From 9ddc65d4e5f60800d0afb77fe86355b56e36336e Mon Sep 17 00:00:00 2001
From: kalwalt <github@kalwaltart.it>
Date: Thu, 21 Dec 2023 00:47:15 +0100
Subject: [PATCH 01/17] fix for issue 
 https://github.com/webarkit/jsartoolkitNFT/issues/364

---
 lib/SRC/ARUtil/log.c | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/lib/SRC/ARUtil/log.c b/lib/SRC/ARUtil/log.c
index 66e4337..9e58741 100644
--- a/lib/SRC/ARUtil/log.c
+++ b/lib/SRC/ARUtil/log.c
@@ -201,7 +201,16 @@ void arLogv(const char *tag, const int logLevel, const char *format, va_list ap)
             os_log_with_type(OS_LOG_DEFAULT, type, "%{public}s", buf);
         }
 #else
+
+#ifdef __EMSCRIPTEN__
+        if(logLevel == AR_LOG_LEVEL_ERROR)
+            fprintf(stderr, "%s", buf);
+        else
+            fprintf(stdout, "%s", buf);
+#else
         fprintf(stderr, "%s", buf);
+#endif
+
 #endif
     }
     free(buf);

From 01108701762e832cca7290b5de7d466e3a46e5d6 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Fri, 22 Dec 2023 22:49:59 +0100
Subject: [PATCH 02/17] improved log with emscripten_log uilities - see
 https://github.com/webarkit/jsartoolkitNFT/issues/364

---
 lib/SRC/ARUtil/log.c | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/lib/SRC/ARUtil/log.c b/lib/SRC/ARUtil/log.c
index 9e58741..26a8d54 100644
--- a/lib/SRC/ARUtil/log.c
+++ b/lib/SRC/ARUtil/log.c
@@ -47,6 +47,10 @@
 #  define snprintf _snprintf
 #endif
 
+#ifdef __EMSCRIPTEN__
+#include <emscripten/console.h>
+#endif
+
 //
 // Global required for logging functions.
 //
@@ -204,9 +208,9 @@ void arLogv(const char *tag, const int logLevel, const char *format, va_list ap)
 
 #ifdef __EMSCRIPTEN__
         if(logLevel == AR_LOG_LEVEL_ERROR)
-            fprintf(stderr, "%s", buf);
+            emscripten_console_error(buf);
         else
-            fprintf(stdout, "%s", buf);
+            emscripten_console_warn(buf);
 #else
         fprintf(stderr, "%s", buf);
 #endif

From a21f6591728415e2d4915cbc3d5a42c2317655f6 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Wed, 23 Oct 2024 23:52:42 +0200
Subject: [PATCH 03/17] fix for issue
 https://github.com/webarkit/jsartoolkitNFT/issues/363 - emcc version > 3.1.40
 cause issue with isnan

---
 lib/SRC/KPM/FreakMatcher/framework/error.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/lib/SRC/KPM/FreakMatcher/framework/error.h b/lib/SRC/KPM/FreakMatcher/framework/error.h
index 5383c0c..e0237ab 100644
--- a/lib/SRC/KPM/FreakMatcher/framework/error.h
+++ b/lib/SRC/KPM/FreakMatcher/framework/error.h
@@ -63,7 +63,8 @@
 #   define DEBUG_BLOCK(X)
 #endif
 
-#define isnan(x) ((x) != (x))
+/*#define isnan(x) ((x) != (x))
 #define isinf(x) (!isnan(x) && isnan(x - x))
 #define ASSERT_NAN(x) ASSERT(!isnan(x), "NaN")
-#define ASSERT_INF(x) ASSERT(!isinf(x), "INF")
\ No newline at end of file
+#define ASSERT_INF(x) ASSERT(!isinf(x), "INF")
+*/
\ No newline at end of file

From 70537cd6c04c0165fd79bf5f01d0addadc04bce5 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Wed, 6 Nov 2024 12:10:53 +0100
Subject: [PATCH 04/17] check workspace to fix the issue

---
 lib/SRC/AR2/featureMap.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/lib/SRC/AR2/featureMap.c b/lib/SRC/AR2/featureMap.c
index 61eb501..a9f1f22 100644
--- a/lib/SRC/AR2/featureMap.c
+++ b/lib/SRC/AR2/featureMap.c
@@ -200,7 +200,7 @@ AR2FeatureMapT *ar2GenFeatureMap( AR2ImageT *image,
         fp2++;
     }
     for( j = 1; j < ysize-1; j++ ) {
-        ARLOGi("\r%4d/%4d.", j+1, ysize); fflush(stdout);
+        ARLOGd("\r%4d/%4d.", j+1, ysize); fflush(stdout);
         *(fp++) = 1.0f;
         fp2++;
         for( i = 1; i < xsize-1; i++ ) {

From 1bfc1b21edd59012c7fb74eb8bf2cc23ca52d19f Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 10 Mar 2025 17:37:17 +0100
Subject: [PATCH 05/17] add WebARKitVideoLuma module for luma conversion with
 SIMD support

---
 WebARKit/WebARKitVideoLuma.cpp       | 120 +++++++++++++++++++++++++++
 WebARKit/include/WebARKitVideoLuma.h |  42 ++++++++++
 2 files changed, 162 insertions(+)
 create mode 100644 WebARKit/WebARKitVideoLuma.cpp
 create mode 100644 WebARKit/include/WebARKitVideoLuma.h

