ar.js
Version:
Efficient Augmented Reality for the Web
2 lines (1 loc) • 983 kB
JavaScript
((function(){"use strict";var ARController=(function(width,height,camera){var id;var w=width,h=height;this.orientation="landscape";this.listeners={};if(typeof width!=="number"){var image=width;camera=height;w=image.videoWidth||image.width;h=image.videoHeight||image.height;this.image=image}this.defaultMarkerWidth=1;this.patternMarkers={};this.barcodeMarkers={};this.transform_mat=new Float32Array(16);this.canvas=document.createElement("canvas");this.canvas.width=w;this.canvas.height=h;this.ctx=this.canvas.getContext("2d");this.videoWidth=w;this.videoHeight=h;if(typeof camera==="string"){var self=this;this.cameraParam=new ARCameraParam(camera,(function(){self._initialize()}),(function(err){console.error("ARController: Failed to load ARCameraParam",err)}))}else{this.cameraParam=camera;this._initialize()}});ARController.prototype.dispose=(function(){artoolkit.teardown(this.id);for(var t in this){this[t]=null}});ARController.prototype.process=(function(image){this.detectMarker(image);var markerNum=this.getMarkerNum();var k,o;for(k in this.patternMarkers){o=this.patternMarkers[k];o.inPrevious=o.inCurrent;o.inCurrent=false}for(k in this.barcodeMarkers){o=this.barcodeMarkers[k];o.inPrevious=o.inCurrent;o.inCurrent=false}for(var i=0;i<markerNum;i++){var markerInfo=this.getMarker(i);var markerType=artoolkit.UNKNOWN_MARKER;var visible=this.trackPatternMarkerId(-1);if(markerInfo.idPatt>-1&&(markerInfo.id===markerInfo.idPatt||markerInfo.idMatrix===-1)){visible=this.trackPatternMarkerId(markerInfo.idPatt);markerType=artoolkit.PATTERN_MARKER;if(markerInfo.dir!==markerInfo.dirPatt){this.setMarkerInfoDir(i,markerInfo.dirPatt)}}else if(markerInfo.idMatrix>-1){visible=this.trackBarcodeMarkerId(markerInfo.idMatrix);markerType=artoolkit.BARCODE_MARKER;if(markerInfo.dir!==markerInfo.dirMatrix){this.setMarkerInfoDir(i,markerInfo.dirMatrix)}}if(markerType!==artoolkit.UNKNOWN_MARKER&&visible.inPrevious){this.getTransMatSquareCont(i,visible.markerWidth,visible.matrix,visible.matrix)}else{this.getTransMatSquare(i,visible.markerWidth,visible.matrix)}visible.inCurrent=true;this.transMatToGLMat(visible.matrix,this.transform_mat);this.dispatchEvent({name:"getMarker",target:this,data:{index:i,type:markerType,marker:markerInfo,matrix:this.transform_mat}})}var multiMarkerCount=this.getMultiMarkerCount();for(var i=0;i<multiMarkerCount;i++){var subMarkerCount=this.getMultiMarkerPatternCount(i);var visible=false;artoolkit.getTransMatMultiSquareRobust(this.id,i);this.transMatToGLMat(this.marker_transform_mat,this.transform_mat);for(var j=0;j<subMarkerCount;j++){var multiEachMarkerInfo=this.getMultiEachMarker(i,j);if(multiEachMarkerInfo.visible>=0){visible=true;this.dispatchEvent({name:"getMultiMarker",target:this,data:{multiMarkerId:i,matrix:this.transform_mat}});break}}if(visible){for(var j=0;j<subMarkerCount;j++){var multiEachMarkerInfo=this.getMultiEachMarker(i,j);this.transMatToGLMat(this.marker_transform_mat,this.transform_mat);this.dispatchEvent({name:"getMultiMarkerSub",target:this,data:{multiMarkerId:i,markerIndex:j,marker:multiEachMarkerInfo,matrix:this.transform_mat}})}}}if(this._bwpointer){this.debugDraw()}});ARController.prototype.trackPatternMarkerId=(function(id,markerWidth){var obj=this.patternMarkers[id];if(!obj){this.patternMarkers[id]=obj={inPrevious:false,inCurrent:false,matrix:new Float32Array(12),markerWidth:markerWidth||this.defaultMarkerWidth}}if(markerWidth){obj.markerWidth=markerWidth}return obj});ARController.prototype.trackBarcodeMarkerId=(function(id,markerWidth){var obj=this.barcodeMarkers[id];if(!obj){this.barcodeMarkers[id]=obj={inPrevious:false,inCurrent:false,matrix:new Float32Array(12),markerWidth:markerWidth||this.defaultMarkerWidth}}if(markerWidth){obj.markerWidth=markerWidth}return obj});ARController.prototype.getMultiMarkerCount=(function(){return artoolkit.getMultiMarkerCount(this.id)});ARController.prototype.getMultiMarkerPatternCount=(function(multiMarkerId){return artoolkit.getMultiMarkerNum(this.id,multiMarkerId)});ARController.prototype.addEventListener=(function(name,callback){if(!this.listeners[name]){this.listeners[name]=[]}this.listeners[name].push(callback)});ARController.prototype.removeEventListener=(function(name,callback){if(this.listeners[name]){var index=this.listeners[name].indexOf(callback);if(index>-1){this.listeners[name].splice(index,1)}}});ARController.prototype.dispatchEvent=(function(event){var listeners=this.listeners[event.name];if(listeners){for(var i=0;i<listeners.length;i++){listeners[i].call(this,event)}}});ARController.prototype.debugSetup=(function(){document.body.appendChild(this.canvas);this.setDebugMode(1);this._bwpointer=this.getProcessingImage()});ARController.prototype.loadMarker=(function(markerURL,onSuccess,onError){return artoolkit.addMarker(this.id,markerURL,onSuccess,onError)});ARController.prototype.loadMultiMarker=(function(markerURL,onSuccess,onError){return artoolkit.addMultiMarker(this.id,markerURL,onSuccess,onError)});ARController.prototype.getTransMatSquare=(function(markerIndex,markerWidth,dst){artoolkit.getTransMatSquare(this.id,markerIndex,markerWidth);dst.set(this.marker_transform_mat);return dst});ARController.prototype.getTransMatSquareCont=(function(markerIndex,markerWidth,previousMarkerTransform,dst){this.marker_transform_mat.set(previousMarkerTransform);artoolkit.getTransMatSquareCont(this.id,markerIndex,markerWidth);dst.set(this.marker_transform_mat);return dst});ARController.prototype.getTransMatMultiSquare=(function(multiMarkerId,dst){artoolkit.getTransMatMultiSquare(this.id,multiMarkerId);dst.set(this.marker_transform_mat);return dst});ARController.prototype.getTransMatMultiSquareRobust=(function(multiMarkerId,dst){artoolkit.getTransMatMultiSquare(this.id,multiMarkerId);dst.set(this.marker_transform_mat);return dst});ARController.prototype.transMatToGLMat=(function(transMat,glMat,scale){glMat[0+0*4]=transMat[0];glMat[0+1*4]=transMat[1];glMat[0+2*4]=transMat[2];glMat[0+3*4]=transMat[3];glMat[1+0*4]=transMat[4];glMat[1+1*4]=transMat[5];glMat[1+2*4]=transMat[6];glMat[1+3*4]=transMat[7];glMat[2+0*4]=transMat[8];glMat[2+1*4]=transMat[9];glMat[2+2*4]=transMat[10];glMat[2+3*4]=transMat[11];glMat[3+0*4]=0;glMat[3+1*4]=0;glMat[3+2*4]=0;glMat[3+3*4]=1;if(scale!