Filtering feature

emscripten/ARToolKitJS.cpp

@@ -53,6 +53,9 @@ struct arController {
 
 	KpmHandle* kpmHandle;
 	AR2HandleT* ar2Handle;
+	ARFilterTransMatInfo *ftmi;
+	ARdouble   filterCutoffFrequency = AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT;
+	ARdouble   filterSampleRate = AR_FILTER_TRANS_MAT_SAMPLE_RATE_DEFAULT;
 
 	int detectedPage = -2;  // -2 Tracking not inited, -1 tracking inited OK, >= 0 tracking online on page.
 
@@ -108,10 +111,12 @@ extern "C" {
 		int kpmResultNum = -1;
 
 		float trans[3][4];
+		ARdouble transF[3][4];
 		float err = -1;
 		if (arc->detectedPage == -2) {
 			kpmMatching( arc->kpmHandle, arc->videoLuma );
 			kpmGetResult( arc->kpmHandle, &kpmResult, &kpmResultNum );
+			arc->ftmi = arFilterTransMatInit(arc->filterSampleRate, arc->filterCutoffFrequency);
 			int i, j, k;
 			int flag = -1;
 			for( i = 0; i < kpmResultNum; i++ ) {
@@ -139,6 +144,14 @@ extern "C" {
 
 		if (arc->detectedPage >= 0) {
 			int trackResult = ar2TrackingMod(arc->ar2Handle, arc->surfaceSet[arc->detectedPage], arc->videoFrame, trans, &err);
+			for (int j = 0; j < 3; j++) {
+				for (int k = 0; k < 4; k++) {
+					transF[j][k] = trans[j][k];
+				}
+			}
+			if (arFilterTransMat(arc->ftmi, transF, 1) < 0) {
+					ARLOGe("arFilterTransMat error with marker %d.\n", markerIndex);
+			}
 			if( trackResult < 0 ) {
 				ARLOGi("Tracking lost. %d\n", trackResult);
 				arc->detectedPage = -2;
@@ -179,20 +192,20 @@ extern "C" {
 				markerIndex,
 				err,
 
-				trans[0][0],
-				trans[0][1],
-				trans[0][2],
-				trans[0][3],
+				transF[0][0],
+				transF[0][1],
+				transF[0][2],
+				transF[0][3],
 
-				trans[1][0],
-				trans[1][1],
-				trans[1][2],
-				trans[1][3],
+				transF[1][0],
+				transF[1][1],
+				transF[1][2],
+				transF[1][3],
 
-				trans[2][0],
-				trans[2][1],
-				trans[2][2],
-				trans[2][3]
+				transF[2][0],
+				transF[2][1],
+				transF[2][2],
+				transF[2][3]
 			);
         } else {
 			EM_ASM_({
@@ -347,6 +360,10 @@ extern "C" {
 			arPattDetach(arc->arhandle);
 			arDeleteHandle(arc->arhandle);
 			arc->arhandle = NULL;
+			if (arc->ftmi) {
+					arFilterTransMatFinal(arc->ftmi);
+					arc->ftmi = NULL;
+			}
 		}
 		if (arc->ar3DHandle != NULL) {
 			ar3DDeleteHandle(&(arc->ar3DHandle));

