summaryrefslogtreecommitdiffhomepage
diff options
context:
space:
mode:
authorStanislaw Halik <sthalik@misaki.pl>2014-01-12 20:24:04 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-01-12 20:24:04 +0100
commitfbad3658c9418171f2c2d1013230470926471e1a (patch)
treea9fec9ae0116458ae7b37699d63ea4996bbd7148
parent689c297be28e2f5050e234bdc69594c53166f194 (diff)
fix accidental revert
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp4
1 files changed, 2 insertions, 2 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index fc641ef1..feb7fb9d 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -217,8 +217,8 @@ void Tracker::run()
const int scale = frame.cols > 480 ? 2 : 1;
detector.setThresholdParams(scale > 1 ? 11 : 7, 4);
- const float focal_length_w = 0.5 * grayscale.cols / tan(s.fov * HT_PI / 180);
- const float focal_length_h = 0.5 * grayscale.rows / tan(s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
+ const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180);
+ const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1);
intrinsics.at<float> (0, 0) = focal_length_w;
intrinsics.at<float> (1, 1) = focal_length_h;