6 files changed, 15 insertions, 12 deletions

diff --git a/clientfiles/freepie-udp/com.freepie.android.imu.apk b/clientfiles/freepie-udp/com.freepie.android.imu.apk
index 0277b82a..11934d67 100644
--- a/clientfiles/freepie-udp/com.freepie.android.imu.apk
+++ b/clientfiles/freepie-udp/com.freepie.android.imu.apk
diff --git a/facetracknoir/main.cpp b/facetracknoir/main.cpp
index 9c2ced45..ae237b61 100644
--- a/facetracknoir/main.cpp
+++ b/facetracknoir/main.cpp
@@ -28,9 +28,9 @@ int main(int argc, char** argv)
     QApplication::setAttribute(Qt::AA_X11InitThreads, true);
     QApplication app(argc, argv);
 
-    auto w = std::make_shared<MainWindow>();
+    MainWindow w;
 
-    w->show();
+    w.show();
     app.exec();
 
     return 0;
diff --git a/facetracknoir/ui.cpp b/facetracknoir/ui.cpp
index 54e4646e..c9a0b7b3 100644
--- a/facetracknoir/ui.cpp
+++ b/facetracknoir/ui.cpp
@@ -88,7 +88,6 @@ MainWindow::~MainWindow()
         tray->hide();
     stopTracker();
     save();
-    _exit(0);
 }
 
 void MainWindow::set_working_directory()
@@ -132,6 +131,7 @@ void MainWindow::save() {
     settings->sync();
 
 #if defined(__unix) || defined(__linux)
+    QString currentFile = group::ini_pathname();
     QByteArray bytes = QFile::encodeName(currentFile);
     const char* filename_as_asciiz = bytes.constData();
 
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 27d835f0..4e257e3a 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -204,7 +204,7 @@ void Tracker::run()
         cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
         
         const int scale = grayscale.cols > 480 ? 2 : 1;
-        detector.setThresholdParams(scale > 1 ? 13 : 7, 5);
+        detector.setThresholdParams(scale > 1 ? 7 : 5, 4);
 
         const float focal_length_w = 0.5 * grayscale.cols / tan(0.5 * s.fov * HT_PI / 180);
         const float focal_length_h = 0.5 * grayscale.rows / tan(0.5 * s.fov * grayscale.rows / grayscale.cols * HT_PI / 180.0);
@@ -298,7 +298,7 @@ void Tracker::run()
 
             cv::Vec3d rvec, tvec;
 
-            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, cv::ITERATIVE);
+            cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec, tvec, false, CV_ITERATIVE);
 
             std::vector<cv::Point2f> roi_projection(4);
 
@@ -323,7 +323,7 @@ void Tracker::run()
 
             {
                 cv::Mat rvec_, tvec_;
-                cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, cv::ITERATIVE);
+                cv::solvePnP(obj_points, m, intrinsics, dist_coeffs, rvec_, tvec_, false, CV_ITERATIVE);
                 tvec = tvec_;
             }
 
diff --git a/opentrack/options.hpp b/opentrack/options.hpp
index 5eae754f..23ce6f7b 100644
--- a/opentrack/options.hpp
+++ b/opentrack/options.hpp
@@ -224,7 +224,7 @@ namespace options {
         {
         public:
             using pbundle = std::shared_ptr<v>;
-            using tt = std::tuple<cnt, pbundle>;
+            using tt = std::tuple<cnt, std::weak_ptr<v>>;
         private:
             QMutex implsgl_mtx;
             map<k, tt> implsgl_data;
@@ -242,7 +242,11 @@ namespace options {
                 QMutexLocker l(&implsgl_mtx);
 
                 if (implsgl_data.count(key) != 0)
-                    return std::get<1>(implsgl_data[key]);
+                {
+                    auto shared = std::get<1>(implsgl_data[key]).lock();
+                    if (shared != nullptr)
+                        return shared;
+                }
                 
                 qDebug() << "bundle +" << QString::fromStdString(key);
 
@@ -258,8 +262,6 @@ namespace options {
                 if (--std::get<0>(implsgl_data[key]) == 0)
                     implsgl_data.erase(key);
             }
-
-            ~opt_singleton() { implsgl_data.clear(); }
         };
 
         using pbundle = std::shared_ptr<opt_bundle>;
diff --git a/opentrack/plugin-support.cpp b/opentrack/plugin-support.cpp
index 2c129906..403798de 100644
--- a/opentrack/plugin-support.cpp
+++ b/opentrack/plugin-support.cpp
@@ -120,15 +120,16 @@ QList<mem<dylib>> dylib::enum_libraries()
 
 dylib::dylib(const QString& filename, Type t) :
     type(t),
+    filename(filename),
     Dialog(nullptr),
     Constructor(nullptr),
-    Meta(nullptr)
+    Meta(nullptr),
+    handle(nullptr)
 {
     // otherwise dlopen opens the calling executable
     if (filename.size() == 0)
         return;
 
-    this->filename = filename;
 #if defined(_WIN32)
     QString fullPath = QCoreApplication::applicationDirPath() + "/" + this->filename;
     handle = new QLibrary(fullPath);