COpenNI2Generic.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "hwdrivers-precomp.h"  // Precompiled header

#include <mrpt/hwdrivers/COpenNI2Generic.h>
#include <mrpt/obs/CObservation3DRangeScan.h>
#include <mrpt/system/CTimeLogger.h>

// Universal include for all versions of OpenCV
#include <mrpt/3rdparty/do_opencv_includes.h>

#include <atomic>
#include <mutex>
#include <thread>

#if MRPT_HAS_OPENNI2

// This seems to be assumed by OpenNI.h and undefined for some reason in
// GCC/Ubuntu
#if !defined(_WIN32)
#define linux 1
#endif

#include <OpenNI.h>
#include <PS1080.h>
#endif

using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::obs;
using namespace std;

// Initialize static member
std::vector<std::shared_ptr<COpenNI2Generic::CDevice>> vDevices;
std::recursive_mutex vDevices_mx;
std::atomic<int> numInstances(0);

#if MRPT_HAS_OPENNI2
bool setONI2StreamMode(
    openni::VideoStream& stream, int w, int h, int fps,
    openni::PixelFormat format);
std::string oni2DevInfoStr(const openni::DeviceInfo& info, int tab = 0);
bool cmpONI2Device(const openni::DeviceInfo& i1, const openni::DeviceInfo& i2);
#endif  // MRPT_HAS_OPENNI2

#include <mrpt/hwdrivers/COpenNI2Generic_CDevice.h>

int COpenNI2Generic::getNumInstances()
{
    return numInstances;  // get atomic
}

/*-------------------------------------------------------------
ctor
-------------------------------------------------------------*/
COpenNI2Generic::COpenNI2Generic()
#if MRPT_HAS_OPENNI2
    : m_rgb_format(openni::PIXEL_FORMAT_RGB888),
      m_depth_format(openni::PIXEL_FORMAT_DEPTH_1_MM)
#endif
{
    const char* sVerbose = getenv("MRPT_HWDRIVERS_VERBOSE");
    m_verbose = (sVerbose != nullptr) && atoi(sVerbose) != 0;
    // Start automatically:
    if (!this->start())
    {
#if MRPT_HAS_OPENNI2
        THROW_EXCEPTION(mrpt::format(
            "After initialization:\n %s\n",
            openni::OpenNI::getExtendedError()));
#endif
    }
}

COpenNI2Generic::COpenNI2Generic(
    int width, int height, float fps, bool open_streams_now)
    : m_width(width),
      m_height(height),
      m_fps(fps),
#if MRPT_HAS_OPENNI2
      m_rgb_format(openni::PIXEL_FORMAT_RGB888),
      m_depth_format(openni::PIXEL_FORMAT_DEPTH_1_MM),
#endif  // MRPT_HAS_OPENNI2
      m_verbose(false),
      m_grab_image(true),
      m_grab_depth(true),
      m_grab_3D_points(true)
{
    const char* sVerbose = getenv("MRPT_HWDRIVERS_VERBOSE");
    m_verbose = (sVerbose != nullptr) && atoi(sVerbose) != 0;
    // Open?
    if (open_streams_now)
    {
        if (!this->start())
        {
#if MRPT_HAS_OPENNI2
            THROW_EXCEPTION(mrpt::format(
                "After initialization:\n %s\n",
                openni::OpenNI::getExtendedError()));
#endif
        }
    }
}

bool COpenNI2Generic::start()
{
#if MRPT_HAS_OPENNI2
    if (numInstances == 0)
    {
        if (openni::OpenNI::initialize() != openni::STATUS_OK)
        {
            return false;
        }
        else
        {
            std::cerr << "[" << __FUNCTION__ << "]" << std::endl
                      << " Initialized OpenNI2." << std::endl;
        }
    }
    numInstances++;
    return true;
#else
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

/*-------------------------------------------------------------
dtor
-------------------------------------------------------------*/
COpenNI2Generic::~COpenNI2Generic()
{
    numInstances--;
    if (numInstances == 0)
    {
        kill();
    }
}

int COpenNI2Generic::getNumDevices() const
{
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    return vDevices.size();
}
void COpenNI2Generic::setVerbose(bool verbose) { m_verbose = verbose; }
bool COpenNI2Generic::isVerbose() const { return m_verbose; }
void COpenNI2Generic::showLog(const std::string& message) const
{
    if (isVerbose() == false)
    {
        return;
    }
    std::cerr << message;
}
/** This method can or cannot be implemented in the derived class, depending on
 * the need for it.
 *  \exception This method must throw an exception with a descriptive message if
 * some critical error is found.
 */
int COpenNI2Generic::getConnectedDevices()
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    // Get devices list
    openni::Array<openni::DeviceInfo> oni2InfoArray;
    openni::OpenNI::enumerateDevices(&oni2InfoArray);

    const size_t numDevices = oni2InfoArray.getSize();
    showLog(mrpt::format("[%s]\n", __FUNCTION__));
    showLog(mrpt::format(
        " Get device list. %d devices connected.\n", (int)numDevices));

