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Finished Temporal Sync Feature

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This commit is contained in:
Christopher Remde
2020-07-08 13:55:48 +02:00
parent da2c304db8
commit 1544abd276
17 changed files with 390 additions and 118 deletions
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ICP/ICP.vcxproj
+7 -7
View File
@@ -29,46 +29,46 @@
<PropertyGroup Label="Globals">
<ProjectGuid>{973EE923-B423-4BCD-AA08-B03DA40CB51F}</ProjectGuid>
<RootNamespace>ICP</RootNamespace>
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|Win32'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release DLL|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>MultiByte</CharacterSet>
</PropertyGroup>
LiveScanClient/KinectClient.vcxproj
+7 -7
View File
@@ -60,32 +60,32 @@
<ProjectGuid>{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}</ProjectGuid>
<RootNamespace>KinectClient</RootNamespace>
<ProjectName>LiveScanClient</ProjectName>
<WindowsTargetPlatformVersion>10.0.17763.0</WindowsTargetPlatformVersion>
<WindowsTargetPlatformVersion>10.0</WindowsTargetPlatformVersion>
</PropertyGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v141</PlatformToolset>
<PlatformToolset>v142</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
@@ -193,12 +193,12 @@
</ItemDefinitionGroup>
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
<ImportGroup Label="ExtensionTargets">
<Import Project="..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
<Import Project="..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets" Condition="Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" />
</ImportGroup>
<Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
<PropertyGroup>
<ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them. For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
</PropertyGroup>
<Error Condition="!Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Azure.Kinect.Sensor.1.2.0\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
<Error Condition="!Exists('..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\packages\Microsoft.Azure.Kinect.Sensor.1.4.1\build\native\Microsoft.Azure.Kinect.Sensor.targets'))" />
</Target>
</Project>
LiveScanClient/packages.config
+1 -1
View File
@@ -1,4 +1,4 @@
<?xml version="1.0" encoding="utf-8"?>
<packages>
<package id="Microsoft.Azure.Kinect.Sensor" version="1.2.0" targetFramework="native" />
<package id="Microsoft.Azure.Kinect.Sensor" version="1.4.1" targetFramework="native" />
</packages>
LiveScanServer/KinectServer.cs
+60 -5
View File
@@ -31,6 +31,7 @@ namespace KinectServer
Socket oServerSocket;
bool bServerRunning = false;
bool waitForSubToStart = false;
KinectSettings oSettings;
object oClientSocketLock = new object();
@@ -232,19 +233,71 @@ namespace KinectServer
}
}
/// <summary>
/// Send temporal Sync Data to all client
/// </summary>
public void SendTemporalSyncData()
{
lock (oClientSocketLock)
{
lClientSockets[0].SendTemporalSyncStatus(true, false);
for (int i = 1; i < lClientSockets.Count; i++)
{
if(lClientSockets.Count > 1 && oSettings.bEnableSync)
{
lClientSockets[i].SendTemporalSyncStatus(false, true);
byte syncOffSetCounter = 1;
for (int i = 0; i < lClientSockets.Count; i++)
{
lClientSockets[i].SendTemporalSyncStatus(true, syncOffSetCounter);
syncOffSetCounter++;
}
waitForSubToStart = true;
}
else
{
for (int i = 0; i < lClientSockets.Count; i++)
{
lClientSockets[i].SendTemporalSyncStatus(false, 0);
}
}
}
}
/// <summary>
/// Called when a sub client has started. This checks if all sub clients have already started. If yes, we initialize the master