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
new file mode 100644
index 0000000..7038896
--- /dev/null
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -0,0 +1,120 @@
+#include <WebARKitVideoLuma.h>
+#include <stdio.h> // Include this header for printf
+
+ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
+  ARVideoLumaInfo *vli;
+
+  vli = (ARVideoLumaInfo *)calloc(1, sizeof(ARVideoLumaInfo));
+  if (!vli) {
+    printf("Out of memory!!\n");
+    return (NULL);
+  }
+  vli->xsize = xsize;
+  vli->ysize = ysize;
+  vli->buffSize = xsize * ysize;
+  vli->simd128 = simd128;
+  vli->buff = (uint8_t *)valloc(vli->buffSize);
+  if (!vli->buff) {
+    printf("Out of memory!!\n");
+    free(vli);
+    return (NULL);
+  }
+
+  return (vli);
+}
+
+uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
+                                const uint8_t *__restrict dataPtr) {
+  unsigned int p, q;
+
+  if (vli->simd128 == true) {
+    printf("With simd128!!!\n");
+#ifdef __EMSCRIPTEN_SIMD128__
+    arVideoLumaRGBAtoL_Emscripten_simd128(
+        vli->buff, (unsigned char *__restrict)dataPtr, vli->buffSize);
+    return (vli->buff);
+#else
+    printf("SIMD128 not supported!!!\n");
+    arVideoLuma_default(vli->buff, (unsigned char *__restrict)dataPtr, vli->buffSize);
+    return (vli->buff);
+#endif
+  } else {
+    printf("Without simd128!!!\n");
+    arVideoLuma_default(vli->buff, (unsigned char *__restrict)dataPtr, vli->buffSize);
+    return (vli->buff);
+  }
+}
+
+int arVideoLumaFinal(ARVideoLumaInfo **vli_p) {
+  if (!vli_p)
+    return (-1);
+  if (!*vli_p)
+    return (0);
+
+  free((*vli_p)->buff);
+  free(*vli_p);
+  *vli_p = NULL;
+
+  return (0);
+}
+
+static void arVideoLuma_default(uint8_t *__restrict dest,
+                                 uint8_t *__restrict src, int32_t numPixels) {
+  unsigned int p, q;
+  printf("default luma conversion!!!\n");
+  q = 0;
+  for (p = 0; p < numPixels; p++) {
+    dest[p] = (R8_CCIR601 * src[q + 0] + G8_CCIR601 * src[q + 1] +
+                    B8_CCIR601 * src[q + 2]) >>
+                   8;
+    q += 4;
+  }
+}
+
+#ifdef __EMSCRIPTEN_SIMD128__
+static void arVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
+                                                       uint8_t *__restrict src,
+                                                       int32_t numPixels) {
+
+  printf("using arVideoLumaRGBAtoL_Emscripten_simd128_fast !!!\n");
+
+  v128_t *pin = (v128_t *)src;
+  int64_t *pout = (int64_t *)dest;
+  int numPixelsDiv8 = numPixels / 8;
+
+  v128_t maskRedBlue = wasm_i32x4_splat(0x00FF00FF);
+  v128_t scaleRedBlue =
+      wasm_i32x4_splat((uint32_t)B8_CCIR601 << 16 | R8_CCIR601);
+  v128_t scaleGreen = wasm_i32x4_splat(G8_CCIR601);
+  do {
+    v128_t pixels1 = wasm_v128_load(pin); // Load 16 bytes (4 pixels) from src
+    v128_t pixels2 = wasm_v128_load(pin + 1);
+    pin += 2;
+
+    v128_t g1 = wasm_u16x8_shr(pixels1, 8);
+    v128_t g2 = wasm_u16x8_shr(pixels2, 8);
+
+    v128_t rb1 = wasm_v128_and(pixels1, maskRedBlue);
+    v128_t rb2 = wasm_v128_and(pixels2, maskRedBlue);
+
+    g1 = wasm_i32x4_dot_i16x8(g1, scaleGreen);
+    g2 = wasm_i32x4_dot_i16x8(g2, scaleGreen);
+    rb1 = wasm_i32x4_dot_i16x8(rb1, scaleRedBlue);
+    rb2 = wasm_i32x4_dot_i16x8(rb2, scaleRedBlue);
+
+    v128_t y1 = wasm_i32x4_add(g1, rb1);
+    v128_t y2 = wasm_i32x4_add(g2, rb2);
+
+    y1 = wasm_u32x4_shr(y1, 8);
+    y2 = wasm_u32x4_shr(y2, 8);
+
+    v128_t y = wasm_i16x8_narrow_i32x4(y1, y2);
+    y = wasm_u8x16_narrow_i16x8(y, y);
+
+    *pout = wasm_i64x2_extract_lane(y, 0);
+
+    pout++;
+    numPixelsDiv8--;
+  } while (numPixelsDiv8);
+}
+#endif
\ No newline at end of file
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
new file mode 100644
index 0000000..ea44754
--- /dev/null
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -0,0 +1,42 @@
+#ifndef WEBARKITVIDEOLUMA_H
+#define WEBARKITVIDEOLUMA_H
+
+#include <stdint.h>  // For standard integer types like uint8_t, int32_t
+#include <stdbool.h> // For boolean type
+#include <stdlib.h>  // For memory allocation functions
+
+#ifdef __EMSCRIPTEN_SIMD128__
+#include <wasm_simd128.h> // For SIMD operations
+#endif
+
+// CCIR 601 recommended values. See
+// http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html#RTFToC11 .
+const uint8_t R8_CCIR601 = 77;
+const uint8_t G8_CCIR601 = 150;
+const uint8_t B8_CCIR601 = 29;
+
+struct ARVideoLumaInfo {
+  int xsize;
+  int ysize;
+  int buffSize;
+  bool simd128;
+  uint8_t *__restrict buff;
+};
+
+#ifdef __EMSCRIPTEN_SIMD128__
+static void arVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
+    uint8_t *__restrict src,
+    int32_t numPixels);
+#endif
+
+static void arVideoLuma_default(uint8_t *__restrict dest, uint8_t *__restrict src,
+    int32_t numPixels);
+
+ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128);
+
+uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
+    const uint8_t *__restrict dataPtr);
+
+int arVideoLumaFinal(ARVideoLumaInfo **vli_p);
+
+#endif // WEBARKITVIDEOLUMA_H
\ No newline at end of file

From 3fb79f915f13d33314abaac84c7f79e6fbf8a021 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 10 Mar 2025 17:47:36 +0100
Subject: [PATCH 06/17] refactor: encapsulate WebARKitVideoLuma functions
 within webarkit namespace

---
 WebARKit/WebARKitVideoLuma.cpp       | 6 +++++-
 WebARKit/include/WebARKitVideoLuma.h | 4 ++++
 2 files changed, 9 insertions(+), 1 deletion(-)

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
index 7038896..1cfb0d5 100644
--- a/WebARKit/WebARKitVideoLuma.cpp
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -1,6 +1,8 @@
 #include <WebARKitVideoLuma.h>
 #include <stdio.h> // Include this header for printf
 
+namespace webarkit {
+
 ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
   ARVideoLumaInfo *vli;
 
@@ -117,4 +119,6 @@ static void arVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
     numPixelsDiv8--;
   } while (numPixelsDiv8);
 }
-#endif
\ No newline at end of file
+#endif
+
+} // namespace webarkit
\ No newline at end of file
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
index ea44754..dc1d7af 100644
--- a/WebARKit/include/WebARKitVideoLuma.h
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -9,6 +9,8 @@
 #include <wasm_simd128.h> // For SIMD operations
 #endif
 
+namespace webarkit {
+
 // CCIR 601 recommended values. See
 // http://www.poynton.com/notes/colour_and_gamma/ColorFAQ.html#RTFToC11 .
 const uint8_t R8_CCIR601 = 77;
@@ -39,4 +41,6 @@ uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
 
 int arVideoLumaFinal(ARVideoLumaInfo **vli_p);
 
+} // namespace webarkit
+
 #endif // WEBARKITVIDEOLUMA_H
\ No newline at end of file

From 597d1a0d3a9114a77fd11a80c2e6d8affbb56c68 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 10 Mar 2025 18:01:38 +0100
Subject: [PATCH 07/17] refactor: replace raw memory management with smart
 pointers in WebARKitVideoLuma

---
 WebARKit/WebARKitVideoLuma.cpp       | 36 +++++++++++++---------------
 WebARKit/include/WebARKitVideoLuma.h |  3 ++-
 2 files changed, 19 insertions(+), 20 deletions(-)

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
index 1cfb0d5..d2f4c32 100644
--- a/WebARKit/WebARKitVideoLuma.cpp
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -4,25 +4,24 @@
 namespace webarkit {
 
 ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
-  ARVideoLumaInfo *vli;
+  ARVideoLumaInfo *vli = new ARVideoLumaInfo;
 
-  vli = (ARVideoLumaInfo *)calloc(1, sizeof(ARVideoLumaInfo));
   if (!vli) {
     printf("Out of memory!!\n");
-    return (NULL);
+    return nullptr;
   }
   vli->xsize = xsize;
   vli->ysize = ysize;
   vli->buffSize = xsize * ysize;
   vli->simd128 = simd128;
-  vli->buff = (uint8_t *)valloc(vli->buffSize);
+  vli->buff = std::make_unique<uint8_t[]>(vli->buffSize);
   if (!vli->buff) {
     printf("Out of memory!!\n");
-    free(vli);
-    return (NULL);
+    delete vli;
+    return nullptr;
   }
 
