improving transmatrix and related functions

[kalwalt]

Improving transmatrix and related functions and other improves

This PR try to improve the transmattrix and related functions but also add a bunch of improves in different part of the code.
I have tested the code that use Th Grayscale class and the other: we can exclude that use a different OpenCV code base so i noted that for example with teblid example i got a maximum of feature points instead with the three.js - jsfeatNext example i got much less. I have the suspect that there is a discrepance in the video data ( and this only a js code issue) between the video data passed by the Grayscale.js and the video data (also this in Gray format) from jsfeatNext. I will try to find the reason, if i solve this issue the code will be ready to be released.

[kalwalt]

I'm trying to improve the threejs_ES6_example. Now i got maximum of keypoints (1000 frame keypoints) as for the teblid_example. This is an improvement in the issue but still the code not goes in the start tracking phase, What is wrong yet?
I noticed that we get few fps in the worker. and the number of keypoints and matches is always to the maximium. Instead with the teblid example they goes up and down depending on whether the pinball image is scanned or not.

note: if you want to try, you can see the num. of keypoints in the console with other infos.

[kalwalt]

I have little test in the chrome performance console and it seems that the

webarkit-testing/examples/threejs_worker_ES6.js

Line 203 in 771a085

const process = function () {

function doesn't update continuosly the data, and this explains the continuos of same data (num. keypoints) in the console. I will look at how can i make the stream continuos.

[kalwalt]

I have uploaded a new example teblid_advanced_example.html. Whit htis last i'm trying to test the pose matrix (coming from the pnp routine), probably i'd use that one from getPoseMatrix2. Sometimes i got an error like:

Uncaught 31133504 - Exception catching is disabled, this exception cannot be caught. Compile with -sNO_DISABLE_EXCEPTION_CATCHING or -sEXCEPTION_CATCHING_ALLOWED=[..] to catch.