1 files changed, 7 insertions, 21 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 570c2e0d..316c7e13 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -16,7 +16,7 @@
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
 #include <opencv2/videoio.hpp>
-#include "opentrack/camera-names.hpp"
+#include "opentrack-compat/camera-names.hpp"
 #include "opentrack-compat/sleep.hpp"
 
 typedef struct {
@@ -43,6 +43,8 @@ Tracker::~Tracker()
         delete videoWidget;
     if(layout)
         delete layout;
+    // fast start/stop causes breakage
+    portable::sleep(1000);
     camera.release();
 }
 
@@ -121,20 +123,17 @@ void Tracker::run()
 
     aruco::MarkerDetector detector;
     detector.setDesiredSpeed(3);
+    detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
 
     cv::Rect last_roi(65535, 65535, 0, 0);
 
+    // XXX change to timer.hpp
     auto freq = cv::getTickFrequency();
     auto last_time = cv::getTickCount();
     double cur_fps = 0;
-    std::vector<int> box_sizes { 5, 7, 9, 11 };
-    int box_idx = 0;
-    double failed = 0;
-    const double max_failed = 1.25;
     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);
-    bool otsu = false;
 
     while (!stop)
     {
@@ -145,12 +144,12 @@ 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;
@@ -180,7 +179,6 @@ void Tracker::run()
         
         if (last_roi.width > 0 && last_roi.height)
         {
-            detector.setThresholdParams(box_sizes[box_idx], thres_param2);
             detector.setMinMaxSize(std::max(0.01, size_min * grayscale.cols / last_roi.width),
                                    std::min(1.0, size_max * grayscale.cols / last_roi.width));
 
@@ -188,7 +186,6 @@ 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);
                 auto& m = markers.at(0);
                 for (int i = 0; i < 4; i++)
                 {
@@ -202,17 +199,6 @@ void Tracker::run()
 
         if (!roi_valid)
         {
-            otsu = !otsu;
-            detector._thresMethod = otsu ? aruco::MarkerDetector::FIXED_THRES : aruco::MarkerDetector::ADPT_THRES;
-            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);
         }