From e3cdf48fa74086baf6e7cc772339f14d6af094fd Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Sun, 3 Mar 2024 17:33:54 +0100
Subject: [PATCH] small improves - raise min. num. of matches to 8

---
 .../WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp | 2 +-
 .../WebARKitOpticalTracking/WebARKitTracker.cpp                 | 1 +
 .../WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h    | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
index 9727faf..89539e9 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
@@ -5,7 +5,7 @@ extern const double TEBLID_NN_MATCH_RATIO = 0.8f;
 extern const int DEFAULT_MAX_FEATURES = 8000;
 extern const int TEBLID_MAX_FEATURES = 10000;
 extern const int N = 10;
-extern const int MIN_NUM_MATCHES = 50;
+extern const int MIN_NUM_MATCHES = 8;
 extern const int maxLevel = 3; ///< Maximum number of levels in optical flow image pyramid.
 extern const cv::Size winSize(31, 31);
 extern const cv::TermCriteria termcrit(cv::TermCriteria::COUNT | cv::TermCriteria::EPS, 20, 0.03);
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
index 5bee56e..7dd5b23 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -25,6 +25,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
             _nn_match_ratio = DEFAULT_NN_MATCH_RATIO;
             minNumMatches = 15;
         }
+        WEBARKIT_LOGi("Min Num Matches: %d\n", minNumMatches);
         _camera->setupCamera(frameWidth, frameHeight);
         _camera->printSettings();
 
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
index 2a8c450..5295852 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
@@ -28,7 +28,7 @@ namespace webarkit {
     return cv::Mat(rows, cols, CV_8UC1, gray);
 }*/
 
-static auto convert2Grayscale(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
+static auto convert2Grayscale(cv::Mat& refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
     cv::Mat refGray;
 
     switch (colorSpace) {