From 18e0014e28fc3d3c466d3e54d69c266e83de9672 Mon Sep 17 00:00:00 2001
From: "d.kilic" <d.kilic@fz-juelich.de>
Date: Mon, 28 Jun 2021 14:39:06 +0000
Subject: [PATCH] Resolve "Retrack only if whole path leading to the current
trackpoint is better"
- re-tracking now only replaces a point, if the whole path taken during retracking was better than the point to replace
---
include/vector.h | 1 +
src/tracker.cpp | 53 +-
src/vector.cpp | 5 +
.../data/blackdotMarker_truth.trc | 30604 ++++++++--------
.../data/blackdotMarker_truth.txt | 28942 +++++++--------
...olorMarkerWithAruco_dictMip36h12_truth.trc | 5246 +--
...olorMarkerWithAruco_dictMip36h12_truth.txt | 6522 ++--
.../regression_test/data/multicolor_truth.trc | 3430 +-
.../regression_test/data/multicolor_truth.txt | 216 +-
9 files changed, 37527 insertions(+), 37492 deletions(-)
diff --git a/include/vector.h b/include/vector.h
index a2f4ab3c2..3267eb46e 100644
--- a/include/vector.h
+++ b/include/vector.h
@@ -130,6 +130,7 @@ public:
CvPoint2D32f toCvPoint2D32f() const;
QPoint toQPoint() const;
QPointF toQPointF() const;
+ cv::Point2f toPoint2f() const;
double x() const;
double y() const;
diff --git a/src/tracker.cpp b/src/tracker.cpp
index 72d19c1ff..d812c6775 100644
--- a/src/tracker.cpp
+++ b/src/tracker.cpp
@@ -1157,25 +1157,54 @@ size_t Tracker::calcPrevFeaturePoints(int prevFrame, cv::Rect &rect, int frame,
{
for (int i = 0; i < size(); ++i)
{
- if (((onlyVisible.empty()) || (onlyVisible.contains(i))) &&
- at(i).trackPointExist(prevFrame) &&
- ((reTrack && at(i).trackPointExist(frame) && at(i).trackPointAt(frame).qual() < reQual) ||
- !at(i).trackPointExist(frame)))
+ if(!((onlyVisible.empty()) || (onlyVisible.contains(i)))){
+ continue;
+ }
+ if(!at(i).trackPointExist(prevFrame)){
+ continue;
+ }
+
+ /*
+ * For retracking to occur, every point in the path from the last
+ * recognized point to this point should have been tracked with higher qual.
+ * This should eliminate cases in which wrong points are tracked confidently
+ * and replace better ones, under the assumption we only get to a wrong point
+ * due to a low-quality tracking earlier.
+ */
+ bool applyReTrack = reTrack;
+ if(reTrack)
{
- cv::Point2f p2f(at(i).at(prevFrame-at(i).firstFrame()).x()+borderSize,
- at(i).at(prevFrame-at(i).firstFrame()).y()+borderSize);
- if(rect.contains(p2f))
- {
- mPrevFeaturePoints.push_back(p2f);
- ++j;
+ int dir = (frame - prevFrame); // direction of tracking - forward/backwards
+ dir /= std::abs(dir); // theoretically possible to omit MAX_STEP_TRACK frames
+ constexpr int minQualReco = 90;
+ for(int j = 0;
+ at(i).trackPointExist(frame + j*dir) && at(i).trackPointAt(frame + j*dir).qual() < minQualReco;
+ ++j){
+ if(at(i).trackPointAt(frame + j*dir).qual() < reQual){
+ applyReTrack = false;
+ break;
+ }
+ }
+ }
