From 709752249d7e757e0df77d8ef75c9ecd19737bcc Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Mon, 13 Jan 2020 08:39:37 -0800
Subject: [PATCH] Update corner points to match limelight

---
 .../vision/pipeline/pipes/DrawSolvePNPPipe.java           | 8 ++++----
 .../vision/pipeline/pipes/SolvePNPPipe.java               | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
index 4095453ee..c5d75ad0b 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/DrawSolvePNPPipe.java
@@ -48,14 +48,14 @@ public class DrawSolvePNPPipe implements Pipe<Pair<Mat, List<StandardCVPipeline.
     public void set2020Box() {
         boxCornerMat.release();
         boxCornerMat = new MatOfPoint3f(
-                new Point3(-16.25, 0, 0),
+                new Point3(-19.625, 0, 0),
                 new Point3(-9.819867, -17, 0),
                 new Point3(9.819867, -17, 0),
-                new Point3(16.25, 0, 0),
-                new Point3(-16.25, 0, -6),
+                new Point3(19.625, 0, 0),
+                new Point3(-19.625, 0, -6),
                 new Point3(-9.819867, -17, -6),
                 new Point3(9.819867, -17, -6),
-                new Point3(16.25, 0, -6)
+                new Point3(19.625, 0, -6)
         );
     }
 
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 f3d37ad90..f59a95cb7 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
@@ -48,10 +48,10 @@ public class SolvePNPPipe implements Pipe<Pair<List<StandardCVPipeline.TrackedTa
         if(isHighGoal) {
             // tl, bl, br, tr is the order
             List<Point3> corners = List.of(
-                new Point3(-16.25, 0, 0),
+                new Point3(-19.625, 0, 0),
                 new Point3(-9.819867, -17, 0),
                 new Point3(9.819867, -17, 0),
-                new Point3(16.25, 0, 0));
+                new Point3(19.625, 0, 0));
             setObjectCorners(corners);
         } else {
             setBoundingBoxTarget(7, 11);