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Code Issues Packages Projects Releases Wiki Activity

Added Temporal Sync functionality

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This commit is contained in:
Christopher Remde
2020-06-10 13:59:09 +02:00
parent 4a4f9ae0ad
commit da2c304db8
9 changed files with 338 additions and 217 deletions
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LiveScanServer/KinectServer.cs
+18
View File
@@ -232,6 +232,19 @@ namespace KinectServer
}
}
public void SendTemporalSyncData()
{
lock (oClientSocketLock)
{
lClientSockets[0].SendTemporalSyncStatus(true, false);
for (int i = 1; i < lClientSockets.Count; i++)
{
lClientSockets[i].SendTemporalSyncStatus(false, true);
}
}
}
public bool GetStoredFrame(List<List<byte>> lFramesRGB, List<List<Single>> lFramesVerts)
{
bool bNoMoreStoredFrames;
@@ -436,6 +449,11 @@ namespace KinectServer
lClientSockets[i].bLatestFrameReceived = true;
}
else if (buffer[0] == 4)
{
lClientSockets[i].ReceiveTemporalSyncStatus();
}
buffer = lClientSockets[i].Receive(1);
}
}
LiveScanServer/KinectSettings.cs
+2
View File
@@ -42,6 +42,8 @@ namespace KinectServer
public bool bMergeScansForSave = true;
public bool bSaveAsBinaryPLY = true;
public bool bEnableSync = false;
public KinectSettings()
{
aMinBounds[0] = -5f;
LiveScanServer/KinectSocket.cs
+63 -4
View File
@@ -33,6 +33,8 @@ namespace KinectServer
public bool bStoredFrameReceived = false;
public bool bNoMoreStoredFrames = true;
public bool bCalibrated = false;
public bool bIsMaster = false;
public bool bIsSubOrdinate = false;
//The pose of the sensor in the scene (used by the OpenGLWindow to show the sensor)
public AffineTransform oCameraPose = new AffineTransform();
//The transform that maps the vertices in the sensor coordinate system to the world corrdinate system.
@@ -121,6 +123,23 @@ namespace KinectServer
SendByte();
}
public void SendTemporalSyncStatus(bool isMaster, bool isSubOrdinate)
{
if (isMaster)
{
byteToSend[0] = 7;
SendByte();
return;
}
if (isSubOrdinate)
{
byteToSend[0] = 8;
SendByte();
return;
}
}
public void ReceiveCalibrationData()
{
bCalibrated = true;
@@ -148,6 +167,37 @@ namespace KinectServer
UpdateSocketState();
}
public void ReceiveTemporalSyncStatus()
{
int nToRead;
byte[] buffer = new byte[1024];
while (oSocket.Available == 0)
{
if (!SocketConnected())
return;
}
oSocket.Receive(buffer, 4, SocketFlags.None);
nToRead = BitConverter.ToInt32(buffer, 0);
if (nToRead == -1)
{
bIsSubOrdinate = true;
bIsMaster = false;
return;
}
if(nToRead == 0)
{
bIsMaster = true;
bIsSubOrdinate = false;
return;
}
UpdateSocketState();
}
public void ReceiveFrame()
{
lFrameRGB.Clear();
@@ -293,10 +343,19 @@ namespace KinectServer
public void UpdateSocketState()
{
if (bCalibrated)
sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = true";
else
sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = false";
string tempSyncStatus = "";
if (bIsMaster)
{
tempSyncStatus = "[Master]";
}
if (bIsSubOrdinate)
{
tempSyncStatus = "[Subordinate]";
}
sSocketState = oSocket.RemoteEndPoint.ToString() + " Calibrated = " + bCalibrated + " " + tempSyncStatus;
if (eChanged != null)
eChanged();
LiveScanServer/SettingsForm.Designer.cs
Generated
+198 -211
View File
@@ -28,11 +28,14 @@
/// </summary>
private void InitializeComponent()
{
System.Windows.Forms.Label lbSyncWarning;
this.lbMerge = new System.Windows.Forms.Label();
this.chMerge = new System.Windows.Forms.CheckBox();
this.lbICPIters = new System.Windows.Forms.Label();
this.txtICPIters = new System.Windows.Forms.TextBox();