    // Search new devices.
    std::set<int> newDevices;
    for (unsigned i = 0; i < numDevices; i++)
    {
        const openni::DeviceInfo& info = oni2InfoArray[i];
        showLog(mrpt::format("  Device[%d]\n", i));
        showLog(oni2DevInfoStr(info, 3) + "\n");

        bool isExist = false;
        for (unsigned int j = 0, j_end = vDevices.size();
             j < j_end && isExist == false; ++j)
        {
            if (cmpONI2Device(info, vDevices[j]->getInfo()))
            {
                isExist = true;
            }
        }
        if (isExist == false)
        {
            newDevices.insert(i);
        }
    }
    // Add new devices to device list(static member).
    for (int newDevice : newDevices)
    {
        const openni::DeviceInfo& info = oni2InfoArray[newDevice];
        CDevice::Ptr device = CDevice::create(
            info, (openni::PixelFormat)m_rgb_format,
            (openni::PixelFormat)m_depth_format, m_verbose);
        vDevices.push_back(device);
        {
            unsigned int sn;
            if (device->getSerialNumber(sn))
            {
                showLog(mrpt::format(
                    "Device[%d]: serial number: `%u`\n", newDevice, sn));
            }
        }
    }

    if (getNumDevices() == 0)
    {
        showLog(" No devices connected -> EXIT\n");
    }
    else
    {
        showLog(mrpt::format(" %d devices were found.\n", getNumDevices()));
    }
    return getNumDevices();
#else
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

void COpenNI2Generic::kill()
{
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
#if MRPT_HAS_OPENNI2
    vDevices.clear();
    openni::OpenNI::shutdown();
#else
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

bool COpenNI2Generic::isOpen(const unsigned sensor_id) const
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    if ((int)sensor_id >= getNumDevices())
    {
        return false;
    }
    return vDevices[sensor_id]->isOpen();
#else
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

void COpenNI2Generic::open(unsigned sensor_id)
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    // Sensor index validation.
    if (!getNumDevices())
    {
        THROW_EXCEPTION("No OpenNI2 devices found.");
    }
    if ((int)sensor_id >= getNumDevices())
    {
        THROW_EXCEPTION(
            "Sensor index is higher than the number of connected devices.");
    }
    showLog(mrpt::format("[%s]\n", __FUNCTION__));
    showLog(mrpt::format(" open[%d] ...\n", sensor_id));

    if (isOpen(sensor_id))
    {
        showLog(
            mrpt::format(" The sensor [%d] is already opened\n", sensor_id));
        return;
    }
    if (m_verbose)
        printf(
            "[COpenNI2Generic] DBG: [%s] about to call vDevices[%d]->open()\n",
            __FUNCTION__, sensor_id);
    vDevices[sensor_id]->open(m_width, m_height, m_fps);
    showLog(vDevices[sensor_id]->getLog() + "\n");
    showLog(mrpt::format(" Device [%d] ", sensor_id));
    if (vDevices[sensor_id]->isOpen())
    {
        showLog(" open successfully.\n");
    }
    else
    {
        showLog(" open failed.\n");
    }
    std::this_thread::sleep_for(1000ms);  // Sleep
#else
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

unsigned int COpenNI2Generic::openDevicesBySerialNum(
    const std::set<unsigned>& serial_required)
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    showLog(mrpt::format("[%s]\n", __FUNCTION__));
    unsigned num_open_dev = 0;
    for (unsigned sensor_id = 0; sensor_id < vDevices.size(); sensor_id++)
    {
        unsigned int serialNum;
        if (vDevices[sensor_id]->getSerialNumber(serialNum) == false)
        {
            showLog(vDevices[sensor_id]->getLog());
            continue;
        }
        if (m_verbose)
            printf(
                "[COpenNI2Generic::openDevicesBySerialNum] checking device "
                "with serial '%d'\n",
                serialNum);

        if (serial_required.find(serialNum) == serial_required.end())
        {
            vDevices[sensor_id]->close();
            continue;
        }
        if (vDevices[sensor_id]->isOpen())
        {
            num_open_dev++;
            continue;
        }
        int width = m_width;
        int height = m_height;
        if (m_verbose)
            printf(
                "[COpenNI2Generic] DBG: [%s] about to call "
                "vDevices[%d]->open(%d,%d,%d)\n",
                __FUNCTION__, sensor_id, width, height, (int)m_fps);
        if (vDevices[sensor_id]->open(width, height, m_fps) == false)
        {
            showLog(vDevices[sensor_id]->getLog());
            continue;
        }
        num_open_dev++;
        if (m_verbose)
            printf(
                "[COpenNI2Generic] DBG: [%s] now has %d devices open\n",
                __FUNCTION__, num_open_dev);
    }
    return num_open_dev;
#else
    MRPT_UNUSED_PARAM(serial_required);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

