-=U*.5;break}V=H,ee=U}}this.cache.put_buffer(C),this.cache.put_buffer(w),this.cache.put_buffer(T)}},q=c;return c.cache=s,c.pyramid_t=C,c.matrix_t=l,c.keypoint_t=T,c.ransac_params_t=H,c.transform=new w,c.fast_corners=new S,c.imgproc=new h,c.math=new m,c.matmath=new y,c.linalg=new b,c.orb=new O,c.yape=new L,c.yape06=new ee,c.motion_estimator=new U,c.affine2d=new G,c.homography2d=new K,c.optical_flow_lk=new te,q});
\ No newline at end of file
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c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=a[0],v=0,y=r<<1,b=r*3,x=r<<2;for(;c<i;++c){for(p=t[d],l=0;l<s;++l)e[l]=p;for(l=0;l<=r-2;l+=2)e[l+s]=t[d+l],e[l+s+1]=t[d+l+1];for(;l<r;++l)e[l+s]=t[d+l];for(p=t[d+r-1],l=r;l<s+r;++l)e[l+s]=p;for(l=0;l<=r-4;l+=4){for(p=e[l]*_,m=e[l+1]*_,h=e[l+2]*_,g=e[l+3]*_,u=1;u<o;++u)v=a[u],p+=e[u+l]*v,m+=e[u+l+1]*v,h+=e[u+l+2]*v,g+=e[u+l+3]*v;n[f+l]=Math.min(p>>8,255),n[f+l+1]=Math.min(m>>8,255),n[f+l+2]=Math.min(h>>8,255),n[f+l+3]=Math.min(g>>8,255)}for(;l<r;++l){for(p=e[l]*_,u=1;u<o;++u)p+=e[u+l]*a[u];n[f+l]=Math.min(p>>8,255)}d+=r,f+=r}for(c=0;c<r;++c){for(p=n[c],l=0;l<s;++l)e[l]=p;for(u=c,l=0;l<=i-2;l+=2,u+=y)e[l+s]=n[u],e[l+s+1]=n[u+r];for(;l<i;++l,u+=r)e[l+s]=n[u];for(p=n[(i-1)*r+c],l=i;l<s+i;++l)e[l+s]=p;for(f=c,l=0;l<=i-4;l+=4,f+=x){for(p=e[l]*_,m=e[l+1]*_,h=e[l+2]*_,g=e[l+3]*_,u=1;u<o;++u)v=a[u],p+=e[u+l]*v,m+=e[u+l+1]*v,h+=e[u+l+2]*v,g+=e[u+l+3]*v;n[f]=Math.min(p>>8,255),n[f+r]=Math.min(m>>8,255),n[f+y]=Math.min(h>>8,255),n[f+b]=Math.min(g>>8,255)}for(;l<i;++l,f+=r){for(p=e[l]*_,u=1;u<o;++u)p+=e[u+l]*a[u];n[f]=Math.min(p>>8,255)}}}function p(e,t,n,r,i,a,o,s){let c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=a[0],v=0,y=r<<1,b=r*3,x=r<<2;for(;c<i;++c){for(p=t[d],l=0;l<s;++l)e[l]=p;for(l=0;l<=r-2;l+=2)e[l+s]=t[d+l],e[l+s+1]=t[d+l+1];for(;l<r;++l)e[l+s]=t[d+l];for(p=t[d+r-1],l=r;l<s+r;++l)e[l+s]=p;for(l=0;l<=r-4;l+=4){for(p=e[l]*_,m=e[l+1]*_,h=e[l+2]*_,g=e[l+3]*_,u=1;u<o;++u)v=a[u],p+=e[u+l]*v,m+=e[u+l+1]*v,h+=e[u+l+2]*v,g+=e[u+l+3]*v;n[f+l]=p,n[f+l+1]=m,n[f+l+2]=h,n[f+l+3]=g}for(;l<r;++l){for(p=e[l]*_,u=1;u<o;++u)p+=e[u+l]*a[u];n[f+l]=p}d+=r,f+=r}for(c=0;c<r;++c){for(p=n[c],l=0;l<s;++l)e[l]=p;for(u=c,l=0;l<=i-2;l+=2,u+=y)e[l+s]=n[u],e[l+s+1]=n[u+r];for(;l<i;++l,u+=r)e[l+s]=n[u];for(p=n[(i-1)*r+c],l=i;l<s+i;++l)e[l+s]=p;for(f=c,l=0;l<=i-4;l+=4,f+=x){for(p=e[l]*_,m=e[l+1]*_,h=e[l+2]*_,g=e[l+3]*_,u=1;u<o;++u)v=a[u],p+=e[u+l]*v,m+=e[u+l+1]*v,h+=e[u+l+2]*v,g+=e[u+l+3]*v;n[f]=p,n[f+r]=m,n[f+y]=h,n[f+b]=g}for(;l<i;++l,f+=r){for(p=e[l]*_,u=1;u<o;++u)p+=e[u+l]*a[u];n[f]=p}}}var m=class extends c{constructor(){super(),this.qsort_stack=new Int32Array(96)}get_gaussian_kernel(e,t,n,r){let a=0,o=0,s=0,c=0,l=0,u=0,d=this.cache.get_buffer(e<<2),f=d.f32;if((e&1)==1&&e<=7&&t<=0)switch(e>>1){case 0:f[0]=1,u=1;break;case 1:f[0]=.25,f[1]=.5,f[2]=.25,u=1;break;case 2:f[0]=.0625,f[1]=.25,f[2]=.375,f[3]=.25,f[4]=.0625,u=1;break;case 3:f[0]=.03125,f[1]=.109375,f[2]=.21875,f[3]=.28125,f[4]=.21875,f[5]=.109375,f[6]=.03125,u=1}else for(c=t>0?t:((e-1)*.5-1)*.3+.8,l=-.5/(c*c);a<e;++a)o=a-(e-1)*.5,s=Math.exp(l*o*o),f[a]=s,u+=s;if(r&i.U8_t)for(u=256/u,a=0;a<e;++a)n[a]=f[a]*u+.5|0;else for(u=1/u,a=0;a<e;++a)n[a]=f[a]*u;this.cache.put_buffer(d)}perspective_4point_transform(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){console.warn(`⚠️⚠️⚠️ This method is deprecated ad will be removed in the next releases, use transform.perspective_4point_transform() instead. ⚠️⚠️⚠️`);let _=t,v=l,y=o,b=_*v*y,x=m,S=_*x,C=v*S,w=u,T=_*w,E=a,D=n,O=p,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D,te=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,q=(b-C-z*y+z*w+A-v*B+I*v-j)*R,J=_,Y=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,X=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,Z=D,ne=(-T+V+H-B+N-M-F+I)*R,Q=(-S+T+k-H+I-L-M+P)*R;_=r,v=d,y=c,b=_*v*y,x=g,S=_*x,C=v*S,w=f,T=_*w,E=s,D=i,O=h,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D;let re=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,ie=(b-C-z*y+z*w+A-v*B+I*v-j)*R,ae=_,oe=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,se=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,ce=D,le=(-T+V+H-B+N-M-F+I)*R,ue=(-S+T+k-H+I-L-M+P)*R;v=X-Q*Z,y=te*X,b=te*Z,S=Y*q,C=J*Y,T=q*ne;let de=J*ne;O=1/(y-b*Q-S+C*Q+T*Z-de*X),A=-Y+Z*ne;let fe=-Y*Q+X*ne;L=-q+J*Q;let pe=te-de;B=te*Q-T,V=-q*Z+J*X;let me=b-C,he=y-S;W=v*O;let ge=L*O,_e=V*O,$=e.data;$[0]=re*W+A*O*ie-fe*O*ae,$[1]=re*ge+pe*O*ie-B*O*ae,$[2]=-re*_e-me*O*ie+he*O*ae,$[3]=oe*W+A*O*se-fe*O*ce,$[4]=oe*ge+pe*O*se-B*O*ce,$[5]=-oe*_e-me*O*se+he*O*ce,$[6]=le*W+A*O*ue-fe*O,$[7]=le*ge+pe*O*ue-B*O,$[8]=-le*_e-me*O*ue+he*O}qsort(e,t,n,r){let i,a,o,s,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=0,S=0,C=0,w=0,T=0,E=this.qsort_stack;if(!(n-t+1<=1))for(E[0]=t,E[1]=n;c>=0;)for(l=E[c<<1],u=E[(c<<1)+1],c--;;){if(f=u-l+1,f<=7){for(m=l+1;m<=u;m++)for(h=m;h>l&&r(e[h],e[h-1]);h--)i=e[h],e[h]=e[h-1],e[h-1]=i;break}for(T=0,_=l,y=u,x=l+(f>>1),f>40&&(g=f>>3,S=l,C=l+g,w=l+(g<<1),a=e[S],o=e[C],s=e[w],l=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w,S=x-g,C=x,w=x+g,a=e[S],o=e[C],s=e[w],x=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w,S=u-(g<<1),C=u-g,w=u,a=e[S],o=e[C],s=e[w],u=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w),S=l,C=x,w=u,a=e[S],o=e[C],s=e[w],x=r(a,o)?r(o,s)?C:r(a,s)?w:S:r(s,o)?C:r(a,s)?S:w,x!=_&&(i=e[x],e[x]=e[_],e[_]=i,x=_),l=v=_+1,u=b=y,a=e[x];;){for(;l<=u&&!r(a,e[l]);)r(e[l],a)||(l>v&&(i=e[v],e[v]=e[l],e[l]=i),T=1,v++),l++;for(;l<=u&&!r(e[u],a);)r(a,e[u])||(u<b&&(i=e[b],e[b]=e[u],e[u]=i),T=1,b--),u--;if(l>u)break;i=e[l],e[l]=e[u],e[u]=i,T=1,l++,u--}if(T==0){for(l=_,u=y,m=l+1;m<=u;m++)for(h=m;h>l&&r(e[h],e[h-1]);h--)i=e[h],e[h]=e[h-1],e[h-1]=i;break}for(f=Math.min(v-_,l-v),p=l-f|0,d=0;d<f;++d,++p)i=e[_+d],e[_+d]=e[p],e[p]=i;for(f=Math.min(y-b,b-u),p=y-f+1|0,d=0;d<f;++d,++p)i=e[l+d],e[l+d]=e[p],e[p]=i;if(f=l-v,p=b-u,f>1)p>1?f>p?(++c,E[c<<1]=_,E[(c<<1)+1]=_+f-1,l=y-p+1,u=y):(++c,E[c<<1]=y-p+1,E[(c<<1)+1]=y,l=_,u=_+f-1):(l=_,u=_+f-1);else if(p>1)l=y-p+1,u=y;else break}}median(e,t,n){let r,i=0,a=0,o=0,s=t+n>>1;for(;;){if(n<=t)return e[s];if(n==t+1)return e[t]>e[n]&&(r=e[t],e[t]=e[n],e[n]=r),e[s];for(i=t+n>>1,e[i]>e[n]&&(r=e[i],e[i]=e[n],e[n]=r),e[t]>e[n]&&(r=e[t],e[t]=e[n],e[n]=r),e[i]>e[t]&&(r=e[i],e[i]=e[t],e[t]=r),a=t+1,r=e[i],e[i]=e[a],e[a]=r,o=n;;){do++a;while(e[t]>e[a]);do--o;while(e[o]>e[t]);if(o<a)break;r=e[a],e[a]=e[o],e[o]=r}r=e[t],e[t]=e[o],e[o]=r,o<=s?t=a:o>=s&&(n=o-1)}return 0}},h=class extends c{constructor(){super()}grayscale(e,t,n,r,a){a===void 0&&(a=i.COLOR_RGBA2GRAY);let o=0,s=0,c=0,l=0,u=0,d=0,f=4899,p=9617,m=1868,h=4;(a==i.COLOR_BGRA2GRAY||a==i.COLOR_BGR2GRAY)&&(f=1868,m=4899),(a==i.COLOR_RGB2GRAY||a==i.COLOR_BGR2GRAY)&&(h=3);let g=h<<1,_=h*3|0;r.resize(t,n,1);let v=r.data;for(s=0;s<n;++s,l+=t,c+=t*h){for(o=0,u=c,d=l;o<=t-4;o+=4,u+=h<<2,d+=4)v[d]=e[u]*f+e[u+1]*p+e[u+2]*m+8192>>14,v[d+1]=e[u+h]*f+e[u+h+1]*p+e[u+h+2]*m+8192>>14,v[d+2]=e[u+g]*f+e[u+g+1]*p+e[u+g+2]*m+8192>>14,v[d+3]=e[u+_]*f+e[u+_+1]*p+e[u+_+2]*m+8192>>14;for(;o<t;++o,++d,u+=h)v[d]=e[u]*f+e[u+1]*p+e[u+2]*m+8192>>14}}resample(e,t,n,r){let a=e.rows,o=e.cols;a>r&&o>n&&(t.resize(n,r,e.channel),e.type&i.U8_t&&t.type&i.U8_t&&a*o/(r*n)<256?u(e,t,this.cache,n,r):d(e,t,this.cache,n,r))}box_blur_gray(e,t,n,r){r===void 0&&(r=0),n|=0;let a=e.cols|0,o=e.rows|0,s=n+1|0,c=(n<<1)+1|0,l=c*c,u=(r&i.BOX_BLUR_NOSCALE)!==0,d=this.cache.get_buffer(a*o<<2),f=d.i32;t.resize(a,o,e.channel);let p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=e.data;for(m=0;m<o;++m){for(_=m*a,g=s*b[_],h=1;h<=n;++h)g+=b[_+(h<a?h:a-1)];for(p=0;p<a;++p)f[p*o+m]=g,y=p+s,v=p-n,g+=b[_+(y<a?y:a-1)]-b[_+(v>0?v:0)]}let x=t.data;for(m=0;m<a;++m){for(_=m*o,g=s*f[_],h=1;h<=n;++h)g+=f[_+(h<o?h:o-1)];for(p=0;p<o;++p)x[p*a+m]=u?g:Math.floor(g/l),y=p+s,v=p-n,g+=f[_+(y<o?y:o-1)]-f[_+(v>0?v:0)]}this.cache.put_buffer(d)}gaussian_blur(e,t,n,r){let a=new m;r===void 0&&(r=0),n===void 0&&(n=0),n=n==0?Math.max(1,4*r+1-1e-8)*2+1|0:n;let o=n>>1,s=e.cols,c=e.rows,l=e.type,u=l&i.U8_t;t.resize(s,c,e.channel);let d=e.data,h=t.data,g,_,v=n+Math.max(c,s)|0,y=this.cache.get_buffer(v<<2),b=this.cache.get_buffer(n<<2);u?(g=y.i32,_=b.i32):l&i.S32_t?(g=y.i32,_=b.f32):(g=y.f32,_=b.f32),a.get_gaussian_kernel(n,r,_,l),u?f(g,d,h,s,c,_,n,o):p(g,d,h,s,c,_,n,o),this.cache.put_buffer(y),this.cache.put_buffer(b)}hough_transform(e,t,n,r){let i,a,o=e.data,s=e.cols,c=e.rows,l=s,u=Math.round((Math.PI-0)/n),d=Math.round(((s+c)*2+1)/t),f=1/t,p=new Int32Array((u+2)*(d+2)),m=new Float32Array(u),h=new Float32Array(u),g=0,_=0;for(;g<u;g++)m[g]=Math.sin(_)*f,h[g]=Math.cos(_)*f,_+=n;for(a=0;a<c;a++)for(let e=0;e<s;e++)if(o[a*l+e]!=0)for(g=0;g<u;g++)i=Math.round(e*h[g]+a*m[g]),i+=(d-1)/2,p[(g+1)*(d+2)+i+1]+=1;let v=[];for(i=0;i<d;i++)for(g=0;g<u;g++){let e=(g+1)*(d+2)+i+1;p[e]>r&&p[e]>p[e-1]&&p[e]>=p[e+1]&&p[e]>p[e-d-2]&&p[e]>=p[e+d+2]&&v.push(e)}v.sort(function(e,t){return p[e]>p[t]||p[e]==p[t]&&e<t});let y=Math.min(u*d,v.length),b=1/(d+2),x=[];for(a=0;a<y;a++){let e=v[a];g=Math.floor(e*b)-1,i=e-(g+1)*(d+2)-1;let r=(i-(d-1)*.5)*t,o=g*n;x.push([r,o])}return x}pyrdown(e,t,n,r){n===void 0&&(n=0),r===void 0&&(r=0);let i=e.cols,a=e.rows,o=i>>1,s=a>>1,c=o-(n<<1),l=s-(r<<1),u=0,d=0,f=n+r*i,p=0,m=0,h=0;t.resize(o,s,e.channel);let g=e.data,_=t.data;for(d=0;d<l;++d){for(p=f,h=m,u=0;u<=c-2;u+=2,h+=2,p+=4)_[h]=g[p]+g[p+1]+g[p+i]+g[p+i+1]+2>>2,_[h+1]=g[p+2]+g[p+3]+g[p+i+2]+g[p+i+3]+2>>2;for(;u<c;++u,++h,p+=2)_[h]=g[p]+g[p+1]+g[p+i]+g[p+i+1]+2>>2;f+=i<<1,m+=o}}scharr_derivatives(e,t){let n=e.cols,r=e.rows,a=n<<1,o=0,s=0,c=0,l,u,d,f,p,m,h=0,g=0,_=0,v=0,y,b;t.resize(n,r,2);let x=e.data,S=t.data,C=this.cache.get_buffer(n+2<<2),w=this.cache.get_buffer(n+2<<2);for(e.type&i.U8_t||e.type&i.S32_t?(y=C.i32,b=w.i32):(y=C.f32,b=w.f32);s<r;++s,g+=n){for(h=(s>0?s-1:1)*n|0,_=(s<r-1?s+1:r-2)*n|0,v=s*a|0,o=0,c=1;o<=n-2;o+=2,c+=2)l=x[h+o],u=x[_+o],y[c]=(l+u)*3+x[g+o]*10,b[c]=u-l,l=x[h+o+1],u=x[_+o+1],y[c+1]=(l+u)*3+x[g+o+1]*10,b[c+1]=u-l;for(;o<n;++o,++c)l=x[h+o],u=x[_+o],y[c]=(l+u)*3+x[g+o]*10,b[c]=u-l;for(o=n+1|0,y[0]=y[1],y[o]=y[n],b[0]=b[1],b[o]=b[n],o=0;o<=n-4;o+=4)l=b[o+2],u=b[o+1],d=b[o+3],f=b[o+4],p=y[o+2],m=y[o+3],S[v++]=p-y[o],S[v++]=(l+b[o])*3+u*10,S[v++]=m-y[o+1],S[v++]=(d+u)*3+l*10,S[v++]=y[o+4]-p,S[v++]=(f+l)*3+d*10,S[v++]=y[o+5]-m,S[v++]=(b[o+5]+d)*3+f*10;for(;o<n;++o)S[v++]=y[o+2]-y[o],S[v++]=(b[o+2]+b[o])*3+b[o+1]*10}this.cache.put_buffer(C),this.cache.put_buffer(w)}sobel_derivatives(e,t){let n=e.cols,r=e.rows,a=n<<1,o=0,s=0,c=0,l,u,d,f,p,m,h=0,g=0,_=0,v=0,y,b;t.resize(n,r,2);let x=e.data,S=t.data,C=this.cache.get_buffer(n+2<<2),w=this.cache.get_buffer(n+2<<2);for(e.type&i.U8_t||e.type&i.S32_t?