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i=Object[bb(0x18a)](f['tracked']);if(Date['now']()-iTracker[bb(0x257)]>iTracker[bb(0x272)]&&h['length']>0x0&&i['length']<iTracker[bb(0x190)]){if(bb(0x260)!==bb(0x260))b[arguments[0x0]]=arguments[0x1];else{var j=iTracker.#f008(b);iTracker[bb(0x257)]=Date[bb(0x269)]();var k=iTracker.#f002(j);if(k)var l=iTracker.#f003(b,k['id'],k[bb(0x24b)]);j[bb(0x253)]();}}else{}iTracker.#f004(b);if(iTracker.#p033)iTracker.#p033[bb(0x253)]();iTracker.#p033=b;iTracker.#p034&&iTracker.#p034[bb(0x253)]();iTracker.#p034=a;var m=(Date[bb(0x269)]()-iTracker[bb(0x228)])/0x3e8;iTracker[bb(0x228)]=Date['now']();}#f001(a,b=![]){var bg=a0aT;iTracker.#p038++;if(!iTracker.#p033)return;!iTracker.#p037&&(iTracker.#p037=Date[bg(0x269)]());const c=(l,n)=>Math[bg(0x270)]()*(n-l)+l;if(iTracker.#p036==null||b){if('KYicZ'===bg(0x27c))iTracker.#p036=Math[bg(0x281)](Math[bg(0x266)](0xc,0x3c-(a-c(0x0,0x6))),iTracker[bg(0x254)]),iTracker.#p035=0xf,iTracker.#p039=![];else{this[d]=e[f];;}}var 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bi=bh,z=c[bi(0x1ba)](y);z>-0x1&&(bi(0x23f)!==bi(0x1cd)?d['push'](y):this[bi(0x21d)]&&this[bi(0x21d)][d]&&(this[bi(0x21d)][g][bi(0x253)](),this['debugImages'][k]=null));});var e=Object[bh(0x18a)](b['tracked']);if(d[bh(0x288)]>0x0&&e[bh(0x288)]<this[bh(0x190)]){if(bh(0x14b)==='mZFfx'){var f=Math[bh(0x281)](this[bh(0x235)],this[bh(0x1a0)]),g=this['DETECTABILITY'];if(this[bh(0x279)]==bh(0x275))var i=Math['min'](f,this.#p001)*this['DETECTABILITY'];else{if(this[bh(0x279)]==bh(0x218)){if(bh(0x214)!==bh(0x214)){var z=new i[(bh(0x217))](),A=new j['Scalar'](0xff,0x0,0xff);k[bh(0x20b)](l,m,n,o,p,z,A),z['delete']();}else var i=Math[bh(0x281)](f,this.#p001);}}var j=(this['CANVAS_WIDTH']-i)/0x2,k=(this['CANVAS_HEIGHT']-i)/0x2,l=new cv['Rect'](j,k,i,i),m=a['roi'](l);if(this['DETECT_ZONE']==bh(0x218)){if('uAYSV'!==bh(0x18d)){if(j)k[bh(0x165)](l,new m[(bh(0x1ac))](n,o),0x5,p,0x3);q[bh(0x23d)][r];}else{if(this[bh(0x241)]!=0x1)cv[bh(0x222)](m,m,{'width':i*g,'height':i*g},0x0,0x0,cv[bh(0x1a1)]);}}var n=this.#f009(m,this.#p040,this.#p042);this.#p046++,this.#p046%=d[bh(0x288)];var o=d[this.#p046],b=this.#p047['constructor'](bh(0x1f1)),p=b[bh(0x265)][o],q=this.#f010(n[bh(0x204)],p[bh(0x1f0)],this.#p044,this.#p003),r=q[bh(0x1a5)];n['kp']=this.#f016(n['kp'],l,g);if(r[bh(0x183)]()>this.#p004){var s=this.#f013(n['kp'],p[bh(0x289)],r,this.#p004);if(s){var t=s['h'],u=s[bh(0x1ea)],v=this.#f014(p['gray'][bh(0x286)]-0x1,p[bh(0x239)]['rows']-0x1,t);t[bh(0x253)](),u['delete']();var x=this.#f015(v);return v[bh(0x253)](),{'id':o,'roi':x};}}n['kp']['delete'](),n[bh(0x204)][bh(0x253)](),r[bh(0x253)](),m[bh(0x253)]();}else e[bh(0x284)]['left']=f*g['size']()[bh(0x1db)]*k+'px';}return;}#f003(a,b,c){var bj=a0aT,d=a[bj(0x24b)](c),e=c[bj(0x1db)]*c[bj(0x1c4)];if(e>iTracker[bj(0x229)])var f=Math['sqrt'](iTracker[bj(0x229)]/e);else var f=0x1;cv[bj(0x222)](d,d,{'width':c[bj(0x1db)]*f,'height':c[bj(0x1c4)]*f},0x0,0x0,cv[bj(0x1a1)]);var g=this.#f009(d,this.#p040,this.#p042);g['kp']=this.#f016(g['kp'],c,f);var h=this.#p047[bj(0x202)](bj(0x1f1)),i=h['untracked'][b],j=this.#f010(g[bj(0x204)],i['des'],this.#p044,this.#p005),k=j[bj(0x1a5)];if(k['size']()>this.#p006){var l=this.#f013(g['kp'],i['kp'],k,this.#p004);if(l){var m=l['h'],n=l['refinedMatches'],o=this.#f014(i[bj(0x239)][bj(0x286)]-0x1,i[bj(0x239)][bj(0x1b3)]-0x1,m);i[bj(0x1a5)]=n,i[bj(0x1f7)]=m,h[bj(0x200)][b]={},Object[bj(0x1e5)](h[bj(0x200)][b],i),delete h['untracked'][b],o[bj(0x253)]();;this.#f037(b),this[bj(0x1aa)]++;if(this[bj(0x1aa)]==0x2){}return i;}}else{if(i[bj(0x24b)])delete i[bj(0x24b)];}g['kp']['delete'](),g['des'][bj(0x253)](),k[bj(0x253)](),d['delete']();return;}#f004(a){var bk=a0aT,b=this.#p047['constructor'](bk(0x1f1)),c=Object[bk(0x18a)](b[bk(0x200)]),d=Object[bk(0x18a)](b[bk(0x200)]);c[bk(0x288)]>0x0&&(bk(0x24e)!=='TiVxC'?i[bk(0x165)](j,new k[(bk(0x1ac))](l[bk(0x212)][m],n['data32F'][o+0x1]),0x3,new p[(bk(0x1d8))](0xff,0x0,0x0),0x3):(c['forEach'](f=>{var bl=bk,g=![],h=b[bl(0x200)][f];if(iTracker.#p010&&h['matches'][bl(0x183)]()<h['kp'][bl(0x183)]()){;iTracker.