Merge branch 'dev'

- new OEF OneEuroFilter feature
 - fix for issue #286 and #300
 - pkg upgrade

.github/workflows/main.yml

@@ -27,7 +27,7 @@ jobs:
           ${{ runner.os }}-node-
     - name: Set output
       id: vars
-      run: echo ::set-output name=tag::${GITHUB_REF#refs/*/}
+      run: echo name=tag::${GITHUB_REF#refs/*/} >> $GITHUB_OUTPUT
     - name: Check output
       env:
         RELEASE_VERSION: ${{ steps.vars.outputs.tag }}
@@ -45,7 +45,7 @@ jobs:
     - run: npm install
     - run: docker run -dit --name emscripten -v $(pwd):/src emscripten/emsdk:3.1.32 bash
     - run: docker exec emscripten npm run build
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       with:
         name: dist
         path: dist
@@ -69,11 +69,14 @@ jobs:
           build/artoolkitNFT_wasm.simd.js
           build/artoolkitNFT.debug.js
           build/artoolkitNFT.min.js
+          js/artoolkitNFT_ES6_custom.worker.js
+          js/artoolkitNFT_ES6_gray.worker.js
           js/artoolkitNFT_ES6.worker.js
           js/artoolkitNFT_multi_ES6.worker.js
           js/artoolkitNFT.api.js
           js/artoolkitNFT_ES6.api.js
           js/artoolkitNFT.worker.js
+          js/artoolkitNFT.embed_ES6_worker.js
           js/artoolkitNFT.multi_worker.js
           dist/ARToolkitNFT.js
           dist/ARToolkitNFT_simd.js

build/artoolkitNFT.debug.js

@@ -89883,6 +89883,32 @@ function std____2__basic_string_char_2c_20std____2__char_traits_char__2c_20std__
  return $0;
 }
 
+function matrixLerp($0, $1, $2) {
+ var $3 = 0, $4 = 0, $5 = 0, $6 = 0, $7 = 0, $8 = 0, $9 = 0;
+ $8 = +Math_fround(Math_fround(1) - $2);
+ $9 = +$2;
+ label$1: while (1) {
+  label$2: {
+   $3 = 0;
+   if (($4 | 0) == 3) {
+    break label$2;
+   }
+   while (1) if (($3 | 0) == 4) {
+    $4 = $4 + 1 | 0;
+    continue label$1;
+   } else {
+    $5 = $3 << 3;
+    $6 = $4 << 5;
+    $7 = $5 + ($6 + $1 | 0) | 0;
+    HEAPF64[$7 >> 3] = $8 * HEAPF64[($0 + $6 | 0) + $5 >> 3] + HEAPF64[$7 >> 3] * $9;
+    $3 = $3 + 1 | 0;
+    continue;
+   }
+  }
+  break;
+ }
+}
+
 function int_20vision__MaxIndex8_float__28float_20const__29($0) {
  var $1 = 0;
  $1 = HEAPF32[$0 + 4 >> 2] > HEAPF32[$0 >> 2];
@@ -90432,32 +90458,6 @@ function std____2____hash_node_destructor_std____2__allocator_std____2____hash_n
  }
 }
 
-function matrixLerp($0, $1, $2) {
- var $3 = 0, $4 = 0, $5 = 0, $6 = 0, $7 = 0, $8 = 0, $9 = 0;
- $9 = +$2;
- label$1: while (1) {
-  label$2: {
-   $3 = 0;
-   if (($4 | 0) == 3) {
-    break label$2;
-   }
-   while (1) if (($3 | 0) == 4) {
-    $4 = $4 + 1 | 0;
-    continue label$1;
-   } else {
-    $5 = $3 << 3;
-    $6 = $4 << 5;
-    $7 = $5 + ($6 + $1 | 0) | 0;
-    $8 = HEAPF64[$7 >> 3];
-    HEAPF64[$7 >> 3] = $8 + (HEAPF64[($0 + $6 | 0) + $5 >> 3] - $8) / $9;
-    $3 = $3 + 1 | 0;
-    continue;
-   }
-  }
-  break;
- }
-}
-
 function __cxxabiv1____base_class_type_info__has_unambiguous_public_base_28__cxxabiv1____dynamic_cast_info__2c_20void__2c_20int_29_20const($0, $1, $2, $3) {
  var $4 = 0, $5 = 0;
  $5 = HEAP32[$0 + 4 >> 2];

emscripten/ARToolKitJS.cpp

@@ -112,7 +112,7 @@ extern "C"
     {
       for (int j = 0; j < 4; j++)
       {
-        dst[i][j] = dst[i][j] + (src[i][j] - dst[i][j]) / interpolationFactor;
+        dst[i][j] = (1 - interpolationFactor) * src[i][j] + dst[i][j] * interpolationFactor;
       }
     }
   }

js/artoolkitNFT.api.js

@@ -61,7 +61,7 @@
         this._bwpointer = undefined;
         this._lumaCtx = undefined;
 
