diff --git a/include/recognition.h b/include/recognition.h
index f514e00ad88468f526b653c6c262e09c8ec94abe..5445c3de4a79ce35d40ba1d907a138f286400899 100644
--- a/include/recognition.h
+++ b/include/recognition.h
@@ -303,9 +303,8 @@ namespace detail
const ColorBlob &blob,
const Vec2F offset);
- void findCodeMarker(
+ QList<TrackPoint> findCodeMarker(
cv::Mat &img,
- QList<TrackPoint> &crossList,
RecognitionMethod recoMethod,
const CodeMarkerOptions &opt,
const IntrinsicCameraParams &intrinsicCameraParams);
diff --git a/src/recognition.cpp b/src/recognition.cpp
index d4255bc335e68a701195e9cf7e5df4b4caffe7f6..63a5062f5968923f94e87782393c4b23a6082484 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -661,7 +661,8 @@ void detail::refineWithAruco(
// TODO: Use Reference to actual codeMarkerOptions in MulticolorMarkerOptions
// NOTE: For now, add as parameter of findMulticolorMarker
codeOpt.setOffsetCropRect2Roi(offsetCropRect2Roi);
- findCodeMarker(subImg, crossList, options.method, codeOpt, intrinsicCameraParams);
+ QList<TrackPoint> detectedCodes = findCodeMarker(subImg, options.method, codeOpt, intrinsicCameraParams);
+ crossList.append(detectedCodes);
codeOpt.setOffsetCropRect2Roi({0, 0});
resolveMoreThanOneCode(lengthini, crossList, blob, offsetCropRect2Roi);
@@ -1022,22 +1023,20 @@ void findColorMarker(cv::Mat &img, QList<TrackPoint> &crossList, Control *contro
/**
* @brief uses OpenCV libraries to detect Aruco CodeMarkers
- * @param img
- * @param crossList[out] list of detected TrackPoints
- * @param controlWidget
+ * @param img image to find codes in
* @param opt arucomarker parameters used for detection
* @param intrinsicCameraParams used for estimating arucomarker orientation
+ * @return list of all detected codes in given image
*/
-void detail::findCodeMarker(
+QList<TrackPoint> detail::findCodeMarker(
cv::Mat &img,
- QList<TrackPoint> &crossList,
RecognitionMethod recoMethod,
const CodeMarkerOptions &opt,
const IntrinsicCameraParams &intrinsicCameraParams)
{
CodeMarkerItem *codeMarkerItem = opt.getCodeMarkerItem();
Control *controlWidget = opt.getControlWidget();
- const auto &par = opt.getDetectorParams();
+ const auto ¶meters = opt.getDetectorParams();
cv::Ptr<cv::aruco::Dictionary> dictionary =
cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(opt.getIndexOfMarkerDict()));
@@ -1047,97 +1046,93 @@ void detail::findCodeMarker(
dictionary = detail::getDictMip36h12();
}
- cv::Ptr<cv::aruco::DetectorParameters> detectorParams = cv::aruco::DetectorParameters::create();
- double minMarkerPerimeterRate = 0.03, maxMarkerPerimeterRate = 4, minCornerDistanceRate = 0.05,
- minMarkerDistanceRate = 0.05;
+ double minMarkerPerimeterRate = std::numeric_limits<double>::quiet_NaN();
+ double maxMarkerPerimeterRate = std::numeric_limits<double>::quiet_NaN();
+ double minCornerDistanceRate = parameters.getMinCornerDistance();
+ double minMarkerDistanceRate = parameters.getMinMarkerDistance();
Petrack *mainWindow = controlWidget->getMainWindow();
- int bS = mainWindow->getImageBorderSize();
+ int borderSize = mainWindow->getImageBorderSize();
- if(controlWidget->getCalibCoordDimension() == 0) // 3D
+ // 3D - Case
+ if(controlWidget->getCalibCoordDimension() == 0)
{
QRect rect(
myRound(mainWindow->getRecoRoiItem()->rect().x()),
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->getDefaultHeight()),
- p2 = mainWindow->getImageItem()->getCmPerPixel(
- rect.x() + rect.width(), rect.y(), controlWidget->getDefaultHeight()),
- p3 = mainWindow->getImageItem()->getCmPerPixel(
- rect.x(), rect.y() + rect.height(), controlWidget->getDefaultHeight()),
- p4 = mainWindow->getImageItem()->getCmPerPixel(
- rect.x() + rect.width(), rect.y() + rect.height(), controlWidget->getDefaultHeight());
