From 055c6a23d079a3b877e6596f1e5a22041a9745b7 Mon Sep 17 00:00:00 2001
From: TinyOh <tinyoh@slightech.com>
Date: Wed, 20 Feb 2019 16:31:32 +0800
Subject: [PATCH] fix(thread): ProcessNativeStream

---
 src/mynteye/api/synthetic.cc | 8 +++-----
 src/mynteye/api/synthetic.h  | 2 ++
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/mynteye/api/synthetic.cc b/src/mynteye/api/synthetic.cc
index a73d280..1830e67 100644
--- a/src/mynteye/api/synthetic.cc
+++ b/src/mynteye/api/synthetic.cc
@@ -583,14 +583,12 @@ void Synthetic::InitProcessors() {
 void Synthetic::ProcessNativeStream(
     const Stream &stream, const api::StreamData &data) {
   if (stream == Stream::LEFT || stream == Stream::RIGHT) {
+    std::unique_lock<std::mutex> lk(mtx_left_right_ready_);
     static api::StreamData left_data, right_data;
-    cv::Mat tmp1, tmp2;
     if (stream == Stream::LEFT) {
       left_data = data;
-      tmp1 = left_data.frame.clone();
     } else if (stream == Stream::RIGHT) {
       right_data = data;
-      tmp2 = right_data.frame.clone();
     }
     if (left_data.img && right_data.img &&
         left_data.img->frame_id == right_data.img->frame_id) {
@@ -607,8 +605,8 @@ void Synthetic::ProcessNativeStream(
         processor = find_processor<RectifyProcessorOCV>(processor_);
       }
       processor->Process(ObjMat2{
-          tmp1, left_data.frame_id, left_data.img,
-          tmp2, right_data.frame_id, right_data.img});
+          left_data.frame, left_data.frame_id, left_data.img,
+          right_data.frame, right_data.frame_id, right_data.img});
     }
     return;
   }
diff --git a/src/mynteye/api/synthetic.h b/src/mynteye/api/synthetic.h
index e39088b..29a9548 100644
--- a/src/mynteye/api/synthetic.h
+++ b/src/mynteye/api/synthetic.h
@@ -19,6 +19,7 @@
 #include <memory>
 #include <string>
 #include <vector>
+#include <mutex>
 
 #include "mynteye/api/api.h"
 #include "mynteye/api/config.h"
@@ -132,6 +133,7 @@ class Synthetic {
   std::shared_ptr<Plugin> plugin_;
 
   CalibrationModel calib_model_;
+  std::mutex mtx_left_right_ready_;
 
   std::shared_ptr<IntrinsicsBase> intr_left_;
   std::shared_ptr<IntrinsicsBase> intr_right_;