aruco: adjust coefficients basing on resolution

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>

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 6d06d4a8..d7d55f82 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -187,7 +187,6 @@ void Tracker::run()
     
     aruco::MarkerDetector detector;
     detector.setDesiredSpeed(3);
-    detector.setThresholdParams(11, 6);
 
     cv::Rect last_roi(65535, 65535, 0, 0);
 
@@ -219,6 +218,7 @@ void Tracker::run()
         cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
 
         const int scale = frame.cols > 480 ? 2 : 1;
+        detector.setThresholdParams(scale > 1 ? 11 : 7, 7);
 
         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);