(y=C.i32,b=w.i32):(y=C.f32,b=w.f32);s<r;++s,g+=n){for(h=(s>0?s-1:1)*n|0,_=(s<r-1?s+1:r-2)*n|0,v=s*a|0,o=0,c=1;o<=n-2;o+=2,c+=2)l=x[h+o],u=x[_+o],y[c]=l+u+x[g+o]*2,b[c]=u-l,l=x[h+o+1],u=x[_+o+1],y[c+1]=l+u+x[g+o+1]*2,b[c+1]=u-l;for(;o<n;++o,++c)l=x[h+o],u=x[_+o],y[c]=l+u+x[g+o]*2,b[c]=u-l;for(o=n+1|0,y[0]=y[1],y[o]=y[n],b[0]=b[1],b[o]=b[n],o=0;o<=n-4;o+=4)l=b[o+2],u=b[o+1],d=b[o+3],f=b[o+4],p=y[o+2],m=y[o+3],S[v++]=p-y[o],S[v++]=l+b[o]+u*2,S[v++]=m-y[o+1],S[v++]=d+u+l*2,S[v++]=y[o+4]-p,S[v++]=f+l+d*2,S[v++]=y[o+5]-m,S[v++]=b[o+5]+d+f*2;for(;o<n;++o)S[v++]=y[o+2]-y[o],S[v++]=b[o+2]+b[o]+b[o+1]*2}this.cache.put_buffer(C),this.cache.put_buffer(w)}compute_integral_image(e,t,n,r){let i=e.cols|0,a=e.rows|0,o=e.data,s=i+1|0,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0;if(t&&n){for(;f<s;++f)t[f]=0,n[f]=0;for(u=s+1|0,d=1,f=0,h=0;f<a;++f,++u,++d){for(c=l=0,p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)m=o[h],c+=m,l+=m*m,t[u]=t[d]+c,n[u]=n[d]+l,m=o[h+1],c+=m,l+=m*m,t[u+1]=t[d+1]+c,n[u+1]=n[d+1]+l;for(;p<i;++p,++h,++u,++d)m=o[h],c+=m,l+=m*m,t[u]=t[d]+c,n[u]=n[d]+l}}else if(t){for(;f<s;++f)t[f]=0;for(u=s+1|0,d=1,f=0,h=0;f<a;++f,++u,++d){for(c=0,p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)c+=o[h],t[u]=t[d]+c,c+=o[h+1],t[u+1]=t[d+1]+c;for(;p<i;++p,++h,++u,++d)c+=o[h],t[u]=t[d]+c}}else if(n){for(;f<s;++f)n[f]=0;for(u=s+1|0,d=1,f=0,h=0;f<a;++f,++u,++d){for(l=0,p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)m=o[h],l+=m*m,n[u]=n[d]+l,m=o[h+1],l+=m*m,n[u+1]=n[d+1]+l;for(;p<i;++p,++h,++u,++d)m=o[h],l+=m*m,n[u]=n[d]+l}}if(r){for(f=0;f<s;++f)r[f]=0;for(u=s+1|0,d=0,f=0,h=0;f<a;++f,++u,++d){for(p=0;p<=i-2;p+=2,h+=2,u+=2,d+=2)r[u]=o[h]+r[d],r[u+1]=o[h+1]+r[d+1];for(;p<i;++p,++h,++u,++d)r[u]=o[h]+r[d]}for(u=s+i|0,d=i,f=0;f<a;++f,u+=s,d+=s)r[u]+=r[d];for(p=i-1;p>0;--p)for(u=p+a*s,d=u-s,f=a;f>0;--f,u-=s,d-=s)r[u]+=r[d]+r[d+1]}}equalize_histogram(e,t){let n=e.cols,r=e.rows,i=e.data;t.resize(n,r,e.channel);let a=t.data,o=n*r,s=0,c=0,l,u,d=this.cache.get_buffer(1024);for(l=d.i32;s<256;++s)l[s]=0;for(s=0;s<o;++s)++l[i[s]];for(c=l[0],s=1;s<256;++s)c=l[s]+=c;for(u=255/o,s=0;s<o;++s)a[s]=l[i[s]]*u+.5|0;this.cache.put_buffer(d)}canny(e,t,n,r){let a=e.cols,o=e.rows;e.data,t.resize(a,o,e.channel);let s=t.data,c=0,u=0,d=0,f=a<<1,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=this.cache.get_buffer(o*f<<2),S=this.cache.get_buffer(3*(a+2)<<2),C=this.cache.get_buffer((o+2)*(a+2)<<2),w=this.cache.get_buffer(o*a<<2),T=S.i32,E=C.i32,D=w.i32,O=x.i32,k=new l(a,o,i.S32C2_t,x.data),A=1,j=a+2+1|0,M=2*(a+2)+1|0,N=a+2|0,P=N+1|0,F=0;for(this.sobel_derivatives(e,k),n>r&&(c=n,n=r,r=c),c=3*(a+2)|0;--c>=0;)T[c]=0;for(c=(o+2)*(a+2)|0;--c>=0;)E[c]=0;for(;u<a;++u,d+=2)g=O[d],_=O[d+1],T[j+u]=(g^g>>31)-(g>>31)+((_^_>>31)-(_>>31));for(c=1;c<=o;++c,d+=f){if(c==o)for(u=M+a;--u>=M;)T[u]=0;else for(u=0;u<a;u++)g=O[d+(u<<1)],_=O[d+(u<<1)+1],T[M+u]=(g^g>>31)-(g>>31)+((_^_>>31)-(_>>31));for(p=d-f|0,E[P-1]=0,m=0,u=0;u<a;++u,p+=2){if(h=T[j+u],h>n){if(g=O[p],_=O[p+1],v=g^_,g=(g^g>>31)-(g>>31)|0,_=(_^_>>31)-(_>>31)|0,y=g*13573,b=y+(g+g<<15),_<<=15,_<y){if(h>T[j+u-1]&&h>=T[j+u+1]){h>r&&!m&&E[P+u-N]!=2?(E[P+u]=2,m=1,D[F++]=P+u):E[P+u]=1;continue}}else if(_>b){if(h>T[A+u]&&h>=T[M+u]){h>r&&!m&&E[P+u-N]!=2?(E[P+u]=2,m=1,D[F++]=P+u):E[P+u]=1;continue}}else if(v=v<0?-1:1,h>T[A+u-v]&&h>T[M+u+v]){h>r&&!m&&E[P+u-N]!=2?(E[P+u]=2,m=1,D[F++]=P+u):E[P+u]=1;continue}}E[P+u]=0,m=0}E[P+a]=0,P+=N,u=A,A=j,j=M,M=u}for(u=P-N-1,c=0;c<N;++c,++u)E[u]=0;for(;F>0;)P=D[--F],P-=N+1,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P),P+=N,E[P]==1&&(E[P]=2,D[F++]=P),P-=2,E[P]==1&&(E[P]=2,D[F++]=P),P+=N,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P),P+=1,E[P]==1&&(E[P]=2,D[F++]=P);for(P=N+1,A=0,c=0;c<o;++c,P+=N)for(u=0;u<a;++u)s[A++]=Number(E[P+u]==2)*255;this.cache.put_buffer(x),this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w)}warp_perspective(e,t,n,r){r===void 0&&(r=0);let i=e.cols|0,a=e.rows|0,o=t.cols|0,s=t.rows|0,c=e.data,l=t.data,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=0,S=0,C=0,w=0,T=n.data,E=T[0],D=T[1],O=T[2],k=T[3],A=T[4],j=T[5],M=T[6],N=T[7],P=T[8];for(let e=0;d<s;++d)for(_=D*d+O,v=A*d+j,y=N*d+P,u=0;u<o;++u,++e,_+=E,v+=k,y+=M)b=1/y,h=_*b,g=v*b,p=h|0,m=g|0,h>0&&g>0&&p<i-1&&m<a-1?(x=Math.max(h-p,0),S=Math.max(g-m,0),f=i*m+p|0,C=c[f]+x*(c[f+1]-c[f]),w=c[f+i]+x*(c[f+i+1]-c[f+i]),l[e]=C+S*(w-C)):l[e]=r}warp_affine(e,t,n,r){r===void 0&&(r=0);let i=e.cols,a=e.rows,o=t.cols,s=t.rows,c=e.data,l=t.data,u=0,d=0,f=0,p=0,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=n.data,S=x[0],C=x[1],w=x[2],T=x[3],E=x[4],D=x[5];for(let e=0;d<s;++d)for(h=C*d+w,g=E*d+D,u=0;u<o;++u,++e,h+=S,g+=T)p=h|0,m=g|0,h>=0&&g>=0&&p<i-1&&m<a-1?(_=h-p,v=g-m,f=i*m+p,y=c[f]+_*(c[f+1]-c[f]),b=c[f+i]+_*(c[f+i+1]-c[f+i]),l[e]=y+v*(b-y)):l[e]=r}skindetector(e,t){let n,r,i,a,o=e.width*e.height;for(;o--;)a=o*4,n=e.data[a],r=e.data[a+1],i=e.data[a+2],n>95&&r>40&&i>20&&n>r&&n>i&&n-Math.min(r,i)>15&&Math.abs(n-r)>15?t[o]=255:t[o]=0}};function g(e,t,n,r){r=e[t],e[t]=e[n],e[n]=r}function _(e,t){return e=Math.abs(e),t=Math.abs(t),e>t?(t/=e,e*Math.sqrt(1+t*t)):t>0?(e/=t,t*Math.sqrt(1+e*e)):0}var v=i.EPSILON,y=class{constructor(){}identity(e,t){t===void 0&&(t=1);let n=e.data,r=e.rows,i=e.cols,a=i+1|0,o=r*i,s=o;for(;--o>=0;)n[o]=0;for(o=s,s=0;s<o;)n[s]=t,s+=a}transpose(e,t){let n=0,r=0,i=t.rows,a=t.cols,o=0,s=0,c=0,l=t.data,u=e.data;for(;n<i;s+=1,o+=a,n++)for(c=s,r=0;r<a;c+=i,r++)u[c]=l[o+r]}multiply(e,t,n){let r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=n.cols,m=t.data,h=n.data,g=e.data,_=0;for(;r<f;o+=d,r++)for(l=0,i=0;i<p;u++,l++,i++){for(c=l,s=o,_=0,a=0;a<d;s++,c+=p,a++)_+=m[s]*h[c];g[u]=_}}multiply_ABt(e,t,n){let r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=t.cols,d=t.rows,f=n.rows,p=t.data,m=n.data,h=e.data,g=0;for(;r<d;o+=u,r++)for(c=0,i=0;i<f;l++,i++){for(s=o,g=0,a=0;a<u;s++,c++,a++)g+=p[s]*m[c];h[l]=g}}multiply_AtB(e,t,n){let r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=n.cols,m=t.data,h=n.data,g=e.data,_=0;for(;r<d;o++,r++)for(l=0,i=0;i<p;u++,l++,i++){for(c=l,s=o,_=0,a=0;a<f;s+=d,c+=p,a++)_+=m[s]*h[c];g[u]=_}}multiply_AAt(e,t){let n=0,r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=t.data,m=e.data,h=0;for(;n<f;a+=f+1,o=s,n++)for(l=a,u=a,c=o,r=n;r<f;l++,u+=f,r++){for(s=o,h=0,i=0;i<d;i++)h+=p[s++]*p[c++];m[l]=h,m[u]=h}}multiply_AtA(e,t){let n=0,r=0,i=0,a=0,o=0,s=0,c=0,l=0,u=0,d=t.cols,f=t.rows,p=t.data,m=e.data,h=0;for(;n<d;c+=d,n++)for(a=n,u=c+n,l=u,r=n;r<d;l++,u+=d,r++){for(o=a,s=r,h=0,i=0;i<f;o+=d,s+=d,i++)h+=p[o]*p[s];m[l]=h,m[u]=h}}identity_3x3(e,t){t===void 0&&(t=1);let n=e.data;n[0]=n[4]=n[8]=t,n[1]=n[2]=n[3]=0,n[5]=n[6]=n[7]=0}invert_3x3(e,t){let n=e.data,r=t.data,i=n[4],a=n[8],o=n[5],s=n[7],c=n[0],l=c*i,u=c*o,d=n[3],f=n[1],p=d*f,m=n[2],h=d*m,g=n[6],_=g*f,y=g*m,b=l*a-u*s-p*a+h*s+_*o-y*i,x=1/b;return r[0]=(i*a-o*s)*x,r[1]=-(f*a-m*s)*x,r[2]=-(-f*o+m*i)*x,r[3]=-(d*a-o*g)*x,r[4]=(c*a-y)*x,r[5]=-(u-h)*x,r[6]=-(-d*s+i*g)*x,r[7]=-(c*s-_)*x,r[8]=(l-p)*x,b<v&&b>-v?0:1}multiply_3x3(e,t,n){let r=e.data,i=t.data,a=n.data,o=i[0],s=i[1],c=i[2],l=i[3],u=i[4],d=i[5],f=i[6],p=i[7],m=i[8],h=a[0],g=a[1],_=a[2],v=a[3],y=a[4],b=a[5],x=a[6],S=a[7],C=a[8];r[0]=o*h+s*v+c*x,r[1]=o*g+s*y+c*S,r[2]=o*_+s*b+c*C,r[3]=l*h+u*v+d*x,r[4]=l*g+u*y+d*S,r[5]=l*_+u*b+d*C,r[6]=f*h+p*v+m*x,r[7]=f*g+p*y+m*S,r[8]=f*_+p*b+m*C}mat3x3_determinant(e){let t=e.data;return t[0]*t[4]*t[8]-t[0]*t[5]*t[7]-t[3]*t[1]*t[8]+t[3]*t[2]*t[7]+t[6]*t[1]*t[5]-t[6]*t[2]*t[4]}determinant_3x3(e,t,n,r,i,a,o,s,c){return e*i*c-e*a*s-r*t*c+r*n*s+o*t*a-o*n*i}},b=class extends c{constructor(){super(),this.matmath=new y}JacobiImpl(e,t,n,r,a,o){let s=i.EPSILON,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0,v=0,y=o*o*30,b=0,x=0,S=0,C=0,w=0,T=0,E=0,D=0,O=0,k=this.cache.get_buffer(o<<2),A=this.cache.get_buffer(o<<2),j=k.i32,M=A.i32;if(r)for(;c<o;c++){for(u=c*a,l=0;l<o;l++)r[u+l]=0;r[u+c]=1}for(u=0;u<o;u++){if(n[u]=e[(t+1)*u],u<o-1){for(d=u+1,b=Math.abs(e[t*u+d]),c=u+2;c<o;c++)x=Math.abs(e[t*u+c]),b<x&&(b=x,d=c);j[u]=d}if(u>0){for(d=0,b=Math.abs(e[u]),c=1;c<u;c++)x=Math.abs(e[t*c+u]),b<x&&(b=x,d=c);M[u]=d}}if(o>1)for(;v<y;v++){for(u=0,b=Math.abs(e[j[0]]),c=1;c<o-1;c++)x=Math.abs(e[t*c+j[c]]),b<x&&(b=x,u=c);for(f=j[u],c=1;c<o;c++)x=Math.abs(e[t*M[c]+c]),b<x&&(b=x,u=M[c],f=c);if(S=e[t*u+f],Math.abs(S)<=s)break;for(C=(n[f]-n[u])*.5,w=Math.abs(C)+_(S,C),T=_(S,w),E=w/T,T=S/T,w=S/w*S,C<0&&(T=-T,w=-w),e[t*u+f]=0,n[u]-=w,n[f]+=w,c=0;c<u;c++)m=t*c+u,h=t*c+f,D=e[m],O=e[h],e[m]=D*E-O*T,e[h]=D*T+O*E;for(c=u+1;c<f;c++)m=t*u+c,h=t*c+f,D=e[m],O=e[h],e[m]=D*E-O*T,e[h]=D*T+O*E;for(c=f+1,m=t*u+c,h=t*f+c;c<o;c++,m++,h++)D=e[m],O=e[h],e[m]=D*E-O*T,e[h]=D*T+O*E;if(r)for(m=a*u,h=a*f,c=0;c<o;c++,m++,h++)D=r[m],O=r[h],r[m]=D*E-O*T,r[h]=D*T+O*E;for(l=0;l<2;l++){if(p=l==0?u:f,p<o-1){for(d=p+1,b=Math.abs(e[t*p+d]),c=p+2;c<o;c++)x=Math.abs(e[t*p+c]),b<x&&(b=x,d=c);j[p]=d}if(p>0){for(d=0,b=Math.abs(e[p]),c=1;c<p;c++)x=Math.abs(e[t*c+p]),b<x&&(b=x,d=c);M[p]=d}}}for(u=0;u<o-1;u++){for(d=u,c=u+1;c<o;c++)n[d]<n[c]&&(d=c);if(u!=d&&(g(n,d,u,b),r))for(c=0;c<o;c++)g(r,a*d+c,a*u+c,b)}this.cache.put_buffer(k),this.cache.put_buffer(A)}JacobiSVDImpl(e,t,n,r,a,o,s,c){let l=i.EPSILON*2,u=i.FLT_MIN,d=0,f=0,p=0,m=0,h=Math.max(o,30),v=0,y=0,b=0,x=0,S=0,C=0,w=0,T=0,E=0,D=0,O=0,k=0,A=0,j=0,M=0,N=0,P=0,F=4660,I=0,L=0,R=0,z=this.cache.get_buffer(s<<3),B=z.f64;for(;d<s;d++){for(p=0,O=0;p<o;p++)T=e[d*t+p],O+=T*T;if(B[d]=O,r){for(p=0;p<s;p++)r[d*a+p]=0;r[d*a+d]=1}}for(;m<h;m++){for(S=0,d=0;d<s-1;d++)for(f=d+1;f<s;f++){for(v=d*t|0,y=f*t|0,M=B[d],N=0,P=B[f],p=2,N+=e[v]*e[y],N+=e[v+1]*e[y+1];p<o;p++)N+=e[v+p]*e[y+p];if(!(Math.abs(N)<=l*Math.sqrt(M*P))){for(N*=2,k=M-P,A=_(N,k),k<0?(j=(A-k)*.5,w=Math.sqrt(j/A),C=N/(A*w*2)):(C=Math.sqrt((A+k)/(A*2)),w=N/(A*C*2)),M=0,P=0,p=2,E=C*e[v]+w*e[y],D=-w*e[v]+C*e[y],e[v]=E,e[y]=D,M+=E*E,P+=D*D,E=C*e[v+1]+w*e[y+1],D=-w*e[v+1]+C*e[y+1],e[v+1]=E,e[y+1]=D,M+=E*E,P+=D*D;p<o;p++)E=C*e[v+p]+w*e[y+p],D=-w*e[v+p]+C*e[y+p],e[v+p]=E,e[y+p]=D,M+=E*E,P+=D*D;if(B[d]=M,B[f]=P,S=1,r)for(b=d*a|0,x=f*a|0,p=2,E=C*r[b]+w*r[x],D=-w*r[b]+C*r[x],r[b]=E,r[x]=D,E=C*r[b+1]+w*r[x+1],D=-w*r[b+1]+C*r[x+1],r[b+1]=E,r[x+1]=D;p<s;p++)E=C*r[b+p]+w*r[x+p],D=-w*r[b+p]+C*r[x+p],r[b+p]=E,r[x+p]=D}}if(S==0)break}for(d=0;d<s;d++){for(p=0,O=0;p<o;p++)T=e[d*t+p],O+=T*T;B[d]=Math.sqrt(O)}for(d=0;d<s-1;d++){for(f=d,p=d+1;p<s;p++)B[f]<B[p]&&(f=p);if(d!=f&&(g(B,d,f,O),r)){for(p=0;p<o;p++)g(e,d*t+p,f*t+p,T);for(p=0;p<s;p++)g(r,d*a+p,f*a+p,T)}}for(d=0;d<s;d++)n[d]=B[d];if(!r){this.cache.put_buffer(z);return}for(d=0;d<c;d++){for(O=d<s?B[d]:0;O<=u;){for(L=1/o,p=0;p<o;p++)F=F*214013+2531011,I=F>>16&256?L:-L,e[d*t+p]=I;for(m=0;m<2;m++)for(f=0;f<d;f++){for(O=0,p=0;p<o;p++)O+=e[d*t+p]*e[f*t+p];for(R=0,p=0;p<o;p++)T=e[d*t+p]-O*e[f*t+p],e[d*t+p]=T,R+=Math.abs(T);for(R=R?1/R:0,p=0;p<o;p++)e[d*t+p]*=R}for(O=0,p=0;p<o;p++)T=e[d*t+p],O+=T*T;O=Math.sqrt(O)}for(w=1/O,p=0;p<o;p++)e[d*t+p]*=w}this.cache.put_buffer(z)}lu_solve(e,t){let n=0,r=0,a=0,o=1,s=e.cols,c=e.data,l=t.data,u,d,f,p;for(n=0;n<s;n++){for(a=n,r=n+1;r<s;r++)Math.abs(c[r*s+n])>Math.abs(c[a*s+n])&&(a=r);if(Math.abs(c[a*s+n])<i.EPSILON)return 0;if(a!