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PhotonVision · Oct 22, 2023 · e4aff61 · e4aff61
1 parent b5d4bcf
commit e4aff61
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/ArucoPipeline.java
@@ -181,7 +181,7 @@ protected CVPipelineResult process(Frame frame, ArucoPipelineSettings settings)
                 AprilTagPoseEstimate tagPoseEstimate = null;
                 // Do single-tag estimation when "always enabled" or if a tag was not used for multitag
                 if (settings.doSingleTargetAlways
-                        || !multiTagResult.fiducialIDsUsed.contains(Integer.valueOf(detection.getId()))) {
+                        || !multiTagResult.fiducialIDsUsed.contains(detection.getId())) {
                     var poseResult = singleTagPoseEstimatorPipe.run(detection);
                     sumPipeNanosElapsed += poseResult.nanosElapsed;
                     tagPoseEstimate = poseResult.output;

diff --git a/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java b/photon-core/src/main/java/org/photonvision/vision/target/TrackedTarget.java
@@ -407,8 +407,8 @@ public static List<PhotonTrackedTarget> simpleFromTrackedTargets(List<TrackedTar
             }
             {
                 var points = t.getTargetCorners();
-                for (int i = 0; i < points.size(); i++) {
-                    detectedCorners.add(new TargetCorner(points.get(i).x, points.get(i).y));
+                for (Point point : points) {
+                    detectedCorners.add(new TargetCorner(point.x, point.y));
                 }
             }