diff --git a/include/recognition.h b/include/recognition.h
index 126d62c73e1d05738e80f5851495f4ae905c41a2..4083367c9b4f0f926851a2a9db8873f30df14c3f 100644
--- a/include/recognition.h
+++ b/include/recognition.h
@@ -5,6 +5,7 @@
#include <QList>
#include "vector.h"
+#include <opencv2/aruco.hpp>
class TrackPoint;
class QRect;
@@ -19,4 +20,5 @@ Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget);
//void getMarkerPos(IplImage *iplImg, QRect roi, QList<TrackPoint> *crossList, int markerBrightness, int borderSize, bool ignoreWithoutMarker, bool autoWB, BackgroundFilter *bgFilter, int recoMethod);
void getMarkerPos(cv::Mat &img, QRect &roi, QList<TrackPoint> *crossList, Control *controlWidget, int borderSize, BackgroundFilter *bgFilter);
void findCodeMarker(cv::Mat &img, QList<TrackPoint> *crossList, Control *controlWidget, Vec2F offsetCropRect2Roi=Vec2F{0,0});
+cv::Ptr<cv::aruco::Dictionary> getDictMip36h12();
#endif
diff --git a/src/codeMarkerWidget.cpp b/src/codeMarkerWidget.cpp
index c3c9b06433ca0781b25185f54b19f27683f6c1bf..6b46ea4194707b988fe2ed2df9cac062dcda1c32 100644
--- a/src/codeMarkerWidget.cpp
+++ b/src/codeMarkerWidget.cpp
@@ -28,6 +28,7 @@ CodeMarkerWidget::CodeMarkerWidget(QWidget *parent)
dictList->addItem("DICT_7X7_1000");// 15
dictList->addItem("DICT_ARUCO_ORGINAL"); // 16
+ dictList->addItem("DICT_mip_36h12");//17
// Add some other marker dictionaries
//dictList->addItem("ARTOOLKIT");
diff --git a/src/recognition.cpp b/src/recognition.cpp
index ff7a8bbacdf5181739fd540051e3eb25703f21e3..691cb2c435cea97f26d26044190c348b149330ad 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -5,6 +5,7 @@
#endif
#include "opencv2/opencv.hpp"
#include <opencv2/aruco.hpp>
+#include <bitset>
//#include "imgcodecs.hpp"
//#include "videoio.hpp"
@@ -1082,7 +1083,12 @@ void findCodeMarker(Mat &img, QList<TrackPoint> *crossList, Control *controlWidg
CodeMarkerItem* codeMarkerItem = controlWidget->getMainWindow()->getCodeMarkerItem();
CodeMarkerWidget* codeMarkerWidget = controlWidget->getMainWindow()->getCodeMarkerWidget();
- Ptr<aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(codeMarkerWidget->dictList->currentIndex()));
+ cv::Ptr<cv::aruco::Dictionary> dictionary = aruco::getPredefinedDictionary(aruco::PREDEFINED_DICTIONARY_NAME(codeMarkerWidget->dictList->currentIndex()));
+
+ if (codeMarkerWidget->dictList->currentIndex() == 17) //for usage of DICT_mip_36h12 as it is not predifined in opencv
+ {
+ dictionary = getDictMip36h12();
+ }
Ptr<aruco::DetectorParameters> detectorParams = aruco::DetectorParameters::create();
@@ -1764,3 +1770,40 @@ void getMarkerPos(Mat &img, QRect &roi, QList<TrackPoint> *crossList, Control *c
// cvShowImage("histogram", hist_image);
}
+
+
+/**
