From 728c3906a07c6ca5118d088aa1acc1fa0ddcd7fc Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Thu, 18 Apr 2024 20:35:07 +0200
Subject: [PATCH] distance

---
 aruco/ArucoDetector.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index fb1a86d..67a7099 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -212,7 +212,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
 
     std::sort(result.second.begin(), result.second.end(), [this](const std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>& a, const std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>& b)
     {
-        return distanceBetweenRobotAndTagOnXY(a.second.first) < distanceBetweenRobotAndTagOnXY(b.second.first);
+        return distanceBetweenRobotAndTagOnXY(a.second.first) > distanceBetweenRobotAndTagOnXY(b.second.first);
     });
 
     if (!headless)