From 15fbe29d34e7000523f8a3709007540a901ed16c Mon Sep 17 00:00:00 2001 From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com> Date: Fri, 30 Dec 2022 02:00:14 -0500 Subject: [PATCH] Remove redundant if check in OutputStreamPipeline (#660) Co-authored-by: Matt --- .../photonvision/vision/pipeline/OutputStreamPipeline.java | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java index 8be13f757..7a625f9ab 100644 --- a/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java +++ b/photon-core/src/main/java/org/photonvision/vision/pipeline/OutputStreamPipeline.java @@ -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;