Maybe fix naming of members if calobject warp missing

PhotonVision · Dec 1, 2024 · de2afcf · de2afcf
1 parent 58534b5
commit de2afcf
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/devTools/calibrationUtils.py b/devTools/calibrationUtils.py
@@ -163,14 +163,14 @@ def pose_to_rt(pose: Pose3d):
         "lensmodel": model,
         "imagersizes": np.array([imagersize], dtype=np.int32),
         "calobject_warp": (
-            np.array(cal.calobjectWarp) if len(cal.calobjectWarp) > 0 else None
+            np.array(cal.calobjectWarp) if ("calobjectWarp" in dir(cal) and len(cal.calobjectWarp) > 0) else None
         ),
         # We always do all the things
         "do_optimize_intrinsics_core": True,
         "do_optimize_intrinsics_distortions": True,
         "do_optimize_extrinsics": True,
         "do_optimize_frames": True,
-        "do_optimize_calobject_warp": len(cal.calobjectWarp) > 0,
+        "do_optimize_calobject_warp": "calobjectWarp" in dir(cal) and len(cal.calobjectWarp) > 0,
         "do_apply_outlier_rejection": True,
         "do_apply_regularization": True,
         "verbose": False,
@@ -232,8 +232,8 @@ def from_dict(cls, dict):
                 mrcal_file,
                 note="Generated from PhotonVision calibration file: "
                 + photon_cal_json_path
-                + "\nCalobject_warp (m): "
-                + str(camera_cal_data.calobjectWarp),
+                + ("\nCalobject_warp (m): "
+                + str(camera_cal_data.calobjectWarp) if "calobjectWarp" in dir(camera_cal_data) else "")
             )