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Remove redundant if check in OutputStreamPipeline (#660)

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Co-authored-by: Matt <matthew.morley.ca@gmail.com>
This commit is contained in:
Sriman Achanta
2022-12-30 02:00:14 -05:00
committed by GitHub
parent 550194152a
commit 15fbe29d34
1 changed files with 1 additions and 5 deletions
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6
photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java
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@@ -21,7 +21,6 @@ import java.util.List;
import org.apache.commons.lang3.tuple.Pair;
import org.photonvision.vision.frame.Frame;
import org.photonvision.vision.frame.FrameStaticProperties;
import org.photonvision.vision.opencv.ContourShape;
import org.photonvision.vision.opencv.DualOffsetValues;
import org.photonvision.vision.pipe.impl.*;
import org.photonvision.vision.pipeline.result.CVPipelineResult;
@@ -131,10 +130,7 @@ public class OutputStreamPipeline {
var draw2dCrosshairResultOnOutput = draw2dCrosshairPipe.run(Pair.of(outMat, targetsToDraw));
sumPipeNanosElapsed += pipeProfileNanos[4] = draw2dCrosshairResultOnOutput.nanosElapsed;
if (settings.solvePNPEnabled
|| (settings.solvePNPEnabled
&& settings instanceof ColoredShapePipelineSettings
&& ((ColoredShapePipelineSettings) settings).contourShape == ContourShape.Circle)) {
if (settings.solvePNPEnabled) {
// Draw 3D Targets on input and output if possible
pipeProfileNanos[5] = 0;
pipeProfileNanos[6] = 0;