+ if( at(i).trackPointExist(frame) && !applyReTrack ){
+ continue;
+ }
+
- mPrevFeaturePointsIdx.push_back(i);
+ Vec2F prevPoint = at(i).at(prevFrame-at(i).firstFrame());
+ prevPoint += Vec2F(borderSize, borderSize);
+ cv::Point2f p2f = prevPoint.toPoint2f();
+ if(rect.contains(p2f))
+ {
+ mPrevFeaturePoints.push_back(p2f);
+ ++j;
+
+ mPrevFeaturePointsIdx.push_back(i);
if (j > MAX_COUNT-2)
{
debout << "Warning: reached maximal number of tracking point: " << MAX_COUNT << std::endl;
break; // for loop
}
- }
}
}
}
diff --git a/src/vector.cpp b/src/vector.cpp
index 160844723..67be438a7 100644
--- a/src/vector.cpp
+++ b/src/vector.cpp
@@ -251,6 +251,11 @@ QPointF Vec2F::toQPointF() const
return QPointF(mX, mY);
}
+cv::Point2f Vec2F::toPoint2f() const
+{
+ return cv::Point2f(static_cast<float>(mX), static_cast<float>(mY));
+}
+
double Vec2F::x() const
{
return mX;
diff --git a/tests/regression_test/data/blackdotMarker_truth.trc b/tests/regression_test/data/blackdotMarker_truth.trc
index a13feff9f..8900c8221 100644
--- a/tests/regression_test/data/blackdotMarker_truth.trc
+++ b/tests/regression_test/data/blackdotMarker_truth.trc
@@ -1,1093 +1,1005 @@
version 4
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-0 -100000 329 329 1 141 255 196 -1 1
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-0 -100000 330 330 1 138 255 195 -1 1
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-264.876 830.2 -1 -1 -1 100 280.5 827 138 255 195 -1
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-0 -100000 331 331 1 138 255 193 -1 1
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-247.146 832.723 -1 -1 -1 100 263 829.5 137 255 193 -1
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249.061 827.746 -1 -1 -1 79 0 0 -1 -1 -1 -1
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-226.385 837.795 -1 -1 -1 100 242.5 834.5 137 255 191 -1
-216.263 841.352 -1 -1 -1 100 232.5 838 131 255 188 -1
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-0 -100000 336 336 1 131 253 187 -1 1
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-207.16 845.692 -1 -1 -1 100 223.502 842.266 131 253 187 -1
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-0 -100000 337 337 1 131 253 187 -1 1
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-196.905 850.14 -1 -1 -1 100 213.365 846.641 131 253 187 -1
+196.905 850.14 -1 -1 -1 100 213.365 846.641 73 189 112 -1
-0 -100000 327 344 7 131 249 183 -1 18
+0 -100000 327 344 7 73 189 112 -1 18
292.77 832.95 -1 -1 -1 79 0 0 -1 -1 -1 -1
286.131 832.312 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -17855,39 +17855,39 @@ version 4
220.723 845.981 -1 -1 -1 79 0 0 -1 -1 -1 -1
209.308 850.677 -1 -1 -1 79 0 0 -1 -1 -1 -1
196.691 846.378 -1 -1 -1 79 0 0 -1 -1 -1 -1
-186.923 852.019 -1 -1 -1 100 203.5 848.5 130 252 186 -1
