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

2026-10-09 00:09:58 +00:00 · 2017-02-03 16:31:06 +01:00
parent d15f242aca
commit a1e8ba5345
23 changed files with 1107 additions and 148 deletions
@@ -12,64 +12,36 @@ Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LiveScanServer", "LiveScanS
 EndProject
 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "ICP", "ICP\ICP.vcxproj", "{973EE923-B423-4BCD-AA08-B03DA40CB51F}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "LiveScanPlayer", "LiveScanPlayer\LiveScanPlayer.csproj", "{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		Debug|Any CPU = Debug|Any CPU
-		Debug|Mixed Platforms = Debug|Mixed Platforms
 		Debug|Win32 = Debug|Win32
-		Release ICP as exe|Any CPU = Release ICP as exe|Any CPU
-		Release ICP as exe|Mixed Platforms = Release ICP as exe|Mixed Platforms
 		Release ICP as exe|Win32 = Release ICP as exe|Win32
-		Release|Any CPU = Release|Any CPU
-		Release|Mixed Platforms = Release|Mixed Platforms
 		Release|Win32 = Release|Win32
 	EndGlobalSection
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 		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Debug|Win32.Build.0 = Debug|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release ICP as exe|Any CPU.ActiveCfg = Release|Win32
-		{9B550BBA-EAFB-4D12-8B1C-8FDA39361F52}.Release ICP as exe|Mixed Platforms.ActiveCfg = Release|Win32
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-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
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-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Mixed Platforms.ActiveCfg = Debug|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Mixed Platforms.Build.0 = Debug|Any CPU
 		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Win32.ActiveCfg = Debug|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release ICP as exe|Any CPU.ActiveCfg = Release|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release ICP as exe|Any CPU.Build.0 = Release|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release ICP as exe|Mixed Platforms.ActiveCfg = Release|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release ICP as exe|Mixed Platforms.Build.0 = Release|Any CPU
+		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Debug|Win32.Build.0 = Debug|Any CPU
 		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release ICP as exe|Win32.ActiveCfg = Release|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Any CPU.Build.0 = Release|Any CPU
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-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Debug|Mixed Platforms.Build.0 = Debug|Win32
+		{78422B2C-0EF1-4A28-A40E-2A7C4A9204B1}.Release|Win32.Build.0 = Release|Any CPU
 		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Debug|Win32.ActiveCfg = Debug|Win32
 		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Debug|Win32.Build.0 = Debug|Win32
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release ICP as exe|Any CPU.ActiveCfg = Release|Win32
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release ICP as exe|Mixed Platforms.ActiveCfg = Release|Win32
-		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release ICP as exe|Mixed Platforms.Build.0 = Release|Win32
 		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release ICP as exe|Win32.ActiveCfg = Release|Win32
 		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release ICP as exe|Win32.Build.0 = Release|Win32
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 		{973EE923-B423-4BCD-AA08-B03DA40CB51F}.Release|Win32.Build.0 = Release DLL|Win32
+		{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}.Debug|Win32.ActiveCfg = Debug|Any CPU
+		{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}.Debug|Win32.Build.0 = Debug|Any CPU
+		{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}.Release ICP as exe|Win32.ActiveCfg = Release|Any CPU
+		{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}.Release|Win32.ActiveCfg = Release|Any CPU
+		{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}.Release|Win32.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8" ?>
+<configuration>
+    <startup> 
+        <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.5" />
+    </startup>
+</configuration>
@@ -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);
+        }
+    }
+}
@@ -0,0 +1,99 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="12.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>{E52AB19C-F67D-4932-90BD-CC549C1FEC8B}</ProjectGuid>
+    <OutputType>WinExe</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>LiveScanPlayer</RootNamespace>
+    <AssemblyName>LiveScanPlayer</AssemblyName>
+    <TargetFrameworkVersion>v4.5</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>..\bin\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <PlatformTarget>AnyCPU</PlatformTarget>
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>..\bin\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="OpenTK, Version=1.1.0.0, Culture=neutral, PublicKeyToken=bad199fe84eb3df4, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\bin\OpenTK.dll</HintPath>
+    </Reference>
+    <Reference Include="System" />
