openni2_device.cpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 *      Author: Julius Kammerl (jkammerl@willowgarage.com)
 */
 
#include "OpenNI.h"
#include <PS1080.h> // For XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE property
 
#include <boost/lexical_cast.hpp>
#include <boost/algorithm/string/replace.hpp>
 
#include "openni2_camera/openni2_device.h"
#include "openni2_camera/openni2_exception.h"
#include "openni2_camera/openni2_convert.h"
#include "openni2_camera/openni2_frame_listener.h"
 
#include <boost/shared_ptr.hpp>
#include <boost/make_shared.hpp>
 
#include <string>
 
namespace openni2_wrapper
{
 
OpenNI2Device::OpenNI2Device(const std::string& device_URI) throw (OpenNI2Exception) :
    openni_device_(),
    ir_video_started_(false),
    color_video_started_(false),
    depth_video_started_(false),
    image_registration_activated_(false),
    use_device_time_(false)
{
  openni::Status rc = openni::OpenNI::initialize();
  if (rc != openni::STATUS_OK)
    THROW_OPENNI_EXCEPTION("Initialize failed\n%s\n", openni::OpenNI::getExtendedError());
 
  openni_device_ = boost::make_shared<openni::Device>();
 
  if (device_URI.length() > 0)
  {
    rc = openni_device_->open(device_URI.c_str());
  }
  else
  {
    rc = openni_device_->open(openni::ANY_DEVICE);
  }
 
  if (rc != openni::STATUS_OK)
    THROW_OPENNI_EXCEPTION("Device open failed\n%s\n", openni::OpenNI::getExtendedError());
 
  device_info_ = boost::make_shared<openni::DeviceInfo>();
  *device_info_ = openni_device_->getDeviceInfo();
 
  ir_frame_listener = boost::make_shared<OpenNI2FrameListener>();
  color_frame_listener = boost::make_shared<OpenNI2FrameListener>();
  depth_frame_listener = boost::make_shared<OpenNI2FrameListener>();
 
}
 
OpenNI2Device::~OpenNI2Device()
{
  stopAllStreams();
 
  shutdown();
 
  openni_device_->close();
}
 
const std::string OpenNI2Device::getUri() const
{
  return std::string(device_info_->getUri());
}
 
const std::string OpenNI2Device::getVendor() const
{
  return std::string(device_info_->getVendor());
}
 
const std::string OpenNI2Device::getName() const
{
  return std::string(device_info_->getName());
}
 
uint16_t OpenNI2Device::getUsbVendorId() const
{
  return device_info_->getUsbVendorId();
}
 
uint16_t OpenNI2Device::getUsbProductId() const
{
  return device_info_->getUsbProductId();
}
 
const std::string OpenNI2Device::getStringID() const
{
  std::string ID_str = getName() + "_" + getVendor();
 
  boost::replace_all(ID_str, "/", "");
  boost::replace_all(ID_str, ".", "");
  boost::replace_all(ID_str, "@", "");
 
  return ID_str;
}
 
bool OpenNI2Device::isValid() const
{
  return (openni_device_.get() != 0) && openni_device_->isValid();
}
 
float OpenNI2Device::getIRFocalLength(int output_y_resolution) const
{
  float focal_length = 0.0f;
  boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream();
 
  if (stream)
  {
    focal_length = (float)output_y_resolution / (2 * tan(stream->getVerticalFieldOfView() / 2));
  }
 
  return focal_length;
}
 
float OpenNI2Device::getColorFocalLength(int output_y_resolution) const
{
  float focal_length = 0.0f;
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    focal_length = (float)output_y_resolution / (2 * tan(stream->getVerticalFieldOfView() / 2));
  }
 
  return focal_length;
}
 
float OpenNI2Device::getDepthFocalLength(int output_y_resolution) const
{
  float focal_length = 0.0f;
  boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream();
 
  if (stream)
  {
    focal_length = (float)output_y_resolution / (2 * tan(stream->getVerticalFieldOfView() / 2));
  }
 
  return focal_length;
}
 
float OpenNI2Device::getBaseline() const
{
  float baseline = 0.075f;
  boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream();
 
