From dce5a2a612b9aa884ca6b4474c22355f88b799f9 Mon Sep 17 00:00:00 2001
From: kalwalt <github@kalwaltart.it>
Date: Mon, 6 Nov 2023 18:57:14 +0100
Subject: [PATCH] getCameraProjectioMatrix  with gtest

---
 WebARKit/WebARKitManager.cpp                      |  4 ++++
 .../WebARKitOpticalTracking/WebARKitTracker.cpp   | 13 +++++++++++--
 .../WebARKitOpticalTracking/WebARKitTracker.h     |  3 +++
 WebARKit/include/WebARKitManager.h                |  2 ++
 tests/webarkit_test.cc                            | 15 +++++++++++++++
 5 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/WebARKit/WebARKitManager.cpp b/WebARKit/WebARKitManager.cpp
index c081ec9..0cab6dd 100644
--- a/WebARKit/WebARKitManager.cpp
+++ b/WebARKit/WebARKitManager.cpp
@@ -95,6 +95,10 @@ std::array<double, 16> WebARKitManager::getTransformationMatrix() {
     return transformationMatrix;
 }
 
+std::array<double, 16> WebARKitManager::getCameraProjectionMatrix() {
+    return m_tracker->getCameraProjectionMatrix();
+}
+
 bool WebARKitManager::isValid() {
   return m_tracker->isValid();
 }
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
index 5e8c41a..8055f77 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -41,11 +41,13 @@ class WebARKitTracker::WebARKitTrackerImpl {
             }
         }
 
-        for (auto i = 0; i < 6; i++) {
+        for (auto i = 0; i < 4; i++) {
             for (auto j = 0; j < 1; j++) {
                 WEBARKIT_LOGi("Distortion coefficients: %.2f\n", m_distortionCoeff.at<double>(i, j));
             }
         }
+
+        webarkit::cameraProjectionMatrix(camData, 0.1, 1000.0, frameWidth, frameHeight, m_cameraProjectionMatrix);
     }
 
     void initTracker(uchar* refData, size_t refCols, size_t refRows) {
@@ -115,6 +117,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
 
     cv::Mat getPoseMatrix() { return _patternTrackingInfo.pose3d; };
 
+    std::array<double, 16> getCameraProjectionMatrix() { return m_cameraProjectionMatrix; };
+
     bool isValid() { return _valid; };
 
   protected:
@@ -329,7 +333,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
     std::vector<cv::Point2f> getSelectedFeaturesWarped(cv::Mat& H) {
         std::vector<cv::Point2f> warpedPoints;
         perspectiveTransform(_pattern.points2d, warpedPoints, H);
-        WEBARKIT_LOGi("warpedPoint(0,0): %.2f, %.2f\n", warpedPoints[0].x, warpedPoints[0].y);
         return warpedPoints;
     }
 
@@ -360,6 +363,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
     cv::Matx33d m_camMatrix;
     cv::Mat m_distortionCoeff;
 
+    std::array<double, 16> m_cameraProjectionMatrix;
+
   private:
     std::vector<double> output; // 9 from homography matrix, 8 from warped corners*/
 
@@ -427,6 +432,10 @@ std::vector<double> WebARKitTracker::getOutputData() { return _trackerImpl->getO
 
 cv::Mat WebARKitTracker::getPoseMatrix() { return _trackerImpl->getPoseMatrix(); }
 
+std::array<double, 16> WebARKitTracker::getCameraProjectionMatrix() {
+    return _trackerImpl->getCameraProjectionMatrix();
+}
+
 bool WebARKitTracker::isValid() { return _trackerImpl->isValid(); }
 
 } // namespace webarkit
\ No newline at end of file
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
index 6379937..47dfacb 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
@@ -4,6 +4,7 @@
 #include "WebARKitEnums.h"
 #include <WebARKitLog.h>
 #include <WebARKitCamera.h>
+#include <WebARKitGL.h>
 #include <WebARKitPattern.h>
 #include <opencv2/xfeatures2d.hpp>
 
@@ -29,6 +30,8 @@ class WebARKitTracker {
 
     cv::Mat getPoseMatrix();
 
+    std::array<double, 16> getCameraProjectionMatrix();
+
     bool isValid();
 
   private:
diff --git a/WebARKit/include/WebARKitManager.h b/WebARKit/include/WebARKitManager.h
index fafa42c..ee7a130 100644
--- a/WebARKit/include/WebARKitManager.h
+++ b/WebARKit/include/WebARKitManager.h
@@ -104,6 +104,8 @@ class WebARKitManager {
 
     std::array<double, 16> getTransformationMatrix();
 
+    std::array<double, 16> getCameraProjectionMatrix();
+
     bool isValid();
 };
 
diff --git a/tests/webarkit_test.cc b/tests/webarkit_test.cc
index a84718d..2e2fc62 100644
--- a/tests/webarkit_test.cc
+++ b/tests/webarkit_test.cc
@@ -143,6 +143,21 @@ TEST(WebARKitTest, CheckWebARKitVersion) {
   EXPECT_STREQ(manager.getWebARKitVersion().c_str(), "1.0.0");
 }
 
+// Check cameraProjectionMatrix from manager
+TEST(WebARKitTest, CheckCameraProjectionMatrix) {
+  // Create a WebARKitManager object
+  webarkit::WebARKitManager manager;
+  // Init the manager with the Akaze tracker
+  manager.initialiseBase(webarkit::TRACKER_TYPE::AKAZE_TRACKER, 640, 480);
+  // Check if the cameraProjectionMatrix is correct
+  std::array<double, 16> camProjectionMatrix = manager.getCameraProjectionMatrix();
+  EXPECT_EQ(camProjectionMatrix[0], -1.7851850084276433);
+  EXPECT_EQ(camProjectionMatrix[5], 2.3802466779035241);
+  EXPECT_EQ(camProjectionMatrix[10], -1.0002000200020003);
+  EXPECT_EQ(camProjectionMatrix[11], -1.0);
+  EXPECT_EQ(camProjectionMatrix[14], -0.20002000200020004);
+}
+
 TEST(WebARKitTest, InitTrackerTest) {
   // Create a WebARKitManager object
   webarkit::WebARKitManager manager;