From 494514581de9ec415acc25ac6b03fc42801d79e8 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 27 Oct 2013 08:09:06 +0100 Subject: aruco: get rid of blur for idempotence Signed-off-by: Stanislaw Halik --- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) (limited to 'ftnoir_tracker_aruco') 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 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; -- cgit v1.2.3