From e24cc5564a240dee1797ff42afb85ccfb977cee8 Mon Sep 17 00:00:00 2001
From: ori agranat <oriagranat9@gmail.com>
Date: Tue, 29 Oct 2019 21:53:00 +0200
Subject: [PATCH] BUG FIX IN PITCH AND YAW CALCULATION

---
 Main/chameleon-vision.iml                                   | 1 +
 .../com/chameleonvision/vision/camera/CameraValues.java     | 6 ++++--
 2 files changed, 5 insertions(+), 2 deletions(-)

diff --git a/Main/chameleon-vision.iml b/Main/chameleon-vision.iml
index 7106dd857..46611ad3c 100644
--- a/Main/chameleon-vision.iml
+++ b/Main/chameleon-vision.iml
@@ -10,6 +10,7 @@
     </content>
     <orderEntry type="inheritedJdk" />
     <orderEntry type="sourceFolder" forTests="false" />
+    <orderEntry type="library" name="Maven: org.slf4j:slf4j-nop:1.7.26" level="project" />
     <orderEntry type="library" name="Maven: io.javalin:javalin:3.4.1" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib-jdk8:1.3.31" level="project" />
     <orderEntry type="library" name="Maven: org.jetbrains.kotlin:kotlin-stdlib:1.3.31" level="project" />
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 0ea7e8873..f429b98d2 100644
--- a/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
+++ b/Main/src/main/java/com/chameleonvision/vision/camera/CameraValues.java
@@ -12,6 +12,7 @@ public class CameraValues {
    public final double CenterX;
    public final double CenterY;
    public final double DiagonalView;
+   public final double DiagonalAspect;
    public final Fraction AspectFraction;
    public final int HorizontalRatio;
    public final int VerticalRatio;
@@ -35,8 +36,9 @@ public class CameraValues {
         AspectFraction = new Fraction(ImageWidth, ImageHeight);
         HorizontalRatio = AspectFraction.getNumerator();
         VerticalRatio = AspectFraction.getDenominator();
-        HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalView)) * 2;
-        VerticalView = FastMath.atan(FastMath.tan(DiagonalView/2) * (VerticalRatio / DiagonalView)) * 2;
+        DiagonalAspect = FastMath.hypot(HorizontalRatio, VerticalRatio);
+        HorizontalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (HorizontalRatio / DiagonalAspect)) * 2;
+        VerticalView = FastMath.atan(FastMath.tan(DiagonalView / 2) * (VerticalRatio / DiagonalAspect)) * 2;
         HorizontalFocalLength = ImageWidth / (2 * FastMath.tan(HorizontalView /2));
         VerticalFocalLength = ImageHeight / (2 * FastMath.tan(VerticalView /2));
     }