#f036(a,h);}var i=0x1;if(h[bl(0x1d6)]){if(bl(0x17d)==='Pvivy')r[bl(0x210)][bl(0x197)][bl(0x253)](),s[bl(0x210)][bl(0x197)]=t[bl(0x243)](0x15,0x1,u[bl(0x230)],[v['data32F'][0x0],w['data32F'][0x1],x[bl(0x212)][0x2],0x0,0x0,0x0,0x0,0x0,0x0,y,j,A,B,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]),C[bl(0x210)]['kf'][bl(0x221)][bl(0x253)](),D[bl(0x210)][bl(0x197)][bl(0x167)](E['kalman']['kf']['statePre']),F[bl(0x210)]['kf']['statePost'][bl(0x253)](),G[bl(0x210)][bl(0x197)][bl(0x167)](H[bl(0x210)]['kf'][bl(0x1d5)]);else{var j=h[bl(0x1d6)][bl(0x17c)][bl(0x212)][0x2],k=0.1,l=0x3,m=0.75,n=0x3;i=n-(j-k)/(l-k)*(n-m),i=Math[bl(0x281)](Math[bl(0x266)](i,m),n);}}var o=iTracker.#f017(h[bl(0x239)],h['homography']),p=iTracker.#f018(f,h['kp'],h['matches'],h['homography'],i),q=p['kp'],r=p[bl(0x1a5)];!iTracker.#p033&&(iTracker.#p033=new cv[(bl(0x217))](),a['copyTo'](iTracker.#p033));const 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B=this.#f014(h[bl(0x239)][bl(0x286)]-0x1,h[bl(0x239)][bl(0x1b3)]-0x1,y),C=this.#f015(B),D=iTracker.#f023(h[bl(0x239)][bl(0x286)],h[bl(0x239)]['rows'],B,h[bl(0x1d6)]),E=this.#f025(D,f,i);if(E['valid']){if(bl(0x1a3)!==bl(0x162)){g=!![],h[bl(0x1f7)][bl(0x253)](),h['homography']=y,h[bl(0x24b)]=C;if(iTracker.#p012){if(h[bl(0x210)]['hasPrediction'])var F=(Date[bl(0x269)]()-iTracker['lastUpdateTime'])/0x3e8,G=iTracker.#f029(f,F);iTracker.#f030(f,D);var H=this.#f026(D,G);this.#f039(f,H),G&&H==D&&iTracker.#f028(f);}else this.#f039(f,D);}else c+=d+',';}B[bl(0x253)]();}q[bl(0x253)](),r[bl(0x253)]();if(!g){if(iTracker.#p012)iTracker.#f028(f);this.#f005(f);}}),iTracker.#f044(bk(0x1f6))));}#f005(a){var bm=a0aT,b=this.#p047['constructor']('true'),c=b[bm(0x200)][a];delete c[bm(0x1a5)],c[bm(0x1f7)][bm(0x253)](),delete c[bm(0x1f7)],delete c[bm(0x1d6)],b[bm(0x265)][a]={},Object['assign'](b[bm(0x265)][a],c),delete 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n=Math[bp(0x21f)](iTracker['MAX_TARGET_AREA']/m);else var n=0x1;e[bp(0x1db)]=l[bp(0x1db)]*n,e['height']=l['height']*n,f['drawImage'](l,0x0,0x0,l[bp(0x1db)]*n,l[bp(0x1c4)]*n);var o=new cv[(bp(0x217))](e[bp(0x1c4)],e[bp(0x1db)],cv[bp(0x22d)]);o['data'][bp(0x28e)](f[bp(0x164)](0x0,0x0,e[bp(0x1db)],e[bp(0x1c4)])[bp(0x158)]);var p=iTracker.#f007(o),q=iTracker.#f009(p,iTracker.#p040,iTracker.#p042),r=iTracker.#f008(p),s=iTracker.#f009(r,iTracker.#p040,iTracker.#p042);;var t={};t[bp(0x204)]=q['des'],t['kp']=q['kp'],t[bp(0x239)]=p,t[bp(0x1f0)]=s[bp(0x204)],t[bp(0x289)]=s['kp'],t[bp(0x237)]=r;var u=0x1,v=0x0,z=0x1,A=0x0;for(var B=0x0;B<q['kp'][bp(0x183)]();B++){var C=p[bp(0x183)]()[bp(0x1db)],D=p[bp(0x183)]()['height'],E=q['kp'][bp(0x227)](B)['pt']['x']/C,F=q['kp'][bp(0x227)](B)['pt']['y']/D;if(E<u)u=E;else{if(E>v)v=E;}if(F<z)z=F;else{if(F>A)A=F;}}t[bp(0x1a4)]=(v-u)*(A-z),t[bp(0x1ec)]=Date[bp(0x269)](),t['lastPoseIsStable']=![],b[bp(0x265)][j]=t;if(iTracker.#p012)iTracker.#f027(j);g++;if(g==d['length']){if('ZwPdw'===bp(0x203)){var I=o[bp(0x21f)](0x1+p['data32F'][0x8]-q[bp(0x212)][0x0]-r['data32F'][0x4])*0x2;s=(t[bp(0x212)][0x1]-u[bp(0x212)][0x3])/I,v=(C[bp(0x212)][0x6]+E[bp(0x212)][0x2])/I,F=(z[bp(0x212)][0x7]+A['data32F'][0x5])/I,B=0.25*I;}else a();}}},l['src']=k;}else{for(var n=0x0;n<n[bo(0x183)]();n++){var o=q[bo(0x227)](n);o['pt']['x']=o['pt']['x']/r+s['x'],o['pt']['y']=o['pt']['y']/t+u['y'],v[bo(0x28e)](n,o);}return o;}});var h=()=>{var i={};return function(){var bq=a0d;if(bq(0x207)!==bq(0x1ef)){if(arguments['length']==0x1)return i[arguments[0x0]];arguments[bq(0x288)]==0x2&&(i[arguments[0x0]]=arguments[0x1]);}else{var k=t[bq(0x24b)]['x']>0x0,l=u[bq(0x24b)]['x']+v[bq(0x24b)][bq(0x1db)]<w['size']()['width'],m=x[bq(0x24b)]['y']>0x0,n=y[bq(0x24b)]['y']+z[bq(0x24b)]['height']<A['size']()[bq(0x1c4)];if(B<0.5*C[bq(0x1a4)]&&(k&&l&&m&&n)){;if(M[bq(0x24d)]&&N[bq(0x24d)]>O){var o=0x0;V['matches'][bq(0x253)](),W['matches']=new X['DMatchVector']();for(var p=0x0;p<Y['idealMatches']['length'];p++){var q={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':a1[bq(0x157)][p]};a2[bq(0x1a5)][bq(0x23c)](q),o++;};return;}}}};};this.#p047=new(h())(),this.#p047[bn(0x25b)]=c,this.#p047[bn(0x202)](bn(0x1f1),b);}#f007(a,b=![]){var br=a0aT,c=new cv[(br(0x217))]();cv[br(0x1b5)](a,c,cv[br(0x191)],0x0);if(b);return c;}#f008(a,b=![]){var bs=a0aT,c=new cv[(bs(0x217))]();cv[bs(0x15e)](a,c,new cv[(bs(0x26a))](0x0,0x0),0x3),cv['addWeighted'](a,0x4,c,-0x3,0x0,c);if(b);return c;}#f009(a,b,c,d){var bt=a0aT;let e=new cv[(bt(0x27b))](),f=new cv[(bt(0x217))]();return b[bt(0x250)](a,e,new cv[(bt(0x217))]()),c[bt(0x1d9)](a,e,f),d&&(this.