-  return (vli);
+  return vli;
 }
 
 uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
@@ -33,31 +32,30 @@ uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
     printf("With simd128!!!\n");
 #ifdef __EMSCRIPTEN_SIMD128__
     arVideoLumaRGBAtoL_Emscripten_simd128(
-        vli->buff, (unsigned char *__restrict)dataPtr, vli->buffSize);
-    return (vli->buff);
+        vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
+    return vli->buff.get();
 #else
     printf("SIMD128 not supported!!!\n");
-    arVideoLuma_default(vli->buff, (unsigned char *__restrict)dataPtr, vli->buffSize);
-    return (vli->buff);
+    arVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
+    return vli->buff.get();
 #endif
   } else {
     printf("Without simd128!!!\n");
-    arVideoLuma_default(vli->buff, (unsigned char *__restrict)dataPtr, vli->buffSize);
-    return (vli->buff);
+    arVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
+    return vli->buff.get();
   }
 }
 
 int arVideoLumaFinal(ARVideoLumaInfo **vli_p) {
   if (!vli_p)
-    return (-1);
+    return -1;
   if (!*vli_p)
-    return (0);
+    return 0;
 
-  free((*vli_p)->buff);
-  free(*vli_p);
-  *vli_p = NULL;
+  delete *vli_p;
+  *vli_p = nullptr;
 
-  return (0);
+  return 0;
 }
 
 static void arVideoLuma_default(uint8_t *__restrict dest,
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
index dc1d7af..e79d0a5 100644
--- a/WebARKit/include/WebARKitVideoLuma.h
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -4,6 +4,7 @@
 #include <stdint.h>  // For standard integer types like uint8_t, int32_t
 #include <stdbool.h> // For boolean type
 #include <stdlib.h>  // For memory allocation functions
+#include <memory>    // For std::unique_ptr
 
 #ifdef __EMSCRIPTEN_SIMD128__
 #include <wasm_simd128.h> // For SIMD operations
@@ -22,7 +23,7 @@ struct ARVideoLumaInfo {
   int ysize;
   int buffSize;
   bool simd128;
-  uint8_t *__restrict buff;
+  std::unique_ptr<uint8_t[]> buff;
 };
 
 #ifdef __EMSCRIPTEN_SIMD128__

From 59cad462131534aba23b51f72371cb671052ceda Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 10 Mar 2025 18:53:48 +0100
Subject: [PATCH 08/17] refactor: rename ARVideoLumaInfo to WebARKitLumaInfo
 and update related functions

---
 WebARKit/WebARKitVideoLuma.cpp       | 8 ++++----
 WebARKit/include/WebARKitVideoLuma.h | 8 ++++----
 2 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
index d2f4c32..a3ba35c 100644
--- a/WebARKit/WebARKitVideoLuma.cpp
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -3,8 +3,8 @@
 
 namespace webarkit {
 
-ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
-  ARVideoLumaInfo *vli = new ARVideoLumaInfo;
+WebARKitLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
+  WebARKitLumaInfo *vli = new WebARKitLumaInfo;
 
   if (!vli) {
     printf("Out of memory!!\n");
@@ -24,7 +24,7 @@ ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
   return vli;
 }
 
-uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
+uint8_t *__restrict arVideoLuma(WebARKitLumaInfo *vli,
                                 const uint8_t *__restrict dataPtr) {
   unsigned int p, q;
 
@@ -46,7 +46,7 @@ uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
   }
 }
 
-int arVideoLumaFinal(ARVideoLumaInfo **vli_p) {
+int arVideoLumaFinal(WebARKitLumaInfo **vli_p) {
   if (!vli_p)
     return -1;
   if (!*vli_p)
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
index e79d0a5..0405add 100644
--- a/WebARKit/include/WebARKitVideoLuma.h
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -18,7 +18,7 @@ const uint8_t R8_CCIR601 = 77;
 const uint8_t G8_CCIR601 = 150;
 const uint8_t B8_CCIR601 = 29;
 
-struct ARVideoLumaInfo {
+struct WebARKitLumaInfo {
   int xsize;
   int ysize;
   int buffSize;
@@ -35,12 +35,12 @@ static void arVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
 static void arVideoLuma_default(uint8_t *__restrict dest, uint8_t *__restrict src,
     int32_t numPixels);
 
-ARVideoLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128);
+WebARKitLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128);
 
-uint8_t *__restrict arVideoLuma(ARVideoLumaInfo *vli,
+uint8_t *__restrict arVideoLuma(WebARKitLumaInfo *vli,
     const uint8_t *__restrict dataPtr);
 
-int arVideoLumaFinal(ARVideoLumaInfo **vli_p);
+int arVideoLumaFinal(WebARKitLumaInfo **vli_p);
 
 } // namespace webarkit
 

From b2dd75e573d4fa529a647d70751b530bb2471211 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 10 Mar 2025 19:18:09 +0100
Subject: [PATCH 09/17] refactor: rename functions in WebARKitVideoLuma for
 consistency and clarity

---
 WebARKit/WebARKitVideoLuma.cpp       | 20 ++++++++++----------
 WebARKit/include/WebARKitVideoLuma.h | 17 ++++++++---------
 2 files changed, 18 insertions(+), 19 deletions(-)

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
index a3ba35c..e3e84f2 100644
--- a/WebARKit/WebARKitVideoLuma.cpp
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -1,9 +1,9 @@
 #include <WebARKitVideoLuma.h>
-#include <stdio.h> // Include this header for printf
+#include <cstdio>
 
 namespace webarkit {
 
-WebARKitLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
+WebARKitLumaInfo *webarkitVideoLumaInit(int xsize, int ysize, bool simd128) {
   WebARKitLumaInfo *vli = new WebARKitLumaInfo;
 
   if (!vli) {
@@ -24,29 +24,29 @@ WebARKitLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128) {
   return vli;
 }
 
-uint8_t *__restrict arVideoLuma(WebARKitLumaInfo *vli,
+uint8_t *__restrict webarkitVideoLuma(WebARKitLumaInfo *vli,
                                 const uint8_t *__restrict dataPtr) {
   unsigned int p, q;
 
   if (vli->simd128 == true) {
     printf("With simd128!!!\n");
 #ifdef __EMSCRIPTEN_SIMD128__
-    arVideoLumaRGBAtoL_Emscripten_simd128(
+    webarkitVideoLumaRGBAtoL_Emscripten_simd128(
         vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
 #else
     printf("SIMD128 not supported!!!\n");
-    arVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
+    webarkitVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
 #endif
   } else {
     printf("Without simd128!!!\n");
-    arVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
+    webarkitVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
   }
 }
 
-int arVideoLumaFinal(WebARKitLumaInfo **vli_p) {
+int webarkitVideoLumaFinal(WebARKitLumaInfo **vli_p) {
   if (!vli_p)
     return -1;
   if (!*vli_p)
@@ -58,7 +58,7 @@ int arVideoLumaFinal(WebARKitLumaInfo **vli_p) {
   return 0;
 }
 
-static void arVideoLuma_default(uint8_t *__restrict dest,
+static void webarkitVideoLuma_default(uint8_t *__restrict dest,
                                  uint8_t *__restrict src, int32_t numPixels) {
   unsigned int p, q;
   printf("default luma conversion!!!\n");
@@ -72,11 +72,11 @@ static void arVideoLuma_default(uint8_t *__restrict dest,
 }
 
 #ifdef __EMSCRIPTEN_SIMD128__
-static void arVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
+static void webarkitVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
                                                        uint8_t *__restrict src,
                                                        int32_t numPixels) {
 
-  printf("using arVideoLumaRGBAtoL_Emscripten_simd128_fast !!!\n");
+  printf("using webarkitVideoLumaRGBAtoL_Emscripten_simd128_fast !!!\n");
 
   v128_t *pin = (v128_t *)src;
   int64_t *pout = (int64_t *)dest;
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
index 0405add..c7f2059 100644
--- a/WebARKit/include/WebARKitVideoLuma.h
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -1,10 +1,9 @@
 #ifndef WEBARKITVIDEOLUMA_H
 #define WEBARKITVIDEOLUMA_H
 
