diff --git a/include/codeMarkerWidget.h b/include/codeMarkerWidget.h
index 6e1fad9556908819e2fb589d99bd3dcb0a80d375..8fc06b18b4a4db7b2f6cf82db1405dc9231edadd 100644
--- a/include/codeMarkerWidget.h
+++ b/include/codeMarkerWidget.h
@@ -28,14 +28,14 @@
#include "petrack.h"
#include "codeMarkerItem.h"
-
+#include "recognition.h"
class CodeMarkerWidget: public QWidget, public Ui::CodeMarker
{
Q_OBJECT
public:
- CodeMarkerWidget(QWidget *parent = nullptr);
+ CodeMarkerWidget(QWidget *parent, reco::CodeMarkerOptions& opt);
// store data in xml node
void setXml(QDomElement &elem);
@@ -43,153 +43,27 @@ public:
// read data from xml node
void getXml(QDomElement &elem);
+ reco::ArucoCodeParams packDetectorParams();
+
private slots:
- void on_showDetectedCandidates_stateChanged(int i)
- {
-
- mMainWindow->getCodeMarkerItem()->setVisible(i);
- if( !mMainWindow->isLoading() )
- mMainWindow->getScene()->update();
- }
-
- void on_moreInfosButton_clicked()
- {
- QDesktopServices::openUrl(QUrl("http://docs.opencv.org/trunk/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html#details", QUrl::TolerantMode));
- QDesktopServices::openUrl(QUrl("http://docs.opencv.org/3.1.0/d5/dae/tutorial_aruco_detection.html", QUrl::TolerantMode));
- }
- void on_dictList_currentIndexChanged(int /*index*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_minMarkerPerimeter_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_maxMarkerPerimeter_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_adaptiveThreshWinSizeMin_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_adaptiveThreshWinSizeMax_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_adaptiveThreshWinSizeStep_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_adaptiveThreshConstant_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_polygonalApproxAccuracyRate_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_minCornerDistance_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_minDistanceToBorder_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_minMarkerDistance_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_doCornerRefinement_clicked()
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_cornerRefinementWinSize_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_cornerRefinementMaxIterations_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_cornerRefinementMinAccuracy_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_markerBorderBits_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_perspectiveRemovePixelPerCell_valueChanged(int /*i*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_perspectiveRemoveIgnoredMarginPerCell_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_maxErroneousBitsInBorderRate_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_errorCorrectionRate_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
- void on_minOtsuStdDev_valueChanged(double /*val*/)
- {
- mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
- if( !mMainWindow->isLoading() )
- mMainWindow->updateImage();
- }
+ void on_showDetectedCandidates_stateChanged(int i);
+ void on_moreInfosButton_clicked();
+ void on_dictList_currentIndexChanged(int /*index*/);
+private:
+ void notifyChanged();
+ void sendDetectorParams(reco::ArucoCodeParams params);
+
+private slots:
+ void readDetectorParams();
+ void readDictListIndex();
private:
Petrack *mMainWindow;
+ reco::CodeMarkerOptions &mCodeMarkerOpt;
};
#endif
diff --git a/include/recognition.h b/include/recognition.h
index 629fe0a558aac14ec89511903900f62cc182f732..4076c237b830f61e2057c3a302238d2cec32772e 100644
--- a/include/recognition.h
+++ b/include/recognition.h
@@ -32,6 +32,7 @@ class QRect;
class BackgroundFilter;
class Control;
class ImageItem;
+class CodeMarkerItem;
namespace reco {
/**
@@ -50,12 +51,71 @@ namespace reco {
Code = 6,
};
+ struct ArucoCodeParams {
+ double minMarkerPerimeter = 5;
+ double maxMarkerPerimeter = 15;
+ double minCornerDistance = 0.05;
+ double minMarkerDistance = 0.05;
+ int adaptiveThreshWinSizeMin = 3;
+ int adaptiveThreshWinSizeMax = 27;
+ int adaptiveThreshWinSizeStep = 10;
+ int adaptiveThreshConstant = 7;
+ double polygonalApproxAccuracyRate = 0.03;
+ int minDistanceToBorder = 3;
+ bool doCornerRefinement = false;
+ int cornerRefinementWinSize = 5;
+ int cornerRefinementMaxIterations = 30;
+ double cornerRefinementMinAccuracy = 0.1;
+ int markerBorderBits = 1;
