From ebac32cba60c411e49ea5c7f9267d333307613cb Mon Sep 17 00:00:00 2001
From: Sriman Achanta <68172138+srimanachanta@users.noreply.github.com>
Date: Wed, 27 Dec 2023 10:38:41 -0500
Subject: [PATCH] Always encode transform (#1074)

---
 .../targeting/PhotonTrackedTarget.java        | 23 +++++--------------
 1 file changed, 6 insertions(+), 17 deletions(-)

diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
index 560fafd417..2a369a7292 100644
--- a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
+++ b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonTrackedTarget.java
@@ -227,11 +227,9 @@ public void pack(Packet packet, PhotonTrackedTarget value) {
             packet.encode(value.area);
             packet.encode(value.skew);
             packet.encode(value.fiducialId);
-            if (value.fiducialId != -1) {
-                PacketUtils.packTransform3d(packet, value.bestCameraToTarget);
-                PacketUtils.packTransform3d(packet, value.altCameraToTarget);
-                packet.encode(value.poseAmbiguity);
-            }
+            PacketUtils.packTransform3d(packet, value.bestCameraToTarget);
+            PacketUtils.packTransform3d(packet, value.altCameraToTarget);
+            packet.encode(value.poseAmbiguity);
 
             for (int i = 0; i < 4; i++) {
                 TargetCorner.serde.pack(packet, value.minAreaRectCorners.get(i));
@@ -250,18 +248,9 @@ public PhotonTrackedTarget unpack(Packet packet) {
             var area = packet.decodeDouble();
             var skew = packet.decodeDouble();
             var fiducialId = packet.decodeInt();
-            Transform3d best;
-            Transform3d alt;
-            double ambiguity;
-            if (fiducialId != -1.0) {
-                best = PacketUtils.unpackTransform3d(packet);
-                alt = PacketUtils.unpackTransform3d(packet);
-                ambiguity = packet.decodeDouble();
-            } else {
-                best = new Transform3d();
-                alt = new Transform3d();
-                ambiguity = -1.0;
-            }
+            Transform3d best = PacketUtils.unpackTransform3d(packet);
+            Transform3d alt = PacketUtils.unpackTransform3d(packet);
+            double ambiguity = packet.decodeDouble();
 
             var minAreaRectCorners = new ArrayList<TargetCorner>(4);
             for (int i = 0; i < 4; i++) {