=n){for(r=n;r<s;r++)g(c,n*s+r,a*s+r,u);g(l,n,a,u),o=-o}for(f=-1/c[n*s+n],r=n+1;r<s;r++){for(d=c[r*s+n]*f,a=n+1;a<s;a++)c[r*s+a]+=d*c[n*s+a];l[r]+=d*l[n]}c[n*s+n]=-f}for(n=s-1;n>=0;n--){for(p=l[n],a=n+1;a<s;a++)p-=c[n*s+a]*l[a];l[n]=p*c[n*s+n]}return 1}cholesky_solve(e,t){let n=0,r=0,i=0,a=0,o=0,s=0,c=0,l=e.cols,u=e.data,d=t.data,f,p;for(n=0;n<l;n++)for(p=1,a=n*l,o=a,r=n;r<l;r++){for(f=u[o+n],i=0;i<n;i++)f-=u[i*l+n]*u[o+i];if(r==n){if(u[o+n]=f,f==0)return 0;p=1/f}else u[a+r]=f,u[o+n]=f*p;o+=l}for(a=0,s=0;s<l;s++){for(f=d[s],c=0;c<s;c++)f-=u[a+c]*d[c];d[s]=f,a+=l}for(a=0,s=0;s<l;s++)d[s]/=u[a+s],a+=l;for(s=l-1;s>=0;s--){for(f=d[s],c=s+1,a=c*l;c<l;c++)f-=u[a+s]*d[c],a+=l;d[s]=f}return 1}svd_decompose(e,t,n,r,a){a===void 0&&(a=0);let o=0,s=0,c=e.rows,u=e.cols,d=c,f=u,p=e.type|i.C1_t;d<f&&(o=1,s=d,d=f,f=s);let m=this.cache.get_buffer(d*d<<3),h=this.cache.get_buffer(f<<3),g=this.cache.get_buffer(f*f<<3),_=new l(d,d,p,m.data),v=new l(1,f,p,h.data),y=new l(f,f,p,g.data);if(o==0)this.matmath.transpose(_,e);else{for(s=0;s<u*c;s++)_.data[s]=e.data[s];for(;s<f*d;s++)_.data[s]=0}if(this.JacobiSVDImpl(_.data,d,v.data,y.data,f,d,f,d),t){for(s=0;s<f;s++)t.data[s]=v.data[s];for(;s<u;s++)t.data[s]=0}if(o==0){if(n&&a&i.SVD_U_T)for(s=d*d;--s>=0;)n.data[s]=_.data[s];else n&&this.matmath.transpose(n,_);if(r&&a&i.SVD_V_T)for(s=f*f;--s>=0;)r.data[s]=y.data[s];else r&&this.matmath.transpose(r,y)}else{if(n&&a&i.SVD_U_T)for(s=f*f;--s>=0;)n.data[s]=y.data[s];else n&&this.matmath.transpose(n,y);if(r&&a&i.SVD_V_T)for(s=d*d;--s>=0;)r.data[s]=_.data[s];else r&&this.matmath.transpose(r,_)}this.cache.put_buffer(m),this.cache.put_buffer(h),this.cache.put_buffer(g)}svd_solve(e,t,n){let r=0,a=0,o=0,s=0,c=0,u=e.rows,d=e.cols,f=0,p=0,m=0,h=e.type|i.C1_t,g=this.cache.get_buffer(u*u<<3),_=this.cache.get_buffer(d<<3),v=this.cache.get_buffer(d*d<<3),y=new l(u,u,h,g.data),b=new l(1,d,h,_.data),x=new l(d,d,h,v.data),S=n.data,C=y.data,w=b.data,T=x.data;for(this.svd_decompose(e,b,y,x,0),m=i.EPSILON*w[0]*d;r<d;r++,c+=d){for(p=0,a=0;a<d;a++)if(w[a]>m){for(o=0,f=0,s=0;o<u;o++,s+=d)f+=C[s+a]*S[o];p+=f*T[c+a]/w[a]}t.data[r]=p}this.cache.put_buffer(g),this.cache.put_buffer(_),this.cache.put_buffer(v)}svd_invert(e,t){if(t.cols!==t.rows)throw Error(`jsfeatNext.linalg.svd_invert: only square matrices are supported, got ${t.rows}x${t.cols} (rows x cols). The rectangular pseudo-inverse is not implemented correctly yet — see issue #102.`);let n=0,r=0,a=0,o=0,s=0,c=0,u=t.rows,d=t.cols,f=0,p=0,m=t.type|i.C1_t,h=this.cache.get_buffer(u*u<<3),g=this.cache.get_buffer(d<<3),_=this.cache.get_buffer(d*d<<3),v=new l(u,u,m,h.data),y=new l(1,d,m,g.data),b=new l(d,d,m,_.data),x=e.data,S=v.data,C=y.data,w=b.data;for(this.svd_decompose(t,y,v,b,0),p=i.EPSILON*C[0]*d;n<d;n++,s+=d)for(r=0,o=0;r<u;r++,c++){for(a=0,f=0;a<d;a++,o++)C[a]>p&&(f+=w[s+a]*S[o]/C[a]);x[c]=f}this.cache.put_buffer(h),this.cache.put_buffer(g),this.cache.put_buffer(_)}eigenVV(e,t,n){let r=e.cols,a=r*r,o=e.type|i.C1_t,s=this.cache.get_buffer(r*r<<3),c=this.cache.get_buffer(r<<3),u=new l(r,r,o,s.data),d=new l(1,r,o,c.data);for(;--a>=0;)u.data[a]=e.data[a];if(this.JacobiImpl(u.data,r,d.data,t?t.data:null,r,r),n)for(;--r>=0;)n.data[r]=d.data[r];this.cache.put_buffer(s),this.cache.put_buffer(c)}};function x(e,t,n,r,i){let a=0,o=e[t],s=i,c=0,l=0,u=0;for(;a<25;++a)r[a]=o-e[t+n[a]];for(a=0;a<16;a+=2)c=Math.min(r[a+1],r[a+2]),c=Math.min(c,r[a+3]),!(c<=s)&&(c=Math.min(c,r[a+4]),c=Math.min(c,r[a+5]),c=Math.min(c,r[a+6]),c=Math.min(c,r[a+7]),c=Math.min(c,r[a+8]),s=Math.max(s,Math.min(c,r[a])),s=Math.max(s,Math.min(c,r[a+9])));for(l=-s,a=0;a<16;a+=2)u=Math.max(r[a+1],r[a+2]),u=Math.max(u,r[a+3]),u=Math.max(u,r[a+4]),u=Math.max(u,r[a+5]),!(u>=l)&&(u=Math.max(u,r[a+6]),u=Math.max(u,r[a+7]),u=Math.max(u,r[a+8]),l=Math.min(l,Math.max(u,r[a])),l=Math.min(l,Math.max(u,r[a+9])));return-l-1}var S=class extends c{constructor(){super(),this.offsets16=new Int32Array([0,3,1,3,2,2,3,1,3,0,3,-1,2,-2,1,-3,0,-3,-1,-3,-2,-2,-3,-1,-3,0,-3,1,-2,2,-1,3]),this.threshold_tab=new Uint8Array(512),this._threshold=20,this.pixel_off=new Int32Array(25),this.score_diff=new Int32Array(25)}set_threshold(e){this._threshold=Math.min(Math.max(e,0),255);for(let e=-255;e<=255;++e)this.threshold_tab[e+255]=e<-this._threshold?1:e>this._threshold?2:0;return this._threshold}detect(e,t,n){n===void 0&&(n=3);let r=e.data,i=e.cols,a=e.rows,o=0,s=0,c=0,l=0,u=0,d=0,f=this.cache.get_buffer(3*i),p=this.cache.get_buffer((i+1)*3<<2),m=f.u8,h=p.i32,g=this.pixel_off,_=this.score_diff,v=Math.max(3,n),y=Math.min(a-2,a-n),b=Math.max(3,n),S=Math.min(i-3,i-n),C=0,w=0,T,E=x,D=this.threshold_tab,O=this._threshold,k=0,A=0,j=0,M=0,N=0,P=0,F=0,I=0,L=0,R=0,z=0,B=0;this._cmp_offsets(g,i,16);let V=g[0],ee=g[1],H=g[2],U=g[3],W=g[4],G=g[5],K=g[6],te=g[7],q=g[8],J=g[9],Y=g[10],X=g[11],Z=g[12],ne=g[13],Q=g[14],re=g[15];for(o=0;o<i*3;++o)m[o]=0;for(o=v;o<y;++o){for(F=o*i+b|0,d=(o-3)%3,P=d*i|0,N=d*(i+1)|0,s=0;s<i;++s)m[P+s]=0;if(M=0,o<y-1){for(s=b;s<S;++s,++F)if(k=r[F],A=-k+255,j=D[A+r[F+V]]|D[A+r[F+q]],j!=0&&(j&=D[A+r[F+H]]|D[A+r[F+Y]],j&=D[A+r[F+W]]|D[A+r[F+Z]],j&=D[A+r[F+K]]|D[A+r[F+Q]],j!=0)){if(j&=D[A+r[F+ee]]|D[A+r[F+J]],j&=D[A+r[F+U]]|D[A+r[F+X]],j&=D[A+r[F+G]]|D[A+r[F+ne]],j&=D[A+r[F+te]]|D[A+r[F+re]],j&1)for(l=k-O,C=0,c=0;c<25;++c)if(u=r[F+g[c]],u<l){if(++C,C>8){++M,h[N+M]=s,m[P+s]=E(r,F,g,_,O);break}}else C=0;if(j&2)for(l=k+O,C=0,c=0;c<25;++c)if(u=r[F+g[c]],u>l){if(++C,C>8){++M,h[N+M]=s,m[P+s]=E(r,F,g,_,O);break}}else C=0}}if(h[N+i]=M,o!=v)for(d=(o-4+3)%3,I=d*i|0,N=d*(i+1)|0,d=(o-5+3)%3,L=d*i|0,M=h[N+i],c=0;c<M;++c)s=h[N+c],R=s+1|0,z=s-1|0,B=m[I+s],B>m[I+R]&&B>m[I+z]&&B>m[L+z]&&B>m[L+s]&&B>m[L+R]&&B>m[P+z]&&B>m[P+s]&&B>m[P+R]&&(T=t[w],T.x=s,T.y=o-1,T.score=B,w++)}return this.cache.put_buffer(f),this.cache.put_buffer(p),w}_cmp_offsets(e,t,n){let r=0,i=this.offsets16;for(;r<n;++r)e[r]=i[r<<1]+i[(r<<1)+1]*t;for(;r<25;++r)e[r]=e[r-n]}},C=class extends c{constructor(e){super(),this.levels=e|0,this.data=Array(e);let t=new h;this.pyrdown=t.pyrdown}allocate(e,t,n){let r=this.levels;for(;--r>=0;)this.data[r]=new l(e>>r,t>>r,n)}build(e,t){t===void 0&&(t=!0);let n=2,r=e,i=this.data[0];if(!t){let t=e.cols*e.rows;for(;--t>=0;)i.data[t]=e.data[t]}for(i=this.data[1],this.pyrdown(r,i);n<this.levels;++n)r=i,i=this.data[n],this.pyrdown(r,i)}},w=class{constructor(){}perspective_4point_transform(e,t,n,r,i,a,o,s,c,l,u,d,f,p,m,h,g){let _=t,v=l,y=o,b=_*v*y,x=m,S=_*x,C=v*S,w=u,T=_*w,E=a,D=n,O=p,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D,te=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,q=(b-C-z*y+z*w+A-v*B+I*v-j)*R,J=_,Y=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,X=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,Z=D,ne=(-T+V+H-B+N-M-F+I)*R,Q=(-S+T+k-H+I-L-M+P)*R;_=r,v=d,y=c,b=_*v*y,x=g,S=_*x,C=v*S,w=f,T=_*w,E=s,D=i,O=h,k=D*O,A=k*E,j=O*E*w,M=O*y,N=O*w,P=v*y,F=x*v,I=x*E,L=w*E,R=1/(M-N-P+F-I+L),z=_*O,B=D*E,V=y*_,ee=x*V,H=D*v,U=k*w,W=D*w*E,G=y*x*v,K=x*D;let re=-(C-b+T*E-E*S-k*v+A-j+M*v)*R,ie=(b-C-z*y+z*w+A-v*B+I*v-j)*R,ae=_,oe=(-w*S+ee+H*y-k*y+U-W+I*w-G)*R,se=(-ee+V*w-K*v+U-W+K*E+G-M*w)*R,ce=D,le=(-T+V+H-B+N-M-F+I)*R,ue=(-S+T+k-H+I-L-M+P)*R;v=X-Q*Z,y=te*X,b=te*Z,S=Y*q,C=J*Y,T=q*ne;let de=J*ne;O=1/(y-b*Q-S+C*Q+T*Z-de*X),A=-Y+Z*ne;let fe=-Y*Q+X*ne;L=-q+J*Q;let pe=te-de;B=te*Q-T,V=-q*Z+J*X;let me=b-C,he=y-S;W=v*O;let ge=L*O,_e=V*O,$=e.data;$[0]=re*W+A*O*ie-fe*O*ae,$[1]=re*ge+pe*O*ie-B*O*ae,$[2]=-re*_e-me*O*ie+he*O*ae,$[3]=oe*W+A*O*se-fe*O*ce,$[4]=oe*ge+pe*O*se-B*O*ce,$[5]=-oe*_e-me*O*se+he*O*ce,$[6]=le*W+A*O*ue-fe*O,$[7]=le*ge+pe*O*ue-B*O,$[8]=-le*_e-me*O*ue+he*O}invert_affine_transform(e,t){let n=e.data,r=t.data,i=n[0],a=n[1],o=n[2],s=n[3],c=n[4],l=n[5],u=1/(i*c-a*s);r[0]=u*c,r[1]=u*-a,r[2]=u*(a*l-o*c),r[3]=u*-s,r[4]=u*i,r[5]=u*(o*s-i*l)}invert_perspective_transform(e,t){let n=e.data,r=t.data,i=n[0],a=n[1],o=n[2],s=n[3],c=n[4],l=n[5],u=n[6],d=n[7],f=n[8],p=1/(i*(c*f-l*d)-a*(s*f-l*u)+o*(s*d-c*u));r[0]=p*(c*f-l*d),r[1]=p*(o*d-a*f),r[2]=p*(a*l-o*c),r[3]=p*(l*u-s*f),r[4]=p*(i*f-o*u),r[5]=p*(o*s-i*l),r[6]=p*(s*d-c*u),r[7]=p*(a*u-i*d),r[8]=p*(i*c-a*s)}},T=class{constructor(e=0,t=0,n=0,r=0,i=-1){this.x=e,this.y=t,this.score=n,this.level=r,this.angle=i}},E=[8,-3,9,5,4,2,7,-12,-11,9,-8,2,7,-12,12,-13,2,-13,2,12,1,-7,1,6,-2,-10,-2,-4,-13,-13,-11,-8,-13,-3,-12,-9,10,4,11,9,-13,-8,-8,-9,-11,7,-9,12,7,7,12,6,-4,-5,-3,0,-13,2,-12,-3,-9,0,-7,5,12,-6,12,-1,-3,6,-2,12,-6,-13,-4,-8,11,-13,12,-8,4,7,5,1,5,-3,10,-3,3,-7,6,12,-8,-7,-6,-2,-2,11,-1,-10,-13,12,-8,10,-7,3,-5,-3,-4,2,-3,7,-10,-12,-6,11,5,-12,6,-7,5,-6,7,-1,1,0,4,-5,9,11,11,-13,4,7,4,12,2,-1,4,4,-4,-12,-2,7,-8,-5,-7,-10,4,11,9,12,0,-8,1,-13,-13,-2,-8,2,-3,-2,-2,3,-6,9,-4,-9,8,12,10,7,0,9,1,3,7,-5,11,-10,-13,-6,-11,0,10,7,12,1,-6,-3,-6,12,10,-9,12,-4,-13,8,-8,-12,-13,0,-8,-4,3,3,7,8,5,7,10,-7,-1,7,1,-12,3,-10,5,6,2,-4,3,-10,-13,0,-13,5,-13,-7,-12,12,-13,3,-11,8,-7,12,-4,7,6,-10,12,8,-9,-1,-7,-6,-2,-5,0,12,-12,5,-7,5,3,-10,8,-13,-7,-7,-4,5,-3,-2,-1,-7,2,9,5,-11,-11,-13,-5,-13,-1,6,0,-1,5,-3,5,2,-4,-13,-4,12,-9,-6,-9,6,-12,-10,-8,-4,10,2,12,-3,7,12,12,12,-7,-13,-6,5,-4,9,-3,4,7,-1,12,2,-7,6,-5,1,-13,11,-12,5,-3,7,-2,-6,7,-8,12,-7,-13,-7,-11,-12,1,-3,12,12,2,-6,3,0,-4,3,-2,-13,-1,-13,1,9,7,1,8,-6,1,-1,3,12,9,1,12,6,-1,-9,-1,3,-13,-13,-10,5,7,7,10,12,12,-5,12,9,6,3,7,11,5,-13,6,10,2,-12,2,3,3,8,4,-6,2,6,12,-13,9,-12,10,3,-8,4,-7,9,-11,12,-4,-6,1,12,2,-8,6,-9,7,-4,2,3,3,-2,6,3,11,0,3,-3,8,-8,7,8,9,3,-11,-5,-6,-4,-10,11,-5,10,-5,-8,-3,12,-10,5,-9,0,8,-1,12,-6,4,-6,6,-11,-10,12,-8,7,4,-2,6,7,-2,0,-2,12,-5,-8,-5,2,7,-6,10,12,-9,-13,-8,-8,-5,-13,-5,-2,8,-8,9,-13,-9,-11,-9,0,1,-8,1,-2,7,-4,9,1,-2,1,-1,-4,11,-6,12,-11,-12,-9,-6,4,3,7,7,12,5,5,10,8,0,-4,2,8,-9,12,-5,-13,0,7,2,12,-1,2,1,7,5,11,7,-9,3,5,6,-8,-13,-4,-8,9,-5,9,-3,-3,-4,-7,-3,-12,6,5,8,0,-7,6,-6,12,-13,6,-5,-2,1,-10,3,10,4,1,8,-4,-2,-2,2,-13,2,-12,12,12,-2,-13,0,-6,4,1,9,3,-6,-10,-3,-5,-3,-13,-1,1,7,5,12,-11,4,-2,5,-7,-13,9,-9,-5,7,1,8,6,7,-8,7,6,-7,-4,-7,1,-8,11,-7,-8,-13,6,-12,-8,2,4,3,9,10,-5,12,3,-6,-5,-6,7,8,-3,9,-8,2,-12,2,8,-11,-2,-10,3,-12,-13,-7,-9,-11,0,-10,-5,5,-3,11,8,-2,-13,-1,12,-1,-8,0,9,-13,-11,-12,-5,-10,-2,-10,11,-3,9,-2,-13,2,-3,3,2,-9,-13,-4,0,-4,6,-3,-10,-4,12,-2,-7,-6,-11,-4,9,6,-3,6,11,-13,11,-5,5,11,11,12,6,7,-5,12,-2,-1,12,0,7,-4,-8,-3,-2,-7,1,-6,7,-13,-12,-8,-13,-7,-2,-6,-8,-8,5,-6,-9,-5,-1,-4,5,-13,7,-8,10,1,5,5,-13,1,0,10,-13,9,12,10,-1,5,-8,10,-9,-1,11,1,-13,-9,-3,-6,2,-1,-10,1,12,-13,1,-8,-10,8,-11,10,-6,2,-13,3,-6,7,-13,12,-9,-10,-10,-5,-7,-10,-8,-8,-13,4,-6,8,5,3,12,8,-13,-4,2,-3,-3,5,-13,10,-12,4,-13,5,-1,-9,9,-4,3,0,3,3,-9,-12,1,-6,1,3,2,4,-8,-10,-10,-10,9,8,-13,12,12,-8,-12,-6,-5,2,2,3,7,10,6,11,-8,6,8,8,-12,-7,10,-6,5,-3,-9,-3,9,-1,-13,-1,5,-3,-7,-3,4,-8,-2,-8,3,4,2,12,12,2,-5,3,11,6,-9,11,-13,3,-1,7,12,11,-1,12,4,-3,0,-3,6,4,-11,4,12,2,-4,2,1,-10,-6,-8,1,-13,7,-11,1,-13,12,-11,-13,6,0,11,-13,0,-1,1,4,-13,3,-9,-2,-9,8,-6,-3,-13,-6,-8,-2,5,-9,8,10,2,7,3,-9,-1,-6,-1,-1,9,5,11,-2,11,-3,12,-8,3,0,3,5,-1,4,0,10,3,-6,4,5,-13,0,-10,5,5,8,12,11,8,9,9,-6,7,-4,8,-12,-10,4,-10,9,7,3,12,4,9,-7,10,-2,7,0,12,-2,-1,-6,0,-11];function