From c37f43804ed02a303826b7a6e975e005aa621ca1 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 24 Jan 2015 14:54:09 +0100
Subject: pt: retrieve current pose under lock

---
 ftnoir_tracker_pt/ftnoir_tracker_pt.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index dcc8eefb..56a2991d 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -159,7 +159,7 @@ void Tracker::StopTracker(bool exit)
 void Tracker::data(THeadPoseData *data)
 {
 
-    Affine X_CM = point_tracker.pose();
+    Affine X_CM = pose();
 
     Affine X_MH(Matx33f::eye(), cv::Vec3f(s.t_MH_x, s.t_MH_y, s.t_MH_z));
     Affine X_GH = X_CM * X_MH;
@@ -180,7 +180,6 @@ void Tracker::data(THeadPoseData *data)
     alpha = atan2( R(1,0), R(0,0));
     gamma = atan2( R(2,1), R(2,2));
 
-    QMutexLocker lock(&mutex);
     // extract rotation angles
     data[Yaw] = rad2deg * alpha;
     data[Pitch] = -rad2deg * beta;
-- 
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