2 files changed, 34 insertions, 9 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 1a638198..d068564d 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -16,6 +16,7 @@
 #include <opencv/highgui.h>
 #include <vector>
 #include <cstdio>
+#include <memory>
 
 #if defined(_WIN32)
 #include <dshow.h>
@@ -100,6 +101,7 @@ static resolution_tuple resolution_choices[] = {
 
 void Tracker::load_settings()
 {
+    QMutexLocker foo(&mtx);
 	QSettings settings("opentrack");
 	QString currentFile = settings.value( "SettingsFile", QCoreApplication::applicationDirPath() + "/settings/default.ini" ).toString();
 	QSettings iniFile( currentFile, QSettings::IniFormat );
@@ -126,6 +128,8 @@ void Tracker::load_settings()
         headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble();
     }
 	iniFile.endGroup();
+
+    reset = true;
 }
 
 Tracker::Tracker()
@@ -149,6 +153,7 @@ Tracker::~Tracker()
 
 void Tracker::StartTracker(QFrame* videoframe)
 {
+    reset = false;
     videoframe->show();
     videoWidget = new ArucoVideoWidget(videoframe);
     QHBoxLayout* layout = new QHBoxLayout();
@@ -169,26 +174,32 @@ void Tracker::StartTracker(QFrame* videoframe)
 
 void Tracker::run()
 {
-    cv::VideoCapture camera(camera_index);
+start:
+    reset = false;
+    std::unique_ptr<cv::VideoCapture> camera(new cv::VideoCapture(camera_index));
     
     if (force_width)
-        camera.set(CV_CAP_PROP_FRAME_WIDTH, force_width);
+        camera->set(CV_CAP_PROP_FRAME_WIDTH, force_width);
     if (force_height)
-        camera.set(CV_CAP_PROP_FRAME_HEIGHT, force_height);
+        camera->set(CV_CAP_PROP_FRAME_HEIGHT, force_height);
     if (force_fps)
-        camera.set(CV_CAP_PROP_FPS, force_fps);
+        camera->set(CV_CAP_PROP_FPS, force_fps);
     
     aruco::MarkerDetector detector;
     detector.setDesiredSpeed(3);
     detector.setThresholdParams(11, 5);
     cv::Mat color, color_, grayscale, grayscale2, rvec, tvec;
     
-    if (!camera.isOpened())
+    if (!camera->isOpened())
     {
         fprintf(stderr, "aruco tracker: can't open camera\n");
         return;
     }
 
+    while (!stop)
+        if(camera->read(color_))
+            break;
+
     auto freq = cv::getTickFrequency();
     auto last_time = cv::getTickCount();
     auto prev_time = last_time;
@@ -200,7 +211,12 @@ void Tracker::run()
     cv::Point2f last_centroid;
     while (!stop)
     {
-        if (!camera.read(color_))
+        if (reset)
+        {
+            camera.reset(nullptr);
+            goto start;
+        }
+        if (!camera->read(color_))
             continue;
         color_.copyTo(color);
         cv::cvtColor(color, grayscale2, cv::COLOR_BGR2GRAY);
@@ -416,6 +432,7 @@ extern "C" FTNOIR_TRACKER_BASE_EXPORT ITrackerDialog* CALLING_CONVENTION GetDial
 
 TrackerControls::TrackerControls()
 {
+    tracker = nullptr;
 	ui.setupUi(this);
     setAttribute(Qt::WA_NativeWindow, true);
 	connect(ui.cameraName, SIGNAL(currentIndexChanged(int)), this, SLOT(settingChanged(int)));
@@ -553,6 +570,8 @@ void TrackerControls::save()
     }
 	iniFile.endGroup();
 	settingsDirty = false;
+    if (tracker)
+        tracker->load_settings();
 }
 
 void TrackerControls::doOK()
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 5d3d4ed6..61eec096 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -28,6 +28,7 @@ public:
     bool GiveHeadPoseData(double *data);
 	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
     void run();
+    void load_settings();
 private:
     QMutex mtx;
 	ArucoVideoWidget* videoWidget;
@@ -36,10 +37,10 @@ private:
     float fov;
     int camera_index;
     int force_fps, force_width, force_height;
-    void load_settings();
     double pose[6];
     cv::Mat frame;
     double headpos[3];
+    volatile bool reset;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.
@@ -53,14 +54,19 @@ public:
     void showEvent (QShowEvent *);
 
     void Initialize(QWidget *);
-    void registerTracker(ITracker *) {}
-    void unRegisterTracker() {}
+    void registerTracker(ITracker * x) {
+        tracker = dynamic_cast<Tracker*>(x);
+    }
+    void unRegisterTracker() {
+        tracker = nullptr;
+    }
 
 private:
 	Ui::Form ui;
 	void loadSettings();
 	void save();
 	bool settingsDirty;
+    Tracker* tracker;
 
 private slots:
 	void doOK();