oopsies

PhotonVision · Nov 25, 2023 · d09f84e · d09f84e
1 parent 7123f30
commit d09f84e
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java b/photon-core/src/main/java/org/photonvision/vision/pipeline/AprilTagPipeline.java
@@ -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;

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
@@ -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;