-177.435 856.054 -1 -1 -1 100 194.118 852.471 132 252 186 -1
-167.34 857.771 -1 -1 -1 100 184.135 854.173 132 250 183 -1
-157.833 859.773 -1 -1 -1 100 174.731 856.154 134 250 183 -1
-149.658 859.678 -1 -1 -1 100 166.643 856.078 131 249 182 -1
-141.603 859.895 -1 -1 -1 100 158.674 856.307 132 250 183 -1
-133.751 860.868 -1 -1 -1 100 150.906 857.276 133 249 184 -1
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-0 -100000 345 345 1 131 251 183 -1 1
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126.563 863.099 -1 -1 -1 79 0 0 -1 -1 -1 -1
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diff --git a/tests/regression_test/data/blackdotMarker_truth.txt b/tests/regression_test/data/blackdotMarker_truth.txt
index 0d23d212a..bb232b89a 100644
--- a/tests/regression_test/data/blackdotMarker_truth.txt
+++ b/tests/regression_test/data/blackdotMarker_truth.txt
@@ -1,13081 +1,12919 @@
# PeTrack project: blackdotMarker.pet
-# raw trajectory file: blackdotMarker_truth.trc
+# raw trajectory file: blackdotMarker_test.trc
# framerate: 25 fps
# z: can be 3d position or height of person (alternating or not)
# id frame x/cm y/cm z/cm
-1 0 -42.6078 442.929 145.1
-1 1 -42.6833 443.005 145.1
-1 2 -42.5327 442.856 145.1
-1 3 -42.3059 442.63 145.1
-1 4 -42.073 442.291 145.1
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-1 227 -15.8227 271.9 145.1
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diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
index 4b9c204e0..4b28a9dc1 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
@@ -1,969 +1,427 @@
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+1053.16 1626.33 -1 -1 -1 100 1122.92 1632.04 194 59 38 92
+1055.94 1614.81 -1 -1 -1 100 1123.96 1621.91 194 59 38 92
+1056.43 1604.34 -1 -1 -1 100 1123.85 1613.33 194 59 38 92
+1056.2 1598.43 -1 -1 -1 100 1124.73 1607.55 194 59 38 92
+1057.24 1596.17 -1 -1 -1 100 1126.2 1607.02 194 59 38 92
+1058.51 1597.7 -1 -1 -1 100 1127.25 1608.25 194 59 38 92
+1061.3 1603.84 -1 -1 -1 100 1128.75 1613.25 194 59 38 92
+1063.6 1613.83 -1 -1 -1 100 1130.79 1622.6 194 59 38 92
1064.81 1606.97 -1 -1 -1 79 0 0 -1 -1 -1 -1
-1067.99 1639.89 -1 -1 -1 100 209 479 -1 -1 -1 92
+1067.99 1639.89 -1 -1 -1 100 1136.89 1643.74 194 59 38 92
1070.55 1633.54 -1 -1 -1 79 0 0 -1 -1 -1 -1
-1075.86 1662.36 -1 -1 -1 100 209 479 -1 -1 -1 92
+1075.86 1662.36 -1 -1 -1 100 1141.5 1661.5 194 59 38 92
1080.33 1669.5 -1 -1 -1 79 0 0 -1 -1 -1 -1
1085.01 1675.59 -1 -1 -1 79 0 0 -1 -1 -1 -1
1090.16 1681.25 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -4662,46 +4662,46 @@ version 4
1111.93 1689.84 -1 -1 -1 79 0 0 -1 -1 -1 -1
1120.48 1690.03 -1 -1 -1 79 0 0 -1 -1 -1 -1
1128.77 1688.25 -1 -1 -1 79 0 0 -1 -1 -1 -1
-1136.15 1685.27 -1 -1 -1 100 209 479 -1 -1 -1 92
+1136.15 1685.27 -1 -1 -1 100 1194.98 1676.16 194 59 38 92
