fix calculated center pt

PhotonVision · Aug 19, 2023 · 74f1582 · 74f1582
1 parent 76eb0f3
commit 74f1582
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java b/photon-lib/src/main/java/org/photonvision/simulation/SimCameraProperties.java
@@ -176,8 +176,8 @@ public void setCalibration(int resWidth, int resHeight, Rotation2d fovDiag) {
         var distCoeff = VecBuilder.fill(0, 0, 0, 0, 0);
 
         // assume centered principal point (pixels)
-        double cx = resWidth / 2.0;
-        double cy = resHeight / 2.0;
+        double cx = resWidth / 2.0 - 0.5;
+        double cy = resHeight / 2.0 - 0.5;
 
         // use given fov to determine focal point (pixels)
         double fx = cx / Math.tan(fovWidth.getRadians() / 2.0);