From 731a931c0ce71a868bbe2c6ec1979cb6af12610e Mon Sep 17 00:00:00 2001 From: ozantonkal Date: Mon, 5 Aug 2013 19:35:20 +0200 Subject: [PATCH] field of views are in radians --- modules/viz/src/types.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/modules/viz/src/types.cpp b/modules/viz/src/types.cpp index 08fa62882e..3395b0e66e 100644 --- a/modules/viz/src/types.cpp +++ b/modules/viz/src/types.cpp @@ -175,8 +175,8 @@ void cv::viz::Camera::init(float f_x, float f_y, float c_x, float c_y, const Siz CV_Assert(window_size.width > 0 && window_size.height > 0); setClip(Vec2d(0.01, 1000.01));// Default clipping - fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x)) * 180 / CV_PI; - fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)) * 180 / CV_PI; + fov_[0] = (atan2(c_x,f_x) + atan2(window_size.width-c_x,f_x)); + fov_[1] = (atan2(c_y,f_y) + atan2(window_size.height-c_y,f_y)); principal_point_[0] = c_x; principal_point_[1] = c_y; @@ -198,7 +198,7 @@ void cv::viz::Camera::setWindowSize(const Size &window_size) if (principal_point_[0] < 0.0f) fov_[0] = 2.f * atan(tan(fov_[1] * 0.5) * aspect_ratio_new); // This assumes that the lens is symmetric! else - fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])) * 180 / CV_PI; + fov_[0] = (atan2(principal_point_[0],focal_[0]) + atan2(window_size.width-principal_point_[0],focal_[0])); // TODO I need to check this window_size_ = window_size; } @@ -228,7 +228,8 @@ void cv::viz::Camera::computeProjectionMatrix(Matx44f &proj) const cv::viz::Camera cv::viz::Camera::KinectCamera(const Size &window_size) { - // Without distortion + // Without distortion, RGB Camera + // Received from http://nicolas.burrus.name/index.php/Research/KinectCalibration Matx33f K = Matx33f::zeros(); K(0,0) = 5.2921508098293293e+02; K(0,2) = 3.2894272028759258e+02;