Merge branch '202-prepare-v0-9' into 'master'

Resolve "Prepare v0.9"

Closes #202

See merge request ped-dyn-emp/petrack!121

Author: schroedtert

CMakeLists.txt

@@ -18,7 +18,7 @@
 # Project setup
 ################################################################################
 cmake_minimum_required(VERSION 3.16 FATAL_ERROR)
-project(petrack LANGUAGES CXX VERSION 0.8.15)
+project(petrack LANGUAGES CXX VERSION 0.9.0)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)

tests/regression_test/data/blackdotMarker.pet

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE PETRACK>
-<PETRACK VERSION="0.8.15">
+<PETRACK VERSION="0.9.0">
     <MAIN SRC="blackdotMarker.mp4" STATUS_HEIGHT="0"/>
     <CONTROL TAB="2">
         <CALIBRATION>
@@ -61,7 +61,7 @@
         </ANALYSIS>
     </CONTROL>
     <EXTR_CALIBRATION>
-        <REPROJECTION_ERROR AVG_DH="6.9346406888165977e-310" AVG_PH="4.0473857707314917e-319" AVG_PX="6.9346406888165977e-310" MAX_DH="4.646775768903306e-310" MAX_PH="4.6467757711238346e-310" MAX_PX="6.9346406892679761e-310" SD_DH="4.6467747728396915e-310" SD_PH="6.9346406888723283e-310" SD_PX="4.6467757687831492e-310" USED_HEIGHT="6.9346406107594628e-310"/>
+        <REPROJECTION_ERROR AVG_DH="0" AVG_PH="4.6755133401755419e-310" AVG_PX="4.6755146667991126e-310" MAX_DH="4.646775768903306e-310" MAX_PH="4.6467757711238346e-310" MAX_PX="6.9346406892679761e-310" SD_DH="4.6467747728396915e-310" SD_PH="6.9346406888723283e-310" SD_PX="4.6467757687831492e-310" USED_HEIGHT="6.9346406107594628e-310"/>
     </EXTR_CALIBRATION>
     <STEREO>
         <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
@@ -87,6 +87,7 @@
         <MASK MASK="1" OPACITY="60" SHOW="1"/>
         <PARAM CLOSE_RADIUS="10" CLOSE_USED="1" MAX_AREA="6518" MAX_RATIO="1.8" MIN_AREA="1955" OPEN_RADIUS="10" OPEN_USED="1" USE_HEAD_SIZE="1"/>
     </MULTI_COLOR_MARKER>
+    <MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
     <PLAYER FPS="25" FRAME="0" PLAYER_SPEED_FIXED="0" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="543"/>
     <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="215 0 0 0"/>
     <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>