emscripten/FilterNFT.c

@@ -0,0 +1,126 @@
+/*
+ *  FilterNFT.c
+ *  //from the original file ARMarkerNFT.c in this commit:
+ *  https://github.com/kalwalt/jsartoolkit5/commit/6eb0cabd00ae7ad99053f70640936ad61543e38e#diff-43441e657d18818bd1f722c762b8460b
+ *
+ *  ARToolKit5
+ *
+ *  Disclaimer: IMPORTANT:  This Daqri software is supplied to you by Daqri
+ *  LLC ("Daqri") in consideration of your agreement to the following
+ *  terms, and your use, installation, modification or redistribution of
+ *  this Daqri software constitutes acceptance of these terms.  If you do
+ *  not agree with these terms, please do not use, install, modify or
+ *  redistribute this Daqri software.
+ *
+ *  In consideration of your agreement to abide by the following terms, and
+ *  subject to these terms, Daqri grants you a personal, non-exclusive
+ *  license, under Daqri's copyrights in this original Daqri software (the
+ *  "Daqri Software"), to use, reproduce, modify and redistribute the Daqri
+ *  Software, with or without modifications, in source and/or binary forms;
+ *  provided that if you redistribute the Daqri Software in its entirety and
+ *  without modifications, you must retain this notice and the following
+ *  text and disclaimers in all such redistributions of the Daqri Software.
+ *  Neither the name, trademarks, service marks or logos of Daqri LLC may
+ *  be used to endorse or promote products derived from the Daqri Software
+ *  without specific prior written permission from Daqri.  Except as
+ *  expressly stated in this notice, no other rights or licenses, express or
+ *  implied, are granted by Daqri herein, including but not limited to any
+ *  patent rights that may be infringed by your derivative works or by other
+ *  works in which the Daqri Software may be incorporated.
+ *
+ *  The Daqri Software is provided by Daqri on an "AS IS" basis.  DAQRI
+ *  MAKES NO WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION
+ *  THE IMPLIED WARRANTIES OF NON-INFRINGEMENT, MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE, REGARDING THE DAQRI SOFTWARE OR ITS USE AND
+ *  OPERATION ALONE OR IN COMBINATION WITH YOUR PRODUCTS.
+ *
+ *  IN NO EVENT SHALL DAQRI BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL
+ *  OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) ARISING IN ANY WAY OUT OF THE USE, REPRODUCTION,
+ *  MODIFICATION AND/OR DISTRIBUTION OF THE DAQRI SOFTWARE, HOWEVER CAUSED
+ *  AND WHETHER UNDER THEORY OF CONTRACT, TORT (INCLUDING NEGLIGENCE),
+ *  STRICT LIABILITY OR OTHERWISE, EVEN IF DAQRI HAS BEEN ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ *  Copyright 2015 Daqri LLC. All Rights Reserved.
+ *  Copyright 2013-2015 ARToolworks, Inc. All Rights Reserved.
+ *
+ *  Author(s): Philip Lamb.
+ *  Modified version by @kalwalt Walter Perdan.
+ *
+ */
+
+#include "FilterNFT.h"
+
+#include <stdio.h>
+#include <string.h>
+#ifdef _WIN32
+#  include <windows.h>
+#  define MAXPATHLEN MAX_PATH
+#else
+#  include <sys/param.h> // MAXPATHLEN
+#endif
+
+
+const ARPose ARPoseUnity = {{1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f}};
+
+void filterNFTWithTransMat(ARMarkerNFT **markersNFT_out, int *markersNFTCount_out, int filterValue)
+{
+  int            tempI;
+  ARMarkerNFT   *markersNFT;
+  int            markersNFTCount;
+  ARdouble       tempF;
+  int            i;
+
+  if (!markersNFT_out || !markersNFTCount_out) return;
+
+  arMallocClear(markersNFT, ARMarkerNFT, tempI);
+  markersNFTCount = tempI;
+
+  for (i = 0; i < markersNFTCount; i++) {
+       markersNFT[i].valid = markersNFT[i].validPrev = FALSE;
+       markersNFT[i].pageNo = -1;
+       if (filterValue == 0){
+         markersNFT[i].filterCutoffFrequency = AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT;
+         markersNFT[i].filterSampleRate = AR_FILTER_TRANS_MAT_SAMPLE_RATE_DEFAULT;
+       } else {
+         markersNFT[i].filterCutoffFrequency = filterValue;
+       }
+
+  }
+
+  // If not all markers were read, an error occurred.
+  if (i < markersNFTCount) {
+
+      // Clean up.
+      for (; i >= 0; i--) {
+          if (markersNFT[i].ftmi) arFilterTransMatFinal(markersNFT[i].ftmi);
+      }
+      free(markersNFT);
+
+      *markersNFTCount_out = 0;
+      *markersNFT_out = NULL;
+      return;
+  }
+
+  *markersNFT_out = markersNFT;
+
+}
+
+void deleteMarkers(ARMarkerNFT **markersNFT_p, int *markersNFTCount_p)
+{
+    int i;
+
+    if (!markersNFT_p || !*markersNFT_p || !*markersNFTCount_p || *markersNFTCount_p < 1) return;
+
+    for (i = 0; i < *markersNFTCount_p; i++) {
+        if ((*markersNFT_p)[i].ftmi) {
+            arFilterTransMatFinal((*markersNFT_p)[i].ftmi);
+            (*markersNFT_p)[i].ftmi = NULL;
+        }
+    }
+    free(*markersNFT_p);
+    *markersNFT_p = NULL;
+    *markersNFTCount_p = 0;
+}

