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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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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>