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-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.cpp18
-rw-r--r--tracker-aruco/ftnoir_tracker_aruco.h9
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;