diff --git a/3rdparty b/3rdparty
index aa9582c091c70346ce9390c7b8696cdbd7c465c5..606aa9e3200e39da5f0e7aa7a51d70d863dd5453 160000
--- a/3rdparty
+++ b/3rdparty
@@ -1 +1 @@
-Subproject commit aa9582c091c70346ce9390c7b8696cdbd7c465c5
+Subproject commit 606aa9e3200e39da5f0e7aa7a51d70d863dd5453
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 948fa587b96d1f5bc4498ad1f751632b4c582030..51cb449a08ee86f565cd7d10da21996618ca0812 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -137,7 +137,7 @@ set(BUILD_SHARED_LIBS ${DUMMY})
# if win32 and mingw use in 3rd party
if (USE_3RD_PARTY)
# Setting path to OpenCV
- set(OpenCV_DIR "${CMAKE_SOURCE_DIR}/3rdparty/windows/opencv-4.2.0_64bit")
+ set(OpenCV_DIR "${CMAKE_SOURCE_DIR}/3rdparty/windows/opencv-4.10.0")
# Setting path to QWT
set(QWT_ROOT_DIR "${CMAKE_SOURCE_DIR}/3rdparty/windows/Qwt-6.1.4_64bit")
@@ -155,8 +155,8 @@ message("Building with Qt${QT_DEFAULT_MAJOR_VERSION} (${Qt5Core_VERSION_STRING})
# OpenCV
find_package(
- OpenCV 4.5
- COMPONENTS core calib3d aruco video videoio highgui imgproc
+ OpenCV 4.10
+ COMPONENTS core calib3d video videoio highgui imgproc objdetect
REQUIRED
)
message("Building with OpenCV${OpenCV_VERSION_MAJOR} (${OpenCV_VERSION})")
diff --git a/container/ubuntu/Dockerfile b/container/ubuntu/Dockerfile
index 1774dd45fd4283feb4e812b74338b9d22cef2ffc..ce9bd28d249cbd4aed12fad25098269c15d9d19a 100644
--- a/container/ubuntu/Dockerfile
+++ b/container/ubuntu/Dockerfile
@@ -9,53 +9,81 @@ RUN apt-get update && apt-get -y install tzdata
RUN echo "deb [trusted=yes] http://apt.llvm.org/jammy/ llvm-toolchain-jammy-14 main" | tee /etc/apt/sources.list.d/clang.list
RUN apt-get update && \
- apt-get install -y \
- software-properties-common \
- build-essential \
- wget \
- gcc \
- g++ \
- gdb \
- clang \
- make \
- ninja-build \
- cmake \
- autoconf \
- automake \
- libtool \
- valgrind \
- parallel \
- rsync \
- tar \
- mesa-common-dev \
- libglu1-mesa-dev \
- clang-14 \
- clang-format-14 \
- && apt-get clean
-
+ apt-get install -y --no-install-recommends \
+ tzdata \
+ software-properties-common \
+ build-essential \
+ wget \
+ gcc \
+ g++ \
+ gdb \
+ clang \
+ clang-14 \
+ clang-format-14 \
+ make \
+ ninja-build \
+ cmake \
+ autoconf \
+ automake \
+ libtool \
+ valgrind \
+ parallel \
+ rsync \
+ tar \
+ ffmpeg \
+ mesa-common-dev \
+ libglu1-mesa-dev \
+ libavcodec-dev libavformat-dev libswscale-dev \
+ libgstreamer-plugins-base1.0-dev libgstreamer1.0-dev \
+ libpng-dev libjpeg-dev libopenexr-dev libtiff-dev libwebp-dev \
+ python3 \
+ python3-pip \
+ python3-dev \
+ unzip \
+ && apt-get clean && \
+ rm -rf /var/lib/apt/lists/*
# Set clang-14 as default compiler
RUN update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++-14 100 &&\
update-alternatives --install /usr/bin/cc cc /usr/bin/clang-14 100
-# Install python
-RUN apt-get update && apt-get install -y \
- python3 \
- python3-pip \
- python3-dev \
- && apt-get clean
-
-RUN pip install pytest numpy aqtinstall
+# Install OpenCV 4.10
+ARG OPENCV_VERSION=4.10.0
+RUN cd /opt && \
+ wget https://github.com/opencv/opencv/archive/${OPENCV_VERSION}.zip && \
+ unzip ${OPENCV_VERSION}.zip && \
+ rm ${OPENCV_VERSION}.zip && \
+ cd opencv-${OPENCV_VERSION} && \
+ mkdir build && \
+ cd build && \
+ cmake -G Ninja -D CMAKE_BUILD_TYPE=Release \
+ -D CMAKE_INSTALL_PREFIX=/usr/local \
+ -D BUILD_EXAMPLES=OFF \
+ -D BUILD_TESTS=OFF \