+    <Reference Include="System.Core" />
+    <Reference Include="System.Xml.Linq" />
+    <Reference Include="System.Data.DataSetExtensions" />
+    <Reference Include="Microsoft.CSharp" />
+    <Reference Include="System.Data" />
+    <Reference Include="System.Deployment" />
+    <Reference Include="System.Drawing" />
+    <Reference Include="System.Windows.Forms" />
+    <Reference Include="System.Xml" />
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="PlayerWindowForm.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="PlayerWindowForm.Designer.cs">
+      <DependentUpon>PlayerWindowForm.cs</DependentUpon>
+    </Compile>
+    <Compile Include="FrameFileReader.cs" />
+    <Compile Include="Program.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+    <EmbeddedResource Include="PlayerWindowForm.resx">
+      <DependentUpon>PlayerWindowForm.cs</DependentUpon>
+    </EmbeddedResource>
+    <EmbeddedResource Include="Properties\Resources.resx">
+      <Generator>ResXFileCodeGenerator</Generator>
+      <LastGenOutput>Resources.Designer.cs</LastGenOutput>
+      <SubType>Designer</SubType>
+    </EmbeddedResource>
+    <Compile Include="Properties\Resources.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Resources.resx</DependentUpon>
+    </Compile>
+    <None Include="Properties\Settings.settings">
+      <Generator>SettingsSingleFileGenerator</Generator>
+      <LastGenOutput>Settings.Designer.cs</LastGenOutput>
+    </None>
+    <Compile Include="Properties\Settings.Designer.cs">
+      <AutoGen>True</AutoGen>
+      <DependentUpon>Settings.settings</DependentUpon>
+      <DesignTimeSharedInput>True</DesignTimeSharedInput>
+    </Compile>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="App.config" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\LiveScanServer\LiveScanServer.csproj">
+      <Project>{78422b2c-0ef1-4a28-a40e-2a7c4a9204b1}</Project>
+      <Name>LiveScanServer</Name>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <!-- To modify your build process, add your task inside one of the targets below and uncomment it. 
+       Other similar extension points exist, see Microsoft.Common.targets.
+  <Target Name="BeforeBuild">
+  </Target>
+  <Target Name="AfterBuild">
+  </Target>
+  -->
+</Project>
@@ -0,0 +1,156 @@
+namespace LiveScanPlayer
+{
+    partial class PlayerWindowForm
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.btSelect = new System.Windows.Forms.Button();
+            this.btStart = new System.Windows.Forms.Button();
+            this.btShow = new System.Windows.Forms.Button();
+            this.updateWorker = new System.ComponentModel.BackgroundWorker();
+            this.OpenGLWorker = new System.ComponentModel.BackgroundWorker();
+            this.btRewind = new System.Windows.Forms.Button();
+            this.btRemove = new System.Windows.Forms.Button();
+            this.lFrameFilesListView = new System.Windows.Forms.ListView();
+            this.chSaveFrames = new System.Windows.Forms.CheckBox();
+            this.SuspendLayout();
+            // 
+            // btSelect
+            // 
+            this.btSelect.Location = new System.Drawing.Point(12, 41);
+            this.btSelect.Name = "btSelect";
+            this.btSelect.Size = new System.Drawing.Size(75, 23);
+            this.btSelect.TabIndex = 0;
+            this.btSelect.Text = "Select files";
+            this.btSelect.UseVisualStyleBackColor = true;
+            this.btSelect.Click += new System.EventHandler(this.btSelect_Click);
+            // 
+            // btStart
+            // 
+            this.btStart.Location = new System.Drawing.Point(12, 12);
+            this.btStart.Name = "btStart";
+            this.btStart.Size = new System.Drawing.Size(75, 23);
+            this.btStart.TabIndex = 1;
+            this.btStart.Text = "Start player";
+            this.btStart.UseVisualStyleBackColor = true;
+            this.btStart.Click += new System.EventHandler(this.btStart_Click);
+            // 
+            // btShow
+            // 
+            this.btShow.Location = new System.Drawing.Point(12, 128);
+            this.btShow.Name = "btShow";
+            this.btShow.Size = new System.Drawing.Size(75, 23);
+            this.btShow.TabIndex = 2;
+            this.btShow.Text = "Show live";
+            this.btShow.UseVisualStyleBackColor = true;
+            this.btShow.Click += new System.EventHandler(this.btShow_Click);
+            // 
+            // updateWorker
+            // 
+            this.updateWorker.DoWork += new System.ComponentModel.DoWorkEventHandler(this.updateWorker_DoWork);
+            // 
+            // OpenGLWorker
+            // 
+            this.OpenGLWorker.DoWork += new System.ComponentModel.DoWorkEventHandler(this.OpenGLWorker_DoWork);
+            // 
+            // btRewind
+            // 
+            this.btRewind.Location = new System.Drawing.Point(12, 99);
+            this.btRewind.Name = "btRewind";
+            this.btRewind.Size = new System.Drawing.Size(75, 23);
+            this.btRewind.TabIndex = 5;
+            this.btRewind.Text = "Rewind";
+            this.btRewind.UseVisualStyleBackColor = true;
