From 03459be291827ad227c427a8ce3aff0a67acf7ce Mon Sep 17 00:00:00 2001
From: Omer <zipory.omer@gmail.com>
Date: Sun, 22 Sep 2019 22:28:05 +0300
Subject: [PATCH] Yaw and pitch calculation fix

---
 .../java/com/chameleonvision/vision/camera/CameraValues.java  | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java b/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
index d9b0dc0e0..0ea7e8873 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
@@ -41,10 +41,10 @@ public class CameraValues {
         VerticalFocalLength = ImageHeight / (2 * FastMath.tan(VerticalView /2));
     }
     public double CalculatePitch(double PixelY, double centerY){
-       double pitch =  (FastMath.toDegrees((FastMath.atan(PixelY - centerY) / VerticalFocalLength)));
+       double pitch =  FastMath.toDegrees(FastMath.atan((PixelY - centerY) / VerticalFocalLength));
        return (pitch * -1);
     }
     public double CalculateYaw(double PixelX, double centerX){
-        return FastMath.toDegrees(FastMath.atan(PixelX - centerX) / HorizontalFocalLength);
+        return FastMath.toDegrees(FastMath.atan((PixelX - centerX) / HorizontalFocalLength));
     }
 }