sphere is displayed but don't move

- new getGLViewMatrix function
webarkit · Nov 18, 2023 · a68af51 · a68af51
1 parent 8cc8572
commit a68af51
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Showing 6 changed files with 25 additions and 12 deletions.
diff --git a/WebARKit/WebARKitManager.cpp b/WebARKit/WebARKitManager.cpp
@@ -101,6 +101,10 @@ cv::Mat WebARKitManager::getPoseMatrix() {
     return m_tracker->getPoseMatrix();
 }
 
+cv::Mat WebARKitManager::getGLViewMatrix() {
+    return m_tracker->getGLViewMatrix();
+}
+
 std::array<double, 16> WebARKitManager::getTransformationMatrix() {
     std::array<double, 16> transformationMatrix;
     webarkit::arglCameraViewRHf(m_tracker->getPoseMatrix(), transformationMatrix, 1.0f);

diff --git a/WebARKit/WebARKitPattern.cpp b/WebARKit/WebARKitPattern.cpp
@@ -8,10 +8,11 @@ WebARKitPatternTrackingInfo::WebARKitPatternTrackingInfo() {
 }
 
 void WebARKitPatternTrackingInfo::computePose(std::vector<cv::Point3f>& treeDPoints,
-                                              std::vector<cv::Point2f>& imgPoints, cv::Mat& caMatrix,
-                                              cv::Mat& distCoeffs) {
-    cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1); // output rotation vector
-    cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1); // output translation vector
+                                              std::vector<cv::Point2f>& imgPoints, const cv::Matx33f& caMatrix,
+                                              const cv::Mat& distCoeffs) {
+    //cv::Mat rvec = cv::Mat::zeros(3, 1, CV_64FC1); // output rotation vector
+    //cv::Mat tvec = cv::Mat::zeros(3, 1, CV_64FC1); // output translation vector
+    cv::Mat rvec, tvec;
 
     cv::solvePnPRansac(treeDPoints, imgPoints, caMatrix, distCoeffs, rvec, tvec);
 
@@ -50,7 +51,7 @@ void WebARKitPatternTrackingInfo::invertPose() {
     cvToGl.at<double>(1, 1) = -1.0f; // Invert the y axis
     cvToGl.at<double>(2, 2) = -1.0f; // invert the z axis
     cvToGl.at<double>(3, 3) = 1.0f;
-    // viewMatrix = cvToGl * viewMatrix;
+
     pose3d = cvToGl * pose3d;
 
     // pose3d = invertPose;

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -42,9 +42,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
         }
 
         for (auto i = 0; i < 4; i++) {
-            for (auto j = 0; j < 1; j++) {
-                WEBARKIT_LOGi("Distortion coefficients: %.2f\n", m_distortionCoeff.at<double>(i, j));
-            }
+            WEBARKIT_LOGi("Distortion coefficients: %.2f\n", m_distortionCoeff.at<double>(i, 0));
         }
 
         webarkit::cameraProjectionMatrix(camData, 0.1, 1000.0, frameWidth, frameHeight, m_cameraProjectionMatrix);
@@ -158,6 +156,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
 
     cv::Mat getPoseMatrix() { return _patternTrackingInfo.pose3d; };
 
+    cv::Mat getGLViewMatrix() { return _patternTrackingInfo.glViewMatrix; };
+
     std::array<double, 16> getCameraProjectionMatrix() { return m_cameraProjectionMatrix; };
 
     bool isValid() { return _valid; };
@@ -278,8 +278,10 @@ class WebARKitTracker::WebARKitTrackerImpl {
                 fill_output(m_H);
 
                 warpedCorners = getSelectedFeaturesWarped(m_H);
-                auto camM = cv::Mat(m_camMatrix);
-                _patternTrackingInfo.computePose(_pattern.points3d, warpedCorners, camM, m_distortionCoeff);
+
+                _patternTrackingInfo.computePose(_pattern.points3d, warpedCorners, m_camMatrix, m_distortionCoeff);
+
+                _patternTrackingInfo.computeGLviewMatrix();
 
                 _isDetected = true;
             } else {
@@ -477,6 +479,8 @@ std::vector<double> WebARKitTracker::getOutputData() { return _trackerImpl->getO
 
 cv::Mat WebARKitTracker::getPoseMatrix() { return _trackerImpl->getPoseMatrix(); }
 
+cv::Mat WebARKitTracker::getGLViewMatrix() { return _trackerImpl->getGLViewMatrix(); }
+
 std::array<double, 16> WebARKitTracker::getCameraProjectionMatrix() {
     return _trackerImpl->getCameraProjectionMatrix();
 }

diff --git a/...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h b/...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
@@ -33,6 +33,8 @@ class WebARKitTracker {
 
     cv::Mat getPoseMatrix();
 
+    cv::Mat getGLViewMatrix();
+
     std::array<double, 16> getCameraProjectionMatrix();
 
     bool isValid();

diff --git a/WebARKit/include/WebARKitManager.h b/WebARKit/include/WebARKitManager.h
@@ -104,6 +104,8 @@ class WebARKitManager {
 
     cv::Mat getPoseMatrix();
 
+    cv::Mat getGLViewMatrix();
+
     std::array<double, 16> getTransformationMatrix();
 
     std::array<double, 16> getCameraProjectionMatrix();

diff --git a/WebARKit/include/WebARKitPattern.h b/WebARKit/include/WebARKitPattern.h
@@ -34,8 +34,8 @@ class WebARKitPatternTrackingInfo {
     /**
      * Compute pattern pose using PnP algorithm
      */
-    void computePose(std::vector<cv::Point3f>& treeDPoints, std::vector<cv::Point2f>& imgPoints, cv::Mat& caMatrix,
-                     cv::Mat& distCoeffs);
+    void computePose(std::vector<cv::Point3f>& treeDPoints, std::vector<cv::Point2f>& imgPoints, const cv::Matx33f& caMatrix,
+                     const cv::Mat& distCoeffs);
 
     void computeGLviewMatrix();