+ -D BUILD_PERF_TESTS=OFF \
+ -D BUILD_opencv_core=ON \
+ -D BUILD_opencv_calib3d=ON \
+ -D BUILD_opencv_video=ON \
+ -D BUILD_opencv_videoio=ON \
+ -D BUILD_opencv_highgui=ON \
+ -D BUILD_opencv_imgproc=ON \
+ -D BUILD_opencv_objdetect=ON \
+ -D WITH_FFMPEG=ON \
+ .. && \
+ cmake --build . --config Release --parallel $(nproc) && \
+ cmake --install . && \
+ ldconfig && \
+ rm -rf /opt/opencv-${OPENCV_VERSION}
# Install Qt 5.15
-RUN aqt install-qt linux desktop 5.15.2
+RUN pip install pytest numpy aqtinstall && aqt install-qt linux desktop 5.15.2 && \
+ rm -rf /root/.cache/pip
ENV PATH="/5.15.2/gcc_64/lib/cmake/Qt5:${PATH}"
-# Install the needed libraries
+# Install Qwt
RUN apt-get update && apt-get install -y \
- libqwt-qt5-dev \
- libopencv-dev \
- libopencv-contrib4.5
+ libqwt-qt5-dev
+# create the ci user
RUN ["useradd", "ci"]
USER "ci"
diff --git a/docs/source/contribute/code_contribution/build_from_source.md b/docs/source/contribute/code_contribution/build_from_source.md
index c45bebce72d8081ca325e37d4bef7b54bb615f73..f4dd0ea3b62a27d288da701288d1d75e94f8a4af 100644
--- a/docs/source/contribute/code_contribution/build_from_source.md
+++ b/docs/source/contribute/code_contribution/build_from_source.md
@@ -15,14 +15,9 @@ For using `PeTrack` following tools and libraries are needed:
- git
- CMake (>= 3.16)
- Qt (>= 5.14, < 6.0)
-- OpenCV (== 4.5)
+- OpenCV (== 4.10)
- Qwt (>= 6.2)
-:::{important}
-If you compile openCV youself, you also need to include openCV-contrib
-to get the aruco functionality.
-:::
-
When developing `PeTrack` and using the test framework following additional tools and libraries are used, they are provided as submodules by `PeTrack`:
- Catch2
- trompeloeil
diff --git a/scripts/Comparison/video_comparison.py b/scripts/Comparison/video_comparison.py
index 3afe3e994e066a5fac8e29bf7a440acacba1b6f2..ff5793e615b9ece8735339e928469933f044a7b7 100644
--- a/scripts/Comparison/video_comparison.py
+++ b/scripts/Comparison/video_comparison.py
@@ -17,7 +17,7 @@ from handmade_test import MAX_DIFF, calc_diff, parse_trc, HandmadeComparison
class ComparisonVideoPlayer:
# TODO: Longterm; Make thread, so we can add UI-Elements via tkinter
- # These could be e.g. looking at a number of user-chosen trajectories
+ # These could be e.g. looking at a number of user-chosen trajectories
# Which could be helpful for the 'no counterpart' case
def __init__(self, pet: str) -> None:
# super().__init__()
@@ -35,13 +35,22 @@ class ComparisonVideoPlayer:
intrinsics = (
root.find("CONTROL").find("CALIBRATION").find("INTRINSIC_PARAMETERS")
)
+ assert intrinsics is not None
self.border = int(
float(
root.find("CONTROL").find("CALIBRATION").find("BORDER").attrib["VALUE"]
)
* 2
)
- calib = intrinsics.attrib
+
+ if intrinsics.attrib["EXT_MODEL_ENABLED"] == "1":
+ ext_model = intrinsics.find("EXT_MODEL")
+ assert ext_model is not None
+ calib = ext_model.attrib
+ else:
+ old_model = intrinsics.find("OLD_MODEL")
+ assert old_model is not None
+ calib = old_model.attrib
camera = np.array(
[
@@ -104,8 +113,8 @@ class ComparisonVideoPlayer:
nearby_people_truth: List[int] = []
for person in self.test_trajectories:
if (
- seed_person.last_frame < person.first_frame
- or seed_person.first_frame > person.last_frame
+ seed_person.last_frame < person.first_frame
+ or seed_person.first_frame > person.last_frame
):
continue
if seed_person.first_frame > person.first_frame:
@@ -122,8 +131,8 @@ class ComparisonVideoPlayer:
nearby_people_test.append(person.id + 1)
for person in self.truth_trajectories:
if (
- seed_person.last_frame < person.first_frame
- or seed_person.first_frame > person.last_frame
+ seed_person.last_frame < person.first_frame
+ or seed_person.first_frame > person.last_frame
):
continue
if seed_person.first_frame > person.first_frame:
@@ -141,7 +150,7 @@ class ComparisonVideoPlayer:
return nearby_people_truth, nearby_people_test
def play_video(
- self, start: int, end: int, draw_callback: Callable[[np.ndarray, int], None]
+ self, start: int, end: int, draw_callback: Callable[[np.ndarray, int], None]
):
"""Plays the video from frame start to frame end, calling the draw_callback each frame
@@ -164,10 +173,10 @@ class ComparisonVideoPlayer:
while (k := cv2.waitKey(20)) != 110:
frame_to_display = displayed_frame
if not playing:
- if k == ord('a') or k == ord('d'):
- if k == ord('a'):
+ if k == ord("a") or k == ord("d"):
+ if k == ord("a"):
frame_to_display = max(displayed_frame - 1, start)
- if k == ord('d'):
+ if k == ord("d"):
frame_to_display = min(displayed_frame + 1, end)
else:
@@ -201,24 +210,31 @@ class ComparisonVideoPlayer:
borderMode=cv2.BORDER_CONSTANT,
)
- draw_callback(frame, displayed_frame)
- cv2.putText(frame, "Frame: {:6d}".format(displayed_frame), self.text_offset, cv2.FONT_HERSHEY_DUPLEX,
- self.text_scale, (0, 0, 255),
- self.text_thickness, cv2.LINE_8)
+ draw_callback(frame, frame_to_display)
+ cv2.putText(
+ frame,
+ "Frame: {:6d}".format(frame_to_display),
+ self.text_offset,
+ cv2.FONT_HERSHEY_DUPLEX,
+ self.text_scale,
+ (0, 0, 255),
+ self.text_thickness,
+ cv2.LINE_8,
+ )
cv2.imshow("Comparison", frame)
displayed_frame = frame_to_display
- if k == ord('p'):
+ if k == ord("p"):
playing = not playing
def drawPoints(
- self,
- person: Person,
- currFrame: int,
- frame: np.ndarray,
- color: Tuple[int],
- thickness: int,
+ self,
+ person: Person,
+ currFrame: int,
+ frame: np.ndarray,
+ color: Tuple[int],
+ thickness: int,
):
"""Draw indicators at the current and previous and following 10 positions
@@ -283,7 +299,7 @@ class ComparisonVideoPlayer:
color,
marker,
thickness=2,
- line_type=cv2.LINE_AA
+ line_type=cv2.LINE_AA,
)
def visualize_people(self, idx_truth: int, idx_test: int):
@@ -300,41 +316,81 @@ class ComparisonVideoPlayer:
self.truth_trajectories[idx_truth - 1], currFrame, frame, (0, 255, 0), 5
)
- frame_text_size = cv2.getTextSize("Frame: {:6d}".format(currFrame), fontFace=cv2.FONT_HERSHEY_DUPLEX,
- fontScale=self.text_scale, thickness=self.text_thickness)
+ frame_text_size = cv2.getTextSize(
+ "Frame: {:6d}".format(currFrame),
+ fontFace=cv2.FONT_HERSHEY_DUPLEX,
+ fontScale=self.text_scale,
+ thickness=self.text_thickness,
+ )
if te.first_frame <= currFrame < te.last_frame:
text_pos = (
int(self.text_offset[0] + 1.25 * frame_text_size[0][0]),
- int(self.text_offset[1] + 2 * frame_text_size[0][1]))
+ int(self.text_offset[1] + 2 * frame_text_size[0][1]),
+ )
- frame = cv2.putText(frame, "Quality: {:7.3f}".format(te.points[currFrame - te.first_frame].qual), text_pos,
- cv2.FONT_HERSHEY_DUPLEX, self.text_scale,
- (255, 0, 0), self.text_thickness, cv2.LINE_8)
+ frame = cv2.putText(
+ frame,
+ "Quality: {:7.3f}".format(
+ te.points[currFrame - te.first_frame].qual
+ ),
+ text_pos,
+ cv2.FONT_HERSHEY_DUPLEX,
+ self.text_scale,
+ (255, 0, 0),
+ self.text_thickness,