+ * @brief getMip36h12Dict() overrides current dictionary with dictionary from 'aruco_mip_36h12_dict'
+ *
+ *
+ * bitListDictMip36h12 contains 250 aruco code markers (size 6x6, 1 bit black border)
+ * 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> getDictMip36h12()
+{
+ std::array<uint64_t, 250> bitListDictMip36h12 {0xd2b63a09dUL,0x6001134e5UL,0x1206fbe72UL,0xff8ad6cb4UL,0x85da9bc49UL,0xb461afe9cUL,0x6db51fe13UL,0x5248c541fUL,0x8f34503UL,0x8ea462eceUL,0xeac2be76dUL,0x1af615c44UL,0xb48a49f27UL,0x2e4e1283bUL,0x78b1f2fa8UL,0x27d34f57eUL,0x89222fff1UL,0x4c1669406UL,0xbf49b3511UL,0xdc191cd5dUL,0x11d7c3f85UL,0x16a130e35UL,0xe29f27effUL,0x428d8ae0cUL,0x90d548477UL,0x2319cbc93UL,0xc3b0c3dfcUL,0x424bccc9UL,0x2a081d630UL,0x762743d96UL,0xd0645bf19UL,0xf38d7fd60UL,0xc6cbf9a10UL,0x3c1be7c65UL,0x276f75e63UL,0x4490a3f63UL,0xda60acd52UL,0x3cc68df59UL,0xab46f9daeUL,0x88d533d78UL,0xb6d62ec21UL,0xb3c02b646UL,0x22e56d408UL,0xac5f5770aUL,0xaaa993f66UL,0x4caa07c8dUL,0x5c9b4f7b0UL,0xaa9ef0e05UL,0x705c5750UL,0xac81f545eUL,0x735b91e74UL,0x8cc35cee4UL,0xe44694d04UL,0xb5e121de0UL,0x261017d0fUL,0xf1d439eb5UL,0xa1a33ac96UL,0x174c62c02UL,0x1ee27f716UL,0x8b1c5ece9UL,0x6a05b0c6aUL,0xd0568dfcUL,0x192d25e5fUL,0x1adbeccc8UL,0xcfec87f00UL,0xd0b9dde7aUL,0x88dcef81eUL,0x445681cb9UL,0xdbb2ffc83UL,0xa48d96df1UL,0xb72cc2e7dUL,0xc295b53fUL,0xf49832704UL,0x9968edc29UL,0x9e4e1af85UL,0x8683e2d1bUL,0x810b45c04UL,0x6ac44bfe2UL,0x645346615UL,0x3990bd598UL,0x1c9ed0f6aUL,0xc26729d65UL,0x83993f795UL,0x3ac05ac5dUL,0x357adff3bUL,0xd5c05565UL,0x2f547ef44UL,0x86c115041UL,0x640fd9e5fUL,0xce08bbcf7UL,0x109bb343eUL,0xc21435c92UL,0x35b4dfce4UL,0x459752cf2UL,0xec915b82cUL,0x51881eed0UL,0x2dda7dc97UL,0x2e0142144UL,0x42e890f99UL,0x9a8856527UL,0x8e80d9d80UL,0x891cbcf34UL,0x25dd82410UL,0x239551d34UL,0x8fe8f0c70UL,0x94106a970UL,0x82609b40cUL,0xfc9caf36UL,0x688181d11UL,0x718613c08UL,0xf1ab7629UL,0xa357bfc18UL,0x4c03b7a46UL,0x204dedce6UL,0xad6300d37UL,0x84cc4cd09UL,0x42160e5c4UL,0x87d2adfa8UL,0x7850e7749UL,0x4e750fc7cUL,0xbf2e5dfdaUL,0xd88324da5UL,0x234b52f80UL,0x378204514UL,0xabdf2ad53UL,0x365e78ef9UL,0x49caa6ca2UL,0x3c39ddf3UL,0xc68c5385dUL,0x5bfcbbf67UL,0x623241e21UL,0xabc90d5ccUL,0x388c6fe85UL,0xda0e2d62dUL,0x10855dfe9UL,0x4d46efd6bUL,0x76ea12d61UL,0x9db377d3dUL,0xeed0efa71UL,0xe6ec3ae2fUL,0x441faee83UL,0xba19c8ff5UL,0x313035eabUL,0x6ce8f7625UL,0x880dab58dUL,0x8d3409e0dUL,0x2be92ee21UL,0xd60302c6cUL,0x469ffc724UL,0x87eebeed3UL,0x42587ef7aUL,0x7a8cc4e52UL,0x76a437650UL,0x999e41ef4UL,0x7d0969e42UL,0xc02baf46bUL,0x9259f3e47UL,0x2116a1dc0UL,0x9f2de4d84UL,0xeffac29UL,0x7b371ff8cUL,0x668339da9UL,0xd010aee3fUL,0x1cd00b4c0UL,0x95070fc3bUL,0xf84c9a770UL,0x38f863d76UL,0x3646ff045UL,0xce1b96412UL,0x7a5d45da8UL,0x14e00ef6cUL,0x5e95abfd8UL,0xb2e9cb729UL,0x36c47dd7UL,0xb8ee97c6bUL,0xe9e8f657UL,0xd4ad2ef1aUL,0x8811c7