Initial commit

2026-10-09 00:09:58 +00:00 · 2015-10-15 17:07:34 +02:00
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+//   Copyright (C) 2015  Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl)
+//   License: MIT Software License   See LICENSE.txt for the full license.
+
+//   If you use this software in your research, then please use the following citation:
+
+//    Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data
+//    Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015
+
+//    @INPROCEEDINGS{Kowalski15,
+//        author={Kowalski, M. and Naruniec, J. and Daniluk, M.},
+//        booktitle={3D Vision (3DV), 2015 International Conference on},
+//        title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors},
+//        year={2015},
+//    }
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace KinectServer
+{
+    [Serializable]
+    public class KinectSettings
+    {
+        public float[] aMinBounds = new float[3];
+        public float[] aMaxBounds = new float[3];
+
+        public bool bFilter = false;
+        public int nFilterNeighbors = 10;
+        public float fFilterThreshold = 0.1f;
+
+        public BindingList<MarkerPose> lMarkerPoses = new BindingList<MarkerPose>();
+
+        public int nNumICPIterations = 10;
+        public int nMaxNumRefineIters = 10;
+        public bool bMergeScansForSave = false;
+
+        public KinectSettings()
+        {
+            aMinBounds[0] = -5f;
+            aMinBounds[1] = -5f;
+            aMinBounds[2] = -5f;
+
+            aMaxBounds[0] = 5f;
+            aMaxBounds[1] = 5f;
+            aMaxBounds[2] = 5f;
+        }
+
+        public List<byte> ToByteList()
+        {
+            List<byte> lData = new List<byte>();
+
+            byte[] bTemp = new byte[sizeof(float) * 3];
+
+            Buffer.BlockCopy(aMinBounds, 0, bTemp, 0, sizeof(float) * 3);
+            lData.AddRange(bTemp);
+            Buffer.BlockCopy(aMaxBounds, 0, bTemp, 0, sizeof(float) * 3);
+            lData.AddRange(bTemp);
+
+            if (bFilter)
+                lData.Add(1);
+            else
+                lData.Add(0);
+
+            bTemp = BitConverter.GetBytes(nFilterNeighbors);
+            lData.AddRange(bTemp);
+
+            bTemp = BitConverter.GetBytes(fFilterThreshold);
+            lData.AddRange(bTemp);
+
+            bTemp = BitConverter.GetBytes(lMarkerPoses.Count);
+            lData.AddRange(bTemp);
+
+            for (int i = 0; i < lMarkerPoses.Count; i++)
+            {
+                bTemp = new byte[sizeof(float) * 9];
+                Buffer.BlockCopy(lMarkerPoses[i].pose.R, 0, bTemp, 0, sizeof(float) * 9);
+                lData.AddRange(bTemp);
+
+                bTemp = new byte[sizeof(float) * 3];
+                Buffer.BlockCopy(lMarkerPoses[i].pose.t, 0, bTemp, 0, sizeof(float) * 3);
+                lData.AddRange(bTemp);
+
+                bTemp = BitConverter.GetBytes(lMarkerPoses[i].id);
+                lData.AddRange(bTemp);
+            }
+
+            return lData;
+        }
+    }
+}