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Feature improves transmatrix #30

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merged 3 commits into from
Jan 14, 2025
Merged

Feature improves transmatrix #30

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cc1144b
Testing new update function
kalwalt Jul 9, 2024
82c08b6
Added new enum for blurring -> updated c++ and javascript code
kalwalt Sep 12, 2024
77b2029
new example with jsfeatNext
kalwalt Sep 14, 2024
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4 changes: 2 additions & 2 deletions WebARKit/WebARKitManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ bool WebARKitManager::shutdown() {
return true;
};

void WebARKitManager::processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace, bool enableBlur) {
void WebARKitManager::processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace, BLUR_TYPE blurType) {
WEBARKIT_LOGd("WebARKitManager::processFrameData(...)\n");
if (state < WAITING_FOR_VIDEO) {
WEBARKIT_LOGe("processFrameData called without init the tracker. Call first initTracker.\n");
Expand All @@ -88,7 +88,7 @@ void WebARKitManager::processFrameData(uchar* frameData, size_t frameCols, size_
WEBARKIT_LOGe("Error initialising processFrameData.\n");
//return false;
}
m_tracker->processFrameData(frameData, frameCols, frameRows, colorSpace, enableBlur);
m_tracker->processFrameData(frameData, frameCols, frameRows, colorSpace, blurType);
state = DETECTION_RUNNING;
WEBARKIT_LOGd("WebARKitManager::processFrameData() done\n");
}
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12 changes: 12 additions & 0 deletions WebARKit/WebARKitPattern.cpp
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Expand Up @@ -53,6 +53,18 @@ void WebARKitPatternTrackingInfo::getTrackablePose(cv::Mat& pose) {
memcpy(transMat, poseOut.ptr<float>(0), 3*4*sizeof(float));
}

void WebARKitPatternTrackingInfo::updateTrackable() {
if (transMat) {
//visible = true;
for (int j = 0; j < 3; j++) {
trans[j][0] = transMat[j][0];
trans[j][1] = -transMat[j][1];
trans[j][2] = -transMat[j][2];
trans[j][3] = (transMat[j][3] * m_scale * 0.001f * 1.64f );
}
}
}

void WebARKitPatternTrackingInfo::computeGLviewMatrix() { cv::transpose(pose3d, glViewMatrix); }

void WebARKitPatternTrackingInfo::invertPose() {
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18 changes: 12 additions & 6 deletions WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
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Expand Up @@ -142,11 +142,13 @@ class WebARKitTracker::WebARKitTrackerImpl {
assert(grayImage.channels() == 1);

this->_featureDetector->detect(grayImage, keypoints, featureMask);
WEBARKIT_LOGd("keypoints size: %d\n", keypoints.size());
if (keypoints.empty()) {
WEBARKIT_LOGe("No keypoints detected!\n");
return false;
}
this->_featureDescriptor->compute(grayImage, keypoints, descriptors);
WEBARKIT_LOGd("descriptors size: %d\n", descriptors.size());
if (descriptors.empty()) {
WEBARKIT_LOGe("No descriptors computed!\n");
return false;
Expand All @@ -155,11 +157,14 @@ class WebARKitTracker::WebARKitTrackerImpl {
}

void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace,
bool enableBlur) {
BLUR_TYPE blurType) {
cv::Mat grayFrame = convert2Grayscale(frameData, frameCols, frameRows, colorSpace);
if (enableBlur) {
if (blurType == BLUR_TYPE::BOX_BLUR) {
cv::blur(grayFrame, grayFrame, blurSize);
}
else if (blurType == BLUR_TYPE::MEDIAN_BLUR) {
cv::medianBlur(grayFrame, grayFrame, blurSize.width);
}
processFrame(grayFrame);
grayFrame.release();
};
Expand All @@ -168,7 +173,7 @@ class WebARKitTracker::WebARKitTrackerImpl {

cv::Mat getPoseMatrix() { return _patternTrackingInfo.pose3d; };

float* getPoseMatrix2() { return (float*)_patternTrackingInfo.transMat; }
float* getPoseMatrix2() { return (float*)_patternTrackingInfo.trans; }

cv::Mat getGLViewMatrix() { return _patternTrackingInfo.glViewMatrix; };