#f012(a,e,bt(0x276)),d[bt(0x253)]()),{'kp':e,'des':f};}#f010(a,b,c,d,e=![],f,g,h,j){var bu=a0aT;let k=new cv[(bu(0x261))](),l=new cv[(bu(0x25d))]();c[bu(0x17f)](a,b,l,0x2);for(let m=0x0;m<l[bu(0x183)]();++m){let n=l['get'](m),o=n[bu(0x227)](0x0),p=n['get'](0x1);if(!o||!p){;continue;}o['distance']<p[bu(0x177)]*d&&k[bu(0x23c)](o);}return e&&this.#f011(k,f,g,h,j),{'matches':k};}#f011(a,b,c,d,e,f=a0aT(0x273)){var bv=a0aT,g=new cv[(bv(0x217))]();let h=new cv[(bv(0x1d8))](0x0,0xff,0x0,0xff);cv[bv(0x20b)](b,d,c,e,a,g,h),this.#f040(g,f),g[bv(0x253)]();}#f012(a,b,c='#debugKps'){var bw=a0aT,d=new cv[(bw(0x217))](),e=new cv[(bw(0x1d8))](0x0,0xff,0x0);cv['drawKeypoints'](a,b,d,e),this.#f040(d,c),d['delete']();}#f013(a,b,c,d,e=![],f,g){var bx=a0aT;let j=[],k=[],l=a,m=b;for(let q=0x0;q<c[bx(0x183)]();q++){if('MLvgo'===bx(0x209))j[bx(0x23d)](l[bx(0x227)](c[bx(0x227)](q)[bx(0x1fd)])['pt']['x']),j[bx(0x23d)](l['get'](c[bx(0x227)](q)[bx(0x1fd)])['pt']['y']),k[bx(0x23d)](m[bx(0x227)](c[bx(0x227)](q)[bx(0x1bc)])['pt']['x']),k[bx(0x23d)](m['get'](c['get'](q)[bx(0x1bc)])['pt']['y']);else{if(arguments[bx(0x288)]==0x1)return e[arguments[0x0]];arguments[bx(0x288)]==0x2&&(f[arguments[0x0]]=arguments[0x1]);}}if(j[bx(0x288)]/0x2>=d){if(bx(0x1c5)===bx(0x15c)){var t={};return function(){var by=bx;if(arguments[by(0x288)]==0x1)return t[arguments[0x0]];arguments['length']==0x2&&(t[arguments[0x0]]=arguments[0x1]);};}else{let t=cv[bx(0x243)](j[bx(0x288)]/0x2,0x2,cv[bx(0x230)],j),u=cv[bx(0x243)](k[bx(0x288)]/0x2,0x2,cv[bx(0x230)],k),v=new cv[(bx(0x217))](),w=new cv[(bx(0x261))](),x=cv['findHomography'](t,u,cv['RANSAC'],this.#p009,v,0x7d0,0.999);t[bx(0x253)](),u['delete']();if(x[bx(0x1e8)]())return;var n=0x0;for(var o=0x0;o<c[bx(0x183)]();o++){if(v[bx(0x158)][o]){if(bx(0x19f)!==bx(0x19f))!d[bx(0x208)]&&(g['warn'](bx(0x1c0)),x['CLIENT_VERSION_ERROR']=!![]);else{if(w[bx(0x183)]()>this[bx(0x271)]){if(bx(0x16e)!=='SykSx'){if(this[bx(0x22c)](0x0,0x1)>0x0){if('zXUhG'!==bx(0x163)){var p=this['randomIntFromInterval'](0x0,this[bx(0x271)]-0x1);w['set'](p,c[bx(0x227)](o));}else{var A=this[bx(0x22c)](0x0,this[bx(0x271)]-0x1);d[bx(0x28e)](A,e['get'](f));}}}else{var B=new e['Mat']();f[bx(0x1b5)](g,B,x[bx(0x15f)],0x0);}}else w[bx(0x23c)](c[bx(0x227)](o));}}n++;}v[bx(0x253)]();if(e){var e=new cv['Mat']();let B=new cv[(bx(0x1d8))](0xff,0xff,0x0,0xff);cv[bx(0x20b)](f,a,g,b,w,e,B),e[bx(0x253)]();}return{'h':x,'refinedMatches':w};}}return;}#f014(a,b,c,d=![],e){var bz=a0aT,f=[0x0,0x0,a,0x0,a,b,0x0,b],g=cv['matFromArray'](f[bz(0x288)]/0x2,0x1,cv[bz(0x1ad)],f),j=new cv[(bz(0x217))]();cv[bz(0x22e)](g,j,c[bz(0x1df)](0x0));if(d){var k=new cv[(bz(0x217))]();cv[bz(0x1b5)](e,k,cv[bz(0x15f)],0x0);var l=new cv[(bz(0x1d8))](0xff,0xff,0x0),m=[new cv['Point'](j[bz(0x212)][0x0],j[bz(0x212)][0x1]),new cv['Point'](j[bz(0x212)][0x2],j[bz(0x212)][0x3]),new cv[(bz(0x1ac))](j['data32F'][0x4],j[bz(0x212)][0x5]),new cv[(bz(0x1ac))](j[bz(0x212)][0x6],j[bz(0x212)][0x7])];for(var n=0x0;n<m[bz(0x288)];n++){if(bz(0x27a)!==bz(0x152))cv[bz(0x224)](k,m[n],m[(n+0x1)%m[bz(0x288)]],l,0x2);else{var p=new e[(bz(0x217))]();f['cvtColor'](g,p,b[bz(0x15f)],0x0);}}iTracker.#f040(k,bz(0x1a9)),k[bz(0x253)]();}return g[bz(0x253)](),j;}#f015(a,b){var bA=a0aT;let c=Math[bA(0x1e2)](Math[bA(0x281)](a['data32F'][0x0],a[bA(0x212)][0x2],a['data32F'][0x4],a[bA(0x212)][0x6])),d=Math[bA(0x1e2)](Math[bA(0x266)](a[bA(0x212)][0x0],a[bA(0x212)][0x2],a[bA(0x212)][0x4],a[bA(0x212)][0x6])),e=Math[bA(0x1e2)](Math['min'](a[bA(0x212)][0x1],a[bA(0x212)][0x3],a['data32F'][0x5],a[bA(0x212)][0x7])),f=Math[bA(0x1e2)](Math[bA(0x266)](a[bA(0x212)][0x1],a[bA(0x212)][0x3],a[bA(0x212)][0x5],a[bA(0x212)][0x7]));c=c<0x0?0x0:c,e=e<0x0?0x0:e,d=d>this[bA(0x235)]?this[bA(0x235)]:d,f=f>this['CANVAS_HEIGHT']?this[bA(0x1a0)]:f;var g=new cv['Rect'](c,e,d-c,f-e);if(b){if(bA(0x24a)==='MKyuF'){var b=new cv[(bA(0x217))][(bA(0x1c1))](this[bA(0x1a0)],this[bA(0x235)],cv['CV_8UC1']);let h=new Uint32Array([c,e,d,e,d,f,c,f]),i=cv[bA(0x243)](0x4,0x1,cv['CV_32SC2'],h);cv[bA(0x1fe)](b,i,new cv[(bA(0x1d8))](0xff)),i['delete']();;b[bA(0x253)]();}else{if(this[bA(0x22c)](0x0,0x1)>0x0){var k=this['randomIntFromInterval'](0x0,this[bA(0x271)]-0x1);g[bA(0x28e)](k,h[bA(0x227)](i));}}}return g;}#f016(a,b,c){var bB=a0aT;for(var d=0x0;d<a[bB(0x183)]();d++){var e=a[bB(0x227)](d);e['pt']['x']=e['pt']['x']/c+b['x'],e['pt']['y']=e['pt']['y']/c+b['y'],a[bB(0x28e)](d,e);}return a;}#f017(a,b,c){var bC=a0aT;let d=new cv['Mat'](),e={'width':this['CANVAS_WIDTH'],'height':this['CANVAS_HEIGHT']};cv['warpPerspective'](a,d,b,e,cv[bC(0x1cb)]);if(c);return d;}#f018(a,b,c,d,e,f,g,h){var bD=a0aT,j=this.