Feature enhancement: PnP algorithm for pose Matrix calculation and other functions improves

WebARKit/WebARKitPattern.cpp

@@ -13,5 +13,5 @@ void WebARKitPatternTrackingInfo::computePose(std::vector<cv::Point3f>& treeDPoi
     cv::Rodrigues(rvec, rMat);
     cv::hconcat(rMat, tvec, pose3d);
 
-    std::cout << "pose3d: " << pose3d.rows << "x" << pose3d.cols << std::endl;
+    std::cout << "pose3d: " << pose3d.rows << " x " << pose3d.cols << std::endl;
 }

WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp

@@ -340,32 +340,11 @@ class WebARKitTracker::WebARKitTrackerImpl {
     std::vector<cv::Point2f> getSelectedFeaturesWarped(cv::Mat& H)
 {
     std::vector<cv::Point2f> warpedPoints;
-    //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);
-        }
-    }*/
-    //perspectiveTransform(selectedPoints, warpedPoints, homography);
     perspectiveTransform(_pattern.points2d, warpedPoints, H);
+    WEBARKIT_LOGi("warpedPoint(0,0): %.2f, %.2f\n", warpedPoints[0].x, warpedPoints[0].y);
     return warpedPoints;
 }
 
-/*
-std::vector<cv::Point3f> getSelectedFeatures3D(cv::Mat& H)
-{
-    std::vector<cv::Point3f> treeDPoints;
-    //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);
-        }
-    }*/
-    //perspectiveTransform(selectedPoints, warpedPoints, homography);
-    //perspectiveTransform(_pattern.points3d, treeDPoints, H);
-    //return treeDPoints;
-//}*/
-
     bool _valid;
 
     bool _isDetected;