new version of aruco

48bee7b7 · Jerome Etienne · e09bba26 · 48bee7b7 · 48bee7b7 · 48bee7b7
23 changed file
--- a/three.js/examples/aruco.html
+++ b/three.js/examples/aruco.html
+<!DOCTYPE html>
+<meta name="viewport" content="width=device-width, user-scalable=no, minimum-scale=1.0, maximum-scale=1.0">
+<!-- three.js library -->
+<script src='vendor/three.js/build/three.min.js'></script>
+<!-- jsartookit -->
+<script src='../vendor/jsartoolkit5/build/artoolkit.min.js'></script>
+<script src='../vendor/jsartoolkit5/js/artoolkit.api.js'></script>
+<!-- include threex.artoolkit -->
+<script src='../threex-artoolkitsource.js'></script>
+<script src='../threex-artoolkitcontext.js'></script>
+<script src='../threex-artoolkitprofile.js'></script>
+<script src='../threex-arbasecontrols.js'></script>
+<script src='../threex-armarkercontrols.js'></script>
+<script src='../threex-arsmoothedcontrols.js'></script>
+<script>THREEx.ArToolkitContext.baseURL = '../'</script>
+
+<!-- threex aruco -->
+<script src='threex-aruco/vendor/js-aruco/src/svd.js'></script> 
+<script src='threex-aruco/vendor/js-aruco/src/posit1.js'></script> 
+<script src='threex-aruco/vendor/js-aruco/src/cv.js'></script> 
+<script src='threex-aruco/vendor/js-aruco/src/aruco.js'></script> 
+<script src='threex-aruco/threex-arucocontext.js'></script> 
+<script src='threex-aruco/threex-arucodebug.js'></script>
+
+<body style='margin : 0px; overflow: hidden; font-family: Monospace;'><div style='position: absolute; top: 10px; width:100%; text-align: center; z-index: 1;'>
+	<a href="https://github.com/jeromeetienne/AR.js/" target="_blank">AR.js</a> - three.js camera transform
+	<br/>
+	Contact me any time at <a href='https://twitter.com/jerome_etienne' target='_blank'>@jerome_etienne</a>
+</div><script>
+	//////////////////////////////////////////////////////////////////////////////////
+	//		Init
+	//////////////////////////////////////////////////////////////////////////////////
+
+	// init renderer
+	var renderer	= new THREE.WebGLRenderer({
+		antialias: true,
+		alpha: true
+	});
+	renderer.setClearColor(new THREE.Color('lightgrey'), 0)
+	renderer.setSize( 640, 480 );
+	renderer.domElement.style.position = 'absolute'
+	renderer.domElement.style.top = '0px'
+	renderer.domElement.style.left = '0px'
+	document.body.appendChild( renderer.domElement );
+
+	// array of functions for the rendering loop
+	var onRenderFcts= [];
+
+	// init scene and camera
+	var scene	= new THREE.Scene();
+		
+	//////////////////////////////////////////////////////////////////////////////////
+	//		Initialize a basic camera
+	//////////////////////////////////////////////////////////////////////////////////
+
+	// Create a camera
+	var camera = new THREE.Camera();
+	scene.add(camera);
+
+	////////////////////////////////////////////////////////////////////////////////
+	//          handle arToolkitSource
+	////////////////////////////////////////////////////////////////////////////////
+
+	var arToolkitSource = new THREEx.ArToolkitSource({
+		// to read from the webcam 
+		sourceType : 'webcam',
+		
+		// // to read from an image
+		// sourceType : 'image',
+		// sourceUrl : THREEx.ArToolkitContext.baseURL + '../data/images/img.jpg',		
+
+		// to read from a video
+		// sourceType : 'video',
+		// sourceUrl : THREEx.ArToolkitContext.baseURL + '../data/videos/headtracking.mp4',		
+	})
+
+	arToolkitSource.init(function onReady(){
+		onResize()
+	})
+	
+	// handle resize
+	window.addEventListener('resize', function(){
+		onResize()
+	})
+	function onResize(){
+		arToolkitSource.onResize()	
+		arToolkitSource.copySizeTo(renderer.domElement)	
+		if( arToolkitContext.arController !== null ){
+			arToolkitSource.copySizeTo(arToolkitContext.arController.canvas)	
+		}	
+	}
+	////////////////////////////////////////////////////////////////////////////////
+	//          initialize arToolkitContext
+	////////////////////////////////////////////////////////////////////////////////
+	
+
+	// create atToolkitContext
+	var arToolkitContext = new THREEx.ArToolkitContext({
+		cameraParametersUrl: THREEx.ArToolkitContext.baseURL + '../data/data/camera_para.dat',
+		detectionMode: 'mono',
+	})
+	// initialize it
+	arToolkitContext.initAruco(function onCompleted(){
+		// copy projection matrix to camera
+		camera.projectionMatrix.copy( arToolkitContext.getProjectionMatrix() );
+	})
+
+	// update artoolkit on every frame
+	onRenderFcts.push(function(){
+		if( arToolkitSource.ready === false )	return
+
+		arToolkitContext.update( arToolkitSource.domElement )
+		
+		// update scene.visible if the marker is seen
+		scene.visible = camera.visible
+	})
+		
+	////////////////////////////////////////////////////////////////////////////////
+	//          Create a ArMarkerControls
+	////////////////////////////////////////////////////////////////////////////////
+	
+	// init controls for camera
+	var markerControls = new THREEx.ArMarkerControls(arToolkitContext, camera, {
+		type : 'pattern',
+		patternUrl : THREEx.ArToolkitContext.baseURL + '../data/data/patt.hiro',
+		// patternUrl : THREEx.ArToolkitContext.baseURL + '../data/data/patt.kanji',
+		// as we controls the camera, set changeMatrixMode: 'cameraTransformMatrix'
+		changeMatrixMode: 'cameraTransformMatrix'
+	})
+	// as we do changeMatrixMode: 'cameraTransformMatrix', start with invisible scene
+	scene.visible = false
+
+	//////////////////////////////////////////////////////////////////////////////////
+	//		add an object in the scene
+	//////////////////////////////////////////////////////////////////////////////////
+
+	// add a torus knot	
+	var geometry	= new THREE.CubeGeometry(1,1,1);
+	var material	= new THREE.MeshNormalMaterial({
+		transparent : true,
+		opacity: 0.5,
+		side: THREE.DoubleSide
+	}); 
+	var mesh	= new THREE.Mesh( geometry, material );
+	mesh.position.y	= geometry.parameters.height/2
+	scene.add( mesh );
+	
+	var geometry	= new THREE.TorusKnotGeometry(0.3,0.1,64,16);
+	var material	= new THREE.MeshNormalMaterial(); 
+	var mesh	= new THREE.Mesh( geometry, material );
+	mesh.position.y	= 0.5
+	scene.add( mesh );
+	
+	onRenderFcts.push(function(delta){
+		mesh.rotation.x += Math.PI*delta
+	})
+
+	//////////////////////////////////////////////////////////////////////////////////
+	//		render the whole thing on the page
+	//////////////////////////////////////////////////////////////////////////////////
+
+	// render the scene
+	onRenderFcts.push(function(){
+		renderer.render( scene, camera );
+	})
+
+	// run the rendering loop
+	var lastTimeMsec= null
+	requestAnimationFrame(function animate(nowMsec){
+		// keep looping
+		requestAnimationFrame( animate );
+		// measure time
+		lastTimeMsec	= lastTimeMsec || nowMsec-1000/60
+		var deltaMsec	= Math.min(200, nowMsec - lastTimeMsec)
+		lastTimeMsec	= nowMsec
+		// call each update function
+		onRenderFcts.forEach(function(onRenderFct){
+			onRenderFct(deltaMsec/1000, nowMsec/1000)
+		})
+	})
+</script></body>
--- a/three.js/examples/threex-aruco/Makefile
+++ b/three.js/examples/threex-aruco/Makefile
+watch: build
+	fswatch -0 three.js/*.js | xargs -0 -n 1 -I {} make build
+	
+.PHONY: build
+build:
+	cat vendor/js-aruco/src/aruco.js \
+		vendor/js-aruco/src/cv.js \
+		vendor/js-aruco/src/posit1.js \
+		vendor/js-aruco/src/svd.js \
+	 	threex-*.js > build/threex-aruco.js
+
+minify: build
+	uglifyjs build/threex-aruco.js > build/threex-aruco-min.js
+
+prepack: build
+	prepack build/threex-aruco.js --out build/threex-aruco-prepacked.js
--- a/three.js/examples/threex-aruco/README.md
+++ b/three.js/examples/threex-aruco/README.md
+Trying to use js-aruco as ar.js backend
--- a/three.js/examples/threex-aruco/TODO.md
+++ b/three.js/examples/threex-aruco/TODO.md
+- expose all the hardcoded parameters from AR.Detect in the debug,html
+  - thus you can tune them
+
+---
+
+# Performances
+- jsaruco use a kernel size of 2 in adaptative thresholding
+  - could i reduce the resolution of the source image and use a kernel size of 1 ?
+  - it would produce more fps. what the difference would be ? create errors ?
+- jsaruco - adaptiveThreshold is doing it on ALL bytes - so all channel ??? check if it is correct
+  - it use blackwhite image - it only needs 1 channel - 8 bits is already a lot to store blackwhite
+  - this mean 4 times more work than needed
+  - NOTES: unclear this is true - grayscale is packing it all in 1 channel. check it out ?
+- in posit1: image difference is computed by a manathan distance. not a euclidian distance... how come ?
+  - this seems to intrduce an error without need (sqrt is nothing in js)
+  - ```imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);```
+  - ```imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);```
+
+# How to include it in AR.js
+- see how to include it in ar.js
+  - so basically a context and a controls
+  - the source can remain the same without trouble
+- how to handle all the options between the various backend
+
+- how to handle the development ? 
+  - do you copy the files ? 
+  - do i modify the master files
+
+- seems to have only a few modifications
+  - 
--- a/three.js/examples/threex-aruco/build/threex-aruco-min.js
+++ b/three.js/examples/threex-aruco/build/threex-aruco-min.js
+var AR=AR||{};AR.Marker=function(id,corners){this.id=id;this.corners=corners};AR.Detector=function(){this.grey=new CV.Image;this.thres=new CV.Image;this.homography=new CV.Image;this.binary=[];this.contours=[];this.polys=[];this.candidates=[]};AR.Detector.prototype.detect=function(image){CV.grayscale(image,this.grey);CV.adaptiveThreshold(this.grey,this.thres,2,7);this.contours=CV.findContours(this.thres,this.binary);this.candidates=this.findCandidates(this.contours,image.width*.2,.05,10);this.candidates=this.clockwiseCorners(this.candidates);this.candidates=this.notTooNear(this.candidates,10);return this.findMarkers(this.grey,this.candidates,49)};AR.Detector.prototype.findCandidates=function(contours,minSize,epsilon,minLength){var candidates=[],len=contours.length,contour,poly,i;this.polys=[];for(i=0;i<len;++i){contour=contours[i];if(contour.length>=minSize){poly=CV.approxPolyDP(contour,contour.length*epsilon);this.polys.push(poly);if(4===poly.length&&CV.isContourConvex(poly)){if(CV.minEdgeLength(poly)>=minLength){candidates.push(poly)}}}}return candidates};AR.Detector.prototype.clockwiseCorners=function(candidates){var len=candidates.length,dx1,dx2,dy1,dy2,swap,i;for(i=0;i<len;++i){dx1=candidates[i][1].x-candidates[i][0].x;dy1=candidates[i][1].y-candidates[i][0].y;dx2=candidates[i][2].x-candidates[i][0].x;dy2=candidates[i][2].y-candidates[i][0].y;if(dx1*dy2-dy1*dx2<0){swap=candidates[i][1];candidates[i][1]=candidates[i][3];candidates[i][3]=swap}}return candidates};AR.Detector.prototype.notTooNear=function(candidates,minDist){var notTooNear=[],len=candidates.length,dist,dx,dy,i,j,k;for(i=0;i<len;++i){for(j=i+1;j<len;++j){dist=0;for(k=0;k<4;++k){dx=candidates[i][k].x-candidates[j][k].x;dy=candidates[i][k].y-candidates[j][k].y;dist+=dx*dx+dy*dy}if(dist/4<minDist*minDist){if(CV.perimeter(candidates[i])<CV.perimeter(candidates[j])){candidates[i].tooNear=true}else{candidates[j].tooNear=true}}}}for(i=0;i<len;++i){if(!candidates[i].tooNear){notTooNear.push(candidates[i])}}return notTooNear};AR.Detector.prototype.findMarkers=function(imageSrc,candidates,warpSize){var markers=[],len=candidates.length,candidate,marker,i;for(i=0;i<len;++i){candidate=candidates[i];CV.warp(imageSrc,this.homography,candidate,warpSize);CV.threshold(this.homography,this.homography,CV.otsu(this.homography));marker=this.getMarker(this.homography,candidate);if(marker){markers.push(marker)}}return markers};AR.Detector.prototype.getMarker=function(imageSrc,candidate){var width=imageSrc.width/7>>>0,minZero=width*width>>1,bits=[],rotations=[],distances=[],square,pair,inc,i,j;for(i=0;i<7;++i){inc=0===i||6===i?1:6;for(j=0;j<7;j+=inc){square={x:j*width,y:i*width,width:width,height:width};if(CV.countNonZero(imageSrc,square)>minZero){return null}}}for(i=0;i<5;++i){bits[i]=[];for(j=0;j<5;++j){square={x:(j+1)*width,y:(i+1)*width,width:width,height:width};bits[i][j]=CV.countNonZero(imageSrc,square)>minZero?1:0}}rotations[0]=bits;distances[0]=this.hammingDistance(rotations[0]);pair={first:distances[0],second:0};for(i=1;i<4;++i){rotations[i]=this.rotate(rotations[i-1]);distances[i]=this.hammingDistance(rotations[i]);if(distances[i]<pair.first){pair.first=distances[i];pair.second=i}}if(0!==pair.first){return null}return new AR.Marker(this.mat2id(rotations[pair.second]),this.rotate2(candidate,4-pair.second))};AR.Detector.prototype.hammingDistance=function(bits){var ids=[[1,0,0,0,0],[1,0,1,1,1],[0,1,0,0,1],[0,1,1,1,0]],dist=0,sum,minSum,i,j,k;for(i=0;i<5;++i){minSum=Infinity;for(j=0;j<4;++j){sum=0;for(k=0;k<5;++k){sum+=bits[i][k]===ids[j][k]?0:1}if(sum<minSum){minSum=sum}}dist+=minSum}return dist};AR.Detector.prototype.mat2id=function(bits){var id=0,i;for(i=0;i<5;++i){id<<=1;id|=bits[i][1];id<<=1;id|=bits[i][3]}return id};AR.Detector.prototype.rotate=function(src){var dst=[],len=src.length,i,j;for(i=0;i<len;++i){dst[i]=[];for(j=0;j<src[i].length;++j){dst[i][j]=src[src[i].length-j-1][i]}}return dst};AR.Detector.prototype.rotate2=function(src,rotation){var dst=[],len=src.length,i;for(i=0;i<len;++i){dst[i]=src[(rotation+i)%len]}return dst};var CV=CV||{};CV.Image=function(width,height,data){this.width=width||0;this.height=height||0;this.data=data||[]};CV.grayscale=function(imageSrc,imageDst){var src=imageSrc.data,dst=imageDst.data,len=src.length,i=0,j=0;for(;i<len;i+=4){dst[j++]=src[i]*.299+src[i+1]*.587+src[i+2]*.114+.5&255}imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;return imageDst};CV.threshold=function(imageSrc,imageDst,threshold){var src=imageSrc.data,dst=imageDst.data,len=src.length,tab=[],i;for(i=0;i<256;++i){tab[i]=i<=threshold?0:255}for(i=0;i<len;++i){dst[i]=tab[src[i]]}imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;return imageDst};CV.adaptiveThreshold=function(imageSrc,imageDst,kernelSize,threshold){var src=imageSrc.data,dst=imageDst.data,len=src.length,tab=[],i;CV.stackBoxBlur(imageSrc,imageDst,kernelSize);for(i=0;i<768;++i){tab[i]=i-255<=-threshold?255:0}for(i=0;i<len;++i){dst[i]=tab[src[i]-dst[i]+255]}imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;return imageDst};CV.otsu=function(imageSrc){var src=imageSrc.data,len=src.length,hist=[],threshold=0,sum=0,sumB=0,wB=0,wF=0,max=0,mu,between,i;for(i=0;i<256;++i){hist[i]=0}for(i=0;i<len;++i){hist[src[i]]++}for(i=0;i<256;++i){sum+=hist[i]*i}for(i=0;i<256;++i){wB+=hist[i];if(0!==wB){wF=len-wB;if(0===wF){break}sumB+=hist[i]*i;mu=sumB/wB-(sum-sumB)/wF;between=wB*wF*mu*mu;if(between>max){max=between;threshold=i}}}return threshold};CV.stackBoxBlurMult=[1,171,205,293,57,373,79,137,241,27,391,357,41,19,283,265];CV.stackBoxBlurShift=[0,9,10,11,9,12,10,11,12,9,13,13,10,9,13,13];CV.BlurStack=function(){this.color=0;this.next=null};CV.stackBoxBlur=function(imageSrc,imageDst,kernelSize){var src=imageSrc.data,dst=imageDst.data,height=imageSrc.height,width=imageSrc.width,heightMinus1=height-1,widthMinus1=width-1,size=kernelSize+kernelSize+1,radius=kernelSize+1,mult=CV.stackBoxBlurMult[kernelSize],shift=CV.stackBoxBlurShift[kernelSize],stack,stackStart,color,sum,pos,start,p,x,y,i;stack=stackStart=new CV.BlurStack;for(i=1;i<size;++i){stack=stack.next=new CV.BlurStack}stack.next=stackStart;pos=0;for(y=0;y<height;++y){start=pos;color=src[pos];sum=radius*color;stack=stackStart;for(i=0;i<radius;++i){stack.color=color;stack=stack.next}for(i=1;i<radius;++i){stack.color=src[pos+i];sum+=stack.color;stack=stack.next}stack=stackStart;for(x=0;x<width;++x){dst[pos++]=sum*mult>>>shift;p=x+radius;p=start+(p<widthMinus1?p:widthMinus1);sum-=stack.color-src[p];stack.color=src[p];stack=stack.next}}for(x=0;x<width;++x){pos=x;start=pos+width;color=dst[pos];sum=radius*color;stack=stackStart;for(i=0;i<radius;++i){stack.color=color;stack=stack.next}for(i=1;i<radius;++i){stack.color=dst[start];sum+=stack.color;stack=stack.next;start+=width}stack=stackStart;for(y=0;y<height;++y){dst[pos]=sum*mult>>>shift;p=y+radius;p=x+(p<heightMinus1?p:heightMinus1)*width;sum-=stack.color-dst[p];stack.color=dst[p];stack=stack.next;pos+=width}}return imageDst};CV.gaussianBlur=function(imageSrc,imageDst,imageMean,kernelSize){var kernel=CV.gaussianKernel(kernelSize);imageDst.width=imageSrc.width;imageDst.height=imageSrc.height;imageMean.width=imageSrc.width;imageMean.height=imageSrc.height;CV.gaussianBlurFilter(imageSrc,imageMean,kernel,true);CV.gaussianBlurFilter(imageMean,imageDst,kernel,false);return imageDst};CV.gaussianBlurFilter=function(imageSrc,imageDst,kernel,horizontal){var src=imageSrc.data,dst=imageDst.data,height=imageSrc.height,width=imageSrc.width,pos=0,limit=kernel.length>>1,cur,value,i,j,k;for(i=0;i<height;++i){for(j=0;j<width;++j){value=0;for(k=-limit;k<=limit;++k){if(horizontal){cur=pos+k;if(j+k<0){cur=pos}else if(j+k>=width){cur=pos}}else{cur=pos+k*width;if(i+k<0){cur=pos}else if(i+k>=height){cur=pos}}value+=kernel[limit+k]*src[cur]}dst[pos++]=horizontal?value:value+.5&255}}return imageDst};CV.gaussianKernel=function(kernelSize){var tab=[[1],[.25,.5,.25],[.0625,.25,.375,.25,.0625],[.03125,.109375,.21875,.28125,.21875,.109375,.03125]],kernel=[],center,sigma,scale2X,sum,x,i;if(kernelSize<=7&&kernelSize%2===1){kernel=tab[kernelSize>>1]}else{center=(kernelSize-1)*.5;sigma=.8+.3*(center-1);scale2X=-.5/(sigma*sigma);sum=0;for(i=0;i<kernelSize;++i){x=i-center;sum+=kernel[i]=Math.exp(scale2X*x*x)}sum=1/sum;for(i=0;i<kernelSize;++i){kernel[i]*=sum}}return kernel};CV.findContours=function(imageSrc,binary){var width=imageSrc.width,height=imageSrc.height,contours=[],src,deltas,pos,pix,nbd,outer,hole,i,j;src=CV.binaryBorder(imageSrc,binary);deltas=CV.neighborhoodDeltas(width+2);pos=width+3;nbd=1;for(i=0;i<height;++i,pos+=2){for(j=0;j<width;++j,++pos){pix=src[pos];if(0!==pix){outer=hole=false;if(1===pix&&0===src[pos-1]){outer=true}else if(pix>=1&&0===src[pos+1]){hole=true}if(outer||hole){++nbd;contours.push(CV.borderFollowing(src,pos,nbd,{x:j,y:i},hole,deltas))}}}}return contours};CV.borderFollowing=function(src,pos,nbd,point,hole,deltas){var contour=[],pos1,pos3,pos4,s,s_end,s_prev;contour.hole=hole;s=s_end=hole?0:4;do{s=s-1&7;pos1=pos+deltas[s];if(src[pos1]!==0){break}}while(s!==s_end);if(s===s_end){src[pos]=-nbd;contour.push({x:point.x,y:point.y})}else{pos3=pos;s_prev=s^4;while(true){s_end=s;do{pos4=pos3+deltas[++s]}while(src[pos4]===0);s&=7;if(s-1>>>0<s_end>>>0){src[pos3]=-nbd}else if(src[pos3]===1){src[pos3]=nbd}contour.push({x:point.x,y:point.y});s_prev=s;point.x+=CV.neighborhood[s][0];point.y+=CV.neighborhood[s][1];if(pos4===pos&&pos3===pos1){break}pos3=pos4;s=s+4&7}}return contour};CV.neighborhood=[[1,0],[1,-1],[0,-1],[-1,-1],[-1,0],[-1,1],[0,1],[1,1]];CV.neighborhoodDeltas=function(width){var deltas=[],len=CV.neighborhood.length,i=0;for(;i<len;++i){deltas[i]=CV.neighborhood[i][0]+CV.neighborhood[i][1]*width}return deltas.concat(deltas)};CV.approxPolyDP=function(contour,epsilon){var slice={start_index:0,end_index:0},right_slice={start_index:0,end_index:0},poly=[],stack=[],len=contour.length,pt,start_pt,end_pt,dist,max_dist,le_eps,dx,dy,i,j,k;epsilon*=epsilon;k=0;for(i=0;i<3;++i){max_dist=0;k=(k+right_slice.start_index)%len;start_pt=contour[k];if(++k===len){k=0}for(j=1;j<len;++j){pt=contour[k];if(++k===len){k=0}dx=pt.x-start_pt.x;dy=pt.y-start_pt.y;dist=dx*dx+dy*dy;if(dist>max_dist){max_dist=dist;right_slice.start_index=j}}}if(max_dist<=epsilon){poly.push({x:start_pt.x,y:start_pt.y})}else{slice.start_index=k;slice.end_index=right_slice.start_index+=slice.start_index;right_slice.start_index-=right_slice.start_index>=len?len:0;right_slice.end_index=slice.start_index;if(right_slice.end_index<right_slice.start_index){right_slice.end_index+=len}stack.push({start_index:right_slice.start_index,end_index:right_slice.end_index});stack.push({start_index:slice.start_index,end_index:slice.end_index})}while(stack.length!==0){slice=stack.pop();end_pt=contour[slice.end_index%len];start_pt=contour[k=slice.start_index%len];if(++k===len){k=0}if(slice.end_index<=slice.start_index+1){le_eps=true}else{max_dist=0;dx=end_pt.x-start_pt.x;dy=end_pt.y-start_pt.y;for(i=slice.start_index+1;i<slice.end_index;++i){pt=contour[k];if(++k===len){k=0}dist=Math.abs((pt.y-start_pt.y)*dx-(pt.x-start_pt.x)*dy);if(dist>max_dist){max_dist=dist;right_slice.start_index=i}}le_eps=max_dist*max_dist<=epsilon*(dx*dx+dy*dy)}if(le_eps){poly.push({x:start_pt.x,y:start_pt.y})}else{right_slice.end_index=slice.end_index;slice.end_index=right_slice.start_index;stack.push({start_index:right_slice.start_index,end_index:right_slice.end_index});stack.push({start_index:slice.start_index,end_index:slice.end_index})}}return poly};CV.warp=function(imageSrc,imageDst,contour,warpSize){var src=imageSrc.data,dst=imageDst.data,width=imageSrc.width,height=imageSrc.height,pos=0,sx1,sx2,dx1,dx2,sy1,sy2,dy1,dy2,p1,p2,p3,p4,m,r,s,t,u,v,w,x,y,i,j;m=CV.getPerspectiveTransform(contour,warpSize-1);r=m[8];s=m[2];t=m[5];for(i=0;i<warpSize;++i){r+=m[7];s+=m[1];t+=m[4];u=r;v=s;w=t;for(j=0;j<warpSize;++j){u+=m[6];v+=m[0];w+=m[3];x=v/u;y=w/u;sx1=x>>>0;sx2=sx1===width-1?sx1:sx1+1;dx1=x-sx1;dx2=1-dx1;sy1=y>>>0;sy2=sy1===height-1?sy1:sy1+1;dy1=y-sy1;dy2=1-dy1;p1=p2=sy1*width;p3=p4=sy2*width;dst[pos++]=dy2*(dx2*src[p1+sx1]+dx1*src[p2+sx2])+dy1*(dx2*src[p3+sx1]+dx1*src[p4+sx2])&255}}imageDst.width=warpSize;imageDst.height=warpSize;return imageDst};CV.getPerspectiveTransform=function(src,size){var rq=CV.square2quad(src);rq[0]/=size;rq[1]/=size;rq[3]/=size;rq[4]/=size;rq[6]/=size;rq[7]/=size;return rq};CV.square2quad=function(src){var sq=[],px,py,dx1,dx2,dy1,dy2,den;px=src[0].x-src[1].x+src[2].x-src[3].x;py=src[0].y-src[1].y+src[2].y-src[3].y;if(0===px&&0===py){sq[0]=src[1].x-src[0].x;sq[1]=src[2].x-src[1].x;sq[2]=src[0].x;sq[3]=src[1].y-src[0].y;sq[4]=src[2].y-src[1].y;sq[5]=src[0].y;sq[6]=0;sq[7]=0;sq[8]=1}else{dx1=src[1].x-src[2].x;dx2=src[3].x-src[2].x;dy1=src[1].y-src[2].y;dy2=src[3].y-src[2].y;den=dx1*dy2-dx2*dy1;sq[6]=(px*dy2-dx2*py)/den;sq[7]=(dx1*py-px*dy1)/den;sq[8]=1;sq[0]=src[1].x-src[0].x+sq[6]*src[1].x;sq[1]=src[3].x-src[0].x+sq[7]*src[3].x;sq[2]=src[0].x;sq[3]=src[1].y-src[0].y+sq[6]*src[1].y;sq[4]=src[3].y-src[0].y+sq[7]*src[3].y;sq[5]=src[0].y}return sq};CV.isContourConvex=function(contour){var orientation=0,convex=true,len=contour.length,i=0,j=0,cur_pt,prev_pt,dxdy0,dydx0,dx0,dy0,dx,dy;prev_pt=contour[len-1];cur_pt=contour[0];dx0=cur_pt.x-prev_pt.x;dy0=cur_pt.y-prev_pt.y;for(;i<len;++i){if(++j===len){j=0}prev_pt=cur_pt;cur_pt=contour[j];dx=cur_pt.x-prev_pt.x;dy=cur_pt.y-prev_pt.y;dxdy0=dx*dy0;dydx0=dy*dx0;orientation|=dydx0>dxdy0?1:dydx0<dxdy0?2:3;if(3===orientation){convex=false;break}dx0=dx;dy0=dy}return convex};CV.perimeter=function(poly){var len=poly.length,i=0,j=len-1,p=0,dx,dy;for(;i<len;j=i++){dx=poly[i].x-poly[j].x;dy=poly[i].y-poly[j].y;p+=Math.sqrt(dx*dx+dy*dy)}return p};CV.minEdgeLength=function(poly){var len=poly.length,i=0,j=len-1,min=Infinity,d,dx,dy;for(;i<len;j=i++){dx=poly[i].x-poly[j].x;dy=poly[i].y-poly[j].y;d=dx*dx+dy*dy;if(d<min){min=d}}return Math.sqrt(min)};CV.countNonZero=function(imageSrc,square){var src=imageSrc.data,height=square.height,width=square.width,pos=square.x+square.y*imageSrc.width,span=imageSrc.width-width,nz=0,i,j;for(i=0;i<height;++i){for(j=0;j<width;++j){if(0!==src[pos++]){++nz}}pos+=span}return nz};CV.binaryBorder=function(imageSrc,dst){var src=imageSrc.data,height=imageSrc.height,width=imageSrc.width,posSrc=0,posDst=0,i,j;for(j=-2;j<width;++j){dst[posDst++]=0}for(i=0;i<height;++i){dst[posDst++]=0;for(j=0;j<width;++j){dst[posDst++]=0===src[posSrc++]?0:1}dst[posDst++]=0}for(j=-2;j<width;++j){dst[posDst++]=0}return dst};var POS=POS||{};POS.Posit=function(modelSize,focalLength){this.objectPoints=this.buildModel(modelSize);this.focalLength=focalLength;this.objectVectors=[];this.objectNormal=[];this.objectMatrix=[[],[],[]];this.init()};POS.Posit.prototype.buildModel=function(modelSize){var half=modelSize/2;return[[-half,half,0],[half,half,0],[half,-half,0],[-half,-half,0]]};POS.Posit.prototype.init=function(){var np=this.objectPoints.length,vectors=[],n=[],len=0,row=2,i;for(i=0;i<np;++i){this.objectVectors[i]=[this.objectPoints[i][0]-this.objectPoints[0][0],this.objectPoints[i][1]-this.objectPoints[0][1],this.objectPoints[i][2]-this.objectPoints[0][2]];vectors[i]=[this.objectVectors[i][0],this.objectVectors[i][1],this.objectVectors[i][2]]}while(0===len){n[0]=this.objectVectors[1][1]*this.objectVectors[row][2]-this.objectVectors[1][2]*this.objectVectors[row][1];n[1]=this.objectVectors[1][2]*this.objectVectors[row][0]-this.objectVectors[1][0]*this.objectVectors[row][2];n[2]=this.objectVectors[1][0]*this.objectVectors[row][1]-this.objectVectors[1][1]*this.objectVectors[row][0];len=Math.sqrt(n[0]*n[0]+n[1]*n[1]+n[2]*n[2]);++row}for(i=0;i<3;++i){this.objectNormal[i]=n[i]/len}POS.pseudoInverse(vectors,np,this.objectMatrix)};POS.Posit.prototype.pose=function(imagePoints){var posRotation1=[[],[],[]],posRotation2=[[],[],[]],posTranslation=[],rotation1=[[],[],[]],rotation2=[[],[],[]],translation1=[],translation2=[],error1,error2,valid1,valid2,i,j;this.pos(imagePoints,posRotation1,posRotation2,posTranslation);valid1=this.isValid(posRotation1,posTranslation);if(valid1){error1=this.iterate(imagePoints,posRotation1,posTranslation,rotation1,translation1)}else{error1={euclidean:-1,pixels:-1,maximum:-1}}valid2=this.isValid(posRotation2,posTranslation);if(valid2){error2=this.iterate(imagePoints,posRotation2,posTranslation,rotation2,translation2)}else{error2={euclidean:-1,pixels:-1,maximum:-1}}for(i=0;i<3;++i){for(j=0;j<3;++j){if(valid1){translation1[i]-=rotation1[i][j]*this.objectPoints[0][j]}if(valid2){translation2[i]-=rotation2[i][j]*this.objectPoints[0][j]}}}return error1.euclidean<error2.euclidean?new POS.Pose(error1.pixels,rotation1,translation1,error2.pixels,rotation2,translation2):new POS.Pose(error2.pixels,rotation2,translation2,error1.pixels,rotation1,translation1)};POS.Posit.prototype.pos=function(imagePoints,rotation1,rotation2,translation){var np=this.objectPoints.length,imageVectors=[],i0=[],j0=[],ivec=[],jvec=[],row1=[],row2=[],row3=[],i0i0,j0j0,i0j0,delta,q,lambda,mu,scale,i,j;for(i=0;i<np;++i){imageVectors[i]=[imagePoints[i].x-imagePoints[0].x,imagePoints[i].y-imagePoints[0].y]}for(i=0;i<3;++i){i0[i]=0;j0[i]=0;for(j=0;j<np;++j){i0[i]+=this.objectMatrix[i][j]*imageVectors[j][0];j0[i]+=this.objectMatrix[i][j]*imageVectors[j][1]}}i0i0=i0[0]*i0[0]+i0[1]*i0[1]+i0[2]*i0[2];j0j0=j0[0]*j0[0]+j0[1]*j0[1]+j0[2]*j0[2];i0j0=i0[0]*j0[0]+i0[1]*j0[1]+i0[2]*j0[2];delta=(j0j0-i0i0)*(j0j0-i0i0)+4*(i0j0*i0j0);if(j0j0-i0i0>=0){q=(j0j0-i0i0+Math.sqrt(delta))/2}else{q=(j0j0-i0i0-Math.sqrt(delta))/2}if(q>=0){lambda=Math.sqrt(q);if(0===lambda){mu=0}else{mu=-i0j0/lambda}}else{lambda=Math.sqrt(-(i0j0*i0j0)/q);if(0===lambda){mu=Math.sqrt(i0i0-j0j0)}else{mu=-i0j0/lambda}}for(i=0;i<3;++i){ivec[i]=i0[i]+lambda*this.objectNormal[i];jvec[i]=j0[i]+mu*this.objectNormal[i]}scale=Math.sqrt(ivec[0]*ivec[0]+ivec[1]*ivec[1]+ivec[2]*ivec[2]);for(i=0;i<3;++i){row1[i]=ivec[i]/scale;row2[i]=jvec[i]/scale}row3[0]=row1[1]*row2[2]-row1[2]*row2[1];row3[1]=row1[2]*row2[0]-row1[0]*row2[2];row3[2]=row1[0]*row2[1]-row1[1]*row2[0];for(i=0;i<3;++i){rotation1[0][i]=row1[i];rotation1[1][i]=row2[i];rotation1[2][i]=row3[i]}for(i=0;i<3;++i){ivec[i]=i0[i]-lambda*this.objectNormal[i];jvec[i]=j0[i]-mu*this.objectNormal[i]}for(i=0;i<3;++i){row1[i]=ivec[i]/scale;row2[i]=jvec[i]/scale}row3[0]=row1[1]*row2[2]-row1[2]*row2[1];row3[1]=row1[2]*row2[0]-row1[0]*row2[2];row3[2]=row1[0]*row2[1]-row1[1]*row2[0];for(i=0;i<3;++i){rotation2[0][i]=row1[i];rotation2[1][i]=row2[i];rotation2[2][i]=row3[i]}translation[0]=imagePoints[0].x/scale;translation[1]=imagePoints[0].y/scale;translation[2]=this.focalLength/scale};POS.Posit.prototype.isValid=function(rotation,translation){var np=this.objectPoints.length,zmin=Infinity,i=0,zi;for(;i<np;++i){zi=translation[2]+(rotation[2][0]*this.objectVectors[i][0]+rotation[2][1]*this.objectVectors[i][1]+rotation[2][2]*this.objectVectors[i][2]);if(zi<zmin){zmin=zi}}return zmin>=0};POS.Posit.prototype.iterate=function(imagePoints,posRotation,posTranslation,rotation,translation){var np=this.objectPoints.length,oldSopImagePoints=[],sopImagePoints=[],rotation1=[[],[],[]],rotation2=[[],[],[]],translation1=[],translation2=[],converged=false,iteration=0,oldImageDifference,imageDifference,factor,error,error1,error2,delta,i,j;for(i=0;i<np;++i){oldSopImagePoints[i]={x:imagePoints[i].x,y:imagePoints[i].y}}for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=posRotation[i][j]}translation[i]=posTranslation[i]}for(i=0;i<np;++i){factor=0;for(j=0;j<3;++j){factor+=this.objectVectors[i][j]*rotation[2][j]/translation[2]}sopImagePoints[i]={x:(1+factor)*imagePoints[i].x,y:(1+factor)*imagePoints[i].y}}imageDifference=0;for(i=0;i<np;++i){imageDifference+=Math.abs(sopImagePoints[i].x-oldSopImagePoints[i].x);imageDifference+=Math.abs(sopImagePoints[i].y-oldSopImagePoints[i].y)}for(i=0;i<3;++i){translation1[i]=translation[i]-(rotation[i][0]*this.objectPoints[0][0]+rotation[i][1]*this.objectPoints[0][1]+rotation[i][2]*this.objectPoints[0][2])}error=error1=this.error(imagePoints,rotation,translation1);converged=0===error1.pixels||imageDifference<.01;while(iteration++<100&&!converged){for(i=0;i<np;++i){oldSopImagePoints[i].x=sopImagePoints[i].x;oldSopImagePoints[i].y=sopImagePoints[i].y}this.pos(sopImagePoints,rotation1,rotation2,translation);for(i=0;i<3;++i){translation1[i]=translation[i]-(rotation1[i][0]*this.objectPoints[0][0]+rotation1[i][1]*this.objectPoints[0][1]+rotation1[i][2]*this.objectPoints[0][2]);translation2[i]=translation[i]-(rotation2[i][0]*this.objectPoints[0][0]+rotation2[i][1]*this.objectPoints[0][1]+rotation2[i][2]*this.objectPoints[0][2])}error1=this.error(imagePoints,rotation1,translation1);error2=this.error(imagePoints,rotation2,translation2);if(error1.euclidean>=0&&error2.euclidean>=0){if(error2.euclidean<error1.euclidean){error=error2;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation2[i][j]}}}else{error=error1;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation1[i][j]}}}}if(error1.euclidean<0&&error2.euclidean>=0){error=error2;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation2[i][j]}}}if(error2.euclidean<0&&error1.euclidean>=0){error=error1;for(i=0;i<3;++i){for(j=0;j<3;++j){rotation[i][j]=rotation1[i][j]}}}for(i=0;i<np;++i){factor=0;for(j=0;j<3;++j){factor+=this.objectVectors[i][j]*rotation[2][j]/translation[2]}sopImagePoints[i].x=(1+factor)*imagePoints[i].x;sopImagePoints[i].y=(1+factor)*imagePoints[i].y}oldImageDifference=imageDifference;imageDifference=0;for(i=0;i<np;++i){imageDifference+=Math.abs(sopImagePoints[i].x-oldSopImagePoints[i].x);imageDifference+=Math.abs(sopImagePoints[i].y-oldSopImagePoints[i].y)}delta=Math.abs(imageDifference-oldImageDifference);converged=0===error.pixels||delta<.01}return error};POS.Posit.prototype.error=function(imagePoints,rotation,translation){var np=this.objectPoints.length,move=[],projection=[],errorvec=[],euclidean=0,pixels=0,maximum=0,i,j,k;if(!this.isValid(rotation,translation)){return{euclidean:-1,pixels:-1,maximum:-1}}for(i=0;i<np;++i){move[i]=[];for(j=0;j<3;++j){move[i][j]=translation[j]}}for(i=0;i<np;++i){for(j=0;j<3;++j){for(k=0;k<3;++k){move[i][j]+=rotation[j][k]*this.objectPoints[i][k]}}}for(i=0;i<np;++i){projection[i]=[];for(j=0;j<2;++j){projection[i][j]=this.focalLength*move[i][j]/move[i][2]}}for(i=0;i<np;++i){errorvec[i]=[projection[i][0]-imagePoints[i].x,projection[i][1]-imagePoints[i].y]}for(i=0;i<np;++i){euclidean+=Math.sqrt(errorvec[i][0]*errorvec[i][0]+errorvec[i][1]*errorvec[i][1]);pixels+=Math.abs(Math.round(projection[i][0])-Math.round(imagePoints[i].x))+Math.abs(Math.round(projection[i][1])-Math.round(imagePoints[i].y));if(Math.abs(errorvec[i][0])>maximum){maximum=Math.abs(errorvec[i][0])}if(Math.abs(errorvec[i][1])>maximum){maximum=Math.abs(errorvec[i][1])}}return{euclidean:euclidean/np,pixels:pixels,maximum:maximum}};POS.pseudoInverse=function(a,n,b){var w=[],v=[[],[],[]],s=[[],[],[]],wmax=0,cn=0,i,j,k;SVD.svdcmp(a,n,3,w,v);for(i=0;i<3;++i){if(w[i]>wmax){wmax=w[i]}}wmax*=.01;for(i=0;i<3;++i){if(w[i]<wmax){w[i]=0}}for(j=0;j<3;++j){if(0===w[j]){++cn;for(k=j;k<2;++k){for(i=0;i<n;++i){a[i][k]=a[i][k+1]}for(i=0;i<3;++i){v[i][k]=v[i][k+1]}}}}for(j=0;j<2;++j){if(0===w[j]){w[j]=w[j+1]}}for(i=0;i<3;++i){for(j=0;j<3-cn;++j){s[i][j]=v[i][j]/w[j]}}for(i=0;i<3;++i){for(j=0;j<n;++j){b[i][j]=0;for(k=0;k<3-cn;++k){b[i][j]+=s[i][k]*a[j][k]}}}};POS.Pose=function(error1,rotation1,translation1,error2,rotation2,translation2){this.bestError=error1;this.bestRotation=rotation1;this.bestTranslation=translation1;this.alternativeError=error2;this.alternativeRotation=rotation2;this.alternativeTranslation=translation2};var SVD=SVD||{};SVD.svdcmp=function(a,m,n,w,v){var flag,i,its,j,jj,k,l,nm,anorm=0,c,f,g=0,h,s,scale=0,x,y,z,rv1=[];for(i=0;i<n;++i){l=i+1;rv1[i]=scale*g;g=s=scale=0;if(i<m){for(k=i;k<m;++k){scale+=Math.abs(a[k][i])}if(0!