From 9f18467a08c8b77115852f7e237f78677c9e9d16 Mon Sep 17 00:00:00 2001
From: Matt <matthew.morley.ca@gmail.com>
Date: Sat, 18 Jul 2020 17:27:07 -0700
Subject: [PATCH] Covert to BGR before drawing on output (#48)

---
 .../photonvision/vision/pipeline/ReflectivePipeline.java  | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
index 2b1b2df43..c7de98c21 100644
--- a/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
+++ b/photon-server/src/main/java/org/photonvision/vision/pipeline/ReflectivePipeline.java
@@ -215,6 +215,10 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
             targetList = collect2dTargetsResult.output;
         }
 
+        // Convert single-channel HSV output mat to 3-channel BGR in preparation for streaming
+        var outputMatPipeResult = outputMatPipe.run(hsvPipeResult.output);
+        sumPipeNanosElapsed += outputMatPipeResult.nanosElapsed;
+
         // Draw 2D Crosshair on input and output
         var draw2dCrosshairResultOnInput = draw2dCrosshairPipe.run(Pair.of(rawInputMat, targetList));
         sumPipeNanosElapsed += draw2dCrosshairResultOnInput.nanosElapsed;
@@ -243,10 +247,6 @@ public class ReflectivePipeline extends CVPipeline<CVPipelineResult, ReflectiveP
             sumPipeNanosElapsed += drawOnOutputResult.nanosElapsed;
         }
 
-        // Convert single-channel HSV output mat to 3-channel BGR in preparation for streaming
-        var outputMatPipeResult = outputMatPipe.run(hsvPipeResult.output);
-        sumPipeNanosElapsed += outputMatPipeResult.nanosElapsed;
-
         return new CVPipelineResult(
                 MathUtils.nanosToMillis(sumPipeNanosElapsed),
                 targetList,