-#include <stdint.h>  // For standard integer types like uint8_t, int32_t
-#include <stdbool.h> // For boolean type
-#include <stdlib.h>  // For memory allocation functions
-#include <memory>    // For std::unique_ptr
+#include <cstdint>
+#include <cstdbool>
+#include <memory>
 
 #ifdef __EMSCRIPTEN_SIMD128__
 #include <wasm_simd128.h> // For SIMD operations
@@ -27,20 +26,20 @@ struct WebARKitLumaInfo {
 };
 
 #ifdef __EMSCRIPTEN_SIMD128__
-static void arVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
+static void webarkitVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
     uint8_t *__restrict src,
     int32_t numPixels);
 #endif
 
-static void arVideoLuma_default(uint8_t *__restrict dest, uint8_t *__restrict src,
+static void webarkitVideoLuma_default(uint8_t *__restrict dest, uint8_t *__restrict src,
     int32_t numPixels);
 
-WebARKitLumaInfo *arVideoLumaInit(int xsize, int ysize, bool simd128);
+WebARKitLumaInfo *webarkitVideoLumaInit(int xsize, int ysize, bool simd128);
 
-uint8_t *__restrict arVideoLuma(WebARKitLumaInfo *vli,
+uint8_t *__restrict webarkitVideoLuma(WebARKitLumaInfo *vli,
     const uint8_t *__restrict dataPtr);
 
-int arVideoLumaFinal(WebARKitLumaInfo **vli_p);
+int webarkitVideoLumaFinal(WebARKitLumaInfo **vli_p);
 
 } // namespace webarkit
 

From d60dd39a898c77206e157225ad5c139607f7270b Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 10 Mar 2025 20:57:39 +0100
Subject: [PATCH 10/17] refactor: update SIMD preprocessor directives from
 EMSCRIPTEN_SIMD128 to wasm_simd128 for consistency

---
 WebARKit/WebARKitVideoLuma.cpp       | 4 ++--
 WebARKit/include/WebARKitVideoLuma.h | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
index e3e84f2..a323c3e 100644
--- a/WebARKit/WebARKitVideoLuma.cpp
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -29,8 +29,8 @@ uint8_t *__restrict webarkitVideoLuma(WebARKitLumaInfo *vli,
   unsigned int p, q;
 
   if (vli->simd128 == true) {
+#ifdef __wasm_simd128__
     printf("With simd128!!!\n");
-#ifdef __EMSCRIPTEN_SIMD128__
     webarkitVideoLumaRGBAtoL_Emscripten_simd128(
         vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
@@ -71,7 +71,7 @@ static void webarkitVideoLuma_default(uint8_t *__restrict dest,
   }
 }
 
-#ifdef __EMSCRIPTEN_SIMD128__
+#ifdef __wasm_simd128__
 static void webarkitVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
                                                        uint8_t *__restrict src,
                                                        int32_t numPixels) {
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
index c7f2059..96d1156 100644
--- a/WebARKit/include/WebARKitVideoLuma.h
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -5,7 +5,7 @@
 #include <cstdbool>
 #include <memory>
 
-#ifdef __EMSCRIPTEN_SIMD128__
+#ifdef __wasm_simd128__
 #include <wasm_simd128.h> // For SIMD operations
 #endif
 
@@ -25,7 +25,7 @@ struct WebARKitLumaInfo {
   std::unique_ptr<uint8_t[]> buff;
 };
 
-#ifdef __EMSCRIPTEN_SIMD128__
+#ifdef __wasm_simd128__
 static void webarkitVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
     uint8_t *__restrict src,
     int32_t numPixels);

From 1dbeab59ed51fe3dc3f957e6f1df51ffb542f0ac Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Tue, 11 Mar 2025 13:36:55 +0100
Subject: [PATCH 11/17] refactor: replace printf statements with logging
 functions for better error handling

---
 WebARKit/WebARKitVideoLuma.cpp       | 18 +++++++-----------
 WebARKit/include/WebARKitVideoLuma.h |  3 ++-
 include/WebARKit/WebARKitLog.h       |  1 +
 lib/SRC/WebARKit/WebARKitLog.cpp     | 27 ++++++++++++++++++++++++++-
 4 files changed, 36 insertions(+), 13 deletions(-)

diff --git a/WebARKit/WebARKitVideoLuma.cpp b/WebARKit/WebARKitVideoLuma.cpp
index a323c3e..12f0b6c 100644
--- a/WebARKit/WebARKitVideoLuma.cpp
+++ b/WebARKit/WebARKitVideoLuma.cpp
@@ -1,5 +1,4 @@
 #include <WebARKitVideoLuma.h>
-#include <cstdio>
 
 namespace webarkit {
 
@@ -7,7 +6,7 @@ WebARKitLumaInfo *webarkitVideoLumaInit(int xsize, int ysize, bool simd128) {
   WebARKitLumaInfo *vli = new WebARKitLumaInfo;
 
   if (!vli) {
-    printf("Out of memory!!\n");
+    webarkitLOGe("Out of memory!!");
     return nullptr;
   }
   vli->xsize = xsize;
@@ -16,7 +15,7 @@ WebARKitLumaInfo *webarkitVideoLumaInit(int xsize, int ysize, bool simd128) {
   vli->simd128 = simd128;
   vli->buff = std::make_unique<uint8_t[]>(vli->buffSize);
   if (!vli->buff) {
-    printf("Out of memory!!\n");
+    webarkitLOGe("Out of memory!!\n");
     delete vli;
     return nullptr;
   }
@@ -26,21 +25,18 @@ WebARKitLumaInfo *webarkitVideoLumaInit(int xsize, int ysize, bool simd128) {
 
 uint8_t *__restrict webarkitVideoLuma(WebARKitLumaInfo *vli,
                                 const uint8_t *__restrict dataPtr) {
-  unsigned int p, q;
+  //unsigned int p, q;
 
   if (vli->simd128 == true) {
 #ifdef __wasm_simd128__
-    printf("With simd128!!!\n");
-    webarkitVideoLumaRGBAtoL_Emscripten_simd128(
+    webarkitVideoLumaRGBAtoLuma_Emscripten_simd128(
         vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
 #else
-    printf("SIMD128 not supported!!!\n");
     webarkitVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
 #endif
   } else {
-    printf("Without simd128!!!\n");
     webarkitVideoLuma_default(vli->buff.get(), (unsigned char *__restrict)dataPtr, vli->buffSize);
     return vli->buff.get();
   }
@@ -61,7 +57,7 @@ int webarkitVideoLumaFinal(WebARKitLumaInfo **vli_p) {
 static void webarkitVideoLuma_default(uint8_t *__restrict dest,
                                  uint8_t *__restrict src, int32_t numPixels) {
   unsigned int p, q;
-  printf("default luma conversion!!!\n");
+  webarkitLOGd("Using webarkitVideoLuma_default for luma conversion!!!");
   q = 0;
   for (p = 0; p < numPixels; p++) {
     dest[p] = (R8_CCIR601 * src[q + 0] + G8_CCIR601 * src[q + 1] +
@@ -72,11 +68,11 @@ static void webarkitVideoLuma_default(uint8_t *__restrict dest,
 }
 
 #ifdef __wasm_simd128__
-static void webarkitVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
+static void webarkitVideoLumaRGBAtoLuma_Emscripten_simd128(uint8_t *__restrict dest,
                                                        uint8_t *__restrict src,
                                                        int32_t numPixels) {
 