+ int perspectiveRemovePixelPerCell = 4;
+ double perspectiveRemoveIgnoredMarginPerCell = 0.13;
+ double maxErroneousBitsInBorderRate = 0.35;
+ double minOtsuStdDev = 5;
+ double errorCorrectionRate = 0.6;
+
+ friend inline constexpr bool operator==(const ArucoCodeParams & lhs, const ArucoCodeParams & rhs) noexcept
+ {
+ return (lhs.minMarkerPerimeter == rhs.minMarkerPerimeter) && ((lhs.maxMarkerPerimeter == rhs.maxMarkerPerimeter) && ((lhs.minCornerDistance == rhs.minCornerDistance) && ((lhs.minMarkerDistance == rhs.minMarkerDistance) && ((lhs.adaptiveThreshWinSizeMin == rhs.adaptiveThreshWinSizeMin) && ((lhs.adaptiveThreshWinSizeMax == rhs.adaptiveThreshWinSizeMax) && ((lhs.adaptiveThreshWinSizeStep == rhs.adaptiveThreshWinSizeStep) && ((lhs.adaptiveThreshConstant == rhs.adaptiveThreshConstant) && ((lhs.polygonalApproxAccuracyRate == rhs.polygonalApproxAccuracyRate) && ((lhs.minDistanceToBorder == rhs.minDistanceToBorder) && ((static_cast<int>(lhs.doCornerRefinement) == static_cast<int>(rhs.doCornerRefinement)) && ((lhs.cornerRefinementWinSize == rhs.cornerRefinementWinSize) && ((lhs.cornerRefinementMaxIterations == rhs.cornerRefinementMaxIterations) && ((lhs.cornerRefinementMinAccuracy == rhs.cornerRefinementMinAccuracy) && ((lhs.markerBorderBits == rhs.markerBorderBits) && ((lhs.perspectiveRemovePixelPerCell == rhs.perspectiveRemovePixelPerCell) && ((lhs.perspectiveRemoveIgnoredMarginPerCell == rhs.perspectiveRemoveIgnoredMarginPerCell) && ((lhs.maxErroneousBitsInBorderRate == rhs.maxErroneousBitsInBorderRate) && ((lhs.minOtsuStdDev == rhs.minOtsuStdDev) && (lhs.errorCorrectionRate == rhs.errorCorrectionRate)))))))))))))))))));
+ }
+ friend inline constexpr bool operator!=(const ArucoCodeParams& lhs, const ArucoCodeParams& rhs)
+ {
+ return !(lhs == rhs);
+ }
+ };
+
+
+ struct CodeMarkerOptions : public QObject{
+ Q_OBJECT
+
+ public:
+ CodeMarkerItem *codeMarkerItem;
+ int indexOfMarkerDict = 16;
+
+ ArucoCodeParams detectorParams;
+
+ Control *controlWidget;
+ Vec2F offsetCropRect2Roi = Vec2F{0,0};
+
+ public:
+ ArucoCodeParams getDetectorParams() const {return detectorParams;}
+ int getIndexOfMarkerDict() const {return indexOfMarkerDict;}
+
+ public:
+ void userChangedDetectorParams(ArucoCodeParams params);
+ void userChangedIndexOfMarkerDict(int idx);
+
+ signals:
+ void detectorParamsChanged();
+ void indexOfMarkerDictChanged();
+ };
+
class Recognizer : public QObject
{
Q_OBJECT
private:
// TODO add options for each marker type
+ CodeMarkerOptions mCodeMarkerOptions;
// default multicolor marker (until 11/2016 hermes marker)
RecognitionMethod mRecoMethod = RecognitionMethod::MultiColor;
@@ -63,6 +123,7 @@ namespace reco {
QList<TrackPoint> getMarkerPos(cv::Mat &img, QRect &roi, Control *controlWidget, int borderSize, BackgroundFilter *bgFilter);
RecognitionMethod getRecoMethod() const {return mRecoMethod;}
+ CodeMarkerOptions& getCodeMarkerOptions() {return mCodeMarkerOptions;}
public slots:
void userChangedRecoMethod(RecognitionMethod method)
@@ -130,6 +191,7 @@ namespace reco {
bool autoCorrect = false; ///< should perspective correction be performed
bool autoCorrectOnlyExport = false; ///< should perspective correction only be performed when exporting trajectories
RecognitionMethod method = RecognitionMethod::Code; ///< Used recognition method; could be called from findMulticolorMarker
+ CodeMarkerOptions& codeOpt;
};
std::vector<ColorBlob> findColorBlob(const ColorBlobDetectionParams &options);
@@ -138,7 +200,7 @@ namespace reco {
void refineWithBlackDot(std::vector<ColorBlob>& blobs, const cv::Mat& img, QList<TrackPoint>& crossList, const BlackDotOptions& options);
void refineWithAruco(std::vector<ColorBlob> &blobs, const cv::Mat& img, QList<TrackPoint> &crossList, ArucoOptions& options);
- void findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *controlWidget, RecognitionMethod recoMethod, Vec2F offsetCropRect2Roi=Vec2F{0,0});
+ void findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, RecognitionMethod recoMethod, const CodeMarkerOptions &opt);
cv::Ptr<cv::aruco::Dictionary> getDictMip36h12();
}
}
diff --git a/src/codeMarkerWidget.cpp b/src/codeMarkerWidget.cpp
index 1ea23126830f81c382ec7204c8f090fbdc05bf92..741ff4e203cf1279320f794d783024b3b2b729f4 100644
--- a/src/codeMarkerWidget.cpp
+++ b/src/codeMarkerWidget.cpp
@@ -18,10 +18,13 @@
* along with this program. If not, see <https://www.gnu.org/licenses/>.
