storytold/LiveScan3D
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Data streaming is now much faster (up to 40%). Also added the option to save to binary PLY which is faster than ASCII.

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This commit is contained in:
marek
2015-11-09 16:34:26 +01:00
parent 51129eaf30
commit 128645d299
12 changed files with 193 additions and 66 deletions
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ICP/Release DLL/ICP.tlog/cl.command.1.tlog
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ICP/Release DLL/ICP.tlog/link.command.1.tlog
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ICP/Release DLL/ICP.tlog/link.read.1.tlog
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LiveScanServer/KinectSettings.cs
+1
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@@ -38,6 +38,7 @@ namespace KinectServer
public int nNumICPIterations = 10;
public int nNumRefineIters = 2;
public bool bMergeScansForSave = false;
public bool bSaveAsBinaryPLY = true;
public KinectSettings()
{
LiveScanServer/KinectSocket.cs
+5 -2
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@@ -206,8 +206,11 @@ namespace KinectServer
}
for (int j = 0; j < 3; j++)
{
lFrameVerts.Add(BitConverter.ToSingle(buffer, startIdx));
startIdx += 4;
float val = BitConverter.ToInt16(buffer, startIdx);
//converting from milimeters to meters
val /= 1000.0f;
lFrameVerts.Add(val);
startIdx += 2;
}
}
LiveScanServer/MainWindowForm.cs
+40 -14
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@@ -217,7 +217,7 @@ namespace KinectServer
if (!oSettings.bMergeScansForSave)
{
string outputFilename = outDir + "\\" + nFrames.ToString().PadLeft(5, '0') + i.ToString() + ".ply";
saveToPly(outputFilename, lFrameVertsAllDevices[i], lFrameRGBAllDevices[i]);
saveToPly(outputFilename, lFrameVertsAllDevices[i], lFrameRGBAllDevices[i], oSettings.bSaveAsBinaryPLY);
}
}
@@ -225,7 +225,7 @@ namespace KinectServer
if (oSettings.bMergeScansForSave)
{
string outputFilename = outDir + "\\" + nFrames.ToString().PadLeft(5, '0') + ".ply";
saveToPly(outputFilename, lFrameVerts, lFrameRGB);
saveToPly(outputFilename, lFrameVerts, lFrameRGB, oSettings.bSaveAsBinaryPLY);
}
}
}
@@ -450,27 +450,53 @@ namespace KinectServer
refineWorker.RunWorkerAsync();
}
private void saveToPly(string filename, List<Single> vertices, List<byte> colors)
private void saveToPly(string filename, List<Single> vertices, List<byte> colors, bool binary)
{
int nVertices = vertices.Count / 3;
System.IO.StreamWriter file = new System.IO.StreamWriter(filename);
FileStream fileStream = File.Open(filename, FileMode.Create);
System.IO.StreamWriter streamWriter = new System.IO.StreamWriter(fileStream);
System.IO.BinaryWriter binaryWriter = new System.IO.BinaryWriter(fileStream);
//PLY file header is written here.
file.WriteLine("ply\nformat ascii 1.0");
file.WriteLine("element vertex " + nVertices.ToString());
file.WriteLine("property float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\nend_header");
if (binary)
streamWriter.WriteLine("ply\nformat binary_little_endian 1.0");
else
streamWriter.WriteLine("ply\nformat ascii 1.0\n");
streamWriter.Write("element vertex " + nVertices.ToString() + "\n");
streamWriter.Write("property float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\nend_header\n");
streamWriter.Flush();
//Vertex and color data are written here.
