diff --git a/.gitignore b/.gitignore
index d0271ff8d..f9394a280 100644
--- a/.gitignore
+++ b/.gitignore
@@ -113,11 +113,11 @@ chameleon-server/.classpath
chameleon-server/.project
chameleon-server/settings
chameleon-server/dependency-reduced-pom.xml
-chameleon-server/chameleon-vision.iml
+# chameleon-server/chameleon-vision.iml
New client/chameleon-client/*
*.prefs
*.jfr
.DS_Store
-*.iml
+# *.iml
diff --git a/chameleon-server/chameleon-vision.iml b/chameleon-server/chameleon-vision.iml
index 78fe946ea..0b98abedd 100644
--- a/chameleon-server/chameleon-vision.iml
+++ b/chameleon-server/chameleon-vision.iml
@@ -7,70 +7,57 @@
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diff --git a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
index 3d113d42f..9a3e32f54 100644
--- a/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
+++ b/chameleon-server/src/main/java/com/chameleonvision/vision/pipeline/pipes/SolvePNPPipe.java
@@ -36,7 +36,6 @@ public class SolvePNPPipe implements Pipe
Comparator verticalComparator = Comparator.comparingDouble(point -> point.y);
private double distanceDivisor = 1.0;
Mat scaledTvec = new Mat();
- private Comparator distanceProvider = Comparator.comparingDouble((Point point) -> FastMath.sqrt(FastMath.pow(centroid.x - point.x, 2) + FastMath.pow(centroid.y - point.y, 2)));
public SolvePNPPipe(StandardCVPipelineSettings settings, CameraCalibrationConfig calibration, Rotation2d tilt) {
super();
@@ -148,6 +147,8 @@ public class SolvePNPPipe implements Pipe
if(target.rawContour.cols() < 1) return null;
var centroid = target.minAreaRect.center;
+ Comparator distanceProvider = Comparator.comparingDouble((Point point) -> FastMath.sqrt(FastMath.pow(centroid.x - point.x, 2) + FastMath.pow(centroid.y - point.y, 2)));
+
var contour = target.rawContour;
var combinedList = contour.toList();
@@ -172,6 +173,7 @@ public class SolvePNPPipe implements Pipe
if(target.leftRightRotatedRect == null) return null;
var centroid = target.minAreaRect.center;
+ Comparator distanceProvider = Comparator.comparingDouble((Point point) -> FastMath.sqrt(FastMath.pow(centroid.x - point.x, 2) + FastMath.pow(centroid.y - point.y, 2)));
var left = target.leftRightRotatedRect.getLeft();
var right = target.leftRightRotatedRect.getRight();