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https://github.com/storytold/LiveScan3D.git
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marek
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// Copyright (C) 2015 Marek Kowalski (M.Kowalski@ire.pw.edu.pl), Jacek Naruniec (J.Naruniec@ire.pw.edu.pl)
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// License: MIT Software License See LICENSE.txt for the full license.
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// If you use this software in your research, then please use the following citation:
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// Kowalski, M.; Naruniec, J.; Daniluk, M.: "LiveScan3D: A Fast and Inexpensive 3D Data
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// Acquisition System for Multiple Kinect v2 Sensors". in 3D Vision (3DV), 2015 International Conference on, Lyon, France, 2015
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// @INPROCEEDINGS{Kowalski15,
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// author={Kowalski, M. and Naruniec, J. and Daniluk, M.},
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// booktitle={3D Vision (3DV), 2015 International Conference on},
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// title={LiveScan3D: A Fast and Inexpensive 3D Data Acquisition System for Multiple Kinect v2 Sensors},
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// year={2015},
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// }
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Data;
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using System.Drawing;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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using System.Windows.Forms;
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using System.Globalization;
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namespace KinectServer
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{
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public partial class SettingsForm : Form
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{
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public KinectSettings oSettings;
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public KinectServer oServer;
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public SettingsForm()
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{
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InitializeComponent();
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}
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private void SettingsForm_Load(object sender, EventArgs e)
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{
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txtMinX.Text = oSettings.aMinBounds[0].ToString(CultureInfo.InvariantCulture);
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txtMinY.Text = oSettings.aMinBounds[1].ToString(CultureInfo.InvariantCulture);
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txtMinZ.Text = oSettings.aMinBounds[2].ToString(CultureInfo.InvariantCulture);
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txtMaxX.Text = oSettings.aMaxBounds[0].ToString(CultureInfo.InvariantCulture);
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txtMaxY.Text = oSettings.aMaxBounds[1].ToString(CultureInfo.InvariantCulture);
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txtMaxZ.Text = oSettings.aMaxBounds[2].ToString(CultureInfo.InvariantCulture);
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chFilter.Checked = oSettings.bFilter;
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txtFilterNeighbors.Text = oSettings.nFilterNeighbors.ToString();
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txtFilterDistance.Text = oSettings.fFilterThreshold.ToString(CultureInfo.InvariantCulture);
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lisMarkers.DataSource = oSettings.lMarkerPoses;
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chMerge.Checked = oSettings.bMergeScansForSave;
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txtICPIters.Text = oSettings.nNumICPIterations.ToString();
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txtRefinIters.Text = oSettings.nMaxNumRefineIters.ToString();
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}
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void UpdateClients()
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{
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oServer.SendSettings();
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}
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void UpdateMarkerFields()
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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float X, Y, Z;
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pose.GetOrientation(out X, out Y, out Z);
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txtOrientationX.Text = X.ToString(CultureInfo.InvariantCulture);
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txtOrientationY.Text = Y.ToString(CultureInfo.InvariantCulture);
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txtOrientationZ.Text = Z.ToString(CultureInfo.InvariantCulture);
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txtTranslationX.Text = pose.pose.t[0].ToString(CultureInfo.InvariantCulture);
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txtTranslationY.Text = pose.pose.t[1].ToString(CultureInfo.InvariantCulture);
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txtTranslationZ.Text = pose.pose.t[2].ToString(CultureInfo.InvariantCulture);
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txtId.Text = pose.id.ToString(CultureInfo.InvariantCulture);
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}
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else
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{
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txtOrientationX.Text = "";
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txtOrientationY.Text = "";
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txtOrientationZ.Text = "";
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txtTranslationX.Text = "";
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txtTranslationY.Text = "";
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txtTranslationZ.Text = "";
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txtId.Text = "";
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}
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}
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private void txtMinX_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtMinX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMinBounds[0]);
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UpdateClients();
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}
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private void txtMinY_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtMinY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMinBounds[1]);
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UpdateClients();
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}
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private void txtMinZ_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtMinZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMinBounds[2]);
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UpdateClients();
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}
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private void txtMaxX_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtMaxX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMaxBounds[0]);
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UpdateClients();
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}
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private void txtMaxY_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtMaxY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMaxBounds[1]);
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UpdateClients();
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}
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private void txtMaxZ_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtMaxZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.aMaxBounds[2]);
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UpdateClients();
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}
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private void chFilter_CheckedChanged(object sender, EventArgs e)
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{
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oSettings.bFilter = chFilter.Checked;
