diff --git a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
index 0eecc02880..b1e70d468f 100644
--- a/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
+++ b/photon-lib/src/main/java/org/photonvision/PhotonPoseEstimator.java
@@ -485,7 +485,8 @@ private Optional<EstimatedRobotPose> closestToCameraHeightStrategy(PhotonPipelin
                                             .transformBy(target.getBestCameraToTarget().inverse())
                                             .getZ());
 
-            if (alternateTransformDelta < smallestHeightDifference) {
+            if (alternateTransformDelta < smallestHeightDifference
+                    && alternateTransformDelta < bestTransformDelta) {
                 smallestHeightDifference = alternateTransformDelta;
                 closestHeightTarget =
                         new EstimatedRobotPose(
@@ -495,9 +496,7 @@ private Optional<EstimatedRobotPose> closestToCameraHeightStrategy(PhotonPipelin
                                         .transformBy(robotToCamera.inverse()),
                                 result.getTimestampSeconds(),
                                 result.getTargets());
-            }
-
-            if (bestTransformDelta < smallestHeightDifference) {
+            } else if (bestTransformDelta < smallestHeightDifference) {
                 smallestHeightDifference = bestTransformDelta;
                 closestHeightTarget =
                         new EstimatedRobotPose(
@@ -564,13 +563,12 @@ private Optional<EstimatedRobotPose> closestToReferencePoseStrategy(
             double altDifference = Math.abs(calculateDifference(referencePose, altTransformPosition));
             double bestDifference = Math.abs(calculateDifference(referencePose, bestTransformPosition));
 
-            if (altDifference < smallestPoseDelta) {
+            if (altDifference < smallestPoseDelta && altDifference < bestDifference) {
                 smallestPoseDelta = altDifference;
                 lowestDeltaPose =
                         new EstimatedRobotPose(
                                 altTransformPosition, result.getTimestampSeconds(), result.getTargets());
-            }
-            if (bestDifference < smallestPoseDelta) {
+            } else if (bestDifference < smallestPoseDelta) {
                 smallestPoseDelta = bestDifference;
                 lowestDeltaPose =
                         new EstimatedRobotPose(
diff --git a/photon-lib/src/main/native/cpp/photonlib/RobotPoseEstimator.cpp b/photon-lib/src/main/native/cpp/photonlib/RobotPoseEstimator.cpp
index 4d25a0a482..55db187516 100644
--- a/photon-lib/src/main/native/cpp/photonlib/RobotPoseEstimator.cpp
+++ b/photon-lib/src/main/native/cpp/photonlib/RobotPoseEstimator.cpp
@@ -153,22 +153,23 @@ RobotPoseEstimator::ClosestToCameraHeightStrategy() {
         continue;
       }
       frc::Pose3d targetPose = fiducialPose.value();
-      units::meter_t alternativeDifference = units::math::abs(
-          p.second.Z() -
-          targetPose.TransformBy(target.GetAlternateCameraToTarget().Inverse())
-              .Z());
-      units::meter_t bestDifference = units::math::abs(
-          p.second.Z() -
-          targetPose.TransformBy(target.GetBestCameraToTarget().Inverse()).Z());
-      if (alternativeDifference < smallestHeightDifference) {
+      auto altCameraTransform =
+          targetPose.TransformBy(target.GetAlternateCameraToTarget().Inverse());
+      units::meter_t alternativeDifference =
+          units::math::abs(p.second.Z() - altCameraTransform.Z());
+      auto bestCameraTransform =
+          targetPose.TransformBy(target.GetBestCameraToTarget().Inverse());
+      units::meter_t bestDifference =
+          units::math::abs(p.second.Z() - bestCameraTransform.Z());
+
+      if (alternativeDifference < smallestHeightDifference &&
+          alternativeDifference < bestDifference) {
         smallestHeightDifference = alternativeDifference;
-        pose = targetPose.TransformBy(
-            target.GetAlternateCameraToTarget().Inverse());
+        pose = altCameraTransform;
         stateTimestamp = p.first->GetLatestResult().GetTimestamp();
-      }
-      if (bestDifference < smallestHeightDifference) {
+      } else if (bestDifference < smallestHeightDifference) {
         smallestHeightDifference = bestDifference;
-        pose = targetPose.TransformBy(target.GetBestCameraToTarget().Inverse());
+        pose = bestCameraTransform;
         stateTimestamp = p.first->GetLatestResult().GetTimestamp();
       }
     }
@@ -198,25 +199,25 @@ RobotPoseEstimator::ClosestToReferencePoseStrategy() {
         continue;
       }
       frc::Pose3d targetPose = fiducialPose.value();
+      auto altCameraTransform =
+          targetPose.TransformBy(target.GetAlternateCameraToTarget().Inverse());
       units::meter_t alternativeDifference =
           units::math::abs(referencePose.Translation().Distance(
-              targetPose
-                  .TransformBy(target.GetAlternateCameraToTarget().Inverse())
-                  .Translation()));
+              altCameraTransform.Translation()));
+      auto bestCameraTansform =
+          targetPose.TransformBy(target.GetBestCameraToTarget().Inverse());
       units::meter_t bestDifference =
           units::math::abs(referencePose.Translation().Distance(
-              targetPose.TransformBy(target.GetBestCameraToTarget().Inverse())
-                  .Translation()));
-      if (alternativeDifference < smallestDifference) {
+              bestCameraTansform.Translation()));
+
+      if (alternativeDifference < smallestDifference &&
+          alternativeDifference < bestDifference) {
         smallestDifference = alternativeDifference;
-        pose = targetPose.TransformBy(
-            target.GetAlternateCameraToTarget().Inverse());
+        pose = altCameraTransform;
         stateTimestamp = p.first->GetLatestResult().GetTimestamp();
-      }
-
-      if (bestDifference < smallestDifference) {
+      } else if (bestDifference < smallestDifference) {
         smallestDifference = bestDifference;
-        pose = targetPose.TransformBy(target.GetBestCameraToTarget().Inverse());
+        pose = bestCameraTransform;
         stateTimestamp = p.first->GetLatestResult().GetTimestamp();
       }
     }