Integrate the WebARKit OCVT tracker line: dev → master - #60

Merged

kalwalt merged 167 commits into

Jun 21, 2026

Commits on Dec 1, 2022

removing dynamic throw's see #11
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09579bd
adding try catch to avoid dynamic throw #11
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a201127
removing dymanic throw from image.h & .cpp see #11
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b0e5352
Eigen 3.4.0 version
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661e2cf
added fatal log errors
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bdf5e85
updated Readme
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fab0f07
removing config.h
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938d5b0

Commits on Apr 25, 2023

WebARKitTrackers from
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63d3f05

Commits on Apr 27, 2023

free() is not needed at all
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1de18a2

Commits on May 1, 2023

better processFrame functions
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018c055
move track method to WebARKitTracker class
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5237407
simplified code: removing WebARKitAkazeTracker and
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323b6df

Commits on May 2, 2023

clang-formatting
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3c33128

Commits on May 4, 2023

default destructor
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0029a16
implementing pImpl pattern - WebARKitTracker class
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210a7ed
copy and move constructors
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03b8f4e

Commits on May 14, 2023

Commits on Jun 20, 2023

separate detector from descriptor
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73d5823
adding support for other feature detector
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b8ed035
improved optical flow
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fd844be
createFeatureMask and _isDetected
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e05bbbf
feature masks to Tracker and frame view
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295c80e
start to develop some tests with googletest
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a4fb707
improved cmake settings
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05c84c0
Improving WebARKitManager
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3e13b98
WebARKitManager now can pass also output data
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17128b5
setLogLevel method and
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2ddf77a
new property minNumMatches to assign specific matches threshold
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fe4dbf6

Commits on Sep 24, 2023

testing cmake configuration
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d0bbef9
trying to compile opencv with fetchContent
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a6a7cd0
succesful compilation of opencv with FetchContent
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442712d
build opencv_contrib also with FetchContent
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8fb3abb
almost done for a first test
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72f7524
now test starts but there is a bug to fix
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d550036
solve destructor issue ad first working gtest!
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bf852cc
fix for target_include_directories
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6a83f67
add one more test and change name of tests
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26dc733
version 0.4.3
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f160066
creating test with github action
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8b424a0
fix path and typo in the action script
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e66bebe
the script do not enter in the folder
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36f1502
the commands should stay in the same run
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09a4ea0
avoiding multilines command
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442e9ce
missed make command to compile the project
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3f3b4fd
testing with a different OPENCV_EXTRA_MODULES_PATH
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e43b862
fix for extra modules path
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13d8049
this should compile WebARKitLib
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83ef2bd
correct xfeatures2d include for tests
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f9b0261
correct path for xfeatures2d include for tests
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4a2c715
correct path for xfeatures2d include for tests
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3c32591
maybe this is correct
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2a855a1
fix a typo
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6e883c0
minor changes but not solve anything
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5b235a9
fetching content from opencv-em build the project!
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3740075
fix for linux command in tests.yml
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c54087a
setting CMP0135 NEW policy
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8f65ada
improving the README
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8341ec1
fix for VersionString bug
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bf7aeb7
Merge remote-tracking branch 'upstream/dev' into dev
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3e6d273

Commits on Oct 23, 2023

making CMakeLists file compliant for emscripten
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0f57d04
build the WebARKitLib with Emscripten
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656823e
fix for wrong compilation
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377f967
docker should be run outside build
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97a63b7
display the files in the directory for debugging
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efc4574
we are outside webarkit-testing
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a565d9f
fix for path
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a8979bd

Commits on Oct 25, 2023

tests for enums
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f839e22
more tests for enums
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c2e79e9
testing config values
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fc70005
test for config values
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e221dda
fake test for initTracker
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c71745c
new opencv version to fetch from opencv-em
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645a6e4
fix for cmake policy
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5ea8ee2
fix for test
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750a4c7
tests for other trackers initialization
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18fcf1f

Commits on Oct 29, 2023

new WebARKitCamera class to test
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ee86ba4
basic code for WebARKitCamera class
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2d4794d
new member methods for WebARKitCamera
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fc6cbd2
load camera data and coefficients in the Tracker
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39b1e8f
use WebARKit custom logging
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690fcad
rewrited setupCamera code with new setFocalLength
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be9c775