tests/regression_test/data/codeMarker.pet

@@ -1,34 +1,36 @@
-<?xml version="1.0" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE PETRACK>
-<PETRACK VERSION="0.8.15">
-    <MAIN SRC="P:/ped/regressiontest_petrack/acceptedTruth/input/CodeMarkerTests.mp4;codeMarker.mp4" STATUS_HEIGHT="0"/>
+<PETRACK VERSION="0.9.0">
+    <MAIN SRC="codeMarker.mp4" STATUS_HEIGHT="0"/>
     <CONTROL TAB="2">
         <CALIBRATION>
             <BRIGHTNESS ENABLED="0" VALUE="0"/>
             <CONTRAST ENABLED="0" VALUE="0"/>
             <BORDER COLOR="#000000" ENABLED="1" VALUE="215"/>
-            <SWAP VERTICALLY="0" HORIZONTALLY="0" ENABLED="0"/>
-            <BG_SUB UPDATE="0" SHOW="0" FILE="" DELETE_NUMBER="3" ENABLED="0" DELETE="1"/>
-            <PATTERN SQUARE_SIZE="4.6" BOARD_SIZE_X="6" BOARD_SIZE_Y="8"/>
-            <INTRINSIC_PARAMETERS TY="7e-006" CALIB_FILES="" K5="0" QUAD_ASPECT_RATIO="0" FIX_CENTER="0" R4="0.07269200000000001" R2="-0.246701" ENABLED="1" TANG_DIST="1" K6="0" R6="-0.010224" CY="1138.93" TX="0.000337" K4="0" FX="835.66" FY="835.76" CX="1397.98"/>
-            <EXTRINSIC_PARAMETERS COORD3D_TRANS_X="0" ALTITUDE="535" COORD_DIMENSION="0" COORD3D_TRANS_Z="0" ROTATE="0" COORD3D_SWAP_X="0" COORD3D_SWAP_Y="0" SCALE="100" TRANS_X="0" EXTR_ROT_1="0.012" SHOW="0" EXTR_ROT_3="0.227" TRANS_Y="0" USE_INTRINSIC_CENTER="0" COORD3D_SWAP_Z="0" EXTR_ROT_2="-0.014" EXTERNAL_CALIB_FILE="P:/ped/experiments/2016.12.21_Juelich_Rotunde_CodeMarkerTests/raw/gopro4_1/calib/codeMarkerTest_3DCalib.3dc;../../../experiments/2016.12.21_Juelich_Rotunde_CodeMarkerTests/raw/gopro4_1/calib/codeMarkerTest_3DCalib.3dc" SHOW_CALIB_POINTS="0" EXTR_TRANS_2="23.612" EXTR_TRANS_3="-400.098" COORD3D_AXIS_LEN="200" UNIT="100" COORD3D_TRANS_Y="0" FIX="1" EXTR_TRANS_1="50.128"/>
-            <ALIGNMENT_GRID SCALE="100" SHOW="0" ROTATE="0" GRID3D_TRANS_Y="0" GRID3D_TRANS_Z="0" GRID3D_TRANS_X="0" GRID_DIMENSION="0" GRID3D_RESOLUTION="100" FIX="1" TRANS_Y="0" TRANS_X="0"/>
+            <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"/>
+            <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>
         <RECOGNITION>
-            <PERFORM METHOD="6" ENABLED="0" STEP="1"/>
-            <REGION_OF_INTEREST WIDTH="2119" X="-75" HEIGHT="1463" SHOW="1" Y="34" FIX="0"/>
-            <MARKER IGNORE_WITHOUT="1" BRIGHTNESS="50"/>
-            <SIZE_COLOR X="0" MAP_NUMBER="0" SHOW="1" Y="1" AUTO_WB="0" MODEL="0" SYMBOL_SIZE="10" Z="255" DEFAULT_HEIGHT="180" GREY_LEVEL="50">
-                <MAP WIDTH="359" X="0" COLORED="1" FROM_SAT="0" HEIGHT="255" Y="0" TO_VAL="255" TO_SAT="255" MAP_HEIGHT="180" TO_HUE="359" INV_HUE="0" FROM_HUE="0" FROM_VAL="128"/>
+            <PERFORM ENABLED="0" METHOD="6" STEP="1"/>
+            <REGION_OF_INTEREST FIX="0" HEIGHT="1463" SHOW="1" WIDTH="2119" X="-75" Y="34"/>
+            <MARKER BRIGHTNESS="50" IGNORE_WITHOUT="1"/>
+            <SIZE_COLOR AUTO_WB="0" DEFAULT_HEIGHT="180" GREY_LEVEL="50" MAP_NUMBER="0" MODEL="0" SHOW="1" SYMBOL_SIZE="10" X="0" Y="1" Z="255">
+                <MAP COLORED="1" FROM_HUE="0" FROM_SAT="0" FROM_VAL="128" HEIGHT="255" INV_HUE="0" MAP_HEIGHT="180" TO_HUE="359" TO_SAT="255" TO_VAL="255" WIDTH="359" X="0" Y="0"/>
             </SIZE_COLOR>
+            <READ_HEIGHTS HEIGHT_FILE=""/>
+            <READ_MARKER_IDS MARKER_FILE=""/>
         </RECOGNITION>
         <TRACKING>
             <ONLINE_CALCULATION ENABLED="0"/>