*/
+#include <opencv2/core/version.hpp>
+
#include "codeMarkerWidget.h"
+#include "recognition.h"
-CodeMarkerWidget::CodeMarkerWidget(QWidget *parent)
- : QWidget(parent)
+CodeMarkerWidget::CodeMarkerWidget(QWidget *parent, reco::CodeMarkerOptions& codeMarkerOpt)
+ : QWidget(parent), mCodeMarkerOpt(codeMarkerOpt)
{
mMainWindow = (class Petrack*) parent;
@@ -50,8 +53,45 @@ CodeMarkerWidget::CodeMarkerWidget(QWidget *parent)
dictList->addItem("DICT_ARUCO_ORGINAL"); // 16
dictList->addItem("DICT_mip_36h12");//17
- dictList->setCurrentIndex(16);
+ connect(&mCodeMarkerOpt, &reco::CodeMarkerOptions::detectorParamsChanged, this, &CodeMarkerWidget::readDetectorParams);
+ connect(&mCodeMarkerOpt, &reco::CodeMarkerOptions::indexOfMarkerDictChanged, this, &CodeMarkerWidget::readDictListIndex);
+
+ // get default values from Options
+ readDetectorParams();
+ readDictListIndex();
+
+
+ // NOTE: No parameter validation done here
+ // Can result in crash, when invalid params are chosen (e.g. min larger than max)
+ auto changedParams = [&](){
+ sendDetectorParams(packDetectorParams());
+ notifyChanged();
+ };
+
+ connect(minMarkerPerimeter, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(maxMarkerPerimeter, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(adaptiveThreshWinSizeMin, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(adaptiveThreshWinSizeMax, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(adaptiveThreshWinSizeStep, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(adaptiveThreshConstant, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+
+ connect(polygonalApproxAccuracyRate, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(minCornerDistance, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(minDistanceToBorder, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(minMarkerDistance, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+
+ connect(doCornerRefinement, &QGroupBox::clicked, changedParams);
+ connect(cornerRefinementWinSize, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(cornerRefinementMaxIterations, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(cornerRefinementMinAccuracy, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+
+ connect(markerBorderBits, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(perspectiveRemovePixelPerCell, QOverload<int>::of(&QSpinBox::valueChanged), changedParams);
+ connect(perspectiveRemoveIgnoredMarginPerCell, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(maxErroneousBitsInBorderRate, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(errorCorrectionRate, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
+ connect(minOtsuStdDev, QOverload<double>::of(&QDoubleSpinBox::valueChanged), changedParams);
}
//<COLOR_MARKER>
@@ -155,10 +195,94 @@ void CodeMarkerWidget::getXml(QDomElement &elem)
errorCorrectionRate->setValue(subElem.attribute("ERROR_CORRECTION_RATE").toDouble());
if (subElem.hasAttribute("SHOW_DETECTED_CANDIDATES"))
showDetectedCandidates->setCheckState(subElem.attribute("SHOW_DETECTED_CANDIDATES").toInt() ? Qt::Checked : Qt::Unchecked);
-
-
}
}
}
+reco::ArucoCodeParams CodeMarkerWidget::packDetectorParams()
+{
+ reco::ArucoCodeParams params;
+ params.adaptiveThreshConstant = adaptiveThreshConstant->value();
+ params.adaptiveThreshWinSizeMax = adaptiveThreshWinSizeMax->value();
+ params.adaptiveThreshWinSizeMin = adaptiveThreshWinSizeMin->value();
+ params.adaptiveThreshWinSizeStep = adaptiveThreshWinSizeStep->value();
+ params.cornerRefinementMaxIterations = cornerRefinementMaxIterations->value();
