diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index d7d55f82..972dd1e1 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -192,7 +192,7 @@ void Tracker::run() cv::Mat color, color_, grayscale, rvec, tvec; - const double stateful_coeff = 0.81; + const double stateful_coeff = 0.86; if (!camera.isOpened()) { @@ -218,7 +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); + detector.setThresholdParams(scale > 1 ? 11 : 7, 4); 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); |