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authorStanislaw Halik <sthalik@misaki.pl>2014-01-04 14:14:34 +0100
committerStanislaw Halik <sthalik@misaki.pl>2014-01-04 14:14:34 +0100
commitbe2911f415bd63e248476ebf9012fb4573a90dd7 (patch)
tree1151cf681ec95b985d79a2347a3a20d6162983aa /ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
parent2cc7ff7cb2346dcd2582aa3f18ff134c16c23e25 (diff)
correct focal length equation
Diffstat (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp')
-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 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;