==scale){for(k=i;k<m;++k){a[k][i]/=scale;s+=a[k][i]*a[k][i]}f=a[i][i];g=-SVD.sign(Math.sqrt(s),f);h=f*g-s;a[i][i]=f-g;for(j=l;j<n;++j){for(s=0,k=i;k<m;++k){s+=a[k][i]*a[k][j]}f=s/h;for(k=i;k<m;++k){a[k][j]+=f*a[k][i]}}for(k=i;k<m;++k){a[k][i]*=scale}}}w[i]=scale*g;g=s=scale=0;if(i<m&&i!==n-1){for(k=l;k<n;++k){scale+=Math.abs(a[i][k])}if(0!==scale){for(k=l;k<n;++k){a[i][k]/=scale;s+=a[i][k]*a[i][k]}f=a[i][l];g=-SVD.sign(Math.sqrt(s),f);h=f*g-s;a[i][l]=f-g;for(k=l;k<n;++k){rv1[k]=a[i][k]/h}for(j=l;j<m;++j){for(s=0,k=l;k<n;++k){s+=a[j][k]*a[i][k]}for(k=l;k<n;++k){a[j][k]+=s*rv1[k]}}for(k=l;k<n;++k){a[i][k]*=scale}}}anorm=Math.max(anorm,Math.abs(w[i])+Math.abs(rv1[i]))}for(i=n-1;i>=0;--i){if(i<n-1){if(0!==g){for(j=l;j<n;++j){v[j][i]=a[i][j]/a[i][l]/g}for(j=l;j<n;++j){for(s=0,k=l;k<n;++k){s+=a[i][k]*v[k][j]}for(k=l;k<n;++k){v[k][j]+=s*v[k][i]}}}for(j=l;j<n;++j){v[i][j]=v[j][i]=0}}v[i][i]=1;g=rv1[i];l=i}for(i=Math.min(n,m)-1;i>=0;--i){l=i+1;g=w[i];for(j=l;j<n;++j){a[i][j]=0}if(0!==g){g=1/g;for(j=l;j<n;++j){for(s=0,k=l;k<m;++k){s+=a[k][i]*a[k][j]}f=s/a[i][i]*g;for(k=i;k<m;++k){a[k][j]+=f*a[k][i]}}for(j=i;j<m;++j){a[j][i]*=g}}else{for(j=i;j<m;++j){a[j][i]=0}}++a[i][i]}for(k=n-1;k>=0;--k){for(its=1;its<=30;++its){flag=true;for(l=k;l>=0;--l){nm=l-1;if(Math.abs(rv1[l])+anorm===anorm){flag=false;break}if(Math.abs(w[nm])+anorm===anorm){break}}if(flag){c=0;s=1;for(i=l;i<=k;++i){f=s*rv1[i];if(Math.abs(f)+anorm===anorm){break}g=w[i];h=SVD.pythag(f,g);w[i]=h;h=1/h;c=g*h;s=-f*h;for(j=1;j<=m;++j){y=a[j][nm];z=a[j][i];a[j][nm]=y*c+z*s;a[j][i]=z*c-y*s}}}z=w[k];if(l===k){if(z<0){w[k]=-z;for(j=0;j<n;++j){v[j][k]=-v[j][k]}}break}if(30===its){return false}x=w[l];nm=k-1;y=w[nm];g=rv1[nm];h=rv1[k];f=((y-z)*(y+z)+(g-h)*(g+h))/(2*h*y);g=SVD.pythag(f,1);f=((x-z)*(x+z)+h*(y/(f+SVD.sign(g,f))-h))/x;c=s=1;for(j=l;j<=nm;++j){i=j+1;g=rv1[i];y=w[i];h=s*g;g=c*g;z=SVD.pythag(f,h);rv1[j]=z;c=f/z;s=h/z;f=x*c+g*s;g=g*c-x*s;h=y*s;y*=c;for(jj=0;jj<n;++jj){x=v[jj][j];z=v[jj][i];v[jj][j]=x*c+z*s;v[jj][i]=z*c-x*s}z=SVD.pythag(f,h);w[j]=z;if(0!==z){z=1/z;c=f*z;s=h*z}f=c*g+s*y;x=c*y-s*g;for(jj=0;jj<m;++jj){y=a[jj][j];z=a[jj][i];a[jj][j]=y*c+z*s;a[jj][i]=z*c-y*s}}rv1[l]=0;rv1[k]=f;w[k]=x}}return true};SVD.pythag=function(a,b){var at=Math.abs(a),bt=Math.abs(b),ct;if(at>bt){ct=bt/at;return at*Math.sqrt(1+ct*ct)}if(0===bt){return 0}ct=at/bt;return bt*Math.sqrt(1+ct*ct)};SVD.sign=function(a,b){return b>=0?Math.abs(a):-Math.abs(a)};var THREEx=THREEx||{};THREEx.ArucoContext=function(markerSize){this.canvas=document.createElement("canvas");this.canvas.width=80*4;this.canvas.height=60*4;var imageSmoothingEnabled=false;var context=this.canvas.getContext("2d");context.mozImageSmoothingEnabled=imageSmoothingEnabled;context.webkitImageSmoothingEnabled=imageSmoothingEnabled;context.msImageSmoothingEnabled=imageSmoothingEnabled;context.imageSmoothingEnabled=imageSmoothingEnabled;this.detector=new AR.Detector;this.posit=new POS.Posit(markerSize,this.canvas.width)};THREEx.ArucoContext.prototype.detect=function(videoElement){var _this=this;var canvas=this.canvas;var context=canvas.getContext("2d");context.drawImage(videoElement,0,0,canvas.width,canvas.height);var imageData=context.getImageData(0,0,canvas.width,canvas.height);var detectedMarkers=this.detector.detect(imageData);detectedMarkers.forEach(function(detectedMarker){var markerCorners=detectedMarker.corners;var poseCorners=new Array(markerCorners.length);for(var i=0;i<markerCorners.length;++i){var markerCorner=markerCorners[i];poseCorners[i]={x:markerCorner.x-canvas.width/2,y:-markerCorner.y+canvas.height/2}}detectedMarker.pose=_this.posit.pose(poseCorners)});return detectedMarkers};THREEx.ArucoContext.updateObject3D=function(object3D,detectedMarker){var rotation=detectedMarker.pose.bestRotation;var translation=detectedMarker.pose.bestTranslation;object3D.position.x=translation[0];object3D.position.y=translation[1];object3D.position.z=-translation[2];object3D.rotation.x=-Math.asin(-rotation[1][2]);object3D.rotation.y=-Math.atan2(rotation[0][2],rotation[2][2]);object3D.rotation.z=Math.atan2(rotation[1][0],rotation[1][1]);object3D.scale.x=markerSize;object3D.scale.y=markerSize;object3D.scale.z=markerSize};var THREEx=THREEx||{};THREEx.ArucoDebug=function(arucoContext){this.arucoContext=arucoContext;this.canvasElement=document.createElement("canvas");this.canvasElement.width=this.arucoContext.canvas.width;this.canvasElement.height=this.arucoContext.canvas.height};THREEx.ArucoDebug.prototype.clear=function(){var canvas=this.canvasElement;var context=canvas.getContext("2d");context.clearRect(0,0,canvas.width,canvas.height)};THREEx.ArucoDebug.prototype.drawContoursContours=function(){var contours=this.arucoContext.detector.contours;var canvas=this.canvasElement;this.drawContours(contours,0,0,canvas.width,canvas.height,function(hole){return hole?"magenta":"blue"})};THREEx.ArucoDebug.prototype.drawContoursPolys=function(){var contours=this.arucoContext.detector.polys;var canvas=this.canvasElement;this.drawContours(contours,0,0,canvas.width,canvas.height,function(){return"green"})};THREEx.ArucoDebug.prototype.drawContoursCandidates=function(){var contours=this.arucoContext.detector.candidates;var canvas=this.canvasElement;this.drawContours(contours,0,0,canvas.width,canvas.height,function(){return"red"})};THREEx.ArucoDebug.prototype.drawContours=function(contours,x,y,width,height,fn){var i=contours.length,j,contour,point;var canvas=this.canvasElement;var context=canvas.getContext("2d");context.save();while(i--){contour=contours[i];context.strokeStyle=fn(contour.hole);context.beginPath();for(j=0;j<contour.length;++j){point=contour[j];context.moveTo(x+point.x,y+point.y);point=contour[(j+1)%contour.length];context.lineTo(x+point.x,y+point.y)}context.stroke();context.closePath()}context.restore()};THREEx.ArucoDebug.prototype.drawDetectorGrey=function(){var cvImage=arucoContext.detector.grey;this.drawCVImage(cvImage)};THREEx.ArucoDebug.prototype.drawDetectorThreshold=function(){var cvImage=arucoContext.detector.thres;this.drawCVImage(cvImage)};THREEx.ArucoDebug.prototype.drawCVImage=function(cvImage){var detector=this.arucoContext.detector;var canvas=this.canvasElement;var context=canvas.getContext("2d");var imageData=context.createImageData(canvas.width,canvas.height);copyImage(cvImage,imageData);context.putImageData(imageData,0,0);return;function copyImage(src,dst){var i=src.data.length,j=i*4+3;while(i--){dst.data[j-=4]=255;dst.data[j-1]=dst.data[j-2]=dst.data[j-3]=src.data[i]}return dst}};THREEx.ArucoDebug.prototype.drawVideo=function(videoElement){var canvas=this.canvasElement;var context=canvas.getContext("2d");context.drawImage(videoElement,0,0,canvas.width,canvas.height)};THREEx.ArucoDebug.prototype.drawMarkerIDs=function(markers){var canvas=this.canvasElement;var context=canvas.getContext("2d");var corners,corner,x,y,i,j;context.save();context.strokeStyle="blue";context.lineWidth=1;for(i=0;i!==markers.length;++i){corners=markers[i].corners;x=Infinity;y=Infinity;for(j=0;j!==corners.length;++j){corner=corners[j];x=Math.min(x,corner.x);y=Math.min(y,corner.y)}context.strokeText(markers[i].id,x,y)}context.restore()};THREEx.ArucoDebug.prototype.drawMarkerCorners=function(markers){var canvas=this.canvasElement;var corners,corner,i,j;var context=canvas.getContext("2d");context.save();context.lineWidth=3;for(i=0;i<markers.length;++i){corners=markers[i].corners;context.strokeStyle="red";context.beginPath();for(j=0;j<corners.length;++j){corner=corners[j];context.moveTo(corner.x,corner.y);corner=corners[(j+1)%corners.length];context.lineTo(corner.x,corner.y)}context.stroke();context.closePath();context.strokeStyle="green";context.strokeRect(corners[0].x-2,corners[0].y-2,4,4)}context.restore()};var THREEx=THREEx||{};THREEx.ArucoMarkerGenerator=function(){};THREEx.ArucoMarkerGenerator.createSVG=function(markerId,svgSize){var domElement=document.createElement("div");domElement.innerHTML=new ArucoMarker(markerId).toSVG(svgSize);return domElement};THREEx.ArucoMarkerGenerator.createIMG=function(markerId,svgSize){var svgElement=THREEx.ArucoMarkerGenerator.createSVG(markerId,svgSize).firstChild;var xml=(new XMLSerializer).serializeToString(svgElement);var imageURL="data:image/svg+xml;base64,"+btoa(xml);var imageElement=document.createElement("img");
+imageElement.src=imageURL;return imageElement};
--- a/three.js/examples/threex-aruco/build/threex-aruco-prepacked.js
+++ b/three.js/examples/threex-aruco/build/threex-aruco-prepacked.js
+var THREEx, SVD, POS, CV, AR;
+(function () {
+  var _$0 = this;
+
+  function _1(id, corners) {
+    this.id = id;
+    this.corners = corners;
+  }
+
+  function _2() {
+    this.grey = new _$0.CV.Image();
+    this.thres = new _$0.CV.Image();
+    this.homography = new _$0.CV.Image();
+    this.binary = [];
+    this.contours = [];
+    this.polys = [];
+    this.candidates = [];
+  }
+
+  var _3 = _2.prototype;
+
+  function _4(image) {
+    _$0.CV.grayscale(image, this.grey);
+
+    _$0.CV.adaptiveThreshold(this.grey, this.thres, 2, 7);
+
+    this.contours = _$0.CV.findContours(this.thres, this.binary);
+    this.candidates = this.findCandidates(this.contours, image.width * 0.20, 0.05, 10);
+    this.candidates = this.clockwiseCorners(this.candidates);
+    this.candidates = this.notTooNear(this.candidates, 10);
+    return this.findMarkers(this.grey, this.candidates, 49);
+  }
+
+  function _5(contours, minSize, epsilon, minLength) {
+    var candidates = [],
+        len = contours.length,
+        contour,
+        poly,
+        i;
+    this.polys = [];
+
+    for (i = 0; i < len; ++i) {
+      contour = contours[i];
+
+      if (contour.length >= minSize) {
+        poly = _$0.CV.approxPolyDP(contour, contour.length * epsilon);
+        this.polys.push(poly);
+
+        if (4 === poly.length && _$0.CV.isContourConvex(poly)) {
+          if (_$0.CV.minEdgeLength(poly) >= minLength) {
+            candidates.push(poly);
+          }
+        }
+      }
+    }
+
+    return candidates;
+  }
+
+  function _6(candidates) {
+    var len = candidates.length,
+        dx1,
+        dx2,
+        dy1,
+        dy2,
+        swap,
+        i;
+
+    for (i = 0; i < len; ++i) {
+      dx1 = candidates[i][1].x - candidates[i][0].x;
+      dy1 = candidates[i][1].y - candidates[i][0].y;
+      dx2 = candidates[i][2].x - candidates[i][0].x;
+      dy2 = candidates[i][2].y - candidates[i][0].y;
+
+      if (dx1 * dy2 - dy1 * dx2 < 0) {
+        swap = candidates[i][1];
+        candidates[i][1] = candidates[i][3];
+        candidates[i][3] = swap;
+      }
+    }
+
+    return candidates;
+  }
+
+  function _7(candidates, minDist) {
+    var notTooNear = [],
+        len = candidates.length,
+        dist,
+        dx,
+        dy,
+        i,
+        j,
+        k;
+
+    for (i = 0; i < len; ++i) {
+      for (j = i + 1; j < len; ++j) {
+        dist = 0;
+
+        for (k = 0; k < 4; ++k) {
+          dx = candidates[i][k].x - candidates[j][k].x;
+          dy = candidates[i][k].y - candidates[j][k].y;
+          dist += dx * dx + dy * dy;
+        }
+
+        if (dist / 4 < minDist * minDist) {
+          if (_$0.CV.perimeter(candidates[i]) < _$0.CV.perimeter(candidates[j])) {
+            candidates[i].tooNear = true;
+          } else {
+            candidates[j].tooNear = true;
+          }
+        }
+      }
+    }
+
+    for (i = 0; i < len; ++i) {
+      if (!candidates[i].tooNear) {
+        notTooNear.push(candidates[i]);
+      }
+    }
+
+    return notTooNear;
+  }
+
+  function _8(imageSrc, candidates, warpSize) {
+    var markers = [],
+        len = candidates.length,
+        candidate,
+        marker,
+        i;
+
+    for (i = 0; i < len; ++i) {
+      candidate = candidates[i];
+
+      _$0.CV.warp(imageSrc, this.homography, candidate, warpSize);
+
+      _$0.CV.threshold(this.homography, this.homography, _$0.CV.otsu(this.homography));
+
+      marker = this.getMarker(this.homography, candidate);
+
+      if (marker) {
+        markers.push(marker);
+      }
+    }
+
+    return markers;
+  }
+
+  function _9(imageSrc, candidate) {
+    var width = imageSrc.width / 7 >>> 0,
+        minZero = width * width >> 1,
+        bits = [],
+        rotations = [],
+        distances = [],
+        square,
+        pair,
+        inc,
+        i,
+        j;
+
+    for (i = 0; i < 7; ++i) {
+      inc = 0 === i || 6 === i ? 1 : 6;
+
+      for (j = 0; j < 7; j += inc) {
+        square = {
+          x: j * width,
+          y: i * width,
+          width: width,
+          height: width
+        };
+
+        if (_$0.CV.countNonZero(imageSrc, square) > minZero) {
+          return null;
+        }
+      }
+    }
+
+    for (i = 0; i < 5; ++i) {
+      bits[i] = [];
+
+      for (j = 0; j < 5; ++j) {
+        square = {
+          x: (j + 1) * width,
+          y: (i + 1) * width,
+          width: width,
+          height: width
+        };
+        bits[i][j] = _$0.CV.countNonZero(imageSrc, square) > minZero ? 1 : 0;
+      }
+    }
+
+    rotations[0] = bits;
+    distances[0] = this.hammingDistance(rotations[0]);
+    pair = {
+      first: distances[0],
+      second: 0
+    };
+
+    for (i = 1; i < 4; ++i) {
+      rotations[i] = this.rotate(rotations[i - 1]);
+      distances[i] = this.hammingDistance(rotations[i]);
+
+      if (distances[i] < pair.first) {
+        pair.first = distances[i];
+        pair.second = i;
+      }
+    }
+
+    if (0 !== pair.first) {
+      return null;
+    }
+
+    return new _$0.AR.Marker(this.mat2id(rotations[pair.second]), this.rotate2(candidate, 4 - pair.second));
+  }
+
+  function _a(bits) {
+    var ids = [[1, 0, 0, 0, 0], [1, 0, 1, 1, 1], [0, 1, 0, 0, 1], [0, 1, 1, 1, 0]],
+        dist = 0,
+        sum,
+        minSum,
+        i,
+        j,
+        k;
+
+    for (i = 0; i < 5; ++i) {
+      minSum = _$0.Infinity;
+
+      for (j = 0; j < 4; ++j) {
+        sum = 0;
+
+        for (k = 0; k < 5; ++k) {
+          sum += bits[i][k] === ids[j][k] ? 0 : 1;
+        }
+
+        if (sum < minSum) {
+          minSum = sum;
+        }
+      }
+
+      dist += minSum;
+    }
+
+    return dist;
+  }
+
+  function _b(bits) {
+    var id = 0,
+        i;
+
+    for (i = 0; i < 5; ++i) {
+      id <<= 1;
+      id |= bits[i][1];
+      id <<= 1;
+      id |= bits[i][3];
+    }
+
+    return id;
+  }
+
+  function _c(src) {
+    var dst = [],
+        len = src.length,
+        i,
+        j;
+
+    for (i = 0; i < len; ++i) {
+      dst[i] = [];
+
+      for (j = 0; j < src[i].length; ++j) {
+        dst[i][j] = src[src[i].length - j - 1][i];
+      }
+    }
+
+    return dst;
+  }
+
+  function _d(src, rotation) {
+    var dst = [],
+        len = src.length,
+        i;
+
+    for (i = 0; i < len; ++i) {
+      dst[i] = src[(rotation + i) % len];
+    }
+
+    return dst;
+  }
+
+  function _f(width, height, data) {
+    this.width = width || 0;
+    this.height = height || 0;
+    this.data = data || [];
+  }
+
+  function _g(imageSrc, imageDst) {
+    var src = imageSrc.data,
+        dst = imageDst.data,
+        len = src.length,
+        i = 0,
+        j = 0;
+
+    for (; i < len; i += 4) {
+      dst[j++] = src[i] * 0.299 + src[i + 1] * 0.587 + src[i + 2] * 0.114 + 0.5 & 0xff;
+    }
+
+    imageDst.width = imageSrc.width;
+    imageDst.height = imageSrc.height;
+    return imageDst;
+  }
+
+  function _h(imageSrc, imageDst, threshold) {
+    var src = imageSrc.data,
+        dst = imageDst.data,
+        len = src.length,
+        tab = [],
+        i;
+
+    for (i = 0; i < 256; ++i) {
+      tab[i] = i <= threshold ? 0 : 255;
+    }
+
+    for (i = 0; i < len; ++i) {
+      dst[i] = tab[src[i]];
+    }
+
+    imageDst.width = imageSrc.width;
+    imageDst.height = imageSrc.height;
+    return imageDst;
+  }
+
+  function _i(imageSrc, imageDst, kernelSize, threshold) {
+    var src = imageSrc.data,
+        dst = imageDst.data,
+        len = src.length,
+        tab = [],
+        i;
+
+    _$0.CV.stackBoxBlur(imageSrc, imageDst, kernelSize);
+
+    for (i = 0; i < 768; ++i) {
+      tab[i] = i - 255 <= -threshold ? 255 : 0;
+    }
+
+    for (i = 0; i < len; ++i) {
+      dst[i] = tab[src[i] - dst[i] + 255];
+    }
+
+    imageDst.width = imageSrc.width;
+    imageDst.height = imageSrc.height;
+    return imageDst;
+  }
+
+  function _j(imageSrc) {
+    var src = imageSrc.data,
+        len = src.length,
+        hist = [],
+        threshold = 0,
+        sum = 0,
+        sumB = 0,
+        wB = 0,
+        wF = 0,
+        max = 0,
+        mu,
+        between,
+        i;
+
+    for (i = 0; i < 256; ++i) {
+      hist[i] = 0;
+    }
+
+    for (i = 0; i < len; ++i) {
+      hist[src[i]]++;
+    }
+
+    for (i = 0; i < 256; ++i) {
+      sum += hist[i] * i;
+    }
+
+    for (i = 0; i < 256; ++i) {
+      wB += hist[i];
+
+      if (0 !== wB) {
+        wF = len - wB;
+
+        if (0 === wF) {
+          break;
+        }
+
+        sumB += hist[i] * i;
+        mu = sumB / wB - (sum - sumB) / wF;
+        between = wB * wF * mu * mu;
+
+        if (between > max) {
+          max = between;
+          threshold = i;
+        }
+      }
+    }
+
+    return threshold;
+  }
+
+  function _m() {
+    this.color = 0;
+    this.next = null;
+  }
+
+  function _n(imageSrc, imageDst, kernelSize) {
+    var src = imageSrc.data,
+        dst = imageDst.data,
+        height = imageSrc.height,
+        width = imageSrc.width,
+        heightMinus1 = height - 1,
+        widthMinus1 = width - 1,
+        size = kernelSize + kernelSize + 1,
+        radius = kernelSize + 1,
+        mult = _$0.CV.stackBoxBlurMult[kernelSize],
+        shift = _$0.CV.stackBoxBlurShift[kernelSize],
+        stack,
+        stackStart,
+        color,
+        sum,
+        pos,
+        start,
+        p,
+        x,
+        y,
+        i;
+    stack = stackStart = new _$0.CV.BlurStack();
+
+    for (i = 1; i < size; ++i) {
+      stack = stack.next = new _$0.CV.BlurStack();
+    }
+
+    stack.next = stackStart;
+    pos = 0;
+
+    for (y = 0; y < height; ++y) {
+      start = pos;
+      color = src[pos];
+      sum = radius * color;
+      stack = stackStart;
+
+      for (i = 0; i < radius; ++i) {
+        stack.color = color;
+        stack = stack.next;
+      }
+
+      for (i = 1; i < radius; ++i) {
+        stack.color = src[pos + i];
+        sum += stack.color;
+        stack = stack.next;
+      }
+
+      stack = stackStart;
+
+      for (x = 0; x < width; ++x) {
+        dst[pos++] = sum * mult >>> shift;
+        p = x + radius;
+        p = start + (p < widthMinus1 ? p : widthMinus1);
+        sum -= stack.color - src[p];
+        stack.color = src[p];
+        stack = stack.next;
+      }
+    }
+
+    for (x = 0; x < width; ++x) {
+      pos = x;
+      start = pos + width;
+      color = dst[pos];
+      sum = radius * color;
+      stack = stackStart;
+
+      for (i = 0; i < radius; ++i) {
+        stack.color = color;
+        stack = stack.next;
+      }
+
+      for (i = 1; i < radius; ++i) {
+        stack.color = dst[start];
+        sum += stack.color;
+        stack = stack.next;
+        start += width;
+      }
+
+      stack = stackStart;
+
+      for (y = 0; y < height; ++y) {
+        dst[pos] = sum * mult >>> shift;
+        p = y + radius;
+        p = x + (p < heightMinus1 ? p : heightMinus1) * width;
+        sum -= stack.color - dst[p];
+        stack.color = dst[p];
+        stack = stack.next;
+        pos += width;
+      }
+    }
+
+    return imageDst;
+  }
+
+  function _o(imageSrc, imageDst, imageMean, kernelSize) {
+    var kernel = _$0.CV.gaussianKernel(kernelSize);
+
+    imageDst.width = imageSrc.width;
+    imageDst.height = imageSrc.height;
+    imageMean.width = imageSrc.width;
+    imageMean.height = imageSrc.height;
+
+    _$0.CV.gaussianBlurFilter(imageSrc, imageMean, kernel, true);
+
+    _$0.CV.gaussianBlurFilter(imageMean, imageDst, kernel, false);
+
+    return imageDst;
+  }
+
+  function _p(imageSrc, imageDst, kernel, horizontal) {
+    var src = imageSrc.data,
+        dst = imageDst.data,
+        height = imageSrc.height,
+        width = imageSrc.width,
+        pos = 0,
+        limit = kernel.length >> 1,
+        cur,
+        value,
+        i,
+        j,
+        k;
+
+    for (i = 0; i < height; ++i) {
+      for (j = 0; j < width; ++j) {
+        value = 0.0;
+
+        for (k = -limit; k <= limit; ++k) {
+          if (horizontal) {
+            cur = pos + k;
+
+            if (j + k < 0) {
+              cur = pos;
+            } else if (j + k >= width) {
+              cur = pos;
+            }
+          } else {
+            cur = pos + k * width;
+
+            if (i + k < 0) {
+              cur = pos;
+            } else if (i + k >= height) {
+              cur = pos;
+            }
+          }
+
+          value += kernel[limit + k] * src[cur];
+        }
+
+        dst[pos++] = horizontal ? value : value + 0.5 & 0xff;
+      }
+    }
+
+    return imageDst;
+  }
+
+  function _q(kernelSize) {
+    var tab = [[1], [0.25, 0.5, 0.25], [0.0625, 0.25, 0.375, 0.25, 0.0625], [0.03125, 0.109375, 0.21875, 0.28125, 0.21875, 0.109375, 0.03125]],
+        kernel = [],
+        center,
+        sigma,
+        scale2X,
+        sum,
+        x,
+        i;
+
+    if (kernelSize <= 7 && kernelSize % 2 === 1) {
+      kernel = tab[kernelSize >> 1];
+    } else {
+      center = (kernelSize - 1.0) * 0.5;
+      sigma = 0.8 + 0.3 * (center - 1.0);
+      scale2X = -0.5 / (sigma * sigma);
+      sum = 0.0;
+
+      for (i = 0; i < kernelSize; ++i) {
+        x = i - center;
+        sum += kernel[i] = _$0.Math.exp(scale2X * x * x);
+      }
+
+      sum = 1 / sum;
+
+      for (i = 0; i < kernelSize; ++i) {
+        kernel[i] *= sum;
+      }
+    }
+
+    return kernel;
+  }
+
+  function _r(imageSrc, binary) {
+    var width = imageSrc.width,
+        height = imageSrc.height,
+        contours = [],
+        src,
+        deltas,
+        pos,
+        pix,
+        nbd,
+        outer,
+        hole,
+        i,
+        j;
+    src = _$0.CV.binaryBorder(imageSrc, binary);
+    deltas = _$0.CV.neighborhoodDeltas(width + 2);
+    pos = width + 3;
+    nbd = 1;
+
+    for (i = 0; i < height; ++i, pos += 2) {
+      for (j = 0; j < width; ++j, ++pos) {
+        pix = src[pos];
+
+        if (0 !== pix) {
+          outer = hole = false;
+
+          if (1 === pix && 0 === src[pos - 1]) {
+            outer = true;
+          } else if (pix >= 1 && 0 === src[pos + 1]) {
+            hole = true;
+          }
+
+          if (outer || hole) {
+            ++nbd;
+            contours.push(_$0.CV.borderFollowing(src, pos, nbd, {
+              x: j,
+              y: i
+            }, hole, deltas));
+          }
+        }
+      }
+    }
+
+    return contours;
+  }
+
+  function _s(src, pos, nbd, point, hole, deltas) {
+    var contour = [],
+        pos1,
+        pos3,
+        pos4,
+        s,
+        s_end,
+        s_prev;
+    contour.hole = hole;
+    s = s_end = hole ? 0 : 4;
+
+    do {
+      s = s - 1 & 7;
+      pos1 = pos + deltas[s];
+
+      if (src[pos1] !== 0) {
+        break;
+      }
+    } while (s !== s_end);
+
+    if (s === s_end) {
+      src[pos] = -nbd;
+      contour.push({
+        x: point.x,
+        y: point.y
+      });
+    } else {
+      pos3 = pos;
+      s_prev = s ^ 4;
+
+      while (true) {
+        s_end = s;
+
+        do {
+          pos4 = pos3 + deltas[++s];
+        } while (src[pos4] === 0);
+
+        s &= 7;
+
+        if (s - 1 >>> 0 < s_end >>> 0) {
+          src[pos3] = -nbd;
+        } else if (src[pos3] === 1) {
+          src[pos3] = nbd;
+        }
+
+        contour.push({
+          x: point.x,
+          y: point.y
+        });
+        s_prev = s;
+        point.x += _$0.CV.neighborhood[s][0];
+        point.y += _$0.CV.neighborhood[s][1];
+
+        if (pos4 === pos && pos3 === pos1) {
+          break;
+        }
+
+        pos3 = pos4;
+        s = s + 4 & 7;
+      }
+    }
+
+    return contour;
+  }
+
+  function _C(width) {
+    var deltas = [],
+        len = _$0.CV.neighborhood.length,
+        i = 0;
+
+    for (; i < len; ++i) {
+      deltas[i] = _$0.CV.neighborhood[i][0] + _$0.CV.neighborhood[i][1] * width;
+    }
+
+    return deltas.concat(deltas);
+  }
+
+  function _D(contour, epsilon) {
+    var slice = {
+      start_index: 0,
+      end_index: 0
+    },
+        right_slice = {
+      start_index: 0,
+      end_index: 0
+    },
+        poly = [],
+        stack = [],
+        len = contour.length,
+        pt,
+        start_pt,
+        end_pt,
+        dist,
+        max_dist,
+        le_eps,
+        dx,
+        dy,
+        i,
+        j,
+        k;
+    epsilon *= epsilon;
+    k = 0;
+
+    for (i = 0; i < 3; ++i) {
+      max_dist = 0;
+      k = (k + right_slice.start_index) % len;
+      start_pt = contour[k];
+
+      if (++k === len) {
+        k = 0;
+      }
+
+      for (j = 1; j < len; ++j) {
+        pt = contour[k];
+
