OpenNI.h

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/*****************************************************************************
*                                                                            *
*  OpenNI 2.x Alpha                                                          *
*  Copyright (C) 2012 PrimeSense Ltd.                                        *
*                                                                            *
*  This file is part of OpenNI.                                              *
*                                                                            *
*  Licensed under the Apache License, Version 2.0 (the "License");           *
*  you may not use this file except in compliance with the License.          *
*  You may obtain a copy of the License at                                   *
*                                                                            *
*      http://www.apache.org/licenses/LICENSE-2.0                            *
*                                                                            *
*  Unless required by applicable law or agreed to in writing, software       *
*  distributed under the License is distributed on an "AS IS" BASIS,         *
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  *
*  See the License for the specific language governing permissions and       *
*  limitations under the License.                                            *
*                                                                            *
*****************************************************************************/
#ifndef OPENNI_H
#define OPENNI_H

#include "OniPlatform.h"
#include "OniProperties.h"
#include "OniEnums.h"

#include "OniCAPI.h"
#include "OniCProperties.h"
#include "OniCTypes.h"

namespace openni
{

typedef uint16_t                                DepthPixel;

typedef uint16_t                                Grayscale16Pixel;

// structs
typedef struct
{
        int major;
        int minor;
        int maintenance;
        int build;
} Version;

typedef struct
{
        /* Red value of this pixel. */
        uint8_t r;
        /* Green value of this pixel. */
        uint8_t g;
        /* Blue value of this pixel. */
        uint8_t b;
} RGB888Pixel;

typedef struct
{
        uint8_t u;
        uint8_t y1;
        uint8_t v;
        uint8_t y2;
} YUV422DoublePixel;

typedef struct
{
        uint8_t y1;
        uint8_t u;
        uint8_t y2;
        uint8_t v;
} YUYVDoublePixel;

class _NullString
{
public:
        _NullString() {}
        operator const char*() const { return NULL; }
};

static const _NullString ANY_DEVICE;

template<class T>
class Array
{
public:
        Array() : m_data(NULL), m_count(0), m_owner(false) {}

        Array(const T* data, int count) : m_owner(false) { _setData(data, count); }

        ~Array()
        {
                clear();
        }

        int getSize() const { return m_count; }

        const T& operator[](int index) const {return m_data[index];}

        void _setData(const T* data, int count, bool isOwner = false)
        {
                clear();
                m_count = count;
                m_owner = isOwner;
                if (!isOwner)
                {
                        m_data = data;
                }
                else
                {
                        m_data = new T[count];
                        memcpy((void*)m_data, data, count*sizeof(T));
                }
        }

private:
        Array(const Array<T>&);
        Array<T>& operator=(const Array<T>&);

        void clear()
        {
                if (m_owner && m_data != NULL)
                        delete []m_data;
                m_owner = false;
                m_data = NULL;
                m_count = 0;
        }

        const T* m_data;
        int m_count;
        bool m_owner;
};

// Forward declaration of all
class SensorInfo;
class VideoStream;
class VideoFrameRef;
class Device;
class OpenNI;
class CameraSettings;
class PlaybackControl;

class VideoMode : private OniVideoMode
{
public:
        VideoMode()
        {}

        VideoMode(const VideoMode& other)
        {
                *this = other;
        }

        VideoMode& operator=(const VideoMode& other)
        {
                setPixelFormat(other.getPixelFormat());
                setResolution(other.getResolutionX(), other.getResolutionY());
                setFps(other.getFps());

                return *this;
        }

        PixelFormat getPixelFormat() const { return (PixelFormat)pixelFormat; }

        int getResolutionX() const { return resolutionX; }

        int getResolutionY() const {return resolutionY;}

        int getFps() const { return fps; }

        void setPixelFormat(PixelFormat format) { this->pixelFormat = (OniPixelFormat)format; }

        void setResolution(int resolutionX, int resolutionY)
        {
                this->resolutionX = resolutionX;
                this->resolutionY = resolutionY;
        }

        void setFps(int fps) { this->fps = fps; }

        friend class SensorInfo;
        friend class VideoStream;
        friend class VideoFrameRef;
};

class SensorInfo
{
public:
        SensorType getSensorType() const { return (SensorType)m_pInfo->sensorType; }

        const Array<VideoMode>& getSupportedVideoModes() const { return m_videoModes; }

private:
        SensorInfo(const SensorInfo&);
        SensorInfo& operator=(const SensorInfo&);

        SensorInfo() : m_pInfo(NULL), m_videoModes(NULL, 0) {}

        SensorInfo(const OniSensorInfo* pInfo) : m_pInfo(NULL), m_videoModes(NULL, 0)
        {
                _setInternal(pInfo);
        }

        void _setInternal(const OniSensorInfo* pInfo)
        {
                m_pInfo = pInfo;
                if (pInfo == NULL)
                {
                        m_videoModes._setData(NULL, 0);
                }
                else
                {
                        m_videoModes._setData(static_cast<VideoMode*>(pInfo->pSupportedVideoModes), pInfo->numSupportedVideoModes);
                }
        }

        const OniSensorInfo* m_pInfo;
        Array<VideoMode> m_videoModes;

        friend class VideoStream;
        friend class Device;
};

class DeviceInfo : private OniDeviceInfo
{
public:
        const char* getUri() const { return uri; }
        const char* getVendor() const { return vendor; }
        const char* getName() const { return name; }
        uint16_t getUsbVendorId() const { return usbVendorId; }
        uint16_t getUsbProductId() const { return usbProductId; }

        friend class Device;
        friend class OpenNI;
};

class VideoFrameRef
{
public:
        VideoFrameRef()
        {
                m_pFrame = NULL;
        }

