From 431cc5532195c3f344834238c169b4a96db15e48 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Wed, 26 Feb 2020 12:54:36 -0800
Subject: [PATCH] Fix left/right inversion bug

---
 .../com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
index a59fa693c..247deeb67 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -421,7 +421,7 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         // so Z_field becomes X, and X becomes Y
 
         //noinspection SuspiciousNameCombination
-        var targetLocation = new Translation2d(z, x).times(25.4 / 1000d / distanceDivisor);
+        var targetLocation = new Translation2d(z, -x).times(25.4 / 1000d / distanceDivisor);
         target.cameraRelativePose = new Pose2d(targetLocation, new Rotation2d(targetRotation));
         target.rVector = rVec;
         target.tVector = tVec;