for (int j = 0; j < vertices.Count / 3; j++)
if (binary)
{
string s = "";
for (int k = 0; k < 3; k++) s += vertices[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
for (int k = 0; k < 3; k++) s += colors[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
file.WriteLine(s);
for (int j = 0; j < vertices.Count / 3; j++)
{
for (int k = 0; k < 3; k++)
binaryWriter.Write(vertices[j * 3 + k]);
for (int k = 0; k < 3; k++)
{
byte temp = colors[j * 3 + k];
binaryWriter.Write(temp);
}
}
}
file.Close();
else
{
for (int j = 0; j < vertices.Count / 3; j++)
{
string s = "";
for (int k = 0; k < 3; k++)
s += vertices[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
for (int k = 0; k < 3; k++)
s += colors[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
streamWriter.WriteLine(s);
}
}
streamWriter.Flush();
binaryWriter.Flush();
fileStream.Close();
}
void RestartUpdateWorker()
LiveScanServer/SettingsForm.Designer.cs
Generated
+81 -39
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@@ -33,6 +33,9 @@
this.lbICPIters = new System.Windows.Forms.Label();
this.txtICPIters = new System.Windows.Forms.TextBox();
this.grClient = new System.Windows.Forms.GroupBox();
this.grBody = new System.Windows.Forms.GroupBox();
this.label1 = new System.Windows.Forms.Label();
this.chBodyData = new System.Windows.Forms.CheckBox();
this.grMarkers = new System.Windows.Forms.GroupBox();
this.lbX2 = new System.Windows.Forms.Label();
this.btRemove = new System.Windows.Forms.Button();
@@ -69,17 +72,17 @@
this.lbFilterDistance = new System.Windows.Forms.Label();
this.txtFilterDistance = new System.Windows.Forms.TextBox();
this.grServer = new System.Windows.Forms.GroupBox();
this.rBinaryPly = new System.Windows.Forms.RadioButton();
this.lbFormat = new System.Windows.Forms.Label();
this.rAsciiPly = new System.Windows.Forms.RadioButton();
this.txtRefinIters = new System.Windows.Forms.TextBox();
this.lbOuterIters = new System.Windows.Forms.Label();
this.grBody = new System.Windows.Forms.GroupBox();
this.chBodyData = new System.Windows.Forms.CheckBox();
this.label1 = new System.Windows.Forms.Label();
this.grClient.SuspendLayout();
this.grBody.SuspendLayout();
this.grMarkers.SuspendLayout();
this.grBounding.SuspendLayout();
this.grFiltering.SuspendLayout();
this.grServer.SuspendLayout();
this.grBody.SuspendLayout();
this.SuspendLayout();
//
// lbMerge
@@ -132,6 +135,37 @@
this.grClient.TabStop = false;
this.grClient.Text = "KinectClient settings";
//
// grBody
//
this.grBody.Controls.Add(this.label1);
this.grBody.Controls.Add(this.chBodyData);
this.grBody.Location = new System.Drawing.Point(9, 211);
this.grBody.Name = "grBody";
this.grBody.Size = new System.Drawing.Size(249, 110);
this.grBody.TabIndex = 47;
this.grBody.TabStop = false;
this.grBody.Text = "Body data";
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(11, 43);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(187, 13);
this.label1.TabIndex = 20;
this.label1.Text = "More features will be added here soon";
//
// chBodyData
//
this.chBodyData.AutoSize = true;
this.chBodyData.Location = new System.Drawing.Point(11, 19);
this.chBodyData.Name = "chBodyData";
this.chBodyData.Size = new System.Drawing.Size(113, 17);
this.chBodyData.TabIndex = 19;
this.chBodyData.Text = "stream only bodies";
this.chBodyData.UseVisualStyleBackColor = true;
this.chBodyData.CheckedChanged += new System.EventHandler(this.chBodyData_CheckedChanged);
//
// grMarkers
//
this.grMarkers.Controls.Add(this.lbX2);
@@ -470,6 +504,9 @@
//
// grServer
//
this.grServer.Controls.Add(this.rBinaryPly);
this.grServer.Controls.Add(this.lbFormat);
this.grServer.Controls.Add(this.rAsciiPly);
this.grServer.Controls.Add(this.txtRefinIters);
this.grServer.Controls.Add(this.lbOuterIters);
this.grServer.Controls.Add(this.lbMerge);
@@ -478,11 +515,44 @@
this.grServer.Controls.Add(this.lbICPIters);
this.grServer.Location = new System.Drawing.Point(12, 345);
this.grServer.Name = "grServer";
this.grServer.Size = new System.Drawing.Size(632, 78);
