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some cout's for debugging and provide
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cv::Mat as reference instead
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@kalwalt
kalwalt committed May 13, 2023
1 parent 63b56c4 commit 6c3d0c6
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Showing 2 changed files with 33 additions and 23 deletions.
52 changes: 31 additions & 21 deletions WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,17 @@
#include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h>

namespace webarkit {
static int gCameraID = 0;
//static int gCameraID = 0;

class WebARKitTracker::WebARKitTrackerImpl {
public:
WebARKitTrackerImpl()
: corners(4), initialized(false), output(17, 0.0), _valid(false), numMatches(0), _currentlyTrackedMarkers(0) {
_featureDetectorW = WebARKitFeatureDetector();
: corners(4), initialized(false), output(17, 0.0), _valid(false), numMatches(0)
{
_maxNumberOfMarkersToTrack = 1;
_featureDetectorW = WebARKitFeatureDetector();
_currentlyTrackedMarkers = 0;
//_maxNumberOfMarkersToTrack = 1;
_frameSizeX = 0;
_frameSizeY = 0;
_K = cv::Mat();
Expand Down Expand Up @@ -57,20 +60,23 @@ class WebARKitTracker::WebARKitTrackerImpl {
}
}

int loadARParam(std::string cparam_name, webarkit::TRACKER_TYPE trackerType) {
int loadARParam(std::string cparam_name, webarkit::TRACKER_TYPE trackerType, size_t xsize, size_t ysize) {
// ARParam param;
if (arParamLoad(cparam_name.c_str(), 1, &m_param) < 0) {
ARLOGe("loadCamera(): Error loading parameter file %s for camera.", cparam_name.c_str());
return -1;
}
std::cout << "param xsize: " << m_param.xsize << std::endl;
std::cout << "dist function version: " << m_param.dist_function_version << std::endl;
int cameraID = gCameraID++;
cameraParams[cameraID] = m_param;
//std::cout << "param xsize: " << m_param.xsize << std::endl;
//std::cout << "dist function version: " << m_param.dist_function_version << std::endl;
//int cameraID = gCameraID++;
//cameraParams[cameraID] = m_param;

initialize_w(trackerType, xsize, ysize);

initialize_w(trackerType, m_param.xsize, m_param.ysize);
//initialize_w(trackerType, m_param.xsize, m_param.ysize);

return cameraID;
//return cameraID;
return 1;
}

void AddMarker(uchar* buff, std::string fileName, int width, int height, int uid, float scale) {
Expand Down Expand Up @@ -160,7 +166,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
grayFrame.release();
};

void ProcessFrameData_w(unsigned char* frame) {
void ProcessFrameData_w(uchar* frame) {
// Just wraps `frame` rather than copying it, i.e. `frame` must remain valid
// for the duration of the call.
cv::Mat newFrame(_frameSizeY, _frameSizeX, CV_8UC1, frame);
Expand Down Expand Up @@ -400,7 +406,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
return featureMask;
}

bool CanDetectNewFeatures() { return (_currentlyTrackedMarkers < _maxNumberOfMarkersToTrack); }
//bool CanDetectNewFeatures() { return (_currentlyTrackedMarkers < _maxNumberOfMarkersToTrack); }
bool CanDetectNewFeatures() { return true; }

bool CanMatchNewFeatures(int detectedFeaturesSize) { return (detectedFeaturesSize > minRequiredDetectedFeatures); }

Expand All @@ -410,6 +417,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
std::vector<cv::KeyPoint> finalMatched1, finalMatched2;
for (int i = 0; i < _trackables.size(); i++) {
if (!_trackables[i]._isDetected) {
std::cout << "trackable to match" << std::endl;
std::vector<std::vector<cv::DMatch>> matches =
_featureDetectorW.MatchFeatures(newFrameDescriptors, _trackables[i]._descriptors);
if (matches.size() > minRequiredDetectedFeatures) {
Expand Down Expand Up @@ -445,7 +453,7 @@ class WebARKitTracker::WebARKitTrackerImpl {