/// </summary>
public void CheckForMasterStart()
{
if (!oSettings.bEnableSync || !waitForSubToStart)
{
return;
}
bool allSubsStarted = true;
lock (oClientSocketLock)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
if (!lClientSockets[i].bSubStarted && lClientSockets[i].currentTempSyncState == KinectSocket.eTempSyncConfig.SUBORDINATE)
{
allSubsStarted = false;
break;
}
}
if (allSubsStarted)
{
for (int i = 0; i < lClientSockets.Count; i++)
{
lClientSockets[i].SendMasterInitialize();
}
}
}
}
public bool GetStoredFrame(List<List<byte>> lFramesRGB, List<List<Single>> lFramesVerts)
{
bool bNoMoreStoredFrames;
@@ -373,6 +426,8 @@ namespace KinectServer
lClientSockets.Add(new KinectSocket(newClient));
lClientSockets[lClientSockets.Count - 1].SendSettings(oSettings);
lClientSockets[lClientSockets.Count - 1].eChanged += new SocketChangedHandler(SocketListChanged);
lClientSockets[lClientSockets.Count - 1].eSubInitialized += new SubOrdinateInitialized(CheckForMasterStart);
if (eSocketListChanged != null)
{
eSocketListChanged(lClientSockets);
LiveScanServer/KinectSocket.cs
+71 -32
View File
@@ -23,6 +23,7 @@ using System.Net.Sockets;
namespace KinectServer
{
public delegate void SocketChangedHandler();
public delegate void SubOrdinateInitialized();
public class KinectSocket
{
@@ -33,8 +34,10 @@ namespace KinectServer
public bool bStoredFrameReceived = false;
public bool bNoMoreStoredFrames = true;
public bool bCalibrated = false;
public bool bIsMaster = false;
public bool bIsSubOrdinate = false;
public bool bSubStarted = false;
public enum eTempSyncConfig { MASTER, SUBORDINATE, STANDALONE }
public eTempSyncConfig currentTempSyncState = eTempSyncConfig.STANDALONE;
//The pose of the sensor in the scene (used by the OpenGLWindow to show the sensor)
public AffineTransform oCameraPose = new AffineTransform();
//The transform that maps the vertices in the sensor coordinate system to the world corrdinate system.
@@ -47,11 +50,14 @@ namespace KinectServer
public List<Body> lBodies = new List<Body>();
public event SocketChangedHandler eChanged;
public event SubOrdinateInitialized eSubInitialized;
public KinectSocket(Socket clientSocket)
{
oSocket = clientSocket;
sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = false";
UpdateSocketState();
}
public void CaptureFrame()
@@ -123,23 +129,38 @@ namespace KinectServer
SendByte();
}
public void SendTemporalSyncStatus(bool isMaster, bool isSubOrdinate)
{
if (isMaster)
/// <summary>
/// Send the device the command to restart with Temporal Sync Enabled or Disabled
/// </summary>
/// <param name="tempSyncOn">Enable/Disable Temporal Sync</param>
/// <param name="syncOffSetMultiplier">Only set when this device should be a subordinate. Should be a unique number in ascending order for each sub</param>
public void SendTemporalSyncStatus(bool tempSyncOn, byte syncOffSetMultiplier)
{
if (tempSyncOn)
{
byteToSend[0] = 7;
SendByte();
return;
byte[] data = new byte[2];
data[0] = 7;
data[1] = syncOffSetMultiplier;
if (SocketConnected())
oSocket.Send(data);
}
if (isSubOrdinate)
else
{
byteToSend[0] = 8;
SendByte();
return;
}
}
/// <summary>
/// Sends the master device the command to Start. Should only be called when all subs have started
/// </summary>
public void SendMasterInitialize()
{
byteToSend[0] = 9;
SendByte();
}
public void ReceiveCalibrationData()
{
bCalibrated = true;
@@ -167,9 +188,10 @@ namespace KinectServer
UpdateSocketState();
}
//Gets the TemporalSyncStatus from the device
public void ReceiveTemporalSyncStatus()
{
int nToRead;
byte tempSyncState;