+ cv2.LINE_8,
+ )
if tr.first_frame <= currFrame < tr.last_frame:
- text_pos = (int(self.text_offset[0] + 1.25 * frame_text_size[0][0]), int(self.text_offset[1]))
+ text_pos = (
+ int(self.text_offset[0] + 1.25 * frame_text_size[0][0]),
+ int(self.text_offset[1]),
+ )
- frame = cv2.putText(frame, "Quality: {:7.3f}".format(tr.points[currFrame - te.first_frame].qual), text_pos,
- cv2.FONT_HERSHEY_DUPLEX, self.text_scale,
- (0, 255, 0), self.text_thickness, cv2.LINE_8)
+ frame = cv2.putText(
+ frame,
+ "Quality: {:7.3f}".format(
+ tr.points[currFrame - te.first_frame].qual
+ ),
+ text_pos,
+ cv2.FONT_HERSHEY_DUPLEX,
+ self.text_scale,
+ (0, 255, 0),
+ self.text_thickness,
+ cv2.LINE_8,
+ )
- if tr.first_frame <= currFrame < tr.last_frame and te.first_frame <= currFrame < te.last_frame:
+ if (
+ tr.first_frame <= currFrame < tr.last_frame
+ and te.first_frame <= currFrame < te.last_frame
+ ):
truth = tr.points[currFrame - tr.first_frame]
test = te.points[currFrame - te.first_frame]
diff = math.sqrt((truth.x - test.x) ** 2 + (truth.y - test.y) ** 2)
- text_pos = (int(self.text_offset[0]), int(self.text_offset[1] + 2 * frame_text_size[0][1]))
- frame = cv2.putText(frame, "Diff: {:3.3f}".format(diff), text_pos, cv2.FONT_HERSHEY_DUPLEX,
- self.text_scale, (0, 0, 255), self.text_thickness, cv2.LINE_8)
+ text_pos = (
+ int(self.text_offset[0]),
+ int(self.text_offset[1] + 2 * frame_text_size[0][1]),
+ )
+ frame = cv2.putText(
+ frame,
+ "Diff: {:3.3f}".format(diff),
+ text_pos,
+ cv2.FONT_HERSHEY_DUPLEX,
+ self.text_scale,
+ (0, 0, 255),
+ self.text_thickness,
+ cv2.LINE_8,
+ )
self.play_video(start, end, draw)
def visualize_many(
- self,
- idxs_truth: List[int],
- idxs_test: List[int],
- idx_seed: int,
- is_seed_test: bool,
+ self,
+ idxs_truth: List[int],
+ idxs_test: List[int],
+ idx_seed: int,
+ is_seed_test: bool,
):
# Idea: Try out taking the first first and last last frame, as in two people?
if is_seed_test:
@@ -400,7 +456,9 @@ class ComparisonVideoPlayer:
comp_output = comp.run()
print("To go to the next comparison, press 'n'")
print("To pause/play press 'p'")
- print("To navigate frame-wise press 'd' (next frame) or 'a' (previous frame). Note: video should be paused.")
+ print(
+ "To navigate frame-wise press 'd' (next frame) or 'a' (previous frame). Note: video should be paused."
+ )
for line in comp_output:
print("\r" + " " * 80, end="", flush=True)
diff --git a/src/recognition/recognition.cpp b/src/recognition/recognition.cpp
index dac099ebdebab4a7169e5898db3bd2c5a55e6187..c0a10f90dd5b3bcf68d8864e744713bb29fe3a49 100644
--- a/src/recognition/recognition.cpp
+++ b/src/recognition/recognition.cpp
@@ -38,10 +38,9 @@
#include <QPointF>
#include <QRect>
#include <bitset>
-#include <opencv2/aruco.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
+#include <opencv2/objdetect/aruco_dictionary.hpp>
#include <opencv2/opencv.hpp>
-
-
namespace reco
{
using namespace detail;
@@ -1012,6 +1011,70 @@ void findColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *contro
contours.pop_back();
}
}
+
+
+/**
+ * @brief Estimates the pose of detected ArUco markers using the default solvePnP method.
+ *
+ * This function mimics the old `cv::aruco::estimatePoseSingleMarkers` method.
+ * It calculates the rotation and translation vectors (pose) of each detected marker
+ * given their 2D corner points in the image and the known 3D geometry of the markers.
