trying to debug the issue

Author: kalwalt

python-bindings/ARToolKitNFT_py.cpp

@@ -33,13 +33,32 @@ void matrixLerp(ARdouble src[3][4], ARdouble dst[3][4],
 }
 
 int ARToolKitNFT::passVideoData(py::array_t<uint8_t> videoFrame, py::array_t<uint8_t> videoLuma) {
-  auto videoFramePtr = static_cast<uint8_t *>(videoFrame.request().ptr);
-  auto videoLumaPtr = static_cast<uint8_t *>(videoLuma.request().ptr);
+    auto frame_info = videoFrame.request();
+    auto luma_info = videoLuma.request();
 
-  std::copy(videoFramePtr, videoFramePtr + videoFrame.size(), this->videoFrame.get());
-  std::copy(videoLumaPtr, videoLumaPtr + videoLuma.size(), this->videoLuma.get());
+    ARLOGi("Video Frame Debug:\n");
+    ARLOGi("  Dimensions: %ld\n", frame_info.ndim);
+    ARLOGi("  Shape: Total elements: %ld\n", frame_info.shape[0]);
+    ARLOGi("  Total size: %ld bytes\n", frame_info.size);
+    ARLOGi("  Item size: %ld bytes\n", frame_info.itemsize);
 
-  return 0;
+    ARLOGi("Video Luma Debug:\n");
+    ARLOGi("  Dimensions: %ld\n", luma_info.ndim);
+    ARLOGi("  Shape: Total elements: %ld\n", luma_info.shape[0]);
+    ARLOGi("  Total size: %ld bytes\n", luma_info.size);
+    ARLOGi("  Item size: %ld bytes\n", luma_info.itemsize);
+
+    uint8_t* frame_ptr = static_cast<uint8_t*>(frame_info.ptr);
+    uint8_t* luma_ptr = static_cast<uint8_t*>(luma_info.ptr);
+
+    // Copy flattened data
+    std::copy(frame_ptr, frame_ptr + frame_info.size, this->videoFrame.get());
+    std::copy(luma_ptr, luma_ptr + luma_info.size, this->videoLuma.get());
+
+    ARLOGi("First few frame bytes: %u %u %u %u %u\n", frame_ptr[0], frame_ptr[1], frame_ptr[2], frame_ptr[3], frame_ptr[4]);
+    ARLOGi("First few luma bytes: %u %u %u %u %u\n", luma_ptr[0], luma_ptr[1], luma_ptr[2], luma_ptr[3], luma_ptr[4]);
+
+    return 0;
 }
 
 py::dict ARToolKitNFT::getNFTMarkerInfo(int markerIndex) {
@@ -124,17 +143,30 @@ int ARToolKitNFT::detectNFTMarker() {
   int kpmResultNum = -1;
 
   if (this->detectedPage == -2) {
+    ARLOGi("detectedPage = %d\n", this->detectedPage);
     kpmMatching(this->kpmHandle.get(), this->videoLuma.get());
     kpmGetResult(this->kpmHandle.get(), &kpmResult, &kpmResultNum);
-
+      if (kpmResultNum > 0) {
+          ARLOGi("kpmMatching found %d results.\n", kpmResultNum);
+          for (int i = 0; i < kpmResultNum; i++) {
+              ARLOGi("kpmResult[%d]: pageNo = %d, error = %f, inlierNum = %d, camPoseF = %d\n",
+                     i,
+                     kpmResult[i].pageNo,
+                     kpmResult[i].error,
+                     kpmResult[i].inlierNum,
+                     kpmResult[i].camPoseF);
+          }
+      } else {
+          ARLOGi("No kpmResults found.");
+      }
 #if WITH_FILTERING
     this->ftmi = arFilterTransMatInit(this->filterSampleRate,
                                       this->filterCutoffFrequency);
 #endif
 
     for (int i = 0; i < kpmResultNum; i++) {
       if (kpmResult[i].camPoseF == 0) {
-
+          ARLOGi("kpmResult[i].pageNo = %d\n", kpmResult[i].pageNo);
         float trans[3][4];
         this->detectedPage = kpmResult[i].pageNo;
         std::copy(&kpmResult[i].camPose[0][0], &kpmResult[i].camPose[0][0] + 3 * 4, &trans[0][0]);
@@ -178,8 +210,8 @@ int ARToolKitNFT::setupAR2() {
   this->ar2Handle = tempHandle;
 
   // Settings for devices with single-core CPUs.
-  ar2SetTrackingThresh(this->ar2Handle, 5.0);
-  ar2SetSimThresh(this->ar2Handle, 0.50);
+  ar2SetTrackingThresh(this->ar2Handle, 2.0); // Lowering tolerance.
+  ar2SetSimThresh(this->ar2Handle, 0.3);     // Increase similarity tolerance.
   ar2SetSearchFeatureNum(this->ar2Handle, 16);
   ar2SetSearchSize(this->ar2Handle, 6);
   ar2SetTemplateSize1(this->ar2Handle, 6);

python-bindings/example.py

@@ -4,30 +4,50 @@
 from PIL import Image
 
 async def main():
-    arnft = arcontrollerNFT.ARControllerNFT(1920, 1021, '../examples/Data/camera_para.dat')
+    arnft = arcontrollerNFT.ARControllerNFT(1637, 2048, '../examples/Data/camera_para.dat')
     nft = await arnft._initialize()
     await nft.loadNFTMarkers(['../examples/DataNFT/pinball'])
     print(nft)
 
-    nft.trackNFTMarkerId(nft.id)
+    obj = nft.trackNFTMarkerId(nft.id)
+    print('obj is: ', obj)
 
     # Load the test image
     image_path = './pinball-test.png'
+
     image = Image.open(image_path)
+    print(f'Original image shape: {image.size}, mode: {image.mode}')
     image = image.convert('RGBA')
-    
+    image_gray = image.convert('L')
+    gray_data = np.array(image_gray)
+    nft.setGrayData(gray_data)
+    # image = image.transpose(Image.Transpose.ROTATE_90)
+    # image = image.transpose(Image.Transpose.ROTATE_270)
+    # image = image.transpose(Image.Transpose.FLIP_TOP_BOTTOM)
+    # image = image.transpose(Image.Transpose.ROTATE_90)
+    # image = image.resize((640, 480), Image.Resampling.LANCZOS)
+    # image = image.transpose(Image.Transpose.FLIP_LEFT_RIGHT)
+    # image.show()
+    print(f'Input image shape: {image.size}, mode: {image.mode}')
+    print(f"First pixel values: {image.getpixel((0, 0))}")
+    rgba = np.ascontiguousarray(np.array(image), np.uint8)
+    # rgba = np.transpose(rgba, (1, 0, 2))  # Swap height and width dimensions
+    # rgba = np.transpose(rgba)
     # Flip the image vertically
-    #image = image.transpose(Image.FLIP_TOP_BOTTOM)
-    
-    image_data = np.array(image)
-    print('image_data:', image_data)
+    # image = image.transpose(Image.FLIP_TOP_BOTTOM)
 
     # Create a mock image object with the data attribute
     class MockImage:
-        def __init__(self, data):
-            self.data = data
+       def __init__(self, array):
+            self.data = array
+            self.width = array.shape[1]  # Width of the image
+            self.height = array.shape[0]  # Height of the image
+            self.format = 'RGBA'  # Or the format expected by the binding (e.g., 'BGRA')
+
+    mock_image = MockImage(rgba)
 
-    mock_image = MockImage(image_data)
+    print('mock_image type: ', type(mock_image.data))
+    print('mock_image width:', mock_image.data.shape)
 
     # Add event listener for detecting NFT marker
     def on_get_nft_marker(ev):
@@ -42,7 +62,9 @@ def on_get_nft_marker(ev):
 
     # Process the image
     print("Processing image...")
-    nft.process(mock_image)
+    for i in range(1):
+        nft.process(mock_image)
+    await asyncio.sleep(0)  # let event loop dispatch
     print("Image processed.")
 
 asyncio.run(main())

python-bindings/src/artoolkitnft/arcontrollerNFT.py

@@ -72,6 +72,7 @@ def process(self, image):
         for i in range(nftMarkerCount):
             nftMarkerInfo = self.getNFTMarker(i)
             markerType = artoolkitnft_core.NFT_MARKER
+            print('nftMarkerInfo:', nftMarkerInfo)
 
             if nftMarkerInfo['found']:
                 self.nftMarkerFound = i