#p047[bD(0x202)](bD(0x1f1)),k=j['tracked'][a],l=0x1,m=(k[bD(0x280)]?this.#p026:this.#p022)*e*l,n=new cv['KeyPointVector'](),o=new cv['DMatchVector'](),q=0x0,r=[];for(var s=0x0;s<c[bD(0x183)]();s++){var t=c[bD(0x227)](s),u=b[bD(0x227)](t['trainIdx'])['pt']['x'],v=b[bD(0x227)](t[bD(0x1bc)])['pt']['y'];r[bD(0x23d)](u),r['push'](v);}var w=cv[bD(0x243)](r[bD(0x288)]/0x2,0x1,cv['CV_32FC2'],r),z=new cv[(bD(0x217))]();cv['perspectiveTransform'](w,z,d['inv'](0x0));for(var s=0x0;s<z[bD(0x212)][bD(0x288)];s+=0x2){if('mXsNB'===bD(0x1f9)){;if(j[bD(0x24d)]&&k[bD(0x24d)]>l){var D=0x0;s['matches']['delete'](),t['matches']=new u[(bD(0x261))]();for(var E=0x0;E<v[bD(0x157)][bD(0x288)];E++){var F={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':v[bD(0x157)][E]};z[bD(0x1a5)][bD(0x23c)](F),D++;};return;}}else{var t=c['get'](s/0x2),A=b[bD(0x227)](t[bD(0x1bc)]),u=z[bD(0x212)][s],v=z[bD(0x212)][s+0x1];if(u<m/0x2||u>this[bD(0x235)]-m/0x2||v<m/0x2||v>this[bD(0x1a0)]-m/0x2){if(bD(0x151)!=='WMtfv'){q++;continue;}else{var E={};return function(){var bE=bD;if(arguments['length']==0x1)return E[arguments[0x0]];arguments[bE(0x288)]==0x2&&(E[arguments[0x0]]=arguments[0x1]);};}}A['pt']['x']=u,A['pt']['y']=v,n['push_back'](A),t[bD(0x1fd)]=s/0x2-q,o[bD(0x23c)](t);}}w[bD(0x253)](),z['delete']();if(f){if(bD(0x1ff)!==bD(0x1ff))return 0x0;else{var f=new cv['Mat'](),B=new cv[(bD(0x1d8))](0xff,0x0,0xff);cv[bD(0x20b)](g,n,h,b,o,f,B),f['delete']();}}return{'kp':n,'matches':o};}#f019(a,b,c,d,e){var bF=a0aT;if(e){if(bF(0x206)===bF(0x206)){var f=new cv[(bF(0x217))]();b[bF(0x167)](f),cv[bF(0x1b5)](f,f,cv[bF(0x15f)],0x0);}else return;}var g=this.#p047[bF(0x202)](bF(0x1f1)),h=g[bF(0x200)][a],j=0x1,k=(h[bF(0x280)]?this.#p025:this.#p021)*d*j,l=(h[bF(0x280)]?this.#p026:this.#p022)*d*j,m=[],n=0x0;for(var o=0x0;o<c[bF(0x183)]();o++){var p=c[bF(0x227)](o),q=p['pt']['x'],r=p['pt']['y'];if(q<l/0x2||q>b[bF(0x183)]()[bF(0x1db)]-l/0x2||r<l/0x2||r>b['size']()['height']-l/0x2){n++;continue;}var s=Math[bF(0x25a)](k/0x2),t=new cv[(bF(0x217))](),u=new cv[(bF(0x160))](q-s,r-s,k,k);t=b['roi'](u),m['push']({'keypoint':p,'patch':t}),e&&cv[bF(0x26f)](f,new cv[(bF(0x1ac))](u['x'],u['y']),new cv[(bF(0x1ac))](u['x']+u[bF(0x1db)],u['y']+u[bF(0x1c4)]),new cv[(bF(0x1d8))](0x0,0xff,0xff),0x1);}if(e){;f[bF(0x253)]();}return m;}#f020(a){a['forEach'](b=>{var bG=a0d;b[bG(0x1fb)][bG(0x253)]();});}#f021(a,b,c,d,e){var bH=a0aT,f=this.#p047[bH(0x202)](bH(0x1f1)),g=f[bH(0x200)][a],h=(g[bH(0x280)]?this.#p025:this.#p021)*d,i=(g[bH(0x280)]?this.#p026:this.#p022)*d,j=this.#p022*d,k=new cv[(bH(0x27b))](),l=new cv[(bH(0x261))]();if(e){if(bH(0x20d)==='MhFrX')return c[bH(0x233)](d);else{var m='#matchPatches',n=this.#f043(m);if(!n){var n=new cv[(bH(0x217))]();cv[bH(0x1b5)](b,n,cv[bH(0x15f)],0x0);}}}var o=0x0,p=0x0;return c[bH(0x188)](r=>{var bI=bH;if(bI(0x232)!==bI(0x232));else{var s=r[bI(0x28a)],t=s['pt']['x'],u=s['pt']['y'],v=r[bI(0x1fb)],w=Math['floor'](h/0x2),z=new cv[(bI(0x160))](t-w,u-w,h,h),A=new cv[(bI(0x160))](t-i/0x2,u-i/0x2,i,i),B=b[bI(0x24b)](A),C=new cv[(bI(0x217))]();cv[bI(0x267)](B,v,C,cv[bI(0x28b)]);var D=cv[bI(0x226)](C);B[bI(0x253)](),C[bI(0x253)]();var E=new cv[(bI(0x1ac))](t-i/0x2+D[bI(0x26b)]['x'],u-i/0x2+D[bI(0x26b)]['y']),F=new cv[(bI(0x1ac))](E['x']+h,E['y']+h),G=E['x']+Math[bI(0x194)](h/0x2),H=E['y']+Math[bI(0x194)](h/0x2);s['pt']['x']=G,s['pt']['y']=H;if(G-w<=t-j/0x2||G+w>=t+j/0x2||H-w<=u-j/0x2||H+w>=u+j/0x2){e&&(bI(0x178)!=='vzQXV'?