1141.4 1682.14 -1 -1 -1 79 0 0 -1 -1 -1 -1
1146.98 1680.78 -1 -1 -1 79 0 0 -1 -1 -1 -1
1154.31 1680.9 -1 -1 -1 79 0 0 -1 -1 -1 -1
1163.5 1682.54 -1 -1 -1 79 0 0 -1 -1 -1 -1
1173.49 1686.72 -1 -1 -1 79 0 0 -1 -1 -1 -1
1183.52 1691.92 -1 -1 -1 79 0 0 -1 -1 -1 -1
-1195.52 1695.03 -1 -1 -1 100 209 479 -1 -1 -1 92
-1206.01 1698.37 -1 -1 -1 100 209 479 -1 -1 -1 92
-1215.47 1700.93 -1 -1 -1 100 209 479 -1 -1 -1 92
-1224.18 1702.73 -1 -1 -1 100 209 479 -1 -1 -1 92
-1233.41 1704.04 -1 -1 -1 100 209 479 -1 -1 -1 92
-1242.1 1704.55 -1 -1 -1 100 209 479 -1 -1 -1 92
-1250.53 1704.56 -1 -1 -1 100 209 479 -1 -1 -1 92
-1258.3 1704.63 -1 -1 -1 100 209 479 -1 -1 -1 92
-1265.66 1704.06 -1 -1 -1 100 209 479 -1 -1 -1 92
-1272.55 1701.49 -1 -1 -1 100 209 479 -1 -1 -1 92
-1279.45 1697.88 -1 -1 -1 100 209 479 -1 -1 -1 92
-1286.34 1691.74 -1 -1 -1 100 209 479 -1 -1 -1 92
-1293.48 1684.28 -1 -1 -1 100 209 479 -1 -1 -1 92
-1297.88 1675.43 -1 -1 -1 100 209 479 -1 -1 -1 92
-1302.24 1667.15 -1 -1 -1 100 209 479 -1 -1 -1 92
-1306.6 1659.99 -1 -1 -1 100 209 479 -1 -1 -1 92
-1312.29 1654.93 -1 -1 -1 100 209 479 -1 -1 -1 92
-1319.17 1653.18 -1 -1 -1 100 209 479 -1 -1 -1 92
-1326.65 1655.44 -1 -1 -1 100 209 479 -1 -1 -1 92
-1334.85 1659.81 -1 -1 -1 100 209 479 -1 -1 -1 92
-1343.51 1665.91 -1 -1 -1 100 209 479 -1 -1 -1 92
-1351.7 1672.05 -1 -1 -1 100 209 479 -1 -1 -1 92
-1357.84 1677.29 -1 -1 -1 100 209 479 -1 -1 -1 92
-1363.51 1681.82 -1 -1 -1 100 209 479 -1 -1 -1 92
-1367.85 1685.12 -1 -1 -1 100 209 479 -1 -1 -1 92
-1371.43 1686.35 -1 -1 -1 100 209 479 -1 -1 -1 92
+1195.52 1695.03 -1 -1 -1 100 1250.76 1685.18 194 59 38 92
+1206.01 1698.37 -1 -1 -1 100 1260.26 1688.31 194 59 38 92
+1215.47 1700.93 -1 -1 -1 100 1269.06 1690.44 194 59 38 92
+1224.18 1702.73 -1 -1 -1 100 1277.5 1692.27 194 59 38 92
+1233.41 1704.04 -1 -1 -1 100 1286.32 1694.05 194 59 38 92
+1242.1 1704.55 -1 -1 -1 100 1293.99 1694.35 194 59 38 92
+1250.53 1704.56 -1 -1 -1 100 1301.21 1694.79 194 59 38 92
+1258.3 1704.63 -1 -1 -1 100 1312 1697 194 59 38 92
+1265.66 1704.06 -1 -1 -1 100 1316.17 1694.61 194 59 38 92
+1272.55 1701.49 -1 -1 -1 100 1321.69 1691.62 194 59 38 92
+1279.45 1697.88 -1 -1 -1 100 1327.78 1687.72 194 59 38 92
+1286.34 1691.74 -1 -1 -1 100 1333.46 1682.24 194 59 38 92
+1293.48 1684.28 -1 -1 -1 100 1339.02 1674.62 194 59 38 92
+1297.88 1675.43 -1 -1 -1 100 1344.8 1670.6 194 59 38 92
+1302.24 1667.15 -1 -1 -1 100 1349.45 1660.15 194 59 38 92
+1306.6 1659.99 -1 -1 -1 100 1353.75 1654.25 194 59 38 92
+1312.29 1654.93 -1 -1 -1 100 1360.95 1651.8 194 59 38 92
+1319.17 1653.18 -1 -1 -1 100 1366 1652 194 59 38 92
+1326.65 1655.44 -1 -1 -1 100 1374.93 1652.25 194 59 38 92
+1334.85 1659.81 -1 -1 -1 100 1382.72 1656.44 194 59 38 92
+1343.51 1665.91 -1 -1 -1 100 1388.88 1660.06 194 59 38 92
+1351.7 1672.05 -1 -1 -1 100 1396.23 1665.21 194 59 38 92