unsigned int COpenNI2Generic::openDeviceBySerial(
    const unsigned int SerialRequired)
{
    std::set<unsigned> serial_required;
    serial_required.insert(SerialRequired);
    return openDevicesBySerialNum(serial_required);
}

bool COpenNI2Generic::getDeviceIDFromSerialNum(
    const unsigned int SerialRequired, int& sensor_id) const
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    for (size_t i = 0, i_end = vDevices.size(); i < i_end; ++i)
    {
        unsigned int sn;
        if (vDevices[i]->getSerialNumber(sn) == false)
        {
            continue;
        }
        if (sn == SerialRequired)
        {
            sensor_id = (int)i;
            return true;
        }
    }
    return false;
#else
    MRPT_UNUSED_PARAM(SerialRequired);
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

void COpenNI2Generic::close(unsigned sensor_id)
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    // Sensor index validation.
    if (!getNumDevices())
    {
        THROW_EXCEPTION("No OpenNI2 devices found.");
    }
    if ((int)sensor_id >= getNumDevices())
    {
        THROW_EXCEPTION(
            "Sensor index is higher than the number of connected devices.");
    }
    vDevices[sensor_id]->close();
#else
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

/** The main data retrieving function, to be called after calling loadConfig()
 * and initialize().
 *  \param out_obs The output retrieved observation (only if there_is_obs=true).
 *  \param timestamp The timestamp of the capture (only if there_is_obs=true).
 *  \param there_is_obs If set to false, there was no new observation.
 *  \param hardware_error True on hardware/comms error.
 *  \param sensor_id The index of the sensor accessed.
 *
 */
void COpenNI2Generic::getNextFrameRGB(
    mrpt::img::CImage& rgb_img, mrpt::system::TTimeStamp& timestamp,
    bool& there_is_obs, bool& hardware_error, unsigned sensor_id)
{
#if MRPT_HAS_OPENNI2
    // Sensor index validation.
    if (!getNumDevices())
    {
        THROW_EXCEPTION("No OpenNI2 devices found.");
    }
    if ((int)sensor_id >= getNumDevices())
    {
        THROW_EXCEPTION(
            "Sensor index is higher than the number of connected devices.");
    }
    if (vDevices[sensor_id]->getNextFrameRGB(
            rgb_img, timestamp, there_is_obs, hardware_error) == false)
    {
        showLog(mrpt::format("[%s]\n", __FUNCTION__));
        showLog(mrpt::format(" Error [%d]th Sensor.\n", sensor_id));
        showLog(std::string(" ") + vDevices[sensor_id]->getLog() + "\n");
    }
#else
    MRPT_UNUSED_PARAM(rgb_img);
    MRPT_UNUSED_PARAM(timestamp);
    MRPT_UNUSED_PARAM(there_is_obs);
    MRPT_UNUSED_PARAM(hardware_error);
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

void COpenNI2Generic::getNextFrameD(
    mrpt::math::CMatrix_u16& depth_img_mm, mrpt::system::TTimeStamp& timestamp,
    bool& there_is_obs, bool& hardware_error, unsigned sensor_id)
{
#if MRPT_HAS_OPENNI2
    // Sensor index validation.
    if (getNumDevices() == 0)
    {
        THROW_EXCEPTION("No OpenNI2 devices found.");
    }
    if ((int)sensor_id >= getNumDevices())
    {
        THROW_EXCEPTION(
            "Sensor index is higher than the number of connected devices.");
    }
    if (vDevices[sensor_id]->getNextFrameD(
            depth_img_mm, timestamp, there_is_obs, hardware_error) == false)
    {
        showLog(mrpt::format("[%s]\n", __FUNCTION__));
        showLog(mrpt::format(" Error [%d]th Sensor.\n", sensor_id));
        showLog(std::string(" ") + vDevices[sensor_id]->getLog() + "\n");
    }
#else
    MRPT_UNUSED_PARAM(depth_img_mm);
    MRPT_UNUSED_PARAM(timestamp);
    MRPT_UNUSED_PARAM(there_is_obs);
    MRPT_UNUSED_PARAM(hardware_error);
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

