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-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index d7d55f82..972dd1e1 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -192,7 +192,7 @@ void Tracker::run()
cv::Mat color, color_, grayscale, rvec, tvec;
- const double stateful_coeff = 0.81;
+ const double stateful_coeff = 0.86;
if (!camera.isOpened())
{
@@ -218,7 +218,7 @@ void Tracker::run()
cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
const int scale = frame.cols > 480 ? 2 : 1;
- detector.setThresholdParams(scale > 1 ? 11 : 7, 7);
+ detector.setThresholdParams(scale > 1 ? 11 : 7, 4);
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);