diff options
| -rw-r--r-- | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 13 |
1 files changed, 4 insertions, 9 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 2e488486..05f3e3a4 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -132,7 +132,6 @@ void Tracker::run() double failed = 0; const double max_failed = 1.25; cv::Vec3d rvec, tvec; - int last_fov = -1; cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); cv::Mat dist_coeffs = cv::Mat::zeros(5, 1, CV_32FC1); @@ -158,14 +157,10 @@ void Tracker::run() const float focal_length_w = .5 * w / tan(.5 * fov); const float focal_length_h = focal_length_w; - if (last_fov != s.fov) - { - last_fov = s.fov; - intrinsics.at<float> (0, 0) = focal_length_w; - intrinsics.at<float> (1, 1) = focal_length_h; - intrinsics.at<float> (0, 2) = grayscale.cols/2; - intrinsics.at<float> (1, 2) = grayscale.rows/2; - } + intrinsics.at<float> (0, 0) = focal_length_w; + intrinsics.at<float> (1, 1) = focal_length_h; + intrinsics.at<float> (0, 2) = grayscale.cols/2; + intrinsics.at<float> (1, 2) = grayscale.rows/2; std::vector< aruco::Marker > markers; |