-  printf("using webarkitVideoLumaRGBAtoL_Emscripten_simd128_fast !!!\n");
+  webarkitLOGd("Using webarkitVideoLumaRGBAtoLuma_Emscripten_simd128 for Luma conversion !!!");
 
   v128_t *pin = (v128_t *)src;
   int64_t *pout = (int64_t *)dest;
diff --git a/WebARKit/include/WebARKitVideoLuma.h b/WebARKit/include/WebARKitVideoLuma.h
index 96d1156..e33f03b 100644
--- a/WebARKit/include/WebARKitVideoLuma.h
+++ b/WebARKit/include/WebARKitVideoLuma.h
@@ -4,6 +4,7 @@
 #include <cstdint>
 #include <cstdbool>
 #include <memory>
+#include <WebARKit/WebARKitLog.h>
 
 #ifdef __wasm_simd128__
 #include <wasm_simd128.h> // For SIMD operations
@@ -26,7 +27,7 @@ struct WebARKitLumaInfo {
 };
 
 #ifdef __wasm_simd128__
-static void webarkitVideoLumaRGBAtoL_Emscripten_simd128(uint8_t *__restrict dest,
+static void webarkitVideoLumaRGBAtoLuma_Emscripten_simd128(uint8_t *__restrict dest,
     uint8_t *__restrict src,
     int32_t numPixels);
 #endif
diff --git a/include/WebARKit/WebARKitLog.h b/include/WebARKit/WebARKitLog.h
index a42b6e5..938dc26 100644
--- a/include/WebARKit/WebARKitLog.h
+++ b/include/WebARKit/WebARKitLog.h
@@ -40,5 +40,6 @@ void webarkitLOGw(const std::string &message, const char * format);
 
 void webarkitLOGw(const std::string &message, int  format);
 
+void webarkitLOGd(const std::string &message);
 
 #endif // #ifndef WEBARKIT_LOG_H
\ No newline at end of file
diff --git a/lib/SRC/WebARKit/WebARKitLog.cpp b/lib/SRC/WebARKit/WebARKitLog.cpp
index 9e9e61f..74c869c 100644
--- a/lib/SRC/WebARKit/WebARKitLog.cpp
+++ b/lib/SRC/WebARKit/WebARKitLog.cpp
@@ -6,6 +6,8 @@ const char * WARKTerror = "%c🚩[webarkit-error:]";
 const char * WARKTerrorStyle = "color: #ffffff; background-color: #ff0101; border-radius: 4px; padding: 2px";
 const char * WARKTwarn = "%c⚠️[webarkit-warn:]";
 const char * WARKTwarnStyle = "color: #774400; background-color: #ffff99; border-radius: 4px; padding: 2px";
+const char * WARKTdebug = "%c🐞[webarkit-debug:]";
+const char * WARKTdebugStyle = "color: #000000; background-color: #ffcc00; border-radius: 4px; padding: 2px";
 
 void webarkitLOGi(const std::string &message) {
     EM_ASM ({
@@ -266,4 +268,27 @@ void webarkitLOGw(const std::string &message, int  format) {
     WARKTwarnStyle,
     format
     );
-}
\ No newline at end of file
+}
+
+#if defined WEBARKIT_DEBUG
+
+void webarkitLOGd(const std::string &message) {
+    EM_ASM ({
+        var message = UTF8ToString($0);
+        var debugHead =  UTF8ToString($1);
+        var style = UTF8ToString($2);
+        console.log(debugHead + message, style);
+    },
+    message.c_str(),
+    WARKTdebug,
+    WARKTdebugStyle
+    );
+}
+
+#else
+
+void webarkitLOGd(const std::string &message) {
+    // do nothing
+}
+
+#endif
\ No newline at end of file

From 656436e36bbebd9c269cf2a9f47fb4a962359f92 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Sun, 9 Nov 2025 19:03:43 +0100
Subject: [PATCH 12/17] version 1.7.6

---
 include/AR/config.h | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/include/AR/config.h b/include/AR/config.h
index c762675..33df05b 100644
--- a/include/AR/config.h
+++ b/include/AR/config.h
@@ -276,7 +276,7 @@ typedef enum {
 #undef  ARVIDEO_INPUT_DEFAULT_1394
 #undef  ARVIDEO_INPUT_DEFAULT_GSTREAMER
 #undef  ARVIDEO_INPUT_DEFAULT_IMAGE
-#undef  ARVIDEO_INPUT_DEFAULT_DUMMY
+#define  ARVIDEO_INPUT_DEFAULT_DUMMY
 
 // Other Linux-only configuration.
 #define HAVE_LIBJPEG 1
@@ -358,7 +358,7 @@ typedef enum {
 #undef  ARVIDEO_INPUT_WINDOWS_MEDIA_CAPTURE
 
 // Default input module. This is edited by the configure script.
-#undef  ARVIDEO_INPUT_DEFAULT_DUMMY
+#define  ARVIDEO_INPUT_DEFAULT_DUMMY
 #undef  ARVIDEO_INPUT_DEFAULT_IMAGE
 #undef  ARVIDEO_INPUT_DEFAULT_WINDOWS_MEDIA_FOUNDATION
 #undef  ARVIDEO_INPUT_DEFAULT_WINDOWS_MEDIA_CAPTURE
@@ -408,7 +408,7 @@ typedef enum {
 #undef  ARVIDEO_INPUT_DUMMY
 #define ARVIDEO_INPUT_ANDROID
 #undef  ARVIDEO_INPUT_IMAGE
-#undef  ARVIDEO_INPUT_DEFAULT_DUMMY
+#define  ARVIDEO_INPUT_DEFAULT_DUMMY
 #define ARVIDEO_INPUT_DEFAULT_ANDROID
 #undef  ARVIDEO_INPUT_DEFAULT_IMAGE
 
@@ -459,7 +459,7 @@ typedef enum {
 #undef  ARVIDEO_INPUT_DUMMY
 #define ARVIDEO_INPUT_IMAGE
 #define ARVIDEO_INPUT_DEFAULT_AVFOUNDATION
-#undef  ARVIDEO_INPUT_DEFAULT_DUMMY
+#define  ARVIDEO_INPUT_DEFAULT_DUMMY
 #undef  ARVIDEO_INPUT_DEFAULT_IMAGE
 #define HAVE_LIBJPEG 1
 #define USE_OPENGL_ES 1
@@ -476,7 +476,7 @@ typedef enum {
 #define ARVIDEO_INPUT_DUMMY
 #define ARVIDEO_INPUT_IMAGE
 #define ARVIDEO_INPUT_DEFAULT_AVFOUNDATION
-#undef  ARVIDEO_INPUT_DEFAULT_DUMMY
+#define  ARVIDEO_INPUT_DEFAULT_DUMMY
 #undef  ARVIDEO_INPUT_DEFAULT_IMAGE
 #define HAVE_LIBJPEG 1
 #define HAVE_INTEL_SIMD 1

From 2c9f6308ea82081d652f3ce691fe2414ce4bd042 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Mon, 1 Jun 2026 21:21:54 +0200
Subject: [PATCH 13/17] fix(kpm/matcher): use std::map for deterministic
 iteration in vote tally, keyframes, and BHC clusters

The matcher had three `std::unordered_map` typedefs whose iteration
order depended on the STL implementation (libstdc++ on Linux, MSVC
STL on Windows, libc++ on macOS / Emscripten). Code paths that
iterate these maps and pick a winner-on-tie produced different
results on different platforms, causing the matcher to be
non-deterministic across builds. Concretely:

1. `HoughSimilarityVoting::hash_t` (vote tally) is consumed by
   `getMaximumNumberOfVotes`, which iterates and picks the bin with
   the highest count. Ties between Hough bins are common at
   borderline matches and were broken inconsistently per platform.

