From d7786eaa38730f46a2cd32aee315fb88ab985b19 Mon Sep 17 00:00:00 2001
From: amquake <noleetarrr@gmail.com>
Date: Fri, 6 Oct 2023 19:48:34 -0700
Subject: [PATCH] use known tags

---
 .../main/java/org/photonvision/estimation/VisionEstimation.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
index f5fdb2953d..3c9c2c152c 100644
--- a/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
+++ b/photon-lib/src/main/java/org/photonvision/estimation/VisionEstimation.java
@@ -103,7 +103,7 @@ 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);