Adding a class that allows for streaming the merged point clouds through a network.

If anyone is interested I can also publish a Unity project that can receive the data and display it on Hololens.
2026-10-16 00:12:59 +00:00 · 2016-12-21 12:53:39 +01:00
parent 000ae6fe0b
commit 9226b0b9f2
4 changed files with 201 additions and 0 deletions
@@ -0,0 +1,123 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Threading;
+
+using System.Net.Sockets;
+using System.Net;
+
+
+namespace KinectServer
+{
+    class TransferServer
+    {
+        public List<float> lVertices = new List<float>();
+        public List<byte> lColors = new List<byte>();
+
+        TcpListener oListener;
+        List<TransferSocket> lClientSockets = new List<TransferSocket>();
+
+        object oClientSocketLock = new object();
+        bool bServerRunning = false;
+
+        public void StartServer()
+        {
+            if (!bServerRunning)
+            {
+                oListener = new TcpListener(IPAddress.Any, 48002);
+                oListener.Start();
+
+                bServerRunning = true;
+                Thread listeningThread = new Thread(this.ListeningWorker);
+                listeningThread.Start();
+                Thread receivingThread = new Thread(this.ReceivingWorker);
+                receivingThread.Start();
+            }
+        }
+
+        public void StopServer()
+        {
+            if (bServerRunning)
+            {
+                bServerRunning = false;
+
+                oListener.Stop();
+                lock (oClientSocketLock)
+                    lClientSockets.Clear();
+            }
+        }
+
+        private void ListeningWorker()
+        {
+            while (bServerRunning)
+            {
+                try
+                {
+                    TcpClient newClient = oListener.AcceptTcpClient();
+
+                    lock (oClientSocketLock)
+                    {
+                        lClientSockets.Add(new TransferSocket(newClient));
+                    }
+                }
+                catch (SocketException)
+                {
+                }
+                System.Threading.Thread.Sleep(100);
+            }
+        }
+
+        private void ReceivingWorker()
+        {
+            System.Timers.Timer checkConnectionTimer = new System.Timers.Timer();
+            checkConnectionTimer.Interval = 1000;
+
+            checkConnectionTimer.Elapsed += delegate (object sender, System.Timers.ElapsedEventArgs e)
+            {
+                lock (oClientSocketLock)
+                {
+                    for (int i = 0; i < lClientSockets.Count; i++)
+                    {                      
+                        if (!lClientSockets[i].SocketConnected())
+                        {
+                            lClientSockets.RemoveAt(i);
+                            i--;
+                        }
+                    }
+                }
+            };
+
+            checkConnectionTimer.Start();
+
+            while (bServerRunning)
+            {
+                lock (oClientSocketLock)
+                {
+                    for (int i = 0; i < lClientSockets.Count; i++)
+                    {
+                        byte[] buffer = lClientSockets[i].Receive(1);
+
+                        while (buffer.Length != 0)
+                        {
+                            if (buffer[0] == 0)
+                            {
+                                lock (lVertices)
+                                {
+                                    lClientSockets[i].SendFrame(lVertices, lColors);
+                                }
+                            }
+
+                            buffer = lClientSockets[i].Receive(1);
+                        }
+                    }
+                }
+
+                Thread.Sleep(10);
+            }
+
+            checkConnectionTimer.Stop();
+        }
+    }
+}