Set marker color according to color used in threshold i.e. selected color when...

Set marker color according to color used in threshold i.e. selected color when using MulticolorMarker

src/recognition.cpp

@@ -203,6 +203,19 @@ Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget)
     ColorParameters	param;
 
     setColorParameter(options.fromColor, options.toColor, options.invHue, param);
+    // Marker Color is set according to the color which is searched
+    // Calculating is only neccessary for casern-marker like markers
+    const QColor markerColor = [param](){
+        if (param.inversHue)
+        {
+        return QColor::fromHsv(2*((param.h_low+(param.h_high-param.h_low)/2+90)%180),
+                               (param.s_high + param.s_low)/2,
+                               (param.v_high + param.v_low)/2);
+        }
+        return QColor::fromHsv(2*(param.h_low+(param.h_high-param.h_low)/2),
+                               (param.s_high + param.s_low)/2,
+                               (param.v_high + param.v_low)/2);
+        }(); // Lambda so markerColor can be const
 
     cv::Mat img = options.img;
     cv::Mat binary = options.binary;
@@ -261,31 +274,13 @@ Vec2F autoCorrectColorMarker(Vec2F &boxImageCentre, Control *controlWidget)
             continue;
         }
 
-        int cx = static_cast<int>(std::lround(box.center.x));
-        int cy = static_cast<int>(std::lround(box.center.y));
-        int add = static_cast<int>(std::min(box.size.height,box.size.width)/4);
-
-        QColor col, col2;
-        // color for hat measured at 3 points
-        col.setRgb(getValue(img,cx,cy).rgb());
-        col2.setRgb(getValue(img,cx+add,cy).rgb());
-        if (col.value()<col2.value()) // take brighter color
-        {
-            col = col2;
-        }
-        col2.setRgb(getValue(img,cx-add,cy).rgb());
-        if (col.value()<col2.value()) // take brighter color
-        {
-            col = col2;
-        }
-
         // centre of rect in the coordinates of the whole image (instead of ROI)
         Vec2F boxImageCentre = options.offset;
         boxImageCentre.setX(boxImageCentre.x()+static_cast<double>(box.center.x));
         boxImageCentre.setY(boxImageCentre.y()+static_cast<double>(box.center.y));
 
         // TODO maybe use move constructor to increase perf for contour(then not const anymore)
-        colorBlobs.push_back({box, boxImageCentre, col, contour, static_cast<double>(maxExpansion)});
+        colorBlobs.push_back({box, boxImageCentre, markerColor, contour, static_cast<double>(maxExpansion)});
     }
     return colorBlobs;
 }

tests/regression_test/tests/test_tracker_txt.py

@@ -151,7 +151,7 @@ class TestTrackerTxt:
                 min_diff = -1
                 for test_person in test_file:
                     diff = self.calc_diff(truth_person, test_person)
-                    if min_diff == -1:
+                    if min_diff == -1 and diff < self.MAX_DIFF:
                         min_diff = diff
                         match = test_person
                     elif diff < min_diff and diff < self.MAX_DIFF:
@@ -212,4 +212,4 @@ class TestTrackerTxt:
             return self.MAX_DIFF
 
 # tester = TestTrackerTxt()
-# tester.test_e2e_via_txt(("markerJapan_test", "markerJapan_truth"))
+# tester.test_e2e_via_txt(("./blackdotMarker_test", "./blackdotMarker_truth"))