2. `VisualDatabase::keyframe_map_t` is iterated by `query()`. Ties
   on inlier count between keyframes are broken first-wins, so the
   winning keyframe at borderline ties depended on which iteration
   order the platform's STL chose.

3. `BinaryHierarchicalClustering::cluster_map_t` is iterated during
   BHC tree construction; ordering affects the resulting topology
   and therefore which features cluster together, which propagates
   into the eventual inlier set.

All three typedefs become `std::map<...>`. `std::map`'s ascending-
key iteration is consistent across STL implementations (and matches
the BTreeMap fix on the pure-Rust port, webarkit/WebARKitLib-rs
issue #170).

API surface change: none. `std::map` and `std::unordered_map` share
the operations used here (`operator[]`, `find`, `insert`, `erase`,
`clear`, `iterator`). Performance: `O(log N)` lookup instead of
`O(1) amortized`, but N is small for all three maps (number of
keyframes ~1-10, number of Hough bins voted for in a query ~10s,
number of BHC clusters per level ~1-100), so the difference is
negligible.

`VisualDatabaseImpl::point3d_map_t` in
`facade/visual_database_facade.cpp` is left as `std::unordered_map`
because it is used lookup-only (`map[image_id] = ...`,
`return map[image_id]`); changing it has no functional benefit and
would be cosmetic only.

Motivation + measurements live in webarkit/WebARKitLib-rs issue
#170, which has the cross-platform repro from CI.
---
 .../matchers/binary_hierarchical_clustering.h    | 13 +++++++++++--
 .../matchers/hough_similarity_voting.h           | 16 ++++++++++++----
 .../KPM/FreakMatcher/matchers/visual_database.h  | 12 ++++++++++--
 3 files changed, 33 insertions(+), 8 deletions(-)

diff --git a/lib/SRC/KPM/FreakMatcher/matchers/binary_hierarchical_clustering.h b/lib/SRC/KPM/FreakMatcher/matchers/binary_hierarchical_clustering.h
index d0674bb..767620f 100644
--- a/lib/SRC/KPM/FreakMatcher/matchers/binary_hierarchical_clustering.h
+++ b/lib/SRC/KPM/FreakMatcher/matchers/binary_hierarchical_clustering.h
@@ -37,7 +37,7 @@
 
 #include "kmedoids.h"
 
-#include <unordered_map>
+#include <map>
 #include <queue>
 
 namespace vision {
@@ -214,7 +214,16 @@ namespace vision {
         typedef Node<NUM_BYTES_PER_FEATURE> node_t;
         typedef std::unique_ptr<node_t> node_ptr_t;
         typedef BinarykMedoids<NUM_BYTES_PER_FEATURE> kmedoids_t;
-        typedef std::unordered_map<int, std::vector<int> > cluster_map_t;
+        // std::map (not std::unordered_map): BHC tree construction
+        // iterates this map to build the topology of clusters. With
+        // unordered_map, the resulting tree's child ordering varied
+        // across STL implementations and produced different BHC
+        // topologies on different platforms, which propagated into
+        // different inlier sets and homographies. std::map's
+        // ascending-key iteration makes BHC tree topology
+        // deterministic. Mirrors the BTreeMap fix on the Rust port
+        // (see freak/clustering.rs and issue #170).
+        typedef std::map<int, std::vector<int> > cluster_map_t;
         
         typedef PriorityQueueItem<NUM_BYTES_PER_FEATURE> queue_item_t;
         typedef std::priority_queue<queue_item_t> queue_t;
diff --git a/lib/SRC/KPM/FreakMatcher/matchers/hough_similarity_voting.h b/lib/SRC/KPM/FreakMatcher/matchers/hough_similarity_voting.h
index 1c16198..62e4eaa 100644
--- a/lib/SRC/KPM/FreakMatcher/matchers/hough_similarity_voting.h
+++ b/lib/SRC/KPM/FreakMatcher/matchers/hough_similarity_voting.h
@@ -40,18 +40,26 @@
 #include <framework/error.h>
 
 #include <vector>
-#include <unordered_map>
+#include <map>
 
 namespace vision {
 
     /**
-     * Hough voting for a similarity transformation based on a set of correspondences. 
+     * Hough voting for a similarity transformation based on a set of correspondences.
      */
     class HoughSimilarityVoting
     {
     public:
-        
-        typedef std::unordered_map<unsigned int, unsigned int> hash_t;
+
+        // std::map (not std::unordered_map): the vote-tally is consumed
+        // by getMaximumNumberOfVotes, which iterates and picks the bin
+        // with the highest count. unordered_map has implementation-
+        // defined iteration order (libstdc++ vs MSVC STL) so tied bins
+        // produced different winners across platforms, making the
+        // matcher non-deterministic across builds. std::map gives a
+        // stable ascending-key ordering that resolves ties consistently.
+        // Mirrors the BTreeMap fix on the Rust port (issue #170).
+        typedef std::map<unsigned int, unsigned int> hash_t;
         typedef std::pair<int /*size*/, int /*index*/> vote_t;
         typedef std::vector<vote_t> vote_vector_t;
         
diff --git a/lib/SRC/KPM/FreakMatcher/matchers/visual_database.h b/lib/SRC/KPM/FreakMatcher/matchers/visual_database.h
index 889f1b0..5d41ecc 100644
--- a/lib/SRC/KPM/FreakMatcher/matchers/visual_database.h
+++ b/lib/SRC/KPM/FreakMatcher/matchers/visual_database.h
@@ -48,7 +48,7 @@
 
 #include <vector>
 #include <memory>
-#include <unordered_map>
+#include <map>
 
 #include "feature_point.h"
 
@@ -69,7 +69,15 @@ namespace vision {
         
         typedef Keyframe<96> keyframe_t;
         typedef std::shared_ptr<keyframe_t> keyframe_ptr_t;
-        typedef std::unordered_map<id_t, keyframe_ptr_t> keyframe_map_t;
+        // std::map (not std::unordered_map): query() iterates this
+        // collection and breaks ties on inlier-count with a strict
+        // "first wins" comparison. unordered_map has implementation-
+        // defined iteration order, so the winning keyframe on
+        // borderline ties varied across libstdc++ vs MSVC STL builds.
+        // std::map's ascending-key order makes the tie-breaking
+        // platform-independent. Mirrors the BTreeMap fix on the Rust
+        // port (issue #170).
+        typedef std::map<id_t, keyframe_ptr_t> keyframe_map_t;
         
         typedef BinomialPyramid32f pyramid_t;
         typedef DoGScaleInvariantDetector detector_t;

From 0289782ce271b6032401961f53838ec42c46cbfa Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Sun, 23 Aug 2026 09:33:12 +0000
Subject: [PATCH 14/17] Initial plan


From 10b9ca3623b7b7eab1623428858ec54d8ee39c92 Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 1 Sep 2026 18:57:25 +0000
Subject: [PATCH 15/17] Fix small-marker detection: full-res retry +
 OCVT-aligned AKAZE params

- Add full-resolution retry in processFrame when pyrDown'd detection
  yields <= minRequiredDetectedFeatures (small markers fell below the
  detector threshold after downsampling).
- Pass the actual detection scale factor into MatchFeatures so matched
  keypoints are rescaled correctly on both the downsampled and the
  full-res-retry paths.
- Align AKAZE path with artoolkitX OCVT: threshold 3e-4 -> 1e-3,
  nn_match_ratio 0.7 -> 0.8 (new AKAZE_NN_MATCH_RATIO), minNumMatches
  40 -> 15.
- Add per-level keypoint-count logging for diagnosability.