D(e,t,n,r,i,a,o,s){let c=Math.cos(n),l=Math.sin(n);o.data[0]=c,o.data[1]=-l,o.data[2]=(-c+l)*a*.5+r,o.data[3]=l,o.data[4]=c,o.data[5]=(-l-c)*a*.5+i,s.warp_affine(e,t,o,128)}var O=new Int32Array([15,15,15,15,14,14,14,13,13,12,11,10,9,8,6,3,0]),k=class extends c{constructor(){super(),this.bit_pattern_31_=new Int32Array(E),this.H=new l(3,3,i.F32_t|i.C1_t),this.patch_img=new l(32,32,i.U8_t|i.C1_t),this.imgproc=new h}ic_angle(e,t,n){let r=0,i=0,a=e.data,o=e.cols,s=0,c=0,l=n*o+t|0,u=0,d=0,f=0,p=0;for(s=-15;s<=15;++s)i+=s*a[l+s];for(c=1;c<=15;++c){for(u=0,d=O[c],s=-d;s<=d;++s)f=a[l+s+c*o],p=a[l+s-c*o],u+=f-p,i+=s*(f+p);r+=c*u}return Math.atan2(r,i)}describe(e,t,n,r){let a=0,o=0,s=0,c=0,l=0,u=0,d=0,f=0,p=this.patch_img.data,m=0;r.type&i.U8_t?r.resize(32,n,1):(r.type=i.U8_t,r.cols=32,r.rows=n,r.channel=1,r.allocate());let h=r.data,g=0;for(a=0;a<n;++a){for(s=t[a].x,c=t[a].y,l=t[a].angle,D(e,this.patch_img,l,s,c,32,this.H,this.imgproc),m=0,o=0;o<32;++o)u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f=u<d|0,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<1,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<2,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<3,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<4,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<5,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<6,u=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,d=p[528+this.bit_pattern_31_[m+1]*32+this.bit_pattern_31_[m]],m+=2,f|=(u<d)<<7,h[g+o]=f;g+=32}}};function A(e,t,n){let r=0,i,a;for(i=n,a=0;a<i;a++,r++)i=Math.sqrt(n*n-a*a)+.5|0,t[r]=i+e*a;for(i--;i<a&&i>=0;i--,r++)a=Math.sqrt(n*n-i*i)+.5|0,t[r]=i+e*a;for(;-i<a;i--,r++)a=Math.sqrt(n*n-i*i)+.5|0,t[r]=i+e*a;for(a--;a>=0;a--,r++)i=-Math.sqrt(n*n-a*a)-.5|0,t[r]=i+e*a;for(;a>i;a--,r++)i=-Math.sqrt(n*n-a*a)-.5|0,t[r]=i+e*a;for(i++;i<=0;i++,r++)a=-Math.sqrt(n*n-i*i)-.5|0,t[r]=i+e*a;for(;i<-a;i++,r++)a=-Math.sqrt(n*n-i*i)-.5|0,t[r]=i+e*a;for(a++;a<0;a++,r++)i=Math.sqrt(n*n-a*a)+.5|0,t[r]=i+e*a;return t[r]=t[0],t[r+1]=t[1],r}function j(e,t,n){let r=0;return e[t+1]!=0&&r++,e[t-1]!=0&&r++,e[t+n]!=0&&r++,e[t+n+1]!=0&&r++,e[t+n-1]!=0&&r++,e[t-n]!=0&&r++,e[t-n+1]!=0&&r++,e[t-n-1]!=0&&r++,r}function M(e,t,n,r,i){let a,o;if(n>0)for(t-=r*i,o=-i;o<=i;++o){for(a=-i;a<=i;++a)if(e[t+a]>n)return!1;t+=r}else for(t-=r*i,o=-i;o<=i;++o){for(a=-i;a<=i;++a)if(e[t+a]<n)return!1;t+=r}return!0}function N(e,t,n,r,i,a,o,s){let c=0,l=0,u=o-1|0,d=0,f=0,p=0,m=0,h=0;if(d=e[t+a[l]],d<=i){if(d>=r){if(f=e[t+a[u]],f<=i){if(f>=r){n[t]=0;return}if(u++,p=e[t+a[u]],p>i){if(u++,m=e[t+a[u]],m>i)h=3;else if(m<r)h=6;else{n[t]=0;return}}else if(u++,m=e[t+a[u]],m>i)h=7;else if(m<r)h=2;else{n[t]=0;return}}else if(u++,p=e[t+a[u]],p>i){if(u++,m=e[t+a[u]],m>i)h=3;else if(m<r)h=6;else{n[t]=0;return}}else if(p<r){if(u++,m=e[t+a[u]],m>i)h=7;else if(m<r)h=2;else{n[t]=0;return}}else{n[t]=0;return}}else{if(f=e[t+a[u]],f>i){n[t]=0;return}if(u++,p=e[t+a[u]],p>i){n[t]=0;return}if(u++,m=e[t+a[u]],m>i){n[t]=0;return}h=1}}else{if(f=e[t+a[u]],f<r){n[t]=0;return}if(u++,p=e[t+a[u]],p<r){n[t]=0;return}if(u++,m=e[t+a[u]],m<r){n[t]=0;return}h=0}for(l=1;l<=o;l++)switch(d=e[t+a[l]],h){case 0:if(d>i){if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=0;break}if(d<r){if(p>i){n[t]=0;return}if(m>i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=8;break}if(p<=i){n[t]=0;return}if(m<=i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 1:if(d<r){if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=1;break}if(d>i){if(p<r){n[t]=0;return}if(m<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=9;break}if(p>=r){n[t]=0;return}if(m>=r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){c-=d+p,h=2;break}if(m>i){c-=d+p,h=7;break}n[t]=0;return;case 2:if(d>i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],d<r){if(m>i){n[t]=0;return}c-=d+p,h=4;break}if(m>i){c-=d+p,h=7;break}if(m<r){c-=d+p,h=2;break}n[t]=0;return;case 3:if(d<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],d>i){if(m<r){n[t]=0;return}c-=d+p,h=5;break}if(m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 4:if(d>i){n[t]=0;return}if(d<r){if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=1;break}if(m>=r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){c-=d+p,h=2;break}if(m>i){c-=d+p,h=7;break}n[t]=0;return;case 5:if(d<r){n[t]=0;return}if(d>i){if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=0;break}if(m<=i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 7:if(d>i){n[t]=0;return}if(d<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){c-=d+p,h=3;break}if(m<r){c-=d+p,h=6;break}n[t]=0;return;case 6:if(d>i){n[t]=0;return}if(d<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){c-=d+p,h=2;break}if(m>i){c-=d+p,h=7;break}n[t]=0;return;case 8:if(d>i){if(m<r){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=9;break}if(d<r){if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=1;break}n[t]=0;return;case 9:if(d<r){if(m>i){n[t]=0;return}if(p=m,u++,m=e[t+a[u]],m>i){n[t]=0;return}c-=d+p,h=8;break}if(d>i){if(p=m,u++,m=e[t+a[u]],m<r){n[t]=0;return}c-=d+p,h=0;break}n[t]=0;return}n[t]=c+s*e[t]}var P=class{constructor(e,t,n){this.dirs=new Int32Array(1024),this.dirs_count=A(e,this.dirs,n)|0,this.scores=new Int32Array(e*t),this.radius=n|0}},F=j,I=M,L=N,R=class{constructor(){this.level_tables=[],this.tau=7}init(e,t,n,r=1){n=Math.min(n,7),n=Math.max(n,3);for(let i=0;i<r;++i)this.level_tables[i]=new P(e>>i,t>>i,n)}detect(e,t,n=4){let r=this.level_tables[0],i=r.radius|0,a=i-1|0,o=r.dirs,s=r.dirs_count|0,c=s>>1,l=e.data,u=e.cols|0,d=e.rows|0,f=u>>1,p=r.scores,m=0,h=0,g=0,_=0,v=0,y=0,b=0,x=0,S=this.tau|0,C=0,w,T=Math.max(i+1,n)|0,E=Math.max(i+1,n)|0,D=Math.min(u-i-2,u-n)|0,O=Math.min(d-i-2,d-n)|0;for(g=E*u+T|0,h=E;h<O;++h,g+=u)for(m=T,_=g;m<D;++m,++_)v=l[_]+S,y=l[_]-S,y<l[_+i]&&l[_+i]<v&&y<l[_-i]&&l[_-i]<v?p[_]=0:L(l,_,p,y,v,o,c,s);for(g=E*u+T|0,h=E;h<O;++h,g+=u)for(m=T,_=g;m<D;++m,++_)x=p[_],b=Math.abs(x),b<5?(++m,++_):F(p,_,u)>=3&&I(p,_,x,f,i)&&(w=t[C],w.x=m,w.y=h,w.score=b,++C,m+=a,_+=a);return C}};function z(e,t,n,r,i,a,o,s,c){let l=0,u=0,d=o*n+a|0,f=d;for(l=o;l<c;++l,d+=n,f=d)for(u=a;u<s;++u,++f)f+r<e.length&&f-r>=0&&f+i<e.length&&f-i>=0?t[f]=-4*e[f]+e[f+r]+e[f-r]+e[f+i]+e[f-i]:t[f]=0}function B(e,t,n,r,i,a,o){let s=-2*e[t]+e[t+r]+e[t-r],c=-2*e[t]+e[t+i]+e[t-i],l=e[t+a]+e[t-a]-e[t+o]-e[t-o],u=Math.sqrt((s-c)*(s-c)+4*l*l)|0;return Math.min(Math.abs(n-u),Math.abs(-(n+u)))}var V=z,ee=B,H=class extends c{constructor(){super(),this.laplacian_threshold=30,this.min_eigen_value_threshold=25}detect(e,t,n){n===void 0&&(n=5);let r=0,i=0,a=e.cols,o=e.rows,s=e.data,c=5*a|0,l=3+3*a|0,u=3-3*a|0,d=this.cache.get_buffer(a*o<<2),f=d.i32,p=0,m=0,h=0,g=0,_,v=0,y=this.laplacian_threshold,b=this.min_eigen_value_threshold,x=Math.max(5,n)|0,S=Math.max(3,n)|0,C=Math.min(a-5,a-n)|0,w=Math.min(o-3,o-n)|0;for(r=a*o;--r>=0;)f[r]=0;for(V(s,f,a,5,c,x,S,C,w),m=S*a+x|0,i=S;i<w;++i,m+=a)for(r=x,h=m;r<C;++r,++h)p=f[h],(p<-y&&p<f[h-1]&&p<f[h+1]&&p<f[h-a]&&p<f[h+a]&&p<f[h-a-1]&&p<f[h+a-1]&&p<f[h-a+1]&&p<f[h+a+1]||p>y&&p>f[h-1]&&p>f[h+1]&&p>f[h-a]&&p>f[h+a]&&p>f[h-a-1]&&p>f[h+a-1]&&p>f[h-a+1]&&p>f[h+a+1])&&(g=ee(s,h,p,5,c,l,u),g>b&&(_=t[v],_.x=r,_.y=i,_.score=g,++v,++r,++h));return this.cache.put_buffer(d),v}},U=class{constructor(e=0,t=.5,n=.5,r=.99){this.size=e,this.thresh=t,this.eps=n,this.prob=r}update_iters(e,t){let n=Math.log(1-this.prob),r=Math.log(1-Math.pow(1-e,this.size));return(r>=0||-n>=t*-r?t:Math.round(n/r))|0}},W=class extends c{constructor(){super()}get_subset(e,t,n,r,i,a,o){let s=1e3,c=[],l=0,u=0,d=0,f=0,p=!1;for(;d<s;++d){for(l=0;l<r&&d<s;){for(p=!1,f=0;!p;)for(p=!0,f=c[l]=Math.floor(Math.random()*i)|0,u=0;u<l;++u)if(f==c[u]){p=!1;break}if(a[l]=t[f],o[l]=n[f],!e.check_subset(a,o,l+1)){d++;continue}++l}break}return l==r&&d<s}find_inliers(e,t,n,r,i,a,o,s){let c=0,l=0,u=0,d=a*a;for(e.error(n,r,t,o,i);l<i;++l)u=o[l]<=d,s[l]=u,c+=u;return c}ransac(e,t,n,r,a,o,s,c){if(c===void 0&&(c=1e3),a<e.size)return!1;let u=e.size,d=c,f=0,p=!1,m=[],h=[],g=!1,_=o.cols,v=o.rows,y=o.type|i.C1_t,b=this.cache.get_buffer(_*v<<3),x=this.cache.get_buffer(a),S=this.cache.get_buffer(a<<2),C=new l(_,v,y,b.data),w=new l(a,1,i.U8C1_t,x.data),T=-1,E=0,D=0,O=S.f32;if(a==u){if(t.run(n,r,C,a)<=0)return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),!1;if(C.copy_to(o),s)for(;--a>=0;)s.data[a]=1;return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),!0}for(;f<d;++f){if(g=this.get_subset(t,n,r,u,a,m,h),!g){if(f==0)return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),!1;break}D=t.run(m,h,C,u),!(D<=0)&&(E=this.find_inliers(t,C,n,r,a,e.thresh,O,w.data),E>Math.max(T,u-1)&&(C.copy_to(o),T=E,s&&w.copy_to(s),d=e.update_iters((a-E)/a,d),p=!0))}return this.cache.put_buffer(b),this.cache.put_buffer(x),this.cache.put_buffer(S),p}lmeds(e,t,n,r,a,o,s,c){if(c===void 0&&(c=1e3),a<e.size)return!1;let u=e.size,d=c,f=0,p=!1,h=new m,g=[],_=[],v=!1,y=o.cols,b=o.rows,x=o.type|i.C1_t,S=this.cache.get_buffer(y*b<<3),C=this.cache.get_buffer(a),w=this.cache.get_buffer(a<<2),T=new l(y,b,x,S.data),E=new l(a,1,i.U8_t|i.C1_t,C.data),D=0,O=0,k=w.f32,A=1e9,j=0,M=0;if(e.eps=.45,d=e.update_iters(e.eps,d),a==u){if(t.run(n,r,T,a)<=0)return this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),!1;if(T.copy_to(o),s)for(;--a>=0;)s.data[a]=1;return this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),!0}for(;f<d;++f){if(v=this.get_subset(t,n,r,u,a,g,_),!v){if(f==0)return this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),!1;break}O=t.run(g,_,T,u),!