-            <REPEAT_BELOW QUALITY="50" ENABLED="1"/>
+            <REPEAT_BELOW ENABLED="1" QUALITY="50"/>
             <EXTRAPOLATION ENABLED="1"/>
             <MERGE ENABLED="0"/>
             <ONLY_VISIBLE ENABLED="1"/>
-            <REGION_OF_INTEREST WIDTH="2780" X="-430" HEIGHT="2300" SHOW="0" Y="-430" FIX="0"/>
+            <REGION_OF_INTEREST FIX="0" HEIGHT="2300" SHOW="0" WIDTH="2780" X="-430" Y="-430"/>
             <SEARCH_MISSING_FRAMES ENABLED="1"/>
             <RECALCULATE_MEDIAN_HEIGHT ENABLED="1"/>
             <ALLOW_ALTERNATE_HEIGHT ENABLED="0"/>
@@ -44,39 +46,45 @@
             <TEST_VELOCITY ENABLED="1"/>
             <TEST_INSIDE ENABLED="1"/>
             <TEST_LENGTH ENABLED="1"/>
-            <SEARCH_REGION SCALE="16" MAX_ERROR="0" SHOW="0" LEVELS="3"/>
-            <PATH GROUND_PATH_SIZE="1" NUMBER_BOLD="1" POINTS_SIZE="7" POINTS_COLORED="1" ONLY_PEOPLE_NR_LIST="1" NUMBER_SIZE="14" ONLY_VISIBLE="0" SHOW="1" COLLECTIVE_COLOR_SIZE="11" SHOW_GROUND_PATH="0" BEFORE="15" TRACK_PATH_COLOR="#ff0000" SHOW_NUMBER="1" SHOW_PATH="1" AFTER="15" CURRENT_POINT_SIZE="60" SHOW_POINTS="0" SHOW_GROUND_POSITION="0" ONLY_PEOPLE_LIST="0" SHOW_COLLECTIVE_COLOR="1" PATH_SIZE="2" HEAD_SIZE="1" TRACK_GROUND_PATH_COLOR="#00ff00" SHOW_COLOR_MARKER="1" ONLY_PEOPLE="0" ONLY_PEOPLE_NR="1" FIX="0" COLOR_MARKER_SIZE="14" SHOW_CURRENT_POINT="1" GROUND_POSITION_SIZE="1"/>
+            <TRACK_FILE FILENAME=""/>
+            <SEARCH_REGION ADAPTIVE="0" LEVELS="3" MAX_ERROR="0" SCALE="16" SHOW="0"/>
+            <PATH AFTER="15" BEFORE="15" COLLECTIVE_COLOR_SIZE="11" COLOR_MARKER_SIZE="14" CURRENT_POINT_SIZE="60" FIX="0" GROUND_PATH_SIZE="1" GROUND_POSITION_SIZE="1" HEAD_SIZE="1" NUMBER_BOLD="1" NUMBER_SIZE="14" ONLY_PEOPLE="0" ONLY_PEOPLE_LIST="0" ONLY_PEOPLE_NR="1" ONLY_PEOPLE_NR_LIST="1" ONLY_VISIBLE="0" PATH_SIZE="2" POINTS_COLORED="1" POINTS_SIZE="7" SHOW="1" SHOW_COLLECTIVE_COLOR="1" SHOW_COLOR_MARKER="1" SHOW_CURRENT_POINT="1" SHOW_GROUND_PATH="0" SHOW_GROUND_POSITION="0" SHOW_NUMBER="1" SHOW_PATH="1" SHOW_POINTS="0" TRACK_GROUND_PATH_COLOR="#00ff00" TRACK_PATH_COLOR="#ff0000"/>
         </TRACKING>
         <ANALYSIS>
             <SEARCH_MISSING_FRAMES ENABLED="1"/>
             <MARK_ACTUAL ENABLED="0"/>
-            <CALCULATION STEP_SIZE="25" REVERSE="0" SHOW_VORONOI="0" ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1"/>
+            <CALCULATION ABSOLUTE="0" CONSIDER_X="0" CONSIDER_Y="1" REVERSE="0" SHOW_VORONOI="0" STEP_SIZE="25"/>
         </ANALYSIS>
     </CONTROL>
+    <EXTR_CALIBRATION>
+        <REPROJECTION_ERROR AVG_DH="0" AVG_PH="4.6560217882062561e-310" AVG_PX="4.6560227635167419e-310" MAX_DH="4.6560227635167419e-310" MAX_PH="4.6560217882062561e-310" MAX_PX="6.9527326009498098e-310" SD_DH="4.6560217882058609e-310" SD_PH="6.952732600939138e-310" SD_PX="3.8829051134825777e-249" USED_HEIGHT="6.9527326009367665e-310"/>
+    </EXTR_CALIBRATION>
     <STEREO>
-        <DISPARITY COLOR="0" SHOW="0" OPACITY="100" HIDE_INVALID="1" ALGO="0">
+        <DISPARITY ALGO="0" COLOR="0" HIDE_INVALID="1" OPACITY="100" SHOW="0">
             <VALUES MAX="100" MIN="0"/>
-            <MASK SIZE="7" EDGE_SIZE="5" USE_EDGE="0"/>
-            <USE HEIGHT="0" HEIGHT_EVER="1" CALIB_CENTER="1" EXPORT="0" RECO="0"/>
+            <MASK EDGE_SIZE="5" SIZE="7" USE_EDGE="0"/>
+            <USE CALIB_CENTER="1" EXPORT="0" HEIGHT="0" HEIGHT_EVER="1" RECO="0"/>
         </DISPARITY>
     </STEREO>
     <COLOR_MARKER>