        ~VideoFrameRef()
        {
                release();
        }

        VideoFrameRef(const VideoFrameRef& other) : m_pFrame(NULL)
        {
                _setFrame(other.m_pFrame);
        }

        VideoFrameRef& operator=(const VideoFrameRef& other)
        {
                _setFrame(other.m_pFrame);
                return *this;
        }

        inline int getDataSize() const
        {
                return m_pFrame->dataSize;
        }

        inline const void* getData() const
        {
                return m_pFrame->data;
        }

        inline SensorType getSensorType() const
        {
                return (SensorType)m_pFrame->sensorType;
        }

        inline const VideoMode& getVideoMode() const
        {
                return static_cast<const VideoMode&>(m_pFrame->videoMode);
        }

        inline uint64_t getTimestamp() const
        {
                return m_pFrame->timestamp;
        }

        inline int getFrameIndex() const
        {
                return m_pFrame->frameIndex;
        }

        inline int getWidth() const
        {
                return m_pFrame->width;
        }

        inline int getHeight() const
        {
                return m_pFrame->height;
        }

        inline bool getCroppingEnabled() const
        {
                return m_pFrame->croppingEnabled == TRUE;
        }

        inline int getCropOriginX() const
        {
                return m_pFrame->cropOriginX;
        }

        inline int getCropOriginY() const
        {
                return m_pFrame->cropOriginY;
        }

        inline int getStrideInBytes() const
        {
                return m_pFrame->stride;
        }

        inline bool isValid() const
        {
                return m_pFrame != NULL;
        }

        void release()
        {
                if (m_pFrame != NULL)
                {
                        oniFrameRelease(m_pFrame);
                        m_pFrame = NULL;
                }
        }

        void _setFrame(OniFrame* pFrame)
        {
                setReference(pFrame);
                if (pFrame != NULL)
                {
                        oniFrameAddRef(pFrame);
                }
        }

        OniFrame* _getFrame()
        {
                return m_pFrame;
        }

private:
        friend class VideoStream;
        inline void setReference(OniFrame* pFrame)
        {
                // Initial - don't addref. This is the reference from OpenNI
                release();
                m_pFrame = pFrame;
        }

        OniFrame* m_pFrame; // const!!?
};

class VideoStream
{
public:
        class NewFrameListener
        {
        public:
                NewFrameListener() : m_callbackHandle(NULL)
                {
                }

                virtual ~NewFrameListener()
                {
                }

                virtual void onNewFrame(VideoStream&) = 0;

        private:
                friend class VideoStream;

                static void ONI_CALLBACK_TYPE callback(OniStreamHandle streamHandle, void* pCookie)
                {
                        NewFrameListener* pListener = (NewFrameListener*)pCookie;
                        VideoStream stream;
                        stream._setHandle(streamHandle);
                        pListener->onNewFrame(stream);
                        stream._setHandle(NULL);
                }
                OniCallbackHandle m_callbackHandle;
        };

        class FrameAllocator
        {
        public:
                virtual ~FrameAllocator() {}
                virtual void* allocateFrameBuffer(int size) = 0;
                virtual void freeFrameBuffer(void* data) = 0;

        private:
                friend class VideoStream;

                static void* ONI_CALLBACK_TYPE allocateFrameBufferCallback(int size, void* pCookie)
                {
                        FrameAllocator* pThis = (FrameAllocator*)pCookie;
                        return pThis->allocateFrameBuffer(size);
                }

                static void ONI_CALLBACK_TYPE freeFrameBufferCallback(void* data, void* pCookie)
                {
                        FrameAllocator* pThis = (FrameAllocator*)pCookie;
                        pThis->freeFrameBuffer(data);
                }
        };

        VideoStream() : m_stream(NULL), m_sensorInfo(), m_pCameraSettings(NULL), m_isOwner(true)
        {}

        explicit VideoStream(OniStreamHandle handle) : m_stream(NULL), m_sensorInfo(), m_pCameraSettings(NULL), m_isOwner(false)
        {
                _setHandle(handle);
        }

        ~VideoStream()
        {
                destroy();
        }

        bool isValid() const
        {
                return m_stream != NULL;
        }

        inline Status create(const Device& device, SensorType sensorType);

        inline void destroy();

        const SensorInfo& getSensorInfo() const
        {
                return m_sensorInfo;
        }

        ParamsRegistrationMode getSoftwareRegistratorMode(){

        ParamsRegistrationMode mode;
                Status rc = getProperty(STREAM_PROPERTY_SOFTWARE_REGISTRATION, &mode);
                if (rc != STATUS_OK)
                {
                        return PARAMS_REGISTRATION_OFF;
                }
                return mode;
        }

        void setSoftwareRegistrator(ParamsRegistrationMode mode){
            setProperty(STREAM_PROPERTY_SOFTWARE_REGISTRATION, (int)mode); 
        }

