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Merged
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Feb 27, 2024
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Update calibration_reader.rst #973

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Update calibration_reader.rst
jakaskerl Feb 6, 2024
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Merge branch 'main' into docs/patch
Erol444 Feb 27, 2024
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6 changes: 3 additions & 3 deletions docs/source/samples/calibration/calibration_reader.rst
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Expand Up @@ -27,7 +27,7 @@ Here's theoretical calculation of the focal length in pixels:

.. math::

f_x = \text{width}_x \cdot \frac{1}{\tan \left(\frac{\text{HFOV}_x}{2}\frac{\pi}{180}\right)}
f_x = \text{width}_x \cdot \frac{1}{2 \cdot \tan \left(\frac{\text{HFOV}_x}{2}\frac{\pi}{180}\right)}

To get the HFOV you can use `this script <https://gist.github.com/Erol444/4aff71f4576637624d56dce4a60ad62e>`__, which also works for wide-FOV cameras and allows you to
specif alpha parameter.
Expand All @@ -36,13 +36,13 @@ With 400P (640x400) camera resolution where HFOV=71.9 degrees:

.. math::

f_x = 640 \cdot \frac{1}{\tan \left(\frac{71.9}{2}\frac{\pi}{180}\right)} = 441.25
f_x = 640 \cdot \frac{1}{2 \cdot \tan \left(\frac{71.9}{2}\frac{\pi}{180}\right)} = 441.25

And for 800P (1280x800) camera resolution where HFOV=71.9 degrees:

.. math::

f_x = 1280 \cdot \frac{1}{\tan \left(\frac{71.9}{2}\frac{\pi}{180}\right)} = 882.5
f_x = 1280 \cdot \frac{1}{2 \cdot \tan \left(\frac{71.9}{2}\frac{\pi}{180}\right)} = 882.5



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