Skip to content

Commit

Permalink
oopsies
Browse files Browse the repository at this point in the history
  • Loading branch information
srimanachanta committed Nov 25, 2023
1 parent 7123f30 commit d09f84e
Show file tree
Hide file tree
Showing 2 changed files with 4 additions and 4 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -168,8 +168,8 @@ protected CVPipelineResult process(Frame frame, AprilTagPipelineSettings setting
AprilTagPoseEstimate tagPoseEstimate = null;
// Do single-tag estimation when "always enabled" or if a tag was not used for multitag
if (settings.doSingleTargetAlways
|| (multiTagResultOpt.isPresent()
&& !multiTagResultOpt.get().fiducialIDsUsed.contains(detection.getId()))) {
|| multiTagResultOpt.isEmpty()
|| !multiTagResultOpt.get().fiducialIDsUsed.contains(detection.getId())) {
var poseResult = singleTagPoseEstimatorPipe.run(detection);
sumPipeNanosElapsed += poseResult.nanosElapsed;
tagPoseEstimate = poseResult.output;
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -190,8 +190,8 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings)

// Do single-tag estimation when "always enabled" or if a tag was not used for multitag
if (settings.doSingleTargetAlways
|| (multiTagResultOpt.isPresent()
&& !multiTagResultOpt.get().fiducialIDsUsed.contains(detection.getId()))) {
|| multiTagResultOpt.isEmpty()
|| !multiTagResultOpt.get().fiducialIDsUsed.contains(detection.getId())) {
var poseResult = singleTagPoseEstimatorPipe.run(detection);
sumPipeNanosElapsed += poseResult.nanosElapsed;
tagPoseEstimate = poseResult.output;
Expand Down

0 comments on commit d09f84e

Please sign in to comment.