=undefined&&scale!==0){glMat[12]*=scale;glMat[13]*=scale;glMat[14]*=scale}return glMat});ARController.prototype.detectMarker=(function(image){if(this._copyImageToHeap(image)){return artoolkit.detectMarker(this.id)}return-99});ARController.prototype.getMarkerNum=(function(){return artoolkit.getMarkerNum(this.id)});ARController.prototype.getMarker=(function(markerIndex){if(0===artoolkit.getMarker(this.id,markerIndex)){return artoolkit.markerInfo}});ARController.prototype.setMarkerInfoVertex=(function(markerIndex,vertexData){for(var i=0;i<vertexData.length;i++){this.marker_transform_mat[i*2+0]=vertexData[i][0];this.marker_transform_mat[i*2+1]=vertexData[i][1]}return artoolkit.setMarkerInfoVertex(this.id,markerIndex)});ARController.prototype.cloneMarkerInfo=(function(markerInfo){return JSON.parse(JSON.stringify(markerInfo))});ARController.prototype.getMultiEachMarker=(function(multiMarkerId,markerIndex){if(0===artoolkit.getMultiEachMarker(this.id,multiMarkerId,markerIndex)){return artoolkit.multiEachMarkerInfo}});ARController.prototype.getTransformationMatrix=(function(){return this.transform_mat});ARController.prototype.getCameraMatrix=(function(){return this.camera_mat});ARController.prototype.getMarkerTransformationMatrix=(function(){return this.marker_transform_mat});ARController.prototype.setDebugMode=(function(mode){return artoolkit.setDebugMode(this.id,mode)});ARController.prototype.getDebugMode=(function(){return artoolkit.getDebugMode(this.id)});ARController.prototype.getProcessingImage=(function(){return artoolkit.getProcessingImage(this.id)});ARController.prototype.setLogLevel=(function(mode){return artoolkit.setLogLevel(mode)});ARController.prototype.getLogLevel=(function(){return artoolkit.getLogLevel()});ARController.prototype.setMarkerInfoDir=(function(markerIndex,dir){return artoolkit.setMarkerInfoDir(this.id,markerIndex,dir)});ARController.prototype.setProjectionNearPlane=(function(value){return artoolkit.setProjectionNearPlane(this.id,value)});ARController.prototype.getProjectionNearPlane=(function(){return artoolkit.getProjectionNearPlane(this.id)});ARController.prototype.setProjectionFarPlane=(function(value){return artoolkit.setProjectionFarPlane(this.id,value)});ARController.prototype.getProjectionFarPlane=(function(){return artoolkit.getProjectionFarPlane(this.id)});ARController.prototype.setThresholdMode=(function(mode){return artoolkit.setThresholdMode(this.id,mode)});ARController.prototype.getThresholdMode=(function(){return artoolkit.getThresholdMode(this.id)});ARController.prototype.setThreshold=(function(threshold){return artoolkit.setThreshold(this.id,threshold)});ARController.prototype.getThreshold=(function(){return artoolkit.getThreshold(this.id)});ARController.prototype.setPatternDetectionMode=(function(value){return artoolkit.setPatternDetectionMode(this.id,value)});ARController.prototype.getPatternDetectionMode=(function(){return artoolkit.getPatternDetectionMode(this.id)});ARController.prototype.setMatrixCodeType=(function(value){return artoolkit.setMatrixCodeType(this.id,value)});ARController.prototype.getMatrixCodeType=(function(){return artoolkit.getMatrixCodeType(this.id)});ARController.prototype.setLabelingMode=(function(value){return artoolkit.setLabelingMode(this.id,value)});ARController.prototype.getLabelingMode=(function(){return artoolkit.getLabelingMode(this.id)});ARController.prototype.setPattRatio=(function(value){return artoolkit.setPattRatio(this.id,value)});ARController.prototype.getPattRatio=(function(){return artoolkit.getPattRatio(this.id)});ARController.prototype.setImageProcMode=(function(value){return artoolkit.setImageProcMode(this.id,value)});ARController.prototype.getImageProcMode=(function(){return artoolkit.getImageProcMode(this.id)});ARController.prototype.debugDraw=(function(){var debugBuffer=new Uint8ClampedArray(Module.HEAPU8.buffer,this._bwpointer,this.framesize);var id=new ImageData(debugBuffer,this.canvas.width,this.canvas.height);this.ctx.putImageData(id,0,0);var marker_num=this.getMarkerNum();for(var i=0;i<marker_num;i++){this._debugMarker(this.getMarker(i))}});ARController.prototype._initialize=(function(){this.id=artoolkit.setup(this.canvas.width,this.canvas.height,this.cameraParam.id);var params=artoolkit.frameMalloc;this.framepointer=params.framepointer;this.framesize=params.framesize;this.dataHeap=new Uint8Array(Module.HEAPU8.buffer,this.framepointer,this.framesize);this.camera_mat=new Float64Array(Module.HEAPU8.buffer,params.camera,16);this.marker_transform_mat=new Float64Array(Module.HEAPU8.buffer,params.transform,12);this.setProjectionNearPlane(.1);this.setProjectionFarPlane(1e3);var self=this;setTimeout((function(){if(self.onload){self.onload()}self.dispatchEvent({name:"load",target:self})}),1)});ARController.prototype._copyImageToHeap=(function(image){if(!image){image=this.image}this.ctx.save();if(this.orientation==="portrait"){this.ctx.translate(this.canvas.width,0);this.ctx.rotate(Math.PI/2);this.ctx.drawImage(image,0,0,this.canvas.height,this.canvas.width)}else{this.ctx.drawImage(image,0,0,this.canvas.width,this.canvas.height)}this.ctx.restore();var imageData=this.ctx.getImageData(0,0,this.canvas.width,this.canvas.height);var data=imageData.data;if(this.dataHeap){this.dataHeap.set(data);return true}return false});ARController.prototype._debugMarker=(function(marker){var vertex,pos;vertex=marker.vertex;var ctx=this.ctx;ctx.strokeStyle="red";ctx.beginPath();ctx.moveTo(vertex[0][0],vertex[0][1]);ctx.lineTo(vertex[1][0],vertex[1][1]);ctx.stroke();ctx.beginPath();ctx.moveTo(vertex[2][0],vertex[2][1]);ctx.lineTo(vertex[3][0],vertex[3][1]);ctx.stroke();ctx.strokeStyle="green";ctx.beginPath();ctx.lineTo(vertex[1][0],vertex[1][1]);ctx.lineTo(vertex[2][0],vertex[2][1]);ctx.stroke();ctx.beginPath();ctx.moveTo(vertex[3][0],vertex[3][1]);ctx.lineTo(vertex[0][0],vertex[0][1]);ctx.stroke();pos=marker.pos;ctx.beginPath();ctx.arc(pos[0],pos[1],8,0,Math.PI*2);ctx.fillStyle="red";ctx.fill()});ARController.getUserMedia=(function(configuration){var facing=configuration.facingMode||"environment";var onSuccess=configuration.onSuccess;var onError=configuration.onError||(function(err){console.error("ARController.getUserMedia",err)});var video=document.createElement("video");var initProgress=(function(){if(this.videoWidth!