From 87a2722aa0317f6b2ce38c8c2c73b92986c28cb8 Mon Sep 17 00:00:00 2001
From: LLida <3199335945@qq.com>
Date: Fri, 5 Dec 2025 18:30:32 +0800
Subject: [PATCH] 11

---
 src/MindVisionMain.cpp | 35 ++++++++++++++++++++++++-----------
 1 file changed, 24 insertions(+), 11 deletions(-)

diff --git a/src/MindVisionMain.cpp b/src/MindVisionMain.cpp
index 8492b99..432652f 100644
--- a/src/MindVisionMain.cpp
+++ b/src/MindVisionMain.cpp
@@ -301,7 +301,8 @@ int main(int /*argc*/, char* /*argv*/[]) {
                 predicted_center = std::make_unique<cv::Point2f>(kalman_tracker.predict());
 
                 // Start tracking if successfully detected
-                if (!is_tracking && !armor_plates.empty()) {
+                if (!is_tracking && !armor_plates.empty() && armor_plates[0].corners_2d.size() >= 4) {
+                    // Only start tracking if we have all 4 corners
                     cv::Rect2d armor_rect = cv::boundingRect(std::vector<cv::Point2f>{
                         armor_plates[0].corners_2d[0],
                         armor_plates[0].corners_2d[1],
@@ -318,11 +319,14 @@ int main(int /*argc*/, char* /*argv*/[]) {
                     // Ensure the rectangle is within frame bounds
                     expanded_rect = expanded_rect & cv::Rect2d(0, 0, frame.cols, frame.rows);
 
-                    tracker = cv::TrackerKCF::create(); // Create new tracker instance
-                    tracker->init(frame, expanded_rect);
-                    tracking_roi = expanded_rect;
-                    is_tracking = true;
-                    tracking_frame_count = 0;
+                    // Initialize tracker only if the rectangle has positive area
+                    if (expanded_rect.area() > 0) {
+                        tracker = cv::TrackerKCF::create(); // Create new tracker instance
+                        tracker->init(frame, expanded_rect);
+                        tracking_roi = expanded_rect;
+                        is_tracking = true;
+                        tracking_frame_count = 0;
+                    }
                 }
 
                 consecutive_predicts = 0;
@@ -356,15 +360,19 @@ int main(int /*argc*/, char* /*argv*/[]) {
             bool is_predicted = (display_center != nullptr) && (detection_center == nullptr && (!is_tracking || tracking_center == nullptr));
 
             // Calculate ballistic prediction point
-            cv::Point2f* ballistic_point = ballistic_predictor.predict_ballistic_point(
-                predicted_center.get(), img_center, target_speed
-            );
+            cv::Point2f* ballistic_point = nullptr;
+            if (predicted_center) {
+                ballistic_point = ballistic_predictor.predict_ballistic_point(
+                    predicted_center.get(), img_center, target_speed
+                );
+            }
 
             auto current_time = std::chrono::high_resolution_clock::now();
 
             // Visualization
             visualizer.draw_light_bars(frame, valid_light_bars, target_color);
             if (!armor_plates.empty()) {
+                // Only draw armor plate if it has valid data
                 visualizer.draw_armor_plate(frame, armor_plates[0]);
             }
             // Draw tracking rectangle if tracking
@@ -372,11 +380,16 @@ int main(int /*argc*/, char* /*argv*/[]) {
                 cv::rectangle(frame, tracking_roi, cv::Scalar(0, 255, 0), 2);
             }
             visualizer.draw_offset_text(frame, display_center, target_color, is_predicted);
-            visualizer.draw_ballistic_point(frame, ballistic_point);
+            if (ballistic_point != nullptr) {
+                visualizer.draw_ballistic_point(frame, ballistic_point);
+            }
 
             // Output control data to TTL (passing use_ttl to control whether to send)
             // Now sending on every frame for smoother control
-            output_control_data(display_center, target_color, ttl, img_center, use_ttl);
+            // Only send if ballistic_point is not null and we have a valid display center
+            if (display_center != nullptr && ballistic_point != nullptr) {
+                output_control_data(display_center, target_color, ttl, img_center, use_ttl);
+            }
 
             // Create trackbars for PID parameter tuning
             static bool initialized_trackbars = false;