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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,32 @@ | ||
| #pragma once | ||
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| // This implementation "inspired" by a questionable interpretation of a Kalman Filter. | ||
| template<typename PointT> | ||
| class NaiveFilter | ||
| { | ||
| public: | ||
| NaiveFilter(PointT initialEstimate, double lambda) | ||
| : m_lastEstimate{ initialEstimate } | ||
| , m_lambda{ lambda } | ||
| {} | ||
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| void Update(PointT& measurement, double deltaT) | ||
| { | ||
| auto measurementDelta = measurement - m_lastEstimate; | ||
| double measurementError = measurementDelta.dot(measurementDelta); | ||
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| double gain = (m_lastEstimateError + EPSILON) / (m_lastEstimateError + measurementError + EPSILON); | ||
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| m_lastEstimate += gain * measurementDelta; | ||
| m_lastEstimateError = std::max((1.f - gain) * m_lastEstimateError, m_lambda * deltaT * measurementError); | ||
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| measurement = m_lastEstimate; | ||
| } | ||
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| private: | ||
| static constexpr double EPSILON = 0.00001; // To prevent gain from becoming NaN. | ||
| const double m_lambda{}; | ||
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| PointT m_lastEstimate{}; | ||
| double m_lastEstimateError{ 10.f }; | ||
| }; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,140 @@ | ||
| <!DOCTYPE html> | ||
| <html> | ||
| <head> | ||
| <meta charset="utf-8"> | ||
| <title>NFT marker example with a WebWorker, WASM and with Three.js</title> | ||
| <meta name="viewport" content="width=device-width, initial-scale=1, minimum-scale=0.5, maximum-scale=1"> | ||
| <link rel="stylesheet" href="../css/video-style.css"> | ||
| </head> | ||
| <body class="loading"> | ||
| <div id="loading" > | ||
| <img src="../Data/logo.gif"/> | ||
| <span class="loading-text">Loading, please wait</span> | ||
| </div> | ||
| <!-- | ||
| ================== | ||
| STATS | ||
| ================== | ||
| --> | ||
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| <div id="stats" class="ui stats"> | ||
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| <div id="stats1" class="stats-item"> | ||
| <p class="stats-item-title"> | ||
| Main | ||
| </p> | ||
| </div> | ||
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| <div id="stats2" class="stats-item"> | ||
| <p class="stats-item-title"> | ||
| Worker | ||
| </p> | ||
| </div> | ||
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| </div> | ||
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| <!-- | ||
| ================== | ||
| CAMERA VIDEO & CANVAS | ||
| ================== | ||
| --> | ||
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| <div id="app"> | ||
| <video | ||
| loop | ||
| autoplay | ||
| muted | ||
| playsinline | ||
| id="video"> | ||
| </video> | ||
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| <canvas id="canvas"></canvas> | ||
| </div> | ||
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| <a | ||
| href="https://raw.githubusercontent.com/artoolkit/artoolkit5/master/doc/Marker%20images/pinball.jpg" | ||
| class="ui marker" | ||
| target="_blank"> | ||
| 🖼 Marker Image | ||
| </a> | ||
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| <script src="../js/third_party/three.js/stats.min.js"></script> | ||
| <script src="../js/third_party/three.js/three.min.js"></script> | ||
| <script src="threejs_wasm_filter_worker.js"></script> | ||
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| <script> | ||
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| /** | ||
| * STATS | ||
| */ | ||
| var statsMain = new Stats(); | ||
| statsMain.showPanel( 0 ); // 0: fps, 1: ms, 2: mb, 3+: custom | ||
| document.getElementById( 'stats1' ).appendChild( statsMain.dom ); | ||
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| var statsWorker = new Stats(); | ||
| statsWorker.showPanel( 0 ); // 0: fps, 1: ms, 2: mb, 3+: custom | ||
| document.getElementById( 'stats2' ).appendChild( statsWorker.dom ); | ||
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| /** | ||
| * APP / ELEMENTS | ||
| */ | ||
| var container = document.getElementById( 'app' ); | ||
| var video = document.getElementById( 'video' ); | ||
| var canvas = document.getElementById( 'canvas' ); | ||
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| /** | ||
| * APP / VIDEO STREAM | ||
| */ | ||
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| if (navigator.mediaDevices && navigator.mediaDevices.getUserMedia) { | ||
| var hint = { | ||
| audio: false, | ||
| video: true | ||
| }; | ||
| if( window.innerWidth < 800 ) { | ||
| var width = ( window.innerWidth < window.innerHeight ) ? 240 : 360; | ||
| var height = ( window.innerWidth < window.innerHeight ) ? 360 : 240; | ||
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| var aspectRatio = window.innerWidth / window.innerHeight; | ||
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| console.log( width, height ); | ||
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| hint = { | ||
| audio: false, | ||
| video: { | ||
| facingMode: 'environment', | ||
| width: { min: width, max: width } | ||
| }, | ||
| }; | ||
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| console.log( hint ); | ||
| } | ||
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| navigator.mediaDevices.getUserMedia( hint ).then( function( stream ) { | ||
| video.srcObject = stream; | ||
| video.addEventListener( 'loadedmetadata', function() { | ||
| video.play(); | ||
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| console.log( 'video', video, video.videoWidth, video.videoHeight ); | ||
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| start( | ||
| container, | ||
| markers['pinball'], | ||
| video, | ||
| video.videoWidth, | ||
| video.videoHeight, | ||
| canvas, | ||
| function() { | ||
| statsMain.update() | ||
| }, | ||
| function() { | ||
| statsWorker.update(); | ||
| }, | ||
| null | ||
| ); | ||
| } ); | ||
| } ); | ||
| } | ||
| </script> | ||
| </body> | ||
| </html> |
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