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  • ped-dyn-emp/petrack
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.gitlab-ci.yml
View file @ 1842d9aa
......@@ -32,7 +32,7 @@ stages:
# from the repository
build_container:
stage: build_environment
image:
image:
name: gcr.io/kaniko-project/executor:debug
entrypoint: [""]
script:
......@@ -72,9 +72,10 @@ unit_test_linux:
artifacts:
when: always
paths:
- build/tests/unit_test/unit_test_report.xml
- build/tests/unit_test/unit_test_report.xml
reports:
junit: "build/tests/unit_test/unit_test_report.xml"
needs: ["build_linux"]
# Execute regression tests
regression_test_linux:
......@@ -82,13 +83,14 @@ regression_test_linux:
stage: test
script:
- cd tests/regression_test/tests
- python3 -m pytest --path=../../../build/petrack --junitxml=pytest_report.xml >> "RegressionTestLog.txt"
- python3 -m pytest --path=../../../build/petrack --junitxml=pytest_report.xml | tee "RegressionTestLog.txt"
artifacts:
when: on_failure
paths:
- "tests/regression_test/tests/RegressionTestLog.txt"
reports:
junit: "tests/regression_test/tests/pytest_report.xml"
needs: ["build_linux"]
###############################################################################
......@@ -122,7 +124,7 @@ unit_test_windows:
artifacts:
when: always
paths:
- build/tests/unit_test/unit_test_report.xml
- build/tests/unit_test/unit_test_report.xml
reports:
junit: "build/tests/unit_test/unit_test_report.xml"
needs: ["build_windows"]
......@@ -143,7 +145,7 @@ regression_test_windows:
junit: "tests/regression_test/tests/pytest_report.xml"
needs: ["build_windows"]
build_windows_installer:
build_installer_windows:
stage: build_installer
rules:
- if: $CI_PIPELINE_SOURCE == "schedule"
......@@ -162,18 +164,87 @@ build_windows_installer:
paths:
- "build/petrack-installer-*"
expire_in: 2hrs
dependencies: []
make_release:
make_release_windows:
image: alpine
stage: deploy
rules:
- if: $CI_PIPELINE_SOURCE == "schedule"
when: never
- if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
needs: ["build_windows_installer"]
needs: ["build_installer_windows"]
script:
- apk --no-cache add curl
- cd build
- winInst=$(echo petrack-installer-*)
- curl -k -T $winInst -u "${SCIEBO_TOKEN}:" https://fz-juelich.sciebo.de/public.php/webdav/$winInst
- curl -k -T $winInst -u "${SCIEBO_WIN_INSTALLER_PATH}:" https://fz-juelich.sciebo.de/public.php/webdav/$winInst --fail-with-body
###############################################################################
# MacOS CI
###############################################################################
# Build petrack and petrack unit_tests
build_macos:
stage: build
tags:
- macos
script:
- mkdir build
- cd build
- cmake -G Ninja .. -DBUILD_BUNDLE=ON -DBUILD_UNIT_TESTS=ON -DCMAKE_PREFIX_PATH=/Users/tobias/programs/petrack-deps -DCatch2_DIR=/Users/tobias/programs/petrack-deps/lib/cmake/Catch2/ -Dtrompeloeil_DIR=/Users/tobias/programs/petrack-deps/lib/cmake/trompeloeil/
- cmake --build .
- cpack -C Release -G DragNDrop --verbose
- rm -r petrack.app
- find _CPack_Packages/ -type d -name "petrack.app" | xargs -I _ cp -r _ petrack.app
artifacts:
paths:
- "build/"
- "build/petrack-installer-*"
expire_in: 2 hrs
# Execute unit tests
unit_test_macos:
stage: test
tags:
- macos
script:
- cd build/tests/unit_test
- ./petrack_tests -r junit -o unit_test_report.xml
artifacts:
when: always
paths:
- build/tests/unit_test/unit_test_report.xml
reports:
junit: "build/tests/unit_test/unit_test_report.xml"
needs: ["build_macos"]
# Execute regression tests
regression_test_macos:
stage: test
tags:
- macos
script:
- cd tests/regression_test/tests
- python3 -m pytest --path=../../../build/petrack.app/Contents/MacOS/petrack --junitxml=pytest_report.xml | tee "RegressionTestLog.txt"
artifacts:
when: on_failure
paths:
- "tests/regression_test/tests/RegressionTestLog.txt"
reports:
junit: "tests/regression_test/tests/pytest_report.xml"
needs: ["build_macos"]
make_release_macos:
image: alpine
stage: deploy
rules:
- if: $CI_PIPELINE_SOURCE == "schedule"
when: never
- if: $CI_COMMIT_BRANCH == $CI_DEFAULT_BRANCH
script:
- apk --no-cache add curl
- cd build
- macosInst=$(echo petrack-installer-*)
- curl -k -T $macosInst -u "${SCIEBO_MACOS_INSTALLER_PATH}:" https://fz-juelich.sciebo.de/public.php/webdav/$macosInst --fail-with-body
dependencies: [ "build_macos" ]
CMakeLists.txt
View file @ 1842d9aa
......@@ -19,7 +19,7 @@
# Project setup
################################################################################
cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
project(petrack LANGUAGES CXX VERSION 0.9.0)
project(petrack LANGUAGES CXX VERSION 0.9.1)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
......@@ -142,7 +142,7 @@ endif ()
# Qt
find_package(
Qt5 5.14
COMPONENTS Widgets OpenGL Xml Core PrintSupport Concurrent
COMPONENTS Widgets OpenGL Xml Core PrintSupport Concurrent Test
REQUIRED
)
message("Building with Qt${QT_DEFAULT_MAJOR_VERSION} (${Qt5Core_VERSION_STRING})")
......@@ -289,8 +289,6 @@ if(BUILD_UNIT_TESTS)
find_package(trompeloeil REQUIRED)
endif()
find_package(Qt5Test REQUIRED)
add_subdirectory(${CMAKE_SOURCE_DIR}/tests/unit_test)
target_link_libraries(petrack_tests PRIVATE petrack_core git-info)
......