this.grClient = new System.Windows.Forms.GroupBox();
this.grSync = new System.Windows.Forms.GroupBox();
this.chSync = new System.Windows.Forms.CheckBox();
this.grBody = new System.Windows.Forms.GroupBox();
this.chSkeletons = new System.Windows.Forms.CheckBox();
this.chBodyData = new System.Windows.Forms.CheckBox();
@@ -72,14 +75,16 @@
this.lbFilterDistance = new System.Windows.Forms.Label();
this.txtFilterDistance = new System.Windows.Forms.TextBox();
this.grServer = new System.Windows.Forms.GroupBox();
this.cbCompressionLevel = new System.Windows.Forms.ComboBox();
this.label2 = new System.Windows.Forms.Label();
this.rBinaryPly = new System.Windows.Forms.RadioButton();
this.lbFormat = new System.Windows.Forms.Label();
this.rAsciiPly = new System.Windows.Forms.RadioButton();
this.txtRefinIters = new System.Windows.Forms.TextBox();
this.lbOuterIters = new System.Windows.Forms.Label();
this.label2 = new System.Windows.Forms.Label();
this.cbCompressionLevel = new System.Windows.Forms.ComboBox();
lbSyncWarning = new System.Windows.Forms.Label();
this.grClient.SuspendLayout();
this.grSync.SuspendLayout();
this.grBody.SuspendLayout();
this.grMarkers.SuspendLayout();
this.grBounding.SuspendLayout();
@@ -90,20 +95,18 @@
// lbMerge
//
this.lbMerge.AutoSize = true;
this.lbMerge.Location = new System.Drawing.Point(7, 69);
this.lbMerge.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbMerge.Location = new System.Drawing.Point(5, 45);
this.lbMerge.Name = "lbMerge";
this.lbMerge.Size = new System.Drawing.Size(99, 20);
this.lbMerge.Size = new System.Drawing.Size(69, 13);
this.lbMerge.TabIndex = 22;
this.lbMerge.Text = "Scan saving:";
//
// chMerge
//
this.chMerge.AutoSize = true;
this.chMerge.Location = new System.Drawing.Point(156, 70);
this.chMerge.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.chMerge.Location = new System.Drawing.Point(104, 45);
this.chMerge.Name = "chMerge";
this.chMerge.Size = new System.Drawing.Size(126, 24);
this.chMerge.Size = new System.Drawing.Size(86, 17);
this.chMerge.TabIndex = 23;
this.chMerge.Text = "merge scans";
this.chMerge.UseVisualStyleBackColor = true;
@@ -112,46 +115,74 @@
// lbICPIters
//
this.lbICPIters.AutoSize = true;
this.lbICPIters.Location = new System.Drawing.Point(7, 34);
this.lbICPIters.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbICPIters.Location = new System.Drawing.Point(5, 22);
this.lbICPIters.Name = "lbICPIters";
this.lbICPIters.Size = new System.Drawing.Size(128, 20);
this.lbICPIters.Size = new System.Drawing.Size(86, 13);
this.lbICPIters.TabIndex = 24;
this.lbICPIters.Text = "Num of ICP iters:";
//
// txtICPIters
//
this.txtICPIters.Location = new System.Drawing.Point(156, 31);
this.txtICPIters.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtICPIters.Location = new System.Drawing.Point(104, 20);
this.txtICPIters.Name = "txtICPIters";
this.txtICPIters.Size = new System.Drawing.Size(55, 26);
this.txtICPIters.Size = new System.Drawing.Size(38, 20);
this.txtICPIters.TabIndex = 25;
this.txtICPIters.TextChanged += new System.EventHandler(this.txtICPIters_TextChanged);
//
// grClient
//
this.grClient.Controls.Add(this.grSync);
this.grClient.Controls.Add(this.grBody);
this.grClient.Controls.Add(this.grMarkers);
this.grClient.Controls.Add(this.grBounding);
this.grClient.Controls.Add(this.grFiltering);
this.grClient.Location = new System.Drawing.Point(18, 18);
this.grClient.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grClient.Location = new System.Drawing.Point(12, 12);