/** The main data retrieving function, to be called after calling loadConfig()
 * and initialize().
 *  \param out_obs The output retrieved observation (only if there_is_obs=true).
 *  \param there_is_obs If set to false, there was no new observation.
 *  \param hardware_error True on hardware/comms error.
 *  \param sensor_id The index of the sensor accessed.
 *
 */
void COpenNI2Generic::getNextFrameRGBD(
    mrpt::obs::CObservation3DRangeScan& out_obs, bool& there_is_obs,
    bool& hardware_error, unsigned sensor_id)
{
#if MRPT_HAS_OPENNI2
    // Sensor index validation.
    if (!getNumDevices())
    {
        THROW_EXCEPTION("No OpenNI2 devices found.");
    }
    if ((int)sensor_id >= getNumDevices())
    {
        THROW_EXCEPTION(
            "Sensor index is higher than the number of connected devices.");
    }
    if (vDevices[sensor_id]->getNextFrameRGBD(
            out_obs, there_is_obs, hardware_error) == false)
    {
        showLog(mrpt::format("[%s]\n", __FUNCTION__));
        showLog(mrpt::format(" Error [%d]th Sensor.\n", sensor_id));
        showLog(std::string(" ") + vDevices[sensor_id]->getLog() + "\n");
    }
#else
    MRPT_UNUSED_PARAM(out_obs);
    MRPT_UNUSED_PARAM(there_is_obs);
    MRPT_UNUSED_PARAM(hardware_error);
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

bool COpenNI2Generic::getColorSensorParam(
    mrpt::img::TCamera& param, unsigned sensor_id) const
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    if (isOpen(sensor_id) == false)
    {
        return false;
    }
    return vDevices[sensor_id]->getCameraParam(CDevice::COLOR_STREAM, param);
#else
    MRPT_UNUSED_PARAM(param);
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

bool COpenNI2Generic::getDepthSensorParam(
    mrpt::img::TCamera& param, unsigned sensor_id) const
{
#if MRPT_HAS_OPENNI2
    std::lock_guard<std::recursive_mutex> lock(vDevices_mx);
    if (isOpen(sensor_id) == false)
    {
        return false;
    }
    return vDevices[sensor_id]->getCameraParam(CDevice::DEPTH_STREAM, param);
#else
    MRPT_UNUSED_PARAM(param);
    MRPT_UNUSED_PARAM(sensor_id);
    THROW_EXCEPTION("MRPT was built without OpenNI2 support");
#endif  // MRPT_HAS_OPENNI2
}

#if MRPT_HAS_OPENNI2
/*
void openni::VideoMode::setResolution()
Setter function for the resolution of this VideoMode. Application use of this
function is not recommended.
Instead, use SensorInfo::getSupportedVideoModes() to obtain a list of valid
video modes

-- cited from OpenNI2 help. setResolution() is not recommended.
*/
bool setONI2StreamMode(
    openni::VideoStream& stream, int w, int h, int fps,
    openni::PixelFormat format)
{
    // std::cout << "[COpenNI2Generic] Ask mode: " << w << "x" << h << " " <<
    // fps << " fps. format " << format << std::endl;
    bool found = false;
    const openni::Array<openni::VideoMode>& modes =
        stream.getSensorInfo().getSupportedVideoModes();
    for (int i = 0, i_end = modes.getSize(); i < i_end; ++i)
    {
        // if (m_verbose) std::cout << "[COpenNI2Generic] Mode: " <<
        // modes[i].getResolutionX() << "x" << modes[i].getResolutionY() << " "
        // << modes[i].getFps() << " fps. format " << modes[i].getPixelFormat()
        // << std::endl;
        if (modes[i].getResolutionX() != w)
        {
            continue;
        }
        if (modes[i].getResolutionY() != h)
        {
            continue;
        }
        if (modes[i].getFps() != fps)
        {
            continue;
        }
        if (modes[i].getPixelFormat() != format)
        {
            continue;
        }
        openni::Status rc = stream.setVideoMode(modes[i]);
        if (rc != openni::STATUS_OK)
        {
            return false;
        }
        return true;
    }
    return false;
}

std::string oni2DevInfoStr(const openni::DeviceInfo& info, int tab)
{
    std::stringstream sst;
    std::string space;
    for (int i = 0; i < tab; ++i)
    {
        space += " ";
    }
    sst << space << "name=" << info.getName() << std::endl;
    sst << space << "uri=" << info.getUri() << std::endl;
    sst << space << "vendor=" << info.getVendor() << std::endl;
    sst << space << "product=" << info.getUsbProductId();
    return sst.str();
}

bool cmpONI2Device(const openni::DeviceInfo& i1, const openni::DeviceInfo& i2)
{
    return (strcmp(i1.getUri(), i2.getUri()) == 0);
}
//
COpenNI2Generic::CDevice::CDevice(
    const openni::DeviceInfo& info, openni::PixelFormat rgb,
    openni::PixelFormat depth, bool verbose)
    : m_info(info), m_mirror(true), m_verbose(verbose)
{
    m_streams[COLOR_STREAM] =
        CStream::create(m_device, openni::SENSOR_COLOR, rgb, m_log, m_verbose);
    m_streams[IR_STREAM] =
        CStream::create(m_device, openni::SENSOR_IR, rgb, m_log, m_verbose);
    m_streams[DEPTH_STREAM] = CStream::create(
        m_device, openni::SENSOR_DEPTH, depth, m_log, m_verbose);
}