  if (stream && stream->isPropertySupported(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE))
  {
    double baseline_meters;
    stream->getProperty(XN_STREAM_PROPERTY_EMITTER_DCMOS_DISTANCE, &baseline_meters); // Device specific -- from PS1080.h
    baseline = static_cast<float>(baseline_meters * 0.01f);  // baseline from cm -> meters
  }
  return baseline;
}
 
bool OpenNI2Device::isIRVideoModeSupported(const OpenNI2VideoMode& video_mode) const
{
  getSupportedIRVideoModes();
 
  bool supported = false;
 
  std::vector<OpenNI2VideoMode>::const_iterator it = ir_video_modes_.begin();
  std::vector<OpenNI2VideoMode>::const_iterator it_end = ir_video_modes_.end();
 
  while (it != it_end && !supported)
  {
    supported = (*it == video_mode);
    ++it;
  }
 
  return supported;
}
 
bool OpenNI2Device::isColorVideoModeSupported(const OpenNI2VideoMode& video_mode) const
{
  getSupportedColorVideoModes();
 
  bool supported = false;
 
  std::vector<OpenNI2VideoMode>::const_iterator it = color_video_modes_.begin();
  std::vector<OpenNI2VideoMode>::const_iterator it_end = color_video_modes_.end();
 
  while (it != it_end && !supported)
  {
    supported = (*it == video_mode);
    ++it;
  }
 
  return supported;
}
 
bool OpenNI2Device::isDepthVideoModeSupported(const OpenNI2VideoMode& video_mode) const
{
  getSupportedDepthVideoModes();
 
  bool supported = false;
 
  std::vector<OpenNI2VideoMode>::const_iterator it = depth_video_modes_.begin();
  std::vector<OpenNI2VideoMode>::const_iterator it_end = depth_video_modes_.end();
 
  while (it != it_end && !supported)
  {
    supported = (*it == video_mode);
    ++it;
  }
 
  return supported;
 
}
 
bool OpenNI2Device::hasIRSensor() const
{
  return openni_device_->hasSensor(openni::SENSOR_IR);
}
 
bool OpenNI2Device::hasColorSensor() const
{
  return openni_device_->hasSensor(openni::SENSOR_COLOR);
}
 
bool OpenNI2Device::hasDepthSensor() const
{
  return openni_device_->hasSensor(openni::SENSOR_DEPTH);
}
 
void OpenNI2Device::startIRStream()
{
  boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream();
 
  if (stream)
  {
    stream->setMirroringEnabled(false);
    stream->start();
    stream->addNewFrameListener(ir_frame_listener.get());
    ir_video_started_ = true;
  }
 
}
 
void OpenNI2Device::startColorStream()
{
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    stream->setMirroringEnabled(false);
    stream->start();
    stream->addNewFrameListener(color_frame_listener.get());
    color_video_started_ = true;
  }
}
void OpenNI2Device::startDepthStream()
{
  boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream();
 
  if (stream)
  {
    stream->setMirroringEnabled(false);
    stream->start();
    stream->addNewFrameListener(depth_frame_listener.get());
    depth_video_started_ = true;
  }
}
 
void OpenNI2Device::stopAllStreams()
{
  stopIRStream();
  stopColorStream();
  stopDepthStream();
}
 
void OpenNI2Device::stopIRStream()
{
  if (ir_video_stream_.get() != 0)
  {
    ir_video_started_ = false;
 
    ir_video_stream_->removeNewFrameListener(ir_frame_listener.get());
 
    ir_video_stream_->stop();
  }
}
void OpenNI2Device::stopColorStream()
{
  if (color_video_stream_.get() != 0)
  {
    color_video_started_ = false;
 
    color_video_stream_->removeNewFrameListener(color_frame_listener.get());
 
    color_video_stream_->stop();
  }
}
void OpenNI2Device::stopDepthStream()
{
  if (depth_video_stream_.get() != 0)
  {
    depth_video_started_ = false;
 
    depth_video_stream_->removeNewFrameListener(depth_frame_listener.get());
 
    depth_video_stream_->stop();
  }
}
 
void OpenNI2Device::shutdown()
{
  if (ir_video_stream_.get() != 0)
    ir_video_stream_->destroy();
 
  if (color_video_stream_.get() != 0)
    color_video_stream_->destroy();
 
  if (depth_video_stream_.get() != 0)
    depth_video_stream_->destroy();
 
