search

chili-epfl / chilitags

Robust Fiducial Markers for Augmented Reality And Robotics
http://chili.epfl.ch/software
121 stars 57 forks source link

Quad refinements are randomly selected #25

Open qbonnard opened 10 years ago

qbonnard commented 10 years ago

If multiple quads are found to contain a tag, the latest detected is chosen. This may explain why the corners are sometimes "shaking". There should be a better way to pick the best quad for a detected tag.

severin-lemaignan commented 10 years ago

What about keeping the one with the smallest perimeter? this should be the one the closest to the actual marker.

qbonnard commented 10 years ago

Sounded good, but it doesn't work perfectly. Now it flickers towards the inside. Do you want me to share my branch ?

severin-lemaignan commented 10 years ago

One option that could help mitigate: use thresholding instead of Canny:

l.90 of FindQuads:

cv::threshold(mGrayPyramid[i], mBinaryPyramid[i], -1, 1, cv::THRESH_BINARY | cv::THRESH_OTSU);