ASUS Xtion Pro support with OpenNI2

[mpp]

I've just compiled from source enabling BUILD_OPENNI2 and WITH_OPENNI2 CMake variables.
I'm using the ASUS Xtion Pro with no RGB camera. When I create a pcl::io::openni2::OpenNI2DeviceManager object and I use its getAnyDevice() method my application crash because it is trying to perform this line of the file openni2_device.cpp: setColorVideoMode (getDefaultColorMode ())
I think that here there should be a check if the device support color or not.
Am I right?
here is a code sample:

#include <pcl\io\openni2_grabber.h>
#include <pcl\visualization\pcl_visualizer.h>
#include <pcl\visualization\boost.h>
#include <pcl\visualization\image_viewer.h>

#include <iostream>

int main (int argc, char** argv)
{
    std::cout << "hi" << std::endl;


    boost::shared_ptr<pcl::io::openni2::OpenNI2DeviceManager> 
    deviceManager = pcl::io::openni2::OpenNI2DeviceManager::getInstance ();

    if (deviceManager->getNumOfConnectedDevices () > 0)
    {
        boost::shared_ptr<pcl::io::openni2::OpenNI2Device> device = deviceManager->getAnyDevice ();
        cout << "Device ID not set, using default device: " << device->getStringID () << endl;
    }

    return 0;
}

[akshmakov]

I did some digging. Let me give the punchline first

pcl::io::openni2::OpenNI2Device::getDefaultColorMode () const
{
  // Search for and return VGA@30 Hz mode
  vector<OpenNI2VideoMode> modeList = getSupportedColorVideoModes ();
  for (vector<OpenNI2VideoMode>::iterator modeItr = modeList.begin (); modeItr != modeList.end (); modeItr++)
  {
    OpenNI2VideoMode mode = *modeItr;
    if ( (mode.x_resolution_ == 640) && (mode.y_resolution_ == 480) && (mode.frame_rate_ == 30.0) )
      return mode;
  }
  return (modeList.at (0)); // <<<<-----BADUM-TSCH
}

Now for the details

getDefaultColorMode() calls getSupportedColorVideoModes() . Which is the relevant function where the problem starts.

pcl::io::openni2::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_ = openniModeToGrabberMode (sensor_info.getSupportedVideoModes ());
  }

  return (color_video_modes_);
}

getColorVideoStream() will actually check if the camera has a color stream and return color_video_stream_ . The color_video_modes_ is a vector and .clear() will clear the vector. Since color_video_stream_ is unset it nothing will ever be added to color_video_modes_ and so it is an empty list.

Going back up to getSupportedColorVideoModes() it will by default return the first element in the array (return (modeList.at (0))), but the array is empty, hence you have the segfault.

setColorVideoMode() isn't important here because it does nothing if it doesn't have a stream anyway. The problem is the empty vector dereference.

This is a bug, there needs to be some array size checking when dereferencing or an out_of_range exception catch, or potentially a change to the way getColorVideoStream() deals with non-existing streams. I'll wait for a dev to comment but I can volunteer to make a pull request.

[jspricke]

Hi @akshmakov I think this is really old code, so it would be great if you can send a pull request with a fix, thanks for digging into it :).

[stale]

Marking this as stale due to 30 days of inactivity. It will be closed in 7 days if no further activity occurs.