commit 17c586d01b7e4c4402943bb4a4a9c259a400eeb2
author James Kuszmaul <jabukuszmaul@gmail.com> Wed Dec 06 20:11:12 2023 -0800
committer Gerrit Code Review <gerrit@software.frc971.org> Wed Dec 06 20:11:12 2023 -0800
tree 9510686f68822909b8398579d08cd1cecd0bff75
parent cf1925f632257ad4535ea55afd62d978a3040b71
parent 1f7cdc6a0c7a0403a87df97ac79d9f3b79139381

Merge "Fixed issue found with upside down target at madtown"

y2023/vision/calibrate_multi_cameras.cc

diff --git a/y2023/vision/calibrate_multi_cameras.cc b/y2023/vision/calibrate_multi_cameras.cc
index 30f12ee..4cd70c2 100644
--- a/y2023/vision/calibrate_multi_cameras.cc
+++ b/y2023/vision/calibrate_multi_cameras.cc
@@ -506,7 +506,7 @@
         if (pose2.board_id != base_target_id) {
           // pose2.H_camera_target references boardB, so map back to boardA
           H_camera2_boardA =
-              pose1.H_camera_target * H_boardA_boardB_avg.inverse();
+              pose2.H_camera_target * H_boardA_boardB_avg.inverse();
         }
 
         // Compute camera1->camera2 map