This marker can be used to estimate the 6DoF (location + orientation) of cylindrical objects.
We recommend you to create a Python virtual environment:
python3.9 -m pip install --user virtualenv
python3.9 -m virtualenv venv
Then you can activate that environment and install the requirements using:
source venv/bin/activate
pip install -r requirements.txt
Now, when the venv
is activated you can run the code using:
python main.py
Feel free to adjust the settings in data/config.yaml file. You can easily adjust the HSV values (to segment the green marker) using:
python main.py --task a
Edit the data/config.yaml file. Then, run the following command:
python main.py --task m
The resulting marker will be inside the folder data/
and is ready to be used.
Follow the instructions shown in the data/marker_how_to_print.svg file.
The paper can be found at link.
If you use this marker please consider citing our paper:
@article{cartucho2021cylmarker,
title={An Enhanced Marker Pattern that Achieves Improved Accuracy in Surgical Tool Tracking},
author={Cartucho, Jo{\~a}o and Wang, Chiyu and Huang, Baoru and S. Elson, Daniel and Dariz, Ara and Giannarou, Stamatia},
journal={Computer Methods in Biomechanics and Biomedical Engineering: Imaging \& Visualization},
pages={1--15},
year={2021},
publisher={Taylor \& Francis}
}