diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 |
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; |