+1357.84 1677.29 -1 -1 -1 100 1401.5 1674 194 59 38 92
+1363.51 1681.82 -1 -1 -1 100 1408.11 1675.2 194 59 38 92
+1367.85 1685.12 -1 -1 -1 100 1411.69 1676.95 194 59 38 92
+1371.43 1686.35 -1 -1 -1 100 1414.55 1676.08 194 59 38 92
1375.19 1684.54 -1 -1 -1 79 0 0 -1 -1 -1 -1
1379.14 1681.12 -1 -1 -1 79 0 0 -1 -1 -1 -1
1383.68 1675.23 -1 -1 -1 79 0 0 -1 -1 -1 -1
1389.12 1667.3 -1 -1 -1 79 0 0 -1 -1 -1 -1
1395.73 1658.02 -1 -1 -1 79 0 0 -1 -1 -1 -1
1404.01 1648.82 -1 -1 -1 79 0 0 -1 -1 -1 -1
-1415.76 1639.65 -1 -1 -1 100 209 479 -1 -1 -1 92
+1415.76 1639.65 -1 -1 -1 100 1456.4 1631.8 194 59 38 92
1428.02 1631.48 -1 -1 -1 79 0 0 -1 -1 -1 -1
1441.55 1622.46 -1 -1 -1 79 0 0 -1 -1 -1 -1
1456.47 1614.67 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -4737,33 +4737,33 @@ version 4
1939.86 1584.97 -1 -1 -1 79 0 0 -1 -1 -1 -1
1951.78 1588.36 -1 -1 -1 79 0 0 -1 -1 -1 -1
1969.74 1589.93 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2006.64 1590.06 -1 -1 -1 100 209 479 -1 -1 -1 92
+2006.64 1590.06 -1 -1 -1 100 2001.17 1600.14 194 59 38 92
2027.2 1589.82 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2048.98 1589.78 -1 -1 -1 100 209 479 -1 -1 -1 92
-2071.85 1588.95 -1 -1 -1 100 209 479 -1 -1 -1 92
+2048.98 1589.78 -1 -1 -1 100 2040.8 1599.02 194 59 38 92
+2071.85 1588.95 -1 -1 -1 100 2063.45 1596.15 194 59 38 92
2096.49 1585.91 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2124.23 1580.57 -1 -1 -1 100 209 479 -1 -1 -1 92
-2152.68 1573.35 -1 -1 -1 100 209 479 -1 -1 -1 92
+2124.23 1580.57 -1 -1 -1 100 2114 1582.5 194 59 38 92
+2152.68 1573.35 -1 -1 -1 100 2140 1574.5 194 59 38 92
2183.55 1564.17 -1 -1 -1 79 0 0 -1 -1 -1 -1
2217.79 1554.5 -1 -1 -1 79 0 0 -1 -1 -1 -1
2253 1545.13 -1 -1 -1 79 0 0 -1 -1 -1 -1
2286.69 1535.84 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2322.33 1526.61 -1 -1 -1 100 209 479 -1 -1 -1 92
+2322.33 1526.61 -1 -1 -1 100 2287.05 1529.27 194 59 38 92
2348.17 1518.49 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2371.51 1510.99 -1 -1 -1 100 209 479 -1 -1 -1 92
-2394.29 1504.56 -1 -1 -1 100 209 479 -1 -1 -1 92
+2371.51 1510.99 -1 -1 -1 100 2332.5 1515.5 194 59 38 92
+2394.29 1504.56 -1 -1 -1 100 2353.19 1508.46 194 59 38 92
2418.05 1500.41 -1 -1 -1 79 0 0 -1 -1 -1 -1
2442.69 1496.6 -1 -1 -1 79 0 0 -1 -1 -1 -1
2466.04 1490.68 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2488.24 1480.35 -1 -1 -1 100 209 479 -1 -1 -1 92
-2503.37 1470.38 -1 -1 -1 100 209 479 -1 -1 -1 92
-2518.26 1464.24 -1 -1 -1 100 209 479 -1 -1 -1 92
-2536.2 1460.16 -1 -1 -1 100 209 479 -1 -1 -1 92
-2559.18 1458.74 -1 -1 -1 100 209 479 -1 -1 -1 92
+2488.24 1480.35 -1 -1 -1 100 2441 1481.5 194 59 38 92
+2503.37 1470.38 -1 -1 -1 100 2456.5 1473 194 59 38 92
+2518.26 1464.24 -1 -1 -1 100 2472.5 1467.5 194 59 38 92