COpenNI2Generic::CDevice::~CDevice() { close(); }
bool COpenNI2Generic::CDevice::synchMirrorMode()
{
    m_mirror = false;
    // Check whether both stream support mirroring.
    for (auto& m_stream : m_streams)
    {
        if (!m_stream) continue;
        bool mirror_support;
        try
        {
            mirror_support = m_stream->isMirrorSupported();
        }
        catch (std::logic_error& e)
        {
            throw(e);
        }
        if (mirror_support == false)
        {
            m_log << "[" << __FUNCTION__ << "]" << std::endl;
            m_log << " openni::STREAM_PROPERTY_MIRRORING is not supported on "
                  << m_stream->getName() << "." << std::endl;
            m_log << " We assume this is MS Kinect and taken images are "
                     "inverted to right and left."
                  << std::endl;
            // In this case, getMirroringEnabled() method always returns false.
            // So we cannot confirm whether the images are inverted or not.
            m_mirror = true;
            break;
        }
    }
    // Set both stream to same mirror mode.
    for (auto& m_stream : m_streams)
    {
        if (!m_stream) continue;
        if (m_stream->isMirrorSupported() == false)
        {
            break;
        }
        if (m_stream->setMirror(m_mirror) == false)
        {
            return false;
        }
    }
    return true;
}

bool COpenNI2Generic::CDevice::startStreams()
{
    MRPT_START
    int num_ok = 0;
    for (int i = 0; i < STREAM_TYPE_SIZE; ++i)
    {
        if (!m_streams[i]) continue;
        if (m_verbose)
            printf("  [%s] calling m_streams[%d]->start()\n", __FUNCTION__, i);
        if (m_streams[i]->start() == false)
        {
            if (m_verbose)
                printf(
                    "  [%s] m_streams[%d]->start() returned FALSE!\n",
                    __FUNCTION__, i);
        }
        else
        {
            num_ok++;
        }
        if (m_verbose)
            printf(
                "  [%s] m_streams[%d]->start() returned TRUE\n", __FUNCTION__,
                i);
    }
    if (m_verbose)
        printf(
            "  [COpenNI2Generic::CDevice::startStreams()] %d streams were "
            "started.\n",
            num_ok);
    return num_ok > 0;
    MRPT_END
}

bool COpenNI2Generic::CDevice::isOpen() const
{
    return (m_streams[COLOR_STREAM] && m_streams[COLOR_STREAM]->isValid()) ||
           (m_streams[DEPTH_STREAM] && m_streams[DEPTH_STREAM]->isValid());
}

void COpenNI2Generic::CDevice::close()
{
    for (auto& m_stream : m_streams)
    {
        if (!m_stream) continue;
        m_stream->destroy();
    }
    m_device.close();
}

bool COpenNI2Generic::CDevice::open(int w, int h, int fps)
{
    MRPT_START
    if (m_verbose)
        printf(
            "  [COpenNI2Generic::CDevice::open()] Called with w=%i h=%i "
            "fps=%i\n",
            w, h, fps);
    clearLog();
    close();
    openni::Status rc = m_device.open(getInfo().getUri());
    if (rc != openni::STATUS_OK)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Failed to open device " << getInfo().getUri() << " "
              << openni::OpenNI::getExtendedError() << std::endl;
        return false;
    }
    for (int i = 0; i < STREAM_TYPE_SIZE; ++i)
    {
        if (!m_streams[i]) continue;
        if (m_verbose)
            printf("   [%s] calling m_streams[%d]->open()\n", __FUNCTION__, i);

        if (m_streams[i]->open(w, h, fps) == false)
        {
            if (m_verbose)
                printf(
                    "   [%s] m_streams[%d]->open() returned FALSE\n",
                    __FUNCTION__, i);
            return false;
        }
        if (m_verbose)
            printf(
                "   [%s] m_streams[%d]->open() returned OK\n", __FUNCTION__, i);
    }

    if (synchMirrorMode() == false)
    {
        close();
        return false;
    }

    if (m_streams[DEPTH_STREAM])
    {
        int CloseRange = 0;
        m_streams[DEPTH_STREAM]->setCloseRange(CloseRange);
        m_log << " Close range: " << (CloseRange ? "On" : "Off") << std::endl;
    }