+            this.btRewind.Click += new System.EventHandler(this.btRewind_Click);
+            // 
+            // btRemove
+            // 
+            this.btRemove.Location = new System.Drawing.Point(12, 70);
+            this.btRemove.Name = "btRemove";
+            this.btRemove.Size = new System.Drawing.Size(75, 23);
+            this.btRemove.TabIndex = 6;
+            this.btRemove.Text = "Remove file";
+            this.btRemove.UseVisualStyleBackColor = true;
+            this.btRemove.Click += new System.EventHandler(this.btRemove_Click);
+            // 
+            // lFrameFilesListView
+            // 
+            this.lFrameFilesListView.LabelEdit = true;
+            this.lFrameFilesListView.Location = new System.Drawing.Point(93, 12);
+            this.lFrameFilesListView.MultiSelect = false;
+            this.lFrameFilesListView.Name = "lFrameFilesListView";
+            this.lFrameFilesListView.Size = new System.Drawing.Size(422, 97);
+            this.lFrameFilesListView.TabIndex = 7;
+            this.lFrameFilesListView.UseCompatibleStateImageBehavior = false;
+            this.lFrameFilesListView.View = System.Windows.Forms.View.Details;
+            this.lFrameFilesListView.AfterLabelEdit += new System.Windows.Forms.LabelEditEventHandler(this.lFrameFilesListView_AfterLabelEdit);
+            this.lFrameFilesListView.DoubleClick += new System.EventHandler(this.lFrameFilesListView_DoubleClick);
+            // 
+            // chSaveFrames
+            // 
+            this.chSaveFrames.AutoSize = true;
+            this.chSaveFrames.Location = new System.Drawing.Point(435, 128);
+            this.chSaveFrames.Name = "chSaveFrames";
+            this.chSaveFrames.Size = new System.Drawing.Size(83, 17);
+            this.chSaveFrames.TabIndex = 8;
+            this.chSaveFrames.Text = "save frames";
+            this.chSaveFrames.UseVisualStyleBackColor = true;
+            // 
+            // PlayerWindowForm
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(527, 166);
+            this.Controls.Add(this.chSaveFrames);
+            this.Controls.Add(this.lFrameFilesListView);
+            this.Controls.Add(this.btRemove);
+            this.Controls.Add(this.btRewind);
+            this.Controls.Add(this.btShow);
+            this.Controls.Add(this.btStart);
+            this.Controls.Add(this.btSelect);
+            this.Name = "PlayerWindowForm";
+            this.Text = "LiveScanPlayer";
+            this.FormClosing += new System.Windows.Forms.FormClosingEventHandler(this.PlayerWindowForm_FormClosing);
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Button btSelect;
+        private System.Windows.Forms.Button btStart;
+        private System.Windows.Forms.Button btShow;
+        private System.ComponentModel.BackgroundWorker updateWorker;
+        private System.ComponentModel.BackgroundWorker OpenGLWorker;
+        private System.Windows.Forms.Button btRewind;
+        private System.Windows.Forms.Button btRemove;
+        private System.Windows.Forms.ListView lFrameFilesListView;
+        private System.Windows.Forms.CheckBox chSaveFrames;
+    }
+}
+
@@ -0,0 +1,219 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+using System.Threading;
+using System.IO;
+using KinectServer;
+
+namespace LiveScanPlayer
+{
+    public partial class PlayerWindowForm : Form
+    {
+        BindingList<FrameFileReader> lFrameFiles = new BindingList<FrameFileReader>();
+        bool bPlayerRunning = false;
+
+        List<float> lAllVertices = new List<float>();
+        List<byte> lAllColors = new List<byte>();
+
+        TransferServer oTransferServer = new TransferServer();
+
+        AutoResetEvent eUpdateWorkerFinished = new AutoResetEvent(false);
+
+        public PlayerWindowForm()
+        {
+            InitializeComponent();
+           
+            oTransferServer.lVertices = lAllVertices;
+            oTransferServer.lColors = lAllColors;
+
+            lFrameFilesListView.Columns.Add("Current frame", 75);
+            lFrameFilesListView.Columns.Add("Filename", 300);
+        }
+
+        private void PlayerWindowForm_FormClosing(object sender, FormClosingEventArgs e)
+        {
+            bPlayerRunning = false;
+            oTransferServer.StopServer();
+        }
+
+        private void btSelect_Click(object sender, EventArgs e)
+        {
+            OpenFileDialog dialog = new OpenFileDialog();
+            dialog.Multiselect = true;
+            dialog.ShowDialog();
+
+            lock (lFrameFiles)
+            {
+                for (int i = 0; i < dialog.FileNames.Length; i++)
+                {                
+                    lFrameFiles.Add(new FrameFileReader(dialog.FileNames[i]));
+
+                    var item = new ListViewItem(new [] { "0", dialog.FileNames[i]});
+                    lFrameFilesListView.Items.Add(item);
+                }
+            }
+        }
+
+        private void btStart_Click(object sender, EventArgs e)
+        {
+            bPlayerRunning = !bPlayerRunning;
+
+            if (bPlayerRunning)
+            {            
+                oTransferServer.StartServer();
+                updateWorker.RunWorkerAsync();
+                btStart.Text = "Stop player";
