oveloaded convert2Grayscale function and other fixes

webarkit · Nov 13, 2023 · 47e102f · 47e102f
1 parent 022b559
commit 47e102f
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Showing 6 changed files with 121 additions and 2 deletions.
diff --git a/WebARKit/WebARKitManager.cpp b/WebARKit/WebARKitManager.cpp
@@ -41,6 +41,18 @@ bool WebARKitManager::initialiseBase(webarkit::TRACKER_TYPE trackerType, int fra
     return true;
 }
 
+bool WebARKitManager::initTracker(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
+    WEBARKIT_LOGd("WebARKitManager::initTracker(...)\n");
+    if (refData.empty() || refCols <= 0 || refRows <= 0) {
+        WEBARKIT_LOGe("Error initialising tracker.\n");
+        return false;
+    }
+    m_tracker->initTracker(refData, refCols, refRows, colorSpace);
+    state = WAITING_FOR_VIDEO;
+    WEBARKIT_LOGd("WebARKitManager::initTracker() done.\n");
+    return true;
+}
+
 bool WebARKitManager::initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
     WEBARKIT_LOGd("WebARKitManager::initTracker(...)\n");
     if (!refData || refCols <= 0 || refRows <= 0) {

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -50,6 +50,54 @@ class WebARKitTracker::WebARKitTrackerImpl {
         webarkit::cameraProjectionMatrix(camData, 0.1, 1000.0, frameWidth, frameHeight, m_cameraProjectionMatrix);
     }
 
+    void initTracker(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
+        WEBARKIT_LOGi("Init Tracker!\n");
+
+        cv::Mat refGray = convert2Grayscale(refData, refCols, refRows, colorSpace);
+
+        cv::Mat trackerFeatureMask = createTrackerFeatureMask(refGray);
+
+        this->_featureDetector->detect(refGray, refKeyPts, trackerFeatureMask);
+        this->_featureDescriptor->compute(refGray, refKeyPts, refDescr);
+
+        // Normalized dimensions :
+        const float maxSize = std::max(refCols, refRows);
+        const float unitW = refCols / maxSize;
+        const float unitH = refRows / maxSize;
+
+        _pattern.size = cv::Size(refCols, refRows);
+
+        WEBARKIT_LOGd("WebARKitPattern size ready!\n");
+
+        _pattern.points2d.push_back(cv::Point2f(0, 0));
+        _pattern.points2d.push_back(cv::Point2f(refCols, 0));
+        _pattern.points2d.push_back(cv::Point2f(refCols, refRows));
+        _pattern.points2d.push_back(cv::Point2f(0, refRows));
+
+        WEBARKIT_LOGd("WebARKitPattern points2d ready!\n");
+
+        _pattern.points3d.push_back(cv::Point3f(-unitW, -unitH, 0));
+        _pattern.points3d.push_back(cv::Point3f(unitW, -unitH, 0));
+        _pattern.points3d.push_back(cv::Point3f(unitW, unitH, 0));
+        _pattern.points3d.push_back(cv::Point3f(-unitW, unitH, 0));
+
+        WEBARKIT_LOGd("WebARKitPattern points3d ready!\n");
+
+        corners[0] = cvPoint(0, 0);
+        corners[1] = cvPoint(refCols, 0);
+        corners[2] = cvPoint(refCols, refRows);
+        corners[3] = cvPoint(0, refRows);
+
+        _bBox.push_back(cv::Point2f(0, 0));
+        _bBox.push_back(cv::Point2f(refCols, 0));
+        _bBox.push_back(cv::Point2f(refCols, refRows));
+        _bBox.push_back(cv::Point2f(0, refRows));
+
+        initialized = true;
+
+        WEBARKIT_LOGi("Tracker ready!\n");
+    }
+
     void initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
         WEBARKIT_LOGi("Init Tracker!\n");
 
@@ -413,6 +461,10 @@ void WebARKitTracker::initialize(webarkit::TRACKER_TYPE trackerType, int frameWi
     _trackerImpl->initialize(trackerType, frameWidth, frameHeight);
 }
 