byte[] buffer = new byte[1024];
while (oSocket.Available == 0)
@@ -178,24 +200,40 @@ namespace KinectServer
return;
}
oSocket.Receive(buffer, 4, SocketFlags.None);
nToRead = BitConverter.ToInt32(buffer, 0);
oSocket.Receive(buffer, 3, SocketFlags.None);
tempSyncState = buffer[0];
if (nToRead == -1)
if (tempSyncState == 0)
{
bIsSubOrdinate = true;
bIsMaster = false;
return;
currentTempSyncState = eTempSyncConfig.SUBORDINATE;
bSubStarted = true;
eSubInitialized?.Invoke();
}
if(nToRead == 0)
else if(tempSyncState == 1)
{
bIsMaster = true;
bIsSubOrdinate = false;
return;
currentTempSyncState = eTempSyncConfig.MASTER;
}
else if (tempSyncState == 2)
{
currentTempSyncState = eTempSyncConfig.STANDALONE;
}
//MARKED FOR DELETION
//if(currentTempSyncState == eTempSyncConfig.SUBORDINATE && confirmSubStarted == 1)
//{
//}
//else if(currentTempSyncState == eTempSyncConfig.SUBORDINATE && confirmSubStarted == 0)
//{
// bSubStarted = false;
// eSubInitialized?.Invoke();
//}
UpdateSocketState();
}
public void ReceiveFrame()
@@ -343,22 +381,23 @@ namespace KinectServer
public void UpdateSocketState()
{
string tempSyncStatus = "";
string tempSyncMessage = "";
if (bIsMaster)
switch (currentTempSyncState)
{
tempSyncStatus = "[Master]";
case eTempSyncConfig.MASTER:
tempSyncMessage = "[MASTER]";
break;
case eTempSyncConfig.SUBORDINATE:
tempSyncMessage = "[SUBORDINATE]";
break;
default:
break;
}
if (bIsSubOrdinate)
{
tempSyncStatus = "[Subordinate]";
}
sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = " + bCalibrated + " " + tempSyncMessage;
sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = " + bCalibrated + " " + tempSyncStatus;
if (eChanged != null)
eChanged();
eChanged?.Invoke();
}
}
}
LiveScanServer/MainWindowForm.cs
+3
View File
@@ -75,6 +75,8 @@ namespace KinectServer
IFormatter formatter = new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
Stream stream = new FileStream("settings.bin", FileMode.Open, FileAccess.Read);
oSettings = (KinectSettings)formatter.Deserialize(stream);
//This always needs to be set to false on startup, as we can only activate it when all Kinects are already connected
oSettings.bEnableSync = false;
stream.Close();
}
catch(Exception)
@@ -496,6 +498,7 @@ namespace KinectServer
for (int i = 0; i < socketList.Count; i++)
listBoxItems.Add(socketList[i].sSocketState);
lClientListBox.DataSource = listBoxItems;
}
}
LiveScanServer/SettingsForm.Designer.cs
Generated
+28 -14
View File
@@ -28,13 +28,13 @@
/// </summary>
private void InitializeComponent()
{
System.Windows.Forms.Label lbSyncWarning;
this.lbMerge = new System.Windows.Forms.Label();
this.chMerge = new System.Windows.Forms.CheckBox();
this.lbICPIters = new System.Windows.Forms.Label();
this.txtICPIters = new System.Windows.Forms.TextBox();
this.grClient = new System.Windows.Forms.GroupBox();
this.grSync = new System.Windows.Forms.GroupBox();
this.label1 = new System.Windows.Forms.Label();
this.chSync = new System.Windows.Forms.CheckBox();
this.grBody = new System.Windows.Forms.GroupBox();
this.chSkeletons = new System.Windows.Forms.CheckBox();
@@ -82,7 +82,7 @@
this.rAsciiPly = new System.Windows.Forms.RadioButton();
this.txtRefinIters = new System.Windows.Forms.TextBox();
this.lbOuterIters = new System.Windows.Forms.Label();
lbSyncWarning = new System.Windows.Forms.Label();
this.label3 = new System.Windows.Forms.Label();
this.grClient.SuspendLayout();
this.grSync.SuspendLayout();
this.grBody.SuspendLayout();
@@ -145,24 +145,27 @@
//
// grSync
//
this.grSync.Controls.Add(lbSyncWarning);
this.grSync.Controls.Add(this.label3);
this.grSync.Controls.Add(this.label1);