HomographyInfo homoInfo = GetHomographyInliers(Points(finalMatched2), Points(finalMatched1));
if (homoInfo.validHomography) {
// std::cout << "New marker detected" << std::endl;
std::cout << "New marker detected" << std::endl;
_trackables[bestMatchIndex]._trackSelection.SelectPoints();
_trackables[bestMatchIndex]._trackSelection.SetHomography(homoInfo.homography);
_trackables[bestMatchIndex]._isDetected = true;
Expand Down Expand Up @@ -570,7 +578,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
return testVertexPoints;
}

cv::Mat MatchTemplateToImage(cv::Mat searchImage, cv::Mat warpedTemplate) {
cv::Mat MatchTemplateToImage(cv::Mat& searchImage, cv::Mat& warpedTemplate) {
int result_cols = searchImage.cols - warpedTemplate.cols + 1;
int result_rows = searchImage.rows - warpedTemplate.rows + 1;
if (result_cols > 0 && result_rows > 0) {
Expand All @@ -592,7 +600,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
}
}

void RunTemplateMatching(cv::Mat frame, int trackableId) {
void RunTemplateMatching(cv::Mat& frame, int trackableId) {
// std::cout << "Starting template match" << std::endl;
std::vector<cv::Point2f> finalTemplatePoints, finalTemplateMatchPoints;
// Get a handle on the corresponding points from current image and the marker
Expand Down Expand Up @@ -677,14 +685,16 @@ class WebARKitTracker::WebARKitTrackerImpl {
}
}

void BuildImagePyramid(cv::Mat frame) { cv::buildOpticalFlowPyramid(frame, _pyramid, winSize, maxLevel); }
void BuildImagePyramid(cv::Mat& frame) { cv::buildOpticalFlowPyramid(frame, _pyramid, winSize, maxLevel); }

void SwapImagePyramid() { _pyramid.swap(_prevPyramid); }

void ProcessFrame_w(cv::Mat frame) {
void ProcessFrame_w(cv::Mat& frame) {
// std::cout << "Building pyramid" << std::endl;
BuildImagePyramid(frame);
// std::cout << "Drawing detected markers to mask" << std::endl;
std::cout << "Currently tracked markers: " << _currentlyTrackedMarkers << std::endl;
std::cout << "Max n. markers 2 track: " << _maxNumberOfMarkersToTrack << std::endl;
if (CanDetectNewFeatures()) {
std::cout << "Detecting new features" << std::endl;
cv::Mat detectionFrame;
Expand All @@ -701,13 +711,13 @@ class WebARKitTracker::WebARKitTrackerImpl {
}
if (_frameCount > 0) {
if ((_currentlyTrackedMarkers > 0) && (_prevPyramid.size() > 0)) {
// std::cout << "Begin tracking phase" << std::endl;
std::cout << "Begin tracking phase" << std::endl;
for (int i = 0; i < _trackables.size(); i++) {
if (_trackables[i]._isDetected) {
std::vector<cv::Point2f> trackablePoints = SelectTrackablePoints(i);
std::vector<cv::Point2f> trackablePointsWarped =
_trackables[i]._trackSelection.GetSelectedFeaturesWarped();
// std::cout << "Starting Optical Flow" << std::endl;
std::cout << "Starting Optical Flow" << std::endl;
RunOpticalFlow(i, trackablePoints, trackablePointsWarped);
if (_trackables[i]._isTracking) {
// Refine optical flow with template match.
Expand Down Expand Up @@ -775,8 +785,8 @@ void WebARKitTracker::initTracker(uchar* refData, size_t refCols, size_t refRows
_trackerImpl->initTracker(refData, refCols, refRows);
}

void WebARKitTracker::loadARParam(std::string paramName, webarkit::TRACKER_TYPE trackerType) {
_trackerImpl->loadARParam(paramName, trackerType);
void WebARKitTracker::loadARParam(std::string paramName, webarkit::TRACKER_TYPE trackerType, size_t xsize, size_t ysize) {
_trackerImpl->loadARParam(paramName, trackerType, xsize, ysize);
}

void WebARKitTracker::AddMarker(uchar* buff, std::string fileName, int width, int height, int uid, float scale) {
Expand Down
4 changes: 2 additions & 2 deletions ...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ class WebARKitTracker {

void initTracker(uchar* refData, size_t refCols, size_t refRows);

void loadARParam(std::string paramName, webarkit::TRACKER_TYPE trackerType);
void loadARParam(std::string paramName, webarkit::TRACKER_TYPE trackerType, size_t xsize, size_t ysize);

void AddMarker(uchar* buff, std::string fileName, int width, int height, int uid, float scale);

Expand All @@ -36,7 +36,7 @@ class WebARKitTracker {

void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace);

void ProcessFrameData_w(uchar* frameData);
void ProcessFrameData_w(uchar* frame);

std::vector<double> getOutputData();

Expand Down

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