Co-authored-by: kalwalt <1275858+kalwalt@users.noreply.github.com>
---
 .../WebARKitConfig.cpp                        |  1 +
 .../WebARKitTracker.cpp                       | 56 +++++++++++++++----
 .../WebARKitOpticalTracking/WebARKitConfig.h  |  1 +
 3 files changed, 46 insertions(+), 12 deletions(-)

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
index 1cf6e1e..e4b0f82 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
@@ -2,6 +2,7 @@
 
 extern const double DEFAULT_NN_MATCH_RATIO = 0.7f;
 extern const double TEBLID_NN_MATCH_RATIO = 0.8f;
+extern const double AKAZE_NN_MATCH_RATIO = 0.8f; ///< artoolkitX OCVT parity (OCVConfig nn_match_ratio).
 extern const int DEFAULT_MAX_FEATURES = 800;
 extern const int TEBLID_MAX_FEATURES = 1000;
 extern const int N = 10;
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
index 64d5168..59e061e 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -60,8 +60,11 @@ class WebARKitTracker::WebARKitTrackerImpl {
         if (trackerType == webarkit::TEBLID_TRACKER) {
             _nn_match_ratio = TEBLID_NN_MATCH_RATIO;
         } else if (trackerType == webarkit::AKAZE_TRACKER) {
-            _nn_match_ratio = DEFAULT_NN_MATCH_RATIO;
-            minNumMatches = 40;
+            // WebARKitLib#53: align with artoolkitX OCVT -- nn_match_ratio 0.8 (not 0.7)
+            // and a lower minNumMatches floor. A small marker yields few matches after
+            // downsampling; the previous values (0.7 / 40) rejected nearly all of them.
+            _nn_match_ratio = AKAZE_NN_MATCH_RATIO;
+            minNumMatches = 15;
         } else {
             _nn_match_ratio = DEFAULT_NN_MATCH_RATIO;
             minNumMatches = 15;
@@ -368,14 +371,17 @@ class WebARKitTracker::WebARKitTrackerImpl {
             // (frame <= featureImageMinSize, e.g. 640x480) detectionFrame == frame, so the
             // path is identical to full-res detection.
             cv::Mat detectionFrame;
+            cv::Vec2f detectionScaleFactor;
             if (_featureDetectPyrLevel < 1) {
                 detectionFrame = frame;
+                detectionScaleFactor = cv::Vec2f(1.0f, 1.0f);
             } else {
                 cv::Mat srcFrame = frame;
                 for (int pyrLevel = 1; pyrLevel <= _featureDetectPyrLevel; pyrLevel++) {
                     cv::pyrDown(srcFrame, detectionFrame, cv::Size(0, 0));
                     srcFrame = detectionFrame;
                 }
+                detectionScaleFactor = _featureDetectScaleFactor;
             }
 
             cv::Mat featureMask = createFeatureMask(detectionFrame);
@@ -383,9 +389,31 @@ class WebARKitTracker::WebARKitTrackerImpl {
             if (!extractFeatures(detectionFrame, featureMask, frameKeyPts, frameDescr)) {
                 WEBARKIT_LOGe("No features detected in extractFeatures!\n");
             }
-            WEBARKIT_LOGd("frame KeyPoints size: %d\n", frameKeyPts.size());
+            WEBARKIT_LOGd("frame KeyPoints size: %d (pyrLevel %d)\n", frameKeyPts.size(),
+                          (int)_featureDetectPyrLevel);
+
+            // WebARKitLib#53: a small marker in a large frame can fall below the detector
+            // threshold after pyrDown (too few keypoints to attempt a match). When that
+            // happens and the frame was downsampled, retry once on the full-resolution
+            // frame before giving up. This preserves the #44 fast path for markers that
+            // survive downsampling while restoring small-marker detection parity with
+            // WebARKitLib-rs / jsartoolkitNFT (which never downsample).
+            if (static_cast<int>(frameKeyPts.size()) <= minRequiredDetectedFeatures && _featureDetectPyrLevel > 0) {
+                WEBARKIT_LOGd("Too few keypoints after pyrDown (%d <= %d); retrying at full resolution.\n",
+                              frameKeyPts.size(), (int)minRequiredDetectedFeatures);
+                detectionFrame = frame;
+                detectionScaleFactor = cv::Vec2f(1.0f, 1.0f);
+                featureMask = createFeatureMask(detectionFrame);
+                frameKeyPts.clear();
+                frameDescr.release();
+                if (!extractFeatures(detectionFrame, featureMask, frameKeyPts, frameDescr)) {
+                    WEBARKIT_LOGe("No features detected in full-resolution extractFeatures!\n");
+                }
+                WEBARKIT_LOGd("frame KeyPoints size (full-res retry): %d\n", frameKeyPts.size());
+            }
+
             if (static_cast<int>(frameKeyPts.size()) > minRequiredDetectedFeatures) {
-                MatchFeatures(frameKeyPts, frameDescr);
+                MatchFeatures(frameKeyPts, frameDescr, detectionScaleFactor);
             }
         }
         int i = 0;
@@ -480,7 +508,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
 
     void swapImagePyramid() { _pyramid.swap(_prevPyramid); }
 
-    void MatchFeatures(const std::vector<cv::KeyPoint>& newFrameFeatures, cv::Mat newFrameDescriptors) {
+    void MatchFeatures(const std::vector<cv::KeyPoint>& newFrameFeatures, cv::Mat newFrameDescriptors,
+                       const cv::Vec2f& scaleFactor) {
         int maxMatches = 0;
         int bestMatchIndex = -1;
         std::vector<cv::KeyPoint> finalMatched1, finalMatched2;
@@ -518,14 +547,14 @@ class WebARKitTracker::WebARKitTrackerImpl {
         // } // end for cycle
 
         if (maxMatches > 0) {
-            // WebARKitLib#44: detection ran on the downsampled detectionFrame, so the
-            // matched FRAME keypoints (finalMatched1) are in downsampled coordinates --
+            // WebARKitLib#44: detection may run on the downsampled detectionFrame, so the
+            // matched FRAME keypoints (finalMatched1) are in that frame's coordinates --
             // scale them back up to full-frame coordinates before fitting the
-            // homography. Level 0 => factor 1.0 => no-op. The reference keypoints
-            // (finalMatched2) stay in reference coordinates.
+            // homography. Identity factor (level 0, or the #53 full-res retry) => no-op.
+            // The reference keypoints (finalMatched2) stay in reference coordinates.
             for (size_t i = 0; i < finalMatched1.size(); i++) {
-                finalMatched1[i].pt.x *= _featureDetectScaleFactor[0];
-                finalMatched1[i].pt.y *= _featureDetectScaleFactor[1];
+                finalMatched1[i].pt.x *= scaleFactor[0];
+                finalMatched1[i].pt.y *= scaleFactor[1];
             }
             homography::WebARKitHomographyInfo homoInfo =
                 getHomographyInliers(Points(finalMatched2), Points(finalMatched1));
@@ -814,7 +843,10 @@ class WebARKitTracker::WebARKitTrackerImpl {
     void setDetectorType(webarkit::TRACKER_TYPE trackerType) {
         _trackerType = trackerType;
         if (trackerType == webarkit::TRACKER_TYPE::AKAZE_TRACKER) {
-            const double akaze_thresh = 3e-4; // AKAZE detection threshold set to locate about 1000 keypoints
+            // WebARKitLib#53: use the artoolkitX OCVT default threshold (0.001) instead of
+            // the more aggressive 3e-4. The higher threshold keeps more keypoints, which is
+            // important for small markers whose features are sparse after any downsampling.
+            const double akaze_thresh = 1e-3; // AKAZE detection threshold (artoolkitX OCVT default)
             cv::Ptr<cv::AKAZE> akaze = cv::AKAZE::create();
             akaze->setThreshold(akaze_thresh);
             this->_featureDetector = akaze;
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h
index d038a64..a4b807f 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h
@@ -10,6 +10,7 @@
 
 extern const double DEFAULT_NN_MATCH_RATIO;
 extern const double TEBLID_NN_MATCH_RATIO;
+extern const double AKAZE_NN_MATCH_RATIO;
 extern const int DEFAULT_MAX_FEATURES;
 extern const int TEBLID_MAX_FEATURES;
 extern const int N;