this.grClient.Name = "grClient";
this.grClient.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grClient.Size = new System.Drawing.Size(948, 447);
this.grClient.Size = new System.Drawing.Size(632, 291);
this.grClient.TabIndex = 43;
this.grClient.TabStop = false;
this.grClient.Text = "KinectClient settings";
//
// grSync
//
this.grSync.Controls.Add(lbSyncWarning);
this.grSync.Controls.Add(this.chSync);
this.grSync.Location = new System.Drawing.Point(271, 211);
this.grSync.Name = "grSync";
this.grSync.Size = new System.Drawing.Size(355, 66);
this.grSync.TabIndex = 48;
this.grSync.TabStop = false;
this.grSync.Text = "Temporal Sync (Azure Kinect Only)";
//
// lbSyncWarning
//
lbSyncWarning.AutoSize = true;
lbSyncWarning.CausesValidation = false;
lbSyncWarning.Location = new System.Drawing.Point(3, 41);
lbSyncWarning.Name = "lbSyncWarning";
lbSyncWarning.Size = new System.Drawing.Size(347, 13);
lbSyncWarning.TabIndex = 1;
lbSyncWarning.Text = "Notice: Devices need to be connected via sync cabel before enabeling!\r\n";
//
// chSync
//
this.chSync.AutoSize = true;
this.chSync.Location = new System.Drawing.Point(6, 19);
this.chSync.Name = "chSync";
this.chSync.Size = new System.Drawing.Size(133, 17);
this.chSync.TabIndex = 0;
this.chSync.Text = "Enable Temporal Sync";
this.chSync.UseVisualStyleBackColor = true;
this.chSync.CheckedChanged += new System.EventHandler(this.chSync_CheckedChanged);
//
// grBody
//
this.grBody.Controls.Add(this.chSkeletons);
this.grBody.Controls.Add(this.chBodyData);
this.grBody.Location = new System.Drawing.Point(14, 325);
this.grBody.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grBody.Location = new System.Drawing.Point(9, 211);
this.grBody.Name = "grBody";
this.grBody.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grBody.Size = new System.Drawing.Size(374, 101);
this.grBody.Size = new System.Drawing.Size(249, 66);
this.grBody.TabIndex = 47;
this.grBody.TabStop = false;
this.grBody.Text = "Body data";
@@ -159,10 +190,9 @@
// chSkeletons
//
this.chSkeletons.AutoSize = true;
this.chSkeletons.Location = new System.Drawing.Point(16, 63);
this.chSkeletons.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.chSkeletons.Location = new System.Drawing.Point(11, 41);
this.chSkeletons.Name = "chSkeletons";
this.chSkeletons.Size = new System.Drawing.Size(220, 24);
this.chSkeletons.Size = new System.Drawing.Size(154, 17);
this.chSkeletons.TabIndex = 21;
this.chSkeletons.Text = "show skeletons in live view";
this.chSkeletons.UseVisualStyleBackColor = true;
@@ -171,10 +201,9 @@
// chBodyData
//
this.chBodyData.AutoSize = true;
this.chBodyData.Location = new System.Drawing.Point(16, 29);
this.chBodyData.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.chBodyData.Location = new System.Drawing.Point(11, 19);
this.chBodyData.Name = "chBodyData";
this.chBodyData.Size = new System.Drawing.Size(167, 24);
this.chBodyData.Size = new System.Drawing.Size(113, 17);
this.chBodyData.TabIndex = 19;
this.chBodyData.Text = "stream only bodies";
this.chBodyData.UseVisualStyleBackColor = true;
@@ -198,11 +227,9 @@
this.grMarkers.Controls.Add(this.txtTranslationX);
this.grMarkers.Controls.Add(this.lisMarkers);
this.grMarkers.Controls.Add(this.txtTranslationY);
this.grMarkers.Location = new System.Drawing.Point(406, 29);
this.grMarkers.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grMarkers.Location = new System.Drawing.Point(271, 19);
this.grMarkers.Name = "grMarkers";
this.grMarkers.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grMarkers.Size = new System.Drawing.Size(530, 285);