}
 
bool OpenNI2Device::isIRStreamStarted()
{
  return ir_video_started_;
}
bool OpenNI2Device::isColorStreamStarted()
{
  return color_video_started_;
}
bool OpenNI2Device::isDepthStreamStarted()
{
  return depth_video_started_;
}
 
const std::vector<OpenNI2VideoMode>& OpenNI2Device::getSupportedIRVideoModes() const
{
  boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream();
 
  ir_video_modes_.clear();
 
  if (stream)
  {
    const openni::SensorInfo& sensor_info = stream->getSensorInfo();
 
    ir_video_modes_ = openni2_convert(sensor_info.getSupportedVideoModes());
  }
 
  return ir_video_modes_;
}
 
const std::vector<OpenNI2VideoMode>& OpenNI2Device::getSupportedColorVideoModes() const
{
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  color_video_modes_.clear();
 
  if (stream)
  {
    const openni::SensorInfo& sensor_info = stream->getSensorInfo();
 
    color_video_modes_ = openni2_convert(sensor_info.getSupportedVideoModes());
  }
 
  return color_video_modes_;
}
 
const std::vector<OpenNI2VideoMode>& OpenNI2Device::getSupportedDepthVideoModes() const
{
  boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream();
 
  depth_video_modes_.clear();
 
  if (stream)
  {
    const openni::SensorInfo& sensor_info = stream->getSensorInfo();
 
    depth_video_modes_ = openni2_convert(sensor_info.getSupportedVideoModes());
  }
 
  return depth_video_modes_;
}
 
bool OpenNI2Device::isImageRegistrationModeSupported() const
{
  return openni_device_->isImageRegistrationModeSupported(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
}
 
void OpenNI2Device::setImageRegistrationMode(bool enabled) throw (OpenNI2Exception)
{
  if (isImageRegistrationModeSupported())
  {
    image_registration_activated_ = enabled;
    if (enabled)
    {
      openni::Status rc = openni_device_->setImageRegistrationMode(openni::IMAGE_REGISTRATION_DEPTH_TO_COLOR);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Enabling image registration mode failed: \n%s\n", openni::OpenNI::getExtendedError());
    }
    else
    {
      openni::Status rc = openni_device_->setImageRegistrationMode(openni::IMAGE_REGISTRATION_OFF);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Enabling image registration mode failed: \n%s\n", openni::OpenNI::getExtendedError());
    }
  }
}
 
void OpenNI2Device::setDepthColorSync(bool enabled) throw (OpenNI2Exception)
{
  openni::Status rc = openni_device_->setDepthColorSyncEnabled(enabled);
  if (rc != openni::STATUS_OK)
    THROW_OPENNI_EXCEPTION("Enabling depth color synchronization failed: \n%s\n", openni::OpenNI::getExtendedError());
}
 
const OpenNI2VideoMode OpenNI2Device::getIRVideoMode() throw (OpenNI2Exception)
{
  OpenNI2VideoMode ret;
 
  boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream();
 
  if (stream)
  {
    openni::VideoMode video_mode = stream->getVideoMode();
 
    ret = openni2_convert(video_mode);
  }
  else
    THROW_OPENNI_EXCEPTION("Could not create video stream.");
 
  return ret;
}
 
const OpenNI2VideoMode OpenNI2Device::getColorVideoMode() throw (OpenNI2Exception)
{
  OpenNI2VideoMode ret;
 
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::VideoMode video_mode = stream->getVideoMode();
 
    ret = openni2_convert(video_mode);
  }
  else
    THROW_OPENNI_EXCEPTION("Could not create video stream.");
 
  return ret;
}
 
const OpenNI2VideoMode OpenNI2Device::getDepthVideoMode() throw (OpenNI2Exception)
{
  OpenNI2VideoMode ret;
 
  boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream();
 
  if (stream)
  {
    openni::VideoMode video_mode = stream->getVideoMode();
 
    ret = openni2_convert(video_mode);
  }
  else
    THROW_OPENNI_EXCEPTION("Could not create video stream.");
 
