[bugfix] Orbbec: Depth stream was not started, if both ZImage and Poi…

…nt3DImage were activated before Connect.
Metrilus · Sep 2, 2019 · 9559aed · 9559aed
1 parent c739bb5
commit 9559aed
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/BetaCameras/OrbbecOpenNI/OrbbecOpenNI.cpp b/BetaCameras/OrbbecOpenNI/OrbbecOpenNI.cpp
@@ -27,6 +27,7 @@ MetriCam2::Cameras::AstraOpenNI::AstraOpenNI()
 	_uvcColorWidth = 1280;
 	_uvcColorHeight = 960;
 	_uvcColorEnforceNewImageInUpdate = false;
+	_depthStreamRunning = false;
 	_extrinsicsCache = gcnew System::Collections::Generic::Dictionary<String^, RigidBodyTransformation^>();
 	_intrinsicsCache = gcnew System::Collections::Generic::Dictionary<String^, ProjectiveTransformation^>();
 }
@@ -496,6 +497,7 @@ void MetriCam2::Cameras::AstraOpenNI::DisconnectImpl()
 		IrStream.stop();
 	}
 	DepthStream.destroy();
+	_depthStreamRunning = false;
 	IrStream.destroy();
 
 	if (_hasOpenNIColor)
@@ -660,8 +662,7 @@ void MetriCam2::Cameras::AstraOpenNI::ActivateChannelImpl(String^ channelName)
 
 	openni::Status rc;
 
-	if ((channelName->Equals(ChannelNames::Point3DImage) && !IsChannelActive(ChannelNames::ZImage))
-		|| (channelName->Equals(ChannelNames::ZImage) && !IsChannelActive(ChannelNames::Point3DImage)))
+	if ((channelName->Equals(ChannelNames::Point3DImage) || channelName->Equals(ChannelNames::ZImage)) && !_depthStreamRunning)
 	{
 		auto irGainBefore = GetIRGain();
 
@@ -693,6 +694,8 @@ void MetriCam2::Cameras::AstraOpenNI::ActivateChannelImpl(String^ channelName)
 			// Activating the depth channel resets the IR gain to the default value -> we need to restore the value that was set before.
 			SetIRGain(irGainBefore);
 		}
+
+		_depthStreamRunning = true;
 	}
 	else if (channelName->Equals(ChannelNames::Intensity))
 	{
@@ -812,6 +815,7 @@ void MetriCam2::Cameras::AstraOpenNI::DeactivateChannelImpl(String^ channelName)
 	if (channelName->Equals(ChannelNames::ZImage) || channelName->Equals(ChannelNames::Point3DImage))
 	{
 		DepthStream.stop();
+		_depthStreamRunning = false;
 	}
 	else if (channelName->Equals(ChannelNames::Intensity))
 	{

diff --git a/BetaCameras/OrbbecOpenNI/OrbbecOpenNI.h b/BetaCameras/OrbbecOpenNI/OrbbecOpenNI.h
@@ -456,6 +456,7 @@ namespace MetriCam2
 			int _uvcColorWidth;
 			int _uvcColorHeight;
 			bool _uvcColorEnforceNewImageInUpdate;
+			bool _depthStreamRunning;
 			// Compensate for offset between IR and Distance images:
 			// Translate infrared frame by a certain number of pixels in vertical direction to match infrared with depth image.
 			int _intensityYTranslation;