diff options
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.cpp | 29 |
1 files changed, 11 insertions, 18 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index 2d364a86..32c81694 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -121,6 +121,7 @@ void Tracker::run() aruco::MarkerDetector detector; detector.setDesiredSpeed(3); + detector._thresMethod = aruco::MarkerDetector::FIXED_THRES; cv::Rect last_roi(65535, 65535, 0, 0); @@ -128,14 +129,13 @@ void Tracker::run() auto freq = cv::getTickFrequency(); auto last_time = cv::getTickCount(); double cur_fps = 0; - std::vector<int> box_sizes { 5, 7, 9, 11 }; + std::vector<int> box_sizes { 5, 9, 13 }; int box_idx = 0; - double failed_otsu = 0; - const double max_failed_otsu = .35; + double failed = 0; + const double max_failed = .8; 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); - bool otsu = false; while (!stop) { @@ -181,7 +181,6 @@ void Tracker::run() if (last_roi.width > 0 && last_roi.height) { - detector.setThresholdParams(box_sizes[box_idx], thres_param2); detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width), std::min(1.0, size_max * grayscale.cols / last_roi.width)); @@ -189,7 +188,7 @@ void Tracker::run() if (detector.detect(grayscale_, markers, cv::Mat(), cv::Mat(), -1, false), markers.size() == 1 && markers[0].size() == 4) { - failed_otsu = std::max(0., failed_otsu - dt*.2); + failed = std::max(0., failed - dt*.25); auto& m = markers.at(0); for (int i = 0; i < 4; i++) { @@ -203,19 +202,13 @@ void Tracker::run() if (!roi_valid) { - detector._thresMethod = otsu ? aruco::MarkerDetector::FIXED_THRES : aruco::MarkerDetector::ADPT_THRES; - failed_otsu += dt; - if (failed_otsu > max_failed_otsu) + failed += dt; + if (failed > max_failed) { - 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; + box_idx++; + box_idx %= box_sizes.size(); + qDebug() << "aruco: box size now" << box_sizes[box_idx]; + failed = 0; } detector.setThresholdParams(box_sizes[box_idx], thres_param2); detector.setMinMaxSize(size_min, size_max); |