storytold/LiveScan3D
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Added LiveScanPlayer, as well as some bug fixes and improvements.

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This commit is contained in:
MarekKowalski
2017-02-03 16:31:06 +01:00
parent d15f242aca
commit a1e8ba5345
23 changed files with 1107 additions and 148 deletions
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LiveScanServer/KinectSettings.cs
+1 -1
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@@ -39,7 +39,7 @@ namespace KinectServer
public int nNumICPIterations = 10;
public int nNumRefineIters = 2;
public bool bMergeScansForSave = false;
public bool bMergeScansForSave = true;
public bool bSaveAsBinaryPLY = true;
public KinectSettings()
LiveScanServer/MainWindowForm.Designer.cs
Generated
+1
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@@ -80,6 +80,7 @@
// lClientListBox
//
this.lClientListBox.FormattingEnabled = true;
this.lClientListBox.HorizontalScrollbar = true;
this.lClientListBox.Location = new System.Drawing.Point(113, 12);
this.lClientListBox.Name = "lClientListBox";
this.lClientListBox.Size = new System.Drawing.Size(219, 108);
LiveScanServer/MainWindowForm.cs
+9 -58
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@@ -42,7 +42,7 @@ namespace KinectServer
static extern float ICP(IntPtr verts1, IntPtr verts2, int nVerts1, int nVerts2, float[] R, float[] t, int maxIter = 200);
KinectServer oServer;
TransferServer oTranfserServer;
TransferServer oTransferServer;
//Those three variables are shared with the OpenGLWindow class and are used to exchange data with it.
//Vertices from all of the sensors
@@ -83,9 +83,9 @@ namespace KinectServer
oServer = new KinectServer(oSettings);
oServer.eSocketListChanged += new SocketListChangedHandler(UpdateListView);
oTranfserServer = new TransferServer();
oTranfserServer.lVertices = lAllVertices;
oTranfserServer.lColors = lAllColors;
oTransferServer = new TransferServer();
oTransferServer.lVertices = lAllVertices;
oTransferServer.lColors = lAllColors;
InitializeComponent();
}
@@ -100,7 +100,7 @@ namespace KinectServer
stream.Close();
oServer.StopServer();
oTranfserServer.StopServer();
oTransferServer.StopServer();
}
//Starts the server
@@ -111,13 +111,13 @@ namespace KinectServer
if (bServerRunning)
{
oServer.StartServer();
oTranfserServer.StartServer();
oTransferServer.StartServer();
btStart.Text = "Stop server";
}
else
{
oServer.StopServer();
oTranfserServer.StopServer();
oTransferServer.StopServer();
btStart.Text = "Start server";
}
}
@@ -224,7 +224,7 @@ namespace KinectServer
if (!oSettings.bMergeScansForSave)
{
string outputFilename = outDir + "\\" + nFrames.ToString().PadLeft(5, '0') + i.ToString() + ".ply";
saveToPly(outputFilename, lFrameVertsAllDevices[i], lFrameRGBAllDevices[i], oSettings.bSaveAsBinaryPLY);
Utils.saveToPly(outputFilename, lFrameVertsAllDevices[i], lFrameRGBAllDevices[i], oSettings.bSaveAsBinaryPLY);
}
}
@@ -232,7 +232,7 @@ namespace KinectServer
if (oSettings.bMergeScansForSave)
{
string outputFilename = outDir + "\\" + nFrames.ToString().PadLeft(5, '0') + ".ply";
saveToPly(outputFilename, lFrameVerts, lFrameRGB, oSettings.bSaveAsBinaryPLY);
Utils.saveToPly(outputFilename, lFrameVerts, lFrameRGB, oSettings.bSaveAsBinaryPLY);
}
}
}
@@ -457,55 +457,6 @@ namespace KinectServer
refineWorker.RunWorkerAsync();
}
private void saveToPly(string filename, List<Single> vertices, List<byte> colors, bool binary)
{
int nVertices = vertices.Count / 3;
FileStream fileStream = File.Open(filename, FileMode.Create);
System.IO.StreamWriter streamWriter = new System.IO.StreamWriter(fileStream);
System.IO.BinaryWriter binaryWriter = new System.IO.BinaryWriter(fileStream);
//PLY file header is written here.
