pt: don't return zeros when last frame had no result

2 files changed, 6 insertions, 4 deletions

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 8b5bb328..acf4daa0 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -23,7 +23,7 @@ Tracker::Tracker()
       commands(0),
 	  video_widget(NULL),
 	  video_frame(NULL),
-      success(false)
+      ever_success(false)
 {
     connect(s.b.get(), SIGNAL(saving()), this, SLOT(apply_settings()));
 }
@@ -77,7 +77,9 @@ void Tracker::run()
 
             std::vector<cv::Vec2f> points = point_extractor.extract_points(frame);
             
-            success = points.size() == PointModel::N_POINTS;
+            bool success = points.size() == PointModel::N_POINTS;
+            
+            ever_success |= success;
             
             if (success)
                 point_tracker.track(points, PointModel(s), get_focal_length(), s.dynamic_pose);
@@ -162,7 +164,7 @@ void Tracker::StopTracker(bool exit)
 
 void Tracker::data(THeadPoseData *data)
 {
-    if (success)
+    if (ever_success)
     {
         Affine X_CM = pose();
     
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 7fce812d..349cf2c8 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -72,7 +72,7 @@ private:
     settings s;
     Timer time;
     
-    volatile bool success;
+    volatile bool ever_success;
 
     static constexpr double rad2deg = 180.0/3.14159265;
     static constexpr double deg2rad = 3.14159265/180.0;