wrappers/cpp: Do not start stopped streams when setting formats

Signed-off-by: Benn Snyder <[email protected]>

Author: piedar

OpenNI2-FreenectDriver/src/ColorStream.cpp

@@ -8,6 +8,7 @@ ColorStream::ColorStream(Freenect::FreenectDevice* pDevice) : VideoStream(pDevic
 {
   video_mode = makeOniVideoMode(ONI_PIXEL_FORMAT_RGB888, 640, 480, 30);
   setVideoMode(video_mode);
+  pDevice->startVideo();
 }
 
 // Add video modes here as you implement them

OpenNI2-FreenectDriver/src/DepthStream.cpp

@@ -9,6 +9,7 @@ DepthStream::DepthStream(Freenect::FreenectDevice* pDevice) : VideoStream(pDevic
   video_mode = makeOniVideoMode(ONI_PIXEL_FORMAT_DEPTH_1_MM, 640, 480, 30);
   image_registration_mode = ONI_IMAGE_REGISTRATION_OFF;
   setVideoMode(video_mode);
+  pDevice->startDepth();
 }
 
 // Add video modes here as you implement them

wrappers/cpp/libfreenect.hpp

@@ -101,11 +101,12 @@ namespace Freenect {
 		}
 		void setVideoFormat(freenect_video_format requested_format, freenect_resolution requested_resolution = FREENECT_RESOLUTION_MEDIUM) {
 			if (requested_format != m_video_format || requested_resolution != m_video_resolution) {
-				freenect_stop_video(m_dev);
+				bool wasRunning = (freenect_stop_video(m_dev) >= 0);
 				freenect_frame_mode mode = freenect_find_video_mode(requested_resolution, requested_format);
 				if (!mode.is_valid) throw std::runtime_error("Cannot set video format: invalid mode");
 				if (freenect_set_video_mode(m_dev, mode) < 0) throw std::runtime_error("Cannot set video format");
-				freenect_start_video(m_dev);
+				if (wasRunning)
+					freenect_start_video(m_dev);
 				m_video_format = requested_format;
 				m_video_resolution = requested_resolution;
 			}
@@ -118,11 +119,12 @@ namespace Freenect {
 		}
 		void setDepthFormat(freenect_depth_format requested_format, freenect_resolution requested_resolution = FREENECT_RESOLUTION_MEDIUM) {
 			if (requested_format != m_depth_format || requested_resolution != m_depth_resolution) {
-				freenect_stop_depth(m_dev);
+				bool wasRunning = (freenect_stop_depth(m_dev) >= 0);
 				freenect_frame_mode mode = freenect_find_depth_mode(requested_resolution, requested_format);
 				if (!mode.is_valid) throw std::runtime_error("Cannot set depth format: invalid mode");
 				if (freenect_set_depth_mode(m_dev, mode) < 0) throw std::runtime_error("Cannot set depth format");
-				freenect_start_depth(m_dev);
+				if (wasRunning)
+					freenect_start_depth(m_dev);
 				m_depth_format = requested_format;
 				m_depth_resolution = requested_resolution;
 			}