diff options
Diffstat (limited to 'ftnoir_tracker_aruco')
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 4e257e3a..d7ceb8a6 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -192,6 +192,9 @@ void Tracker::run() auto last_time = cv::getTickCount(); int cur_fps = 0; int last_fps = 0; + + std::vector<int> box_sizes { 5, 7, 9, 11 }; + int box_idx = 0; while (!stop) { @@ -204,7 +207,7 @@ void Tracker::run() cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY); const int scale = grayscale.cols > 480 ? 2 : 1; - detector.setThresholdParams(scale > 1 ? 7 : 5, 4); + detector.setThresholdParams(box_sizes[box_idx], 5); 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); @@ -225,6 +228,7 @@ void Tracker::run() if (last_roi.width > 0 && last_roi.height) { + detector.setThresholdParams(box_sizes[box_idx], 5); detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width), std::min(1.0, size_max * grayscale.cols / last_roi.width)); @@ -244,6 +248,9 @@ void Tracker::run() if (!roi_valid) { + box_idx++; + box_idx %= box_sizes.size(); + detector.setThresholdParams(box_sizes[box_idx], 5); detector.setMinMaxSize(size_min, size_max); detector.detect(grayscale, markers, cv::Mat(), cv::Mat(), -1, false); } |