is considered.
+ codec.parameters = fmtps.length ? SDPUtils.parseFmtp(fmtps[0]) : {};
+ codec.rtcpFeedback = SDPUtils.matchPrefix(mediaSection, 'a=rtcp-fb:' + pt + ' ').map(SDPUtils.parseRtcpFb);
+ description.codecs.push(codec);
+ // parse FEC mechanisms from rtpmap lines.
+ switch (codec.name.toUpperCase()) {
+ case 'RED':
+ case 'ULPFEC':
+ description.fecMechanisms.push(codec.name.toUpperCase());
+ break;
+ default:
+ // only RED and ULPFEC are recognized as FEC mechanisms.
+ break;
+ }
+ }
+ }
+ SDPUtils.matchPrefix(mediaSection, 'a=extmap:').forEach(function (line) {
+ description.headerExtensions.push(SDPUtils.parseExtmap(line));
+ });
+ var wildcardRtcpFb = SDPUtils.matchPrefix(mediaSection, 'a=rtcp-fb:* ').map(SDPUtils.parseRtcpFb);
+ description.codecs.forEach(function (codec) {
+ wildcardRtcpFb.forEach(function (fb) {
+ var duplicate = codec.rtcpFeedback.find(function (existingFeedback) {
+ return existingFeedback.type === fb.type && existingFeedback.parameter === fb.parameter;
+ });
+ if (!duplicate) {
+ codec.rtcpFeedback.push(fb);
+ }
+ });
+ });
+ // FIXME: parse rtcp.
+ return description;
+};
+
+// Generates parts of the SDP media section describing the capabilities /
+// parameters.
+SDPUtils.writeRtpDescription = function (kind, caps) {
+ var sdp = '';
+
+ // Build the mline.
+ sdp += 'm=' + kind + ' ';
+ sdp += caps.codecs.length > 0 ? '9' : '0'; // reject if no codecs.
+ sdp += ' ' + (caps.profile || 'UDP/TLS/RTP/SAVPF') + ' ';
+ sdp += caps.codecs.map(function (codec) {
+ if (codec.preferredPayloadType !== undefined) {
+ return codec.preferredPayloadType;
+ }
+ return codec.payloadType;
+ }).join(' ') + '\r\n';
+
+ sdp += 'c=IN IP4 0.0.0.0\r\n';
+ sdp += 'a=rtcp:9 IN IP4 0.0.0.0\r\n';
+
+ // Add a=rtpmap lines for each codec. Also fmtp and rtcp-fb.
+ caps.codecs.forEach(function (codec) {
+ sdp += SDPUtils.writeRtpMap(codec);
+ sdp += SDPUtils.writeFmtp(codec);
+ sdp += SDPUtils.writeRtcpFb(codec);
+ });
+ var maxptime = 0;
+ caps.codecs.forEach(function (codec) {
+ if (codec.maxptime > maxptime) {
+ maxptime = codec.maxptime;
+ }
+ });
+ if (maxptime > 0) {
+ sdp += 'a=maxptime:' + maxptime + '\r\n';
+ }
+
+ if (caps.headerExtensions) {
+ caps.headerExtensions.forEach(function (extension) {
+ sdp += SDPUtils.writeExtmap(extension);
+ });
+ }
+ // FIXME: write fecMechanisms.
+ return sdp;
+};
+
+// Parses the SDP media section and returns an array of
+// RTCRtpEncodingParameters.
+SDPUtils.parseRtpEncodingParameters = function (mediaSection) {
+ var encodingParameters = [];
+ var description = SDPUtils.parseRtpParameters(mediaSection);
+ var hasRed = description.fecMechanisms.indexOf('RED') !== -1;
+ var hasUlpfec = description.fecMechanisms.indexOf('ULPFEC') !== -1;
+
+ // filter a=ssrc:... cname:, ignore PlanB-msid
+ var ssrcs = SDPUtils.matchPrefix(mediaSection, 'a=ssrc:').map(function (line) {
+ return SDPUtils.parseSsrcMedia(line);
+ }).filter(function (parts) {
+ return parts.attribute === 'cname';
+ });
+ var primarySsrc = ssrcs.length > 0 && ssrcs[0].ssrc;
+ var secondarySsrc = void 0;
+
+ var flows = SDPUtils.matchPrefix(mediaSection, 'a=ssrc-group:FID').map(function (line) {
+ var parts = line.substring(17).split(' ');
+ return parts.map(function (part) {
+ return parseInt(part, 10);
+ });
+ });
+ if (flows.length > 0 && flows[0].length > 1 && flows[0][0] === primarySsrc) {
+ secondarySsrc = flows[0][1];
+ }
+
+ description.codecs.forEach(function (codec) {
+ if (codec.name.toUpperCase() === 'RTX' && codec.parameters.apt) {
+ var encParam = {
+ ssrc: primarySsrc,
+ codecPayloadType: parseInt(codec.parameters.apt, 10)
+ };
+ if (primarySsrc && secondarySsrc) {
+ encParam.rtx = { ssrc: secondarySsrc };
+ }
+ encodingParameters.push(encParam);
+ if (hasRed) {
+ encParam = JSON.parse(JSON.stringify(encParam));
+ encParam.fec = {
+ ssrc: primarySsrc,
+ mechanism: hasUlpfec ? 'red+ulpfec' : 'red'
+ };
+ encodingParameters.push(encParam);
+ }
+ }
+ });
+ if (encodingParameters.length === 0 && primarySsrc) {
+ encodingParameters.push({
+ ssrc: primarySsrc
+ });
+ }
+
+ // we support both b=AS and b=TIAS but interpret AS as TIAS.
+ var bandwidth = SDPUtils.matchPrefix(mediaSection, 'b=');
+ if (bandwidth.length) {
+ if (bandwidth[0].indexOf('b=TIAS:') === 0) {
+ bandwidth = parseInt(bandwidth[0].substring(7), 10);
+ } else if (bandwidth[0].indexOf('b=AS:') === 0) {
+ // use formula from JSEP to convert b=AS to TIAS value.
+ bandwidth = parseInt(bandwidth[0].substring(5), 10) * 1000 * 0.95 - 50 * 40 * 8;
+ } else {
+ bandwidth = undefined;
+ }
+ encodingParameters.forEach(function (params) {
+ params.maxBitrate = bandwidth;
+ });
+ }
+ return encodingParameters;
+};
+
+// parses http://draft.ortc.org/#rtcrtcpparameters*
+SDPUtils.parseRtcpParameters = function (mediaSection) {
+ var rtcpParameters = {};
+
+ // Gets the first SSRC. Note that with RTX there might be multiple
+ // SSRCs.
+ var remoteSsrc = SDPUtils.matchPrefix(mediaSection, 'a=ssrc:').map(function (line) {
+ return SDPUtils.parseSsrcMedia(line);
+ }).filter(function (obj) {
+ return obj.attribute === 'cname';
+ })[0];
+ if (remoteSsrc) {
+ rtcpParameters.cname = remoteSsrc.value;
+ rtcpParameters.ssrc = remoteSsrc.ssrc;
+ }
+
+ // Edge uses the compound attribute instead of reducedSize
+ // compound is !reducedSize
+ var rsize = SDPUtils.matchPrefix(mediaSection, 'a=rtcp-rsize');
+ rtcpParameters.reducedSize = rsize.length > 0;
+ rtcpParameters.compound = rsize.length === 0;
+
+ // parses the rtcp-mux attrіbute.
+ // Note that Edge does not support unmuxed RTCP.
+ var mux = SDPUtils.matchPrefix(mediaSection, 'a=rtcp-mux');
+ rtcpParameters.mux = mux.length > 0;
+
+ return rtcpParameters;
+};
+
+SDPUtils.writeRtcpParameters = function (rtcpParameters) {
+ var sdp = '';
+ if (rtcpParameters.reducedSize) {
+ sdp += 'a=rtcp-rsize\r\n';
+ }
+ if (rtcpParameters.mux) {
+ sdp += 'a=rtcp-mux\r\n';
+ }
+ if (rtcpParameters.ssrc !== undefined && rtcpParameters.cname) {
+ sdp += 'a=ssrc:' + rtcpParameters.ssrc + ' cname:' + rtcpParameters.cname + '\r\n';
+ }
+ return sdp;
+};
+
+// parses either a=msid: or a=ssrc:... msid lines and returns
+// the id of the MediaStream and MediaStreamTrack.
+SDPUtils.parseMsid = function (mediaSection) {
+ var parts = void 0;
+ var spec = SDPUtils.matchPrefix(mediaSection, 'a=msid:');
+ if (spec.length === 1) {
+ parts = spec[0].substring(7).split(' ');
+ return { stream: parts[0], track: parts[1] };
+ }
+ var planB = SDPUtils.matchPrefix(mediaSection, 'a=ssrc:').map(function (line) {
+ return SDPUtils.parseSsrcMedia(line);
+ }).filter(function (msidParts) {
+ return msidParts.attribute === 'msid';
+ });
+ if (planB.length > 0) {
+ parts = planB[0].value.split(' ');
+ return { stream: parts[0], track: parts[1] };
+ }
+};
+
+// SCTP
+// parses draft-ietf-mmusic-sctp-sdp-26 first and falls back
+// to draft-ietf-mmusic-sctp-sdp-05
+SDPUtils.parseSctpDescription = function (mediaSection) {
+ var mline = SDPUtils.parseMLine(mediaSection);
+ var maxSizeLine = SDPUtils.matchPrefix(mediaSection, 'a=max-message-size:');
+ var maxMessageSize = void 0;
+ if (maxSizeLine.length > 0) {
+ maxMessageSize = parseInt(maxSizeLine[0].substring(19), 10);
+ }
+ if (isNaN(maxMessageSize)) {
+ maxMessageSize = 65536;
+ }
+ var sctpPort = SDPUtils.matchPrefix(mediaSection, 'a=sctp-port:');
+ if (sctpPort.length > 0) {
+ return {
+ port: parseInt(sctpPort[0].substring(12), 10),
+ protocol: mline.fmt,
+ maxMessageSize: maxMessageSize
+ };
+ }
+ var sctpMapLines = SDPUtils.matchPrefix(mediaSection, 'a=sctpmap:');
+ if (sctpMapLines.length > 0) {
+ var parts = sctpMapLines[0].substring(10).split(' ');
+ return {
+ port: parseInt(parts[0], 10),
+ protocol: parts[1],
+ maxMessageSize: maxMessageSize
+ };
+ }
+};
+
+// SCTP
+// outputs the draft-ietf-mmusic-sctp-sdp-26 version that all browsers
+// support by now receiving in this format, unless we originally parsed
+// as the draft-ietf-mmusic-sctp-sdp-05 format (indicated by the m-line
+// protocol of DTLS/SCTP -- without UDP/ or TCP/)
+SDPUtils.writeSctpDescription = function (media, sctp) {
+ var output = [];
+ if (media.protocol !== 'DTLS/SCTP') {
+ output = ['m=' + media.kind + ' 9 ' + media.protocol + ' ' + sctp.protocol + '\r\n', 'c=IN IP4 0.0.0.0\r\n', 'a=sctp-port:' + sctp.port + '\r\n'];
+ } else {
+ output = ['m=' + media.kind + ' 9 ' + media.protocol + ' ' + sctp.port + '\r\n', 'c=IN IP4 0.0.0.0\r\n', 'a=sctpmap:' + sctp.port + ' ' + sctp.protocol + ' 65535\r\n'];
+ }
+ if (sctp.maxMessageSize !== undefined) {
+ output.push('a=max-message-size:' + sctp.maxMessageSize + '\r\n');
+ }
+ return output.join('');
+};
+
+// Generate a session ID for SDP.
+// https://tools.ietf.org/html/draft-ietf-rtcweb-jsep-20#section-5.2.1
+// recommends using a cryptographically random +ve 64-bit value
+// but right now this should be acceptable and within the right range
+SDPUtils.generateSessionId = function () {
+ return Math.random().toString().substr(2, 22);
+};
+
+// Write boiler plate for start of SDP
+// sessId argument is optional - if not supplied it will
+// be generated randomly
+// sessVersion is optional and defaults to 2
+// sessUser is optional and defaults to 'thisisadapterortc'
+SDPUtils.writeSessionBoilerplate = function (sessId, sessVer, sessUser) {
+ var sessionId = void 0;
+ var version = sessVer !== undefined ? sessVer : 2;
+ if (sessId) {
+ sessionId = sessId;
+ } else {
+ sessionId = SDPUtils.generateSessionId();
+ }
+ var user = sessUser || 'thisisadapterortc';
+ // FIXME: sess-id should be an NTP timestamp.
+ return 'v=0\r\n' + 'o=' + user + ' ' + sessionId + ' ' + version + ' IN IP4 127.0.0.1\r\n' + 's=-\r\n' + 't=0 0\r\n';
+};
+
+// Gets the direction from the mediaSection or the sessionpart.
+SDPUtils.getDirection = function (mediaSection, sessionpart) {
+ // Look for sendrecv, sendonly, recvonly, inactive, default to sendrecv.
+ var lines = SDPUtils.splitLines(mediaSection);
+ for (var i = 0; i < lines.length; i++) {
+ switch (lines[i]) {
+ case 'a=sendrecv':
+ case 'a=sendonly':
+ case 'a=recvonly':
+ case 'a=inactive':
+ return lines[i].substring(2);
+ default:
+ // FIXME: What should happen here?
+ }
+ }
+ if (sessionpart) {
+ return SDPUtils.getDirection(sessionpart);
+ }
+ return 'sendrecv';
+};
+
+SDPUtils.getKind = function (mediaSection) {
+ var lines = SDPUtils.splitLines(mediaSection);
+ var mline = lines[0].split(' ');
+ return mline[0].substring(2);
+};
+
+SDPUtils.isRejected = function (mediaSection) {
+ return mediaSection.split(' ', 2)[1] === '0';
+};
+
+SDPUtils.parseMLine = function (mediaSection) {
+ var lines = SDPUtils.splitLines(mediaSection);
+ var parts = lines[0].substring(2).split(' ');
+ return {
+ kind: parts[0],
+ port: parseInt(parts[1], 10),
+ protocol: parts[2],
+ fmt: parts.slice(3).join(' ')
+ };
+};
+
+SDPUtils.parseOLine = function (mediaSection) {
+ var line = SDPUtils.matchPrefix(mediaSection, 'o=')[0];
+ var parts = line.substring(2).split(' ');
+ return {
+ username: parts[0],
+ sessionId: parts[1],
+ sessionVersion: parseInt(parts[2], 10),
+ netType: parts[3],
+ addressType: parts[4],
+ address: parts[5]
+ };
+};
+
+// a very naive interpretation of a valid SDP.
+SDPUtils.isValidSDP = function (blob) {
+ if (typeof blob !== 'string' || blob.length === 0) {
+ return false;
+ }
+ var lines = SDPUtils.splitLines(blob);
+ for (var i = 0; i < lines.length; i++) {
+ if (lines[i].length < 2 || lines[i].charAt(1) !== '=') {
+ return false;
+ }
+ // TODO: check the modifier a bit more.
+ }
+ return true;
+};
+
+// Expose public methods.
