From 948752299218b980bd670363c31d927fe8dfa8f6 Mon Sep 17 00:00:00 2001
From: Alexey Rogachevskiy <sfalexrog@gmail.com>
Date: Sun, 3 May 2020 15:13:48 +0300
Subject: [PATCH] clover: Use saner min marker perimeter rate

---
 clover/launch/aruco.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
index ebeeda5f..c4ce5781 100644
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -10,11 +10,13 @@
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
         <remap from="map_markers" to="aruco_map/markers" if="$(arg aruco_map)"/>
-        <param name="cornerRefinementMethod" value="2"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map"/>
         <param name="length" value="0.33"/>
+        <!-- aruco detector parameters -->
+        <param name="cornerRefinementMethod" value="2"/> <!-- contour refinement -->
+        <param name="minMarkerPerimeterRate" value="0.075"/> <!-- 0.075 for 320x240, 0.0375 for 640x480 -->
     </node>
 
     <!-- aruco_map: estimate aruco map pose -->