Problem with distance calculation

[Dan252]

Hey,
We are using RoboRealm for vision processing this year but we are having problems with the distance calculation.

This is the code we have as of now: (the output distances are way off)

def IsVertical(n):
	return rr.GetArrayVariable("WIDTH")[n] < rr.GetArrayVariable("HEIGHT")[n]
width = 0
if IsVertical(i):
    width = VtargetWidth_in
    Hot[i] = False
else:
    width = VtargetWidth_in
distance = width/(2*math.tan(cameraFieldOfView*(rr.GetArrayVariable("WIDTH")[i]/rr.GetVariable("IMAGE_WIDTH"))*math.pi/360.0))

[written in python]

Another one tried (better results, but still atleast 3ft errors): [this is only for vertical targets]

if IsVertical(i):
    d = VtargetRheight_in*imageHeight_px / (2*math.tan(cameraFieldOfView*math.pi/360.0)*rr.GetArrayVariable("HEIGHT")[i])

Any help would be welcome!