diff --git a/include/recognition.h b/include/recognition.h
index 41a14b0fc20039bab680c497c8ac3f2fe9accf2b..1c764501ad79c96b1c0feb51ee77099fd91b2e92 100644
--- a/include/recognition.h
+++ b/include/recognition.h
@@ -290,6 +290,12 @@ namespace detail
QList<TrackPoint> & crossList,
ArucoOptions & options);
+ void resolveMoreThanOneCode(
+ const int lengthini,
+ QList<TrackPoint> &crossList,
+ const ColorBlob & blob,
+ const Vec2F offset);
+
void findCodeMarker(
cv::Mat & img,
QList<TrackPoint> & crossList,
diff --git a/include/vector.h b/include/vector.h
index 958363ba7faafbf338bf38cdab5a9b8194786203..ca844baed46b84ea36c2be13b9a80c0b4ee588a9 100644
--- a/include/vector.h
+++ b/include/vector.h
@@ -126,7 +126,7 @@ public:
Vec2F(const CvPoint *v);
Vec2F(const CvPoint2D32f *v);
- CvPoint toCvPoint() const;
+ cv::Point toCvPoint() const;
CvPoint2D32f toCvPoint2D32f() const;
QPoint toQPoint() const;
QPointF toQPointF() const;
diff --git a/src/recognition.cpp b/src/recognition.cpp
index b3866b3fdf4cbdc4054cee25d931f4d80d6b761a..5560ece5f60e46dffa0e8b430e646629059d0cef 100644
--- a/src/recognition.cpp
+++ b/src/recognition.cpp
@@ -31,6 +31,7 @@
#include "markerJapan.h"
#include "multiColorMarkerItem.h"
#include "multiColorMarkerWidget.h"
+#include "pMessageBox.h"
#include "recognitionRoiItem.h"
#include "tracker.h"
@@ -622,18 +623,27 @@ void detail::refineWithAruco(
{
// cropRect has coordinates of rechtangele around color blob with respect to lower left corner (as in the
// beginning of useBlackDot)
- cv::Rect cropRect;
- const cv::RotatedRect &box = blob.box;
- int extendRect = myRound(
+ const cv::RotatedRect &box = blob.box;
+ cv::Rect cropRect = box.boundingRect();
+
+
+ int extendRect = myRound(
blob.maxExpansion *
- .3); // scalar to increase area of cropRect for better detection of codemarkers when marker appears to stick
- // out of the colored head because of tilted heads; value of .3 chosen arbitrarily after discussion
- cropRect.x = std::max(1, myRound(box.center.x - box.size.width / 2. - border));
- cropRect.y = std::max(1, myRound(box.center.y - box.size.height / 2. - border));
- cropRect.width = std::min(
- img.cols - cropRect.x - extendRect - 1, 2 * border + ((myRound(blob.maxExpansion) + extendRect) & -2));
- cropRect.height = std::min(
- img.rows - cropRect.y - extendRect - 1, 2 * border + ((myRound(blob.maxExpansion) + extendRect) & -2));
+ 2); // scalar to increase area of cropRect for better detection of codemarkers when marker appears to stick
+ // out of the colored head because of tilted heads; value of .3 chosen arbitrarily after discussion
+ const int sideLength = 2 * border + ((myRound(blob.maxExpansion) + extendRect) & -2);
+
+ const auto borderVec = cv::Point(border, border);
+ const auto topLeftCorner = cropRect - borderVec;
+ cropRect.x = std::max(1, topLeftCorner.x - sideLength / 2);
+ cropRect.y = std::max(1, topLeftCorner.y - sideLength / 2);
+
+ // (x&-2) == std::floor(x - x%2) | Ensures it's divisible by 2
+ const int maxWidth = img.cols - cropRect.x - 1;
+ cropRect.width = std::min(maxWidth, sideLength);
+ const int maxHeight = img.rows - cropRect.y - 1;
+ cropRect.height = std::min(maxHeight, sideLength);
+
cv::Mat subImg = img(cropRect); // --> shallow copy (points to original data)
int lengthini = crossList.size(); // initial length of crossList (before findCodeMarker() is called)
@@ -650,13 +660,16 @@ void detail::refineWithAruco(
codeOpt.setOffsetCropRect2Roi(offsetCropRect2Roi);
findCodeMarker(subImg, crossList, options.method, codeOpt);
+ resolveMoreThanOneCode(lengthini, crossList, blob, offsetCropRect2Roi);
+
// 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)
// - add the functionality of autocorrection
// - deal with functionality of ignore/not ignore heads without identified ArucoMarker
- if(ignoreWithoutMarker && lengthini != crossList.size()) // if CodeMarker-Call returns crossList containing a
- // new element (identified the ArucoMarker)
+ if(lengthini !=
+ crossList
+ .size()) // if CodeMarker-Call returns crossList containing a new element (identified the ArucoMarker)
{
Vec2F moveDir;
if(autoCorrect && !autoCorrectOnlyExport)
@@ -671,8 +684,8 @@ void detail::refineWithAruco(
crossList.back().setColPoint(Vec2F(box.center.x, box.center.y));
crossList.back() = crossList.back() + (Vec2F(cropRect.x, cropRect.y) + moveDir);
}
- else if(!ignoreWithoutMarker && (lengthini == crossList.size())) // in case ignoreWithoutMarker is checked and
- // CodeMarker-Call returns empty crossList
+ else if(!ignoreWithoutMarker && (lengthini == crossList.size())) // in case ignoreWithoutMarker isn't checked
+ // and CodeMarker-Call returns empty crossList
// (could not identify a marker) the center of
// the smallest rectangle around the colorblobb
// is used as position
@@ -695,25 +708,54 @@ void detail::refineWithAruco(
Vec2F(box.center.x, box.center.y),
blob.color)); // 100 beste qualitaet
}
- else if(!ignoreWithoutMarker && (crossList.size() != lengthini)) // in case ignoreWithoutMarker is checked and
- // CodeMarker-Call returns non-empty crossList
- // (could identify a marker)
+ }
+}
+
+
+/**
+ * @brief Modifies CrossList to only contain codes inside the head-boundingbox
+ *
+ * This function deletes every new marker in crosslist, which is
+ * not inside the bounding rect of the blob. If multiple new
+ * codes are inside the bounding rect, only the first one
+ * encountered is not deleted.
