From cf180fb98b49b027379455c3abbedb5c444264e7 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Thu, 6 Feb 2025 18:38:30 +0100
Subject: [PATCH] improves to viewMatrix_GL and related code

---
 WebARKit/WebARKitPattern.cpp                           |  4 +++-
 .../WebARKitOpticalTracking/WebARKitTracker.cpp        | 10 +++++++++-
 WebARKit/include/WebARKitPattern.h                     |  2 ++
 3 files changed, 14 insertions(+), 2 deletions(-)

diff --git a/WebARKit/WebARKitPattern.cpp b/WebARKit/WebARKitPattern.cpp
index c663cf2..fc2368a 100644
--- a/WebARKit/WebARKitPattern.cpp
+++ b/WebARKit/WebARKitPattern.cpp
@@ -3,7 +3,7 @@
 
 WebARKitPatternTrackingInfo::WebARKitPatternTrackingInfo() {
     pose3d = cv::Mat::zeros(4, 4, CV_64FC1);
-    glViewMatrix = cv::Mat::zeros(4, 4, CV_64F);
+    glViewMatrix = cv::Mat::zeros(4, 4, CV_64FC1);
     m_scale = 1.0f;
 }
 
@@ -67,6 +67,8 @@ void WebARKitPatternTrackingInfo::updateTrackable() {
 
 void WebARKitPatternTrackingInfo::computeGLviewMatrix() { cv::transpose(pose3d, glViewMatrix); }
 
+void WebARKitPatternTrackingInfo::computeGLviewMatrix(cv::Mat &pose) { cv::transpose(pose, glViewMatrix); }
+
 void WebARKitPatternTrackingInfo::invertPose() {
 
     /*cv::Mat invertPose(3, 4, CV_64FC1);
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
index 605fa04..4667dcd 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -78,6 +78,14 @@ class WebARKitTracker::WebARKitTrackerImpl {
 
         webarkit::cameraProjectionMatrix(camData, 0.1, 1000.0, frameWidth, frameHeight, m_cameraProjectionMatrix);
 
+        for (auto i = 0; i < 16; i++) {
+
+                WEBARKIT_LOGi("Camera Proj Matrix: %.2f\n", m_cameraProjectionMatrix[i]);
+
+        }
+
+        //1.9102363924347978, 0, 0, 0, 0, 2.5377457054523322, 0, 0, -0.013943280545895442, -0.005830389685211879, -1.0000002000000199, -1, 0, 0, -0.00020000002000000202, 0
+
         _pyramid.clear();
         _prevPyramid.clear();
         _currentlyTrackedMarkers = 0;
@@ -383,6 +391,7 @@ class WebARKitTracker::WebARKitTrackerImpl {
             // _patternTrackingInfo.computePose(_pattern.points3d, warpedCorners, m_camMatrix, m_distortionCoeff);
             _patternTrackingInfo.getTrackablePose(_pose);
             _patternTrackingInfo.updateTrackable();
+            _patternTrackingInfo.computeGLviewMatrix(_pose);
             fill_output(m_H);
             WEBARKIT_LOGi("Marker tracked ! Num. matches : %d\n", numMatches);
         }
@@ -722,7 +731,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
     cv::Mat m_distortionCoeff;
 
     std::array<double, 16> m_cameraProjectionMatrix;
-
   private:
     int _maxNumberOfMarkersToTrack;
 
diff --git a/WebARKit/include/WebARKitPattern.h b/WebARKit/include/WebARKitPattern.h
index df9b11c..06de10c 100644
--- a/WebARKit/include/WebARKitPattern.h
+++ b/WebARKit/include/WebARKitPattern.h
@@ -47,6 +47,8 @@ class WebARKitPatternTrackingInfo {
 
     void computeGLviewMatrix();
 
+    void computeGLviewMatrix(cv::Mat &pose);
+
   private:
     float m_scale;
     void invertPose();