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new processFrame2 function under testing
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WebARKit/WebARKitTrackers/WebARKitOpticalTracking/TrackedPoint.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,60 @@ | ||
| /* | ||
| * TrackedPoint.cpp | ||
| * artoolkitX | ||
| * | ||
| * This file is part of artoolkitX. | ||
| * | ||
| * artoolkitX is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU Lesser General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * artoolkitX is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU Lesser General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU Lesser General Public License | ||
| * along with artoolkitX. If not, see <http://www.gnu.org/licenses/>. | ||
| * | ||
| * As a special exception, the copyright holders of this library give you | ||
| * permission to link this library with independent modules to produce an | ||
| * executable, regardless of the license terms of these independent modules, and to | ||
| * copy and distribute the resulting executable under terms of your choice, | ||
| * provided that you also meet, for each linked independent module, the terms and | ||
| * conditions of the license of that module. An independent module is a module | ||
| * which is neither derived from nor based on this library. If you modify this | ||
| * library, you may extend this exception to your version of the library, but you | ||
| * are not obligated to do so. If you do not wish to do so, delete this exception | ||
| * statement from your version. | ||
| * | ||
| * Copyright 2018 Realmax, Inc. | ||
| * Copyright 2015 Daqri, LLC. | ||
| * Copyright 2010-2015 ARToolworks, Inc. | ||
| * | ||
| * Author(s): Philip Lamb, Daniel Bell. | ||
| * Modified for WebARKit by @kalwalt - Walter Perdan - 2024 | ||
| * | ||
| */ | ||
|
|
||
| #include <WebARKitTrackers/WebARKitOpticalTracking/TrackedPoint.h> | ||
|
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| bool TrackedPoint::IsTracking() | ||
| { | ||
| return tracking; | ||
| } | ||
|
|
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| void TrackedPoint::SetTracking(bool newTracking) | ||
| { | ||
| tracking = newTracking; | ||
| } | ||
|
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| bool TrackedPoint::IsSelected() | ||
| { | ||
| return selected; | ||
| } | ||
|
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| void TrackedPoint::SetSelected(bool newSelected) | ||
| { | ||
| selected = newSelected; | ||
| } |
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194
WebARKit/WebARKitTrackers/WebARKitOpticalTracking/TrackingPointSelector.cpp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,194 @@ | ||
| /* | ||
| * TrackingPointSelector.cpp | ||
| * artoolkitX | ||
| * | ||
| * This file is part of artoolkitX. | ||
| * | ||
| * artoolkitX is free software: you can redistribute it and/or modify | ||
| * it under the terms of the GNU Lesser General Public License as published by | ||
| * the Free Software Foundation, either version 3 of the License, or | ||
| * (at your option) any later version. | ||
| * | ||
| * artoolkitX is distributed in the hope that it will be useful, | ||
| * but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| * GNU Lesser General Public License for more details. | ||
| * | ||
| * You should have received a copy of the GNU Lesser General Public License | ||
| * along with artoolkitX. If not, see <http://www.gnu.org/licenses/>. | ||
| * | ||
| * As a special exception, the copyright holders of this library give you | ||
| * permission to link this library with independent modules to produce an | ||
| * executable, regardless of the license terms of these independent modules, and to | ||
| * copy and distribute the resulting executable under terms of your choice, | ||
| * provided that you also meet, for each linked independent module, the terms and | ||
| * conditions of the license of that module. An independent module is a module | ||
| * which is neither derived from nor based on this library. If you modify this | ||
| * library, you may extend this exception to your version of the library, but you | ||
| * are not obligated to do so. If you do not wish to do so, delete this exception | ||
| * statement from your version. | ||
| * | ||
| * Copyright 2018 Realmax, Inc. | ||
| * Copyright 2015 Daqri, LLC. | ||
| * Copyright 2010-2015 ARToolworks, Inc. | ||
| * | ||
| * Author(s): Philip Lamb, Daniel Bell. | ||
| * Modified for WebARKit by @kalwalt - Walter Perdan - 2024 | ||
| * | ||
| */ | ||
|
|
||
| #include <WebARKitTrackers/WebARKitOpticalTracking/TrackingPointSelector.h> | ||
|
|
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| TrackingPointSelector::TrackingPointSelector() | ||
| { | ||
| } | ||
|
|
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| TrackingPointSelector::TrackingPointSelector(std::vector<cv::Point2f> pts, int width, int height, int markerTemplateWidth) : | ||
| _reset(false), | ||
| _pts(pts) | ||
| { | ||
| DistributeBins(width, height, markerTemplateWidth); | ||
| } | ||
|
|
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| /** | ||
| @brief Iterates over \_pts and for each one, provided it doesn't intersect the image border, | ||
| creates a TrackedPoint representing a template () with a serially-increasing id from 0, and puts | ||
| it into the trackingPointsBin structure (a vector of pairs of (binIndex, trackingPoint). | ||
| */ | ||
| void TrackingPointSelector::DistributeBins(int width, int height, int markerTemplateWidth) | ||
