23 #include <fvmodels/camera/ccd_calibration.h>
27 namespace firevision {
43 CCDCalibration::CCDCalibration(
float ax,
float ay,
float x0,
float y0):
67 float ver_fov = hor_fov * h / w;
70 k(0, 0) = w / (2.f * tanf(hor_fov / 2.f));
71 k(1, 1) = h / (2.f * tanf(ver_fov / 2.f));