qr code detector, marker detector

vendor/ts-aruco/README.md

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+**js-aruco** is a port to JavaScript of the ArUco library.
+
+[ArUco](http://www.uco.es/investiga/grupos/ava/node/26) is a minimal library for Augmented Reality applications based on OpenCv.
+
+### Demos ###
+
+100% JavaScript (see details bellow):
+
+- [Webcam live demo!](https://jcmellado.github.io/js-aruco/getusermedia/getusermedia.html)
+
+3D Pose Estimation:
+
+- [3D Earth!](https://jcmellado.github.io/js-aruco/debug-posit/debug-posit.html)
+
+Visual Debugging:
+
+- [Debug session jam!](https://jcmellado.github.io/js-aruco/debug/debug.html)
+
+Flash camera access (see details bellow):
+
+- [Webcam live demo!](https://jcmellado.github.io/js-aruco/webcam/webcam.html)
+
+### Videos ###
+
+Webcam video adquisition:
+
+[![js-aruco](http://img.youtube.com/vi/_wzPupbww4I/0.jpg)](http://www.youtube.com/watch?v=_wzPupbww4I)
+
+3D Pose estimation:
+
+[![js-aruco](http://img.youtube.com/vi/9WD4wR3_-JM/0.jpg)](http://www.youtube.com/watch?v=9WD4wR3_-JM)
+
+Visual Debugging:
+
+[![js-aruco](http://img.youtube.com/vi/xvTMRdgySUQ/0.jpg)](http://www.youtube.com/watch?v=xvTMRdgySUQ)
+
+### Markers ###
+
+A 7x7 grid with an external unused black border. Internal 5x5 cells contains id information.
+
+Each row must follow any of the following patterns:
+
+`white - black - black - black - black`
+
+`white - black - white - white - white`
+
+`black - white - black - black - white`
+
+`black - white - white - white - black`
+
+Example:
+
+![Marker](http://www.inmensia.com/files/pictures/external/1001.png)
+
+### Usage ###
+Create an `AR.Detector` object:
+
+```
+var detector = new AR.Detector();
+```
+
+Call `detect` function:
+
+```
+var markers = detector.detect(imageData);
+```
+
+`markers` result will be an array of `AR.Marker` objects with detected markers.
+
+`AR.Marker` objects have two properties:
+
+ * `id`: Marker id.
+ * `corners`: 2D marker corners.
+
+`imageData` argument must be a valid `ImageData` canvas object.
+
+```
+var canvas = document.getElementById("canvas");
+    
+var context = canvas.getContext("2d");
+
+var imageData = context.getImageData(0, 0, width, height);
+```
+
+### 3D Pose Estimation ###
+Create an `POS.Posit` object:
+
+```
+var posit = new POS.Posit(modelSize, canvas.width);
+```
+
+`modelSize` argument must be the real marker size (millimeters).
+
+Call `pose` function:
+
+```
+var pose = posit.pose(corners);
+```
+
+`corners` must be centered on canvas:
+
+```
+var corners = marker.corners;
+
+for (var i = 0; i < corners.length; ++ i){
+  var corner = corners[i];
+
+  corner.x = corner.x - (canvas.width / 2);
+  corner.y = (canvas.height / 2) - corner.y;
+}
+```
+
+`pose` result will be a `POS.Pose` object with two estimated pose (if any):
+
+ * `bestError`: Error of the best estimated pose.
+ * `bestRotation`: 3x3 rotation matrix of the best estimated pose.
+ * `bestTranslation`: Translation vector of the best estimated pose.
+ * `alternativeError`: Error of the alternative estimated pose.
+ * `alternativeRotation`: 3x3 rotation matrix of the alternative estimated pose.
+ * `alternativeTranslation`: Translation vector of the alternative estimated pose.
+
+Note: POS namespace can be taken from posit1.js or posit2.js.
+
+### Flash Demo (deprecated) ###
+
+It uses [Flashcam](https://github.com/jcmellado/flashcam), a minimal Flash library to capture video.