From 130a5317a107f7d5cf2f19276ad68adda4978132 Mon Sep 17 00:00:00 2001
From: GoLez28 <15484340+GoLez28@users.noreply.github.com>
Date: Tue, 21 Nov 2023 23:47:06 -0300
Subject: [PATCH] fixed wrong detection when calibrating, patch to fix crash
 when closing frame windows

---
 TrackingSmoothing/Aruco.cs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/TrackingSmoothing/Aruco.cs b/TrackingSmoothing/Aruco.cs
index 49d064a..71e1c98 100644
--- a/TrackingSmoothing/Aruco.cs
+++ b/TrackingSmoothing/Aruco.cs
@@ -260,7 +260,8 @@ public static void Update(int c) {
                 System.Diagnostics.Stopwatch arucoThreadIdleBenchmark = new System.Diagnostics.Stopwatch();
                 arucoThreadWorkBenchmark.Start();
                 if (Program.wantToCloseWindows) {
-                    CvInvoke.DestroyAllWindows();
+                    CvInvoke.DestroyWindow($"Image{c}");
+                    System.Threading.Thread.Sleep(1000);
                     Program.wantToCloseWindows = false;
                 }
                 bool shouldShowFrame = Program.wantToShowFrame;
@@ -359,7 +360,7 @@ public static void Update(int c) {
                     VectorOfVectorOfPointF rejected = new VectorOfVectorOfPointF(); // rejected contours
 
                     bool halfFrame = useDynamicFraming && frameCount % 6 != 0;
-                    halfFrame |= TrackerCalibrate.startCalibrating || CameraCalibrate.startCalibrating || RoomCalibrate.getRawTrackersStep > -1;
+                    halfFrame &= !(TrackerCalibrate.startCalibrating || CameraCalibrate.startCalibrating || RoomCalibrate.getRawTrackersStep > -1);
                     halfFrame &= !Tag.cameras[c].inWaitMode;
                     if (!halfFrame) {
                         ArucoInvoke.DetectMarkers(frame, ArucoDict, corners, ids, ArucoParameters, rejected);