@srsergio/taptapp-ar 1.0.2 → 1.0.3

package/src/compiler/utils/worker-pool.js

@@ -0,0 +1,89 @@
+import { Worker } from 'node:worker_threads';
+import os from 'node:os';
+
+export class WorkerPool {
+    constructor(workerPath, poolSize = os.cpus().length) {
+        this.workerPath = workerPath;
+        this.poolSize = poolSize;
+        this.workers = [];
+        this.queue = [];
+        this.activeWorkers = 0;
+    }
+
+    runTask(taskData) {
+        return new Promise((resolve, reject) => {
+            const task = { taskData, resolve, reject };
+            if (this.workers.length > 0) {
+                this._executeTask(this.workers.pop(), task);
+            } else if (this.activeWorkers < this.poolSize) {
+                this._executeTask(this._createWorker(), task);
+            } else {
+                this.queue.push(task);
+            }
+        });
+    }
+
+    _createWorker() {
+        this.activeWorkers++;
+        const worker = new Worker(this.workerPath);
+        return worker;
+    }
+
+    _executeTask(worker, task) {
+        const onMessage = (msg) => {
+            if (msg.type === 'progress' && task.taskData.onProgress) {
+                task.taskData.onProgress(msg.percent);
+            } else if (msg.type === 'compileDone') {
+                cleanup();
+                this._finishTask(worker, task.resolve, msg.trackingData);
+            } else if (msg.type === 'matchDone') {
+                cleanup();
+                this._finishTask(worker, task.resolve, msg.matchingData);
+            } else if (msg.type === 'error') {
+                cleanup();
+                this._finishTask(worker, task.reject, new Error(msg.error));
+            }
+        };
+
+        const onError = (err) => {
+            cleanup();
+            this._finishTask(worker, task.reject, err);
+        };
+
+        const cleanup = () => {
+            worker.removeListener('message', onMessage);
+            worker.removeListener('error', onError);
+        };
+
+        worker.on('message', onMessage);
+        worker.on('error', onError);
+
+        // Create a copy of taskData without functions for the worker
+        const serializableData = {};
+        for (const [key, value] of Object.entries(task.taskData)) {
+            if (typeof value !== 'function') {
+                serializableData[key] = value;
+            }
+        }
+
+        worker.postMessage({
+            type: 'compile',
+            ...serializableData
+        });
+    }
+
+    _finishTask(worker, callback, result) {
+        if (this.queue.length > 0) {
+            this._executeTask(worker, this.queue.shift());
+        } else {
+            this.workers.push(worker);
+        }
+        callback(result);
+    }
+
+    async destroy() {
+        await Promise.all(this.workers.map(w => w.terminate()));
+        this.workers = [];
+        this.activeWorkers = 0;
+    }
+}

package/src/compiler/estimation/esimate-experiment.js

@@ -1,316 +0,0 @@
-// try to implement https://hal.inria.fr/inria-00174036/PDF/RR-6303.pdf
-import { Matrix, inverse } from "ml-matrix";
-import { SVD } from "svd-js";
-import { solveHomography } from "../utils/homography";
-import { computeScreenCoordiate } from "./utils";
-
-const opposites_of_minors = (M, row, col) => {
-  let x1 = col === 0 ? 1 : 0;
-  let x2 = col === 2 ? 1 : 2;
