diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 11 |
1 files changed, 3 insertions, 8 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index bd7e3ff4..67dd8433 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -203,12 +203,7 @@ void Tracker::run() auto tm = cv::getTickCount(); cv::Mat grayscale; - { - std::vector<cv::Mat> tmp; - cv::split(color, tmp); - // red only, best on CCD, also artifacts on blue ps3eye - grayscale = tmp[2]; - } + cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY); const int scale = frame.cols > 480 ? 2 : 1; detector.setThresholdParams(scale > 1 ? 11 : 7, 4); @@ -224,8 +219,8 @@ void Tracker::run() std::vector< aruco::Marker > markers; - const double size_min = 0.04; - const double size_max = 0.28; + const double size_min = 0.07; + const double size_max = 0.4; bool roi_valid = false; |