cmake_modules/install_helper.cmake
View file @ 1842d9aa
......@@ -41,21 +41,23 @@ elseif(APPLE)
INSTALL_RPATH @executable_path/../Frameworks
)
install(CODE [[
include(BundleUtilities)
# This string is crazy-long enough that it's worth folding into a var...
set (_plugin_file "$<TARGET_FILE_NAME:Qt5::QCocoaIntegrationPlugin>")
install(CODE [[
include(BundleUtilities)
# Ditto the output paths for our installation
set (_appdir "${CMAKE_INSTALL_PREFIX}/petrack.app")
set (_outdir "${_appdir}/Contents/PlugIns/platforms")
# the output paths for our installation
set (_appdir "${CMAKE_INSTALL_PREFIX}/petrack.app")
set (_outdir "${_appdir}/Contents/PlugIns/platforms")
file(INSTALL DESTINATION "${_outdir}"
TYPE FILE FILES "$<TARGET_FILE:Qt5::QCocoaIntegrationPlugin>")
# copy the needed plugins
file(INSTALL DESTINATION "${_outdir}"
TYPE FILE FILES "$<TARGET_FILE:Qt5::QCocoaIntegrationPlugin>" "$<TARGET_FILE:Qt5::QOffscreenIntegrationPlugin>")
fixup_bundle("${_appdir}/Contents/MacOS/petrack" "${_outdir}/${_plugin_file}" "")
]] COMPONENT Runtime)
fixup_bundle(
"${_appdir}/Contents/MacOS/petrack"
"${_outdir}/$<TARGET_FILE_NAME:Qt5::QCocoaIntegrationPlugin>;${_outdir}/$<TARGET_FILE_NAME:Qt5::QOffscreenIntegrationPlugin>"
""
)
]] COMPONENT Runtime)
endif()
......
include/calibFilter.h
View file @ 1842d9aa
......@@ -44,6 +44,13 @@ private:
Parameter mK4;
Parameter mK5;
Parameter mK6;
Parameter mS1;
Parameter mS2;
Parameter mS3;
Parameter mS4;
Parameter mTAUX;
Parameter mTAUY;
double mReprojectionError;
cv::Mat map1;
cv::Mat map2;
......@@ -64,6 +71,14 @@ public:
Parameter *getK4();
Parameter *getK5();
Parameter *getK6();
Parameter *getS1();
Parameter *getS2();
Parameter *getS3();
Parameter *getS4();
Parameter *getTAUX();
Parameter *getTAUY();
double getReprojectionError() const;
void setReprojectionError(double d);
};
#endif
include/control.h
View file @ 1842d9aa
......@@ -64,54 +64,81 @@ public:
int getFilterBorderSize();
double getCalibFxValue();
double getCalibFxValue() const;
void setCalibFxValue(double d);
void setCalibFxMin(double d);
void setCalibFxMax(double d);
double getCalibFyValue();
double getCalibFyValue() const;
void setCalibFyValue(double d);
void setCalibFyMin(double d);
void setCalibFyMax(double d);
double getCalibCxValue();
double getCalibCxValue() const;
void setCalibCxValue(double d);
void setCalibCxMin(double d);
void setCalibCxMax(double d);
double getCalibCyValue();
double getCalibCyValue() const;
void setCalibCyValue(double d);
void setCalibCyMin(double d);
void setCalibCyMax(double d);
double getCalibR2Value();
double getCalibR2Value() const;
void setCalibR2Value(double d);
void setCalibR2Min(double d);
void setCalibR2Max(double d);
double getCalibR4Value();
double getCalibR4Value() const;
void setCalibR4Value(double d);
void setCalibR4Min(double d);
void setCalibR4Max(double d);
double getCalibTxValue();
double getCalibTxValue() const;
void setCalibTxValue(double d);
void setCalibTxMin(double d);
void setCalibTxMax(double d);
double getCalibTyValue();
double getCalibTyValue() const;
void setCalibTyValue(double d);
void setCalibTyMin(double d);
void setCalibTyMax(double d);
double getCalibR6Value();
double getCalibR6Value() const;
void setCalibR6Value(double d);
void setCalibR6Min(double d);
void setCalibR6Max(double d);
double getCalibK4Value();
double getCalibK4Value() const;
void setCalibK4Value(double d);
void setCalibK4Min(double d);
void setCalibK4Max(double d);
double getCalibK5Value();
double getCalibK5Value() const;
void setCalibK5Value(double d);
void setCalibK5Min(double d);
void setCalibK5Max(double d);
double getCalibK6Value();
double getCalibK6Value() const;
void setCalibK6Value(double d);
void setCalibK6Min(double d);
void setCalibK6Max(double d);
double getCalibS1Value() const;
void setCalibS1Value(double d);
void setCalibS1Min(double d);
void setCalibS1Max(double d);
double getCalibS2Value() const;
void setCalibS2Value(double d);
void setCalibS2Min(double d);
void setCalibS2Max(double d);
double getCalibS3Value() const;
void setCalibS3Value(double d);
void setCalibS3Min(double d);
void setCalibS3Max(double d);
double getCalibS4Value() const;
void setCalibS4Value(double d);
void setCalibS4Min(double d);
void setCalibS4Max(double d);
double getCalibTAUXValue() const;
void setCalibTAUXValue(double d);
void setCalibTAUXMin(double d);
void setCalibTAUXMax(double d);
double getCalibTAUYValue() const;
void setCalibTAUYValue(double d);
void setCalibTAUYMin(double d);
void setCalibTAUYMax(double d);
double getCalibReprErrorValue() const;
void setCalibReprErrorValue(double d);
void setNewModelChecked(bool b);
double getCalibExtrRot1();
void setCalibExtrRot1(double d);
......@@ -459,9 +486,20 @@ private slots:
void on_r6_valueChanged(double d);
void on_tx_valueChanged(double d);
void on_ty_valueChanged(double d);
void on_k4_valueChanged(double d);
void on_k5_valueChanged(double d);
void on_k6_valueChanged(double d);
void on_s1_valueChanged(double d);
void on_s2_valueChanged(double d);
void on_s3_valueChanged(double d);
void on_s4_valueChanged(double d);
void on_taux_valueChanged(double d);
void on_tauy_valueChanged(double d);
void on_quadAspectRatio_stateChanged(int i);
void on_fixCenter_stateChanged(int i);
void on_tangDist_stateChanged(int i);
void on_newModelCheckBox_stateChanged(int i);
void on_autoCalib_clicked();
void on_calibFiles_clicked();
......@@ -546,8 +584,7 @@ private:
bool mColorChanging;
bool mIndexChanging; // shows, if the index of the color model is really changing; nor while constructor (initialer
// durchlauf) and may be while loading xml file
bool mLoading; // shows, if new project is just loading
QDoubleSpinBox *k4, *k5, *k6; // Muss noch in die Oberflaeche eingebaut werden
bool mLoading; // shows, if new project is just loading
};
#endif
include/petrack.h
View file @ 1842d9aa
......@@ -134,6 +134,7 @@ public slots:
void openProject(QString fileName = "", bool openSequence = true);
void saveXml(QDomDocument &doc);
bool saveSameProject();
bool saveProjectAs();
bool saveProject(QString fileName = "");
void writeXmlElement(QXmlStreamWriter &xmlStream, QDomElement element);
void openSequence(QString fileName = "");
......