        Status start()
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                return (Status)oniStreamStart(m_stream);
        }

        void stop()
        {
                if (!isValid())
                {
                        return;
                }

                oniStreamStop(m_stream);
        }

        Status readFrame(VideoFrameRef* pFrame)
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                OniFrame* pOniFrame;
                Status rc = (Status)oniStreamReadFrame(m_stream, &pOniFrame);

                pFrame->setReference(pOniFrame);
                return rc;
        }

        Status addNewFrameListener(NewFrameListener* pListener)
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                return (Status)oniStreamRegisterNewFrameCallback(m_stream, pListener->callback, pListener, &pListener->m_callbackHandle);
        }

        void removeNewFrameListener(NewFrameListener* pListener)
        {
                if (!isValid())
                {
                        return;
                }

                oniStreamUnregisterNewFrameCallback(m_stream, pListener->m_callbackHandle);
                pListener->m_callbackHandle = NULL;
        }

        Status setFrameBuffersAllocator(FrameAllocator* pAllocator)
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                if (pAllocator == NULL)
                {
                        return (Status)oniStreamSetFrameBuffersAllocator(m_stream, NULL, NULL, NULL);
                }
                else
                {
                        return (Status)oniStreamSetFrameBuffersAllocator(m_stream, pAllocator->allocateFrameBufferCallback, pAllocator->freeFrameBufferCallback, pAllocator);
                }
        }

        OniStreamHandle _getHandle() const
        {
                return m_stream;
        }

        CameraSettings* getCameraSettings() {return m_pCameraSettings;}

        Status getProperty(int propertyId, void* data, int* dataSize) const
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                return (Status)oniStreamGetProperty(m_stream, propertyId, data, dataSize);
        }

        Status setProperty(int propertyId, const void* data, int dataSize)
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                return (Status)oniStreamSetProperty(m_stream, propertyId, data, dataSize);
        }

        VideoMode getVideoMode() const
        {
                VideoMode videoMode;
                getProperty<OniVideoMode>(STREAM_PROPERTY_VIDEO_MODE, static_cast<OniVideoMode*>(&videoMode));
                return videoMode;
        }

        Status setVideoMode(const VideoMode& videoMode)
        {
                return setProperty<OniVideoMode>(STREAM_PROPERTY_VIDEO_MODE, static_cast<const OniVideoMode&>(videoMode));
        }

        int getMaxPixelValue() const
        {
                int maxValue;
                Status rc = getProperty<int>(STREAM_PROPERTY_MAX_VALUE, &maxValue);
                if (rc != STATUS_OK)
                {
                        return 0;
                }
                return maxValue;
        }

        int getMinPixelValue() const
        {
                int minValue;
                Status rc = getProperty<int>(STREAM_PROPERTY_MIN_VALUE, &minValue);
                if (rc != STATUS_OK)
                {
                        return 0;
                }
                return minValue;
        }

        bool isCroppingSupported() const
        {
                return isPropertySupported(STREAM_PROPERTY_CROPPING);
        }

        bool getCropping(int* pOriginX, int* pOriginY, int* pWidth, int* pHeight) const
        {
                OniCropping cropping;
                bool enabled = false;

                Status rc = getProperty<OniCropping>(STREAM_PROPERTY_CROPPING, &cropping);

                if (rc == STATUS_OK)
                {
                        *pOriginX = cropping.originX;
                        *pOriginY = cropping.originY;
                        *pWidth = cropping.width;
                        *pHeight = cropping.height;
                        enabled = (cropping.enabled == TRUE);
                }

                return enabled;
        }

        Status setCropping(int originX, int originY, int width, int height)
        {
                OniCropping cropping;
                cropping.enabled = true;
                cropping.originX = originX;
                cropping.originY = originY;
                cropping.width = width;
                cropping.height = height;
                return setProperty<OniCropping>(STREAM_PROPERTY_CROPPING, cropping);
        }

        Status resetCropping()
        {
                OniCropping cropping;
                cropping.enabled = false;
                return setProperty<OniCropping>(STREAM_PROPERTY_CROPPING, cropping);
        }

        bool getMirroringEnabled() const
        {
                OniBool enabled;
                Status rc = getProperty<OniBool>(STREAM_PROPERTY_MIRRORING, &enabled);
                if (rc != STATUS_OK)
                {
                        return false;
                }
                return enabled == TRUE;
        }

        Status setMirroringEnabled(bool isEnabled)
        {
                return setProperty<OniBool>(STREAM_PROPERTY_MIRRORING, isEnabled ? TRUE : FALSE);
        }

        float getHorizontalFieldOfView() const
        {
                float horizontal = 0;
                getProperty<float>(STREAM_PROPERTY_HORIZONTAL_FOV, &horizontal);
                return horizontal;
        }

        float getVerticalFieldOfView() const
        {
                float vertical = 0;
                getProperty<float>(STREAM_PROPERTY_VERTICAL_FOV, &vertical);
                return vertical;
        }

        template <class T>
        Status setProperty(int propertyId, const T& value)
        {
                return setProperty(propertyId, &value, sizeof(T));
        }

        template <class T>
        Status getProperty(int propertyId, T* value) const
        {
                int size = sizeof(T);
                return getProperty(propertyId, value, &size);
        }

        bool isPropertySupported(int propertyId) const
        {
                if (!isValid())
                {
                        return false;
                }

                return oniStreamIsPropertySupported(m_stream, propertyId) == TRUE;
        }

        Status invoke(int commandId, void* data, int dataSize)
        {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }

                return (Status)oniStreamInvoke(m_stream, commandId, data, dataSize);
        }

        template <class T>
        Status invoke(int commandId, T& value)
        {
                return invoke(commandId, &value, sizeof(T));
        }

        bool isCommandSupported(int commandId) const
        {
                if (!isValid())
                {
                        return false;
                }

                return (Status)oniStreamIsCommandSupported(m_stream, commandId) == TRUE;
        }

        void filterSpeckles(void*  buf,   int newVal, int maxSpeckleSize, int maxDiff){
            oniStreamfilter(m_stream,  buf,  newVal,  maxSpeckleSize,  maxDiff);
        }

private:
        friend class Device;

        void _setHandle(OniStreamHandle stream)
        {
                m_sensorInfo._setInternal(NULL);
                m_stream = stream;

                if (stream != NULL)
                {
                        m_sensorInfo._setInternal(oniStreamGetSensorInfo(m_stream));
                }
        }

private:
        VideoStream(const VideoStream& other);
        VideoStream& operator=(const VideoStream& other);