-        this.version = '1.4.0';
+        this.version = '1.4.1';
         console.info('JsartoolkitNFT ', this.version);
         console.warn("This library is deprecated, use the ES6 version instead!! It will be removed in a future release.")
 

js/artoolkitNFT.embed_ES6_worker.js

@@ -1,4 +1,6 @@
 import ARToolkitNFT from "../build/artoolkitNFT_embed_ES6_wasm.js";
+// Import OneEuroFilter class into the worker.
+import { OneEuroFilter } from "./one-euro-filter-ES6.js"
 
 self.onmessage = function (e) {
   var msg = e.data;
@@ -20,6 +22,26 @@ var ar = null;
 var markerResult = null;
 var marker;
 
+const WARM_UP_TOLERANCE = 5;
+let tickCount = 0;
+
+// initialize the OneEuroFilter
+var oef = true;
+let filterMinCF = 0.0001;
+let filterBeta = 0.01;
+const filter = new OneEuroFilter({ minCutOff: filterMinCF, beta: filterBeta });
+
+function oefFilter(matrixGL_RH) {
+  tickCount += 1;
+  var mat;
+  if (tickCount > WARM_UP_TOLERANCE) {
+    mat = filter.filter(Date.now(), matrixGL_RH);
+  } else {
+    mat = matrixGL_RH;
+  }
+  return mat;
+}
+
 async function load(msg) {
   const arTK = await ARToolkitNFT();
   //self.addEventListener("artoolkitNFT-loaded", function () {
@@ -32,12 +54,22 @@ async function load(msg) {
     var cameraMatrix = ar.getCameraMatrix();
 
     ar.addEventListener("getNFTMarker", function (ev) {
+      var mat;
+      if (oef == true) {
+        mat = oefFilter(ev.data.matrixGL_RH)
+      } else {
+        mat = ev.data.matrixGL_RH
+      }
       markerResult = {
         type: "found",
-        matrixGL_RH: JSON.stringify(ev.data.matrixGL_RH),
+        matrixGL_RH: JSON.stringify(mat),
       };
     });
 
+    ar.addEventListener("lostNFTMarker", function (ev) {
+      filter.reset();
+    });
+
     ar.loadNFTMarker(msg.marker, function (id) {
       ar.trackNFTMarkerId(id);
       let marker = ar.getNFTData(id, 0);

js/artoolkitNFT.multi_worker.js

@@ -29,6 +29,8 @@ if (browser == "Apple Safari") {
 } else {
   importScripts("../build/artoolkitNFT_wasm.simd.js");
 }
+// Import OneEuroFilter class into the worker.
+importScripts("./one-euro-filter.js");
 
 self.onmessage = function (e) {
   var msg = e.data;
@@ -50,6 +52,14 @@ var ar = null;
 var markerResult = null;
 var marker1, marker2, marker3;
 
+const WARM_UP_TOLERANCE = 5;
+let tickCount = 0;
+
+// initialize the OneEuroFilter
+let filterMinCF = 0.0001;
+let filterBeta = 0.01;
+const filter = new OneEuroFilter({minCutOff: filterMinCF, beta: filterBeta});
+
 function load(msg) {
   self.addEventListener("artoolkitNFT-loaded", function () {
     console.debug("Loading marker at: ", msg.marker);
@@ -59,11 +69,19 @@ function load(msg) {
       var cameraMatrix = ar.getCameraMatrix();
 
       ar.addEventListener("getNFTMarker", function (ev) {
-        markerResult = {
-          type: "found",
-          index: JSON.stringify(ev.data.index),
-          matrixGL_RH: JSON.stringify(ev.data.matrixGL_RH),
-        };
+        tickCount += 1;
+        if (tickCount > WARM_UP_TOLERANCE) {
+          var mat = filter.filter(Date.now(), ev.data.matrixGL_RH);
+          markerResult = {
+            type: "found",
+            index: JSON.stringify(ev.data.index),
+            matrixGL_RH: JSON.stringify(mat),
+          };
+        }
+      });
+
+      ar.addEventListener("lostNFTMarker", function(ev) {
+        filter.reset();
       });
 
       ar.loadNFTMarkers(msg.marker, function (ids) {

js/artoolkitNFT.worker.js

@@ -29,6 +29,8 @@ if (browser == "Apple Safari") {
 } else {
   importScripts("../build/artoolkitNFT_wasm.simd.js");
 }
+// Import OneEuroFilter class into the worker.
+importScripts("./one-euro-filter.js");
 
 self.onmessage = function (e) {
   var msg = e.data;
@@ -50,6 +52,14 @@ var ar = null;
 var markerResult = null;
 var marker;
 
