Fixed issue found with upside down target at madtown
Was referencing the wrong pose when remapping the board.
Seems to work in other cases because this branch isn't taken
Change-Id: I2b16295d5573aa9ac3fecec25edc070edb31db85
Signed-off-by: Jim Ostrowski <yimmy13@gmail.com>
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