    if (m_verbose)
        printf("   DBG: checking if imageRegistrationMode is supported\n");
    if (m_device.isImageRegistrationModeSupported(
            openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR) &&
        m_streams[DEPTH_STREAM] && m_streams[DEPTH_STREAM]->isValid() &&
        m_streams[COLOR_STREAM] && m_streams[COLOR_STREAM]->isValid())
    {
        // SEB
        // if(m_device.setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF)
        // != openni::STATUS_OK){
        if (m_device.setImageRegistrationMode(
                openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR) != openni::STATUS_OK)
        {
            m_log << " setImageRegistrationMode() Failed:"
                  << openni::OpenNI::getExtendedError() << endl;
        }
        else
        {
            m_log << " setImageRegistrationMode() Success" << endl;
        }
    }
    else
    {
        m_log << "  Device doesn't do image registration!" << endl;
    }

    if (false)  // hasColor())
    {  // printf("DBG: hasColor() returned TRUE\n");
        m_streams[COLOR_STREAM]->disableAutoExposure();
        printf("DBG: returned from disableAutoExposure()\n");
    }

    if (startStreams() == false)
    {
        close();
        return false;
    }
    return true;
    MRPT_END
}

bool COpenNI2Generic::CDevice::getNextFrameRGB(
    mrpt::img::CImage& img, mrpt::system::TTimeStamp& timestamp,
    bool& there_is_obs, bool& hardware_error)
{
    MRPT_START
    if (!hasColor())
    {
        THROW_EXCEPTION("This OpenNI2 device does not support color imaging");
    }
    openni::VideoFrameRef frame;
    if (m_streams[COLOR_STREAM]->getFrame(
            frame, timestamp, there_is_obs, hardware_error) == false)
    {
        return false;
    }
    copyFrame<openni::RGB888Pixel, mrpt::img::CImage>(frame, img);

    return true;
    MRPT_END
}

bool COpenNI2Generic::CDevice::getNextFrameD(
    mrpt::math::CMatrix_u16& depth_mm, mrpt::system::TTimeStamp& timestamp,
    bool& there_is_obs, bool& hardware_error)
{
    MRPT_START
    if (!hasDepth())
    {
        THROW_EXCEPTION("This OpenNI2 device does not support depth imaging");
    }
    openni::VideoFrameRef frame;
    if (m_streams[DEPTH_STREAM]->getFrame(
            frame, timestamp, there_is_obs, hardware_error) == false)
    {
        return false;
    }
    copyFrame<openni::DepthPixel, mrpt::math::CMatrix_u16>(frame, depth_mm);

    return true;
    MRPT_END
}

bool COpenNI2Generic::CDevice::getNextFrameRGBD(
    mrpt::obs::CObservation3DRangeScan& obs, bool& there_is_obs,
    bool& hardware_error)
{
    MRPT_START
    clearLog();
    there_is_obs = false;
    hardware_error = false;

    if (!hasColor())
    {
        THROW_EXCEPTION("This OpenNI2 device does not support color imaging");
    }
    if (!hasDepth())
    {
        THROW_EXCEPTION("This OpenNI2 device does not support depth imaging");
    }
    // Read a frame (depth + rgb)
    mrpt::system::TTimeStamp tm;
    openni::VideoFrameRef frame[STREAM_TYPE_SIZE];
    for (int i = 0; i < STREAM_TYPE_SIZE; ++i)
    {
        if (!m_streams[i] || !m_streams[i]->isValid()) continue;
        if (m_streams[i]->getFrame(
                frame[i], tm, there_is_obs, hardware_error) == false)
        {
            return false;
        }
        if (there_is_obs == false || hardware_error == true)
        {
            return false;
        }
    }

    const int width = frame[COLOR_STREAM].getWidth();
    const int height = frame[COLOR_STREAM].getHeight();
    if ((frame[DEPTH_STREAM].getWidth() != width) ||
        (frame[DEPTH_STREAM].getHeight() != height))
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Both frames don't have the same size." << std::endl;
        return false;
    }
    there_is_obs = true;
    obs.hasConfidenceImage = false;
    obs.hasIntensityImage = true;
    obs.hasRangeImage = true;
    obs.range_is_depth = true;
    obs.hasPoints3D = false;
    obs.timestamp = mrpt::system::getCurrentTime();
    resize(obs, width, height);

    const char* data[STREAM_TYPE_SIZE] = {
        (const char*)frame[COLOR_STREAM].getData(),
        (const char*)frame[DEPTH_STREAM].getData()};
    const int step[STREAM_TYPE_SIZE] = {frame[COLOR_STREAM].getStrideInBytes(),
                                        frame[DEPTH_STREAM].getStrideInBytes()};

