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I'm looking for the formula needed to calculate the amount of camera rotation required to display a point at the same UVs across two cameras with different FOVs. I can't modify the projection matrix and need Euler rotation.

A point (p) on the surface of an object lies at the center of the focal plane. Camera one is at some distance (d) from the focal plane and has focal length (f) and camera two has double the focal length (2f) and double the distance (2d), so that the object is centered and at the same size in both images.

Camera one is yawed by some degree. The point is now offset from the center of the image.

Camera two should be rotated by how many degrees to match the object position in frame?

Camera FOV=DEGREES(2*ATAN(0.5*sensorwidth/focallength))

Thank you!

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