+2536.2 1460.16 -1 -1 -1 100 2490.5 1464.5 194 59 38 92
+2559.18 1458.74 -1 -1 -1 100 2510.57 1467.33 194 59 38 92
2584.07 1460.03 -1 -1 -1 79 0 0 -1 -1 -1 -1
2609.47 1464.21 -1 -1 -1 79 0 0 -1 -1 -1 -1
2635 1470.51 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2663.04 1482.27 -1 -1 -1 100 209 479 -1 -1 -1 92
+2663.04 1482.27 -1 -1 -1 100 2621 1486.5 194 59 38 92
2685.68 1468.96 -1 -1 -1 79 0 0 -1 -1 -1 -1
2717.89 1470.46 -1 -1 -1 79 0 0 -1 -1 -1 -1
2736.13 1457.95 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -4782,7 +4782,7 @@ version 4
3010.45 923.262 -1 -1 -1 0 0 0 -1 -1 -1 -1
3010.28 923.15 -1 -1 -1 0 0 0 -1 -1 -1 -1
-0 -100000 133 270 1 -1 -1 -1 63 138
+0 -100000 133 270 3 194 59 38 63 138
1733.09 1327.38 -1 -1 -1 0 0 0 -1 -1 -1 -1
1732.96 1326.61 -1 -1 -1 0 0 0 -1 -1 -1 -1
@@ -4836,7 +4836,7 @@ version 4
1980.97 1425.07 -1 -1 -1 79 0 0 -1 -1 -1 -1
1999.33 1422.82 -1 -1 -1 79 0 0 -1 -1 -1 -1
2016.69 1424.2 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2033.75 1426.34 -1 -1 -1 100 209 479 -1 -1 -1 63
+2033.75 1426.34 -1 -1 -1 100 2005.3 1410.6 194 59 38 63
2050.87 1429.91 -1 -1 -1 79 0 0 -1 -1 -1 -1
2064.64 1435.56 -1 -1 -1 79 0 0 -1 -1 -1 -1
2074.85 1440.7 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -4844,8 +4844,8 @@ version 4
2098.29 1448.84 -1 -1 -1 79 0 0 -1 -1 -1 -1
2110.28 1450.39 -1 -1 -1 79 0 0 -1 -1 -1 -1
2123.66 1452.15 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2142.17 1454.38 -1 -1 -1 100 209 479 -1 -1 -1 63
-2163.89 1455.46 -1 -1 -1 100 209 479 -1 -1 -1 63
+2142.17 1454.38 -1 -1 -1 100 2103.06 1429.7 194 59 38 63
+2163.89 1455.46 -1 -1 -1 100 2129.62 1432.51 194 59 38 63
2189.27 1453.14 -1 -1 -1 79 0 0 -1 -1 -1 -1
2219.42 1450.12 -1 -1 -1 79 0 0 -1 -1 -1 -1
2251.63 1445.97 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -4923,7 +4923,7 @@ version 4
3074.36 207.839 -1 -1 -1 79 0 0 -1 -1 -1 -1
3053.02 174.538 -1 -1 -1 79 0 0 -1 -1 -1 -1
-0 -100000 130 278 1 -1 -1 -1 79 149
+0 -100000 130 278 10 194 59 38 79 149
1141.82 1464.67 -1 -1 -1 0 0 0 -1 -1 -1 -1
1142 1464.05 -1 -1 -1 0 0 0 -1 -1 -1 -1
@@ -5014,7 +5014,7 @@ version 4
1767.91 1479.27 -1 -1 -1 79 0 0 -1 -1 -1 -1
1791.86 1476.09 -1 -1 -1 79 0 0 -1 -1 -1 -1
1813.5 1474.5 -1 -1 -1 79 0 0 -1 -1 -1 -1
-1832.65 1474.35 -1 -1 -1 100 209 479 -1 -1 -1 79
+1832.65 1474.35 -1 -1 -1 100 1811.5 1475 194 59 38 79
1849.38 1475.55 -1 -1 -1 79 0 0 -1 -1 -1 -1
1865.31 1478.17 -1 -1 -1 79 0 0 -1 -1 -1 -1
1880.04 1480.77 -1 -1 -1 79 0 0 -1 -1 -1 -1
@@ -5035,26 +5035,26 @@ version 4
2120.87 1499.91 -1 -1 -1 79 0 0 -1 -1 -1 -1
2140.11 1503.74 -1 -1 -1 79 0 0 -1 -1 -1 -1
2162.8 1506.47 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2192.17 1508.93 -1 -1 -1 100 209 479 -1 -1 -1 79
-2204.73 1510.17 -1 -1 -1 100 209 479 -1 -1 -1 79
+2192.17 1508.93 -1 -1 -1 100 2158.45 1513.54 194 59 38 79
