Method close

src/libfreenect2.cpp:1030–1089

}

bool Freenect2DeviceImpl::close()
{
  LOG_INFO << "closing...";

  if(state_ == Closed)
  {
    LOG_INFO << "already closed, doing nothing";
    return true;
  }

  if(state_ == Streaming)
  {
    stop();
  }

  CommandTransaction::Result result;
  command_tx_.execute(SetModeEnabledWith0x00640064Command(nextCommandSeq()), result);
  command_tx_.execute(SetModeDisabledCommand(nextCommandSeq()), result);
  /* This command actually reboots the device and makes it disappear for 3 seconds.
   * Protonect can restart instantly without it.
   */
#ifdef __APPLE__
  /* Kinect will disappear on Mac OS X regardless during close().
   * Painstaking effort could not determine the root cause.
   * See https://github.com/OpenKinect/libfreenect2/issues/539
   *
   * Shut down Kinect explicitly on Mac and wait a fixed time.
   */
  command_tx_.execute(ShutdownCommand(nextCommandSeq()), result);
  libfreenect2::this_thread::sleep_for(libfreenect2::chrono::milliseconds(4*1000));
#endif

  if(pipeline_->getRgbPacketProcessor() != 0)
    pipeline_->getRgbPacketProcessor()->setFrameListener(0);

  if(pipeline_->getDepthPacketProcessor() != 0)
    pipeline_->getDepthPacketProcessor()->setFrameListener(0);

  if(has_usb_interfaces_)
  {
    LOG_INFO << "releasing usb interfaces...";

    usb_control_.releaseInterfaces();
    has_usb_interfaces_ = false;
  }

  LOG_INFO << "deallocating usb transfer pools...";
  rgb_transfer_pool_.deallocate();
  ir_transfer_pool_.deallocate();

  LOG_INFO << "closing usb device...";

  libusb_close(usb_device_handle_);
  usb_device_handle_ = 0;
  usb_device_ = 0;

  state_ = Closed;
  LOG_INFO << "closed";