From dafee954e02636dcf56dffae3eb7d939e1a62329 Mon Sep 17 00:00:00 2001
From: shueja-personal <32416547+shueja-personal@users.noreply.github.com>
Date: Sat, 8 Oct 2022 06:26:37 -0700
Subject: [PATCH] Draw3dTargetsPipe returns immediately if coeffs are null
 (previously NPE crashlooped) (#485)

* Draw3dTargetsPipe returns immediately if coeffs are null

* fix lint
---
 .../org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
index 97c55e3d3..d24865ff5 100644
--- a/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
+++ b/photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
@@ -43,6 +43,11 @@ public class Draw3dTargetsPipe
     @Override
     protected Void process(Pair<Mat, List<TrackedTarget>> in) {
         if (!params.shouldDraw) return null;
+        if (params.cameraCalibrationCoefficients == null
+                || params.cameraCalibrationCoefficients.getCameraIntrinsicsMat() == null
+                || params.cameraCalibrationCoefficients.getCameraExtrinsicsMat() == null) {
+            return null;
+        }
 
         for (var target : in.getRight()) {
             // draw convex hull