+if ((typeof module === 'undefined' ? 'undefined' : _typeof(module)) === 'object') {
+ module.exports = SDPUtils;
+}
+},{}]},{},[1])(1)
+});
diff --git a/content_styles/calendar.css b/content_styles/calendar.css
new file mode 100644
index 00000000..89e63a68
--- /dev/null
+++ b/content_styles/calendar.css
@@ -0,0 +1,101 @@
+.calendar {
+ position: absolute;
+ left: 0;
+ top: 0;
+ width: 300px;
+ height: 300px;
+ background-color: rgba(0,0,0,0.7);
+ border-radius: 10px;
+ color: white;
+ font-family: "Avenir", "Futura", Helvetica Neue, Helvetica, Arial, sans-serif;
+ transform-origin: left bottom;
+ transform: scale(0.8);
+}
+.calendar > div {
+ position: absolute;
+ user-select: none;
+ -webkit-user-select: none;
+}
+#calHeader {
+ left: 0;
+ top: 0;
+ width: 100%;
+ height: 30px;
+}
+#calHeader > div {
+ position: absolute;
+ text-align: center;
+ line-height: 30px;
+ vertical-align: middle;
+ border-radius: 15px;
+ user-select: none;
+ -webkit-user-select: none;
+}
+#calPrevMonth {
+ left: 0;
+ top: 0;
+ width: 30px;
+ height: 30px;
+ cursor: pointer;
+}
+#calNextMonth {
+ right: 0;
+ top: 0;
+ width: 30px;
+ height: 30px;
+ cursor: pointer;
+}
+#calNextMonth:hover, #calPrevMonth:hover {
+ background-color: rgba(255,255,255,0.3);
+}
+#calMonthName {
+ left: 90px;
+ top: 0;
+ width: calc(100% - 180px);
+ height: 100%;
+ cursor: pointer;
+}
+#calLabels {
+ left: 0;
+ top: 30px;
+ width: 100%;
+ height: 30px;
+}
+#calLabels > div {
+ position: absolute;
+ top: 0;
+ height: 30px;
+ text-align: center;
+ line-height: 30px;
+ vertical-align: middle;
+ color: gray;
+ border-radius: 10px;
+}
+#calDates {
+ left: 0;
+ top: 60px;
+ width: 100%;
+ height: 240px;
+}
+.calDate {
+ position: absolute;
+ text-align: center;
+ vertical-align: middle;
+ cursor: pointer;
+ user-select: none;
+ -webkit-user-select: none;
+}
+.highlightedDate {
+ background-color: rgba(255,255,255,0.1);
+}
+.calDate:hover {
+ background-color: rgba(255,255,255,0.3);
+}
+.otherMonthDate {
+ color: gray;
+}
+.selectedDate {
+ color: yellow;
+ background-color: rgba(255,255,255, 0.2) !important;
+ cursor: default;
+}
diff --git a/content_styles/remoteOperator.css b/content_styles/remoteOperator.css
new file mode 100644
index 00000000..8e933907
--- /dev/null
+++ b/content_styles/remoteOperator.css
@@ -0,0 +1,292 @@
+body {
+ pointer-events: none;
+ /* If unfamiliar with svw/svh, see: https://developer.mozilla.org/en-US/docs/Web/CSS/length#small */
+ width: 100svw; /* "small" view width and height safely work with the iPhone floating url bar (sadly vw/vh don't) */
+ height: 100svh;
+ overflow: hidden;
+ -webkit-user-select: none;
+ touch-action: none;
+ -webkit-touch-callout: none;
+}
+
+body > * {
+ pointer-events: auto;
+ /* overflow:hidden is necessary to prevent unintentional native scrolling/zooming within iOS safari app */
+ /* but we should limit its scope as much as possible instead of adding it here */
+}
+
+/* necessary to prevent native scrolling/zooming within iOS safari app */
+.canvas-node-connections {
+ overflow: hidden;
+}
+
+/* necessary to prevent native scrolling/zooming within iOS safari app */
+.canvas-main-threejs {
+ overflow: hidden;
+}
+
+#UIButtons > * {
+ cursor: pointer;
+}
+
+.hiddenDesktopButton {
+ display: none; /* totally hide this button on desktop because it doesn't do anything */
+}
+
+#canvas {
+ background-color: transparent;
+ transform: matrix3d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0.1, 1);
+ pointer-events: auto;
+}
+
+#interactionCursor {
+ pointer-events: none;
+ position: absolute;
+ width: 30px;
+ height: 30px;
+ /*border: 3px solid cyan;*/
+ display: none;
+}
+
+#staticInteractionCursor {
+ pointer-events: none;
+ position: absolute;
+ width: 30px;
+ height: 30px;
+ display: none;
+ opacity: 0.3;
+}
+
+#mainThreejsCanvas {
+ pointer-events: auto !important;
+}
+
+.blockIconTinted {
+ background-color: rgba(100,255,255,0.25) !important; /*on remote operator, override background to have more contrast*/
+}
+
+.desktopMenuBar {
+ position: absolute;
+ left: 0;
+ top: 0;
+ width: 100%;
+ height: 30px;
+ background-color: rgba(0,0,0, 0.9);
+ color: lightgray;
+ transform: matrix3d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 3000, 1);
+ z-index: 3000;
+}
+
+.desktopMenuBarMenu {
+ position: absolute;
+ top: 0;
+ left: 0;
+ width: 100px;
+}
+
+.desktopMenuBarMenuTitle {
+ height: 30px;
+ text-align: left;
+ line-height: 30px;
+ padding-left: 10px;
+ cursor: pointer;
+ border-radius: 5px;
+}
+
+.desktopMenuBarMenuTitle:hover {
+ background-color: rgba(255,255,255, 0.1);
+}
+
+.desktopMenuBarMenuTitleOpen {
+ background-color: rgba(255,255,255, 0.2) !important;
+}
+
+.desktopMenuBarMenuTitleDisabled {
+ color: rgb(75, 75, 75);
+ pointer-events: none;
+}
+
+.desktopMenuBarMenuDropdown {
+ /* TODO: how to best adapt width of menubar to comfortably fit contents? (not an issue now, but may want to) */
+ width: 250px;
+ background-color: rgba(0,0,0, 0.9);
+ border-radius: 5px;
+ /*overflow: hidden;*/
+}
+
+.desktopMenuBarLight {
+ background-color: rgba(64,170,29,0.9);
+}
+
+.hiddenDropdown {
+ display: none;
+}
+
+.desktopMenuBarItem {
+ width: calc(100% - 10px);
+ padding-left: 10px;
+ height: 30px;
+ cursor: pointer;
+ line-height: 30px;
+}
+
+.desktopMenuBarItem:hover {
+ background-color: rgba(55, 55, 55, 0.9);
+}
+
+.desktopMenuBarItemTextToggle {
+ padding-left: 20px;
+}
+
+.desktopMenuBarItemSeparator {
+ pointer-events: none;
+ cursor: unset;
+ height: 8px;
+ padding: 0;
+}
+
+.desktopMenuBarItemDisabled {
+ cursor: not-allowed;
+ color: gray;
+}
+
+.desktopMenuBarItemCheckmark {
+ position: absolute;
+ left: 10px;
+ top: 0;
+}
+
+.desktopMenuBarItemCheckmarkHidden {
+ visibility: hidden;
+}
+
+.desktopMenuBarItemCheckmarkDisabled {
+ opacity: 0.5;
+}
+
+.desktopMenuBarItemArrow {
+ position: absolute;
+ right: 15px;
+ top: 0;
+ width: 30px;
+ text-align: center;
+}
+
+.desktopMenuBarSubmenu {
+ left: 100%;
+ width: 250px;
+ background-color: rgba(0, 0, 0, 0.9);
+}
+
+.desktopMenuBarItemShortcut {
+ position: absolute;
+ right: 15px;
+ top: 0;
+ width: 30px;
+ text-align: center;
+ color: rgb(155, 155, 155);
+}
+
+.desktopMenuBarItemShortcutModifier {
+ position: absolute;
+ right: 45px;
+ top: 0;
+ text-align: right;
+ color: rgb(155, 155, 155);
+}
+
+.mode-prompt-container {
+ position: absolute;
+ right: 0;
+ bottom: 20px;
+ width: 320px;
+ height: max-content;
+ margin-right: 20px;
+ pointer-events: none;
+}
+
+.mode-prompt {
+ position: relative;
+ display: flex;
+ flex-direction: column;
+ justify-content: center;
+ align-items: flex-start;
+ width: 320px;
+ height: max-content;
+ background: rgba(0, 0, 0, 0.5);
+ border-radius: 5px;
+ margin-top: 10px;
+ font-size: 1em;
+ pointer-events: none;
+ padding: 16px;
+ opacity: 0;
+ box-sizing: border-box;
+ animation: 5s ease-in forwards promptFadeIn;
+}
+
+.mode-prompt.remove-prompt {
+ animation: promptFadeOut ease-in .3s forwards;
+}
+
+.mode-prompt ul {
+ padding-inline-start: 20px;
+}
+
+.mode-prompt-big-font {
+ font-size: 1.1em;
+ font-weight: 600;
+}
+
+@keyframes promptFadeIn {
+ 0% { opacity: 0 }
+ 20% { opacity: 1 }
+ 80% { opacity: 1 }
+ 100% { opacity: 0 }
+}
+
+#avatar-follow-border {
+ position: fixed;
+ top: 0;
+ left: 0;
+ right: 0;
+ bottom: 0;
+ border: 8px solid white; /* change the color with JS */
+ pointer-events: none;
+ z-index: 9999; /* go on top of EVERYTHING */
+}
+
+#avatar-follow-border > .fullscreenSubtitle {
+ position: absolute;
+ left: 50%;
+ transform: translateX(-50%);
+ text-align: center;
+ bottom: 50px;
+ background-color: rgba(0,0,0,0.5);
+ padding: 8px 16px;
+ border-radius: 15px;
+}
+
+#touchControlsContainer {
+ position: absolute;
+ bottom: 20px;
+ right: 20px;
+ z-index: 1000;
+ transform: translateZ(1000px);
+}
+
+.touchControlButtonContainer {
+ width: 44px;
+ height: 44px;
+ border-radius: 5px;
+ background-color: rgba(0, 0, 0, 0.7);
+ margin-bottom: 10px;
+ &.selected {
+ background-color: rgba(150, 150, 150, 0.9);
+ }
+}
+
+.touchControlButtonIcon {
+ width: 100%;
+ height: 100%;
+ cursor: pointer;
+}
diff --git a/content_styles/videoPlayback.css b/content_styles/videoPlayback.css
new file mode 100644
index 00000000..0bddc820
--- /dev/null
+++ b/content_styles/videoPlayback.css
@@ -0,0 +1,405 @@
+.videoPreview {
+ position: absolute;
+ left: 0;
+ top: 0;
+ transform: matrix3d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1000, 1);
+ z-index: 1000;
+ background-color: rgba(255,255,255,0.5);
+}
+
+.videoPreviewContainer {
+ position: absolute;
+ left: 0;
+ top: 0;
+ transform: matrix3d(-1, 0, 0, 0, 0, -1, 0, 0, 0, 0, 1, 0, 0, 0, 1000, 1);
+ z-index: 1000;
+ width: 256px;
+ height: 144px;
+ background-color: black;
+}
+
+.timelineBox {
+ position: absolute;
+ left: 0;
+ top: 0;
+ transform: matrix3d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1000, 1);
+ z-index: 1000;
+ /*background-color: rgba(0,0,0,0.8);*/
+ /*border: 1px solid rgba(0, 255, 255, 0.5);*/
+ width: 100px;
+ height: 100px;
+}
+
+#timelineContainer {
+ position: absolute;
+ left: 0;
+ bottom: 0;
+ width: 100vw;
+ height: 130px;
+ /*pointer-events: none;*/
+ background-color: rgba(0, 0, 0, 0.8);
+ transform: matrix3d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 3000, 1);
+}
+
+#timelineVisibilityBox {
+ position: relative;
+ left: 0;
+ top: 0;
+ width: 120px;
+ height: 100%;
+ border-radius: 5px 0 0 5px;
+}
+
+#timelineTrackBox {
+ position: absolute;
+ left: calc(120px + 4px);
+ top: 0;
+ width: calc(100% - 120px - 60px - 2 * 4px);
+ height: 100%;
+}
+
+#timelineTrackScrollBox {
+ position: absolute;
+ left: 0;
+ top: -300px;
+ width: 100%;
+ height: calc(100% + 300px);
+ overflow: hidden;
+ pointer-events: none;
+}
+
+#timelineTrackScrollBoxInner {
+ position: absolute;
+ left: 0;
+ top: 300px;
+ width: 100%;
+ height: calc(100% - 300px);
+ pointer-events: auto;
+}
+
+#timelineTracksContainer {
+ position: absolute;
+ left: 0;
+ width: 100%;
+ height: calc(100% - 10px);
+}
+
+#timelinePlayhead {
+ position: absolute;
+ left: 10px;
+ top: calc(-20px + 4px);
+ /*height: calc(100% + 20px);*/
+ height: 100%;
+ width: 20px;
+ cursor: pointer;
+ filter: saturate(0) brightness(1.5);
+}
+
+#timelinePlayheadDot {
+ position: absolute;
+ left: 20px;
+ bottom: 3px;
+ height: 10px;
+ width: 10px;
+ border-radius: 5px;
+ background-color: rgba(255, 255, 255, 1.0); /* rgba(255, 210, 0, 1.0); */
+ z-index: 1; /* go in front of the scroll bar */
+ pointer-events: none;
+}
+
+#timelinePlayhead:hover {
+ filter: brightness(120%) saturate(60%);
+ -webkit-filter: brightness(120%) saturate(60%);
+}
+
+.timelinePlayheadPlaying {
+ filter: hue-rotate(-60deg) saturate(400%) !important;
+ -webkit-filter: hue-rotate(-120deg) saturate(400%) !important;
+}
+
+.timelinePlayheadSelected {
+ filter: hue-rotate(-120deg) saturate(400%) !important;
+ -webkit-filter: hue-rotate(-120deg) saturate(400%) !important;
+}
+
+#timelineVideoPreviewContainer {
+ position: absolute;
+ left: -128px;
+ top: -168px;
+ width: 256px;
+ height: 144px;
+ /*display: none;*/
+ transform-origin: left bottom;
+ transform: scale(0.6);
+ border: 4px solid rgba(0, 0, 0, 0.8);
+}
+
+#timelineTimestampDisplay {
+ position: absolute;
+ left: 0;
+ top: 10px;
+ width: 100%;
+ text-align: center;
+ height: 48px;
+ color: rgb(255,255,255);
+}
+
+#timelineDateDisplay {
+ position: absolute;
+ left: 0;
+ top: 30px;
+ font-size: 11px;
+ width: 100%;
+ text-align: center;
+ height: 48px;
+ color: rgb(255,255,255);
+}
+
+#timelineCalendarButton {
+ position: absolute;
+ left: calc((120px - 48px)/2);
+ top: 50px;
+ width: 48px;
+ height: 48px;
+ text-align: center;
+ cursor: pointer;
+ filter: saturate(0) brightness(1.5);
+}
+
+#timelineCalendarButton:hover {
+ /*opacity: 0.7;*/
+ filter: saturate(0.5) brightness(1) !important;
+}
+
+/*.timelineVideoPreviewHidden {*/
+/*}*/
+
+.timelineVideoPreviewPlaying {
+ display: inline !important;
+}
+
+.timelineVideoPreviewSelected {
+ display: inline !important;
+}
+
+.timelineVideoPreviewNoTrack {
+ /*display: none !important;*/
+ visibility: hidden;
+}
+
+.timelineVideoPreviewNoSource {
+ /*display: none !important;*/
+ opacity: 0.2;
+}
+
+.timelineInnerVideoNoSource {
+ display: none !important;
+}
+
+.timelineTrack {
+ position: absolute;
+ background-color: rgba(75, 75, 75, 0.5);
+ /*border-radius: 7px;*/
+ left: 20px;
+ width: calc(100% - 2 * (20px + 4px));
+ /*cursor: pointer;*/
+ overflow: hidden;
+}
+
+/*.timelineTrack:hover {*/
+/* background-color: rgba(0,255,255, 0.2);*/
+/*}*/
+
+.selectedTrack {
+ background-color: rgba(255,255,255, 0.2);
+ border: 2px solid rgba(255,255,255, 0.5);
+ margin: -2px;
+}
+
+.timelineSegment {
+ position: absolute;
+ background-color: rgba(255,255,255, 0.5);
+ border-radius: 5px;
+ top: 0;
+ height: 100%;
+ z-index: 100;
+}
+
+/*.timelineSegment:hover {*/
+/* !*background-color: rgba(0,255,255, 0.7);*!*/
+/* !*border: 2px solid white;*!*/
+/* box-shadow: 0 0 5px black;*/
+/*}*/
+
+.timelineSegmentPlaying {
+ background-color: rgba(255, 255, 255, 0.9);
+}
+
+.selectedSegment {
+ background-color: rgba(255,255,255, 0.9);
+ /*border: 2px solid rgba(255,255,255, 0.5);*/
+}
+
+#timelineControlsBox {
+ position: absolute;
+ left: calc(100% - 60px);
+ top: 0;
+ width: 60px;
+ height: 100%;
+ border-radius: 0 5px 5px 0;
+}
+
+.timelineControlButton {
+ position: absolute;
+ width: calc(60px - 2 * 5px);
+ height: calc(60px - 2 * 5px);
+ cursor: pointer;
+}
+
+.timelineControlButton:hover {
+ /*opacity: 0.7;*/
+ filter: saturate(0.5) brightness(1) !important;
+}
+
+#timelinePlayButton {
+ left: 5px;
+ top: 10px;
+ filter: saturate(0) brightness(1.5);
+}
+
+/*#timelineSeekButton {*/
+/* left: 5px;*/
+/* top: calc(2 * 5px + (60px - 2 * 5px));*/
+/*}*/
+
+#timelineSpeedButton {
+ left: 5px;
+ top: calc(2 * 10px + (60px - 2 * 5px));
+ /*top: calc(3 * 5px + 2 * (60px - 2 * 5px));*/
+ filter: saturate(0) brightness(1.5);
+}
+
+.hiddenTimeline {
+ display: none;
+}
+
+#colorVideoCanvas {
+ position: absolute;
+ left: 20px;
+ top: 100px;
+ width: 960px;
+ height: 540px;
+ transform-origin: left top;
+ transform: matrix3d(0.5, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 1, 0, 0, 0, 1000, 1);
+ z-index: 1000;
+ background-color: rgba(255,255,255, 0.1);
+}
+
+#depthVideoCanvas {
+ position: absolute;
+ left: 520px;
+ top: 100px;
+ width: 256px;
+ height: 144px;
+ transform-origin: left top;
+ transform: matrix3d(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 1000, 1);
+ z-index: 1000;
+ background-color: rgba(255,255,255, 0.1);
+}
+
+#poseCanvas {
+ position: absolute;
+ left: 20px;
+ top: 100px;
+ width: 8px;
+ height: 8px;
+ transform-origin: left top;
+ transform: matrix3d(10, 0, 0, 0, 0, 10, 0, 0, 0, 0, 1, 0, 0, 0, 1000, 1);
+ z-index: 1000;
+ background-color: rgba(255,255,255, 0.2);
+}
+
+.timelineCalendarVisible {
+ display: inline;
+ top: -325px !important;
+}
+
+.timelineCalendarHidden {
+ display: none;
+}
+
+#timelineZoomBar {
+ position: absolute;
+ left: 10px;
+ bottom: 5px;
+ filter: saturate(0) brightness(1.5);
+}
+
+#timelineZoomBar:hover {
+ filter: saturate(0.5) brightness(1) !important;
+}
+
+#zoomSliderBackground {
+ position: relative;
+ width: 100px;
+ height: 20px;
+}
+
+#zoomSliderHandle {
+ position: absolute;
+ width: 16px;
+ height: 16px;
+ left: 15px;
+ top: 2px;
+ cursor: pointer;
+}
+
+.timelineScrollBarContainer {
+ position: absolute;
+ background-color: rgba(255,255,255,0.3);
+ border-radius: 5px;
+ height: 10px;
+ /*transition: opacity 0.5s ease-in-out;*/
+}
+
+.timelineScrollBarHandle {
+ position: relative;
+ left: 0;
+ top: 0;
+ background-color: rgba(155,155,155,1.0);
+ border-radius: 5px;
+ height: 10px;
+ cursor: pointer;
+}
+
+.timelineScrollBarHandle:hover {
+ background-color: rgba(125,185,185,1.0);
+}
+
+.timelineScrollBarFadeout {
+ opacity: 0;
+ animation: scrollbarFadeout 0.5s;
+}
+
+.timelineScrollBarNoData {
+ visibility: hidden;
+}
+
+@keyframes scrollbarFadeout {
+ 0% {
+ opacity: 1;
+ }
+ 100% {
+ opacity: 0;
+ }
+}
+
+#timelineScrollBar {
+ left: 20px;
+ bottom: 3px;
+ width: calc(100% - 2 * (20px + 4px));
+}
+
+.hiddenScrollBar {
+ display: none;
+}
diff --git a/interfaces/remoteOperatorUI/VideoFileManager.js b/interfaces/remoteOperatorUI/VideoFileManager.js
new file mode 100644
index 00000000..66387c32
--- /dev/null
+++ b/interfaces/remoteOperatorUI/VideoFileManager.js
@@ -0,0 +1,169 @@
+const fs = require('fs');
+const path = require('path');
+const constants = require('./videoConstants');
+const utils = require('./utilities');
+
+/**
+ * @fileOverview
+ * The VideoFileManager is initialized with an outputPath where all video recordings and their derivatives are stored,
+ * and contains a variety of utilities for reading and writing the files to a specific nested file structure,
+ * and to convert this into a json blob containing the file tree (the persistentInfo).
+ * All state is reconstructed from the file structure when the server restarts.
