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PhotonVision · Oct 19, 2023 · 4d1b5d5 · 4d1b5d5
1 parent b12a20c
commit 4d1b5d5
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
@@ -146,8 +146,10 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings)
                             new TargetCalculationParameters(
                                     false, null, null, null, null, frameStaticProperties));
 
-            var correctedBestPose = MathUtils.convertOpenCVtoPhotonPose(target.getBestCameraToTarget3d());
-            var correctedAltPose = MathUtils.convertOpenCVtoPhotonPose(target.getAltCameraToTarget3d());
+            var correctedBestPose =
+                    MathUtils.convertOpenCVtoPhotonTransform(target.getBestCameraToTarget3d());
+            var correctedAltPose =
+                    MathUtils.convertOpenCVtoPhotonTransform(target.getAltCameraToTarget3d());
 
             target.setBestCameraToTarget3d(
                     new Transform3d(correctedBestPose.getTranslation(), correctedBestPose.getRotation()));

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -19,6 +19,7 @@
 import edu.wpi.first.apriltag.AprilTagDetection;
 import edu.wpi.first.apriltag.AprilTagPoseEstimate;
 import edu.wpi.first.math.geometry.Transform3d;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import org.opencv.core.CvType;