(cv[bI(0x165)](n,new cv[(bI(0x1ac))](t,u),0x2,new cv[(bI(0x1d8))](0xff,0x0,0x0),0x2),cv[bI(0x165)](n,new cv['Point'](t,u),h,new cv[(bI(0x1d8))](0xff,0x0,0x0),0x2)):b['style'][bI(0x1d1)]=bI(0x1ae));;}else{k[bI(0x23c)](s);var I=g[bI(0x1a5)][bI(0x227)](o);I[bI(0x1fd)]=p,l['push_back'](I),p++;if(e){if(bI(0x19a)==='oJQyA'){var M=new e[(bI(0x217))]();f[bI(0x167)](M),g[bI(0x1b5)](M,M,h[bI(0x15f)],0x0);}else cv['rectangle'](n,new cv[(bI(0x1ac))](z['x'],z['y']),new cv[(bI(0x1ac))](z['x']+z['width'],z['y']+z['height']),new cv['Scalar'](0xff,0x0,0x0),0x1),cv[bI(0x26f)](n,new cv['Point'](A['x'],A['y']),new cv[(bI(0x1ac))](A['x']+A[bI(0x1db)],A['y']+A[bI(0x1c4)]),new cv[(bI(0x1d8))](0x0,0x0,0xff),0x1),cv['rectangle'](n,E,F,new cv['Scalar'](0xff,0xff,0x0),0x1);}}o++;}}),e&&(this.#f040(n,m),this.#f042(n,m)),{'kp':k,'matches':l};}#f022(a,b,c,d=![]){var bJ=a0aT;if(d){if(bJ(0x23a)!=='vmUKN')j['line'](j,k[l],m[(n+0x1)%o[bJ(0x288)]],p,0x2);else{var e=new cv[(bJ(0x217))]();a[bJ(0x167)](e),cv[bJ(0x1b5)](e,e,cv['COLOR_GRAY2RGB'],0x0);var f=new cv[(bJ(0x1d8))](0xff,0x0,0x0),g=new cv[(bJ(0x1d8))](0xff,0xff,0x0);}}var h=[];for(var j=0x0;j<c[bJ(0x183)]();j++){var k=c['get'](j)['pt']['x'],l=c[bJ(0x227)](j)['pt']['y'];h[bJ(0x23d)](k),h[bJ(0x23d)](l);}var m=new cv[(bJ(0x243))](h[bJ(0x288)]/0x2,0x2,cv[bJ(0x230)],h),n=new cv[(bJ(0x217))](),o=new cv[(bJ(0x1e4))](cv[bJ(0x14d)]+cv[bJ(0x26c)],0xa,0.03),p=new cv[(bJ(0x217))](),q=[];cv[bJ(0x193)](b,a,m,n,p,new cv[(bJ(0x217))](),new cv['Size'](0xf,0xf),0x2,o);var r=new cv['KeyPointVector']();for(var j=0x0;j<n[bJ(0x183)]()[bJ(0x1c4)];j++){var k=n['data32F'][j*0x2],l=n[bJ(0x212)][j*0x2+0x1];r[bJ(0x23c)]({'pt':{'x':k,'y':l},'angle':0x0,'class_id':0x0,'octave':0x0,'response':0x0,'size':0x0});if(p['data'][j]==0x1){if(d)cv[bJ(0x165)](e,new cv['Point'](k,l),0x5,g,0x3);}else{if(d)cv['circle'](e,new cv['Point'](k,l),0x5,f,0x3);q['push'][j];}}if(d){if(bJ(0x1c2)===bJ(0x1c2)){;e[bJ(0x253)]();}else{f=g[bJ(0x1e1)](bJ(0x21e)),this['WARPED_IMAGE_CANVAS']=h,j['id']=j;;}}return m['delete'](),n['delete'](),{'newKeypoints':r,'errors':q};}#f023(a,b,c,d=null,e=![],f){var bK=a0aT;if(e){var g=new cv[(bK(0x217))]();cv[bK(0x1b5)](f,g,cv[bK(0x15f)],0x0);}var j=Math[bK(0x266)](a,b);a=a/j*0.5,b=b/j*0.5;var k=[-a,b,0x0,a,b,0x0,a,-b,0x0,-a,-b,0x0],l=[];for(var m=0x0;m<c['data32F'][bK(0x288)];m+=0x2){l[bK(0x23d)](c[bK(0x212)][m]),l[bK(0x23d)](c[bK(0x212)][m+0x1]);if(e){if(bK(0x1f3)===bK(0x216)){var u=0x0;g[bK(0x1a5)][bK(0x253)](),b['matches']=new v['DMatchVector']();for(var v=0x0;v<j[bK(0x157)][bK(0x288)];v++){var x={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':m[bK(0x157)][v]};n[bK(0x1a5)][bK(0x23c)](x),u++;};return;}else cv[bK(0x165)](g,new cv['Point'](c[bK(0x212)][m],c[bK(0x212)][m+0x1]),0x3,new cv[(bK(0x1d8))](0xff,0x0,0x0),0x3);}}l=cv[bK(0x243)](l[bK(0x288)]/0x2,0x2,cv[bK(0x230)],l),k=cv[bK(0x243)](k[bK(0x288)]/0x3,0x3,cv[bK(0x230)],k);var n=new cv[(bK(0x217))](0x3,0x1,cv[bK(0x230)]),o=new cv[(bK(0x217))](0x3,0x1,cv[bK(0x230)]),p=![];if(d){if(bK(0x1d0)===bK(0x1cc))return c[bK(0x1e2)](d*0x3e8)/0x3e8;else{d[bK(0x17c)][bK(0x167)](n);var o=new cv[(bK(0x217))](0x3,0x1,cv[bK(0x230)]);cv[bK(0x22a)](d['rotMat'],o),p=!![];}}var q=cv[bK(0x195)](k,l,this['CAM_MAT'],this[bK(0x21c)],o,n,p,cv[bK(0x22f)]),r=new cv[(bK(0x217))]();cv[bK(0x22a)](o,r);if(e){var s=[0x0,0x0,0x0,0.25,0x0,0x0,0x0,0.25,0x0,0x0,0x0,0.25,-a,b,0x0,a,b,0x0,a,-b,0x0,-a,-b,0x0],s=cv[bK(0x243)](0x8,0x3,cv['CV_32F'],s);cv['projectPoints'](s,o,n,this[bK(0x1bb)],this[bK(0x21c)],s),cv[bK(0x224)](g,new cv['Point'](s['data32F'][0x0],s['data32F'][0x1]),new cv['Point'](s[bK(0x212)][0x2],s[bK(0x212)][0x3]),new cv[(bK(0x1d8))](0xff,0x0,0x0),0x2),cv[bK(0x224)](g,new cv[(bK(0x1ac))](s['data32F'][0x0],s[bK(0x212)][0x1]),new cv[(bK(0x1ac))](s[bK(0x212)][0x4],s[bK(0x212)][0x5]),new cv['Scalar'](0x0,0xff,0x0),0x2),cv[bK(0x224)](g,new cv['Point'](s['data32F'][0x0],s[bK(0x212)][0x1]),new cv[(bK(0x1ac))](s['data32F'][0x6],s[bK(0x212)][0x7]),new cv['Scalar'](0x0,0x0,0xff),0x2),cv['line'](g,new cv[(bK(0x1ac))](s[bK(0x212)][0x8],s[bK(0x212)][0x9]),new cv[(bK(0x1ac))](s['data32F'][0xa],s[bK(0x212)][0xb]),new cv[(bK(0x1d8))](0xff,0x0,0xff),0x2),cv[bK(0x224)](g,new cv[(bK(0x1ac))](s[bK(0x212)][0xa],s[bK(0x212)][0xb]),new cv['Point'](s[bK(0x212)][0xc],s[bK(0x212)][0xd]),new cv['Scalar'](0xff,0x0,0xff),0x2),cv[bK(0x224)](g,new cv['Point'](s[bK(0x212)][0xc],s[bK(0x212)][0xd]),new cv[(bK(0x1ac))](s[bK(0x212)][0xe],s[bK(0x212)][0xf]),new cv[(bK(0x1d8))](0xff,0x0,0xff),0x2),cv[bK(0x224)](g,new cv[(bK(0x1ac))](s['data32F'][0xe],s['data32F'][0xf]),new cv[(bK(0x1ac))](s[bK(0x212)][0x8],s['data32F'][0x9]),new cv[(bK(0x1d8))](0xff,0x0,0xff),0x2),s['delete']();;g[bK(0x253)]();}return l[bK(0x253)](),k['delete'](),{'rotMat':r,'tvec':n};}#f024(c,d,e,f,g){var bL=a0aT;if(c===d)return 0x0;let h=(e-c)/(d-c);return h=Math[bL(0x281)](0x1,Math[bL(0x266)](0x0,h)),f+h*(g-f);}#f025(a,b,c,d){var bM=a0aT,e=this.