// initializes the syncher for the given sensor interface
public int StartSyncherForSensor(Kinect4AzureInterface sensorInt, KinectInterop.SensorData sensorData, bool isMaster, long expectedDelay)
{
if (sensorInt == null)
{
return(-1);
}
int sensorIndex = numSensors;
sensorInts.Add(sensorInt);
sensorDatas.Add(sensorData);
expectedDelays.Add(expectedDelay);
numSensors++;
if (isMaster)
{
if (iMaster >= 0)
{
throw new Exception("Master index already set at " + iMaster + ". Current interface index is " + sensorIndex + ". Multiple masters are not supported.");
}
iMaster = sensorIndex;
}
//Debug.Log("Started syncher for sensor D" + sensorInt.deviceIndex + ", delay: " + expectedDelay + ", index: " + sensorIndex + ", master: " + iMaster);
return(sensorIndex);
}
// updates the body tracking frame
public void UpdateBtFrame(int sensorIndex, long frameTimestamp)
{
if (frameTimestamp == 0)
{
Debug.Log("Ignoring bt-frame for syncher index " + sensorIndex + ". Timestamp: " + frameTimestamp);
return;
}
lock (syncherLock)
{
if (syncherData == null || numSensors != syncherData.Length || syncherData[sensorIndex] == null)
{
CreateSyncherData(sensorIndex);
}
// set new frame
//Debug.Log("Setting bt-frame for syncher index " + sensorIndex + ". Timestamp: " + frameTimestamp);
syncherData[sensorIndex].btTimestamp = frameTimestamp;
// check for synched body frames
bool bAllSynched = numSensors > 1 && iMaster >= 0 && syncherData[iMaster] != null && syncherData[iMaster].btTimestamp != 0;
if (bAllSynched)
{
long masterTime = syncherData[iMaster].btTimestamp;
for (int i = 0; i < numSensors; i++)
{
if (syncherData[i] == null || syncherData[i].btTimestamp == 0)
{
bAllSynched = false;
break;
}
long subTime = syncherData[i].btTimestamp;
long expTime = masterTime + syncherData[i].expDelay;
long subError = subTime - expTime;
if (i != iMaster && (subTime == 0 || subError < -MAX_TIME_ERROR || subError > MAX_TIME_ERROR))
{
bAllSynched = false;
break;
}
}
}
if (bAllSynched)
{
//Debug.Log("Synched bt-frames. Index: " + sensorIndex + " MasterTime: " + syncherData[iMaster].btTimestamp);
// process synched body frames
for (int i = 0; i < numSensors; i++)
{
Kinect4AzureInterface sensorInt = sensorInts[i];
KinectInterop.SensorData sensorData = sensorDatas[i];
//Debug.Log(" Processing bt-frame " + i + ". Timestamp: " + syncherData[i].btTimestamp);
sensorInt.ProcessBodyFrame(sensorData, IntPtr.Zero, true);
sensorInt.ProcessBtSensorCapture(sensorData);
}
}
else
{
//Debug.Log("Bt-frames not synched. Index: " + sensorIndex + " ThisTime: " + syncherData[sensorIndex].btTimestamp + ", MasterTime: " + syncherData[iMaster].btTimestamp);
}
}
}
// updates the push bt-capture
public void UpdatePushBtCapture(int sensorIndex, long capTimestamp, Capture capture)
{
if (capture == null || capture.Depth == null)
{
return;
}
if (capTimestamp == 0)
{
Debug.Log("Ignoring push-capture for syncher index " + sensorIndex + ". Timestamp: " + capTimestamp);
capture.Dispose();
return;
}
lock (syncherLock)
{
if (syncherData == null || numSensors != syncherData.Length || syncherData[sensorIndex] == null)
{
CreateSyncherData(sensorIndex);
}
// dispose current capture
if (syncherData[sensorIndex].pushCapture != null)
{
//Debug.Log("Disposing push-capture for syncher index " + sensorIndex + ". Timestamp: " + syncherData[sensorIndex].pushCapTimestamp);
syncherData[sensorIndex].pushCapture.Dispose();
syncherData[sensorIndex].pushCapture = null;
}
// set new capture
//Debug.Log("Setting push-capture for syncher index " + sensorIndex + ". Timestamp: " + capTimestamp);
syncherData[sensorIndex].pushCapTimestamp = capTimestamp;
syncherData[sensorIndex].pushCapture = capture;
// check for synched captures
bool bAllSynched = numSensors > 1 && iMaster >= 0 && syncherData[iMaster] != null && syncherData[iMaster].pushCapTimestamp != 0;
if (bAllSynched)
{
long masterTime = syncherData[iMaster].pushCapTimestamp;
for (int i = 0; i < numSensors; i++)
{
if (syncherData[i] == null || syncherData[i].pushCapTimestamp == 0)
{
bAllSynched = false;
break;
}
long subTime = syncherData[i].pushCapTimestamp;
long expTime = masterTime + syncherData[i].expDelay;
long subError = subTime - expTime;
if (i != iMaster && (subTime == 0 || subError < -MAX_TIME_ERROR || subError > MAX_TIME_ERROR))
{
bAllSynched = false;
break;
}
}
}
if (bAllSynched)
{
//Debug.Log("Synched push-captures. Index: " + sensorIndex + " MasterTime: " + syncherData[iMaster].pushCapTimestamp);
// process synched sensor captures
for (int i = 0; i < numSensors; i++)
{
Kinect4AzureInterface sensorInt = sensorInts[i];
KinectInterop.SensorData sensorData = sensorDatas[i];
//Debug.Log(" Processing push capture " + i + ". Timestamp: " + syncherData[i].pushCapTimestamp);
sensorInt.PushBodyFrame(sensorData, syncherData[i].pushCapture, true);
syncherData[i].pushCapture = null;
}
}
else
{
//Debug.Log("Push-captures not synched. Index: " + sensorIndex + " ThisTime: " + syncherData[sensorIndex].pushCapTimestamp + ", MasterTime: " + syncherData[iMaster].pushCapTimestamp);
}
}
}
