speedy-vision/dist/speedy-vision.min.js

GPU-accelerated Computer Vision for JavaScript

/*!
 * Speedy Vision version 0.9.0-wip
 * GPU-accelerated Computer Vision for JavaScript
 * Copyright 2020-2022 Alexandre Martins <alemartf(at)gmail.com> (https://github.com/alemart)
 * https://github.com/alemart/speedy-vision
 *
 * @license Apache-2.0
 * Date: 2022-04-19T18:11:03.845Z
 */
!function(e,t){"object"==typeof exports&&"object"==typeof module?module.exports=t():"function"==typeof define&&define.amd?define([],t):"object"==typeof exports?exports.Speedy=t():e.Speedy=t()}(self,(function(){return(()=>{var e={5137:(e,t,n)=>{"use strict";n.d(t,{N:()=>A});var i=n(4368),o=n(5484),s=n(3841);const r=Object.freeze({float32:Float32Array});class A{constructor(e,t,n){o.c.assert(e>0&&t>0),o.c.assert(n===A.DEFAULT_DTYPE),this._rows=0|e,this._columns=0|t,this._dtype=n}get rows(){return this._rows}get columns(){return this._columns}get dtype(){return this._dtype}static get DEFAULT_DTYPE(){return"float32"}static get BUFFER_TYPE(){return r}plus(e){return new u(this,e)}minus(e){return new I(this,e)}times(e){return"number"==typeof e?new p(this,e):new f(this,e)}transpose(){return new g(this)}inverse(){return new h(this)}compMult(e){return new m(this,e)}ldiv(e){return new C(this,e)}toString(){return`SpeedyMatrixExpr(rows=${this.rows}, columns=${this.columns})`}_evaluate(e,t){throw new 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i.r.copyToMat32(e,t,A,n),i.r.copyToMat32(e,t,a,o),this._compute(e,t,r,A,a),i.r.copyFromMat32(e,t,r,s),i.r.deallocateMat32(e,t,a),i.r.deallocateMat32(e,t,A),i.r.deallocateMat32(e,t,r),s}_compute(e,t,n,i,o){throw new s.Mi}}class g extends l{constructor(e){super(e.columns,e.rows,e)}_compute(e,t,n,i){e.exports.Mat32_transpose(n,i)}}class h extends l{constructor(e){o.c.assert(e.rows===e.columns),super(e.rows,e.columns,e),this._size=e.rows}_compute(e,t,n,i){switch(this._size){case 0:break;case 1:e.exports.Mat32_inverse1(n,i);break;case 2:e.exports.Mat32_inverse2(n,i);break;case 3:e.exports.Mat32_inverse3(n,i);break;default:e.exports.Mat32_qr_inverse(n,i)}}}class p extends l{constructor(e,t){super(e.rows,e.columns,e),this._scalar=+t}_compute(e,t,n,i){e.exports.Mat32_scale(n,i,this._scalar)}}class u extends d{constructor(e,t){o.c.assert(e.rows===t.rows&&e.columns===t.columns),super(e.rows,e.columns,e,t)}_compute(e,t,n,i,o){e.exports.Mat32_add(n,i,o)}}class I extends 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7);\nS( 3,-3, 6);\nS( 3,-2, 5);\nS( 3,-1, 4);\nS( 3, 0, 3);\nS( 3, 1, 2);\nS( 3, 2, 1);\nS( 3, 3, 0);\n#else\n#error Invalid KERNEL_SIZE_SQUARED\n#endif\ncolor = vec4(result.rgb, 1.0f);\n}"},7054:e=>{e.exports="uniform sampler2D image;\n#define X(i,j) t = vec2(min(p[i], p[j]), max(p[i], p[j])); p[i] = t.x; p[j] = t.y;\n#define S(i,x,y) p[i] = pixelAtShortOffset(image, ivec2((x),(y))).g\nvoid main()\n{\nfloat median;\nvec2 t;\n#if !defined(KERNEL_SIZE)\n#error Must define KERNEL_SIZE\n#elif KERNEL_SIZE == 3\nfloat p[9];\nS(0,-1,-1);\nS(1, 0,-1);\nS(2, 1,-1);\nS(3,-1, 0);\nS(4, 0, 0);\nS(5, 1, 0);\nS(6,-1, 1);\nS(7, 0, 1);\nS(8, 1, 1);\nX(1,2);X(4,5);X(7,8);X(0,1);X(3,4);X(6,7);X(1,2);X(4,5);X(7,8);X(0,3);X(5,8);X(4,7);X(3,6);X(1,4);X(2,5);X(4,7);X(4,2);X(6,4);X(4,2);\nmedian = p[4];\n#elif KERNEL_SIZE == 5\nfloat p[25];\nS( 0,-2,-2);\nS( 1,-1,-2);\nS( 2, 0,-2);\nS( 3, 1,-2);\nS( 4, 2,-2);\nS( 5,-2,-1);\nS( 6,-1,-1);\nS( 7, 0,-1);\nS( 8, 1,-1);\nS( 9, 2,-1);\nS(10,-2, 0);\nS(11,-1, 0);\nS(12, 0, 0);\nS(13, 1, 0);\nS(14, 2, 0);\nS(15,-2, 1);\nS(16,-1, 1);\nS(17, 0, 1);\nS(18, 1, 1);\nS(19, 2, 1);\nS(20,-2, 2);\nS(21,-1, 2);\nS(22, 0, 2);\nS(23, 1, 2);\nS(24, 2, 2);\nX(0,1);X(3,4);X(2,4);X(2,3);X(6,7);X(5,7);X(5,6);X(9,10);X(8,10);X(8,9);X(12,13);X(11,13);X(11,12);X(15,16);X(14,16);X(14,15);X(18,19);X(17,19);X(17,18);X(21,22);X(20,22);X(20,21);X(23,24);X(2,5);X(3,6);X(0,6);X(0,3);X(4,7);X(1,7);X(1,4);X(11,14);X(8,14);X(8,11);X(12,15);X(9,15);X(9,12);X(13,16);X(10,16);X(10,13);X(20,23);X(17,23);X(17,20);X(21,24);X(18,24);X(18,21);X(19,22);X(8,17);X(9,18);X(0,18);X(0,9);X(10,19);X(1,19);X(1,10);X(11,20);X(2,20);X(2,11);X(12,21);X(3,21);X(3,12);X(13,22);X(4,22);X(4,13);X(14,23);X(5,23);X(5,14);X(15,24);X(6,24);X(6,15);X(7,16);X(7,19);X(13,21);X(15,23);X(7,13);X(7,15);X(1,9);X(3,11);X(5,17);X(11,17);X(9,17);X(4,10);X(6,12);X(7,14);X(4,6);X(4,7);X(12,14);X(10,14);X(6,7);X(10,12);X(6,10);X(6,17);X(12,17);X(7,17);X(7,10);X(12,18);X(7,12);X(10,18);X(12,20);X(10,20);X(10,12);\nmedian = p[12];\n#elif KERNEL_SIZE == 7\nfloat p[49];\nS( 0,-3,-3);\nS( 1,-2,-3);\nS( 2,-1,-3);\nS( 3, 0,-3);\nS( 4, 1,-3);\nS( 5, 2,-3);\nS( 6, 3,-3);\nS( 7,-3,-2);\nS( 8,-2,-2);\nS( 9,-1,-2);\nS(10, 0,-2);\nS(11, 1,-2);\nS(12, 2,-2);\nS(13, 3,-2);\nS(14,-3,-1);\nS(15,-2,-1);\nS(16,-1,-1);\nS(17, 0,-1);\nS(18, 1,-1);\nS(19, 2,-1);\nS(20, 3,-1);\nS(21,-3, 0);\nS(22,-2, 0);\nS(23,-1, 0);\nS(24, 0, 0);\nS(25, 1, 0);\nS(26, 2, 0);\nS(27, 3, 0);\nS(28,-3, 1);\nS(29,-2, 1);\nS(30,-1, 1);\nS(31, 0, 1);\nS(32, 1, 1);\nS(33, 2, 1);\nS(34, 3, 1);\nS(35,-3, 2);\nS(36,-2, 2);\nS(37,-1, 2);\nS(38, 0, 2);\nS(39, 1, 2);\nS(40, 2, 2);\nS(41, 3, 2);\nS(42,-3, 3);\nS(43,-2, 3);\nS(44,-1, 3);\nS(45, 0, 3);\nS(46, 1, 3);\nS(47, 2, 3);\nS(48, 3, 