Improving WebARKitLib with PnP algorithm

.vscode/settings.json

@@ -4,5 +4,6 @@
         "any": "cpp",
         "string_view": "cpp",
         "regex": "cpp"
-    }
+    },
+    "clang-format.executable": "/usr/bin/clang-format"
 }

emscripten/WebARKitJS.cpp

@@ -1,45 +1,46 @@
 #include "WebARKitJS.h"
 
 void WebARKit::initTrackerGray(emscripten::val data_buffer, int width, int height) {
-  auto u8 =
-      emscripten::convertJSArrayToNumberVector<uint8_t>(data_buffer);
-  manager.initTracker(u8.data(), width, height);
+    auto u8 = emscripten::convertJSArrayToNumberVector<uint8_t>(data_buffer);
+    manager.initTracker(u8.data(), width, height);
 }
 
 void WebARKit::processFrame(emscripten::val data_buffer, webarkit::ColorSpace colorSpace) {
-  auto u8 =
-      emscripten::convertJSArrayToNumberVector<uint8_t>(data_buffer);
-  manager.processFrameData(u8.data(), this->videoWidth,
-                           this->videoHeight, colorSpace);
+    auto u8 = emscripten::convertJSArrayToNumberVector<uint8_t>(data_buffer);
+    manager.processFrameData(u8.data(), this->videoWidth, this->videoHeight, colorSpace);
 }
 
-void WebARKit::setLogLevel(int logLevel) {
-  manager.setLogLevel(logLevel);
-}
+void WebARKit::setLogLevel(int logLevel) { manager.setLogLevel(logLevel); }
 
 emscripten::val WebARKit::getHomography() {
-  std::vector<double> output;
-   output = manager.getOutputData();
-  emscripten::val homography = emscripten::val::array();
-  for (auto i = 0; i < 9; i++) {
-    homography.call<void>("push", output[i]);
-  }
-  return homography;
+    std::vector<double> output;
+    output = manager.getOutputData();
+    emscripten::val homography = emscripten::val::array();
+    for (auto i = 0; i < 9; i++) {
+        homography.call<void>("push", output[i]);
+    }
+    return homography;
 }
 
+emscripten::val WebARKit::getPoseMatrix() {
+    cv::Mat poseMatrix = manager.getPoseMatrix();
+    emscripten::val pose = emscripten::val::array();
+    for (auto i = 0; i < 12; i++) {
+        pose.call<void>("push", poseMatrix.at<double>(i));
+    }
+    return pose;
+}
 
 emscripten::val WebARKit::getCorners() {
-   std::vector<double> output;
-  output = manager.getOutputData();
-  emscripten::val corners = emscripten::val::array();
-  for (auto i = 9; i < 17; i++) {
-    corners.call<void>("push", output[i]);
-  }
-  return corners;
+    std::vector<double> output;
+    output = manager.getOutputData();
+    emscripten::val corners = emscripten::val::array();
+    for (auto i = 9; i < 17; i++) {
+        corners.call<void>("push", output[i]);
+    }
+    return corners;
 }
 
-bool WebARKit::isValid() {
-  return manager.isValid();
-}
+bool WebARKit::isValid() { return manager.isValid(); }
 
 #include "bindings.cpp"

emscripten/WebARKitJS.h

@@ -35,6 +35,7 @@ class WebARKit {
     void processFrame(emscripten::val data_buffer, webarkit::ColorSpace colorSpace);
     void setLogLevel(int logLevel);
     emscripten::val getHomography();
+    emscripten::val getPoseMatrix();
     emscripten::val getCorners();
     bool isValid();
 

emscripten/bindings.cpp

@@ -27,6 +27,7 @@ EMSCRIPTEN_BINDINGS(constant_bindings) {
       .function("processFrame", &WebARKit::processFrame)
       .function("setLogLevel", &WebARKit::setLogLevel)
       .function("getHomography", &WebARKit::getHomography)
+      .function("getPoseMatrix", &WebARKit::getPoseMatrix)
       .function("getCorners", &WebARKit::getCorners)
       .function("isValid", &WebARKit::isValid);
 };

examples/worker.js

@@ -34,6 +34,7 @@ function initTracker(msg) {
         type: "found",
         corners: JSON.stringify(event.data.corners),
         matrix: JSON.stringify(event.data.matrix),
+        pose: JSON.stringify(event.data.pose),
       };
     });
   };

examples/worker_setup.js

@@ -91,6 +91,7 @@ window.onload = async function () {
       arElem.style.display = "none";
     } else {
       arElem.style.display = "block";
+      console.log("pose matrix: ", JSON.parse(msg.pose));
       drawCorners(JSON.parse(msg.corners));
       transformElem(JSON.parse(msg.matrix), arElem);
     }

src/WebARKitController.js

@@ -84,12 +84,14 @@ export default class WebARKitController {
   process_raw(imageData) {
     let corners = [];
     let matrix = [];
+    let pose = [];
     this.processFrame(imageData);
 
     if(this.isValid()) {
 
       corners = this.getCorners();
       matrix = this.getHomography();
+      pose = this.getPoseMatrix();
 
       this.dispatchEvent({
         name: "getMarker",
@@ -98,7 +100,8 @@ export default class WebARKitController {
           index: 0,
           type: this.trackerType,
           corners: corners,
-          matrix: matrix
+          matrix: matrix,
+          pose: pose
         },
       })
     }
@@ -124,6 +127,10 @@ export default class WebARKitController {
     return this.webarkit.getHomography();
   }
 
+  getPoseMatrix() {
+    return this.webarkit.getPoseMatrix();
+  }
+
   getCorners() {
     return this.webarkit.getCorners();
   }

tools/makem.js

@@ -139,6 +139,7 @@ var webarkit_sources = [
     '../WebARKitCamera.cpp',
     '../WebARKitLog.cpp',
     '../WebARKitManager.cpp',
+    '../WebARKitPattern.cpp',
     'WebARKitOpticalTracking/WebARKitTracker.cpp',
     'WebARKitOpticalTracking/WebARKitConfig.cpp'
 ].map(function (src) {
@@ -175,10 +176,10 @@ var DEBUG_FLAGS = ' ';
 
 if (DEBUG) {
     // Choose your Debug options
-    //DEBUG_FLAGS += ' -gsource-map -fsanitize=undefined ';
-    //DEBUG_FLAGS += ' -s ASSERTIONS=2 '
+    DEBUG_FLAGS += ' -gsource-map -fsanitize=undefined ';
+    DEBUG_FLAGS += ' -s ASSERTIONS=2 '
     //DEBUG_FLAGS += ' --profiling '
-    //DEBUG_FLAGS += '  -s DEMANGLE_SUPPORT=1 ';
+    DEBUG_FLAGS += '  -s DEMANGLE_SUPPORT=1 ';
     // WEBARKIT_DEBUG define flag is used to display additional debug information in the console
     DEBUG_FLAGS += ' -DWEBARKIT_DEBUG '
 }