Commit ea1d372e authored by Thiago Santini's avatar Thiago Santini

Small modifications to marker detection parameters

parent f0dd9818
......@@ -21,8 +21,9 @@ FieldImageProcessor::FieldImageProcessor(QString id, QObject *parent)
dict = getPredefinedDictionary(DICT_4X4_250);
detectorParameters = new DetectorParameters();
detectorParameters->markerBorderBits = 2;
detectorParameters->minMarkerPerimeterRate = 0.05; // TODO: determine a good value for these based on the fov and maximum detection distance
//printMarkers(); // TODO: parametrize me
detectorParameters->minMarkerPerimeterRate = 0.1; // TODO: determine a good value for these based on the fov and maximum detection distance
detectorParameters->doCornerRefinement = false;
//printMarkers(); // TODO: parametrize me
pmIdx = gPerformanceMonitor.enrol(id, "Image Processor");
}
......@@ -43,7 +44,7 @@ FieldImageProcessor::~FieldImageProcessor()
void FieldImageProcessor::process(Timestamp timestamp, const Mat &frame)
{
// TODO: parametrize frame drop due to lack of processing power
if ( gPerformanceMonitor.shouldDrop(pmIdx, gTimer.elapsed() - timestamp, 100) )
if ( gPerformanceMonitor.shouldDrop(pmIdx, gTimer.elapsed() - timestamp, 100) )
return;
QMutexLocker locker(&cfgMutex);
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment