Improving WebARKitLib with PnP algorithm

[kalwalt]

This PR is based on changes in PR webarkit/WebARKitLib#23

[kalwalt]

Another issue with the pose matrix, i receive always these values pose matrix : (12) [1, 0, 0, 1.88857625396e-312, 0, 1, 0, 6.780710231860827e-309, 0, 0, 1, 0] Maybe something is not correct in the computePose function.

[kalwalt]

i think the result from matrixGL_RH is not correct, look at these values, this is matrixGL_RH from jsartoolkitNFT:

matrixGL_RH: [0.04984269657942322, 0.0011028004165823837, 0.0037468644060579515, 0, -0.00015674864315588379, 0.048456810395189856, -0.012054592420455989, 0, -0.003895003003705642, 0.012004841145274035, 0.04830878467734379, 0, -5.418834804971434, -3.6673568534354173, -10.857604385997499, 1]

instead this is from webarkit-testing (WebARKitLib) :

matrixGL_RH: [-0.9817725823132032, 0.1899239396883738, -0.007175914667250705, 0, 0.02379396361358893, 0.16028175468996442, 0.9867844781962584, 0, 0.1885641639167419, 0.9686272018928405, -0.16187927550995185, 0, 0, 0, 0, 1]

note 12, 13, 14 index values are quite different, from webarkit-testing are all zeros... need to found where is the bug.

[kalwalt]

Now i developed and implemented a new function getGLViewMatrix to pass the correct matrix, the sphere is displayed and don't move. To add to this: It's harder to detect and track (maybe because different video settings?) and even when the pinball pattern is not on the screen and for sure is not detected and tracked the application still output the message [info] Start Tracking!, i will open an issue to track it down. (this happens only for the threejs_ES6_example)

[kalwalt]

I'm testing with the latest commits the speedy-vision library with my code. In detail: i'm using it to pass the data from the pinball marker and the video data to speedy-vision pipeline to convert to grey. It works fine but i have some issues updating the videoData. I will fix it soon.

[kalwalt]

Initially in various part i developed some update functions with requestAnimationFrame returning some data values, but that is not the best way doing this. it will not return correct values, better to provide a callback function or maybe a global variable that can be accessible outside of that function.

Now i changed my code with some callback functions but i always get ImageData with empty Uint8ClampedArray, why this? but maybe there is a smarter way to get this data with speedy vision?
after the call to pipeline.run() ( for the video data...) we got and ImageBitmap object and to retrieve raw data we need to process it with a canvas, but maybe there is a direct acces to an Uint8Array?

Investigating....

[kalwalt]

if you comment out this console.log it will ever return an ImageData with a correct (not empty) Uint8ClampedArray

[kalwalt]

a function with requestAnimationFrame should never return a value...

[kalwalt]

There are a lot of improves to do but probably the PnP code is ok, i will make a list here to take note:

• The tracking is not stable, sometimes the sphere is bouncing off, sometimes is rendered very big other times very small...
• If you move the pinball pattern image to the right, the sphere move in the opposite direction.
• Sometimes the sphere is not rendered at all... but i think it depends if you open the dev console or not.

At least the issue i had with the persisting tracking is gone, but still a lot of works need to do.

[kalwalt]

I think this PR is quite long and all the code for the the PnP feature was implemented, there are other improvements to do but it's out of this scope. I will merge this soon.