+ params.cornerRefinementMinAccuracy = cornerRefinementMinAccuracy->value();
+ params.cornerRefinementWinSize = cornerRefinementWinSize->value();
+ params.doCornerRefinement = doCornerRefinement->isChecked();
+ params.errorCorrectionRate = errorCorrectionRate->value();
+ params.markerBorderBits = markerBorderBits->value();
+ params.maxErroneousBitsInBorderRate = maxErroneousBitsInBorderRate->value();
+ params.minDistanceToBorder = minDistanceToBorder->value();
+ params.minMarkerDistance = minMarkerDistance->value();
+ params.minMarkerPerimeter = minMarkerPerimeter->value();
+ params.minOtsuStdDev = minOtsuStdDev->value();
+ params.perspectiveRemoveIgnoredMarginPerCell = perspectiveRemoveIgnoredMarginPerCell->value();
+ params.perspectiveRemovePixelPerCell = perspectiveRemovePixelPerCell->value();
+ params.polygonalApproxAccuracyRate = polygonalApproxAccuracyRate->value();
+
+ return params;
+}
+
+void CodeMarkerWidget::on_showDetectedCandidates_stateChanged(int i)
+{
+ mMainWindow->getCodeMarkerItem()->setVisible(i);
+ if( !mMainWindow->isLoading() )
+ mMainWindow->getScene()->update();
+}
+
+void CodeMarkerWidget::on_moreInfosButton_clicked()
+{
+#define CV_NUMERIC_VERSION CVAUX_STR(CV_VERSION_MAJOR) "." CVAUX_STR(CV_VERSION_MINOR) "." CVAUX_STR(CV_VERSION_REVISION)
+ QDesktopServices::openUrl(QUrl("http://docs.opencv.org/" CV_NUMERIC_VERSION "/d1/dcd/structcv_1_1aruco_1_1DetectorParameters.html#details", QUrl::TolerantMode));
+ QDesktopServices::openUrl(QUrl("http://docs.opencv.org/" CV_NUMERIC_VERSION "/d5/dae/tutorial_aruco_detection.html", QUrl::TolerantMode));
+}
+
+void CodeMarkerWidget::on_dictList_currentIndexChanged(int i)
+{
+ mCodeMarkerOpt.userChangedIndexOfMarkerDict(i);
+ notifyChanged();
+}
+
+
+void CodeMarkerWidget::notifyChanged()
+{
+ mMainWindow->setRecognitionChanged(true);// flag indicates that changes of recognition parameters happens
+ if( !mMainWindow->isLoading() )
+ mMainWindow->updateImage();
+}
+
+void CodeMarkerWidget::readDetectorParams()
+{
+ auto params = mCodeMarkerOpt.getDetectorParams();
+ adaptiveThreshConstant->setValue(params.adaptiveThreshConstant);
+ adaptiveThreshWinSizeMax->setValue(params.adaptiveThreshWinSizeMax);
+ adaptiveThreshWinSizeMin->setValue(params.adaptiveThreshWinSizeMin);
+ adaptiveThreshWinSizeStep->setValue(params.adaptiveThreshWinSizeStep);
+ cornerRefinementMaxIterations->setValue(params.cornerRefinementMaxIterations);
+ cornerRefinementMinAccuracy->setValue(params.cornerRefinementMinAccuracy);
+ cornerRefinementWinSize->setValue(params.cornerRefinementWinSize);
+ doCornerRefinement->setChecked(params.doCornerRefinement);
+ errorCorrectionRate->setValue(params.errorCorrectionRate);
+ markerBorderBits->setValue(params.markerBorderBits);
+ maxErroneousBitsInBorderRate->setValue(params.maxErroneousBitsInBorderRate);
+ minDistanceToBorder->setValue(params.minDistanceToBorder);
+ minMarkerDistance->setValue(params.minMarkerDistance);
+ minMarkerPerimeter->setValue(params.minMarkerPerimeter);
+ minOtsuStdDev->setValue(params.minOtsuStdDev);
+ perspectiveRemoveIgnoredMarginPerCell->setValue(params.perspectiveRemoveIgnoredMarginPerCell);
+ perspectiveRemovePixelPerCell->setValue(params.perspectiveRemovePixelPerCell);
+ polygonalApproxAccuracyRate->setValue(params.polygonalApproxAccuracyRate);
+}
+
+void CodeMarkerWidget::readDictListIndex()
+{
+ dictList->setCurrentIndex(mCodeMarkerOpt.getIndexOfMarkerDict());
+}
+
+void CodeMarkerWidget::sendDetectorParams(reco::ArucoCodeParams params)
+{
+ mCodeMarkerOpt.userChangedDetectorParams(params);
+}
+
