fix invalid access if we are missing a multi-cam (i.e. we would get a…

…n error if we have processed cam0 and cam2 but cam1 has not given any images yet)

ov_core/src/track/TrackBase.cpp

@@ -52,13 +52,14 @@ void TrackBase::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2,
     if(image_new) img_out = cv::Mat(max_height,(int)img_last.size()*max_width,CV_8UC3,cv::Scalar(0,0,0));
 
     // Loop through each image, and draw
+    int index_cam = 0;
     for(auto const& pair : img_last) {
         // Lock this image
         std::unique_lock<std::mutex> lck(mtx_feeds.at(pair.first));
         // select the subset of the image
         cv::Mat img_temp;
         if(image_new) cv::cvtColor(img_last[pair.first], img_temp, CV_GRAY2RGB);
-        else img_temp = img_out(cv::Rect(max_width*pair.first,0,max_width,max_height));
+        else img_temp = img_out(cv::Rect(max_width*index_cam,0,max_width,max_height));
         // draw, loop through all keypoints
         for(size_t i=0; i<pts_last[pair.first].size(); i++) {
             // Get bounding pts for our boxes
@@ -74,7 +75,8 @@ void TrackBase::display_active(cv::Mat &img_out, int r1, int g1, int b1, int r2,
         // Draw what camera this is
         cv::putText(img_temp, "CAM:"+std::to_string((int)pair.first), cv::Point(30,60), cv::FONT_HERSHEY_COMPLEX_SMALL, 3.0, cv::Scalar(0,255,0),3);
         // Replace the output image
-        img_temp.copyTo(img_out(cv::Rect(max_width*pair.first,0,img_last[pair.first].cols,img_last[pair.first].rows)));
+        img_temp.copyTo(img_out(cv::Rect(max_width*index_cam,0,img_last[pair.first].cols,img_last[pair.first].rows)));
+        index_cam++;
     }
 
 }
@@ -113,13 +115,14 @@ void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2
     size_t maxtracks = (size_t)-1;
 
     // Loop through each image, and draw
+    int index_cam = 0;
     for(auto const& pair : img_last) {
         // Lock this image
         std::unique_lock<std::mutex> lck(mtx_feeds.at(pair.first));
         // select the subset of the image
         cv::Mat img_temp;
         if(image_new) cv::cvtColor(img_last[pair.first], img_temp, CV_GRAY2RGB);
-        else img_temp = img_out(cv::Rect(max_width*pair.first,0,max_width,max_height));
+        else img_temp = img_out(cv::Rect(max_width*index_cam,0,max_width,max_height));
         // draw, loop through all keypoints
         for(size_t i=0; i<ids_last[pair.first].size(); i++) {
             // Get the feature from the database
@@ -154,7 +157,8 @@ void TrackBase::display_history(cv::Mat &img_out, int r1, int g1, int b1, int r2
         // Draw what camera this is
         cv::putText(img_temp, "CAM:"+std::to_string((int)pair.first), cv::Point(30,60), cv::FONT_HERSHEY_COMPLEX_SMALL, 3.0, cv::Scalar(0,255,0),3);
         // Replace the output image
-        img_temp.copyTo(img_out(cv::Rect(max_width*pair.first,0,img_last[pair.first].cols,img_last[pair.first].rows)));
+        img_temp.copyTo(img_out(cv::Rect(max_width*index_cam,0,img_last[pair.first].cols,img_last[pair.first].rows)));
+        index_cam++;
     }
 
 }