#p047[bM(0x202)]('true'),f=e['tracked'][b];if(!f[bM(0x1d6)])return f[bM(0x1d6)]=a,{'valid':!![],'deltapos':0x0,'deltaup':0x1,'deltaforward':0x1};var g=f[bM(0x1d6)][bM(0x17c)],h=a[bM(0x17c)],i=Math['pow'](h[bM(0x212)][0x0]-g[bM(0x212)][0x0],0x2)+Math[bM(0x1eb)](h[bM(0x212)][0x1]-g['data32F'][0x1],0x2)+Math[bM(0x1eb)](h[bM(0x212)][0x2]-g[bM(0x212)][0x2],0x2),j=f[bM(0x1d6)]['rotMat'],k=new cv['Mat'](0x3,0x1,cv[bM(0x230)]);k[bM(0x212)][0x0]=j[bM(0x212)][0x3],k['data32F'][0x1]=j['data32F'][0x4],k[bM(0x212)][0x2]=j[bM(0x212)][0x5];var l=new cv['Mat'](0x3,0x1,cv['CV_32F']);l[bM(0x212)][0x0]=a[bM(0x282)][bM(0x212)][0x3],l[bM(0x212)][0x1]=a[bM(0x282)][bM(0x212)][0x4],l[bM(0x212)][0x2]=a[bM(0x282)][bM(0x212)][0x5];var m=new cv[(bM(0x217))](0x3,0x1,cv[bM(0x230)]);m['data32F'][0x0]=j['data32F'][0x6],m[bM(0x212)][0x1]=j[bM(0x212)][0x7],m['data32F'][0x2]=j[bM(0x212)][0x8];var n=new cv['Mat'](0x3,0x1,cv[bM(0x230)]);n['data32F'][0x0]=a[bM(0x282)][bM(0x212)][0x6],n[bM(0x212)][0x1]=a[bM(0x282)][bM(0x212)][0x7],n['data32F'][0x2]=a[bM(0x282)][bM(0x212)][0x8];var o=l['dot'](k),p=n[bM(0x262)](m);k['delete'](),l[bM(0x253)](),m[bM(0x253)](),n[bM(0x253)]();if(d);if(i<this.#p023&&o>this.#p024&&p>this.#p024){f[bM(0x1d6)]['tvec'][bM(0x253)](),f['lastPose'][bM(0x282)]['delete'](),f[bM(0x1d6)]=a;var q=this.#f024(0.75,0x2,c,this.#p031,this.#p029),r=this.#f024(0.75,0x2,c,this.#p032,this.#p030);return f[bM(0x280)]=i<q&&o>r&&p>r,{'valid':!![],'deltapos':i,'deltaup':o,'deltaforward':p};}else{if(bM(0x22b)!==bM(0x223)){;;;return{'valid':![],'deltapos':i,'deltaup':o,'deltaforward':p};}else{if(l===m)return 0x0;let t=(n-o)/(p-q);return t=r[bM(0x281)](0x1,s['max'](0x0,t)),t+t*(u-v);}}}#f026(a,b,c){var bN=a0aT;if(!b)return a;var d=a[bN(0x17c)],e=b[bN(0x17c)],f=Math['pow'](d[bN(0x212)][0x0]-e['data32F'][0x0],0x2)+Math[bN(0x1eb)](d[bN(0x212)][0x1]-e[bN(0x212)][0x1],0x2)+Math[bN(0x1eb)](d['data32F'][0x2]-e['data32F'][0x2],0x2),g=b[bN(0x282)],h=new cv[(bN(0x217))](0x3,0x1,cv[bN(0x230)]);h[bN(0x212)][0x0]=g[bN(0x212)][0x3],h['data32F'][0x1]=g[bN(0x212)][0x4],h[bN(0x212)][0x2]=g['data32F'][0x5];var i=new cv['Mat'](0x3,0x1,cv['CV_32F']);i['data32F'][0x0]=a[bN(0x282)][bN(0x212)][0x3],i[bN(0x212)][0x1]=a['rotMat'][bN(0x212)][0x4],i[bN(0x212)][0x2]=a[bN(0x282)]['data32F'][0x5];var j=new cv['Mat'](0x3,0x1,cv[bN(0x230)]);j[bN(0x212)][0x0]=g[bN(0x212)][0x6],j[bN(0x212)][0x1]=g[bN(0x212)][0x7],j['data32F'][0x2]=g[bN(0x212)][0x8];var k=new cv[(bN(0x217))](0x3,0x1,cv[bN(0x230)]);k[bN(0x212)][0x0]=a['rotMat'][bN(0x212)][0x6],k[bN(0x212)][0x1]=a['rotMat'][bN(0x212)][0x7],k[bN(0x212)][0x2]=a[bN(0x282)][bN(0x212)][0x8];var l=i[bN(0x262)](h),m=k[bN(0x262)](j);h[bN(0x253)](),i['delete'](),j[bN(0x253)](),k[bN(0x253)]();if(f<this.#p027&&l>this.#p028&&m>this.#p028){if(c);return b;}else{if(bN(0x161)===bN(0x182)){if(c);return d;}else{if(c);return a;}}}#f027(a){var bO=a0aT,b=this.#p047[bO(0x202)](bO(0x1f1)),c=b['untracked'][a];c[bO(0x210)]={},c[bO(0x210)]['kf']=new cv[(bO(0x28c))](0x15,0x7,0x0,cv['CV_32F']),c[bO(0x210)][bO(0x197)]=new cv[(bO(0x217))](0x15,0x1,cv[bO(0x230)]),c['kalman']['meas']=new cv[(bO(0x217))](0x7,0x1,cv['CV_32F']),this.#f035(c[bO(0x210)]['kf'],0x1/this[bO(0x254)]),c[bO(0x210)]['kf'][bO(0x27f)]=cv[bO(0x243)](0x7,0x15,cv[bO(0x230)],[0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x1,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]),this.#f031(c[bO(0x210)]['kf'][bO(0x20a)]),this.#f032(c[bO(0x210)]['kf'][bO(0x1c8)]),c['kalman']['kf']['statePre'][bO(0x253)](),c['kalman'][bO(0x197)][bO(0x167)](c['kalman']['kf'][bO(0x221)]),c[bO(0x210)]['kf']['statePost'][bO(0x253)](),c['kalman']['state'][bO(0x167)](c[bO(0x210)]['kf'][bO(0x1d5)]),c[bO(0x210)]['hasPrediction']=![];}#f028(a){var bP=a0aT,b=this.#p047[bP(0x202)]('true'),c=b['tracked'][a];this.