+ */
+
+let outputPath = null;
+let persistentInfo = null;
+
+const createMissingDirs = (devicePath) => {
+ utils.mkdirIfNeeded(devicePath, true);
+ let dir = constants.DIR_NAMES;
+
+ let sessionVideosPath = path.join(devicePath, dir.session_videos);
+ let unprocessedChunksPath = path.join(devicePath, dir.unprocessed_chunks);
+ let processedChunksPath = path.join(devicePath, dir.processed_chunks);
+
+ [dir.color, dir.depth, dir.pose].forEach(name => {
+ utils.mkdirIfNeeded(path.join(sessionVideosPath, name), true);
+ utils.mkdirIfNeeded(path.join(unprocessedChunksPath, name), true);
+ utils.mkdirIfNeeded(path.join(processedChunksPath, name), true);
+ });
+};
+
+const parseDeviceDirectory = (devicePath) => {
+ let info = {};
+ createMissingDirs(devicePath);
+
+ // add fully-concatenated color and depth videos
+ let sessionVideosPath = path.join(devicePath, constants.DIR_NAMES.session_videos);
+ fs.readdirSync(path.join(sessionVideosPath, constants.DIR_NAMES.color)).forEach(filepath => {
+ let sessionId = getSessionIdFromFilename(filepath, 'session_');
+ if (sessionId && sessionId.length === 8) {
+ if (typeof info[sessionId] === 'undefined') {
+ info[sessionId] = {};
+ }
+ info[sessionId].color = filepath;
+
+ if (fs.existsSync(path.join(sessionVideosPath, constants.DIR_NAMES.depth, filepath))) {
+ info[sessionId].depth = filepath;
+ }
+ }
+ });
+ // append pose data separately from logic for color, since pose may be available before color & depth
+ fs.readdirSync(path.join(sessionVideosPath, 'pose')).forEach(filepath => {
+ let sessionId = getSessionIdFromFilename(filepath, 'session_');
+ if (sessionId && sessionId.length === 8) {
+ if (typeof info[sessionId] === 'undefined') {
+ info[sessionId] = {};
+ }
+ info[sessionId].pose = filepath;
+ }
+ });
+
+ // add the list of chunks (processed and unprocessed) to the json output
+ [constants.DIR_NAMES.processed_chunks, constants.DIR_NAMES.unprocessed_chunks].forEach(dirName => {
+ let thisPath = path.join(devicePath, dirName);
+ fs.readdirSync(path.join(thisPath, constants.DIR_NAMES.color)).forEach(filepath => { // do for color, but check for depth within the block to ensure both exist
+ let sessionId = getSessionIdFromFilename(filepath, 'chunk_');
+ if (sessionId && sessionId.length === 8) {
+ if (typeof info[sessionId] === 'undefined') {
+ info[sessionId] = {};
+ }
+ if (typeof info[sessionId][dirName] === 'undefined') {
+ info[sessionId][dirName] = [];
+ }
+ if (fs.existsSync(path.join(thisPath, constants.DIR_NAMES.depth, filepath))) {
+ info[sessionId][dirName].push(filepath);
+ }
+ }
+ });
+ });
+
+ return info;
+};
+
+const getSessionIdFromFilename = (filename, prefix) => {
+ let re = new RegExp(prefix + '[a-zA-Z0-9]{8}');
+ let matches = filename.match(re);
+ if (!matches || matches.length === 0) { return null; }
+ return (prefix ? matches[0].replace(prefix, '') : matches[0]);
+};
+
+const getNestedFilePaths = (deviceId, dirName, colorOrDepth) => {
+ if (!outputPath) { console.warn('You never called initWithOutputPath on VideoFileManager'); }
+
+ let dirPath = path.join(outputPath, deviceId, dirName, colorOrDepth);
+ utils.mkdirIfNeeded(dirPath, true);
+ let filetype = '.' + ((colorOrDepth === constants.DIR_NAMES.depth) ? constants.DEPTH_FILETYPE : constants.COLOR_FILETYPE);
+ return fs.readdirSync(dirPath).filter(filename => filename.includes(filetype));
+};
+
+const deleteChunksForSession = (deviceId, sessionId) => {
+ if (!outputPath) { console.warn('You never called initWithOutputPath on VideoFileManager'); }
+
+ let counter = 0;
+ [constants.DIR_NAMES.unprocessed_chunks, constants.DIR_NAMES.processed_chunks].forEach(dirName => {
+ [constants.DIR_NAMES.color, constants.DIR_NAMES.depth].forEach(colorOrDepth => {
+ getNestedFilePaths(deviceId, dirName, colorOrDepth).filter(path => {
+ return path.includes(sessionId);
+ }).map(filename => {
+ return path.join(outputPath, deviceId, dirName, colorOrDepth, filename);
+ }).forEach(chunkPath => {
+ fs.rmSync(chunkPath);
+ counter++;
+ });
+ });
+ });
+ if (counter > 0) {
+ console.log('deleted ' + counter + ' leftover video chunk files for recorded video ' + sessionId);
+ }
+};
+
+module.exports = {
+ initWithOutputPath: (path) => {
+ outputPath = path;
+ utils.mkdirIfNeeded(path, true);
+ },
+ createMissingDirs: createMissingDirs,
+ // we rebuild the json blob each time by parsing the filesystem, so this is stored mainly as a means for other systems to retrieve the data
+ buildPersistentInfo: () => {
+ if (!outputPath) { console.warn('You never called initWithOutputPath on VideoFileManager'); }
+
+ let info = {};
+ // each folder in outputPath is a device
+ // check that folder's session_videos, processed_chunks, and unprocessed_chunks to determine how many sessions there are and what state they're in
+ fs.readdirSync(outputPath).filter((filename) => {
+ let isHidden = filename[0] === '.';
+ return fs.statSync(path.join(outputPath, filename)).isDirectory() && !isHidden;
+ }).forEach(deviceDirName => {
+ info[deviceDirName] = parseDeviceDirectory(path.join(outputPath, deviceDirName));
+ });
+ persistentInfo = info;
+ },
+ savePersistentInfo: () => {
+ if (!outputPath) { console.warn('You never called initWithOutputPath on VideoFileManager'); }
+
+ let jsonPath = path.join(outputPath, 'videoInfo.json');
+ fs.writeFileSync(jsonPath, JSON.stringify(persistentInfo, null, 4));
+ },
+ getUnprocessedChunkFilePaths: (deviceId, colorOrDepth = constants.DIR_NAMES.color) => {
+ return getNestedFilePaths(deviceId, constants.DIR_NAMES.unprocessed_chunks, colorOrDepth);
+ },
+ getProcessedChunkFilePaths: (deviceId, colorOrDepth = constants.DIR_NAMES.color) => {
+ return getNestedFilePaths(deviceId, constants.DIR_NAMES.processed_chunks, colorOrDepth);
+ },
+ getSessionFilePaths: (deviceId, colorOrDepth = constants.DIR_NAMES.color) => {
+ return getNestedFilePaths(deviceId, constants.DIR_NAMES.session_videos, colorOrDepth);
+ },
+ deleteLeftoverChunks(deviceId) {
+ let colorSessionPaths = module.exports.getSessionFilePaths(deviceId, constants.DIR_NAMES.color);
+ let depthSessionPaths = module.exports.getSessionFilePaths(deviceId, constants.DIR_NAMES.depth);
+ colorSessionPaths.forEach(path => {
+ if (depthSessionPaths.includes(path)) {
+ let sessionId = getSessionIdFromFilename(path, 'session_');
+ deleteChunksForSession(deviceId, sessionId);
+ }
+ });
+ },
+ get outputPath() { return outputPath; },
+ get persistentInfo() { return persistentInfo; }
+};
diff --git a/interfaces/remoteOperatorUI/VideoProcessManager.js b/interfaces/remoteOperatorUI/VideoProcessManager.js
new file mode 100644
index 00000000..7d3f8e54
--- /dev/null
+++ b/interfaces/remoteOperatorUI/VideoProcessManager.js
@@ -0,0 +1,210 @@
+const fs = require('fs');
+const path = require('path');
+const ffmpegInterface = require('./ffmpegInterface');
+const VideoFileManager = require('./VideoFileManager');
+const constants = require('./videoConstants');
+
+/**
+ * @fileOverview
+ * The VideoProcessManager listens for messages originating from virtualizer devices,
+ * and creates a new Connection to manage the raw video recording process for each camera device
+ * The Connection spawns a ffmpeg process when a startRecording message is received, and continuously
+ * appends frame data to this process until the device sends stopRecording or disconnects.
+ * Frame data is written to a new video "chunk" file each 15 seconds, to reduce memory footprint and point of failure.
+ * When the Connection's process is done, it triggers a callback where the VideoServer can make use of the chunk files.
+ */
+
+let connections = {};
+let callbacks = {
+ recordingDone: null
+};
+
+module.exports = {
+ onConnection: (deviceId) => {
+ console.log('-- on connection: ' + deviceId);
+ connections[deviceId] = new Connection(deviceId, callbacks);
+ },
+ onDisconnection: (deviceId) => {
+ console.log('-- on disconnection: ' + deviceId);
+ if (connections[deviceId]) {
+ connections[deviceId].stopRecording(true);
+ // TODO: should we also delete this.connections[deviceId]?
+ }
+ },
+ startRecording: (deviceId) => {
+ console.log('-- start recording: ' + deviceId);
+ if (connections[deviceId]) {
+ connections[deviceId].startRecording();
+ }
+ },
+ stopRecording: (deviceId) => {
+ console.log('-- stop recording: ' + deviceId);
+ if (connections[deviceId]) {
+ connections[deviceId].stopRecording(false);
+ }
+ },
+ onFrame: (rgb, depth, pose, deviceId) => {
+ if (connections[deviceId]) {
+ connections[deviceId].onFrame(rgb, depth, pose);
+ }
+ },
+ setRecordingDoneCallback: (callback) => {
+ callbacks.recordingDone = callback;
+ }
+};
+
+class Connection {
+ constructor(deviceId, callbacks) {
+ this.deviceId = deviceId;
+ this.sessionId = null;
+ this.STATUS = Object.freeze({
+ NOT_STARTED: 'NOT_STARTED',
+ STARTED: 'STARTED',
+ ENDING: 'ENDING',
+ DISCONNECTED: 'DISCONNECTED',
+ STOPPED: 'STOPPED'
+ });
+ this.isRecording = false;
+ this.processes = {
+ color: null,
+ depth: null,
+ pose: null
+ };
+ this.processStatuses = {
+ color: this.STATUS.NOT_STARTED,
+ depth: this.STATUS.NOT_STARTED,
+ pose: this.STATUS.NOT_STARTED
+ };
+ this.poses = [];
+ this.chunkCount = 0;
+ this.callbacks = callbacks;
+ }
+ startRecording() {
+ this.sessionId = this.uuidTimeShort();
+ this.chunkCount = 0;
+ this.isRecording = true;
+ // fileManager setup persistent data and directories
+
+ this.spawnProcesses();
+ this.waitUntilNextChunk();
+ }
+ // restart every 15 seconds (unless socket disconnected, just process data and stop)
+ waitUntilNextChunk() {
+ setTimeout(_ => {
+ this.stopProcesses();
+ if (this.processStatuses.color !== this.STATUS.DISCONNECTED &&
+ this.processStatuses.color !== this.STATUS.STOPPED) {
+ setTimeout(_ => {
+ this.recordNextChunk();
+ }, 10); // not sure if this delay is necessary between chunks but doesnt seem unreasonable
+ }
+ }, constants.SEGMENT_LENGTH);
+ }
+ recordNextChunk() {
+ this.chunkCount += 1;
+ this.isRecording = true;
+
+ this.spawnProcesses();
+ this.waitUntilNextChunk();
+ }
+ spawnProcesses() {
+ let index = this.chunkCount;
+
+ // start color stream process
+ // depth images are 1920x1080 lossy JPG images
+ let chunkTimestamp = Date.now();
+ let colorFilename = 'chunk_' + this.sessionId + '_' + index + '_' + chunkTimestamp + '.' + constants.COLOR_FILETYPE;
+ let colorOutputPath = path.join(VideoFileManager.outputPath, this.deviceId, constants.DIR_NAMES.unprocessed_chunks, constants.DIR_NAMES.color, colorFilename);
+ this.processes.color = ffmpegInterface.ffmpeg_image2mp4(colorOutputPath, constants.RECORDING_FPS, 'mjpeg', constants.COLOR_WIDTH, constants.COLOR_HEIGHT, constants.COLOR_CRF, constants.COLOR_SCALE);
+ if (this.processes.color) {
+ this.processStatuses.color = this.STATUS.STARTED;
+ }
+
+ // start depth stream process
+ // depth images are 256x144 lossless PNG buffers
+ let depthFilename = 'chunk_' + this.sessionId + '_' + index + '_' + chunkTimestamp + '.' + constants.DEPTH_FILETYPE;
+ let depthOutputPath = path.join(VideoFileManager.outputPath, this.deviceId, constants.DIR_NAMES.unprocessed_chunks, constants.DIR_NAMES.depth, depthFilename);
+ this.processes.depth = ffmpegInterface.ffmpeg_image2mp4(depthOutputPath, constants.RECORDING_FPS, 'png', constants.DEPTH_WIDTH, constants.DEPTH_HEIGHT, constants.DEPTH_CRF, constants.DEPTH_SCALE);
+ // this.processes[deviceId][this.PROCESS.DEPTH] = ffmpeg_image2losslessVideo(depthOutputPath, 10, 'png', 256, 144); // this version isn't working as reliably
+ if (this.processes.depth) {
+ this.processStatuses.depth = this.STATUS.STARTED;
+ }
+
+ this.processStatuses.pose = this.STATUS.STARTED;
+ this.poses = [];
+ }
+ onFrame(rgb, depth, pose) {
+ if (!this.isRecording) { return; }
+
+ if (this.processes.color && this.processStatuses.color === this.STATUS.STARTED) {
+ this.processes.color.stdin.write(rgb);
+ }
+ if (this.processes.depth && this.processStatuses.depth === this.STATUS.STARTED) {
+ this.processes.depth.stdin.write(depth);
+ }
+ if (this.processStatuses.pose === this.STATUS.STARTED) {
+ this.poses.push({
+ pose: pose.toString('base64'),
+ time: Date.now()
+ });
+ }
+ }
+ stopProcesses() {
+ this.isRecording = false;
+
+ if (this.processes.color !== 'undefined' && this.processStatuses.color === this.STATUS.STARTED) {
+ console.log('end color process');
+ this.processes.color.stdin.setEncoding('utf8');
+ this.processes.color.stdin.write('q');
+ this.processes.color.stdin.end();
+ this.processStatuses.color = this.STATUS.ENDING;
+ }
+
+ if (this.processes.depth !== 'undefined' && this.processStatuses.depth === this.STATUS.STARTED) {
+ console.log('end depth process');
+ this.processes.depth.stdin.setEncoding('utf8');
+ this.processes.depth.stdin.write('q');
+ this.processes.depth.stdin.end();
+ this.processStatuses.depth = this.STATUS.ENDING;
+ }
+
+ if (this.processStatuses.pose === this.STATUS.STARTED) {
+ console.log('end pose process');
+ this.processStatuses.pose = this.STATUS.ENDING;
+
+ // immediately write the poses from memory to storage, and reset the poses in memory
+ let index = this.chunkCount;
+ let poseFilename = 'chunk_' + this.sessionId + '_' + index + '_' + Date.now() + '.json';
+ let poseOutputPath = path.join(VideoFileManager.outputPath, this.deviceId, constants.DIR_NAMES.unprocessed_chunks, 'pose', poseFilename);
+ fs.writeFileSync(poseOutputPath, JSON.stringify(this.poses));
+ this.poses = [];
+ }
+ }
+ stopRecording(didDisconnect) {
+ if (!this.isRecording) { return; }
+
+ this.stopProcesses();
+
+ if (didDisconnect) {
+ this.processStatuses.color = this.STATUS.DISCONNECTED;
+ this.processStatuses.depth = this.STATUS.DISCONNECTED;
+ this.processStatuses.pose = this.STATUS.DISCONNECTED;
+ } else {
+ this.processStatuses.color = this.STATUS.STOPPED;
+ this.processStatuses.depth = this.STATUS.STOPPED;
+ this.processStatuses.pose = this.STATUS.STOPPED;
+ }
+
+ // when the video processes are done, other modules can do what they'd like with it
+ if (this.callbacks.recordingDone) {
+ this.callbacks.recordingDone(this.deviceId, this.sessionId, this.chunkCount);
+ }
+ }
+ uuidTimeShort() {
+ var dateUuidTime = new Date();
+ var abcUuidTime = 'ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789';
+ var stampUuidTime = parseInt('' + dateUuidTime.getMilliseconds() + dateUuidTime.getMinutes() + dateUuidTime.getHours() + dateUuidTime.getDay()).toString(36);
+ while (stampUuidTime.length < 8) stampUuidTime = abcUuidTime.charAt(Math.floor(Math.random() * abcUuidTime.length)) + stampUuidTime;
+ return stampUuidTime;
+ }
+}
diff --git a/interfaces/remoteOperatorUI/VideoServer.js b/interfaces/remoteOperatorUI/VideoServer.js
new file mode 100644
index 00000000..6de6b044
--- /dev/null
+++ b/interfaces/remoteOperatorUI/VideoServer.js
@@ -0,0 +1,244 @@
+const fs = require('fs');
+const path = require('path');
+const ffmpegInterface = require('./ffmpegInterface');
+const VideoFileManager = require('./VideoFileManager');
+const VideoProcessManager = require('./VideoProcessManager');
+const constants = require('./videoConstants');
+const utils = require('./utilities');
+
+/**
+ * @fileOverview
+ * The VideoServer handles logic to record point cloud videos captured by the streamRouter
+ * It passes messages to the VideoProcessManager (onConnection, onDisconnection, startRecording, stopRecording, onFrame)
+ * and it utilizes the VideoFileManager to save the recorded video chunks (and json poses) to a nested directory at the outputPath
+ *
+ * Recorded videos pass through three stages:
+ * 1. unprocessed_chunks: these are 15 second video segments created on a rolling basis while the video is recording
+ * 2. processed_chunks: when the video has stopped recording, chunks have an optional post-processing step and are copied here
+ * 3. session_videos: when all chunks have been processed, they are concatenated into a final video here
+ *
+ * RGB and depth videos are created with ffmpeg child processes. Parameters can be configured in videoConstants and ffmpegInterface.
+ * Poses are written to json files as a list of timestamped base64-encoded matrices.
+ *
+ * Metadata for all recordings can be accessed at localhost:8081/virtualizer_recordings
+ */
+class VideoServer {
+ constructor(outputPath) {
+ this.outputPath = outputPath;
+ console.info('Virtualizer recordings path: ' + this.outputPath);
+
+ VideoFileManager.initWithOutputPath(outputPath);
+ // we rebuild/save the persistentInfo on server restart so that it doesn't get out-of-sync with filesystem state
+ VideoFileManager.buildPersistentInfo();
+ VideoFileManager.savePersistentInfo();
+
+ // the process manager is mostly self-sufficient at creating the recordings, but we need to know when it's done.
+ // it records in 15 second chunks, and when it's done we concatenate the chunks together
+ VideoProcessManager.setRecordingDoneCallback(this.onRecordingDone.bind(this));
+
+ // each time the server restarts, we check for chunks that were never concatenated and try to concat them into finished videos
+ // this way, if the server unexpectedly stops while the videos are processing, they can be recovered
+ Object.keys(VideoFileManager.persistentInfo).forEach(deviceId => {
+ this.concatChunksIntoSessionVideo(deviceId);
+ });
+
+ // this copies over chunk files from unprocessed_chunks to processed_chunks
+ // processed_chunks is a way to future-proof the system such that if we want to do any post-processing of the
+ // chunk files, we have a place to reliably do that before making the videos available to the system in a concatenated form
+ // for example, we can rescale each chunk to a certain length or re-encode them based on info we have only after all the chunks have been recorded
+ Object.keys(VideoFileManager.persistentInfo).forEach(deviceId => {
+ this.processUnprocessedChunks(deviceId);
+ });
+
+ // after chunks have been concatenated into a session video, we can delete them
+ Object.keys(VideoFileManager.persistentInfo).forEach(deviceId => {
+ VideoFileManager.deleteLeftoverChunks(deviceId);
+ });
+ }
+ startRecording(deviceId) {
+ VideoFileManager.createMissingDirs(path.join(this.outputPath, deviceId));
+ VideoProcessManager.startRecording(deviceId);
+ }
+ stopRecording(deviceId) {
+ VideoProcessManager.stopRecording(deviceId);
+ }
+ onConnection(deviceId) {
+ VideoProcessManager.onConnection(deviceId);
+ }
+ onDisconnection(deviceId) {
+ VideoProcessManager.onDisconnection(deviceId);
+ }
+ onFrame(rgb, depth, pose, deviceId) {
+ VideoProcessManager.onFrame(rgb, depth, pose, deviceId);
+ }
+ // TODO: this could be optimized by listening for files to finish writing, rather than waiting a fixed time
+ onRecordingDone(deviceId, sessionId, lastChunkIndex) {
+ setTimeout(() => { // wait for final video to finish processing
+ utils.mkdirIfNeeded(path.join(this.outputPath, deviceId, 'tmp'), true);
+ let tmpOutputPath = path.join(this.outputPath, deviceId, 'tmp', sessionId + '_done_' + lastChunkIndex + '.json');
+ fs.writeFileSync(tmpOutputPath, JSON.stringify({ success: true}));
+
+ this.processUnprocessedChunks(deviceId);
+
+ // try concatenating after a longer delay. if not all chunks have finished processing by then...