+            }
+            else
+            {
+                oTransferServer.StopServer();
+                btStart.Text = "Start player";
+                eUpdateWorkerFinished.WaitOne();
+            }
+        }
+
+        private void btRemove_Click(object sender, EventArgs e)
+        {
+            if (lFrameFilesListView.SelectedIndices.Count == 0)
+                return;
+
+            lock (lFrameFiles)
+            {
+                int idx = lFrameFilesListView.SelectedIndices[0];
+                lFrameFilesListView.Items.RemoveAt(idx);
+                lFrameFiles[idx].Dispose();
+                lFrameFiles.RemoveAt(idx);
+            }
+        }
+
+        private void btRewind_Click(object sender, EventArgs e)
+        {
+            lock (lFrameFiles)
+            {
+                for (int i = 0; i < lFrameFiles.Count; i++)
+                {                    
+                    lFrameFiles[i].Rewind();
+                    lFrameFilesListView.Items[i].Text = "0";
+                }
+            }
+        }
+
+        private void btShow_Click(object sender, EventArgs e)
+        {
+            if (!OpenGLWorker.IsBusy)
+                OpenGLWorker.RunWorkerAsync();
+        }
+
+        private void updateWorker_DoWork(object sender, DoWorkEventArgs e)
+        {
+            int curFrameIdx = 0;
+            string outDir = "outPlayer\\";
+            DirectoryInfo di = Directory.CreateDirectory(outDir);
+
+            while (bPlayerRunning)
+            {
+                Thread.Sleep(50);
+
+                List<float> tempAllVertices = new List<float>();
+                List<byte> tempAllColors = new List<byte>();
+
+                lock (lFrameFiles)
+                {
+                    for (int i = 0; i < lFrameFiles.Count; i++)
+                    {
+                        List<float> vertices = new List<float>();
+                        List<byte> colors = new List<byte>();
+                        lFrameFiles[i].ReadFrame(vertices, colors);
+
+                        tempAllVertices.AddRange(vertices);                        
+                        tempAllColors.AddRange(colors);
+                    }
+                }
+
+                Thread frameIdxUpdate = new Thread(() => this.Invoke((MethodInvoker)delegate { this.UpdateDisplayedFrameIndices(); }));
+                frameIdxUpdate.Start();
+
+                lock (lAllVertices)
+                {
+                    lAllVertices.Clear();
+                    lAllColors.Clear();
+                    lAllVertices.AddRange(tempAllVertices);
+                    lAllColors.AddRange(tempAllColors);
+                }
+
+                if (chSaveFrames.Checked)
+                    SaveCurrentFrameToFile(outDir, curFrameIdx);
+                
+
+                curFrameIdx++;
+            }
+
+            eUpdateWorkerFinished.Set();
+        }
+
+        private void OpenGLWorker_DoWork(object sender, DoWorkEventArgs e)
+        {
+            OpenGLWindow openGLWindow = new OpenGLWindow();
+
+            openGLWindow.vertices = lAllVertices;
+            openGLWindow.colors = lAllColors;
+
+            openGLWindow.Run();
+        }
+
+        private void lFrameFilesListView_DoubleClick(object sender, EventArgs e)
+        {
+            lFrameFilesListView.SelectedItems[0].BeginEdit();
+        }
+
+        private void lFrameFilesListView_AfterLabelEdit(object sender, LabelEditEventArgs e)
+        {
+            int fileIdx = lFrameFilesListView.SelectedIndices[0];
+            int frameIdx;
+            bool res = Int32.TryParse(e.Label, out frameIdx);
+
+            if (!res)
+            {
+                e.CancelEdit = true;
+                return;
+            }
+
+            lock (lFrameFiles)
+            {
+                lFrameFiles[fileIdx].JumpToFrame(frameIdx);
+            }
+
+        }
+
+        private void UpdateDisplayedFrameIndices()
+        {
+            lock (lFrameFiles)
+            {
+                for (int i = 0; i < lFrameFiles.Count; i++)
+                {
+                    lFrameFilesListView.Items[i].SubItems[0].Text = lFrameFiles[i].frameIdx.ToString();
+                }
+            }
+        }
+
+        private void SaveCurrentFrameToFile(string outDir, int frameIdx)
+        {
+            List<float> lVertices = new List<float>();
+            List<byte> lColors = new List<byte>();
+
+            lock (lAllVertices)
+            {
+                lVertices.AddRange(lAllVertices);
+                lColors.AddRange(lAllColors);
+            }
+            string outputFilename = outDir + frameIdx.ToString().PadLeft(5, '0') + ".ply";
+            Utils.saveToPly(outputFilename, lVertices, lColors, true);
+        }
+    }
+}
@@ -0,0 +1,126 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="updateWorker.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>133, 17</value>
+  </metadata>
+  <metadata name="OpenGLWorker.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>263, 17</value>
+  </metadata>
+</root>
@@ -0,0 +1,22 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace LiveScanPlayer
+{
+    static class Program
+    {
+        /// <summary>
