diff options
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index d9579743..b8e5f848 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -53,6 +53,7 @@ Tracker::Tracker() : detector.setThresholdParams(5, -1); detector.setDesiredSpeed(3); detector._thresMethod = aruco::MarkerDetector::FIXED_THRES; + detector.setCornerRefinementMethod(aruco::MarkerDetector::HARRIS); } Tracker::~Tracker() @@ -365,7 +366,10 @@ void Tracker::run() { set_points(); - if (!cv::solvePnP(obj_points, markers[0], intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_ITERATIVE)) + if (!cv::solvePnP(obj_points, markers[0], intrinsics, dist_coeffs, rvec, tvec, false, cv::SOLVEPNP_DLS)) + goto fail; + + if (!cv::solvePnP(obj_points, markers[0], intrinsics, dist_coeffs, rvec, tvec, true, cv::SOLVEPNP_ITERATIVE)) goto fail; set_last_roi(); |