aruco: lighting problems with thresholding

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);