diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 6d06d4a8..d7d55f82 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -187,7 +187,6 @@ void Tracker::run() aruco::MarkerDetector detector; detector.setDesiredSpeed(3); - detector.setThresholdParams(11, 6); cv::Rect last_roi(65535, 65535, 0, 0); @@ -219,6 +218,7 @@ void Tracker::run() cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY); const int scale = frame.cols > 480 ? 2 : 1; + detector.setThresholdParams(scale > 1 ? 11 : 7, 7); const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * fov * HT_PI / 180); const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); |