+        if (++k === len) {
+          k = 0;
+        }
+
+        dx = pt.x - start_pt.x;
+        dy = pt.y - start_pt.y;
+        dist = dx * dx + dy * dy;
+
+        if (dist > max_dist) {
+          max_dist = dist;
+          right_slice.start_index = j;
+        }
+      }
+    }
+
+    if (max_dist <= epsilon) {
+      poly.push({
+        x: start_pt.x,
+        y: start_pt.y
+      });
+    } else {
+      slice.start_index = k;
+      slice.end_index = right_slice.start_index += slice.start_index;
+      right_slice.start_index -= right_slice.start_index >= len ? len : 0;
+      right_slice.end_index = slice.start_index;
+
+      if (right_slice.end_index < right_slice.start_index) {
+        right_slice.end_index += len;
+      }
+
+      stack.push({
+        start_index: right_slice.start_index,
+        end_index: right_slice.end_index
+      });
+      stack.push({
+        start_index: slice.start_index,
+        end_index: slice.end_index
+      });
+    }
+
+    while (stack.length !== 0) {
+      slice = stack.pop();
+      end_pt = contour[slice.end_index % len];
+      start_pt = contour[k = slice.start_index % len];
+
+      if (++k === len) {
+        k = 0;
+      }
+
+      if (slice.end_index <= slice.start_index + 1) {
+        le_eps = true;
+      } else {
+        max_dist = 0;
+        dx = end_pt.x - start_pt.x;
+        dy = end_pt.y - start_pt.y;
+
+        for (i = slice.start_index + 1; i < slice.end_index; ++i) {
+          pt = contour[k];
+
+          if (++k === len) {
+            k = 0;
+          }
+
+          dist = _$0.Math.abs((pt.y - start_pt.y) * dx - (pt.x - start_pt.x) * dy);
+
+          if (dist > max_dist) {
+            max_dist = dist;
+            right_slice.start_index = i;
+          }
+        }
+
+        le_eps = max_dist * max_dist <= epsilon * (dx * dx + dy * dy);
+      }
+
+      if (le_eps) {
+        poly.push({
+          x: start_pt.x,
+          y: start_pt.y
+        });
+      } else {
+        right_slice.end_index = slice.end_index;
+        slice.end_index = right_slice.start_index;
+        stack.push({
+          start_index: right_slice.start_index,
+          end_index: right_slice.end_index
+        });
+        stack.push({
+          start_index: slice.start_index,
+          end_index: slice.end_index
+        });
+      }
+    }
+
+    return poly;
+  }
+
+  function _E(imageSrc, imageDst, contour, warpSize) {
+    var src = imageSrc.data,
+        dst = imageDst.data,
+        width = imageSrc.width,
+        height = imageSrc.height,
+        pos = 0,
+        sx1,
+        sx2,
+        dx1,
+        dx2,
+        sy1,
+        sy2,
+        dy1,
+        dy2,
+        p1,
+        p2,
+        p3,
+        p4,
+        m,
+        r,
+        s,
+        t,
+        u,
+        v,
+        w,
+        x,
+        y,
+        i,
+        j;
+    m = _$0.CV.getPerspectiveTransform(contour, warpSize - 1);
+    r = m[8];
+    s = m[2];
+    t = m[5];
+
+    for (i = 0; i < warpSize; ++i) {
+      r += m[7];
+      s += m[1];
+      t += m[4];
+      u = r;
+      v = s;
+      w = t;
+
+      for (j = 0; j < warpSize; ++j) {
+        u += m[6];
+        v += m[0];
+        w += m[3];
+        x = v / u;
+        y = w / u;
+        sx1 = x >>> 0;
+        sx2 = sx1 === width - 1 ? sx1 : sx1 + 1;
+        dx1 = x - sx1;
+        dx2 = 1.0 - dx1;
+        sy1 = y >>> 0;
+        sy2 = sy1 === height - 1 ? sy1 : sy1 + 1;
+        dy1 = y - sy1;
+        dy2 = 1.0 - dy1;
+        p1 = p2 = sy1 * width;
+        p3 = p4 = sy2 * width;
+        dst[pos++] = dy2 * (dx2 * src[p1 + sx1] + dx1 * src[p2 + sx2]) + dy1 * (dx2 * src[p3 + sx1] + dx1 * src[p4 + sx2]) & 0xff;
+      }
+    }
+
+    imageDst.width = warpSize;
+    imageDst.height = warpSize;
+    return imageDst;
+  }
+
+  function _F(src, size) {
+    var rq = _$0.CV.square2quad(src);
+
+    rq[0] /= size;
+    rq[1] /= size;
+    rq[3] /= size;
+    rq[4] /= size;
+    rq[6] /= size;
+    rq[7] /= size;
+    return rq;
+  }
+
+  function _G(src) {
+    var sq = [],
+        px,
+        py,
+        dx1,
+        dx2,
+        dy1,
+        dy2,
+        den;
+    px = src[0].x - src[1].x + src[2].x - src[3].x;
+    py = src[0].y - src[1].y + src[2].y - src[3].y;
+
+    if (0 === px && 0 === py) {
+      sq[0] = src[1].x - src[0].x;
+      sq[1] = src[2].x - src[1].x;
+      sq[2] = src[0].x;
+      sq[3] = src[1].y - src[0].y;
+      sq[4] = src[2].y - src[1].y;
+      sq[5] = src[0].y;
+      sq[6] = 0;
+      sq[7] = 0;
+      sq[8] = 1;
+    } else {
+      dx1 = src[1].x - src[2].x;
+      dx2 = src[3].x - src[2].x;
+      dy1 = src[1].y - src[2].y;
+      dy2 = src[3].y - src[2].y;
+      den = dx1 * dy2 - dx2 * dy1;
+      sq[6] = (px * dy2 - dx2 * py) / den;
+      sq[7] = (dx1 * py - px * dy1) / den;
+      sq[8] = 1;
+      sq[0] = src[1].x - src[0].x + sq[6] * src[1].x;
+      sq[1] = src[3].x - src[0].x + sq[7] * src[3].x;
+      sq[2] = src[0].x;
+      sq[3] = src[1].y - src[0].y + sq[6] * src[1].y;
+      sq[4] = src[3].y - src[0].y + sq[7] * src[3].y;
+      sq[5] = src[0].y;
+    }
+
+    return sq;
+  }
+
+  function _H(contour) {
+    var orientation = 0,
+        convex = true,
+        len = contour.length,
+        i = 0,
+        j = 0,
+        cur_pt,
+        prev_pt,
+        dxdy0,
+        dydx0,
+        dx0,
+        dy0,
+        dx,
+        dy;
+    prev_pt = contour[len - 1];
+    cur_pt = contour[0];
+    dx0 = cur_pt.x - prev_pt.x;
+    dy0 = cur_pt.y - prev_pt.y;
+
+    for (; i < len; ++i) {
+      if (++j === len) {
+        j = 0;
+      }
+
+      prev_pt = cur_pt;
+      cur_pt = contour[j];
+      dx = cur_pt.x - prev_pt.x;
+      dy = cur_pt.y - prev_pt.y;
+      dxdy0 = dx * dy0;
+      dydx0 = dy * dx0;
+      orientation |= dydx0 > dxdy0 ? 1 : dydx0 < dxdy0 ? 2 : 3;
+
+      if (3 === orientation) {
+        convex = false;
+        break;
+      }
+
+      dx0 = dx;
+      dy0 = dy;
+    }
+
+    return convex;
+  }
+
+  function _I(poly) {
+    var len = poly.length,
+        i = 0,
+        j = len - 1,
+        p = 0.0,
+        dx,
+        dy;
+
+    for (; i < len; j = i++) {
+      dx = poly[i].x - poly[j].x;
+      dy = poly[i].y - poly[j].y;
+      p += _$0.Math.sqrt(dx * dx + dy * dy);
+    }
+
+    return p;
+  }
+
+  function _J(poly) {
+    var len = poly.length,
+        i = 0,
+        j = len - 1,
+        min = _$0.Infinity,
+        d,
+        dx,
+        dy;
+
+    for (; i < len; j = i++) {
+      dx = poly[i].x - poly[j].x;
+      dy = poly[i].y - poly[j].y;
+      d = dx * dx + dy * dy;
+
+      if (d < min) {
+        min = d;
+      }
+    }
+
+    return _$0.Math.sqrt(min);
+  }
+
+  function _K(imageSrc, square) {
+    var src = imageSrc.data,
+        height = square.height,
+        width = square.width,
+        pos = square.x + square.y * imageSrc.width,
+        span = imageSrc.width - width,
+        nz = 0,
+        i,
+        j;
+
+    for (i = 0; i < height; ++i) {
+      for (j = 0; j < width; ++j) {
+        if (0 !== src[pos++]) {
+          ++nz;
+        }
+      }
+
+      pos += span;
+    }
+
+    return nz;
+  }
+
+  function _L(imageSrc, dst) {
+    var src = imageSrc.data,
+        height = imageSrc.height,
+        width = imageSrc.width,
+        posSrc = 0,
+        posDst = 0,
+        i,
+        j;
+
+    for (j = -2; j < width; ++j) {
+      dst[posDst++] = 0;
+    }
+
+    for (i = 0; i < height; ++i) {
+      dst[posDst++] = 0;
+
+      for (j = 0; j < width; ++j) {
+        dst[posDst++] = 0 === src[posSrc++] ? 0 : 1;
+      }
+
+      dst[posDst++] = 0;
+    }
+
+    for (j = -2; j < width; ++j) {
+      dst[posDst++] = 0;
+    }
+
+    return dst;
+  }
+
+  function _N(modelSize, focalLength) {
+    this.objectPoints = this.buildModel(modelSize);
+    this.focalLength = focalLength;
+    this.objectVectors = [];
+    this.objectNormal = [];
+    this.objectMatrix = [[], [], []];
+    this.init();
+  }
+
+  var _O = _N.prototype;
+
+  function _P(a, n, b) {
+    var w = [],
+        v = [[], [], []],
+        s = [[], [], []],
+        wmax = 0.0,
+        cn = 0,
+        i,
+        j,
+        k;
+
+    _$0.SVD.svdcmp(a, n, 3, w, v);
+
+    for (i = 0; i < 3; ++i) {
+      if (w[i] > wmax) {
+        wmax = w[i];
+      }
+    }
+
+    wmax *= 0.01;
+
+    for (i = 0; i < 3; ++i) {
+      if (w[i] < wmax) {
+        w[i] = 0.0;
+      }
+    }
+
+    for (j = 0; j < 3; ++j) {
+      if (0.0 === w[j]) {
+        ++cn;
+
+        for (k = j; k < 2; ++k) {
+          for (i = 0; i < n; ++i) {
+            a[i][k] = a[i][k + 1];
+          }
+
+          for (i = 0; i < 3; ++i) {
+            v[i][k] = v[i][k + 1];
+          }
+        }
+      }
+    }
+
+    for (j = 0; j < 2; ++j) {
+      if (0.0 === w[j]) {
+        w[j] = w[j + 1];
+      }
+    }
+
+    for (i = 0; i < 3; ++i) {
+      for (j = 0; j < 3 - cn; ++j) {
+        s[i][j] = v[i][j] / w[j];
+      }
+    }
+
+    for (i = 0; i < 3; ++i) {
+      for (j = 0; j < n; ++j) {
+        b[i][j] = 0.0;
+
+        for (k = 0; k < 3 - cn; ++k) {
+          b[i][j] += s[i][k] * a[j][k];
+        }
+      }
+    }
+  }
+
+  function _Q(error1, rotation1, translation1, error2, rotation2, translation2) {
+    this.bestError = error1;
+    this.bestRotation = rotation1;
+    this.bestTranslation = translation1;
+    this.alternativeError = error2;
+    this.alternativeRotation = rotation2;
+    this.alternativeTranslation = translation2;
+  }
+
+  function _R(modelSize) {
+    var half = modelSize / 2.0;
+    return [[-half, half, 0.0], [half, half, 0.0], [half, -half, 0.0], [-half, -half, 0.0]];
+  }
+
+  function _S() {
+    var np = this.objectPoints.length,
+        vectors = [],
+        n = [],
+        len = 0.0,
+        row = 2,
+        i;
+
+    for (i = 0; i < np; ++i) {
+      this.objectVectors[i] = [this.objectPoints[i][0] - this.objectPoints[0][0], this.objectPoints[i][1] - this.objectPoints[0][1], this.objectPoints[i][2] - this.objectPoints[0][2]];
+      vectors[i] = [this.objectVectors[i][0], this.objectVectors[i][1], this.objectVectors[i][2]];
+    }
+
+    while (0.0 === len) {
+      n[0] = this.objectVectors[1][1] * this.objectVectors[row][2] - this.objectVectors[1][2] * this.objectVectors[row][1];
+      n[1] = this.objectVectors[1][2] * this.objectVectors[row][0] - this.objectVectors[1][0] * this.objectVectors[row][2];
+      n[2] = this.objectVectors[1][0] * this.objectVectors[row][1] - this.objectVectors[1][1] * this.objectVectors[row][0];
+      len = _$0.Math.sqrt(n[0] * n[0] + n[1] * n[1] + n[2] * n[2]);
+      ++row;
+    }
+
+    for (i = 0; i < 3; ++i) {
+      this.objectNormal[i] = n[i] / len;
+    }
+
+    _$0.POS.pseudoInverse(vectors, np, this.objectMatrix);
+  }
+
+  function _T(imagePoints) {
+    var posRotation1 = [[], [], []],
+        posRotation2 = [[], [], []],
+        posTranslation = [],
+        rotation1 = [[], [], []],
+        rotation2 = [[], [], []],
+        translation1 = [],
+        translation2 = [],
+        error1,
+        error2,
+        valid1,
+        valid2,
+        i,
+        j;
+    this.pos(imagePoints, posRotation1, posRotation2, posTranslation);
+    valid1 = this.isValid(posRotation1, posTranslation);
+
+    if (valid1) {
+      error1 = this.iterate(imagePoints, posRotation1, posTranslation, rotation1, translation1);
+    } else {
+      error1 = {
+        euclidean: -1.0,
+        pixels: -1,
+        maximum: -1.0
+      };
+    }
+
+    valid2 = this.isValid(posRotation2, posTranslation);
+
+    if (valid2) {
+      error2 = this.iterate(imagePoints, posRotation2, posTranslation, rotation2, translation2);
+    } else {
+      error2 = {
+        euclidean: -1.0,
+        pixels: -1,
+        maximum: -1.0
+      };
+    }
+
+    for (i = 0; i < 3; ++i) {
+      for (j = 0; j < 3; ++j) {
+        if (valid1) {
+          translation1[i] -= rotation1[i][j] * this.objectPoints[0][j];
+        }
+
+        if (valid2) {
+          translation2[i] -= rotation2[i][j] * this.objectPoints[0][j];
+        }
+      }
+    }
+
+    return error1.euclidean < error2.euclidean ? new _$0.POS.Pose(error1.pixels, rotation1, translation1, error2.pixels, rotation2, translation2) : new _$0.POS.Pose(error2.pixels, rotation2, translation2, error1.pixels, rotation1, translation1);
+  }
+
+  function _U(imagePoints, rotation1, rotation2, translation) {
+    var np = this.objectPoints.length,
+        imageVectors = [],
+        i0 = [],
+        j0 = [],
+        ivec = [],
+        jvec = [],
+        row1 = [],
+        row2 = [],
+        row3 = [],
+        i0i0,
+        j0j0,
+        i0j0,
+        delta,
+        q,
+        lambda,
+        mu,
+        scale,
+        i,
+        j;
+
+    for (i = 0; i < np; ++i) {
+      imageVectors[i] = [imagePoints[i].x - imagePoints[0].x, imagePoints[i].y - imagePoints[0].y];
+    } //i0 and j0
+
+
+    for (i = 0; i < 3; ++i) {
+      i0[i] = 0.0;
+      j0[i] = 0.0;
+
+      for (j = 0; j < np; ++j) {
+        i0[i] += this.objectMatrix[i][j] * imageVectors[j][0];
+        j0[i] += this.objectMatrix[i][j] * imageVectors[j][1];
+      }
+    }
+
+    i0i0 = i0[0] * i0[0] + i0[1] * i0[1] + i0[2] * i0[2];
+    j0j0 = j0[0] * j0[0] + j0[1] * j0[1] + j0[2] * j0[2];
+    i0j0 = i0[0] * j0[0] + i0[1] * j0[1] + i0[2] * j0[2]; //Lambda and mu
+
+    delta = (j0j0 - i0i0) * (j0j0 - i0i0) + 4.0 * (i0j0 * i0j0);
+
+    if (j0j0 - i0i0 >= 0.0) {
+      q = (j0j0 - i0i0 + _$0.Math.sqrt(delta)) / 2.0;
+    } else {
+      q = (j0j0 - i0i0 - _$0.Math.sqrt(delta)) / 2.0;
+    }
+
+    if (q >= 0.0) {
+      lambda = _$0.Math.sqrt(q);
+
+      if (0.0 === lambda) {
+        mu = 0.0;
+      } else {
+        mu = -i0j0 / lambda;
+      }
+    } else {
+      lambda = _$0.Math.sqrt(-(i0j0 * i0j0) / q);
+
+      if (0.0 === lambda) {
+        mu = _$0.Math.sqrt(i0i0 - j0j0);
+      } else {
+        mu = -i0j0 / lambda;
+      }
+    } //First rotation
+
+
+    for (i = 0; i < 3; ++i) {
+      ivec[i] = i0[i] + lambda * this.objectNormal[i];
+      jvec[i] = j0[i] + mu * this.objectNormal[i];
+    }
+
+    scale = _$0.Math.sqrt(ivec[0] * ivec[0] + ivec[1] * ivec[1] + ivec[2] * ivec[2]);
+
+    for (i = 0; i < 3; ++i) {
+      row1[i] = ivec[i] / scale;
+      row2[i] = jvec[i] / scale;
+    }
+
+    row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+    row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+    row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+
+    for (i = 0; i < 3; ++i) {
+      rotation1[0][i] = row1[i];
+      rotation1[1][i] = row2[i];
+      rotation1[2][i] = row3[i];
+    } //Second rotation
+
+
+    for (i = 0; i < 3; ++i) {
+      ivec[i] = i0[i] - lambda * this.objectNormal[i];
+      jvec[i] = j0[i] - mu * this.objectNormal[i];
+    }
+
+    for (i = 0; i < 3; ++i) {
+      row1[i] = ivec[i] / scale;
+      row2[i] = jvec[i] / scale;
+    }
+
+    row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+    row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+    row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+
+    for (i = 0; i < 3; ++i) {
+      rotation2[0][i] = row1[i];
+      rotation2[1][i] = row2[i];
+      rotation2[2][i] = row3[i];
+    } //Translation
+
+
+    translation[0] = imagePoints[0].x / scale;
+    translation[1] = imagePoints[0].y / scale;
+    translation[2] = this.focalLength / scale;
+  }
+
+  function _V(rotation, translation) {
+    var np = this.objectPoints.length,
+        zmin = _$0.Infinity,
+        i = 0,
+        zi;
+
+    for (; i < np; ++i) {
+      zi = translation[2] + (rotation[2][0] * this.objectVectors[i][0] + rotation[2][1] * this.objectVectors[i][1] + rotation[2][2] * this.objectVectors[i][2]);
+
+      if (zi < zmin) {
+        zmin = zi;
+      }
+    }
+
+    return zmin >= 0.0;
+  }
+
+  function _W(imagePoints, posRotation, posTranslation, rotation, translation) {
+    var np = this.objectPoints.length,
+        oldSopImagePoints = [],
+        sopImagePoints = [],
+        rotation1 = [[], [], []],
+        rotation2 = [[], [], []],
+        translation1 = [],
+        translation2 = [],
+        converged = false,
+        iteration = 0,
+        oldImageDifference,
+        imageDifference,
+        factor,
+        error,
+        error1,
+        error2,
+        delta,
+        i,
+        j;
+
+    for (i = 0; i < np; ++i) {
+      oldSopImagePoints[i] = {
+        x: imagePoints[i].x,
+        y: imagePoints[i].y
+      };
+    }
+
+    for (i = 0; i < 3; ++i) {
+      for (j = 0; j < 3; ++j) {
+        rotation[i][j] = posRotation[i][j];
+      }
+
+      translation[i] = posTranslation[i];
+    }
+
+    for (i = 0; i < np; ++i) {
+      factor = 0.0;
+
+      for (j = 0; j < 3; ++j) {
+        factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+      }
+
+      sopImagePoints[i] = {
+        x: (1.0 + factor) * imagePoints[i].x,
+        y: (1.0 + factor) * imagePoints[i].y
+      };
+    }
+
+    imageDifference = 0.0;
+
+    for (i = 0; i < np; ++i) {
+      imageDifference += _$0.Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+      imageDifference += _$0.Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+    }
+
+    for (i = 0; i < 3; ++i) {
+      translation1[i] = translation[i] - (rotation[i][0] * this.objectPoints[0][0] + rotation[i][1] * this.objectPoints[0][1] + rotation[i][2] * this.objectPoints[0][2]);
+    }
+
+    error = error1 = this.error(imagePoints, rotation, translation1); //Convergence
+
+    converged = 0.0 === error1.pixels || imageDifference < 0.01;
+
+    while (iteration++ < 100 && !converged) {
+      for (i = 0; i < np; ++i) {
+        oldSopImagePoints[i].x = sopImagePoints[i].x;
+        oldSopImagePoints[i].y = sopImagePoints[i].y;
+      }
+
+      this.pos(sopImagePoints, rotation1, rotation2, translation);
+
+      for (i = 0; i < 3; ++i) {
+        translation1[i] = translation[i] - (rotation1[i][0] * this.objectPoints[0][0] + rotation1[i][1] * this.objectPoints[0][1] + rotation1[i][2] * this.objectPoints[0][2]);
+        translation2[i] = translation[i] - (rotation2[i][0] * this.objectPoints[0][0] + rotation2[i][1] * this.objectPoints[0][1] + rotation2[i][2] * this.objectPoints[0][2]);
+      }
+
+      error1 = this.error(imagePoints, rotation1, translation1);
+      error2 = this.error(imagePoints, rotation2, translation2);
+
+      if (error1.euclidean >= 0.0 && error2.euclidean >= 0.0) {
+        if (error2.euclidean < error1.euclidean) {
+          error = error2;
+
+          for (i = 0; i < 3; ++i) {
+            for (j = 0; j < 3; ++j) {
+              rotation[i][j] = rotation2[i][j];
+            }
+          }
+        } else {
+          error = error1;
+
+          for (i = 0; i < 3; ++i) {
+            for (j = 0; j < 3; ++j) {
+              rotation[i][j] = rotation1[i][j];
+            }
+          }
+        }
+      }
+
+      if (error1.euclidean < 0.0 && error2.euclidean >= 0.0) {
+        error = error2;
+
+        for (i = 0; i < 3; ++i) {
+          for (j = 0; j < 3; ++j) {
+            rotation[i][j] = rotation2[i][j];
+          }
+        }
+      }
+
+      if (error2.euclidean < 0.0 && error1.euclidean >= 0.0) {
+        error = error1;
+
+        for (i = 0; i < 3; ++i) {
+          for (j = 0; j < 3; ++j) {
+            rotation[i][j] = rotation1[i][j];
+          }
+        }
+      }
+
+      for (i = 0; i < np; ++i) {
+        factor = 0.0;
+
+        for (j = 0; j < 3; ++j) {
+          factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+        }
+
+        sopImagePoints[i].x = (1.0 + factor) * imagePoints[i].x;
+        sopImagePoints[i].y = (1.0 + factor) * imagePoints[i].y;
+      }
+
+      oldImageDifference = imageDifference;
+      imageDifference = 0.0;
+
+      for (i = 0; i < np; ++i) {
+        imageDifference += _$0.Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+        imageDifference += _$0.Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+      }
+
+      delta = _$0.Math.abs(imageDifference - oldImageDifference);
+      converged = 0.0 === error.pixels || delta < 0.01;
+    }
+
+    return error;
+  }
+
+  function _X(imagePoints, rotation, translation) {
+    var np = this.objectPoints.length,
+        move = [],
+        projection = [],
+        errorvec = [],
+        euclidean = 0.0,
+        pixels = 0.0,
+        maximum = 0.0,
+        i,
+        j,
+        k;
+
+    if (!this.isValid(rotation, translation)) {
+      return {
+        euclidean: -1.0,
+        pixels: -1,
+        maximum: -1.0
+      };
+    }
+
+    for (i = 0; i < np; ++i) {
+      move[i] = [];
+
+      for (j = 0; j < 3; ++j) {
+        move[i][j] = translation[j];
+      }
+    }
+
+    for (i = 0; i < np; ++i) {
+      for (j = 0; j < 3; ++j) {
+        for (k = 0; k < 3; ++k) {
+          move[i][j] += rotation[j][k] * this.objectPoints[i][k];
+        }
+      }
+    }
+
+    for (i = 0; i < np; ++i) {
+      projection[i] = [];
+
+      for (j = 0; j < 2; ++j) {
+        projection[i][j] = this.focalLength * move[i][j] / move[i][2];
+      }
+    }
+
+    for (i = 0; i < np; ++i) {
+      errorvec[i] = [projection[i][0] - imagePoints[i].x, projection[i][1] - imagePoints[i].y];
+    }
+
+    for (i = 0; i < np; ++i) {
+      euclidean += _$0.Math.sqrt(errorvec[i][0] * errorvec[i][0] + errorvec[i][1] * errorvec[i][1]);
+      pixels += _$0.Math.abs(_$0.Math.round(projection[i][0]) - _$0.Math.round(imagePoints[i].x)) + _$0.Math.abs(_$0.Math.round(projection[i][1]) - _$0.Math.round(imagePoints[i].y));
+
+      if (_$0.Math.abs(errorvec[i][0]) > maximum) {
+        maximum = _$0.Math.abs(errorvec[i][0]);
+      }
+
+      if (_$0.Math.abs(errorvec[i][1]) > maximum) {
+        maximum = _$0.Math.abs(errorvec[i][1]);
+      }
+    }
+
+    return {
+      euclidean: euclidean / np,
+      pixels: pixels,
+      maximum: maximum
+    };
+  }
+
+  function _Z(a, m, n, w, v) {
+    var flag,
+        i,
+        its,
+        j,
+        jj,
+        k,
+        l,
+        nm,
+        anorm = 0.0,
+        c,
+        f,
+        g = 0.0,
+        h,
+        s,
+        scale = 0.0,
+        x,
+        y,
+        z,
+        rv1 = []; //Householder reduction to bidiagonal form
+
+    for (i = 0; i < n; ++i) {
+      l = i + 1;
+      rv1[i] = scale * g;
+      g = s = scale = 0.0;
+
+      if (i < m) {
+        for (k = i; k < m; ++k) {
+          scale += _$0.Math.abs(a[k][i]);
+        }
+
+        if (0.0 !== scale) {
+          for (k = i; k < m; ++k) {
+            a[k][i] /= scale;
+            s += a[k][i] * a[k][i];
+          }
+
+          f = a[i][i];
+          g = -_$0.SVD.sign(_$0.Math.sqrt(s), f);
+          h = f * g - s;
+          a[i][i] = f - g;
+
+          for (j = l; j < n; ++j) {
+            for (s = 0.0, k = i; k < m; ++k) {
+              s += a[k][i] * a[k][j];
+            }
+
+            f = s / h;
+
+            for (k = i; k < m; ++k) {
+              a[k][j] += f * a[k][i];
+            }
+          }
+
+          for (k = i; k < m; ++k) {
+            a[k][i] *= scale;
+          }
+        }
+      }
+
+      w[i] = scale * g;
+      g = s = scale = 0.0;
+
+      if (i < m && i !== n - 1) {
+        for (k = l; k < n; ++k) {
+          scale += _$0.Math.abs(a[i][k]);
+        }
+
+        if (0.0 !== scale) {
+          for (k = l; k < n; ++k) {
+            a[i][k] /= scale;
+            s += a[i][k] * a[i][k];
+          }
+
+          f = a[i][l];
+          g = -_$0.SVD.sign(_$0.Math.sqrt(s), f);
+          h = f * g - s;
+          a[i][l] = f - g;
+
+          for (k = l; k < n; ++k) {
+            rv1[k] = a[i][k] / h;
+          }
+
+          for (j = l; j < m; ++j) {
+            for (s = 0.0, k = l; k < n; ++k) {
+              s += a[j][k] * a[i][k];
+            }
+
+            for (k = l; k < n; ++k) {
+              a[j][k] += s * rv1[k];
+            }
+          }
+
+          for (k = l; k < n; ++k) {
+            a[i][k] *= scale;
+          }
+        }
+      }
+
+      anorm = _$0.Math.max(anorm, _$0.Math.abs(w[i]) + _$0.Math.abs(rv1[i]));
+    } //Acumulation of right-hand transformation
+
+
+    for (i = n - 1; i >= 0; --i) {
+      if (i < n - 1) {
+        if (0.0 !== g) {
+          for (j = l; j < n; ++j) {
+            v[j][i] = a[i][j] / a[i][l] / g;
+          }
+
+          for (j = l; j < n; ++j) {
+            for (s = 0.0, k = l; k < n; ++k) {
+              s += a[i][k] * v[k][j];
+            }
+
+            for (k = l; k < n; ++k) {
+              v[k][j] += s * v[k][i];
+            }
+          }
+        }
+
+        for (j = l; j < n; ++j) {
+          v[i][j] = v[j][i] = 0.0;
+        }
+      }
+
+      v[i][i] = 1.0;
+      g = rv1[i];
+      l = i;
+    } //Acumulation of left-hand transformation
+
+
+    for (i = _$0.Math.min(n, m) - 1; i >= 0; --i) {
+      l = i + 1;
+      g = w[i];
+
+      for (j = l; j < n; ++j) {
+        a[i][j] = 0.0;
+      }
+
+      if (0.0 !== g) {
+        g = 1.0 / g;
+
+        for (j = l; j < n; ++j) {
+          for (s = 0.0, k = l; k < m; ++k) {
+            s += a[k][i] * a[k][j];
+          }
+
+          f = s / a[i][i] * g;
+
+          for (k = i; k < m; ++k) {
+            a[k][j] += f * a[k][i];
+          }
+        }
+
+        for (j = i; j < m; ++j) {
+          a[j][i] *= g;
+        }
+      } else {
+        for (j = i; j < m; ++j) {
+          a[j][i] = 0.0;
+        }
+      }
+
+      ++a[i][i];
+    } //Diagonalization of the bidiagonal form
+
+
+    for (k = n - 1; k >= 0; --k) {
+      for (its = 1; its <= 30; ++its) {
+        flag = true;
+
+        for (l = k; l >= 0; --l) {
+          nm = l - 1;
+
+          if (_$0.Math.abs(rv1[l]) + anorm === anorm) {
+            flag = false;
+            break;
+          }
+
+          if (_$0.Math.abs(w[nm]) + anorm === anorm) {
+            break;
+          }
+        }
+
+        if (flag) {
+          c = 0.0;
+          s = 1.0;
+
+          for (i = l; i <= k; ++i) {
+            f = s * rv1[i];
+
+            if (_$0.Math.abs(f) + anorm === anorm) {
+              break;
+            }
+
+            g = w[i];
+            h = _$0.SVD.pythag(f, g);
+            w[i] = h;
+            h = 1.0 / h;
+            c = g * h;
+            s = -f * h;
+
+            for (j = 1; j <= m; ++j) {
+              y = a[j][nm];
+              z = a[j][i];
+              a[j][nm] = y * c + z * s;
+              a[j][i] = z * c - y * s;
+            }
+          }
+        } //Convergence
+
+
+        z = w[k];
+
+        if (l === k) {
+          if (z < 0.0) {
+            w[k] = -z;
+
+            for (j = 0; j < n; ++j) {
+              v[j][k] = -v[j][k];
+            }
+          }
+
+          break;
+        }
+
+        if (30 === its) {
+          return false;
+        } //Shift from bottom 2-by-2 minor
+
+
+        x = w[l];
+        nm = k - 1;
+        y = w[nm];
+        g = rv1[nm];
+        h = rv1[k];
+        f = ((y - z) * (y + z) + (g - h) * (g + h)) / (2.0 * h * y);
+        g = _$0.SVD.pythag(f, 1.0);
+        f = ((x - z) * (x + z) + h * (y / (f + _$0.SVD.sign(g, f)) - h)) / x; //Next QR transformation
+
+        c = s = 1.0;
+
+        for (j = l; j <= nm; ++j) {
+          i = j + 1;
+          g = rv1[i];
+          y = w[i];
+          h = s * g;
+          g = c * g;
+          z = _$0.SVD.pythag(f, h);
+          rv1[j] = z;
+          c = f / z;
+          s = h / z;
+          f = x * c + g * s;
+          g = g * c - x * s;
+          h = y * s;
+          y *= c;
+
+          for (jj = 0; jj < n; ++jj) {
+            x = v[jj][j];
+            z = v[jj][i];
+            v[jj][j] = x * c + z * s;
+            v[jj][i] = z * c - x * s;
+          }
+
+          z = _$0.SVD.pythag(f, h);
+          w[j] = z;
+
+          if (0.0 !== z) {
+            z = 1.0 / z;
+            c = f * z;
+            s = h * z;
+          }
+
+          f = c * g + s * y;
+          x = c * y - s * g;
+
+          for (jj = 0; jj < m; ++jj) {
+            y = a[jj][j];
+            z = a[jj][i];
+            a[jj][j] = y * c + z * s;
+            a[jj][i] = z * c - y * s;
+          }
+        }
+
+        rv1[l] = 0.0;
+        rv1[k] = f;
+        w[k] = x;
+      }
+    }
+
+    return true;
+  }
+
+  function _10(a, b) {
+    var at = _$0.Math.abs(a),
+        bt = _$0.Math.abs(b),
+        ct;
+
+    if (at > bt) {
+      ct = bt / at;
+      return at * _$0.Math.sqrt(1.0 + ct * ct);
+    }
+
+    if (0.0 === bt) {
+      return 0.0;
+    }
+
+    ct = at / bt;
+    return bt * _$0.Math.sqrt(1.0 + ct * ct);
+  }
+
+  function _11(a, b) {
+    return b >= 0.0 ? _$0.Math.abs(a) : -_$0.Math.abs(a);
+  }
+
+  function _13(markerSize) {
+    this.canvas = _$0.document.createElement('canvas');
+    this.canvas.width = 80 * 8;
+    this.canvas.height = 60 * 4; // experiment with imageSmoothingEnabled
+
+    var imageSmoothingEnabled = false;
