use number of tags for distance based variance

team401 · Dec 12, 2024 · 17a381e · 17a381e
1 parent 64a8a14
commit 17a381e
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/vision/src/main/java/coppercore/vision/VisionLocalizer.java b/vision/src/main/java/coppercore/vision/VisionLocalizer.java
@@ -130,7 +130,7 @@ private Matrix<N3, N1> getLatestVariance(
                 stdDev.times(
                         1
                                 + (Math.pow(avgDistanceFromTarget, 2)
-                                        / CoreVisionConstants.distanceFactor));
+                                        / numTags > 0 ? numTags : CoreVisionConstants.distanceFactor));
 
         // adjustment based on position of camera
         if (cameraIndex < this.cameraStdDevFactors.length) {