+        /// The main entry point for the application.
+        /// </summary>
+        [STAThread]
+        static void Main()
+        {
+            Application.EnableVisualStyles();
+            Application.SetCompatibleTextRenderingDefault(false);
+            Application.Run(new PlayerWindowForm());
+        }
+    }
+}
@@ -0,0 +1,36 @@
+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// General Information about an assembly is controlled through the following 
+// set of attributes. Change these attribute values to modify the information
+// associated with an assembly.
+[assembly: AssemblyTitle("LiveScanPlayer")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("LiveScanPlayer")]
+[assembly: AssemblyCopyright("Copyright ©  2017")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// Setting ComVisible to false makes the types in this assembly not visible 
+// to COM components.  If you need to access a type in this assembly from 
+// COM, set the ComVisible attribute to true on that type.
+[assembly: ComVisible(false)]
+
+// The following GUID is for the ID of the typelib if this project is exposed to COM
+[assembly: Guid("b435173f-8157-41c6-b94f-3cc1feb6153e")]
+
+// Version information for an assembly consists of the following four values:
+//
+//      Major Version
+//      Minor Version 
+//      Build Number
+//      Revision
+//
+// You can specify all the values or you can default the Build and Revision Numbers 
+// by using the '*' as shown below:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]
@@ -0,0 +1,71 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace LiveScanPlayer.Properties
+{
+
+
+    /// <summary>
+    ///   A strongly-typed resource class, for looking up localized strings, etc.
+    /// </summary>
+    // This class was auto-generated by the StronglyTypedResourceBuilder
+    // class via a tool like ResGen or Visual Studio.
+    // To add or remove a member, edit your .ResX file then rerun ResGen
+    // with the /str option, or rebuild your VS project.
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "4.0.0.0")]
+    [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    internal class Resources
+    {
+
+        private static global::System.Resources.ResourceManager resourceMan;
+
+        private static global::System.Globalization.CultureInfo resourceCulture;
+
+        [global::System.Diagnostics.CodeAnalysis.SuppressMessageAttribute("Microsoft.Performance", "CA1811:AvoidUncalledPrivateCode")]
+        internal Resources()
+        {
+        }
+
+        /// <summary>
+        ///   Returns the cached ResourceManager instance used by this class.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Resources.ResourceManager ResourceManager
+        {
+            get
+            {
+                if ((resourceMan == null))
+                {
+                    global::System.Resources.ResourceManager temp = new global::System.Resources.ResourceManager("LiveScanPlayer.Properties.Resources", typeof(Resources).Assembly);
+                    resourceMan = temp;
+                }
+                return resourceMan;
+            }
+        }
+
+        /// <summary>
+        ///   Overrides the current thread's CurrentUICulture property for all
+        ///   resource lookups using this strongly typed resource class.
+        /// </summary>
+        [global::System.ComponentModel.EditorBrowsableAttribute(global::System.ComponentModel.EditorBrowsableState.Advanced)]
+        internal static global::System.Globalization.CultureInfo Culture
+        {
+            get
+            {
+                return resourceCulture;
+            }
+            set
+            {
+                resourceCulture = value;
+            }
+        }
+    }
+}
@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=2.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
@@ -0,0 +1,30 @@
+//------------------------------------------------------------------------------
+// <auto-generated>
+//     This code was generated by a tool.
+//     Runtime Version:4.0.30319.42000
+//
+//     Changes to this file may cause incorrect behavior and will be lost if
+//     the code is regenerated.
+// </auto-generated>
+//------------------------------------------------------------------------------
+
+namespace LiveScanPlayer.Properties
+{
+
+
+    [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "11.0.0.0")]
+    internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase
+    {
+
+        private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
+
+        public static Settings Default
+        {
+            get
+            {
+                return defaultInstance;
+            }
+        }
+    }
+}
@@ -0,0 +1,7 @@
+<?xml version='1.0' encoding='utf-8'?>
+<SettingsFile xmlns="http://schemas.microsoft.com/VisualStudio/2004/01/settings" CurrentProfile="(Default)">
+  <Profiles>
+    <Profile Name="(Default)" />
+  </Profiles>
+  <Settings />
+</SettingsFile>
@@ -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()
@@ -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);
@@ -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)
@@ -33,7 +33,7 @@ enum ECameraMode