#include "moc_codeMarkerWidget.cpp"
diff --git a/src/petrack.cpp b/src/petrack.cpp
index 1a1ef1cb55c99383f4c164b4270490e73e259c1d..3c82cb8286f726b7e5e6e8da24b49a008bff02d7 100644
--- a/src/petrack.cpp
+++ b/src/petrack.cpp
@@ -125,7 +125,7 @@ Petrack::Petrack() : mAuthors(IO::readAuthors(QCoreApplication::applicationDirPa
mColorMarkerWidget->setWindowFlags(Qt::Window);
mColorMarkerWidget->setWindowTitle("Color marker parameter");
- mCodeMarkerWidget = new CodeMarkerWidget(this);
+ mCodeMarkerWidget = new CodeMarkerWidget(this, mReco.getCodeMarkerOptions());
mCodeMarkerWidget->setWindowFlags(Qt::Window);
mCodeMarkerWidget->setWindowTitle("Code marker parameter");
@@ -268,6 +268,10 @@ Petrack::Petrack() : mAuthors(IO::readAuthors(QCoreApplication::applicationDirPa
createMenus();
createStatusBar();
+ // TODO delete once we get Options to be value only (i.e. no Pointer/Ref anymore)
+ mReco.getCodeMarkerOptions().controlWidget = mControlWidget;
+ mReco.getCodeMarkerOptions().codeMarkerItem = mCodeMarkerItem;
+
mSeqFileName = QDir::currentPath(); //fuer allerersten Aufruf des Programms
readSettings();
diff --git a/src/recognition.cpp b/src/recognition.cpp
index 133afb22efc73e4fbe179376ef71289fac9add45..023f3d47ce3e613f7de9b0f48b1c5b5c3c67f06a 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -559,6 +559,7 @@ void detail::refineWithAruco(std::vector<ColorBlob> &blobs, const cv::Mat& img,
bool autoCorrect = options.autoCorrect;
bool autoCorrectOnlyExport = options.autoCorrectOnlyExport;
+ CodeMarkerOptions& codeOpt = options.codeOpt;
for(ColorBlob& blob : blobs)
{
// cropRect has coordinates of rechtangele around color blob with respect to lower left corner (as in the beginning of useBlackDot)
@@ -579,7 +580,10 @@ void detail::refineWithAruco(std::vector<ColorBlob> &blobs, const cv::Mat& img,
if (subImg.empty())
continue;
- findCodeMarker(subImg, crossList, controlWidget, options.method, offsetCropRect2Roi);
+ // TODO: Use Reference to actual codeMarkerOptions in MulticolorMarkerOptions
+ // NOTE: For now, add as parameter of findMulticolorMarker
+ codeOpt.offsetCropRect2Roi = offsetCropRect2Roi;
+ findCodeMarker(subImg, crossList, options.method, codeOpt);
// The next three statements each:
// - set the offset of subImg with regards to ROI //(ROI to original image is archieved later in the code for all methods)
@@ -632,6 +636,7 @@ void detail::refineWithAruco(std::vector<ColorBlob> &blobs, const cv::Mat& img,
crossList.back() = crossList.back() + (Vec2F(cropRect.x, cropRect.y) + moveDir);
}
}
+ codeOpt.offsetCropRect2Roi = Vec2F{0,0};
}
/**
@@ -647,7 +652,7 @@ void detail::refineWithAruco(std::vector<ColorBlob> &blobs, const cv::Mat& img,
* @param ignoreWithoutMarker (is ignored->overwritten by cmWidget->ignoreWithoutDot->isChecked())
* @param offset
*/
-void findMultiColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *controlWidget, bool ignoreWithoutMarker, Vec2F &offset, RecognitionMethod method)
+void findMultiColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *controlWidget, bool ignoreWithoutMarker, Vec2F &offset, RecognitionMethod method, CodeMarkerOptions& codeOpt)
{
Petrack *mainWindow = controlWidget->getMainWindow();
MultiColorMarkerItem* cmItem = mainWindow->getMultiColorMarkerItem();
@@ -723,12 +728,14 @@ void findMultiColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *c
refineWithBlackDot(blobs, img, crossList, options);
}else if (useCodeMarker)
{
- ArucoOptions options;
- options.autoCorrect = autoCorrect;
- options.autoCorrectOnlyExport = autoCorrectOnlyExport;
- options.ignoreWithoutMarker = ignoreWithoutMarker;