Commits on Apr 1, 2024

creating WebARKitPattern struct see #21
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ba9486b
using push_back to avoid an Seg fault
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fdb3269
getPoseMatrix function and improved computePose
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1efbd84
trying to find the root of the pose matrix issue
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b12d9f7
cleaning the code
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538bbc2
The issue arise the wrong camera matrix data
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e9a29bf
this seems to be correct!
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df2db7f
improved classes and features
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531b2e9
new WebARKitGL collection of GL functions
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1719da5
fix for wrong cv headers
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90c9115
values and params should be double
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cbcc8b9
make GL mfunctions part of ebarkit namespace
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f86e9d0
revert to old syntax pattern
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ecb161b
new cameraProjectionMatrix with gtest
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b6b113c
getCameraProjectioMatrix with gtest
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1f90c06
fix for: Test issue: impossible to load a jpeg image with imread (OpenCV) #24
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8c5e572
add to initTracker colorSpace option to let use other colors channels
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1648f8a
pinball image is 3 channels add support for this type to initTracker
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c6c950c
processFrameData now may process also RGB data input
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190015b
new convert2Grayscale function to avoid repetitions
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b7a143e
oveloaded convert2Grayscale function and other fixes
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2556de3
testing matrix and cameraProjmatrix
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a12f515
sphere is displayed but don't move
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545b02b
_isDetected = false should be outside clear_output()
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1508a63
initTracker as templatized function
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b061656
Fix swapImage and other related code
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9a58f02
small improves
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7a9e52c
fix for MIN_NUM_MATCHES failed test
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ab660e3
move marker dected message inside processFrame
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48f7d01
new extractFeatures method
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f16a52a
new boolean option enablleBlur
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fab85d7
more modularity in the C++ code
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9536f62
fix for getMatches function
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f4ea9ff
fix for numMatches
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d2a15a9
fix for numMatches format display
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6e7e597

Commits on Jun 5, 2024

backward calcOpticalFlowPyrLK
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d465fd5
further improves to Optical Flow routine
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864ed7a
new getHomograpyInliers function and WebARKitHomographyInfo class
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9043bed
runOpticalFlow and updateTrackableHomography under test
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0bdcd97
new processFrame2 function under testing
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ade19d5
testing matchFeatures from artoolkitx
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fc09522
fix for build tests issue
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edb9d2a
MatchTemplateToImage function
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4160b61
template matching and TrackViz
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5df3f89
fix for template matching
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edcf708
lowering num. of features
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7923e10
fix for tests
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d386836
chore: Update Node.js version in test workflow
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0fed59e
_trackViz improves in the code
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47e1984
removing old code
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1e98161
using pyrDown utility
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568146e

Commits on Jan 14, 2025

Testing new update function
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f9d4260
Added new enum for blurring -> updated c++ and javascript code
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2db7e6a
new example with jsfeatNext
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6611957

Commits on Jan 25, 2025

testing opencv 4.10.0
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57f077c
updating webARKit tests to opencv 4.10.0
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1f5dcf6
Add step to update Ubuntu and install libjpeg-dev in CI workflow
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f53d3fd
fix for sudo command
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2e6ce31
test with emsdk 3.1.38
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eee44b8

Commits on Mar 7, 2025

improves to viewMatrix_GL and related code
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f1e77dd
improved getTransformationMatrix function to be tested
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891f50f

Commits on May 30, 2026

Fix CV->GL pose conversion in updateTrackable()

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3429eb3
Fix crash when a marker is detected on the first frame (#37)

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32a6343

Commits on Jun 10, 2026

fix(tracker): stop double-scaling matched keypoints when detection is full-res

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1021616
fix(gl,pose): standard GL projection X sign + D*R*D marker-frame handedness

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f448ef3
refactor(tracker): remove vestigial pyramid-downsample/scale machinery

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c1ae096

Commits on Jun 15, 2026

fix(tracker): declare tracking lost when the marker leaves the frame

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39183f0

Commits on Jun 16, 2026

feat(tracker): optional centered marker origin (setOriginCentered)

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15dc93f

Commits on Jun 18, 2026

feat(#44): detect features on downsampled frame (part A)

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4308af6

Commits on Jun 19, 2026

feat(#44): skip feature detection while tracking (part B)

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fix(#55): populate pose3d + rename getPoseMatrix/getPoseMatrix2

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f3f33cc

Commits on Jun 20, 2026

refactor(#50): remove dangling WebARKitManager::update() declaration

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791dc04
refactor(#50): remove commented-out im_gray() helper

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9bf7703
refactor(#50): drop commented-out _trackables/getPoseMatrix3 scaffolding

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f6bca84
refactor(#50): remove superseded computePose/invertPose/computeGLviewMatrix()

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e6f87fa

Commits on Jun 21, 2026

docs(#51): rewrite README + bump version to 0.8.0

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test(#51): update version assertions to 0.8.0

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docs(#51): clarify CMake already builds the static lib

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docs(#51): note static-lib targets (WASM + Linux) and opencv-em dependency

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docs(#51): require Conventional Commits + point to CONTRIBUTING.md

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docs(#51): add CONTRIBUTING.md

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docs(#51): clarify PR-pair flow scope (WebARKit/ <-> webarkit-testing)

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