tracker/aruco: add experimental canny threshold ifdef

3 files changed, 18 insertions, 2 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index f2a2e3b8..171e3f26 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -328,17 +328,23 @@ void aruco_tracker::set_detector_params()
 {
     detector.setDesiredSpeed(3);
     detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
+#if !defined USE_EXPERIMENTAL_CANNY
     if (use_otsu)
         detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
     else
         detector._thresMethod = aruco::MarkerDetector::ADPT_THRES;
+#else
+        detector._thresMethod = aruco::MarkerDetector::CANNY;
+#endif
 }
 
 void aruco_tracker::cycle_detection_params()
 {
+#if !defined USE_EXPERIMENTAL_CANNY
     if (!use_otsu)
         use_otsu = true;
     else
+#endif
     {
         use_otsu = false;
 
@@ -349,7 +355,9 @@ void aruco_tracker::cycle_detection_params()
     set_detector_params();
 
     qDebug() << "aruco: switched thresholding params"
+#if !defined USE_EXPERIMENTAL_CANNY
              << "otsu:" << use_otsu
+#endif
              << "size:" << adaptive_sizes[adaptive_size_pos];
 }
 
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 8531bef9..4b3bde73 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -31,6 +31,9 @@
 // value 0->1
 //#define DEBUG_UNSHARP_MASKING .75
 
+//canny thresholding
+//#define USE_EXPERIMENTAL_CANNY
+
 using namespace options;
 
 struct settings : opts {
@@ -127,11 +130,15 @@ private:
 
     static constexpr const int adaptive_sizes[] =
     {
+#if defined USE_EXPERIMENTAL_CANNY
+        3,
+        5,
+        7,
+#else
         7,
         9,
-        //11,
         13,
-        //5,
+#endif
     };
 
     static constexpr int adaptive_thres = 6;
diff --git a/tracker-aruco/include/markerdetector.h b/tracker-aruco/include/markerdetector.h
index 79a952a9..edcad976 100644
--- a/tracker-aruco/include/markerdetector.h
+++ b/tracker-aruco/include/markerdetector.h
@@ -278,6 +278,7 @@ private:
     */
     void detectRectangles(const cv::Mat &thresImg,vector<MarkerCandidate> & candidates);
 public:
+    std::vector<std::vector<cv::Point>> contours;
     //Current threshold method
     ThresholdMethods _thresMethod;
     //Threshold parameters