- options.controlWidget = controlWidget;
- options.method = method;
+ ArucoOptions options{
+ controlWidget,
+ ignoreWithoutMarker,
+ autoCorrect,
+ autoCorrectOnlyExport,
+ method,
+ codeOpt
+ };
// adds to crosslist
refineWithAruco(blobs, img, crossList, options);
@@ -855,14 +862,14 @@ void findColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *contro
* @param crossList[out] list of detected TrackPoints
* @param controlWidget
*/
-void detail::findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *controlWidget, RecognitionMethod recoMethod, Vec2F offsetCropRect2Roi /*=(0,0)*/)
+void detail::findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, RecognitionMethod recoMethod, const CodeMarkerOptions& opt)
{
- CodeMarkerItem* codeMarkerItem = controlWidget->getMainWindow()->getCodeMarkerItem();
- CodeMarkerWidget* codeMarkerWidget = controlWidget->getMainWindow()->getCodeMarkerWidget();
+ CodeMarkerItem *codeMarkerItem = opt.codeMarkerItem;
+ const auto& par = opt.detectorParams;
- cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(codeMarkerWidget->dictList->currentIndex()));
+ cv::Ptr<cv::aruco::Dictionary> dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(opt.indexOfMarkerDict));
- if (codeMarkerWidget->dictList->currentIndex() == 17) //for usage of DICT_mip_36h12 as it is not predifined in opencv
+ if (opt.indexOfMarkerDict == 17) //for usage of DICT_mip_36h12 as it is not predifined in opencv
{
dictionary = detail::getDictMip36h12();
}
@@ -871,11 +878,11 @@ void detail::findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control
double minMarkerPerimeterRate = 0.03, maxMarkerPerimeterRate = 4, minCornerDistanceRate = 0.05, minMarkerDistanceRate = 0.05;
- Petrack *mainWindow = controlWidget->getMainWindow();
+ Petrack *mainWindow = opt.controlWidget->getMainWindow();
int bS = mainWindow->getImageBorderSize();
- if (controlWidget->getCalibCoordDimension() == 0) // 3D
+ if (opt.controlWidget->getCalibCoordDimension() == 0) // 3D
{
if (recoMethod == RecognitionMethod::Code) // for usage of codemarker with CodeMarker-function (-> without MulticolorMarker)
{
@@ -883,18 +890,18 @@ void detail::findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control
myRound(mainWindow->getRecoRoiItem()->rect().y()),
myRound(mainWindow->getRecoRoiItem()->rect().width()),
myRound(mainWindow->getRecoRoiItem()->rect().height()));
- QPointF p1 = mainWindow->getImageItem()->getCmPerPixel(rect.x(),rect.y(),controlWidget->mapDefaultHeight->value()),
- p2 = mainWindow->getImageItem()->getCmPerPixel(rect.x()+rect.width(),rect.y(),controlWidget->mapDefaultHeight->value()),
- p3 = mainWindow->getImageItem()->getCmPerPixel(rect.x(),rect.y()+rect.height(),controlWidget->mapDefaultHeight->value()),
- p4 = mainWindow->getImageItem()->getCmPerPixel(rect.x()+rect.width(),rect.y()+rect.height(),controlWidget->mapDefaultHeight->value());
+ QPointF p1 = mainWindow->getImageItem()->getCmPerPixel(rect.x(),rect.y(),opt.controlWidget->mapDefaultHeight->value()),
+ p2 = mainWindow->getImageItem()->getCmPerPixel(rect.x()+rect.width(),rect.y(),opt.controlWidget->mapDefaultHeight->value()),
+ p3 = mainWindow->getImageItem()->getCmPerPixel(rect.x(),rect.y()+rect.height(),opt.controlWidget->mapDefaultHeight->value()),
+ p4 = mainWindow->getImageItem()->getCmPerPixel(rect.x()+rect.width(),rect.y()+rect.height(),opt.controlWidget->mapDefaultHeight->value());
double cmPerPixel_min = std::min(std::min(std::min(p1.x(), p1.y()), std::min(p2.x(), p2.y())),
std::min(std::min(p3.x(), p3.y()), std::min(p4.x(), p4.y())));
