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 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'FTNoIR_Tracker_PT/point_tracker.cpp') 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; -- cgit v1.2.3