-  let y1 = row === 0 ? 1 : 0;
-  let y2 = row === 2 ? 1 : 2;
-  return M[y1][x2] * M[y2][x1] - M[y1][x1] * M[y2][x2];
-};
-
-const findRmatFrom_tstar_n = (H, tstar, n, v) => {
-  // computes R = H( I - (2/v)*te_star*ne_t )
-  const twoDivV = 2 / v;
-  const tmp = [
-    [1 - twoDivV * tstar[0] * n[0], 0 - twoDivV * tstar[0] * n[1], 0 - twoDivV * tstar[0] * n[2]],
-    [0 - twoDivV * tstar[1] * n[0], 1 - twoDivV * tstar[1] * n[1], 0 - twoDivV * tstar[1] * n[2]],
-    [0 - twoDivV * tstar[2] * n[0], 0 - twoDivV * tstar[2] * n[1], 1 - twoDivV * tstar[2] * n[2]],
-  ];
-
-  const R = [
-    [0, 0, 0],
-    [0, 0, 0],
-    [0, 0, 0],
-  ];
-  for (let i = 0; i < 3; i++) {
-    for (let j = 0; j < 3; j++) {
-      for (let k = 0; k < 3; k++) {
-        R[i][j] += H[i][k] * tmp[k][j];
-      }
-    }
-  }
-  //const R = H.mmul( new Matrix(tmp));
-  return R;
-};
-
-const estimate = ({ screenCoords, worldCoords, projectionTransform }) => {
-  const Harray = solveHomography(
-    worldCoords.map((p) => [p.x, p.y]),
-    screenCoords.map((p) => [p.x, p.y]),
-  );
-  const G = new Matrix([
-    [Harray[0], Harray[1], Harray[2]],
-    [Harray[3], Harray[4], Harray[5]],
-    [Harray[6], Harray[7], Harray[8]],
-  ]);
-  const K = new Matrix(projectionTransform);
-  const KInv = inverse(K);
-  const KInvArr = KInv.to2DArray();
-  const KArr = K.to2DArray();
-
-  const Hhat = KInv.mmul(G).mmul(K);
-  const { q } = SVD(Hhat.to2DArray());
-
-  const H = Hhat.div(q[1]);
-
-  const HTH = H.transpose().mmul(H);
-  const S = Matrix.sub(HTH, Matrix.eye(3, 3)).to2DArray();
-
-  console.log("G", G);
-  console.log("svd q", q);
-  console.log("Hhat", Hhat);
-  console.log("H", H);
-  console.log("HTH", HTH);
-  console.log("S", S);
-
-  // M00, M11, M22
-  const M00 = opposites_of_minors(S, 0, 0);
-  const M11 = opposites_of_minors(S, 1, 1);
-  const M22 = opposites_of_minors(S, 2, 2);
-  const rtM00 = Math.sqrt(M00);
-  const rtM11 = Math.sqrt(M11);
-  const rtM22 = Math.sqrt(M22);
-
-  // M01, M12, M02
-  const M01 = opposites_of_minors(S, 0, 1);
-  const e01 = M01 >= 0 ? 1 : -1;
-  const M12 = opposites_of_minors(S, 1, 2);
-  const e12 = M12 >= 0 ? 1 : -1;
-  const M02 = opposites_of_minors(S, 0, 2);
-  const e02 = M02 >= 0 ? 1 : -1;
-
-  let maxIndex = 0;
-  if (Math.abs(S[1][1]) > Math.abs(S[maxIndex][maxIndex])) maxIndex = 1;
-  if (Math.abs(S[2][2]) > Math.abs(S[maxIndex][maxIndex])) maxIndex = 2;
-
-  console.log("rtM00", rtM00, rtM11, rtM22);
-  console.log("M01", M01, M12, M02, e01, e12, e02);
-
-  let npa = [0, 0, 0];
-  let npb = [0, 0, 0];
-
-  console.log("max index", maxIndex);
-  if (maxIndex === 0) {
-    npa[0] = npb[0] = S[0][0];
-    npa[1] = S[0][1] + rtM22;
-    npb[1] = S[0][1] - rtM22;
-    npa[2] = S[0][2] + e12 * rtM11;
-    npb[2] = S[0][2] - e12 * rtM11;
-  } else if (maxIndex === 1) {
-    npa[0] = S[0][1] + rtM22;
-    npb[0] = S[0][1] - rtM22;
-    npa[1] = npb[1] = S[1][1];
-    npa[2] = S[1][2] - e02 * rtM00;
-    npb[2] = S[1][2] + e02 * rtM00;
-  } else if (maxIndex === 2) {
-    npa[0] = S[0][2] + e01 * rtM11;
-    npb[0] = S[0][2] - e01 * rtM11;
-    npa[1] = S[1][2] + rtM00;
-    npb[1] = S[1][2] - rtM00;
-    npa[2] = npb[2] = S[2][2];
-  }
-
-  console.log("npa", npa);
-  console.log("npb", npb);
-
-  const traceS = S[0][0] + S[1][1] + S[2][2];
-  const v = 2.0 * Math.sqrt(1 + traceS - M00 - M11 - M22);
-