#f031(c[bP(0x210)]['kf']['errorCovPre']),c[bP(0x210)]['state'][bP(0x253)](),c[bP(0x210)][bP(0x197)]=cv['matFromArray'](0x15,0x1,cv[bP(0x230)],[c[bP(0x210)][bP(0x186)][bP(0x212)][0x0],c[bP(0x210)]['meas']['data32F'][0x1],c[bP(0x210)][bP(0x186)][bP(0x212)][0x2],0x0,0x0,0x0,0x0,0x0,0x0,c[bP(0x210)][bP(0x186)][bP(0x212)][0x3],c[bP(0x210)][bP(0x186)][bP(0x212)][0x4],c[bP(0x210)]['meas'][bP(0x212)][0x5],c[bP(0x210)][bP(0x186)]['data32F'][0x6],0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]),c[bP(0x210)]['kf']['statePost'][bP(0x253)](),c['kalman'][bP(0x197)][bP(0x167)](c[bP(0x210)]['kf']['statePost']),c[bP(0x210)]['hasPrediction']=![];}#f029(a,b){var bQ=a0aT,c=this.#p047[bQ(0x202)](bQ(0x1f1)),d=c[bQ(0x200)][a];this.#f035(d[bQ(0x210)]['kf'],b),d[bQ(0x210)][bQ(0x197)][bQ(0x253)](),d[bQ(0x210)]['state']=d[bQ(0x210)]['kf'][bQ(0x1cf)]();var e=cv[bQ(0x243)](0x3,0x4,cv[bQ(0x230)],[d['kalman']['state'][bQ(0x212)][0x0],d[bQ(0x210)][bQ(0x197)][bQ(0x212)][0x1],d[bQ(0x210)][bQ(0x197)]['data32F'][0x2]]),f=d[bQ(0x210)]['state']['data32F'][0x9],g=d[bQ(0x210)][bQ(0x197)][bQ(0x212)][0xa],h=d['kalman'][bQ(0x197)][bQ(0x212)][0xb],l=d['kalman'][bQ(0x197)][bQ(0x212)][0xc],m=Math[bQ(0x21f)](f*f+g*g+h*h+l*l);f/=m,g/=m,h/=m,l/=m;var n=cv[bQ(0x243)](0x3,0x3,cv[bQ(0x230)],[f*f+g*g+h*h+l*l,0x2*(g*h-f*l),0x2*(g*l+f*h),0x2*(g*h+f*l),f*f-g*g+h*h-l*l,0x2*(h*l-f*g),0x2*(g*l-f*h),0x2*(h*l+f*g),f*f-g*g-h*h+l*l]);return{'rotMat':n,'tvec':e};}#f030(a,b){var bR=a0aT,c=this.#p047[bR(0x202)](bR(0x1f1)),d=c[bR(0x200)][a],e=b[bR(0x17c)],f=b[bR(0x282)]['t'](),g=f[bR(0x212)][0x0]+f[bR(0x212)][0x4]+f[bR(0x212)][0x8],h,l,m,n;if(g>0x0){var o=Math[bR(0x21f)](g+0x1)*0x2;h=0.25*o,l=(f[bR(0x212)][0x5]-f[bR(0x212)][0x7])/o,m=(f['data32F'][0x6]-f[bR(0x212)][0x2])/o,n=(f[bR(0x212)][0x1]-f[bR(0x212)][0x3])/o;}else{if(f[bR(0x212)][0x0]>f[bR(0x212)][0x4]&f[bR(0x212)][0x0]>f['data32F'][0x8]){if(bR(0x1a7)===bR(0x1a7)){var o=Math[bR(0x21f)](0x1+f['data32F'][0x0]-f[bR(0x212)][0x4]-f[bR(0x212)][0x8])*0x2;h=(f[bR(0x212)][0x5]-f[bR(0x212)][0x7])/o,l=0.25*o,m=(f[bR(0x212)][0x3]+f[bR(0x212)][0x1])/o,n=(f[bR(0x212)][0x6]+f[bR(0x212)][0x2])/o;}else c[bR(0x23d)](d);}else{if(f[bR(0x212)][0x4]>f['data32F'][0x8]){var o=Math[bR(0x21f)](0x1+f[bR(0x212)][0x4]-f[bR(0x212)][0x0]-f[bR(0x212)][0x8])*0x2;h=(f['data32F'][0x6]-f['data32F'][0x2])/o,l=(f['data32F'][0x3]+f[bR(0x212)][0x1])/o,m=0.25*o,n=(f['data32F'][0x7]+f[bR(0x212)][0x5])/o;}else{var o=Math['sqrt'](0x1+f['data32F'][0x8]-f[bR(0x212)][0x0]-f[bR(0x212)][0x4])*0x2;h=(f[bR(0x212)][0x1]-f[bR(0x212)][0x3])/o,l=(f['data32F'][0x6]+f['data32F'][0x2])/o,m=(f[bR(0x212)][0x7]+f['data32F'][0x5])/o,n=0.25*o;}}}if(this[bR(0x1b1)]){var p=this[bR(0x1b1)]-h,q=this['lasti']-l,r=this[bR(0x172)]-m,s=this[bR(0x170)]-n;(p*p>0x1||q*q>0x1||r*r>0x1||s*s>0x1)&&(h*=-0x1,l*=-0x1,m*=-0x1,n*=-0x1);}this['lastw']=h,this[bR(0x213)]=l,this[bR(0x172)]=m,this[bR(0x170)]=n,!d['kalman'][bR(0x19c)]&&(d['kalman'][bR(0x197)][bR(0x253)](),d[bR(0x210)][bR(0x197)]=cv[bR(0x243)](0x15,0x1,cv[bR(0x230)],[e[bR(0x212)][0x0],e['data32F'][0x1],e[bR(0x212)][0x2],0x0,0x0,0x0,0x0,0x0,0x0,h,l,m,n,0x0,0x0,0x0,0x0,0x0,0x0,0x0,0x0]),d[bR(0x210)]['kf'][bR(0x221)]['delete'](),d[bR(0x210)][bR(0x197)][bR(0x167)](d[bR(0x210)]['kf'][bR(0x221)]),d['kalman']['kf'][bR(0x1d5)][bR(0x253)](),d[bR(0x210)][bR(0x197)][bR(0x167)](d[bR(0x210)]['kf'][bR(0x1d5)])),d[bR(0x210)][bR(0x186)][bR(0x212)][0x0]=e[bR(0x212)][0x0],d[bR(0x210)][bR(0x186)][bR(0x212)][0x1]=e[bR(0x212)][0x1],d[bR(0x210)]['meas'][bR(0x212)][0x2]=e[bR(0x212)][0x2],d['kalman']['meas'][bR(0x212)][0x3]=h,d[bR(0x210)][bR(0x186)]['data32F'][0x4]=l,d[bR(0x210)][bR(0x186)]['data32F'][0x5]=m,d[bR(0x210)][bR(0x186)][bR(0x212)][0x6]=n,d[bR(0x210)]['kf'][bR(0x28d)](d[bR(0x210)]['meas']),d[bR(0x210)][bR(0x19c)]=!![];}#f031(g){var 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m=b[bX(0x1a5)][bX(0x227)](l);c[bX(0x23d)](m[bX(0x1bc)]);var o=b[bX(0x1a5)][bX(0x183)](),p=b[bX(0x239)]['size']()['width'],q=b[bX(0x239)]['size']()['height'],r=b['kp']['get'](m[bX(0x1bc)])['pt']['x']/p,s=b['kp'][bX(0x227)](m[bX(0x1bc)])['pt']['y']/q;if(r<d)d=r;else{if(r>e)e=r;}if(s<f)f=s;else{if(s>g)g=s;}j[bX(0x23d)](r),k['push'](s);}}var t=this.#f046(j),u=this.