        OniStreamHandle m_stream;
        SensorInfo m_sensorInfo;
        CameraSettings* m_pCameraSettings;
        bool m_isOwner;
};

class Device
{
public:
        Device() : m_pPlaybackControl(NULL), m_device(NULL), m_isOwner(true)
        {
                clearSensors();
        }

        explicit Device(OniDeviceHandle handle) : m_pPlaybackControl(NULL), m_device(NULL), m_isOwner(false)
        {
                _setHandle(handle);
        }

        ~Device()
        {
                if (m_device != NULL)
                {
                        close();
                }
        }

        inline Status open(const char* uri);

        inline void close();

        const DeviceInfo& getDeviceInfo() const
        {
                return m_deviceInfo;
        }

        bool hasSensor(SensorType sensorType)
        {
                int i;
                for (i = 0; (i < ONI_MAX_SENSORS) && (m_aSensorInfo[i].m_pInfo != NULL); ++i)
                {
                        if (m_aSensorInfo[i].getSensorType() == sensorType)
                        {
                                return true;
                        }
                }

                if (i == ONI_MAX_SENSORS)
                {
                        return false;
                }

                const OniSensorInfo* pInfo = oniDeviceGetSensorInfo(m_device, (OniSensorType)sensorType);

                if (pInfo == NULL)
                {
                        return false;
                }

                m_aSensorInfo[i]._setInternal(pInfo);

                return true;
        }

        const SensorInfo* getSensorInfo(SensorType sensorType)
        {
                int i;
                for (i = 0; (i < ONI_MAX_SENSORS) && (m_aSensorInfo[i].m_pInfo != NULL); ++i)
                {
                        if (m_aSensorInfo[i].getSensorType() == sensorType)
                        {
                                return &m_aSensorInfo[i];
                        }
                }

                // not found. check to see we have additional space
                if (i == ONI_MAX_SENSORS)
                {
                        return NULL;
                }

                const OniSensorInfo* pInfo = oniDeviceGetSensorInfo(m_device, (OniSensorType)sensorType);
                if (pInfo == NULL)
                {
                        return NULL;
                }

                m_aSensorInfo[i]._setInternal(pInfo);
                return &m_aSensorInfo[i];
        }

        OniDeviceHandle _getHandle() const
        {
                return m_device;
        }

        PlaybackControl* getPlaybackControl() {return m_pPlaybackControl;}

        Status getProperty(int propertyId, void* data, int* dataSize) const
        {
                return (Status)oniDeviceGetProperty(m_device, propertyId, data, dataSize);
        }

        Status setProperty(int propertyId, const void* data, int dataSize)
        {
                return (Status)oniDeviceSetProperty(m_device, propertyId, data, dataSize);
        }
        
    void setGain(int gain) {
                oniDeviceSetProperty(m_device, OBEXTENSION_ID_IR_GAIN, &gain, sizeof(gain));
        }

    int getGain() {
                int value = 0;
                int size = sizeof(value);
            oniDeviceGetProperty(m_device, openni::OBEXTENSION_ID_IR_GAIN, (uint16_t *)&value, &size);
                return value;
        }
        bool isImageRegistrationModeSupported(ImageRegistrationMode mode) const
        {
                return (oniDeviceIsImageRegistrationModeSupported(m_device, (OniImageRegistrationMode)mode) == TRUE);
        }

        ImageRegistrationMode getImageRegistrationMode() const
        {
                ImageRegistrationMode mode;
                Status rc = getProperty<ImageRegistrationMode>(DEVICE_PROPERTY_IMAGE_REGISTRATION, &mode);
                if (rc != STATUS_OK)
                {
                        return IMAGE_REGISTRATION_OFF;
                }
                return mode;
        }

        Status setImageRegistrationMode(ImageRegistrationMode mode)
        {
                return setProperty<ImageRegistrationMode>(DEVICE_PROPERTY_IMAGE_REGISTRATION, mode);
        }

        bool isValid() const
        {
                return m_device != NULL;
        }

        bool isFile() const
        {
                return isPropertySupported(DEVICE_PROPERTY_PLAYBACK_SPEED) &&
                        isPropertySupported(DEVICE_PROPERTY_PLAYBACK_REPEAT_ENABLED) &&
                        isCommandSupported(DEVICE_COMMAND_SEEK);
        }

        Status setDepthColorSyncEnabled(bool isEnabled)
        {
                Status rc = STATUS_OK;

                if (isEnabled)
                {
                        rc = (Status)oniDeviceEnableDepthColorSync(m_device);
                }
                else
                {
                        oniDeviceDisableDepthColorSync(m_device);
                }

                return rc;
        }

        bool getDepthColorSyncEnabled()
        {
                return oniDeviceGetDepthColorSyncEnabled(m_device) == TRUE;
        }

        template <class T>
        Status setProperty(int propertyId, const T& value)
        {
                return setProperty(propertyId, &value, sizeof(T));
        }

        template <class T>
        Status getProperty(int propertyId, T* value) const
        {
                int size = sizeof(T);
                return getProperty(propertyId, value, &size);
        }

        bool isPropertySupported(int propertyId) const
        {
                return oniDeviceIsPropertySupported(m_device, propertyId) == TRUE;
        }