(O<=0)&&(t.error(n,r,T,k,a),M=h.median(k,0,a-1),M<A&&(A=M,T.copy_to(o),p=!0))}return p&&(j=2.5*1.4826*(1+5/(a-u))*Math.sqrt(A),j=Math.max(j,.001),D=this.find_inliers(t,o,n,r,a,j,k,E.data),s&&E.copy_to(s),p=D>=u),this.cache.put_buffer(S),this.cache.put_buffer(C),this.cache.put_buffer(w),p}},G=class extends c{constructor(){super(),this.T0=new l(3,3,i.F32_t|i.C1_t),this.T1=new l(3,3,i.F32_t|i.C1_t),this.AtA=new l(6,6,i.F32_t|i.C1_t),this.AtB=new l(6,1,i.F32_t|i.C1_t)}sqr(e){return e*e}iso_normalize_points(e,t,n,r,i){let a=0,o=0,s=0,c=0,l=0,u=0,d=0,f=0,p=0,m=0,h=0;for(;a<i;++a)o+=e[a].x,s+=e[a].y,u+=t[a].x,d+=t[a].y;for(o/=i,s/=i,u/=i,d/=i,a=0;a<i;++a)m=e[a].x-o,h=e[a].y-s,c+=Math.sqrt(m*m+h*h),m=t[a].x-u,h=t[a].y-d,f+=Math.sqrt(m*m+h*h);c/=i,f/=i,l=Math.SQRT2/c,p=Math.SQRT2/f,n[0]=n[4]=l,n[2]=-o*l,n[5]=-s*l,n[1]=n[3]=n[6]=n[7]=0,n[8]=1,r[0]=r[4]=p,r[2]=-u*p,r[5]=-d*p,r[1]=r[3]=r[6]=r[7]=0,r[8]=1}have_collinear_points(e,t){let n=0,r=0,a=t-1|0,o=0,s=0,c=0,l=0;for(;n<a;++n)for(o=e[n].x-e[a].x,s=e[n].y-e[a].y,r=0;r<n;++r)if(c=e[r].x-e[a].x,l=e[r].y-e[a].y,Math.abs(c*s-l*o)<=i.EPSILON*(Math.abs(o)+Math.abs(s)+Math.abs(c)+Math.abs(l)))return!0;return!1}},K=class extends G{constructor(){super()}run(e,t,n,r){let a=0,o=0,s=n.type|i.C1_t,c=n.data,u=this.T0.data,d=this.T1.data,f,p,m=0,h=0,g=new y,_=new b;this.iso_normalize_points(e,t,u,d,r);let v=this.cache.get_buffer(2*r*6<<3),x=this.cache.get_buffer(2*r<<3),S=new l(6,2*r,s,v.data),C=new l(1,2*r,s,x.data),w=S.data,T=C.data;for(;a<r;++a)f=e[a],p=t[a],m=u[0]*f.x+u[1]*f.y+u[2],h=u[3]*f.x+u[4]*f.y+u[5],o=a*2*6,w[o]=m,w[o+1]=h,w[o+2]=1,w[o+3]=0,w[o+4]=0,w[o+5]=0,o+=6,w[o]=0,w[o+1]=0,w[o+2]=0,w[o+3]=m,w[o+4]=h,w[o+5]=1,T[a<<1]=d[0]*p.x+d[1]*p.y+d[2],T[(a<<1)+1]=d[3]*p.x+d[4]*p.y+d[5];return g.multiply_AtA(this.AtA,S),g.multiply_AtB(this.AtB,S,C),_.lu_solve(this.AtA,this.AtB),c[0]=this.AtB.data[0],c[1]=this.AtB.data[1],c[2]=this.AtB.data[2],c[3]=this.AtB.data[3],c[4]=this.AtB.data[4],c[5]=this.AtB.data[5],c[6]=0,c[7]=0,c[8]=1,g.invert_3x3(this.T1,this.T1),g.multiply_3x3(n,this.T1,n),g.multiply_3x3(n,n,this.T0),this.cache.put_buffer(v),this.cache.put_buffer(x),1}error(e,t,n,r,i){let a=0,o,s,c=n.data;for(;a<i;++a)o=e[a],s=t[a],r[a]=this.sqr(s.x-c[0]*o.x-c[1]*o.y-c[2])+this.sqr(s.y-c[3]*o.x-c[4]*o.y-c[5])}check_subset(e,t,n){return!0}},te=class extends G{constructor(){super(),this.mLtL=new l(9,9,i.F32_t|i.C1_t),this.Evec=new l(9,9,i.F32_t|i.C1_t)}run(e,t,n,r){let a=0,o=0,s=n.data,c=this.T0.data,l=this.T1.data,u=this.mLtL.data,d=this.Evec.data,f=0,p=0,m=0,h=0,g=new b,_=new y,v=0,x=0,S=0,C=0,w=0,T=0,E=0,D=0;for(;a<r;++a)S+=t[a].x,C+=t[a].y,E+=e[a].x,D+=e[a].y;for(S/=r,C/=r,E/=r,D/=r,a=0;a<r;++a)v+=Math.abs(t[a].x-S),x+=Math.abs(t[a].y-C),w+=Math.abs(e[a].x-E),T+=Math.abs(e[a].y-D);if(Math.abs(v)<i.EPSILON||Math.abs(x)<i.EPSILON||Math.abs(w)<i.EPSILON||Math.abs(T)<i.EPSILON)return 0;for(v=r/v,x=r/x,w=r/w,T=r/T,c[0]=w,c[1]=0,c[2]=-E*w,c[3]=0,c[4]=T,c[5]=-D*T,c[6]=0,c[7]=0,c[8]=1,l[0]=1/v,l[1]=0,l[2]=S,l[3]=0,l[4]=1/x,l[5]=C,l[6]=0,l[7]=0,l[8]=1,a=81;--a>=0;)u[a]=0;for(a=0;a<r;++a)f=(t[a].x-S)*v,p=(t[a].y-C)*x,m=(e[a].x-E)*w,h=(e[a].y-D)*T,u[0]+=m*m,u[1]+=m*h,u[2]+=m,u[6]+=m*-f*m,u[7]+=m*-f*h,u[8]+=m*-f,u[10]+=h*h,u[11]+=h,u[15]+=h*-f*m,u[16]+=h*-f*h,u[17]+=h*-f,u[20]+=1,u[24]+=-f*m,u[25]+=-f*h,u[26]+=-f,u[30]+=m*m,u[31]+=m*h,u[32]+=m,u[33]+=m*-p*m,u[34]+=m*-p*h,u[35]+=m*-p,u[40]+=h*h,u[41]+=h,u[42]+=h*-p*m,u[43]+=h*-p*h,u[44]+=h*-p,u[50]+=1,u[51]+=-p*m,u[52]+=-p*h,u[53]+=-p,u[60]+=-f*m*-f*m+-p*m*-p*m,u[61]+=-f*m*-f*h+-p*m*-p*h,u[62]+=-f*m*-f+-p*m*-p,u[70]+=-f*h*-f*h+-p*h*-p*h,u[71]+=-f*h*-f+-p*h*-p,u[80]+=-f*-f+-p*-p;for(a=0;a<9;++a)for(o=0;o<a;++o)u[a*9+o]=u[o*9+a];return g.eigenVV(this.mLtL,this.Evec),s[0]=d[72],s[1]=d[73],s[2]=d[74],s[3]=d[75],s[4]=d[76],s[5]=d[77],s[6]=d[78],s[7]=d[79],s[8]=d[80],_.multiply_3x3(n,this.T1,n),_.multiply_3x3(n,n,this.T0),f=1/s[8],s[0]*=f,s[1]*=f,s[2]*=f,s[3]*=f,s[4]*=f,s[5]*=f,s[6]*=f,s[7]*=f,s[8]=1,1}error(e,t,n,r,i){let a=0,o,s,c=0,l=0,u=0,d=n.data;for(;a<i;++a)o=e[a],s=t[a],c=1/(d[6]*o.x+d[7]*o.y+1),l=(d[0]*o.x+d[1]*o.y+d[2])*c-s.x,u=(d[3]*o.x+d[4]*o.y+d[5])*c-s.y,r[a]=l*l+u*u}check_subset(e,t,n){let r=new y;if(n==4){let n=0,i=e[0],a=e[1],o=e[2],s=e[3],c=t[0],l=t[1],u=t[2],d=t[3],f=i.x,p=i.y,m=a.x,h=a.y,g=o.x,_=o.y,v=c.x,y=c.y,b=l.x,x=l.y,S=u.x,C=u.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1);if(w*T<0&&n++,f=a.x,p=a.y,m=o.x,h=o.y,g=s.x,_=s.y,v=l.x,y=l.y,b=u.x,x=u.y,S=d.x,C=d.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1),w*T<0&&n++,f=i.x,p=i.y,m=o.x,h=o.y,g=s.x,_=s.y,v=c.x,y=c.y,b=u.x,x=u.y,S=d.x,C=d.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1),w*T<0&&n++,f=i.x,p=i.y,m=a.x,h=a.y,g=s.x,_=s.y,v=c.x,y=c.y,b=l.x,x=l.y,S=d.x,C=d.y,w=r.determinant_3x3(f,p,1,m,h,1,g,_,1),T=r.determinant_3x3(v,y,1,b,x,1,S,C,1),w*T<0&&n++,n!=0&&n!=4)return!1}return!0}},q=class extends c{constructor(){super();let e=new h;this.scharr_deriv=e.scharr_derivatives}track(e,t,n,r,a,o,s,c,u,d){s===void 0&&(s=30),c===void 0&&(c=new Uint8Array(a)),u===void 0&&(u=.01),d===void 0&&(d=1e-4);let f=(o-1)*.5,p=o*o|0,m=p<<1,h=e.data,g=t.data,_=h[0].data,v=g[0].data,y=h[0].cols,b=h[0].rows,x=0,S=0,C=this.cache.get_buffer(p<<2),w=this.cache.get_buffer(m<<2),T=this.cache.get_buffer(b*(y<<1)<<2),E=new l(y,b,i.S32C2_t,T.data),D=C.i32,O=w.i32,k=T.i32,A=0,j=0,M=0,N=0,P=0,F=0,I=0,L=0,R=0,z=0,B=0,V=0,ee=0,H=0,U=0,W=0,G=0,K=0,te=0,q=0,J=0,Y=0,X=0,Z=0,ne=0,Q=0,re=0,ie=0,ae=0,oe=0,se=0,ce=0,le=16384,ue=8192,de=1/(1<<20),fe=0,pe=0,me=0,he=0,ge=0,_e=0,$=0,ve=0,ye=0,be=0,xe=0,Se=0;for(u*=u;q<a;++q)c[q]=1;let Ce=e.levels-1|0;for(Z=Ce;Z>=0;--Z)for(I=1/(1<<Z),x=y>>Z,S=b>>Z,A=x<<1,_=h[Z].data,v=g[Z].data,re=x-o|0,ie=S-o|0,this.scharr_deriv(h[Z],E),ne=0;ne<a;++ne){if(q=ne<<1,J=q+1,L=n[q]*I,R=n[J]*I,Z==Ce?(z=L,B=R):(z=r[q]*2,B=r[J]*2),r[q]=z,r[J]=B,L-=f,R-=f,W=L|0,G=R|0,Y=W<=0||W>=re||G<=0||G>=ie,Y!=0){Z==0&&(c[ne]=0);continue}for(ae=L-W,oe=R-G,fe=(1-ae)*(1-oe)*le+.5|0,pe=ae*(1-oe)*le+.5|0,me=(1-ae)*oe*le+.5|0,he=le-fe-pe-me,ve=0,ye=0,be=0,X=0;X<o;++X)for(j=(X+G)*x+W|0,M=j<<1,N=X*o|0,P=N<<1,Y=0;Y<o;++Y,++j,++N,M+=2)ge=_[j]*fe+_[j+1]*pe+_[j+x]*me+_[j+x+1]*he,ge=ge+256>>9,_e=k[M]*fe+k[M+2]*pe+k[M+A]*me+k[M+A+2]*he,_e=_e+ue>>14,$=k[M+1]*fe+k[M+3]*pe+k[M+A+1]*me+k[M+A+3]*he,$=$+ue>>14,D[N]=ge,O[P++]=_e,O[P++]=$,ve+=_e*_e,ye+=_e*$,be+=$*$;if(ve*=de,ye*=de,be*=de,xe=ve*be-ye*ye,Se=(be+ve-Math.sqrt((ve-be)*(ve-be)+4*ye*ye))/m,Se<d||xe<1.1920929e-7){Z==0&&(c[ne]=0);continue}for(xe=1/xe,z-=f,B-=f,V=0,ee=0,Q=0;Q<s;++Q){if(K=z|0,te=B|0,Y=K<=0||K>=re||te<=0||te>=ie,Y!=0){Z==0&&(c[ne]=0);break}for(ae=z-K,oe=B-te,fe=(1-ae)*(1-oe)*le+.5|0,pe=ae*(1-oe)*le+.5|0,me=(1-ae)*oe*le+.5|0,he=le-fe-pe-me,se=0,ce=0,X=0;X<o;++X)for(F=(X+te)*x+K|0,N=X*o|0,P=N<<1,Y=0;Y<o;++Y,++F,++N)ge=v[F]*fe+v[F+1]*pe+v[F+x]*me+v[F+x+1]*he,ge=ge+256>>9,ge-=D[N],se+=ge*O[P++],ce+=ge*O[P++];if(se*=de,ce*=de,H=(ye*ce-be*se)*xe,U=(ye*se-ve*ce)*xe,z+=H,B+=U,r[q]=z+f,r[J]=B+f,H*H+U*U<=u)break;if(Q>0&&Math.abs(H+V)<.01&&Math.abs(U+ee)<.01){r[q]-=H*.5,r[J]-=U*.5;break}V=H,ee=U}}this.cache.put_buffer(C),this.cache.put_buffer(w),this.cache.put_buffer(T)}},J=class{constructor(e=0,t=0,n=0){this.queryIdx=e,this.trainIdx=t,this.distance=n}},Y=class t extends c{constructor(e=i.NORM_HAMMING,t=!1){super(),this.norm_type=e,this.cross_check=t}static popcnt32(e){return e-=e>>1&1431655765,e=(e&858993459)+(e>>2&858993459),(e+(e>>4)&252645135)*16843009>>24}static rowBytes(t){return t.cols*t.channel*e._get_data_type_size(t.type)}static words(e){if(!(e.type&i.U8_t))throw Error(`jsfeatNext.bfmatcher: descriptors must be U8`);let n=t.rowBytes(e);if(n&3)throw Error(`jsfeatNext.bfmatcher: descriptor width must be a multiple of 4 bytes, got ${n}`);return e.buffer.i32}static pairWords(e,n){let r=t.words(e),i=t.words(n),a=t.rowBytes(e),o=t.rowBytes(n);if(a!==o)throw Error(`jsfeatNext.bfmatcher: query and train descriptors must have the same row width, got ${a} and ${o} bytes`);return{qw:r,tw:i,word_len:a>>2}}static hamming(e,n,r,i,a){let o=0;for(let s=0;s<a;++s)o+=t.popcnt32(e[n+s]^r[i+s]);return o}match(e,n,r=256){let i=e.rows,a=n.rows,{qw:o,tw:s,word_len:c}=t.pairWords(e,n),l=[];if(!this.cross_check){for(let e=0;e<i;++e){let n=e*c,i=2147483647,u=-1;for(let e=0;e<a;++e){let r=t.hamming(o,n,s,e*c,c);r<i&&(i=r,u=e)}u>=0&&i<=r&&l.push(new J(e,u,i))}return l}let u=this.cache.get_buffer(i<<2),d=u.i32;for(let e=0;e<i;++e){let n=e*c,r=2147483647,i=-1;for(let e=0;e<a;++e){let a=t.hamming(o,n,s,e*c,c);a<r&&(r=a,i=e)}d[e]=i}for(let e=0;e<i;++e){let n=d[e];if(n<0)continue;let a=n*c,u=2147483647,f=-1;for(let e=0;e<i;++e){let n=t.hamming(o,e*c,s,a,c);n<u&&(u=n,f=e)}f===e&&u<=r&&l.push(new J(e,n,u))}return this.cache.put_buffer(u),l}knnMatch(e,n,r=2){let i=e.rows,a=n.rows,{qw:o,tw:s,word_len:c}=t.pairWords(e,n),l=[];for(let e=0;e<i;++e){let n=e*c,i=[];for(let l=0;l<a;++l){let a=t.hamming(o,n,s,l*c,c);if(i.length<r)i.push(new J(e,l,a)),i.sort((e,t)=>e.distance-t.distance);else if(a<i[i.length-1].distance){let t=i[i.length-1];t.queryIdx=e,t.trainIdx=l,t.distance=a,i.sort((e,t)=>e.distance-t.distance)}}l.push(i)}return l}ratio_test(e,t=.75){let n=[];for(let r=0;r<e.length;++r){let i=e[r];i.length>=2?i[0].distance<t*i[1].distance&&n.push(i[0]):i.length===1&&n.push(i[0])}return n}},X=class{constructor(){this.R=new l(3,3,i.F64_t|i.C1_t),this.t=new Float64Array(3),this.good=!1}},Z=class e{constructor(t){this.Kinv=e.invertIntrinsics(t),this.B=new Float64Array(9)}setIntrinsics(t){this.Kinv=e.invertIntrinsics(t)}static intrinsics(e,t,n=60){let r=new l(3,3,i.F64_t|i.C1_t),a=.5*e/Math.tan(.5*n*Math.PI/180),o=r.data;return o[0]=a,o[1]=0,o[2]=.5*e,o[3]=0,o[4]=a,o[5]=.5*t,o[6]=0,o[7]=0,o[8]=1,r}static invertIntrinsics(e){let t=e.data,n=t[0],r=t[2],i=t[4],a=t[5];return new Float64Array([1/n,0,-r/n,0,1/i,-a/i,0,0,1])}estimate(t,n){let r=n||new X,i=t.data,a=this.Kinv,o=this.B;for(let e=0;e<3;++e)for(let t=0;t<3;++t)o[e*3+t]=a[e*3]*i[t]+a[e*3+1]*i[3+t]+a[e*3+2]*i[6+t];let s=[o[0],o[3],o[6]],c=[o[1],o[4],o[7]],l=[o[2],o[5],o[8]],u=Math.hypot(s[0],s[1],s[2]),d=Math.hypot(c[0],c[1],c[2]);if(u<1e-12||d<1e-12)return r.good=!1,r;let f=2/(u+d),p=l[2]>=0?1:-1,m=[p*s[0]/u,p*s[1]/u,p*s[2]/u],h=[p*c[0]/d,p*c[1]/d,p*c[2]/d],g=[p*l[0]*f,p*l[1]*f,p*l[2]*f],_=e.normalize([m[0]+h[0],m[1]+h[1],m[2]+h[2]]),v=e.cross(m,h),y=e.normalize(e.cross(_,v)),b=Math.SQRT1_2,x=[(_[0]+y[0])*b,(_[1]+y[1])*b,(_[2]+y[2])*b],S=[(_[0]-y[0])*b,(_[1]-y[1])*b,(_[2]-y[2])*b],C=e.cross(x,S),w=r.R.data;return w[0]=x[0],w[1]=S[0],w[2]=C[0],w[3]=x[1],w[4]=S[1],w[5]=C[1],w[6]=x[2],w[7]=S[2],w[8]=C[2],r.t[0]=g[0],r.t[1]=g[1],r.t[2]=g[2],r.good=!0,r}static cross(e,t){return[e[1]*t[2]-e[2]*t[1],e[2]*t[0]-e[0]*t[2],e[0]*t[1]-e[1]*t[0]]}static normalize(e){let t=Math.hypot(e[0],e[1],e[2])||1;return[e[0]/t,e[1]/t,e[2]/t]}},ne=c;return c.cache=s,c.pyramid_t=C,c.matrix_t=l,c.keypoint_t=T,c.ransac_params_t=U,c.match_t=J,c.pose_estimator=Z,c.pose_t=X,c.transform=new w,c.fast_corners=new S,c.imgproc=new h,c.math=new m,c.matmath=new y,c.linalg=new b,c.orb=new k,c.yape=new R,c.yape06=new H,c.motion_estimator=new W,c.affine2d=new K,c.homography2d=new te,c.optical_flow_lk=new q,c.bfmatcher=new Y,ne});
\ No newline at end of file
diff --git a/dist/jsfeatNext.mjs b/dist/jsfeatNext.mjs
index 62469dc..d5cd16e 100644
--- a/dist/jsfeatNext.mjs
+++ b/dist/jsfeatNext.mjs
@@ -1,5 +1,5 @@
 /*!
