From be2911f415bd63e248476ebf9012fb4573a90dd7 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sat, 4 Jan 2014 14:14:34 +0100 Subject: correct focal length equation --- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 4 ++-- 1 file 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 (0, 0) = focal_length_w; intrinsics.at (1, 1) = focal_length_h; -- cgit v1.2.3