+    var context = this.canvas.getContext('2d');
+    context.mozImageSmoothingEnabled = imageSmoothingEnabled;
+    context.webkitImageSmoothingEnabled = imageSmoothingEnabled;
+    context.msImageSmoothingEnabled = imageSmoothingEnabled;
+    context.imageSmoothingEnabled = imageSmoothingEnabled;
+    this.detector = new _$0.AR.Detector();
+    this.posit = new _$0.POS.Posit(markerSize, this.canvas.width);
+  }
+
+  var _15 = _13.prototype;
+
+  function _14(object3D, detectedMarker) {
+    var rotation = detectedMarker.pose.bestRotation;
+    var translation = detectedMarker.pose.bestTranslation;
+    object3D.position.x = translation[0];
+    object3D.position.y = translation[1];
+    object3D.position.z = -translation[2];
+    object3D.rotation.x = -_$0.Math.asin(-rotation[1][2]);
+    object3D.rotation.y = -_$0.Math.atan2(rotation[0][2], rotation[2][2]);
+    object3D.rotation.z = _$0.Math.atan2(rotation[1][0], rotation[1][1]);
+    object3D.scale.x = markerSize;
+    object3D.scale.y = markerSize;
+    object3D.scale.z = markerSize;
+  }
+
+  function _16(arucoContext) {
+    this.arucoContext = arucoContext;
+    this.canvasElement = _$0.document.createElement('canvas');
+    this.canvasElement.width = this.arucoContext.canvas.width;
+    this.canvasElement.height = this.arucoContext.canvas.height;
+  }
+
+  var _17 = _16.prototype;
+
+  function _18() {}
+
+  function _19(markerId, svgSize) {
+    var domElement = _$0.document.createElement('div');
+
+    domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);
+    return domElement;
+  }
+
+  function _1a(markerId, svgSize) {
+    // get the svgElement
+    var svgElement = _$0.THREEx.ArucoMarkerGenerator.createSVG(markerId, svgSize).firstChild; // build imageURL
+
+
+    var xml = new XMLSerializer().serializeToString(svgElement);
+    var imageURL = 'data:image/svg+xml;base64,' + btoa(xml); // create imageElement
+
+    var imageElement = _$0.document.createElement('img');
+
+    imageElement.src = imageURL; // return imageElement
+
+    return imageElement;
+  }
+
+  function _1b(videoElement) {
+    var _this = this;
+
+    var canvas = this.canvas; // get imageData from videoElement
+
+    var context = canvas.getContext('2d');
+    context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
+    var imageData = context.getImageData(0, 0, canvas.width, canvas.height); // detect markers in imageData
+
+    var detectedMarkers = this.detector.detect(imageData); // compute the pose for each detectedMarkers
+
+    detectedMarkers.forEach(function (detectedMarker) {
+      // debugger
+      var markerCorners = detectedMarker.corners; // convert the corners
+
+      var poseCorners = new _$0.Array(markerCorners.length);
+
+      for (var i = 0; i < markerCorners.length; ++i) {
+        var markerCorner = markerCorners[i];
+        poseCorners[i] = {
+          x: markerCorner.x - canvas.width / 2,
+          y: -markerCorner.y + canvas.height / 2
+        };
+      } // estimate pose from corners
+
+
+      detectedMarker.pose = _this.posit.pose(poseCorners);
+    });
+    return detectedMarkers;
+  }
+
+  function _1c() {
+    var canvas = this.canvasElement;
+    var context = canvas.getContext('2d');
+    context.clearRect(0, 0, canvas.width, canvas.height);
+  }
+
+  function _1d() {
+    var contours = this.arucoContext.detector.contours;
+    var canvas = this.canvasElement;
+    this.drawContours(contours, 0, 0, canvas.width, canvas.height, function (hole) {
+      return hole ? "magenta" : "blue";
+    });
+  }
+
+  function _1e() {
+    var contours = this.arucoContext.detector.polys;
+    var canvas = this.canvasElement;
+    this.drawContours(contours, 0, 0, canvas.width, canvas.height, function () {
+      return 'green';
+    });
+  }
+
+  function _1f() {
+    var contours = this.arucoContext.detector.candidates;
+    var canvas = this.canvasElement;
+    this.drawContours(contours, 0, 0, canvas.width, canvas.height, function () {
+      return 'red';
+    });
+  }
+
+  function _1g(contours, x, y, width, height, fn) {
+    var i = contours.length,
+        j,
+        contour,
+        point;
+    var canvas = this.canvasElement;
+    var context = canvas.getContext('2d');
+    context.save();
+
+    while (i--) {
+      contour = contours[i];
+      context.strokeStyle = fn(contour.hole);
+      context.beginPath();
+
+      for (j = 0; j < contour.length; ++j) {
+        point = contour[j];
+        context.moveTo(x + point.x, y + point.y);
+        point = contour[(j + 1) % contour.length];
+        context.lineTo(x + point.x, y + point.y);
+      }
+
+      context.stroke();
+      context.closePath();
+    }
+
+    context.restore();
+  }
+
+  function _1h() {
+    var cvImage = arucoContext.detector.grey;
+    this.drawCVImage(cvImage);
+  }
+
+  function _1i() {
+    var cvImage = arucoContext.detector.thres;
+    this.drawCVImage(cvImage);
+  }
+
+  function _1j(cvImage) {
+    var detector = this.arucoContext.detector;
+    var canvas = this.canvasElement;
+    var context = canvas.getContext('2d');
+    var imageData = context.createImageData(canvas.width, canvas.height);
+    copyImage(cvImage, imageData);
+    context.putImageData(imageData, 0, 0);
+    return;
+
+    function copyImage(src, dst) {
+      var i = src.data.length,
+          j = i * 4 + 3;
+
+      while (i--) {
+        dst.data[j -= 4] = 255;
+        dst.data[j - 1] = dst.data[j - 2] = dst.data[j - 3] = src.data[i];
+      }
+
+      return dst;
+    }
+
+    ;
+  }
+
+  function _1k(videoElement) {
+    var canvas = this.canvasElement;
+    var context = canvas.getContext('2d');
+    context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
+  }
+
+  function _1l(markers) {
+    var canvas = this.canvasElement;
+    var context = canvas.getContext('2d');
+    var corners, corner, x, y, i, j;
+    context.save();
+    context.strokeStyle = "blue";
+    context.lineWidth = 1;
+
+    for (i = 0; i !== markers.length; ++i) {
+      corners = markers[i].corners;
+      x = _$0.Infinity;
+      y = _$0.Infinity;
+
+      for (j = 0; j !== corners.length; ++j) {
+        corner = corners[j];
+        x = _$0.Math.min(x, corner.x);
+        y = _$0.Math.min(y, corner.y);
+      }
+
+      context.strokeText(markers[i].id, x, y);
+    }
+
+    context.restore();
+  }
+
+  function _1m(markers) {
+    var canvas = this.canvasElement;
+    var corners, corner, i, j;
+    var context = canvas.getContext('2d');
+    context.save();
+    context.lineWidth = 3;
+
+    for (i = 0; i < markers.length; ++i) {
+      corners = markers[i].corners;
+      context.strokeStyle = 'red';
+      context.beginPath();
+
+      for (j = 0; j < corners.length; ++j) {
+        corner = corners[j];
+        context.moveTo(corner.x, corner.y);
+        corner = corners[(j + 1) % corners.length];
+        context.lineTo(corner.x, corner.y);
+      }
+
+      context.stroke();
+      context.closePath();
+      context.strokeStyle = 'green';
+      context.strokeRect(corners[0].x - 2, corners[0].y - 2, 4, 4);
+    }
+
+    context.restore();
+  }
+
+  THREEx = undefined;
+  SVD = undefined;
+  POS = undefined;
+  CV = undefined;
+  AR = undefined;
+  _3.rotate2 = _d;
+  _3.rotate = _c;
+  _3.mat2id = _b;
+  _3.hammingDistance = _a;
+  _3.getMarker = _9;
+  _3.findMarkers = _8;
+  _3.notTooNear = _7;
+  _3.clockwiseCorners = _6;
+  _3.findCandidates = _5;
+  _3.detect = _4;
+  AR = {
+    Marker: _1,
+    Detector: _2
+  };
+  CV = {
+    Image: _f,
+    grayscale: _g,
+    threshold: _h,
+    adaptiveThreshold: _i,
+    otsu: _j,
+    stackBoxBlurMult: [1, 171, 205, 293, 57, 373, 79, 137, 241, 27, 391, 357, 41, 19, 283, 265],
+    stackBoxBlurShift: [0, 9, 10, 11, 9, 12, 10, 11, 12, 9, 13, 13, 10, 9, 13, 13],
+    BlurStack: _m,
+    stackBoxBlur: _n,
+    gaussianBlur: _o,
+    gaussianBlurFilter: _p,
+    gaussianKernel: _q,
+    findContours: _r,
+    borderFollowing: _s,
+    neighborhood: [[1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1]],
+    neighborhoodDeltas: _C,
+    approxPolyDP: _D,
+    warp: _E,
+    getPerspectiveTransform: _F,
+    square2quad: _G,
+    isContourConvex: _H,
+    perimeter: _I,
+    minEdgeLength: _J,
+    countNonZero: _K,
+    binaryBorder: _L
+  };
+  _O.error = _X;
+  _O.iterate = _W;
+  _O.isValid = _V;
+  _O.pos = _U;
+  _O.pose = _T;
+  _O.init = _S;
+  _O.buildModel = _R;
+  POS = {
+    Posit: _N,
+    pseudoInverse: _P,
+    Pose: _Q
+  };
+  SVD = {
+    svdcmp: _Z,
+    pythag: _10,
+    sign: _11
+  };
+  _13.updateObject3D = _14;
+  _18.createSVG = _19;
+  _18.createIMG = _1a;
+  _17.drawMarkerCorners = _1m;
+  _17.drawMarkerIDs = _1l;
+  _17.drawVideo = _1k;
+  _17.drawCVImage = _1j;
+  _17.drawDetectorThreshold = _1i;
+  _17.drawDetectorGrey = _1h;
+  _17.drawContours = _1g;
+  _17.drawContoursCandidates = _1f;
+  _17.drawContoursPolys = _1e;
+  _17.drawContoursContours = _1d;
+  _17.clear = _1c;
+  _15.detect = _1b;
+  THREEx = {
+    ArucoContext: _13,
+    ArucoDebug: _16,
+    ArucoMarkerGenerator: _18
+  };
+}).call(this);
\ No newline at end of file
--- a/three.js/examples/threex-aruco/build/threex-aruco.js
+++ b/three.js/examples/threex-aruco/build/threex-aruco.js
+/*
+Copyright (c) 2011 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "ArUco: a minimal library for Augmented Reality applications based on OpenCv"
+  http://www.uco.es/investiga/grupos/ava/node/26
+*/
+
+var AR = AR || {};
+
+AR.Marker = function(id, corners){
+  this.id = id;
+  this.corners = corners;
+};
+
+AR.Detector = function(){
+  this.grey = new CV.Image();
+  this.thres = new CV.Image();
+  this.homography = new CV.Image();
+  this.binary = [];
+  this.contours = [];
+  this.polys = [];
+  this.candidates = [];
+};
+
+AR.Detector.prototype.detect = function(image){
+  CV.grayscale(image, this.grey);
+  CV.adaptiveThreshold(this.grey, this.thres, 2, 7);
+  
+  this.contours = CV.findContours(this.thres, this.binary);
+
+  this.candidates = this.findCandidates(this.contours, image.width * 0.20, 0.05, 10);
+  this.candidates = this.clockwiseCorners(this.candidates);
+  this.candidates = this.notTooNear(this.candidates, 10);
+
+  return this.findMarkers(this.grey, this.candidates, 49);
+};
+
+AR.Detector.prototype.findCandidates = function(contours, minSize, epsilon, minLength){
+  var candidates = [], len = contours.length, contour, poly, i;
+
+  this.polys = [];
+  
+  for (i = 0; i < len; ++ i){
+    contour = contours[i];
+
+    if (contour.length >= minSize){
+      poly = CV.approxPolyDP(contour, contour.length * epsilon);
+
+      this.polys.push(poly);
+
+      if ( (4 === poly.length) && ( CV.isContourConvex(poly) ) ){
+
+        if ( CV.minEdgeLength(poly) >= minLength){
+          candidates.push(poly);
+        }
+      }
+    }
+  }
+
+  return candidates;
+};
+
+AR.Detector.prototype.clockwiseCorners = function(candidates){
+  var len = candidates.length, dx1, dx2, dy1, dy2, swap, i;
+
+  for (i = 0; i < len; ++ i){
+    dx1 = candidates[i][1].x - candidates[i][0].x;
+    dy1 = candidates[i][1].y - candidates[i][0].y;
+    dx2 = candidates[i][2].x - candidates[i][0].x;
+    dy2 = candidates[i][2].y - candidates[i][0].y;
+
+    if ( (dx1 * dy2 - dy1 * dx2) < 0){
+      swap = candidates[i][1];
+      candidates[i][1] = candidates[i][3];
+      candidates[i][3] = swap;
+    }
+  }
+
+  return candidates;
+};
+
+AR.Detector.prototype.notTooNear = function(candidates, minDist){
+  var notTooNear = [], len = candidates.length, dist, dx, dy, i, j, k;
+
+  for (i = 0; i < len; ++ i){
+  
+    for (j = i + 1; j < len; ++ j){
+      dist = 0;
+      
+      for (k = 0; k < 4; ++ k){
+        dx = candidates[i][k].x - candidates[j][k].x;
+        dy = candidates[i][k].y - candidates[j][k].y;
+      
+        dist += dx * dx + dy * dy;
+      }
+      
+      if ( (dist / 4) < (minDist * minDist) ){
+      
+        if ( CV.perimeter( candidates[i] ) < CV.perimeter( candidates[j] ) ){
+          candidates[i].tooNear = true;
+        }else{
+          candidates[j].tooNear = true;
+        }
+      }
+    }
+  }
+
+  for (i = 0; i < len; ++ i){
+    if ( !candidates[i].tooNear ){
+      notTooNear.push( candidates[i] );
+    }
+  }
+
+  return notTooNear;
+};
+
+AR.Detector.prototype.findMarkers = function(imageSrc, candidates, warpSize){
+  var markers = [], len = candidates.length, candidate, marker, i;
+
+  for (i = 0; i < len; ++ i){
+    candidate = candidates[i];
+
+    CV.warp(imageSrc, this.homography, candidate, warpSize);
+  
+    CV.threshold(this.homography, this.homography, CV.otsu(this.homography) );
+
+    marker = this.getMarker(this.homography, candidate);
+    if (marker){
+      markers.push(marker);
+    }
+  }
+  
+  return markers;
+};
+
+AR.Detector.prototype.getMarker = function(imageSrc, candidate){
+  var width = (imageSrc.width / 7) >>> 0,
+      minZero = (width * width) >> 1,
+      bits = [], rotations = [], distances = [],
+      square, pair, inc, i, j;
+
+  for (i = 0; i < 7; ++ i){
+    inc = (0 === i || 6 === i)? 1: 6;
+    
+    for (j = 0; j < 7; j += inc){
+      square = {x: j * width, y: i * width, width: width, height: width};
+      if ( CV.countNonZero(imageSrc, square) > minZero){
+        return null;
+      }
+    }
+  }
+
+  for (i = 0; i < 5; ++ i){
+    bits[i] = [];
+
+    for (j = 0; j < 5; ++ j){
+      square = {x: (j + 1) * width, y: (i + 1) * width, width: width, height: width};
+      
+      bits[i][j] = CV.countNonZero(imageSrc, square) > minZero? 1: 0;
+    }
+  }
+
+  rotations[0] = bits;
+  distances[0] = this.hammingDistance( rotations[0] );
+  
+  pair = {first: distances[0], second: 0};
+  
+  for (i = 1; i < 4; ++ i){
+    rotations[i] = this.rotate( rotations[i - 1] );
+    distances[i] = this.hammingDistance( rotations[i] );
+    
+    if (distances[i] < pair.first){
+      pair.first = distances[i];
+      pair.second = i;
+    }
+  }
+
+  if (0 !== pair.first){
+    return null;
+  }
+
+  return new AR.Marker(
+    this.mat2id( rotations[pair.second] ), 
+    this.rotate2(candidate, 4 - pair.second) );
+};
+
+AR.Detector.prototype.hammingDistance = function(bits){
+  var ids = [ [1,0,0,0,0], [1,0,1,1,1], [0,1,0,0,1], [0,1,1,1,0] ],
+      dist = 0, sum, minSum, i, j, k;
+
+  for (i = 0; i < 5; ++ i){
+    minSum = Infinity;
+    
+    for (j = 0; j < 4; ++ j){
+      sum = 0;
+
+      for (k = 0; k < 5; ++ k){
+          sum += bits[i][k] === ids[j][k]? 0: 1;
+      }
+
+      if (sum < minSum){
+        minSum = sum;
+      }
+    }
+
+    dist += minSum;
+  }
+
+  return dist;
+};
+
+AR.Detector.prototype.mat2id = function(bits){
+  var id = 0, i;
+  
+  for (i = 0; i < 5; ++ i){
+    id <<= 1;
+    id |= bits[i][1];
+    id <<= 1;
+    id |= bits[i][3];
+  }
+
+  return id;
+};
+
+AR.Detector.prototype.rotate = function(src){
+  var dst = [], len = src.length, i, j;
+  
+  for (i = 0; i < len; ++ i){
+    dst[i] = [];
+    for (j = 0; j < src[i].length; ++ j){
+      dst[i][j] = src[src[i].length - j - 1][i];
+    }
+  }
+
+  return dst;
+};
+
+AR.Detector.prototype.rotate2 = function(src, rotation){
+  var dst = [], len = src.length, i;
+  
+  for (i = 0; i < len; ++ i){
+    dst[i] = src[ (rotation + i) % len ];
+  }
+
+  return dst;
+};
+/*
+Copyright (c) 2011 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "OpenCV: Open Computer Vision Library"
+  http://sourceforge.net/projects/opencvlibrary/
+- "Stack Blur: Fast But Goodlooking"
+  http://incubator.quasimondo.com/processing/fast_blur_deluxe.php
+*/
+
+var CV = CV || {};
+
+CV.Image = function(width, height, data){
+  this.width = width || 0;
+  this.height = height || 0;
+  this.data = data || [];
+};
+
+CV.grayscale = function(imageSrc, imageDst){
+  var src = imageSrc.data, dst = imageDst.data, len = src.length,
+      i = 0, j = 0;
+
+  for (; i < len; i += 4){
+    dst[j ++] =
+      (src[i] * 0.299 + src[i + 1] * 0.587 + src[i + 2] * 0.114 + 0.5) & 0xff;
+  }
+  
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+  
+  return imageDst;
+};
+
+CV.threshold = function(imageSrc, imageDst, threshold){
+  var src = imageSrc.data, dst = imageDst.data,
+      len = src.length, tab = [], i;
+
+  for (i = 0; i < 256; ++ i){
+    tab[i] = i <= threshold? 0: 255;
+  }
+
+  for (i = 0; i < len; ++ i){
+    dst[i] = tab[ src[i] ];
+  }
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+
+  return imageDst;
+};
+
+CV.adaptiveThreshold = function(imageSrc, imageDst, kernelSize, threshold){
+  var src = imageSrc.data, dst = imageDst.data, len = src.length, tab = [], i;
+
+  CV.stackBoxBlur(imageSrc, imageDst, kernelSize);
+
+  for (i = 0; i < 768; ++ i){
+    tab[i] = (i - 255 <= -threshold)? 255: 0;
+  }
+
+  for (i = 0; i < len; ++ i){
+    dst[i] = tab[ src[i] - dst[i] + 255 ];
+  }
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+  
+  return imageDst;
+};
+
+CV.otsu = function(imageSrc){
+  var src = imageSrc.data, len = src.length, hist = [],
+      threshold = 0, sum = 0, sumB = 0, wB = 0, wF = 0, max = 0,
+      mu, between, i;
+
+  for (i = 0; i < 256; ++ i){
+    hist[i] = 0;
+  }
+  
+  for (i = 0; i < len; ++ i){
+    hist[ src[i] ] ++;
+  }
+
+  for (i = 0; i < 256; ++ i){
+    sum += hist[i] * i;
+  }
+
+  for (i = 0; i < 256; ++ i){
+    wB += hist[i];
+    if (0 !== wB){
+    
+      wF = len - wB;
+      if (0 === wF){
+        break;
+      }
+
+      sumB += hist[i] * i;
+      
+      mu = (sumB / wB) - ( (sum - sumB) / wF );
+
+      between = wB * wF * mu * mu;
+      
+      if (between > max){
+        max = between;
+        threshold = i;
+      }
+    }
+  }
+
+  return threshold;
+};
+
+CV.stackBoxBlurMult =
+  [1, 171, 205, 293, 57, 373, 79, 137, 241, 27, 391, 357, 41, 19, 283, 265];
+
+CV.stackBoxBlurShift =
+  [0, 9, 10, 11, 9, 12, 10, 11, 12, 9, 13, 13, 10, 9, 13, 13];
+
+CV.BlurStack = function(){
+  this.color = 0;
+  this.next = null;
+};
+
+CV.stackBoxBlur = function(imageSrc, imageDst, kernelSize){
+  var src = imageSrc.data, dst = imageDst.data,
+      height = imageSrc.height, width = imageSrc.width,
+      heightMinus1 = height - 1, widthMinus1 = width - 1,
+      size = kernelSize + kernelSize + 1, radius = kernelSize + 1,
+      mult = CV.stackBoxBlurMult[kernelSize],
+      shift = CV.stackBoxBlurShift[kernelSize],
+      stack, stackStart, color, sum, pos, start, p, x, y, i;
+
+  stack = stackStart = new CV.BlurStack();
+  for (i = 1; i < size; ++ i){
+    stack = stack.next = new CV.BlurStack();
+  }
+  stack.next = stackStart;
+
+  pos = 0;
+
+  for (y = 0; y < height; ++ y){
+    start = pos;
+    
+    color = src[pos];
+    sum = radius * color;
+    
+    stack = stackStart;
+    for (i = 0; i < radius; ++ i){
+      stack.color = color;
+      stack = stack.next;
+    }
+    for (i = 1; i < radius; ++ i){
+      stack.color = src[pos + i];
+      sum += stack.color;
+      stack = stack.next;
+    }
+  
+    stack = stackStart;
+    for (x = 0; x < width; ++ x){
+      dst[pos ++] = (sum * mult) >>> shift;
+      
+      p = x + radius;
+      p = start + (p < widthMinus1? p: widthMinus1);
+      sum -= stack.color - src[p];
+      
+      stack.color = src[p];
+      stack = stack.next;
+    }
+  }
+
+  for (x = 0; x < width; ++ x){
+    pos = x;
+    start = pos + width;
+    
+    color = dst[pos];
+    sum = radius * color;
+    
+    stack = stackStart;
+    for (i = 0; i < radius; ++ i){
+      stack.color = color;
+      stack = stack.next;
+    }
+    for (i = 1; i < radius; ++ i){
+      stack.color = dst[start];
+      sum += stack.color;
+      stack = stack.next;
+      
+      start += width;
+    }
+    
+    stack = stackStart;
+    for (y = 0; y < height; ++ y){
+      dst[pos] = (sum * mult) >>> shift;
+      
+      p = y + radius;
+      p = x + ( (p < heightMinus1? p: heightMinus1) * width );
+      sum -= stack.color - dst[p];
+      
+      stack.color = dst[p];
+      stack = stack.next;
+      
+      pos += width;
+    }
+  }
+
+  return imageDst;
+};
+
+CV.gaussianBlur = function(imageSrc, imageDst, imageMean, kernelSize){
+  var kernel = CV.gaussianKernel(kernelSize);
+
+  imageDst.width = imageSrc.width;
+  imageDst.height = imageSrc.height;
+  
+  imageMean.width = imageSrc.width;
+  imageMean.height = imageSrc.height;
+
+  CV.gaussianBlurFilter(imageSrc, imageMean, kernel, true);
+  CV.gaussianBlurFilter(imageMean, imageDst, kernel, false);
+
+  return imageDst;
+};
+
+CV.gaussianBlurFilter = function(imageSrc, imageDst, kernel, horizontal){
+  var src = imageSrc.data, dst = imageDst.data,
+      height = imageSrc.height, width = imageSrc.width,
+      pos = 0, limit = kernel.length >> 1,
+      cur, value, i, j, k;
+      
+  for (i = 0; i < height; ++ i){
+    
+    for (j = 0; j < width; ++ j){
+      value = 0.0;
+    
+      for (k = -limit; k <= limit; ++ k){
+
+        if (horizontal){
+          cur = pos + k;
+          if (j + k < 0){
+            cur = pos;
+          }
+          else if (j + k >= width){
+            cur = pos;
+          }
+        }else{
+          cur = pos + (k * width);
+          if (i + k < 0){
+            cur = pos;
+          }
+          else if (i + k >= height){
+            cur = pos;
+          }
+        }
+
+        value += kernel[limit + k] * src[cur];
+      }
+    
+      dst[pos ++] = horizontal? value: (value + 0.5) & 0xff;
+    }
+  }
+
+  return imageDst;
+};
+
+CV.gaussianKernel = function(kernelSize){
+  var tab =
+    [ [1],
+      [0.25, 0.5, 0.25],
+      [0.0625, 0.25, 0.375, 0.25, 0.0625],
+      [0.03125, 0.109375, 0.21875, 0.28125, 0.21875, 0.109375, 0.03125] ],
+    kernel = [], center, sigma, scale2X, sum, x, i;
+
+  if ( (kernelSize <= 7) && (kernelSize % 2 === 1) ){
+    kernel = tab[kernelSize >> 1];
+  }else{
+    center = (kernelSize - 1.0) * 0.5;
+    sigma = 0.8 + (0.3 * (center - 1.0) );
+    scale2X = -0.5 / (sigma * sigma);
+    sum = 0.0;
+    for (i = 0; i < kernelSize; ++ i){
+      x = i - center;
+      sum += kernel[i] = Math.exp(scale2X * x * x);
+    }
+    sum = 1 / sum;
+    for (i = 0; i < kernelSize; ++ i){
+      kernel[i] *= sum;
+    }  
+  }
+
+  return kernel;
+};
+
+CV.findContours = function(imageSrc, binary){
+  var width = imageSrc.width, height = imageSrc.height, contours = [],
+      src, deltas, pos, pix, nbd, outer, hole, i, j;
+  
+  src = CV.binaryBorder(imageSrc, binary);
+
+  deltas = CV.neighborhoodDeltas(width + 2);
+
+  pos = width + 3;
+  nbd = 1;
+
+  for (i = 0; i < height; ++ i, pos += 2){
+  
+    for (j = 0; j < width; ++ j, ++ pos){
+      pix = src[pos];
+
+      if (0 !== pix){
+        outer = hole = false;
+
+        if (1 === pix && 0 === src[pos - 1]){
+          outer = true;
+        }
+        else if (pix >= 1 && 0 === src[pos + 1]){
+          hole = true;
+        }
+
+        if (outer || hole){
+          ++ nbd;
+          
+          contours.push( CV.borderFollowing(src, pos, nbd, {x: j, y: i}, hole, deltas) );
+        }
+      }
+    }
+  }  
+
+  return contours;
+};
+
+CV.borderFollowing = function(src, pos, nbd, point, hole, deltas){
+  var contour = [], pos1, pos3, pos4, s, s_end, s_prev;
+
+  contour.hole = hole;
+      
+  s = s_end = hole? 0: 4;
+  do{
+    s = (s - 1) & 7;
+    pos1 = pos + deltas[s];
+    if (src[pos1] !== 0){
+      break;
+    }
+  }while(s !== s_end);
+  
+  if (s === s_end){
+    src[pos] = -nbd;
+    contour.push( {x: point.x, y: point.y} );
+
+  }else{
+    pos3 = pos;
+    s_prev = s ^ 4;
+
+    while(true){
+      s_end = s;
+    
+      do{
+        pos4 = pos3 + deltas[++ s];
+      }while(src[pos4] === 0);
+      
+      s &= 7;
+      
+      if ( ( (s - 1) >>> 0) < (s_end >>> 0) ){
+        src[pos3] = -nbd;
+      }
+      else if (src[pos3] === 1){
+        src[pos3] = nbd;
+      }
+
+      contour.push( {x: point.x, y: point.y} );
+      
+      s_prev = s;
+
+      point.x += CV.neighborhood[s][0];
+      point.y += CV.neighborhood[s][1];
+
+      if ( (pos4 === pos) && (pos3 === pos1) ){
+        break;
+      }
+      
+      pos3 = pos4;
+      s = (s + 4) & 7;
+    }
+  }
+
+  return contour;
+};
+
+CV.neighborhood = 
+  [ [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1] ];
+
+CV.neighborhoodDeltas = function(width){
+  var deltas = [], len = CV.neighborhood.length, i = 0;
+  
+  for (; i < len; ++ i){
+    deltas[i] = CV.neighborhood[i][0] + (CV.neighborhood[i][1] * width);
+  }
+  
+  return deltas.concat(deltas);
+};
+
+CV.approxPolyDP = function(contour, epsilon){
+  var slice = {start_index: 0, end_index: 0},
+      right_slice = {start_index: 0, end_index: 0},
+      poly = [], stack = [], len = contour.length,
+      pt, start_pt, end_pt, dist, max_dist, le_eps,
+      dx, dy, i, j, k;
+  
+  epsilon *= epsilon;
+  
+  k = 0;
+  
+  for (i = 0; i < 3; ++ i){
+    max_dist = 0;
+    
+    k = (k + right_slice.start_index) % len;
+    start_pt = contour[k];
+    if (++ k === len) {k = 0;}
+  
+    for (j = 1; j < len; ++ j){
+      pt = contour[k];
+      if (++ k === len) {k = 0;}
+    
+      dx = pt.x - start_pt.x;
+      dy = pt.y - start_pt.y;
+      dist = dx * dx + dy * dy;
+
+      if (dist > max_dist){
+        max_dist = dist;
+        right_slice.start_index = j;
+      }
+    }
+  }
+
+  if (max_dist <= epsilon){
+    poly.push( {x: start_pt.x, y: start_pt.y} );
+
+  }else{
+    slice.start_index = k;
+    slice.end_index = (right_slice.start_index += slice.start_index);
+  
+    right_slice.start_index -= right_slice.start_index >= len? len: 0;
+    right_slice.end_index = slice.start_index;
+    if (right_slice.end_index < right_slice.start_index){
+      right_slice.end_index += len;
+    }
+    
+    stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
+    stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
+  }
+
+  while(stack.length !== 0){
+    slice = stack.pop();
+    
+    end_pt = contour[slice.end_index % len];
+    start_pt = contour[k = slice.start_index % len];
+    if (++ k === len) {k = 0;}
+    
+    if (slice.end_index <= slice.start_index + 1){
+      le_eps = true;
+    
+    }else{
+      max_dist = 0;
+
+      dx = end_pt.x - start_pt.x;
+      dy = end_pt.y - start_pt.y;
+      
+      for (i = slice.start_index + 1; i < slice.end_index; ++ i){
+        pt = contour[k];
+        if (++ k === len) {k = 0;}
+        
+        dist = Math.abs( (pt.y - start_pt.y) * dx - (pt.x - start_pt.x) * dy);
+
+        if (dist > max_dist){
+          max_dist = dist;
+          right_slice.start_index = i;
+        }
+      }
+      
+      le_eps = max_dist * max_dist <= epsilon * (dx * dx + dy * dy);
+    }
+    
+    if (le_eps){
+      poly.push( {x: start_pt.x, y: start_pt.y} );
+
+    }else{
+      right_slice.end_index = slice.end_index;
+      slice.end_index = right_slice.start_index;
+
+      stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
+      stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
+    }
+  }
+  
+  return poly;
+};
+
+CV.warp = function(imageSrc, imageDst, contour, warpSize){
+  var src = imageSrc.data, dst = imageDst.data,
+      width = imageSrc.width, height = imageSrc.height,
+      pos = 0,
+      sx1, sx2, dx1, dx2, sy1, sy2, dy1, dy2, p1, p2, p3, p4,
+      m, r, s, t, u, v, w, x, y, i, j;
+  
+  m = CV.getPerspectiveTransform(contour, warpSize - 1);
+
+  r = m[8];
+  s = m[2];
+  t = m[5];
+  
+  for (i = 0; i < warpSize; ++ i){
+    r += m[7];
+    s += m[1];
+    t += m[4];
+
+    u = r;
+    v = s;
+    w = t;
+    
+    for (j = 0; j < warpSize; ++ j){
+      u += m[6];
+      v += m[0];
+      w += m[3];
+
+      x = v / u;
+      y = w / u;
+
+      sx1 = x >>> 0;
+      sx2 = (sx1 === width - 1)? sx1: sx1 + 1;
+      dx1 = x - sx1;
+      dx2 = 1.0 - dx1;
+
+      sy1 = y >>> 0;
+      sy2 = (sy1 === height - 1)? sy1: sy1 + 1;
+      dy1 = y - sy1;
+      dy2 = 1.0 - dy1;
+
+      p1 = p2 = sy1 * width;
+      p3 = p4 = sy2 * width;
+
+      dst[pos ++] = 
+        (dy2 * (dx2 * src[p1 + sx1] + dx1 * src[p2 + sx2]) +
+         dy1 * (dx2 * src[p3 + sx1] + dx1 * src[p4 + sx2]) ) & 0xff;
+
+    }
+  }
+
+  imageDst.width = warpSize;
+  imageDst.height = warpSize;
+
+  return imageDst;
+};
+
+CV.getPerspectiveTransform = function(src, size){
+  var rq = CV.square2quad(src);
+  
+  rq[0] /= size;
+  rq[1] /= size;
+  rq[3] /= size;
+  rq[4] /= size;
+  rq[6] /= size;
+  rq[7] /= size;
+  
+  return rq;
+};
+
+CV.square2quad = function(src){
+  var sq = [], px, py, dx1, dx2, dy1, dy2, den;
+  
+  px = src[0].x - src[1].x + src[2].x - src[3].x;
+  py = src[0].y - src[1].y + src[2].y - src[3].y;
+  
+  if (0 === px && 0 === py){
+    sq[0] = src[1].x - src[0].x;
+    sq[1] = src[2].x - src[1].x;
+    sq[2] = src[0].x;
+    sq[3] = src[1].y - src[0].y;
+    sq[4] = src[2].y - src[1].y;
+    sq[5] = src[0].y;
+    sq[6] = 0;
+    sq[7] = 0;
+    sq[8] = 1;
+
+  }else{
+    dx1 = src[1].x - src[2].x;
+    dx2 = src[3].x - src[2].x;
+    dy1 = src[1].y - src[2].y;
+    dy2 = src[3].y - src[2].y;
+    den = dx1 * dy2 - dx2 * dy1;