        Status invoke(int commandId, void* data, int dataSize)
        {
                return (Status)oniDeviceInvoke(m_device, commandId, data, dataSize);
        }

        template <class T>
        Status invoke(int propertyId, T& value)
        {
                return invoke(propertyId, &value, sizeof(T));
        }

        bool isCommandSupported(int commandId) const
        {
                return oniDeviceIsCommandSupported(m_device, commandId) == TRUE;
        }

        inline Status _openEx(const char* uri, const char* mode);

private:
        Device(const Device&);
        Device& operator=(const Device&);

        void clearSensors()
        {
                for (int i = 0; i < ONI_MAX_SENSORS; ++i)
                {
                        m_aSensorInfo[i]._setInternal(NULL);
                }
        }

        inline Status _setHandle(OniDeviceHandle deviceHandle);

private:
        PlaybackControl* m_pPlaybackControl;

        OniDeviceHandle m_device;
        DeviceInfo m_deviceInfo;
        SensorInfo m_aSensorInfo[ONI_MAX_SENSORS];

        bool m_isOwner;
};

class PlaybackControl
{
public:

        ~PlaybackControl()
        {
                detach();
        }

        float getSpeed() const
        {
                if (!isValid())
                {
                        return 0.0f;
                }
                float speed;
                Status rc = m_pDevice->getProperty<float>(DEVICE_PROPERTY_PLAYBACK_SPEED, &speed);
                if (rc != STATUS_OK)
                {
                        return 1.0f;
                }
                return speed;
        }
        Status setSpeed(float speed)
        {
                if (!isValid())
                {
                        return STATUS_NO_DEVICE;
                }
                return m_pDevice->setProperty<float>(DEVICE_PROPERTY_PLAYBACK_SPEED, speed);
        }

        bool getRepeatEnabled() const
        {
                if (!isValid())
                {
                        return false;
                }

                OniBool repeat;
                Status rc = m_pDevice->getProperty<OniBool>(DEVICE_PROPERTY_PLAYBACK_REPEAT_ENABLED, &repeat);
                if (rc != STATUS_OK)
                {
                        return false;
                }

                return repeat == TRUE;
        }

        Status setRepeatEnabled(bool repeat)
        {
                if (!isValid())
                {
                        return STATUS_NO_DEVICE;
                }

                return m_pDevice->setProperty<OniBool>(DEVICE_PROPERTY_PLAYBACK_REPEAT_ENABLED, repeat ? TRUE : FALSE);
        }

        Status seek(const VideoStream& stream, int frameIndex)
        {
                if (!isValid())
                {
                        return STATUS_NO_DEVICE;
                }
                OniSeek seek;
                seek.frameIndex = frameIndex;
                seek.stream = stream._getHandle();
                return m_pDevice->invoke(DEVICE_COMMAND_SEEK, seek);
        }

        int getNumberOfFrames(const VideoStream& stream) const
        {
                int numOfFrames = -1;
                Status rc = stream.getProperty<int>(STREAM_PROPERTY_NUMBER_OF_FRAMES, &numOfFrames);
                if (rc != STATUS_OK)
                {
                        return 0;
                }
                return numOfFrames;
        }

        bool isValid() const
        {
                return m_pDevice != NULL;
        }
private:
        Status attach(Device* device)
        {
                if (!device->isValid() || !device->isFile())
                {
                        return STATUS_ERROR;
                }

                detach();
                m_pDevice = device;

                return STATUS_OK;
        }
        void detach()
        {
                m_pDevice = NULL;
        }

        friend class Device;
        PlaybackControl(Device* pDevice) : m_pDevice(NULL)
        {
                if (pDevice != NULL)
                {
                        attach(pDevice);
                }
        }

        Device* m_pDevice;
};

class CameraSettings
{
public:
        // setters
        Status setAutoExposureEnabled(bool enabled)
        {
                return setProperty(STREAM_PROPERTY_AUTO_EXPOSURE, enabled ? TRUE : FALSE);
        }
        Status setAutoWhiteBalanceEnabled(bool enabled)
        {
                return setProperty(STREAM_PROPERTY_AUTO_WHITE_BALANCE, enabled ? TRUE : FALSE);
        }

        bool getAutoExposureEnabled() const
        {
                OniBool enabled = FALSE;

                Status rc = getProperty(STREAM_PROPERTY_AUTO_EXPOSURE, &enabled);
                return rc == STATUS_OK && enabled == TRUE;
        }
        bool getAutoWhiteBalanceEnabled() const
        {
                OniBool enabled = FALSE;

                Status rc = getProperty(STREAM_PROPERTY_AUTO_WHITE_BALANCE, &enabled);
                return rc == STATUS_OK && enabled == TRUE;
        }

