From d471aba741dc9e3c70c919820e36a2613590d723 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 18:23:21 +0100 Subject: correct focal length equation --- FTNoIR_Tracker_PT/point_tracker.cpp | 4 ++-- FTNoIR_Tracker_PT/point_tracker.h | 4 ++-- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 6 +++--- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 96d9d972..885b327a 100644 --- a/FTNoIR_Tracker_PT/point_tracker.cpp +++ b/FTNoIR_Tracker_PT/point_tracker.cpp @@ -250,8 +250,8 @@ void PointTracker::POSIT(float fov, int w, int h) const float HT_PI = 3.1415926535; - const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); + const float focal_length_w = 0.5 * w / tan(0.5 * fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; diff --git a/FTNoIR_Tracker_PT/point_tracker.h b/FTNoIR_Tracker_PT/point_tracker.h index 741d5af4..69eb9bba 100644 --- a/FTNoIR_Tracker_PT/point_tracker.h +++ b/FTNoIR_Tracker_PT/point_tracker.h @@ -104,8 +104,8 @@ protected: if (!rvec.empty() && !tvec.empty() && fov > 0) { const float HT_PI = 3.1415926535; - const float focal_length_w = 0.5 * w / tan(fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(fov * h / w * HT_PI / 180.0); + const float focal_length_w = 0.5 * w / tan(0.5 * fov * HT_PI / 180); + const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index cbd9f531..77f794b9 100644 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -217,8 +217,8 @@ 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(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); + 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); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; intrinsics.at (1, 1) = focal_length_h; @@ -286,7 +286,7 @@ void Tracker::run() cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 20, 1e-2)); - const float size = 7; + const float size = 3.5; const double p = s.marker_pitch; const double sq = sin(p * HT_PI / 180); -- cgit v1.2.3