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authorStanislaw Halik <sthalik@misaki.pl>2013-10-27 08:09:06 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-10-27 08:09:06 +0100
commit494514581de9ec415acc25ac6b03fc42801d79e8 (patch)
treee626edb08ffb300b01c54fdf746a7a06766e76e8 /ftnoir_tracker_aruco
parentab38255154ec19b2167511911c703337edbc6b06 (diff)
aruco: get rid of blur for idempotence
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, 2 insertions, 7 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index b05e5b98..d5ed9071 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -190,7 +190,7 @@ start:
detector.setMinMaxSize(0.06, 0.4);
detector.setThresholdParams(11, 7);
- cv::Mat color, color_, grayscale, grayscale2, rvec, tvec;
+ cv::Mat color, color_, grayscale, rvec, tvec;
if (!camera->isOpened())
{
@@ -210,7 +210,6 @@ start:
int last_fps = 0;
double error = 0;
std::vector<cv::Point2f> reprojection;
- auto kernel = cv::createGaussianFilter(CV_8U, cv::Size(3, 3), 0);
cv::Point2f last_centroid;
while (!stop)
{
@@ -223,11 +222,7 @@ start:
continue;
auto tm = cv::getTickCount();
color_.copyTo(color);
- cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY);
- if (grayscale.empty())
- grayscale = grayscale2.clone();
-
- kernel->apply(grayscale2, grayscale);
+ cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
const int scale = frame.cols > 480 ? 2 : 1;