f32UL,0x47bde7c31UL,0x3adadfb64UL,0x6e5b28574UL,0x33e67cd91UL,0x2ab9fdd2dUL,0x8afa67f2bUL,0xe6a28fc5eUL,0x72049cdbdUL,0xae65dac12UL,0x1251a4526UL,0x1089ab841UL,0xe2f096ee0UL,0xb0caee573UL,0xfd6677e86UL,0x444b3f518UL,0xbe8b3a56aUL,0x680a75cfcUL,0xac02baea8UL,0x97d815e1cUL,0x1d4386e08UL,0x1a14f5b0eUL,0xe658a8d81UL,0xa3868efa7UL,0x3668a9673UL,0xe8fc53d85UL,0x2e2b7edd5UL,0x8b2470f13UL,0xf69795f32UL,0x4589ffc8eUL,0x2e2080c9cUL,0x64265f7dUL,0x3d714dd10UL,0x1692c6ef1UL,0x3e67f2f49UL,0x5041dad63UL,0x1a1503415UL,0x64c18c742UL,0xa72eec35UL,0x1f0f9dc60UL,0xa9559bc67UL,0xf32911d0dUL,0x21c0d4ffcUL,0xe01cef5b0UL,0x4e23a3520UL,0xaa4f04e49UL,0xe1c4fcc43UL,0x208e8f6e8UL,0x8486774a5UL,0x9e98c7558UL,0x2c59fb7dcUL,0x9446a4613UL,0x8292dcc2eUL,0x4d61631UL,0xd05527809UL,0xa0163852dUL,0x8f657f639UL,0xcca6c3e37UL,0xcb136bc7aUL,0xfc5a83e53UL,0x9aa44fc30UL,0xbdec1bd3cUL,0xe020b9f7cUL,0x4b8f35fb0UL,0xb8165f637UL,0x33dc88d69UL,0x10a2f7e4dUL,0xc8cb5ff53UL,0xde259ff6bUL,0x46d070dd4UL,0x32d3b9741UL,0x7075f1c04UL,0x4d58dbea0UL};
+
+ int markerSize = 6;
+ int maxCorrectionBits = 1;
+ cv::Ptr<cv::aruco::Dictionary> dictionary = new cv::aruco::Dictionary();
+ dictionary->markerSize = markerSize;
+ dictionary->maxCorrectionBits = 3;
+
+ // transform from hexadecimal notation to format in dictionary class
+ for (auto code : bitListDictMip36h12)
+ {
+ std::bitset<36> bits(code);
+ std::array<uchar, 36> codeAsVector{};
+ for (std::size_t i = 0; i < bits.size(); ++i)
+ {
+ codeAsVector[i] = bits[i];
+ }
+ cv::Mat markerBits (markerSize, markerSize, CV_8UC1, codeAsVector.data());
+ cv::Mat markerCompressed = cv::aruco::Dictionary::getByteListFromBits(markerBits);
+ dictionary->bytesList.push_back(markerCompressed);
+ }
+
+ return dictionary;
+}
+
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.mp4 b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..187a190f3ace3d92cb19c3b195f97b476da7c29e
--- /dev/null
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49e8c932197164f59078c876eaa1ec474ba8b1f77e6b1aad4bebeaf6adbff4f9
+size 61920460
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet
new file mode 100644
index 0000000000000000000000000000000000000000..b45ddcb709183948faeca06cc6332a0d9c2194d4
--- /dev/null
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet
@@ -0,0 +1,84 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE PETRACK>
+<PETRACK VERSION="0.8">
+ <MAIN SRC="C:/temp/petrack/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.mp4;multiColorMarkerWithAruco_dictMip36h12.mp4" STATUS_HEIGHT="0"/>
+ <CONTROL TAB="1">
+ <CALIBRATION>
+ <BRIGHTNESS ENABLED="0" VALUE="0"/>
+ <CONTRAST ENABLED="0" VALUE="0"/>
+ <BORDER COLOR="#000000" ENABLED="1" VALUE="200"/>
+ <SWAP ENABLED="0" HORIZONTALLY="0" VERTICALLY="0"/>