3);\nX(0,1);X(2,3);X(0,2);X(1,3);X(1,2);X(4,5);X(6,7);X(4,6);X(5,7);X(5,6);X(0,4);X(2,6);X(2,4);X(1,5);X(3,7);X(3,5);X(1,2);X(3,4);X(5,6);X(8,9);X(10,11);X(8,10);X(9,11);X(9,10);X(12,13);X(14,15);X(12,14);X(13,15);X(13,14);X(8,12);X(10,14);X(10,12);X(9,13);X(11,15);X(11,13);X(9,10);X(11,12);X(13,14);X(0,8);X(4,12);X(4,8);X(2,10);X(6,14);X(6,10);X(2,4);X(6,8);X(10,12);X(1,9);X(5,13);X(5,9);X(3,11);X(7,15);X(7,11);X(3,5);X(7,9);X(11,13);X(1,2);X(3,4);X(5,6);X(7,8);X(9,10);X(11,12);X(13,14);X(16,17);X(18,19);X(16,18);X(17,19);X(17,18);X(20,21);X(22,23);X(20,22);X(21,23);X(21,22);X(16,20);X(18,22);X(18,20);X(17,21);X(19,23);X(19,21);X(17,18);X(19,20);X(21,22);X(24,25);X(26,27);X(24,26);X(25,27);X(25,26);X(28,29);X(30,31);X(28,30);X(29,31);X(29,30);X(24,28);X(26,30);X(26,28);X(25,29);X(27,31);X(27,29);X(25,26);X(27,28);X(29,30);X(16,24);X(20,28);X(20,24);X(18,26);X(22,30);X(22,26);X(18,20);X(22,24);X(26,28);X(17,25);X(21,29);X(21,25);X(19,27);X(23,31);X(23,27);X(19,21);X(23,25);X(27,29);X(17,18);X(19,20);X(21,22);X(23,24);X(25,26);X(27,28);X(29,30);X(0,16);X(8,24);X(8,16);X(4,20);X(12,28);X(12,20);X(4,8);X(12,16);X(20,24);X(2,18);X(10,26);X(10,18);X(6,22);X(14,30);X(14,22);X(6,10);X(14,18);X(22,26);X(2,4);X(6,8);X(10,12);X(14,16);X(18,20);X(22,24);X(26,28);X(1,17);X(9,25);X(9,17);X(5,21);X(13,29);X(13,21);X(5,9);X(13,17);X(21,25);X(3,19);X(11,27);X(11,19);X(7,23);X(15,31);X(15,23);X(7,11);X(15,19);X(23,27);X(3,5);X(7,9);X(11,13);X(15,17);X(19,21);X(23,25);X(27,29);X(1,2);X(3,4);X(5,6);X(7,8);X(9,10);X(11,12);X(13,14);X(15,16);X(17,18);X(19,20);X(21,22);X(23,24);X(25,26);X(27,28);X(29,30);X(32,33);X(34,35);X(32,34);X(33,35);X(33,34);X(36,37);X(38,39);X(36,38);X(37,39);X(37,38);X(32,36);X(34,38);X(34,36);X(33,37);X(35,39);X(35,37);X(33,34);X(35,36);X(37,38);X(40,41);X(42,43);X(40,42);X(41,43);X(41,42);X(44,45);X(46,47);X(44,46);X(45,47);X(45,46);X(40,44);X(42,46);X(42,44);X(41,45);X(43,47);X(43,45);X(41,42);X(43,44);X(45,46);X(32,40);X(36,44);X(36,40);X(34,42);X(38,46);X(38,42);X(34,36);X(38,40);X(42,44);X(33,41);X(37,45);X(37,41);X(35,43);X(39,47);X(39,43);X(35,37);X(39,41);X(43,45);X(33,34);X(35,36);X(37,38);X(39,40);X(41,42);X(43,44);X(45,46);X(32,48);X(40,48);X(36,40);X(44,48);X(38,42);X(34,36);X(38,40);X(42,44);X(46,48);X(37,41);X(39,43);X(35,37);X(39,41);X(43,45);X(33,34);X(35,36);X(37,38);X(39,40);X(41,42);X(43,44);X(45,46);X(47,48);X(0,32);X(16,48);X(16,32);X(8,40);X(24,40);X(8,16);X(24,32);X(40,48);X(4,36);X(20,36);X(12,44);X(28,44);X(12,20);X(28,36);X(4,8);X(12,16);X(20,24);X(28,32);X(36,40);X(44,48);X(2,34);X(18,34);X(10,42);X(26,42);X(10,18);X(26,34);X(6,38);X(22,38);X(14,46);X(30,46);X(14,22);X(30,38);X(6,10);X(14,18);X(22,26);X(30,34);X(38,42);X(2,4);X(6,8);X(10,12);X(14,16);X(18,20);X(22,24);X(26,28);X(30,32);X(34,36);X(38,40);X(42,44);X(46,48);X(1,33);X(17,33);X(9,41);X(25,41);X(9,17);X(25,33);X(5,37);X(21,37);X(13,45);X(29,45);X(13,21);X(29,37);X(5,9);X(13,17);X(21,25);X(29,33);X(37,41);X(3,35);X(19,35);X(11,43);X(27,43);X(11,19);X(27,35);X(7,39);X(23,39);X(15,47);X(31,47);X(15,23);X(31,39);X(7,11);X(15,19);X(23,27);X(31,35);X(39,43);X(3,5);X(7,9);X(11,13);X(15,17);X(19,21);X(23,25);X(27,29);X(31,33);X(35,37);X(39,41);X(43,45);X(1,2);X(3,4);X(5,6);X(7,8);X(9,10);X(11,12);X(13,14);X(15,16);X(17,18);X(19,20);X(21,22);X(23,24);\nmedian = p[24];\n#else\n#error Unsupported kernel size\n#endif\ncolor = vec4(median, median, median, 1.0f);\n}"},8961:e=>{e.exports="uniform sampler2D image;\nuniform sampler2D illuminationMap;\nuniform float gain;\nuniform float offset;\nuniform float decay;\n#ifndef GREYSCALE\n#error Must define GREYSCALE\n#endif\n#if GREYSCALE == 0\nconst mat3 rgb2yuv = mat3(\n0.299f, -0.14713f, 0.615f,\n0.587f, -0.28886f, -0.51499f,\n0.114f, 0.436f, -0.10001f\n);\nconst mat3 yuv2rgb = mat3(\n1.0f, 1.0f, 1.0f,\n0.0f, -0.39465f, 2.03211f,\n1.13983f, -0.58060f, 0.0f\n);\n#endif\nconst float eps = 0.0001f;\nconst float sqrt2 = 1.4142135623730951f;\nconst float magic = 20.0f;\nconst vec2 center = vec2(0.5f);\nvoid main()\n{\nvec4 pixel = threadPixel(image);\nvec4 imapPixel = threadPixel(illuminationMap);\nfloat lambda = -sqrt2 * log(max(1.0f - decay, eps));\nfloat dist = length(texCoord - center);\nfloat vgain = gain * exp(-lambda * dist);\nfloat normalizedGain = 2.0f * vgain;\nfloat normalizedOffset = 2.0f * offset - 1.0f;\n#if GREYSCALE != 0\nfloat luma = 1.0 / (1.0 + exp(-normalizedGain * magic * (pixel.g - imapPixel.g)));\nluma = clamp(luma + normalizedOffset, 0.0f, 1.0f);\ncolor = vec4(luma, luma, luma, 1.0f);\n#else\nvec3 yuvPixel = rgb2yuv * pixel.rgb;\nvec3 yuvImapPixel = rgb2yuv * imapPixel.rgb;\nfloat luma = 1.0 / (1.0 + exp(-normalizedGain * magic * (yuvPixel.r - yuvImapPixel.r)));\nluma += normalizedOffset;\nvec3 rgbCorrectedPixel = yuv2rgb * vec3(luma, yuvPixel.gb);\nrgbCorrectedPixel = clamp(rgbCorrectedPixel, 0.0f, 1.0f);\ncolor = vec4(rgbCorrectedPixel, 1.0f);\n#endif\n}"},9571:e=>{e.exports="#ifndef GREYSCALE\n#error Must define GREYSCALE\n#endif\n#if GREYSCALE != 0\nuniform sampler2D minmax2d;\n#else\nuniform sampler2D minmax2dRGB[3];\n#endif\nuniform float minValue;\nuniform float maxValue;\nconst float eps = 1.0f / 255.0f;\nvoid main()\n{\nvec2 minmax = clamp(vec2(minValue, maxValue), 0.0f, 255.0f) / 255.0f;\nvec4 newMin = vec4(minmax.x);\nvec4 newRange = vec4(minmax.y - minmax.x);\nvec4 alpha = vec4(1.0f, newMin.x, newRange.x, 1.0f);\n#if GREYSCALE != 0\nvec4 pixel = threadPixel(minmax2d);\nmat4 channel = mat4(pixel, pixel, pixel, alpha);\n#else\nmat4 channel = mat4(\nthreadPixel(minmax2dRGB[0]),\nthreadPixel(minmax2dRGB[1]),\nthreadPixel(minmax2dRGB[2]),\nalpha\n);\n#endif\nvec4 oldMin = vec4(channel[0].g, channel[1].g, channel[2].g, channel[3].g);\nvec4 