Finished Temporal Sync Feature

ICP/ICP.vcxproj

@@ -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

@@ -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

@@ -1,4 +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

@@ -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);
+                if(lClientSockets.Count > 1 && oSettings.bEnableSync)
-
-                for (int i = 1; i < lClientSockets.Count; i++)
                 {
-                    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

@@ -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 bSubStarted = false;
-        public bool bIsSubOrdinate = 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)
+        /// <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 (isMaster)
+            if (tempSyncOn)
             {
-                byteToSend[0] = 7;
+                byte[] data = new byte[2];
-                SendByte();
+                data[0] = 7;
-                return;
+                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);
+            oSocket.Receive(buffer, 3, SocketFlags.None);
-            nToRead = BitConverter.ToInt32(buffer, 0);
+            tempSyncState = buffer[0];
 
-            if (nToRead == -1)
+            if (tempSyncState == 0)
             {
-                bIsSubOrdinate = true;
+                currentTempSyncState = eTempSyncConfig.SUBORDINATE;
-                bIsMaster = false;
+                bSubStarted = true;
-                return;
+                eSubInitialized?.Invoke();
             }
 
-            if(nToRead == 0)
+            else if(tempSyncState == 1)
             {
-                bIsMaster = true;
+                currentTempSyncState = eTempSyncConfig.MASTER;
-                bIsSubOrdinate = false;
-                return;
             }
 
+            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)
+            sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = " + bCalibrated + " " + tempSyncMessage;
-            {
-                tempSyncStatus = "[Subordinate]";
-            }
 
-            sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = " + bCalibrated + " " + tempSyncStatus;
+            eChanged?.Invoke();
-
-            if (eChanged != null)
-                eChanged();
         }
     }
 }

LiveScanServer/MainWindowForm.cs

@@ -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

@@ -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;
+            this.label1.Location = new System.Drawing.Point(7, 41);
-            lbSyncWarning.CausesValidation = false;
+            this.label1.MaximumSize = new System.Drawing.Size(0, 60);
-            lbSyncWarning.Location = new System.Drawing.Point(3, 41);
+            this.label1.MinimumSize = new System.Drawing.Size(0, 30);
-            lbSyncWarning.Name = "lbSyncWarning";
+            this.label1.Name = "label1";
-            lbSyncWarning.Size = new System.Drawing.Size(347, 13);
+            this.label1.Size = new System.Drawing.Size(0, 30);
-            lbSyncWarning.TabIndex = 1;
+            this.label1.TabIndex = 1;
-            lbSyncWarning.Text = "Notice: Devices need to be connected via sync cabel before enabeling!\r\n";
+            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

@@ -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

@@ -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

@@ -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_bConfirmTempSyncState;
-	bool m_bConfirmSubOrdinate;
+	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_TEMPSYNC_ON,
-	MSG_SET_SUBORDINATE
+	MSG_SET_TEMPSYNC_OFF,
+	MSG_START_MASTER
 };
 
 enum OUTGOING_MESSAGE_TYPE

src/LiveScanClient/azureKinectCapture.cpp

@@ -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();
+	//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 
-	bool bTemp;
+	if (!asSubordinate) 
-	do
 	{
-		bTemp = AcquireFrame();
+		std::chrono::time_point<std::chrono::system_clock> start = std::chrono::system_clock::now();
-
+		bool bTemp;
-		std::chrono::duration<double> elapsedSeconds = std::chrono::system_clock::now() - start;
+		do
-		if (elapsedSeconds.count() > 5.0)
 		{
-			bInitialized = false;
+			bTemp = AcquireFrame();
-			break;
+
-		}
+			std::chrono::duration<double> elapsedSeconds = std::chrono::system_clock::now() - start;
-	} while (!bTemp);
+			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;
@@ -261,3 +313,41 @@ void AzureKinectCapture::MapColorFrameToDepthSpace(RGB *pColorInDepthSpace)
 
 	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

@@ -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

@@ -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
+            // Get and initialize the default Kinect sensor as standalone
-			bool res = pCapture->Initialize();
+			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) {
+		//Enables Temporal sync on this client
-			m_bIsMaster = true;
+		else if (received[i] == MSG_SET_TEMPSYNC_ON) {
-			m_bIsSubOrdinate = false;
+
+			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) {
+		//Sets this device as Standalone
-			m_bIsMaster = false;
+		else if (received[i] == MSG_SET_TEMPSYNC_OFF) {
-			m_bIsSubOrdinate = true;
+			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;
+		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] = 0;
-		m_pClientSocket->SendBytes(buffer, size);
-	}
-
-	if (m_bConfirmSubOrdinate) 
-	{
-		int size = 2;
 		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;