new WebARKitGL collection of GL functions

WebARKit/WebARKitManager.cpp

@@ -89,6 +89,12 @@ cv::Mat WebARKitManager::getPoseMatrix() {
     return m_tracker->getPoseMatrix();
 }
 
+std::array<float, 16> WebARKitManager::getTransformationMatrix() {
+    std::array<float, 16> transformationMatrix;
+    arglCameraViewRHf(m_tracker->getPoseMatrix(), transformationMatrix, 1.0f);
+    return transformationMatrix;
+}
+
 bool WebARKitManager::isValid() {
   return m_tracker->isValid();
 }

WebARKit/include/WebARKitGL.h

@@ -0,0 +1,54 @@
+#ifndef WEBARKITGL_H
+#define WEBARKITGL_H
+
+#include <opencv2/core.h>
+
+void arglCameraViewRHf(float para[3][4], float m_modelview[16], const float scale) {
+    m_modelview[0 + 0 * 4] = para[0][0]; // R1C1
+    m_modelview[0 + 1 * 4] = para[0][1]; // R1C2
+    m_modelview[0 + 2 * 4] = para[0][2];
+    m_modelview[0 + 3 * 4] = para[0][3];
+    m_modelview[1 + 0 * 4] = -para[1][0]; // R2
+    m_modelview[1 + 1 * 4] = -para[1][1];
+    m_modelview[1 + 2 * 4] = -para[1][2];
+    m_modelview[1 + 3 * 4] = -para[1][3];
+    m_modelview[2 + 0 * 4] = -para[2][0]; // R3
+    m_modelview[2 + 1 * 4] = -para[2][1];
+    m_modelview[2 + 2 * 4] = -para[2][2];
+    m_modelview[2 + 3 * 4] = -para[2][3];
+    m_modelview[3 + 0 * 4] = 0.0f;
+    m_modelview[3 + 1 * 4] = 0.0f;
+    m_modelview[3 + 2 * 4] = 0.0f;
+    m_modelview[3 + 3 * 4] = 1.0f;
+    if (scale != 0.0f) {
+        m_modelview[12] *= scale;
+        m_modelview[13] *= scale;
+        m_modelview[14] *= scale;
+    }
+}
+
+void arglCameraViewRHf(cv::Mat para, std::array<float, 16>& m_modelview, const float scale) {
+    m_modelview[0 + 0 * 4] = para.at(0, 0); // R1C1
+    m_modelview[0 + 1 * 4] = para.at(0, 1); // R1C2
+    m_modelview[0 + 2 * 4] = para.at(0, 2);
+    m_modelview[0 + 3 * 4] = para.at(0, 3);
+    m_modelview[1 + 0 * 4] = -para.at(1, 0); // R2
+    m_modelview[1 + 1 * 4] = -para.at(1, 1);
+    m_modelview[1 + 2 * 4] = -para.at(1, 2);
+    m_modelview[1 + 3 * 4] = -para.at(1, 3);
+    m_modelview[2 + 0 * 4] = -para.at(2, 0); // R3
+    m_modelview[2 + 1 * 4] = -para.at(2, 1);
+    m_modelview[2 + 2 * 4] = -para.at(2, 2);
+    m_modelview[2 + 3 * 4] = -para.at(2, 3);
+    m_modelview[3 + 0 * 4] = 0.0f;
+    m_modelview[3 + 1 * 4] = 0.0f;
+    m_modelview[3 + 2 * 4] = 0.0f;
+    m_modelview[3 + 3 * 4] = 1.0f;
+    if (scale != 0.0f) {
+        m_modelview[12] *= scale;
+        m_modelview[13] *= scale;
+        m_modelview[14] *= scale;
+    }
+}
+
+#endif // WEBARKITGL_H

WebARKit/include/WebARKitManager.h

@@ -39,6 +39,7 @@
 #define WEBARKIT_MANAGER_H
 
 #include <WebARKitLog.h>
+#include <WebARKitGL.h>
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h>
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h>
 
@@ -101,6 +102,8 @@ class WebARKitManager {
 
     cv::Mat getPoseMatrix();
 
+    std::array<float, 16> getTransformationMatrix();
+
     bool isValid();
 };