pt: cleanup some data races

3 files changed, 18 insertions, 8 deletions

diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 2c42652a..5451ec09 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -89,7 +89,7 @@ public:
     void start() override;
     void stop() override;
 
-    operator cv::VideoCapture&() { return *cap; }
+    operator cv::VideoCapture*() { return cap; }
 
 protected:
     bool _get_frame(cv::Mat* frame) override;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index be946018..013777bc 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -72,6 +72,8 @@ void Tracker_PT::run()
 	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
 	QTextStream log_stream(&log_file);
 #endif
+
+    apply_settings();
     
     while((commands & ABORT) == 0)
     {
@@ -152,9 +154,11 @@ void Tracker_PT::apply_settings()
 {
     qDebug()<<"Tracker:: Applying settings";
     QMutexLocker l(&camera_mtx);
+    camera.stop();
     camera.set_device_index(camera_name_to_index(s.camera_name));
     camera.set_res(s.cam_res_x, s.cam_res_y);
     camera.set_fps(s.cam_fps);
+    camera.start();
     cv::Mat intrinsics_ = cv::Mat::eye(3, 3, CV_32FC1);
     cv::Mat dist_coeffs_ = cv::Mat::zeros(5, 1, CV_32FC1);
     intrinsics = cv::Mat();
@@ -183,8 +187,6 @@ void Tracker_PT::start_tracker(QFrame *parent_window)
     video_layout->addWidget(video_widget);
     video_frame->setLayout(video_layout);
     video_widget->resize(video_frame->width(), video_frame->height());
-    camera.start();
-    apply_settings();
     start();
 }
 
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 70511a3f..780e997b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -89,7 +89,13 @@ TrackerDialog_PT::TrackerDialog_PT()
 
 void TrackerDialog_PT::camera_settings()
 {
-    open_camera_settings(tracker ? &static_cast<cv::VideoCapture&>(tracker->camera) : nullptr, s.camera_name, tracker ? &tracker->camera_mtx : nullptr);
+    if (tracker)
+    {
+        QMutexLocker l(&tracker->camera_mtx);
+        open_camera_settings(static_cast<cv::VideoCapture*>(tracker->camera), s.camera_name, &tracker->camera_mtx);
+    }
+    else
+        open_camera_settings(nullptr, s.camera_name, nullptr);
 }
 
 void TrackerDialog_PT::startstop_trans_calib(bool start)
@@ -121,11 +127,13 @@ void TrackerDialog_PT::poll_tracker_info()
     if (tracker)
     {
         QString to_print;
-
-        // display caminfo
         CamInfo info;
-        tracker->get_cam_info(&info);
-        to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
+        {
+            QMutexLocker l(&tracker->camera_mtx);
+            // display caminfo
+            tracker->get_cam_info(&info);
+            to_print = QString::number(info.res_x)+"x"+QString::number(info.res_y)+" @ "+QString::number(info.fps)+" FPS";
+        }
         ui.caminfo_label->setText(to_print);
 
         // display pointinfo