if (binary)
streamWriter.WriteLine("ply\nformat binary_little_endian 1.0");
else
streamWriter.WriteLine("ply\nformat ascii 1.0\n");
streamWriter.Write("element vertex " + nVertices.ToString() + "\n");
streamWriter.Write("property float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\nend_header\n");
streamWriter.Flush();
//Vertex and color data are written here.
if (binary)
{
for (int j = 0; j < vertices.Count / 3; j++)
{
for (int k = 0; k < 3; k++)
binaryWriter.Write(vertices[j * 3 + k]);
for (int k = 0; k < 3; k++)
{
byte temp = colors[j * 3 + k];
binaryWriter.Write(temp);
}
}
}
else
{
for (int j = 0; j < vertices.Count / 3; j++)
{
string s = "";
for (int k = 0; k < 3; k++)
s += vertices[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
for (int k = 0; k < 3; k++)
s += colors[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
streamWriter.WriteLine(s);
}
}
streamWriter.Flush();
binaryWriter.Flush();
fileStream.Close();
}
void RestartUpdateWorker()
{
if (!updateWorker.IsBusy)
LiveScanServer/OpenGLWindow.cs
+1 -1
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@@ -33,7 +33,7 @@ enum ECameraMode
namespace KinectServer
{
class OpenGLWindow : GameWindow
public class OpenGLWindow : GameWindow
{
int PointCount;
int LineCount;
LiveScanServer/TransferServer.cs
+6 -1
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@@ -11,7 +11,7 @@ using System.Net;
namespace KinectServer
{
class TransferServer
public class TransferServer
{
public List<float> lVertices = new List<float>();
public List<byte> lColors = new List<byte>();
@@ -22,6 +22,11 @@ namespace KinectServer
object oClientSocketLock = new object();
bool bServerRunning = false;
~TransferServer()
{
StopServer();
}
public void StartServer()
{
if (!bServerRunning)
LiveScanServer/TransferSocket.cs
+1 -1
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@@ -9,7 +9,7 @@ using System.Runtime.Serialization.Formatters.Binary;
namespace KinectServer
{
class TransferSocket
public class TransferSocket
{
TcpClient oSocket;
LiveScanServer/Utils.cs
+54
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@@ -14,6 +14,8 @@
// }
using System;
using System.Collections.Generic;
using System.IO;
using System.Globalization;
namespace KinectServer
{
@@ -157,4 +159,56 @@ namespace KinectServer
public List<Joint> lJoints;
public List<Point2f> lJointsInColorSpace;
}
public class Utils
{
public static void saveToPly(string filename, List<Single> vertices, List<byte> colors, bool binary)
{
int nVertices = vertices.Count / 3;
FileStream fileStream = File.Open(filename, FileMode.Create);
System.IO.StreamWriter streamWriter = new System.IO.StreamWriter(fileStream);
System.IO.BinaryWriter binaryWriter = new System.IO.BinaryWriter(fileStream);
//PLY file header is written here.
if (binary)
streamWriter.WriteLine("ply\nformat binary_little_endian 1.0");
else
streamWriter.WriteLine("ply\nformat ascii 1.0\n");
streamWriter.Write("element vertex " + nVertices.ToString() + "\n");
streamWriter.Write("property float x\nproperty float y\nproperty float z\nproperty uchar red\nproperty uchar green\nproperty uchar blue\nend_header\n");
streamWriter.Flush();
//Vertex and color data are written here.
if (binary)
{
for (int j = 0; j < vertices.Count / 3; j++)
{
for (int k = 0; k < 3; k++)
binaryWriter.Write(vertices[j * 3 + k]);
for (int k = 0; k < 3; k++)
{
byte temp = colors[j * 3 + k];
binaryWriter.Write(temp);
}
}
}
else
{
for (int j = 0; j < vertices.Count / 3; j++)
{
string s = "";
for (int k = 0; k < 3; k++)
s += vertices[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
for (int k = 0; k < 3; k++)
s += colors[j * 3 + k].ToString(CultureInfo.InvariantCulture) + " ";
streamWriter.WriteLine(s);
}
}
streamWriter.Flush();
binaryWriter.Flush();
fileStream.Close();
}
}
}