src/autoCalib.cpp
View file @ 1842d9aa
......@@ -95,7 +95,6 @@ bool AutoCalib::openCalibFiles()
{
lastDir = QFileInfo(mCalibFiles.first()).path();
}
QStringList calibFiles = QFileDialog::getOpenFileNames(
mMainWindow,
Petrack::tr("Open calibration sequence"),
......@@ -140,7 +139,7 @@ void AutoCalib::autoCalib()
std::vector<cv::Point2f> corners;
std::vector<std::vector<cv::Point2f>> image_points;
cv::Mat camera_matrix = cv::Mat::eye(3, 3, CV_64F);
cv::Mat dist_coeffs = cv::Mat::zeros(1, 8, CV_64F);
cv::Mat dist_coeffs = cv::Mat::zeros(1, 14, CV_64F);
cv::Mat extr_params;
double reproj_errs;
cv::Mat view, view_gray;
......@@ -172,6 +171,7 @@ void AutoCalib::autoCalib()
break;
}
// cannot load image
view = cv::imread(mCalibFiles.at(i).toStdString(), cv::IMREAD_COLOR);
if(view.empty())
......@@ -196,7 +196,6 @@ void AutoCalib::autoCalib()
{
imgSize = cv::Size(view.rows, view.cols);
}
// search for chessboard corners
found = findChessboardCorners(view, board_size, corners, cv::CALIB_CB_ADAPTIVE_THRESH);
......@@ -243,14 +242,12 @@ void AutoCalib::autoCalib()
.arg(board_size.height));
return;
}
// set flags for calibration
if(mControlWidget->quadAspectRatio->isChecked())
{
flags |= CV_CALIB_FIX_ASPECT_RATIO; // durch setzen von aspect_ratio kann fix ascpect anders als 1:1
// eingestellt werden
}
if(mControlWidget->fixCenter->isChecked())
{
flags |= CV_CALIB_FIX_PRINCIPAL_POINT;
......@@ -259,7 +256,10 @@ void AutoCalib::autoCalib()
{
flags |= CV_CALIB_ZERO_TANGENT_DIST;
}
// run calibration
if(mControlWidget->newModelCheckBox->isChecked())
{
flags |= CV_CALIB_RATIONAL_MODEL + CV_CALIB_THIN_PRISM_MODEL + CV_CALIB_TILTED_MODEL;
}
bool ok = runCalibration(
image_points,
......@@ -291,6 +291,9 @@ void AutoCalib::autoCalib()
debout << "tx: " << dist_coeffs.at<double>(0, 2) << " ty: " << dist_coeffs.at<double>(0, 3) << std::endl;
debout << "k4: " << dist_coeffs.at<double>(0, 5) << " k5: " << dist_coeffs.at<double>(0, 6)
<< " k6: " << dist_coeffs.at<double>(0, 7) << std::endl;
debout << "s1: " << dist_coeffs.at<double>(0, 8) << " s2: " << dist_coeffs.at<double>(0, 9)
<< " s3: " << dist_coeffs.at<double>(0, 10) << " s4: " << dist_coeffs.at<double>(0, 11) << std::endl;
debout << "taux: " << dist_coeffs.at<double>(0, 12) << " tauy: " << dist_coeffs.at<double>(0, 13) << std::endl;
// set calibration values
mControlWidget->setCalibFxValue(camera_matrix.at<double>(0, 0));
......@@ -305,6 +308,13 @@ void AutoCalib::autoCalib()
mControlWidget->setCalibK4Value(dist_coeffs.at<double>(0, 5));
mControlWidget->setCalibK5Value(dist_coeffs.at<double>(0, 6));
mControlWidget->setCalibK6Value(dist_coeffs.at<double>(0, 7));
mControlWidget->setCalibS1Value(dist_coeffs.at<double>(0, 8));
mControlWidget->setCalibS2Value(dist_coeffs.at<double>(0, 9));
mControlWidget->setCalibS3Value(dist_coeffs.at<double>(0, 10));
mControlWidget->setCalibS4Value(dist_coeffs.at<double>(0, 11));
mControlWidget->setCalibTAUXValue(dist_coeffs.at<double>(0, 12));
mControlWidget->setCalibTAUYValue(dist_coeffs.at<double>(0, 13));
mControlWidget->setCalibReprErrorValue(reproj_errs);
#ifdef SHOW_CALIB_MAINWINDOW
......@@ -368,9 +378,11 @@ int AutoCalib::runCalibration(
camera_matrix.ptr<double>(1)[1] = 1.;
}
*reproj_errs = calibrateCamera(
object_points, image_points, img_size, camera_matrix, dist_coeffs, rot_vects, trans_vects, flags);
code = 1;
return code;
}
src/calibFilter.cpp
View file @ 1842d9aa
......@@ -84,6 +84,38 @@ CalibFilter::CalibFilter() : Filter()
getK6()->setMaximum(5.);
getK6()->setValue(0.);
getK6()->setFilter(this);
getS1()->setMinimum(-5.);
getS1()->setMaximum(5.);
getS1()->setValue(0.);
getS1()->setFilter(this);
getS2()->setMinimum(-5.);
getS2()->setMaximum(5.);
getS2()->setValue(0.);
getS2()->setFilter(this);
getS3()->setMinimum(-5.);
getS3()->setMaximum(5.);
getS3()->setValue(0.);
getS3()->setFilter(this);
getS4()->setMinimum(-5.);
getS4()->setMaximum(5.);
getS4()->setValue(0.);
getS4()->setFilter(this);
getTAUX()->setMinimum(-5.);
getTAUX()->setMaximum(5.);
getTAUX()->setValue(0.);
getTAUX()->setFilter(this);
getTAUY()->setMinimum(-5.);
getTAUY()->setMaximum(5.);
getTAUY()->setValue(0.);
getTAUY()->setFilter(this);
mReprojectionError = std::numeric_limits<double>::quiet_NaN();
}
/**
......@@ -111,14 +143,20 @@ cv::Mat CalibFilter::act(cv::Mat &img, cv::Mat &res)
0,
1);
cv::Mat dist =
(cv::Mat_<float>(1, 8) << getR2()->getValue(),
(cv::Mat_<float>(1, 14) << getR2()->getValue(),
getR4()->getValue(),
getTx()->getValue(),
getTy()->getValue(),
getR6()->getValue(),
getK4()->getValue(),
getK5()->getValue(),
getK6()->getValue());
getK6()->getValue(),
getS1()->getValue(),
getS2()->getValue(),
getS3()->getValue(),
getS4()->getValue(),
getTAUX()->getValue(),
getTAUY()->getValue());
initUndistortRectifyMap(camera, dist, cv::Mat_<double>::eye(3, 3), camera, img.size(), CV_16SC2, map1, map2);
......@@ -176,3 +214,35 @@ Parameter *CalibFilter::getK6()
{
return &mK6;
}
Parameter *CalibFilter::getS1()
{
return &mS1;
}
Parameter *CalibFilter::getS2()
{
return &mS2;
}
Parameter *CalibFilter::getS3()
{
return &mS3;
}
Parameter *CalibFilter::getS4()
{
return &mS4;
}
Parameter *CalibFilter::getTAUX()
{
return &mTAUX;
}
Parameter *CalibFilter::getTAUY()
{
return &mTAUY;
}
double CalibFilter::getReprojectionError() const