From f9c68a881a7dc30427e9313c972d0187e9fe7c9e Mon Sep 17 00:00:00 2001
From: "copilot-swe-agent[bot]" <198982749+Copilot@users.noreply.github.com>
Date: Tue, 1 Sep 2026 18:59:21 +0000
Subject: [PATCH 16/17] Address review: fix float/double literal inconsistency
 and retry threshold

- Drop misleading `f` suffix on double constants (DEFAULT/TEBLID/AKAZE
  NN_MATCH_RATIO); use EXPECT_DOUBLE_EQ in the config test.
- Retry condition uses `<` (not `<=`) to match the `>` matching gate, so a
  frame with exactly minRequiredDetectedFeatures keypoints is not needlessly
  retried.

Co-authored-by: kalwalt <1275858+kalwalt@users.noreply.github.com>
---
 .../WebARKitOpticalTracking/WebARKitConfig.cpp              | 6 +++---
 .../WebARKitOpticalTracking/WebARKitTracker.cpp             | 4 ++--
 tests/webarkit_test.cc                                      | 5 +++--
 3 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
index e4b0f82..9cf1c02 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.cpp
@@ -1,8 +1,8 @@
 #include <WebARKitTrackers/WebARKitOpticalTracking/WebARKitConfig.h>
 
-extern const double DEFAULT_NN_MATCH_RATIO = 0.7f;
-extern const double TEBLID_NN_MATCH_RATIO = 0.8f;
-extern const double AKAZE_NN_MATCH_RATIO = 0.8f; ///< artoolkitX OCVT parity (OCVConfig nn_match_ratio).
+extern const double DEFAULT_NN_MATCH_RATIO = 0.7;
+extern const double TEBLID_NN_MATCH_RATIO = 0.8;
+extern const double AKAZE_NN_MATCH_RATIO = 0.8; ///< artoolkitX OCVT parity (OCVConfig nn_match_ratio).
 extern const int DEFAULT_MAX_FEATURES = 800;
 extern const int TEBLID_MAX_FEATURES = 1000;
 extern const int N = 10;
diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
index 59e061e..7b9370c 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -398,8 +398,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
             // frame before giving up. This preserves the #44 fast path for markers that
             // survive downsampling while restoring small-marker detection parity with
             // WebARKitLib-rs / jsartoolkitNFT (which never downsample).
-            if (static_cast<int>(frameKeyPts.size()) <= minRequiredDetectedFeatures && _featureDetectPyrLevel > 0) {
-                WEBARKIT_LOGd("Too few keypoints after pyrDown (%d <= %d); retrying at full resolution.\n",
+            if (static_cast<int>(frameKeyPts.size()) < minRequiredDetectedFeatures && _featureDetectPyrLevel > 0) {
+                WEBARKIT_LOGd("Too few keypoints after pyrDown (%d < %d); retrying at full resolution.\n",
                               frameKeyPts.size(), (int)minRequiredDetectedFeatures);
                 detectionFrame = frame;
                 detectionScaleFactor = cv::Vec2f(1.0f, 1.0f);
diff --git a/tests/webarkit_test.cc b/tests/webarkit_test.cc
index 7ac2964..4a15756 100644
--- a/tests/webarkit_test.cc
+++ b/tests/webarkit_test.cc
@@ -29,8 +29,9 @@ INSTANTIATE_TEST_SUITE_P(WebARKitEnumTestSuite, WebARKitEnumTest,
                                                              webarkit::ColorSpace::GRAY})));
                                                           
 TEST(WebARKitConfigTest, TestConfigValues) {
-  EXPECT_EQ(DEFAULT_NN_MATCH_RATIO, 0.7f);
-  EXPECT_EQ(TEBLID_NN_MATCH_RATIO, 0.8f);
+  EXPECT_DOUBLE_EQ(DEFAULT_NN_MATCH_RATIO, 0.7);
+  EXPECT_DOUBLE_EQ(TEBLID_NN_MATCH_RATIO, 0.8);
+  EXPECT_DOUBLE_EQ(AKAZE_NN_MATCH_RATIO, 0.8);
   EXPECT_EQ(DEFAULT_MAX_FEATURES, 800);
   EXPECT_EQ(TEBLID_MAX_FEATURES, 1000);
   EXPECT_EQ(N, 10);

From cbfbc742bd9242c7bf29bb6fb8b1028cab962d14 Mon Sep 17 00:00:00 2001
From: Walter Perdan <github@kalwaltart.it>
Date: Wed, 2 Sep 2026 11:07:57 +0200
Subject: [PATCH 17/17] fix: close AKAZE retry boundary gap and correct
 threshold comment

Addresses Qodo review findings on #64:
- The full-res retry fired only when keypoints < minRequiredDetectedFeatures,
  while matching required > minRequiredDetectedFeatures. A frame with exactly
  minRequiredDetectedFeatures keypoints hit neither path. Widen the retry
  condition to <= so that boundary case is covered.
- Correct the AKAZE threshold comment: raising the detector response
  threshold from 3e-4 to 1e-3 is stricter, not looser, even though the
  OCVT-aligned value was validated to fix small-marker detection.

Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
---
 .../WebARKitOpticalTracking/WebARKitTracker.cpp        | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
index 7b9370c..d565405 100644
--- a/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
+++ b/WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
@@ -398,8 +398,8 @@ class WebARKitTracker::WebARKitTrackerImpl {
             // frame before giving up. This preserves the #44 fast path for markers that
             // survive downsampling while restoring small-marker detection parity with
             // WebARKitLib-rs / jsartoolkitNFT (which never downsample).
-            if (static_cast<int>(frameKeyPts.size()) < minRequiredDetectedFeatures && _featureDetectPyrLevel > 0) {
-                WEBARKIT_LOGd("Too few keypoints after pyrDown (%d < %d); retrying at full resolution.\n",
+            if (static_cast<int>(frameKeyPts.size()) <= minRequiredDetectedFeatures && _featureDetectPyrLevel > 0) {
+                WEBARKIT_LOGd("Too few keypoints after pyrDown (%d <= %d); retrying at full resolution.\n",
                               frameKeyPts.size(), (int)minRequiredDetectedFeatures);
                 detectionFrame = frame;
                 detectionScaleFactor = cv::Vec2f(1.0f, 1.0f);
@@ -844,8 +844,10 @@ class WebARKitTracker::WebARKitTrackerImpl {
         _trackerType = trackerType;
         if (trackerType == webarkit::TRACKER_TYPE::AKAZE_TRACKER) {
             // WebARKitLib#53: use the artoolkitX OCVT default threshold (0.001) instead of
-            // the more aggressive 3e-4. The higher threshold keeps more keypoints, which is
-            // important for small markers whose features are sparse after any downsampling.
+            // 3e-4. This is the minimum detector response a keypoint must have to be
+            // accepted, so it is stricter than 3e-4, not looser -- but it matches the
+            // value artoolkitX uses in production and was validated to restore detection
+            // on small markers after downsampling.
             const double akaze_thresh = 1e-3; // AKAZE detection threshold (artoolkitX OCVT default)
             cv::Ptr<cv::AKAZE> akaze = cv::AKAZE::create();
             akaze->setThreshold(akaze_thresh);