==0){onSuccess(video)}});var readyToPlay=false;var eventNames=["touchstart","touchend","touchmove","touchcancel","click","mousedown","mouseup","mousemove","keydown","keyup","keypress","scroll"];var play=(function(ev){if(readyToPlay){video.play();if(!video.paused){eventNames.forEach((function(eventName){window.removeEventListener(eventName,play,true)}))}}});eventNames.forEach((function(eventName){window.addEventListener(eventName,play,true)}));var success=(function(stream){video.addEventListener("loadedmetadata",initProgress,false);video.src=window.URL.createObjectURL(stream);readyToPlay=true;play()});var constraints={};var mediaDevicesConstraints={};if(configuration.width){mediaDevicesConstraints.width=configuration.width;if(typeof configuration.width==="object"){if(configuration.width.max){constraints.maxWidth=configuration.width.max}if(configuration.width.min){constraints.minWidth=configuration.width.max}}else{constraints.maxWidth=configuration.width}}if(configuration.height){mediaDevicesConstraints.height=configuration.height;if(typeof configuration.height==="object"){if(configuration.height.max){constraints.maxHeight=configuration.height.max}if(configuration.height.min){constraints.minHeight=configuration.height.max}}else{constraints.maxHeight=configuration.height}}mediaDevicesConstraints.facingMode=facing;navigator.getUserMedia=navigator.getUserMedia||navigator.webkitGetUserMedia||navigator.mozGetUserMedia||navigator.msGetUserMedia;var hdConstraints={audio:false,video:{mandatory:constraints}};if(false){if(navigator.mediaDevices){navigator.mediaDevices.getUserMedia({audio:false,video:mediaDevicesConstraints}).then(success,onError)}else{MediaStreamTrack.getSources((function(sources){var facingDir=mediaDevicesConstraints.facingMode;if(facing&&facing.exact){facingDir=facing.exact}for(var i=0;i<sources.length;i++){if(sources[i].kind==="video"&&sources[i].facing===facingDir){hdConstraints.video.mandatory.sourceId=sources[i].id;break}}if(facing&&facing.exact&&!hdConstraints.video.mandatory.sourceId){onError("Failed to get camera facing the wanted direction")}else{if(navigator.getUserMedia){navigator.getUserMedia(hdConstraints,success,onError)}else{onError("navigator.getUserMedia is not supported on your browser")}}}))}}else{if(navigator.getUserMedia){navigator.getUserMedia(hdConstraints,success,onError)}else{onError("navigator.getUserMedia is not supported on your browser")}}return video});ARController.getUserMediaARController=(function(configuration){var obj={};for(var i in configuration){obj[i]=configuration[i]}var onSuccess=configuration.onSuccess;var cameraParamURL=configuration.cameraParam;obj.onSuccess=(function(){new ARCameraParam(cameraParamURL,(function(){var arCameraParam=this;var maxSize=configuration.maxARVideoSize||Math.max(video.videoWidth,video.videoHeight);var f=maxSize/Math.max(video.videoWidth,video.videoHeight);var w=f*video.videoWidth;var h=f*video.videoHeight;if(video.videoWidth<video.videoHeight){var tmp=w;w=h;h=tmp}var arController=new ARController(w,h,arCameraParam);arController.image=video;if(video.videoWidth<video.videoHeight){arController.orientation="portrait";arController.videoWidth=video.videoHeight;arController.videoHeight=video.videoWidth}else{arController.orientation="landscape";arController.videoWidth=video.videoWidth;arController.videoHeight=video.videoHeight}onSuccess(arController,arCameraParam)}),(function(err){console.error("ARController: Failed to load ARCameraParam",err)}))});var video=this.getUserMedia(obj);return video});var ARCameraParam=(function(src,onload,onerror){this.id=-1;this._src="";this.complete=false;this.onload=onload;this.onerror=onerror;if(src){this.load(src)}});ARCameraParam.prototype.load=(function(src){if(this._src!==""){throw"ARCameraParam: Trying to load camera parameters twice."}this._src=src;if(src){var self=this;artoolkit.loadCamera(src,(function(id){self.id=id;self.complete=true;self.onload()}),(function(err){self.onerror(err)}))}});Object.defineProperty(ARCameraParam.prototype,"src",{set:(function(src){this.load(src)}),get:(function(){return this._src})});ARCameraParam.prototype.dispose=(function(){if(this.id!==-1){artoolkit.deleteCamera(this.id)}this.id=-1;this._src="";this.complete=false});var artoolkit={UNKNOWN_MARKER:-1,PATTERN_MARKER:0,BARCODE_MARKER:1,loadCamera:loadCamera,addMarker:addMarker,addMultiMarker:addMultiMarker};var FUNCTIONS=["setup","teardown","setLogLevel","getLogLevel","setDebugMode","getDebugMode","getProcessingImage","setMarkerInfoDir","setMarkerInfoVertex","getTransMatSquare","getTransMatSquareCont","getTransMatMultiSquare","getTransMatMultiSquareRobust","getMultiMarkerNum","getMultiMarkerCount","detectMarker","getMarkerNum","getMarker","getMultiEachMarker","setProjectionNearPlane","getProjectionNearPlane","setProjectionFarPlane","getProjectionFarPlane","setThresholdMode","getThresholdMode","setThreshold","getThreshold","setPatternDetectionMode","getPatternDetectionMode","setMatrixCodeType","getMatrixCodeType","setLabelingMode","getLabelingMode","setPattRatio","getPattRatio","setImageProcMode","getImageProcMode"];function runWhenLoaded(){FUNCTIONS.forEach((function(n){artoolkit[n]=Module[n]}));for(var m in Module){if(m.match(/^AR/))artoolkit[m]=Module[m]}}var marker_count=0;function addMarker(arId,url,callback){var filename="/marker_"+marker_count++;ajax(url,filename,(function(){var id=Module._addMarker(arId,filename);if(callback)callback(id)}))}function bytesToString(array){return String.fromCharCode.apply(String,array)}function parseMultiFile(bytes){var str=bytesToString(bytes);var lines=str.split("\n");var files=[];var state=0;var markers=0;lines.forEach((function(line){line=line.trim();if(!line||line.startsWith("#"))return;switch(state){case 0:markers=+line;state=1;return;case 1:if(!line.match(/^\d+$/)){files.push(line)};case 2:case 3:case 4:state++;return;case 5:state=1;return}}));return files}var multi_marker_count=0;function addMultiMarker(arId,url,callback){var filename="/multi_marker_"+multi_marker_count++;ajax(url,filename,(function(bytes){var files=parseMultiFile(bytes);function ok(){var markerID=Module._addMultiMarker(arId,filename);var