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Fix CV->GL pose conversion in updateTrackable() #36

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Merged
kalwalt merged 1 commit into from
May 30, 2026
Merged

Fix CV->GL pose conversion in updateTrackable() #36

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16 changes: 11 additions & 5 deletions WebARKit/WebARKitPattern.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,12 +55,18 @@ void WebARKitPatternTrackingInfo::getTrackablePose(cv::Mat& pose) {

void WebARKitPatternTrackingInfo::updateTrackable() {
if (transMat) {
//visible = true;
// Keep `trans` as the raw OpenCV pose (rotation unmodified, translation
// scaled). The CV->GL handedness conversion (negate Y and Z rows incl.
// translation) is applied downstream by arglCameraViewRHf when building
// the GL right-handed modelview (matrixGL_RH / getGLViewMatrix).
// Previously, rotation columns 1 and 2 were negated here but the
// translation was not, producing an inconsistent partial conversion
// that left tracked objects behind the camera in OpenGL renderers.
for (int j = 0; j < 3; j++) {
trans[j][0] = transMat[j][0];
trans[j][1] = -transMat[j][1];
trans[j][2] = -transMat[j][2];
trans[j][3] = (transMat[j][3] * m_scale * 0.001f * 1.64f );
trans[j][0] = transMat[j][0];
trans[j][1] = transMat[j][1];
trans[j][2] = transMat[j][2];
trans[j][3] = (transMat[j][3] * m_scale * 0.001f * 1.64f);
}
}
}
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