Finished Temporal Sync Feature

include/LiveScanClient/azureKinectCapture.h

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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