this.grSync.Controls.Add(this.chSync);
this.grSync.Location = new System.Drawing.Point(271, 211);
this.grSync.Name = "grSync";
this.grSync.Size = new System.Drawing.Size(355, 66);
this.grSync.Size = new System.Drawing.Size(355, 80);
this.grSync.TabIndex = 48;
this.grSync.TabStop = false;
this.grSync.Text = "Temporal Sync (Azure Kinect Only)";
this.grSync.Text = "Temporal Sync";
this.grSync.Enter += new System.EventHandler(this.grSync_Enter);
//
// lbSyncWarning
// label1
//
lbSyncWarning.AutoSize = true;
lbSyncWarning.CausesValidation = false;
lbSyncWarning.Location = new System.Drawing.Point(3, 41);
lbSyncWarning.Name = "lbSyncWarning";
lbSyncWarning.Size = new System.Drawing.Size(347, 13);
lbSyncWarning.TabIndex = 1;
lbSyncWarning.Text = "Notice: Devices need to be connected via sync cabel before enabeling!\r\n";
this.label1.Location = new System.Drawing.Point(7, 41);
this.label1.MaximumSize = new System.Drawing.Size(0, 60);
this.label1.MinimumSize = new System.Drawing.Size(0, 30);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(0, 30);
this.label1.TabIndex = 1;
this.label1.Text = "Notice: All devices need to be connected to the server and via sync cabel before" +
" enabeling! First Device in Server List will become the master";
//
// chSync
//
@@ -174,7 +177,6 @@
this.chSync.Text = "Enable Temporal Sync";
this.chSync.UseVisualStyleBackColor = true;
this.chSync.CheckedChanged += new System.EventHandler(this.chSync_CheckedChanged);
//
// grBody
//
@@ -647,6 +649,16 @@
this.lbOuterIters.Size = new System.Drawing.Size(118, 13);
this.lbOuterIters.TabIndex = 26;
this.lbOuterIters.Text = "Num of refinement iters:";
//
// label3
//
this.label3.Location = new System.Drawing.Point(7, 36);
this.label3.Name = "label3";
this.label3.Size = new System.Drawing.Size(342, 44);
this.label3.TabIndex = 2;
this.label3.Text = "Before activating, make sure that all Kinects are connected to the server and pro" +
"perly connected via the sync cables. The first device in the server list will be" +
"come the master!";
//
// SettingsForm
//
@@ -732,5 +744,7 @@
private System.Windows.Forms.Label label2;
private System.Windows.Forms.GroupBox grSync;
private System.Windows.Forms.CheckBox chSync;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.Label label3;
}
}
LiveScanServer/SettingsForm.cs
+9 -1
View File
@@ -355,6 +355,14 @@ namespace KinectServer
UpdateClients();
}
private void grSync_Enter(object sender, EventArgs e)
{
}
private void lbSyncWarning_Click(object sender, EventArgs e)
{
}
}
}
LiveScanServer/SettingsForm.resx
-3
View File
@@ -117,7 +117,4 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="lbSyncWarning.GenerateMember" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>False</value>
</metadata>
</root>
include/LiveScanClient/azureKinectCapture.h
+9 -2
View File
@@ -11,12 +11,17 @@ public:
AzureKinectCapture();
~AzureKinectCapture();
bool Initialize();
bool Initialize(bool asMaster, bool asSubOrdinate, int syncOffset);
bool Close();
bool AcquireFrame();
void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints);
void MapDepthFrameToColorSpace(UINT16 *pDepthInColorSpace);
void MapColorFrameToDepthSpace(RGB *pColorInDepthSpace);
int GetSyncJackState();
uint64_t GetTimeStamp();
private:
k4a_device_t kinectSensor = NULL;
int32_t captureTimeoutMs = 1000;
@@ -27,6 +32,8 @@ private:
k4a_image_t colorImageInDepth = NULL;
k4a_image_t depthImageInColor = NULL;
k4a_transformation_t transformation = NULL;
bool syncInConnected = false;
bool syncOutConnected = false;
uint64_t currentTimeStamp;
void UpdateDepthPointCloud();
};