-
- 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())));
+ QPointF p1 = mainWindow->getImageItem()->getCmPerPixel(rect.x(), rect.y(), controlWidget->getDefaultHeight());
+ QPointF p2 = mainWindow->getImageItem()->getCmPerPixel(
+ rect.x() + rect.width(), rect.y(), controlWidget->getDefaultHeight());
+ QPointF p3 = mainWindow->getImageItem()->getCmPerPixel(
+ rect.x(), rect.y() + rect.height(), controlWidget->getDefaultHeight());
+ QPointF p4 = mainWindow->getImageItem()->getCmPerPixel(
+ rect.x() + rect.width(), rect.y() + rect.height(), controlWidget->getDefaultHeight());
+
+ double cmPerPixelMin = std::min({p1.x(), p1.y(), p2.x(), p2.y(), p3.x(), p3.y(), p4.x(), p4.y()});
+ double cmPerPixelMax = std::max({p1.x(), p1.y(), p2.x(), p2.y(), p3.x(), p3.y(), p4.x(), p4.y()});
if(recoMethod ==
RecognitionMethod::Code) // for usage of codemarker with CodeMarker-function (-> without MulticolorMarker)
{
minMarkerPerimeterRate =
- (par.getMinMarkerPerimeter() * 4. / cmPerPixel_max) / std::max(rect.width(), rect.height());
+ (parameters.getMinMarkerPerimeter() * 4. / cmPerPixelMax) / std::max(rect.width(), rect.height());
maxMarkerPerimeterRate =
- (par.getMaxMarkerPerimeter() * 4. / cmPerPixel_min) / std::max(rect.width(), rect.height());
+ (parameters.getMaxMarkerPerimeter() * 4. / cmPerPixelMin) / std::max(rect.width(), rect.height());
}
else if(recoMethod == RecognitionMethod::MultiColor) // for usage of codemarker with MulticolorMarker
{
- minMarkerPerimeterRate = (par.getMinMarkerPerimeter() * 4. / cmPerPixel_max) / std::max(img.cols, img.rows);
- maxMarkerPerimeterRate = (par.getMaxMarkerPerimeter() * 4. / cmPerPixel_min) / std::max(img.cols, img.rows);
+ minMarkerPerimeterRate =
+ (parameters.getMinMarkerPerimeter() * 4. / cmPerPixelMax) / std::max(img.cols, img.rows);
+ maxMarkerPerimeterRate =
+ (parameters.getMaxMarkerPerimeter() * 4. / cmPerPixelMin) / std::max(img.cols, img.rows);
}
-
- minCornerDistanceRate = par.getMinCornerDistance();
- minMarkerDistanceRate = par.getMinMarkerDistance();
}
else // 2D
{
- double cmPerPixel = mainWindow->getImageItem()->getCmPerPixel();
- minMarkerPerimeterRate = (par.getMinMarkerPerimeter() * 4 / cmPerPixel) /
- std::max(mainWindow->getImage()->width() - bS, mainWindow->getImage()->height() - bS);
- maxMarkerPerimeterRate = (par.getMaxMarkerPerimeter() * 4 / cmPerPixel) /
- std::max(mainWindow->getImage()->width() - bS, mainWindow->getImage()->height() - bS);
-
- minCornerDistanceRate = par.getMinCornerDistance();
- minMarkerDistanceRate = par.getMinMarkerDistance();
+ double cmPerPixel = mainWindow->getImageItem()->getCmPerPixel();
+ minMarkerPerimeterRate =
+ (parameters.getMinMarkerPerimeter() * 4 / cmPerPixel) /
+ std::max(mainWindow->getImage()->width() - borderSize, mainWindow->getImage()->height() - borderSize);
+ maxMarkerPerimeterRate =
+ (parameters.getMaxMarkerPerimeter() * 4 / cmPerPixel) /
+ std::max(mainWindow->getImage()->width() - borderSize, mainWindow->getImage()->height() - borderSize);
}
- detectorParams->adaptiveThreshWinSizeMin = par.getAdaptiveThreshWinSizeMin();
- detectorParams->adaptiveThreshWinSizeMax = par.getAdaptiveThreshWinSizeMax();
- detectorParams->adaptiveThreshWinSizeStep = par.getAdaptiveThreshWinSizeStep();
- detectorParams->adaptiveThreshConstant = par.getAdaptiveThreshConstant();
+ 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 = par.getPolygonalApproxAccuracyRate();
+ detectorParams->polygonalApproxAccuracyRate = parameters.getPolygonalApproxAccuracyRate();
detectorParams->minCornerDistanceRate = minCornerDistanceRate;
- detectorParams->minDistanceToBorder = par.getMinDistanceToBorder();
+ detectorParams->minDistanceToBorder = parameters.getMinDistanceToBorder();