 namespace KinectServer
 {
-    class OpenGLWindow : GameWindow
+    public class OpenGLWindow : GameWindow
    {
        int PointCount;
        int LineCount;
@@ -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)
@@ -9,7 +9,7 @@ using System.Runtime.Serialization.Formatters.Binary;

 namespace KinectServer
 {
-    class TransferSocket
+    public class TransferSocket
    {
        TcpClient oSocket;

@@ -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();
+        }
+    }
 }
@@ -55,7 +55,6 @@ private:
 	bool m_bShowDepth;
 	bool m_bFrameCompression;
 	int m_iCompressionLevel;
-	bool m_bCaptureToFile;			// false if capture frames to memory

 	FrameFileWriterReader m_framesFileWriterReader;

@@ -66,8 +65,6 @@ private:
 	std::vector<Point3s> m_vLastFrameVertices;
 	std::vector<RGB> m_vLastFrameRGB;
 	std::vector<Body> m_vLastFrameBody;
-	std::vector<std::vector<Point3s>> m_vGatheredVertices;
-	std::vector<std::vector<RGB>> m_vGatheredRGBPoints;

 	HWND m_hWnd;
    INT64 m_nLastCounter;
@@ -46,7 +46,7 @@ void FrameFileWriterReader::openNewFileForWriting()
 	char filename[1024];
 	time_t t = time(0);
 	struct tm * now = localtime(&t);
-	sprintf(filename, "recording_%04d_%02d_%02d_%02d_%02d.bin", now->tm_year, now->tm_mon, now->tm_mday, now->tm_hour, now->tm_min, now->tm_sec);
+	sprintf(filename, "recording_%04d_%02d_%02d_%02d_%02d.bin", now->tm_year + 1900, now->tm_mon + 1, now->tm_mday, now->tm_hour, now->tm_min, now->tm_sec);
 	m_sFilename = filename; 
 	m_pFileHandle = fopen(filename, "wb");

