From 17a381e4fec8a8762b6a03c804b2ea713e11e9cf Mon Sep 17 00:00:00 2001
From: Jack Lingle <captainjack0818@gmail.com>
Date: Thu, 12 Dec 2024 09:06:47 -0500
Subject: [PATCH] use number of tags for distance based variance

---
 vision/src/main/java/coppercore/vision/VisionLocalizer.java | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/vision/src/main/java/coppercore/vision/VisionLocalizer.java b/vision/src/main/java/coppercore/vision/VisionLocalizer.java
index 48a7391..8662e6f 100644
--- 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) {