[photonlib] Invert simulated target yaw (#1243)

2026-06-19 00:41:41 +00:00 · 2024-02-18 17:59:54 -08:00
parent 428f926ac2
commit 39216db143
4 changed files with 7 additions and 5 deletions
--- a/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
+++ b/photon-lib/src/main/native/include/photon/simulation/PhotonCameraSim.h
@@ -260,7 +260,7 @@ class PhotonCameraSim {
      std::vector<std::pair<double, double>> cornersDouble{cornersFloat.begin(),
                                                           cornersFloat.end()};
      detectableTgts.emplace_back(PhotonTrackedTarget{
-          centerRot.Z().convert<units::degrees>().to<double>(),
+          -centerRot.Z().convert<units::degrees>().to<double>(),
          -centerRot.Y().convert<units::degrees>().to<double>(), areaPercent,
          centerRot.X().convert<units::degrees>().to<double>(), tgt.fiducialId,
          pnpSim.best, pnpSim.alt, pnpSim.ambiguity, smallVec, cornersDouble});