+ *
+ * The method uses the `cv::solvePnP` function to estimate the pose of each marker.
+ *
+ * @param corners A vector of vectors, where each inner vector contains
+ * the 2D corner points of a detected marker in image coordinates.
+ * @param markerLength The side length of the markers in the same unit as the
+ * camera calibration (e.g., meters or centimeters).
+ * @param cameraMatrix The camera intrinsic matrix (3x3 matrix) obtained from
+ * camera calibration.
+ * @param distCoeff The camera distortion coefficients vector (1x5, 1x8, etc.).
+ * @param rotationVectors Output vector of 3D rotation vectors (one per marker),
+ * where each rotation vector is in Rodrigues form (3x1).
+ * @param translationVectors Output vector of 3D translation vectors (one per marker),
+ * which represent the translation from the camera to the marker.
+ *
+ * @note This function assumes that the markers are square and lie flat on the XY plane,
+ * with the Z-axis pointing out of the plane.
+ *
+ * @see cv::solvePnP
+ */
+void detail::estimatePoseSingleMarkers(
+ const std::vector<std::vector<cv::Point2f>> &corners,
+ float markerLength,
+ const cv::Mat &cameraMatrix,
+ const cv::Mat &distCoeff,
+ std::vector<cv::Vec3d> &rotationVectors,
+ std::vector<cv::Vec3d> &translationVectors)
+{
+ // Define the 3D points of a single square marker
+ std::vector<cv::Point3f> markerPoints = {
+ {-markerLength / 2.0f, markerLength / 2.0f, 0}, // Top-left
+ {markerLength / 2.0f, markerLength / 2.0f, 0}, // Top-right
+ {markerLength / 2.0f, -markerLength / 2.0f, 0}, // Bottom-right
+ {-markerLength / 2.0f, -markerLength / 2.0f, 0} // Bottom-left
+ };
+
+ // Clear the output vectors
+ rotationVectors.clear();
+ translationVectors.clear();
+
+ // Iterate over each detected marker
+ for(size_t i = 0; i < corners.size(); ++i)
+ {
+ cv::Vec3d rvec, tvec; // Variables to store rotation and translation vectors
+
+ bool success = cv::solvePnP(markerPoints, corners[i], cameraMatrix, distCoeff, rvec, tvec, false);
+
+ if(success)
+ {
+ // Append the rotation and translation vectors
+ rotationVectors.push_back(rvec);
+ translationVectors.push_back(tvec);
+ }
+ }
+}
+
/**
* @brief uses OpenCV libraries to detect Aruco CodeMarkers
* @param img image to find codes in
@@ -1035,14 +1098,10 @@ QList<TrackPoint> detail::findCodeMarker(
Control *controlWidget = opt.getControlWidget();
const auto ¶meters = opt.getDetectorParams();
- cv::Ptr<cv::aruco::Dictionary> dictionary =
- cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(opt.getIndexOfMarkerDict()));
-
- if(opt.getIndexOfMarkerDict() == 17) // for usage of DICT_mip_36h12 as it is not predifined in opencv
- {
- dictionary = detail::getDictMip36h12();
- }
-
+ auto dictionary =
+ (opt.getIndexOfMarkerDict() != 17) ?