{
return mReprojectionError;
}
void CalibFilter::setReprojectionError(double d)
{
mReprojectionError = d;
}
src/codeMarkerWidget.cpp
View file @ 1842d9aa
......@@ -182,19 +182,19 @@ void CodeMarkerWidget::getXml(QDomElement &elem)
if(subElem.tagName() == "PARAM")
{
if(subElem.hasAttribute("ADAPTIVE_TRHESH_WIN_SIZE_MIN"))
if(subElem.hasAttribute("ADAPTIVE_THRESH_WIN_SIZE_MIN"))
{
mUi->adaptiveThreshWinSizeMin->setValue(subElem.attribute("ADAPTIVE_THRESH_WIN_SIZE_MIN").toInt());
}
if(subElem.hasAttribute("ADAPTIVE_TRHESH_WIN_SIZE_MAX"))
if(subElem.hasAttribute("ADAPTIVE_THRESH_WIN_SIZE_MAX"))
{
mUi->adaptiveThreshWinSizeMax->setValue(subElem.attribute("ADAPTIVE_THRESH_WIN_SIZE_MAX").toInt());
}
if(subElem.hasAttribute("ADAPTIVE_TRHESH_WIN_SIZE_STEP"))
if(subElem.hasAttribute("ADAPTIVE_THRESH_WIN_SIZE_STEP"))
{
mUi->adaptiveThreshWinSizeStep->setValue(subElem.attribute("ADAPTIVE_THRESH_WIN_SIZE_STEP").toInt());
}
if(subElem.hasAttribute("ADAPTIVE_TRHESH_CONSTANT"))
if(subElem.hasAttribute("ADAPTIVE_THRESH_CONSTANT"))
{
mUi->adaptiveThreshConstant->setValue(subElem.attribute("ADAPTIVE_THRESH_CONSTANT").toInt());
}
......
src/control.cpp
View file @ 1842d9aa
......@@ -70,12 +70,7 @@ Control::Control(QWidget &parent, QGraphicsScene &scene, reco::Recognizer &recog
// calibrateCamera die Flag CALIB_RATIONAL_MODEL übergibt; Ergibt eine genauere Kalibration Auch rechenintensiver,
// aber da wir das einmal machen und dann Speichern, ist das auch egal Diese Boxen müssten in die UI eingebaut und
// der entsprechende Aufruf in AutoCalib müsste angepasst werden
k4 = new QDoubleSpinBox(this);
k4->hide();
k5 = new QDoubleSpinBox(this);
k5->hide();
k6 = new QDoubleSpinBox(this);
k6->hide();
filterBrightContrast->setCheckState(
mMainWindow->getBrightContrastFilter()->getEnabled() ? Qt::Checked : Qt::Unchecked);
......@@ -133,6 +128,38 @@ Control::Control(QWidget &parent, QGraphicsScene &scene, reco::Recognizer &recog
setCalibK6Max(mMainWindow->getCalibFilter()->getK6()->getMaximum());
setCalibK6Value(mMainWindow->getCalibFilter()->getK6()->getValue());
setCalibS1Min(mMainWindow->getCalibFilter()->getS1()->getMinimum());
setCalibS1Max(mMainWindow->getCalibFilter()->getS1()->getMaximum());
setCalibS1Value(mMainWindow->getCalibFilter()->getS1()->getValue());
setCalibS2Min(mMainWindow->getCalibFilter()->getS2()->getMinimum());
setCalibS2Max(mMainWindow->getCalibFilter()->getS2()->getMaximum());
setCalibS2Value(mMainWindow->getCalibFilter()->getS2()->getValue());
setCalibS3Min(mMainWindow->getCalibFilter()->getS3()->getMinimum());
setCalibS3Max(mMainWindow->getCalibFilter()->getS3()->getMaximum());
setCalibS3Value(mMainWindow->getCalibFilter()->getS3()->getValue());
setCalibS4Min(mMainWindow->getCalibFilter()->getS4()->getMinimum());
setCalibS4Max(mMainWindow->getCalibFilter()->getS4()->getMaximum());
setCalibS4Value(mMainWindow->getCalibFilter()->getS4()->getValue());
setCalibTAUXMin(mMainWindow->getCalibFilter()->getTAUX()->getMinimum());
setCalibTAUXMax(mMainWindow->getCalibFilter()->getTAUX()->getMaximum());
setCalibTAUXValue(mMainWindow->getCalibFilter()->getTAUX()->getValue());
setCalibTAUYMin(mMainWindow->getCalibFilter()->getTAUY()->getMinimum());
setCalibTAUYMax(mMainWindow->getCalibFilter()->getTAUY()->getMaximum());
setCalibTAUYValue(mMainWindow->getCalibFilter()->getTAUY()->getValue());
setCalibReprErrorValue(mMainWindow->getCalibFilter()->getReprojectionError());
// statt folgender Zeile kann zB on_cx_valueChanged einfach kodiert werden (su)
// connect(cx, SIGNAL(valueChanged(double cx)), this, SLOT(on_cx_valueChanged));
// will be done by designer: colorPlot->setParent(colorBox); //because it is just integrated via frame in designer
connect(newModelCheckBox, &QCheckBox::stateChanged, this, &Control::on_newModelCheckBox_stateChanged);
colorPlot->setControlWidget(this);
mIndexChanging = false;
......@@ -337,7 +364,7 @@ int Control::getFilterBorderSize()
return filterBorderParamSize->value();
}
double Control::getCalibFxValue()
double Control::getCalibFxValue() const
{
return fx->value();
}
......@@ -357,7 +384,7 @@ void Control::setCalibFxMax(double d)
fx->setMaximum(d);
}
double Control::getCalibFyValue()
double Control::getCalibFyValue() const
{
return fy->value();
}
......@@ -377,7 +404,7 @@ void Control::setCalibFyMax(double d)
fy->setMaximum(d);
}
double Control::getCalibCxValue()
double Control::getCalibCxValue() const
{
return cx->value();
}
......@@ -397,7 +424,7 @@ void Control::setCalibCxMax(double d)
cx->setMaximum(d);
}
double Control::getCalibCyValue()
double Control::getCalibCyValue() const
{
return cy->value();
}
......@@ -417,7 +444,7 @@ void Control::setCalibCyMax(double d)
cy->setMaximum(d);
}
double Control::getCalibR2Value()
double Control::getCalibR2Value() const
{
return r2->value();
}
......@@ -437,7 +464,7 @@ void Control::setCalibR2Max(double d)
r2->setMaximum(d);
}
double Control::getCalibR4Value()
double Control::getCalibR4Value() const
{
return r4->value();
}
......@@ -457,7 +484,7 @@ void Control::setCalibR4Max(double d)
r4->setMaximum(d);
}
double Control::getCalibR6Value()
double Control::getCalibR6Value() const
{
return r6->value();
}
......@@ -476,6 +503,125 @@ void Control::setCalibR6Max(double d)
r6->setMaximum(d);
}