double cmPerPixel_max = std::max(std::max(std::max(p1.x(), p1.y()), std::max(p2.x(), p2.y())),
std::max(std::max(p3.x(), p3.y()), std::max(p4.x(), p4.y())));
- minMarkerPerimeterRate = (codeMarkerWidget->minMarkerPerimeter->value()*4./cmPerPixel_max)/std::max(rect.width(),rect.height());
- maxMarkerPerimeterRate = (codeMarkerWidget->maxMarkerPerimeter->value()*4./cmPerPixel_min)/std::max(rect.width(),rect.height());
+ minMarkerPerimeterRate = (par.minMarkerPerimeter*4./cmPerPixel_max)/std::max(rect.width(),rect.height());
+ maxMarkerPerimeterRate = (par.maxMarkerPerimeter*4./cmPerPixel_min)/std::max(rect.width(),rect.height());
} else if (recoMethod == RecognitionMethod::MultiColor) // for usage of codemarker with MulticolorMarker
{
QRect rect(0,0, img.rows, img.cols);
@@ -904,44 +911,44 @@ void detail::findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control
maxMarkerPerimeterRate = 4.;
}
- minCornerDistanceRate = codeMarkerWidget->minCornerDistance->value();
- minMarkerDistanceRate = codeMarkerWidget->minMarkerDistance->value();
+ minCornerDistanceRate = par.minCornerDistance;
+ minMarkerDistanceRate = par.minMarkerDistance;
}
else // 2D
{
double cmPerPixel = mainWindow->getImageItem()->getCmPerPixel();
- minMarkerPerimeterRate = (codeMarkerWidget->minMarkerPerimeter->value()*4/cmPerPixel)/std::max(mainWindow->getImage()->width()-bS,mainWindow->getImage()->height()-bS);
- maxMarkerPerimeterRate = (codeMarkerWidget->maxMarkerPerimeter->value()*4/cmPerPixel)/std::max(mainWindow->getImage()->width()-bS,mainWindow->getImage()->height()-bS);
+ minMarkerPerimeterRate = (par.minMarkerPerimeter*4/cmPerPixel)/std::max(mainWindow->getImage()->width()-bS,mainWindow->getImage()->height()-bS);
+ maxMarkerPerimeterRate = (par.maxMarkerPerimeter*4/cmPerPixel)/std::max(mainWindow->getImage()->width()-bS,mainWindow->getImage()->height()-bS);
- minCornerDistanceRate = codeMarkerWidget->minCornerDistance->value();
- minMarkerDistanceRate = codeMarkerWidget->minMarkerDistance->value();
+ minCornerDistanceRate = par.minCornerDistance;
+ minMarkerDistanceRate = par.minMarkerDistance;
}
- detectorParams->adaptiveThreshWinSizeMin = codeMarkerWidget->adaptiveThreshWinSizeMin->value();
- detectorParams->adaptiveThreshWinSizeMax = codeMarkerWidget->adaptiveThreshWinSizeMax->value();
- detectorParams->adaptiveThreshWinSizeStep = codeMarkerWidget->adaptiveThreshWinSizeStep->value();
- detectorParams->adaptiveThreshConstant = codeMarkerWidget->adaptiveThreshConstant->value();
+ detectorParams->adaptiveThreshWinSizeMin = par.adaptiveThreshWinSizeMin;
+ detectorParams->adaptiveThreshWinSizeMax = par.adaptiveThreshWinSizeMax;
+ detectorParams->adaptiveThreshWinSizeStep = par.adaptiveThreshWinSizeStep;
+ detectorParams->adaptiveThreshConstant = par.adaptiveThreshConstant;
detectorParams->minMarkerPerimeterRate = minMarkerPerimeterRate;
detectorParams->maxMarkerPerimeterRate = maxMarkerPerimeterRate;
- detectorParams->polygonalApproxAccuracyRate = codeMarkerWidget->polygonalApproxAccuracyRate->value();
+ detectorParams->polygonalApproxAccuracyRate = par.polygonalApproxAccuracyRate;
detectorParams->minCornerDistanceRate = minCornerDistanceRate;
- detectorParams->minDistanceToBorder = codeMarkerWidget->minDistanceToBorder->value();
+ detectorParams->minDistanceToBorder = par.minDistanceToBorder;
detectorParams->minMarkerDistanceRate = minMarkerDistanceRate;
// No refinement is default value
// TODO Check if this is the best MEthod for our usecase
- if(codeMarkerWidget->doCornerRefinement->isChecked()){
+ if(par.doCornerRefinement){
