2 files changed, 27 insertions, 0 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 53907808..ec778624 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -15,6 +15,10 @@
 #include <opencv2/imgproc.hpp>
 #include <opencv2/calib3d.hpp>
 
+#ifdef DEBUG_UNSHARP_MASKING
+#   include <opencv2/highgui.hpp>
+#endif
+
 #include <QMutexLocker>
 #include <QDebug>
 
@@ -34,6 +38,10 @@ constexpr const double aruco_tracker::RC;
 constexpr const float aruco_tracker::size_min;
 constexpr const float aruco_tracker::size_max;
 
+#ifdef DEBUG_UNSHARP_MASKING
+constexpr double aruco_tracker::gauss_kernel_size;
+#endif
+
 aruco_tracker::aruco_tracker() :
     pose{0,0,0, 0,0,0},
     fps(0),
@@ -371,6 +379,16 @@ void aruco_tracker::run()
 
         cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
 
+#ifdef DEBUG_UNSHARP_MASKING
+        {
+            static constexpr double strength = double(DEBUG_UNSHARP_MASKING);
+            cv::GaussianBlur(grayscale, blurred, cv::Size(0, 0), gauss_kernel_size);
+            cv::addWeighted(grayscale, 1 + strength, blurred, -strength, 0, grayscale);
+            cv::imshow("capture", grayscale);
+            cv::waitKey(1);
+        }
+#endif
+
         color.copyTo(frame);
 
         set_intrinsics();
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 6e7db3f6..53eaa247 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -28,6 +28,8 @@
 #include <opencv2/core.hpp>
 #include <opencv2/videoio.hpp>
 
+// value 0->1
+//#define DEBUG_UNSHARP_MASKING .75
 
 using namespace options;
 
@@ -98,6 +100,9 @@ private:
     double pose[6], fps, no_detection_timeout;
     cv::Mat frame, grayscale, color;
     cv::Matx33d r;
+#ifdef DEBUG_UNSHARP_MASKING
+    cv::Mat blurred;
+#endif
     std::vector<cv::Point3f> obj_points;
     cv::Matx33d intrinsics;
     aruco::MarkerDetector detector;
@@ -139,6 +144,10 @@ private:
         { 0, 0 }
     };
 
+#ifdef DEBUG_UNSHARP_MASKING
+    static constexpr double gauss_kernel_size = 3;
+#endif
+
     static constexpr double timeout = 1;
     static constexpr double timeout_backoff_c = 4./11;