diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 0b550ce2..1d0672b9 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -202,8 +202,9 @@ void Tracker::run() cv::Mat grayscale; cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY); - const int scale = frame.cols > 480 ? 2 : 1; - detector.setThresholdParams(scale > 1 ? 11 : 7, 4); + + const int scale = grayscale.cols > 480 ? 2 : 1; + detector.setThresholdParams(scale > 1 ? 11 : 4, 3); const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180); const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0); |