double Control::getCalibS1Value() const
{
return s1->value();
}
void Control::setCalibS1Value(double d)
{
s1->setValue(d);
}
void Control::setCalibS1Min(double d)
{
s1->setMinimum(d);
}
void Control::setCalibS1Max(double d)
{
s1->setMaximum(d);
}
double Control::getCalibS2Value() const
{
return s2->value();
}
void Control::setCalibS2Value(double d)
{
s2->setValue(d);
}
void Control::setCalibS2Min(double d)
{
s2->setMinimum(d);
}
void Control::setCalibS2Max(double d)
{
s2->setMaximum(d);
}
double Control::getCalibS3Value() const
{
return s3->value();
}
void Control::setCalibS3Value(double d)
{
s3->setValue(d);
}
void Control::setCalibS3Min(double d)
{
s3->setMinimum(d);
}
void Control::setCalibS3Max(double d)
{
s3->setMaximum(d);
}
double Control::getCalibS4Value() const
{
return s4->value();
}
void Control::setCalibS4Value(double d)
{
s4->setValue(d);
}
void Control::setCalibS4Min(double d)
{
s4->setMinimum(d);
}
void Control::setCalibS4Max(double d)
{
s4->setMaximum(d);
}
double Control::getCalibTAUXValue() const
{
return taux->value();
}
void Control::setCalibTAUXValue(double d)
{
taux->setValue(d);
}
void Control::setCalibTAUXMin(double d)
{
taux->setMinimum(d);
}
void Control::setCalibTAUXMax(double d)
{
taux->setMaximum(d);
}
double Control::getCalibTAUYValue() const
{
return tauy->value();
}
void Control::setCalibTAUYValue(double d)
{
tauy->setValue(d);
}
void Control::setCalibTAUYMin(double d)
{
tauy->setMinimum(d);
}
void Control::setCalibTAUYMax(double d)
{
tauy->setMaximum(d);
}
void Control::setCalibReprErrorValue(double d)
{
intrError->setText(QString("%1").arg(d));
}
void Control::setNewModelChecked(bool b)
{
if(b)
{
newModelCheckBox->setChecked(true);
}
else
{
newModelCheckBox->setChecked(false);
}
}
double Control::getCalibExtrRot1()
{
return rot1->value();
......@@ -536,7 +682,7 @@ void Control::setCalibExtrTrans3(double d)
trans3->setValue(d);
}
double Control::getCalibTxValue()
double Control::getCalibTxValue() const
{
return tx->value();
}
......@@ -556,7 +702,7 @@ void Control::setCalibTxMax(double d)
tx->setMaximum(d);
}
double Control::getCalibTyValue()
double Control::getCalibTyValue() const
{
return ty->value();
}
......@@ -576,7 +722,7 @@ void Control::setCalibTyMax(double d)
ty->setMaximum(d);
}
double Control::getCalibK4Value()
double Control::getCalibK4Value() const
{
return k4->value();
}
......@@ -596,7 +742,7 @@ void Control::setCalibK4Max(double d)
k4->setMaximum(d);
}
double Control::getCalibK5Value()
double Control::getCalibK5Value() const
{
return k5->value();
}
......@@ -616,7 +762,7 @@ void Control::setCalibK5Max(double d)
k5->setMaximum(d);
}
double Control::getCalibK6Value()
double Control::getCalibK6Value() const
{
return k6->value();
}
......@@ -2064,6 +2210,7 @@ void Control::on_fx_valueChanged(double d)
mMainWindow->updateImage();
}
setMeasuredAltitude();
intrError->setText(QString("invalid"));
}
void Control::on_fy_valueChanged(double d)
......@@ -2074,6 +2221,7 @@ void Control::on_fy_valueChanged(double d)
mMainWindow->updateImage();
}
setMeasuredAltitude();
intrError->setText(QString("invalid"));
}
void Control::on_cx_valueChanged(double d)
......@@ -2084,6 +2232,7 @@ void Control::on_cx_valueChanged(double d)
{
mMainWindow->updateCoord();
}
intrError->setText(QString("invalid"));
}
void Control::on_cy_valueChanged(double d)
......@@ -2094,6 +2243,7 @@ void Control::on_cy_valueChanged(double d)
{
mMainWindow->updateCoord();
}
intrError->setText(QString("invalid"));
}
void Control::on_r2_valueChanged(double d)
......@@ -2103,6 +2253,7 @@ void Control::on_r2_valueChanged(double d)
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_r4_valueChanged(double d)
......@@ -2112,6 +2263,7 @@ void Control::on_r4_valueChanged(double d)
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_r6_valueChanged(double d)
......@@ -2121,8 +2273,64 @@ void Control::on_r6_valueChanged(double d)
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_s1_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getS1()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_s2_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getS2()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_s3_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getS3()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_s4_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getS4()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_taux_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getTAUX()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_tauy_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getTAUY()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_tx_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getTx()->setValue(d);
......@@ -2130,6 +2338,7 @@ void Control::on_tx_valueChanged(double d)
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_ty_valueChanged(double d)
......@@ -2139,8 +2348,35 @@ void Control::on_ty_valueChanged(double d)
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_k4_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getK4()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_k5_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getK5()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_k6_valueChanged(double d)
{
