2 files changed, 6 insertions, 5 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 0d93dba5..41bf0edd 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -148,6 +148,9 @@ Tracker::~Tracker()
 		delete videoWidget;
     if(layout)
         delete layout;
+    qDebug() << "releasing camera, brace for impact";
+    camera.release();
+    qDebug() << "all done!";
 }
 
 void Tracker::StartTracker(QFrame* videoframe)
@@ -172,8 +175,7 @@ void Tracker::StartTracker(QFrame* videoframe)
 
 void Tracker::run()
 {
-    cv::VideoCapture camera(camera_index);
-    
+    camera = cv::VideoCapture(camera_index);  
     if (force_width)
         camera.set(CV_CAP_PROP_FRAME_WIDTH, force_width);
     if (force_height)
@@ -354,9 +356,6 @@ void Tracker::run()
         if (frame.rows > 0)
             videoWidget->update_image(frame);
     }
-    qDebug() << "releasing camera, brace for impact";
-    camera.release();
-    qDebug() << "all done!";
 }
 
 bool Tracker::GiveHeadPoseData(double *data)
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 097c91e1..3a2ebeea 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -17,6 +17,7 @@
 #include <QHBoxLayout>
 #include <QDialog>
 #include <opencv2/opencv.hpp>
+#include <opencv/highgui.h>
 
 class Tracker : protected QThread, public ITracker
 {
@@ -40,6 +41,7 @@ private:
     double pose[6];
     cv::Mat frame;
     double headpos[3];
+    cv::VideoCapture camera;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.