libfreenect freezes before exiting

[csantosbh]

This issue happens randomly on my machine: By running the sample code available on the docs, sometimes the program would freeze for several seconds just before the exit point. After digging into the code, I found out that the library was freezing at the "freenect_process_events(m_ctx)" call. By moving the "m_stop=true" assignment to the top of the Freenect destructor, the device thread would finish without any problems while the m_devices container is being erased.

So, to solve this, I just had to apply these changes:

--- a/wrappers/cpp/libfreenect.hpp
+++ b/wrappers/cpp/libfreenect.hpp
@@ -182,10 +182,10 @@ namespace Freenect {
                        if(pthread_create(&m_thread, NULL, pthread_callback, (void*)this) != 0) throw std::runtime_error("Cannot initialize freenect thread");
                }
                ~Freenect() {
+                       m_stop = true;
                        for(DeviceMap::iterator it = m_devices.begin() ; it != m_devices.end() ; ++it) {
                                delete it->second;
                        }
-                       m_stop = true;
                        pthread_join(m_thread, NULL);
                        if(freenect_shutdown(m_ctx) < 0){} //FN_WARNING("Freenect did not shutdown in a clean fashion");
                }