include/LiveScanClient/frameFileWriterReader.h
+1 -1
View File
@@ -16,7 +16,7 @@ public:
// leave filename blank if you want the filename to be generated from the date
void setCurrentFilename(std::string filename = "");
void writeFrame(std::vector<Point3s> points, std::vector<RGB> colors);
void writeFrame(std::vector<Point3s> points, std::vector<RGB> colors, uint64_t timestamp);
bool readFrame(std::vector<Point3s> &outPoints, std::vector<RGB> &outColors);
bool openedForWriting() { return m_bFileOpenedForWriting; }
include/LiveScanClient/iCapture.h
+6 -1
View File
@@ -40,12 +40,15 @@ public:
ICapture();
~ICapture();
virtual bool Initialize() = 0;
virtual bool Initialize(bool asMaster, bool asSubOrdinate, int syncOffset) = 0;
virtual bool AcquireFrame() = 0;
virtual bool Close() = 0;
virtual void MapDepthFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0;
virtual void MapColorFrameToCameraSpace(Point3f *pCameraSpacePoints) = 0;
virtual void MapDepthFrameToColorSpace(UINT16 *pColorSpacePoints) = 0;
virtual void MapColorFrameToDepthSpace(RGB *pDepthSpacePoints) = 0;
virtual int GetSyncJackState() = 0;
virtual uint64_t GetTimeStamp() = 0;
bool bInitialized;
@@ -57,5 +60,7 @@ public:
RGB *pColorRGBX;
std::vector<Body> vBodies;
std::string serialNumber;
};
include/LiveScanClient/liveScanClient.h
+6 -2
View File
@@ -54,13 +54,16 @@ private:
bool m_bCaptureFrame;
bool m_bConnected;
bool m_bConfirmCaptured;
bool m_bConfirmMaster;
bool m_bConfirmSubOrdinate;
bool m_bConfirmTempSyncState;
bool m_bConfirmSubOrdinateStarted;
bool m_bConfirmCalibrated;
bool m_bShowDepth;
bool m_bFrameCompression;
int m_iCompressionLevel;
enum tempSyncConfig { MASTER, SUBORDINATE, STANDALONE };
tempSyncConfig currentTempSyncState;
FrameFileWriterReader m_framesFileWriterReader;
@@ -76,6 +79,7 @@ private:
double m_fFreq;
INT64 m_nNextStatusTime;
DWORD m_nFramesSinceUpdate;
int frameRecordCounter;
Point3f* m_pCameraSpaceCoordinates;
RGB* m_pColorInDepthSpace;
include/LiveScanClient/utils.h
+3 -2
View File
@@ -28,8 +28,9 @@ enum INCOMING_MESSAGE_TYPE
MSG_REQUEST_LAST_FRAME,
MSG_RECEIVE_CALIBRATION,
MSG_CLEAR_STORED_FRAMES,
MSG_SET_MASTER,
MSG_SET_SUBORDINATE
MSG_SET_TEMPSYNC_ON,
MSG_SET_TEMPSYNC_OFF,
MSG_START_MASTER
};
enum OUTGOING_MESSAGE_TYPE
src/LiveScanClient/azureKinectCapture.cpp
+104 -14
View File
@@ -17,7 +17,14 @@ AzureKinectCapture::~AzureKinectCapture()
k4a_device_close(kinectSensor);
}
bool AzureKinectCapture::Initialize()
/// <summary>
/// Initialize the device. If you want to initialize it as Standalone, set "asMaster" and "asSubordinate" to false
/// </summary>
/// <param name="asMaster">Initializes this device as master</param>
/// <param name="asSubordinate">Initalizes this devices as subordinate</param>
/// <param name="syncOffsetMultiplier">Should only be set when initializing as Subordinate. Each subordinate should have a unique, ascending value</param>
/// <returns></returns>
bool AzureKinectCapture::Initialize(bool asMaster, bool asSubordinate, int syncOffsetMultiplier)
{
uint32_t count = k4a_device_get_installed_count();
int deviceIdx = 0;
@@ -40,6 +47,27 @@ bool AzureKinectCapture::Initialize()
config.depth_mode = K4A_DEPTH_MODE_NFOV_UNBINNED;
config.synchronized_images_only = true;
if (asMaster)
{
config.wired_sync_mode = K4A_WIRED_SYNC_MODE_MASTER;
}
else if (asSubordinate)
{
config.wired_sync_mode = K4A_WIRED_SYNC_MODE_SUBORDINATE;
//Sets the offset on subordinate devices. Should be a multiple of 160, each subordinate having a different multiplier in ascending order.
//This is very important, as it avoids firing the Kinects Lasers at the same time.