- * jsfeatNext v0.14.0 — https://github.com/webarkit/jsfeatNext
+ * jsfeatNext v0.15.0 — https://github.com/webarkit/jsfeatNext
  *
  * SPDX-License-Identifier: LGPL-3.0-or-later
  * Copyright 2026 WebARKit. Author(s): Walter Perdan @kalwalt
@@ -90,6 +90,7 @@ var e = new class {
 	BOX_BLUR_NOSCALE: 1,
 	SVD_U_T: 1,
 	SVD_V_T: 2,
+	NORM_HAMMING: 6,
 	U8C1_t: 257,
 	U8C3_t: 259,
 	U8C4_t: 260,
@@ -99,7 +100,7 @@ var e = new class {
 	S32C2_t: 514
 }, a = {
 	name: "@webarkit/jsfeat-next",
-	version: "0.14.0",
+	version: "0.15.0",
 	description: "Typescript version of jsfeat for WebARKit",
 	main: "dist/jsfeatNext.js",
 	module: "dist/jsfeatNext.mjs",
@@ -172,7 +173,7 @@ var c = class {
 		return this.dt._get_data_type_size(e);
 	}
 };
-o = c, o.VERSION = a.version, o.EPSILON = i.EPSILON, o.FLT_MIN = i.FLT_MIN, o.U8_t = i.U8_t, o.S32_t = i.S32_t, o.F32_t = i.F32_t, o.S64_t = i.S64_t, o.F64_t = i.F64_t, o.C1_t = i.C1_t, o.C2_t = i.C2_t, o.C3_t = i.C3_t, o.C4_t = i.C4_t, o.COLOR_RGBA2GRAY = i.COLOR_RGBA2GRAY, o.COLOR_RGB2GRAY = i.COLOR_RGB2GRAY, o.COLOR_BGRA2GRAY = i.COLOR_BGRA2GRAY, o.COLOR_BGR2GRAY = i.COLOR_BGR2GRAY, o.BOX_BLUR_NOSCALE = i.BOX_BLUR_NOSCALE, o.SVD_U_T = i.SVD_U_T, o.SVD_V_T = i.SVD_V_T, o.U8C1_t = o.U8_t | o.C1_t, o.U8C3_t = o.U8_t | o.C3_t, o.U8C4_t = o.U8_t | o.C4_t, o.F32C1_t = o.F32_t | o.C1_t, o.F32C2_t = o.F32_t | o.C2_t, o.S32C1_t = o.S32_t | o.C1_t, o.S32C2_t = o.S32_t | o.C2_t;
+o = c, o.VERSION = a.version, o.EPSILON = i.EPSILON, o.FLT_MIN = i.FLT_MIN, o.U8_t = i.U8_t, o.S32_t = i.S32_t, o.F32_t = i.F32_t, o.S64_t = i.S64_t, o.F64_t = i.F64_t, o.C1_t = i.C1_t, o.C2_t = i.C2_t, o.C3_t = i.C3_t, o.C4_t = i.C4_t, o.COLOR_RGBA2GRAY = i.COLOR_RGBA2GRAY, o.COLOR_RGB2GRAY = i.COLOR_RGB2GRAY, o.COLOR_BGRA2GRAY = i.COLOR_BGRA2GRAY, o.COLOR_BGR2GRAY = i.COLOR_BGR2GRAY, o.BOX_BLUR_NOSCALE = i.BOX_BLUR_NOSCALE, o.SVD_U_T = i.SVD_U_T, o.SVD_V_T = i.SVD_V_T, o.NORM_HAMMING = i.NORM_HAMMING, o.U8C1_t = o.U8_t | o.C1_t, o.U8C3_t = o.U8_t | o.C3_t, o.U8C4_t = o.U8_t | o.C4_t, o.F32C1_t = o.F32_t | o.C1_t, o.F32C2_t = o.F32_t | o.C2_t, o.S32C1_t = o.S32_t | o.C1_t, o.S32C2_t = o.S32_t | o.C2_t;
 //#endregion
 //#region src/matrix_t/matrix_t.ts
 var l = class {
@@ -320,16 +321,16 @@ var m = class extends c {
 	}
 	perspective_4point_transform(e, t, n, r, i, a, o, s, c, l, u, d, f, p, m, h, g) {
 		console.warn("⚠️⚠️⚠️ This method is deprecated ad will be removed in the next releases, use transform.perspective_4point_transform() instead. ⚠️⚠️⚠️");
-		let _ = t, v = l, y = o, b = _ * v * y, x = m, S = _ * x, C = v * S, w = u, T = _ * w, E = a, D = n, O = p, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, K = x * D, te = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, q = (b - C - z * y + z * w + A - v * B + I * v - j) * R, ne = _, J = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, Y = (-ee + V * w - K * v + U - W + K * E + G - M * w) * R, X = D, Z = (-T + V + H - B + N - M - F + I) * R, Q = (-S + T + k - H + I - L - M + P) * R;
-		_ = r, v = d, y = c, b = _ * v * y, x = g, S = _ * x, C = v * S, w = f, T = _ * w, E = s, D = i, O = h, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, K = x * D;
-		let re = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, ie = (b - C - z * y + z * w + A - v * B + I * v - j) * R, ae = _, oe = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, se = (-ee + V * w - K * v + U - W + K * E + G - M * w) * R, ce = D, le = (-T + V + H - B + N - M - F + I) * R, ue = (-S + T + k - H + I - L - M + P) * R;
-		v = Y - Q * X, y = te * Y, b = te * X, S = J * q, C = ne * J, T = q * Z;
-		let de = ne * Z;
+		let _ = t, v = l, y = o, b = _ * v * y, x = m, S = _ * x, C = v * S, w = u, T = _ * w, E = a, D = n, O = p, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, te = x * D, ne = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, K = (b - C - z * y + z * w + A - v * B + I * v - j) * R, q = _, J = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, Y = (-ee + V * w - te * v + U - W + te * E + G - M * w) * R, X = D, Z = (-T + V + H - B + N - M - F + I) * R, Q = (-S + T + k - H + I - L - M + P) * R;
+		_ = r, v = d, y = c, b = _ * v * y, x = g, S = _ * x, C = v * S, w = f, T = _ * w, E = s, D = i, O = h, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, te = x * D;
+		let re = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, ie = (b - C - z * y + z * w + A - v * B + I * v - j) * R, ae = _, oe = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, se = (-ee + V * w - te * v + U - W + te * E + G - M * w) * R, ce = D, le = (-T + V + H - B + N - M - F + I) * R, ue = (-S + T + k - H + I - L - M + P) * R;
+		v = Y - Q * X, y = ne * Y, b = ne * X, S = J * K, C = q * J, T = K * Z;
+		let de = q * Z;
 		O = 1 / (y - b * Q - S + C * Q + T * X - de * Y), A = -J + X * Z;
 		let fe = -J * Q + Y * Z;
-		L = -q + ne * Q;
-		let pe = te - de;
-		B = te * Q - T, V = -q * X + ne * Y;
+		L = -K + q * Q;
+		let pe = ne - de;
+		B = ne * Q - T, V = -K * X + q * Y;
 		let me = b - C, he = y - S;
 		W = v * O;
 		let ge = L * O, _e = V * O, $ = e.data;
@@ -895,13 +896,13 @@ var S = class extends c {
 		n === void 0 && (n = 3);
 		let r = e.data, i = e.cols, a = e.rows, o = 0, s = 0, c = 0, l = 0, u = 0, d = 0, f = this.cache.get_buffer(3 * i), p = this.cache.get_buffer((i + 1) * 3 << 2), m = f.u8, h = p.i32, g = this.pixel_off, _ = this.score_diff, v = Math.max(3, n), y = Math.min(a - 2, a - n), b = Math.max(3, n), S = Math.min(i - 3, i - n), C = 0, w = 0, T, E = x, D = this.threshold_tab, O = this._threshold, k = 0, A = 0, j = 0, M = 0, N = 0, P = 0, F = 0, I = 0, L = 0, R = 0, z = 0, B = 0;
 		this._cmp_offsets(g, i, 16);
-		let V = g[0], ee = g[1], H = g[2], U = g[3], W = g[4], G = g[5], K = g[6], te = g[7], q = g[8], ne = g[9], J = g[10], Y = g[11], X = g[12], Z = g[13], Q = g[14], re = g[15];
+		let V = g[0], ee = g[1], H = g[2], U = g[3], W = g[4], G = g[5], te = g[6], ne = g[7], K = g[8], q = g[9], J = g[10], Y = g[11], X = g[12], Z = g[13], Q = g[14], re = g[15];
 		for (o = 0; o < i * 3; ++o) m[o] = 0;
 		for (o = v; o < y; ++o) {
 			for (F = o * i + b | 0, d = (o - 3) % 3, P = d * i | 0, N = d * (i + 1) | 0, s = 0; s < i; ++s) m[P + s] = 0;
 			if (M = 0, o < y - 1) {
-				for (s = b; s < S; ++s, ++F) if (k = r[F], A = -k + 255, j = D[A + r[F + V]] | D[A + r[F + q]], j != 0 && (j &= D[A + r[F + H]] | D[A + r[F + J]], j &= D[A + r[F + W]] | D[A + r[F + X]], j &= D[A + r[F + K]] | D[A + r[F + Q]], j != 0)) {
-					if (j &= D[A + r[F + ee]] | D[A + r[F + ne]], j &= D[A + r[F + U]] | D[A + r[F + Y]], j &= D[A + r[F + G]] | D[A + r[F + Z]], j &= D[A + r[F + te]] | D[A + r[F + re]], j & 1) for (l = k - O, C = 0, c = 0; c < 25; ++c) if (u = r[F + g[c]], u < l) {
+				for (s = b; s < S; ++s, ++F) if (k = r[F], A = -k + 255, j = D[A + r[F + V]] | D[A + r[F + K]], j != 0 && (j &= D[A + r[F + H]] | D[A + r[F + J]], j &= D[A + r[F + W]] | D[A + r[F + X]], j &= D[A + r[F + te]] | D[A + r[F + Q]], j != 0)) {
+					if (j &= D[A + r[F + ee]] | D[A + r[F + q]], j &= D[A + r[F + U]] | D[A + r[F + Y]], j &= D[A + r[F + G]] | D[A + r[F + Z]], j &= D[A + r[F + ne]] | D[A + r[F + re]], j & 1) for (l = k - O, C = 0, c = 0; c < 25; ++c) if (u = r[F + g[c]], u < l) {
 						if (++C, C > 8) {
 							++M, h[N + M] = s, m[P + s] = E(r, F, g, _, O);
 							break;
@@ -946,16 +947,16 @@ var S = class extends c {
 }, w = class {
 	constructor() {}
 	perspective_4point_transform(e, t, n, r, i, a, o, s, c, l, u, d, f, p, m, h, g) {
-		let _ = t, v = l, y = o, b = _ * v * y, x = m, S = _ * x, C = v * S, w = u, T = _ * w, E = a, D = n, O = p, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, K = x * D, te = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, q = (b - C - z * y + z * w + A - v * B + I * v - j) * R, ne = _, J = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, Y = (-ee + V * w - K * v + U - W + K * E + G - M * w) * R, X = D, Z = (-T + V + H - B + N - M - F + I) * R, Q = (-S + T + k - H + I - L - M + P) * R;
-		_ = r, v = d, y = c, b = _ * v * y, x = g, S = _ * x, C = v * S, w = f, T = _ * w, E = s, D = i, O = h, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, K = x * D;
-		let re = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, ie = (b - C - z * y + z * w + A - v * B + I * v - j) * R, ae = _, oe = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, se = (-ee + V * w - K * v + U - W + K * E + G - M * w) * R, ce = D, le = (-T + V + H - B + N - M - F + I) * R, ue = (-S + T + k - H + I - L - M + P) * R;
-		v = Y - Q * X, y = te * Y, b = te * X, S = J * q, C = ne * J, T = q * Z;
-		let de = ne * Z;
+		let _ = t, v = l, y = o, b = _ * v * y, x = m, S = _ * x, C = v * S, w = u, T = _ * w, E = a, D = n, O = p, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, te = x * D, ne = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, K = (b - C - z * y + z * w + A - v * B + I * v - j) * R, q = _, J = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, Y = (-ee + V * w - te * v + U - W + te * E + G - M * w) * R, X = D, Z = (-T + V + H - B + N - M - F + I) * R, Q = (-S + T + k - H + I - L - M + P) * R;
+		_ = r, v = d, y = c, b = _ * v * y, x = g, S = _ * x, C = v * S, w = f, T = _ * w, E = s, D = i, O = h, k = D * O, A = k * E, j = O * E * w, M = O * y, N = O * w, P = v * y, F = x * v, I = x * E, L = w * E, R = 1 / (M - N - P + F - I + L), z = _ * O, B = D * E, V = y * _, ee = x * V, H = D * v, U = k * w, W = D * w * E, G = y * x * v, te = x * D;
+		let re = -(C - b + T * E - E * S - k * v + A - j + M * v) * R, ie = (b - C - z * y + z * w + A - v * B + I * v - j) * R, ae = _, oe = (-w * S + ee + H * y - k * y + U - W + I * w - G) * R, se = (-ee + V * w - te * v + U - W + te * E + G - M * w) * R, ce = D, le = (-T + V + H - B + N - M - F + I) * R, ue = (-S + T + k - H + I - L - M + P) * R;
+		v = Y - Q * X, y = ne * Y, b = ne * X, S = J * K, C = q * J, T = K * Z;
+		let de = q * Z;
 		O = 1 / (y - b * Q - S + C * Q + T * X - de * Y), A = -J + X * Z;
 		let fe = -J * Q + Y * Z;
-		L = -q + ne * Q;
-		let pe = te - de;
-		B = te * Q - T, V = -q * X + ne * Y;
+		L = -K + q * Q;
+		let pe = ne - de;
+		B = ne * Q - T, V = -K * X + q * Y;
 		let me = b - C, he = y - S;
 		W = v * O;
 		let ge = L * O, _e = V * O, $ = e.data;
@@ -2007,10 +2008,37 @@ function D(e, t, n, r, i, a, o, s) {
 }
 //#endregion
 //#region src/orb/orb.ts
-var O = class extends c {
+var O = new Int32Array([
+	15,
+	15,
+	15,
+	15,
+	14,
+	14,
+	14,
+	13,
+	13,
+	12,
+	11,
+	10,
+	9,
+	8,
+	6,
+	3,
+	0
+]), k = class extends c {
 	constructor() {
 		super(), this.bit_pattern_31_ = new Int32Array(E), this.H = new l(3, 3, i.F32_t | i.C1_t), this.patch_img = new l(32, 32, i.U8_t | i.C1_t), this.imgproc = new h();
 	}
+	ic_angle(e, t, n) {
+		let r = 0, i = 0, a = e.data, o = e.cols, s = 0, c = 0, l = n * o + t | 0, u = 0, d = 0, f = 0, p = 0;
+		for (s = -15; s <= 15; ++s) i += s * a[l + s];
+		for (c = 1; c <= 15; ++c) {
+			for (u = 0, d = O[c], s = -d; s <= d; ++s) f = a[l + s + c * o], p = a[l + s - c * o], u += f - p, i += s * (f + p);
+			r += c * u;
+		}
+		return Math.atan2(r, i);
+	}
 	describe(e, t, n, r) {
 		let a = 0, o = 0, s = 0, c = 0, l = 0, u = 0, d = 0, f = 0, p = this.patch_img.data, m = 0;
 		r.type & i.U8_t ? r.resize(32, n, 1) : (r.type = i.U8_t, r.cols = 32, r.rows = n, r.channel = 1, r.allocate());
@@ -2023,7 +2051,7 @@ var O = class extends c {
 };
 //#endregion
 //#region src/yape/yape_utils.ts
-function k(e, t, n) {
+function A(e, t, n) {
 	let r = 0, i, a;
 	for (i = n, a = 0; a < i; a++, r++) i = Math.sqrt(n * n - a * a) + .5 | 0, t[r] = i + e * a;
 	for (i--; i < a && i >= 0; i--, r++) a = Math.sqrt(n * n - i * i) + .5 | 0, t[r] = i + e * a;
@@ -2035,11 +2063,11 @@ function k(e, t, n) {
 	for (a++; a < 0; a++, r++) i = Math.sqrt(n * n - a * a) + .5 | 0, t[r] = i + e * a;
 	return t[r] = t[0], t[r + 1] = t[1], r;
 }
-function A(e, t, n) {
+function j(e, t, n) {
 	let r = 0;
 	return e[t + 1] != 0 && r++, e[t - 1] != 0 && r++, e[t + n] != 0 && r++, e[t + n + 1] != 0 && r++, e[t + n - 1] != 0 && r++, e[t - n] != 0 && r++, e[t - n + 1] != 0 && r++, e[t - n - 1] != 0 && r++, r;
 }
-function j(e, t, n, r, i) {
+function M(e, t, n, r, i) {
 	let a, o;
 	if (n > 0) for (t -= r * i, o = -i; o <= i; ++o) {
 		for (a = -i; a <= i; ++a) if (e[t + a] > n) return !1;
@@ -2051,7 +2079,7 @@ function j(e, t, n, r, i) {
 	}
 	return !0;
 }
-function M(e, t, n, r, i, a, o, s) {
+function N(e, t, n, r, i, a, o, s) {
 	let c = 0, l = 0, u = o - 1 | 0, d = 0, f = 0, p = 0, m = 0, h = 0;
 	if (d = e[t + a[l]], d <= i) {
 		if (d >= r) {
@@ -2395,38 +2423,38 @@ function M(e, t, n, r, i, a, o, s) {
 	}
 	n[t] = c + s * e[t];
 }
-var N = class {
+var P = class {
 	constructor(e, t, n) {
-		this.dirs = /* @__PURE__ */ new Int32Array(1024), this.dirs_count = k(e, this.dirs, n) | 0, this.scores = new Int32Array(e * t), this.radius = n | 0;
+		this.dirs = /* @__PURE__ */ new Int32Array(1024), this.dirs_count = A(e, this.dirs, n) | 0, this.scores = new Int32Array(e * t), this.radius = n | 0;
 	}
-}, P = A, F = j, I = M, L = class {
+}, F = j, I = M, L = N, R = class {
 	constructor() {
 		this.level_tables = [], this.tau = 7;
 	}
 	init(e, t, n, r = 1) {
 		n = Math.min(n, 7), n = Math.max(n, 3);
-		for (let i = 0; i < r; ++i) this.level_tables[i] = new N(e >> i, t >> i, n);
+		for (let i = 0; i < r; ++i) this.level_tables[i] = new P(e >> i, t >> i, n);
 	}
 	detect(e, t, n = 4) {
 		let r = this.level_tables[0], i = r.radius | 0, a = i - 1 | 0, o = r.dirs, s = r.dirs_count | 0, c = s >> 1, l = e.data, u = e.cols | 0, d = e.rows | 0, f = u >> 1, p = r.scores, m = 0, h = 0, g = 0, _ = 0, v = 0, y = 0, b = 0, x = 0, S = this.tau | 0, C = 0, w, T = Math.max(i + 1, n) | 0, E = Math.max(i + 1, n) | 0, D = Math.min(u - i - 2, u - n) | 0, O = Math.min(d - i - 2, d - n) | 0;
-		for (g = E * u + T | 0, h = E; h < O; ++h, g += u) for (m = T, _ = g; m < D; ++m, ++_) v = l[_] + S, y = l[_] - S, y < l[_ + i] && l[_ + i] < v && y < l[_ - i] && l[_ - i] < v ? p[_] = 0 : I(l, _, p, y, v, o, c, s);
-		for (g = E * u + T | 0, h = E; h < O; ++h, g += u) for (m = T, _ = g; m < D; ++m, ++_) x = p[_], b = Math.abs(x), b < 5 ? (++m, ++_) : P(p, _, u) >= 3 && F(p, _, x, f, i) && (w = t[C], w.x = m, w.y = h, w.score = b, ++C, m += a, _ += a);
+		for (g = E * u + T | 0, h = E; h < O; ++h, g += u) for (m = T, _ = g; m < D; ++m, ++_) v = l[_] + S, y = l[_] - S, y < l[_ + i] && l[_ + i] < v && y < l[_ - i] && l[_ - i] < v ? p[_] = 0 : L(l, _, p, y, v, o, c, s);
+		for (g = E * u + T | 0, h = E; h < O; ++h, g += u) for (m = T, _ = g; m < D; ++m, ++_) x = p[_], b = Math.abs(x), b < 5 ? (++m, ++_) : F(p, _, u) >= 3 && I(p, _, x, f, i) && (w = t[C], w.x = m, w.y = h, w.score = b, ++C, m += a, _ += a);
 		return C;
 	}
 };
 //#endregion
 //#region src/yape06/yape06_utils.ts
-function R(e, t, n, r, i, a, o, s, c) {
+function z(e, t, n, r, i, a, o, s, c) {
 	let l = 0, u = 0, d = o * n + a | 0, f = d;
 	for (l = o; l < c; ++l, d += n, f = d) for (u = a; u < s; ++u, ++f) f + r < e.length && f - r >= 0 && f + i < e.length && f - i >= 0 ? t[f] = -4 * e[f] + e[f + r] + e[f - r] + e[f + i] + e[f - i] : t[f] = 0;
 }
-function z(e, t, n, r, i, a, o) {
+function B(e, t, n, r, i, a, o) {
 	let s = -2 * e[t] + e[t + r] + e[t - r], c = -2 * e[t] + e[t + i] + e[t - i], l = e[t + a] + e[t - a] - e[t + o] - e[t - o], u = Math.sqrt((s - c) * (s - c) + 4 * l * l) | 0;
 	return Math.min(Math.abs(n - u), Math.abs(-(n + u)));
 }
 //#endregion
 //#region src/yape06/yape06.ts
-var B = R, V = z, ee = class extends c {
+var V = z, ee = B, H = class extends c {
 	constructor() {
 		super(), this.laplacian_threshold = 30, this.min_eigen_value_threshold = 25;
