Change new aruco marker to id 220

  - Allows us to keep using DICT_6X6_250, which has more robust
    detections
  - Updated aruco imagery and removed the old unused marker
  - Updated ID references, the reflectance data should be the same

Author: zthorson

imgcorrect/corrections.py

@@ -47,7 +47,7 @@ def _get_band_coeff(row):
         23: zenith_co.sg3144_batch1_coefficients,
         63: zenith_co.sg3144_batch2_coefficients,
         217: zenith_co.sg3144_batch3_coefficients,
-        287: zenith_co.sg3144_batch4_coefficients,
+        220: zenith_co.sg3144_batch4_coefficients,
     }
 
     aruco_id = row["aruco_id"]

imgcorrect/detect_panel.py

@@ -61,12 +61,12 @@ def extract_panel_bounds(image):
     # |
     # |
     # v +Y
-    dictionary = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_1000)
+    dictionary = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
     corners, ids, rejected_img_points = cv.aruco.detectMarkers(image, dictionary)
 
     # if at least one marker detected
     if ids is not None and (
-        ids[0][0] == 23 or ids[0][0] == 63 or ids[0][0] == 217 or ids[0][0] == 287
+        ids[0][0] == 23 or ids[0][0] == 63 or ids[0][0] == 217 or ids[0][0] == 220
     ):
         aruco_side_length_p = cv.norm(corners[0][0][1] - corners[0][0][0])
         gsd = ARUCO_SIDE_LENGTH_M / aruco_side_length_p
@@ -78,9 +78,9 @@ def extract_panel_bounds(image):
 
         # panels with markers of id:63 are incorrectly oriented
         # in this case, panel is beneath marker
-        if ids[0][0] == 63 or ids[0][0] == 217 or ids[0][0] == 287:
+        if ids[0][0] == 63 or ids[0][0] == 217 or ids[0][0] == 220:
             logger.info(
-                "Aruco ID: 63, 217, or 287 detected. Adjusting for panel beneath marker."
+                "Aruco ID: 63, 217, or 220 detected. Adjusting for panel beneath marker."
             )
             top_aruco_line = corners[0][0][3] - corners[0][0][2]
             top_aruco_line_middle = top_aruco_line / 2.0 + corners[0][0][2]

tests/aruco_markers/aruco_220.png

@@ -10,11 +10,11 @@
 
 
 def test_aruco_marker_detection():
-    """Test that all four supported aruco marker IDs (23, 63, 217, 287) can be detected."""
-    dictionary = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_1000)
+    """Test that all four supported aruco marker IDs (23, 63, 217, 220) can be detected."""
+    dictionary = cv.aruco.Dictionary_get(cv.aruco.DICT_6X6_250)
 
     # Test all four marker IDs
-    for marker_id in [23, 63, 217, 287]:
+    for marker_id in [23, 63, 217, 220]:
         test_image_path = f"tests/aruco_markers/aruco_{marker_id}.png"
 
         # Skip test if image doesn't exist