Cylmarker

This marker can be used to estimate the 6DoF (location + orientation) of cylindrical objects.

How to run the code?

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

How to create a new marker?

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.

How to print the marker?

Follow the instructions shown in the data/marker_how_to_print.svg file.

Paper

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}
}