+ // ...the chunk count won't match up and it will skip concatenating for now...
+ // ...it will reattempt each time you restart the server.
+ setTimeout(() => {
+ // try to concat rescaled videos after waiting awhile after recording stopped
+ VideoFileManager.buildPersistentInfo(); // recompile persistent info so session metadata contains new chunks
+ this.concatChunksIntoSessionVideo(deviceId);
+ }, 1000 * (lastChunkIndex + 1)); // delay 1 second per chunk we need to process, should give plenty of time
+ }, 5000);
+ }
+ concatChunksIntoSessionVideo(deviceId) {
+ if (!fs.existsSync(path.join(this.outputPath, deviceId))) {
+ console.error('Failed to concat video chunks, directory does not exist', path.join(this.outputPath, deviceId));
+ return;
+ }
+
+ // we use a tmp text file as a lock to ensure that all of the unprocessed chunks are represented in the processed chunks
+ let tmpFiles = [];
+ if (fs.existsSync(path.join(this.outputPath, deviceId, 'tmp'))) {
+ tmpFiles = fs.readdirSync(path.join(this.outputPath, deviceId, 'tmp'));
+ }
+
+ let sessions = VideoFileManager.persistentInfo[deviceId];
+ Object.keys(sessions).forEach(sessionId => {
+ let s = sessions[sessionId];
+ if (s.color && s.depth && s.pose) { return; }
+ if (s.processed_chunks && s.processed_chunks.length > 0) {
+ let matchingFiles = tmpFiles.filter(filename => { return filename.includes(sessionId + '_done'); });
+ let tmpFilename = matchingFiles.length > 0 ? matchingFiles[0] : null;
+ if (tmpFilename) {
+ let numberOfChunks = parseInt(tmpFilename.match(/_\d+.json/)[0].match(/\d+/)[0]) + 1;
+ if (s.processed_chunks.length !== numberOfChunks && s.unprocessed_chunks.length === numberOfChunks) {
+ // there are some unprocessed chunks not present in the processed chunks
+ return; // skip concatenating this session
+ }
+ }
+
+ if (!s.color) { s.color = this.concatFiles(deviceId, sessionId, constants.DIR_NAMES.color, s.processed_chunks); }
+ if (!s.depth) { s.depth = this.concatFiles(deviceId, sessionId, constants.DIR_NAMES.depth, s.processed_chunks); }
+ if (!s.pose) { s.pose = this.concatPosesIfNeeded(deviceId, sessionId); }
+ }
+ });
+
+ VideoFileManager.savePersistentInfo();
+ }
+ extractTimeInformation(fileList) { // we could also probably just use the SEGMENT_LENGTH * fileList.length, but this works too
+ let fileRecordingTimes = fileList.map(filename => parseInt(filename.match(/[0-9]{13,}/))); // extract timestamp
+ let firstTimestamp = Math.min(...fileRecordingTimes) - constants.SEGMENT_LENGTH; // estimate, since this is at the end of the first video
+ let lastTimestamp = Math.max(...fileRecordingTimes);
+ return {
+ start: firstTimestamp,
+ end: lastTimestamp,
+ duration: lastTimestamp - firstTimestamp
+ };
+ }
+ concatFiles(deviceId, sessionId, colorOrDepth = constants.DIR_NAMES.color, files) {
+ // passing a list of videos into ffmpeg is most easily done with a txt file listing the files in a specific format
+ let fileText = '';
+ for (let i = 0; i < files.length; i++) {
+ fileText += 'file \'' + path.join(this.outputPath, deviceId, constants.DIR_NAMES.processed_chunks, colorOrDepth, files[i]) + '\'\n';
+ }
+
+ // write file list to txt file so it can be used by ffmpeg as input
+ let txt_filename = colorOrDepth + '_filenames_' + sessionId + '.txt';
+ utils.mkdirIfNeeded(path.join(this.outputPath, deviceId, 'tmp'), true);
+ let txtFilePath = path.join(this.outputPath, deviceId, 'tmp', txt_filename);
+ if (fs.existsSync(txtFilePath)) {
+ fs.unlinkSync(txtFilePath);
+ }
+ fs.writeFileSync(txtFilePath, fileText);
+
+ let filetype = (colorOrDepth === constants.DIR_NAMES.depth) ? constants.DEPTH_FILETYPE : constants.COLOR_FILETYPE;
+ // we store the video timestamp directly in its filename, so this info never gets lost
+ let timeInfo = this.extractTimeInformation(files);
+ let filename = 'device_' + deviceId + '_session_' + sessionId + '_start_' + timeInfo.start + '_end_' + timeInfo.end + '.' + filetype;
+ let outputPath = path.join(this.outputPath, deviceId, constants.DIR_NAMES.session_videos, colorOrDepth, filename);
+ ffmpegInterface.ffmpeg_concat_mp4s(outputPath, txtFilePath);
+
+ return filename;
+ }
+ concatPosesIfNeeded(deviceId, sessionId) {
+ // check if output file exists for this device/session pair
+ let filename = 'device_' + deviceId + '_session_' + sessionId + '.json';
+ let outputPath = path.join(this.outputPath, deviceId, constants.DIR_NAMES.session_videos, 'pose', filename);
+ if (fs.existsSync(outputPath)) {
+ return filename; // already exists, return early
+ }
+
+ // load all pose chunks. each is a json file with a timestamped list of poses for 15 seconds of the video
+ let files = fs.readdirSync(path.join(this.outputPath, deviceId, constants.DIR_NAMES.unprocessed_chunks, 'pose'));
+ files = files.filter(filename => {
+ return filename.includes(sessionId);
+ });
+
+ // the concatenated file contains a correctly-ordered array with all of the poses from each chunk's array
+ let poseData = [];
+ files.forEach(filename => {
+ let filePath = path.join(this.outputPath, deviceId, constants.DIR_NAMES.unprocessed_chunks, 'pose', filename);
+ poseData.push(JSON.parse(fs.readFileSync(filePath, 'utf-8')));
+ });
+ let flattened = poseData.flat();
+ fs.writeFileSync(outputPath, JSON.stringify(flattened));
+
+ return filename;
+ }
+ processUnprocessedChunks(deviceId) {
+ let unprocessedPath = path.join(this.outputPath, deviceId, constants.DIR_NAMES.unprocessed_chunks);
+ let processedPath = path.join(this.outputPath, deviceId, constants.DIR_NAMES.processed_chunks);
+ let fileMap = {
+ color: {
+ processed: VideoFileManager.getProcessedChunkFilePaths(deviceId, constants.DIR_NAMES.color),
+ unprocessed: VideoFileManager.getUnprocessedChunkFilePaths(deviceId, constants.DIR_NAMES.color)
+ },
+ depth: {
+ processed: VideoFileManager.getProcessedChunkFilePaths(deviceId, constants.DIR_NAMES.depth),
+ unprocessed: VideoFileManager.getUnprocessedChunkFilePaths(deviceId, constants.DIR_NAMES.depth)
+ }
+ };
+
+ Object.keys(fileMap).forEach(colorOrDepth => {
+ let filesToScale = [];
+
+ // ignore any video chunks that are corrupted (~0 bytes), perhaps due to stopping recording before it wrote any frames
+ fileMap[colorOrDepth].unprocessed.forEach(filename => {
+ let timestamp = filename.match(/[0-9]{13,}/);
+ if (!fileMap[colorOrDepth].processed.some(resizedFilename => resizedFilename.includes(timestamp))) {
+ let colorFilename = filename.replace(/\.[^/.]+$/, '') + '.' + constants.COLOR_FILETYPE;
+ let depthFilename = filename.replace(/\.[^/.]+$/, '') + '.' + constants.DEPTH_FILETYPE;
+ let colorFilePath = path.join(unprocessedPath, constants.DIR_NAMES.color, colorFilename);
+ let depthFilePath = path.join(unprocessedPath, constants.DIR_NAMES.depth, depthFilename);
+ if (fs.existsSync(colorFilePath) && fs.existsSync(depthFilePath)) {
+ let byteSizeColor = fs.statSync(colorFilePath).size;
+ let byteSizeDepth = fs.statSync(depthFilePath).size;
+ if (byteSizeColor > 48 && byteSizeDepth > 48) {
+ filesToScale.push(filename);
+ }
+ }
+ }
+ });
+
+ // note: why is ffmpeg_adjust_length (sometimes) part of the process:
+ // the incoming image stream, while it approximates 10 fps, is not exactly that.
+ // so the resulting "15 second" chunks are sometimes 8 seconds, sometimes 10, etc.
+ // one way to fix this time warping is to rescale each chunk to be 15 seconds exactly.
+ // the other method (currently used) is to leave the chunks as-is, and correct it in the video playback system:
+ // use the timestamps stored in the filename, rather than the length of the video, during playback
+
+ // either copy the files directly to processed_chunks, or do some postprocessing (like ffmpeg_adjust_length)
+ filesToScale.forEach(filename => {
+ let inputPath = path.join(unprocessedPath, colorOrDepth, filename);
+ let outputPath = path.join(processedPath, colorOrDepth, filename);
+ if (constants.RESCALE_VIDEOS) {
+ ffmpegInterface.ffmpeg_adjust_length(outputPath, inputPath, constants.SEGMENT_LENGTH / 1000);
+ } else {
+ fs.copyFileSync(inputPath, outputPath, fs.constants.COPYFILE_EXCL);
+ }
+ });
+ });
+ }
+}
+
+module.exports = VideoServer;
diff --git a/interfaces/remoteOperatorUI/config.html b/interfaces/remoteOperatorUI/config.html
new file mode 100644
index 00000000..9732683a
--- /dev/null
+++ b/interfaces/remoteOperatorUI/config.html
@@ -0,0 +1,387 @@
+
+
+
+ Remote Operator Configurator
+
+
+
+
+
+
+ Help text
+
+
+
Setting Name
+
+
Enter Name
+
+
+
+
+
+
+
+
+
+ The remoteOperatorUI interface allows you to host a Remote Operator userinterface on localhost:8081. Just configure
+ the absolute path to your vuforia-spatial-toolbox-userinterface directory and restart your server.
+
+
+
+
+
+
+
+
+
+
diff --git a/interfaces/remoteOperatorUI/ffmpegInterface.js b/interfaces/remoteOperatorUI/ffmpegInterface.js
new file mode 100644
index 00000000..514c63dc
--- /dev/null
+++ b/interfaces/remoteOperatorUI/ffmpegInterface.js
@@ -0,0 +1,205 @@
+const fs = require('fs');
+const cp = require('child_process');
+const ffmpegPath = require('@ffmpeg-installer/ffmpeg').path;
+const constants = require('./videoConstants');
+
+/**
+ * @fileOverview
+ * This contains a set of utility functions that will spawn an ffmpeg child process to perform the specified task
+ * Enable constants.DEBUG_LOG_FFMPEG to print information from these processes
+ *
+ * Note: I've intentionally left the rubble of some experiments in here, that it may help future thought processes
+ *
+ * TODO: how can we listen for when the process finishes writing the output file, to reliably continue only when safe?
+ */
+
+module.exports = {
+ // Create a process that converts a stream of jpeg or png images into a video.
+ // To add a frame, call process.stdin.write(rgb_buffer). To finish, call process.stdin.end()
+ ffmpeg_image2mp4: (output_path, framerate = 10, input_vcodec = 'mjpeg', input_width = 1920, input_height = 1080, crf = 25, output_scale = 0.25) => {
+ let outputWidth = input_width * output_scale;
+ let outputHeight = input_height * output_scale;
+
+ let args = [
+ '-r', framerate,
+ // '-framerate', framerate,
+ // '-probesize', '5000',
+ // '-analyzeduration', '5000',
+ '-f', 'image2pipe',
+ '-vcodec', input_vcodec,
+ '-s', input_width + 'x' + input_height,
+ '-i', '-',
+ '-vcodec', 'libx264',
+ '-crf', crf,
+ '-pix_fmt', 'yuv420p',
+ '-vf', 'scale=' + outputWidth + ':' + outputHeight + ', setsar=1:1', //, realtime, fps=' + framerate,
+ // '-preset', 'ultrafast',
+ // '-copyts',
+ // '-tune', 'zerolatency',
+ // '-r', framerate, // will duplicate frames to meet this but still look like the framerate set before -i,
+ output_path
+ ];
+
+ let process = cp.spawn(ffmpegPath, args);
+
+ if (constants.DEBUG_LOG_FFMPEG) {
+ // process.stdout.on('data', function(data) {
+ // console.log('stdout data', data);
+ // });
+ process.stderr.setEncoding('utf8');
+ process.stderr.on('data', function(data, err) {
+ console.log('stderr data', data);
+ console.warn(err);
+ });
+ // process.on('close', function() {
+ // console.log('finished');
+ // });
+ }
+
+ return process;
+ },
+ // experimental alternative to ffmpeg_image2mp4 that tries to use lossless codecs and parameters
+ // not quite successful, but could be iterated upon
+ ffmpeg_image2losslessVideo: (output_path, framerate = 10, input_vcodec = 'png', input_width = 256, input_height = 144) => {
+ // let outputWidth = input_width;
+ // let outputHeight = input_height;
+
+ // ffmpeg -i video.avi -c:v libx265 \
+ // -x265-params "profile=monochrome12:crf=0:lossless=1:preset=veryslow:qp=0" \
+ // video.mkv
+
+ let args = [
+ '-r', framerate,
+ '-f', 'image2pipe',
+ '-vcodec', input_vcodec,
+ '-pix_fmt', 'argb',
+ '-s', input_width + 'x' + input_height,
+ '-i', '-',
+ // '-vcodec', 'libx265',
+ '-vcodec', 'libvpx-vp9',
+ '-lossless', '1',
+ // '-x265-params', 'lossless=1',
+ // '-pix_fmt', 'yuv420p',
+ '-pix_fmt', 'argb',
+ // '-vf', 'scale=' + outputWidth + ':' + outputHeight + ', setsar=1:1', //, realtime, fps=' + framerate,
+ // '-preset', 'ultrafast',
+ // '-copyts',
+ // '-tune', 'zerolatency',
+ // '-r', framerate, // will duplicate frames to meet this but still look like the framerate set before -i,
+ output_path
+ ];
+
+ // not working with MP4 ... works losslessly with .MKV but not playable in HTML video element
+ // let args = [
+ // '-r', framerate,
+ // '-f', 'image2pipe',
+ // '-vcodec', input_vcodec,
+ // '-s', input_width + 'x' + input_height,
+ // '-i', '-',
+ // '-vcodec', 'libx265',
+ // '-x265-params', 'crf=0:lossless=1:preset=veryslow:qp=0',
+ // // '-pix_fmt', 'yuv420p',
+ // // '-vf', 'scale=' + outputWidth + ':' + outputHeight + ', setsar=1:1', //, realtime, fps=' + framerate,
+ // // '-preset', 'ultrafast',
+ // // '-copyts',
+ // // '-tune', 'zerolatency',
+ // // '-r', framerate, // will duplicate frames to meet this but still look like the framerate set before -i,
+ // output_path
+ // ];
+
+ let process = cp.spawn(ffmpegPath, args);
+
+ if (constants.DEBUG_LOG_FFMPEG) {
+ // process.stdout.on('data', function(data) {
+ // console.log('stdout data', data);
+ // });
+ process.stderr.setEncoding('utf8');
+ process.stderr.on('data', function (data) {
+ console.log('stderr data', data);
+ });
+ // process.on('close', function() {
+ // console.log('finished');
+ // });
+ }
+
+ return process;
+ },
+ // takes in a textfile with a list of filepaths, one per line, e.g:
+ // file '/my/file/path1.mp4'
+ // file '/my/file/path2.mp4'
+ // and concatenates the specified video segments into a single video
+ ffmpeg_concat_mp4s: (output_path, file_list_path) => {
+ // ffmpeg -f concat -safe 0 -i fileList.txt -c copy mergedVideo.mp4
+ // we pass in a timestamp so we can use an identical one in the color and depth videos that match up
+ let args = [
+ '-f', 'concat',
+ '-safe', '0',
+ '-i', file_list_path,
+ '-c', 'copy',
+ output_path
+ ];
+
+ let process = cp.spawn(ffmpegPath, args);
+ return process;
+ },
+ // takes a video and resamples the timestamps of each frame to make it last the specified duration (in seconds)
+ ffmpeg_adjust_length: (output_path, input_path, newDuration) => {
+ let filesize = fs.statSync(input_path); // size in bytes
+ if (filesize.size <= 48) {
+ console.warn('corrupted video has ~0 bytes, cant resize: ' + input_path);
+ return;
+ }
+ fs.open(input_path, 'r', function(_err, _fd) {
+ module.exports.ffmpeg_get_duration(input_path, (currentDurationInSeconds) => {
+ console.log('change duration from ' + currentDurationInSeconds + 's to ' + newDuration + 's', input_path);
+ let args = [
+ '-i', input_path,
+ '-filter:v', 'setpts=' + newDuration / currentDurationInSeconds + '*PTS',
+ output_path
+ ];
+ let process = cp.spawn(ffmpegPath, args);
+
+ if (constants.DEBUG_LOG_FFMPEG) {
+ process.stderr.setEncoding('utf8');
+ process.stderr.on('data', function (data) {
+ console.log('stderr data', data);
+ });
+ }
+ console.log('file with adjusted length: ' + output_path);
+ });
+ });
+ },
+ ffmpeg_get_duration(filepath, completionHandler) {
+ let args = [ '-i', filepath ]; // this doesn't have an output path, but stderr will print info about the input video
+ // can also use ffprobe, just install @ffprobe-installer/ffprobe
+ let process = cp.spawn(ffmpegPath, args);
+
+ process.stderr.setEncoding('utf8');
+ process.stderr.on('data', function(data) {
+ if (constants.DEBUG_LOG_FFMPEG) {
+ console.log('ffmpeg_get_duration stderr data', data);
+ }
+ let matches = data.match(/Duration: \d\d:\d\d:\d\d.\d\d/);
+ if (!matches || matches.length === 0) { console.log('couldnt get duration of video'); return; }
+ let durationString = matches[0].replace(/^Duration: /, '');
+ // convert format, e.g. 00:01:03.60 => 63.6 seconds
+ let parts = durationString.split(':');
+ let seconds = parseFloat(parts[2]);
+ seconds += 60 * parseInt(parts[1]);
+ seconds += 60 * 60 * parseInt(parts[0]);
+ completionHandler(seconds);
+ });
+ if (constants.DEBUG_LOG_FFMPEG) {
+ process.stdout.on('data', function(data) {
+ console.log('ffmpeg_get_duration stdout data', data);
+ });
+ process.on('close', function () {
+ console.log('ffmpeg_get_duration finished');
+ });
+ process.on('exit', function () {
+ console.log('ffmpeg_get_duration exit');
+ });
+ }
+ return process;
+ }
+};
diff --git a/interfaces/remoteOperatorUI/index.js b/interfaces/remoteOperatorUI/index.js
new file mode 100644
index 00000000..d6dbbf73
--- /dev/null
+++ b/interfaces/remoteOperatorUI/index.js
@@ -0,0 +1,317 @@
+/*
+* Copyright © 2018 PTC
+*
+* This Source Code Form is subject to the terms of the Mozilla Public
+* License, v. 2.0. If a copy of the MPL was not distributed with this
+* file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+/**
+ * Set to true to enable the hardware interface
+ **/
+
+const os = require('os');
+const path = require('path');
+const fs = require('fs');
+
+const server = require('@libraries/hardwareInterfaces');
+const utilities = require('@libraries/utilities');
+const Addons = require('@libraries/addons/Addons');
+const LocalUIApp = require('@libraries/LocalUIApp');
+const server8080 = require('../../../../server.js');
+
+const settings = server.loadHardwareInterface(__dirname);
+
+exports.enabled = os.platform() === 'ios' || settings('enabled');
+exports.configurable = true; // can be turned on/off/adjusted from the web frontend
+
+/**
+ * These settings will be exposed to the webFrontend to potentially be modified
+ */
+exports.settings = {
+ userinterfacePath: {
+ value: settings('userinterfacePath'),
+ type: 'text',
+ helpText: 'The absolute path to the vuforia-spatial-toolbox-userinterface.'