config.subordinate_delay_off_master_usec = 0;
config.subordinate_delay_off_master_usec = 160 * syncOffsetMultiplier;
}
else
{
config.wired_sync_mode = K4A_WIRED_SYNC_MODE_STANDALONE;
}
// Start the camera with the given configuration
bInitialized = K4A_SUCCEEDED(k4a_device_start_cameras(kinectSensor, &config));
@@ -49,31 +77,51 @@ bool AzureKinectCapture::Initialize()
bInitialized = false;
return bInitialized;
}
transformation = k4a_transformation_create(&calibration);
std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
bool bTemp;
do
//If this device is a subordinate, it is expected to start capturing at a later time (When the master has started), so we skip this check
if (!asSubordinate)
{
bTemp = AcquireFrame();
std::chrono::duration<double> elapsedSeconds = std::chrono::system_clock::now() - start;
if (elapsedSeconds.count() > 5.0)
std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
bool bTemp;
do
{
bInitialized = false;
break;
}
} while (!bTemp);
bTemp = AcquireFrame();
std::chrono::duration<double> elapsedSeconds = std::chrono::system_clock::now() - start;
if (elapsedSeconds.count() > 5.0)
{
bInitialized = false;
break;
}
} while (!bTemp);
}
size_t serialNoSize;
k4a_device_get_serialnum(kinectSensor, NULL, &serialNoSize);
serialNumber = std::string(serialNoSize, '\0');
k4a_device_get_serialnum(kinectSensor, (char*)serialNumber.c_str(), &serialNoSize);
return bInitialized;
}
bool AzureKinectCapture::Close()
{
if (!bInitialized)
{
return false;
}
k4a_device_stop_cameras(kinectSensor);
k4a_device_close(kinectSensor);
bInitialized = false;
return true;
}
bool AzureKinectCapture::AcquireFrame()
{
if (!bInitialized)
@@ -96,6 +144,9 @@ bool AzureKinectCapture::AcquireFrame()
colorImage = k4a_capture_get_color_image(capture);
depthImage = k4a_capture_get_depth_image(capture);
currentTimeStamp = k4a_image_get_device_timestamp_usec(colorImage);
if (colorImage == NULL || depthImage == NULL)
{
k4a_capture_release(capture);
@@ -119,6 +170,7 @@ bool AzureKinectCapture::AcquireFrame()
memcpy(pColorRGBX, k4a_image_get_buffer(colorImage), nColorFrameWidth * nColorFrameHeight * sizeof(RGB));
memcpy(pDepth, k4a_image_get_buffer(depthImage), nDepthFrameHeight * nDepthFrameWidth * sizeof(UINT16));
k4a_capture_release(capture);
return true;
@@ -260,4 +312,42 @@ void AzureKinectCapture::MapColorFrameToDepthSpace(RGB *pColorInDepthSpace)
k4a_transformation_color_image_to_depth_camera(transformation, depthImage, colorImage, colorImageInDepth);
memcpy(pColorInDepthSpace, k4a_image_get_buffer(colorImageInDepth), nDepthFrameHeight * nDepthFrameWidth * 4 * (int)sizeof(uint8_t));
}
}
/// <summary>
/// Determines if this camera is configured as a Master, Subordinate or Standalone.
/// This is achieved by looking at how the sync out and sync in ports of the device are connected
/// </summary>
/// <returns>Returns int -1 for Subordinate, int 0 for Master and int 1 for Standalone</returns>
int AzureKinectCapture::GetSyncJackState()
{
if (K4A_RESULT_SUCCEEDED == k4a_device_get_sync_jack(kinectSensor, &syncInConnected, &syncOutConnected))
{
if (syncInConnected)
{
return -1; //Device is Subordinate, as it recieves a signal via its "Sync In" Port
}
else if (!syncInConnected && syncOutConnected)
{
return 0; //Device is Master, as it doens't recieve a signal from its "Sync In" Port, but sends one through its "Sync Out" Port
}
else
{
return 1; //Device is Standalone, as it doesn't have a valid cabel configuration on its Sync Ports
}
}
else
{
return 1; //Probably failed because there are no cabels connected, this means the device should be set as standalone
}
}
uint64_t AzureKinectCapture::GetTimeStamp()
{
return currentTimeStamp;
}
src/LiveScanClient/frameFileWriterReader.cpp
+3 -2
View File
@@ -86,7 +86,7 @@ bool FrameFileWriterReader::readFrame(std::vector<Point3s> &outPoints, std::vect
}
void FrameFileWriterReader::writeFrame(std::vector<Point3s> points, std::vector<RGB> colors)
void FrameFileWriterReader::writeFrame(std::vector<Point3s> points, std::vector<RGB> colors, uint64_t timestamp)
{
if (!m_bFileOpenedForWriting)
openNewFileForWriting();
