Broadcasting camera data through network

[kenavolic]

Hi,

As discussed in #849 , I'm testing the broadcasting of camera data from a PC where the camera is connected to a PC used for processing.

Here is setup:

• PC1 with Azure Kinect connected and PlusServer running with the default config file
• PC2 with:
  • server running using the configuration file detailed below
  • a client connected to the local server

If I remove ImageMessageEmbeddedTransformName="VideoStreamRGBToVideoStreamRGB" from the PC2 server config file, I never receive any data:

|WARNING|001.203191| No data is broadcasted, as no data is available yet.| in source_subfolder/src/PlusServer/vtkPlusOpenIGTLinkServer.cxx(440)

If I set it, I correctly receive the image. But I've some error logs that make me worry:

ERROR|001.234576| Setting a transform to itself is not allowed: VideoStreamRGBToVideoStreamRGB| in /source_subfolder/Source/IGSIOCommon/vtkIGSIOTransformRepository.cxx(153)

My goal is to receive the image without any error log bound to the receiving process :)

NOTE: I have no problem retrieving the camera data through a direct connection to the PC1 server with the PC2 client.

Here are some details about the configuration and code I use.

PC2 server config:

<PlusConfiguration version="2.4">
  <DataCollection StartupDelaySec="1.0">
    <Device Id="KinectRemoteRGBDevice" Type="OpenIGTLinkVideo" ImageMessageEmbeddedTransformName="VideoStreamRGBToVideoStreamRGB" MessageType="IMAGE" ServerAddress="195.83.246.66" ServerPort="18945" IgtlMessageCrcCheckEnabled="false">
      <DataSources>
        <DataSource Type="Video" Id="Video" PortUsImageOrientation="UN" />
      </DataSources>
      <OutputChannels>
        <OutputChannel Id="VideoStreamRGB" VideoDataSourceId="Video" />
      </OutputChannels>
    </Device>
  </DataCollection>
  <PlusOpenIGTLinkServer MaxNumberOfIgtlMessagesToSend="1" MaxTimeSpentWithProcessingMs="50" ListeningPort="18944" SendValidTransformsOnly="true" OutputChannelId="VideoStreamRGB">
    <DefaultClientInfo>
      <MessageTypes>
        <Message Type="IMAGE" />
      </MessageTypes>
      <ImageNames>
        <Image Name="VideoStreamRGB" EmbeddedTransformToFrame="VideoStreamRGB" />
      </ImageNames>
    </DefaultClientInfo>
  </PlusOpenIGTLinkServer>
</PlusConfiguration>

PC2 client code snippet (without detailed error handling):

/*
main.cpp
*/
// Launch server
dataCollector->ReadConfiguration(inputConfigFileName)
vtkXMLDataElement *configRootElement = vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationData();
vtkNew<vtkIGSIOTransformRepository> transformRepository;
transformRepository->ReadConfiguration(configRootElement);
dataCollector->Connect();
dataCollector->Start();
// ...
server->Start(dataCollector.GetPointer(), transformRepository.GetPointer(), serverElement, vtkPlusConfig::GetInstance()->GetDeviceSetConfigurationFileName());
// In a loop:
server->ProcessPendingCommands();

// ...

// Run client
auto client = vtkSmartPointer<vtkPlusOpenIGTLinkClientWithTransformLogging>::New();
client->SetServerHost("127.0.0.1");
client->SetServerPort(server->GetListeningPort());
client->Connect(2.0) ;

/*
vtkPlusOpenIGTLinkClientWithTransformLogging.cpp
*/
bool OnMessageReceived(igtl::MessageHeader::Pointer messageHeader)
{
    bool messageBodyReceived = false;
    igtl::MessageBase::Pointer bodyMsg = this->IgtlMessageFactory->CreateReceiveMessage(messageHeader);
    if (bodyMsg.IsNull())
    {
      LOG_ERROR("Unable to create message of type: " << messageHeader->GetMessageType());
      return false;
    }

    if (typeid(*bodyMsg) == typeid(igtl::ImageMessage))
    {
      igtl::ImageMessage::Pointer imageMsg = dynamic_cast<igtl::ImageMessage *>(bodyMsg.GetPointer());
      imageMsg->SetMessageHeader(messageHeader);
      imageMsg->AllocatePack();
      SocketReceive(imageMsg->GetBufferBodyPointer(), imageMsg->GetBufferBodySize());
      messageBodyReceived = true;

      int c = imageMsg->Unpack(1);
      if (!(c & igtl::MessageHeader::UNPACK_BODY))
      {
        LOG_ERROR("Failed to receive IMAGE reply (invalid body)");
        return messageBodyReceived;
      }
      LOG_INFO("Matrix for " << imageMsg->GetDeviceName() << " IMAGE received: ");
      }
    }
    else if (typeid(*bodyMsg) == typeid(igtl::StatusMessage))
    {
      //std::cout << "Device type " << std::string(messageHeader->GetDeviceType()) << std::endl;
      igtl::StatusMessage::Pointer statusMessage = dynamic_cast<igtl::StatusMessage *>(bodyMsg.GetPointer());
      statusMessage->SetMessageHeader(messageHeader);
      statusMessage->AllocatePack();
      SocketReceive(statusMessage->GetBufferBodyPointer(), statusMessage->GetBufferBodySize());
      messageBodyReceived = true;

      int c = statusMessage->Unpack(1);
      if (!(c & igtl::MessageHeader::UNPACK_BODY))
      {
        LOG_ERROR("Failed to receive STATUS reply (invalid body)");
        return messageBodyReceived;
      }

      LOG_INFO("Status message code " << statusMessage->GetCode());
      LOG_INFO("Status message subcode " << statusMessage->GetSubCode());
      LOG_INFO("Status error name " << statusMessage->GetErrorName());
      LOG_INFO("Status status string " << statusMessage->GetStatusString());
    }
    else
    {
      LOG_INFO("Received " << messageHeader->GetMessageType() << " message.");
    }

    return messageBodyReceived;
 }

[Sunderlandkyl]

The embedded transform name should be just VideoStreamRGB not VideoStreamRGBToVideoStreamRGB.