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authorStanislaw Halik <sthalik@misaki.pl>2015-04-24 00:33:33 +0200
committerStanislaw Halik <sthalik@misaki.pl>2015-04-24 00:33:33 +0200
commit6f3890e5cbb176df74d531aa24027103524336fe (patch)
tree05aaaa0c07f317e38cedc453fc87e636ec802542
parent0dbfd34bab63170915b9bdd0f456f39def4ea43e (diff)
aruco: lighting problems with thresholding
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 27d835f0..fe5ee79e 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);