diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 8 |
1 files changed, 7 insertions, 1 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 93b43de7..823c5578 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -282,7 +282,13 @@ void Tracker::run() cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale); if (markers.size() == 1 && markers[0].size() == 4) { - const aruco::Marker& m = markers.at(0); + const aruco::Marker& m = static_cast<std::vector<cv::Point2f>>(markers.at(0)); + cv::cornerSubPix(grayscale, + m, + cv::Size(5, 5), cv::Size(-1, -1), + cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, + 10, + 1e-2)); const float size = 7; const double p = s.marker_pitch; |