Added LiveScanPlayer, as well as some bug fixes and improvements.

2026-10-12 23:48:55 +00:00 · 2017-02-03 16:31:06 +01:00
parent d15f242aca
commit a1e8ba5345
23 changed files with 1107 additions and 148 deletions
@@ -0,0 +1,122 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.IO;
+
+namespace LiveScanPlayer
+{
+    class FrameFileReader
+    {
+        BinaryReader binaryReader;
+        int currentFrameIdx = 0;
+        string filename;
+
+        public FrameFileReader(string filename)
+        {
+            this.filename = filename;
+            binaryReader = new BinaryReader(File.Open(this.filename, FileMode.Open));
+        }
+
+        ~FrameFileReader()
+        {
+            Dispose();
+        }
+
+        public int frameIdx
+        {
+            get
+            {
+                return currentFrameIdx;
+            }
+            set
+            {
+                JumpToFrame(value);
+            }
+        }
+
+        public void Dispose()
+        {
+            binaryReader.Dispose();
+        }
+
+        public void ReadFrame(List<float> vertices, List<byte> colors)
+        {
+            if (binaryReader.BaseStream.Position == binaryReader.BaseStream.Length)
+                Rewind();
+
+            string[] lineParts = ReadLine().Split(' ');
+            int nPoints = Int32.Parse(lineParts[1]);
+            lineParts = ReadLine().Split(' ');
+            int frameTimestamp = Int32.Parse(lineParts[1]);
+
+            Console.WriteLine((frameTimestamp / 1000).ToString());
+
+            short[] tempVertices = new short[3 * nPoints];
+            byte[] tempColors = new byte[4 * nPoints];
+
+            int bytesPerVertexPoint = 3 * sizeof(short);
+            int bytesPerColorPoint = 4 * sizeof(byte);
+            int bytesPerPoint = bytesPerVertexPoint + bytesPerColorPoint;
+            
+            byte[] frameData = binaryReader.ReadBytes(bytesPerPoint * nPoints);
+
+            if (frameData.Length < bytesPerPoint * nPoints)
+            {
+                Rewind();
+                ReadFrame(vertices, colors);
+                return;
+            }
+
+            int vertexDataSize = nPoints * bytesPerVertexPoint;
+            int colorDataSize = nPoints * bytesPerColorPoint;
+            Buffer.BlockCopy(frameData, 0, tempVertices, 0, vertexDataSize);
+            Buffer.BlockCopy(frameData, vertexDataSize, tempColors, 0, colorDataSize);
+
+            for (int i = 0; i < nPoints; i++)
+            {
+                for (int j = 0; j < 3; j++)
+                {
+                    vertices.Add(tempVertices[3 * i + j] / 1000.0f);
+                    colors.Add(tempColors[4 * i + j]);
+                }                    
+            }
+
+            binaryReader.ReadByte();
+
+            currentFrameIdx++;
+        }
+
+        public void JumpToFrame(int frameIdx)
+        {
+            Rewind();
+            for (int i = 0; i < frameIdx; i++)
+            {
+                List<float> vertices = new List<float>();
+                List<byte> colors = new List<byte>();
+                ReadFrame(vertices, colors);
+            }
+        }
+
+        public string ReadLine()
+        {
+            StringBuilder builder = new StringBuilder();
+            byte buffer = binaryReader.ReadByte();
+
+            while (buffer != '\n')
+            {
+                builder.Append((char)buffer);
+                buffer = binaryReader.ReadByte();
+            }
+
+            return builder.ToString();
+        }
+
+        public void Rewind()
+        {
+            currentFrameIdx = 0;
+            binaryReader.BaseStream.Seek(0, SeekOrigin.Begin);
+        }
+    }
+}