-  const ESii = S[maxIndex][maxIndex] >= 0 ? 1 : -1;
-
-  const r_2 = 2 + traceS + v;
-  const nt_2 = 2 + traceS - v;
-
-  const r = Math.sqrt(r_2);
-  const n_t = Math.sqrt(nt_2);
-
-  console.log("r n_t", r, n_t);
-
-  const npaNorm = Math.sqrt(npa[0] * npa[0] + npa[1] * npa[1] + npa[2] * npa[2]);
-  const npbNorm = Math.sqrt(npb[0] * npb[0] + npb[1] * npb[1] + npb[2] * npb[2]);
-
-  const na = [npa[0] / npaNorm, npa[1] / npaNorm, npa[2] / npaNorm];
-  const nb = [npb[0] / npbNorm, npb[1] / npbNorm, npb[2] / npbNorm];
-
-  console.log("na nb", na, nb);
-
-  const half_nt = 0.5 * n_t;
-  const esii_t_r = ESii * r;
-
-  const ta_star = [];
-  for (let i = 0; i < 3; i++) {
-    ta_star[i] = half_nt * (esii_t_r * nb[i] - n_t * na[i]);
-  }
-  const tb_star = [];
-  for (let i = 0; i < 3; i++) {
-    tb_star[i] = half_nt * (esii_t_r * na[i] - n_t * nb[i]);
-  }
-
-  const HArr = H.to2DArray();
-  console.log("ta_star", ta_star, tb_star);
-
-  /*
-    """solutions = []
-    # Ra, ta
-    R = findRmatFrom_tstar_n(H, ta_star, na, v)
-    t = R.dot(ta_star)
-    solutions.append((R, t, na))
-    # Ra, -ta
-    solutions.append((R, -t, -na))
-    # Rb, tb
-    R = findRmatFrom_tstar_n(H, tb_star, nb, v)
-    t = R.dot(tb_star)
-    solutions.append((R, t, nb))
-    # Rb, -tb
-    solutions.append((R, -t, -nb))
-  */
-
-  const findT = (R1, ta_star) => {
-    const t = [
-      R1[0][0] * ta_star[0] + R1[0][1] * ta_star[1] + R1[0][2] * ta_star[2],
-      R1[1][0] * ta_star[0] + R1[1][1] * ta_star[1] + R1[1][2] * ta_star[2],
-      R1[2][0] * ta_star[0] + R1[2][1] * ta_star[1] + R1[2][2] * ta_star[2],
-    ];
-    return t;
-  };
-
-  const Ra = findRmatFrom_tstar_n(HArr, ta_star, na, v);
-  const ta = findT(Ra, ta_star);
-  const nta = [-ta[0], -ta[1], -ta[2]];
-
-  console.log("RaTRa", new Matrix(Ra).transpose().mmul(new Matrix(Ra)));
-
-  const Rb = findRmatFrom_tstar_n(HArr, tb_star, nb, v);
-  const tb = findT(Rb, tb_star);
-  const ntb = [-tb[0], -tb[1], -tb[2]];
-
-  const findModelViewProjectionTransform = (R, t) => {
-    const transform = [
-      [R[0][0], R[0][1], R[0][2], t[0]],
-      [R[1][0], R[1][1], R[1][2], t[1]],
-      [R[2][0], R[2][1], R[2][2], t[2]],
-    ];
-    return transform;
-
-    const modelViewProjectionTransform = [[], [], []];
-    for (let j = 0; j < 3; j++) {
-      for (let i = 0; i < 4; i++) {
-        modelViewProjectionTransform[j][i] =
-          KArr[j][0] * transform[0][i] +
-          KArr[j][1] * transform[1][i] +
-          KArr[j][2] * transform[2][i];
-      }
-    }
-    return modelViewProjectionTransform;
-  };
-  console.log("Ra ta", Ra, ta);
-  console.log("Rb tb", Rb, tb);
-
-  const tnT = new Matrix([
-    [ta[0] * na[0], ta[0] * na[1], ta[0] * na[2]],
-    [ta[1] * na[0], ta[1] * na[1], ta[1] * na[2]],
-    [ta[2] * na[0], ta[2] * na[1], ta[2] * na[2]],
-  ]);
-  const RtnT = new Matrix(Ra).add(tnT);
-  console.log("tnT", tnT);
-  console.log("RtnT", RtnT);
-
-  const modelViewProjectionTransforms = [];
-  modelViewProjectionTransforms.push(findModelViewProjectionTransform(Ra, ta));
-  modelViewProjectionTransforms.push(findModelViewProjectionTransform(Ra, nta));
-  modelViewProjectionTransforms.push(findModelViewProjectionTransform(Rb, tb));
-  modelViewProjectionTransforms.push(findModelViewProjectionTransform(Rb, ntb));
-
-  const applyMatrix = (K, pt) => {