emscripten/FilterNFT.h

@@ -0,0 +1,103 @@
+/*
+ *  FilterNFT.c
+ *  //from the original file ARMarkerNFT.h in this commit:
+ *  https://github.com/kalwalt/jsartoolkit5/commit/6eb0cabd00ae7ad99053f70640936ad61543e38e#diff-43441e657d18818bd1f722c762b8460b
+ *
+ *  ARToolKit5
+ *
+ *  Disclaimer: IMPORTANT:  This Daqri software is supplied to you by Daqri
+ *  LLC ("Daqri") in consideration of your agreement to the following
+ *  terms, and your use, installation, modification or redistribution of
+ *  this Daqri software constitutes acceptance of these terms.  If you do
+ *  not agree with these terms, please do not use, install, modify or
+ *  redistribute this Daqri software.
+ *
+ *  In consideration of your agreement to abide by the following terms, and
+ *  subject to these terms, Daqri grants you a personal, non-exclusive
+ *  license, under Daqri's copyrights in this original Daqri software (the
+ *  "Daqri Software"), to use, reproduce, modify and redistribute the Daqri
+ *  Software, with or without modifications, in source and/or binary forms;
+ *  provided that if you redistribute the Daqri Software in its entirety and
+ *  without modifications, you must retain this notice and the following
+ *  text and disclaimers in all such redistributions of the Daqri Software.
+ *  Neither the name, trademarks, service marks or logos of Daqri LLC may
+ *  be used to endorse or promote products derived from the Daqri Software
+ *  without specific prior written permission from Daqri.  Except as
+ *  expressly stated in this notice, no other rights or licenses, express or
+ *  implied, are granted by Daqri herein, including but not limited to any
+ *  patent rights that may be infringed by your derivative works or by other
+ *  works in which the Daqri Software may be incorporated.
+ *
+ *  The Daqri Software is provided by Daqri on an "AS IS" basis.  DAQRI
+ *  MAKES NO WARRANTIES, EXPRESS OR IMPLIED, INCLUDING WITHOUT LIMITATION
+ *  THE IMPLIED WARRANTIES OF NON-INFRINGEMENT, MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE, REGARDING THE DAQRI SOFTWARE OR ITS USE AND
+ *  OPERATION ALONE OR IN COMBINATION WITH YOUR PRODUCTS.
+ *
+ *  IN NO EVENT SHALL DAQRI BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL
+ *  OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ *  INTERRUPTION) ARISING IN ANY WAY OUT OF THE USE, REPRODUCTION,
+ *  MODIFICATION AND/OR DISTRIBUTION OF THE DAQRI SOFTWARE, HOWEVER CAUSED
+ *  AND WHETHER UNDER THEORY OF CONTRACT, TORT (INCLUDING NEGLIGENCE),
+ *  STRICT LIABILITY OR OTHERWISE, EVEN IF DAQRI HAS BEEN ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ *  Copyright 2015 Daqri LLC. All Rights Reserved.
+ *  Copyright 2013-2015 ARToolworks, Inc. All Rights Reserved.
+ *
+ *  Author(s): Philip Lamb.
+ *  Modified version by @kalwalt Walter Perdan.
+ *
+ */
+
+#ifndef __FilterNFT_h__
+#define __FilterNFT_h__
+
+#include <AR/ar.h>
+#include <AR/arFilterTransMat.h>
+#ifndef _MSC_VER
+#  include <stdbool.h>
+#else
+typedef unsigned char bool;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    ARdouble v[3];
+} ARVec3;
+
+typedef struct {
+    ARdouble T[16]; // Position and orientation, column-major order. (position(x,y,z) = {T[12], T[13], T[14]}
+} ARPose;
+
+extern const ARPose ARPoseUnity;
+
+typedef struct _ARMarkerNFT {
+    // ARMarker protected
+    //bool       valid;
+    //bool       validPrev;
+    ARdouble   trans[3][4];
+    ARPose     pose;
+    ARdouble   marker_width;
+    ARdouble   marker_height;
+    // ARMarker private
+    ARFilterTransMatInfo *ftmi;
+    ARdouble   filterCutoffFrequency;
+    ARdouble   filterSampleRate;
+    // ARMarkerNFT
+    int        pageNo;
+    char      *datasetPathname;
+} ARMarkerNFT;
+
+void filterNFTWithTransMat(ARMarkerNFT **markersNFT_out, int *markersNFTCount_out, int filterValue);
+
+void deleteMarkers(ARMarkerNFT **markersNFT_p, int *markersNFTCount_p);
+
+#ifdef __cplusplus
+}
+#endif
+#endif // !__FilterNFT_h__

examples/nft_improved_worker/index.html

@@ -12,6 +12,7 @@ <h3>jsartoolkit5 demos with ar2Tracking</h3>
     <ul>
         <li><a href="threejs_worker_gltf.html">Show a 3D, animated model. Uses web worker. Has loader. Has interpolation.</a></li>
         <li><a href="main_threejs_worker.html">Show a 3D sphere. Uses web worker. Has loader. Has interpolation. Asm version. (high framerate)</a></li>
+        <li><a href="main_threejs_filter_worker.html">Show a 3D sphere. Uses web worker. Has loader. No interpolation with filtering. Asm version. (high framerate)</a></li>
         <li><a href="main_threejs_wasm_worker.html">Show a 3D sphere. Uses web worker. Has loader. Has interpolation. Uses web assembly</a></li>
         <li><a href="main.html">Draw a red rectangle around the image. Single-threaded. No loader</a></li>
         <li><a href="main_worker.html">Draw a red rectangle around the image. Uses web worker. No loader</a></li>