+  
+    sq[6] = (px * dy2 - dx2 * py) / den;
+    sq[7] = (dx1 * py - px * dy1) / den;
+    sq[8] = 1;
+    sq[0] = src[1].x - src[0].x + sq[6] * src[1].x;
+    sq[1] = src[3].x - src[0].x + sq[7] * src[3].x;
+    sq[2] = src[0].x;
+    sq[3] = src[1].y - src[0].y + sq[6] * src[1].y;
+    sq[4] = src[3].y - src[0].y + sq[7] * src[3].y;
+    sq[5] = src[0].y;
+  }
+
+  return sq;
+};
+
+CV.isContourConvex = function(contour){
+  var orientation = 0, convex = true,
+      len = contour.length, i = 0, j = 0,
+      cur_pt, prev_pt, dxdy0, dydx0, dx0, dy0, dx, dy;
+
+  prev_pt = contour[len - 1];
+  cur_pt = contour[0];
+
+  dx0 = cur_pt.x - prev_pt.x;
+  dy0 = cur_pt.y - prev_pt.y;
+
+  for (; i < len; ++ i){
+    if (++ j === len) {j = 0;}
+
+    prev_pt = cur_pt;
+    cur_pt = contour[j];
+
+    dx = cur_pt.x - prev_pt.x;
+    dy = cur_pt.y - prev_pt.y;
+    dxdy0 = dx * dy0;
+    dydx0 = dy * dx0;
+
+    orientation |= dydx0 > dxdy0? 1: (dydx0 < dxdy0? 2: 3);
+
+    if (3 === orientation){
+        convex = false;
+        break;
+    }
+
+    dx0 = dx;
+    dy0 = dy;
+  }
+
+  return convex;
+};
+
+CV.perimeter = function(poly){
+  var len = poly.length, i = 0, j = len - 1,
+      p = 0.0, dx, dy;
+
+  for (; i < len; j = i ++){
+    dx = poly[i].x - poly[j].x;
+    dy = poly[i].y - poly[j].y;
+    
+    p += Math.sqrt(dx * dx + dy * dy) ;
+  }
+
+  return p;
+};
+
+CV.minEdgeLength = function(poly){
+  var len = poly.length, i = 0, j = len - 1, 
+      min = Infinity, d, dx, dy;
+
+  for (; i < len; j = i ++){
+    dx = poly[i].x - poly[j].x;
+    dy = poly[i].y - poly[j].y;
+
+    d = dx * dx + dy * dy;
+
+    if (d < min){
+      min = d;
+    }
+  }
+  
+  return Math.sqrt(min);
+};
+
+CV.countNonZero = function(imageSrc, square){
+  var src = imageSrc.data, height = square.height, width = square.width,
+      pos = square.x + (square.y * imageSrc.width),
+      span = imageSrc.width - width,
+      nz = 0, i, j;
+  
+  for (i = 0; i < height; ++ i){
+
+    for (j = 0; j < width; ++ j){
+    
+      if ( 0 !== src[pos ++] ){
+        ++ nz;
+      }
+    }
+    
+    pos += span;
+  }
+
+  return nz;
+};
+
+CV.binaryBorder = function(imageSrc, dst){
+  var src = imageSrc.data, height = imageSrc.height, width = imageSrc.width,
+      posSrc = 0, posDst = 0, i, j;
+
+  for (j = -2; j < width; ++ j){
+    dst[posDst ++] = 0;
+  }
+
+  for (i = 0; i < height; ++ i){
+    dst[posDst ++] = 0;
+    
+    for (j = 0; j < width; ++ j){
+      dst[posDst ++] = (0 === src[posSrc ++]? 0: 1);
+    }
+    
+    dst[posDst ++] = 0;
+  }
+
+  for (j = -2; j < width; ++ j){
+    dst[posDst ++] = 0;
+  }
+  
+  return dst;
+};
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "Iterative Pose Estimation using Coplanar Feature Points"
+  Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis
+  http://www.cfar.umd.edu/~daniel/daniel_papersfordownload/CoplanarPts.pdf
+*/
+
+var POS = POS || {};
+
+POS.Posit = function(modelSize, focalLength){
+  this.objectPoints = this.buildModel(modelSize);
+  this.focalLength = focalLength;
+
+  this.objectVectors = [];
+  this.objectNormal = [];
+  this.objectMatrix = [[],[],[]];
+  
+  this.init();
+};
+
+POS.Posit.prototype.buildModel = function(modelSize){
+  var half = modelSize / 2.0;
+  
+  return [
+    [-half,  half, 0.0],
+    [ half,  half, 0.0],
+    [ half, -half, 0.0],
+    [-half, -half, 0.0] ];
+};
+
+POS.Posit.prototype.init = function(){
+  var np = this.objectPoints.length,
+      vectors = [], n = [], len = 0.0, row = 2, i;
+  
+  for (i = 0; i < np; ++ i){
+    this.objectVectors[i] = [this.objectPoints[i][0] - this.objectPoints[0][0],
+                             this.objectPoints[i][1] - this.objectPoints[0][1],
+                             this.objectPoints[i][2] - this.objectPoints[0][2]];
+                             
+    vectors[i] = [this.objectVectors[i][0],
+                  this.objectVectors[i][1],
+                  this.objectVectors[i][2]];
+  }
+
+  while(0.0 === len){
+    n[0] = this.objectVectors[1][1] * this.objectVectors[row][2] -
+           this.objectVectors[1][2] * this.objectVectors[row][1];
+    n[1] = this.objectVectors[1][2] * this.objectVectors[row][0] -
+           this.objectVectors[1][0] * this.objectVectors[row][2];
+    n[2] = this.objectVectors[1][0] * this.objectVectors[row][1] -
+           this.objectVectors[1][1] * this.objectVectors[row][0];
+    
+    len = Math.sqrt(n[0] * n[0] + n[1] * n[1] + n[2] * n[2]);
+    
+    ++ row;
+  }
+
+  for (i = 0; i < 3; ++ i){
+    this.objectNormal[i] = n[i] / len;
+  }
+
+  POS.pseudoInverse(vectors, np, this.objectMatrix);
+};
+
+POS.Posit.prototype.pose = function(imagePoints){
+  var posRotation1 = [[],[],[]], posRotation2 = [[],[],[]], posTranslation = [],
+      rotation1 = [[],[],[]], rotation2 = [[],[],[]], translation1 = [], translation2 = [],
+      error1, error2, valid1, valid2, i, j;
+
+  this.pos(imagePoints, posRotation1, posRotation2, posTranslation);
+
+  valid1 = this.isValid(posRotation1, posTranslation);
+  if (valid1){
+    error1 = this.iterate(imagePoints, posRotation1, posTranslation, rotation1, translation1);
+  }else{
+    error1 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
+  }
+  
+  valid2 = this.isValid(posRotation2, posTranslation);
+  if (valid2){
+    error2 = this.iterate(imagePoints, posRotation2, posTranslation, rotation2, translation2);
+  }else{
+    error2 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
+  }
+
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < 3; ++ j){
+      if (valid1){
+        translation1[i] -= rotation1[i][j] * this.objectPoints[0][j];
+      }
+      if (valid2){
+        translation2[i] -= rotation2[i][j] * this.objectPoints[0][j];
+      }
+    }
+  }
+
+  return error1.euclidean < error2.euclidean?
+    new POS.Pose(error1.pixels, rotation1, translation1, error2.pixels, rotation2, translation2):
+    new POS.Pose(error2.pixels, rotation2, translation2, error1.pixels, rotation1, translation1);
+};
+
+POS.Posit.prototype.pos = function(imagePoints, rotation1, rotation2, translation){
+  var np = this.objectPoints.length, imageVectors = [],
+      i0 = [], j0 = [], ivec = [], jvec = [], row1 = [], row2 = [], row3 = [],
+      i0i0, j0j0, i0j0, delta, q, lambda, mu, scale, i, j;
+
+  for (i = 0; i < np; ++ i){
+    imageVectors[i] = [imagePoints[i].x - imagePoints[0].x,
+                       imagePoints[i].y - imagePoints[0].y];
+  }
+
+  //i0 and j0
+  for (i = 0; i < 3; ++ i){
+    i0[i] = 0.0;
+    j0[i] = 0.0;
+    for (j = 0; j < np; ++ j){
+      i0[i] += this.objectMatrix[i][j] * imageVectors[j][0];
+      j0[i] += this.objectMatrix[i][j] * imageVectors[j][1];
+    }
+  }
+
+  i0i0 = i0[0] * i0[0] + i0[1] * i0[1] + i0[2] * i0[2];
+  j0j0 = j0[0] * j0[0] + j0[1] * j0[1] + j0[2] * j0[2];
+  i0j0 = i0[0] * j0[0] + i0[1] * j0[1] + i0[2] * j0[2];
+
+  //Lambda and mu
+  delta = (j0j0 - i0i0) * (j0j0 - i0i0) + 4.0 * (i0j0 * i0j0);
+  
+  if (j0j0 - i0i0 >= 0.0){
+    q = (j0j0 - i0i0 + Math.sqrt(delta) ) / 2.0;
+  }else{
+    q = (j0j0 - i0i0 - Math.sqrt(delta) ) / 2.0;
+  }
+  
+  if (q >= 0.0){
+    lambda = Math.sqrt(q);
+    if (0.0 === lambda){
+      mu = 0.0;
+    }else{
+      mu = -i0j0 / lambda;
+    }
+  }else{
+    lambda = Math.sqrt( -(i0j0 * i0j0) / q);
+    if (0.0 === lambda){
+      mu = Math.sqrt(i0i0 - j0j0);
+    }else{
+      mu = -i0j0 / lambda;
+    }
+  }
+
+  //First rotation
+  for (i = 0; i < 3; ++ i){
+    ivec[i] = i0[i] + lambda * this.objectNormal[i];
+    jvec[i] = j0[i] + mu * this.objectNormal[i];
+  }
+  
+  scale = Math.sqrt(ivec[0] * ivec[0] + ivec[1] * ivec[1] + ivec[2] * ivec[2]);
+  
+  for (i = 0; i < 3; ++ i){
+    row1[i] = ivec[i] / scale;
+    row2[i] = jvec[i] / scale;
+  }
+  
+  row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+  row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+  row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+
+  for (i = 0; i < 3; ++ i){
+    rotation1[0][i] = row1[i];
+    rotation1[1][i] = row2[i];
+    rotation1[2][i] = row3[i];
+  }
+
+  //Second rotation
+  for (i = 0; i < 3; ++ i){
+    ivec[i] = i0[i] - lambda * this.objectNormal[i];
+    jvec[i] = j0[i] - mu * this.objectNormal[i];
+  }
+  
+  for (i = 0; i < 3; ++ i){
+    row1[i] = ivec[i] / scale;
+    row2[i] = jvec[i] / scale;
+  }
+  
+  row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+  row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+  row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+  
+  for (i = 0; i < 3; ++ i){
+    rotation2[0][i] = row1[i];
+    rotation2[1][i] = row2[i];
+    rotation2[2][i] = row3[i];
+  }
+
+  //Translation
+  translation[0] = imagePoints[0].x / scale;
+  translation[1] = imagePoints[0].y / scale;
+  translation[2] = this.focalLength / scale;
+};
+
+POS.Posit.prototype.isValid = function(rotation, translation){
+  var np = this.objectPoints.length, zmin = Infinity, i = 0, zi;
+
+  for (; i < np; ++ i){
+    zi = translation[2] +
+      (rotation[2][0] * this.objectVectors[i][0] +
+       rotation[2][1] * this.objectVectors[i][1] +
+       rotation[2][2] * this.objectVectors[i][2]);
+    if (zi < zmin){
+      zmin = zi;
+    }
+  }
+
+  return zmin >= 0.0;
+};
+
+POS.Posit.prototype.iterate = function(imagePoints, posRotation, posTranslation, rotation, translation){
+  var np = this.objectPoints.length,
+      oldSopImagePoints = [], sopImagePoints = [],
+      rotation1 = [[],[],[]], rotation2 = [[],[],[]],
+      translation1 = [], translation2 = [],
+      converged = false, iteration = 0,
+      oldImageDifference, imageDifference, factor,
+      error, error1, error2, delta, i, j;
+
+  for (i = 0; i < np; ++ i){
+    oldSopImagePoints[i] = {x: imagePoints[i].x,
+                            y: imagePoints[i].y};
+  }
+  
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < 3; ++ j){
+      rotation[i][j] = posRotation[i][j];
+    }
+    translation[i] = posTranslation[i];
+  }
+
+  for (i = 0; i < np; ++ i){
+    factor = 0.0;
+    for (j = 0; j < 3; ++ j){
+      factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+    }
+    sopImagePoints[i] = {x: (1.0 + factor) * imagePoints[i].x,
+                         y: (1.0 + factor) * imagePoints[i].y};
+  }
+
+  imageDifference = 0.0;
+  
+  for (i = 0; i < np; ++ i){
+    imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+    imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+  }
+
+  for (i = 0; i < 3; ++ i){
+    translation1[i] = translation[i] -
+      (rotation[i][0] * this.objectPoints[0][0] +
+       rotation[i][1] * this.objectPoints[0][1] +
+       rotation[i][2] * this.objectPoints[0][2]);
+  }
+  
+  error = error1 = this.error(imagePoints, rotation, translation1);
+
+  //Convergence
+  converged = (0.0 === error1.pixels) || (imageDifference < 0.01);
+  
+  while( iteration ++ < 100 && !converged ){
+  
+    for (i = 0; i < np; ++ i){
+      oldSopImagePoints[i].x = sopImagePoints[i].x;
+      oldSopImagePoints[i].y = sopImagePoints[i].y;
+    }
+
+    this.pos(sopImagePoints, rotation1, rotation2, translation);
+
+    for (i = 0; i < 3; ++ i){
+      translation1[i] = translation[i] -
+        (rotation1[i][0] * this.objectPoints[0][0] +
+         rotation1[i][1] * this.objectPoints[0][1] +
+         rotation1[i][2] * this.objectPoints[0][2]);
+        
+      translation2[i] = translation[i] -
+        (rotation2[i][0] * this.objectPoints[0][0] +
+         rotation2[i][1] * this.objectPoints[0][1] +
+         rotation2[i][2] * this.objectPoints[0][2]);
+    }
+
+    error1 = this.error(imagePoints, rotation1, translation1);
+    error2 = this.error(imagePoints, rotation2, translation2);
+
+    if ( (error1.euclidean >= 0.0) && (error2.euclidean >= 0.0) ){
+      if (error2.euclidean < error1.euclidean){
+        error = error2;
+        for (i = 0; i < 3; ++ i){
+          for (j = 0; j < 3; ++ j){
+            rotation[i][j] = rotation2[i][j];
+          }
+        }
+      }else{
+        error = error1;
+        for (i = 0; i < 3; ++ i){
+          for (j = 0; j < 3; ++ j){
+            rotation[i][j] = rotation1[i][j];
+          }
+        }
+      }
+    }
+
+    if ( (error1.euclidean < 0.0) && (error2.euclidean >= 0.0) ){
+      error = error2;
+      for (i = 0; i < 3; ++ i){
+        for (j = 0; j < 3; ++ j){
+          rotation[i][j] = rotation2[i][j];
+        }
+      }
+    }
+    
+    if ( (error2.euclidean < 0.0) && (error1.euclidean >= 0.0) ){
+      error = error1;
+      for (i = 0; i < 3; ++ i){
+        for (j = 0; j < 3; ++ j){
+          rotation[i][j] = rotation1[i][j];
+        }
+      }
+    }
+
+    for (i = 0; i < np; ++ i){
+      factor = 0.0;
+      for (j = 0; j < 3; ++ j){
+        factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+      }
+      sopImagePoints[i].x = (1.0 + factor) * imagePoints[i].x;
+      sopImagePoints[i].y = (1.0 + factor) * imagePoints[i].y;
+    }
+
+    oldImageDifference = imageDifference;
+    imageDifference = 0.0;
+    
+    for (i = 0; i < np; ++ i){
+      imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+      imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+    }
+
+    delta = Math.abs(imageDifference - oldImageDifference);
+
+    converged = (0.0 === error.pixels) || (delta < 0.01);
+  }
+  
+  return error;
+};
+
+POS.Posit.prototype.error = function(imagePoints, rotation, translation){
+  var np = this.objectPoints.length,
+      move = [], projection = [], errorvec = [],
+      euclidean = 0.0, pixels = 0.0, maximum = 0.0,
+      i, j, k;
+
+  if ( !this.isValid(rotation, translation) ){
+    return {euclidean: -1.0, pixels: -1, maximum: -1.0};
+  }
+  
+  for (i = 0; i < np; ++ i){
+    move[i] = [];
+    for (j = 0; j < 3; ++ j){
+      move[i][j] = translation[j];
+    }
+  }
+  
+  for (i = 0; i < np; ++ i){
+    for (j = 0; j < 3; ++ j){
+      for (k = 0; k < 3; ++ k){
+        move[i][j] += rotation[j][k] * this.objectPoints[i][k];
+      }
+    }
+  }
+
+  for (i = 0; i < np; ++ i){
+    projection[i] = [];
+    for (j = 0; j < 2; ++ j){
+      projection[i][j] = this.focalLength * move[i][j] / move[i][2];
+    }
+  }
+  
+  for (i = 0; i < np; ++ i){
+    errorvec[i] = [projection[i][0] - imagePoints[i].x,
+                   projection[i][1] - imagePoints[i].y];
+  }
+
+  for (i = 0; i < np; ++ i){
+    euclidean += Math.sqrt(errorvec[i][0] * errorvec[i][0] +
+                           errorvec[i][1] * errorvec[i][1]);
+                       
+    pixels += Math.abs( Math.round(projection[i][0]) - Math.round(imagePoints[i].x) ) +
+              Math.abs( Math.round(projection[i][1]) - Math.round(imagePoints[i].y) );
+              
+    if (Math.abs(errorvec[i][0]) > maximum){
+      maximum = Math.abs(errorvec[i][0]);
+    }
+    if (Math.abs(errorvec[i][1]) > maximum){
+      maximum = Math.abs(errorvec[i][1]);
+    }
+  }
+
+  return {euclidean: euclidean / np, pixels: pixels, maximum: maximum};
+};
+
+POS.pseudoInverse = function(a, n, b){
+  var w = [], v = [[],[],[]], s = [[],[],[]],
+      wmax = 0.0, cn = 0,
+      i, j, k;
+
+  SVD.svdcmp(a, n, 3, w, v);
+
+  for (i = 0; i < 3; ++ i){
+    if (w[i] > wmax){
+      wmax = w[i];
+    }
+  }
+
+  wmax *= 0.01;
+
+  for (i = 0; i < 3; ++ i){
+    if (w[i] < wmax){
+      w[i] = 0.0;
+    }
+  }
+
+  for (j = 0; j < 3; ++ j){
+    if (0.0 === w[j]){
+      ++ cn;
+      for (k = j; k < 2; ++ k){
+        for (i = 0; i < n; ++ i){
+          a[i][k] = a[i][k + 1];
+        }
+        for (i = 0; i < 3; ++ i){
+          v[i][k] = v[i][k + 1];
+        }
+      }
+    }
+  }
+
+  for (j = 0; j < 2; ++ j){
+    if (0.0 === w[j]){
+      w[j] = w[j + 1];
+    }
+  }
+
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < 3 - cn; ++ j){
+      s[i][j] = v[i][j] / w[j];
+    }
+  }
+  
+  for (i = 0; i < 3; ++ i){
+    for (j = 0; j < n; ++ j){
+      b[i][j] = 0.0;
+      for (k = 0; k < 3 - cn; ++ k){
+        b[i][j] += s[i][k] * a[j][k];
+      }
+    }
+  }
+};
+
+POS.Pose = function(error1, rotation1, translation1, error2, rotation2, translation2){
+  this.bestError = error1;
+  this.bestRotation = rotation1;
+  this.bestTranslation = translation1;
+  this.alternativeError = error2;
+  this.alternativeRotation = rotation2;
+  this.alternativeTranslation = translation2;
+};
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "Numerical Recipes in C - Second Edition"
+  http://www.nr.com/
+*/
+
+var SVD = SVD || {};
+
+SVD.svdcmp = function(a, m, n, w, v){
+  var flag, i, its, j, jj, k, l, nm,
+      anorm = 0.0, c, f, g = 0.0, h, s, scale = 0.0, x, y, z, rv1 = [];
+      
+  //Householder reduction to bidiagonal form
+  for (i = 0; i < n; ++ i){
+    l = i + 1;
+    rv1[i] = scale * g;
+    g = s = scale = 0.0;
+    if (i < m){
+      for (k = i; k < m; ++ k){
+        scale += Math.abs( a[k][i] );
+      }
+      if (0.0 !== scale){
+        for (k = i; k < m; ++ k){
+          a[k][i] /= scale;
+          s += a[k][i] * a[k][i];
+        }
+        f = a[i][i];
+        g = -SVD.sign( Math.sqrt(s), f );
+        h = f * g - s;
+        a[i][i] = f - g;
+        for (j = l; j < n; ++ j){
+          for (s = 0.0, k = i; k < m; ++ k){
+            s += a[k][i] * a[k][j];
+          }
+          f = s / h;
+          for (k = i; k < m; ++ k){
+            a[k][j] += f * a[k][i];
+          }
+        }
+        for (k = i; k < m; ++ k){
+          a[k][i] *= scale;
+        }
+      }
+    }
+    w[i] = scale * g;
+    g = s = scale = 0.0;
+    if ( (i < m) && (i !== n - 1) ){
+      for (k = l; k < n; ++ k){
+        scale += Math.abs( a[i][k] );
+      }
+      if (0.0 !== scale){
+        for (k = l; k < n; ++ k){
+          a[i][k] /= scale;
+          s += a[i][k] * a[i][k];
+        }
+        f = a[i][l];
+        g = -SVD.sign( Math.sqrt(s), f );
+        h = f * g - s;
+        a[i][l] = f - g;
+        for (k = l; k < n; ++ k){
+          rv1[k] = a[i][k] / h;
+        }
+        for (j = l; j < m; ++ j){
+          for (s = 0.0, k = l; k < n; ++ k){
+            s += a[j][k] * a[i][k];
+          }
+          for (k = l; k < n; ++ k){
+            a[j][k] += s * rv1[k];
+          }
+        }
+        for (k = l; k < n; ++ k){
+          a[i][k] *= scale;
+        }
+      }
+    }
+    anorm = Math.max(anorm, ( Math.abs( w[i] ) + Math.abs( rv1[i] ) ) );
+  }
+
+  //Acumulation of right-hand transformation
+  for (i = n - 1; i >= 0; -- i){
+    if (i < n - 1){
+      if (0.0 !== g){
+        for (j = l; j < n; ++ j){
+          v[j][i] = ( a[i][j] / a[i][l] ) / g;
+        }
+        for (j = l; j < n; ++ j){
+          for (s = 0.0, k = l; k < n; ++ k){
+            s += a[i][k] * v[k][j];
+          }
+          for (k = l; k < n; ++ k){
+            v[k][j] += s * v[k][i];
+          }
+        }
+      }
+      for (j = l; j < n; ++ j){
+        v[i][j] = v[j][i] = 0.0;
+      }
+    }
+    v[i][i] = 1.0;
+    g = rv1[i];
+    l = i;
+  }
+
+  //Acumulation of left-hand transformation
+  for (i = Math.min(n, m) - 1; i >= 0; -- i){
+    l = i + 1;
+    g = w[i];
+    for (j = l; j < n; ++ j){
+      a[i][j] = 0.0;
+    }
+    if (0.0 !== g){
+      g = 1.0 / g;
+      for (j = l; j < n; ++ j){
+        for (s = 0.0, k = l; k < m; ++ k){
+          s += a[k][i] * a[k][j];
+        }
+        f = (s / a[i][i]) * g;
+        for (k = i; k < m; ++ k){
+          a[k][j] += f * a[k][i];
+        }
+      }
+      for (j = i; j < m; ++ j){
+        a[j][i] *= g;
+      }
+    }else{
+        for (j = i; j < m; ++ j){
+          a[j][i] = 0.0;
+        }
+    }
+    ++ a[i][i];
+  }
+
+  //Diagonalization of the bidiagonal form
+  for (k = n - 1; k >= 0; -- k){
+    for (its = 1; its <= 30; ++ its){
+      flag = true;
+      for (l = k; l >= 0; -- l){
+        nm = l - 1;
+        if ( Math.abs( rv1[l] ) + anorm === anorm ){
+          flag = false;
+          break;
+        }
+        if ( Math.abs( w[nm] ) + anorm === anorm ){
+          break;
+        }
+      }
+      if (flag){
+        c = 0.0;
+        s = 1.0;
+        for (i = l; i <= k; ++ i){
+          f = s * rv1[i];
+          if ( Math.abs(f) + anorm === anorm ){
+            break;
+          }
+          g = w[i];
+          h = SVD.pythag(f, g);
+          w[i] = h;
+          h = 1.0 / h;
+          c = g * h;
+          s = -f * h;
+          for (j = 1; j <= m; ++ j){
+            y = a[j][nm];
+            z = a[j][i];
+            a[j][nm] = y * c + z * s;
+            a[j][i] = z * c - y * s;
+          }
+        }
+      }
+
+      //Convergence
+      z = w[k];
+      if (l === k){
+        if (z < 0.0){
+          w[k] = -z;
+          for (j = 0; j < n; ++ j){
+            v[j][k] = -v[j][k];
+          }
+        }
+        break;
+      }
+
+      if (30 === its){
+        return false;
+      }
+
+      //Shift from bottom 2-by-2 minor
+      x = w[l];
+      nm = k - 1;
+      y = w[nm];
+      g = rv1[nm];
+      h = rv1[k];
+      f = ( (y - z) * (y + z) + (g - h) * (g + h) ) / (2.0 * h * y);
+      g = SVD.pythag( f, 1.0 );
+      f = ( (x - z) * (x + z) + h * ( (y / (f + SVD.sign(g, f) ) ) - h) ) / x;
+
+      //Next QR transformation
+      c = s = 1.0;
+      for (j = l; j <= nm; ++ j){
+        i = j + 1;
+        g = rv1[i];
+        y = w[i];
+        h = s * g;
+        g = c * g;
+        z = SVD.pythag(f, h);
+        rv1[j] = z;
+        c = f / z;
+        s = h / z;
+        f = x * c + g * s;
+        g = g * c - x * s;
+        h = y * s;
+        y *= c;
+        for (jj = 0; jj < n; ++ jj){
+          x = v[jj][j];
+          z = v[jj][i];
+          v[jj][j] = x * c + z * s;
+          v[jj][i] = z * c - x * s;
+        }
+        z = SVD.pythag(f, h);
+        w[j] = z;
+        if (0.0 !== z){
+          z = 1.0 / z;
+          c = f * z;
+          s = h * z;
+        }
+        f = c * g + s * y;
+        x = c * y - s * g;
+        for (jj = 0; jj < m; ++ jj){
+          y = a[jj][j];
+          z = a[jj][i];
+          a[jj][j] = y * c + z * s;
+          a[jj][i] = z * c - y * s;
+        }
+      }
+      rv1[l] = 0.0;
+      rv1[k] = f;
+      w[k] = x;
+    }
+  }
+
+  return true;
+};
+
+SVD.pythag = function(a, b){
+  var at = Math.abs(a), bt = Math.abs(b), ct;
+
+  if (at > bt){
+    ct = bt / at;
+    return at * Math.sqrt(1.0 + ct * ct);
+  }
+    
+  if (0.0 === bt){
+    return 0.0;
+  }
+
+  ct = at / bt;
+  return bt * Math.sqrt(1.0 + ct * ct);
+};
+
+SVD.sign = function(a, b){
+  return b >= 0.0? Math.abs(a): -Math.abs(a);
+};
+var THREEx = THREEx || {}
+
+THREEx.ArucoContext = function(markerSize){
+        this.canvas = document.createElement('canvas');
+        this.canvas.width = 80*4
+        this.canvas.height = 60*4
+        
+        // experiment with imageSmoothingEnabled
+        var imageSmoothingEnabled = false
+        var context = this.canvas.getContext('2d');
+	context.mozImageSmoothingEnabled = imageSmoothingEnabled;
+	context.webkitImageSmoothingEnabled = imageSmoothingEnabled;
+	context.msImageSmoothingEnabled = imageSmoothingEnabled;
+	context.imageSmoothingEnabled = imageSmoothingEnabled;	
+                
+        this.detector = new AR.Detector();
+        this.posit = new POS.Posit(markerSize, this.canvas.width);
+}
+
+THREEx.ArucoContext.prototype.detect = function (videoElement) {
+	var _this = this
+        var canvas = this.canvas
+        
+        // get imageData from videoElement
+        var context = canvas.getContext('2d');
+        context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
+        var imageData = context.getImageData(0, 0, canvas.width, canvas.height);
+        
+        // detect markers in imageData
+        var detectedMarkers = this.detector.detect(imageData);
+        
+        // compute the pose for each detectedMarkers
+        detectedMarkers.forEach(function(detectedMarker){
+                // debugger
+                var markerCorners = detectedMarker.corners;
+
+                // convert the corners
+                var poseCorners = new Array(markerCorners.length)
+                for (var i = 0; i < markerCorners.length; ++ i){
+                        var markerCorner = markerCorners[i];        
+                        poseCorners[i] = {
+                                x:  markerCorner.x - (canvas.width / 2),
+                                y: -markerCorner.y + (canvas.height/ 2)
+                        }
+                }
+                
+                // estimate pose from corners
+                detectedMarker.pose = _this.posit.pose(poseCorners);
+        })	
+        
+	return detectedMarkers
+};
+
+THREEx.ArucoContext.updateObject3D = function(object3D, detectedMarker){
+	var rotation = detectedMarker.pose.bestRotation
+	var translation = detectedMarker.pose.bestTranslation
+	
+        object3D.position.x =  translation[0];
+        object3D.position.y =  translation[1];
+        object3D.position.z = -translation[2];
+        
+        object3D.rotation.x = -Math.asin(-rotation[1][2]);
+        object3D.rotation.y = -Math.atan2(rotation[0][2], rotation[2][2]);
+        object3D.rotation.z =  Math.atan2(rotation[1][0], rotation[1][1]);
+        
+        object3D.scale.x = markerSize;
+        object3D.scale.y = markerSize;
+        object3D.scale.z = markerSize;
+}
+var THREEx = THREEx || {}
+
+THREEx.ArucoDebug = function(arucoContext){
+	this.arucoContext = arucoContext
+	
+	this.canvasElement = document.createElement('canvas');
+	this.canvasElement.width = this.arucoContext.canvas.width
+	this.canvasElement.height = this.arucoContext.canvas.height
+}
+
+THREEx.ArucoDebug.prototype.clear = function(){
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	context.clearRect(0,0,canvas.width, canvas.height)
+	
+}
+	
+THREEx.ArucoDebug.prototype.drawContoursContours = function(){
+	var contours = this.arucoContext.detector.contours
+	var canvas = this.canvasElement
+	this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(hole){
+		return hole? "magenta": "blue"
+	})
+}
+
+THREEx.ArucoDebug.prototype.drawContoursPolys = function(){
+	var contours = this.arucoContext.detector.polys
+	var canvas = this.canvasElement
+	this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(){
+		return 'green'
+	})
+}
+
+
+THREEx.ArucoDebug.prototype.drawContoursCandidates = function(){
+	var contours = this.arucoContext.detector.candidates
+	var canvas = this.canvasElement
+	this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(){
+		return 'red'
+	})
+}
+
+THREEx.ArucoDebug.prototype.drawContours = function(contours, x, y, width, height, fn){
+	var i = contours.length, j, contour, point;
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	
+	context.save();
+	while(i --){
+		contour = contours[i];
+		context.strokeStyle = fn(contour.hole);
+		context.beginPath();
+		for (j = 0; j < contour.length; ++ j){
+			point = contour[j];
+			context.moveTo(x + point.x, y + point.y);
+			point = contour[(j + 1) % contour.length];
+			context.lineTo(x + point.x, y + point.y);
+		}
+		
+		context.stroke();
+		context.closePath();
+	}
+	context.restore();
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////    
+
+THREEx.ArucoDebug.prototype.drawDetectorGrey = function(){
+	var cvImage = arucoContext.detector.grey
+        this.drawCVImage( cvImage )
+}
+
+THREEx.ArucoDebug.prototype.drawDetectorThreshold = function(){
+	var cvImage = arucoContext.detector.thres
+        this.drawCVImage( cvImage )
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawCVImage = function(cvImage){
+	var detector = this.arucoContext.detector
+
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+
+	var imageData = context.createImageData(canvas.width, canvas.height);
+	copyImage(cvImage, imageData)
+	context.putImageData( imageData, 0, 0);
+	
+	return
+	function copyImage(src, dst){
+		var i = src.data.length, j = (i * 4) + 3;
+		
+		while(i --){
+			dst.data[j -= 4] = 255;
+			dst.data[j - 1] = dst.data[j - 2] = dst.data[j - 3] = src.data[i];
+		}
+		
+		return dst;
+	};
+}
+
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawVideo = function(videoElement){
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawMarkerIDs = function(markers){
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	var corners, corner, x, y, i, j;
+	
+	context.save();
+	context.strokeStyle = "blue";
+	context.lineWidth = 1;
+	
+	for (i = 0; i !== markers.length; ++ i){
+		corners = markers[i].corners;
+		
+		x = Infinity;
+		y = Infinity;
+		
+		for (j = 0; j !== corners.length; ++ j){
+			corner = corners[j];
+			
+			x = Math.min(x, corner.x);
+			y = Math.min(y, corner.y);
+		}
+		context.strokeText(markers[i].id, x, y)
+	}
+	context.restore();
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawMarkerCorners = function(markers){
+	var canvas = this.canvasElement
+        var corners, corner, i, j;
+        var context = canvas.getContext('2d');
+	context.save();
+        context.lineWidth = 3;
+        
