stop device correctly

face.cpp

@@ -24,6 +24,7 @@
 
 #include <unistd.h>
 #include <stdio.h>
+#include <thread>
 
 using namespace std;
 using namespace cv;
@@ -44,6 +45,7 @@ std::function<void(std::string, int)> *faceCheckCallback;
 FaceDetection::Mode newMode;
 
 bool started=false;
+bool looping=false;
 
 struct facePosition {int x, y, width, height; };
 
@@ -71,7 +73,7 @@ void FaceDetector::Start(
     faceCheckCallback = &checkCallback;
 
     faceFrameReadyCallback = &faceCallback;
-    if(!started)
+    if (!looping)
     {
         started = true;
         Loop();
@@ -80,8 +82,9 @@ void FaceDetector::Start(
 
 ///
 ///
-void FaceDetector::Stop() {
-    started=false;
+void FaceDetector::Stop()
+{
+    started = false;
 }
 
 ///
@@ -145,6 +148,7 @@ int Loop()
         device->start();
         int trainClock = 0;
 
+        looping = true;
         while (started)
         {
             FaceDetection::Mode currentMode = newMode;
@@ -251,7 +255,7 @@ int Loop()
                 {
 
                     writePLY(model, filename.c_str());
-                    printf("train switch, filename: %s\n",filename.c_str());
+                    printf("train switch, filename: %s\n", filename.c_str());
                     (*faceSaveCallback)(filename);
                     printf("callback fired");
                     newMode = IDLE;
@@ -282,7 +286,18 @@ int Loop()
             }
         }
 
+        if (device->is_streaming())
             device->stop();
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(100));
+
+        for (int j = 0; j < 4; ++j)
+        {
+            auto s = (rs::stream) j;
+            if (device->is_stream_enabled(s)) device->disable_stream(s);
+        }
+
+        looping = false;
         return 0;
     }