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Patrick Snape authored
Summary: I wrote the unit test attached to triple check we were matching the perception cameras - but we were not. So I ported the code exactly and now we exactly match the perception cameras behavior. Looking at the code it seems to be a legit bug - and when I read the code my mental model says this may make a significant difference if the radial distortion parameters are high (which they are in BTL). However - Rosetta continues to be an enigma to me and it seems to hardly make a difference... Differential Revision: D60927097 fbshipit-source-id: 15e04b50634d8c236bfaf89fcf6f43aeff1ede7d
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