        Status setGain(int gain)
        {
                return setProperty(STREAM_PROPERTY_GAIN, gain);
        }
        Status setExposure(int exposure)
        {
                return setProperty(STREAM_PROPERTY_EXPOSURE, exposure);
        }
        int getGain()
        {
                int gain;
                Status rc = getProperty(STREAM_PROPERTY_GAIN, &gain);
                if (rc != STATUS_OK)
                {
                        return 100;
                }
                return gain;
        }
        int getExposure()
        {
                int exposure;
                Status rc = getProperty(STREAM_PROPERTY_EXPOSURE, &exposure);
                if (rc != STATUS_OK)
                {
                        return 0;
                }
                return exposure;
        }

        bool isValid() const {return m_pStream != NULL;}
private:
        template <class T>
        Status getProperty(int propertyId, T* value) const
        {
                if (!isValid()) return STATUS_NOT_SUPPORTED;

                return m_pStream->getProperty<T>(propertyId, value);
        }
        template <class T>
        Status setProperty(int propertyId, const T& value)
        {
                if (!isValid()) return STATUS_NOT_SUPPORTED;

                return m_pStream->setProperty<T>(propertyId, value);
        }

        friend class VideoStream;
        CameraSettings(VideoStream* pStream)
        {
                m_pStream = pStream;
        }

        VideoStream* m_pStream;
};


class OpenNI
{
public:

        class DeviceConnectedListener
        {
        public:
                DeviceConnectedListener()
                {
                        m_deviceConnectedCallbacks.deviceConnected = deviceConnectedCallback;
                        m_deviceConnectedCallbacks.deviceDisconnected = NULL;
                        m_deviceConnectedCallbacks.deviceStateChanged = NULL;
                        m_deviceConnectedCallbacksHandle = NULL;
                }
                
                virtual ~DeviceConnectedListener()
                {
                }
                
                virtual void onDeviceConnected(const DeviceInfo*) = 0;
        private:
                static void ONI_CALLBACK_TYPE deviceConnectedCallback(const OniDeviceInfo* pInfo, void* pCookie)
                {
                        DeviceConnectedListener* pListener = (DeviceConnectedListener*)pCookie;
                        pListener->onDeviceConnected(static_cast<const DeviceInfo*>(pInfo));
                }

                friend class OpenNI;
                OniDeviceCallbacks m_deviceConnectedCallbacks;
                OniCallbackHandle m_deviceConnectedCallbacksHandle;

        };
        class DeviceDisconnectedListener
        {
        public:
                DeviceDisconnectedListener()
                {
                        m_deviceDisconnectedCallbacks.deviceConnected = NULL;
                        m_deviceDisconnectedCallbacks.deviceDisconnected = deviceDisconnectedCallback;
                        m_deviceDisconnectedCallbacks.deviceStateChanged = NULL;
                        m_deviceDisconnectedCallbacksHandle = NULL;
                }
                
                virtual ~DeviceDisconnectedListener()
                {
                }
                
                virtual void onDeviceDisconnected(const DeviceInfo*) = 0;
        private:
                static void ONI_CALLBACK_TYPE deviceDisconnectedCallback(const OniDeviceInfo* pInfo, void* pCookie)
                {
                        DeviceDisconnectedListener* pListener = (DeviceDisconnectedListener*)pCookie;
                        pListener->onDeviceDisconnected(static_cast<const DeviceInfo*>(pInfo));
                }

                friend class OpenNI;
                OniDeviceCallbacks m_deviceDisconnectedCallbacks;
                OniCallbackHandle m_deviceDisconnectedCallbacksHandle;
        };
        class DeviceStateChangedListener
        {
        public:
                DeviceStateChangedListener()
                {
                        m_deviceStateChangedCallbacks.deviceConnected = NULL;
                        m_deviceStateChangedCallbacks.deviceDisconnected = NULL;
                        m_deviceStateChangedCallbacks.deviceStateChanged = deviceStateChangedCallback;
                        m_deviceStateChangedCallbacksHandle = NULL;
                }
                
                virtual ~DeviceStateChangedListener()
                {
                }
                
                virtual void onDeviceStateChanged(const DeviceInfo*, DeviceState) = 0;
        private:
                static void ONI_CALLBACK_TYPE deviceStateChangedCallback(const OniDeviceInfo* pInfo, OniDeviceState state, void* pCookie)
                {
                        DeviceStateChangedListener* pListener = (DeviceStateChangedListener*)pCookie;
                        pListener->onDeviceStateChanged(static_cast<const DeviceInfo*>(pInfo), DeviceState(state));
                }

                friend class OpenNI;
                OniDeviceCallbacks m_deviceStateChangedCallbacks;
                OniCallbackHandle m_deviceStateChangedCallbacksHandle;
        };

        static Status initialize()
        {
                return (Status)oniInitialize(ONI_API_VERSION); // provide version of API, to make sure proper struct sizes are used
        }

        static void shutdown()
        {
                oniShutdown();
        }

        static Version getVersion()
        {
                OniVersion oniVersion = oniGetVersion();
                Version version;
                version.major = oniVersion.major;
                version.minor = oniVersion.minor;
                version.maintenance = oniVersion.maintenance;
                version.build = oniVersion.build;
                return version;
        }

        static const char* getExtendedError()
        {
                return oniGetExtendedError();
        }

        static void enumerateDevices(Array<DeviceInfo>* deviceInfoList)
        {
                OniDeviceInfo* m_pDeviceInfos;
                int m_deviceInfoCount;
                oniGetDeviceList(&m_pDeviceInfos, &m_deviceInfoCount);
                deviceInfoList->_setData((DeviceInfo*)m_pDeviceInfos, m_deviceInfoCount, true);
                oniReleaseDeviceList(m_pDeviceInfos);
        }

        static Status waitForAnyStream(VideoStream** pStreams, int streamCount, int* pReadyStreamIndex, int timeout = TIMEOUT_FOREVER)
        {
                static const int ONI_MAX_STREAMS = 50;
                OniStreamHandle streams[ONI_MAX_STREAMS];

                if (streamCount > ONI_MAX_STREAMS)
                {
                        printf("Too many streams for wait: %d > %d\n", streamCount, ONI_MAX_STREAMS);
                        return STATUS_BAD_PARAMETER;
                }