+ }
+};
+
+if (exports.enabled) {
+
+ if (os.platform() !== 'ios') {
+ const addonPaths = [
+ path.join(__dirname, '../../../'),
+ path.join(os.homedir(), 'Documents/toolbox/addons'),
+ ];
+
+ const addons = new Addons(addonPaths);
+ const addonFolders = addons.listAddonFolders();
+
+ // Set this in the web frontend, e.g.:
+ // /Users/Benjamin/Documents/github/vuforia-spatial-toolbox-ios/bin/data/userinterface
+ const userinterfacePath = settings('userinterfacePath');
+
+ // Load the userinterface codebase (including all add-ons) using the server's LocalUIApp class
+ // and serve the userinterface on port 8081
+ try {
+ console.info(`UI path for Remote Operator: ${userinterfacePath}`);
+ const localUIApp = new LocalUIApp(userinterfacePath, addonFolders);
+ localUIApp.setup();
+ startHTTPServer(localUIApp, 8081);
+ } catch (e) {
+ console.error('Failed to start Remote Operator: ', e);
+ }
+ }
+
+ try {
+ const rzvServer = require('./server.js');
+ rzvServer.start();
+ } catch (e) {
+ console.error('Unable to start Reality Zone Viewer video/skeleton server', e);
+ }
+}
+
+function startHTTPServer(localUIApp, port) {
+ let mouseTranslation = null;
+ let mouseRotation = null;
+ let mouseConnected = false;
+ var callibrationFrames = 100;
+
+ const io = server8080.io;
+
+ let http = null;
+ if (server8080.useHTTPS) {
+ const fs = require('fs');
+ let options = {
+ key: fs.readFileSync('key.pem'),
+ cert: fs.readFileSync('cert.pem')
+ };
+ http = require('https').Server(options, localUIApp.app);
+ } else {
+ http = require('http').Server(localUIApp.app);
+ }
+ http.on('upgrade', function(req, socket, head) {
+ io.server.handleUpgrade(req, socket, head, (ws) => {
+ io.server.emit('connection', ws, req);
+ });
+ });
+
+ // const wrapServer = new WebSocket.Server({server: http});
+ // Slightly janky shim to put the 8081 connections over onto the 8080 handler
+ // wrapServer.on('connection', (...args) => {
+ // io.onConnection(...args);
+ // });
+
+ function ioBroadcast(route, msg) {
+ for (const socket of io.sockets) {
+ socket.emit(route, msg);
+ }
+ }
+
+ const objectsPath = server.getObjectsPath();
+ const identityFolderName = '.identity';
+
+ http.listen(port, function() {
+ console.info('Remote Operator listening on port (http' + (server8080.useHTTPS ? 's' : '') + ') ' + port);
+
+ // serves the camera poses that correspond to a recorded rgb+depth 3d video
+ localUIApp.app.use('/virtualizer_recording/:deviceId/pose/:filename', function (req, res) {
+ let deviceId = req.params.deviceId;
+ let filename = req.params.filename;
+
+ const jsonFilePath = path.join(objectsPath, identityFolderName, 'virtualizer_recordings', deviceId, 'session_videos', 'pose', filename);
+
+ if (!fs.existsSync(jsonFilePath)) {
+ res.status(404).send('No file at path: ' + jsonFilePath);
+ return;
+ }
+
+ res.sendFile(jsonFilePath);
+ });
+
+ // serves the color and depth video files in streaming format, if range headers are provided
+ localUIApp.app.use('/virtualizer_recording/:deviceId/:colorOrDepth/:filename', function (req, res) {
+ let deviceId = req.params.deviceId;
+ let videoType = req.params.colorOrDepth;
+ let filename = req.params.filename;
+ const videoPath = path.join(objectsPath, identityFolderName, 'virtualizer_recordings', deviceId, 'session_videos', videoType, filename);
+
+ if (!fs.existsSync(videoPath)) {
+ res.status(404).send('No video at path: ' + videoPath);
+ return;
+ }
+
+ const range = req.headers.range;
+ if (!range) {
+ res.sendFile(videoPath); // send video normally if no range headers
+ return;
+ }
+
+ const videoSize = fs.statSync(videoPath).size;
+
+ // Parse Range (example: "bytes=32324-")
+ const CHUNK_SIZE = 10 ** 6; // 1 MB
+ const start = Number(range.replace(/\D/g, ''));
+ const end = Math.min(start + CHUNK_SIZE, videoSize - 1);
+
+ // Create Headers
+ const contentLength = end - start + 1;
+ const headers = {
+ 'Content-Range': `bytes ${start}-${end}/${videoSize}`,
+ 'Accept-Ranges': 'bytes',
+ 'Content-Length': contentLength,
+ 'Content-Type': 'video/mp4',
+ };
+
+ // HTTP Status 206 for partial content
+ res.writeHead(206, headers);
+ const videoStream = fs.createReadStream(videoPath, {start, end});
+ videoStream.pipe(res);
+ });
+
+ // serves the json file containing all of the file paths to the different 3d video recordings
+ localUIApp.app.use('/virtualizer_recordings', function (req, res) {
+ const jsonPath = path.join(objectsPath, identityFolderName, 'virtualizer_recordings', 'videoInfo.json');
+ if (!fs.existsSync(jsonPath)) {
+ res.json({});
+ } else {
+ res.json(JSON.parse(fs.readFileSync(jsonPath, { encoding: 'utf8', flag: 'r' })));
+ }
+ });
+
+ server8080.webServer.use('/userinterface', localUIApp.app);
+
+ // pass visibleObjects messages to the userinterface
+ server.subscribeToMatrixStream(function(visibleObjects) {
+ ioBroadcast('visibleObjects', visibleObjects);
+ });
+
+ // pass UDP messages to the userinterface
+ server.subscribeToUDPMessages(function(msgContent) {
+ ioBroadcast('udpMessage', msgContent);
+ });
+
+ function socketServer() {
+ io.on('connection', function (socket) {
+ socket.on('/subscribe/editorUpdates', function (msg) {
+ var _msgContent = JSON.parse(msg);
+ // console.log('/subscribe/editorUpdates', msgContent);
+
+ // realityEditorSocketArray[socket.id] = {object: msgContent.object, protocol: thisProtocol};
+
+ // socket.emit('object', JSON.stringify({
+ // object: msgContent.object,
+ // frame: msgContent.frame,
+ // node: key,
+ // data: objects[msgContent.object].frames[msgContent.frame].nodes[key].data
+ // }));
+
+ // socket.emit('object/publicData', JSON.stringify({
+ // object: msgContent.object,
+ // frame: msgContent.frame,
+ // publicData: publicData
+ // }));
+
+ });
+
+ socket.on('/matrix/visibleObjects', function (msg) {
+ var msgContent = JSON.parse(msg);
+ ioBroadcast('/matrix/visibleObjects', msgContent);
+ });
+
+ socket.on('/update', function(msg) {
+ var objectKey;
+ var frameKey;
+ var nodeKey;
+
+ var msgContent = JSON.parse(msg);
+ if (typeof msgContent.objectKey !== 'undefined') {
+ objectKey = msgContent.objectKey;
+ }
+ if (typeof msgContent.frameKey !== 'undefined') {
+ frameKey = msgContent.frameKey;
+ }
+ if (typeof msgContent.nodeKey !== 'undefined') {
+ nodeKey = msgContent.nodeKey;
+ }
+
+ if (objectKey && frameKey && nodeKey) {
+ ioBroadcast('/update/node', msgContent);
+ } else if (objectKey && frameKey) {
+ ioBroadcast('/update/frame', msgContent);
+ } else if (objectKey) {
+ ioBroadcast('/update/object', msgContent);
+ }
+
+ });
+
+ /**
+ * Implements the native API functionality of UDP sending for the hosted reality editor desktop app
+ */
+ socket.on('/nativeAPI/sendUDPMessage', function(msg) {
+ var msgContent = JSON.parse(msg);
+ utilities.actionSender(msgContent);
+ });
+
+ // try to connect to custom input device
+ try {
+ connectTo6DMouse();
+ } catch (e) {
+ // Did not connect to input hardware. Control remote operator with mouse + scroll wheel, right-click drag and shift-right-click-drag
+ }
+
+ function connectTo6DMouse() {
+ if (!mouseConnected) {
+ mouseConnected = true;
+ var sm = require('../6DMouse/3DConnexion.js');
+ var callibration = null;
+ sm.spaceMice.onData = function(mouse) {
+ mouseTranslation = mouse.mice[0]['translate'];
+ mouseRotation = mouse.mice[0]['rotate'];
+
+ // try calibrating for the first 100 time-steps, then send translation and rotation
+ // updates to the userinterface using socket messages
+ if (!callibration) {
+ callibrationFrames--;
+ if (callibrationFrames === 0) {
+
+ if (mouseTranslation.x < 1.0 && mouseTranslation.x > -1.0) mouseTranslation.x = 0;
+ if (mouseTranslation.y < 1.0 && mouseTranslation.y > -1.0) mouseTranslation.y = 0;
+ if (mouseTranslation.z < 1.0 && mouseTranslation.z > -1.0) mouseTranslation.z = 0;
+
+ mouseTranslation.x *= 20;
+ mouseTranslation.y *= 20;
+ mouseTranslation.z *= 20;
+
+ callibration = {
+
+ x: mouseTranslation.x * 20,
+ y: mouseTranslation.y * 20,
+ z: mouseTranslation.z * 20
+ };
+ }
+ } else {
+ ioBroadcast('/mouse/transformation', {
+ translation: {
+ x: mouseTranslation.x - callibration.x,
+ y: mouseTranslation.y - callibration.y,
+ z: mouseTranslation.z - callibration.z
+ },
+ rotation: mouseRotation
+ });
+ }
+ };
+ }
+ }
+
+ });
+ }
+
+ socketServer();
+ });
+
+ server.addEventListener('shutdown', () => {
+ http.close();
+ });
+}
+
diff --git a/interfaces/remoteOperatorUI/makeStreamRouter.js b/interfaces/remoteOperatorUI/makeStreamRouter.js
new file mode 100644
index 00000000..2930420d
--- /dev/null
+++ b/interfaces/remoteOperatorUI/makeStreamRouter.js
@@ -0,0 +1,248 @@
+const sceneGraph = require('./sceneGraph/index.js');
+const SceneNode = require('./sceneGraph/SceneNode.js');
+sceneGraph.initService();
+
+function requestId(req) {
+ return parseInt(req.ip.split(/\./g)[3]);
+}
+
+function messageWithId(msg, id) {
+ let idBuf = Buffer.alloc(1);
+ idBuf.writeUint8(id, 0);
+ return Buffer.concat([idBuf, msg]);
+}
+
+module.exports = function makeStreamRouter(app) {
+ let colorPool = [];
+ let depthPool = [];
+ let matrixPool = [];
+ let callbacks = {
+ onFrame: [],
+ onConnection: [],
+ onDisconnection: [],
+ onError: []
+ };
+ app.ws('/colorProvider', function(ws, req) {
+ const id = requestId(req);
+ ws.on('message', function(msg, _isBinary) {
+ const msgWithId = messageWithId(msg, id);
+ for (let wsC of colorPool) {
+ if (wsC.bufferedAmount > 10 * 1024) {
+ continue;
+ }
+ wsC.send(msgWithId);
+ }
+ processFrame(id, msg, null, null);
+ });
+ ws.on('close', function(_event) {
+ callbacks.onDisconnection.forEach(function(cb) {
+ cb(id);
+ });
+ });
+ ws.on('error', function(_event) {
+ callbacks.onError.forEach(function(cb) {
+ cb(id);
+ });
+ });
+
+ callbacks.onConnection.forEach(function(cb) {
+ cb(id);
+ });
+ });
+
+ app.ws('/depthProvider', function(ws, req) {
+ const id = requestId(req);
+ ws.on('message', function(msg, _isBinary) {
+ const msgWithId = messageWithId(msg, id);
+ for (let wsD of depthPool) {
+ if (wsD.bufferedAmount > 10 * 1024) {
+ continue;
+ }
+ wsD.send(msgWithId);
+ }
+ processFrame(id, null, msg, null);
+ });
+ });
+
+ app.ws('/matrixProvider', function(ws, req) {
+ const id = requestId(req);
+ ws.on('message', function(matricesMsg, _isBinary) {
+ const matrices = JSON.parse(matricesMsg);
+ let cameraNode = sceneGraph.getSceneNodeById(sceneGraph.NAMES.CAMERA);
+ cameraNode.setLocalMatrix(matrices.camera);
+ cameraNode.updateWorldMatrix();
+ let gpNode = sceneGraph.getSceneNodeById(sceneGraph.NAMES.GROUNDPLANE + sceneGraph.TAGS.ROTATE_X);
+ if (!gpNode) {
+ gpNode = sceneGraph.getSceneNodeById(sceneGraph.NAMES.GROUNDPLANE);
+ }
+ sceneGraph.getSceneNodeById(sceneGraph.NAMES.GROUNDPLANE).setLocalMatrix(matrices.groundplane);
+ sceneGraph.getSceneNodeById(sceneGraph.NAMES.GROUNDPLANE).updateWorldMatrix();
+
+ let sceneNode = new SceneNode('posePixel');
+ sceneNode.setParent(sceneGraph.getSceneNodeById('ROOT'));
+
+ let initialVehicleMatrix = [
+ -1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, -1, 0,
+ 0, 0, 0, 1,
+ ];
+
+ sceneNode.setPositionRelativeTo(cameraNode, initialVehicleMatrix);
+ sceneNode.updateWorldMatrix();
+
+ let cameraMat = sceneNode.getMatrixRelativeTo(gpNode);
+
+ const msg = Buffer.from(new Float32Array(cameraMat).buffer);
+ const msgWithId = messageWithId(msg, id);
+ for (const wsM of matrixPool) {
+ wsM.send(msgWithId);
+ }
+ processFrame(id, null, null, msg);
+ });
+ });
+
+ app.ws('/color', function(ws) {
+ colorPool.push(ws);
+ });
+
+ app.ws('/depth', function(ws) {
+ depthPool.push(ws);
+ });
+
+ app.ws('/matrix', function(ws) {
+ matrixPool.push(ws);
+ });
+
+ let providers = [];
+ let consumers = [];
+ let idToSocket = {};
+
+ app.ws('/signalling', function(ws, _req) {
+ let wsId;
+
+ ws.on('message', function(msgRaw) {
+ let msg;
+ try {
+ msg = JSON.parse(msgRaw);
+ } catch (e) {
+ console.warn('unable to parse ws msg', e, msgRaw);
+ return;
+ }
+
+ if (msg.command === 'joinNetwork') {
+ wsId = msg.src;
+ idToSocket[wsId] = ws;
+
+ if (msg.role === 'consumer') {
+ // new remote operator, send list of iphones
+ ws.send(JSON.stringify({
+ command: 'discoverPeers',
+ dest: msg.src,
+ providers: providers,
+ consumers: consumers,
+ }));
+
+ consumers.push(wsId);
+ }
+
+ if (msg.role === 'provider') {
+ if (!providers.includes(wsId)) {
+ providers.push(wsId);
+ }
+ // idToSocket may have duplicates
+ let socketsSentTo = [];
+ for (let peerId in idToSocket) {
+ if (providers.includes(peerId)) {
+ continue;
+ }
+ let sock = idToSocket[peerId];
+ if (socketsSentTo.includes(sock)) {
+ continue;
+ }
+ socketsSentTo.push(sock);
+ sock.send(JSON.stringify(msg));
+ }
+ }
+ }
+
+ if (msg.command === 'leaveNetwork') {
+ onClose(msg.src);
+ return;
+ }
+
+ if (msg.dest) {
+ if (!idToSocket.hasOwnProperty(msg.dest)) {
+ console.warn('missing dest', msg.dest);
+ return;
+ }
+ idToSocket[msg.dest].send(JSON.stringify(msg));
+ }
+ });
+
+ const onClose = function(wsIdClosed) {
+ delete idToSocket[wsIdClosed];
+ providers = providers.filter(provId => provId !== wsIdClosed);
+ consumers = consumers.filter(conId => conId !== wsIdClosed);
+ };
+
+ ws.on('close', function() {
+ onClose(wsId);
+ });
+
+ ws.on('error', function(e) {
+ console.error('signalling ws error', e);
+ });
+ });
+
+ let frameData = {};
+ function processFrame(id, color, depth, matrix) {
+ if (typeof frameData[id] === 'undefined') {
+ frameData[id] = {
+ color: null,
+ depth: null,
+ matrix: null
+ };
+ return;
+ }
+ if (color) {
+ frameData[id].color = color;
+ }
+ if (depth) {
+ frameData[id].depth = depth;
+ }
+ if (matrix) {
+ frameData[id].matrix = matrix;
+ }
+ if (frameData[id].color && frameData[id].depth && frameData[id].matrix) {
+ callbacks.onFrame.forEach(function(cb) {
+ cb(frameData[id].color, frameData[id].depth, frameData[id].matrix, id);
+ });
+ delete frameData[id];
+ }
+ }
+
+ const onFrame = function(callback) {
+ callbacks.onFrame.push(callback);
+ };
+
+ const onConnection = function(callback) {
+ callbacks.onConnection.push(callback);
+ };
+
+ const onDisconnection = function(callback) {
+ callbacks.onDisconnection.push(callback);
+ };
+
+ const onError = function(callback) {
+ callbacks.onError.push(callback);
+ };
+
+ return {
+ onFrame: onFrame,
+ onConnection: onConnection,
+ onDisconnection: onDisconnection,
+ onError: onError
+ };
+};
+
diff --git a/interfaces/remoteOperatorUI/sceneGraph/SceneNode.js b/interfaces/remoteOperatorUI/sceneGraph/SceneNode.js
new file mode 100644
index 00000000..188595cd
--- /dev/null
+++ b/interfaces/remoteOperatorUI/sceneGraph/SceneNode.js
@@ -0,0 +1,200 @@
+/*
+* Created by Ben Reynolds on 07/13/20.