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UpdateClients();
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}
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private void txtFilterNeighbors_TextChanged(object sender, EventArgs e)
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{
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Int32.TryParse(txtFilterNeighbors.Text, out oSettings.nFilterNeighbors);
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UpdateClients();
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}
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private void txtFilterDistance_TextChanged(object sender, EventArgs e)
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{
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Single.TryParse(txtFilterDistance.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out oSettings.fFilterThreshold);
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UpdateClients();
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}
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private void txtICPIters_TextChanged(object sender, EventArgs e)
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{
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Int32.TryParse(txtICPIters.Text, out oSettings.nNumICPIterations);
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}
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private void txtRefinIters_TextChanged(object sender, EventArgs e)
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{
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Int32.TryParse(txtRefinIters.Text, out oSettings.nMaxNumRefineIters);
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}
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private void chMerge_CheckedChanged(object sender, EventArgs e)
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{
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oSettings.bMergeScansForSave = chMerge.Checked;
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}
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private void btAdd_Click(object sender, EventArgs e)
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{
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lock (oSettings)
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oSettings.lMarkerPoses.Add(new MarkerPose());
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lisMarkers.SelectedIndex = oSettings.lMarkerPoses.Count - 1;
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UpdateMarkerFields();
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UpdateClients();
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}
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private void btRemove_Click(object sender, EventArgs e)
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{
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if (oSettings.lMarkerPoses.Count > 0)
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{
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oSettings.lMarkerPoses.RemoveAt(lisMarkers.SelectedIndex);
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lisMarkers.SelectedIndex = oSettings.lMarkerPoses.Count - 1;
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UpdateMarkerFields();
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UpdateClients();
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}
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}
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private void lisMarkers_SelectedIndexChanged(object sender, EventArgs e)
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{
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UpdateMarkerFields();
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}
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private void txtOrientationX_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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float X, Y, Z;
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pose.GetOrientation(out X, out Y, out Z);
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Single.TryParse(txtOrientationX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out X);
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pose.SetOrientation(X, Y, Z);
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UpdateClients();
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}
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}
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private void txtOrientationY_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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float X, Y, Z;
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pose.GetOrientation(out X, out Y, out Z);
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Single.TryParse(txtOrientationY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Y);
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pose.SetOrientation(X, Y, Z);
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UpdateClients();
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}
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}
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private void txtOrientationZ_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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float X, Y, Z;
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pose.GetOrientation(out X, out Y, out Z);
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Single.TryParse(txtOrientationZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Z);
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pose.SetOrientation(X, Y, Z);
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UpdateClients();
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}
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}
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private void txtTranslationX_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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float X;
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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Single.TryParse(txtTranslationX.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out X);
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pose.pose.t[0] = X;
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UpdateClients();
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}
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}
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private void txtTranslationY_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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float Y;
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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Single.TryParse(txtTranslationY.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Y);
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pose.pose.t[1] = Y;
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UpdateClients();
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}
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}
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private void txtTranslationZ_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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float Z;
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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Single.TryParse(txtTranslationZ.Text, NumberStyles.Any, CultureInfo.InvariantCulture, out Z);
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pose.pose.t[2] = Z;
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UpdateClients();
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}
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}
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private void txtId_TextChanged(object sender, EventArgs e)
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{
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if (lisMarkers.SelectedIndex >= 0)
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{
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int id;
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MarkerPose pose = oSettings.lMarkerPoses[lisMarkers.SelectedIndex];
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Int32.TryParse(txtId.Text, out id);
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pose.id = id;
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UpdateClients();
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}
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}
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}
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}
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