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_aruco/ftnoir_tracker_aruco.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp') diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 9d484775..fc641ef1 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(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; @@ -286,7 +286,7 @@ void Tracker::run() cv::TermCriteria(cv::TermCriteria::MAX_ITER | cv::TermCriteria::EPS, 20, 1e-2)); - const float size = 3.5; + const float size = 7; const double p = s.marker_pitch; const double sq = sin(p * HT_PI / 180); -- cgit v1.2.3