From f4859d29a923737d82bd654bfa8d5b2d1dc30bab Mon Sep 17 00:00:00 2001
From: Siim Schults <siimsch@ut.ee>
Date: Mon, 3 Nov 2014 21:23:03 +0200
Subject: [PATCH] OpenCV camera calibration configuration file first row gives
 values 'fx fy cx cy k1 k2 p1 p2', not values 'fx/width fy/height cx/width
 cy/height k1 k2 p1 p2'

---
 lsd_slam_core/src/util/Undistorter.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/lsd_slam_core/src/util/Undistorter.cpp b/lsd_slam_core/src/util/Undistorter.cpp
index 0a1965ac..2b7daaad 100644
--- a/lsd_slam_core/src/util/Undistorter.cpp
+++ b/lsd_slam_core/src/util/Undistorter.cpp
@@ -516,11 +516,11 @@ UndistorterOpenCV::UndistorterOpenCV(const char* configFileName)
 		distCoeffs.at<float>(i, 0) = inputCalibration[4 + i];
 
 	originalK_ = cv::Mat(3, 3, CV_64F, cv::Scalar(0));
-	originalK_.at<double>(0, 0) = inputCalibration[0] * in_width;
-	originalK_.at<double>(1, 1) = inputCalibration[1] * in_height;
+	originalK_.at<double>(0, 0) = inputCalibration[0];
+	originalK_.at<double>(1, 1) = inputCalibration[1];
 	originalK_.at<double>(2, 2) = 1;
-	originalK_.at<double>(0, 2) = inputCalibration[2] * in_width;
-	originalK_.at<double>(1, 2) = inputCalibration[3] * in_height;
+	originalK_.at<double>(0, 2) = inputCalibration[2];
+	originalK_.at<double>(1, 2) = inputCalibration[3];
 
 	if (valid)
 	{