    for (int yc = 0; yc < height; ++yc)
    {
        const auto* pRgb = (const openni::RGB888Pixel*)data[COLOR_STREAM];
        const auto* pDepth = (const openni::DepthPixel*)data[DEPTH_STREAM];
        for (int xc = 0; xc < width; ++xc, ++pDepth, ++pRgb)
        {
            int x = xc;
            if (isMirrorMode())
            {
                x = width - x - 1;
            }
            setPixel(*pRgb, obs.intensityImage, x, yc);
            setPixel(*pDepth, obs.rangeImage, x, yc);
        }
        data[COLOR_STREAM] += step[COLOR_STREAM];
        data[DEPTH_STREAM] += step[DEPTH_STREAM];
    }

    return true;
    MRPT_END
}

COpenNI2Generic::CDevice::Ptr COpenNI2Generic::CDevice::create(
    const openni::DeviceInfo& info, openni::PixelFormat rgb,
    openni::PixelFormat depth, bool verbose)
{
    return std::make_shared<CDevice>(info, rgb, depth, verbose);
}

bool COpenNI2Generic::CDevice::getSerialNumber(std::string& sn)
{
    clearLog();
    openni::Status rc;
    bool isOpened = isOpen();
    if (isOpened == false)
    {
        rc = m_device.open(getInfo().getUri());
        if (rc != openni::STATUS_OK)
        {
            m_log << "[" << __FUNCTION__ << "]" << std::endl
                  << " Failed to open device " << getInfo().getUri() << " "
                  << openni::OpenNI::getExtendedError() << std::endl;
            return false;
        }
    }
    char serialNumber[16];
    rc = m_device.getProperty(ONI_DEVICE_PROPERTY_SERIAL_NUMBER, &serialNumber);
    if (rc != openni::STATUS_OK)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Failed to getProperty(ONI_DEVICE_PROPERTY_SERIAL_NUMBER) "
              << getInfo().getUri() << " " << openni::OpenNI::getExtendedError()
              << std::endl;
        return false;
    }
    sn = std::string(serialNumber);
    if (isOpened == false)
    {
        m_device.close();
    }
    return true;
}

bool COpenNI2Generic::CDevice::getSerialNumber(unsigned int& sn)
{
    std::string str;
    if (getSerialNumber(str) == false)
    {
        return false;
    }
    std::stringstream sst;
    sst.str(str);
    sst >> sn;
    return !sst.fail();
}
//
COpenNI2Generic::CDevice::CStream::CStream(
    openni::Device& device, openni::SensorType type, openni::PixelFormat format,
    std::ostream& log, bool verbose)
    : m_log(log),
      m_device(device),
      m_strName("Unknown"),
      m_type(type),
      m_format(format),
      m_verbose(verbose)
{
    if (m_type == openni::SENSOR_COLOR)
    {
        m_strName = "openni::SENSOR_COLOR";
    }
    else if (m_type == openni::SENSOR_DEPTH)
    {
        m_strName = "openni::SENSOR_DEPTH";
    }
    else if (m_type == openni::SENSOR_IR)
    {
        m_strName = "openni::SENSOR_IR";
    }
    else
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Unknown SensorType -> " << m_type << std::endl;
    }
}

COpenNI2Generic::CDevice::CStream::~CStream() { destroy(); }
bool COpenNI2Generic::CDevice::CStream::isMirrorSupported() const
{
    if (isValid() == false)
    {
        THROW_EXCEPTION(getName() + " is not opened.");
    }
    return m_stream.isPropertySupported(openni::STREAM_PROPERTY_MIRRORING);
}

bool COpenNI2Generic::CDevice::CStream::setMirror(bool flag)
{
    if (isValid() == false)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " " << getName() << " is not opened." << std::endl;
        return false;
    }
    if (m_stream.isPropertySupported(openni::STREAM_PROPERTY_MIRRORING) ==
        false)
    {
        return false;
    }
    if (m_stream.setMirroringEnabled(flag) != openni::STATUS_OK)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " setMirroringEnabled() failed: "
              << openni::OpenNI::getExtendedError() << std::endl;
        return false;
    }
    return true;
}

bool COpenNI2Generic::CDevice::CStream::isValid() const
{
    return m_stream.isValid();
}

void COpenNI2Generic::CDevice::CStream::destroy() { m_stream.destroy(); }
void COpenNI2Generic::CDevice::CStream::setCloseRange(int& value)
{
    if (m_verbose)
        printf(
            "      [CDevice::CStream::setCloseRange] entry with value=%d\n",
            value);
    m_stream.setProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, value);
    if (m_verbose)
        printf(
            "      [CDevice::CStream::setCloseRange] returned from "
            "mstream.setProperty()\n");
    m_stream.getProperty(XN_STREAM_PROPERTY_CLOSE_RANGE, &value);
    if (m_verbose)
        printf(
            "      [CDevice::CStream::setCloseRange] returned from "
            "mstream.getProperty() ... value %d\n",
            value);
}