mMainWindow->getCalibFilter()->getK6()->setValue(d);
if(!mMainWindow->isLoading())
{
mMainWindow->updateImage();
}
intrError->setText(QString("invalid"));
}
void Control::on_quadAspectRatio_stateChanged(int i)
{
static double oldFyValue = 0;
......@@ -2156,6 +2392,7 @@ void Control::on_quadAspectRatio_stateChanged(int i)
fy->setEnabled(true);
fy->setValue(oldFyValue);
}
intrError->setText(QString("invalid"));
}
void Control::on_fixCenter_stateChanged(int i)
......@@ -2182,6 +2419,7 @@ void Control::on_fixCenter_stateChanged(int i)
cx->setValue(oldCxValue);
cy->setValue(oldCyValue);
}
intrError->setText(QString("invalid"));
}
void Control::on_tangDist_stateChanged(int i)
......@@ -2205,8 +2443,37 @@ void Control::on_tangDist_stateChanged(int i)
tx->setDisabled(true);
ty->setDisabled(true);
}
intrError->setText(QString("invalid"));
}
void Control::on_newModelCheckBox_stateChanged(int i)
{
if(i == Qt::Checked)
{
k4->setEnabled(true);
k5->setEnabled(true);
k6->setEnabled(true);
s1->setEnabled(true);
s2->setEnabled(true);
s3->setEnabled(true);
s4->setEnabled(true);
taux->setEnabled(true);
tauy->setEnabled(true);
}
else if(i == Qt::Unchecked)
{
k4->setDisabled(true);
k5->setDisabled(true);
k6->setDisabled(true);
s1->setDisabled(true);
s2->setDisabled(true);
s3->setDisabled(true);
s4->setDisabled(true);
taux->setDisabled(true);
tauy->setDisabled(true);
}
intrError->setText(QString("invalid"));
}
void Control::on_autoCalib_clicked()
{
mMainWindow->getAutoCalib()->autoCalib();
......@@ -2719,6 +2986,14 @@ void Control::setXml(QDomElement &elem)
subSubElem.setAttribute("K4", k4->value());
subSubElem.setAttribute("K5", k5->value());
subSubElem.setAttribute("K6", k6->value());
subSubElem.setAttribute("S1", s1->value());
subSubElem.setAttribute("S2", s2->value());
subSubElem.setAttribute("S3", s3->value());
subSubElem.setAttribute("S4", s4->value());
subSubElem.setAttribute("TAUX", taux->value());
subSubElem.setAttribute("TAUY", tauy->value());
subSubElem.setAttribute("ReprError", mMainWindow->getCalibFilter()->getReprojectionError());
subSubElem.setAttribute("QUAD_ASPECT_RATIO", quadAspectRatio->isChecked());
subSubElem.setAttribute("FIX_CENTER", fixCenter->isChecked());
subSubElem.setAttribute("TANG_DIST", tangDist->isChecked());
......@@ -2735,6 +3010,7 @@ void Control::setXml(QDomElement &elem)
subSubElem.setAttribute("CALIB_FILES", fl.join(", "));
subElem.appendChild(subSubElem);
subSubElem = (elem.ownerDocument()).createElement("EXTRINSIC_PARAMETERS");
subSubElem.setAttribute("EXTR_ROT_1", rot1->value());
......@@ -3248,6 +3524,34 @@ void Control::getXml(QDomElement &elem)
{
k6->setValue(subSubElem.attribute("K6").toDouble());
}
if(subSubElem.hasAttribute("S1"))
{
s1->setValue(subSubElem.attribute("S1").toDouble());
}
if(subSubElem.hasAttribute("S2"))
{
s2->setValue(subSubElem.attribute("S2").toDouble());
}
if(subSubElem.hasAttribute("S3"))
{
s3->setValue(subSubElem.attribute("S3").toDouble());
}
if(subSubElem.hasAttribute("S4"))
{
s4->setValue(subSubElem.attribute("S4").toDouble());
}
if(subSubElem.hasAttribute("TAUX"))
{
taux->setValue(subSubElem.attribute("TAUX").toDouble());
}
if(subSubElem.hasAttribute("TAUY"))
{
tauy->setValue(subSubElem.attribute("TAUY").toDouble());
}
if(subSubElem.hasAttribute("ReprError"))
{
intrError->setText(QString("%1").arg(subSubElem.attribute("ReprError").toDouble()));
}
if(subSubElem.hasAttribute("QUAD_ASPECT_RATIO"))
{
quadAspectRatio->setCheckState(
......
src/helper.cpp
View file @ 1842d9aa
......@@ -34,7 +34,9 @@ QString commandLineOptionsString = QObject::tr(
"markerIdFile]</code><br>"
"&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<code>[-autoReadHeight|-autoreadheight "
"heightFile]</code><br>"
"&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<code>[-autoPlay|-autoplay trackerFile]</code></p>"
"&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<code>[-autoPlay|-autoplay trackerFile]</code><br>"
"&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;&nbsp;<code>[-autoExportView|-autoexportview "
"outputFile]</code></p>"
"<dl><dt><kbd>-help|-?</kbd></dt><dd>shows help information for command line options</dd>"
"<dt><kbd>-project</kbd></dt><dd>optional option to set project file; otherwise the argument without option flag "
"is used as project file</dd>"
......@@ -53,7 +55,9 @@ QString commandLineOptionsString = QObject::tr(
"<dt><kbd>-autoReadHeight|-autoreadheight heightFile</kbd></dt><dd> automatically reads the <kbd>trackerFile</kbd> "
"including markerID and individual height and applies the heights to the corresponding person</dd>"
"<dt><kbd>-autoPlay|-autoplay trackerFile</kbd></dt><dd>plays the video or image sequence and stores the "
"trajectories to <kbd>trackerFile</kbd></dd></dl>"
"trajectories to <kbd>trackerFile</kbd></dd>"
"<dt><kbd>-autoExportView|-autoexportview outputFile</kbd></dt><dd>exports the view, e.g., the undistorted video "
"or the video with trajectories, to <kbd>outputFile</kbd></dd></dl>"
"<p>Example:<br>To generate trajectories from a single image sequence starting with <kbd>frame000.jpg</kbd>"
"with settings stored in the project file <kbd>project.pet</kbd>, export tracker file <kbd>trackerFile</kbd>"
"and exit with saving the project to <kbd>project.pet</kbd> again:</p>"
......