@@ -94,7 +94,8 @@ void FrameFileWriterReader::writeFrame(std::vector<Point3s> points, std::vector<
FILE *f = m_pFileHandle;
int nPoints = static_cast<int>(points.size());
fprintf(f, "n_points= %d\nframe_timestamp= %d\n", nPoints, getRecordingTimeMilliseconds());
//fprintf(f, "n_points= %d\nframe_timestamp= %d\n", nPoints, getRecordingTimeMilliseconds());
fprintf(f, "n_points= %d\nframe_timestamp= %d\n", nPoints, timestamp);
if (nPoints > 0)
{
fwrite((void*)points.data(), sizeof(points[0]), nPoints, f);
src/LiveScanClient/liveScanClient.cpp
+72 -24
View File
@@ -206,7 +206,8 @@ void LiveScanClient::UpdateFrame()
if (m_bCaptureFrame)
{
m_framesFileWriterReader.writeFrame(m_vLastFrameVertices, m_vLastFrameRGB);
uint64_t timeStamp = pCapture->GetTimeStamp();
m_framesFileWriterReader.writeFrame(m_vLastFrameVertices, m_vLastFrameRGB, timeStamp);
m_bConfirmCaptured = true;
m_bCaptureFrame = false;
}
@@ -275,8 +276,8 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
// Init Direct2D
D2D1CreateFactory(D2D1_FACTORY_TYPE_SINGLE_THREADED, &m_pD2DFactory);
// Get and initialize the default Kinect sensor
bool res = pCapture->Initialize();
// Get and initialize the default Kinect sensor as standalone
bool res = pCapture->Initialize(false, false, 0);
if (res)
{
calibration.LoadCalibration(pCapture->serialNumber);
@@ -444,16 +445,62 @@ void LiveScanClient::HandleSocket()
//calibrate
else if (received[i] == MSG_CALIBRATE)
m_bCalibrate = true;
//Set this client as master
else if (received[i] == MSG_SET_MASTER) {
m_bIsMaster = true;
m_bIsSubOrdinate = false;
//Enables Temporal sync on this client
else if (received[i] == MSG_SET_TEMPSYNC_ON) {
i++; //Get next byte (the sync Offset)
int syncOffset = received[i];
//Determine if this device is a subordinate, master, or standalone
int jackState = pCapture->GetSyncJackState();
switch (jackState)
{
case -1:
currentTempSyncState = SUBORDINATE;
//Restart this device as Subordinate, with a unique syncOffset (send by the server)
pCapture->Close();
pCapture->Initialize(false, true, syncOffset);
//Confirm to the server, that we set this device as subordinate
m_bConfirmTempSyncState = true;
break;
case 0:
currentTempSyncState = MASTER;
//Only Close this device, as it needs to wait for all subordinates to start, before starting itself
pCapture->Close();
m_bConfirmTempSyncState = true;
break;
case 1://Device is Standalone
currentTempSyncState = STANDALONE;
//Restart this device as Standalone
pCapture->Close();
pCapture->Initialize(false, false, 0);
m_bConfirmTempSyncState = true;
break;
default:
break;
}
}
//Set this client as subordinate
else if (received[i] == MSG_SET_SUBORDINATE) {
m_bIsMaster = false;
m_bIsSubOrdinate = true;
}
//Sets this device as Standalone
else if (received[i] == MSG_SET_TEMPSYNC_OFF) {
currentTempSyncState = STANDALONE;
pCapture->Close();
pCapture->Initialize(false, false, 0);
m_bConfirmTempSyncState = true;
}
//Got confirmation from the server that all subs have started, and we can now start the master
else if (received[i] == MSG_START_MASTER) {
if (currentTempSyncState == MASTER)
{
pCapture->Initialize(true, false, 0);
}
}
//receive settings
//TODO: what if packet is split?
else if (received[i] == MSG_RECEIVE_SETTINGS)
@@ -577,24 +624,25 @@ void LiveScanClient::HandleSocket()
m_bConfirmCaptured = false;
}
if (m_bConfirmMaster)
//Send validation to the server that this device has been set to a specific Sync State
if (m_bConfirmTempSyncState)
{
int size = 2;
char *buffer = new char[size];
buffer[0] = MSG_CONFIRM_TEMP_SYNC_STATUS;
buffer[1] = 0;
m_pClientSocket->SendBytes(buffer, size);
}
if (m_bConfirmSubOrdinate)
{
int size = 2;
int size = 3; //Somehow it doesn't work when sending only two bytes?? (So we send an extra one)
char* buffer = new char[size];
buffer[0] = MSG_CONFIRM_TEMP_SYNC_STATUS;
buffer[1] = -1;
switch (currentTempSyncState)
{
case SUBORDINATE: buffer[1] = 0; break;
case MASTER: buffer[1] = 1; break;
case STANDALONE: buffer[1] = 2; break;
}
m_pClientSocket->SendBytes(buffer, size);
m_bConfirmTempSyncState = false;
}
if (m_bConfirmCalibrated)
{
int size = (9 + 3) * sizeof(float) + sizeof(int) + 1;