oldRange = max(vec4(channel[0].b, channel[1].b, channel[2].b, channel[3].b), eps);\nvec4 oldIntensity = vec4(channel[0].a, channel[1].a, channel[2].a, channel[3].a);\nvec4 newIntensity = (oldIntensity - oldMin) * newRange / oldRange + newMin;\ncolor = newIntensity;\n}"},8466:e=>{e.exports="const vec4 grey = vec4(0.299f, 0.587f, 0.114f, 0.0f);\nuniform sampler2D image;\nvoid main()\n{\nvec4 pixel = threadPixel(image);\nfloat g = dot(pixel, grey);\ncolor = vec4(g, g, g, 1.0f);\n}"},2545:e=>{e.exports="#ifndef _COLORS_GLSL\n#define _COLORS_GLSL\n#define PIXELCOMPONENT_RED   @PIXELCOMPONENT_RED@\n#define PIXELCOMPONENT_GREEN @PIXELCOMPONENT_GREEN@\n#define PIXELCOMPONENT_BLUE  @PIXELCOMPONENT_BLUE@\n#define PIXELCOMPONENT_ALPHA @PIXELCOMPONENT_ALPHA@\n#endif"},7373:e=>{e.exports="#ifndef _FILTERS_GLSL\n#define _FILTERS_GLSL\nfloat laplacian(sampler2D pyramid, vec2 position, float lod)\n{\nfloat pot = exp2(lod);\nivec2 pyrBaseSize = textureSize(pyramid, 0);\nconst vec3 ones = vec3(1.0f);\nconst mat3 kernel = mat3(\n0,-1, 0,\n-1, 4,-1,\n0,-1, 0\n);\n#define LPC(x,y) pyrSubpixelAtExOffset(pyramid, position, lod, pot, ivec2((x),(y)), pyrBaseSize).g\nmat3 neighborhood = mat3(\n0.0f, LPC(0,-1), 0.0f,\nLPC(-1,0), LPC(0,0), LPC(1,0),\n0.0f, LPC(0,1), 0.0f\n);\nmat3 m = matrixCompMult(neighborhood, kernel);\nreturn dot(ones, vec3(\ndot(m[0], ones),\ndot(m[1], ones),\ndot(m[2], ones)\n)) * (1.0f + lod);\n}\n#endif"},2229:e=>{e.exports="#ifndef _FIXEDPOINT_GLSL\n#define _FIXEDPOINT_GLSL\n#define fixed_t int\n#define fixed2_t ivec2\nconst int FIX_BITS = int(@FIX_BITS@);\nconst float FIX_RESOLUTION = float(@FIX_RESOLUTION@);\n#define itofix(x) fixed_t((x) << FIX_BITS)\n#define fixtoi(f) int((x) >> FIX_BITS)\n#define ftofix(x) fixed_t((x) * FIX_RESOLUTION + 0.5f)\n#define fixtof(f) (float(f) / FIX_RESOLUTION)\n#define ivec2tofix(x) fixed2_t((x) << FIX_BITS)\n#define fixtoivec2(f) ivec2((f) >> FIX_BITS)\n#define vec2tofix(v) fixed2_t((v) * FIX_RESOLUTION + vec2(0.5f))\n#define fixtovec2(f) (vec2(f) / FIX_RESOLUTION)\n#endif"},919:e=>{e.exports="#ifndef _FLOAT16_GLSL\n#define _FLOAT16_GLSL\n#define encodeFloat16(f) (vec2(packf16(f)) / 255.0f)\n#define decodeFloat16(v) unpackf16(uvec2((v) * 255.0f))\n#define encodePairOfFloat16(f) vec4(encodeFloat16((f).x), encodeFloat16((f).y))\n#define decodePairOfFloat16(v) vec2(decodeFloat16((v).rg), decodeFloat16((v).ba))\n#define encodeNullPairOfFloat16() vec4(1.0f)\n#define isNullPairOfFloat16(v) all(equal((v), encodeNullPairOfFloat16()))\n#define encodeDiscardedPairOfFloat16() vec4(0.0f, 1.0f, 0.0f, 1.0f)\n#define isDiscardedPairOfFloat16(v) all(equal((v), encodeDiscardedPairOfFloat16()))\n#define encodeFloat16NaN() vec2(0.5f, 