Sensor Stream Server
Sensor Stream Server grabs data from the frame source, encodes it, and sends it out to a destination using zmq
High-level overview of what Sensor Stream Server does
- 1.Sensor Stream Server is started with a path to a configuration yaml file as a command line argument
- 2.The configuration file defines:
- Where the data should be streamed to (destination)
- Frame Source (where the data is coming from - frame list/video/kinect/iphone)
- What frame types will be streamed (color/depth/ir/confidence)
- Encoders for each of the frame types ( null/libav/nvenc/zdepth)
IReaderis constructed with parameters defined in the configuration file
- The instantiated
IReader's frame types are defined by a vector of integers returned by
- 0 - if exists in vector then color is being sent (encoders available: null/libav/nvenc)
- 1 - if exists in vector then depth is being sent (encoders available: null/libav/nvenc/zdepth)
- 2 - if exists in vector then ir is being sent (encoders available: null/libav/nvenc)
- 3 - if exists in vector then confidence is being sent (encoders available: null)
GetCurrentFrame()in Step #5 to grab data from the frame source and create a
FrameStructfor each defined frame type
- 4.Server creates a vector of
IEncoders for each frame type returned by
- 5.Server creates a vector of encoded
- Server is paced to transmit frames only as fast as the fps allows
IReadercreates a vector of
- One for each frame type returned by
- if (
IReader.HasNextFrame()) - Used to iterate
IReader.NextFrame()- Used to iterate
- Server iterates over vector of
IEncoderwhich returns an encoded
IEncoder.AddFrameStruct()- Attempts encoding
IEncoder.HasNextPacket()- Checks if encoded frame available
IEncoder.CurrentFrameEncoded()- Returns encoded frame
- 6.The vector of encoded
FrameStructs is sent to destination zmq socket as a zmq message
CerealStructToString()on vector of encoded frames to create string message
- Create zmq message out of the string message
socket.send()passing through the zmq message
- Log timings
- Currently the frame rate
Detailed overview of Sensor Stream Server data flow
The Sensor Stream Server can stream from 4 frame (data) sources:
- Images: frames from images stored on the disk.
- Video: encoded frames that have been captured using a color/depth camera, such as the Kinect. All video types supported by FFmpeg/Libav can be processed.
- Kinect: Live Kinect DK frame data.
- iPhone: Live iPhone RGBD data (must have lidar)
Each of these data sources have their own implementation of
image_reader.hwhich is able to create read data and write to
- ImageReader: Can be used to stream public datasets and can be composed into MultiImageReader
- KinectReader: Reads Azure Kinect DK stream
- IPhoneReader: Reads ARFrame data
For all four data sources, the data can be sent losslessly (very high bandwidth requirements), or compressed (20-50x lower bandwidth requirements), using Libav or NVCodec through the NVPipe.
As any compression will affect quality, we recommend first experimenting with the Sensor Stream Tester to figure out the optimal levels for your use case.
Building Sensor Stream Server also builds Sensor Stream Client and Sensor Stream Tester.
git clone [email protected]:moetsi/Sensor-Stream-Pipe.git
cmake .. -DSSP_WITH_KINECT_SUPPORT=ON -DSSP_WITH_K4A_BODYTRACK=ON -DSSP_WITH_NVPIPE_SUPPORT=ON
You can turn off Kinect, Bodytrack and NVPipe support by changing the following to the
cmake ..options to off:
./bin/ssp_server <configuration file>
The Sensor Stream Server will start streaming frame data by default, but it will not keep any frames if it is not connected to a client. This is a zmq setting. From ssp_server.cc:
// Do not accumulate packets if no client is connected
When it connects to Sensor Stream Client, the packets in the buffer will be sent first. After the buffer has emptied, the Sensor Stream Server will resume reading frames from the selected input in order, ensuring that no frames are dropped.
The Sensor Stream Server configuration is stored in a YAML file. It includes Sensor Stream Client host and port, input data configuration and encoding configuration.
The format of the file (encoding Kinect DK frame data with the Nvidia encoder) is as follows:
config/folder includes a set of examples for all types of data using multiple encoders, codecs and parameters.