+        for (i = 0; i < markers.length; ++ i){
+                corners = markers[i].corners;
+                
+                context.strokeStyle = 'red';
+                context.beginPath();
+                
+                for (j = 0; j < corners.length; ++ j){
+                        corner = corners[j];
+                        context.moveTo(corner.x, corner.y);
+                        corner = corners[(j + 1) % corners.length];
+                        context.lineTo(corner.x, corner.y);
+                }
+                
+                context.stroke();
+                context.closePath();
+                
+                context.strokeStyle = 'green';
+                context.strokeRect(corners[0].x - 2, corners[0].y - 2, 4, 4);
+        }
+	context.restore();
+
+}
+var THREEx = THREEx || {}
+
+THREEx.ArucoMarkerGenerator = function(){
+	
+}
+
+THREEx.ArucoMarkerGenerator.createSVG = function(markerId, svgSize){
+	var domElement = document.createElement('div');
+	domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);	
+	return domElement
+}
+
+THREEx.ArucoMarkerGenerator.createIMG = function(markerId, svgSize){
+	// get the svgElement
+	var svgElement = THREEx.ArucoMarkerGenerator.createSVG(markerId, svgSize).firstChild
+
+	// build imageURL
+	var xml = new XMLSerializer().serializeToString(svgElement);
+	var imageURL = 'data:image/svg+xml;base64,' + btoa(xml)
+
+	// create imageElement
+	var imageElement = document.createElement('img');
+	imageElement.src = imageURL
+
+	// return imageElement
+	return imageElement;
+}
--- a/three.js/examples/threex-aruco/examples/debug.html
+++ b/three.js/examples/threex-aruco/examples/debug.html
+<html>
+<!-- <script src='vendor/Three.js'></script>  -->
+<script src='../../vendor/three.js/build/three.js'></script> 
+
+<script src='../vendor/js-aruco/src/svd.js'></script> 
+<script src='../vendor/js-aruco/src/posit1.js'></script> 
+<script src='../vendor/js-aruco/src/cv.js'></script> 
+<script src='../vendor/js-aruco/src/aruco.js'></script> 
+<script src='../threex-arucocontext.js'></script> 
+<script src='../threex-arucodebug.js'></script>
+
+<div>
+        <form>
+                <label>clear canvas<input id='checkboxClearCanvas' name="imgsel" type="radio"></label>
+                <br/>
+                <label>draw video<input id='checkboxDrawVideo' name="imgsel" type="radio" checked="checked" ></label>
+                <br/>
+                <label>draw detector grey<input id='checkboxDetectorGrey' name="imgsel" type="radio"></label>
+                <br/>
+                <label>draw detector threshold<input id='checkboxDetectorThreshold' name="imgsel" type="radio"></label>
+        </form>
+
+        <label>draw marker corners<input id='checkboxMarkerCorners' type="checkbox" checked="checked" ></label>
+        <br/>
+        <label>draw marker ids<input id='checkboxMarkerId' type="checkbox" checked="checked" ></label>
+        <br/>
+        <label>draw contours contours<input id='checkboxContoursContours' type="checkbox"></label>
+        <br/>
+        <label>draw contours polys<input id='checkboxContoursPolys' type="checkbox"></label>
+        <br/>
+        <label>draw contours candiddates<input id='checkboxContoursCandidates' type="checkbox"></label>
+</div>
+<body style='background-color: darkgray;'>
+
+        <div id='webGLContainer' style='display: inline;'></div>
+
+        
+        <script>
+        
+        
+        navigator.getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia;
+        
+        var videoElement = document.createElement('video')
+        // videoElement.width = 320
+        // videoElement.height = 240
+        videoElement.autoplay = true
+        
+
+        //////////////////////////////////////////////////////////////////////////////
+        //                Code Separator
+        //////////////////////////////////////////////////////////////////////////////
+        
+        navigator.getUserMedia({video:true}, function (stream){
+                        if (window.URL) {
+                                videoElement.src = window.URL.createObjectURL(stream);
+                        } else if (videoElement.mozSrcObject !== undefined) {
+                                videoElement.mozSrcObject = stream;
+                        } else {
+                                videoElement.src = stream;
+                        }
+                },
+                function(error){
+                }
+        );
+
+        var markerSize = 1.0; //millimeters
+        var arucoContext = new THREEx.ArucoContext(markerSize)
+        var arucoDebug = new THREEx.ArucoDebug(arucoContext)
+        document.body.appendChild(arucoDebug.canvasElement)
+        
+        var renderer = new THREE.WebGLRenderer();
+        renderer.setClearColor(0xffffff, 1);
+        renderer.setSize(arucoContext.canvas.width, arucoContext.canvas.height);
+        document.getElementById('webGLContainer').appendChild(renderer.domElement);
+        
+        var sceneOrtho = new THREE.Scene();
+        var cameraOrtho = new THREE.OrthographicCamera(-0.5, 0.5, 0.5, -0.5);
+        sceneOrtho.add(cameraOrtho);
+        
+        var scenePersp = new THREE.Scene();
+        var cameraPersp = new THREE.PerspectiveCamera(42, arucoContext.canvas.width / arucoContext.canvas.height, 0.01, 100);
+        scenePersp.add(cameraPersp);
+        
+        //////////////////////////////////////////////////////////////////////////////
+        //                Code Separator
+        //////////////////////////////////////////////////////////////////////////////
+        
+        
+        var videoTexture = new THREE.Texture(videoElement)
+        videoTexture.minFilter = THREE.LinearFilter
+        var geometry = new THREE.PlaneGeometry(1.0, 1.0)
+        var material = new THREE.MeshBasicMaterial({
+                map: videoTexture, 
+                depthTest: false, 
+                depthWrite: false
+        })
+        var videoMesh = new THREE.Mesh(geometry, material);
+        videoMesh.position.z = -1;
+        sceneOrtho.add(videoMesh);
+        
+        
+        var geometry = new THREE.PlaneGeometry(1.0, 1.0, 10, 10)
+        var material = new THREE.MeshBasicMaterial( {
+                color: 'hotpink',
+                wireframe: true
+        } )
+        var model = new THREE.Mesh(geometry, material);
+        
+        var arWorldRoot = new THREE.Group
+        arWorldRoot.add(model)
+        scenePersp.add(arWorldRoot);
+        
+        //////////////////////////////////////////////////////////////////////////////
+        //                render loop
+        //////////////////////////////////////////////////////////////////////////////
+        var lastDetectionAt = null
+        requestAnimationFrame(function onAnimationFrame(){
+                
+                // update videoMesh
+                videoMesh.material.map.needsUpdate = true;
+                
+                var present = Date.now()/1000
+                if( lastDetectionAt === null || present-lastDetectionAt >= 1/30){
+                        lastDetectionAt = Date.now()/1000
+                // if( videoElement.readyState >= videoElement.HAVE_CURRENT_DATA ){
+                        
+                        // detect markers in imageData
+                        var detectedMarkers = arucoContext.detect(videoElement)
+                        if( detectedMarkers.length > 0 ){
+                                var detectedMarker = detectedMarkers[0]
+                                
+                                THREEx.ArucoContext.updateObject3D(arWorldRoot, detectedMarker);
+                                arWorldRoot.visible = true
+                        }else{
+                                arWorldRoot.visible = false
+                        }  
+                        
+                        if( document.querySelector('#checkboxClearCanvas').checked )      arucoDebug.clear()
+                        if( document.querySelector('#checkboxDrawVideo').checked )      arucoDebug.drawVideo(videoElement)
+                        if( document.querySelector('#checkboxDetectorGrey').checked )      arucoDebug.drawDetectorGrey()
+                        if( document.querySelector('#checkboxDetectorThreshold').checked )      arucoDebug.drawDetectorThreshold()
+                        
+                        if( document.querySelector('#checkboxMarkerCorners').checked )      arucoDebug.drawMarkerCorners(detectedMarkers)
+                        if( document.querySelector('#checkboxMarkerId').checked )      arucoDebug.drawMarkerIDs(detectedMarkers)
+                        if( document.querySelector('#checkboxContoursContours').checked )      arucoDebug.drawContoursContours()
+                        if( document.querySelector('#checkboxContoursPolys').checked )      arucoDebug.drawContoursPolys()
+                        if( document.querySelector('#checkboxContoursCandidates').checked )      arucoDebug.drawContoursCandidates()
+                }
+                
+                // render scene
+                renderer.autoClear = false;
+                renderer.clear();
+                renderer.render(sceneOrtho, cameraOrtho);
+                renderer.render(scenePersp, cameraPersp);
+
+                requestAnimationFrame(onAnimationFrame);
+        });
+        
+        
+        
+        </script>        
+        
+        
+        <style media="screen">
+        img {
+                width: 196px;
+                height: 196px;
+                padding: 0em;
+                margin: 0;
+        }
+        </style>
+        <br/>
+        <div>
+                <img src="images/1001.png"/>
+                <img src="images/1002.png"/>
+                <img src="images/1003.png"/>
+                <img src="images/1004.png"/>
+        </div>        
+</body>
+</html>
--- a/three.js/examples/threex-aruco/examples/images/1001.png
+++ b/three.js/examples/threex-aruco/examples/images/1001.png
--- a/three.js/examples/threex-aruco/examples/images/1002.png
+++ b/three.js/examples/threex-aruco/examples/images/1002.png
--- a/three.js/examples/threex-aruco/examples/images/1003.png
+++ b/three.js/examples/threex-aruco/examples/images/1003.png
--- a/three.js/examples/threex-aruco/examples/images/1004.png
+++ b/three.js/examples/threex-aruco/examples/images/1004.png
--- a/three.js/examples/threex-aruco/examples/marker-generator.html
+++ b/three.js/examples/threex-aruco/examples/marker-generator.html
+<script src="../vendor/aruco-marker.js"></script>
+<script src="../threex-arucomarkergenerator.js"></script>
+<body style='background-color: #aaa;'><script>
+
+	var domElement = THREEx.ArucoMarkerGenerator.createImage(1001, 256)
+	document.body.appendChild(domElement)
+
+	var domElement = THREEx.ArucoMarkerGenerator.createImage(1002, 256)
+	document.body.appendChild(domElement)
+
+	var domElement = THREEx.ArucoMarkerGenerator.createImage(1003, 256)
+	document.body.appendChild(domElement)
+
+	var domElement = THREEx.ArucoMarkerGenerator.createImage(1004, 256)
+	document.body.appendChild(domElement)
+
+
+</script></body>
--- a/three.js/examples/threex-aruco/examples/performance.html
+++ b/three.js/examples/threex-aruco/examples/performance.html
+<html>
+<!-- <script src='vendor/Three.js'></script>  -->
+<script src='../../vendor/three.js/build/three.js'></script> 
+
+<script src='../vendor/js-aruco/src/svd.js'></script> 
+<script src='../vendor/js-aruco/src/posit1.js'></script> 
+<script src='../vendor/js-aruco/src/cv.js'></script> 
+<script src='../vendor/js-aruco/src/aruco.js'></script> 
+<script src='../threex-arucocontext.js'></script> 
+<script src='../threex-arucodebug.js'></script>
+
+<!-- <script src='../build/threex-aruco-min.js'></script>  -->
+<!-- <script src='../build/threex-aruco-prepacked.js'></script>  -->
+
+<body style='background-color: darkgray;'>
+        <div id='webGLContainer' style='display: inline;'></div>
+        <script>
+        
+        
+        navigator.getUserMedia = navigator.getUserMedia || navigator.webkitGetUserMedia || navigator.mozGetUserMedia;
+        
+        var videoElement = document.createElement('video')
+        // videoElement.width = 320
+        // videoElement.height = 240
+        videoElement.autoplay = true
+        
+
+        //////////////////////////////////////////////////////////////////////////////
+        //                Code Separator
+        //////////////////////////////////////////////////////////////////////////////
+        
+        navigator.getUserMedia({video:true}, function (stream){
+                        if (window.URL) {
+                                videoElement.src = window.URL.createObjectURL(stream);
+                        } else if (videoElement.mozSrcObject !== undefined) {
+                                videoElement.mozSrcObject = stream;
+                        } else {
+                                videoElement.src = stream;
+                        }
+                },
+                function(error){
+                }
+        );
+
+        var markerSize = 1.0; //millimeters
+        var arucoContext = new THREEx.ArucoContext(markerSize)
+        
+        var renderer = new THREE.WebGLRenderer();
+        renderer.setClearColor(0xffffff, 1);
+        renderer.setSize(arucoContext.canvas.width, arucoContext.canvas.height);
+        document.getElementById('webGLContainer').appendChild(renderer.domElement);
+        
+        var sceneOrtho = new THREE.Scene();
+        var cameraOrtho = new THREE.OrthographicCamera(-0.5, 0.5, 0.5, -0.5);
+        sceneOrtho.add(cameraOrtho);
+        
+        var scenePersp = new THREE.Scene();
+        var cameraPersp = new THREE.PerspectiveCamera(42, arucoContext.canvas.width / arucoContext.canvas.height, 0.01, 100);
+        scenePersp.add(cameraPersp);
+        
+        //////////////////////////////////////////////////////////////////////////////
+        //                Code Separator
+        //////////////////////////////////////////////////////////////////////////////
+        
+        
+        var videoTexture = new THREE.Texture(videoElement)
+        videoTexture.minFilter = THREE.LinearFilter
+        var geometry = new THREE.PlaneGeometry(1.0, 1.0)
+        var material = new THREE.MeshBasicMaterial({
+                map: videoTexture, 
+                depthTest: false, 
+                depthWrite: false
+        })
+        var videoMesh = new THREE.Mesh(geometry, material);
+        videoMesh.position.z = -1;
+        sceneOrtho.add(videoMesh);
+        
+        
+        var geometry = new THREE.PlaneGeometry(1.0, 1.0, 10, 10)
+        var material = new THREE.MeshBasicMaterial( {
+                color: 'hotpink',
+                wireframe: true
+        } )
+        var model = new THREE.Mesh(geometry, material);
+        
+        var arWorldRoot = new THREE.Group
+        arWorldRoot.add(model)
+        scenePersp.add(arWorldRoot);
+        
+        //////////////////////////////////////////////////////////////////////////////
+        //                render loop
+        //////////////////////////////////////////////////////////////////////////////
+        var lastDetectionAt = null
+        requestAnimationFrame(function onAnimationFrame(){
+                
+                // update videoMesh
+                videoMesh.material.map.needsUpdate = true;
+                
+                var present = Date.now()/1000
+                if( lastDetectionAt === null || present-lastDetectionAt >= 1/30){
+                        lastDetectionAt = Date.now()/1000
+                // if( videoElement.readyState >= videoElement.HAVE_CURRENT_DATA ){
+                        
+                        // detect markers in imageData
+                        // console.time('detect');
+                        var detectedMarkers = arucoContext.detect(videoElement)
+                        // console.timeEnd('detect');
+                        if( detectedMarkers.length > 0 ){
+                                var detectedMarker = detectedMarkers[0]
+                                
+                                THREEx.ArucoContext.updateObject3D(arWorldRoot, detectedMarker);
+                                arWorldRoot.visible = true
+                        }else{
+                                arWorldRoot.visible = false
+                        }  
+                }
+                
+                // render scene
+                renderer.autoClear = false;
+                renderer.clear();
+                renderer.render(sceneOrtho, cameraOrtho);
+                renderer.render(scenePersp, cameraPersp);
+
+                requestAnimationFrame(onAnimationFrame);
+        });
+        
+        
+        
+        </script>        
+        
+        
+        <style media="screen">
+        img {
+                width: 128px;
+                height: 128px;
+                padding: 8em;
+        }
+        </style>
+        <br/>
+        <div>
+                <!-- <img src="images/1001.png"/> -->
+                <img src="images/1001.png"/>
+        </div>        
+</body>
+</html>
--- a/three.js/examples/threex-aruco/threex-arucocontext.js
+++ b/three.js/examples/threex-aruco/threex-arucocontext.js
+var THREEx = THREEx || {}
+
+THREEx.ArucoContext = function(markerSize){
+        this.canvas = document.createElement('canvas');
+        this.canvas.width = 80*4
+        this.canvas.height = 60*4
+        
+        // experiment with imageSmoothingEnabled
+        var imageSmoothingEnabled = false
+        var context = this.canvas.getContext('2d');
+	context.mozImageSmoothingEnabled = imageSmoothingEnabled;
+	context.webkitImageSmoothingEnabled = imageSmoothingEnabled;
+	context.msImageSmoothingEnabled = imageSmoothingEnabled;
+	context.imageSmoothingEnabled = imageSmoothingEnabled;	
+                
+        this.detector = new AR.Detector();
+        this.posit = new POS.Posit(markerSize, this.canvas.width);
+}
+
+THREEx.ArucoContext.prototype.detect = function (videoElement) {
+	var _this = this
+        var canvas = this.canvas
+        
+        // get imageData from videoElement
+        var context = canvas.getContext('2d');
+        context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
+        var imageData = context.getImageData(0, 0, canvas.width, canvas.height);
+        
+        // detect markers in imageData
+        var detectedMarkers = this.detector.detect(imageData);
+        
+        // compute the pose for each detectedMarkers
+        // FIXME: i fix we should have one posit estimator per marker
+        detectedMarkers.forEach(function(detectedMarker){
+                var markerCorners = detectedMarker.corners;
+
+                // convert the corners
+                var poseCorners = new Array(markerCorners.length)
+                for (var i = 0; i < markerCorners.length; ++ i){
+                        var markerCorner = markerCorners[i];        
+                        poseCorners[i] = {
+                                x:  markerCorner.x - (canvas.width / 2),
+                                y: -markerCorner.y + (canvas.height/ 2)
+                        }
+                }
+                
+                // estimate pose from corners
+                detectedMarker.pose = _this.posit.pose(poseCorners);
+        })	
+        
+	return detectedMarkers
+};
+
+THREEx.ArucoContext.updateObject3D = function(object3D, detectedMarker){
+	var rotation = detectedMarker.pose.bestRotation
+	var translation = detectedMarker.pose.bestTranslation
+	
+        object3D.position.x =  translation[0];
+        object3D.position.y =  translation[1];
+        object3D.position.z = -translation[2];
+        
+        object3D.rotation.x = -Math.asin(-rotation[1][2]);
+        object3D.rotation.y = -Math.atan2(rotation[0][2], rotation[2][2]);
+        object3D.rotation.z =  Math.atan2(rotation[1][0], rotation[1][1]);
+        
+        object3D.scale.x = markerSize;
+        object3D.scale.y = markerSize;
+        object3D.scale.z = markerSize;
+}
--- a/three.js/examples/threex-aruco/threex-arucodebug.js
+++ b/three.js/examples/threex-aruco/threex-arucodebug.js
+var THREEx = THREEx || {}
+
+THREEx.ArucoDebug = function(arucoContext){
+	this.arucoContext = arucoContext
+	
+	this.canvasElement = document.createElement('canvas');
+	this.canvasElement.width = this.arucoContext.canvas.width
+	this.canvasElement.height = this.arucoContext.canvas.height
+}
+
+THREEx.ArucoDebug.prototype.clear = function(){
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	context.clearRect(0,0,canvas.width, canvas.height)
+	
+}
+	
+THREEx.ArucoDebug.prototype.drawContoursContours = function(){
+	var contours = this.arucoContext.detector.contours
+	var canvas = this.canvasElement
+	this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(hole){
+		return hole? "magenta": "blue"
+	})
+}
+
+THREEx.ArucoDebug.prototype.drawContoursPolys = function(){
+	var contours = this.arucoContext.detector.polys
+	var canvas = this.canvasElement
+	this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(){
+		return 'green'
+	})
+}
+
+
+THREEx.ArucoDebug.prototype.drawContoursCandidates = function(){
+	var contours = this.arucoContext.detector.candidates
+	var canvas = this.canvasElement
+	this.drawContours(contours, 0, 0, canvas.width, canvas.height, function(){
+		return 'red'
+	})
+}
+
+THREEx.ArucoDebug.prototype.drawContours = function(contours, x, y, width, height, fn){
+	var i = contours.length, j, contour, point;
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	
+	context.save();
+	while(i --){
+		contour = contours[i];
+		context.strokeStyle = fn(contour.hole);
+		context.beginPath();
+		for (j = 0; j < contour.length; ++ j){
+			point = contour[j];
+			context.moveTo(x + point.x, y + point.y);
+			point = contour[(j + 1) % contour.length];
+			context.lineTo(x + point.x, y + point.y);
+		}
+		
+		context.stroke();
+		context.closePath();
+	}
+	context.restore();
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////    
+
+THREEx.ArucoDebug.prototype.drawDetectorGrey = function(){
+	var cvImage = arucoContext.detector.grey
+        this.drawCVImage( cvImage )
+}
+
+THREEx.ArucoDebug.prototype.drawDetectorThreshold = function(){
+	var cvImage = arucoContext.detector.thres
+        this.drawCVImage( cvImage )
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawCVImage = function(cvImage){
+	var detector = this.arucoContext.detector
+
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+
+	var imageData = context.createImageData(canvas.width, canvas.height);
+	this.copyCVImage2ImageData(cvImage, imageData)
+	context.putImageData( imageData, 0, 0);
+}
+
+
+THREEx.ArucoDebug.prototype.copyCVImage2ImageData = function(cvImage, imageData){
+	var i = cvImage.data.length, j = (i * 4) + 3;
+	
+	while(i --){
+		imageData.data[j -= 4] = 255;
+		imageData.data[j - 1] = imageData.data[j - 2] = imageData.data[j - 3] = cvImage.data[i];
+	}
+	
+	return imageData;
+};
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawVideo = function(videoElement){
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	context.drawImage(videoElement, 0, 0, canvas.width, canvas.height);
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawMarkerIDs = function(markers){
+	var canvas = this.canvasElement
+	var context = canvas.getContext('2d');
+	var corners, corner, x, y, i, j;
+	
+	context.save();
+	context.strokeStyle = "blue";
+	context.lineWidth = 1;
+	
+	for (i = 0; i !== markers.length; ++ i){
+		corners = markers[i].corners;
+		
+		x = Infinity;
+		y = Infinity;
+		
+		for (j = 0; j !== corners.length; ++ j){
+			corner = corners[j];
+			
+			x = Math.min(x, corner.x);
+			y = Math.min(y, corner.y);
+		}
+		context.strokeText(markers[i].id, x, y)
+	}
+	context.restore();
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoDebug.prototype.drawMarkerCorners = function(markers){
+	var canvas = this.canvasElement
+        var corners, corner, i, j;
+        var context = canvas.getContext('2d');
+	context.save();
+        context.lineWidth = 3;
+        
+        for (i = 0; i < markers.length; ++ i){
+                corners = markers[i].corners;
+                
+                context.strokeStyle = 'red';
+                context.beginPath();
+                
+                for (j = 0; j < corners.length; ++ j){
+                        corner = corners[j];
+                        context.moveTo(corner.x, corner.y);
+                        corner = corners[(j + 1) % corners.length];
+                        context.lineTo(corner.x, corner.y);
+                }
+                
+                context.stroke();
+                context.closePath();
+                
+                context.strokeStyle = 'green';
+                context.strokeRect(corners[0].x - 2, corners[0].y - 2, 4, 4);
+        }
+	context.restore();
+
+}
--- a/three.js/examples/threex-aruco/threex-arucomarkergenerator.js
+++ b/three.js/examples/threex-aruco/threex-arucomarkergenerator.js
+var THREEx = THREEx || {}
+
+THREEx.ArucoMarkerGenerator = function(){
+	
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoMarkerGenerator.createSVG = function(markerId, svgSize){
+	var domElement = document.createElement('div');
+	domElement.innerHTML = new ArucoMarker(markerId).toSVG(svgSize);	
+	return domElement
+}
+
+THREEx.ArucoMarkerGenerator.createImage = function(markerId, width){
+	// create canvas
+	var canvas = this.createCanvas(markerId, width)
+	var imageURL = canvas.toDataURL()
+
+	// create imageElement
+	var imageElement = document.createElement('img');
+	imageElement.src = imageURL
+
+	// return imageElement
+	return imageElement;
+}
+
+//////////////////////////////////////////////////////////////////////////////
+//		Code Separator
+//////////////////////////////////////////////////////////////////////////////
+THREEx.ArucoMarkerGenerator.createCanvas = function(markerId, width){
+	var canvas = document.createElement('canvas');
+	var context = canvas.getContext('2d')
+	canvas.width = width
+	canvas.height = width
+
+	var arucoMarker = new ArucoMarker(markerId)
+	var marker = arucoMarker.markerMatrix()
+	
+	var margin = canvas.width*0.1
+	var innerW = width-margin*2
+	var squareW = innerW/7
+	
+	context.fillStyle = 'white'
+	context.fillRect(0, 0, canvas.width, canvas.height)
+	context.fillStyle = 'black'
+	context.fillRect(margin, margin, canvas.width-margin*2, canvas.height-margin*2)
+
+	for(var y = 0; y < 5; y++){
+		for(var x = 0; x < 5; x++){
+			if (marker[x][y] !== 1) continue
+			context.fillStyle = 'white'
+			context.fillRect(margin+(x+1)*squareW, margin+(y+1)*squareW, squareW+1, squareW+1)
+		}
+	}
+	
+	return canvas
+}
--- a/three.js/examples/threex-aruco/vendor/aruco-marker.js
+++ b/three.js/examples/threex-aruco/vendor/aruco-marker.js
+/*! aruco-marker 1.0.0 2014-06-19 - MIT Licensed, see http://github.com/bhollis/aruco-marker */
+// Export for use via AMD, Node.js, or a browser global.
+// See https://github.com/umdjs/umd/blob/master/returnExportsGlobal.js
+(function (root, factory) {
+  if (typeof define === 'function' && define.amd) {
+    // AMD. Register as an anonymous module.
+    define([], function () {
+      return (root.ArucoMarker = factory());
+    });
+  } else if (typeof exports === 'object') {
+    // Node. Does not work with strict CommonJS, but
+    // only CommonJS-like enviroments that support module.exports,
+    // like Node.
+    module.exports = factory();
+  } else {
+    // Browser globals
+    root.ArucoMarker = factory();
+  }
+}(this, function () {
+
+  // Create an ArucoMarker object by its ID, which can then be used to generate images.
+  // The id must be in the range [0..1023]
+  // Based on https://github.com/rmsalinas/aruco/blob/master/trunk/src/arucofidmarkers.cpp
+  function ArucoMarker(id) {
+    if (id < 0 || id > 1023) {
+      throw new RangeError('Marker ID must be in the range [0..1023]');
+    }
+
+    this.id = id;
+  }
+
+  ArucoMarker.prototype = {
+    // Generate a marker as a 5x5 matrix of 0s and 1s.
+    markerMatrix: function() {
+      var ids = [16, 23, 9, 14];
+      var index, val, x, y;
+      var marker = [[0, 0, 0, 0, 0],
+                 [0, 0, 0, 0, 0],
+                 [0, 0, 0, 0, 0],
+                 [0, 0, 0, 0, 0],
+                 [0, 0, 0, 0, 0]];
+
+      for (y = 0; y < 5; y++) {
+        index = (this.id >> 2 * (4 - y)) & 3;
+        val = ids[index];
+        for (x = 0; x < 5; x++) {
+          if ((val >> (4 - x)) & 1) {
+            marker[x][y] = 1;
+          } else {
+            marker[x][y] = 0;
+          }
+        }
+      }
+
+      return marker;
+    },
+
+    // Create an SVG image of the marker, as a string.
+    // Optionally pass a size (in any SVG-compatible units) or leave it out to size it on your own.