1.0f)\n#define isEncodedFloat16NaN(v) all(equal((v), encodeFloat16NaN()))\nuvec2 packf16( float f)\n{\nuint y = packHalf2x16(vec2(f, 0.0f));\nreturn uvec2(y, y >> 8u) & 0xFFu;\n}\nfloat unpackf16(uvec2 v)\n{\nv &= 0xFFu;\nreturn unpackHalf2x16(v.x | (v.y << 8u)).x;\n}\nbool isEncodedFloat16Zero(vec2 v)\n{\nuvec2 w = uvec2(v * 255.0f);\nreturn 0u == w.x + w.y * (0x80u - w.y);\n}\n#endif"},3815:e=>{e.exports="#ifndef _GLOBAL_GLSL\n#define _GLOBAL_GLSL\n#define threadLocation() ivec2(texCoord * texSize)\n#define outputSize() ivec2(texSize)\n#define threadPixel(img) textureLod((img), texCoord, 0.0f)\n#define pixelAt(img, pos) texelFetch((img), (pos), 0)\n#define pixelAtShortOffset(img, offset) textureLodOffset((img), texCoord, 0.0f, (offset))\n#define pixelAtLongOffset(img, offset) textureLod((img), texCoord + vec2(offset) / texSize, 0.0f)\n#endif"},1830:e=>{e.exports="#ifndef _INT32_GLSL\n#define _INT32_GLSL\nuint decodeUint32(vec4 rgba)\n{\nuvec4 v = uvec4(rgba * 255.0f) & 255u;\nreturn v.x | (v.y << 8u) | (v.z << 16u) | (v.w << 24u);\n}\nvec4 encodeUint32(uint value)\n{\nuvec4 v = uvec4(value, value >> 8u, value >> 16u, value >> 24u) & 255u;\nreturn vec4(v) / 255.0f;\n}\n#endif"},1364:e=>{e.exports="#ifndef _KEYPOINT_DESCRIPTORS_GLSL\n#define _KEYPOINT_DESCRIPTORS_GLSL\n#if !defined(DESCRIPTOR_SIZE)\n#error Must define DESCRIPTOR_SIZE\n#elif !defined(_KEYPOINTS_GLSL)\n#error Must include keypoints.glsl\n#endif\nuint[DESCRIPTOR_SIZE] readKeypointDescriptor(sampler2D encodedKeypoints, int descriptorSize, int extraSize, int encoderLength, KeypointAddress address)\n{\nint descriptorOffset = sizeofEncodedKeypoint(0, extraSize) / 4;\nKeypointAddress descriptorAddress = KeypointAddress(address.base, descriptorOffset);\nuint[DESCRIPTOR_SIZE] descriptor;\nvec4 pixel; uvec4 bytes;\n@unroll\nfor(int i = 0; i < DESCRIPTOR_SIZE; i += 4) {\npixel = readKeypointData(encodedKeypoints, encoderLength, descriptorAddress);\nbytes = uvec4(pixel * 255.0f);\ndescriptor[i]   = bytes.r;\ndescriptor[i+1] = bytes.g;\ndescriptor[i+2] = bytes.b;\ndescriptor[i+3] = bytes.a;\ndescriptorAddress.offset++;\n}\nreturn descriptor;\n}\nuint[DESCRIPTOR_SIZE] readKeypointDescriptorFromDB(sampler2D descriptorDB, int descriptorDBStride, int index)\n{\nuint[DESCRIPTOR_SIZE] descriptor;\nint rasterIndex = index * (DESCRIPTOR_SIZE / 4) * int(index >= 0);\nvec4 pixel; uvec4 bytes; ivec2 pos;\n@unroll\nfor(int i = 0; i < DESCRIPTOR_SIZE; i += 4) {\npos = ivec2(rasterIndex % descriptorDBStride, rasterIndex / descriptorDBStride);\npixel = (index >= 0) ? texelFetch(descriptorDB, pos, 0) : vec4(0.0f);\nbytes = uvec4(pixel * 255.0f);\ndescriptor[i]   = bytes.r;\ndescriptor[i+1] = bytes.g;\ndescriptor[i+2] = bytes.b;\ndescriptor[i+3] = bytes.a;\nrasterIndex++;\n}\nreturn