+ cv::aruco::getPredefinedDictionary(cv::aruco::PredefinedDictionaryType(opt.getIndexOfMarkerDict())) :
+ detail::getDictMip36h12(); // for usage of DICT_mip_36h12 as it is not predifined in opencv
double minMarkerPerimeterRate = std::numeric_limits<double>::quiet_NaN();
double maxMarkerPerimeterRate = std::numeric_limits<double>::quiet_NaN();
@@ -1100,39 +1159,40 @@ QList<TrackPoint> detail::findCodeMarker(
std::max(mainWindow->getImage()->width() - borderSize, mainWindow->getImage()->height() - borderSize);
}
- auto detectorParams = cv::aruco::DetectorParameters::create();
-
- detectorParams->adaptiveThreshWinSizeMin = parameters.getAdaptiveThreshWinSizeMin();
- detectorParams->adaptiveThreshWinSizeMax = parameters.getAdaptiveThreshWinSizeMax();
- detectorParams->adaptiveThreshWinSizeStep = parameters.getAdaptiveThreshWinSizeStep();
- detectorParams->adaptiveThreshConstant = parameters.getAdaptiveThreshConstant();
- detectorParams->minMarkerPerimeterRate = minMarkerPerimeterRate;
- detectorParams->maxMarkerPerimeterRate = maxMarkerPerimeterRate;
- detectorParams->polygonalApproxAccuracyRate = parameters.getPolygonalApproxAccuracyRate();
- detectorParams->minCornerDistanceRate = minCornerDistanceRate;
- detectorParams->minDistanceToBorder = parameters.getMinDistanceToBorder();
- detectorParams->minMarkerDistanceRate = minMarkerDistanceRate;
+ cv::aruco::DetectorParameters detectorParams;
+
+ detectorParams.adaptiveThreshWinSizeMin = parameters.getAdaptiveThreshWinSizeMin();
+ detectorParams.adaptiveThreshWinSizeMax = parameters.getAdaptiveThreshWinSizeMax();
+ detectorParams.adaptiveThreshWinSizeStep = parameters.getAdaptiveThreshWinSizeStep();
+ detectorParams.adaptiveThreshConstant = parameters.getAdaptiveThreshConstant();
+ detectorParams.minMarkerPerimeterRate = minMarkerPerimeterRate;
+ detectorParams.maxMarkerPerimeterRate = maxMarkerPerimeterRate;
+ detectorParams.polygonalApproxAccuracyRate = parameters.getPolygonalApproxAccuracyRate();
+ detectorParams.minCornerDistanceRate = minCornerDistanceRate;
+ detectorParams.minDistanceToBorder = parameters.getMinDistanceToBorder();
+ detectorParams.minMarkerDistanceRate = minMarkerDistanceRate;
// No refinement is default value
- // TODO Check if this is the best MEthod for our usecase
+ // TODO Check if this is the best method for our usecase
if(parameters.getDoCornerRefinement())
{
- detectorParams->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX;
+ detectorParams.cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX;
}
- detectorParams->cornerRefinementWinSize = parameters.getCornerRefinementWinSize();
- detectorParams->cornerRefinementMaxIterations = parameters.getCornerRefinementMaxIterations();
- detectorParams->cornerRefinementMinAccuracy = parameters.getCornerRefinementMinAccuracy();
- detectorParams->markerBorderBits = parameters.getMarkerBorderBits();
- detectorParams->perspectiveRemovePixelPerCell = parameters.getPerspectiveRemovePixelPerCell();
- detectorParams->perspectiveRemoveIgnoredMarginPerCell = parameters.getPerspectiveRemoveIgnoredMarginPerCell();
- detectorParams->maxErroneousBitsInBorderRate = parameters.getMaxErroneousBitsInBorderRate();
- detectorParams->minOtsuStdDev = parameters.getMinOtsuStdDev();
- detectorParams->errorCorrectionRate = parameters.getErrorCorrectionRate();
+ detectorParams.cornerRefinementWinSize = parameters.getCornerRefinementWinSize();
+ detectorParams.cornerRefinementMaxIterations = parameters.getCornerRefinementMaxIterations();
+ detectorParams.cornerRefinementMinAccuracy = parameters.getCornerRefinementMinAccuracy();
+ detectorParams.markerBorderBits = parameters.getMarkerBorderBits();
+ detectorParams.perspectiveRemovePixelPerCell = parameters.getPerspectiveRemovePixelPerCell();
+ detectorParams.perspectiveRemoveIgnoredMarginPerCell = parameters.getPerspectiveRemoveIgnoredMarginPerCell();
+ detectorParams.maxErroneousBitsInBorderRate = parameters.getMaxErroneousBitsInBorderRate();
+ detectorParams.minOtsuStdDev = parameters.getMinOtsuStdDev();
+ detectorParams.errorCorrectionRate = parameters.getErrorCorrectionRate();
std::vector<int> ids;
std::vector<std::vector<cv::Point2f>> corners;
std::vector<std::vector<cv::Point2f>> rejected;
- cv::aruco::detectMarkers(img, dictionary, corners, ids, detectorParams, rejected);
+ const cv::aruco::ArucoDetector arucoDetector(dictionary, detectorParams);
+ arucoDetector.detectMarkers(img, corners, ids, rejected);
codeMarkerItem->addDetectedMarkers(corners, ids, opt.getOffsetCropRect2Roi());
codeMarkerItem->addRejectedMarkers(rejected, opt.getOffsetCropRect2Roi());
@@ -1153,9 +1213,9 @@ QList<TrackPoint> detail::findCodeMarker(
float markerLength = (float) opt.getDetectorParams().getMinCornerDistance();
std::vector<cv::Vec3d> rotationVectors;
std::vector<cv::Vec3d> translationVectors;
- cv::Mat cameraMatrix = intrinsicCameraParams.cameraMatrix;
- cv::Mat distCoeff = cv::Mat::zeros(cv::Size(1, 5), CV_32F);
- cv::aruco::estimatePoseSingleMarkers(
+ const cv::Mat &cameraMatrix = intrinsicCameraParams.cameraMatrix;
+ const cv::Mat &distCoeff = cv::Mat::zeros(cv::Size(1, 5), CV_32F);
+ detail::estimatePoseSingleMarkers(
corners, markerLength, cameraMatrix, distCoeff, rotationVectors, translationVectors);
// store all detected codes as TrackPoints in a list to return
@@ -1467,7 +1527,7 @@ void CodeMarkerOptions::setIndexOfMarkerDict(int idx)
* markers consist of 0s and 1s, built from upper left to lower right corner in hexadecimal notation.
