testing matrix and cameraProjmatrix

webarkit · Nov 16, 2023 · 8cc8572 · 8cc8572
1 parent 47e102f
commit 8cc8572
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Showing 2 changed files with 32 additions and 7 deletions.
diff --git a/WebARKit/WebARKitPattern.cpp b/WebARKit/WebARKitPattern.cpp
@@ -2,7 +2,8 @@
 #include <opencv2/calib3d.hpp>
 
 WebARKitPatternTrackingInfo::WebARKitPatternTrackingInfo() {
-    pose3d = cv::Mat::zeros(3, 4, CV_64FC1);
+    pose3d = cv::Mat::zeros(4, 4, CV_64FC1);
+    glViewMatrix = cv::Mat::zeros(4, 4, CV_64F);
     m_scale = 1.0f;
 }
 
@@ -16,20 +17,41 @@ void WebARKitPatternTrackingInfo::computePose(std::vector<cv::Point3f>& treeDPoi
 
     cv::Mat rMat;
     cv::Rodrigues(rvec, rMat);
-    cv::hconcat(rMat, tvec, pose3d);
+    //cv::hconcat(rMat, tvec, pose3d);
+
+    for (unsigned int row = 0; row < 3; ++row) {
+        for (unsigned int col = 0; col < 3; ++col) {
+            pose3d.at<double>(row, col) = rMat.at<double>(row, col);
+        }
+        pose3d.at<double>(row, 3) = tvec.at<double>(row, 0);
+    }
+    pose3d.at<double>(3, 3) = 1.0f;
 
     invertPose();
 }
 
+void WebARKitPatternTrackingInfo::computeGLviewMatrix() {
+   cv::transpose(pose3d , glViewMatrix);
+}
+
 void WebARKitPatternTrackingInfo::invertPose() {
 
-    cv::Mat invertPose(3, 4, CV_64FC1);
+    /*cv::Mat invertPose(3, 4, CV_64FC1);
     for (auto j = 0; j < 3; j++) {
         invertPose.at<double>(j, 0) = pose3d.at<double>(j, 0);
         invertPose.at<double>(j, 1) = -pose3d.at<double>(j, 1);
         invertPose.at<double>(j, 2) = -pose3d.at<double>(j, 2);
-        invertPose.at<double>(j, 3) = pose3d.at<double>(j, 3) * m_scale * 0.001f * 1.64f;
-    }
-
-    pose3d = invertPose;
+        //invertPose.at<double>(j, 3) = pose3d.at<double>(j, 3) * m_scale * 0.001f * 1.64f;
+        invertPose.at<double>(j, 3) = pose3d.at<double>(j, 3);
+    }*/
+
+    cv::Mat cvToGl = cv::Mat::zeros(4, 4, CV_64F);
+    cvToGl.at<double>(0, 0) = 1.0f;
+    cvToGl.at<double>(1, 1) = -1.0f; // Invert the y axis
+    cvToGl.at<double>(2, 2) = -1.0f; // invert the z axis
+    cvToGl.at<double>(3, 3) = 1.0f;
+    // viewMatrix = cvToGl * viewMatrix;
+    pose3d = cvToGl * pose3d;
+
+    // pose3d = invertPose;
 }
diff --git a/WebARKit/include/WebARKitPattern.h b/WebARKit/include/WebARKitPattern.h
@@ -25,6 +25,7 @@ class WebARKitPatternTrackingInfo {
     cv::Mat homography;
     std::vector<cv::Point2f> points2d;
     cv::Mat pose3d;
+    cv::Mat glViewMatrix;
 
     void setScale(const float scale) { m_scale = scale; }
 
@@ -36,6 +37,8 @@ class WebARKitPatternTrackingInfo {
     void computePose(std::vector<cv::Point3f>& treeDPoints, std::vector<cv::Point2f>& imgPoints, cv::Mat& caMatrix,
                      cv::Mat& distCoeffs);
 
+    void computeGLviewMatrix();
+
   private:
     float m_scale;
     void invertPose();