Merge remote-tracking branch 'upstream/master' into multiag-pnp

PhotonVision · Oct 8, 2023 · 3ed1d7f · 3ed1d7f
2 parents 3980e66 + 2881741
commit 3ed1d7f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-targeting/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -97,7 +97,7 @@ public static PNPResults estimateCamPosePNP(
         Point[] points = OpenCVHelp.cornersToPoints(corners);
 
         // single-tag pnp
-        if (visTags.size() == 1) {
+        if (knownTags.size() == 1) {
             var camToTag =
                     OpenCVHelp.solvePNP_SQUARE(
                             cameraMatrix, distCoeffs, TargetModel.kTag16h5.vertices, points);