+2204.73 1510.17 -1 -1 -1 100 2169.9 1513.3 194 59 38 79
2215.19 1509.76 -1 -1 -1 79 0 0 -1 -1 -1 -1
2226.56 1508.27 -1 -1 -1 79 0 0 -1 -1 -1 -1
2240.78 1508 -1 -1 -1 79 0 0 -1 -1 -1 -1
2259.83 1509.95 -1 -1 -1 79 0 0 -1 -1 -1 -1
2281.03 1514.35 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2304.02 1520.35 -1 -1 -1 100 209 479 -1 -1 -1 79
+2304.02 1520.35 -1 -1 -1 100 2274.96 1519.7 194 59 38 79
2323.77 1526.18 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2343.76 1532.41 -1 -1 -1 100 209 479 -1 -1 -1 79
-2364.81 1540.09 -1 -1 -1 100 209 479 -1 -1 -1 79
+2343.76 1532.41 -1 -1 -1 100 2313.08 1530.88 194 59 38 79
+2364.81 1540.09 -1 -1 -1 100 2334.44 1537.59 194 59 38 79
2388.28 1547.29 -1 -1 -1 79 0 0 -1 -1 -1 -1
2415.46 1552.93 -1 -1 -1 79 0 0 -1 -1 -1 -1
2444 1557.21 -1 -1 -1 79 0 0 -1 -1 -1 -1
2472.11 1560.8 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2502.36 1563.8 -1 -1 -1 100 209 479 -1 -1 -1 79
-2528.48 1563.47 -1 -1 -1 100 209 479 -1 -1 -1 79
-2554.08 1560.36 -1 -1 -1 100 209 479 -1 -1 -1 79
+2502.36 1563.8 -1 -1 -1 100 2465.55 1555.06 194 59 38 79
+2528.48 1563.47 -1 -1 -1 100 2490.82 1551.91 194 59 38 79
+2554.08 1560.36 -1 -1 -1 100 2515.47 1547.94 194 59 38 79
2577.83 1552.84 -1 -1 -1 79 0 0 -1 -1 -1 -1
-2603.26 1541.93 -1 -1 -1 100 209 479 -1 -1 -1 79
+2603.26 1541.93 -1 -1 -1 100 2565.13 1531.22 194 59 38 79
2617.26 1537.82 -1 -1 -1 79 0 0 -1 -1 -1 -1
2644.61 1526.69 -1 -1 -1 79 0 0 -1 -1 -1 -1
2672.81 1517.46 -1 -1 -1 79 0 0 -1 -1 -1 -1
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
index e484ef1db..7751d74e1 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
@@ -4,1640 +4,1640 @@
# 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 -2.06733 0.714064 1.8 0 0 90
-1 1 -2.06806 0.714167 1.8 0 0 90
-1 2 -2.06908 0.715056 1.8 0 0 90
-1 3 -2.06977 0.715379 1.8 0 0 90
-1 4 -2.07083 0.715819 1.8 0 0 90
-1 5 -2.07084 0.715822 1.8 0 0 90
-1 6 -2.07081 0.71569 1.8 0 0 90
-1 7 -2.07116 0.716375 1.8 0 0 90
-1 8 -2.07044 0.715663 1.8 0 0 90
-1 9 -2.06974 0.715573 1.8 0 0 90
-1 10 -2.06875 0.715638 1.8 0 0 90
-1 11 -2.06709 0.71521 1.8 0 0 90
-1 12 -2.06521 0.713773 1.8 0 0 90
-1 13 -2.06214 0.71342 1.8 0 0 90
-1 14 -2.06003 0.712814 1.8 0 0 90
-1 15 -2.0577 0.71175 1.8 0 0 90
-1 16 -2.05511 0.710238 1.8 0 0 90
-1 17 -2.0523 0.708706 1.8 0 0 90
-1 18 -2.04981 0.706186 1.8 0 0 90
-1 19 -2.04734 0.704469 1.8 0 0 90
-1 20 -2.0443 0.702185 1.8 0 0 90
-1 21 -2.04119 0.699617 1.8 0 0 90
-1 22 -2.03736 0.69666 1.8 0 0 90
-1 23 -2.03333 0.693098 1.8 0 0 90
-1 24 -2.02926 0.689199 1.8 0 0 90
-1 25 -2.02463 0.684868 1.8 0 0 90
-1 26 -2.01962 0.680589 1.8 0 0 90
-1 27 -2.01435 0.675703 1.8 0 0 90
-1 28 -2.00851 0.670116 1.8 0 0 90
-1 29 -2.00181 0.663692 1.8 0 0 90
-1 30 -1.99315 0.656164 1.8 0 0 90
-1 31 -1.98331 0.646697 1.8 0 0 90