 	}
@@ -2434,10 +2462,10 @@ var B = R, V = z, ee = class extends c {
 		n === void 0 && (n = 5);
 		let r = 0, i = 0, a = e.cols, o = e.rows, s = e.data, c = 5 * a | 0, l = 3 + 3 * a | 0, u = 3 - 3 * a | 0, d = this.cache.get_buffer(a * o << 2), f = d.i32, p = 0, m = 0, h = 0, g = 0, _, v = 0, y = this.laplacian_threshold, b = this.min_eigen_value_threshold, x = Math.max(5, n) | 0, S = Math.max(3, n) | 0, C = Math.min(a - 5, a - n) | 0, w = Math.min(o - 3, o - n) | 0;
 		for (r = a * o; --r >= 0;) f[r] = 0;
-		for (B(s, f, a, 5, c, x, S, C, w), m = S * a + x | 0, i = S; i < w; ++i, m += a) for (r = x, h = m; r < C; ++r, ++h) p = f[h], (p < -y && p < f[h - 1] && p < f[h + 1] && p < f[h - a] && p < f[h + a] && p < f[h - a - 1] && p < f[h + a - 1] && p < f[h - a + 1] && p < f[h + a + 1] || p > y && p > f[h - 1] && p > f[h + 1] && p > f[h - a] && p > f[h + a] && p > f[h - a - 1] && p > f[h + a - 1] && p > f[h - a + 1] && p > f[h + a + 1]) && (g = V(s, h, p, 5, c, l, u), g > b && (_ = t[v], _.x = r, _.y = i, _.score = g, ++v, ++r, ++h));
+		for (V(s, f, a, 5, c, x, S, C, w), m = S * a + x | 0, i = S; i < w; ++i, m += a) for (r = x, h = m; r < C; ++r, ++h) p = f[h], (p < -y && p < f[h - 1] && p < f[h + 1] && p < f[h - a] && p < f[h + a] && p < f[h - a - 1] && p < f[h + a - 1] && p < f[h - a + 1] && p < f[h + a + 1] || p > y && p > f[h - 1] && p > f[h + 1] && p > f[h - a] && p > f[h + a] && p > f[h - a - 1] && p > f[h + a - 1] && p > f[h - a + 1] && p > f[h + a + 1]) && (g = ee(s, h, p, 5, c, l, u), g > b && (_ = t[v], _.x = r, _.y = i, _.score = g, ++v, ++r, ++h));
 		return this.cache.put_buffer(d), v;
 	}
-}, H = class {
+}, U = class {
 	constructor(e = 0, t = .5, n = .5, r = .99) {
 		this.size = e, this.thresh = t, this.eps = n, this.prob = r;
 	}
@@ -2445,7 +2473,7 @@ var B = R, V = z, ee = class extends c {
 		let n = Math.log(1 - this.prob), r = Math.log(1 - Math.pow(1 - e, this.size));
 		return (r >= 0 || -n >= t * -r ? t : Math.round(n / r)) | 0;
 	}
-}, U = class extends c {
+}, W = class extends c {
 	constructor() {
 		super();
 	}
@@ -2506,7 +2534,7 @@ var B = R, V = z, ee = class extends c {
 		}
 		return p && (j = 2.5 * 1.4826 * (1 + 5 / (a - u)) * Math.sqrt(A), j = Math.max(j, .001), D = this.find_inliers(t, o, n, r, a, j, k, E.data), s && E.copy_to(s), p = D >= u), this.cache.put_buffer(S), this.cache.put_buffer(C), this.cache.put_buffer(w), p;
 	}
-}, W = class extends c {
+}, G = class extends c {
 	constructor() {
 		super(), this.T0 = new l(3, 3, i.F32_t | i.C1_t), this.T1 = new l(3, 3, i.F32_t | i.C1_t), this.AtA = new l(6, 6, i.F32_t | i.C1_t), this.AtB = new l(6, 1, i.F32_t | i.C1_t);
 	}
@@ -2524,7 +2552,7 @@ var B = R, V = z, ee = class extends c {
 		for (; n < a; ++n) for (o = e[n].x - e[a].x, s = e[n].y - e[a].y, r = 0; r < n; ++r) if (c = e[r].x - e[a].x, l = e[r].y - e[a].y, Math.abs(c * s - l * o) <= i.EPSILON * (Math.abs(o) + Math.abs(s) + Math.abs(c) + Math.abs(l))) return !0;
 		return !1;
 	}
-}, G = class extends W {
+}, te = class extends G {
 	constructor() {
 		super();
 	}
@@ -2542,7 +2570,7 @@ var B = R, V = z, ee = class extends c {
 	check_subset(e, t, n) {
 		return !0;
 	}
-}, K = class extends W {
+}, ne = class extends G {
 	constructor() {
 		super(), this.mLtL = new l(9, 9, i.F32_t | i.C1_t), this.Evec = new l(9, 9, i.F32_t | i.C1_t);
 	}
@@ -2568,7 +2596,7 @@ var B = R, V = z, ee = class extends c {
 		}
 		return !0;
 	}
-}, te = class extends c {
+}, K = class extends c {
 	constructor() {
 		super();
 		let e = new h();
@@ -2576,11 +2604,11 @@ var B = R, V = z, ee = class extends c {
 	}
 	track(e, t, n, r, a, o, s, c, u, d) {
 		s === void 0 && (s = 30), c === void 0 && (c = new Uint8Array(a)), u === void 0 && (u = .01), d === void 0 && (d = 1e-4);
-		let f = (o - 1) * .5, p = o * o | 0, m = p << 1, h = e.data, g = t.data, _ = h[0].data, v = g[0].data, y = h[0].cols, b = h[0].rows, x = 0, S = 0, C = this.cache.get_buffer(p << 2), w = this.cache.get_buffer(m << 2), T = this.cache.get_buffer(b * (y << 1) << 2), E = new l(y, b, i.S32C2_t, T.data), D = C.i32, O = w.i32, k = T.i32, A = 0, j = 0, M = 0, N = 0, P = 0, F = 0, I = 0, L = 0, R = 0, z = 0, B = 0, V = 0, ee = 0, H = 0, U = 0, W = 0, G = 0, K = 0, te = 0, q = 0, ne = 0, J = 0, Y = 0, X = 0, Z = 0, Q = 0, re = 0, ie = 0, ae = 0, oe = 0, se = 0, ce = 0, le = 16384, ue = 8192, de = 1 / (1 << 20), fe = 0, pe = 0, me = 0, he = 0, ge = 0, _e = 0, $ = 0, ve = 0, ye = 0, be = 0, xe = 0, Se = 0;
-		for (u *= u; q < a; ++q) c[q] = 1;
+		let f = (o - 1) * .5, p = o * o | 0, m = p << 1, h = e.data, g = t.data, _ = h[0].data, v = g[0].data, y = h[0].cols, b = h[0].rows, x = 0, S = 0, C = this.cache.get_buffer(p << 2), w = this.cache.get_buffer(m << 2), T = this.cache.get_buffer(b * (y << 1) << 2), E = new l(y, b, i.S32C2_t, T.data), D = C.i32, O = w.i32, k = T.i32, A = 0, j = 0, M = 0, N = 0, P = 0, F = 0, I = 0, L = 0, R = 0, z = 0, B = 0, V = 0, ee = 0, H = 0, U = 0, W = 0, G = 0, te = 0, ne = 0, K = 0, q = 0, J = 0, Y = 0, X = 0, Z = 0, Q = 0, re = 0, ie = 0, ae = 0, oe = 0, se = 0, ce = 0, le = 16384, ue = 8192, de = 1 / (1 << 20), fe = 0, pe = 0, me = 0, he = 0, ge = 0, _e = 0, $ = 0, ve = 0, ye = 0, be = 0, xe = 0, Se = 0;
+		for (u *= u; K < a; ++K) c[K] = 1;
 		let Ce = e.levels - 1 | 0;
 		for (X = Ce; X >= 0; --X) for (I = 1 / (1 << X), x = y >> X, S = b >> X, A = x << 1, _ = h[X].data, v = g[X].data, re = x - o | 0, ie = S - o | 0, this.scharr_deriv(h[X], E), Z = 0; Z < a; ++Z) {
-			if (q = Z << 1, ne = q + 1, L = n[q] * I, R = n[ne] * I, X == Ce ? (z = L, B = R) : (z = r[q] * 2, B = r[ne] * 2), r[q] = z, r[ne] = B, L -= f, R -= f, W = L | 0, G = R | 0, J = W <= 0 || W >= re || G <= 0 || G >= ie, J != 0) {
+			if (K = Z << 1, q = K + 1, L = n[K] * I, R = n[q] * I, X == Ce ? (z = L, B = R) : (z = r[K] * 2, B = r[q] * 2), r[K] = z, r[q] = B, L -= f, R -= f, W = L | 0, G = R | 0, J = W <= 0 || W >= re || G <= 0 || G >= ie, J != 0) {
 				X == 0 && (c[Z] = 0);
 				continue;
 			}
@@ -2590,14 +2618,14 @@ var B = R, V = z, ee = class extends c {
 				continue;
 			}
 			for (xe = 1 / xe, z -= f, B -= f, V = 0, ee = 0, Q = 0; Q < s; ++Q) {
-				if (K = z | 0, te = B | 0, J = K <= 0 || K >= re || te <= 0 || te >= ie, J != 0) {
+				if (te = z | 0, ne = B | 0, J = te <= 0 || te >= re || ne <= 0 || ne >= ie, J != 0) {
 					X == 0 && (c[Z] = 0);
 					break;
 				}
-				for (ae = z - K, oe = B - te, fe = (1 - ae) * (1 - oe) * le + .5 | 0, pe = ae * (1 - oe) * le + .5 | 0, me = (1 - ae) * oe * le + .5 | 0, he = le - fe - pe - me, se = 0, ce = 0, Y = 0; Y < o; ++Y) for (F = (Y + te) * x + K | 0, N = Y * o | 0, P = N << 1, J = 0; J < o; ++J, ++F, ++N) ge = v[F] * fe + v[F + 1] * pe + v[F + x] * me + v[F + x + 1] * he, ge = ge + 256 >> 9, ge -= D[N], se += ge * O[P++], ce += ge * O[P++];
-				if (se *= de, ce *= de, H = (ye * ce - be * se) * xe, U = (ye * se - ve * ce) * xe, z += H, B += U, r[q] = z + f, r[ne] = B + f, H * H + U * U <= u) break;
+				for (ae = z - te, oe = B - ne, fe = (1 - ae) * (1 - oe) * le + .5 | 0, pe = ae * (1 - oe) * le + .5 | 0, me = (1 - ae) * oe * le + .5 | 0, he = le - fe - pe - me, se = 0, ce = 0, Y = 0; Y < o; ++Y) for (F = (Y + ne) * x + te | 0, N = Y * o | 0, P = N << 1, J = 0; J < o; ++J, ++F, ++N) ge = v[F] * fe + v[F + 1] * pe + v[F + x] * me + v[F + x + 1] * he, ge = ge + 256 >> 9, ge -= D[N], se += ge * O[P++], ce += ge * O[P++];
+				if (se *= de, ce *= de, H = (ye * ce - be * se) * xe, U = (ye * se - ve * ce) * xe, z += H, B += U, r[K] = z + f, r[q] = B + f, H * H + U * U <= u) break;
 				if (Q > 0 && Math.abs(H + V) < .01 && Math.abs(U + ee) < .01) {
-					r[q] -= H * .5, r[ne] -= U * .5;
+					r[K] -= H * .5, r[q] -= U * .5;
 					break;
 				}
 				V = H, ee = U;
@@ -2605,10 +2633,190 @@ var B = R, V = z, ee = class extends c {
 		}
 		this.cache.put_buffer(C), this.cache.put_buffer(w), this.cache.put_buffer(T);
 	}
-}, q = c;
-c.cache = s, c.pyramid_t = C, c.matrix_t = l, c.keypoint_t = T, c.ransac_params_t = H, c.transform = new w(), c.fast_corners = new S(), c.imgproc = new h(), c.math = new m(), c.matmath = new y(), c.linalg = new b(), c.orb = new O(), c.yape = new L(), c.yape06 = new ee(), c.motion_estimator = new U(), c.affine2d = new G(), c.homography2d = new K(), c.optical_flow_lk = new te();
+}, q = class {
+	constructor(e = 0, t = 0, n = 0) {
+		this.queryIdx = e, this.trainIdx = t, this.distance = n;
+	}
+}, J = class t extends c {
+	constructor(e = i.NORM_HAMMING, t = !1) {
+		super(), this.norm_type = e, this.cross_check = t;
+	}
+	static popcnt32(e) {
+		return e -= e >> 1 & 1431655765, e = (e & 858993459) + (e >> 2 & 858993459), (e + (e >> 4) & 252645135) * 16843009 >> 24;
+	}
+	static rowBytes(t) {
+		return t.cols * t.channel * e._get_data_type_size(t.type);
+	}
+	static words(e) {
+		if (!(e.type & i.U8_t)) throw Error("jsfeatNext.bfmatcher: descriptors must be U8");
+		let n = t.rowBytes(e);
+		if (n & 3) throw Error(`jsfeatNext.bfmatcher: descriptor width must be a multiple of 4 bytes, got ${n}`);
+		return e.buffer.i32;
+	}
+	static pairWords(e, n) {
+		let r = t.words(e), i = t.words(n), a = t.rowBytes(e), o = t.rowBytes(n);
+		if (a !== o) throw Error(`jsfeatNext.bfmatcher: query and train descriptors must have the same row width, got ${a} and ${o} bytes`);
+		return {
+			qw: r,
+			tw: i,
+			word_len: a >> 2
+		};
+	}
+	static hamming(e, n, r, i, a) {
+		let o = 0;
+		for (let s = 0; s < a; ++s) o += t.popcnt32(e[n + s] ^ r[i + s]);
+		return o;
+	}
+	match(e, n, r = 256) {
+		let i = e.rows, a = n.rows, { qw: o, tw: s, word_len: c } = t.pairWords(e, n), l = [];
+		if (!this.cross_check) {
+			for (let e = 0; e < i; ++e) {
+				let n = e * c, i = 2147483647, u = -1;
+				for (let e = 0; e < a; ++e) {
+					let r = t.hamming(o, n, s, e * c, c);
+					r < i && (i = r, u = e);
+				}
+				u >= 0 && i <= r && l.push(new q(e, u, i));
+			}
+			return l;
+		}
+		let u = this.cache.get_buffer(i << 2), d = u.i32;
+		for (let e = 0; e < i; ++e) {
+			let n = e * c, r = 2147483647, i = -1;
+			for (let e = 0; e < a; ++e) {
+				let a = t.hamming(o, n, s, e * c, c);
+				a < r && (r = a, i = e);
+			}
+			d[e] = i;
+		}
+		for (let e = 0; e < i; ++e) {
+			let n = d[e];
+			if (n < 0) continue;
+			let a = n * c, u = 2147483647, f = -1;
+			for (let e = 0; e < i; ++e) {
+				let n = t.hamming(o, e * c, s, a, c);
+				n < u && (u = n, f = e);
+			}
+			f === e && u <= r && l.push(new q(e, n, u));
+		}
+		return this.cache.put_buffer(u), l;
+	}
+	knnMatch(e, n, r = 2) {
+		let i = e.rows, a = n.rows, { qw: o, tw: s, word_len: c } = t.pairWords(e, n), l = [];
+		for (let e = 0; e < i; ++e) {
+			let n = e * c, i = [];
+			for (let l = 0; l < a; ++l) {
+				let a = t.hamming(o, n, s, l * c, c);
+				if (i.length < r) i.push(new q(e, l, a)), i.sort((e, t) => e.distance - t.distance);
+				else if (a < i[i.length - 1].distance) {
+					let t = i[i.length - 1];
+					t.queryIdx = e, t.trainIdx = l, t.distance = a, i.sort((e, t) => e.distance - t.distance);
+				}
+			}
+			l.push(i);
+		}
+		return l;
+	}
+	ratio_test(e, t = .75) {
+		let n = [];
+		for (let r = 0; r < e.length; ++r) {
+			let i = e[r];
+			i.length >= 2 ? i[0].distance < t * i[1].distance && n.push(i[0]) : i.length === 1 && n.push(i[0]);
+		}
+		return n;
+	}
+}, Y = class {
+	constructor() {
+		this.R = new l(3, 3, i.F64_t | i.C1_t), this.t = /* @__PURE__ */ new Float64Array(3), this.good = !1;
+	}
+}, X = class e {
+	constructor(t) {
+		this.Kinv = e.invertIntrinsics(t), this.B = /* @__PURE__ */ new Float64Array(9);
+	}
+	setIntrinsics(t) {
+		this.Kinv = e.invertIntrinsics(t);
+	}
+	static intrinsics(e, t, n = 60) {
+		let r = new l(3, 3, i.F64_t | i.C1_t), a = .5 * e / Math.tan(.5 * n * Math.PI / 180), o = r.data;
+		return o[0] = a, o[1] = 0, o[2] = .5 * e, o[3] = 0, o[4] = a, o[5] = .5 * t, o[6] = 0, o[7] = 0, o[8] = 1, r;
+	}
+	static invertIntrinsics(e) {
+		let t = e.data, n = t[0], r = t[2], i = t[4], a = t[5];
+		return new Float64Array([
+			1 / n,
+			0,
+			-r / n,
+			0,
+			1 / i,
+			-a / i,
+			0,
+			0,
+			1
+		]);
+	}
+	estimate(t, n) {
+		let r = n || new Y(), i = t.data, a = this.Kinv, o = this.B;
+		for (let e = 0; e < 3; ++e) for (let t = 0; t < 3; ++t) o[e * 3 + t] = a[e * 3] * i[t] + a[e * 3 + 1] * i[3 + t] + a[e * 3 + 2] * i[6 + t];
+		let s = [
+			o[0],
+			o[3],
+			o[6]
+		], c = [
+			o[1],
+			o[4],
+			o[7]
+		], l = [
+			o[2],
+			o[5],
+			o[8]
+		], u = Math.hypot(s[0], s[1], s[2]), d = Math.hypot(c[0], c[1], c[2]);
+		if (u < 1e-12 || d < 1e-12) return r.good = !1, r;
+		let f = 2 / (u + d), p = l[2] >= 0 ? 1 : -1, m = [
+			p * s[0] / u,
+			p * s[1] / u,
+			p * s[2] / u
+		], h = [
+			p * c[0] / d,
+			p * c[1] / d,
+			p * c[2] / d
+		], g = [
+			p * l[0] * f,
+			p * l[1] * f,
+			p * l[2] * f
+		], _ = e.normalize([
+			m[0] + h[0],
+			m[1] + h[1],
+			m[2] + h[2]
+		]), v = e.cross(m, h), y = e.normalize(e.cross(_, v)), b = Math.SQRT1_2, x = [
+			(_[0] + y[0]) * b,
+			(_[1] + y[1]) * b,
+			(_[2] + y[2]) * b
+		], S = [
+			(_[0] - y[0]) * b,
+			(_[1] - y[1]) * b,
+			(_[2] - y[2]) * b
+		], C = e.cross(x, S), w = r.R.data;
+		return w[0] = x[0], w[1] = S[0], w[2] = C[0], w[3] = x[1], w[4] = S[1], w[5] = C[1], w[6] = x[2], w[7] = S[2], w[8] = C[2], r.t[0] = g[0], r.t[1] = g[1], r.t[2] = g[2], r.good = !0, r;
+	}
+	static cross(e, t) {
+		return [
+			e[1] * t[2] - e[2] * t[1],
+			e[2] * t[0] - e[0] * t[2],
+			e[0] * t[1] - e[1] * t[0]
+		];
+	}
+	static normalize(e) {
+		let t = Math.hypot(e[0], e[1], e[2]) || 1;
+		return [
+			e[0] / t,
+			e[1] / t,
+			e[2] / t
+		];
+	}
+}, Z = c;
+c.cache = s, c.pyramid_t = C, c.matrix_t = l, c.keypoint_t = T, c.ransac_params_t = U, c.match_t = q, c.pose_estimator = X, c.pose_t = Y, c.transform = new w(), c.fast_corners = new S(), c.imgproc = new h(), c.math = new m(), c.matmath = new y(), c.linalg = new b(), c.orb = new k(), c.yape = new R(), c.yape06 = new H(), c.motion_estimator = new W(), c.affine2d = new te(), c.homography2d = new ne(), c.optical_flow_lk = new K(), c.bfmatcher = new J();
 //#endregion
 //#region src/index.ts
-var ne = q;
+var Q = Z;
 //#endregion
-export { ne as default };
+export { Q as default };
diff --git a/package-lock.json b/package-lock.json
index 219d556..e63e6e8 100644
--- a/package-lock.json
+++ b/package-lock.json
@@ -1,12 +1,12 @@
 {
   "name": "@webarkit/jsfeat-next",
-  "version": "0.14.0",
+  "version": "0.15.0",
   "lockfileVersion": 3,
   "requires": true,
   "packages": {
     "": {
       "name": "@webarkit/jsfeat-next",
-      "version": "0.14.0",
+      "version": "0.15.0",
       "license": "LGPL-3.0-or-later",
       "devDependencies": {
         "@vitest/coverage-v8": "^4.1.11",
diff --git a/package.json b/package.json
index eaa72e8..608355f 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "@webarkit/jsfeat-next",
-  "version": "0.14.0",
+  "version": "0.15.0",
   "description": "Typescript version of jsfeat for WebARKit",
   "main": "dist/jsfeatNext.js",
   "module": "dist/jsfeatNext.mjs",
diff --git a/src/orb/orb.ts b/src/orb/orb.ts
index 40e9838..4f45c4e 100644
--- a/src/orb/orb.ts
+++ b/src/orb/orb.ts
@@ -48,16 +48,6 @@ import { imgproc } from "../imgproc/imgproc";
 import { bit_pattern_31 } from "./bit_pattern_31";
 import { rectify_patch } from "./rectify_patch";
 
-/**
- * ORB binary descriptor extractor (Oriented FAST and Rotated BRIEF): for
- * each keypoint a rotation-rectified 32×32 patch is sampled and 256
- * pixel-pair comparisons from the learned {@link bit_pattern_31} pattern are
- * packed into a 32-byte binary descriptor. Descriptors are matched with
- * Hamming distance.
