From e6eb0bb0bc3f766953affe28cda7f8afbaab0985 Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Tue, 18 Aug 2015 05:52:26 +0200 Subject: pt, aruco: another take at focal length formula Aspect ratio is meant to be viewport's ratio, not diagonal to axis. --- ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) (limited to 'ftnoir_tracker_aruco') diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp index 84f20a61..fa783fe9 100755 --- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp +++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp @@ -154,10 +154,11 @@ void Tracker::run() static constexpr double pi = 3.1415926f; const int w = grayscale.cols, h = grayscale.rows; - const double diag = sqrt(w * w + h * h)/w, diag_fov = static_cast(s.fov) * pi / 180.; - const double fov = 2.*atan(tan(diag_fov/2.)/sqrt(1. + diag*diag)); - const float focal_length_w = .5 * w / tan(.5 * fov); - const float focal_length_h = focal_length_w; + const double diag_fov = static_cast(s.fov) * pi / 180.; + const double fov_w = 2.*atan(tan(diag_fov/2.)/sqrt(1. + h/(double)w * h/(double)w)); + const double fov_h = 2.*atan(tan(diag_fov/2.)/sqrt(1. + w/(double)h * w/(double)h)); + const float focal_length_w = .5 * w / tan(.5 * fov_w); + const float focal_length_h = .5 * h / tan(.5 * fov_h); intrinsics.at (0, 0) = focal_length_w; intrinsics.at (1, 1) = focal_length_h; -- cgit v1.2.3