From 3b7ba64aa96776ee4aacf3396e49e417549b630c Mon Sep 17 00:00:00 2001
From: Thomas Bonnier <thomas.bonnier@ecam.fr>
Date: Fri, 13 Dec 2024 09:54:40 +0100
Subject: [PATCH] bug

---
 test/src/arenaCalibration.cpp | 67 +++--------------------------------
 1 file changed, 4 insertions(+), 63 deletions(-)

diff --git a/test/src/arenaCalibration.cpp b/test/src/arenaCalibration.cpp
index e632e1a..a2e6ee7 100644
--- a/test/src/arenaCalibration.cpp
+++ b/test/src/arenaCalibration.cpp
@@ -32,68 +32,15 @@ void saveTransformationMatrix(const std::string& filename, const cv::Mat& transf
     fs.release();
 }
 
-cv::Mat upscaleImage(const cv::Mat& image, double scaleFactor)
-{
-    cv::Mat upscaled;
-    cv::resize(image, upscaled, cv::Size(), scaleFactor, scaleFactor, cv::INTER_LINEAR);
-    return upscaled;
-}
-
-cv::Mat sharpenImage(const cv::Mat& image)
-{
-    cv::Mat sharpened;
-    cv::Mat sharpeningKernel = (cv::Mat_<float>(3, 3) << 0, -1, 0, -1, 5, -1, 0, -1, 0);
-    cv::filter2D(image, sharpened, -1, sharpeningKernel);
-    return sharpened;
-}
-
-cv::Mat reduceNoise(const cv::Mat& image)
-{
-    cv::Mat denoised;
-    cv::GaussianBlur(image, denoised, cv::Size(5, 5), 0);
-    return denoised;
-}
-
-cv::Mat gammaCorrection(const cv::Mat& image, double gamma)
-{
-    cv::Mat adjusted;
-    cv::Mat lookupTable(1, 256, CV_8U);
-    uchar* p = lookupTable.ptr();
-    for (int i = 0; i < 256; ++i)
-    {
-        p[i] = cv::saturate_cast<uchar>(pow(i / 255.0, gamma) * 255.0);
-    }
-    cv::LUT(image, lookupTable, adjusted);
-    return adjusted;
-}
-
 cv::Mat enhanceImage(const cv::Mat& image)
 {
     cv::Mat enhanced;
-    cv::Mat kernel = (cv::Mat_<float>(3, 3) << 1, 1, 1, 1, -7, 1, 1, 1, 1);
-    cv::filter2D(image, enhanced, CV_32F, kernel);
-    cv::normalize(enhanced, enhanced, 0, 255, cv::NORM_MINMAX, CV_8UC1);
+    cv::cvtColor(image, enhanced, cv::COLOR_BGR2GRAY);
+    cv::equalizeHist(enhanced, enhanced);
+    cv::GaussianBlur(enhanced, enhanced, cv::Size(5, 5), 0);
     return enhanced;
 }
 
-cv::Mat equalizeHistogram(const cv::Mat& image)
-{
-    cv::Mat equalized;
-    cv::cvtColor(image, equalized, cv::COLOR_BGR2GRAY);
-    cv::equalizeHist(equalized, equalized);
-    cv::cvtColor(equalized, equalized, cv::COLOR_GRAY2BGR);
-    return equalized;
-}
-
-cv::Mat adaptiveThresholding(const cv::Mat& image)
-{
-    cv::Mat gray, thresholded;
-    cv::cvtColor(image, gray, cv::COLOR_BGR2GRAY);
-    cv::adaptiveThreshold(gray, thresholded, 255, cv::ADAPTIVE_THRESH_GAUSSIAN_C, cv::THRESH_BINARY, 11, 2);
-    cv::cvtColor(thresholded, thresholded, cv::COLOR_GRAY2BGR);
-    return thresholded;
-}
-
 std::map<int, cv::Point3f> fixedMarkerPositions;
 
 void loadMarkerPositions(const std::string& filename)
@@ -129,13 +76,7 @@ void loadMarkerPositions(const std::string& filename)
 void processFrame(const cv::Mat& frame, std::map<int, cv::Point2f>& markerPositions, cv::Mat& transformationMatrix, bool& calibrationDone)
 {
     // Apply image processing steps
-    cv::Mat processedFrame = gammaCorrection(frame, 0.4);
-    processedFrame = sharpenImage(processedFrame);
-    processedFrame = upscaleImage(processedFrame, 3.0);
-    processedFrame = reduceNoise(processedFrame);
-    processedFrame = enhanceImage(processedFrame);
-    processedFrame = equalizeHistogram(processedFrame);
-    processedFrame = adaptiveThresholding(processedFrame);
+    cv::Mat processedFrame = enhanceImage(frame);
 
     // Create ArUco marker detector
     cv::Ptr<cv::aruco::Dictionary> dictionary =