diff options
Diffstat (limited to 'ftnoir_tracker_aruco')
| -rwxr-xr-x | ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 |
1 files changed, 5 insertions, 4 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; |