src/main.cpp
View file @ 1842d9aa
......@@ -41,7 +41,6 @@ static QApplication *gApp = nullptr;
void quit(int sig_number)
{
gApp->quit();
return;
}
int main(int argc, char *argv[])
......@@ -76,13 +75,14 @@ int main(int argc, char *argv[])
bool autoPlay = false;
bool autoIntrinsic = false;
QString intrinsicDir;
QString autoReadHeightFile;
bool autoReadHeight = false;
QString autoReadMarkerFile;
bool autoReadMarkerID = false;
QString autoSaveTrackerFile;
bool autoSaveTracker = false;
QString autoReadHeightFile;
bool autoReadHeight = false;
QString autoReadMarkerFile;
bool autoReadMarkerID = false;
QString autoSaveTrackerFile;
bool autoSaveTracker = false;
bool autoExportView = false;
QString exportViewFile;
for(int i = 1; i < arg.size(); ++i) // i=0 ist Programmname
{
......@@ -154,6 +154,11 @@ int main(int argc, char *argv[])
autoIntrinsic = true;
intrinsicDir = arg.at(++i);
}
else if((arg.at(i) == "-autoExportView") || (arg.at(i) == "-autoexportview"))
{
autoExportView = true;
exportViewFile = arg.at(++i);
}
else
{
// hier koennte je nach dateiendung *pet oder *avi oder *png angenommern werden
......@@ -226,6 +231,13 @@ int main(int argc, char *argv[])
petrack.getAutoCalib()->autoCalib();
}
if(autoExportView)
{
QFile outputFile{exportViewFile};
petrack.saveSequence(true, true, outputFile.fileName());
return EXIT_SUCCESS;
}
// hat tracker_file bestimmte Dateiendung txt oder trc, dann wird nur genau diese exportiert, sonst beide
if(autoTrack)
{
......
src/petrack.cpp
View file @ 1842d9aa
......@@ -638,6 +638,16 @@ void Petrack::openProject(QString fileName, bool openSeq) // default fileName=""
}
}
openXml(doc, openSeq);
if(mControlWidget->getCalibS1Value() == 0 && mControlWidget->getCalibS2Value() == 0 &&
mControlWidget->getCalibS3Value() == 0 && mControlWidget->getCalibS4Value() == 0 &&
mControlWidget->getCalibTAUXValue() == 0 && mControlWidget->getCalibTAUYValue() == 0)
{
PWarning(
this,
tr("PeTrack"),
tr("You are using an old project! Therefore the old intr. calibration model is set the default"));
mControlWidget->setNewModelChecked(false);
}
updateWindowTitle();
}
}
......@@ -740,6 +750,13 @@ bool Petrack::saveSameProject()
return saveProject(mProFileName);
}
bool Petrack::saveProjectAs()
{
auto fileName = QFileDialog::getSaveFileName(
this, tr("Select project file"), mProFileName, tr("PeTrack project file (*.pet);;All files (*.*)"));
return saveProject(fileName);
}
/// rueckgabewert zeigt an, ob gesichert werden konnte
bool Petrack::saveProject(QString fileName) // default fileName=""
{
......@@ -1728,7 +1745,7 @@ void Petrack::createActions()
mSavePrAct = new QAction(tr("&Save Project As"), this);
mSavePrAct->setShortcut(tr("Ctrl+Shift+S"));
connect(mSavePrAct, SIGNAL(triggered()), this, SLOT(saveProject()));
connect(mSavePrAct, &QAction::triggered, this, &Petrack::saveProjectAs);
mSaveAct = new QAction(tr("&Save Project"), this);
mSaveAct->setShortcut(tr("Ctrl+S"));
......@@ -2048,6 +2065,15 @@ void Petrack::resetUI()
mControlWidget->r6->setValue(0);
mControlWidget->tx->setValue(0);
mControlWidget->ty->setValue(0);
mControlWidget->k4->setValue(0);
mControlWidget->k5->setValue(0);
mControlWidget->k6->setValue(0);
mControlWidget->s1->setValue(0);
mControlWidget->s2->setValue(0);
mControlWidget->s3->setValue(0);
mControlWidget->s4->setValue(0);
mControlWidget->taux->setValue(0);
mControlWidget->tauy->setValue(0);
mControlWidget->quadAspectRatio->setCheckState(Qt::Unchecked);
mControlWidget->fixCenter->setCheckState(Qt::Unchecked);
mControlWidget->tangDist->setCheckState(Qt::Checked);
......@@ -3769,6 +3795,7 @@ void Petrack::updateImage(bool imageChanged) // default = false (only true for n
else
{
getScene()->update(); // repaint();
qApp->processEvents();
// update pixel color (because image pixel moves)
setStatusColor();
}
......
tests/regression_test/data/blackdotMarker.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="blackdotMarker.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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="9" SQUARE_SIZE="3"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="1038" CY="798" ENABLED="1" FIX_CENTER="0" FX="835.65999999999997" FY="835.75999999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.246701" R4="0.072692000000000007" R6="-0.010224" TANG_DIST="1" TX="0.00033700000000000001" TY="6.9999999999999999e-06"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="1038" CY="798" ENABLED="1" FIX_CENTER="0" FX="835.65999999999997" FY="835.75999999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.246701" R4="0.072692000000000007" R6="-0.010224" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.00033700000000000001" TY="6.9999999999999999e-06"/>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="225" COORD3D_TRANS_Y="350" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.2050000000000001" EXTR_ROT_2="-2.177" EXTR_ROT_3="0.104" EXTR_TRANS_1="-224.46700000000001" EXTR_TRANS_2="-629.58500000000004" EXTR_TRANS_3="-408.82499999999999" FIX="1" ROTATE="0" SCALE="1" SHOW="0" SHOW_CALIB_POINTS="0" TRANS_X="0" TRANS_Y="0" UNIT="100" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="75" GRID3D_TRANS_Y="-18" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="1" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
......
