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improves to viewMatrix_GL and related code #32

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improves to viewMatrix_GL and related code #32

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cf180fb
improves to viewMatrix_GL and related code
kalwalt Feb 6, 2025
eb03aeb
improved getTransformationMatrix function to be tested
kalwalt Feb 7, 2025
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2 changes: 1 addition & 1 deletion WebARKit/WebARKitManager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -111,7 +111,7 @@ cv::Mat WebARKitManager::getGLViewMatrix() {

std::array<double, 16> WebARKitManager::getTransformationMatrix() {
std::array<double, 16> transformationMatrix;
webarkit::arglCameraViewRHf(m_tracker->getPoseMatrix(), transformationMatrix, 1.0f);
webarkit::arglCameraViewRHf((float (*)[4])m_tracker->getPoseMatrix2(), (float*)transformationMatrix.data(), 1.0f);
return transformationMatrix;
}

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4 changes: 3 additions & 1 deletion WebARKit/WebARKitPattern.cpp
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Expand Up @@ -3,7 +3,7 @@

WebARKitPatternTrackingInfo::WebARKitPatternTrackingInfo() {
pose3d = cv::Mat::zeros(4, 4, CV_64FC1);
glViewMatrix = cv::Mat::zeros(4, 4, CV_64F);
glViewMatrix = cv::Mat::zeros(4, 4, CV_64FC1);
m_scale = 1.0f;
}

Expand Down Expand Up @@ -67,6 +67,8 @@ void WebARKitPatternTrackingInfo::updateTrackable() {

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

void WebARKitPatternTrackingInfo::computeGLviewMatrix(cv::Mat &pose) { cv::transpose(pose, glViewMatrix); }

void WebARKitPatternTrackingInfo::invertPose() {

/*cv::Mat invertPose(3, 4, CV_64FC1);
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16 changes: 15 additions & 1 deletion WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
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Expand Up @@ -78,6 +78,14 @@ class WebARKitTracker::WebARKitTrackerImpl {

webarkit::cameraProjectionMatrix(camData, 0.1, 1000.0, frameWidth, frameHeight, m_cameraProjectionMatrix);

for (auto i = 0; i < 16; i++) {

WEBARKIT_LOGi("Camera Proj Matrix: %.2f\n", m_cameraProjectionMatrix[i]);

}

//1.9102363924347978, 0, 0, 0, 0, 2.5377457054523322, 0, 0, -0.013943280545895442, -0.005830389685211879, -1.0000002000000199, -1, 0, 0, -0.00020000002000000202, 0

_pyramid.clear();
_prevPyramid.clear();
_currentlyTrackedMarkers = 0;
Expand Down Expand Up @@ -175,6 +183,9 @@ class WebARKitTracker::WebARKitTrackerImpl {

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

//float[3][4] getPoseMatrix3() { return _patternTrackingInfo.trans; }
//float (*getPoseMatrix3())[3][4] { return &_patternTrackingInfo.trans; }

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

std::array<double, 16> getCameraProjectionMatrix() { return m_cameraProjectionMatrix; };
Expand Down Expand Up @@ -383,6 +394,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
// _patternTrackingInfo.computePose(_pattern.points3d, warpedCorners, m_camMatrix, m_distortionCoeff);
_patternTrackingInfo.getTrackablePose(_pose);
_patternTrackingInfo.updateTrackable();
_patternTrackingInfo.computeGLviewMatrix(_pose);
fill_output(m_H);
WEBARKIT_LOGi("Marker tracked ! Num. matches : %d\n", numMatches);
}
Expand Down Expand Up @@ -722,7 +734,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
cv::Mat m_distortionCoeff;

std::array<double, 16> m_cameraProjectionMatrix;

private:
int _maxNumberOfMarkersToTrack;

Expand Down Expand Up @@ -805,6 +816,9 @@ cv::Mat WebARKitTracker::getPoseMatrix() { return _trackerImpl->getPoseMatrix();

float* WebARKitTracker::getPoseMatrix2() { return _trackerImpl->getPoseMatrix2(); }

//float[3][4] WebARKitTracker::getPoseMatrix3() { return _trackerImpl->getPoseMatrix3(); }
//float (*WebARKitTracker::getPoseMatrix3())[3][4]) { return &_trackerImpl->getPoseMatrix3(); }

cv::Mat WebARKitTracker::getGLViewMatrix() { return _trackerImpl->getGLViewMatrix(); }

std::array<double, 16> WebARKitTracker::getCameraProjectionMatrix() {
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2 changes: 2 additions & 0 deletions ...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
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Expand Up @@ -35,6 +35,8 @@ class WebARKitTracker {

float* getPoseMatrix2();

//float (*WebARKitTracker::getPoseMatrix3()[3][4]);

cv::Mat getGLViewMatrix();

std::array<double, 16> getCameraProjectionMatrix();
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2 changes: 2 additions & 0 deletions WebARKit/include/WebARKitPattern.h
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Expand Up @@ -47,6 +47,8 @@ class WebARKitPatternTrackingInfo {

void computeGLviewMatrix();

void computeGLviewMatrix(cv::Mat &pose);

private:
float m_scale;
void invertPose();
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