diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 08ddd3b2..a6889f82 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -144,11 +144,12 @@ void Tracker::run() if (!camera.read(color)) continue; } + static constexpr int thres_param2 = 5; cv::Mat grayscale; cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY); const int scale = grayscale.cols > 480 ? 2 : 1; - detector.setThresholdParams(box_sizes[box_idx], 5); + detector.setThresholdParams(box_sizes[box_idx], thres_param2); static constexpr double pi = 3.1415926f; const int w = grayscale.cols, h = grayscale.rows; @@ -177,7 +178,7 @@ void Tracker::run() if (last_roi.width > 0 && last_roi.height) { - detector.setThresholdParams(box_sizes[box_idx], 5); + 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)); @@ -206,7 +207,7 @@ void Tracker::run() qDebug() << "aruco: box size now" << box_sizes[box_idx]; failed = 0; } - detector.setThresholdParams(box_sizes[box_idx], 5); + detector.setThresholdParams(box_sizes[box_idx], thres_param2); detector.setMinMaxSize(size_min, size_max); detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false); } |