| { | ||
| int numberOfBins = 10; | ||
|
|
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| // Split width and height dimensions into 10 bins each, for total of 100 bins. | ||
| int totalXBins = width/numberOfBins; | ||
| int totalYBins = height/numberOfBins; | ||
| // Init empty bins. | ||
| for (int i = 0; i < (numberOfBins * numberOfBins); i++) { | ||
| trackingPointBin.insert(std::pair<int, std::vector<TrackedPoint> >(i, std::vector<TrackedPoint>())); | ||
| } | ||
|
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| // Iterate the points and add points to each bin. | ||
| for (int i = 0, id = 0; i < _pts.size(); i++) { | ||
| int bx = (int)_pts[i].x/totalXBins; | ||
| int by = (int)_pts[i].y/totalYBins; | ||
| int index = bx + (by * numberOfBins); | ||
|
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| cv::Rect templateRoi = cv::Rect(_pts[i].x - markerTemplateWidth, _pts[i].y - markerTemplateWidth, markerTemplateWidth*2, markerTemplateWidth*2); | ||
| bool is_inside = (templateRoi & cv::Rect(0, 0, width, height)) == templateRoi; // templateRoi must not intersect image boundary. | ||
| if (is_inside) { | ||
| TrackedPoint newPt; | ||
| newPt.id = id; | ||
| newPt.pt = _pts[i]; | ||
| newPt.pt3d = cv::Point3f(_pts[i].x, _pts[i].y, 0); | ||
| newPt.markerRoi = templateRoi; | ||
| trackingPointBin[index].push_back(newPt); | ||
| id++; | ||
| } | ||
| } | ||
| } | ||
|
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| void TrackingPointSelector::SetHomography(cv::Mat newHomography) | ||
| { | ||
| _homography = newHomography; | ||
| } | ||
|
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| /// @return 3x3 cv::Mat (of type CV_64FC1, i.e. double) containing the homography. | ||
| cv::Mat TrackingPointSelector::GetHomography() | ||
| { | ||
| return _homography; | ||
| } | ||
|
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| void TrackingPointSelector::UpdatePointStatus(std::vector<uchar> status) | ||
| { | ||
| int index = 0; | ||
| for (std::vector<TrackedPoint>::iterator it = _selectedPts.begin(); it != _selectedPts.end(); ++it) { | ||
| if (it->tracking) { | ||
| it->SetTracking((int)status[index++]); | ||
| } | ||
| } | ||
| } | ||
|
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| void TrackingPointSelector::ResetSelection() | ||
| { | ||
| _reset = true; | ||
| } | ||
|
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| std::vector<cv::Point2f> TrackingPointSelector::GetInitialFeatures() | ||
| { | ||
| if (!_reset) return GetTrackedFeatures(); | ||
| _reset = false; | ||
|
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| // Reset state of all points to not selected and not tracking. | ||
| _selectedPts.clear(); | ||
| for (auto &bin : trackingPointBin) { | ||
| for (auto &trackPt : bin.second) { | ||
| trackPt.SetSelected(false); | ||
| trackPt.SetTracking(false); | ||
| } | ||
| } | ||
|
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| // Selects a random template from each bin for tracking. | ||
| std::vector<cv::Point2f> ret; | ||
| for (auto &bin : trackingPointBin) { | ||
| size_t pointCount = bin.second.size(); | ||
| if (pointCount > 0) { // If there are points in the bin. | ||
| // Select a random point from the bin. | ||
| int tIndex = pointCount > 1 ? rng.uniform(0, static_cast<int>(bin.second.size())) : 0; | ||
| bin.second[tIndex].SetSelected(true); | ||
| bin.second[tIndex].SetTracking(true); | ||
| _selectedPts.push_back(bin.second[tIndex]); | ||
|
|
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| ret.push_back(bin.second[tIndex].pt); | ||
| } | ||
| } | ||
| return ret; | ||
| } | ||
|
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| std::vector<cv::Point2f> TrackingPointSelector::GetTrackedFeatures() | ||
| { | ||
| std::vector<cv::Point2f> selectedPoints; | ||
| for (std::vector<TrackedPoint>::iterator it = _selectedPts.begin(); it != _selectedPts.end(); ++it) { | ||
| if (it->IsTracking()) { | ||
| selectedPoints.push_back(it->pt); | ||
| } | ||
| } | ||
| return selectedPoints; | ||
| } | ||
|
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| std::vector<cv::Point3f> TrackingPointSelector::GetTrackedFeatures3d() | ||
| { | ||
| std::vector<cv::Point3f> selectedPoints; | ||
| for (std::vector<TrackedPoint>::iterator it = _selectedPts.begin(); it != _selectedPts.end(); ++it) { | ||
| if (it->IsTracking()) { | ||
| selectedPoints.push_back(it->pt3d); | ||
| } | ||
| } | ||
| return selectedPoints; | ||
| } | ||
|
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| std::vector<cv::Point2f> TrackingPointSelector::GetTrackedFeaturesWarped() | ||
| { | ||
| std::vector<cv::Point2f> selectedPoints = GetTrackedFeatures(); | ||
| std::vector<cv::Point2f> warpedPoints; | ||
| perspectiveTransform(selectedPoints, warpedPoints, _homography); | ||
| return warpedPoints; | ||
| } | ||
|
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| std::vector<cv::Point2f> TrackingPointSelector::GetAllFeatures() | ||
| { | ||
| std::vector<cv::Point2f> allBinnedPoints; | ||
| for (auto &track : trackingPointBin) { | ||
| for (auto &trackPt : track.second) { | ||
| allBinnedPoints.push_back(trackPt.pt); | ||
| } | ||
| } | ||
| return allBinnedPoints; | ||
| } | ||
|
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| void TrackingPointSelector::CleanUp() | ||
| { | ||
| _selectedPts.clear(); | ||
| _pts.clear(); | ||
| trackingPointBin.clear(); | ||
| _homography.release(); | ||
| } |
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