From 96988d34f573087a4b7359b8358d081ee1f8a5ba Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Tue, 23 Jan 2018 15:24:15 +0100
Subject: tracker/aruco: fix experimental Canny thresholding

---
 tracker-aruco/ftnoir_tracker_aruco.cpp | 4 ++++
 tracker-aruco/ftnoir_tracker_aruco.h   | 6 +++---
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 78be1623..c322d323 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -312,8 +312,12 @@ void aruco_tracker::set_detector_params()
         detector._thresMethod = aruco::MarkerDetector::FIXED_THRES;
     else
         detector._thresMethod = aruco::MarkerDetector::ADPT_THRES;
+
+    detector.setThresholdParams(adaptive_sizes[adaptive_size_pos], adaptive_thres);
 #else
         detector._thresMethod = aruco::MarkerDetector::CANNY;
+        int value = adaptive_sizes[adaptive_size_pos];
+        detector.setThresholdParams(value, value * 3);
 #endif
 }
 
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index f25d3314..3a98e9d1 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -133,9 +133,9 @@ private:
     static constexpr inline const int adaptive_sizes[] =
     {
 #if defined USE_EXPERIMENTAL_CANNY
-        3,
-        5,
-        7,
+        10,
+        30,
+        80,
 #else
         7,
         9,
-- 
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