COpenNI2Generic.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

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

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

#include <thread>

#if MRPT_HAS_OPENNI2

// This seems to be assumed by OpenNI.h and undefined for some reason in
// GCC/Ubuntu
#if !defined(MRPT_OS_WINDOWS)
#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>>
        COpenNI2Generic::vDevices =
                std::vector<std::shared_ptr<COpenNI2Generic::CDevice>>();
int COpenNI2Generic::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>
/*-------------------------------------------------------------
ctor
-------------------------------------------------------------*/
COpenNI2Generic::COpenNI2Generic()
        : m_width(640),
          m_height(480),
          m_fps(30.0f),
#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;
        // 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 { 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
        // 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 (std::set<int>::const_iterator it = newDevices.begin(),
                                                                           it_end = newDevices.end();
                 it != it_end; ++it)
        {
                const openni::DeviceInfo& info = oni2InfoArray[*it];
                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", *it, 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()
{
#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
        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
        // 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
        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
        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
        // 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::utils::CImage& rgb_img, uint64_t& 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
}

/** The main data retrieving function, to be called after calling loadConfig()
* and initialize().
*  \param depth_img The output retrieved depth image (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::getNextFrameD(
        mrpt::math::CMatrix& depth_img, uint64_t& 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, 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);
        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::utils::TCamera& param, unsigned sensor_id) const
{
#if MRPT_HAS_OPENNI2
        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::utils::TCamera& param, unsigned sensor_id) const
{
#if MRPT_HAS_OPENNI2
        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 (int i = 0; i < STREAM_TYPE_SIZE; ++i)
        {
                if (!m_streams[i]) continue;
                bool mirror_support;
                try
                {
                        mirror_support = m_streams[i]->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_streams[i]->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 (int i = 0; i < STREAM_TYPE_SIZE; ++i)
        {
                if (!m_streams[i]) continue;
                if (m_streams[i]->isMirrorSupported() == false)
                {
                        break;
                }
                if (m_streams[i]->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 (int i = 0; i < STREAM_TYPE_SIZE; ++i)
        {
                if (!m_streams[i]) continue;
                m_streams[i]->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 (0)  // 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::utils::CImage& img, uint64_t& 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::utils::CImage>(frame, img);

        return true;
        MRPT_END
}

bool COpenNI2Generic::CDevice::getNextFrameD(
        mrpt::math::CMatrix& img, uint64_t& 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>(frame, img);

        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 openni::RGB888Pixel* pRgb =
                        (const openni::RGB888Pixel*)data[COLOR_STREAM];
                const openni::DepthPixel* 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 Ptr(new 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 Ptr(new CStream(device, type, format, log, verbose));
}

bool COpenNI2Generic::CDevice::CStream::getFrame(
        openni::VideoFrameRef& frame, uint64_t& 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