Expand Down Expand Up @@ -344,7 +349,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
// return false;
};
//if (!_isDetected) {
WEBARKIT_LOGd("frameKeyPts.size() = %d\n", frameKeyPts.size());
WEBARKIT_LOGd("frame KeyPoints size: %d\n", frameKeyPts.size());
if (static_cast<int>(frameKeyPts.size()) > minRequiredDetectedFeatures) {
MatchFeatures(frameKeyPts, frameDescr);
}
Expand Down Expand Up @@ -377,6 +382,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
_patternTrackingInfo.cameraPoseFromPoints(_pose, objPoints, imgPoints, m_camMatrix, m_distortionCoeff);
// _patternTrackingInfo.computePose(_pattern.points3d, warpedCorners, m_camMatrix, m_distortionCoeff);
_patternTrackingInfo.getTrackablePose(_pose);
_patternTrackingInfo.updateTrackable();
fill_output(m_H);
WEBARKIT_LOGi("Marker tracked ! Num. matches : %d\n", numMatches);
}
Expand Down Expand Up @@ -789,8 +795,8 @@ void WebARKitTracker::initTracker(uchar* refData, size_t refCols, size_t refRows
}

void WebARKitTracker::processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace,
bool enableBlur) {
_trackerImpl->processFrameData(frameData, frameCols, frameRows, colorSpace, enableBlur);
BLUR_TYPE blurType) {
_trackerImpl->processFrameData(frameData, frameCols, frameRows, colorSpace, blurType);
}

std::vector<double> WebARKitTracker::getOutputData() { return _trackerImpl->getOutputData(); }
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6 changes: 6 additions & 0 deletions .../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitEnums.h
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Expand Up @@ -16,6 +16,12 @@ enum ColorSpace {
GRAY = 2
};

enum BLUR_TYPE {
MEDIAN_BLUR = 0,
BOX_BLUR = 1,
NONE_BLUR = 2
};

} // namespace webarkit

#endif
2 changes: 1 addition & 1 deletion ...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
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Expand Up @@ -27,7 +27,7 @@ class WebARKitTracker {

void initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace);

void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace, bool enableBlur);
void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace, BLUR_TYPE blurType);

std::vector<double> getOutputData();

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4 changes: 4 additions & 0 deletions .../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
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Expand Up @@ -125,17 +125,21 @@ static auto convert2Grayscale(uchar* refData, size_t refCols, size_t refRows, Co
cv::Mat colorFrame(refRows, refCols, CV_8UC4, refData);
refGray.create(refRows, refCols, CV_8UC1);
cv::cvtColor(colorFrame, refGray, cv::COLOR_RGBA2GRAY);
WEBARKIT_LOGd("convert to GRAY from RGBA !!\n");
} break;
case ColorSpace::RGB: {
cv::Mat colorFrame(refRows, refCols, CV_8UC3, refData);
refGray.create(refRows, refCols, CV_8UC1);
cv::cvtColor(colorFrame, refGray, cv::COLOR_RGB2GRAY);
WEBARKIT_LOGd("convert to GRAY from RGB !!\n");
} break;
case ColorSpace::GRAY: {
refGray = cv::Mat(refRows, refCols, CV_8UC1, refData);
WEBARKIT_LOGd("no need to convert to GRAY!!\n");
} break;
default: {
refGray = cv::Mat(refRows, refCols, CV_8UC1, refData);
WEBARKIT_LOGd("Default: no need to convert to GRAY!!\n");
}
}

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2 changes: 1 addition & 1 deletion WebARKit/include/WebARKitManager.h
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Expand Up @@ -98,7 +98,7 @@ class WebARKitManager {

bool shutdown();

void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace, bool enableBlur);
void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace, BLUR_TYPE blurType);

std::vector<double> getOutputData();

Expand Down
3 changes: 3 additions & 0 deletions WebARKit/include/WebARKitPattern.h
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Expand Up @@ -26,6 +26,7 @@ class WebARKitPatternTrackingInfo {
std::vector<cv::Point2f> points2d;
cv::Mat pose3d;
float transMat [3][4];
float trans [3][4];
cv::Mat glViewMatrix;

void setScale(const float scale) { m_scale = scale; }
Expand All @@ -42,6 +43,8 @@ class WebARKitPatternTrackingInfo {

void getTrackablePose(cv::Mat& pose);

void updateTrackable();

void computeGLviewMatrix();

private:
Expand Down