BUT SYNCHRONIZED DATA RECORDING SW
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author: Marek Solony, Lukas Marsik, Brno University of Technology, 2010
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This software was created for the purpose of recording data from multiple
sensors using global synchronization timestamp to achieve proper synchronization 
of data recorded on multiple machines / platforms.
  The communication is achieved using RS232 port, over which the synchronization
timestamp is sent together with other relevant robotic data. Whole program runs
in ROS environment.

This branch of SW serves the purpose of recording data on Windows platform from
Microsoft Kinect device, and radar. Together with the data, LOG-file is created
which contains synchronization timestamps with pointers to the data files, so
data can be synchronized according to the timestamp.

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Requirements, istallation and usage
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This SW was build for Windows platform, using OpenNI drivers to acess Kinect 
data.

Prerequisites:
OpenNI drivers: http://openni.org/Downloads.aspx , both OpenNI stable, and 
PrimeSense Sensor Module for OpenNI are required to install.
Microsoft Kinect, plugged in and set to use OpenNI drivers.
Synchronization data available on RS232 serial port.
Radar output plugged in microphone input.

This package contains VisualStudio2010 project which can be built if the
prerequisites (OpenNI drivers) are met.

After successful build, KinMap.exe can be executed to start recording.

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Recorded data
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Following data are stored:
RGB video from Kinect RGB camera
Depth map - stored to binary file, each frame has 640x480x16B
Data from radar to raw sound file
LOG file with timestamps

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RS232 prot communication specifications
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This application is used to receive data from RS232 port. In this case the
data are used for synchronization and recording of ground thruth of LGV vehicle

The comunication specification is:
Baud rate: 115200
Parity: even
Stop bits: one
N of data bits: 8

The communication protocol:
header:"TT"
Message length: 1B
pos X: 4B mm
pos Y: 4B mm
heading: 2B 0.01deg
wheel velocity: 2B mm/s
steering angle: 2B 0.01deg
timestamp 4B ms
CRC