From e058bd379f452ba7ecce64625c4438279a668ba4 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sat, 23 Nov 2013 15:24:37 +0100
Subject: remove goto, hopefully fix osx

Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
---
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 13 +++----------
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.h   |  1 -
 2 files changed, 3 insertions(+), 11 deletions(-)

(limited to 'ftnoir_tracker_aruco')

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 2fdd1014..0d93dba5 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -129,8 +129,6 @@ void Tracker::load_settings()
         headpos[i] = iniFile.value(QString("headpos-%1").arg(i), 0).toDouble();
     }
 	iniFile.endGroup();
-
-    reset = true;
 }
 
 Tracker::Tracker()
@@ -144,7 +142,6 @@ Tracker::Tracker()
 
 Tracker::~Tracker()
 {
-    QMutexLocker foo(&mtx);
     stop = true;
     wait();
 	if (videoWidget)
@@ -155,7 +152,6 @@ Tracker::~Tracker()
 
 void Tracker::StartTracker(QFrame* videoframe)
 {
-    reset = false;
     videoframe->show();
     videoWidget = new ArucoVideoWidget(videoframe);
     QHBoxLayout* layout = new QHBoxLayout();
@@ -176,8 +172,6 @@ void Tracker::StartTracker(QFrame* videoframe)
 
 void Tracker::run()
 {
-start:
-    reset = false;
     cv::VideoCapture camera(camera_index);
     
     if (force_width)
@@ -214,10 +208,6 @@ start:
     cv::Point2f last_centroid;
     while (!stop)
     {
-        if (reset)
-        {
-            goto start;
-        }
         if (!camera.read(color_))
             continue;
         auto tm = cv::getTickCount();
@@ -364,6 +354,9 @@ start:
         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 9b9ff19d..097c91e1 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -40,7 +40,6 @@ private:
     double pose[6];
     cv::Mat frame;
     double headpos[3];
-    volatile bool reset;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.
-- 
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