Calibration now gets saved and loaded to a file on the client side.

Simplified the calibration data structure on client.
Updated README, LICENSE and gitignore.

.gitignore

@@ -6,6 +6,7 @@
 *.user
 *.userosscache
 *.sln.docstates
+*.tlog
 
 # User-specific files (MonoDevelop/Xamarin Studio)
 *.userprefs

LICENSE

@@ -1,6 +1,6 @@
 The MIT License (MIT)
 
-Copyright (c) 2015 Marek
+Copyright (c) 2015 Marek Kowalski, Jacek Naruniec
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

LiveScanServer/KinectSocket.cs

@@ -99,7 +99,7 @@ namespace KinectServer
 
         public void SendCalibrationData()
         {
-            int size = 1 + 2 * (9 + 3) * sizeof(float);
+            int size = 1 + (9 + 3) * sizeof(float);
             byte[] data = new byte[size];
             int i = 0;
 
@@ -111,12 +111,6 @@ namespace KinectServer
             Buffer.BlockCopy(oWorldTransform.t, 0, data, i, 3 * sizeof(float));
             i += 3 * sizeof(float);
 
-            Buffer.BlockCopy(oCameraPose.R, 0, data, i, 9 * sizeof(float));
-            i += 9 * sizeof(float);
-            Buffer.BlockCopy(oCameraPose.t, 0, data, i, 3 * sizeof(float));
-            i += 3 * sizeof(float);
-
-
             if (SocketConnected())
                 oSocket.Send(data);
         }
@@ -141,11 +135,15 @@ namespace KinectServer
             buffer = Receive(sizeof(float) * 3);
             Buffer.BlockCopy(buffer, 0, oWorldTransform.t, 0, sizeof(float) * 3);
 
-            buffer = Receive(sizeof(float) * 9);
+            oCameraPose.R = oWorldTransform.R;
-            Buffer.BlockCopy(buffer, 0, oCameraPose.R, 0, sizeof(float) * 9);
+            for (int i = 0; i < 3; i++)
-
+            {
-            buffer = Receive(sizeof(float) * 3);
+                oCameraPose.t[i] = 0.0f;
-            Buffer.BlockCopy(buffer, 0, oCameraPose.t, 0, sizeof(float) * 3);
+                for (int j = 0; j < 3; j++)
+                {
+                    oCameraPose.t[i] += oWorldTransform.t[j] * oWorldTransform.R[i, j];
+                }
+            }
 
             UpdateSocketState();
         }

README.md

@@ -28,6 +28,7 @@ While all of our code is licensed under the MIT license, the 3rd party libraries
   * nanoflann - https://github.com/jlblancoc/nanoflann, BSD license
   * OpenCV - https://github.com/Itseez/opencv, 3-clause BSD license
   * OpenTK - https://github.com/opentk/opentk, MIT/X11 license
+  * ZSTD - https://github.com/facebook/zstd, BSD license
   * SocketCS - http://www.adp-gmbh.ch/win/misc/sockets.html
  
 If you use this software in your research, then please use the following citation:

include/LiveScanClient/calibration.h

@@ -34,9 +34,6 @@ public:
 	vector<vector<float>> worldR;
 	int iUsedMarkerId;
 
-	vector<float> cameraT;
-	vector<vector<float>> cameraR;
-
 	vector<MarkerPose> markerPoses;
 
 	bool bCalibrated;
@@ -45,6 +42,8 @@ public:
 	~Calibration();
 
 	bool Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColorWidth, int cColorHeight);
+	bool LoadCalibration();
+	void SaveCalibration();
 private:
 	IMarker *pDetector;
 	int nSampleCounter;

src/LiveScanClient/calibration.cpp

@@ -17,7 +17,7 @@
 #include "Kinect.h"
 #include "opencv\cv.h"
 
-
+#include <fstream>
 
 Calibration::Calibration()
 {
@@ -25,6 +25,13 @@ Calibration::Calibration()
 	nSampleCounter = 0;
 	nRequiredSamples = 20;
 
+	worldT = vector<float>(3, 0.0f);
+	for (int i = 0; i < 3; i++)
+	{
+		worldR.push_back(vector<float>(3, 0.0f));
+		worldR[i][i] = 1.0f;
+	}
+
 	pDetector = new MarkerDetector();
 }
 
@@ -102,17 +109,10 @@ bool Calibration::Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColo
 		}
 	}
 
-	cameraR = worldR;
-	cameraT = RotatePoint(worldT, cameraR);
-
 	vector<float> translationIncr(3);
 	translationIncr[0] = markerPose.t[0];
 	translationIncr[1] = markerPose.t[1];
-	translationIncr[2] = markerPose.t[2];
+	translationIncr[2] = markerPose.t[2];;
-
-	cameraT[0] += translationIncr[0];
-	cameraT[1] += translationIncr[1];
-	cameraT[2] += translationIncr[2];
 
 	translationIncr = InverseRotatePoint(translationIncr, worldR);
 