this.grMarkers.Size = new System.Drawing.Size(353, 185);
this.grMarkers.TabIndex = 45;
this.grMarkers.TabStop = false;
this.grMarkers.Text = "Calibration markers";
@@ -210,19 +237,17 @@
// lbX2
//
this.lbX2.AutoSize = true;
this.lbX2.Location = new System.Drawing.Point(345, 29);
this.lbX2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbX2.Location = new System.Drawing.Point(230, 19);
this.lbX2.Name = "lbX2";
this.lbX2.Size = new System.Drawing.Size(20, 20);
this.lbX2.Size = new System.Drawing.Size(14, 13);
this.lbX2.TabIndex = 49;
this.lbX2.Text = "X";
//
// btRemove
//
this.btRemove.Location = new System.Drawing.Point(350, 195);
this.btRemove.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.btRemove.Location = new System.Drawing.Point(233, 127);
this.btRemove.Name = "btRemove";
this.btRemove.Size = new System.Drawing.Size(138, 35);
this.btRemove.Size = new System.Drawing.Size(92, 23);
this.btRemove.TabIndex = 59;
this.btRemove.Text = "Remove marker";
this.btRemove.UseVisualStyleBackColor = true;
@@ -230,76 +255,68 @@
//
// txtOrientationZ
//
this.txtOrientationZ.Location = new System.Drawing.Point(458, 58);
this.txtOrientationZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtOrientationZ.Location = new System.Drawing.Point(305, 38);
this.txtOrientationZ.Name = "txtOrientationZ";
this.txtOrientationZ.Size = new System.Drawing.Size(55, 26);
this.txtOrientationZ.Size = new System.Drawing.Size(38, 20);
this.txtOrientationZ.TabIndex = 48;
this.txtOrientationZ.TextChanged += new System.EventHandler(this.txtOrientationZ_TextChanged);
//
// txtId
//
this.txtId.Location = new System.Drawing.Point(326, 143);
this.txtId.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtId.Location = new System.Drawing.Point(217, 93);
this.txtId.Name = "txtId";
this.txtId.Size = new System.Drawing.Size(55, 26);
this.txtId.Size = new System.Drawing.Size(38, 20);
this.txtId.TabIndex = 58;
this.txtId.TextChanged += new System.EventHandler(this.txtId_TextChanged);
//
// lbY2
//
this.lbY2.AutoSize = true;
this.lbY2.Location = new System.Drawing.Point(411, 29);
this.lbY2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbY2.Location = new System.Drawing.Point(274, 19);
this.lbY2.Name = "lbY2";
this.lbY2.Size = new System.Drawing.Size(20, 20);
this.lbY2.Size = new System.Drawing.Size(14, 13);
this.lbY2.TabIndex = 50;
this.lbY2.Text = "Y";
//
// txtOrientationY
//
this.txtOrientationY.Location = new System.Drawing.Point(392, 58);
this.txtOrientationY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtOrientationY.Location = new System.Drawing.Point(261, 38);
this.txtOrientationY.Name = "txtOrientationY";
this.txtOrientationY.Size = new System.Drawing.Size(55, 26);
this.txtOrientationY.Size = new System.Drawing.Size(38, 20);
this.txtOrientationY.TabIndex = 47;
this.txtOrientationY.TextChanged += new System.EventHandler(this.txtOrientationY_TextChanged);
//
// lbId
//
this.lbId.AutoSize = true;
this.lbId.Location = new System.Drawing.Point(198, 148);
this.lbId.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbId.Location = new System.Drawing.Point(132, 96);
this.lbId.Name = "lbId";
this.lbId.Size = new System.Drawing.Size(78, 20);
this.lbId.Size = new System.Drawing.Size(54, 13);
this.lbId.TabIndex = 57;
this.lbId.Text = "Marker id:";
//
// lbZ2
//
this.lbZ2.AutoSize = true;
this.lbZ2.Location = new System.Drawing.Point(476, 29);
this.lbZ2.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbZ2.Location = new System.Drawing.Point(317, 19);