markerNum=Module.getMultiMarkerNum(arId,markerID);if(callback)callback(markerID,markerNum)}if(!files.length)return ok();var path=url.split("/").slice(0,-1).join("/");files=files.map((function(file){return[path+"/"+file,file]}));ajaxDependencies(files,ok)}))}var camera_count=0;function loadCamera(url,callback){var filename="/camera_param_"+camera_count++;var writeCallback=(function(){var id=Module._loadCamera(filename);if(callback)callback(id)});if(typeof url==="object"){writeByteArrayToFS(filename,url,writeCallback)}else if(url.indexOf("\n")>-1){writeStringToFS(filename,url,writeCallback)}else{ajax(url,filename,writeCallback)}}function writeStringToFS(target,string,callback){var byteArray=new Uint8Array(string.length);for(var i=0;i<byteArray.length;i++){byteArray[i]=string.charCodeAt(i)&255}writeByteArrayToFS(target,byteArray,callback)}function writeByteArrayToFS(target,byteArray,callback){FS.writeFile(target,byteArray,{encoding:"binary"});callback(byteArray)}function ajax(url,target,callback){var oReq=new XMLHttpRequest;oReq.open("GET",url,true);oReq.responseType="arraybuffer";oReq.onload=(function(oEvent){var arrayBuffer=oReq.response;var byteArray=new Uint8Array(arrayBuffer);writeByteArrayToFS(target,byteArray,callback)});oReq.send()}function ajaxDependencies(files,callback){var next=files.pop();if(next){ajax(next[0],next[1],(function(){ajaxDependencies(files,callback)}))}else{callback()}}window.artoolkit=artoolkit;window.ARController=ARController;window.ARCameraParam=ARCameraParam;if(window.Module){runWhenLoaded()}else{window.Module={onRuntimeInitialized:(function(){runWhenLoaded()})}}}))();var Module;if(!Module)Module=(typeof Module!=="undefined"?Module:null)||{};var moduleOverrides={};for(var key in Module){if(Module.hasOwnProperty(key)){moduleOverrides[key]=Module[key]}}var ENVIRONMENT_IS_WEB=typeof window==="object";var ENVIRONMENT_IS_WORKER=typeof importScripts==="function";var ENVIRONMENT_IS_NODE=typeof process==="object"&&typeof require==="function"&&!ENVIRONMENT_IS_WEB&&!ENVIRONMENT_IS_WORKER;var ENVIRONMENT_IS_SHELL=!ENVIRONMENT_IS_WEB&&!ENVIRONMENT_IS_NODE&&!ENVIRONMENT_IS_WORKER;if(ENVIRONMENT_IS_NODE){if(!Module["print"])Module["print"]=function print(x){process["stdout"].write(x+"\n")};if(!Module["printErr"])Module["printErr"]=function printErr(x){process["stderr"].write(x+"\n")};var nodeFS=require("fs");var nodePath=require("path");Module["read"]=function read(filename,binary){filename=nodePath["normalize"](filename);var ret=nodeFS["readFileSync"](filename);if(!ret&&filename!=nodePath["resolve"](filename)){filename=path.join(__dirname,"..","src",filename);ret=nodeFS["readFileSync"](filename)}if(ret&&!binary)ret=ret.toString();return ret};Module["readBinary"]=function readBinary(filename){var ret=Module["read"](filename,true);if(!ret.buffer){ret=new Uint8Array(ret)}assert(ret.buffer);return ret};Module["load"]=function load(f){globalEval(read(f))};if(!Module["thisProgram"]){if(process["argv"].length>1){Module["thisProgram"]=process["argv"][1].replace(/\\/g,"/")}else{Module["thisProgram"]="unknown-program"}}Module["arguments"]=process["argv"].slice(2);if(typeof module!=="undefined"){module["exports"]=Module}process["on"]("uncaughtException",(function(ex){if(!(ex instanceof ExitStatus)){throw ex}}));Module["inspect"]=(function(){return"[Emscripten Module object]"})}else if(ENVIRONMENT_IS_SHELL){if(!Module["print"])Module["print"]=print;if(typeof printErr!="undefined")Module["printErr"]=printErr;if(typeof read!="undefined"){Module["read"]=read}else{Module["read"]=function read(){throw"no read() available (jsc?)"}}Module["readBinary"]=function readBinary(f){if(typeof readbuffer==="function"){return new Uint8Array(readbuffer(f))}var data=read(f,"binary");assert(typeof data==="object");return data};if(typeof scriptArgs!="undefined"){Module["arguments"]=scriptArgs}else if(typeof arguments!="undefined"){Module["arguments"]=arguments}}else if(ENVIRONMENT_IS_WEB||ENVIRONMENT_IS_WORKER){Module["read"]=function read(url){var xhr=new XMLHttpRequest;xhr.open("GET",url,false);xhr.send(null);return xhr.responseText};if(typeof arguments!="undefined"){Module["arguments"]=arguments}if(typeof console!=="undefined"){if(!Module["print"])Module["print"]=function print(x){console.log(x)};if(!Module["printErr"])Module["printErr"]=function printErr(x){console.log(x)}}else{var TRY_USE_DUMP=false;if(!Module["print"])Module["print"]=TRY_USE_DUMP&&typeof dump!=="undefined"?(function(x){dump(x)}):(function(x){})}if(ENVIRONMENT_IS_WORKER){Module["load"]=importScripts}if(typeof Module["setWindowTitle"]==="undefined"){Module["setWindowTitle"]=(function(title){document.title=title})}}else{throw"Unknown runtime environment. Where are we?"}function globalEval(x){eval.call(null,x)}if(!Module["load"]&&Module["read"]){Module["load"]=function load(f){globalEval(Module["read"](f))}}if(!Module["print"]){Module["print"]=(function(){})}if(!Module["printErr"]){Module["printErr"]=Module["print"]}if(!Module["arguments"]){Module["arguments"]=[]}if(!Module["thisProgram"]){Module["thisProgram"]="./this.program"}Module.print=Module["print"];Module.printErr=Module["printErr"];Module["preRun"]=[];Module["postRun"]=[];for(var key in moduleOverrides){if(moduleOverrides.hasOwnProperty(key)){Module[key]=moduleOverrides[key]}}var Runtime={setTempRet0:(function(value){tempRet0=value}),getTempRet0:(function(){return tempRet0}),stackSave:(function(){return STACKTOP}),stackRestore:(function(stackTop){STACKTOP=stackTop}),getNativeTypeSize:(function(type){switch(type){case"i1":case"i8":return 1;case"i16":return 2;case"i32":return 4;case"i64":return 8;case"float":return 4;case"double":return 8;default:{if(type[type.length-1]==="*"){return Runtime.QUANTUM_SIZE}else if(type[0]==="i"){var bits=parseInt(type.substr(1));assert(bits%8===0);return bits/8}else{return 0}}}}),getNativeFieldSize:(function(type){return Math.max(Runtime.getNativeTypeSize(type),Runtime.QUANTUM_SIZE)}),STACK_ALIGN:16,prepVararg:(function(ptr,type){if(type==="double"||type==="i64"){if(ptr&7){assert((ptr&7)===4);ptr+=4}}else{assert((ptr&3)===0)}return ptr}),getAlignSize:(function(type,size,vararg){if(!vararg&&(type=="i64"||type=="double"))return 8;if(!type)return Math.min(size,8);return Math.min(size||(type?Runtime.getNativeFieldSize(type):0),Runtime.QUANTUM_SIZE)}),dynCall:(function(sig,ptr,args){if(args&&args.length){if(!args.splice)args=Array.prototype.slice.call(args);args.splice(0,0,ptr);return Module["dynCall_"+sig].apply(null,args)}else{return Module["dynCall_"+sig].call(null,ptr)}}),functionPointers:[],addFunction:(function(func){for(var i=0;i<Runtime.functionPointers.length;i++){if(!Runtime.functionPointers[i]){Runtime.functionPointers[i]=func;return 2*(1+i)}}throw"Finished up all reserved function pointers. Use a higher value for RESERVED_FUNCTION_POINTERS."