diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index d48f9252..d3cf18c1 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -54,7 +54,7 @@ void Tracker_PT::reset_command(Command command) float Tracker_PT::get_focal_length() { - static constexpr float pi = 3.1415926f; + static constexpr float pi = 3.1415926; float fov_; switch (s.fov) { @@ -67,8 +67,12 @@ float Tracker_PT::get_focal_length() break; } - const float fov = static_cast<int>(fov_) * pi / 180.f; - return 0.5f / tan(0.5f * fov); + const float diag_fov = static_cast<int>(fov_) * pi / 180.f; + CamInfo info = camera.get_info(); + const int w = info.res_x, h = info.res_y; + const double diag = sqrt(w * w + h * h)/w; + const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag)); + return .5 / tan(.5 * fov); } void Tracker_PT::run() |