+    toSVG: function(size) {
+      var x, y;
+      var marker = this.markerMatrix();
+      var image;
+
+      if (size) {
+        size = 'height="' + size + '" width="' + size + '"';
+      } else {
+        size = '';
+      }
+
+      image = '<svg ' + size + ' viewBox="0 0 7 7" version="1.1" xmlns="http://www.w3.org/2000/svg">\n' +
+        '  <rect x="0" y="0" width="7" height="7" fill="black"/>\n';
+
+      for (y = 0; y < 5; y++) {
+        for (x = 0; x < 5; x++) {
+          if (marker[x][y] === 1) {
+            image += '  <rect x="' + (x + 1) + '" y="' + (y + 1) +
+              '" width="1" height="1" fill="white" ' +
+              // Slight stroke to get around aliasing issues with adjacent rectangles
+              'stroke="white" stroke-width="0.01" />\n';
+          }
+        }
+      }
+
+      image += '</svg>';
+
+      return image;
+    }
+  };
+
+  return ArucoMarker;
+}));
--- a/three.js/examples/threex-aruco/vendor/js-aruco/src/aruco.js
+++ b/three.js/examples/threex-aruco/vendor/js-aruco/src/aruco.js
+/*
+Copyright (c) 2011 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "ArUco: a minimal library for Augmented Reality applications based on OpenCv"
+http://www.uco.es/investiga/grupos/ava/node/26
+*/
+
+var AR = AR || {};
+
+AR.Marker = function(id, corners){
+        this.id = id;
+        this.corners = corners;
+};
+
+AR.Detector = function(){
+        this.grey = new CV.Image();
+        this.thres = new CV.Image();
+        this.homography = new CV.Image();
+        this.binary = [];
+        this.contours = [];
+        this.polys = [];
+        this.candidates = [];
+};
+
+AR.Detector.prototype.detect = function(image){
+        CV.grayscale(image, this.grey);
+        CV.adaptiveThreshold(this.grey, this.thres, 2, 7);
+        
+        this.contours = CV.findContours(this.thres, this.binary);
+        
+        this.candidates = this.findCandidates(this.contours, image.width * 0.20, 0.05, 10);
+        this.candidates = this.clockwiseCorners(this.candidates);
+        this.candidates = this.notTooNear(this.candidates, 10);
+        
+        return this.findMarkers(this.grey, this.candidates, 49);
+};
+
+AR.Detector.prototype.findCandidates = function(contours, minSize, epsilon, minLength){
+        var candidates = [], len = contours.length, contour, poly, i;
+        
+        this.polys = [];
+        
+        for (i = 0; i < len; ++ i){
+                contour = contours[i];
+                
+                if (contour.length >= minSize){
+                        poly = CV.approxPolyDP(contour, contour.length * epsilon);
+                        
+                        this.polys.push(poly);
+                        
+                        if ( (4 === poly.length) && ( CV.isContourConvex(poly) ) ){
+                                
+                                if ( CV.minEdgeLength(poly) >= minLength){
+                                        candidates.push(poly);
+                                }
+                        }
+                }
+        }
+        
+        return candidates;
+};
+
+AR.Detector.prototype.clockwiseCorners = function(candidates){
+        var len = candidates.length, dx1, dx2, dy1, dy2, swap, i;
+        
+        for (i = 0; i < len; ++ i){
+                dx1 = candidates[i][1].x - candidates[i][0].x;
+                dy1 = candidates[i][1].y - candidates[i][0].y;
+                dx2 = candidates[i][2].x - candidates[i][0].x;
+                dy2 = candidates[i][2].y - candidates[i][0].y;
+                
+                if ( (dx1 * dy2 - dy1 * dx2) < 0){
+                        swap = candidates[i][1];
+                        candidates[i][1] = candidates[i][3];
+                        candidates[i][3] = swap;
+                }
+        }
+        
+        return candidates;
+};
+
+AR.Detector.prototype.notTooNear = function(candidates, minDist){
+        var notTooNear = [], len = candidates.length, dist, dx, dy, i, j, k;
+        
+        for (i = 0; i < len; ++ i){
+                
+                for (j = i + 1; j < len; ++ j){
+                        dist = 0;
+                        
+                        for (k = 0; k < 4; ++ k){
+                                dx = candidates[i][k].x - candidates[j][k].x;
+                                dy = candidates[i][k].y - candidates[j][k].y;
+                                
+                                dist += dx * dx + dy * dy;
+                        }
+                        
+                        if ( (dist / 4) < (minDist * minDist) ){
+                                
+                                if ( CV.perimeter( candidates[i] ) < CV.perimeter( candidates[j] ) ){
+                                        candidates[i].tooNear = true;
+                                }else{
+                                        candidates[j].tooNear = true;
+                                }
+                        }
+                }
+        }
+        
+        for (i = 0; i < len; ++ i){
+                if ( !candidates[i].tooNear ){
+                        notTooNear.push( candidates[i] );
+                }
+        }
+        
+        return notTooNear;
+};
+
+AR.Detector.prototype.findMarkers = function(imageSrc, candidates, warpSize){
+        var markers = [], len = candidates.length, candidate, marker, i;
+        
+        for (i = 0; i < len; ++ i){
+                candidate = candidates[i];
+                
+                CV.warp(imageSrc, this.homography, candidate, warpSize);
+                
+                CV.threshold(this.homography, this.homography, CV.otsu(this.homography) );
+                
+                marker = this.getMarker(this.homography, candidate);
+                if (marker){
+                        markers.push(marker);
+                }
+        }
+        
+        return markers;
+};
+
+AR.Detector.prototype.getMarker = function(imageSrc, candidate){
+        var width = (imageSrc.width / 7) >>> 0,
+        minZero = (width * width) >> 1,
+        bits = [], rotations = [], distances = [],
+        square, pair, inc, i, j;
+        
+        for (i = 0; i < 7; ++ i){
+                inc = (0 === i || 6 === i)? 1: 6;
+                
+                for (j = 0; j < 7; j += inc){
+                        square = {x: j * width, y: i * width, width: width, height: width};
+                        if ( CV.countNonZero(imageSrc, square) > minZero){
+                                return null;
+                        }
+                }
+        }
+        
+        for (i = 0; i < 5; ++ i){
+                bits[i] = [];
+                
+                for (j = 0; j < 5; ++ j){
+                        square = {x: (j + 1) * width, y: (i + 1) * width, width: width, height: width};
+                        
+                        bits[i][j] = CV.countNonZero(imageSrc, square) > minZero? 1: 0;
+                }
+        }
+        
+        rotations[0] = bits;
+        distances[0] = this.hammingDistance( rotations[0] );
+        
+        pair = {first: distances[0], second: 0};
+        
+        for (i = 1; i < 4; ++ i){
+                rotations[i] = this.rotate( rotations[i - 1] );
+                distances[i] = this.hammingDistance( rotations[i] );
+                
+                if (distances[i] < pair.first){
+                        pair.first = distances[i];
+                        pair.second = i;
+                }
+        }
+        
+        if (0 !== pair.first){
+                return null;
+        }
+        
+        return new AR.Marker(
+                this.mat2id( rotations[pair.second] ), 
+                this.rotate2(candidate, 4 - pair.second) 
+        );
+};
+
+AR.Detector.prototype.hammingDistance = function(bits){
+        var ids = [ [1,0,0,0,0], [1,0,1,1,1], [0,1,0,0,1], [0,1,1,1,0] ],
+        dist = 0, sum, minSum, i, j, k;
+        
+        for (i = 0; i < 5; ++ i){
+                minSum = Infinity;
+                
+                for (j = 0; j < 4; ++ j){
+                        sum = 0;
+                        
+                        for (k = 0; k < 5; ++ k){
+                                sum += bits[i][k] === ids[j][k]? 0: 1;
+                        }
+                        
+                        if (sum < minSum){
+                                minSum = sum;
+                        }
+                }
+                
+                dist += minSum;
+        }
+        
+        return dist;
+};
+
+AR.Detector.prototype.mat2id = function(bits){
+        var id = 0, i;
+        
+        for (i = 0; i < 5; ++ i){
+                id <<= 1;
+                id |= bits[i][1];
+                id <<= 1;
+                id |= bits[i][3];
+        }
+        
+        return id;
+};
+
+AR.Detector.prototype.rotate = function(src){
+        var dst = [], len = src.length, i, j;
+        
+        for (i = 0; i < len; ++ i){
+                dst[i] = [];
+                for (j = 0; j < src[i].length; ++ j){
+                        dst[i][j] = src[src[i].length - j - 1][i];
+                }
+        }
+        
+        return dst;
+};
+
+AR.Detector.prototype.rotate2 = function(src, rotation){
+        var dst = [], len = src.length, i;
+        
+        for (i = 0; i < len; ++ i){
+                dst[i] = src[ (rotation + i) % len ];
+        }
+        
+        return dst;
+};
--- a/three.js/examples/threex-aruco/vendor/js-aruco/src/cv.js
+++ b/three.js/examples/threex-aruco/vendor/js-aruco/src/cv.js
+/*
+Copyright (c) 2011 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "OpenCV: Open Computer Vision Library"
+http://sourceforge.net/projects/opencvlibrary/
+- "Stack Blur: Fast But Goodlooking"
+http://incubator.quasimondo.com/processing/fast_blur_deluxe.php
+*/
+
+var CV = CV || {};
+
+CV.Image = function(width, height, data){
+        this.width = width || 0;
+        this.height = height || 0;
+        this.data = data || [];
+};
+
+CV.grayscale = function(imageSrc, imageDst){
+        var src = imageSrc.data, dst = imageDst.data, len = src.length,
+        i = 0, j = 0;
+        
+        for (; i < len; i += 4){
+                dst[j ++] =
+                (src[i] * 0.299 + src[i + 1] * 0.587 + src[i + 2] * 0.114 + 0.5) & 0xff;
+        }
+        
+        imageDst.width = imageSrc.width;
+        imageDst.height = imageSrc.height;
+        
+        return imageDst;
+};
+
+CV.threshold = function(imageSrc, imageDst, threshold){
+        var src = imageSrc.data, dst = imageDst.data,
+        len = src.length, tab = [], i;
+        
+        for (i = 0; i < 256; ++ i){
+                tab[i] = i <= threshold? 0: 255;
+        }
+        
+        for (i = 0; i < len; ++ i){
+                dst[i] = tab[ src[i] ];
+        }
+        
+        imageDst.width = imageSrc.width;
+        imageDst.height = imageSrc.height;
+        
+        return imageDst;
+};
+
+CV.adaptiveThreshold = function(imageSrc, imageDst, kernelSize, threshold){
+        var src = imageSrc.data, dst = imageDst.data, len = src.length, tab = [], i;
+        
+        CV.stackBoxBlur(imageSrc, imageDst, kernelSize);
+        
+        for (i = 0; i < 768; ++ i){
+                tab[i] = (i - 255 <= -threshold)? 255: 0;
+        }
+        
+        for (i = 0; i < len; ++ i){
+                dst[i] = tab[ src[i] - dst[i] + 255 ];
+        }
+        
+        imageDst.width = imageSrc.width;
+        imageDst.height = imageSrc.height;
+        
+        return imageDst;
+};
+
+CV.otsu = function(imageSrc){
+        var src = imageSrc.data, len = src.length, hist = [],
+        threshold = 0, sum = 0, sumB = 0, wB = 0, wF = 0, max = 0,
+        mu, between, i;
+        
+        for (i = 0; i < 256; ++ i){
+                hist[i] = 0;
+        }
+        
+        for (i = 0; i < len; ++ i){
+                hist[ src[i] ] ++;
+        }
+        
+        for (i = 0; i < 256; ++ i){
+                sum += hist[i] * i;
+        }
+        
+        for (i = 0; i < 256; ++ i){
+                wB += hist[i];
+                if (0 !== wB){
+                        
+                        wF = len - wB;
+                        if (0 === wF){
+                                break;
+                        }
+                        
+                        sumB += hist[i] * i;
+                        
+                        mu = (sumB / wB) - ( (sum - sumB) / wF );
+                        
+                        between = wB * wF * mu * mu;
+                        
+                        if (between > max){
+                                max = between;
+                                threshold = i;
+                        }
+                }
+        }
+        
+        return threshold;
+};
+
+CV.stackBoxBlurMult =
+[1, 171, 205, 293, 57, 373, 79, 137, 241, 27, 391, 357, 41, 19, 283, 265];
+
+CV.stackBoxBlurShift =
+[0, 9, 10, 11, 9, 12, 10, 11, 12, 9, 13, 13, 10, 9, 13, 13];
+
+CV.BlurStack = function(){
+        this.color = 0;
+        this.next = null;
+};
+
+CV.stackBoxBlur = function(imageSrc, imageDst, kernelSize){
+        var src = imageSrc.data, dst = imageDst.data,
+        height = imageSrc.height, width = imageSrc.width,
+        heightMinus1 = height - 1, widthMinus1 = width - 1,
+        size = kernelSize + kernelSize + 1, radius = kernelSize + 1,
+        mult = CV.stackBoxBlurMult[kernelSize],
+        shift = CV.stackBoxBlurShift[kernelSize],
+        stack, stackStart, color, sum, pos, start, p, x, y, i;
+        
+        stack = stackStart = new CV.BlurStack();
+        for (i = 1; i < size; ++ i){
+                stack = stack.next = new CV.BlurStack();
+        }
+        stack.next = stackStart;
+        
+        pos = 0;
+        
+        for (y = 0; y < height; ++ y){
+                start = pos;
+                
+                color = src[pos];
+                sum = radius * color;
+                
+                stack = stackStart;
+                for (i = 0; i < radius; ++ i){
+                        stack.color = color;
+                        stack = stack.next;
+                }
+                for (i = 1; i < radius; ++ i){
+                        stack.color = src[pos + i];
+                        sum += stack.color;
+                        stack = stack.next;
+                }
+                
+                stack = stackStart;
+                for (x = 0; x < width; ++ x){
+                        dst[pos ++] = (sum * mult) >>> shift;
+                        
+                        p = x + radius;
+                        p = start + (p < widthMinus1? p: widthMinus1);
+                        sum -= stack.color - src[p];
+                        
+                        stack.color = src[p];
+                        stack = stack.next;
+                }
+        }
+        
+        for (x = 0; x < width; ++ x){
+                pos = x;
+                start = pos + width;
+                
+                color = dst[pos];
+                sum = radius * color;
+                
+                stack = stackStart;
+                for (i = 0; i < radius; ++ i){
+                        stack.color = color;
+                        stack = stack.next;
+                }
+                for (i = 1; i < radius; ++ i){
+                        stack.color = dst[start];
+                        sum += stack.color;
+                        stack = stack.next;
+                        
+                        start += width;
+                }
+                
+                stack = stackStart;
+                for (y = 0; y < height; ++ y){
+                        dst[pos] = (sum * mult) >>> shift;
+                        
+                        p = y + radius;
+                        p = x + ( (p < heightMinus1? p: heightMinus1) * width );
+                        sum -= stack.color - dst[p];
+                        
+                        stack.color = dst[p];
+                        stack = stack.next;
+                        
+                        pos += width;
+                }
+        }
+        
+        return imageDst;
+};
+
+CV.gaussianBlur = function(imageSrc, imageDst, imageMean, kernelSize){
+        var kernel = CV.gaussianKernel(kernelSize);
+        
+        imageDst.width = imageSrc.width;
+        imageDst.height = imageSrc.height;
+        
+        imageMean.width = imageSrc.width;
+        imageMean.height = imageSrc.height;
+        
+        CV.gaussianBlurFilter(imageSrc, imageMean, kernel, true);
+        CV.gaussianBlurFilter(imageMean, imageDst, kernel, false);
+        
+        return imageDst;
+};
+
+CV.gaussianBlurFilter = function(imageSrc, imageDst, kernel, horizontal){
+        var src = imageSrc.data, dst = imageDst.data,
+        height = imageSrc.height, width = imageSrc.width,
+        pos = 0, limit = kernel.length >> 1,
+        cur, value, i, j, k;
+        
+        for (i = 0; i < height; ++ i){
+                
+                for (j = 0; j < width; ++ j){
+                        value = 0.0;
+                        
+                        for (k = -limit; k <= limit; ++ k){
+                                
+                                if (horizontal){
+                                        cur = pos + k;
+                                        if (j + k < 0){
+                                                cur = pos;
+                                        }
+                                        else if (j + k >= width){
+                                                cur = pos;
+                                        }
+                                }else{
+                                        cur = pos + (k * width);
+                                        if (i + k < 0){
+                                                cur = pos;
+                                        }
+                                        else if (i + k >= height){
+                                                cur = pos;
+                                        }
+                                }
+                                
+                                value += kernel[limit + k] * src[cur];
+                        }
+                        
+                        dst[pos ++] = horizontal? value: (value + 0.5) & 0xff;
+                }
+        }
+        
+        return imageDst;
+};
+
+CV.gaussianKernel = function(kernelSize){
+        var tab =
+        [ [1],
+        [0.25, 0.5, 0.25],
+        [0.0625, 0.25, 0.375, 0.25, 0.0625],
+        [0.03125, 0.109375, 0.21875, 0.28125, 0.21875, 0.109375, 0.03125] ],
+        kernel = [], center, sigma, scale2X, sum, x, i;
+        
+        if ( (kernelSize <= 7) && (kernelSize % 2 === 1) ){
+                kernel = tab[kernelSize >> 1];
+        }else{
+                center = (kernelSize - 1.0) * 0.5;
+                sigma = 0.8 + (0.3 * (center - 1.0) );
+                scale2X = -0.5 / (sigma * sigma);
+                sum = 0.0;
+                for (i = 0; i < kernelSize; ++ i){
+                        x = i - center;
+                        sum += kernel[i] = Math.exp(scale2X * x * x);
+                }
+                sum = 1 / sum;
+                for (i = 0; i < kernelSize; ++ i){
+                        kernel[i] *= sum;
+                }  
+        }
+        
+        return kernel;
+};
+
+CV.findContours = function(imageSrc, binary){
+        var width = imageSrc.width, height = imageSrc.height, contours = [],
+        src, deltas, pos, pix, nbd, outer, hole, i, j;
+        
+        src = CV.binaryBorder(imageSrc, binary);
+        
+        deltas = CV.neighborhoodDeltas(width + 2);
+        
+        pos = width + 3;
+        nbd = 1;
+        
+        for (i = 0; i < height; ++ i, pos += 2){
+                
+                for (j = 0; j < width; ++ j, ++ pos){
+                        pix = src[pos];
+                        
+                        if (0 !== pix){
+                                outer = hole = false;
+                                
+                                if (1 === pix && 0 === src[pos - 1]){
+                                        outer = true;
+                                }
+                                else if (pix >= 1 && 0 === src[pos + 1]){
+                                        hole = true;
+                                }
+                                
+                                if (outer || hole){
+                                        ++ nbd;
+                                        
+                                        contours.push( CV.borderFollowing(src, pos, nbd, {x: j, y: i}, hole, deltas) );
+                                }
+                        }
+                }
+        }  
+        
+        return contours;
+};
+
+CV.borderFollowing = function(src, pos, nbd, point, hole, deltas){
+        var contour = [], pos1, pos3, pos4, s, s_end, s_prev;
+        
+        contour.hole = hole;
+        
+        s = s_end = hole? 0: 4;
+        do{
+                s = (s - 1) & 7;
+                pos1 = pos + deltas[s];
+                if (src[pos1] !== 0){
+                        break;
+                }
+        }while(s !== s_end);
+        
+        if (s === s_end){
+                src[pos] = -nbd;
+                contour.push( {x: point.x, y: point.y} );
+                
+        }else{
+                pos3 = pos;
+                s_prev = s ^ 4;
+                
+                while(true){
+                        s_end = s;
+                        
+                        do{
+                                pos4 = pos3 + deltas[++ s];
+                        }while(src[pos4] === 0);
+                        
+                        s &= 7;
+                        
+                        if ( ( (s - 1) >>> 0) < (s_end >>> 0) ){
+                                src[pos3] = -nbd;
+                        }
+                        else if (src[pos3] === 1){
+                                src[pos3] = nbd;
+                        }
+                        
+                        contour.push( {x: point.x, y: point.y} );
+                        
+                        s_prev = s;
+                        
+                        point.x += CV.neighborhood[s][0];
+                        point.y += CV.neighborhood[s][1];
+                        
+                        if ( (pos4 === pos) && (pos3 === pos1) ){
+                                break;
+                        }
+                        
+                        pos3 = pos4;
+                        s = (s + 4) & 7;
+                }
+        }
+        
+        return contour;
+};
+
+CV.neighborhood = 
+[ [1, 0], [1, -1], [0, -1], [-1, -1], [-1, 0], [-1, 1], [0, 1], [1, 1] ];
+
+CV.neighborhoodDeltas = function(width){
+        var deltas = [], len = CV.neighborhood.length, i = 0;
+        
+        for (; i < len; ++ i){
+                deltas[i] = CV.neighborhood[i][0] + (CV.neighborhood[i][1] * width);
+        }
+        
+        return deltas.concat(deltas);
+};
+
+CV.approxPolyDP = function(contour, epsilon){
+        var slice = {start_index: 0, end_index: 0},
+        right_slice = {start_index: 0, end_index: 0},
+        poly = [], stack = [], len = contour.length,
+        pt, start_pt, end_pt, dist, max_dist, le_eps,
+        dx, dy, i, j, k;
+        
+        epsilon *= epsilon;
+        
+        k = 0;
+        
+        for (i = 0; i < 3; ++ i){
+                max_dist = 0;
+                
+                k = (k + right_slice.start_index) % len;
+                start_pt = contour[k];
+                if (++ k === len) {k = 0;}
+                
+                for (j = 1; j < len; ++ j){
+                        pt = contour[k];
+                        if (++ k === len) {k = 0;}
+                        
+                        dx = pt.x - start_pt.x;
+                        dy = pt.y - start_pt.y;
+                        dist = dx * dx + dy * dy;
+                        
+                        if (dist > max_dist){
+                                max_dist = dist;
+                                right_slice.start_index = j;
+                        }
+                }
+        }
+        
+        if (max_dist <= epsilon){
+                poly.push( {x: start_pt.x, y: start_pt.y} );
+                
+        }else{
+                slice.start_index = k;
+                slice.end_index = (right_slice.start_index += slice.start_index);
+                
+                right_slice.start_index -= right_slice.start_index >= len? len: 0;
+                right_slice.end_index = slice.start_index;
+                if (right_slice.end_index < right_slice.start_index){
+                        right_slice.end_index += len;
+                }
+                
+                stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
+                stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
+        }
+        
+        while(stack.length !== 0){
+                slice = stack.pop();
+                
+                end_pt = contour[slice.end_index % len];
+                start_pt = contour[k = slice.start_index % len];
+                if (++ k === len) {k = 0;}
+                
+                if (slice.end_index <= slice.start_index + 1){
+                        le_eps = true;
+                        
+                }else{
+                        max_dist = 0;
+                        
+                        dx = end_pt.x - start_pt.x;
+                        dy = end_pt.y - start_pt.y;
+                        
+                        for (i = slice.start_index + 1; i < slice.end_index; ++ i){
+                                pt = contour[k];
+                                if (++ k === len) {k = 0;}
+                                
+                                dist = Math.abs( (pt.y - start_pt.y) * dx - (pt.x - start_pt.x) * dy);
+                                
+                                if (dist > max_dist){
+                                        max_dist = dist;
+                                        right_slice.start_index = i;
+                                }
+                        }
+                        
+                        le_eps = max_dist * max_dist <= epsilon * (dx * dx + dy * dy);
+                }
+                
+                if (le_eps){
+                        poly.push( {x: start_pt.x, y: start_pt.y} );
+                        
+                }else{
+                        right_slice.end_index = slice.end_index;
+                        slice.end_index = right_slice.start_index;
+                        
+                        stack.push( {start_index: right_slice.start_index, end_index: right_slice.end_index} );
+                        stack.push( {start_index: slice.start_index, end_index: slice.end_index} );
+                }
+        }
+        
+        return poly;
+};
+
+CV.warp = function(imageSrc, imageDst, contour, warpSize){
+        var src = imageSrc.data, dst = imageDst.data,
+        width = imageSrc.width, height = imageSrc.height,
+        pos = 0,
+        sx1, sx2, dx1, dx2, sy1, sy2, dy1, dy2, p1, p2, p3, p4,
+        m, r, s, t, u, v, w, x, y, i, j;
+        
+        m = CV.getPerspectiveTransform(contour, warpSize - 1);
+        
+        r = m[8];
+        s = m[2];
+        t = m[5];
+        
+        for (i = 0; i < warpSize; ++ i){
+                r += m[7];
+                s += m[1];
+                t += m[4];
+                
+                u = r;
+                v = s;
+                w = t;
+                
+                for (j = 0; j < warpSize; ++ j){
+                        u += m[6];
+                        v += m[0];
+                        w += m[3];
+                        
+                        x = v / u;
+                        y = w / u;
+                        
+                        sx1 = x >>> 0;
+                        sx2 = (sx1 === width - 1)? sx1: sx1 + 1;
+                        dx1 = x - sx1;
+                        dx2 = 1.0 - dx1;
+                        
+                        sy1 = y >>> 0;
+                        sy2 = (sy1 === height - 1)? sy1: sy1 + 1;
+                        dy1 = y - sy1;
+                        dy2 = 1.0 - dy1;
+                        
+                        p1 = p2 = sy1 * width;
+                        p3 = p4 = sy2 * width;
+                        
+                        dst[pos ++] = 
+                        (dy2 * (dx2 * src[p1 + sx1] + dx1 * src[p2 + sx2]) +
+                        dy1 * (dx2 * src[p3 + sx1] + dx1 * src[p4 + sx2]) ) & 0xff;
+                        
+                }
+        }
+        
+        imageDst.width = warpSize;
+        imageDst.height = warpSize;
+        
+        return imageDst;
+};
+
+CV.getPerspectiveTransform = function(src, size){
+        var rq = CV.square2quad(src);
+        
+        rq[0] /= size;
+        rq[1] /= size;
+        rq[3] /= size;
+        rq[4] /= size;
+        rq[6] /= size;
+        rq[7] /= size;
+        
+        return rq;
+};
+
+CV.square2quad = function(src){
+        var sq = [], px, py, dx1, dx2, dy1, dy2, den;
+        
+        px = src[0].x - src[1].x + src[2].x - src[3].x;
+        py = src[0].y - src[1].y + src[2].y - src[3].y;
+        
+        if (0 === px && 0 === py){
+                sq[0] = src[1].x - src[0].x;
+                sq[1] = src[2].x - src[1].x;
+                sq[2] = src[0].x;
+                sq[3] = src[1].y - src[0].y;
+                sq[4] = src[2].y - src[1].y;
+                sq[5] = src[0].y;
+                sq[6] = 0;
+                sq[7] = 0;
+                sq[8] = 1;
+                
+        }else{
+                dx1 = src[1].x - src[2].x;
+                dx2 = src[3].x - src[2].x;
+                dy1 = src[1].y - src[2].y;
+                dy2 = src[3].y - src[2].y;
+                den = dx1 * dy2 - dx2 * dy1;
+                
+                sq[6] = (px * dy2 - dx2 * py) / den;
+                sq[7] = (dx1 * py - px * dy1) / den;
+                sq[8] = 1;
+                sq[0] = src[1].x - src[0].x + sq[6] * src[1].x;
+                sq[1] = src[3].x - src[0].x + sq[7] * src[3].x;
+                sq[2] = src[0].x;
+                sq[3] = src[1].y - src[0].y + sq[6] * src[1].y;
+                sq[4] = src[3].y - src[0].y + sq[7] * src[3].y;
+                sq[5] = src[0].y;
+        }
+        
+        return sq;
+};
+
+CV.isContourConvex = function(contour){
+        var orientation = 0, convex = true,
+        len = contour.length, i = 0, j = 0,
+        cur_pt, prev_pt, dxdy0, dydx0, dx0, dy0, dx, dy;
+        
+        prev_pt = contour[len - 1];
+        cur_pt = contour[0];
+        
+        dx0 = cur_pt.x - prev_pt.x;
+        dy0 = cur_pt.y - prev_pt.y;
+        
+        for (; i < len; ++ i){
+                if (++ j === len) {j = 0;}
+                
+                prev_pt = cur_pt;
+                cur_pt = contour[j];
+                
+                dx = cur_pt.x - prev_pt.x;
+                dy = cur_pt.y - prev_pt.y;
+                dxdy0 = dx * dy0;
+                dydx0 = dy * dx0;
+                
+                orientation |= dydx0 > dxdy0? 1: (dydx0 < dxdy0? 2: 3);
+                
+                if (3 === orientation){
+                        convex = false;
+                        break;
+                }
+                
+                dx0 = dx;
+                dy0 = dy;
+        }
+        
+        return convex;
+};
+
+CV.perimeter = function(poly){
+        var len = poly.length, i = 0, j = len - 1,
+        p = 0.0, dx, dy;
+        
+        for (; i < len; j = i ++){
+                dx = poly[i].x - poly[j].x;
+                dy = poly[i].y - poly[j].y;
+                
+                p += Math.sqrt(dx * dx + dy * dy) ;
+        }
+        
+        return p;
+};
+
+CV.minEdgeLength = function(poly){
+        var len = poly.length, i = 0, j = len - 1, 
+        min = Infinity, d, dx, dy;
+        
+        for (; i < len; j = i ++){
+                dx = poly[i].x - poly[j].x;
+                dy = poly[i].y - poly[j].y;
+                
+                d = dx * dx + dy * dy;
+                
+                if (d < min){
+                        min = d;
+                }
+        }
+        
+        return Math.sqrt(min);
+};
+
+CV.countNonZero = function(imageSrc, square){
+        var src = imageSrc.data, height = square.height, width = square.width,
+        pos = square.x + (square.y * imageSrc.width),
+        span = imageSrc.width - width,
+        nz = 0, i, j;
+        
+        for (i = 0; i < height; ++ i){
+                
+                for (j = 0; j < width; ++ j){
+                        
+                        if ( 0 !== src[pos ++] ){
+                                ++ nz;
+                        }
+                }
+                
+                pos += span;
+        }
+        
+        return nz;
+};
+
+CV.binaryBorder = function(imageSrc, dst){
+        var src = imageSrc.data, height = imageSrc.height, width = imageSrc.width,
+        posSrc = 0, posDst = 0, i, j;
+        
+        for (j = -2; j < width; ++ j){
+                dst[posDst ++] = 0;
+        }
+        
+        for (i = 0; i < height; ++ i){
+                dst[posDst ++] = 0;
+                
+                for (j = 0; j < width; ++ j){
+                        dst[posDst ++] = (0 === src[posSrc ++]? 0: 1);
+                }
+                
+                dst[posDst ++] = 0;
+        }
+        
+        for (j = -2; j < width; ++ j){
+                dst[posDst ++] = 0;
+        }
+        
+        return dst;
+};
--- a/three.js/examples/threex-aruco/vendor/js-aruco/src/posit1.js
+++ b/three.js/examples/threex-aruco/vendor/js-aruco/src/posit1.js
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "Iterative Pose Estimation using Coplanar Feature Points"
+Denis Oberkampf, Daniel F. DeMenthon, Larry S. Davis
+http://www.cfar.umd.edu/~daniel/daniel_papersfordownload/CoplanarPts.pdf
+*/
+
+var POS = POS || {};
+
+POS.Posit = function(modelSize, focalLength){
+        this.objectPoints = this.buildModel(modelSize);
+        this.focalLength = focalLength;
+        
+        this.objectVectors = [];
+        this.objectNormal = [];
+        this.objectMatrix = [[],[],[]];
+        
+        this.init();
+};
+
+POS.Posit.prototype.buildModel = function(modelSize){
+        var half = modelSize / 2.0;
+        
+        return [
+                [-half,  half, 0.0],
+                [ half,  half, 0.0],
+                [ half, -half, 0.0],
+                [-half, -half, 0.0] 
+        ];
+};
+
+POS.Posit.prototype.init = function(){
+        var np = this.objectPoints.length,
+        vectors = [], n = [], len = 0.0, row = 2, i;
+        
+        for (i = 0; i < np; ++ i){
+                this.objectVectors[i] = [this.objectPoints[i][0] - this.objectPoints[0][0],
+                this.objectPoints[i][1] - this.objectPoints[0][1],
+                this.objectPoints[i][2] - this.objectPoints[0][2]];
+                
+                vectors[i] = [this.objectVectors[i][0],
+                this.objectVectors[i][1],
+                this.objectVectors[i][2]];
+        }
+        
+        while(0.0 === len){
+                n[0] = this.objectVectors[1][1] * this.objectVectors[row][2] -
+                this.objectVectors[1][2] * this.objectVectors[row][1];
+                n[1] = this.objectVectors[1][2] * this.objectVectors[row][0] -
+                this.objectVectors[1][0] * this.objectVectors[row][2];
+                n[2] = this.objectVectors[1][0] * this.objectVectors[row][1] -
+                this.objectVectors[1][1] * this.objectVectors[row][0];
+                
+                len = Math.sqrt(n[0] * n[0] + n[1] * n[1] + n[2] * n[2]);
+                
+                ++ row;
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                this.objectNormal[i] = n[i] / len;
+        }
+        
+        POS.pseudoInverse(vectors, np, this.objectMatrix);
+};
+
+POS.Posit.prototype.pose = function(imagePoints){
+        var posRotation1 = [[],[],[]], posRotation2 = [[],[],[]], posTranslation = [],
+        rotation1 = [[],[],[]], rotation2 = [[],[],[]], translation1 = [], translation2 = [],
+        error1, error2, valid1, valid2, i, j;
+        
+        this.pos(imagePoints, posRotation1, posRotation2, posTranslation);
+        
+        valid1 = this.isValid(posRotation1, posTranslation);
+        if (valid1){
+                error1 = this.iterate(imagePoints, posRotation1, posTranslation, rotation1, translation1);
+        }else{
+                error1 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
+        }
+        
+        valid2 = this.isValid(posRotation2, posTranslation);
+        if (valid2){
+                error2 = this.iterate(imagePoints, posRotation2, posTranslation, rotation2, translation2);
+        }else{
+                error2 = {euclidean: -1.0, pixels: -1, maximum: -1.0};
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                for (j = 0; j < 3; ++ j){
+                        if (valid1){
+                                translation1[i] -= rotation1[i][j] * this.objectPoints[0][j];
+                        }
+                        if (valid2){
+                                translation2[i] -= rotation2[i][j] * this.objectPoints[0][j];
+                        }
+                }
+        }
+        
+        return error1.euclidean < error2.euclidean?
