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Draw3dTargetsPipe returns immediately if coeffs are null (previously NPE crashlooped) (#485)

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* Draw3dTargetsPipe returns immediately if coeffs are null

* fix lint
This commit is contained in:
shueja-personal
2022-10-08 06:26:37 -07:00
committed by GitHub
parent 5ac541642e
commit dafee954e0
1 changed files with 5 additions and 0 deletions
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5
photon-core/src/main/java/org/photonvision/vision/pipe/impl/Draw3dTargetsPipe.java
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@@ -43,6 +43,11 @@ public class Draw3dTargetsPipe
@Override @Override
protected Void process(Pair<Mat, List<TrackedTarget>> in) { protected Void process(Pair<Mat, List<TrackedTarget>> in) {
if (!params.shouldDraw) return null; if (!params.shouldDraw) return null;
if (params.cameraCalibrationCoefficients == null
|| params.cameraCalibrationCoefficients.getCameraIntrinsicsMat() == null
|| params.cameraCalibrationCoefficients.getCameraExtrinsicsMat() == null) {
return null;
}
for (var target : in.getRight()) { for (var target : in.getRight()) {
// draw convex hull // draw convex hull