* aruco markers availlable via https://sourceforge.net/projects/aruco/files/
*/
-cv::Ptr<cv::aruco::Dictionary> detail::getDictMip36h12()
+cv::aruco::Dictionary detail::getDictMip36h12()
{
std::array<uint64_t, 250> bitListDictMip36h12{
0xd2b63a09dUL, 0x6001134e5UL, 0x1206fbe72UL, 0xff8ad6cb4UL, 0x85da9bc49UL, 0xb461afe9cUL, 0x6db51fe13UL,
@@ -1507,10 +1567,10 @@ cv::Ptr<cv::aruco::Dictionary> detail::getDictMip36h12()
0xbdec1bd3cUL, 0xe020b9f7cUL, 0x4b8f35fb0UL, 0xb8165f637UL, 0x33dc88d69UL, 0x10a2f7e4dUL, 0xc8cb5ff53UL,
0xde259ff6bUL, 0x46d070dd4UL, 0x32d3b9741UL, 0x7075f1c04UL, 0x4d58dbea0UL};
- int markerSize = 6;
- cv::Ptr<cv::aruco::Dictionary> dictionary = new cv::aruco::Dictionary();
- dictionary->markerSize = markerSize;
- dictionary->maxCorrectionBits = 3;
+ int markerSize = 6;
+ cv::aruco::Dictionary dictionary;
+ dictionary.markerSize = markerSize;
+ dictionary.maxCorrectionBits = 3;
// transform from hexadecimal notation to format in dictionary class
for(auto code : bitListDictMip36h12)
@@ -1523,7 +1583,7 @@ cv::Ptr<cv::aruco::Dictionary> detail::getDictMip36h12()
}
cv::Mat markerBits(markerSize, markerSize, CV_8UC1, codeAsVector.data());
cv::Mat markerCompressed = cv::aruco::Dictionary::getByteListFromBits(markerBits);
- dictionary->bytesList.push_back(markerCompressed);
+ dictionary.bytesList.push_back(markerCompressed);
}
return dictionary;
diff --git a/src/recognition/recognition.h b/src/recognition/recognition.h
index e6352127c254cc1dfd20a3ebbdae80028caea8c9..397008a19997204fb2d503b25a8ab3214a626695 100644
--- a/src/recognition/recognition.h
+++ b/src/recognition/recognition.h
@@ -23,8 +23,7 @@
#include <QList>
#include <QObject>
-#include <opencv2/aruco.hpp>
-
+#include <opencv2/objdetect/aruco_detector.hpp>
class TrackPoint;
class QRect;
@@ -311,7 +310,15 @@ namespace detail
const CodeMarkerOptions &opt,
const IntrinsicCameraParams &intrinsicCameraParams,
bool appendRejectedCodes = false);
- cv::Ptr<cv::aruco::Dictionary> getDictMip36h12();
+ cv::aruco::Dictionary getDictMip36h12();
+
+ void estimatePoseSingleMarkers(
+ const std::vector<std::vector<cv::Point2f>> &corners,
+ float markerLength,
+ const cv::Mat &cameraMatrix,
+ const cv::Mat &distCoeff,
+ std::vector<cv::Vec3d> &rotationVectors,
+ std::vector<cv::Vec3d> &translationVectors);
} // namespace detail
} // namespace reco
diff --git a/src/ui/dialogs/codeMarkerWidget.h b/src/ui/dialogs/codeMarkerWidget.h
index 1b2eacaece59fa6cff027480bfb88af4da493ff2..6c4c36d5ac8867c82f093eb23e21476a1f09ac3d 100644
--- a/src/ui/dialogs/codeMarkerWidget.h
+++ b/src/ui/dialogs/codeMarkerWidget.h
@@ -24,7 +24,8 @@
#include "recognition.h"
#include <QtWidgets>
-#include <opencv2/aruco.hpp>
+#include <opencv2/objdetect/aruco_detector.hpp>
+
namespace Ui
{
class CodeMarker;
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
