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Merged
kalwalt merged 3 commits into from
Jun 20, 2026
Merged

refactor(#50): remove dead stub + commented-out scaffolding #57

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7681b85
refactor(#50): remove dangling WebARKitManager::update() declaration
kalwalt Jun 20, 2026
6989781
refactor(#50): remove commented-out im_gray() helper
kalwalt Jun 20, 2026
0c42323
refactor(#50): drop commented-out _trackables/getPoseMatrix3 scaffolding
kalwalt Jun 20, 2026
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29 changes: 0 additions & 29 deletions WebARKit/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -194,8 +194,6 @@ class WebARKitTracker::WebARKitTrackerImpl {

float* getPoseMatrixGL() { return (float*)_patternTrackingInfo.trans; }

//float[3][4] getPoseMatrix3() { return _patternTrackingInfo.trans; }
//float (*getPoseMatrix3())[3][4] { return &_patternTrackingInfo.trans; }

cv::Mat getGLViewMatrix() { return _patternTrackingInfo.glViewMatrix; };

Expand All @@ -212,9 +210,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
// std::cout << "Starting template match" << std::endl;
std::vector<cv::Point2f> finalTemplatePoints, finalTemplateMatchPoints;
// Get a handle on the corresponding points from current image and the marker
// std::vector<cv::Point2f> trackablePoints = _trackables[trackableId]._trackSelection.GetTrackedFeatures();
// std::vector<cv::Point2f> trackablePointsWarped =
// _trackables[trackableId]._trackSelection.GetTrackedFeaturesWarped();
std::vector<cv::Point2f> trackablePoints = _trackSelection.GetTrackedFeatures();
std::vector<cv::Point2f> trackablePointsWarped = _trackSelection.GetTrackedFeaturesWarped();
// Create an empty result image - May be able to pre-initialize this container
Expand All @@ -227,31 +222,23 @@ class WebARKitTracker::WebARKitTrackerImpl {

for (int j = 0; j < n; j++) {
auto pt = trackablePointsWarped[j];
// if (cv::pointPolygonTest(_trackables[trackableId]._bBoxTransformed, trackablePointsWarped[j], true) > 0)
// {
if (cv::pointPolygonTest(_bBoxTransformed, trackablePointsWarped[j], true) > 0) {
auto ptOrig = trackablePoints[j];

cv::Rect templateRoi = GetTemplateRoi(pt);
cv::Rect frameROI(0, 0, frame.cols, frame.rows);
if (IsRoiValidForFrame(frameROI, templateRoi)) {
// cv::Rect markerRoi(0, 0, _trackables[trackableId]._image.cols,
// _trackables[trackableId]._image.rows);
cv::Rect markerRoi(0, 0, _image.cols, _image.rows);

std::vector<cv::Point2f> vertexPoints = GetVerticesFromPoint(ptOrig);
std::vector<cv::Point2f> vertexPointsResults;
// perspectiveTransform(vertexPoints, vertexPointsResults,
// _trackables[trackableId]._trackSelection.GetHomography());
perspectiveTransform(vertexPoints, vertexPointsResults, _trackSelection.GetHomography());

cv::Rect srcBoundingBox = cv::boundingRect(cv::Mat(vertexPointsResults));

vertexPoints.clear();
vertexPoints = GetVerticesFromTopCorner(srcBoundingBox.x, srcBoundingBox.y, srcBoundingBox.width,
srcBoundingBox.height);
// perspectiveTransform(vertexPoints, vertexPointsResults,
// _trackables[trackableId]._trackSelection.GetHomography().inv());
perspectiveTransform(vertexPoints, vertexPointsResults, _trackSelection.GetHomography().inv());

std::vector<cv::Point2f> testVertexPoints = FloorVertexPoints(vertexPointsResults);
Expand All @@ -269,7 +256,6 @@ class WebARKitTracker::WebARKitTrackerImpl {

if (templateBoundingBox.area() > 0 && searchROI.area() > templateBoundingBox.area()) {
cv::Mat searchImage = frame(searchROI);
// cv::Mat templateImage = _trackables[trackableId]._image(templateBoundingBox);
cv::Mat templateImage = _image(templateBoundingBox);
cv::Mat warpedTemplate;