@@ -53,7 +53,6 @@ LiveScanClient::LiveScanClient() :
 	m_bFilter(false),
 	m_bStreamOnlyBodies(false),
 	m_bCaptureFrame(false),
-	m_bCaptureToFile(true),
 	m_bConnected(false),
 	m_bConfirmCaptured(false),
 	m_bConfirmCalibrated(false),
@@ -208,19 +207,9 @@ void LiveScanClient::UpdateFrame()

 		if (m_bCaptureFrame)
 		{
-			if (m_bCaptureToFile)
-			{
-				m_framesFileWriterReader.writeFrame(m_vLastFrameVertices, m_vLastFrameRGB);
-				m_bConfirmCaptured = true;
-				m_bCaptureFrame = false;
-			}
-			else
-			{
-				m_vGatheredVertices.push_back(m_vLastFrameVertices);
-				m_vGatheredRGBPoints.push_back(m_vLastFrameRGB);
-				m_bConfirmCaptured = true;
-				m_bCaptureFrame = false;
-			}
+			m_framesFileWriterReader.writeFrame(m_vLastFrameVertices, m_vLastFrameRGB);
+			m_bConfirmCaptured = true;
+			m_bCaptureFrame = false;
 		}
 	}

@@ -340,8 +329,6 @@ LRESULT CALLBACK LiveScanClient::DlgProc(HWND hWnd, UINT message, WPARAM wParam,
 				}
 				else
 				{
-					m_vGatheredVertices.clear();
-					m_vGatheredRGBPoints.clear();
 					try
 					{
 						char address[20];
@@ -532,33 +519,16 @@ void LiveScanClient::HandleSocket()
 		{
 			byteToSend = MSG_STORED_FRAME;
 			m_pClientSocket->SendBytes(&byteToSend, 1);
-			if (m_bCaptureToFile)
-			{
-				vector<Point3s> points;
-				vector<RGB> colors; 
-				bool res = m_framesFileWriterReader.readFrame(points, colors);
-				if (res == false)
-				{
-					int size = -1;
-					m_pClientSocket->SendBytes((char*)&size, 4);
-				} else
-					SendFrame(points, colors, m_vLastFrameBody);
-			}
-			else
-			{
-				if (m_vGatheredRGBPoints.size() > 0)
-				{
-					SendFrame(m_vGatheredVertices[0], m_vGatheredRGBPoints[0], m_vLastFrameBody);

-					m_vGatheredRGBPoints.erase(m_vGatheredRGBPoints.begin(), m_vGatheredRGBPoints.begin() + 1);
-					m_vGatheredVertices.erase(m_vGatheredVertices.begin(), m_vGatheredVertices.begin() + 1);
-				}
-				else
-				{
-					int size = -1;
-					m_pClientSocket->SendBytes((char*)&size, 4);
-				}
-			}
+			vector<Point3s> points;
+			vector<RGB> colors; 
+			bool res = m_framesFileWriterReader.readFrame(points, colors);
+			if (res == false)
+			{
+				int size = -1;
+				m_pClientSocket->SendBytes((char*)&size, 4);
+			} else
+				SendFrame(points, colors, m_vLastFrameBody);
 		}
 		//send last frame
 		else if (received[i] == MSG_REQUEST_LAST_FRAME)
@@ -591,8 +561,7 @@ void LiveScanClient::HandleSocket()
 		}
 		else if (received[i] == MSG_CLEAR_STORED_FRAMES)
 		{
-			m_vGatheredVertices.clear();
-			m_vGatheredRGBPoints.clear();
+			m_framesFileWriterReader.closeFileIfOpened();
 		}
 	}

@@ -644,7 +613,6 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
 		buffer[pos++] = RGB[i].rgbGreen;
 		buffer[pos++] = RGB[i].rgbBlue;

-
 		memcpy(buffer.data() + pos, ptr2, sizeof(short)* 3);
 		ptr2 += sizeof(short) * 3;
 		pos += sizeof(short) * 3;