diff options
| -rw-r--r-- | tracker-aruco/ftnoir_tracker_aruco.cpp | 18 |
1 files changed, 2 insertions, 16 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp index 32c81694..2b38bb2f 100644 --- a/tracker-aruco/ftnoir_tracker_aruco.cpp +++ b/tracker-aruco/ftnoir_tracker_aruco.cpp @@ -129,10 +129,6 @@ void Tracker::run() auto freq = cv::getTickFrequency(); auto last_time = cv::getTickCount(); double cur_fps = 0; - std::vector<int> box_sizes { 5, 9, 13 }; - int box_idx = 0; - double failed = 0; - const double max_failed = .8; cv::Vec3d rvec, tvec; cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); @@ -146,12 +142,12 @@ 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], thres_param2); + // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco. + detector.setThresholdParams(5, -1); static constexpr double pi = 3.1415926f; const int w = grayscale.cols, h = grayscale.rows; @@ -188,7 +184,6 @@ void Tracker::run() if (detector.detect(grayscale_, markers, cv::Mat(), cv::Mat(), -1, false), markers.size() == 1 && markers[0].size() == 4) { - failed = std::max(0., failed - dt*.25); auto& m = markers.at(0); for (int i = 0; i < 4; i++) { @@ -202,15 +197,6 @@ void Tracker::run() if (!roi_valid) { - failed += dt; - if (failed > max_failed) - { - box_idx++; - box_idx %= box_sizes.size(); - qDebug() << "aruco: box size now" << box_sizes[box_idx]; - failed = 0; - } - detector.setThresholdParams(box_sizes[box_idx], thres_param2); detector.setMinMaxSize(size_min, size_max); detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false); } |