  return ret;
}
 
void OpenNI2Device::setIRVideoMode(const OpenNI2VideoMode& video_mode) throw (OpenNI2Exception)
{
  boost::shared_ptr<openni::VideoStream> stream = getIRVideoStream();
 
  if (stream)
  {
    const openni::VideoMode videoMode = openni2_convert(video_mode);
    const openni::Status rc = stream->setVideoMode(videoMode);
    if (rc != openni::STATUS_OK)
      THROW_OPENNI_EXCEPTION("Couldn't set IR video mode: \n%s\n", openni::OpenNI::getExtendedError());
  }
}
 
void OpenNI2Device::setColorVideoMode(const OpenNI2VideoMode& video_mode) throw (OpenNI2Exception)
{
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    const openni::VideoMode videoMode = openni2_convert(video_mode);
    const openni::Status rc = stream->setVideoMode(videoMode);
    if (rc != openni::STATUS_OK)
      THROW_OPENNI_EXCEPTION("Couldn't set color video mode: \n%s\n", openni::OpenNI::getExtendedError());
  }
}
 
void OpenNI2Device::setDepthVideoMode(const OpenNI2VideoMode& video_mode) throw (OpenNI2Exception)
{
  boost::shared_ptr<openni::VideoStream> stream = getDepthVideoStream();
 
  if (stream)
  {
    const openni::VideoMode videoMode = openni2_convert(video_mode);
    const openni::Status rc = stream->setVideoMode(videoMode);
    if (rc != openni::STATUS_OK)
      THROW_OPENNI_EXCEPTION("Couldn't set depth video mode: \n%s\n", openni::OpenNI::getExtendedError());
  }
}
 
void OpenNI2Device::setAutoExposure(bool enable) throw (OpenNI2Exception)
{
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::CameraSettings* camera_seeting = stream->getCameraSettings();
    if (camera_seeting)
    {
      const openni::Status rc = camera_seeting->setAutoExposureEnabled(enable);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Couldn't set auto exposure: \n%s\n", openni::OpenNI::getExtendedError());
    }
 
  }
}
void OpenNI2Device::setAutoWhiteBalance(bool enable) throw (OpenNI2Exception)
{
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::CameraSettings* camera_seeting = stream->getCameraSettings();
    if (camera_seeting)
    {
      const openni::Status rc = camera_seeting->setAutoWhiteBalanceEnabled(enable);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Couldn't set auto white balance: \n%s\n", openni::OpenNI::getExtendedError());
    }
 
  }
}
 
void OpenNI2Device::setExposure(int exposure) throw (OpenNI2Exception)
{
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::CameraSettings* camera_settings = stream->getCameraSettings();
    if (camera_settings)
    {
      const openni::Status rc = camera_settings->setExposure(exposure);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Couldn't set exposure: \n%s\n", openni::OpenNI::getExtendedError());
    }
  }
}
 
bool OpenNI2Device::getAutoExposure() const
{
  bool ret = false;
 
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::CameraSettings* camera_seeting = stream->getCameraSettings();
    if (camera_seeting)
      ret = camera_seeting->getAutoExposureEnabled();
  }
 
  return ret;
}
 
bool OpenNI2Device::getAutoWhiteBalance() const
{
  bool ret = false;
 
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::CameraSettings* camera_seeting = stream->getCameraSettings();
    if (camera_seeting)
      ret = camera_seeting->getAutoWhiteBalanceEnabled();
  }
 
  return ret;
}
 
int OpenNI2Device::getExposure() const
{
  int ret = 0;
 
  boost::shared_ptr<openni::VideoStream> stream = getColorVideoStream();
 
  if (stream)
  {
    openni::CameraSettings* camera_settings = stream->getCameraSettings();
    if (camera_settings)
      ret = camera_settings->getExposure();
  }
 
  return ret;
}
 
void OpenNI2Device::setUseDeviceTimer(bool enable)
{
  if (ir_frame_listener)
    ir_frame_listener->setUseDeviceTimer(enable);
 
  if (color_frame_listener)
    color_frame_listener->setUseDeviceTimer(enable);
 
  if (depth_frame_listener)
    depth_frame_listener->setUseDeviceTimer(enable);
}
 
void OpenNI2Device::setIRFrameCallback(FrameCallbackFunction callback)
{
  ir_frame_listener->setCallback(callback);
}
 