+const WARM_UP_TOLERANCE = 5;
+let tickCount = 0;
+
+// initialize the OneEuroFilter
+let filterMinCF = 0.0001;
+let filterBeta = 0.01;
+const filter = new OneEuroFilter({minCutOff: filterMinCF, beta: filterBeta});
+
 function load(msg) {
   self.addEventListener("artoolkitNFT-loaded", function () {
     console.debug("Loading marker at: ", msg.marker);
@@ -59,10 +69,18 @@ function load(msg) {
       var cameraMatrix = ar.getCameraMatrix();
 
       ar.addEventListener("getNFTMarker", function (ev) {
-        markerResult = {
-          type: "found",
-          matrixGL_RH: JSON.stringify(ev.data.matrixGL_RH),
-        };
+        tickCount += 1;
+        if (tickCount > WARM_UP_TOLERANCE) {
+          var mat = filter.filter(Date.now(), ev.data.matrixGL_RH);
+          markerResult = {
+            type: "found",
+            matrixGL_RH: JSON.stringify(mat),
+          };
+        }
+      });
+
+      ar.addEventListener("lostNFTMarker", function(ev) {
+        filter.reset();
       });
 
       ar.loadNFTMarker(msg.marker, function (id) {

js/artoolkitNFT_ES6.api.js

@@ -58,7 +58,7 @@ class ARControllerNFT {
         this._bwpointer = undefined;
         this._lumaCtx = undefined;
 
-        this.version = '1.4.0';
+        this.version = '1.4.1';
         console.info('JsartoolkitNFT ', this.version);
 
         if (typeof cameraPara === 'string') {

js/artoolkitNFT_ES6.worker.js

@@ -29,6 +29,8 @@ if (browser == "Apple Safari") {
 } else {
   importScripts("../dist/ARToolkitNFT_simd.js");
 }
+// Import OneEuroFilter class into the worker.
+importScripts("./one-euro-filter.js");
 
 self.onmessage = function (e) {
   var msg = e.data;
@@ -49,6 +51,29 @@ var ar = null;
 var markerResult = null;
 var marker;
 
+const WARM_UP_TOLERANCE = 5;
+let tickCount = 0;
+
+// initialize the OneEuroFilter
+var oef = true;
+let filterMinCF = 0.0001;
+let filterBeta = 0.01;
+const filter = new OneEuroFilter({
+  minCutOff: filterMinCF,
+  beta: filterBeta
+});
+
+function oefFilter(matrixGL_RH) {
+  tickCount += 1;
+  var mat;
+  if (tickCount > WARM_UP_TOLERANCE) {
+    mat = filter.filter(Date.now(), matrixGL_RH);
+  } else {
+    mat = matrixGL_RH;
+  }
+  return mat;
+}
+
 function load(msg) {
   console.debug("Loading marker at: ", msg.marker);
 
@@ -57,24 +82,43 @@ function load(msg) {
     var cameraMatrix = ar.getCameraMatrix();
 
     ar.addEventListener("getNFTMarker", function (ev) {
+      var mat;
+      if (oef == true) {
+        mat = oefFilter(ev.data.matrixGL_RH)
+      } else {
+        mat = ev.data.matrixGL_RH
+      }
       markerResult = {
         type: "found",
-        matrixGL_RH: JSON.stringify(ev.data.matrixGL_RH),
+        matrixGL_RH: JSON.stringify(mat),
       };
     });
 
+    ar.addEventListener("lostNFTMarker", function (ev) {
+      filter.reset();
+    });
+
     ar.loadNFTMarker(msg.marker, function (id) {
       ar.trackNFTMarkerId(id);
       let marker = ar.getNFTData(ar.id, 0);
       console.log("nftMarker data: ", marker);
-      postMessage({ type: "markerInfos", marker: marker });
+      postMessage({
+        type: "markerInfos",
+        marker: marker
+      });
       console.log("loadNFTMarker -> ", id);
-      postMessage({ type: "endLoading", end: true });
+      postMessage({
+        type: "endLoading",
+        end: true
+      });
     }).catch(function (err) {
       console.log("Error in loading marker on Worker", err);
     });
 
-    postMessage({ type: "loaded", proj: JSON.stringify(cameraMatrix) });
+    postMessage({
+      type: "loaded",
+      proj: JSON.stringify(cameraMatrix)
+    });
   };
 
   var onError = function (error) {
@@ -85,10 +129,10 @@ function load(msg) {
 
   // we cannot pass the entire ARControllerNFT, so we re-create one inside the Worker, starting from camera_param
   ARToolkitNFT.ARControllerNFT.initWithDimensions(
-    msg.pw,
-    msg.ph,
-    msg.camera_para
-  )
+      msg.pw,
+      msg.ph,
+      msg.camera_para
+    )
     .then(onLoad)
     .catch(onError);
 }
@@ -103,8 +147,10 @@ function process() {
   if (markerResult) {
     postMessage(markerResult);
   } else {
-    postMessage({ type: "not found" });
+    postMessage({
+      type: "not found"
+    });
   }
 
   next = null;
-}
+}