+void WebARKitTracker::initTracker(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
+    _trackerImpl->initTracker(refData, refCols, refRows, colorSpace);
+}
+
 void WebARKitTracker::initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
     _trackerImpl->initTracker(refData, refCols, refRows, colorSpace);
 }

diff --git a/...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h b/...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
@@ -23,6 +23,8 @@ class WebARKitTracker {
 
     void initialize(webarkit::TRACKER_TYPE trackerType, int frameWidth, int frameHeight);
 
+    void initTracker(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace);
+
     void initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace);
 
     void processFrameData(uchar* frameData, size_t frameCols, size_t frameRows, ColorSpace colorSpace);

diff --git a/.../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h b/.../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
@@ -28,6 +28,29 @@ namespace webarkit {
     return cv::Mat(rows, cols, CV_8UC1, gray);
 }*/
 
+static auto convert2Grayscale(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
+    cv::Mat refGray;
+
+    switch (colorSpace) {
+    case ColorSpace::RGBA: {
+        refGray.create(refRows, refCols, CV_8UC1);
+        cv::cvtColor(refData, refGray, cv::COLOR_RGBA2GRAY);
+    } break;
+    case ColorSpace::RGB: {
+        refGray.create(refRows, refCols, CV_8UC1);
+        cv::cvtColor(refData, refGray, cv::COLOR_RGB2GRAY);
+    } break;
+    case ColorSpace::GRAY: {
+        refGray = refData;
+    } break;
+    default: {
+        refGray = refData;
+    }
+    }
+
+    return refGray;
+}
+
 static auto convert2Grayscale(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
     cv::Mat refGray;
 

diff --git a/WebARKit/include/WebARKitManager.h b/WebARKit/include/WebARKitManager.h
@@ -88,6 +88,8 @@ class WebARKitManager {
      */
     std::shared_ptr<webarkit::WebARKitTracker> getTracker() { return m_tracker; };
 
+    bool initTracker(cv::Mat refData, size_t refCols, size_t refRows, ColorSpace colorSpace);
+
     bool initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace);
 
     bool update();

diff --git a/tests/webarkit_test.cc b/tests/webarkit_test.cc
@@ -160,7 +160,7 @@ TEST(WebARKitTest, InitTrackerTest) {
   // Init the manager with the Akaze tracker
   manager.initialiseBase(webarkit::TRACKER_TYPE::AKAZE_TRACKER, 640, 480);
   // Load the test image
-  cv::Mat image = cv::imread("../pinball.jpg", cv::IMREAD_UNCHANGED);
+  cv::Mat image = cv::imread("../pinball.jpg", cv::IMREAD_GRAYSCALE);
 
   if(image.data == NULL) {
     std::cout << "Something wrong while reading the image!" << std::endl;
@@ -178,9 +178,37 @@ TEST(WebARKitTest, InitTrackerTest) {
   EXPECT_EQ(image.cols, 1637);
   EXPECT_EQ(image.rows, 2048);
   // Check if initTracker returns sucessfully
-  EXPECT_TRUE(manager.initTracker(data, width, height, webarkit::ColorSpace::RGB));
+  EXPECT_TRUE(manager.initTracker(data, width, height, webarkit::ColorSpace::GRAY));
 }
 
+TEST(WebARKitTest, InitTrackerTest2) {
+  // Create a WebARKitManager object
+  webarkit::WebARKitManager manager;
+  // Init the manager with the Akaze tracker
+  manager.initialiseBase(webarkit::TRACKER_TYPE::AKAZE_TRACKER, 640, 480);
+  // Load the test image
+  cv::Mat image = cv::imread("../pinball.jpg", cv::IMREAD_GRAYSCALE);
+
+  if(image.data == NULL) {
+    std::cout << "Something wrong while reading the image!" << std::endl;
+  }
+
+  if(image.empty()) {
+    image = cv::Mat::zeros(2048, 1637,  CV_8UC4);
+  }
+
+  ASSERT_FALSE(image.empty());
+
+  int width = image.cols;
+  int height = image.rows;
+  //unsigned char* data = image.data;
+  EXPECT_EQ(image.cols, 1637);
+  EXPECT_EQ(image.rows, 2048);
+  // Check if initTracker returns sucessfully
+  EXPECT_TRUE(manager.initTracker(image, width, height, webarkit::ColorSpace::GRAY));
+}
+
+
 // Check WebARKit version
 TEST(WebARKitTest, CheckShutDown) {
   // Create a WebARKitManager object