+*
+* Copyright (c) 2020 PTC Inc
+*
+* This Source Code Form is subject to the terms of the Mozilla Public
+* License, v. 2.0. If a copy of the MPL was not distributed with this
+* file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+const utils = require('./utilities.js');
+
+module.exports = class SceneNode {
+ /**
+ * Defines a node in our scene graph
+ * @constructor
+ */
+ constructor(id) {
+ this.localMatrix = utils.newIdentityMatrix();
+ this.worldMatrix = utils.newIdentityMatrix();
+ this.children = [];
+ this.id = id; // mostly attached for debugging
+ this.parent = null;
+ this.tags = {}; // can be used to label nodes and query the graph
+
+ // if true, any nodes added to this will instead be added to a child of this rotating 90deg
+ this.needsRotateX = false;
+
+ this.needsRecompute = true; // if true, triggers recompute on sub-tree
+ this.needsRerender = true;
+ this.anythingInSubtreeNeedsRerender = true;
+ this.anythingInSubtreeNeedsRecompute = true;
+ this.needsUploadToServer = false;
+
+ // this can be set true when sceneGraph is updated as a result of remote activity
+ this.dontBroadcastNext = false;
+ }
+
+ /**
+ * Sets the parent node of this node, so that it is positioned relative to that
+ * @param {SceneNode} parent
+ */
+ setParent(parent) {
+ if (parent && this.parent && parent === this.parent) {
+ return; // ignore duplicate function calls
+ }
+
+ // remove us from our parent
+ if (this.parent) {
+ let index = this.parent.children.indexOf(this);
+ if (index > -1) {
+ this.parent.children.splice(index, 1);
+ }
+ }
+
+ // add us to our new parent
+ if (parent) {
+ parent.children.push(this);
+ }
+ this.parent = parent;
+
+ // recompute now that we're part of a new parent subtree
+ this.flagForRecompute();
+ }
+
+ getAccumulatedParentScale() {
+ let totalParentScale = 1;
+ let parentPointer = this.parent;
+ while (parentPointer) {
+ let thisParentScale = parentPointer.getVehicleScale(true); // important: avoid infinite loop with "true"
+ totalParentScale *= thisParentScale;
+ parentPointer = parentPointer.parent;
+ }
+ return totalParentScale;
+ }
+
+ getTransformMatrix() {
+ // extracts correctly for frames or nodes
+ let x = this.getVehicleX();
+ let y = this.getVehicleY();
+ let scale = this.getVehicleScale();
+ return [scale, 0, 0, 0,
+ 0, scale, 0, 0,
+ 0, 0, scale, 0,
+ x, y, 0, 1];
+ }
+
+ /**
+ * Compute where this node is relative to the scene origin
+ * @param {Array.} parentWorldMatrix
+ */
+ updateWorldMatrix(parentWorldMatrix) {
+ if (this.needsRecompute) {
+ if (parentWorldMatrix) {
+ // this.worldMatrix stores fully-multiplied position relative to origin
+ utils.multiplyMatrix(this.localMatrix, parentWorldMatrix, this.worldMatrix);
+ } else {
+ // if no parent, localMatrix is worldMatrix
+ utils.copyMatrixInPlace(this.localMatrix, this.worldMatrix);
+ }
+
+ this.needsRecompute = false; // reset dirty flag so we don't repeat this redundantly
+ this.flagForRerender();
+ }
+
+ // process all of its children to update entire subtree
+ if (this.anythingInSubtreeNeedsRecompute) {
+ this.children.forEach(function(childNode) {
+ childNode.updateWorldMatrix(this.worldMatrix);
+ }.bind(this));
+ }
+
+ this.anythingInSubtreeNeedsRecompute = false;
+ }
+
+ setLocalMatrix(matrix) {
+ if (!matrix || matrix.length !== 16) { return; } // ignore malformed/empty input
+ utils.copyMatrixInPlace(matrix, this.localMatrix);
+
+ // flagging this will eventually set the other necessary flags for this and parent/children nodes
+ this.flagForRecompute();
+ }
+
+ flagForRerender() {
+ this.needsRerender = true;
+ this.flagContainingSubtreeForRerender();
+ }
+
+ flagContainingSubtreeForRerender() {
+ this.anythingInSubtreeNeedsRerender = true;
+ if (this.parent) {
+ this.parent.flagContainingSubtreeForRerender();
+ }
+ }
+
+ flagForRecompute() {
+ this.needsRecompute = true;
+ this.flagContainingSubtreeForRecompute();
+
+ // make sure all children get recomputed too, because they are relative to this
+ this.children.forEach(function(childNode) {
+ childNode.flagForRecompute();
+ }.bind(this));
+ }
+
+ flagContainingSubtreeForRecompute() {
+ this.anythingInSubtreeNeedsRecompute = true;
+ if (this.parent && !this.parent.anythingInSubtreeNeedsRecompute) {
+ this.parent.flagContainingSubtreeForRecompute();
+ }
+ }
+
+ getMatrixRelativeTo(otherNode) {
+ // note that this could be one frame out-of-date if this is flaggedForRecompute
+ let thisWorldMatrix = this.worldMatrix;
+ let thatWorldMatrix = otherNode.worldMatrix;
+
+ // if they're the same, we should get identity matrix
+ let relativeMatrix = [];
+ utils.multiplyMatrix(thisWorldMatrix, utils.invertMatrix(thatWorldMatrix), relativeMatrix);
+
+ return relativeMatrix;
+ }
+
+ // figures out what local matrix this node would need to position it globally at the provided world matrix
+ calculateLocalMatrix(worldMatrix) {
+ // get the world matrix of the node's parent = parentWorldMatrix
+ let parentWorldMatrix = this.parent.worldMatrix;
+ // compute the difference between desired worldMatrix and parentWorldMatrix
+ let relativeMatrix = [];
+ utils.multiplyMatrix(worldMatrix, utils.invertMatrix(parentWorldMatrix), relativeMatrix);
+ // return that difference
+
+ return relativeMatrix;
+ }
+
+ setPositionRelativeTo(otherSceneNode, relativeMatrix) {
+ if (typeof relativeMatrix === 'undefined') { relativeMatrix = utils.newIdentityMatrix(); }
+
+ // compute new localMatrix so that
+ // this.localMatrix * parentNode.worldMatrix = relativeMatrix * otherSceneNode.worldMatrix
+ // solving for localMatrix yields:
+ // this.localMatrix = relativeMatrix * otherSceneNode.worldMatrix * inv(parentNode.worldMatrix)
+
+ let temp = [];
+ let result = [];
+ utils.multiplyMatrix(otherSceneNode.worldMatrix, utils.invertMatrix(this.parent.worldMatrix), temp);
+ utils.multiplyMatrix(relativeMatrix, temp, result);
+
+ this.setLocalMatrix(result);
+ }
+
+ addTag(tagName) {
+ this.tags[tagName] = true;
+ }
+
+ removeTag(tagName) {
+ delete this.tags[tagName];
+ }
+};
diff --git a/interfaces/remoteOperatorUI/sceneGraph/index.js b/interfaces/remoteOperatorUI/sceneGraph/index.js
new file mode 100644
index 00000000..53807b11
--- /dev/null
+++ b/interfaces/remoteOperatorUI/sceneGraph/index.js
@@ -0,0 +1,118 @@
+/*
+* Created by Ben Reynolds on 07/13/20.
+*
+* Copyright (c) 2020 PTC Inc
+*
+* This Source Code Form is subject to the terms of the Mozilla Public
+* License, v. 2.0. If a copy of the MPL was not distributed with this
+* file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+/**
+ * This is the new positioning API for objects, tools, and nodes
+ * Scene Graph implementation was inspired by:
+ * https://webglfundamentals.org/webgl/lessons/webgl-scene-graph.html
+ */
+
+const SceneNode = require('./SceneNode.js');
+
+let sceneGraph = {};
+let rootNode;
+let cameraNode;
+let groundPlaneNode;
+
+// TODO ben: use this enum in other modules instead of having any string names
+const NAMES = Object.freeze({
+ ROOT: 'ROOT',
+ CAMERA: 'CAMERA',
+ GROUNDPLANE: 'GROUNDPLANE'
+});
+
+const TAGS = Object.freeze({
+ OBJECT: 'object',
+ TOOL: 'tool',
+ NODE: 'node',
+ ROTATE_X: 'rotateX'
+});
+
+function initService() {
+ // create root node for scene located at phone's (0,0,0) coordinate system
+ rootNode = new SceneNode(NAMES.ROOT);
+ sceneGraph[NAMES.ROOT] = rootNode;
+
+ // create node for camera outside the tree of the main scene
+ cameraNode = new SceneNode(NAMES.CAMERA);
+ sceneGraph[NAMES.CAMERA] = cameraNode;
+
+ // create a node representing the ground plane coordinate system
+ groundPlaneNode = new SceneNode(NAMES.GROUNDPLANE);
+ groundPlaneNode.needsRotateX = true;
+ addRotateX(groundPlaneNode, NAMES.GROUNDPLANE, true);
+ sceneGraph[NAMES.GROUNDPLANE] = groundPlaneNode;
+}
+
+function setCameraPosition(cameraMatrix) {
+ if (!cameraNode) { return; }
+ cameraNode.setLocalMatrix(cameraMatrix);
+}
+
+function setGroundPlanePosition(groundPlaneMatrix) {
+ groundPlaneNode.setLocalMatrix(groundPlaneMatrix);
+}
+
+/**
+ * @param {string} id
+ * @return {SceneNode}
+ */
+function getSceneNodeById(id) {
+ return sceneGraph[id];
+}
+
+/************ Private Functions ************/
+function addRotateX(sceneNodeObject, objectId, groundPlaneVariation) {
+ let sceneNodeRotateX;
+ let thisNodeId = objectId + 'rotateX';
+ if (typeof sceneGraph[thisNodeId] !== 'undefined') {
+ sceneNodeRotateX = sceneGraph[thisNodeId];
+ } else {
+ sceneNodeRotateX = new SceneNode(thisNodeId);
+ sceneNodeRotateX.addTag(TAGS.ROTATE_X);
+ sceneGraph[thisNodeId] = sceneNodeRotateX;
+ }
+
+ sceneNodeRotateX.setParent(sceneNodeObject);
+
+ // image target objects require one coordinate system rotation. ground plane requires another.
+ if (groundPlaneVariation) {
+ sceneNodeRotateX.setLocalMatrix(makeGroundPlaneRotationX(-(Math.PI / 2)));
+ } else {
+ sceneNodeRotateX.setLocalMatrix([ // transform coordinate system by rotateX
+ 1, 0, 0, 0,
+ 0, -1, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1
+ ]);
+ }
+}
+
+function makeGroundPlaneRotationX(theta) {
+ var c = Math.cos(theta), s = Math.sin(theta);
+ return [ 1, 0, 0, 0,
+ 0, c, -s, 0,
+ 0, s, c, 0,
+ 0, 0, 0, 1];
+}
+
+module.exports = {
+ // public init method
+ initService,
+
+ // public methods to update the positions of things in the sceneGraph
+ setCameraPosition,
+ setGroundPlanePosition,
+ // TODO: can we get rid of full/direct access to sceneGraph?
+ getSceneNodeById,
+
+ NAMES,
+ TAGS,
+};
diff --git a/interfaces/remoteOperatorUI/sceneGraph/utilities.js b/interfaces/remoteOperatorUI/sceneGraph/utilities.js
new file mode 100644
index 00000000..5cacde70
--- /dev/null
+++ b/interfaces/remoteOperatorUI/sceneGraph/utilities.js
@@ -0,0 +1,158 @@
+/**
+ * @preserve
+ *
+ * .,,,;;,'''..
+ * .'','... ..',,,.
+ * .,,,,,,',,',;;:;,. .,l,
+ * .,',. ... ,;, :l.
+ * ':;. .'.:do;;. .c ol;'.
+ * ';;' ;.; ', .dkl';, .c :; .'.',::,,'''.
+ * ',,;;;,. ; .,' .'''. .'. .d;''.''''.
+ * .oxddl;::,,. ', .'''. .... .'. ,:;..
+ * .'cOX0OOkdoc. .,'. .. ..... 'lc.
+ * .:;,,::co0XOko' ....''..'.'''''''.
+ * .dxk0KKdc:cdOXKl............. .. ..,c....
+ * .',lxOOxl:'':xkl,',......'.... ,'.
+ * .';:oo:... .
+ * .cd, ╔═╗┌┬┐┬┌┬┐┌─┐┬─┐ .
+ * .l; ║╣ │││ │ │ │├┬┘ '
+ * 'l. ╚═╝─┴┘┴ ┴ └─┘┴└─ '.
+ * .o. ...
+ * .''''','.;:''.........
+ * .' .l
+ * .:. l'
+ * .:. .l.
+ * .x: :k;,.
+ * cxlc; cdc,,;;.
+ * 'l :.. .c ,
+ * o.
+ * .,
+ *
+ * ╦═╗┌─┐┌─┐┬ ┬┌┬┐┬ ┬ ╔═╗┌┬┐┬┌┬┐┌─┐┬─┐ ╔═╗┬─┐┌─┐ ┬┌─┐┌─┐┌┬┐
+ * ╠╦╝├┤ ├─┤│ │ │ └┬┘ ║╣ │││ │ │ │├┬┘ ╠═╝├┬┘│ │ │├┤ │ │
+ * ╩╚═└─┘┴ ┴┴─┘┴ ┴ ┴ ╚═╝─┴┘┴ ┴ └─┘┴└─ ╩ ┴└─└─┘└┘└─┘└─┘ ┴
+ *
+ *
+ * Created by Valentin on 10/22/14.
+ *
+ * Copyright (c) 2015 Valentin Heun
+ * Modified by Valentin Heun 2014, 2015, 2016, 2017
+ * Modified by Benjamin Reynholds 2016, 2017
+ * Modified by James Hobin 2016, 2017
+ *
+ * All ascii characters above must be included in any redistribution.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+
+/**
+ * @fileOverview js
+ * Various utility functions, mostly mathematical, for calculating AR geometry.
+ * Includes simply utilities like multiplying and inverting a matrix,
+ * as well as sophisticated algorithms for marker-plane intersections and raycasting points onto a plane.
+ */
+
+/**
+ * @desc This function multiplies one m16 matrix with a second m16 matrix
+ * @param {Array.} m2 - origin matrix to be multiplied with
+ * @param {Array.} m1 - second matrix that multiplies.
+ * @return {Array.} m16 matrix result of the multiplication
+ */
+function multiplyMatrix(m2, m1, r) {
+ // var r = [];
+ // Cm1che only the current line of the second mm1trix
+ r[0] = m2[0] * m1[0] + m2[1] * m1[4] + m2[2] * m1[8] + m2[3] * m1[12];
+ r[1] = m2[0] * m1[1] + m2[1] * m1[5] + m2[2] * m1[9] + m2[3] * m1[13];
+ r[2] = m2[0] * m1[2] + m2[1] * m1[6] + m2[2] * m1[10] + m2[3] * m1[14];
+ r[3] = m2[0] * m1[3] + m2[1] * m1[7] + m2[2] * m1[11] + m2[3] * m1[15];
+
+ r[4] = m2[4] * m1[0] + m2[5] * m1[4] + m2[6] * m1[8] + m2[7] * m1[12];
+ r[5] = m2[4] * m1[1] + m2[5] * m1[5] + m2[6] * m1[9] + m2[7] * m1[13];
+ r[6] = m2[4] * m1[2] + m2[5] * m1[6] + m2[6] * m1[10] + m2[7] * m1[14];
+ r[7] = m2[4] * m1[3] + m2[5] * m1[7] + m2[6] * m1[11] + m2[7] * m1[15];
+
+ r[8] = m2[8] * m1[0] + m2[9] * m1[4] + m2[10] * m1[8] + m2[11] * m1[12];
+ r[9] = m2[8] * m1[1] + m2[9] * m1[5] + m2[10] * m1[9] + m2[11] * m1[13];
+ r[10] = m2[8] * m1[2] + m2[9] * m1[6] + m2[10] * m1[10] + m2[11] * m1[14];
+ r[11] = m2[8] * m1[3] + m2[9] * m1[7] + m2[10] * m1[11] + m2[11] * m1[15];
+
+ r[12] = m2[12] * m1[0] + m2[13] * m1[4] + m2[14] * m1[8] + m2[15] * m1[12];
+ r[13] = m2[12] * m1[1] + m2[13] * m1[5] + m2[14] * m1[9] + m2[15] * m1[13];
+ r[14] = m2[12] * m1[2] + m2[13] * m1[6] + m2[14] * m1[10] + m2[15] * m1[14];
+ r[15] = m2[12] * m1[3] + m2[13] * m1[7] + m2[14] * m1[11] + m2[15] * m1[15];
+ // return r;
+}
+
+/**
+ * @desc copies one m16 matrix in to another m16 matrix
+ * Use instead of copyMatrix function when speed is very important - this is faster
+ * @param {Array.} m1 - source matrix
+ * @param {Array.} m2 - resulting copy of the matrix
+ */
+function copyMatrixInPlace(m1, m2) {
+ m2[0] = m1[0];
+ m2[1] = m1[1];
+ m2[2] = m1[2];
+ m2[3] = m1[3];
+ m2[4] = m1[4];
+ m2[5] = m1[5];
+ m2[6] = m1[6];
+ m2[7] = m1[7];
+ m2[8] = m1[8];
+ m2[9] = m1[9];
+ m2[10] = m1[10];
+ m2[11] = m1[11];
+ m2[12] = m1[12];
+ m2[13] = m1[13];
+ m2[14] = m1[14];
+ m2[15] = m1[15];
+}
+
+/**
+ * @desc inverting a matrix
+ * @param {Array.} a origin matrix
+ * @return {Array.} a inverted copy of the origin matrix
+ */
+function invertMatrix (a) {
+ var b = [];
+ var c = a[0], d = a[1], e = a[2], g = a[3], f = a[4], h = a[5], i = a[6], j = a[7], k = a[8], l = a[9], o = a[10], m = a[11], n = a[12], p = a[13], r = a[14], s = a[15], A = c * h - d * f, B = c * i - e * f, t = c * j - g * f, u = d * i - e * h, v = d * j - g * h, w = e * j - g * i, x = k * p - l * n, y = k * r - o * n, z = k * s - m * n, C = l * r - o * p, D = l * s - m * p, E = o * s - m * r, q = 1 / (A * E - B * D + t * C + u * z - v * y + w * x);
+ b[0] = (h * E - i * D + j * C) * q;
+ b[1] = ( -d * E + e * D - g * C) * q;
+ b[2] = (p * w - r * v + s * u) * q;
+ b[3] = ( -l * w + o * v - m * u) * q;
+ b[4] = ( -f * E + i * z - j * y) * q;
+ b[5] = (c * E - e * z + g * y) * q;
+ b[6] = ( -n * w + r * t - s * B) * q;
+ b[7] = (k * w - o * t + m * B) * q;
+ b[8] = (f * D - h * z + j * x) * q;
+ b[9] = ( -c * D + d * z - g * x) * q;
+ b[10] = (n * v - p * t + s * A) * q;
+ b[11] = ( -k * v + l * t - m * A) * q;
+ b[12] = ( -f * C + h * y - i * x) * q;
+ b[13] = (c * C - d * y + e * x) * q;
+ b[14] = ( -n * u + p * B - r * A) * q;
+ b[15] = (k * u - l * B + o * A) * q;
+ return b;
+}
+
+/**
+ * Helper method for creating a new 4x4 identity matrix
+ * @return {Array.}
+ */
+function newIdentityMatrix() {
+ return [
+ 1, 0, 0, 0,
+ 0, 1, 0, 0,
+ 0, 0, 1, 0,
+ 0, 0, 0, 1
+ ];
+}
+
+module.exports = {
+ newIdentityMatrix,
+ multiplyMatrix,
+ copyMatrixInPlace,
+ invertMatrix,
+};
diff --git a/interfaces/remoteOperatorUI/server.js b/interfaces/remoteOperatorUI/server.js
new file mode 100644
index 00000000..dcc3faa5
--- /dev/null
+++ b/interfaces/remoteOperatorUI/server.js
@@ -0,0 +1,224 @@
+const cors = require('cors');
+const express = require('express');
+const expressWs = require('express-ws');
+const makeStreamRouter = require('./makeStreamRouter.js');
+const path = require('path');
+const os = require('os');
+const server = require('@libraries/hardwareInterfaces');
+
+let DEBUG_DISABLE_VIDEO_RECORDING = os.platform() === 'ios' || process.env.NODE_ENV === 'test';
+
+let VideoServer;
+if (!DEBUG_DISABLE_VIDEO_RECORDING) {
+ try {
+ VideoServer = require('./VideoServer.js');
+ } catch (e) {
+ console.warn('VideoServer unavailable', e);
+ DEBUG_DISABLE_VIDEO_RECORDING = true;
+ }
+}
+
+module.exports.start = function start() {
+ const app = express();
+
+ const identityFolderName = '.identity';
+ const DEVICE_ID_PREFIX = 'device';
+
+ app.use(cors());
+ expressWs(app);
+ const streamRouter = makeStreamRouter(app);
+
+ // rgb+depth videos are stored in the Documents/spatialToolbox/.identity/virtualizer_recordings
+ let videoServer = null;
+ if (!DEBUG_DISABLE_VIDEO_RECORDING) {
+ videoServer = new VideoServer(path.join(server.getObjectsPath(), identityFolderName, '/virtualizer_recordings'));
+ // trigger events in VideoServer whenever sockets connect, disconnect, or send data
+ streamRouter.onFrame((rgb, depth, pose, deviceId) => {
+ videoServer.onFrame(rgb, depth, pose, DEVICE_ID_PREFIX + deviceId);
+ });
+ streamRouter.onConnection((deviceId) => {
+ videoServer.onConnection(DEVICE_ID_PREFIX + deviceId);
+ });
+ streamRouter.onDisconnection((deviceId) => {
+ videoServer.onDisconnection(DEVICE_ID_PREFIX + deviceId);
