Merge branch 'master' of https://github.com/opentrack/opentrack

2 files changed, 15 insertions, 9 deletions

diff --git a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
index d4aa3c49..bb960696 100644
--- a/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
+++ b/ftnoir_protocol_ft/ftnoir_protocol_ft.cpp
@@ -126,12 +126,12 @@ float headRotZ;
     //

 	// Scale the Raw measurements to the client measurements.

 	//

-    headRotX = getRadsFromDegrees(headpose[Pitch]);

-    headRotY = getRadsFromDegrees(headpose[Yaw]);

-    headRotZ = getRadsFromDegrees(headpose[Roll]);

-    headPosX = headpose[TX] * 10;

-    headPosY = headpose[TY] * 10;

-    headPosZ = headpose[TZ] * 10;

+    headRotX = getRadsFromDegrees(rawheadpose[Pitch]);

+    headRotY = getRadsFromDegrees(rawheadpose[Yaw]);

+    headRotZ = getRadsFromDegrees(rawheadpose[Roll]);

+    headPosX = rawheadpose[TX] * 10;

+    headPosY = rawheadpose[TY] * 10;

+    headPosZ = rawheadpose[TZ] * 10;

 

     virtRotX = getRadsFromDegrees(headpose[Pitch]);

     virtRotY = getRadsFromDegrees(headpose[Yaw]);

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 366b5b51..84a3de73 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -184,14 +184,14 @@ void Tracker::run()
     
     aruco::MarkerDetector detector;
     detector.setDesiredSpeed(3);
-    cv::Mat color, grayscale, rvec, tvec, tmp;
+    detector.setThresholdParams(11, 6);
+    cv::Mat color, grayscale, rvec, tvec;
   
     while (!stop)
     {
         if (!camera.read(color))
             break;
-        cv::cvtColor(color, tmp, cv::COLOR_BGR2GRAY);
-        cv::GaussianBlur(tmp, grayscale, cv::Size(5, 5), 0);
+        cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
         const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * fov * HT_PI / 180);
         const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
         cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
@@ -209,6 +209,12 @@ void Tracker::run()
         
         detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false);
         
+        if (markers.size() == 1 && markers[0].size() == 4) {
+            const aruco::Marker& m = markers.at(0);
+            for (int i = 0; i < 4; i++)
+                cv::line(color, m[i], m[(i+1)%4], cv::Scalar(0, 0, 255), 4);
+        }
+        
         frame = color;
         
         if (frame.rows > 0 && !fresh)