correct focal length equation

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 136a983a..19413e2f 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -212,8 +212,8 @@ 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(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);
+        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);
         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;