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Use not readable code marker for fixed head position

Tobias Arens requested to merge 152-use-not-readable-code-marker-for-fixed-head-position into master

Closes #152 (closed)

Change the way, refining the colormarker with aruco codes work. Until now, openCV detects aruco codes, and if they were detected, they replace the trackpoint of the colormarker for more accuracy.
Now, not only fully detected codemarkers are used, but also so called "candidates". These are things that openCV marked as "could be a code marker", but it couldn't read the of it (these are already colored with a red instead of a green border, when showing codemarkers in petrack).
The new method uses this data, by checking if 1) no fully detected marker and 2) a candidate was detected that is inside the bounding box of the colormarker. If multiple candidates are detected, the one closest to the colormarker-trackpoint is chosen.

This MR changes the truth.trc file of multiColorMarkerWithAruco_dictMip36h12 and multiColorMarkerWithAruco.

Reviewer Checklist

Formatting

  • the pre-build checks succeed

General code quality

  • naming conventions are met (see .clang-tidy for detailed information)
  • no static analyzer warnings in new code parts (e.g., use clang-tidy for checking)

General usability

  • old versions of pet-files are still loadable

Only if changes in UI

  • new elements are also saved and loaded from pet-file
  • check if tab order is still correct
  • all new SpinBoxes are promoted
  • new keybindings added to Petrack::keyBindings()
Edited by Schrödter, Tobias

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