Fix cal bug fixes

Author: ds12a

Calibration/Cam_platform-fc800000-usb-usb-0-1-1-0-video-index0_(1280, 720)CalData.json

@@ -1 +1 @@
-{"camPath": "platform-fc800000.usb-usb-0:1:1.0-video-index0", "K": [[1022.1123580224721, 0.0, 640.0356135752214], [0.0, 1028.577231930545, 360.3806518758506], [0.0, 0.0, 1.0]], "dist": [[0.029080945115192047, 0.12545977000185524, -0.06344552719163812, -0.05650900366931294, -1.4505190969808648, -0.026520991234485498, -0.045282024241329814, 2.4851707053467926, 0.0540452987111509, -0.023321160650432594, 0.06635102607977282, 0.017782330202466796, 0.15836692410457276, -0.1095345758731561]], "r": [[[-0.020363375487993295], [-0.42421631034087043], [-0.010670860993315955]]], "t": [[[-3.054077475053525], [-3.2607693682459407], [13.30214371095907]]], "reproj": 0.04290054709812047, "resolution": [1280, 720]}
+{"camPath": "platform-fc800000.usb-usb-0:1:1.0-video-index0", "K": [[1119.7390776117077, 0.0, 643.2722704461252], [0.0, 1159.7998515310892, 361.9853922671329], [0.0, 0.0, 1.0]], "dist": [[0.1025528543619095, 0.3227946060072488, -0.13223717480467928, -0.04345968422967146, 10.476848320253449, -0.06955691740545955, 1.3321686245586764, 12.704038068252054, 0.042187965420487396, -0.13419033692836535, 0.13247959331738435, -0.017758167082087845, 0.20122374567192763, -0.0858023399918667]], "r": [[[-0.38109224642055917], [0.6150046119430361], [1.4861145104268187]]], "t": [[[2.1298307889150783], [-2.725279336957316], [16.91427591721092]]], "reproj": 0.03973065673156971, "resolution": [1280, 720]}

Camera/CameraConfigs/ConfigSettings_platform-fc800000-usb-usb-0-1-1-0-video-index0.json

@@ -1 +1 @@
-{"Resolution": [1600, 1200], "Gain": 0.0, "Exposure": 54.0}
+{"Resolution": [1280, 720], "Gain": -1.0, "Exposure": 54.0}

init.py

@@ -79,7 +79,7 @@
 
             # Prepare a calibration object for the camera that is being calibrated with pre-set data
             # only if cal object does not exist yet
-            if walleyeData.cameraInCalibration not in calibrators:
+            if walleyeData.cameraInCalibration not in calibrators or calibrators[walleyeData.cameraInCalibration] is None:
                 calibrators[walleyeData.cameraInCalibration] = Calibration(
                     walleyeData.calDelay,
                     walleyeData.boardDims,
@@ -120,26 +120,31 @@
                 walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution,
             )
 
-            # Generate a calibration file to the file path
-            hasGenerated = calibrators[walleyeData.cameraInCalibration].generateCalibration(
-                walleyeData.cameras.info[
-                    walleyeData.cameraInCalibration
-                ].calibrationPath
-            )
-
-            if hasGenerated:
-                # Get reproj error
-                walleyeData.reprojectionError = calibrators[
-                    walleyeData.cameraInCalibration
-                ].getReprojectionError()
-
-                # Set the cameras calibration, save off the file path, and go to idle
-                walleyeData.cameras.setCalibration(
-                    walleyeData.cameraInCalibration,
-                    calibrators[walleyeData.cameraInCalibration].calibrationData["K"],
-                    calibrators[walleyeData.cameraInCalibration].calibrationData["dist"],
+            if calibrators[walleyeData.cameraInCalibration] is not None:
+                # Generate a calibration file to the file path
+                hasGenerated = calibrators[walleyeData.cameraInCalibration].generateCalibration(
+                    walleyeData.cameras.info[
+                        walleyeData.cameraInCalibration
+                    ].calibrationPath
                 )
-                walleyeData.cameras.info[walleyeData.cameraInCalibration].calibrationPath = Calibration.calibrationPathByCam(walleyeData.cameraInCalibration, walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution)
+
+                if hasGenerated:
+                    # Get reproj error
+                    walleyeData.reprojectionError = calibrators[
+                        walleyeData.cameraInCalibration
+                    ].getReprojectionError()
+
+                    # Set the cameras calibration, save off the file path, and go to idle
+                    walleyeData.cameras.setCalibration(
+                        walleyeData.cameraInCalibration,
+                        calibrators[walleyeData.cameraInCalibration].calibrationData["K"],
+                        calibrators[walleyeData.cameraInCalibration].calibrationData["dist"],
+                    )
+                    walleyeData.cameras.info[walleyeData.cameraInCalibration].calibrationPath = Calibration.calibrationPathByCam(walleyeData.cameraInCalibration, walleyeData.cameras.info[walleyeData.cameraInCalibration].resolution)
+                else:
+                    walleyeData.status = "Could not generate calibration"
+            else:
+                walleyeData.status = "Calibrator for current calibration camera is None"
             walleyeData.currentState = States.IDLE
             calibrators[walleyeData.cameraInCalibration] = None