tracker/rs: cleaned up preview widget setup and deletetion.

4 files changed, 20 insertions, 10 deletions

diff --git a/tracker-rs/ftnoir_tracker_rs.cpp b/tracker-rs/ftnoir_tracker_rs.cpp
index d8d12210..99c5e9d0 100644
--- a/tracker-rs/ftnoir_tracker_rs.cpp
+++ b/tracker-rs/ftnoir_tracker_rs.cpp
@@ -26,6 +26,8 @@ void RSTracker::configurePreviewFrame()
     if(mImageWidget!=nullptr || mPreviewFrame==nullptr)
         return;
 
+    mPreviewFrame->show();
+
     mImageWidget = new ImageWidget(mPreviewFrame);
     mImageWidget->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
 
@@ -35,19 +37,20 @@ void RSTracker::configurePreviewFrame()
 
     QLayout* layout = new QStackedLayout();
     mPreviewFrame->setLayout(layout);
-
     layout->addWidget(mImageWidget);
+
+    mImageWidget->show();
 }
 
 void RSTracker::start_tracker(QFrame* previewFrame)
 {
     mPreviewFrame = previewFrame;
 
-    mTrackerWorkerThread.start(QThread::HighPriority);
-
     configurePreviewFrame();
 
     startPreview();
+
+    mTrackerWorkerThread.start(QThread::HighPriority);
 }
 
 void RSTracker::startPreview(){
@@ -55,7 +58,7 @@ void RSTracker::startPreview(){
 }
 
 void RSTracker::updatePreview(){
-    if(mImageWidget->isEnabled())
+    if(mImageWidget!=nullptr && mImageWidget->isEnabled())
         mImageWidget->setImage(mTrackerWorkerThread.getPreview());
 }
 
@@ -107,6 +110,9 @@ void RSTracker::data(double *data)
 RSTracker::~RSTracker() {
     stopPreview();
 
+    if(mImageWidget!=nullptr)
+        delete mImageWidget;
+
     if (mPreviewFrame!=nullptr && mPreviewFrame->layout()!=nullptr)
         delete mPreviewFrame->layout();
 
diff --git a/tracker-rs/ftnoir_tracker_rs_worker.cpp b/tracker-rs/ftnoir_tracker_rs_worker.cpp
index 213f13ff..c0ea6749 100644
--- a/tracker-rs/ftnoir_tracker_rs_worker.cpp
+++ b/tracker-rs/ftnoir_tracker_rs_worker.cpp
@@ -11,7 +11,7 @@
 
 RSTrackerWorkerThread::RSTrackerWorkerThread(): mPose{0,0,0,0,0,0}{
     setObjectName("RSTrackerWorkerThread");
-    mPreviewRawData = (uchar*)malloc(kPreviewStreamWidth*kPreviewStreamHeight);
+    mPreviewRawData = (uchar*)malloc(1*kPreviewStreamWidth*kPreviewStreamHeight);
     memset(mPreviewRawData, 125, kPreviewStreamWidth*kPreviewStreamHeight); //start with a gray image.
 }
 
@@ -33,7 +33,7 @@ void RSTrackerWorkerThread::run(){
             QMutexLocker lock(&mMutex);
             memcpy(mPose, pose, sizeof(pose));
         }
-        else if(retValue != -303){ // pose update failed. -303 is OK as it's only a timeout.
+        else if(retValue != -303){ // pose update failed and not because of a timeout (-303)
             emit trackingHasFinished(retValue);
             break;
         }
diff --git a/tracker-rs/imagewidget.cpp b/tracker-rs/imagewidget.cpp
index 0136c621..63986234 100644
--- a/tracker-rs/imagewidget.cpp
+++ b/tracker-rs/imagewidget.cpp
@@ -16,12 +16,15 @@ ImageWidget::ImageWidget(QWidget *parent) :
 
 void ImageWidget::setImage(const QImage image)
 {
-    mImage = image;
+    {
+        QMutexLocker lock(&mMutex);
+        mImage = image;
+    }
     repaint();
 }
 
 void ImageWidget::paintEvent(QPaintEvent*)
 {
-    QPainter painter(this);
-    painter.drawImage(rect(), mImage, mImage.rect());
+    QMutexLocker lock(&mMutex);
+    QPainter(this).drawImage(rect(), mImage, mImage.rect());
 }
diff --git a/tracker-rs/imagewidget.h b/tracker-rs/imagewidget.h
index 8f800058..e8b6e61e 100644
--- a/tracker-rs/imagewidget.h
+++ b/tracker-rs/imagewidget.h
@@ -9,6 +9,7 @@
 
 #include <QWidget>
 #include <QImage>
+#include <QMutex>
 
 class ImageWidget : public QWidget {
   Q_OBJECT
@@ -18,7 +19,7 @@ public:
 
 private:
   QImage mImage;
-  uchar* mRawData;
+  QMutex mMutex;
 
 protected:
   void paintEvent(QPaintEvent* event);