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UbiquityRobotics / fiducials

Simultaneous localization and mapping using fiducial markers.
BSD 3-Clause "New" or "Revised" License
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Increasing detection robustness using OpenCv default parameters #152

Closed Tuebel closed 5 years ago

Tuebel commented 5 years ago

Is there any reason why you are not using the OpenCv default DetectorParameters from this page? I found the detection to be more reliable using those parameters with dynamic_reconfigure.

rohbotics commented 5 years ago

We tuned the detector params for a balance of performance and robustness.

We should probably re-evaluate how much faster our detector params are.

Tuebel commented 5 years ago

That makes sense to me.

I did not measure the performance but the node is still able to run at 30fps on a 1280x720 resolution. So for me the performance is just fine.

rohbotics commented 5 years ago

What are your running on? We were doing performance tuning for a raspberry pi, so you probably have much more computational horsepower.

Tuebel commented 5 years ago

I'm running this on my work notebook, which has a 7th Gen i7 processor. So in contrast to your raspberry pi setup I will probably never see a difference.

rohbotics commented 5 years ago

Closing this now, thanks for reaching out