From d09f84ea76932b37671afce0428a04b2a5877906 Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Sat, 25 Nov 2023 13:56:03 -0500
Subject: [PATCH] oopsies

---
 .../org/photonvision/vision/pipeline/AprilTagPipeline.java    | 4 ++--
 .../java/org/photonvision/vision/pipeline/ArucoPipeline.java  | 4 ++--
 2 files changed, 4 insertions(+), 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
index 6f2a110824..be2ff6e9dc 100644
--- 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
index f3af2844cd..b6242fc5af 100644
--- 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;