+        new POS.Pose(error1.pixels, rotation1, translation1, error2.pixels, rotation2, translation2):
+        new POS.Pose(error2.pixels, rotation2, translation2, error1.pixels, rotation1, translation1);
+};
+
+POS.Posit.prototype.pos = function(imagePoints, rotation1, rotation2, translation){
+        var np = this.objectPoints.length, imageVectors = [],
+        i0 = [], j0 = [], ivec = [], jvec = [], row1 = [], row2 = [], row3 = [],
+        i0i0, j0j0, i0j0, delta, q, lambda, mu, scale, i, j;
+        
+        for (i = 0; i < np; ++ i){
+                imageVectors[i] = [imagePoints[i].x - imagePoints[0].x,
+                imagePoints[i].y - imagePoints[0].y];
+        }
+        
+        //i0 and j0
+        for (i = 0; i < 3; ++ i){
+                i0[i] = 0.0;
+                j0[i] = 0.0;
+                for (j = 0; j < np; ++ j){
+                        i0[i] += this.objectMatrix[i][j] * imageVectors[j][0];
+                        j0[i] += this.objectMatrix[i][j] * imageVectors[j][1];
+                }
+        }
+        
+        i0i0 = i0[0] * i0[0] + i0[1] * i0[1] + i0[2] * i0[2];
+        j0j0 = j0[0] * j0[0] + j0[1] * j0[1] + j0[2] * j0[2];
+        i0j0 = i0[0] * j0[0] + i0[1] * j0[1] + i0[2] * j0[2];
+        
+        //Lambda and mu
+        delta = (j0j0 - i0i0) * (j0j0 - i0i0) + 4.0 * (i0j0 * i0j0);
+        
+        if (j0j0 - i0i0 >= 0.0){
+                q = (j0j0 - i0i0 + Math.sqrt(delta) ) / 2.0;
+        }else{
+                q = (j0j0 - i0i0 - Math.sqrt(delta) ) / 2.0;
+        }
+        
+        if (q >= 0.0){
+                lambda = Math.sqrt(q);
+                if (0.0 === lambda){
+                        mu = 0.0;
+                }else{
+                        mu = -i0j0 / lambda;
+                }
+        }else{
+                lambda = Math.sqrt( -(i0j0 * i0j0) / q);
+                if (0.0 === lambda){
+                        mu = Math.sqrt(i0i0 - j0j0);
+                }else{
+                        mu = -i0j0 / lambda;
+                }
+        }
+        
+        //First rotation
+        for (i = 0; i < 3; ++ i){
+                ivec[i] = i0[i] + lambda * this.objectNormal[i];
+                jvec[i] = j0[i] + mu * this.objectNormal[i];
+        }
+        
+        scale = Math.sqrt(ivec[0] * ivec[0] + ivec[1] * ivec[1] + ivec[2] * ivec[2]);
+        
+        for (i = 0; i < 3; ++ i){
+                row1[i] = ivec[i] / scale;
+                row2[i] = jvec[i] / scale;
+        }
+        
+        row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+        row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+        row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+        
+        for (i = 0; i < 3; ++ i){
+                rotation1[0][i] = row1[i];
+                rotation1[1][i] = row2[i];
+                rotation1[2][i] = row3[i];
+        }
+        
+        //Second rotation
+        for (i = 0; i < 3; ++ i){
+                ivec[i] = i0[i] - lambda * this.objectNormal[i];
+                jvec[i] = j0[i] - mu * this.objectNormal[i];
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                row1[i] = ivec[i] / scale;
+                row2[i] = jvec[i] / scale;
+        }
+        
+        row3[0] = row1[1] * row2[2] - row1[2] * row2[1];
+        row3[1] = row1[2] * row2[0] - row1[0] * row2[2];
+        row3[2] = row1[0] * row2[1] - row1[1] * row2[0];
+        
+        for (i = 0; i < 3; ++ i){
+                rotation2[0][i] = row1[i];
+                rotation2[1][i] = row2[i];
+                rotation2[2][i] = row3[i];
+        }
+        
+        //Translation
+        translation[0] = imagePoints[0].x / scale;
+        translation[1] = imagePoints[0].y / scale;
+        translation[2] = this.focalLength / scale;
+};
+
+POS.Posit.prototype.isValid = function(rotation, translation){
+        var np = this.objectPoints.length, zmin = Infinity, i = 0, zi;
+        
+        for (; i < np; ++ i){
+                zi = translation[2] +
+                (rotation[2][0] * this.objectVectors[i][0] +
+                        rotation[2][1] * this.objectVectors[i][1] +
+                        rotation[2][2] * this.objectVectors[i][2]
+                );
+                if (zi < zmin){
+                        zmin = zi;
+                }
+        }
+        
+        return zmin >= 0.0;
+};
+
+POS.Posit.prototype.iterate = function(imagePoints, posRotation, posTranslation, rotation, translation){
+        var np = this.objectPoints.length,
+        oldSopImagePoints = [], sopImagePoints = [],
+        rotation1 = [[],[],[]], rotation2 = [[],[],[]],
+        translation1 = [], translation2 = [],
+        converged = false, iteration = 0,
+        oldImageDifference, imageDifference, factor,
+        error, error1, error2, delta, i, j;
+        
+        for (i = 0; i < np; ++ i){
+                oldSopImagePoints[i] = {x: imagePoints[i].x,
+                        y: imagePoints[i].y
+                };
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                for (j = 0; j < 3; ++ j){
+                        rotation[i][j] = posRotation[i][j];
+                }
+                translation[i] = posTranslation[i];
+        }
+        
+        for (i = 0; i < np; ++ i){
+                factor = 0.0;
+                for (j = 0; j < 3; ++ j){
+                        factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+                }
+                sopImagePoints[i] = {x: (1.0 + factor) * imagePoints[i].x,
+                        y: (1.0 + factor) * imagePoints[i].y
+                };
+        }
+        
+        imageDifference = 0.0;
+        
+        for (i = 0; i < np; ++ i){
+                imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+                imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                translation1[i] = translation[i] -
+                (rotation[i][0] * this.objectPoints[0][0] +
+                        rotation[i][1] * this.objectPoints[0][1] +
+                        rotation[i][2] * this.objectPoints[0][2]
+                );
+        }
+        
+        error = error1 = this.error(imagePoints, rotation, translation1);
+        
+        //Convergence
+        converged = (0.0 === error1.pixels) || (imageDifference < 0.01);
+        
+        while( iteration ++ < 100 && !converged ){
+                
+                for (i = 0; i < np; ++ i){
+                        oldSopImagePoints[i].x = sopImagePoints[i].x;
+                        oldSopImagePoints[i].y = sopImagePoints[i].y;
+                }
+                
+                this.pos(sopImagePoints, rotation1, rotation2, translation);
+                
+                for (i = 0; i < 3; ++ i){
+                        translation1[i] = translation[i] -
+                        (rotation1[i][0] * this.objectPoints[0][0] +
+                                rotation1[i][1] * this.objectPoints[0][1] +
+                                rotation1[i][2] * this.objectPoints[0][2]
+                        );
+                        
+                        translation2[i] = translation[i] -
+                        (rotation2[i][0] * this.objectPoints[0][0] +
+                                rotation2[i][1] * this.objectPoints[0][1] +
+                                rotation2[i][2] * this.objectPoints[0][2]
+                        );
+                }
+                
+                error1 = this.error(imagePoints, rotation1, translation1);
+                error2 = this.error(imagePoints, rotation2, translation2);
+                
+                if ( (error1.euclidean >= 0.0) && (error2.euclidean >= 0.0) ){
+                        if (error2.euclidean < error1.euclidean){
+                                error = error2;
+                                for (i = 0; i < 3; ++ i){
+                                        for (j = 0; j < 3; ++ j){
+                                                rotation[i][j] = rotation2[i][j];
+                                        }
+                                }
+                        }else{
+                                error = error1;
+                                for (i = 0; i < 3; ++ i){
+                                        for (j = 0; j < 3; ++ j){
+                                                rotation[i][j] = rotation1[i][j];
+                                        }
+                                }
+                        }
+                }
+                
+                if ( (error1.euclidean < 0.0) && (error2.euclidean >= 0.0) ){
+                        error = error2;
+                        for (i = 0; i < 3; ++ i){
+                                for (j = 0; j < 3; ++ j){
+                                        rotation[i][j] = rotation2[i][j];
+                                }
+                        }
+                }
+                
+                if ( (error2.euclidean < 0.0) && (error1.euclidean >= 0.0) ){
+                        error = error1;
+                        for (i = 0; i < 3; ++ i){
+                                for (j = 0; j < 3; ++ j){
+                                        rotation[i][j] = rotation1[i][j];
+                                }
+                        }
+                }
+                
+                for (i = 0; i < np; ++ i){
+                        factor = 0.0;
+                        for (j = 0; j < 3; ++ j){
+                                factor += this.objectVectors[i][j] * rotation[2][j] / translation[2];
+                        }
+                        sopImagePoints[i].x = (1.0 + factor) * imagePoints[i].x;
+                        sopImagePoints[i].y = (1.0 + factor) * imagePoints[i].y;
+                }
+                
+                oldImageDifference = imageDifference;
+                imageDifference = 0.0;
+                
+                for (i = 0; i < np; ++ i){
+                        imageDifference += Math.abs(sopImagePoints[i].x - oldSopImagePoints[i].x);
+                        imageDifference += Math.abs(sopImagePoints[i].y - oldSopImagePoints[i].y);
+                }
+                
+                delta = Math.abs(imageDifference - oldImageDifference);
+                
+                converged = (0.0 === error.pixels) || (delta < 0.01);
+        }
+        
+        return error;
+};
+
+POS.Posit.prototype.error = function(imagePoints, rotation, translation){
+        var np = this.objectPoints.length,
+        move = [], projection = [], errorvec = [],
+        euclidean = 0.0, pixels = 0.0, maximum = 0.0,
+        i, j, k;
+        
+        if ( !this.isValid(rotation, translation) ){
+                return {euclidean: -1.0, pixels: -1, maximum: -1.0};
+        }
+        
+        for (i = 0; i < np; ++ i){
+                move[i] = [];
+                for (j = 0; j < 3; ++ j){
+                        move[i][j] = translation[j];
+                }
+        }
+        
+        for (i = 0; i < np; ++ i){
+                for (j = 0; j < 3; ++ j){
+                        for (k = 0; k < 3; ++ k){
+                                move[i][j] += rotation[j][k] * this.objectPoints[i][k];
+                        }
+                }
+        }
+        
+        for (i = 0; i < np; ++ i){
+                projection[i] = [];
+                for (j = 0; j < 2; ++ j){
+                        projection[i][j] = this.focalLength * move[i][j] / move[i][2];
+                }
+        }
+        
+        for (i = 0; i < np; ++ i){
+                errorvec[i] = [projection[i][0] - imagePoints[i].x,
+                projection[i][1] - imagePoints[i].y];
+        }
+        
+        for (i = 0; i < np; ++ i){
+                euclidean += Math.sqrt(errorvec[i][0] * errorvec[i][0] +
+                        errorvec[i][1] * errorvec[i][1]
+                );
+                
+                pixels += Math.abs( Math.round(projection[i][0]) - Math.round(imagePoints[i].x) ) +
+                Math.abs( Math.round(projection[i][1]) - Math.round(imagePoints[i].y) );
+                
+                if (Math.abs(errorvec[i][0]) > maximum){
+                        maximum = Math.abs(errorvec[i][0]);
+                }
+                if (Math.abs(errorvec[i][1]) > maximum){
+                        maximum = Math.abs(errorvec[i][1]);
+                }
+        }
+        
+        return {euclidean: euclidean / np, pixels: pixels, maximum: maximum};
+};
+
+POS.pseudoInverse = function(a, n, b){
+        var w = [], v = [[],[],[]], s = [[],[],[]],
+        wmax = 0.0, cn = 0,
+        i, j, k;
+        
+        SVD.svdcmp(a, n, 3, w, v);
+        
+        for (i = 0; i < 3; ++ i){
+                if (w[i] > wmax){
+                        wmax = w[i];
+                }
+        }
+        
+        wmax *= 0.01;
+        
+        for (i = 0; i < 3; ++ i){
+                if (w[i] < wmax){
+                        w[i] = 0.0;
+                }
+        }
+        
+        for (j = 0; j < 3; ++ j){
+                if (0.0 === w[j]){
+                        ++ cn;
+                        for (k = j; k < 2; ++ k){
+                                for (i = 0; i < n; ++ i){
+                                        a[i][k] = a[i][k + 1];
+                                }
+                                for (i = 0; i < 3; ++ i){
+                                        v[i][k] = v[i][k + 1];
+                                }
+                        }
+                }
+        }
+        
+        for (j = 0; j < 2; ++ j){
+                if (0.0 === w[j]){
+                        w[j] = w[j + 1];
+                }
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                for (j = 0; j < 3 - cn; ++ j){
+                        s[i][j] = v[i][j] / w[j];
+                }
+        }
+        
+        for (i = 0; i < 3; ++ i){
+                for (j = 0; j < n; ++ j){
+                        b[i][j] = 0.0;
+                        for (k = 0; k < 3 - cn; ++ k){
+                                b[i][j] += s[i][k] * a[j][k];
+                        }
+                }
+        }
+};
+
+POS.Pose = function(error1, rotation1, translation1, error2, rotation2, translation2){
+        this.bestError = error1;
+        this.bestRotation = rotation1;
+        this.bestTranslation = translation1;
+        this.alternativeError = error2;
+        this.alternativeRotation = rotation2;
+        this.alternativeTranslation = translation2;
+};
--- a/three.js/examples/threex-aruco/vendor/js-aruco/src/posit2.js
+++ b/three.js/examples/threex-aruco/vendor/js-aruco/src/posit2.js
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "3D Pose Estimation"
+  Andrew Kirillow
+  http://www.aforgenet.com/articles/posit/
+*/
+
+var POS = POS || {};
+
+POS.Posit = function(modelSize, focalLength){
+  this.model = this.buildModel(modelSize);
+  this.focalLength = focalLength;
+
+  this.init();
+};
+
+POS.Posit.prototype.buildModel = function(modelSize){
+  var half = modelSize / 2.0;
+  
+  return [
+    new Vec3(-half,  half, 0.0),
+    new Vec3( half,  half, 0.0),
+    new Vec3( half, -half, 0.0),
+    new Vec3(-half, -half, 0.0) ];
+};
+
+POS.Posit.prototype.init = function(){
+  var d = new Vec3(), v = new Mat3(), u;
+  
+  this.modelVectors = Mat3.fromRows(
+      Vec3.sub(this.model[1], this.model[0]),
+      Vec3.sub(this.model[2], this.model[0]),
+      Vec3.sub(this.model[3], this.model[0]) );
+
+  u = Mat3.clone(this.modelVectors);
+
+  SVD.svdcmp(u.m, 3, 3, d.v, v.m);
+
+  this.modelPseudoInverse = Mat3.mult(
+    Mat3.mult(v, Mat3.fromDiagonal( Vec3.inverse(d) ) ), Mat3.transpose(u) );
+  
+  this.modelNormal = v.column( d.minIndex() );
+};
+
+POS.Posit.prototype.pose = function(points){
+  var eps = new Vec3(1.0, 1.0, 1.0),
+      rotation1 = new Mat3(), rotation2 = new Mat3(),
+      translation1 = new Vec3(), translation2 = new Vec3(),
+      error1, error2;
+
+  this.pos(points, eps, rotation1, rotation2, translation1, translation2);
+
+  error1 = this.iterate(points, rotation1, translation1);
+  error2 = this.iterate(points, rotation2, translation2);
+
+  return error1 < error2?
+    new POS.Pose(error1, rotation1.m, translation1.v, error2, rotation2.m, translation2.v):
+    new POS.Pose(error2, rotation2.m, translation2.v, error1, rotation1.m, translation1.v);
+};
+
+POS.Posit.prototype.pos = function(points, eps, rotation1, rotation2, translation1, translation2){
+  var xi = new Vec3(points[1].x, points[2].x, points[3].x),
+      yi = new Vec3(points[1].y, points[2].y, points[3].y),
+      xs = Vec3.addScalar( Vec3.mult(xi, eps), -points[0].x),
+      ys = Vec3.addScalar( Vec3.mult(yi, eps), -points[0].y),
+      i0 = Mat3.multVector(this.modelPseudoInverse, xs),
+      j0 = Mat3.multVector(this.modelPseudoInverse, ys),
+      s = j0.square() - i0.square(),
+      ij = Vec3.dot(i0, j0),
+      r = 0.0, theta = 0.0,
+      i, j, k, inorm, jnorm, scale, temp, lambda, mu;
+
+  if (0.0 === s){
+    r = Math.sqrt( Math.abs(2.0 * ij) );
+    theta = (-Math.PI / 2.0) * (ij < 0.0? -1: (ij > 0.0? 1.0: 0.0) );
+  }else{
+    r = Math.sqrt( Math.sqrt(s * s + 4.0 * ij * ij) );
+    theta = Math.atan(-2.0 * ij / s);
+    if (s < 0.0){
+      theta += Math.PI;
+    }
+    theta /= 2.0;
+  }
+
+  lambda = r * Math.cos(theta);
+  mu = r * Math.sin(theta);
+
+  //First possible rotation/translation
+  i = Vec3.add(i0, Vec3.multScalar(this.modelNormal, lambda) );
+  j = Vec3.add(j0, Vec3.multScalar(this.modelNormal, mu) );
+  inorm = i.normalize();
+  jnorm = j.normalize();
+  k = Vec3.cross(i, j);
+  rotation1.copy( Mat3.fromRows(i, j, k) );
+  
+  scale = (inorm + jnorm) / 2.0;
+  temp = Mat3.multVector(rotation1, this.model[0]);
+  translation1.v = [
+    points[0].x / scale - temp.v[0],
+    points[0].y / scale - temp.v[1],
+    this.focalLength / scale];
+
+  //Second possible rotation/translation
+  i = Vec3.sub(i0, Vec3.multScalar(this.modelNormal, lambda) );
+  j = Vec3.sub(j0, Vec3.multScalar(this.modelNormal, mu) );
+  inorm = i.normalize();
+  jnorm = j.normalize();
+  k = Vec3.cross(i, j);
+  rotation2.copy( Mat3.fromRows(i, j, k) );
+  
+  scale = (inorm + jnorm) / 2.0;
+  temp = Mat3.multVector(rotation2, this.model[0]);
+  translation2.v = [
+    points[0].x / scale - temp.v[0],
+    points[0].y / scale - temp.v[1],
+    this.focalLength / scale];
+};
+
+POS.Posit.prototype.iterate = function(points, rotation, translation){
+  var prevError = Infinity,
+      rotation1 = new Mat3(), rotation2 = new Mat3(),
+      translation1 = new Vec3(), translation2 = new Vec3(),
+      i = 0, eps, error, error1, error2;
+
+  for (; i < 100; ++ i){
+    eps = Vec3.addScalar( Vec3.multScalar( 
+      Mat3.multVector( this.modelVectors, rotation.row(2) ), 1.0 / translation.v[2]), 1.0);
+
+    this.pos(points, eps, rotation1, rotation2, translation1, translation2);
+
+    error1 = this.getError(points, rotation1, translation1);
+    error2 = this.getError(points, rotation2, translation2);
+
+    if (error1 < error2){
+      rotation.copy(rotation1);
+      translation.copy(translation1);
+      error = error1;
+    }else{
+      rotation.copy(rotation2);
+      translation.copy(translation2);
+      error = error2;
+    }
+
+    if ( (error <= 2.0) || (error > prevError) ){
+      break;
+    }
+
+    prevError = error;
+  }
+
+  return error;
+};
+
+POS.Posit.prototype.getError = function(points, rotation, translation){
+  var v1 = Vec3.add( Mat3.multVector(rotation, this.model[0]), translation),
+      v2 = Vec3.add( Mat3.multVector(rotation, this.model[1]), translation),
+      v3 = Vec3.add( Mat3.multVector(rotation, this.model[2]), translation),
+      v4 = Vec3.add( Mat3.multVector(rotation, this.model[3]), translation),
+      modeled, ia1, ia2, ia3, ia4, ma1, ma2, ma3, ma4;
+  
+  v1 = v1.v; v2 = v2.v; v3 = v3.v; v4 = v4.v;
+  
+  v1[0] *= this.focalLength / v1[2];
+  v1[1] *= this.focalLength / v1[2];
+  v2[0] *= this.focalLength / v2[2];
+  v2[1] *= this.focalLength / v2[2];
+  v3[0] *= this.focalLength / v3[2];
+  v3[1] *= this.focalLength / v3[2];
+  v4[0] *= this.focalLength / v4[2];
+  v4[1] *= this.focalLength / v4[2];
+  
+  modeled = [
+    {x: v1[0], y: v1[1]},
+    {x: v2[0], y: v2[1]},
+    {x: v3[0], y: v3[1]},
+    {x: v4[0], y: v4[1]}
+  ];
+
+  ia1 = this.angle( points[0], points[1], points[3] );
+  ia2 = this.angle( points[1], points[2], points[0] );
+  ia3 = this.angle( points[2], points[3], points[1] );
+  ia4 = this.angle( points[3], points[0], points[2] );
+
+  ma1 = this.angle( modeled[0], modeled[1], modeled[3] );
+  ma2 = this.angle( modeled[1], modeled[2], modeled[0] );
+  ma3 = this.angle( modeled[2], modeled[3], modeled[1] );
+  ma4 = this.angle( modeled[3], modeled[0], modeled[2] );
+
+  return ( Math.abs(ia1 - ma1) +
+           Math.abs(ia2 - ma2) +
+           Math.abs(ia3 - ma3) +
+           Math.abs(ia4 - ma4) ) / 4.0;
+};
+
+POS.Posit.prototype.angle = function(a, b, c){
+  var x1 = b.x - a.x, y1 = b.y - a.y,
+      x2 = c.x - a.x, y2 = c.y - a.y;
+  
+  return Math.acos( (x1 * x2 + y1 * y2) / 
+    (Math.sqrt(x1 * x1 + y1 * y1) * Math.sqrt(x2 * x2 + y2 * y2) ) ) * 180.0 / Math.PI;
+};
+
+POS.Pose = function(error1, rotation1, translation1, error2, rotation2, translation2){
+  this.bestError = error1;
+  this.bestRotation = rotation1;
+  this.bestTranslation = translation1;
+  this.alternativeError = error2;
+  this.alternativeRotation = rotation2;
+  this.alternativeTranslation = translation2;
+};
+
+var Vec3 = function(x, y, z){
+  this.v = [x || 0.0, y || 0.0, z || 0.0];
+};
+
+Vec3.prototype.copy = function(a){
+  var v = this.v;
+
+  a = a.v;
+
+  v[0] = a[0];
+  v[1] = a[1];
+  v[2] = a[2];
+
+  return this;
+};
+
+Vec3.add = function(a, b){
+  var vector = new Vec3(), v = vector.v;
+  
+  a = a.v; b = b.v;
+
+  v[0] = a[0] + b[0];
+  v[1] = a[1] + b[1];
+  v[2] = a[2] + b[2];
+  
+  return vector;
+};
+
+Vec3.sub = function(a, b){
+  var vector = new Vec3(), v = vector.v;
+  
+  a = a.v; b = b.v;
+
+  v[0] = a[0] - b[0];
+  v[1] = a[1] - b[1];
+  v[2] = a[2] - b[2];
+  
+  return vector;
+};
+
+Vec3.mult = function(a, b){
+  var vector = new Vec3(), v = vector.v;
+  
+  a = a.v; b = b.v;
+
+  v[0] = a[0] * b[0];
+  v[1] = a[1] * b[1];
+  v[2] = a[2] * b[2];
+  
+  return vector;
+};
+
+Vec3.addScalar = function(a, b){
+  var vector = new Vec3(), v = vector.v;
+  
+  a = a.v;
+
+  v[0] = a[0] + b;
+  v[1] = a[1] + b;
+  v[2] = a[2] + b;
+  
+  return vector;
+};
+
+Vec3.multScalar = function(a, b){
+  var vector = new Vec3(), v = vector.v;
+  
+  a = a.v;
+
+  v[0] = a[0] * b;
+  v[1] = a[1] * b;
+  v[2] = a[2] * b;
+  
+  return vector;
+};
+
+Vec3.dot = function(a, b){
+  a = a.v; b = b.v;
+
+  return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+};
+
+Vec3.cross = function(a, b){
+  a = a.v; b = b.v;
+
+ return new Vec3(
+    a[1] * b[2] - a[2] * b[1],
+    a[2] * b[0] - a[0] * b[2],
+    a[0] * b[1] - a[1] * b[0]);
+};
+
+Vec3.prototype.normalize = function(){
+  var v = this.v,
+      len = Math.sqrt(v[0] * v[0] + v[1] * v[1] + v[2] * v[2]);
+      
+  if (len > 0.0){
+    v[0] /= len;
+    v[1] /= len;
+    v[2] /= len;
+  }
+
+  return len;
+};
+
+Vec3.inverse = function(a){
+  var vector = new Vec3(), v = vector.v;
+  
+  a = a.v;
+  
+  if (a[0] !== 0.0){
+    v[0] = 1.0 / a[0];
+  }
+  if (a[1] !== 0.0){
+    v[1] = 1.0 / a[1];
+  }
+  if (a[2] !== 0.0){
+    v[2] = 1.0 / a[2];
+  }
+  
+  return vector;
+};
+
+Vec3.prototype.square = function(){
+  var v = this.v;
+
+  return v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
+};
+
+Vec3.prototype.minIndex = function(){
+  var v = this.v;
+
+  return v[0] < v[1]? (v[0] < v[2]? 0: 2): (v[1] < v[2]? 1: 2);
+};
+
+var Mat3 = function(){
+  this.m = [ [0.0, 0.0, 0.0],
+             [0.0, 0.0, 0.0],
+             [0.0, 0.0, 0.0] ];
+};
+
+Mat3.clone = function(a){
+  var matrix = new Mat3(), m = matrix.m;
+  
+  a = a.m;
+
+  m[0][0] = a[0][0];
+  m[0][1] = a[0][1];
+  m[0][2] = a[0][2];
+  m[1][0] = a[1][0];
+  m[1][1] = a[1][1];
+  m[1][2] = a[1][2];
+  m[2][0] = a[2][0];
+  m[2][1] = a[2][1];
+  m[2][2] = a[2][2];
+  
+  return matrix;
+};
+
+Mat3.prototype.copy = function(a){
+  var m = this.m;
+
+  a = a.m;
+
+  m[0][0] = a[0][0];
+  m[0][1] = a[0][1];
+  m[0][2] = a[0][2];
+  m[1][0] = a[1][0];
+  m[1][1] = a[1][1];
+  m[1][2] = a[1][2];
+  m[2][0] = a[2][0];
+  m[2][1] = a[2][1];
+  m[2][2] = a[2][2];
+
+  return this;
+};
+
+Mat3.fromRows = function(a, b, c){
+  var matrix = new Mat3(), m = matrix.m;
+  
+  a = a.v; b = b.v; c = c.v;
+  
+  m[0][0] = a[0];
+  m[0][1] = a[1];
+  m[0][2] = a[2];
+  m[1][0] = b[0];
+  m[1][1] = b[1];
+  m[1][2] = b[2];
+  m[2][0] = c[0];
+  m[2][1] = c[1];
+  m[2][2] = c[2];
+
+  return matrix;
+};
+
+Mat3.fromDiagonal = function(a){
+  var matrix = new Mat3(), m = matrix.m;
+  
+  a = a.v;
+  
+  m[0][0] = a[0];
+  m[1][1] = a[1];
+  m[2][2] = a[2];
+  
+  return matrix;
+};
+
+Mat3.transpose = function(a){
+  var matrix = new Mat3(), m = matrix.m;
+  
+  a = a.m;
+  
+  m[0][0] = a[0][0];
+  m[0][1] = a[1][0];
+  m[0][2] = a[2][0];
+  m[1][0] = a[0][1];
+  m[1][1] = a[1][1];
+  m[1][2] = a[2][1];
+  m[2][0] = a[0][2];
+  m[2][1] = a[1][2];
+  m[2][2] = a[2][2];
+            
+  return matrix;
+};
+
+Mat3.mult = function(a, b){
+  var matrix = new Mat3(), m = matrix.m;
+  
+  a = a.m; b = b.m;
+
+  m[0][0] = a[0][0] * b[0][0] + a[0][1] * b[1][0] + a[0][2] * b[2][0];
+  m[0][1] = a[0][0] * b[0][1] + a[0][1] * b[1][1] + a[0][2] * b[2][1];
+  m[0][2] = a[0][0] * b[0][2] + a[0][1] * b[1][2] + a[0][2] * b[2][2];
+  m[1][0] = a[1][0] * b[0][0] + a[1][1] * b[1][0] + a[1][2] * b[2][0];
+  m[1][1] = a[1][0] * b[0][1] + a[1][1] * b[1][1] + a[1][2] * b[2][1];
+  m[1][2] = a[1][0] * b[0][2] + a[1][1] * b[1][2] + a[1][2] * b[2][2];
+  m[2][0] = a[2][0] * b[0][0] + a[2][1] * b[1][0] + a[2][2] * b[2][0];
+  m[2][1] = a[2][0] * b[0][1] + a[2][1] * b[1][1] + a[2][2] * b[2][1];
+  m[2][2] = a[2][0] * b[0][2] + a[2][1] * b[1][2] + a[2][2] * b[2][2];
+
+  return matrix;
+};
+
+Mat3.multVector = function(m, a){
+  m = m.m; a = a.v;
+  
+  return new Vec3(
+    m[0][0] * a[0] + m[0][1] * a[1] + m[0][2] * a[2],
+    m[1][0] * a[0] + m[1][1] * a[1] + m[1][2] * a[2],
+    m[2][0] * a[0] + m[2][1] * a[1] + m[2][2] * a[2]);
+};
+
+Mat3.prototype.column = function(index){
+  var m = this.m;
+  
+  return new Vec3( m[0][index], m[1][index], m[2][index] );
+};
+
+Mat3.prototype.row = function(index){
+  var m = this.m;
+  
+  return new Vec3( m[index][0], m[index][1], m[index][2] );
+};
--- a/three.js/examples/threex-aruco/vendor/js-aruco/src/svd.js
+++ b/three.js/examples/threex-aruco/vendor/js-aruco/src/svd.js
+/*
+Copyright (c) 2012 Juan Mellado
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.
+*/
+
+/*
+References:
+- "Numerical Recipes in C - Second Edition"
+  http://www.nr.com/
+*/
+
+var SVD = SVD || {};
+
+SVD.svdcmp = function(a, m, n, w, v){
+  var flag, i, its, j, jj, k, l, nm,
+      anorm = 0.0, c, f, g = 0.0, h, s, scale = 0.0, x, y, z, rv1 = [];
+      
+  //Householder reduction to bidiagonal form
+  for (i = 0; i < n; ++ i){
+    l = i + 1;
+    rv1[i] = scale * g;
+    g = s = scale = 0.0;
+    if (i < m){
+      for (k = i; k < m; ++ k){
+        scale += Math.abs( a[k][i] );
+      }
+      if (0.0 !== scale){
+        for (k = i; k < m; ++ k){
+          a[k][i] /= scale;
+          s += a[k][i] * a[k][i];
+        }
+        f = a[i][i];
+        g = -SVD.sign( Math.sqrt(s), f );
+        h = f * g - s;
+        a[i][i] = f - g;
+        for (j = l; j < n; ++ j){
+          for (s = 0.0, k = i; k < m; ++ k){
+            s += a[k][i] * a[k][j];
+          }
+          f = s / h;
+          for (k = i; k < m; ++ k){
+            a[k][j] += f * a[k][i];
+          }
+        }
+        for (k = i; k < m; ++ k){
+          a[k][i] *= scale;
+        }
+      }
+    }
+    w[i] = scale * g;
+    g = s = scale = 0.0;
+    if ( (i < m) && (i !== n - 1) ){
+      for (k = l; k < n; ++ k){
+        scale += Math.abs( a[i][k] );
+      }
+      if (0.0 !== scale){
+        for (k = l; k < n; ++ k){
+          a[i][k] /= scale;
+          s += a[i][k] * a[i][k];
+        }
+        f = a[i][l];
+        g = -SVD.sign( Math.sqrt(s), f );
+        h = f * g - s;
+        a[i][l] = f - g;
+        for (k = l; k < n; ++ k){
+          rv1[k] = a[i][k] / h;
+        }
+        for (j = l; j < m; ++ j){
+          for (s = 0.0, k = l; k < n; ++ k){
+            s += a[j][k] * a[i][k];
+          }
+          for (k = l; k < n; ++ k){
+            a[j][k] += s * rv1[k];
+          }
+        }
+        for (k = l; k < n; ++ k){
+          a[i][k] *= scale;
+        }
+      }
+    }
+    anorm = Math.max(anorm, ( Math.abs( w[i] ) + Math.abs( rv1[i] ) ) );
+  }
+
+  //Acumulation of right-hand transformation
+  for (i = n - 1; i >= 0; -- i){
+    if (i < n - 1){
+      if (0.0 !== g){
+        for (j = l; j < n; ++ j){
+          v[j][i] = ( a[i][j] / a[i][l] ) / g;
+        }
+        for (j = l; j < n; ++ j){
+          for (s = 0.0, k = l; k < n; ++ k){
+            s += a[i][k] * v[k][j];
+          }
+          for (k = l; k < n; ++ k){
+            v[k][j] += s * v[k][i];
+          }
+        }
+      }
+      for (j = l; j < n; ++ j){
+        v[i][j] = v[j][i] = 0.0;
+      }
+    }
+    v[i][i] = 1.0;
+    g = rv1[i];
+    l = i;
+  }
+
+  //Acumulation of left-hand transformation
+  for (i = Math.min(n, m) - 1; i >= 0; -- i){
+    l = i + 1;
+    g = w[i];
+    for (j = l; j < n; ++ j){
+      a[i][j] = 0.0;
+    }
+    if (0.0 !== g){
+      g = 1.0 / g;
+      for (j = l; j < n; ++ j){
+        for (s = 0.0, k = l; k < m; ++ k){
+          s += a[k][i] * a[k][j];
+        }
+        f = (s / a[i][i]) * g;
+        for (k = i; k < m; ++ k){
+          a[k][j] += f * a[k][i];
+        }
+      }
+      for (j = i; j < m; ++ j){
+        a[j][i] *= g;
+      }
+    }else{
+        for (j = i; j < m; ++ j){
+          a[j][i] = 0.0;
+        }
+    }
+    ++ a[i][i];
+  }
+
+  //Diagonalization of the bidiagonal form
+  for (k = n - 1; k >= 0; -- k){
+    for (its = 1; its <= 30; ++ its){
+      flag = true;
+      for (l = k; l >= 0; -- l){
+        nm = l - 1;
+        if ( Math.abs( rv1[l] ) + anorm === anorm ){
+          flag = false;
+          break;
+        }
+        if ( Math.abs( w[nm] ) + anorm === anorm ){
+          break;
+        }
+      }
+      if (flag){
+        c = 0.0;
+        s = 1.0;
+        for (i = l; i <= k; ++ i){
+          f = s * rv1[i];
+          if ( Math.abs(f) + anorm === anorm ){
+            break;
+          }
+          g = w[i];
+          h = SVD.pythag(f, g);
+          w[i] = h;
+          h = 1.0 / h;
+          c = g * h;
+          s = -f * h;
+          for (j = 1; j <= m; ++ j){
+            y = a[j][nm];
+            z = a[j][i];
+            a[j][nm] = y * c + z * s;
+            a[j][i] = z * c - y * s;
+          }
+        }
+      }
+
+      //Convergence
+      z = w[k];
+      if (l === k){
+        if (z < 0.0){
+          w[k] = -z;
+          for (j = 0; j < n; ++ j){
+            v[j][k] = -v[j][k];
+          }
+        }
+        break;
+      }
+
+      if (30 === its){
+        return false;
+      }
+
+      //Shift from bottom 2-by-2 minor
+      x = w[l];
+      nm = k - 1;
+      y = w[nm];
+      g = rv1[nm];
+      h = rv1[k];
+      f = ( (y - z) * (y + z) + (g - h) * (g + h) ) / (2.0 * h * y);
+      g = SVD.pythag( f, 1.0 );
+      f = ( (x - z) * (x + z) + h * ( (y / (f + SVD.sign(g, f) ) ) - h) ) / x;
+
+      //Next QR transformation
+      c = s = 1.0;
+      for (j = l; j <= nm; ++ j){
+        i = j + 1;
+        g = rv1[i];
+        y = w[i];
+        h = s * g;
+        g = c * g;
+        z = SVD.pythag(f, h);
+        rv1[j] = z;
+        c = f / z;
+        s = h / z;
+        f = x * c + g * s;
+        g = g * c - x * s;
+        h = y * s;
+        y *= c;
+        for (jj = 0; jj < n; ++ jj){
+          x = v[jj][j];
+          z = v[jj][i];
+          v[jj][j] = x * c + z * s;
+          v[jj][i] = z * c - x * s;
+        }
+        z = SVD.pythag(f, h);
+        w[j] = z;
+        if (0.0 !== z){
+          z = 1.0 / z;
+          c = f * z;
+          s = h * z;
+        }
+        f = c * g + s * y;
+        x = c * y - s * g;
+        for (jj = 0; jj < m; ++ jj){
+          y = a[jj][j];
+          z = a[jj][i];
+          a[jj][j] = y * c + z * s;
+          a[jj][i] = z * c - y * s;
+        }
+      }
+      rv1[l] = 0.0;
+      rv1[k] = f;
+      w[k] = x;
+    }
+  }
+
+  return true;
+};
+
+SVD.pythag = function(a, b){
+  var at = Math.abs(a), bt = Math.abs(b), ct;
+
+  if (at > bt){
+    ct = bt / at;
+    return at * Math.sqrt(1.0 + ct * ct);
+  }
+    
+  if (0.0 === bt){
+    return 0.0;
+  }
+
+  ct = at / bt;
+  return bt * Math.sqrt(1.0 + ct * ct);
+};
+
+SVD.sign = function(a, b){
+  return b >= 0.0? Math.abs(a): -Math.abs(a);
+};