tracker/{aruco,pt}: use RAII for QObject

4 files changed, 23 insertions, 39 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 0df89fcb..5473eb6f 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -42,15 +42,13 @@ constexpr const double aruco_tracker::size_min;
 constexpr const double aruco_tracker::size_max;
 
 aruco_tracker::aruco_tracker() :
-    stop(false),
-    layout(nullptr),
-    videoWidget(nullptr),
     fps(0),
     obj_points(4),
     intrinsics(cv::Matx33d::eye()),
     rmat(cv::Matx33d::eye()),
     roi_points(4),
-    last_roi(65535, 65535, 0, 0)
+    last_roi(65535, 65535, 0, 0),
+    stop(false)
 {
     // param 2 ignored for Otsu thresholding. it's required to use our fork of Aruco.
     detector.setThresholdParams(7, -1);
@@ -62,10 +60,6 @@ aruco_tracker::~aruco_tracker()
 {
     stop = true;
     wait();
-    if (videoWidget)
-        delete videoWidget;
-    if(layout)
-        delete layout;
     // fast start/stop causes breakage
     portable::sleep(1000);
     camera.release();
@@ -74,18 +68,15 @@ aruco_tracker::~aruco_tracker()
 void aruco_tracker::start_tracker(QFrame* videoframe)
 {
     videoframe->show();
-    videoWidget = new cv_video_widget(videoframe);
-    QHBoxLayout* layout_ = new QHBoxLayout();
-    layout_->setContentsMargins(0, 0, 0, 0);
-    layout_->addWidget(videoWidget);
-    if (videoframe->layout())
-        delete videoframe->layout();
-    videoframe->setLayout(layout_);
+    videoWidget = qptr<cv_video_widget>(videoframe);
+    layout = qptr<QHBoxLayout>();
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(videoWidget.data());
+    videoframe->setLayout(layout.data());
     videoWidget->show();
     start();
     for (int i = 0; i < 6; i++)
         pose[i] = 0;
-    layout = layout_;
 }
 
 void aruco_tracker::getRT(cv::Matx33d& r_, cv::Vec3d& t_)
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 54940d28..edec2437 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -78,8 +78,8 @@ private:
     cv::VideoCapture camera;
     QMutex camera_mtx;
     QMutex mtx;
-    QHBoxLayout* layout;
-    cv_video_widget* videoWidget;
+    qshared<cv_video_widget> videoWidget;
+    qshared<QHBoxLayout> layout;
     settings s;
     double pose[6], fps;
     cv::Mat frame, grayscale, color;
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index ca25e858..0e43b812 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -19,8 +19,6 @@
 
 //-----------------------------------------------------------------------------
 Tracker_PT::Tracker_PT() :
-      video_widget(nullptr),
-      video_frame(nullptr),
       point_count(0),
       commands(0),
       ever_success(false)
@@ -32,13 +30,7 @@ Tracker_PT::~Tracker_PT()
 {
     set_command(ABORT);
     wait();
-    if (video_widget)
-        delete video_widget;
-    video_widget = NULL;
-    if (video_frame)
-    {
-        if (video_frame->layout()) delete video_frame->layout();
-    }
+
     // fast start/stop causes breakage
     camera.stop();
 }
@@ -180,7 +172,7 @@ void Tracker_PT::run()
             video_widget->update_image(frame_);
         }
     }
-    qDebug() << "pt: Thread stopping";
+    qDebug() << "pt: thread stopped";
 }
 
 void Tracker_PT::apply_settings()
@@ -209,17 +201,16 @@ void Tracker_PT::apply_settings()
     qDebug() << "pt: done applying settings";
 }
 
-void Tracker_PT::start_tracker(QFrame *parent_window)
+void Tracker_PT::start_tracker(QFrame* video_frame)
 {
-    video_frame = parent_window;
     video_frame->setAttribute(Qt::WA_NativeWindow);
-    video_frame->show();
-    video_widget = new cv_video_widget(video_frame);
-    QHBoxLayout* video_layout = new QHBoxLayout(parent_window);
-    video_layout->setContentsMargins(0, 0, 0, 0);
-    video_layout->addWidget(video_widget);
-    video_frame->setLayout(video_layout);
+    video_widget = qptr<cv_video_widget>(video_frame);
+    layout = qptr<QHBoxLayout>(video_frame);
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(video_widget.data());
+    video_frame->setLayout(layout.data());
     video_widget->resize(video_frame->width(), video_frame->height());
+    video_frame->show();
     start();
 }
 
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 020694ae..66928655 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -18,12 +18,14 @@
 #include "point_tracker.h"
 #include "compat/timer.hpp"
 #include "cv/video-widget.hpp"
+#include "compat/util.hpp"
 
 #include <QCoreApplication>
 #include <QThread>
 #include <QMutex>
 #include <QMutexLocker>
 #include <QTime>
+#include <QLayout>
 #include <atomic>
 #include <memory>
 #include <vector>
@@ -65,12 +67,12 @@ private:
 
     QMutex camera_mtx;
     QMutex data_mtx;
-    CVCamera       camera;
+    Camera       camera;
     PointExtractor point_extractor;
     PointTracker   point_tracker;
 
-    cv_video_widget* video_widget;
-    QFrame*      video_frame;
+    qshared<cv_video_widget> video_widget;
+    qshared<QLayout> layout;
 
     settings_pt s;
     Timer time;