-        <MASK MASK="1" SHOW="0" OPACITY="100"/>
+        <MASK MASK="1" OPACITY="100" SHOW="0"/>
         <FROM_COLOR HUE="0" SATURATION="0" VALUE="0"/>
         <TO_COLOR HUE="359" SATURATION="255" VALUE="255"/>
-        <PARAM CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" CLOSE_RADIUS="5" OPEN_RADIUS="5" OPEN_USED="1" MIN_AREA="1000" MAX_RATIO="2"/>
+        <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" INVERS_HUE="0" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1"/>
     </COLOR_MARKER>
     <CODE_MARKER>
         <DICTIONARY ID="3"/>
-        <PARAM ADAPTIVE_THRESH_WIN_SIZE_MIN="3" CORNER_REFINEMENT="0" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" MIN_MARKER_DISTANCE="0.05" MIN_OTSU_STD_DEV="5" CORNER_REFINEMENT_MIN_ACCURACY="0.1" MIN_CORNER_DISTANCE="0.05" MARKER_BORDER_BITS="1" ADAPTIVE_THRESH_WIN_SIZE_MAX="23" CORNER_REFINEMENT_MAX_ITERATIONS="30" ERROR_CORRECTION_RATE="0.6" SHOW_DETECTED_CANDIDATES="0" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.35" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" MIN_MARKER_PERIMETER="3" ADAPTIVE_THRESH_CONSTANT="7" CORNER_REFINEMENT_WIN_SIZE="5" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" MAX_RATIO_ERROR="0.07000000000000001" MIN_DISTANCE_TO_BORDER="3" MAX_MARKER_PERIMETER="10"/>
+        <PARAM ADAPTIVE_THRESH_CONSTANT="7" ADAPTIVE_THRESH_WIN_SIZE_MAX="23" ADAPTIVE_THRESH_WIN_SIZE_MIN="3" ADAPTIVE_THRESH_WIN_SIZE_STEP="10" CORNER_REFINEMENT="0" CORNER_REFINEMENT_MAX_ITERATIONS="30" CORNER_REFINEMENT_MIN_ACCURACY="0.10000000000000001" CORNER_REFINEMENT_WIN_SIZE="5" ERROR_CORRECTION_RATE="0.59999999999999998" MARKER_BORDER_BITS="1" MAX_ERRONEOUS_BITS_IN_BORDER_RATE="0.34999999999999998" MAX_MARKER_PERIMETER="10" MAX_RATIO_ERROR="0.070000000000000007" MIN_CORNER_DISTANCE="0.050000000000000003" MIN_DISTANCE_TO_BORDER="3" MIN_MARKER_DISTANCE="0.050000000000000003" MIN_MARKER_PERIMETER="3" MIN_OTSU_STD_DEV="5" PERSPECTIVE_REMOVE_IGNORED_MARGIN_PER_CELL="0.13" PERSPECTIVE_REMOVE_PIXEL_PER_CELL="4" SHOW_DETECTED_CANDIDATES="0"/>
     </CODE_MARKER>
     <MULTI_COLOR_MARKER>
-        <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" USE="1" SIZE="5" USE_COLOR="0"/>
-        <AUTO_CORRECT USE="0" ONLY_EXPORT="0"/>
-        <MASK MASK="1" SHOW="0" OPACITY="100"/>
-        <PARAM CLOSE_USED="1" MAX_AREA="5000" USE_HEAD_SIZE="0" CLOSE_RADIUS="5" OPEN_RADIUS="5" OPEN_USED="1" MIN_AREA="1000" MAX_RATIO="2"/>
+        <BLACK_DOT IGNORE_WITHOUT="1" RESTRICT_POSITION="0" SIZE="5" USE="1" USE_COLOR="0"/>
+        <CODE_MARKER USE="0"/>
+        <AUTO_CORRECT ONLY_EXPORT="0" USE="0"/>
+        <MASK MASK="1" OPACITY="100" SHOW="0"/>
+        <PARAM CLOSE_RADIUS="5" CLOSE_USED="1" MAX_AREA="5000" MAX_RATIO="2" MIN_AREA="1000" OPEN_RADIUS="5" OPEN_USED="1" USE_HEAD_SIZE="0"/>
     </MULTI_COLOR_MARKER>
-    <PLAYER SOURCE_FRAME_IN="0" FPS="25" SOURCE_FRAME_OUT="1073" FRAME="0" PLAYER_SPEED_FIXED="0"/>
-    <VIEW OPENGL="0" SAVE_TRANSFORMED="0" CAMERA="2" HIDE_CONTROLS="0" TRANSFORMATION="204 0 0 -68" ANTIALIAS="0"/>
-    <AUTO_TRACK OPTIMZE_COLOR="0" BACK_TRACK="1"/>
+    <MOCAP COLOR="#ffff37" SHOW="0" SIZE="2"/>
+    <PLAYER FPS="25" FRAME="0" PLAYER_SPEED_FIXED="0" SOURCE_FRAME_IN="0" SOURCE_FRAME_OUT="1073"/>
+    <VIEW ANTIALIAS="0" CAMERA="2" HIDE_CONTROLS="0" OPENGL="0" SAVE_TRANSFORMED="0" TRANSFORMATION="204 0 -120 -178"/>
+    <AUTO_TRACK BACK_TRACK="1" OPTIMZE_COLOR="0"/>
 </PETRACK>