}),removeFunction:(function(index){Runtime.functionPointers[(index-2)/2]=null}),warnOnce:(function(text){if(!Runtime.warnOnce.shown)Runtime.warnOnce.shown={};if(!Runtime.warnOnce.shown[text]){Runtime.warnOnce.shown[text]=1;Module.printErr(text)}}),funcWrappers:{},getFuncWrapper:(function(func,sig){assert(sig);if(!Runtime.funcWrappers[sig]){Runtime.funcWrappers[sig]={}}var sigCache=Runtime.funcWrappers[sig];if(!sigCache[func]){sigCache[func]=function dynCall_wrapper(){return Runtime.dynCall(sig,func,arguments)}}return sigCache[func]}),getCompilerSetting:(function(name){throw"You must build with -s RETAIN_COMPILER_SETTINGS=1 for Runtime.getCompilerSetting or emscripten_get_compiler_setting to work"}),stackAlloc:(function(size){var ret=STACKTOP;STACKTOP=STACKTOP+size|0;STACKTOP=STACKTOP+15&-16;return ret}),staticAlloc:(function(size){var ret=STATICTOP;STATICTOP=STATICTOP+size|0;STATICTOP=STATICTOP+15&-16;return ret}),dynamicAlloc:(function(size){var ret=DYNAMICTOP;DYNAMICTOP=DYNAMICTOP+size|0;DYNAMICTOP=DYNAMICTOP+15&-16;if(DYNAMICTOP>=TOTAL_MEMORY){var success=enlargeMemory();if(!success){DYNAMICTOP=ret;return 0}}return ret}),alignMemory:(function(size,quantum){var ret=size=Math.ceil(size/(quantum?quantum:16))*(quantum?quantum:16);return ret}),makeBigInt:(function(low,high,unsigned){var ret=unsigned?+(low>>>0)+ +(high>>>0)*+4294967296:+(low>>>0)+ +(high|0)*+4294967296;return ret}),GLOBAL_BASE:8,QUANTUM_SIZE:4,__dummy__:0};Module["Runtime"]=Runtime;var __THREW__=0;var ABORT=false;var EXITSTATUS=0;var undef=0;var tempValue,tempInt,tempBigInt,tempInt2,tempBigInt2,tempPair,tempBigIntI,tempBigIntR,tempBigIntS,tempBigIntP,tempBigIntD,tempDouble,tempFloat;var tempI64,tempI64b;var tempRet0,tempRet1,tempRet2,tempRet3,tempRet4,tempRet5,tempRet6,tempRet7,tempRet8,tempRet9;function assert(condition,text){if(!condition){abort("Assertion failed: "+text)}}var globalScope=this;function getCFunc(ident){var func=Module["_"+ident];if(!func){try{func=eval("_"+ident)}catch(e){}}assert(func,"Cannot call unknown function "+ident+" (perhaps LLVM optimizations or closure removed it?)");return func}var cwrap,ccall;((function(){var JSfuncs={"stackSave":(function(){Runtime.stackSave()}),"stackRestore":(function(){Runtime.stackRestore()}),"arrayToC":(function(arr){var ret=Runtime.stackAlloc(arr.length);writeArrayToMemory(arr,ret);return ret}),"stringToC":(function(str){var ret=0;if(str!==null&&str!==undefined&&str!==0){ret=Runtime.stackAlloc((str.length<<2)+1);writeStringToMemory(str,ret)}return ret})};var toC={"string":JSfuncs["stringToC"],"array":JSfuncs["arrayToC"]};ccall=function ccallFunc(ident,returnType,argTypes,args,opts){var func=getCFunc(ident);var cArgs=[];var stack=0;if(args){for(var i=0;i<args.length;i++){var converter=toC[argTypes[i]];if(converter){if(stack===0)stack=Runtime.stackSave();cArgs[i]=converter(args[i])}else{cArgs[i]=args[i]}}}var ret=func.apply(null,cArgs);if(returnType==="string")ret=Pointer_stringify(ret);if(stack!==0){if(opts&&opts.async){EmterpreterAsync.asyncFinalizers.push((function(){Runtime.stackRestore(stack)}));return}Runtime.stackRestore(stack)}return ret};var sourceRegex=/^function\s*\(([^)]*)\)\s*{\s*([^*]*?)[\s;]*(?:return\s*(.*?)[;\s]*)?}$/;function parseJSFunc(jsfunc){var parsed=jsfunc.toString().match(sourceRegex).slice(1);return{arguments:parsed[0],body:parsed[1],returnValue:parsed[2]}}var JSsource={};for(var fun in JSfuncs){if(JSfuncs.hasOwnProperty(fun)){JSsource[fun]=parseJSFunc(JSfuncs[fun])}}cwrap=function cwrap(ident,returnType,argTypes){argTypes=argTypes||[];var cfunc=getCFunc(ident);var numericArgs=argTypes.every((function(type){return type==="number"}));var numericRet=returnType!=="string";if(numericRet&&numericArgs){return cfunc}var argNames=argTypes.map((function(x,i){return"$"+i}));var funcstr="(function("+argNames.join(",")+") {";var nargs=argTypes.length;if(!numericArgs){funcstr+="var stack = "+JSsource["stackSave"].body+";";for(var i=0;i<nargs;i++){var arg=argNames[i],type=argTypes[i];if(type==="number")continue;var convertCode=JSsource[type+"ToC"];funcstr+="var "+convertCode.arguments+" = "+arg+";";funcstr+=convertCode.body+";";funcstr+=arg+"="+convertCode.returnValue+";"}}var cfuncname=parseJSFunc((function(){return cfunc})).returnValue;funcstr+="var ret = "+cfuncname+"("+argNames.join(",")+");";if(!numericRet){var strgfy=parseJSFunc((function(){return Pointer_stringify})).returnValue;funcstr+="ret = "+strgfy+"(ret);"}if(!numericArgs){funcstr+=JSsource["stackRestore"].body.replace("()","(stack)")+";"}funcstr+="return ret})";return eval(funcstr)}}))();Module["ccall"]=ccall;Module["cwrap"]=cwrap;function setValue(ptr,value,type,noSafe){type=type||"i8";if(type.charAt(type.length-1)==="*")type="i32";switch(type){case"i1":HEAP8[ptr>>0]=value;break;case"i8":HEAP8[ptr>>0]=value;break;case"i16":HEAP16[ptr>>1]=value;break;case"i32":HEAP32[ptr>>2]=value;break;case"i64":tempI64=[value>>>0,(tempDouble=value,+Math_abs(tempDouble)>=+1?tempDouble>+0?