+ });
+ streamRouter.onError((deviceId) => {
+ console.log('on error: ' + deviceId); // haven't seen this trigger yet but probably good to also disconnect
+ videoServer.onDisconnection(DEVICE_ID_PREFIX + deviceId);
+ });
+ }
+
+ let allWebsockets = [];
+ let sensorDescriptions = {};
+
+ function broadcast(broadcaster, msgStr) {
+ for (let ws of allWebsockets) {
+ if (ws === broadcaster) {
+ continue;
+ }
+ ws.send(msgStr);
+ }
+ }
+
+ let activeSkels = {};
+
+ function requestId(req) {
+ return parseInt(req.ip.split(/\./g)[3]);
+ }
+
+ app.ws('/', (ws, req) => {
+ console.log('an attempt /');
+ allWebsockets.push(ws);
+ let wsId = '' + (Math.random() * 9999);
+ let deviceId = requestId(req);
+
+ ws.addEventListener('close', () => {
+ allWebsockets = allWebsockets.filter(a => a !== ws);
+ });
+
+ let playback = null;
+ ws.on('message', (msgStr, _isBinary) => {
+
+ try {
+ const msg = JSON.parse(msgStr);
+ switch (msg.command) {
+ case '/update/humanPoses':
+ doUpdateHumanPoses(msg);
+ break;
+ case '/update/sensorDescription':
+ doUpdateSensorDescription(msg);
+ break;
+ case '/videoRecording/start':
+ if (videoServer) {
+ videoServer.startRecording(DEVICE_ID_PREFIX + deviceId);
+ }
+ break;
+ case '/videoRecording/stop':
+ if (videoServer) {
+ videoServer.stopRecording(DEVICE_ID_PREFIX + deviceId);
+ }
+ break;
+ }
+ } catch (error) {
+ console.warn('Could not parse message: ', error);
+ }
+
+ });
+
+ let cleared = false;
+ function doUpdateHumanPoses(msg) {
+ if (playback && !playback.running) {
+ playback = null;
+ }
+ if (msg.hasOwnProperty('length')) {
+ msg = {
+ time: Date.now(),
+ pose: msg,
+ };
+ }
+ let poses = msg.pose;
+ for (let skel of poses) {
+ activeSkels[skel.id] = {
+ msgId: wsId,
+ skel,
+ lastUpdate: Date.now(),
+ };
+ }
+ for (let activeSkel of Object.values(activeSkels)) {
+ if (activeSkel.skel.joints.length === 0 ||
+ Date.now() - activeSkel.lastUpdate > 1500) {
+ delete activeSkels[activeSkel.skel.id];
+ continue;
+ }
+ if (activeSkel.msgId !== wsId) {
+ poses.push(activeSkel.skel);
+ }
+ }
+ if (poses.length === 0) {
+ if (cleared) {
+ return;
+ } else {
+ cleared = true;
+ }
+ } else {
+ cleared = false;
+ }
+
+ if (!playback) {
+ broadcast(ws, JSON.stringify(msg));
+ }
+
+ processSensorActivations(poses);
+ }
+
+ function doUpdateSensorDescription(desc) {
+ sensorDescriptions[desc.id] = JSON.parse(JSON.stringify(desc)); // desc;
+ // const t = desc.x;
+ // desc.x = -desc.x;
+ // desc.z = -desc.z;
+ console.log('sensorDesc', desc);
+ // sock.broadcast.emit('/update/sensorDescription', JSON.stringify(desc));
+ broadcast(ws, JSON.stringify(desc));
+ }
+
+ function processSensorActivations(poses) {
+ // for (let pose of poses) {
+ // for (let joint of pose.joints) {
+ // joint.z = -joint.z;
+ // }
+ // }
+
+ for (let id in sensorDescriptions) {
+ let sensorDesc = sensorDescriptions[id];
+ let oldCount = sensorDesc.count;
+ sensorDesc.count = 0;
+
+ for (let pose of poses) {
+ for (let joint of pose.joints) {
+ if (joint.x < sensorDesc.x - sensorDesc.width / 2) {
+ continue;
+ }
+ if (joint.x > sensorDesc.x + sensorDesc.width / 2) {
+ continue;
+ }
+ if (joint.y < sensorDesc.y - sensorDesc.height / 2) {
+ continue;
+ }
+ if (joint.y > sensorDesc.y + sensorDesc.height / 2) {
+ continue;
+ }
+ if (joint.z < sensorDesc.z - sensorDesc.depth / 2) {
+ continue;
+ }
+ if (joint.z > sensorDesc.z + sensorDesc.depth / 2) {
+ continue;
+ }
+
+ sensorDesc.count += 1;
+ break;
+ }
+ }
+
+ let sendActivation = oldCount !== sensorDesc.count || Math.random() < 0.03;
+
+ if (sendActivation) {
+ // console.log('yey', sensorDesc);
+ broadcast(ws, JSON.stringify({
+ command: '/update/sensorActivation',
+ id: sensorDesc.id,
+ count: Math.floor(sensorDesc.count),
+ active: sensorDesc.count > 0,
+ }));
+ }
+ }
+ }
+
+ });
+
+ const port = 31337;
+ const httpServer = app.listen(port);
+ server.addEventListener('shutdown', () => {
+ httpServer.close();
+ });
+ console.info("Reality Zone Viewer video/skeleton server listening on port " + port);
+};
diff --git a/interfaces/remoteOperatorUI/utilities.js b/interfaces/remoteOperatorUI/utilities.js
new file mode 100644
index 00000000..525b2e75
--- /dev/null
+++ b/interfaces/remoteOperatorUI/utilities.js
@@ -0,0 +1,11 @@
+const fs = require('fs');
+
+module.exports = {
+ mkdirIfNeeded: (path, recursive) => { // helper function since we do this so often
+ let options = recursive ? {recursive: true} : undefined;
+ if (!fs.existsSync(path)) {
+ fs.mkdirSync(path, options);
+ console.log('created directory: ' + path);
+ }
+ }
+};
diff --git a/interfaces/remoteOperatorUI/videoConstants.js b/interfaces/remoteOperatorUI/videoConstants.js
new file mode 100644
index 00000000..61e8f1e8
--- /dev/null
+++ b/interfaces/remoteOperatorUI/videoConstants.js
@@ -0,0 +1,35 @@
+module.exports = Object.freeze({
+ // how long should each video chunk be (ms). they are concatenated when recording stops.
+ SEGMENT_LENGTH: 15000,
+ // note: if we change this here, also need to change timeline playback,
+ // because pose/image synchronization implementation depends on the FPS to locate the correct frame
+ RECORDING_FPS: 10,
+
+ // files are stored in the outputPath (currently Documents/spatialToolbox/.identity/virtualizer_recordings)
+ // an example filepath looks something like virtualizer_recordings/deviceId/session_videos/color/filename.mp4
+ DIR_NAMES: {
+ unprocessed_chunks: 'unprocessed_chunks', // where to store raw 15 second recording chunks
+ processed_chunks: 'processed_chunks', // where to store chunks after optional post-processing
+ session_videos: 'session_videos', // where to store concatenated chunks as a final video
+ color: 'color', // subdirectory for rgb video files
+ depth: 'depth', // subdirectory for depth video files
+ pose: 'pose' // subdirectory for pose json files
+ },
+
+ // adjustable ffmpeg parameters
+ COLOR_FILETYPE: 'mp4',
+ DEPTH_FILETYPE: 'mp4', // previously tried webm and mkv for lossless encoding but it never quite worked
+ COLOR_CRF: 25, // 0 is pseudo-lossless, 51 is worst quality possible, 23 is considered default
+ DEPTH_CRF: 0, // a subjectively sane range for crf is 17-28 (https://trac.ffmpeg.org/)
+ COLOR_SCALE: 0.5, // camera image is initially (COLOR_WIDTH x COLOR_HEIGHT), this will scale down the video dimensions
+ DEPTH_SCALE: 1, // depth sensor image should probably stay at scale=1 to preserve information.
+ COLOR_WIDTH: 1920,
+ COLOR_HEIGHT: 1080,
+ DEPTH_WIDTH: 256,
+ DEPTH_HEIGHT: 144,
+
+ // disable to prevent lossy transformation, enable to stretch videos back to correct time length
+ // (it's ok to be false, the video playback system can adjust for this)
+ RESCALE_VIDEOS: false,
+ DEBUG_LOG_FFMPEG: false
+});
diff --git a/interfaces/virtualizer/index.js b/interfaces/virtualizer/index.js
new file mode 100644
index 00000000..fdc6626e
--- /dev/null
+++ b/interfaces/virtualizer/index.js
@@ -0,0 +1,723 @@
+/*
+* Copyright © 2018 PTC
+*
+* This Source Code Form is subject to the terms of the Mozilla Public
+* License, v. 2.0. If a copy of the MPL was not distributed with this
+* file, You can obtain one at http://mozilla.org/MPL/2.0/.
+*/
+
+var server = require('@libraries/hardwareInterfaces');
+var utilities = require('@libraries/utilities');
+
+var settings = server.loadHardwareInterface(__dirname);
+
+exports.enabled = settings('enabled');
+exports.configurable = true; // can be turned on/off/adjusted from the web frontend
+
+if (exports.enabled) {
+ var express = require('express');
+ var app = require('express')();
+ var cors = require('cors'); // Library for HTTP Cross-Origin-Resource-Sharing
+ app.use(cors());
+ // allow requests from all origins with '*'. TODO make it dependent on the local network. this is important for security
+ app.options('*', cors());
+
+ app.use(express.static(__dirname + '/public'));
+ var http = require('http').Server(app);
+ var ip = require('ip');
+ var glob = require('glob');
+ var io = require('socket.io')(http, { wsEngine: 'ws' });
+
+ var socket_list = [];
+
+ var stations = [];
+ var viewers = [];
+ var editorToSocketId = {};
+ var socketToEditorId = {};
+ var viewer_width = null;
+ var viewer_height = null;
+
+ //custom vuforia server:
+ var vuforiaResultClient = null;
+ var vuforiaCamClient = null;
+ var reality_zone_gifurl_list = ['bogus_url1', 'bogus_url2'];
+ //var system = null;
+
+ var tic = 0;
+ var toc = 0;
+
+ var desktop_connected_hack = 0;
+
+ let obj = null;
+ let realityZoneControlInterface = null;
+
+ server.subscribeToUDPMessages(function(msgContent) {
+ //console.log('received udp message with content: ' + msgContent);
+ //console.dir(msgContent);
+
+ try {
+ obj = msgContent;
+ //var obj = JSON.parse(msgContent);
+ /*
+ id: thisId,
+ ip: thisIp,
+ vn: thisVersionNumber,
+ pr: protocol,
+ tcs: objects[thisId].tcs,
+ zone: zone
+ */
+
+ //check if its an object on the network:
+ if (obj.id && obj.ip && obj.vn ) {
+
+
+ var objectName = obj.id.slice(0, -12);
+ var httpPort = 8080;
+ var xmlAddress = 'http://' + obj.ip + ':' + httpPort + '/obj/' + objectName + '/target/target.xml';
+ var datAddress = 'http://' + obj.ip + ':' + httpPort + '/obj/' + objectName + '/target/target.dat';
+
+ var messageObject = {
+ id: obj.id,
+ ip: obj.ip,
+ versionNumber: obj.vn,
+ protocol: obj.pr,
+ temporaryChecksum: obj.tcs,
+ zone: obj.zone,
+ xmlAddress: xmlAddress,
+ datAddress: datAddress
+ };
+
+ for (let station of stations) {
+ station.emit('realityEditorObject_server_system', JSON.stringify(messageObject));
+ }
+
+ //console.log('received udp message: ' + obj.id + " " + obj.ip + " " + obj.vn + " " + obj.pr + " " + obj.tcs + " " + obj.zone);
+ //console.log('xml address: ' + xmlAddress);
+ //console.log('data address: ' + datAddress);
+ }
+
+
+
+ if (obj.action != null) {
+ //console.dir(obj);
+ //console.log('received action: ' + obj.action);
+
+ var action = JSON.parse(obj.action);
+ if (action.action == 'advertiseEditor') {
+ console.log('action advertise editor received');
+ console.log('width: ' + action.resolution.width + ' height: ' + action.resolution.height);
+ console.log('editor id: ' + action.editorId);
+ console.log('completed reading json');
+
+ viewer_width = action.resolution.width;
+ viewer_height = action.resolution.height;
+
+ //send a message:
+ var zoneResponseMessage = {
+ action: 'zoneDiscovered',
+ ip: ip.address(),
+ port: 3020
+ };
+ utilities.actionSender(JSON.stringify(zoneResponseMessage));
+ }
+ }
+
+
+ } catch (e) {
+ //console.log('could not parse json message: ' + e);
+ }
+
+
+
+
+ });
+
+ io.on('connection', function(socket) {
+ console.log('my ip address: ' + ip.address());
+ console.log('Client has connected');
+ socket.emit('message', 'hello client');
+ socket.id = Math.floor(Math.random() * 1000000);
+ var temp_ip = socket.request.connection.remoteAddress;
+ var parts = temp_ip.split(':');
+ temp_ip = parts[parts.length - 1];
+ socket_list.push(socket);
+
+ socket.viewer_width = viewer_width;
+ socket.viewer_height = viewer_height;
+
+ socket.resolution_set = 0;
+
+ socket.on('disconnect', function () {
+ //if it's in the viewer list, remove it:
+ var index = viewers.indexOf(socket);
+ if (index > -1) {
+ viewers.splice(index, 1);
+ }
+
+ index = socket_list.indexOf(socket);
+ if (index > -1) {
+ socket_list.splice(index, 1);
+ }
+
+ if (vuforiaCamClient == socket) {
+ console.log('vuforiaCamClient disconnecting');
+ vuforiaCamClient = null;
+ }
+
+ if (vuforiaResultClient == socket) {
+ console.log('vuforiaResultClient disconnecting');
+ vuforiaCamClient = null;
+ }
+
+ });
+
+
+ socket.on('image', function (data) {
+ //console.log('station sent image. viewer list length: ' + viewers.length + ' datalength: ' + data.length);
+
+ // extract editorId if included
+ let editorId = null;
+ try {
+ let partsData = data.split(';_;');
+ editorId = partsData[2];
+ // console.log('received image for ' + editorId);
+ } catch (e) {
+ // console.log('error extracting editorId from image data', e);
+ }
+
+ if (stations.length > 0) {
+ for (let viewer of viewers) {
+ let viewerEditorId = socketToEditorId[viewer.id];
+ // console.log('send to viewer ' + viewerEditorId + '?');
+ if (editorId && viewerEditorId) {
+ if (viewerEditorId !== editorId) {
+ // console.log('skipping mismatching editorIds');
+ continue;
+ }
+ }
+
+ viewer.emit('image', data);
+ /*
+ //write it to file for debug purposes
+ fs.writeFile('debug.jpg', data,'base64', function(err, data){
+ if (err) console.log(err);
+ console.log("Successfully Written to File.");
+ });
+ */
+ }
+ }
+ });
+
+ socket.on('name', function(data) {
+ console.log('name function called with: ' + data);
+ //console.log('data length: ' + data.length);
+ //console.log('data = viewer? ' + (data === '"viewer"'));
+ let parsedData = {};
+ try {
+ parsedData = JSON.parse(data);
+ console.log(parsedData.type);
+ } catch (e) {
+ console.log('cant parse ' + data);
+ }
+ if (parsedData.type === 'viewer') {
+ console.log('client identified as viewer. assigning it latest viewer and id: ' + socket.id + ' and editorId: ' + parsedData.editorId);
+
+ socket.type = 'viewer';
+ viewers.push(socket);
+
+ editorToSocketId[parsedData.editorId] = socket.id;
+ socketToEditorId[socket.id] = parsedData.editorId;
+
+ for (let station of stations) {
+ console.log('setting resolution for the first time: ' + viewer_width + ',' + viewer_height );
+ station.emit('resolution', '' + viewer_width + ',' + viewer_height);
+ }
+
+ //send some matrices to the RDV:
+ console.log('now that a desktop has connected');
+
+ var visibleObjectsString = '{"amazonBox0zbc6yetuoyj":[-0.9964230765028328,0.009800613580158324,-0.08393736781840644,0,0.022929297584320937,0.987345281122669,-0.15691860457929643,0,-0.08133670600902992,0.15828222984430484,0.9840378965122027,0,329.2388939106902,77.77425852082308,-1489.0291313193022,1],"kepwareBox4Qimhnuea3n6":[-0.9913746548884379,0.034050970326370084,-0.12655601222953172,0,0.051082427979348755,0.9896809533465255,-0.13387410555924745,0,-0.12069159903807483,0.1391844414830788,0.9828837698713899,0,212.63741144996703,206.15960431449824,-1826.5693898311488,1],"_WORLD_OBJECT_local":[-0.9742120258704184,-0.00437900631612313,-0.22559212287700664,0,-0.035464931453757634,-0.9844127588621392,0.17226278091636868,0,-0.22282991544549868,0.17582138398908906,0.9588711290537871,0,161.99950094104497,-166.5114134489016,-519.0149842693205,1],"_WORLD_OBJECT_PF5x8fv3zcgm":[-0.9742120258704184,-0.00437900631612313,-0.22559212287700664,0,-0.035464931453757634,-0.9844127588621392,0.17226278091636868,0,-0.22282991544549868,0.17582138398908906,0.9588711290537871,0,161.99950094104497,-166.5114134489016,-519.0149842693205,1]}';
+ var _visibleObjects = JSON.parse(visibleObjectsString);
+
+ var zoneMatrixMessage = {
+ action: 'zoneMatrixMessage',
+ matrices: visibleObjectsString,
+ ip: ip.address(),
+ port: 3020
+ };
+
+ utilities.actionSender(JSON.stringify(zoneMatrixMessage));
+
+ console.log('looking for objects: ');
+ var pingMessage = {
+ action: 'ping'
+ };
+ for (var i = 0; i < 3; i++) {
+ setTimeout(function() {
+ utilities.actionSender(JSON.stringify(pingMessage));
+ //realityEditor.app.sendUDPMessage({action: 'ping'});
+ }, 500 * i); // space out each message by 500ms
+ }
+ }
+
+ if (data === 'station') {
+ console.log('client identified as station');
+ stations.push(socket);
+ socket.type = 'station';
+ if (viewer_width != null) {
+ console.log('sending resolution to station: ' + viewer_width + ',' + viewer_height );
+ socket.emit('resolution', '' + viewer_width + ',' + viewer_height);
+ }
+ }
+
+ if (data === 'vuforiaCamClient') {
+ console.log('client identified as vuforiaCamClient');
+ vuforiaCamClient = socket;
+ socket.type = 'vuforiaCamClient';
+ }
+
+ if (data === 'vuforiaResultClient') {
+ console.log('client identified as vuforiaResultClient');
+ vuforiaResultClient = socket;
+ socket.type = 'vuforiaResultClient';
+ }
+
+ if (data === 'realityZoneControlInterface') {
+ console.log('client identified as realityZoneControlInterface');
+ realityZoneControlInterface = socket;
+ socket.type = 'realityZoneControlInterface';
+
+
+ //find all the gifs:
+ var gif_url_token = __dirname + '/public/gifs/*/*.gif';
+ reality_zone_gifurl_list = [];
+ glob(gif_url_token, function (er, files) {
+ //console.log('dir name: ' + __dirname);
+ //console.log('gif urls: ' + files);
+ for (var j = 0; j < files.length; j++) {
+ var clean_file = files[j];
+ var pos = clean_file.indexOf('/gifs/');
+ clean_file = clean_file.substring(pos);
+ console.log('adding: ' + clean_file);
+ reality_zone_gifurl_list.push(clean_file);
+ }
+
+
+ //console.log('reality_zone_gifurl_list: ');
+ //console.dir(reality_zone_gifurl_list);
+ //send it a list of image urls!