bool COpenNI2Generic::CDevice::CStream::open(int w, int h, int fps)
{
    destroy();
    if (m_type != openni::SENSOR_COLOR && m_type != openni::SENSOR_DEPTH &&
        m_type != openni::SENSOR_IR)
    {  // SEB added IR
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Unknown SensorType -> " << m_type << std::endl;
        return false;
    }
    if (m_verbose)
        printf(
            "      [COpenNI2Generic::CDevice::CStream::open] opening sensor "
            "stream with m_type == %d\n",
            (int)m_type);
    openni::Status rc = openni::STATUS_OK;
    //  if(m_type == openni::SENSOR_COLOR) {
    //      m_type = openni::SENSOR_IR;
    //      m_strName="openni::SENSOR_IR";  // SEB added
    //      if (m_verbose) printf("DBG: changing type to SENSOR_IR
    //(%d)\n",(int)m_type);
    //  }  // added whole if stmt
    rc = m_stream.create(m_device, m_type);
    if (rc != openni::STATUS_OK)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Couldn't find sensor " << m_strName << ":"
              << openni::OpenNI::getExtendedError() << std::endl;
        if (m_type == openni::SENSOR_COLOR)
        {
            m_type = openni::SENSOR_IR;
            m_strName = "openni::SENSOR_IR";  // SEB added
            if (m_verbose)
                printf("DBG: changing type to SENSOR_IR (%d)\n", (int)m_type);
            rc = m_stream.create(m_device, m_type);
        }  // SEB added whole if stmt
        else
            return false;
    }
    if (m_verbose) printf("returned OK from stream.create()\n");
    openni::VideoMode options = m_stream.getVideoMode();
    m_log << "[" << __FUNCTION__ << "]" << std::endl;
    m_log << " " << m_strName << std::endl;
    m_log << " "
          << mrpt::format(
                 "Initial resolution (%d, %d) FPS %d Format %d",
                 options.getResolutionX(), options.getResolutionY(),
                 options.getFps(), options.getPixelFormat())
          << std::endl;
    if (m_verbose) printf("DBG: calling setONI2StreamMode()\n");
    if (setONI2StreamMode(m_stream, w, h, fps, m_format) == false)
    {
        m_log << " Can't find desired mode in the " << getName() << std::endl;
        destroy();
        return false;
    }
    if (m_verbose) printf("DBG: returned OK from setONI2StreamMode()\n");
    if (m_verbose) printf("DBG: calling stream.getVideoMode()\n");
    options = m_stream.getVideoMode();
    m_log << " "
          << mrpt::format(
                 "-> (%d, %d) FPS %d Format %d", options.getResolutionX(),
                 options.getResolutionY(), options.getFps(),
                 options.getPixelFormat())
          << std::endl;
    if (m_verbose)
        printf(
            "      [COpenNI2Generic::CDevice::CStream::open] returning TRUE\n");
    return true;
}

bool COpenNI2Generic::CDevice::CStream::start()
{
    if (isValid() == false)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " " << getName() << " is not opened." << std::endl;
        return false;
    }
    if (m_stream.start() != openni::STATUS_OK)
    {
        m_log << "[" << __FUNCTION__ << "]" << std::endl
              << " Couldn't start " << getName()
              << " stream:" << openni::OpenNI::getExtendedError() << std::endl;
        this->destroy();
        return false;
    }
    return true;
}

COpenNI2Generic::CDevice::CStream::Ptr
    COpenNI2Generic::CDevice::CStream::create(
        openni::Device& device, openni::SensorType type,
        openni::PixelFormat format, std::ostream& log, bool verbose)
{
    return std::make_shared<CStream>(device, type, format, log, verbose);
}

bool COpenNI2Generic::CDevice::CStream::getFrame(
    openni::VideoFrameRef& frame, mrpt::system::TTimeStamp& timestamp,
    bool& there_is_obs, bool& hardware_error)
{
    there_is_obs = false;
    hardware_error = false;
    if (isValid() == false)
    {
        return false;
    }
    openni::Status rc = m_stream.readFrame(&frame);
    if (rc != openni::STATUS_OK)
    {
        hardware_error = true;
        std::string message =
            mrpt::format("Failed to grab frame from %s", getName().c_str());
        THROW_EXCEPTION(message);
    }
    there_is_obs = true;
    timestamp = mrpt::system::getCurrentTime();
    return true;
}

#endif  // MRPT_HAS_OPENNI2