                *pReadyStreamIndex = -1;
                for (int i = 0; i < streamCount; ++i)
                {
                        if (pStreams[i] != NULL)
                        {
                                streams[i] = pStreams[i]->_getHandle();
                        }
                        else
                        {
                                streams[i] = NULL;
                        }
                }
                Status rc = (Status)oniWaitForAnyStream(streams, streamCount, pReadyStreamIndex, timeout);

                return rc;
        }

        static Status addDeviceConnectedListener(DeviceConnectedListener* pListener)
        {
                if (pListener->m_deviceConnectedCallbacksHandle != NULL)
                {
                        return STATUS_ERROR;
                }
                return (Status)oniRegisterDeviceCallbacks(&pListener->m_deviceConnectedCallbacks, pListener, &pListener->m_deviceConnectedCallbacksHandle);
        }
        static Status addDeviceDisconnectedListener(DeviceDisconnectedListener* pListener)
        {
                if (pListener->m_deviceDisconnectedCallbacksHandle != NULL)
                {
                        return STATUS_ERROR;
                }
                return (Status)oniRegisterDeviceCallbacks(&pListener->m_deviceDisconnectedCallbacks, pListener, &pListener->m_deviceDisconnectedCallbacksHandle);
        }
        static Status addDeviceStateChangedListener(DeviceStateChangedListener* pListener)
        {
                if (pListener->m_deviceStateChangedCallbacksHandle != NULL)
                {
                        return STATUS_ERROR;
                }
                return (Status)oniRegisterDeviceCallbacks(&pListener->m_deviceStateChangedCallbacks, pListener, &pListener->m_deviceStateChangedCallbacksHandle);
        }
        static void removeDeviceConnectedListener(DeviceConnectedListener* pListener)
        {
                oniUnregisterDeviceCallbacks(pListener->m_deviceConnectedCallbacksHandle);
                pListener->m_deviceConnectedCallbacksHandle = NULL;
        }
        static void removeDeviceDisconnectedListener(DeviceDisconnectedListener* pListener)
        {
                oniUnregisterDeviceCallbacks(pListener->m_deviceDisconnectedCallbacksHandle);
                pListener->m_deviceDisconnectedCallbacksHandle = NULL;
        }
        static void removeDeviceStateChangedListener(DeviceStateChangedListener* pListener)
        {
                oniUnregisterDeviceCallbacks(pListener->m_deviceStateChangedCallbacksHandle);
                pListener->m_deviceStateChangedCallbacksHandle = NULL;
        }

        static Status setLogOutputFolder(const char *strLogOutputFolder)
        {
                return (Status)oniSetLogOutputFolder(strLogOutputFolder);
        }

        static Status getLogFileName(char *strFileName, int nBufferSize)
        {
                return (Status)oniGetLogFileName(strFileName, nBufferSize);
        }

        static Status setLogMinSeverity(int nMinSeverity)
        {
                return(Status) oniSetLogMinSeverity(nMinSeverity);
        }
        
        static Status setLogConsoleOutput(bool bConsoleOutput)
        {
                return (Status)oniSetLogConsoleOutput(bConsoleOutput);
        }

        static Status setLogFileOutput(bool bFileOutput)
        {
                return (Status)oniSetLogFileOutput(bFileOutput);
        }

        #if ONI_PLATFORM == ONI_PLATFORM_ANDROID_ARM

        static Status setLogAndroidOutput(bool bAndroidOutput)
        {
                return (Status)oniSetLogAndroidOutput(bAndroidOutput);
        }
        #endif
        
private:
        OpenNI()
        {
        }
};

class CoordinateConverter
{
public:
        static Status convertWorldToDepth(const VideoStream& depthStream, float worldX, float worldY, float worldZ, int* pDepthX, int* pDepthY, DepthPixel* pDepthZ)
        {
                float depthX, depthY, depthZ;
                Status rc = (Status)oniCoordinateConverterWorldToDepth(depthStream._getHandle(), worldX, worldY, worldZ, &depthX, &depthY, &depthZ);
                *pDepthX = (int)depthX;
                *pDepthY = (int)depthY;
                *pDepthZ = (DepthPixel)depthZ;
                return rc;
        }

        static Status convertWorldToDepth(const VideoStream& depthStream, float worldX, float worldY, float worldZ, float* pDepthX, float* pDepthY, float* pDepthZ)
        {
                return (Status)oniCoordinateConverterWorldToDepth(depthStream._getHandle(), worldX, worldY, worldZ, pDepthX, pDepthY, pDepthZ);
        }

        static Status convertDepthToWorld(const VideoStream& depthStream, int depthX, int depthY, DepthPixel depthZ, float* pWorldX, float* pWorldY, float* pWorldZ)
        {
                return (Status)oniCoordinateConverterDepthToWorld(depthStream._getHandle(), float(depthX), float(depthY), float(depthZ), pWorldX, pWorldY, pWorldZ);
        }

