diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 999431a0..09ab4f29 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -282,12 +282,15 @@ void Tracker::run() std::vector< aruco::Marker > markers; + const double size_min = 0.08; + const double size_max = 0.39; + if (last_roi.width > 0 && (detector.detect(grayscale(last_roi), markers, cv::Mat(), cv::Mat(), -1, false), markers.size() == 1 && markers[0].size() == 4)) { - detector.setMinMaxSize(std::max(0.1, 0.08 * grayscale.cols / last_roi.width), - std::min(1.0, 0.39 * grayscale.cols / last_roi.width)); + detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width), + std::min(1.0, size_max * grayscale.cols / last_roi.width)); auto& m = markers.at(0); for (int i = 0; i < 4; i++) { @@ -298,7 +301,7 @@ void Tracker::run() } else { - detector.setMinMaxSize(0.08, 0.39); + detector.setMinMaxSize(size_min, size_max); detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false); } |