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authorStanislaw Halik <sthalik@misaki.pl>2013-10-09 00:33:17 +0200
committerStanislaw Halik <sthalik@misaki.pl>2013-10-09 00:33:17 +0200
commite74cad83f41e759a37a56c623dafe2d05a692129 (patch)
treee1dfbd45fa450b5387a389679fe8ac87cd2a0f6d /ftnoir_tracker_aruco
parentcdd9a365e08e6fdd0d44199c39d990a46df563e0 (diff)
blur before segmenting to win big (2x perf)
Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
Diffstat (limited to 'ftnoir_tracker_aruco')
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp9
1 files changed, 7 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 781bf711..8025e956 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -188,7 +188,7 @@ void Tracker::run()
aruco::MarkerDetector detector;
detector.setDesiredSpeed(3);
detector.setThresholdParams(11, 5);
- cv::Mat color, color_, grayscale, rvec, tvec;
+ cv::Mat color, color_, grayscale, grayscale2, rvec, tvec;
if (!camera.isOpened())
{
@@ -201,7 +201,12 @@ void Tracker::run()
if (!camera.read(color_))
continue;
color_.copyTo(color);
- cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
+ cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY);
+ const int kernel = grayscale2.cols > 480 ? 7 : 5;
+ int kernel2 = kernel * grayscale2.rows / grayscale2.cols;
+ if ((kernel2 % 2) == 0)
+ kernel2++;
+ cv::GaussianBlur(grayscale2, grayscale, cv::Size(kernel, kernel2), 0, 0);
const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * fov * HT_PI / 180);
const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);