-    let kx = K[0][0] * pt[0] + K[0][1] * pt[1] + K[0][2];
-    let ky = K[1][0] * pt[0] + K[1][1] * pt[1] + K[1][2];
-    let kz = K[2][0] * pt[0] + K[2][1] * pt[1] + K[2][2];
-    kx /= kz;
-    ky /= kz;
-    return [kx, ky];
-  };
-
-  for (let s = 0; s < modelViewProjectionTransforms.length; s++) {
-    console.log("solution", s);
-    const modelViewProjectionTransform = modelViewProjectionTransforms[s];
-    for (let i = 0; i < worldCoords.length; i++) {
-      let world = applyMatrix(KInvArr, [worldCoords[i].x, worldCoords[i].y]);
-      let world2 = applyMatrix(RtnT.to2DArray(), world);
-      let screen = applyMatrix(KInvArr, [screenCoords[i].x, screenCoords[i].y]);
-
-      console.log("map", worldCoords[i], screenCoords[i]);
-      console.log("mapped", world, world2, screen);
-
-      //const mapped = computeScreenCoordiate(modelViewProjectionTransform, worldCoords[i].x, worldCoords[i].y, 0);
-      //console.log("mapped", worldCoords[i], screenCoords[i], mapped);
-      //console.log("mapped", worldCoords[i], screenCoords[i], kx2, ky2, mapped);
-    }
-  }
-
-  for (let s = 0; s < modelViewProjectionTransforms.length; s++) {
-    console.log("mvp solution", s);
-    const modelViewProjectionTransform = modelViewProjectionTransforms[s];
-    for (let i = 0; i < worldCoords.length; i++) {
-      let world = applyMatrix(KInvArr, [worldCoords[i].x, worldCoords[i].y]);
-      let screen = applyMatrix(KInvArr, [screenCoords[i].x, screenCoords[i].y]);
-      //const mapped = computeScreenCoordiate(modelViewProjectionTransform, worldCoords[i].x, worldCoords[i].y, 0);
-      const mapped = computeScreenCoordiate(modelViewProjectionTransform, world[0], world[1], 0);
-      console.log("mapped", worldCoords[i], screenCoords[i], world, screen, mapped);
-    }
-  }
-
-  return null;
-
-  /*
-
-  const R1 = findRmatFrom_tstar_n(HArr, ta_star, na, v);
-  const R2 = findRmatFrom_tstar_n(HArr, tb_star, nb, v);
-  console.log("R1", R1);
-  console.log("R2", R2);
-
-  const t = [
-    R1[0][0] * ta_star[0] + R1[0][1] * ta_star[1] + R1[0][2] * ta_star[2],
-    R1[1][0] * ta_star[0] + R1[1][1] * ta_star[1] + R1[1][2] * ta_star[2],
-    R1[2][0] * ta_star[0] + R1[2][1] * ta_star[1] + R1[2][2] * ta_star[2]
-  ]
-
-  const R = R2;
-
-  const modelViewProjectionTransform = [
-    [R[0][0], R[0][1], R[0][2], t[0]],
-    [R[1][0], R[1][1], R[1][2], t[0]],
-    [R[2][0], R[2][1], R[2][2], t[0]],
-  ];
-  */
-
-  for (let i = 0; i < worldCoords.length; i++) {
-    const mapped = computeScreenCoordiate(
-      modelViewProjectionTransform,
-      worldCoords[i].x,
-      worldCoords[i].y,
-      0,
-    );
-    console.log("mapped", worldCoords[i], screenCoords[i], mapped);
-  }
-
-  // this is the full computation if the projectTransform does not look like the expected format, but more computations
-  const modelViewTransform = [[], [], []];
-  for (let j = 0; j < 3; j++) {
-    for (let i = 0; i < 4; i++) {
-      modelViewTransform[j][i] =
-        KInvArr[j][0] * modelViewProjectionTransform[0][i] +
-        KInvArr[j][1] * modelViewProjectionTransform[1][i] +
-        KInvArr[j][2] * modelViewProjectionTransform[2][i];
-    }
-  }
-  console.log("KInvArr", KInvArr);
-  console.log("modelViewProjectionTransform", modelViewProjectionTransform);
-  console.log("modelViewTransform", modelViewTransform);
-  return modelViewTransform;
-};
-
-export { estimate };