this.grServer.Size = new System.Drawing.Size(632, 111);
this.grServer.TabIndex = 44;
this.grServer.TabStop = false;
this.grServer.Text = "KinectServer settings";
//
// rBinaryPly
//
this.rBinaryPly.AutoSize = true;
this.rBinaryPly.Location = new System.Drawing.Point(179, 71);
this.rBinaryPly.Name = "rBinaryPly";
this.rBinaryPly.Size = new System.Drawing.Size(76, 17);
this.rBinaryPly.TabIndex = 30;
this.rBinaryPly.TabStop = true;
this.rBinaryPly.Text = "binary PLY";
this.rBinaryPly.UseVisualStyleBackColor = true;
this.rBinaryPly.CheckedChanged += new System.EventHandler(this.PlyFormat_CheckedChanged);
//
// lbFormat
//
this.lbFormat.AutoSize = true;
this.lbFormat.Location = new System.Drawing.Point(6, 73);
this.lbFormat.Name = "lbFormat";
this.lbFormat.Size = new System.Drawing.Size(58, 13);
this.lbFormat.TabIndex = 29;
this.lbFormat.Text = "File format:";
//
// rAsciiPly
//
this.rAsciiPly.AutoSize = true;
this.rAsciiPly.Location = new System.Drawing.Point(98, 71);
this.rAsciiPly.Name = "rAsciiPly";
this.rAsciiPly.Size = new System.Drawing.Size(75, 17);
this.rAsciiPly.TabIndex = 28;
this.rAsciiPly.TabStop = true;
this.rAsciiPly.Text = "ASCII PLY";
this.rAsciiPly.UseVisualStyleBackColor = true;
this.rAsciiPly.CheckedChanged += new System.EventHandler(this.PlyFormat_CheckedChanged);
//
// txtRefinIters
//
this.txtRefinIters.Location = new System.Drawing.Point(266, 23);
@@ -500,42 +570,11 @@
this.lbOuterIters.TabIndex = 26;
this.lbOuterIters.Text = "Num of refinement iters:";
//
// grBody
//
this.grBody.Controls.Add(this.label1);
this.grBody.Controls.Add(this.chBodyData);
this.grBody.Location = new System.Drawing.Point(9, 211);
this.grBody.Name = "grBody";
this.grBody.Size = new System.Drawing.Size(249, 110);
this.grBody.TabIndex = 47;
this.grBody.TabStop = false;
this.grBody.Text = "Body data";
//
// chBodyData
//
this.chBodyData.AutoSize = true;
this.chBodyData.Location = new System.Drawing.Point(11, 19);
this.chBodyData.Name = "chBodyData";
this.chBodyData.Size = new System.Drawing.Size(113, 17);
this.chBodyData.TabIndex = 19;
this.chBodyData.Text = "stream only bodies";
this.chBodyData.UseVisualStyleBackColor = true;
this.chBodyData.CheckedChanged += new System.EventHandler(this.chBodyData_CheckedChanged);
//
// label1
//
this.label1.AutoSize = true;
this.label1.Location = new System.Drawing.Point(11, 43);
this.label1.Name = "label1";
this.label1.Size = new System.Drawing.Size(187, 13);
this.label1.TabIndex = 20;
this.label1.Text = "More features will be added here soon";
//
// SettingsForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(656, 435);
this.ClientSize = new System.Drawing.Size(656, 468);
this.Controls.Add(this.grServer);
this.Controls.Add(this.grClient);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
@@ -544,6 +583,8 @@
this.Text = "Settings";
this.Load += new System.EventHandler(this.SettingsForm_Load);
this.grClient.ResumeLayout(false);
this.grBody.ResumeLayout(false);
this.grBody.PerformLayout();
this.grMarkers.ResumeLayout(false);
this.grMarkers.PerformLayout();
this.grBounding.ResumeLayout(false);
@@ -552,8 +593,6 @@
this.grFiltering.PerformLayout();
this.grServer.ResumeLayout(false);
this.grServer.PerformLayout();
this.grBody.ResumeLayout(false);
this.grBody.PerformLayout();
this.ResumeLayout(false);
}
@@ -606,6 +645,9 @@
private System.Windows.Forms.GroupBox grBody;
private System.Windows.Forms.CheckBox chBodyData;
private System.Windows.Forms.Label label1;
private System.Windows.Forms.RadioButton rBinaryPly;
private System.Windows.Forms.Label lbFormat;
private System.Windows.Forms.RadioButton rAsciiPly;
}
}
LiveScanServer/SettingsForm.cs
+22
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@@ -56,6 +56,16 @@ namespace KinectServer
chMerge.Checked = oSettings.bMergeScansForSave;
txtICPIters.Text = oSettings.nNumICPIterations.ToString();
txtRefinIters.Text = oSettings.nNumRefineIters.ToString();
if (oSettings.bSaveAsBinaryPLY)
{
rBinaryPly.Checked = true;
rAsciiPly.Checked = false;
