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Add checks for null in NTDataPublisher (#820)

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Matt
2023-03-01 16:05:22 -05:00
committed by GitHub
parent 0bb563a6e2
commit 2b8f900768
1 changed files with 10 additions and 4 deletions
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14
photon-core/src/main/java/org/photonvision/common/dataflow/networktables/NTDataPublisher.java
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@@ -180,10 +180,16 @@ public class NTDataPublisher implements CVPipelineResultConsumer {
ts.bestTargetPosY.set(0);
}
var fsp = result.inputAndOutputFrame.frameStaticProperties;
if (fsp.cameraCalibration != null) {
ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr());
// Something in the result can sometimes be null -- so check probably too many things
if (result != null
&& result.inputAndOutputFrame != null
&& result.inputAndOutputFrame.frameStaticProperties != null
&& result.inputAndOutputFrame.frameStaticProperties.cameraCalibration != null) {
var fsp = result.inputAndOutputFrame.frameStaticProperties;
if (fsp.cameraCalibration != null) {
ts.cameraIntrinsicsPublisher.accept(fsp.cameraCalibration.getIntrinsicsArr());
ts.cameraDistortionPublisher.accept(fsp.cameraCalibration.getExtrinsicsArr());
}
} else {
ts.cameraIntrinsicsPublisher.accept(new double[] {});
ts.cameraDistortionPublisher.accept(new double[] {});