Expand Down Expand Up @@ -319,8 +305,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
}
bool gotHomography = updateTrackableHomography(trackableId, finalTemplatePoints, finalTemplateMatchPoints);
if (!gotHomography) {
// _trackables[trackableId]._isTracking = false;
// _trackables[trackableId]._isDetected = false;
_isTracking = false;
_isDetected = false;
// WebARKitLib#46: template matching is the appearance check -- if it fails
Expand Down Expand Up @@ -501,7 +485,6 @@ class WebARKitTracker::WebARKitTrackerImpl {
int maxMatches = 0;
int bestMatchIndex = -1;
std::vector<cv::KeyPoint> finalMatched1, finalMatched2;
// for (int i = 0; i < _trackables.size(); i++) {
if (!_isDetected) {
std::vector<std::vector<cv::DMatch>> matches = getMatches(newFrameDescriptors);
numMatches = matches.size();
Expand Down Expand Up @@ -549,24 +532,17 @@ class WebARKitTracker::WebARKitTrackerImpl {
getHomographyInliers(Points(finalMatched2), Points(finalMatched1));
if (homoInfo.validHomography) {
// std::cout << "New marker detected" << std::endl;
//_trackables[bestMatchIndex]._isDetected = true;
_isDetected = true;
// Since we've just detected the marker, make sure next invocation of
// GetInitialFeatures() for this marker makes a new selection.
//_trackables[bestMatchIndex]._trackSelection.ResetSelection();
_trackSelection.ResetSelection();
//_trackables[bestMatchIndex]._trackSelection.SetHomography(homoInfo.homography);
_trackSelection.SetHomography(homoInfo.homography);

// Use the homography to form the initial estimate of the bounding box.
// This will be refined by the optical flow pass.
// perspectiveTransform(_trackables[bestMatchIndex]._bBox, _trackables[bestMatchIndex]._bBoxTransformed,
// homoInfo.homography);
perspectiveTransform(_bBox, _bBoxTransformed, homoInfo.homography);
if (_trackVizActive) {
for (int i = 0; i < 4; i++) {
// _trackViz.bounds[i][0] = _trackables[bestMatchIndex]._bBoxTransformed[i].x;
// _trackViz.bounds[i][1] = _trackables[bestMatchIndex]._bBoxTransformed[i].y;
_trackViz.bounds[i][0] = _bBoxTransformed[i].x;
_trackViz.bounds[i][1] = _bBoxTransformed[i].y;
}
Expand Down Expand Up @@ -632,14 +608,11 @@ class WebARKitTracker::WebARKitTrackerImpl {
perspectiveTransform(_bBox, _bBoxTransformed, homoInfo.homography);
if (_trackVizActive) {
for (int i = 0; i < 4; i++) {
// _trackViz.bounds[i][0] = _trackables[trackableId]._bBoxTransformed[i].x;
// _trackViz.bounds[i][1] = _trackables[trackableId]._bBoxTransformed[i].y;
_trackViz.bounds[i][0] = _bBoxTransformed[i].x;
_trackViz.bounds[i][1] = _bBoxTransformed[i].y;
}
}
if (_frameCount > 1) {
// _trackables[trackableId]._trackSelection.ResetSelection();
_trackSelection.ResetSelection();
}
return true;
Expand Down Expand Up @@ -896,8 +869,6 @@ cv::Mat WebARKitTracker::getPoseMatrixCV() { return _trackerImpl->getPoseMatrixC

float* WebARKitTracker::getPoseMatrixGL() { return _trackerImpl->getPoseMatrixGL(); }

//float[3][4] WebARKitTracker::getPoseMatrix3() { return _trackerImpl->getPoseMatrix3(); }
//float (*WebARKitTracker::getPoseMatrix3())[3][4]) { return &_trackerImpl->getPoseMatrix3(); }

cv::Mat WebARKitTracker::getGLViewMatrix() { return _trackerImpl->getGLViewMatrix(); }

Expand Down
1 change: 0 additions & 1 deletion ...ebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitTracker.h
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Expand Up @@ -35,7 +35,6 @@ class WebARKitTracker {

float* getPoseMatrixGL();

//float (*WebARKitTracker::getPoseMatrix3()[3][4]);

cv::Mat getGLViewMatrix();

Expand Down
21 changes: 0 additions & 21 deletions .../WebARKitOpticalTracking/include/WebARKitTrackers/WebARKitOpticalTracking/WebARKitUtils.h
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Expand Up @@ -73,27 +73,6 @@ static homography::WebARKitHomographyInfo getHomographyInliers(std::vector<cv::P
return homography::WebARKitHomographyInfo(homography, status, inlier_matches);
}

/*static auto im_gray(uchar* data, size_t cols, size_t rows) {
uint32_t idx;
uchar gray[rows][cols];
for (int i = 0; i < rows; ++i) {
for (int j = 0; j < cols; ++j) {
idx = (i * cols * 4) + j * 4;

// rgba to rgb
uchar r = data[idx];
uchar g = data[idx + 1];
uchar b = data[idx + 2];
// uchar a = data[idx + 3];

// turn frame image to gray scale
gray[i][j] = (0.30 * r) + (0.59 * g) + (0.11 * b);
}
}

return cv::Mat(rows, cols, CV_8UC1, gray);
}*/

static auto convert2Grayscale(cv::Mat& refData, size_t refCols, size_t refRows, ColorSpace colorSpace) {
cv::Mat refGray;

Expand Down
2 changes: 0 additions & 2 deletions WebARKit/include/WebARKitManager.h
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Expand Up @@ -92,8 +92,6 @@ class WebARKitManager {

bool initTracker(uchar* refData, size_t refCols, size_t refRows, ColorSpace colorSpace);

bool update();

void setLogLevel(int logLevel);

bool shutdown();
Expand Down
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