+ *
+ * @param lengthini initial length of crosslist
+ * @param crossList list of detected markers
+ * @param blob (Color-)Blob of the detected person
+ * @param offset offset from CropRect to ROI
+ */
+void detail::resolveMoreThanOneCode(
+ const int lengthini,
+ QList<TrackPoint> &crossList,
+ const ColorBlob & blob,
+ const Vec2F offset)
+{
+ if(lengthini + 1 < crossList.size())
+ {
+ int correctIndex = -1;
+ const auto blobRect = blob.box.boundingRect();
+ for(int i = lengthini; i < crossList.size(); ++i)
{
- Vec2F moveDir;
- if(autoCorrect && !autoCorrectOnlyExport)
+ auto detectedTP = crossList[i];
+ if((detectedTP + offset).toCvPoint().inside(blobRect))
{
- moveDir = autoCorrectColorMarker(blob.imageCenter, controlWidget);
+ correctIndex = i;
+ break;
}
- else
- {
- moveDir = Vec2F(0, 0);
- }
- crossList.back().setCol(blob.color);
- crossList.back().setColPoint(Vec2F(box.center.x, box.center.y));
- crossList.back() = crossList.back() + (Vec2F(cropRect.x, cropRect.y) + moveDir);
+ }
+
+ if(correctIndex == -1)
+ {
+ // will be treated like no code was found to begin with
+ crossList.erase(crossList.begin() + lengthini, crossList.end());
+ }
+ else
+ {
+ crossList[lengthini] = crossList[correctIndex];
+ crossList.erase(crossList.begin() + lengthini + 1, crossList.end());
}
}
- codeOpt.setOffsetCropRect2Roi(Vec2F{0, 0});
}
/**
diff --git a/src/vector.cpp b/src/vector.cpp
index 363b83cf26d30dfbec3092ea1490fd3010addcc5..a585d9858b035108b00254af570dcb63b2ea2df1 100644
--- a/src/vector.cpp
+++ b/src/vector.cpp
@@ -192,13 +192,6 @@ Vec2F::Vec2F(const cv::Point2f &p) : mX(p.x), mY(p.y) {}
Vec2F::Vec2F(const CvPoint *v) : mX(v->x), mY(v->y) {}
Vec2F::Vec2F(const CvPoint2D32f *v) : mX(v->x), mY(v->y) {}
-CvPoint Vec2F::toCvPoint() const
-{
- CvPoint p;
- p.x = myRound(mX);
- p.y = myRound(mY);
- return p;
-}
CvPoint2D32f Vec2F::toCvPoint2D32f() const
{
CvPoint2D32f p;
@@ -207,6 +200,11 @@ CvPoint2D32f Vec2F::toCvPoint2D32f() const
return p;
}
+cv::Point Vec2F::toCvPoint() const
+{
+ return cv::Point(myRound(mX), myRound(mY));
+}
+
QPoint Vec2F::toQPoint() const
{
return QPoint(myRound(mX), myRound(mY));
diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
index 298e3fe42a89eb2cce05ad21382cd692f18fe367..4f07e8aac33aff4c4e79a1d4259a025a2f6a1cd1 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.trc
@@ -1,6 +1,6 @@
version 4
28
-0 -100000 0 354 125 194 59 38 65 355
+0 -100000 0 354 126 194 59 38 65 355
517.957 2497.31 -1 -1 -1 100 575.78 2450.46 194 59 38 65
518.453 2497.57 -1 -1 -1 100 575.726 2451 194 59 38 65
@@ -263,20 +263,20 @@ version 4
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1664.4 1606.78 -1 -1 -1 79 0 0 -1 -1 -1 -1
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+1763.2 1601.2 -1 -1 -1 79 0 0 -1 -1 -1 -1
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+1797.86 1616.72 -1 -1 -1 79 0 0 -1 -1 -1 -1
+1816.56 1622.44 -1 -1 -1 79 0 0 -1 -1 -1 -1
1832.33 1630.34 -1 -1 -1 100 1818.13 1619.2 194 59 38 65
1851.77 1630.05 -1 -1 -1 100 1833.94 1617.79 194 59 38 65
1868.91 1624.44 -1 -1 -1 100 1848.15 1613.55 194 59 38 65
@@ -358,7 +358,7 @@ version 4
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3039.49 2389.96 -1 -1 -1 79 0 0 -1 -1 -1 -1
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1715.12 2367.55 -1 -1 -1 100 1719 2306.5 194 59 38 76
1714.97 2367.66 -1 -1 -1 100 1712.87 2311.23 194 59 38 76
@@ -422,299 +422,299 @@ version 4
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diff --git a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
index 04577e37ccad4431009fad1aeadad3a3dbc5493f..3094737b63ab389013d1b0677e5d5155f9e94088 100644
--- a/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
+++ b/tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12_truth.txt
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