diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index d068564d..b05e5b98 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -187,7 +187,9 @@ start: aruco::MarkerDetector detector; detector.setDesiredSpeed(3); - detector.setThresholdParams(11, 5); + detector.setMinMaxSize(0.06, 0.4); + detector.setThresholdParams(11, 7); + cv::Mat color, color_, grayscale, grayscale2, rvec, tvec; if (!camera->isOpened()) @@ -203,11 +205,12 @@ start: auto freq = cv::getTickFrequency(); auto last_time = cv::getTickCount(); auto prev_time = last_time; + double last_delay = -1; int fps = 0; int last_fps = 0; double error = 0; std::vector<cv::Point2f> reprojection; - auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(5, 5), 0); + auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(3, 3), 0); cv::Point2f last_centroid; while (!stop) { @@ -218,6 +221,7 @@ start: } if (!camera->read(color_)) continue; + auto tm = cv::getTickCount(); color_.copyTo(color); cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY); if (grayscale.empty()) @@ -276,7 +280,7 @@ start: std::sprintf(buf, "Hz: %ld", last_fps); cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale); - std::sprintf(buf, "Delay: %ld ms", (long) (1000 * (time - prev_time) / freq)); + std::sprintf(buf, "Jiffies: %ld", (long) (10000 * (time - tm) / freq)); cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale); std::sprintf(buf, "Error: %f px", error); cv::putText(frame, buf, cv::Point(10, 76), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale); |