1.1 --- a/src/kinect.cc	Sat Oct 05 19:02:40 2013 +0300
     1.2 +++ b/src/kinect.cc	Wed Oct 09 22:56:42 2013 +0300
     1.3 @@ -33,12 +33,16 @@
     1.4  	}
     1.5  
     1.6  	if(freenect_set_led(*kin_dev, kin_params->led_color) < 0) {
     1.7 +		fprintf(stderr, "Failed to set kinect LED\n");
     1.8  		stop_kinect(*kin_ctx, *kin_dev);
     1.9 -		fprintf(stderr, "Failed to set kinect LED\n");
    1.10  		return false;
    1.11  	}
    1.12  
    1.13 -	init_frame_mx();
    1.14 +	return true;
    1.15 +}
    1.16 +
    1.17 +bool init_kinect_frames(freenect_context **kin_ctx, freenect_device **kin_dev,
    1.18 +		KinectParams *kin_params) {
    1.19  
    1.20  	freenect_set_video_callback(*kin_dev, video_cb);
    1.21  	freenect_set_depth_callback(*kin_dev, depth_cb);
    1.22 @@ -46,7 +50,6 @@
    1.23  	if(freenect_set_video_mode(*kin_dev,
    1.24  			freenect_find_video_mode(kin_params->video_res,
    1.25  				kin_params->video_format)) < 0) {
    1.26 -		stop_kinect(*kin_ctx, *kin_dev);
    1.27  		fprintf(stderr, "Failed to set kinect video mode.\n");
    1.28  		return false;
    1.29  	}
    1.30 @@ -54,7 +57,6 @@
    1.31  	if(freenect_set_depth_mode(*kin_dev,
    1.32  				freenect_find_depth_mode(kin_params->depth_res,
    1.33  					kin_params->depth_format)) < 0) {
    1.34 -		stop_kinect(*kin_ctx, *kin_dev);
    1.35  		fprintf(stderr, "Failed to set kinect depth mode.\n");
    1.36  		return false;
    1.37  	}
    1.38 @@ -72,12 +74,25 @@
    1.39  	return true;
    1.40  }
    1.41  
    1.42 +void stop_kinect_video_frames(freenect_device *kin_dev)
    1.43 +{
    1.44 +	freenect_stop_video(kin_dev);
    1.45 +}
    1.46 +
    1.47 +void stop_kinect_depth_frames(freenect_device *kin_dev)
    1.48 +{
    1.49 +	freenect_stop_depth(kin_dev);
    1.50 +}
    1.51 +
    1.52 +void stop_kinect_frames(freenect_device *kin_dev)
    1.53 +{
    1.54 +	stop_kinect_video_frames(kin_dev);
    1.55 +	stop_kinect_depth_frames(kin_dev);
    1.56 +}
    1.57 +
    1.58  void stop_kinect(freenect_context *kin_ctx, freenect_device *kin_dev)
    1.59  {
    1.60  	freenect_set_led(kin_dev, LED_OFF);
    1.61 -
    1.62 -	freenect_stop_depth(kin_dev);
    1.63 -	freenect_stop_video(kin_dev);
    1.64  	freenect_close_device(kin_dev);
    1.65  	freenect_shutdown(kin_ctx);
    1.66  }