detectorParams->minMarkerDistanceRate = minMarkerDistanceRate;
// No refinement is default value
// TODO Check if this is the best MEthod for our usecase
- if(par.getDoCornerRefinement())
+ if(parameters.getDoCornerRefinement())
{
detectorParams->cornerRefinementMethod = cv::aruco::CornerRefineMethod::CORNER_REFINE_SUBPIX;
}
- detectorParams->cornerRefinementWinSize = par.getCornerRefinementWinSize();
- detectorParams->cornerRefinementMaxIterations = par.getCornerRefinementMaxIterations();
- detectorParams->cornerRefinementMinAccuracy = par.getCornerRefinementMinAccuracy();
- detectorParams->markerBorderBits = par.getMarkerBorderBits();
- detectorParams->perspectiveRemovePixelPerCell = par.getPerspectiveRemovePixelPerCell();
- detectorParams->perspectiveRemoveIgnoredMarginPerCell = par.getPerspectiveRemoveIgnoredMarginPerCell();
- detectorParams->maxErroneousBitsInBorderRate = par.getMaxErroneousBitsInBorderRate();
- detectorParams->minOtsuStdDev = par.getMinOtsuStdDev();
- detectorParams->errorCorrectionRate = par.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, rejected;
- ids.clear();
- corners.clear();
- rejected.clear();
+ std::vector<std::vector<cv::Point2f>> corners;
+ std::vector<std::vector<cv::Point2f>> rejected;
cv::aruco::detectMarkers(img, dictionary, corners, ids, detectorParams, rejected);
@@ -1146,34 +1141,43 @@ void detail::findCodeMarker(
if(ids.empty())
{
- // if no markers are found return to prevent opencv errors because of empty corners and thus empty rvecs vectors
- return;
+ // if no markers are found return to prevent opencv errors because of empty corners and thus empty
+ // rotationVectors vectors
+ return {};
}
// value only relevant for axis length when drawing axes
float markerLength = (float) opt.getDetectorParams().getMinCornerDistance();
- std::vector<cv::Vec3d> rvecs, tvecs;
+ 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(corners, markerLength, cameraMatrix, distCoeff, rvecs, tvecs);
+ cv::aruco::estimatePoseSingleMarkers(
+ corners, markerLength, cameraMatrix, distCoeff, rotationVectors, translationVectors);
+
+ // store all detected codes as TrackPoints in a list to return
+ QList<TrackPoint> trackPoints;
// detected code markers
for(size_t i = 0; i < ids.size(); i++)
{
- double x =
- (corners.at(i).at(0).x + corners.at(i).at(1).x + corners.at(i).at(2).x + corners.at(i).at(3).x) * 0.25;
- double y =
- (corners.at(i).at(0).y + corners.at(i).at(1).y + corners.at(i).at(2).y + corners.at(i).at(3).y) * 0.25;
+ const auto &codeCorners = corners.at(i);
+
+ double codeX = (codeCorners.at(0).x + codeCorners.at(1).x + codeCorners.at(2).x + codeCorners.at(3).x) / 4.;
+ double codeY = (codeCorners.at(0).y + codeCorners.at(1).y + codeCorners.at(2).y + codeCorners.at(3).y) / 4.;
cv::Matx<double, 3, 3> rotMat;
- cv::Rodrigues(rvecs[i], rotMat);
+ cv::Rodrigues(rotationVectors[i], rotMat);
cv::Vec3d orientation = cv::normalize(rotMat * cv::Vec3d(0, 1, 0));
- TrackPoint trackPoint(Vec2F(x, y), 100, ids.at(i)); // 100 beste qualitaet
+ // code marker should have the best possible quality i.e. 100
+ TrackPoint trackPoint(Vec2F(codeX, codeY), 100, ids.at(i));
trackPoint.setOrientation(orientation);
- crossList.append(std::move(trackPoint));
+ trackPoints.append(trackPoint);
}
+
+ return trackPoints;
}
void findContourMarker(
@@ -1368,7 +1372,7 @@ QList<TrackPoint> Recognizer::getMarkerPos(
findColorMarker(tImg, crossList, controlWidget);
break;
case RecognitionMethod::Code:
- findCodeMarker(tImg, crossList, mRecoMethod, mCodeMarkerOptions, intrinsicCameraParams);
+ crossList = findCodeMarker(tImg, mRecoMethod, mCodeMarkerOptions, intrinsicCameraParams);
break;
case RecognitionMethod::Casern:
[[fallthrough]];