diff options
| -rwxr-xr-x | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 | ||||
| -rwxr-xr-x[-rw-r--r--] | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 5 |
2 files changed, 8 insertions, 6 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 84f20a61..fa783fe9 100755 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -154,10 +154,11 @@ void Tracker::run() static constexpr double pi = 3.1415926f; const int w = grayscale.cols, h = grayscale.rows; - const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.; - const double fov = 2.*atan(tan(diag_fov/2.)/sqrt(1. + diag*diag)); - const float focal_length_w = .5 * w / tan(.5 * fov); - const float focal_length_h = focal_length_w; + const double diag_fov = static_cast<int>(s.fov) * pi / 180.; + const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w)); + const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h)); + const float focal_length_w = .5 * w / tan(.5 * fov_w); + const float focal_length_h = .5 * h / tan(.5 * fov_h); intrinsics.at<float> (0, 0) = focal_length_w; intrinsics.at<float> (1, 1) = focal_length_h; diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index e10cfea0..4fa70ccf 100644..100755 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -57,8 +57,9 @@ bool Tracker_PT::get_focal_length(float& ret) { static constexpr double pi = 3.14159265359; const int w = info.res_x, h = info.res_y; - const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast<int>(s.fov) * pi / 180.; - const double fov = 2.*atan(tan(diag_fov/2.0)/sqrt(1. + diag*diag)); + const double diag = sqrt(1. + h/(double)w * h/(double)w); + const double diag_fov = static_cast<int>(s.fov) * pi / 180.; + const double fov = 2.*atan(tan(diag_fov/2.0)/diag); ret = .5 / tan(.5 * fov); return true; } |