tests/regression_test/data/codeMarker.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="codeMarker.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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 CALIB_FILES="" CX="1397.98" CY="1138.9300000000001" ENABLED="1" FIX_CENTER="0" FX="835.65999999999997" FY="835.75999999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.246701" R4="0.072692000000000007" R6="-0.010224" TANG_DIST="1" TX="0.00033700000000000001" TY="6.9999999999999999e-06"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="1397.98" CY="1138.9300000000001" ENABLED="1" FIX_CENTER="0" FX="835.65999999999997" FY="835.75999999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.246701" R4="0.072692000000000007" R6="-0.010224" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.00033700000000000001" TY="6.9999999999999999e-06"/>
<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="" EXTR_ROT_1="0.012" EXTR_ROT_2="-0.014" EXTR_ROT_3="0.22700000000000001" EXTR_TRANS_1="50.128" EXTR_TRANS_2="23.611999999999998" EXTR_TRANS_3="-400.09800000000001" FIX="1" 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="1" 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>
......
tests/regression_test/data/markerCasern.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="markerCasern.avi" STATUS_HEIGHT="180"/>
<CONTROL TAB="0">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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 CALIB_FILES="" CX="589.5" CY="461.5" ENABLED="1" FIX_CENTER="1" FX="882.15999999999997" FY="882.15999999999997" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="1" R2="-0.378664" R4="0.15861700000000001" R6="0" TANG_DIST="1" TX="-0.000241" TY="0.00031199999999999999"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="589.5" CY="461.5" ENABLED="1" FIX_CENTER="1" FX="882.15999999999997" FY="882.15999999999997" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="1" R2="-0.378664" R4="0.15861700000000001" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.000241" TY="0.00031199999999999999"/>
<EXTRINSIC_PARAMETERS ALTITUDE="537" 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="1" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="1" ROTATE="27" SCALE="767" SHOW="1" SHOW_CALIB_POINTS="0" TRANS_X="5179" TRANS_Y="2170" UNIT="46" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="1" ROTATE="27" SCALE="768" SHOW="1" TRANS_X="245" TRANS_Y="657"/>
</CALIBRATION>
......
tests/regression_test/data/markerJapan.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="markerJapan/000100000.jpg" STATUS_HEIGHT="0"/>
<CONTROL TAB="0">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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 CALIB_FILES="" CX="973" CY="620" ENABLED="1" FIX_CENTER="0" FX="1653.49" FY="1673.5599999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0.00068099999999999996" R4="-0.22715399999999999" R6="0" TANG_DIST="1" TX="0.0042729999999999999" TY="0.00044799999999999999"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="973" CY="620" ENABLED="1" FIX_CENTER="0" FX="1653.49" FY="1673.5599999999999" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="0.00068099999999999996" R4="-0.22715399999999999" R6="0" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="0.0042729999999999999" TY="0.00044799999999999999"/>
<EXTRINSIC_PARAMETERS ALTITUDE="2035" 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="1" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="0" EXTR_ROT_2="0" EXTR_ROT_3="0" EXTR_TRANS_1="0" EXTR_TRANS_2="0" EXTR_TRANS_3="-500" FIX="1" ROTATE="3594" SCALE="1000" SHOW="1" SHOW_CALIB_POINTS="0" TRANS_X="14450" TRANS_Y="5468" UNIT="120" USE_INTRINSIC_CENTER="0"/>
<ALIGNMENT_GRID FIX="1" GRID3D_RESOLUTION="100" GRID3D_TRANS_X="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID_DIMENSION="1" ROTATE="895" SCALE="1001" SHOW="0" TRANS_X="392" TRANS_Y="586"/>
</CALIBRATION>
......
tests/regression_test/data/multiColorMarkerWithAruco.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="multiColorMarkerWithAruco.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="1">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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 CALIB_FILES="" CX="983.10000000000002" CY="572.13" ENABLED="1" FIX_CENTER="0" FX="1860.1700000000001" FY="1862.24" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.37733299999999997" R4="0.242947" R6="-0.15323500000000001" TANG_DIST="1" TX="-0.0040350000000000004" TY="-0.001372"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="983.10000000000002" CY="572.13" ENABLED="1" FIX_CENTER="0" FX="1860.1700000000001" FY="1862.24" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.37733299999999997" R4="0.242947" R6="-0.15323500000000001" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.0040350000000000004" TY="-0.001372"/>
<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="" EXTR_ROT_1="-2.1299999999999999" EXTR_ROT_2="2.1579999999999999" EXTR_ROT_3="-0.036999999999999998" EXTR_TRANS_1="14.253" EXTR_TRANS_2="14.198" EXTR_TRANS_3="-528.09799999999996" 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>
......
tests/regression_test/data/multiColorMarkerWithAruco_dictMip36h12.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="multiColorMarkerWithAruco_dictMip36h12.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="1">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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 CALIB_FILES="" 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"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" 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" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" 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="" 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>
......
tests/regression_test/data/multicolor.pet
View file @ 1842d9aa
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE PETRACK>
<PETRACK VERSION="0.9.0">
<PETRACK VERSION="0.9.1">
<MAIN SRC="multicolor.mp4" STATUS_HEIGHT="0"/>
<CONTROL TAB="2">
<CALIBRATION>
......@@ -10,7 +10,7 @@
<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 CALIB_FILES="" CX="1134.04" CY="880.72000000000003" ENABLED="1" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" TANG_DIST="1" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
<INTRINSIC_PARAMETERS CALIB_FILES="" CX="1134.04" CY="880.72000000000003" ENABLED="1" FIX_CENTER="0" FX="842.57000000000005" FY="842.69000000000005" K4="0" K5="0" K6="0" QUAD_ASPECT_RATIO="0" R2="-0.27662599999999998" R4="0.093287999999999996" R6="-0.01423" ReprError="nan" S1="0" S2="0" S3="0" S4="0" TANG_DIST="1" TAUX="0" TAUY="0" TX="-0.00024699999999999999" TY="5.5000000000000002e-05"/>
<EXTRINSIC_PARAMETERS ALTITUDE="535" COORD3D_AXIS_LEN="200" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="1" COORD3D_SWAP_Z="0" COORD3D_TRANS_X="0" COORD3D_TRANS_Y="0" COORD3D_TRANS_Z="0" COORD_DIMENSION="0" EXTERNAL_CALIB_FILE="" EXTR_ROT_1="-2.1920000000000002" EXTR_ROT_2="-2.1829999999999998" EXTR_ROT_3="0.016" EXTR_TRANS_1="-1043.473" EXTR_TRANS_2="13.741" EXTR_TRANS_3="-626.84199999999998" 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="91" GRID3D_TRANS_Y="34" GRID3D_TRANS_Z="0" GRID_DIMENSION="0" ROTATE="0" SCALE="100" SHOW="0" TRANS_X="0" TRANS_Y="0"/>
</CALIBRATION>
......