descriptor;\n}\nint distanceBetweenKeypointDescriptors(uint[DESCRIPTOR_SIZE] a, uint[DESCRIPTOR_SIZE] b)\n{\nconst int[256] POPCNT = int[256](0,1,1,2,1,2,2,3,1,2,2,3,2,3,3,4,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,1,2,2,3,2,3,3,4,2,3,3,4,3,4,4,5,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,2,3,3,4,3,4,4,5,3,4,4,5,4,5,5,6,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,3,4,4,5,4,5,5,6,4,5,5,6,5,6,6,7,4,5,5,6,5,6,6,7,5,6,6,7,6,7,7,8);\nuvec4 xor, u, v;\nint dist = 0;\nivec4 bits;\n@unroll\nfor(int i = 0; i < DESCRIPTOR_SIZE; i += 4) {\nu = uvec4(a[i], a[i+1], a[i+2], a[i+3]);\nv = uvec4(b[i], b[i+1], b[i+2], b[i+3]);\nxor = (u ^ v) & 255u;\nbits = ivec4(POPCNT[xor.x], POPCNT[xor.y], POPCNT[xor.z], POPCNT[xor.w]);\ndist += bits.x + bits.y + bits.z + bits.w;\n}\nreturn dist;\n}\n#endif"},4004:e=>{e.exports='#ifndef _KEYPOINT_MATCHES_GLSL\n#define _KEYPOINT_MATCHES_GLSL\n@include "int32.glsl"\nconst int MATCH_INDEX_BITS = int(@MATCH_INDEX_BITS@);\nconst int MATCH_INDEX_MASK = int(@MATCH_INDEX_MASK@);\nconst int MATCH_MAX_INDEX = int(@MATCH_MAX_INDEX@);\nconst int MATCH_MAX_DISTANCE = int(@MATCH_MAX_DISTANCE@);\nstruct KeypointMatch\n{\nint index;\nint dist;\n};\nvec4 encodeKeypointMatch(KeypointMatch candidate)\n{\nuint index = uint(candidate.index & MATCH_INDEX_MASK);\nuint dist = uint(clamp(candidate.dist, 0, MATCH_MAX_DISTANCE));\nuint u32 = index | (dist << MATCH_INDEX_BITS);\nreturn encodeUint32(u32);\n}\nKeypointMatch decodeKeypointMatch(vec4 rgba)\n{\nuint u32 = decodeUint32(rgba);\nint dist = int(u32 >> MATCH_INDEX_BITS);\nint index = int(u32 & uint(MATCH_INDEX_MASK));\nreturn KeypointMatch(index, dist);\n}\nconst KeypointMatch MATCH_NOT_FOUND = KeypointMatch(MATCH_MAX_INDEX, MATCH_MAX_DISTANCE);\n#endif'},8714:e=>{e.exports='#ifndef _KEYPOINTS_GLSL\n#define _KEYPOINTS_GLSL\n@include "math.glsl"\n@include "fixed-point.glsl"\n@include "float16.glsl"\n@include "pyramids.glsl"\nstruct Keypoint\n{\nvec2 position;\nfloat lod;\nfloat orientation;\nfloat score;\nuint flags;\n};\nstruct KeypointAddress\n{\nint base;\nint offset;\n};\nconst int MIN_KEYPOINT_SIZE = int(@MIN_KEYPOINT_SIZE@);\nconst int MAX_DESCRIPTOR_SIZE = int(@MAX_DESCRIPTOR_SIZE@);\nconst uint KPF_NONE = 0u;\nconst uint KPF_NULL = 1u;\nconst uint KPF_DISCARDED = 2u;\n#define encodeKeypointScore(score) encodeFloat16(score)\n#define decodeKeypointScore(encodedScore) decodeFloat16(encodedScore)\n#define encodeKeypointOrientation(angle) ((angle) * INV_PI_OVER_2 + 0.5f)\n#define decodeKeypointOrientation(value) ((value) * TWO_PI - PI)\n#define encodeNullKeypoint() (vec4(1.0f))\n#define encodeDiscardedKeypoint() (vec4(0.0f))\n#define is