aruco: rework timeout logicopentrack-2.3-rc21p2

- cycle otsu twice before selecting new box size
don't cycle otsu each frame.

- slower backoff from timeout value before new box size
on occasional detections need at least 5 successes for each failure
to not exceed.

- select more sensible timeout per box size of .35 seconds. this is
enough also with 30 Hz webcams, but too little for 15 Hz modes.

1 files changed, 15 insertions, 10 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 570c2e0d..2d364a86 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -124,13 +124,14 @@ void Tracker::run()
 
     cv::Rect last_roi(65535, 65535, 0, 0);
 
+    // XXX change to timer.hpp
     auto freq = cv::getTickFrequency();
     auto last_time = cv::getTickCount();
     double cur_fps = 0;
     std::vector<int> box_sizes { 5, 7, 9, 11 };
     int box_idx = 0;
-    double failed = 0;
-    const double max_failed = 1.25;
+    double failed_otsu = 0;
+    const double max_failed_otsu = .35;
     cv::Vec3d rvec, tvec;
     cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
     cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1);
@@ -188,7 +189,7 @@ void Tracker::run()
             if (detector.detect(grayscale_, markers, cv::Mat(), cv::Mat(), -1, false),
                 markers.size() == 1 && markers[0].size() == 4)
             {
-                failed = std::max(0., failed - dt);
+                failed_otsu = std::max(0., failed_otsu - dt*.2);
                 auto& m = markers.at(0);
                 for (int i = 0; i < 4; i++)
                 {
@@ -202,15 +203,19 @@ void Tracker::run()
 
         if (!roi_valid)
         {
-            otsu = !otsu;
             detector._thresMethod = otsu ? aruco::MarkerDetector::FIXED_THRES : aruco::MarkerDetector::ADPT_THRES;
-            failed += dt;
-            if (failed > max_failed)
+            failed_otsu += dt;
+            if (failed_otsu > max_failed_otsu)
             {
-                box_idx++;
-                box_idx %= box_sizes.size();
-                qDebug() << "aruco: box size now" << box_sizes[box_idx];
-                failed = 0;
+                if (otsu == true)
+                {
+                    box_idx++;
+                    box_idx %= box_sizes.size();
+                    qDebug() << "aruco: box size now" << box_sizes[box_idx];
+                }
+                qDebug() << "aruco: otsu now" << !otsu;
+                failed_otsu = 0;
+                otsu = !otsu;
             }
             detector.setThresholdParams(box_sizes[box_idx], thres_param2);
             detector.setMinMaxSize(size_min, size_max);