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https://github.com/PhotonVision/photonvision
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change compatator to sqared values to make caluclation faster (no need for sqare root function)
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@@ -12,7 +12,7 @@ import java.util.List;
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public class SortContoursPipe implements Pipe<List<RotatedRect>, List<RotatedRect>> {
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private final Comparator<RotatedRect> SortByCentermostComparator = Comparator.comparingDouble(this::calcCenterDistance);
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private final Comparator<RotatedRect> SortByCentermostComparator = Comparator.comparingDouble(this::calcSquareCenterDistance);
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private static final Comparator<RotatedRect> SortByLargestComparator = (rect1, rect2) -> Double.compare(rect2.size.area(), rect1.size.area());
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private static final Comparator<RotatedRect> SortBySmallestComparator = SortByLargestComparator.reversed();
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@@ -81,7 +81,7 @@ public class SortContoursPipe implements Pipe<List<RotatedRect>, List<RotatedRec
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return Pair.of(sortedContours, processTime);
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}
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private double calcCenterDistance(RotatedRect rect) {
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private double calcSquareCenterDistance(RotatedRect rect) {
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return FastMath.sqrt(FastMath.pow(camProps.centerX - rect.center.x, 2) + FastMath.pow(camProps.centerY - rect.center.y, 2));
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}
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}
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