From 221af540b2d42990c9fd9e977483cfbcfc6eb1a6 Mon Sep 17 00:00:00 2001
From: Banks Troutman <bankst@roswellrobotics.com>
Date: Wed, 27 Nov 2019 18:16:00 -0500
Subject: [PATCH] GroupContoursPipe optimization

---
 .../vision/pipeline/pipes/GroupContoursPipe.java                | 2 +-
 Main/src/main/java/com/chameleonvision/web/RequestHandler.java  | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
index b2d3df9aa..ba75b9fd0 100644
--- a/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
+++ b/Main/src/main/java/com/chameleonvision/vision/pipeline/pipes/GroupContoursPipe.java
@@ -41,7 +41,7 @@ public class GroupContoursPipe implements Pipe<List<MatOfPoint>, List<RotatedRec
 
         groupedContours.clear();
 
-        if (input.size() > 0) {
+        if (input.size() > (group.equals(TargetGroup.Single) ? 0 : 1)) {
 
             List<MatOfPoint> sorted = new ArrayList<>(input);
             sorted.sort(sortByMomentsX);
diff --git a/Main/src/main/java/com/chameleonvision/web/RequestHandler.java b/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
index 090c10a76..e29852a14 100644
--- a/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
+++ b/Main/src/main/java/com/chameleonvision/web/RequestHandler.java
@@ -18,6 +18,7 @@ public class RequestHandler {
         ObjectMapper objectMapper = new ObjectMapper();
         try {
             Map map = objectMapper.readValue(ctx.body(), Map.class);
+
             // TODO: change to function, to restart NetworkTables
             ConfigManager.settings.teamNumber = (int) map.get("teamNumber");