commit 4374fd11b49ed3f83746ee97a2178bc3244b7ae9
author James Kuszmaul <jabukuszmaul@gmail.com> Sat Apr 13 08:28:58 2019 -0700
committer James Kuszmaul <jabukuszmaul@gmail.com> Sat Apr 13 08:28:58 2019 -0700
tree 3b84e95311aad3a400fbf39626eab537c9cc2144
parent c4c64553b7a6478b0906e1f107d2b0095986bda7

Fix calculation for debug target locations

The previous calculation was placing thet targets as if the robot were
at (0, 0).

Change-Id: I2d11182824ca5aaee36d4d02c0545c85146e64e2

y2019/vision/server/server.cc

diff --git a/y2019/vision/server/server.cc b/y2019/vision/server/server.cc
index 6f2e26a..99bfc7c 100644
--- a/y2019/vision/server/server.cc
+++ b/y2019/vision/server/server.cc
@@ -198,8 +198,8 @@
         LocalCameraFrame cur_frame = latest_frames[ii];
         constants::Values::CameraCalibration camera_info =
             constants::GetValues().cameras[ii];
-        frc971::control_loops::TypedPose<double> camera_pose =
-            camera_info.pose.Rebase(&robot_pose);
+        frc971::control_loops::TypedPose<double> camera_pose = camera_info.pose;
+        camera_pose.set_base(&robot_pose);
 
         camera_debug->set_current_frame_age(
             ::std::chrono::duration_cast<::std::chrono::duration<double>>(