From b83a47cb32443981ce9998b2015f7d310fb72821 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Sun, 12 Jan 2014 19:49:57 +0100 Subject: Revert "correct focal length equation" This reverts commit 4312ef4098a449d38209c4f20ed573e9deb1713c. --- FTNoIR_Tracker_PT/point_tracker.cpp | 4 ++-- FTNoIR_Tracker_PT/point_tracker.h | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) (limited to 'FTNoIR_Tracker_PT') diff --git a/FTNoIR_Tracker_PT/point_tracker.cpp b/FTNoIR_Tracker_PT/point_tracker.cpp index 885b327a..96d9d972 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(0.5 * fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); + 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); 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 69eb9bba..741d5af4 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(0.5 * fov * HT_PI / 180); - const float focal_length_h = 0.5 * h / tan(0.5 * fov * h / w * HT_PI / 180.0); + 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); cv::Mat intrinsics = cv::Mat::eye(3, 3, CV_32FC1); intrinsics.at (0, 0) = focal_length_w; -- cgit v1.2.3