}
else
{
rBinaryPly.Checked = false;
rAsciiPly.Checked = true;
}
}
void UpdateClients()
@@ -288,5 +298,17 @@ namespace KinectServer
oSettings.bStreamOnlyBodies = chBodyData.Checked;
UpdateClients();
}
private void PlyFormat_CheckedChanged(object sender, EventArgs e)
{
if (rAsciiPly.Checked)
{
oSettings.bSaveAsBinaryPLY = false;
}
else
{
oSettings.bSaveAsBinaryPLY = true;
}
}
}
}
include/LiveScanClient/liveScanClient.h
+3 -3
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@@ -56,10 +56,10 @@ private:
SocketClient *m_pClientSocket;
std::vector<float> m_vBounds;
std::vector<Point3f> m_vLastFrameVertices;
std::vector<Point3s> m_vLastFrameVertices;
std::vector<RGB> m_vLastFrameRGB;
std::vector<Body> m_vLastFrameBody;
std::vector<std::vector<Point3f>> m_vGatheredVertices;
std::vector<std::vector<Point3s>> m_vGatheredVertices;
std::vector<std::vector<RGB>> m_vGatheredRGBPoints;
HWND m_hWnd;
@@ -84,7 +84,7 @@ private:
bool SetStatusMessage(_In_z_ WCHAR* szMessage, DWORD nShowTimeMsec, bool bForce);
void HandleSocket();
void SendFrame(vector<Point3f> vertices, vector<RGB> RGB, vector<Body> body);
void SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector<Body> body);
void SocketThreadFunction();
void StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies, BYTE* bodyIndex);
include/LiveScanClient/utils.h
+26
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@@ -57,6 +57,32 @@ typedef struct Point3f
float Z;
} Point3f;
typedef struct Point3s
{
Point3s()
{
this->X = 0;
this->Y = 0;
this->Z = 0;
}
Point3s(short X, short Y, short Z)
{
this->X = X;
this->Y = Y;
this->Z = Z;
}
//meters to milimeters
Point3s(Point3f &other)
{
this->X = static_cast<short>(1000 * other.X);
this->Y = static_cast<short>(1000 * other.Y);
this->Z = static_cast<short>(1000 * other.Z);
}
short X;
short Y;
short Z;
} Point3s;
typedef struct Point2f
{
Point2f()
src/LiveScanClient/imageRenderer.cpp
+2 -2
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@@ -163,7 +163,7 @@ HRESULT ImageRenderer::Draw(BYTE* pImage, unsigned long cbImage, std::vector<Bod
// Draw the bitmap stretched to the size of the window
m_pRenderTarget->DrawBitmap(m_pBitmap);
for (int i = 0; i < vBodies.size(); i++)
for (unsigned int i = 0; i < vBodies.size(); i++)
{
if (vBodies[i].bTracked)
{
@@ -226,7 +226,7 @@ void ImageRenderer::DrawBody(Body &body)
DrawBone(body, JointType_KneeLeft, JointType_AnkleLeft);
DrawBone(body, JointType_AnkleLeft, JointType_FootLeft);
for (int i = 0; i < body.vJoints.size(); i++)
for (unsigned int i = 0; i < body.vJoints.size(); i++)
{
D2D1_POINT_2F tempPoint;
tempPoint.x = body.vJointsInColorSpace[i].X;
src/LiveScanClient/liveScanClient.cpp
+13 -6
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@@ -611,9 +611,9 @@ void LiveScanClient::HandleSocket()
}
}
void LiveScanClient::SendFrame(vector<Point3f> vertices, vector<RGB> RGB, vector<Body> body)
void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector<Body> body)
{
int size = RGB.size() * (3 + 3 * sizeof(float)) + sizeof(int);
int size = RGB.size() * (3 + 3 * sizeof(short)) + sizeof(int);
vector<char> buffer(size);
char *ptr2 = (char*)vertices.data();
@@ -630,9 +630,9 @@ void LiveScanClient::SendFrame(vector<Point3f> vertices, vector<RGB> RGB, vector
buffer[pos++] = RGB[i].rgbBlue;
memcpy(buffer.data() + pos, ptr2, sizeof(float)* 3);
ptr2 += sizeof(float)* 3;
pos += sizeof(float)* 3;
memcpy(buffer.data() + pos, ptr2, sizeof(short)* 3);
ptr2 += sizeof(short) * 3;
pos += sizeof(short) * 3;
}
int nBodies = body.size();
@@ -745,8 +745,15 @@ void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color,
if (m_bFilter)
filter(goodVertices, goodColorPoints, m_nFilterNeighbors, m_fFilterThreshold);
vector<Point3s> goodVerticesShort(goodVertices.size());
for (unsigned int i = 0; i < goodVertices.size(); i++)
{
goodVerticesShort[i] = goodVertices[i];
}
m_vLastFrameBody = bodies;
m_vLastFrameVertices = goodVertices;
m_vLastFrameVertices = goodVerticesShort;
m_vLastFrameRGB = goodColorPoints;
}