void OpenNI2Device::setColorFrameCallback(FrameCallbackFunction callback)
{
  color_frame_listener->setCallback(callback);
}
 
void OpenNI2Device::setDepthFrameCallback(FrameCallbackFunction callback)
{
  depth_frame_listener->setCallback(callback);
}
 
boost::shared_ptr<openni::VideoStream> OpenNI2Device::getIRVideoStream() const throw (OpenNI2Exception)
{
  if (ir_video_stream_.get() == 0)
  {
    if (hasIRSensor())
    {
      ir_video_stream_ = boost::make_shared<openni::VideoStream>();
 
      const openni::Status rc = ir_video_stream_->create(*openni_device_, openni::SENSOR_IR);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Couldn't create IR video stream: \n%s\n", openni::OpenNI::getExtendedError());
    }
  }
  return ir_video_stream_;
}
 
boost::shared_ptr<openni::VideoStream> OpenNI2Device::getColorVideoStream() const throw (OpenNI2Exception)
{
  if (color_video_stream_.get() == 0)
  {
    if (hasColorSensor())
    {
      color_video_stream_ = boost::make_shared<openni::VideoStream>();
 
      const openni::Status rc = color_video_stream_->create(*openni_device_, openni::SENSOR_COLOR);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Couldn't create color video stream: \n%s\n", openni::OpenNI::getExtendedError());
    }
  }
  return color_video_stream_;
}
 
boost::shared_ptr<openni::VideoStream> OpenNI2Device::getDepthVideoStream() const throw (OpenNI2Exception)
{
  if (depth_video_stream_.get() == 0)
  {
    if (hasDepthSensor())
    {
      depth_video_stream_ = boost::make_shared<openni::VideoStream>();
 
      const openni::Status rc = depth_video_stream_->create(*openni_device_, openni::SENSOR_DEPTH);
      if (rc != openni::STATUS_OK)
        THROW_OPENNI_EXCEPTION("Couldn't create depth video stream: \n%s\n", openni::OpenNI::getExtendedError());
    }
  }
  return depth_video_stream_;
}
 
std::ostream& operator <<(std::ostream& stream, const OpenNI2Device& device)
{
 
  stream << "Device info (" << device.getUri() << ")" << std::endl;
  stream << "   Vendor: " << device.getVendor() << std::endl;
  stream << "   Name: " << device.getName() << std::endl;
  stream << "   USB Vendor ID: " << device.getUsbVendorId() << std::endl;
  stream << "   USB Product ID: " << device.getUsbVendorId() << std::endl << std::endl;
 
  if (device.hasIRSensor())
  {
    stream << "IR sensor video modes:" << std::endl;
    const std::vector<OpenNI2VideoMode>& video_modes = device.getSupportedIRVideoModes();
 
    std::vector<OpenNI2VideoMode>::const_iterator it = video_modes.begin();
    std::vector<OpenNI2VideoMode>::const_iterator it_end = video_modes.end();
    for (; it != it_end; ++it)
      stream << "   - " << *it << std::endl;
  }
  else
  {
    stream << "No IR sensor available" << std::endl;
  }
 
  if (device.hasColorSensor())
  {
    stream << "Color sensor video modes:" << std::endl;
    const std::vector<OpenNI2VideoMode>& video_modes = device.getSupportedColorVideoModes();
 
    std::vector<OpenNI2VideoMode>::const_iterator it = video_modes.begin();
    std::vector<OpenNI2VideoMode>::const_iterator it_end = video_modes.end();
    for (; it != it_end; ++it)
      stream << "   - " << *it << std::endl;
  }
  else
  {
    stream << "No Color sensor available" << std::endl;
  }
 
  if (device.hasDepthSensor())
  {
    stream << "Depth sensor video modes:" << std::endl;
    const std::vector<OpenNI2VideoMode>& video_modes = device.getSupportedDepthVideoModes();
 
    std::vector<OpenNI2VideoMode>::const_iterator it = video_modes.begin();
    std::vector<OpenNI2VideoMode>::const_iterator it_end = video_modes.end();
    for (; it != it_end; ++it)
      stream << "   - " << *it << std::endl;
  }
  else
  {
    stream << "No Depth sensor available" << std::endl;
  }
 
  return stream;
}
 
}