diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 22 |
1 files changed, 12 insertions, 10 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index ecfec7d3..b532ac9c 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -193,18 +193,20 @@ void Tracker::run() int last_fps = 0; double error = 0; std::vector<cv::Point2f> reprojection; - + auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(5, 5), 0); while (!stop) { if (!camera.read(color_)) continue; color_.copyTo(color); cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY); - const int kernel = grayscale2.cols > 480 ? 5 : 3; - int kernel2 = kernel * grayscale2.rows / grayscale2.cols - 1; - if ((kernel2 % 2) == 0) - kernel2++; - cv::GaussianBlur(grayscale2, grayscale, cv::Size(kernel, kernel2), 0, 0); + if (grayscale.empty()) + grayscale = grayscale2.clone(); + + kernel->apply(grayscale2, grayscale); + + const int scale = frame.cols > 480 ? 2 : 1; + 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); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); @@ -225,7 +227,7 @@ void Tracker::run() if (markers.size() == 1 && markers[0].size() == 4) { const aruco::Marker& m = markers.at(0); for (int i = 0; i < 4; i++) - cv::line(color, m[i], m[(i+1)%4], cv::Scalar(0, 0, 255), 3); + cv::line(color, m[i], m[(i+1)%4], cv::Scalar(0, 0, 255), scale); } for (int i = 0; i < reprojection.size(); i++) @@ -251,11 +253,11 @@ void Tracker::run() char buf[128]; std::sprintf(buf, "Hz: %ld", last_fps); - cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, 2.0, cv::Scalar(0, 255, 0), 2); + 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)); - cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, 2.0, cv::Scalar(80, 255, 0), 2); + 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, 2.0, cv::Scalar(80, 255, 0), 2); + cv::putText(frame, buf, cv::Point(10, 76), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale); prev_time = time; frame = color; |