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PhotonVision · Oct 8, 2023 · 63279ef · 63279ef
1 parent 2aa95e3
commit 63279ef
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Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java b/photon-targeting/src/main/java/org/photonvision/targeting/MultiTargetPNPResults.java
@@ -25,7 +25,7 @@ public class MultiTargetPNPResults {
     // Seeing 32 apriltags at once seems like a sane limit
     private static final int MAX_IDS = 32;
     // pnpresult + MAX_IDS possible targets (arbitrary upper limit that should never be hit, ideally)
-    public static final int PACK_SIZE_BYTES = PNPResults.PACK_SIZE_BYTES + Short.BYTES * MAX_IDS;
+    public static final int PACK_SIZE_BYTES = PNPResults.PACK_SIZE_BYTES + (Short.BYTES * MAX_IDS);
 
     public PNPResults estimatedPose = new PNPResults();
     public List<Integer> fiducialIDsUsed = List.of();

diff --git a/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java b/photon-targeting/src/main/java/org/photonvision/targeting/PhotonPipelineResult.java
@@ -72,9 +72,9 @@ public PhotonPipelineResult(
      */
     public int getPacketSize() {
         return targets.size() * PhotonTrackedTarget.PACK_SIZE_BYTES
-                + 8
-                + 2
-                + MultiTargetPNPResults.PACK_SIZE_BYTES;
+                + 8 // latency
+                + MultiTargetPNPResults.PACK_SIZE_BYTES
+                + 1; // target count
     }
 
     /**