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 +1,69 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+using System.Net.Sockets;
+using System.Runtime.Serialization.Formatters.Binary;
+
+namespace KinectServer
+{
+    class TransferSocket
+    {
+        TcpClient oSocket;
+
+        public TransferSocket(TcpClient clientSocket)
+        {
+            oSocket = clientSocket;
+        }
+
+        public byte[] Receive(int nBytes)
+        {
+            byte[] buffer;
+            if (oSocket.Available != 0)
+            {
+                buffer = new byte[Math.Min(nBytes, oSocket.Available)];
+                oSocket.GetStream().Read(buffer, 0, nBytes);
+            }
+            else
+                buffer = new byte[0];
+
+            return buffer;
+        }
+
+        public bool SocketConnected()
+        {
+            return oSocket.Connected;
+        }
+
+        public void WriteInt(int val)
+        {
+            oSocket.GetStream().Write(BitConverter.GetBytes(val), 0, 4);
+        }
+
+        public void WriteFloat(float val)
+        {
+            oSocket.GetStream().Write(BitConverter.GetBytes(val), 0, 4);
+        }
+
+        public void SendFrame(List<float> vertices, List<byte> colors)
+        {
+            short[] sVertices = Array.ConvertAll(vertices.ToArray(), x => (short)(x * 1000));
+
+            
+            int nVerticesToSend = vertices.Count / 3;
+            byte[] buffer = new byte[sizeof(short) * 3 * nVerticesToSend];
+            Buffer.BlockCopy(sVertices, 0, buffer, 0, sizeof(short) * 3 * nVerticesToSend);
+            try
+            {                 
+                WriteInt(nVerticesToSend);                               
+                oSocket.GetStream().Write(buffer, 0, buffer.Length);
+                oSocket.GetStream().Write(colors.ToArray(), 0, sizeof(byte) * 3 * nVerticesToSend);
+            }
+            catch (Exception ex)
+            {
+            }
+        }
+    }
+}