pt: don't crash since hysteresis support

Reported-by: runningman84
GitHub: issue #15

2 files changed, 5 insertions, 8 deletions

diff --git a/FTNoIR_Tracker_PT/point_extractor.cpp b/FTNoIR_Tracker_PT/point_extractor.cpp
index 27a14713..d9ff0a5b 100644
--- a/FTNoIR_Tracker_PT/point_extractor.cpp
+++ b/FTNoIR_Tracker_PT/point_extractor.cpp
@@ -14,9 +14,6 @@ using namespace std;
 

 

 PointExtractor::PointExtractor(){

-	first = true;

-

-	

 	//if (!AllocConsole()){}

 	//else SetConsoleTitle("debug");

 	//freopen("CON", "w", stdout);

@@ -28,6 +25,10 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr
 	const int W = frame.cols;

 	const int H = frame.rows; 

 

+    if (frame_last.cols != W || frame_last.rows != H)

+    {

+        frame_last = cv::Mat();

+    }

 

 	// clear old points

 	points.clear();

@@ -60,9 +61,8 @@ const vector<Vec2f>& PointExtractor::extract_points(Mat frame, float dt, bool dr
 		threshold(frame_gray, frame_bin_low,std::max(float(1), t - (t*hyst)), 255, THRESH_BINARY);

 

 		if(draw_output) frame_bin.copyTo(frame_bin_copy);

-		if(first){

+        if(frame_last.empty()){

 			frame_bin.copyTo(frame_last);

-			first = false;

 		}else{

 			// keep pixels from last if they are above lower threshold

 			bitwise_and(frame_last, frame_bin_low, frame_last_and_low);

diff --git a/FTNoIR_Tracker_PT/point_extractor.h b/FTNoIR_Tracker_PT/point_extractor.h
index b9f46666..ff36f3ce 100644
--- a/FTNoIR_Tracker_PT/point_extractor.h
+++ b/FTNoIR_Tracker_PT/point_extractor.h
@@ -30,9 +30,6 @@ public:
 protected:

 	std::vector<cv::Vec2f> points;

 	cv::Mat frame_last;

-

-

-	bool first;

 };

 

 #endif //POINTEXTRACTOR_H