tracker/aruco: fix experimental Canny thresholding

2 files changed, 7 insertions, 3 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 78be1623..c322d323 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -312,8 +312,12 @@ void aruco_tracker::set_detector_params()
         detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
     else
         detector._thresMethod = aruco::MarkerDetector::ADPT_THRES;
+
+    detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
 #else
         detector._thresMethod = aruco::MarkerDetector::CANNY;
+        int value = adaptive_sizes[adaptive_size_pos];
+        detector.setThresholdParams(value, value * 3);
 #endif
 }
 
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index f25d3314..3a98e9d1 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -133,9 +133,9 @@ private:
     static constexpr inline const int adaptive_sizes[] =
     {
 #if defined USE_EXPERIMENTAL_CANNY
-        3,
-        5,
-        7,
+        10,
+        30,
+        80,
 #else
         7,
         9,