simplify detectir sorting of ids

PhotonVision · Oct 22, 2023 · dc205e6 · dc205e6
1 parent bacfdac
commit dc205e6
Showing 1 changed file with 10 additions and 15 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java b/photon-core/src/main/java/org/photonvision/vision/aruco/PhotonArucoDetector.java
@@ -19,6 +19,7 @@
 
 import java.util.ArrayList;
 import java.util.Arrays;
+import java.util.Comparator;
 import org.opencv.core.Mat;
 import org.opencv.objdetect.ArucoDetector;
 import org.opencv.objdetect.DetectorParameters;
@@ -33,9 +34,8 @@ public class PhotonArucoDetector {
     private final ArucoDetector detector =
             new ArucoDetector(Objdetect.getPredefinedDictionary(Objdetect.DICT_APRILTAG_16h5));
 
-    private Mat ids = new Mat();
-    private ArrayList<Mat> cornerMats = new ArrayList<Mat>();
-    private Mat cornerMat;
+    private final Mat ids = new Mat();
+    private final ArrayList<Mat> cornerMats = new ArrayList<>();
 
     public ArucoDetector getDetector() {
         return detector;
@@ -64,10 +64,10 @@ public ArucoDetectionResult[] detect(Mat grayscaleImg) {
         // detect tags
         detector.detectMarkers(grayscaleImg, cornerMats, ids);
 
-        ArucoDetectionResult[] toReturn = new ArucoDetectionResult[cornerMats.size()];
+        ArucoDetectionResult[] results = new ArucoDetectionResult[cornerMats.size()];
         for (int i = 0; i < cornerMats.size(); i++) {
             // each detection has a Mat of corners
-            cornerMat = cornerMats.get(i);
+            Mat cornerMat = cornerMats.get(i);
 
             // Aruco detection returns corners (BR, BL, TL, TR).
             // For parity with AprilTags and photonlib, we want (BL, BR, TR, TL).
@@ -85,22 +85,17 @@ public ArucoDetectionResult[] detect(Mat grayscaleImg) {
             };
             cornerMat.release();
 
-            toReturn[i] = new ArucoDetectionResult(xCorners, yCorners, (int) ids.get(i, 0)[0]);
+            results[i] = new ArucoDetectionResult(xCorners, yCorners, (int) ids.get(i, 0)[0]);
         }
 
         ids.release();
 
         // sort tags by ID
         Arrays.sort(
-                toReturn,
-                (ArucoDetectionResult a, ArucoDetectionResult b) -> {
-                    if (a.getId() > b.getId()) {
-                        return 1;
-                    } else if (a.getId() < b.getId()) {
-                        return -1;
-                    } else return 0;
-                });
+                results,
+                Comparator.comparingInt(ArucoDetectionResult::getId)
+        );
 
-        return toReturn;
+        return results;
     }
 }