        static Status convertDepthToWorld(const VideoStream& depthStream, float depthX, float depthY, float depthZ, float* pWorldX, float* pWorldY, float* pWorldZ)
        {
                return (Status)oniCoordinateConverterDepthToWorld(depthStream._getHandle(), depthX, depthY, depthZ, pWorldX, pWorldY, pWorldZ);
        }

        static Status convertDepthToColor(const VideoStream& depthStream, const VideoStream& colorStream, int depthX, int depthY, DepthPixel depthZ, int* pColorX, int* pColorY)
        {
                return (Status)oniCoordinateConverterDepthToColor(depthStream._getHandle(), colorStream._getHandle(), depthX, depthY, depthZ, pColorX, pColorY);
        }

        static Status convertC2DCoordinateByIntrinsic(const VideoStream& depthStream,  int colorX, int colorY, DepthPixel depthZ, int* pDepthX, int* pDepthY)
        {
                return (Status)oniCoordinateConverterC2D(depthStream._getHandle(),  colorX, colorY, depthZ, pDepthX,  pDepthY);
        }
        static Status convertD2CCoordinateByIntrinsic(const VideoStream& depthStream,  int depthX, int depthY, DepthPixel depthZ, int* pColorX, int* pColorY)
        {
                return (Status)oniCoordinateConverterD2C(depthStream._getHandle(), depthX, depthY, depthZ, pColorX, pColorY);
        }
};

class Recorder
{
public:
    Recorder() : m_recorder(NULL)
    {
    }

    ~Recorder()
    {
                destroy();
    }

    Status create(const char* fileName)
    {
        if (!isValid())
        {
            return (Status)oniCreateRecorder(fileName, &m_recorder);
        }
        return STATUS_ERROR;
    }

    bool isValid() const
    {
        return NULL != getHandle();
    }

    Status attach(VideoStream& stream, bool allowLossyCompression = false)
    {
        if (!isValid() || !stream.isValid())
        {
            return STATUS_ERROR;
        }
        return (Status)oniRecorderAttachStream(
                m_recorder,
                stream._getHandle(),
                allowLossyCompression);
    }

    Status start()
    {
                if (!isValid())
                {
                        return STATUS_ERROR;
                }
        return (Status)oniRecorderStart(m_recorder);
    }

    void stop()
    {
                if (isValid())
                {
                        oniRecorderStop(m_recorder);
                }
    }

        void destroy()
        {
                if (isValid())
                {
                        oniRecorderDestroy(&m_recorder);
                }
        }

private:
        Recorder(const Recorder&);
        Recorder& operator=(const Recorder&);

    OniRecorderHandle getHandle() const
    {
        return m_recorder;
    }


    OniRecorderHandle m_recorder;
};

// Implemetation
Status VideoStream::create(const Device& device, SensorType sensorType)
{
        OniStreamHandle streamHandle;
        Status rc = (Status)oniDeviceCreateStream(device._getHandle(), (OniSensorType)sensorType, &streamHandle);
        if (rc != STATUS_OK)
        {
                return rc;
        }

        m_isOwner = true;
        _setHandle(streamHandle);

        if (isPropertySupported(STREAM_PROPERTY_AUTO_WHITE_BALANCE) && isPropertySupported(STREAM_PROPERTY_AUTO_EXPOSURE))
        {
                m_pCameraSettings = new CameraSettings(this);
        }

        return STATUS_OK;
}

void VideoStream::destroy()
{
        if (!isValid())
        {
                return;
        }

        if (m_pCameraSettings != NULL)
        {
                delete m_pCameraSettings;
                m_pCameraSettings = NULL;
        }

        if (m_stream != NULL)
        {
                if(m_isOwner)
                        oniStreamDestroy(m_stream);
                m_stream = NULL;
        }
}

Status Device::open(const char* uri)
{
        //If we are not the owners, we stick with our own device
        if(!m_isOwner)
        {
                if(isValid()){
                        return STATUS_OK;
                }else{
                        return STATUS_OUT_OF_FLOW;
                }
        }

        OniDeviceHandle deviceHandle;
        Status rc = (Status)oniDeviceOpen(uri, &deviceHandle);
        if (rc != STATUS_OK)
        {
                return rc;
        }

        _setHandle(deviceHandle);

        return STATUS_OK;
}

Status Device::_openEx(const char* uri, const char* mode)
{
        //If we are not the owners, we stick with our own device
        if(!m_isOwner)
        {
                if(isValid()){
                        return STATUS_OK;
                }else{
                        return STATUS_OUT_OF_FLOW;
                }
        }

        OniDeviceHandle deviceHandle;
        Status rc = (Status)oniDeviceOpenEx(uri, mode, &deviceHandle);
        if (rc != STATUS_OK)
        {
                return rc;
        }

        _setHandle(deviceHandle);

        return STATUS_OK;
}

Status Device::_setHandle(OniDeviceHandle deviceHandle)
{
        if (m_device == NULL)
        {
                m_device = deviceHandle;

                clearSensors();

                oniDeviceGetInfo(m_device, &m_deviceInfo);

                if (isFile())
                {
                        m_pPlaybackControl = new PlaybackControl(this);
                }

                // Read deviceInfo
                return STATUS_OK;
        }

        return STATUS_OUT_OF_FLOW;
}

void Device::close()
{
        if (m_pPlaybackControl != NULL)
        {
                delete m_pPlaybackControl;
                m_pPlaybackControl = NULL;
        }

        if (m_device != NULL)
        {
                if(m_isOwner)
                {
                        oniDeviceClose(m_device);
                }

                m_device = NULL;
        }
}

}

#endif // OPENNI_H