@@ -125,9 +125,50 @@ bool Calibration::Calibrate(RGB *pBuffer, Point3f *pCameraCoordinates, int cColo
 	marker3DSamples.clear();
 	nSampleCounter = 0;
 
+	SaveCalibration();
+
 	return true;
 }
 
+bool Calibration::LoadCalibration()
+{
+	ifstream file;
+	file.open("calibration.txt");
+	if (!file.is_open())
+		return false;
+
+	for (int i = 0; i < 3; i++)
+		file >> worldT[i];
+	for (int i = 0; i < 3; i++)
+	{
+		for (int j = 0; j < 3; j++)
+			file >> worldR[i][j];
+	}
+	file >> iUsedMarkerId;
+	file >> bCalibrated;
+
+	return true;
+}
+
+void Calibration::SaveCalibration()
+{
+	ofstream file;
+	file.open("calibration.txt");
+	for (int i = 0; i < 3; i++)
+		file << worldT[i] << " ";
+	file << endl;
+	for (int i = 0; i < 3; i++)
+	{
+		for (int j = 0; j < 3; j++)
+			file << worldR[i][j];
+		file << endl;
+	}
+	file << iUsedMarkerId << endl;
+	file << bCalibrated << endl;
+
+	file.close();
+}
+
 void Calibration::Procrustes(MarkerInfo &marker, vector<Point3f> &markerInWorld, vector<float> &worldToMarkerT, vector<vector<float>> &worldToMarkerR)
 {
 	int nVertices = marker.points.size();
@@ -232,8 +273,6 @@ bool Calibration::GetMarkerCorners3D(vector<Point3f> &marker3D, MarkerInfo &mark
 	return true;
 }
 
-
-
 vector<float> InverseRotatePoint(vector<float> &point, std::vector<std::vector<float>> &R)
 {
 	vector<float> res(3);

src/LiveScanClient/liveScanClient.cpp

@@ -79,6 +79,8 @@ LiveScanClient::LiveScanClient() :
 	m_vBounds.push_back(0.5);
 	m_vBounds.push_back(0.5);
 	m_vBounds.push_back(0.5);
+
+	calibration.LoadCalibration();
 }
   
 LiveScanClient::~LiveScanClient()
@@ -347,6 +349,9 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
 						m_pClientSocket = new SocketClient(address, 48001);
 
 						m_bConnected = true;
+						if (calibration.bCalibrated)
+							m_bConfirmCalibrated = true;
+
 						SetDlgItemTextA(m_hWnd, IDC_BUTTON_CONNECT, "Disconnect");
 						//Clear the status bar so that the "Failed to connect..." disappears.
 						SetStatusMessage(L"", 1, true);
@@ -581,20 +586,6 @@ void LiveScanClient::HandleSocket()
 				i += sizeof(float);
 			}
 
-			for (int j = 0; j < 3; j++)
-			{
-				for (int k = 0; k < 3; k++)
-				{
-					calibration.cameraR[j][k] = *(float*)(received.c_str() + i);
-					i += sizeof(float);
-				}
-			}
-			for (int j = 0; j < 3; j++)
-			{
-				calibration.cameraT[j] = *(float*)(received.c_str() + i);
-				i += sizeof(float);
-			}
-
 			//so that we do not lose the next character in the stream
 			i--;
 		}
@@ -614,7 +605,7 @@ void LiveScanClient::HandleSocket()
 
 	if (m_bConfirmCalibrated)
 	{
-		int size = 2 * (9 + 3) * sizeof(float) + sizeof(int) + 1;
+		int size = (9 + 3) * sizeof(float) + sizeof(int) + 1;
 		char *buffer = new char[size];
 		buffer[0] = MSG_CONFIRM_CALIBRATED;
 		int i = 1;
@@ -630,14 +621,6 @@ void LiveScanClient::HandleSocket()
 		memcpy(buffer + i, calibration.worldT.data(), 3 * sizeof(float));
 		i += 3 * sizeof(float);
 
-		memcpy(buffer + i, calibration.cameraR[0].data(), 3 * sizeof(float));
-		i += 3 * sizeof(float);
-		memcpy(buffer + i, calibration.cameraR[1].data(), 3 * sizeof(float));
-		i += 3 * sizeof(float);
-		memcpy(buffer + i, calibration.cameraR[2].data(), 3 * sizeof(float));
-		i += 3 * sizeof(float);
-		memcpy(buffer + i, calibration.cameraT.data(), 3 * sizeof(float));
-
 		m_pClientSocket->SendBytes(buffer, size);
 		m_bConfirmCalibrated = false;
 	}