Do not use thread pool for second camera

components/rgbd-sources/src/sources/stereovideo/opencv.cpp

@@ -347,32 +347,32 @@ bool OpenCVDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cud
 
 	if (!camera_a_) return false;
 
-	std::future<bool> future_b;
+	//std::future<bool> future_b;
 	if (camera_b_) {
-		future_b = std::move(ftl::pool.push([this,&rfull,&r,c,&r_out,&r_hres_out,&stream](int id) {
+		//future_b = std::move(ftl::pool.push([this,&rfull,&r,c,&r_out,&r_hres_out,&stream](int id) {
 			if (!camera_b_->retrieve(frame_r_)) {
 				LOG(ERROR) << "Unable to read frame from camera B";
 				return false;
+			} else {
+				cv::cvtColor(frame_r_, rtmp2_, cv::COLOR_BGR2BGRA);
+
+				//if (stereo_) {
+					c->rectify(rtmp2_, rfull, Channel::Right);
+
+					if (hasHigherRes()) {
+						// TODO: Use threads?
+						cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
+						r_hres_out = rfull;
+					}
+					else {
+						r_hres_out = Mat();
+					}
+				//}
+
+				r_out.upload(r, stream);
 			}
-
-			cv::cvtColor(frame_r_, rtmp2_, cv::COLOR_BGR2BGRA);
-
-			//if (stereo_) {
-				c->rectify(rtmp2_, rfull, Channel::Right);
-
-				if (hasHigherRes()) {
-					// TODO: Use threads?
-					cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
-					r_hres_out = rfull;
-				}
-				else {
-					r_hres_out = Mat();
-				}
-			//}
-
-			r_out.upload(r, stream);
-			return true;
-		}));
+			//return true;
+		//}));
 	}
 
 	if (camera_b_) {
@@ -431,10 +431,10 @@ bool OpenCVDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cud
 		cv::imencode(".jpg", thumb, thumbdata, params);
 	}
 
-	if (camera_b_) {
+	//if (camera_b_) {
 		//FTL_Profile("WaitCamB", 0.05);
-		future_b.wait();
-	}
+		//future_b.wait();
+	//}
 
 	return true;
 }

components/rgbd-sources/src/sources/stereovideo/pylon.cpp

@@ -283,47 +283,49 @@ bool PylonDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cuda
 
 	try {
 		FTL_Profile("Frame Retrieve", 0.005);
-		std::future<bool> future_b;
+		//std::future<bool> future_b;
+		bool res_r = false;
 		if (rcam_) {
-			future_b = std::move(ftl::pool.push([this,&rfull,&r,&l,c,&r_out,&h_r,&stream](int id) {
+			//future_b = std::move(ftl::pool.push([this,&rfull,&r,&l,c,&r_out,&h_r,&stream](int id) {
 				Pylon::CGrabResultPtr result_right;
 
-				if (!_retrieveFrames(result_right, rcam_)) return false;
+				if (_retrieveFrames(result_right, rcam_)) {
 
-				cv::Mat wrap_right(
-				result_right->GetHeight(),
-				result_right->GetWidth(),
-				CV_8UC1,
-				(uint8_t*)result_right->GetBuffer());
+					cv::Mat wrap_right(
+					result_right->GetHeight(),
+					result_right->GetWidth(),
+					CV_8UC1,
+					(uint8_t*)result_right->GetBuffer());
 
-				{
-					FTL_Profile("Bayer Colour (R)", 0.005);
-					cv::cvtColor(wrap_right, rtmp2_, cv::COLOR_BayerRG2BGRA);
-				}
-
-				//if (isStereo()) {
-					FTL_Profile("Rectify and Resize (R)", 0.005);
-					c->rectify(rtmp2_, rfull, Channel::Right);
-
-					if (hasHigherRes()) {
-						cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
-						h_r = rfull;
+					{
+						FTL_Profile("Bayer Colour (R)", 0.005);
+						cv::cvtColor(wrap_right, rtmp2_, cv::COLOR_BayerRG2BGRA);
 					}
-					else {
-						h_r = Mat();
-					}
-				//}
 
-				r_out.upload(r, stream);
-				return true;
-			}));
+					//if (isStereo()) {
+						FTL_Profile("Rectify and Resize (R)", 0.005);
+						c->rectify(rtmp2_, rfull, Channel::Right);
+
+						if (hasHigherRes()) {
+							cv::resize(rfull, r, r.size(), 0.0, 0.0, interpolation_);
+							h_r = rfull;
+						}
+						else {
+							h_r = Mat();
+						}
+					//}
+
+					r_out.upload(r, stream);
+					res_r = true;
+				}
+			//}));
 		}
 
 		Pylon::CGrabResultPtr result_left;
 
 		if (!_retrieveFrames(result_left, lcam_)) {
 			if (rcam_) {
-				future_b.wait();
+				//future_b.wait();
 			}
 			return false;
 		}
@@ -357,8 +359,9 @@ bool PylonDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cuda
 		l_out.upload(l, stream);
 
 		if (rcam_) {
-			future_b.wait();
-			if (!future_b.get()) return false;
+			//future_b.wait();
+			//if (!future_b.get()) return false;
+			if (!res_r) return false;
 		}
 
 	} catch (const GenericException &e) {