#f046(k),v=(e-d)*(g-f),z=(v+0xa*t+0xa*u)/0x3;;;;;if(!b['bestMatchQuality']||z>b['bestMatchQuality']){if(bX(0x1e6)==='HmxCJ'){var I={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':e[bX(0x157)][f]};g['matches'][bX(0x23c)](I),q++;}else{b['bestMatchQuality']=z,b[bX(0x157)]=c;;}}if(b['roi']){var A=b['roi']['x']>0x0,B=b[bX(0x24b)]['x']+b[bX(0x24b)]['width']<a[bX(0x183)]()[bX(0x1db)],C=b[bX(0x24b)]['y']>0x0,D=b[bX(0x24b)]['y']+b['roi'][bX(0x1c4)]<a[bX(0x183)]()[bX(0x1c4)];if(v<0.5*b[bX(0x1a4)]&&(A&&B&&C&&D)){;if(b[bX(0x24d)]&&b[bX(0x24d)]>z){var E=0x0;b[bX(0x1a5)][bX(0x253)](),b[bX(0x1a5)]=new cv[(bX(0x261))]();for(var l=0x0;l<b[bX(0x157)]['length'];l++){var m={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':b['idealMatches'][l]};b['matches'][bX(0x23c)](m),E++;};return;}}}var E=0x0;while(b[bX(0x1a5)]['size']()<this['TRACK_TARGET_MATCH_COUNT']&&b[bX(0x1a5)][bX(0x183)]()<b['kp'][bX(0x183)]()){if(bX(0x1e3)!==bX(0x185)){var F=this[bX(0x22c)](0x0,b['kp'][bX(0x183)]()-0x1);if(c['includes'](F))continue;var m={'distance':0x64,'imgIdx':0x0,'queryIdx':0x0,'trainIdx':F};b[bX(0x1a5)][bX(0x23c)](m),E++;}else d['push_back'](e[bX(0x227)](f));};return;}#f037(a){var bY=a0aT;console[bY(0x24f)](bY(0x251)+a),window[bY(0x15d)]['SendMessage'](this[bY(0x274)],bY(0x175),a);}#f038(a){var bZ=a0aT;console[bZ(0x24f)](bZ(0x14f)+a),window['unityInstance']['SendMessage'](this[bZ(0x274)],bZ(0x156),a);}#f039(a,b){var c0=a0aT,c=new cv['Mat'](),d=new cv[(c0(0x217))]();b[c0(0x17c)][c0(0x167)](c),b[c0(0x282)][c0(0x167)](d),c[c0(0x212)][0x1]*=-0x1,d=d['t']();var e=[0x1,0x0,0x0,0x0,-0x1,0x0,0x0,0x0,0x1];e=cv[c0(0x243)](0x3,0x3,cv[c0(0x230)],e),cv[c0(0x16a)](e,d,0x1,d,0x0,d,0x0),cv[c0(0x16a)](d,e,0x1,d,0x0,d,0x0),e['delete']();var f=[0x0,0x0,-0x1,0x0,-0x1,0x0,-0x1,0x0,0x0];f=cv[c0(0x243)](0x3,0x3,cv[c0(0x230)],f),cv[c0(0x16a)](f,d,0x1,d,0x0,d,0x0),f[c0(0x253)]();var g=a+','+c['data32F'][0x0]+','+c[c0(0x212)][0x1]+','+c['data32F'][0x2]+','+d['data32F'][0x0]+','+d[c0(0x212)][0x1]+','+d[c0(0x212)][0x2]+','+d[c0(0x212)][0x3]+','+d['data32F'][0x4]+','+d[c0(0x212)][0x5]+','+d[c0(0x212)][0x6]+','+d[c0(0x212)][0x7]+','+d[c0(0x212)][0x8]+',';c['delete'](),d[c0(0x253)](),window['unityInstance']['SendMessage'](this[c0(0x274)],'OnTrack',g);}#f040(a,b){var c1=a0aT,c=0x1,d=document[c1(0x23e)](b);if(!d){d=document[c1(0x1e1)](c1(0x21e)),d['id']=b,document[c1(0x1a2)][c1(0x1d2)](d);if(!this['debugIds'])this[c1(0x14c)]=[];this[c1(0x14c)][c1(0x23d)](b),d['style'][c1(0x244)]=c1(0x166),d[c1(0x284)][c1(0x1be)]=0x0,d[c1(0x284)][c1(0x283)]=0x0,d['style'][c1(0x1f4)]='translate(0%,0%)\x20scale('+c+')';}cv[c1(0x245)](b,a);var e=this['debugIds']['indexOf'](b);if(e!=-0x1){if('CbCLs'!==c1(0x27e))var g=b;else d[c1(0x284)][c1(0x283)]=e*a[c1(0x183)]()[c1(0x1db)]*c+'px';}}#f041(a){var c2=a0aT,b=document['getElementById'](a);if(b){b['remove']();var c=this['debugIds'][c2(0x1ba)](a);if(c!==-0x1){if(c2(0x255)!==c2(0x173))this[c2(0x14c)][c2(0x1fa)](c,0x1);else{if(this['DETECTABILITY']!=0x1)i[c2(0x222)](j,k,{'width':l*m,'height':n*o},0x0,0x0,p['INTER_LINEAR']);}}}}#f042(a,b){var c3=a0aT;if(!this[c3(0x21d)])this[c3(0x21d)]={};this[c3(0x21d)][b]=a;}#f043(a){var c4=a0aT;if(this[c4(0x21d)]&&this['debugImages'][a])return this['debugImages'][a];else return;}#f044(a){var c5=a0aT;this[c5(0x21d)]&&this[c5(0x21d)][a]&&(this['debugImages'][a][c5(0x253)](),this[c5(0x21d)][a]=null);}[a0aT(0x22c)](a,b){var c6=a0aT;return Math[c6(0x25a)](Math[c6(0x270)]()*(b-a+0x1)+a);}['round'](a){var c7=a0aT;return Math[c7(0x1e2)](a*0x3e8)/0x3e8;}[a0aT(0x1ed)](a,b,c){return iTracker.#f045(a,b,c);}#f045(a,b,c){var c8=a0aT,d=this.#p047[c8(0x202)](c8(0x1f1)),e=d[c8(0x200)][a];;if(e){let k=new cv[(c8(0x217))](),l=e[c8(0x239)][c8(0x183)]()[c8(0x1db)]/e[c8(0x239)][c8(0x183)]()[c8(0x1c4)],m=this.#p034['size']()[c8(0x1db)]/e['gray']['size']()[c8(0x1db)],n={'width':e[c8(0x239)][c8(0x183)]()[c8(0x1db)]*m,'height':e[c8(0x239)][c8(0x183)]()[c8(0x1c4)]*m};var f=e[c8(0x1f7)],g=this.#p034[c8(0x183)]()[c8(0x1db)],i=this.#p034[c8(0x183)]()[c8(0x1db)]/l;let o=cv['matFromArray'](0x3,0x3,cv[c8(0x201)],[0x1/m,0x0,-0x1/m/m,0x0,0x1/m,-0x1/m/m,0x0,0x0,0x1]),p=cv[c8(0x243)](0x3,0x3,cv[c8(0x201)],[m,0x0,0x1/m,0x0,m,0x1/m,0x0,0x0,0x1]);var j=new 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