-1 32 -1.97201 0.635159 1.8 0 0 90
-1 33 -1.95905 0.621687 1.8 0 0 90
-1 34 -1.94447 0.606606 1.8 0 0 90
-1 35 -1.92519 0.580304 1.8 0 0 90
-1 36 -1.90463 0.563399 1.8 0 0 90
-1 37 -1.88132 0.545331 1.8 0 0 90
-1 38 -1.85498 0.526808 1.8 0 0 90
-1 39 -1.82347 0.508007 1.8 0 0 90
-1 40 -1.78862 0.491219 1.8 0 0 90
-1 41 -1.74884 0.477449 1.8 0 0 90
-1 42 -1.70558 0.468814 1.8 0 0 90
-1 43 -1.6607 0.464013 1.8 0 0 90
-1 44 -1.61533 0.46109 1.8 0 0 90
-1 45 -1.56675 0.460239 1.8 0 0 90
-1 46 -1.52129 0.459624 1.8 0 0 90
-1 47 -1.47659 0.457195 1.8 0 0 90
-1 48 -1.43112 0.453107 1.8 0 0 90
-1 49 -1.38537 0.446284 1.8 0 0 90
-1 50 -1.34085 0.43838 1.8 0 0 90
-1 51 -1.29748 0.42887 1.8 0 0 90
-1 52 -1.2548 0.420022 1.8 0 0 90
-1 53 -1.20756 0.41452 1.8 0 0 90
-1 54 -1.17156 0.412018 1.8 0 0 90
-1 55 -1.14004 0.410098 1.8 0 0 90
-1 56 -1.11058 0.405957 1.8 0 0 90
-1 57 -1.08339 0.400502 1.8 0 0 90
-1 58 -1.07285 0.396869 1.8 0 0 90
-1 59 -1.07087 0.394861 1.8 0 0 90
-1 60 -1.06944 0.391204 1.8 0 0 90
-1 61 -1.0663 0.381948 1.8 0 0 90
-1 62 -1.06092 0.370215 1.8 0 0 90
-1 63 -1.05299 0.35572 1.8 0 0 90
-1 64 -1.04474 0.341208 1.8 0 0 90
-1 65 -1.03853 0.324483 1.8 0 0 90
-1 66 -1.0344 0.306957 1.8 0 0 90
-1 67 -1.03232 0.288297 1.8 0 0 90
-1 68 -1.02995 0.270008 1.8 0 0 90
-1 69 -1.0297 0.252044 1.8 0 0 90
-1 70 -1.03025 0.236941 1.8 0 0 90
-1 71 -1.03204 0.226079 1.8 0 0 90
-1 72 -1.03387 0.217775 1.8 0 0 90
-1 73 -1.03576 0.211266 1.8 0 0 90
-1 74 -1.03707 0.208325 1.8 0 0 90
-1 75 -1.03487 0.207014 1.8 0 0 90
-1 76 -1.02923 0.207197 1.8 0 0 90
-1 77 -1.02151 0.210024 1.8 0 0 90
-1 78 -1.01037 0.216155 1.8 0 0 90
-1 79 -0.996893 0.226321 1.8 0 0 90
-1 80 -0.981047 0.238322 1.8 0 0 90
-1 81 -0.962707 0.250087 1.8 0 0 90
-1 82 -0.946427 0.260683 1.8 0 0 90
-1 83 -0.930544 0.270218 1.8 0 0 90
-1 84 -0.914061 0.275707 1.8 0 0 90
-1 85 -0.898574 0.276847 1.8 0 0 90
-1 86 -0.883831 0.274968 1.8 0 0 90
-1 87 -0.86807 0.272153 1.8 0 0 90
-1 88 -0.849795 0.269875 1.8 0 0 90
-1 89 -0.828867 0.267654 1.8 0 0 90
-1 90 -0.805037 0.265207 1.8 0 0 90
-1 91 -0.788106 0.260223 1.8 0 0 90
-1 92 -0.775223 0.254775 1.8 0 0 90
-1 93 -0.763635 0.250708 1.8 0 0 90
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diff --git a/tests/regression_test/data/multicolor_truth.trc b/tests/regression_test/data/multicolor_truth.trc
index 34bef1844..7b25622ef 100644
--- a/tests/regression_test/data/multicolor_truth.trc
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diff --git a/tests/regression_test/data/multicolor_truth.txt b/tests/regression_test/data/multicolor_truth.txt
index 78a43533a..acefc7021 100644
--- a/tests/regression_test/data/multicolor_truth.txt
+++ b/tests/regression_test/data/multicolor_truth.txt
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--
GitLab