1 files changed, 3 insertions, 3 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 27d835f0..4e257e3a 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -204,7 +204,7 @@ void Tracker::run()
         cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
         
         const int scale = grayscale.cols > 480 ? 2 : 1;
-        detector.setThresholdParams(scale > 1 ? 13 : 7, 5);
+        detector.setThresholdParams(scale > 1 ? 7 : 5, 4);
 
         const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180);
         const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
@@ -298,7 +298,7 @@ void Tracker::run()
 
             cv::Vec3d rvec, tvec;
 
-            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::ITERATIVE);
+            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, CV_ITERATIVE);
 
             std::vector<cv::Point2f> roi_projection(4);
 
@@ -323,7 +323,7 @@ void Tracker::run()
 
             {
                 cv::Mat rvec_, tvec_;
-                cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, cv::ITERATIVE);
+                cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, CV_ITERATIVE);
                 tvec = tvec_;
             }