+ <BG_SUB DELETE="1" DELETE_NUMBER="3" ENABLED="0" FILE="" SHOW="0" UPDATE="0"/>
+ <PATTERN BOARD_SIZE_X="6" BOARD_SIZE_Y="8" SQUARE_SIZE="4.5999999"/>
+ <INTRINSIC_PARAMETERS CX="2380.0599999999999" CY="1911.8699999999999" ENABLED="1" FIX_CENTER="0" FX="1716.1300000000001" FY="1716.6199999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.23147100000000001" R4="0.060733000000000002" R6="-0.0072639999999999996" TANG_DIST="1" TX="0.000106" TY="0.00046500000000000003"/>
+ <EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="O:/experiments/2019.07.07_Juelich_TagDerNeugier/export/gp7_2/ext_calib_raw.3dc;../ext_calib_raw.3dc" EXTR_ROT_1="3.1219999999999999" EXTR_ROT_2="0.041000000000000002" EXTR_ROT_3="0.050999999999999997" EXTR_TRANS_1="-1.2969999999999999" EXTR_TRANS_2="6.5439999999999996" EXTR_TRANS_3="-423.565" FIX="0" ROTATE="0" SCALE="100" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
+ <ALIGNMENT_GRID FIX="0" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
+ </CALIBRATION>
+ <RECOGNITION>
+ <PERFORM ENABLED="1" METHOD="5" STEP="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="2221" SHOW="1" WIDTH="2681" X="209" Y="479"/>
+ <MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
+ <SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
+ <MAP COLORED="1" FROM_HUE="5" FROM_SAT="154" FROM_VAL="134" HEIGHT="101" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="12" TO_SAT="255" TO_VAL="254" WIDTH="7" X="5" Y="154"/>
+ </SIZE_COLOR>
+ </RECOGNITION>
+ <TRACKING>
+ <ONLINE_CALCULATION ENABLED="0"/>
+ <REPEAT_BELOW ENABLED="1" QUALITY="50"/>
+ <EXTRAPOLATION ENABLED="1"/>
+ <MERGE ENABLED="0"/>
+ <ONLY_VISIBLE ENABLED="1"/>
+ <REGION_OF_INTEREST FIX="0" HEIGHT="2817" SHOW="1" WIDTH="3603" X="-86" Y="183"/>
+ <SEARCH_MISSING_FRAMES ENABLED="0"/>
+ <RECALCULATE_MEDIAN_HEIGHT ENABLED="0"/>
+ <ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRACKPOINT_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_ELIMINATE_TRAJECTORY_WITHOUT_HEIGHT ENABLED="0"/>
+ <EXPORT_SMOOTH ENABLED="0"/>
+ <EXPORT_VIEWING_DIRECTION ENABLED="1"/>
+ <EXPORT_ANGLE_OF_VIEW ENABLED="0"/>
+ <EXPORT_USE_METER ENABLED="1"/>
+ <EXPORT_COMMENT ENABLED="0"/>
+ <EXPORT_MARKERID ENABLED="1"/>
+ <TEST_EQUAL ENABLED="1"/>
+ <TEST_VELOCITY ENABLED="1"/>
+ <TEST_INSIDE ENABLED="1"/>
+ <TEST_LENGTH ENABLED="1"/>
+ <TRACK_FILE FILENAME=""/>
+ <SEARCH_REGION LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
+ <PATH AFTER="1500" BEFORE="1500" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_SIZE="14" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="1" ONLY_VISIBLE="0" PATH_SIZE="5" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="0" SHOW_COLOR_MARKER="0" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="0" SHOW_PATH="1" SHOW_POINTS="0" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
