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Filtering feature #36

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5,192 changes: 2,739 additions & 2,453 deletions build/artoolkit.debug.js

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26 changes: 13 additions & 13 deletions build/artoolkit.min.js

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2 changes: 1 addition & 1 deletion build/artoolkit_wasm.js

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5 changes: 5 additions & 0 deletions emscripten/ARBindEM.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -144,4 +144,9 @@ EMSCRIPTEN_BINDINGS(constant_bindings) {
constant("AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR", AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR + 0);
constant("AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR_MULTI", AR_MARKER_INFO_CUTOFF_PHASE_POSE_ERROR_MULTI + 0);
constant("AR_MARKER_INFO_CUTOFF_PHASE_HEURISTIC_TROUBLESOME_MATRIX_CODES", AR_MARKER_INFO_CUTOFF_PHASE_HEURISTIC_TROUBLESOME_MATRIX_CODES + 0);

/* Filter Trans Mat defaults for arFilterTransMatInit */
constant("AR_FILTER_TRANS_MAT_SAMPLE_RATE_DEFAULT", AR_FILTER_TRANS_MAT_SAMPLE_RATE_DEFAULT);
constant("AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT", AR_FILTER_TRANS_MAT_CUTOFF_FREQ_DEFAULT);

}
62 changes: 50 additions & 12 deletions emscripten/ARToolKitJS.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,9 @@ struct arController {

KpmHandle* kpmHandle;
AR2HandleT* ar2Handle;
ARFilterTransMatInfo *ftmi;
ARdouble filterCutoffFrequency = 25.0;
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try to increase filterCutoffFrequency

ARdouble filterSampleRate = 50.0;
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and also filterSampleRate


int detectedPage = -2; // -2 Tracking not inited, -1 tracking inited OK, >= 0 tracking online on page.

Expand Down Expand Up @@ -96,6 +99,14 @@ extern "C" {
NFT API bindings
*/

void matrixLerp(ARdouble src[3][4], ARdouble dst[3][4], float interpolationFactor) {
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for (int i=0; i<3; i++) {
for (int j=0; j<4; j++) {
dst[i][j] = dst[i][j] + (src[i][j] - dst[i][j]) / interpolationFactor;
}
}
}

int getNFTMarkerInfo(int id, int markerIndex) {
if (arControllers.find(id) == arControllers.end()) { return ARCONTROLLER_NOT_FOUND; }
arController *arc = &(arControllers[id]);
Expand All @@ -108,10 +119,14 @@ extern "C" {
int kpmResultNum = -1;

float trans[3][4];
ARdouble transF[3][4];
ARdouble transFLerp[3][4];
memset( transFLerp, 0, 3 * 4 * sizeof(ARdouble) );
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maybe this is not needed but not sure of this.

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It is needed, without it the interpolation give weird results.

float err = -1;
if (arc->detectedPage == -2) {
kpmMatching( arc->kpmHandle, arc->videoLuma );
kpmGetResult( arc->kpmHandle, &kpmResult, &kpmResultNum );
arc->ftmi = arFilterTransMatInit(arc->filterSampleRate, arc->filterCutoffFrequency);
int i, j, k;
int flag = -1;
for( i = 0; i < kpmResultNum; i++ ) {
Expand Down Expand Up @@ -139,6 +154,25 @@ extern "C" {

if (arc->detectedPage >= 0) {
int trackResult = ar2TrackingMod(arc->ar2Handle, arc->surfaceSet[arc->detectedPage], arc->videoFrame, trans, &err);
for (int j = 0; j < 3; j++) {
for (int k = 0; k < 4; k++) {
transF[j][k] = trans[j][k];
}
}

bool reset;
if (trackResult < 0) {
reset = 1;
} else {
reset = 0;
}

if (arFilterTransMat(arc->ftmi, transF, reset) < 0) {
ARLOGe("arFilterTransMat error with marker %d.\n", markerIndex);
}

matrixLerp(transF, transFLerp, 24.0);
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try with another interpolationFactor, maybe 12.0 instead of 24.0?

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yes we have to try different values


if( trackResult < 0 ) {
ARLOGi("Tracking lost. %d\n", trackResult);
arc->detectedPage = -2;
Expand Down Expand Up @@ -179,20 +213,20 @@ extern "C" {
markerIndex,
err,

trans[0][0],
trans[0][1],
trans[0][2],
trans[0][3],
transFLerp[0][0],
transFLerp[0][1],
transFLerp[0][2],
transFLerp[0][3],

trans[1][0],
trans[1][1],
trans[1][2],
trans[1][3],
transFLerp[1][0],
transFLerp[1][1],
transFLerp[1][2],
transFLerp[1][3],

