improve aruco detection speed

applications/vision/src/main.cpp

@@ -188,11 +188,11 @@ static void run(ftl::Configurable *root) {
 	root->on("quiet", quiet, false);
 
 	auto *pipeline = ftl::config::create<ftl::operators::Graph>(root, "pipeline");
+	pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
 	pipeline->append<ftl::operators::DetectAndTrack>("facedetection")->value("enabled", false);
 	pipeline->append<ftl::operators::DepthChannel>("depth");  // Ensure there is a depth channel
 	//pipeline->append<ftl::operators::ClipScene>("clipping")->value("enabled", false);
 	pipeline->restore("vision_pipeline", { "clipping" });
-	pipeline->append<ftl::operators::ArUco>("aruco")->value("enabled", false);
 
 	auto h = creator->onFrameSet([sender,outstream,&stats_count,&latency,&frames,&stats_time,pipeline,&encodable,&previous_encodable](const ftl::data::FrameSetPtr &fs) {
 

components/operators/include/ftl/operators/detectandtrack.hpp

@@ -121,6 +121,7 @@ class ArUco : public ftl::operators::Operator {
 
 	inline Operator::Type type() const override { return Operator::Type::OneToOne; }
 	bool apply(ftl::rgbd::Frame &in, ftl::rgbd::Frame &out, cudaStream_t stream) override;
+	virtual void wait(cudaStream_t) override;
 
 	ftl::codecs::Channel channel_in_;
 	ftl::codecs::Channel channel_out_;
@@ -129,6 +130,7 @@ class ArUco : public ftl::operators::Operator {
 	bool estimate_pose_;
 	float marker_size_;
 	cv::Mat tmp_;
+	std::future<void> job_;
 
 	cv::Ptr<cv::aruco::Dictionary> dictionary_;
 	cv::Ptr<cv::aruco::DetectorParameters> params_;

components/operators/src/aruco.cpp

@@ -40,17 +40,23 @@ static Eigen::Matrix4d matrix(cv::Vec3d &rvec, cv::Vec3d &tvec) {
 }
 
 ArUco::ArUco(ftl::operators::Graph *g, ftl::Configurable *cfg) : ftl::operators::Operator(g, cfg) {
-	dictionary_ = cv::aruco::getPredefinedDictionary(cfg->value("dictionary", 0));
+	dictionary_ = cv::aruco::getPredefinedDictionary(
+		cfg->value("dictionary", int(cv::aruco::DICT_4X4_50)));
 	params_ = cv::aruco::DetectorParameters::create();
 	params_->cornerRefinementMethod = cv::aruco::CORNER_REFINE_CONTOUR;
 	params_->cornerRefinementMinAccuracy = 0.01;
 	params_->cornerRefinementMaxIterations = 20;
 
+	params_->adaptiveThreshWinSizeMin = 7;
+	params_->adaptiveThreshWinSizeMax = 17;
+	params_->adaptiveThreshWinSizeStep = 10;
+
 	channel_in_ = Channel::Colour;
 	channel_out_ = Channel::Shapes3D;
 
 	cfg->on("dictionary", [this,cfg]() {
-		dictionary_ = cv::aruco::getPredefinedDictionary(cfg->value("dictionary", 0));
+		dictionary_ = cv::aruco::getPredefinedDictionary(
+			cfg->value("dictionary", 0));
 	});
 }
 
@@ -60,6 +66,7 @@ bool ArUco::apply(Frame &in, Frame &out, cudaStream_t) {
 	estimate_pose_ = config()->value("estimate_pose", true);
 	marker_size_ = config()->value("marker_size", 0.1f);
 
+	job_ = ftl::pool.push([this, &in, &out](int) {
 		std::vector<Vec3d> rvecs;
 		std::vector<Vec3d> tvecs;
 		std::vector<std::vector<cv::Point2f>> corners;
@@ -97,5 +104,12 @@ bool ArUco::apply(Frame &in, Frame &out, cudaStream_t) {
 		}
 
 		out.create<list<Shape3D>>(channel_out_).list = result;
+	});
 	return true;
 }
+
+void ArUco::wait(cudaStream_t) {
+	if (job_.valid()) {
+		job_.wait();
+	}
+}
\ No newline at end of file