+ </TRACKING>
+ <ANALYSIS>
+ <SEARCH_MISSING_FRAMES ENABLED="1"/>
+ <MARK_ACTUAL ENABLED="0"/>
+ <CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
+ </ANALYSIS>
+ </CONTROL>
+ <STEREO>
+ <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
+ <VALUES MAX="100" MIN="0"/>
+ <MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
+ <USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
+ </DISPARITY>
+ </STEREO>
+ <COLOR_MARKER>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <FROM_COLOR HUE="0" SATURATION="0" VALUE="0"/>
+ <TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
+ </COLOR_MARKER>
+ <CODE_MARKER>
+ <DICTIONARY ID="17"/>
+ <PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="23" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="15" MAX_RATIO_ERROR="0.029999999999999999" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="5" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="1"/>
+ </CODE_MARKER>
+ <MULTI_COLOR_MARKER>
+ <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="0" USE_COLOR="0"/>
+ <CODE_MARKER USE="1"/>
+ <AUTO_CORRECT ONLY_EXPORT="0" USE="1"/>
+ <MASK MASK="1" OPACITY="100" SHOW="0"/>
+ <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="28166" MAX_RATIO="2" MIN_AREA="8450" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="1"/>
+ </MULTI_COLOR_MARKER>
+ <PLAYER FPS="25" FRAME="0" PLAYER_SPEED_FIXED="0" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="692"/>
+ <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="158 0 0 -112"/>
+ <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
+</PETRACK>
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
new file mode 100644
index 0000000000000000000000000000000000000000..a2124617775d857e9e6ef3ed4ecc2a14af78aeba
--- /dev/null
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
@@ -0,0 +1,5058 @@
+version 3
+28
+0 -100000 0 200 1 -1 -1 -1 201
+
+439.16 942.907 -1 -1 -1 100 209 479 -1 -1 -1 90
+438.627 942.814 -1 -1 -1 100 209 479 -1 -1 -1 90
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+436.399 941.151 -1 -1 -1 100 209 479 -1 -1 -1 90
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+444.545 943.991 -1 -1 -1 79 0 0 -1 -1 -1 -1
+446.218 944.846 -1 -1 -1 79 0 0 -1 -1 -1 -1
+448.093 945.975 -1 -1 -1 100 209 479 -1 -1 -1 90
+450.134 947.136 -1 -1 -1 79 0 0 -1 -1 -1 -1
+451.898 949.017 -1 -1 -1 100 209 479 -1 -1 -1 90
+453.671 950.312 -1 -1 -1 100 209 479 -1 -1 -1 90
+455.85 952.064 -1 -1 -1 79 0 0 -1 -1 -1 -1
+458.055 954.05 -1 -1 -1 79 0 0 -1 -1 -1 -1
+460.805 956.293 -1 -1 -1 79 0 0 -1 -1 -1 -1
+463.677 958.995 -1 -1 -1 79 0 0 -1 -1 -1 -1
+466.57 961.874 -1 -1 -1 79 0 0 -1 -1 -1 -1
+469.869 965.105 -1 -1 -1 79 0 0 -1 -1 -1 -1
