Do not use thread pool for second camera

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

@@ -347,14 +347,13 @@ 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_) {
@@ -371,8 +370,9 @@ bool OpenCVDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cud
 				//}
 
 				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

@@ -283,12 +283,13 @@ 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(),
@@ -315,15 +316,16 @@ bool PylonDevice::get(ftl::rgbd::Frame &frame, cv::cuda::GpuMat &l_out, cv::cuda
 					//}
 
 					r_out.upload(r, stream);
-				return true;
-			}));
+					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) {