I will make the point of the WebARKit library. Actually it is in the dev branch of this repository, before merging in master and to be officially released it is required to add some important features.
One of the most important feature to add is a better pose matrix solution. We receive the pose matrix from the knn matcher but it needs to be evaluated with a PnP solver. This require a camera matrix for the PnP pose computation, that for now our solution is lacking, and after that use a Kalman filter (or other filter) to stabilize the 6DOF tracking result.
Adding to this: in order to utilize the pose matrix we need a set of functions for GL graphics, to convert the pose matrix as Right hand GL matrix and also a function to compute the Camera Projection matrix.
Summing up, we need to develop:
I will make the point of the WebARKit library. Actually it is in the
devbranch of this repository, before merging in master and to be officially released it is required to add some important features.One of the most important feature to add is a better pose matrix solution. We receive the pose matrix from the
knnmatcher but it needs to be evaluated with aPnPsolver. This require a camera matrix for the PnP pose computation, that for now our solution is lacking, and after that use a Kalman filter (or other filter) to stabilize the 6DOF tracking result.Adding to this: in order to utilize the pose matrix we need a set of functions for GL graphics, to convert the pose matrix as Right hand GL matrix and also a function to compute the Camera Projection matrix.
Summing up, we need to develop:
arGLposeMatrixandcameraProjectionMatrixcalcOpticalFlowPyrLKapproach -> done in PR Improving c++ code #27