diff options
Diffstat (limited to 'ftnoir_tracker_pt/ftnoir_tracker_pt.cpp')
| -rw-r--r-- | ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp index dc0659e5..5b9ec8b6 100644 --- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp +++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp @@ -54,9 +54,12 @@ void Tracker_PT::reset_command(Command command) float Tracker_PT::get_focal_length() { - static constexpr float pi = 3.1415926f; - const float fov = static_cast<int>(s.fov) * pi / 180.f; - return 0.5f / tan(0.5f * fov); + CamInfo info = camera.get_info(); + const int w = info.res_x, h = info.res_y; + static constexpr double pi = 3.1415926f; + 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)); + return .5 / tan(.5 * fov); } void Tracker_PT::run() |