personal memory agent
Fix ArUco detection perf cliff with OpenCV 4.13
minMarkerPerimeterRate=0.002 triggers a catastrophic slowdown in
OpenCV 4.13 on certain images (50ms → 14s per frame). Raise to 0.003
which stays fast (~76ms) and still detects 16px tags on up to 4K displays.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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observe/aruco.py
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observe/aruco.py
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if _detector is None:
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dictionary = cv2.aruco.getPredefinedDictionary(cv2.aruco.DICT_4X4_50)
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params = cv2.aruco.DetectorParameters()
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# Tuned parameters for small markers
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params.minMarkerPerimeterRate = 0.002
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# Tuned for 16px CSS tags (~0.011 rate on 1080p, ~0.005 on 4K).
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# Values below 0.003 trigger an OpenCV 4.13 perf cliff (ms → seconds).
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params.minMarkerPerimeterRate = 0.003
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params.maxMarkerPerimeterRate = 8.0
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params.adaptiveThreshWinSizeMin = 3
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params.adaptiveThreshWinSizeMax = 23