index 0ac355f5903f1253285ccb501d751af75d4354b7..68ea56b1829d10edd9ea351b9a6d086949f9f08c 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
@@ -1,58 +1,58 @@
version 4
-23
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+30
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@@ -65,171 +65,171 @@ version 4
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diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
index 934e51a4310d2da290d327eeeb820a46fe3b3e44..e9477667966aaa710ab99bab3a7b70bd4f29d172 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
@@ -4,57 +4,57 @@
# z: can be 3d position or height of person (alternating or not)
# viewDirX viewDirY: vector of direction of head of person
# id frame x/m y/m z/m viewDirX viewDirY markerID
-1 0 -0.620488 -1.46785 1.8 0.977143 0.212581 95
-1 1 -0.619398 -1.46817 1.8 0.973786 0.227466 95
-1 2 -0.618707 -1.46782 1.8 0.257737 0.966215 95
-1 3 -0.619002 -1.46885 1.8 0.274074 0.961709 95
-1 4 -0.618326 -1.46817 1.8 0.305527 0.952183 95
-1 5 -0.619361 -1.46887 1.8 0.975663 0.219276 95
-1 6 -0.621009 -1.47134 1.8 0.253637 0.967299 95
-1 7 -0.621341 -1.4724 1.8 0.27248 0.962161 95
-1 8 -0.621647 -1.4738 1.8 0.968967 0.247191 95
-1 9 -0.621669 -1.47417 1.8 0.974532 0.224249 95
-1 10 -0.620268 -1.4756 1.8 0.974627 0.223835 95
-1 11 -0.61887 -1.47773 1.8 0.231958 0.972726 95
-1 12 -0.617134 -1.47914 1.8 0.985502 0.169663 95
-1 13 -0.613004 -1.47983 1.8 0.190739 0.981641 95
-1 14 -0.612298 -1.48054 1.8 0.993914 0.110156 95
+1 0 -0.620477 -1.46819 1.8 0.967072 0.254503 95
+1 1 -0.619409 -1.46783 1.8 0.965143 0.261721 95
+1 2 -0.619406 -1.46748 1.8 0.289022 0.957322 95
+1 3 -0.619034 -1.46782 1.8 0.955831 0.293916 95
+1 4 -0.618993 -1.46886 1.8 0.959742 0.280882 95
+1 5 -0.620017 -1.46991 1.8 0.954063 0.299605 95
+1 6 -0.620686 -1.47065 1.8 0.956184 0.292766 95
+1 7 -0.621686 -1.4724 1.8 0.956859 0.290551 95
+1 8 -0.62098 -1.47311 1.8 0.957742 0.28763 95
+1 9 -0.620636 -1.47417 1.8 0.963659 0.267134 95
+1 10 -0.620268 -1.4756 1.8 0.97068 0.240373 95
+1 11 -0.618203 -1.47704 1.8 0.219462 0.975621 95
+1 12 -0.6168 -1.47879 1.8 0.988758 0.149525 95
+1 13 -0.614037 -1.47984 1.8 0.182775 0.983155 95
+1 14 -0.611598 -1.48088 1.8 0.996598 0.0824178 95
1 15 -0.610555 -1.48192 1.8 0.125297 0.992119 95
-1 16 -0.609499 -1.48335 1.8 0.999946 0.0104116 95
+1 16 -0.609155 -1.48334 1.8 0.99899 0.0449334 95
1 17 -0.60844 -1.4858 1.8 0.0525157 0.99862 95
-1 18 -0.608759 -1.48825 1.8 0.0171699 0.999853 95
-1 19 -0.606959 -1.49136 1.8 0.0520224 0.998646 95
-1 20 -0.606909 -1.49279 1.8 0.829001 0.559247 95
-1 21 -0.606609 -1.49422 1.8 0.0557616 0.998444 95
-1 22 -0.604784 -1.49734 1.8 0.812215 0.583359 95
-1 23 -0.605413 -1.49911 1.8 0.124884 0.992171 95
-1 24 -0.604288 -1.50189 1.8 0.128155 0.991754 95
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