aruco: the nScales == 1 case is already handled inside parallel_for_

modules/aruco/src/aruco.cpp

@@ -315,31 +315,6 @@ static void _detectInitialCandidates(const Mat &grey, vector< vector< Point2f >
     int nScales = (params.adaptiveThreshWinSizeMax - params.adaptiveThreshWinSizeMin) /
                       params.adaptiveThreshWinSizeStep + 1;
 
-    // if only one scale
-    if(nScales == 1) {
-        int scale = params.adaptiveThreshWinSizeMin;
-        // treshold
-        Mat thresh;
-        _threshold(grey, thresh, scale, params.adaptiveThreshConstant);
-
-        // detect rectangles
-        vector< vector< Point2f > > currentCandidates;
-        vector< vector< Point > > currentContours;
-        _findMarkerContours(thresh, currentCandidates, currentContours,
-                            params.minMarkerPerimeterRate, params.maxMarkerPerimeterRate,
-                            params.polygonalApproxAccuracyRate, params.minCornerDistanceRate,
-                            params.minDistanceToBorder);
-
-        // join candidates
-        for(unsigned int i = 0; i < currentCandidates.size(); i++) {
-            candidates.push_back(currentCandidates[i]);
-            contours.push_back(currentContours[i]);
-        }
-    }
-
-    // if more than one scale, do it in parallel
-    else {
-
     vector< vector< vector< Point2f > > > candidatesArrays(nScales);
     vector< vector< vector< Point > > > contoursArrays(nScales);
 
@@ -367,7 +342,6 @@ static void _detectInitialCandidates(const Mat &grey, vector< vector< Point2f >
             contours.push_back(contoursArrays[i][j]);
         }
     }
-    }
 }