From aaed9e3cdc4f3e7bb2a6d9b039d05bf395e1e046 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 27 Oct 2013 03:12:48 +0100
Subject: aruco: detection time in jiffies, better thresholding
Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
---
ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 10 +++++++---
1 file changed, 7 insertions(+), 3 deletions(-)
(limited to 'ftnoir_tracker_aruco')
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index d068564d..b05e5b98 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -187,7 +187,9 @@ start:
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
- detector.setThresholdParams(11, 5);
+ detector.setMinMaxSize(0.06, 0.4);
+ detector.setThresholdParams(11, 7);
+
cv::Mat color, color_, grayscale, grayscale2, rvec, tvec;
if (!camera->isOpened())
@@ -203,11 +205,12 @@ start:
auto freq = cv::getTickFrequency();
auto last_time = cv::getTickCount();
auto prev_time = last_time;
+ double last_delay = -1;
int fps = 0;
int last_fps = 0;
double error = 0;
std::vector<cv::Point2f> reprojection;
- auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(5, 5), 0);
+ auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(3, 3), 0);
cv::Point2f last_centroid;
while (!stop)
{
@@ -218,6 +221,7 @@ start:
}
if (!camera->read(color_))
continue;
+ auto tm = cv::getTickCount();
color_.copyTo(color);
cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY);
if (grayscale.empty())
@@ -276,7 +280,7 @@ start:
std::sprintf(buf, "Hz: %ld", last_fps);
cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale);
- std::sprintf(buf, "Delay: %ld ms", (long) (1000 * (time - prev_time) / freq));
+ std::sprintf(buf, "Jiffies: %ld", (long) (10000 * (time - tm) / freq));
cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale);
std::sprintf(buf, "Error: %f px", error);
cv::putText(frame, buf, cv::Point(10, 76), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale);
--
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