detectorParams->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX;
}
- detectorParams->cornerRefinementWinSize = codeMarkerWidget->cornerRefinementWinSize->value();
- detectorParams->cornerRefinementMaxIterations = codeMarkerWidget->cornerRefinementMaxIterations->value();
- detectorParams->cornerRefinementMinAccuracy = codeMarkerWidget->cornerRefinementMinAccuracy->value();
- detectorParams->markerBorderBits = codeMarkerWidget->markerBorderBits->value();
- detectorParams->perspectiveRemovePixelPerCell = codeMarkerWidget->perspectiveRemovePixelPerCell->value();
- detectorParams->perspectiveRemoveIgnoredMarginPerCell = codeMarkerWidget->perspectiveRemoveIgnoredMarginPerCell->value();
- detectorParams->maxErroneousBitsInBorderRate = codeMarkerWidget->maxErroneousBitsInBorderRate->value();
- detectorParams->minOtsuStdDev = codeMarkerWidget->minOtsuStdDev->value();
- detectorParams->errorCorrectionRate = codeMarkerWidget->errorCorrectionRate->value();
+ detectorParams->cornerRefinementWinSize = par.cornerRefinementWinSize;
+ detectorParams->cornerRefinementMaxIterations = par.cornerRefinementMaxIterations;
+ detectorParams->cornerRefinementMinAccuracy = par.cornerRefinementMinAccuracy;
+ detectorParams->markerBorderBits = par.markerBorderBits;
+ detectorParams->perspectiveRemovePixelPerCell = par.perspectiveRemovePixelPerCell;
+ detectorParams->perspectiveRemoveIgnoredMarginPerCell = par.perspectiveRemoveIgnoredMarginPerCell;
+ detectorParams->maxErroneousBitsInBorderRate = par.maxErroneousBitsInBorderRate;
+ detectorParams->minOtsuStdDev = par.minOtsuStdDev;
+ detectorParams->errorCorrectionRate = par.errorCorrectionRate;
std::vector<int> ids;
std::vector<std::vector<cv::Point2f> > corners, rejected;
@@ -951,8 +958,8 @@ void detail::findCodeMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control
cv::aruco::detectMarkers(img, dictionary, corners, ids, detectorParams, rejected);
- codeMarkerItem->addDetectedMarkers(corners,ids, offsetCropRect2Roi);
- codeMarkerItem->addRejectedMarkers(rejected, offsetCropRect2Roi);
+ codeMarkerItem->addDetectedMarkers(corners,ids, opt.offsetCropRect2Roi);
+ codeMarkerItem->addRejectedMarkers(rejected, opt.offsetCropRect2Roi);
// detected code markers
for(size_t i = 0; i<ids.size(); i++)
@@ -1100,13 +1107,13 @@ QList<TrackPoint> Recognizer::getMarkerPos(cv::Mat &img, QRect &roi, Control *co
switch (mRecoMethod) {
case RecognitionMethod::MultiColor:
- findMultiColorMarker(tImg, crossList, controlWidget, ignoreWithoutMarker, v, mRecoMethod);
+ findMultiColorMarker(tImg, crossList, controlWidget, ignoreWithoutMarker, v, mRecoMethod, mCodeMarkerOptions);
break;
case RecognitionMethod::Color:
findColorMarker(tImg, crossList, controlWidget);
break;
case RecognitionMethod::Code:
- findCodeMarker(tImg, crossList, controlWidget, mRecoMethod);
+ findCodeMarker(tImg, crossList, mRecoMethod, mCodeMarkerOptions);
break;
case RecognitionMethod::Casern: [[fallthrough]];
case RecognitionMethod::Hermes: [[fallthrough]];
@@ -1142,6 +1149,21 @@ QList<TrackPoint> Recognizer::getMarkerPos(cv::Mat &img, QRect &roi, Control *co
return crossList;
}
+void CodeMarkerOptions::userChangedDetectorParams(ArucoCodeParams params)
+{
+ if(params != detectorParams){
+ detectorParams = params;
+ emit detectorParamsChanged();
+ }
+}
+
+void CodeMarkerOptions::userChangedIndexOfMarkerDict(int idx)
+{
+ if(idx != indexOfMarkerDict){
+ indexOfMarkerDict = idx;
+ emit indexOfMarkerDictChanged();
+ }
+}
/**
* @brief getMip36h12Dict() overrides current dictionary with dictionary from 'aruco_mip_36h12_dict'