diff options
author | Stanislaw Halik <sthalik@misaki.pl> | 2014-01-04 14:14:34 +0100 |
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committer | Stanislaw Halik <sthalik@misaki.pl> | 2014-01-04 14:14:34 +0100 |
commit | be2911f415bd63e248476ebf9012fb4573a90dd7 (patch) | |
tree | 1151cf681ec95b985d79a2347a3a20d6162983aa /ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | |
parent | 2cc7ff7cb2346dcd2582aa3f18ff134c16c23e25 (diff) |
correct focal length equation
Diffstat (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp')
-rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 4 |
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; |