(Math_min(+Math_floor(tempDouble/+4294967296),+4294967295)|0)>>>0:~~+Math_ceil((tempDouble- +(~~tempDouble>>>0))/+4294967296)>>>0:0)],HEAP32[ptr>>2]=tempI64[0],HEAP32[ptr+4>>2]=tempI64[1];break;case"float":HEAPF32[ptr>>2]=value;break;case"double":HEAPF64[ptr>>3]=value;break;default:abort("invalid type for setValue: "+type)}}Module["setValue"]=setValue;function getValue(ptr,type,noSafe){type=type||"i8";if(type.charAt(type.length-1)==="*")type="i32";switch(type){case"i1":return HEAP8[ptr>>0];case"i8":return HEAP8[ptr>>0];case"i16":return HEAP16[ptr>>1];case"i32":return HEAP32[ptr>>2];case"i64":return HEAP32[ptr>>2];case"float":return HEAPF32[ptr>>2];case"double":return HEAPF64[ptr>>3];default:abort("invalid type for setValue: "+type)}return null}Module["getValue"]=getValue;var ALLOC_NORMAL=0;var ALLOC_STACK=1;var ALLOC_STATIC=2;var ALLOC_DYNAMIC=3;var ALLOC_NONE=4;Module["ALLOC_NORMAL"]=ALLOC_NORMAL;Module["ALLOC_STACK"]=ALLOC_STACK;Module["ALLOC_STATIC"]=ALLOC_STATIC;Module["ALLOC_DYNAMIC"]=ALLOC_DYNAMIC;Module["ALLOC_NONE"]=ALLOC_NONE;function allocate(slab,types,allocator,ptr){var zeroinit,size;if(typeof slab==="number"){zeroinit=true;size=slab}else{zeroinit=false;size=slab.length}var singleType=typeof types==="string"?types:null;var ret;if(allocator==ALLOC_NONE){ret=ptr}else{ret=[_malloc,Runtime.stackAlloc,Runtime.staticAlloc,Runtime.dynamicAlloc][allocator===undefined?ALLOC_STATIC:allocator](Math.max(size,singleType?1:types.length))}if(zeroinit){var ptr=ret,stop;assert((ret&3)==0);stop=ret+(size&~3);for(;ptr<stop;ptr+=4){HEAP32[ptr>>2]=0}stop=ret+size;while(ptr<stop){HEAP8[ptr++>>0]=0}return ret}if(singleType==="i8"){if(slab.subarray||slab.slice){HEAPU8.set(slab,ret)}else{HEAPU8.set(new Uint8Array(slab),ret)}return ret}var i=0,type,typeSize,previousType;while(i<size){var curr=slab[i];if(typeof curr==="function"){curr=Runtime.getFunctionIndex(curr)}type=singleType||types[i];if(type===0){i++;continue}if(type=="i64")type="i32";setValue(ret+i,curr,type);if(previousType!==type){typeSize=Runtime.getNativeTypeSize(type);previousType=type}i+=typeSize}return ret}Module["allocate"]=allocate;function getMemory(size){if(!staticSealed)return Runtime.staticAlloc(size);if(typeof _sbrk!=="undefined"&&!_sbrk.called||!runtimeInitialized)return Runtime.dynamicAlloc(size);return _malloc(size)}Module["getMemory"]=getMemory;function Pointer_stringify(ptr,length){if(length===0||!ptr)return"";var hasUtf=0;var t;var i=0;while(1){t=HEAPU8[ptr+i>>0];hasUtf|=t;if(t==0&&!length)break;i++;if(length&&i==length)break}if(!length)length=i;var ret="";if(hasUtf<128){var MAX_CHUNK=1024;var curr;while(length>0){curr=String.fromCharCode.apply(String,HEAPU8.subarray(ptr,ptr+Math.min(length,MAX_CHUNK)));ret=ret?ret+curr:curr;ptr+=MAX_CHUNK;length-=MAX_CHUNK}return ret}return Module["UTF8ToString"](ptr)}Module["Pointer_stringify"]=Pointer_stringify;function AsciiToString(ptr){var str="";while(1){var ch=HEAP8[ptr++>>0];if(!ch)return str;str+=String.fromCharCode(ch)}}Module["AsciiToString"]=AsciiToString;function stringToAscii(str,outPtr){return writeAsciiToMemory(str,outPtr,false)}Module["stringToAscii"]=stringToAscii;function UTF8ArrayToString(u8Array,idx){var u0,u1,u2,u3,u4,u5;var str="";while(1){u0=u8Array[idx++];if(!u0)return str;if(!(u0&128)){str+=String.fromCharCode(u0);continue}u1=u8Array[idx++]&63;if((u0&224)==192){str+=String.fromCharCode((u0&31)<<6|u1);continue}u2=u8Array[idx++]&63;if((u0&240)==224){u0=(u0&15)<<12|u1<<6|u2}else{u3=u8Array[idx++]&63;if((u0&248)==240){u0=(u0&7)<<18|u1<<12|u2<<6|u3}else{u4=u8Array[idx++]&63;if((u0&252)==248){u0=(u0&3)<<24|u1<<18|u2<<12|u3<<6|u4}else{u5=u8Array[idx++]&63;u0=(u0&1)<<30|u1<<24|u2<<18|u3<<12|u4<<6|u5}}}if(u0<65536){str+=String.fromCharCode(u0)}else{var ch=u0-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}}}Module["UTF8ArrayToString"]=UTF8ArrayToString;function UTF8ToString(ptr){return UTF8ArrayToString(HEAPU8,ptr)}Module["UTF8ToString"]=UTF8ToString;function stringToUTF8Array(str,outU8Array,outIdx,maxBytesToWrite){if(!(maxBytesToWrite>0))return 0;var startIdx=outIdx;var endIdx=outIdx+maxBytesToWrite-1;for(var i=0;i<str.length;++i){var u=str.charCodeAt(i);if(u>=55296&&u<=57343)u=65536+((u&1023)<<10)|str.charCodeAt(++i)&1023;if(u<=127){if(outIdx>=endIdx)break;outU8Array[outIdx++]=u}else if(u<=2047){if(outIdx+1>=endIdx)break;outU8Array[outIdx++]=192|u>>6;outU8Array[outIdx++]=128|u&63}else if(u<=65535){if(outIdx+2>=endIdx)break;outU8Array[outIdx++]=224|u>>12;outU8Array[outIdx++]=128|u>>6&63;outU8Array[outIdx++]=128|u&63}else if(u<=2097151){if(outIdx+3>=endIdx)break;outU8Array[outIdx++]=240|u>>18;outU8Array[outIdx++]=128|u>>12&63;outU8Array[outIdx++]=128|u>>6&63;outU8Array[outIdx++]=128|u&63}else if(u<=67108863){if(outIdx+4>=endIdx)break;outU8Array[outIdx++]=248|u>>24;outU8Array[outIdx++]=128|u>>18&63;outU8Array[outIdx++]=128|u>>12&63;outU8Array[outIdx++]=128|u>>6&63;outU8Array[outIdx++]=128|u&63}else{if(outIdx+5>=endIdx)break;outU8Array[outIdx++]=252|u>>30;outU8Array[outIdx++]=128|u>>24&63;outU8Array[outIdx++]=128|u>>18&63;outU8Array[outIdx++]=128|u>>12&63;outU8Array[outIdx++]=128|u>>6&63;outU8Array[outIdx++]=128|u&63}}outU8Array[outIdx]=0;return outIdx-startIdx}Module["stringToUTF8Array"]=stringToUTF8Array;function stringToUTF8(str,outPtr,maxBytesToWrite){return stringToUTF8Array(str,HEAPU8,outPtr,maxBytesToWrite)}Module["stringToUTF8"]=stringToUTF8;function lengthBytesUTF8(str){var len=0;for(var i=0;i<str.length;++i){var u=str.charCodeAt(i);if(u>=55296&&u<=57343)u=65536+((u&1023)<<10)|str.charCodeAt(++i)&1023;if(u<=127){++len}else if(u<=2047){len+=2}else if(u<=65535){len+=3}else if(u<=2097151){len+=4}else if(u<=67108863){len+=5}else{len+=6}}return len}Module["lengthBytesUTF8"]=lengthBytesUTF8;function UTF16ToString(ptr){var i=0;var str="";while(1){var codeUnit=HEAP16[ptr+i*2>>1];if(codeUnit==0)return str;++i;str+=String.fromCharCode(codeUnit)}}Module["UTF16ToString"]=UTF16ToString;function stringToUTF16(str,outPtr,maxBytesToWrite){if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<2)return 0;maxBytesToWrite-=2;var startPtr=outPtr;var numCharsToWrite=maxBytesToWrite<str.length*2?maxBytesToWrite/2:str.length;for(var i=0;i<numCharsToWrite;++i){var codeUnit=str.charCodeAt(i);HEAP16[outPtr>>1]=codeUnit;outPtr+=2}HEAP16[outPtr>>1]=0;return outPtr-startPtr}Module["stringToUTF16"]=stringToUTF16;function lengthBytesUTF16(str){return str.length*2}Module["lengthBytesUTF16"]=lengthBytesUTF16;function UTF32ToString(ptr){var i=0;var str="";while(1){var utf32=HEAP32[ptr+i*4>>2];if(utf32==0)return str;++i;if(utf32>=65536){var ch=utf32-65536;str+=String.fromCharCode(55296|ch>>10,56320|ch&1023)}else{str+=String.fromCharCode(utf32)}}}Module["UTF32ToString"]=UTF32ToString;function stringToUTF32(str,outPtr,maxBytesToWrite){if(maxBytesToWrite===undefined){maxBytesToWrite=2147483647}if(maxBytesToWrite<4)return 0;var startPtr=outPtr;var endPtr=startPtr+maxBytesToWrite-4;for(var i=0;i<str.length;++i){var