+ for (var ii = 0; ii < reality_zone_gifurl_list.length; ii++) {
+
+ var gifurl_object = new Object();
+ gifurl_object.gifurl = reality_zone_gifurl_list[ii];
+ //console.log('sending: ' + JSON.stringify(gifurl_object));
+ socket.emit('realityZoneGif_server_realityZoneControlInterface', JSON.stringify(gifurl_object));
+ }
+
+ // files is an array of filenames.
+ // If the `nonull` option is set, and nothing
+ // was found, then files is ["**/*.js"]
+ // er is an error object or null.
+ });
+ }
+ });
+
+ socket.on('message', function(data) {
+ console.log('message send', data);
+ if (socket.type !== 'viewer') {
+ console.log('not a viewer but we will let it slide for now');
+ }
+ for (let station of stations) {
+ station.emit('message', data);
+ }
+ });
+
+ socket.on('realityZoneGif_system_server', function(data) {
+ //add to reality_zone_gifurl_list
+ if (realityZoneControlInterface != null) {
+ var data_object = JSON.parse(data);
+ var clean_file = data_object.gifurl;
+ var pos = clean_file.indexOf('gifs');
+ clean_file = clean_file.substring(pos - 1);
+
+ var gifurl_object = new Object();
+ gifurl_object.gifurl = clean_file;
+ realityZoneControlInterface.emit('realityZoneGif_server_realityZoneControlInterface', JSON.stringify(gifurl_object));
+ }
+ });
+
+ socket.on('stopRecording_realityZoneControlInterface_server', function(_data) {
+ console.log('got stop recording command from website');
+ for (let station of stations) {
+ station.emit('stopRecording_server_system');
+ }
+ });
+
+ socket.on('startRecording_realityZoneControlInterface_server', function(_data) {
+ console.log('got start recording command from website');
+ for (let station of stations) {
+ station.emit('startRecording_server_system');
+ }
+ });
+
+ socket.on('twin_realityZoneControlInterface_server', function(_data) {
+ console.log('creating twin');
+ for (let station of stations) {
+ station.emit('twin_server_system');
+ }
+ });
+
+ socket.on('clearTwins_realityZoneControlInterface_server', function(_data) {
+ console.log('clearing twins');
+ for (let station of stations) {
+ station.emit('clearTwins_server_system');
+ }
+ });
+
+ socket.on('zoneInteractionMessage_realityZoneControlInterface_server', function(data) {
+ console.log('zone interaction message: ' + data);
+ for (let station of stations) {
+ station.emit('zoneInteractionMessage_server_system', data);
+ }
+ });
+
+
+
+ //viewer resolution information:
+ socket.on('resolution', function(data) {
+ console.log('received resolution from phone viewer: ' + data);
+ var result = data.split(',');
+ viewer_width = parseFloat(result[0]);
+ viewer_height = parseFloat(result[1]);
+ socket.viewer_width = viewer_width;
+ socket.viewer_height = viewer_height;
+
+ console.log('width: ' + viewer_width);
+ console.log('height: ' + viewer_height);
+
+
+
+ for (let station of stations) {
+ console.log('found resolution from a phone!');
+ station.emit('resolutionPhone', '' + viewer_width + ',' + viewer_height);
+ /*
+ if(socket.id!=ip.address()){ //this is necessary to fix the issue wiht desktop. todo: explain this better.
+ console.log("found resolution from a phone!");
+ station.emit('resolutionPhone',""+viewer_width+','+viewer_height);
+ }
+ */
+
+ console.log('sending resolution to station from phone: ' + viewer_width + ',' + viewer_height );
+ station.emit('resolution', '' + viewer_width + ',' + viewer_height);
+ }
+ });
+
+
+ //viewer resolution information:
+ socket.on('resolutionDesktop', function(data) {
+ console.log('received resolution from desktop viewer: ' + data);
+ desktop_connected_hack = 1;
+ console.log('TURNIGN DESKTOP CONNECTED HACK TO 1');
+ var result = data.split(',');
+ viewer_width = parseFloat(result[0]);
+ viewer_height = parseFloat(result[1]);
+ socket.viewer_width = viewer_width;
+ socket.viewer_height = viewer_height;
+
+ console.log('width: ' + viewer_width);
+ console.log('height: ' + viewer_height);
+
+
+
+ for (let station of stations) {
+ /*
+ if(socket.id!=ip.address()){ //this is necessary to fix the issue wiht desktop. todo: explain this better.
+ console.log("found resolution from a phone!");
+ station.emit('resolutionPhone',""+viewer_width+','+viewer_height);
+ }
+ */
+ console.log('sending resolution to station from desktop: ' + viewer_width + ',' + viewer_height );
+ station.emit('resolution', '' + viewer_width + ',' + viewer_height);
+ }
+ });
+
+
+ //viewer pose information:
+ socket.on('pose', function(data) {
+ //console.log('received position from viewer: ' + socket.id);
+ //console.log('current viewer is: ' + viewers[0].id);
+ for (let station of stations) {
+ if (socket.id == viewers[0].id) { //only capture the most recent one
+ //console.log('sending viewer data to station');
+ station.emit('pose', data);
+ } else {
+ //console.log('not sending viewer data to station');
+ }
+ }
+ });
+
+ // this is for the 2020 scene graph version
+ socket.on('cameraPosition', function(data) {
+ if (stations.length > 0) {
+ try {
+ var poseInfo = JSON.parse(data);
+
+ if (poseInfo.cameraPoseMatrix && poseInfo.projectionMatrix) {
+
+ if ((socket.viewer_width !== poseInfo.resolution.width) || (socket.viewer_height !== poseInfo.resolution.height)) {
+ socket.viewer_width = poseInfo.resolution.width;
+ socket.viewer_height = poseInfo.resolution.height;
+ console.log('setting unity resolution from valid matrix to: ' + socket.viewer_width + ',' + socket.viewer_height);
+ for (let station of stations) {
+ station.emit('resolution', '' + socket.viewer_width + ',' + socket.viewer_height);
+ }
+ }
+
+ for (let station of stations) {
+ station.emit('cameraPosition', JSON.stringify(poseInfo));
+ }
+ }
+
+ } catch (e) {
+ console.log('error! could not parse camera pose info: ' + e);
+ }
+ }
+ });
+
+ // ben is testing this with the new version of the RDV camera system - 11/1/19
+ socket.on('poseVuforiaCamera', function(data) {
+ if (stations.length > 0) {
+ try {
+ var poseInfo = JSON.parse(data);
+
+ var cameraPoseMatrix = poseInfo.cameraPoseMatrix;
+ let validMatrix = cameraPoseMatrix;
+
+ //with RDV origin mode: overwrite with RDV camera to RDV origin matrix
+ if (poseInfo.cameraMode === 'REALITY_ZONE_ORIGIN') {
+ validMatrix = poseInfo.RDVCameraPoseMatrix;
+ }
+
+ if (validMatrix != -1) {
+ var data_for_old_unity_version = poseInfo;
+ data_for_old_unity_version.modelViewMatrix = validMatrix;
+ data_for_old_unity_version.projectionMatrix = poseInfo.projectionMatrix;
+ data_for_old_unity_version.realProjectionMatrix = poseInfo.realProjectionMatrix;
+
+ if ((socket.viewer_width != poseInfo.resolution.width) || (socket.viewer_height != poseInfo.resolution.height)) {
+ socket.viewer_width = poseInfo.resolution.width;
+ socket.viewer_height = poseInfo.resolution.height;
+ console.log('setting unity resolution from valid matrix to: ' + socket.viewer_width + ',' + socket.viewer_height);
+ for (let station of stations) {
+ station.emit('resolution', '' + socket.viewer_width + ',' + socket.viewer_height);
+ }
+ }
+
+ data_for_old_unity_version = JSON.stringify(data_for_old_unity_version);
+ for (let station of stations) {
+ station.emit('poseVuforiaDesktop', data_for_old_unity_version);
+ }
+ }
+
+ } catch (e) {
+ console.log('error! could not parse camera pose info: ' + e);
+ }
+ }
+ });
+
+ //use this for now on, hisham - 5/22/2019
+ socket.on('poseVuforia', function(data) {
+ //console.log('pose vuforia called: ' + data);
+ if (stations.length > 0) {
+ try {
+ var poseInfo = JSON.parse(data);
+
+
+
+ //socket.viewer_width = 640;
+ //socket.viewer_height = 480;
+
+ /*
+ if(socket.resolution_set == 0){
+ console.log('setting unity resolution to: ' +socket.viewer_width+','+socket.viewer_height);
+ station.emit('resolution',""+socket.viewer_width+','+socket.viewer_height);
+ socket.resolution_set = 1;
+ }
+ */
+
+
+ var _vuforiaObjectList = poseInfo.visibleObjectMatrices;
+ var objectNameList = Object.keys(poseInfo.visibleObjectMatrices);
+ var validMatrix = -1;
+ for (var i = 0; i < objectNameList.length; i++) {
+ //if(!objectNameList[i].includes('_WORLD_OBJECT')){
+ //if(!objectNameList[i].includes('feederZoneTwo')){
+ if (objectNameList[i].includes('kepwareBox4Qimhnuea3n6')) {
+ validMatrix = poseInfo.visibleObjectMatrices[objectNameList[i]];
+ }
+ }
+
+ //with RDV origin mode: overwrite with RDV camera to RDV origin matrix
+ if (poseInfo.cameraMode === 'REALITY_ZONE_ORIGIN') {
+ //console.log("reality zone origin!");
+ validMatrix = poseInfo.RDVCameraPoseMatrix;
+ }
+
+ //console.dir(validMatrix);
+ //vuforiaObjectList = JSON.parse(vuforiaObjectList);
+ //console.dir(vuforiaObjectList);
+
+
+
+ if (validMatrix != -1) {
+ var data_for_old_unity_version = poseInfo;
+ data_for_old_unity_version.modelViewMatrix = validMatrix;
+ data_for_old_unity_version.projectionMatrix = poseInfo.projectionMatrix;
+ data_for_old_unity_version.realProjectionMatrix = poseInfo.realProjectionMatrix;
+
+ //console.log(poseInfo.cameraPoseMatrix);
+ //console.log(poseInfo.projectionMatrix);
+ //console.log("received resolution: " , poseInfo.resolution.width , "," , poseInfo.resolution.height);
+ //console.log('socket viewer resolution: ',socket.viewer_width , ",",socket.viewer_height);
+
+ if ((socket.viewer_width != poseInfo.resolution.width) || (socket.viewer_height != poseInfo.resolution.height)) {
+
+ socket.viewer_width = poseInfo.resolution.width;
+ socket.viewer_height = poseInfo.resolution.height;
+ console.log('change in resolution: ');
+ console.log('setting unity resolution from valid matrix to: ' + socket.viewer_width + ',' + socket.viewer_height);
+ for (let station of stations) {
+ station.emit('resolution', '' + socket.viewer_width + ',' + socket.viewer_height);
+ }
+ }
+
+
+
+ data_for_old_unity_version = JSON.stringify(data_for_old_unity_version);
+ //console.log('sending pose vuforia desktop');
+ for (let station of stations) {
+ station.emit('poseVuforiaDesktop', data_for_old_unity_version);
+ }
+ }
+
+ } catch (e) {
+ console.log('error! could not parse pose info: ' + e);
+ }
+ }
+
+
+
+ });
+
+
+
+
+ //viewer pose information (from vuforia matrix):
+ socket.on('poseVuforiaOld', function(data) {
+ //console.log('sending pose information from phone to station');
+ //console.log('received position from viewer: ' + socket.id + " " + data);
+ //console.log('current viewer is: ' + viewers[0].id);
+ //console.log('pose vuforia phone: ' + data);
+
+ for (let station of stations) {
+ //console.log('sending viewer data to station from: ' + socket.id + " " + data);
+ //console.log('station is not null, desktop connected hack: ' + desktop_connected_hack);
+ if (desktop_connected_hack == 0) {
+ station.emit('poseVuforia', data);
+ }
+ }
+ });
+
+ socket.on('poseVuforiaDesktop', function(data) {
+ //console.log('pose vuforia desktop: ' + data);
+ if (desktop_connected_hack == 1) {
+ for (let station of stations) {
+ station.emit('poseVuforiaDesktop', data);
+ }
+ }
+ });
+
+ socket.on('debug', function(data) {
+ console.log('viewer debug: ' + data);
+ });
+
+ socket.on('startPing', function(data) {
+ console.log('received start ping from object. emitting data to station');
+ //console.log(data);
+ for (let station of stations) {
+ station.emit('ping', data);
+ }
+ });
+
+ socket.on('stationPong', function(data) {
+ //console.log('got data from station');
+ for (let viewer of viewers) {
+ viewer.emit('endPong', data);
+ }
+ });
+
+ socket.on('pong2', function(_data) {
+ //console.log('got pong!')
+ var d = new Date();
+ toc = d.getTime();
+ console.log('round trip ping pong: ' + (toc - tic) + ' ms');
+ });
+
+ //reality zone vuforia module:
+ socket.on('vuforiaModuleUpdate_system_server', function(data) {
+ //console.log('received vuforia module update: ' + data);
+ if (viewers.length > 0) {
+ //console.log('data after parsing json: ');
+ //console.log(JSON.parse(data));
+ //data = JSON.stringify(JSON.parse(data));
+ data = JSON.parse(data);
+
+ var zoneMatrixMessage = {
+ action: 'zoneMatrixMessage',
+ matrices: data,
+ ip: ip.address(),
+ port: 3020
+ };
+
+ utilities.actionSender(JSON.stringify(zoneMatrixMessage));
+ }
+ });
+
+
+
+ //custom vuforia server:
+ socket.on('vuforiaImage_system_server', function(data) {
+ console.log('image received from system');
+ console.log('data length: ' + data.length);
+ console.log('first 100: ' + data.substring(0, 99));
+ if ((vuforiaCamClient != null)) {
+ //if((vuforiaCamClient != null) && (vuforiaResultClient!=null)){
+ console.log('passing image to vuforia camera');
+ vuforiaCamClient.emit('cameraData_server_vuforiaCameraClient', data);
+ } else {
+ console.log('could not find vuforia camera');
+ var response = new Object();
+ response.message = 'there was no vuforia cam processor';
+ socket.emit('vuforiaResult_server_system', JSON.stringify(response));
+ }
+ });
+
+ socket.on('vuforiaResult_vuforiaResultClient_server', function(data) {
+ if (stations.length === 0) {
+ console.log('ERROR: received vuforia result but there is not reality-zone unity system connected');
+ return;
+ }
+
+ for (let station of stations) {
+ station.emit('vuforiaResult_server_system', data);
+ }
+ });
+ });
+
+ const httpServer = http.listen(3020, function() {
+ console.log('listening on *:3020');
+ });
+ server.addEventListener('shutdown', () => {
+ httpServer.close();
+ });
+}
diff --git a/package-lock.json b/package-lock.json
new file mode 100644
index 00000000..a34bff74
--- /dev/null
+++ b/package-lock.json
@@ -0,0 +1,4395 @@
+{
+ "name": "vuforia-spatial-remote-operator-addon",
+ "version": "1.0.0",
+ "lockfileVersion": 2,
+ "requires": true,
+ "packages": {
+ "": {
+ "name": "vuforia-spatial-remote-operator-addon",
+ "version": "1.0.0",
+ "license": "MPL-2.0",
+ "dependencies": {
+ "@ffmpeg-installer/ffmpeg": "^1.1.0",
+ "cors": "^2.8.5",
+ "express": "^4.17.1",
+ "express-ws": "^5.0.2",
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diff --git a/package.json b/package.json
new file mode 100644
index 00000000..5f7d5930
--- /dev/null
+++ b/package.json
@@ -0,0 +1,32 @@
+{
+ "name": "vuforia-spatial-remote-operator-addon",
+ "version": "1.0.0",
+ "description": "Remote Operator Add-on for the Vuforia Spatial Edge Server",
+ "scripts": {
+ "test": "npm run lint",
+ "lint": "eslint ."
+ },
+ "repository": {
+ "type": "git",
+ "url": "git+https://github.com/ptcrealitylab/vuforia-spatial-remote-operator-addon.git"
+ },
+ "author": "Ben Reynolds ",
+ "license": "MPL-2.0",
+ "bugs": {
+ "url": "https://github.com/ptcrealitylab/vuforia-spatial-remote-operator-addon/issues"
+ },
+ "homepage": "https://github.com/ptcrealitylab/vuforia-spatial-remote-operator-addon#readme",
+ "dependencies": {
+ "@ffmpeg-installer/ffmpeg": "^1.1.0",
+ "cors": "^2.8.5",
+ "express": "^4.17.1",
+ "express-ws": "^5.0.2",
+ "socket.io": "~2.2.0",
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+ "toolsocket": "github:ptcrealitylab/toolsocket"
+ },
+ "devDependencies": {
+ "eslint": "^8.57.0",
+ "webrtc-adapter": "^9.0.1"
+ }
+}
diff --git a/tools/.identity/spatialPatch/settings.json b/tools/.identity/spatialPatch/settings.json
new file mode 100644
index 00000000..d0637618
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+++ b/tools/.identity/spatialPatch/settings.json
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+{
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+}
\ No newline at end of file
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index 00000000..5661a8fb
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+++ b/tools/spatialPatch/index.css
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+img {
+ width: 100%;
+ height: 100%;
+}
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+ background: black;
+ border-radius: 30px;
+}
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+ opacity: 0.3;
+}
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+}
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+}
diff --git a/tools/spatialPatch/index.html b/tools/spatialPatch/index.html
new file mode 100644
index 00000000..bb023c56
--- /dev/null
+++ b/tools/spatialPatch/index.html
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+
+
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+
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+
\ No newline at end of file
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