new getHomograpyInliers function and WebARKitHomographyInfo class

- issue at line 246 in the track function - debug compilation to get more infos
webarkit · May 28, 2024 · f5a0e89 · f5a0e89
1 parent 0531dca
commit f5a0e89
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Showing 6 changed files with 113 additions and 5 deletions.
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
@@ -13,6 +13,7 @@ extern const double featureDetectPyramidLevel =
     1.05f; ///> Scale factor applied to image pyramid to determine image to perform feature matching upon.
 extern const int featureBorder = 8;
 extern const cv::Size blurSize(3, 3);
+extern const double ransac_thresh = 2.5f; 
 extern const double m_pi = 3.14159265358979323846;
 extern const std::string WEBARKIT_HEADER_VERSION_STRING = "1.0.0";
 /*@

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.cpp
@@ -0,0 +1,20 @@
+#include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.h>
+
+namespace webarkit {
+namespace homography {
+
+WebARKitHomographyInfo::WebARKitHomographyInfo() { validHomography = false; }
+
+WebARKitHomographyInfo::WebARKitHomographyInfo(cv::Mat hom, std::vector<uchar> newStatus,
+                                               std::vector<cv::DMatch> matches) {
+    homography = hom;
+    status = newStatus;
+    inlier_matches = matches;
+    if (matches.size() > 4) {
+        validHomography = true;
+    }
+}
+
+} // namespace homography
+
+} // namespace webarkit
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -1,5 +1,6 @@
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h>
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h>
+#include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.h>
 
 namespace webarkit {
 
@@ -170,10 +171,15 @@ class WebARKitTracker::WebARKitTrackerImpl {
             WEBARKIT_LOG("Num Matches: %d\n", numMatches);
 
             if (numMatches >= minNumMatches) {
-                m_H = cv::findHomography(refPts, framePts, cv::RANSAC);
-                if ((valid = homographyValid(m_H))) {
+                //m_H = cv::findHomography(refPts, framePts, cv::RANSAC);
+                webarkit::homography::WebARKitHomographyInfo homographyInfo = getHomographyInliers(refPts, framePts);
+                valid = homographyInfo.validHomography;
+
+                //if ((valid = homographyValid(m_H))) {
+                if (valid) {
+                    m_H = homographyInfo.homography;
                     _isDetected = true;
-                    perspectiveTransform(_bBox, _bBoxTransformed, m_H);
+                    perspectiveTransform(_bBox, _bBoxTransformed, homographyInfo.homography);
                 }
             }
         }
@@ -237,7 +243,10 @@ class WebARKitTracker::WebARKitTrackerImpl {
             transform.push_back(row);
 
             // update homography matrix
-            m_H = transform * m_H;
+            if(!m_H.empty()) {
+                 m_H = transform * m_H;
+            }
+            //m_H = transform * m_H;
 
             // set old points to new points
             framePts = goodPtsCurr;

diff --git a/...WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h b/...WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h
@@ -20,6 +20,7 @@ extern const cv::TermCriteria termcrit;
 extern const double featureDetectPyramidLevel; ///> Scale factor applied to image pyramid to determine image to perform feature matching upon.
 extern const int featureBorder;
 extern const cv::Size blurSize;
+extern const double ransac_thresh; 
 extern const double m_pi;
 extern const std::string WEBARKIT_HEADER_VERSION_STRING;
 extern const int WEBARKIT_HEADER_VERSION_MAJOR;

diff --git a/...OpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.h b/...OpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.h
@@ -0,0 +1,24 @@
+#ifndef WEBARKIT_HOMOGRAPHY_INFO_H
+#define WEBARKIT_HOMOGRAPHY_INFO_H
+#include "WebARKitConfig.h"
+
+namespace webarkit {
+namespace homography {
+
+class WebARKitHomographyInfo {
+  public:
+    WebARKitHomographyInfo();
+
+    WebARKitHomographyInfo(cv::Mat hom, std::vector<uchar> newStatus, std::vector<cv::DMatch> matches);
+
+    bool validHomography;
+    cv::Mat homography;
+    std::vector<uchar> status;
+    std::vector<cv::DMatch> inlier_matches;
+};
+
+} // namespace homography
+
+} // namespace webarkit
+
+#endif
diff --git a/.../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h b/.../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
@@ -1,12 +1,65 @@
 #ifndef WEBARKIT_UTILS_H
 #define WEBARKIT_UTILS_H
 
-#include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h>
+//#include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h>
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitEnums.h>
+#include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitHomographyInfo.h>
 #include <iostream>
 
 namespace webarkit {
 
+/// Method for calculating and validating a homography matrix from a set of corresponding points.
+/// pts1 and pts must have the same dimensionality.
+/// @returns An WebARKitHomographyInfo instance, with its status vector of the same dimensionality as the pts1 and pts2 vectors.
+static homography::WebARKitHomographyInfo getHomographyInliers(std::vector<cv::Point2f> pts1, std::vector<cv::Point2f> pts2)
+{
+    if (pts1.size() < 4) {
+        return homography::WebARKitHomographyInfo();
+    }
+
+    cv::Mat inlier_mask, homography;
+    homography = findHomography(pts1, pts2, cv::RANSAC, ransac_thresh, inlier_mask);
+    if (homography.empty()) {
+        // Failed to find a homography.
+        return homography::WebARKitHomographyInfo();
+    }
+
+    const double det = homography.at<double>(0, 0) * homography.at<double>(1, 1) - homography.at<double>(1, 0) * homography.at<double>(0, 1);
+    if (det < 0) {
+        return homography::WebARKitHomographyInfo();
+    }
+
+    const double N1 = sqrt(homography.at<double>(0, 0) * homography.at<double>(0, 0) + homography.at<double>(1, 0) * homography.at<double>(1, 0));
+    if (N1 > 4 || N1 < 0.1) {
+        return homography::WebARKitHomographyInfo();
+    }
+
+    const double N2 = sqrt(homography.at<double>(0, 1) * homography.at<double>(0, 1) + homography.at<double>(1, 1) * homography.at<double>(1, 1));
+    if (N2 > 4 || N2 < 0.1) {
+        return homography::WebARKitHomographyInfo();
+    }
+
+    const double N3 = sqrt(homography.at<double>(2, 0) * homography.at<double>(2, 0) + homography.at<double>(2, 1) * homography.at<double>(2, 1));
+    if (N3 > 0.002) {
+        return homography::WebARKitHomographyInfo();
+    }
+
+    std::vector<uchar> status;
+    std::vector<cv::DMatch> inlier_matches;
+    int linliers = 0;
+    for (int i = 0; i < pts1.size(); i++) {
+        if ((int)inlier_mask.at<uchar>(i,0) == 1) {
+            status.push_back((uchar)1);
+            inlier_matches.push_back(cv::DMatch(i, i, 0));
+            linliers++;
+        } else {
+            status.push_back((uchar)0);
+        }
+    }
+    //Return homography and corresponding inlier point sets
+    return homography::WebARKitHomographyInfo(homography, status, inlier_matches);
+}
+
 /*static auto im_gray(uchar* data, size_t cols, size_t rows) {
     uint32_t idx;
     uchar gray[rows][cols];