From 26d58bb25b51444b807bcdaa547afc19e1047dc7 Mon Sep 17 00:00:00 2001
From: marek <m.kowalski@ire.pw.edu.pl>
Date: Fri, 16 Oct 2015 14:24:20 +0200
Subject: [PATCH] After calibration refinement, the sensor positions in live
 view now show correctly.

---
 LiveScanServer/KinectServer.cs   | 10 ++++++++++
 LiveScanServer/MainWindowForm.cs |  4 ++++
 2 files changed, 14 insertions(+)

diff --git a/LiveScanServer/KinectServer.cs b/LiveScanServer/KinectServer.cs
index 0d1bf6d..13beede 100644
--- a/LiveScanServer/KinectServer.cs
+++ b/LiveScanServer/KinectServer.cs
@@ -67,6 +67,16 @@ namespace KinectServer
                 }
                 return cameraPoses;
             }
+            set
+            {
+                lock (oClientSocketLock)
+                {
+                    for (int i = 0; i < lClientSockets.Count; i++)
+                    {
+                        lClientSockets[i].oCameraPose = value[i];
+                    }
+                }
+            }
         }
 
         public List<AffineTransform> lWorldTransforms
diff --git a/LiveScanServer/MainWindowForm.cs b/LiveScanServer/MainWindowForm.cs
index de20044..432cc96 100644
--- a/LiveScanServer/MainWindowForm.cs
+++ b/LiveScanServer/MainWindowForm.cs
@@ -358,6 +358,7 @@ namespace KinectServer
 
             //Update the calibration data in client machines.
             List<AffineTransform> worldTransforms = oServer.lWorldTransforms;
+            List<AffineTransform> cameraPoses = oServer.lCameraPoses;
 
             for (int i = 0; i < worldTransforms.Count; i++)
             {
@@ -371,6 +372,7 @@ namespace KinectServer
                     }
 
                     worldTransforms[i].t[j] += tempT[j];
+                    cameraPoses[i].t[j] += Ts[i][j];
                 }
 
                 for (int j = 0; j < 3; j++)
@@ -383,11 +385,13 @@ namespace KinectServer
                         }
 
                         worldTransforms[i].R[j, k] = tempR[j, k];
+                        cameraPoses[i].R[j, k] = tempR[j, k];
                     }
                 }                    
             }
 
             oServer.lWorldTransforms = worldTransforms;
+            oServer.lCameraPoses = cameraPoses;
 
             oServer.SendCalibrationData();
         }