+473.442 968.282 -1 -1 -1 79 0 0 -1 -1 -1 -1
+477.196 971.91 -1 -1 -1 79 0 0 -1 -1 -1 -1
+481.347 976.002 -1 -1 -1 79 0 0 -1 -1 -1 -1
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+
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de1d3c5d01d9a938c4a2545ae884aa6df6d07958
--- /dev/null
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
@@ -0,0 +1,4978 @@
+# PeTrack project: multiColorMarkerWithAruco_dictMip36h12.pet
+# raw trajectory file: multiColorMarkerWithAruco_dictMip36h12_truth.trc
+# framerate: 25 fps
+# 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 -2.06975 0.715603 1.8 0 0 -1
+1 10 -2.06875 0.715638 1.8 0 0 90
+1 11 -2.06709 0.715249 1.8 0 0 -1
+1 12 -2.06521 0.713773 1.8 0 0 90
+1 13 -2.06214 0.71342 1.8 0 0 90
+1 14 -2.06001 0.712826 1.8 0 0 -1
+1 15 -2.05771 0.711717 1.8 0 0 -1
+1 16 -2.05511 0.710238 1.8 0 0 90
+1 17 -2.0523 0.70872 1.8 0 0 -1
+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 0.702134 1.8 0 0 -1
+1 21 -2.04121 0.699474 1.8 0 0 -1
+1 22 -2.03737 0.696484 1.8 0 0 -1
+1 23 -2.03334 0.69286 1.8 0 0 -1
+1 24 -2.02927 0.688989 1.8 0 0 -1
+1 25 -2.02463 0.684646 1.8 0 0 -1
+1 26 -2.01963 0.680393 1.8 0 0 -1
+1 27 -2.01435 0.67552 1.8 0 0 -1
+1 28 -2.00852 0.670018 1.8 0 0 -1
+1 29 -2.00183 0.663623 1.8 0 0 -1
+1 30 -1.99317 0.656125 1.8 0 0 -1
+1 31 -1.98334 0.646624 1.8 0 0 -1
+1 32 -1.97204 0.635106 1.8 0 0 -1
+1 33 -1.95903 0.621609 1.8 0 0 -1
+1 34 -1.94444 0.606558 1.8 0 0 -1
+1 35 -1.92519 0.580304 1.8 0 0 90
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+1 37 -1.8813 0.545332 1.8 0 0 -1
+1 38 -1.85497 0.526766 1.8 0 0 -1
+1 39 -1.82347 0.508007 1.8 0 0 90
+1 40 -1.78862 0.491219 1.8 0 0 -1
+1 41 -1.74884 0.477449 1.8 0 0 -1
+1 42 -1.70558 0.468814 1.8 0 0 -1
+1 43 -1.6607 0.464013 1.8 0 0 -1
+1 44 -1.61533 0.46109 1.8 0 0 -1
+1 45 -1.56675 0.460239 1.8 0 0 90
+1 46 -1.52129 0.459624 1.8 0 0 -1
+1 47 -1.47659 0.457195 1.8 0 0 -1
+1 48 -1.43112 0.453107 1.8 0 0 -1
+1 49 -1.38537 0.446284 1.8 0 0 -1
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diff --git a/tests/regression_test/tests/conftest.py b/tests/regression_test/tests/conftest.py
index f2b4e7c7674b8e167b59cd11a92f1c4856190c48..80e7866da1b9e8909bc73c47e4639629c56302bd 100644
--- a/tests/regression_test/tests/conftest.py
+++ b/tests/regression_test/tests/conftest.py
@@ -9,7 +9,7 @@ def pytest_addoption(parser):
# "codeMarker"
-@pytest.fixture(params=["markerCasern", "multicolor", "markerJapan", "multiColorMarkerWithAruco"], scope='session')
+@pytest.fixture(params=["markerCasern", "multicolor", "markerJapan", "multiColorMarkerWithAruco", "multiColorMarkerWithAruco_dictMip36h12"], scope='session')
def petrack_on_testdata(request, pytestconfig):
petrack_path = pytestconfig.getoption("path")