codeUnit=str.charCodeAt(i);if(codeUnit>=55296&&codeUnit<=57343){var trailSurrogate=str.charCodeAt(++i);codeUnit=65536+((codeUnit&1023)<<10)|trailSurrogate&1023}HEAP32[outPtr>>2]=codeUnit;outPtr+=4;if(outPtr+4>endPtr)break}HEAP32[outPtr>>2]=0;return outPtr-startPtr}Module["stringToUTF32"]=stringToUTF32;function lengthBytesUTF32(str){var len=0;for(var i=0;i<str.length;++i){var codeUnit=str.charCodeAt(i);if(codeUnit>=55296&&codeUnit<=57343)++i;len+=4}return len}Module["lengthBytesUTF32"]=lengthBytesUTF32;function demangle(func){var hasLibcxxabi=!!Module["___cxa_demangle"];if(hasLibcxxabi){try{var buf=_malloc(func.length);writeStringToMemory(func.substr(1),buf);var status=_malloc(4);var ret=Module["___cxa_demangle"](buf,0,0,status);if(getValue(status,"i32")===0&&ret){return Pointer_stringify(ret)}}catch(e){}finally{if(buf)_free(buf);if(status)_free(status);if(ret)_free(ret)}}var i=3;var basicTypes={"v":"void","b":"bool","c":"char","s":"short","i":"int","l":"long","f":"float","d":"double","w":"wchar_t","a":"signed char","h":"unsigned char","t":"unsigned short","j":"unsigned int","m":"unsigned long","x":"long long","y":"unsigned long long","z":"..."};var subs=[];var first=true;function dump(x){if(x)Module.print(x);Module.print(func);var pre="";for(var a=0;a<i;a++)pre+=" ";Module.print(pre+"^")}function parseNested(){i++;if(func[i]==="K")i++;var parts=[];while(func[i]!=="E"){if(func[i]==="S"){i++;var next=func.indexOf("_",i);var num=func.substring(i,next)||0;parts.push(subs[num]||"?");i=next+1;continue}if(func[i]==="C"){parts.push(parts[parts.length-1]);i+=2;continue}var size=parseInt(func.substr(i));var pre=size.toString().length;if(!size||!pre){i--;break}var curr=func.substr(i+pre,size);parts.push(curr);subs.push(curr);i+=pre+size}i++;return parts}function parse(rawList,limit,allowVoid){limit=limit||Infinity;var ret="",list=[];function flushList(){return"("+list.join(", ")+")"}var name;if(func[i]==="N"){name=parseNested().join("::");limit--;if(limit===0)return rawList?[name]:name}else{if(func[i]==="K"||first&&func[i]==="L")i++;var size=parseInt(func.substr(i));if(size){var pre=size.toString().length;name=func.substr(i+pre,size);i+=pre+size}}first=false;if(func[i]==="I"){i++;var iList=parse(true);var iRet=parse(true,1,true);ret+=iRet[0]+" "+name+"<"+iList.join(", ")+">"}else{ret=name}paramLoop:while(i<func.length&&limit-->0){var c=func[i++];if(c in basicTypes){list.push(basicTypes[c])}else{switch(c){case"P":list.push(parse(true,1,true)[0]+"*");break;case"R":list.push(parse(true,1,true)[0]+"&");break;case"L":{i++;var end=func.indexOf("E",i);var size=end-i;list.push(func.substr(i,size));i+=size+2;break};case"A":{var size=parseInt(func.substr(i));i+=size.toString().length;if(func[i]!=="_")throw"?";i++;list.push(parse(true,1,true)[0]+" ["+size+"]");break};case"E":break paramLoop;default:ret+="?"+c;break paramLoop}}}if(!allowVoid&&list.length===1&&list[0]==="void")list=[];if(rawList){if(ret){list.push(ret+"?")}return list}else{return ret+flushList()}}var parsed=func;try{if(func=="Object._main"||func=="_main"){return"main()"}if(typeof func==="number")func=Pointer_stringify(func);if(func[0]!=="_")return func;if(func[1]!=="_")return func;if(func[2]!=="Z")return func;switch(func[3]){case"n":return"operator new()";case"d":return"operator delete()"}parsed=parse()}catch(e){parsed+="?"}if(parsed.indexOf("?")>=0&&!hasLibcxxabi){Runtime.warnOnce("warning: a problem occurred in builtin C++ name demangling; build with -s DEMANGLE_SUPPORT=1 to link in libcxxabi demangling")}return parsed}function demangleAll(text){return text.replace(/__Z[\w\d_]+/g,(function(x){var y=demangle(x);return x===y?x:x+" ["+y+"]"}))}function jsStackTrace(){var err=new Error;if(!err.stack){try{throw new Error(0)}catch(e){err=e}if(!err.stack){return"(no stack trace available)"}}return err.stack.toString()}function stackTrace(){return demangleAll(jsStackTrace())}Module["stackTrace"]=stackTrace;var PAGE_SIZE=4096;function alignMemoryPage(x){if(x%4096>0){x+=4096-x%4096}return x}var HEAP;var HEAP8,HEAPU8,HEAP16,HEAPU16,HEAP32,HEAPU32,HEAPF32,HEAPF64;var STATIC_BASE=0,STATICTOP=0,staticSealed=false;var STACK_BASE=0,STACKTOP=0,STACK_MAX=0;var DYNAMIC_BASE=0,DYNAMICTOP=0;function abortOnCannotGrowMemory(){abort("Cannot enlarge memory arrays. Either (1) compile with -s TOTAL_MEMORY=X with X higher than the current value "+TOTAL_MEMORY+", (2) compile with -s ALLOW_MEMORY_GROWTH=1 which adjusts the size at runtime but prevents some optimizations, (3) set Module.TOTAL_MEMORY to a higher value before the program runs, or if you want malloc to return NULL (0) instead of this abort, compile with -s ABORTING_MALLOC=0 ")}function enlargeMemory(){abortOnCannotGrowMemory()}var TOTAL_STACK=Module["TOTAL_STACK"]||5242880;var TOTAL_MEMORY=Module["TOTAL_MEMORY"]||268435456;var totalMemory=64*1024;while(totalMemory<TOTAL_MEMORY||totalMemory<2*TOTAL_STACK){if(totalMemory<16*1024*1024){totalMemory*=2}else{totalMemory+=16*1024*1024}}if(totalMemory!==TOTAL_MEMORY){TOTAL_MEMORY=totalMemory}assert(typeof Int32Array!=="undefined"&&typeof Float64Array!=="undefined"&&!!(new Int32Array(1))["subarray"]&&!!(new Int32Array(1))["set"],"JS engine does not provide full typed array support");var buffer;buffer=new ArrayBuffer(TOTAL_MEMORY);HEAP8=new Int8Array(buffer);HEAP16=new Int16Array(buffer);HEAP32=new Int32Array(buffer);HEAPU8=new Uint8Array(buffer);HEAPU16=new Uint16Array(buffer);HEAPU32=new Uint32Array(buffer);HEAPF32=new Float32Array(buffer);HEAPF64=new Float64Array(buffer);HEAP32[0]=255;assert(HEAPU8[0]===255&&HEAPU8[3]===0,"Typed arrays 2 must be run on a little-endian system");Module["HEAP"]=HEAP;Module["buffer"]=buffer;Module["HEAP8"]=HEAP8;Module["HEAP16"]=HEAP16;Module["HEAP32"]=HEAP32;Module["HEAPU8"]=HEAPU8;Module["HEAPU16"]=HEAPU16;Module["HEAPU32"]=HEAPU32;Module["HEAPF32"]=HEAPF32;Module["HEAPF64"]=HEAPF64;function callRuntimeCallbacks(callbacks){while(callbacks.length>0){var callback=callbacks.shift();if(typeof callback=="function"){callback();continue}var func=callback.func;if(typeof func==="number"){if(callback.arg===undefined){Runtime.dynCall("v",func)}else{Runtime.dynCall("vi",func,[callback.arg])}}else{func(callback.arg===undefined?null:callback.arg)}}}var __ATPRERUN__=[];var __ATINIT__=[];var __ATMAIN__=[];var __ATEXIT__=[];var __ATPOSTRUN__=[];var runtimeInitialized=false;var runtimeExited=false;function preRun(){if(Module["preRun"]){if(typeof Module["preRun"]=="function")Module["preRun"]=[Module["preRun"]];while(Module["preRun"].length){addOnPreRun(Module["preRun"].shift())}}callRuntimeCallbacks(__ATPRERUN__)}function ensureInitRuntime(){if(runtimeInitialized)return;runtimeInitialized=true;callRuntimeCallbacks(__ATINIT__)}function preMain(){callRuntimeCallbacks(__ATMAIN__)}function exitRuntime(){callRuntimeCallbacks(__ATEXIT__);runtimeExited=true}function postRun(){if(Module["postRun"]){if(typeof Module["postRun"]=="function")Module["postRun"]=[Module["postRun"]];while(Module["postRun"].length){addOnPostRun(Module["postRun"].shift())}}callRuntimeCallbacks(__ATPOSTRUN__)}function addOnPreRun(cb){__ATPRERUN__.unshift(cb)}Module["addOnPreRun"]=addOnPreRun;function addOnInit(cb){__ATINIT__.unshift(cb)}Module["addOnInit"]=addOnInit;function addOnPreMain(cb){__ATMAIN__.unshift(cb)}Module["addOnPreMain"]=addOnPreMain;function addOnExit(cb){__ATEXIT__.unshift(cb)}Module["addOnExit"]=addOnExit;function addOnPostRun(cb){__ATPOSTRUN__.unshift(cb)}Module["addOnPostRun"]=addOnPostRun;function intArrayFromString(stringy,dontAddNull,length){var len=length>0?length:lengthBytesUTF8(stringy)+1;var u8array=new Array(len);var numBytesWritten=stringToUTF8Array(stringy,u8array,0,u8array.length);if(dontAddNull)u8array.length=numBytesWritten;return u8array}Module["intArrayFromString"]=intArrayFromString;function intArrayToString(array){var ret=[];for(var i=0;i<array.length;i++){var chr=array[i];if(chr>255){chr&=255}ret.push(String.fromCharCode(chr))}return ret.join("")}Module["intArrayToString"]=intArrayToString;function writeStringToMemory(string,buffer,dontAddNull){var array=intArrayFromString(string,dontAddNull);var i=0;while(i<array.length){var chr=array[i];HEAP8[buffer+i>>0]=chr;i=i+1}}Module["writeStringToMemory"]=writeStringToMemory;function writeArrayToMemory(array,buffer){for(var i=0;i<array.length;i++){HEAP8[buffer++>>0]=array[i]}}Module["writeArrayToMemory"]=writeArrayToMemory;function writeAsciiToMemory(str,buffer,dontAddNull){for(var i=0;i<str.length;++i){HEAP8[buffer++>>0]=str.charCodeAt(i)}if(!dontAddNull)HEAP8[buffer>>0]=0}Module["writeAsciiToMemory"]=writeAsciiToMemory;function unSign(value,bits,ignore){if(value>=0){return value}return bits<=32?2*Math.abs(1<<bits-1)+value:Math.pow(2,bits)+value}function reSign(value,bits,ignore){if(value<=0){return value}var half=bits<=32?Math.abs(1<<bits-1):Math.pow(2,bits-1);if(value>=half&&(bits<=32||value>half)){value=-2*half+value}return value}if(!Math["imul"]||Math["imul"](4294967295,5)!==-5)Math["imul"]=function imul(a,b){var ah=a>>>16;var al=a&65535;var bh=b>>>16;var bl=b&65535;return al*bl+(ah*bl+al*bh<<16)|0};Math.imul=Math["imul"];if(!Math["clz32"])Math["clz32"]=(function(x){x=x>>>0;for(var i=0;i<32;i++){if(x&1<<31-i)return i}return 32});Math.clz32=Math["clz32"];var Math_abs=Math.abs;var Math_cos=Math.cos;var Math_sin=Math.sin;var Math_tan=Math.tan;var Math_acos=Math.acos;var Math_asin=Math.asin;var Math_atan=Math.atan;var Math_atan2=Math.atan2;var Math_exp=Math.exp;var Math_log=Math.log;var Math_sqrt=Math.sqrt;var Math_ceil=Math.ceil;var Math_floor=Math.floor;var Math_pow=Math.pow;var Math_imul=Math.imul;var Math_fround=Math.fround;var Math_min=Math.min;var Math_clz32=Math.clz32;var runDependencies=0;var runDependencyWatcher=null;var dependenciesFulfilled=null;function getUniqueRunDependency(id){return id}function addRunDependency(id){runDependencies++;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}}Module["addRunDependency"]=addRunDependency;function removeRunDependency(id){runDependencies--;if(Module["monitorRunDependencies"]){Module["monitorRunDependencies"](runDependencies)}if(runDependencies==0){if(runDependencyWatcher!==null){clearInterval(runDependencyWatcher);runDependencyWatcher=null}if(dependenciesFulfilled){var callback=dependenciesFulfilled;dependenciesFulfilled=null;callback()}}}Module["removeRunDependency"]=removeRunDependency;Module["preloadedImages"]={};Module["preloadedAudios"]={};var memoryInitializer=null;var ASM_CONSTS=[(function($0,$1,$2,$3){{if(!artoolkit["multiEachMarkerInfo"]){artoolkit["multiEachMarkerInfo"]={}}var multiEachMarker=artoolkit["multiEachMarkerInfo"];multiEachMarker["visible"]=$0;multiEachMarker["pattId"]=$1;multiEachMarker["pattType"]=$2;multiEachMarker["width"]=$3}}),(function($0,$1,$2,$3,$4,$5,$6,$7,$8,$9,$10,$11,$12,$13,$14,$15,$16,$17,$18,$19,$20,$21,$22,$23,$24,$25,$26,$27,$28,$29,$30,$31,$32){{var $a=arguments;var i=12;if(!artoolkit["markerInfo"]){artoolkit["markerInfo"]={pos:[0,0],line:[[0,0,0],[0,0,0],[0,0,0],[0,0,0]],vertex:[[0,0],[0,0],[0,0],[0,0]]}}var markerInfo=artoolkit["markerInfo"];markerInfo["area"]=$0;markerInfo["id"]=$1;markerInfo["idPatt"]=$2;markerInfo["idMatrix"]=$3;markerInfo["dir"]=$4;markerInfo["dirPatt"]=$5;markerInfo["dirMatrix"]=$6;markerInfo["cf"]=$7;markerInfo["cfPatt"]=$8;markerInfo["cfMatrix"]=$9;markerInfo["pos"][0]=$10;markerInfo["pos"][1]=$11;markerInfo["line"][0][0]=$a[i++];markerInfo["line"][0][1]=$a[i++];markerInfo["line"][0][2]=$a[i++];markerInfo["line"][1][0]=$a[i++];markerInfo["line"][1][1]=$a[i++];markerInfo["line"][1][2]=$a[i++];markerInfo["line"][2][0]=$a[i++];markerInfo["line"][2][1]=$a[i++];markerInfo["line"][2][2]=$a[i++];markerInfo["line"][3][0]=$a[i++];markerInfo["line"][3][1]=$a[i++];markerInfo["line"][3][2]=$a[i++];markerInfo["vertex"][0][0]=$a[i++];markerInfo["vertex"][0][1]=$a[i++];markerInfo["vertex"][1][0]=$a[i++];markerInfo["vertex"][1][1]=$a[i++];markerInfo["vertex"][2][0]=$a[i++];markerInfo["vertex"][2][1]=$a[i++];markerInfo["vertex"][3][0]=$a[i++];markerInfo["vertex"][3][1]=$a[i++];markerInfo["errorCorrected"]=$a[i++]}}),(function($0,$1,$2,$3,$4){{if(!artoolkit["frameMalloc"]){artoolkit["frameMalloc"]={}}var frameMalloc=artoolkit["frameMalloc"];frameMalloc["framepointer"]=$1;frameMalloc["framesize"]=$2;frameMalloc["camera"]=$3;frameMalloc["transform"]=$4}})];function _emscripten_asm_const_33(code,a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23,a24,a25,a26,a27,a28,a29,a30,a31,a32){return ASM_CONSTS[code](a0,a1,a2,a3,a4,a5,a6,a7,a8,a9,a10,a11,a12,a13,a14,a15,a16,a17,a18,a19,a20,a21,a22,a23,a