trans[2][0],
trans[2][1],
trans[2][2],
trans[2][3]
transFLerp[2][0],
transFLerp[2][1],
transFLerp[2][2],
transFLerp[2][3]
);
} else {
EM_ASM_({
Expand Down Expand Up @@ -347,6 +381,10 @@ extern "C" {
arPattDetach(arc->arhandle);
arDeleteHandle(arc->arhandle);
arc->arhandle = NULL;
if (arc->ftmi) {
arFilterTransMatFinal(arc->ftmi);
arc->ftmi = NULL;
}
}
if (arc->ar3DHandle != NULL) {
ar3DDeleteHandle(&(arc->ar3DHandle));
Expand Down
4 changes: 3 additions & 1 deletion examples/nft_improved_worker/index.html
Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,10 @@ <h3>jsartoolkit5 demos with ar2Tracking</h3>
<div>Image to recognize for the following examples <a href="https://imgur.com/HvcmRVl">https://imgur.com/HvcmRVl</a></div>
<p>Examples:</p>
<ul>
<li><a href="threejs_worker_gltf.html">Show a 3D, animated model. Uses web worker. Has loader. Has interpolation.</a></li>
<li><a href="threejs_worker_gltf.html">Show a 3D animated model. Uses web worker. Has loader. Has interpolation.</a></li>
<li><a href="main_threejs_worker.html">Show a 3D sphere. Uses web worker. Has loader. Has interpolation. Asm version. (high framerate)</a></li>
<li><a href="main_threejs_filter_worker.html">Show a 3D sphere. Uses web worker. Has loader. No js interpolation, with filtering and matrixLerp. Asm version. (high framerate)</a></li>
<li><a href="main_threejs_filter_worker_gltf.html">Show a 3D animated model. Uses web worker. Has loader. No js interpolation, with filtering and matrixLerp. Asm version. (high framerate)</a></li>
<li><a href="main_threejs_wasm_worker.html">Show a 3D sphere. Uses web worker. Has loader. Has interpolation. Uses web assembly</a></li>
<li><a href="main.html">Draw a red rectangle around the image. Single-threaded. No loader</a></li>
<li><a href="main_worker.html">Draw a red rectangle around the image. Uses web worker. No loader</a></li>
Expand Down
142 changes: 142 additions & 0 deletions examples/nft_improved_worker/main_threejs_filter_worker.html
Original file line number Diff line number Diff line change
@@ -0,0 +1,142 @@
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<title>NFT marker example with a WebWorker and Three.js</title>
<meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=0.5, maximum-scale=1">
<link rel="stylesheet" href="../css/video-style.css">
</head>
<body class="loading">
<div id="loading" >
<img src="../Data/logo.gif"/>
<span class="loading-text">Loading, please wait</span>
</div>
<!--
==================
STATS
==================
-->

<div id="stats" class="ui stats">

<div id="stats1" class="stats-item">
<p class="stats-item-title">
Main
</p>
</div>

<div id="stats2" class="stats-item">
<p class="stats-item-title">
Worker
</p>
</div>

</div>

<!--
==================
CAMERA VIDEO & CANVAS
==================
-->

<div id="app">
<video
loop
autoplay
muted
playsinline
id="video">
</video>

<canvas id="canvas"></canvas>
</div>

<a
href="https://raw.githubusercontent.com/artoolkit/artoolkit5/master/doc/Marker%20images/pinball.jpg"
class="ui marker"
target="_blank">
🖼 Marker Image
</a>

<script src="../js/third_party/three.js/stats.min.js"></script>
<script src="../js/third_party/three.js/three.min.js"></script>
<script src="../js/third_party/gpu.js/gpu-browser.min.js"></script>
<script src="threejs_filter_worker.js"></script>

<script>

/**
* STATS
*/
var statsMain = new Stats();
statsMain.showPanel( 0 ); // 0: fps, 1: ms, 2: mb, 3+: custom
document.getElementById( 'stats1' ).appendChild( statsMain.dom );

var statsWorker = new Stats();
statsWorker.showPanel( 0 ); // 0: fps, 1: ms, 2: mb, 3+: custom
document.getElementById( 'stats2' ).appendChild( statsWorker.dom );

/**
* APP / ELEMENTS
*/
var container = document.getElementById( 'app' );
var video = document.getElementById( 'video' );
var canvas = document.getElementById( 'canvas' );

/**
* APP / VIDEO STREAM
*/

if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) {
var hint = {
audio: false,
video: true
};
if( window.innerWidth < 800 ) {
var width = ( window.innerWidth < window.innerHeight ) ? 240 : 360;
var height = ( window.innerWidth < window.innerHeight ) ? 360 : 240;

var aspectRatio = window.innerWidth / window.innerHeight;

console.log( width, height );

hint = {
audio: false,
video: {
facingMode: 'environment',
width: { min: width, max: width }
},
};

console.log( hint );
}

navigator.mediaDevices.getUserMedia( hint ).then( function( stream ) {
video.srcObject = stream;
video.addEventListener( 'loadedmetadata', function() {
video.play();

console.log( 'video', video, video.videoWidth, video.videoHeight );

start(
container,
markers['pinball'],
video,
video.videoWidth,
video.videoHeight,
canvas,
function() {
statsMain.update()
},
function() {
statsWorker.update();
},
null
);
} );
} );
}
</script>
</body>

</html>
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