- *
- * Mirrors `jsfeat.orb` from the original library.
- * (Moved out of the src/jsfeatNext.ts monolith in issue #47.)
- */
 /**
  * Per-row half-widths of the circular patch used by {@link orb.ic_angle},
  * indexed by `|v|` for `v` in `[-15, 15]`: row `v` spans `u ∈ [-u_max[v], u_max[v]]`.
@@ -68,6 +58,16 @@ import { rectify_patch } from "./rectify_patch";
  */
 const u_max = new Int32Array([15, 15, 15, 15, 14, 14, 14, 13, 13, 12, 11, 10, 9, 8, 6, 3, 0]);
 
+/**
+ * ORB binary descriptor extractor (Oriented FAST and Rotated BRIEF): for
+ * each keypoint a rotation-rectified 32×32 patch is sampled and 256
+ * pixel-pair comparisons from the learned {@link bit_pattern_31} pattern are
+ * packed into a 32-byte binary descriptor. Descriptors are matched with
+ * Hamming distance.
+ *
+ * Mirrors `jsfeat.orb` from the original library.
+ * (Moved out of the src/jsfeatNext.ts monolith in issue #47.)
+ */
 export class orb extends jsfeatNext {
     /** The learned 256-pair sampling pattern (flat `[x1,y1,x2,y2,…]`). */
     public bit_pattern_31_: Int32Array;
@@ -93,7 +93,7 @@ export class orb extends jsfeatNext {
      *
      * The angle points from the patch centre toward its intensity centroid,
      * computed from the first-order image moments `m01`/`m10` over a circular
-     * patch of radius 15 (see {@link u_max}), then `atan2(m01, m10)`.
+     * patch of radius 15 (see the module-level `u_max` table), then `atan2(m01, m10)`.
      *
      * @remarks
      * **This is a required step before {@link describe}, not an optional one.**
diff --git a/types/src/bfmatcher/bfmatcher.d.ts b/types/src/bfmatcher/bfmatcher.d.ts
new file mode 100644
index 0000000..040563a
--- /dev/null
+++ b/types/src/bfmatcher/bfmatcher.d.ts
@@ -0,0 +1,98 @@
+import { default as jsfeatNext } from '../core/core';
+import { matrix_t } from '../matrix_t/matrix_t';
+import { match_t } from './match_t';
+/**
+ * Brute-force Hamming matcher for binary descriptors (ORB today; TEBLID/FREAK
+ * once ported). Ported from the inline `match_pattern()`/`popcnt32()` helpers
+ * in `examples/sample_orb_pinball.html` — the only matcher jsfeatNext had
+ * before this module, duplicated across the ORB samples.
+ *
+ * The population-count routine is bit-identical to the sample's `popcnt32`,
+ * and descriptor rows are read the same way the sample does
+ * (`matrix_t.buffer.i32`, the full backing buffer reinterpreted as 32-bit
+ * words) — so this can serve as PureCV's numeric reference oracle the same
+ * way the rest of jsfeatNext does (see issue #96).
+ *
+ * Descriptor width must be a multiple of 4 bytes: 32 (ORB) and 64 (TEBLID
+ * p512) both qualify. Unlike `svd_invert`'s non-square guard (#102), this is
+ * not a jsfeat divergence — original jsfeat never shipped a matcher at all —
+ * so there is no parity obligation, only an explicit failure instead of a
+ * silently wrong read past the buffer's actual word count.
+ */
+export declare class bfmatcher extends jsfeatNext {
+    /** Distance norm in use. Only `JSFEAT_CONSTANTS.NORM_HAMMING` (exposed as `jsfeatNext.NORM_HAMMING`) is implemented. */
+    norm_type: number;
+    /** When true, {@link match} keeps only mutually-best (query, train) pairs. */
+    cross_check: boolean;
+    constructor(norm_type?: number, cross_check?: boolean);
+    /** SWAR population count — identical to the sample's `popcnt32`. */
+    private static popcnt32;
+    /**
+     * Physical width of one descriptor row, in bytes.
+     *
+     * NOT `cols`. `matrix_t.allocate` sizes its buffer as
+     * `cols * sizeof(type) * channel * rows`, so a row's storage depends on all
+     * three. Two matrices can share a `cols` and still have different row
+     * widths — a U8/C1 and a U8/C2 with `cols = 32` occupy 32 and 64 bytes —
+     * which is why the stride check below compares this rather than `cols`.
+     */
+    private static rowBytes;
+    /**
+     * Int32-word view over a descriptor matrix's full backing buffer, matching
+     * `matrix_t.buffer.i32` — the same access the original sample uses.
+     *
+     * @throws {Error} if the descriptors are not `U8`, or if a row is not a
+     *         whole number of 4-byte words.
+     */
+    private static words;
+    /**
+     * Int32 views over a query/train PAIR, plus the row stride in words.
+     *
+     * Both matrices are addressed with a single stride, so a width mismatch is
+     * not a mild inconsistency: `train` rows would be read at `ti * word_len`,
+     * an offset computed from the QUERY width. The reads walk across train row
+     * boundaries and, past the end, an out-of-range `Int32Array` index yields
+     * `undefined`, which XOR coerces to 0. The result is a full set of
+     * confident, silently wrong Hamming distances rather than any error — the
+     * matcher would report its best guess over garbage.
+     *
+     * Compares {@link rowBytes}, not `cols`, so a channel or element-type
+     * difference cannot slip past a matching column count.
+     *
+     * @throws {Error} if the row widths differ, or either matrix is rejected by
+     *         {@link words}.
+     */
+    private static pairWords;
+    private static hamming;
+    /**
+     * Nearest-neighbour match between two descriptor sets.
+     *
+     * With {@link cross_check} set, a pair is only kept when it is mutually
+     * best: `query[i]`'s nearest neighbour is `train[j]`, AND `train[j]`'s
+     * nearest neighbour (searched back over `query`) is `query[i]`.
+     *
+     * @param query        Query descriptors (U8, one row per descriptor).
+     * @param train        Train descriptors, same row width as `query`.
+     * @param max_distance Maximum Hamming distance to accept a pair.
+     */
+    match(query: matrix_t, train: matrix_t, max_distance?: number): match_t[];
+    /**
+     * k-nearest matches per query descriptor, each row sorted ascending by
+     * distance.
+     */
+    knnMatch(query: matrix_t, train: matrix_t, k?: number): match_t[][];
+    /**
+     * Lowe's ratio test over the output of `knnMatch(query, train, 2)`: keeps
+     * a query's best match only when it is meaningfully closer than the
+     * second-best (guards against ambiguous, repeated-texture matches).
+     *
+     * An instance method, not `static`, even though it reads no instance
+     * state: static methods are unreachable through a singleton instance
+     * (`jsfeatNext.bfmatcher.ratio_test(...)` — this repo's calling
+     * convention since 0.9.0 — would be `undefined` on a static declaration).
+     * Confirmed empirically before fixing: an earlier draft declared this
+     * `static`, following the #83 prototype literally, and the singleton
+     * simply had no such method at runtime.
+     */
+    ratio_test(knn: match_t[][], ratio?: number): match_t[];
+}
diff --git a/types/src/bfmatcher/match_t.d.ts b/types/src/bfmatcher/match_t.d.ts
new file mode 100644
index 0000000..01fd41c
--- /dev/null
+++ b/types/src/bfmatcher/match_t.d.ts
@@ -0,0 +1,19 @@
+/** Public shape of {@link match_t}. */
+export interface IMatch_T {
+    /** Index into the query descriptor set. */
+    queryIdx: number;
+    /** Index into the train descriptor set. */
+    trainIdx: number;
+    /** Hamming distance between the two descriptors. */
+    distance: number;
+}
+/**
+ * One descriptor correspondence — the equivalent of OpenCV's `cv::DMatch`.
+ * Produced by {@link bfmatcher.match} / {@link bfmatcher.knnMatch}.
+ */
+export declare class match_t implements IMatch_T {
+    queryIdx: number;
+    trainIdx: number;
+    distance: number;
+    constructor(queryIdx?: number, trainIdx?: number, distance?: number);
+}
diff --git a/types/src/constants/constants.d.ts b/types/src/constants/constants.d.ts
index 73b9156..68b6487 100644
--- a/types/src/constants/constants.d.ts
+++ b/types/src/constants/constants.d.ts
@@ -48,6 +48,8 @@ export declare const JSFEAT_CONSTANTS: {
     SVD_U_T: number;
     /** `linalg.svd_decompose` option: return V transposed. */
     SVD_V_T: number;
+    /** `bfmatcher`'s distance norm. Mirrors OpenCV's `cv::NORM_HAMMING` value; the only norm implemented. */
+    NORM_HAMMING: number;
     /** 8-bit unsigned, 1 channel (`U8_t | C1_t`) — grayscale images. */
     U8C1_t: number;
     /** 8-bit unsigned, 3 channels (`U8_t | C3_t`) — RGB images. */
diff --git a/types/src/core/core.d.ts b/types/src/core/core.d.ts
index 23a254c..ac1611b 100644
--- a/types/src/core/core.d.ts
+++ b/types/src/core/core.d.ts
@@ -15,6 +15,9 @@ import { motion_estimator } from '../motion_estimator/motion_estimator';
 import { optical_flow_lk } from '../optical_flow_lk/optical_flow_lk';
 import { orb } from '../orb/orb';
 import { affine2d, homography2d } from '../motion_model/motion_model';
+import { bfmatcher } from '../bfmatcher/bfmatcher';
+import { match_t } from '../bfmatcher/match_t';
+import { pose_estimator, pose_t } from '../pose_estimator/pose_estimator';
 /**
  * The ONE shared scratch-buffer pool of the library (30 buffers of 2560
  * bytes, growable), matching original jsfeat's design where every module
@@ -60,6 +63,10 @@ export default class jsfeatNext {
     static motion_estimator: motion_estimator;
     static optical_flow_lk: optical_flow_lk;
     static orb: orb;
+    static bfmatcher: bfmatcher;
+    static match_t: typeof match_t;
+    static pose_estimator: typeof pose_estimator;
+    static pose_t: typeof pose_t;
     constructor();
     /** Library version, read from package.json at build time. */
     static VERSION: string;
@@ -81,6 +88,7 @@ export default class jsfeatNext {
     static BOX_BLUR_NOSCALE: number;
     static SVD_U_T: number;
     static SVD_V_T: number;
+    static NORM_HAMMING: number;
     static U8C1_t: number;
     static U8C3_t: number;
     static U8C4_t: number;
diff --git a/types/src/index.d.ts b/types/src/index.d.ts
index ff59db6..39d9a92 100644
--- a/types/src/index.d.ts
+++ b/types/src/index.d.ts
@@ -31,5 +31,7 @@ export type { keypoint_t } from './keypoint_t/keypoint_t';
 export type { pyramid_t } from './pyramid_t/pyramid_t';
 export type { point_t, IPoint_t } from './point_t/point_t';
 export type { ransac_params_t } from './motion_estimator/ransac_params_t';
+export type { match_t, IMatch_T } from './bfmatcher/match_t';
+export type { pose_t, IPose_T } from './pose_estimator/pose_estimator';
 export type { ICache } from './cache/cache';
 export type { TypedArray, NumericArray, MotionKernel } from './types';
diff --git a/types/src/orb/orb.d.ts b/types/src/orb/orb.d.ts
index 975301c..3a535e3 100644
--- a/types/src/orb/orb.d.ts
+++ b/types/src/orb/orb.d.ts
@@ -22,6 +22,42 @@ export declare class orb extends jsfeatNext {
     /** Image-processing helper used for the affine patch warp. */
     imgproc: imgproc;
     constructor();
+    /**
+     * Dominant orientation of the patch around `(px, py)`, in radians — the
+     * "intensity centroid" measure ORB uses to make its descriptors
+     * rotation-invariant.
+     *
+     * The angle points from the patch centre toward its intensity centroid,
+     * computed from the first-order image moments `m01`/`m10` over a circular
+     * patch of radius 15 (see the module-level `u_max` table), then `atan2(m01, m10)`.
+     *
+     * @remarks
+     * **This is a required step before {@link describe}, not an optional one.**
+     * `describe` reads each keypoint's `angle` and rotates the sampling patch by
+     * it; it does *not* compute the orientation itself. A `keypoint_t` left at
+     * the default `angle = -1` is therefore described with the patch rotated by
+     * −1 **radian** (≈ −57°), not "unrotated" — so detectors, which never set
+     * `angle`, must be followed by a pass through this method:
+     *
+     * ```ts
+     * const count = jsfeatNext.yape06.detect(img, corners, 17);
+     * for (let i = 0; i < count; ++i) {
+     *     corners[i].angle = jsfeatNext.orb.ic_angle(img, corners[i].x, corners[i].y);
+     * }
+     * jsfeatNext.orb.describe(img, corners, count, descriptors);
+     * ```
+     *
+     * **Keep `(px, py)` at least 15 px from every image edge.** The patch is
+     * read directly from `src` with no bounds check (matching the original
+     * implementation, and mirroring {@link describe}'s own margin requirement —
+     * pass a detector `border` of ≥ 20 and both are satisfied at once).
+     *
+     * @param src Source grayscale image (single-channel `U8`).
+     * @param px  Keypoint X (column) coordinate, in pixels.
+     * @param py  Keypoint Y (row) coordinate, in pixels.
+     * @returns   Orientation in radians, in `(-π, π]`.
+     */
+    ic_angle(src: matrix_t, px: number, py: number): number;
     /**
      * Computes 256-bit (32-byte) binary descriptors for `count` keypoints.
      * Each keypoint's `angle` is used to rotation-rectify its patch, making
diff --git a/types/src/pose_estimator/pose_estimator.d.ts b/types/src/pose_estimator/pose_estimator.d.ts
new file mode 100644
index 0000000..f556210
--- /dev/null
+++ b/types/src/pose_estimator/pose_estimator.d.ts
@@ -0,0 +1,112 @@
+import { matrix_t } from '../matrix_t/matrix_t';
+/** A recovered camera pose. */
+export interface IPose_T {
+    /** 3×3 rotation, row-major, OpenCV camera frame (`F64_t | C1_t`). */
+    R: matrix_t;
+    /** Translation, length 3, camera frame. */
+    t: Float64Array;
+    /** `false` when the homography/intrinsics were degenerate. */
+    good: boolean;
+}
+/**
+ * Output of {@link pose_estimator.estimate}: a rigid camera pose `(R, t)` in
+ * the OpenCV camera frame. A data-structure class (like `matrix_t`), not a
+ * singleton — construct one and reuse it across frames to avoid per-frame
+ * allocation.
+ */
+export declare class pose_t implements IPose_T {
+    /** Rotation as a 3×3 `matrix_t`: the type the rest of jsfeatNext's matrix
+     *  math and any downstream consumer expects. */
+    R: matrix_t;
+    /** Translation as a bare `Float64Array(3)` rather than a 3×1 `matrix_t`:
+     *  jsfeatNext has no 1-column matrix consumer for it, and a plain vector is
+     *  what the renderer adapters up in #97 will read. */
+    t: Float64Array;
+    good: boolean;
+    constructor();
+}
+/**
+ * Closed-form planar pose from a homography plus camera intrinsics — the
+ * `H → [R | t]` decomposition the ORB samples stop short of, completing the
+ * natural-feature AR pipeline (issue #83).
+ *
+ * ## Why this is a constructor class, not a namespace singleton
+ *
+ * The 14 algorithm modules (`imgproc`, `orb`, …) are stateless singletons on
+ * the namespace. This one is **stateful** — it holds the inverted intrinsics
+ * `K⁻¹` — and the public API constructs it with a `K`
+ * (`new jsfeatNext.pose_estimator(K)`). So it lives with the constructor
+ * data-structs (`matrix_t`, `keypoint_t`, `ransac_params_t`) instead. That
+ * also makes {@link intrinsics} reachable as
+ * `jsfeatNext.pose_estimator.intrinsics(...)`: it is `static`, and the class
+ * (not an instance) is what sits on the namespace.
+ *
+ * ## Why closed-form, not SVD
+ *
+ * The decomposition normalises the first two columns of `K⁻¹H`, then
+ * re-orthonormalises them with a closed-form quaternion-free trick rather than
+ * an SVD of `[r1 r2]`. This keeps the algorithm free of `linalg`'s SVD, which
+ * matters for the PureCV Rust port: the same routine must run `no_std`.
+ *
+ * The math mirrors OpenCV / the ARToolKit-lineage planar-pose decomposition so
+ * it cross-validates 1:1 against the Rust port and can serve as its numeric
+ * reference oracle (issue #96). All geometry is `Float64` per the #96 precision
+ * hierarchy.
+ *
+ * @example
+ * ```ts
+ * const K = jsfeatNext.pose_estimator.intrinsics(640, 480);
+ * const estimator = new jsfeatNext.pose_estimator(K);
+ * const pose = new jsfeatNext.pose_t();
+ * estimator.estimate(homography3x3, pose);
+ * if (pose.good) { ... }
+ * ```
+ */
+export declare class pose_estimator {
+    /** Inverse intrinsics `K⁻¹`, row-major, assuming zero skew. */
+    private Kinv;
+    /**
+     * Scratch for `B = K⁻¹·H` in {@link estimate}.
+     *
+     * An instance field rather than a per-call allocation: an estimator is
+     * built once and reused across frames, so at 30-60 fps a local would be a
+     * fresh array every frame for no benefit. It is not borrowed from the
+     * shared cache either — that pool exists for image-sized buffers, and
+     * balancing a get/put across the degenerate early return to save 72 bytes
+     * would cost more in bookkeeping than it saves.
+     *
+     * Overwritten in full on every call, so no state carries between frames.
+     */
+    private readonly B;
+    constructor(K: matrix_t);
+    /** Replace the intrinsics (e.g. after a resolution change). */
+    setIntrinsics(K: matrix_t): void;
+    /**
+     * Rough pinhole `K` from image size and horizontal field of view, for the
+     * uncalibrated bootstrap case. Camera geometry, not rendering, so it stays
+     * in jsfeatNext (unlike the renderer glue, which moves up to #97's AR
+     * layer).
+     *
+     * `static`, so it is called on the namespace class directly:
+     * `jsfeatNext.pose_estimator.intrinsics(w, h)`.
+     *
+     * @param width    Image width in pixels.
+     * @param height   Image height in pixels.
+     * @param fovXdeg  Horizontal field of view in degrees (default 60).
+     */
+    static intrinsics(width: number, height: number, fovXdeg?: number): matrix_t;
+    /** Analytic inverse of an upper-triangular, zero-skew pinhole `K`. */
+    private static invertIntrinsics;
+    /**
+     * Recover the camera pose from a homography mapping model-plane points
+     * (z = 0) to image pixels.
+     *
+     * @param H   3×3 homography (any single-channel numeric `matrix_t`).
+     * @param out Optional pose to write into; a fresh {@link pose_t} otherwise.
+     * @returns   The pose. `out.good` is `false` — and `R`/`t` untouched — when
+     *            `H`/`K` are degenerate (a near-zero mapped column).
+     */
+    estimate(H: matrix_t, out?: pose_t): pose_t;
+    private static cross;
+    private static normalize;
+}