this.lbZ2.Name = "lbZ2";
this.lbZ2.Size = new System.Drawing.Size(19, 20);
this.lbZ2.Size = new System.Drawing.Size(14, 13);
this.lbZ2.TabIndex = 51;
this.lbZ2.Text = "Z";
//
// txtOrientationX
//
this.txtOrientationX.Location = new System.Drawing.Point(326, 58);
this.txtOrientationX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtOrientationX.Location = new System.Drawing.Point(217, 38);
this.txtOrientationX.Name = "txtOrientationX";
this.txtOrientationX.Size = new System.Drawing.Size(55, 26);
this.txtOrientationX.Size = new System.Drawing.Size(38, 20);
this.txtOrientationX.TabIndex = 46;
this.txtOrientationX.TextChanged += new System.EventHandler(this.txtOrientationX_TextChanged);
//
// btAdd
//
this.btAdd.Location = new System.Drawing.Point(202, 195);
this.btAdd.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.btAdd.Location = new System.Drawing.Point(135, 127);
this.btAdd.Name = "btAdd";
this.btAdd.Size = new System.Drawing.Size(138, 35);
this.btAdd.Size = new System.Drawing.Size(92, 23);
this.btAdd.TabIndex = 56;
this.btAdd.Text = "Add marker";
this.btAdd.UseVisualStyleBackColor = true;
@@ -308,58 +325,51 @@
// lbTranslation
//
this.lbTranslation.AutoSize = true;
this.lbTranslation.Location = new System.Drawing.Point(198, 105);
this.lbTranslation.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbTranslation.Location = new System.Drawing.Point(132, 68);
this.lbTranslation.Name = "lbTranslation";
this.lbTranslation.Size = new System.Drawing.Size(91, 20);
this.lbTranslation.Size = new System.Drawing.Size(62, 13);
this.lbTranslation.TabIndex = 52;
this.lbTranslation.Text = "Translation:";
//
// lbOrientation
//
this.lbOrientation.AutoSize = true;
this.lbOrientation.Location = new System.Drawing.Point(198, 63);
this.lbOrientation.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbOrientation.Location = new System.Drawing.Point(132, 41);
this.lbOrientation.Name = "lbOrientation";
this.lbOrientation.Size = new System.Drawing.Size(91, 20);
this.lbOrientation.Size = new System.Drawing.Size(61, 13);
this.lbOrientation.TabIndex = 45;
this.lbOrientation.Text = "Orientation:";
//
// txtTranslationZ
//
this.txtTranslationZ.Location = new System.Drawing.Point(458, 100);
this.txtTranslationZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtTranslationZ.Location = new System.Drawing.Point(305, 65);
this.txtTranslationZ.Name = "txtTranslationZ";
this.txtTranslationZ.Size = new System.Drawing.Size(55, 26);
this.txtTranslationZ.Size = new System.Drawing.Size(38, 20);
this.txtTranslationZ.TabIndex = 55;
this.txtTranslationZ.TextChanged += new System.EventHandler(this.txtTranslationZ_TextChanged);
//
// txtTranslationX
//
this.txtTranslationX.Location = new System.Drawing.Point(326, 100);
this.txtTranslationX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtTranslationX.Location = new System.Drawing.Point(217, 65);
this.txtTranslationX.Name = "txtTranslationX";
this.txtTranslationX.Size = new System.Drawing.Size(55, 26);
this.txtTranslationX.Size = new System.Drawing.Size(38, 20);
this.txtTranslationX.TabIndex = 53;
this.txtTranslationX.TextChanged += new System.EventHandler(this.txtTranslationX_TextChanged);
//
// lisMarkers
//
this.lisMarkers.FormattingEnabled = true;
this.lisMarkers.ItemHeight = 20;
this.lisMarkers.Location = new System.Drawing.Point(9, 63);
this.lisMarkers.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.lisMarkers.Location = new System.Drawing.Point(6, 41);
this.lisMarkers.Name = "lisMarkers";
this.lisMarkers.Size = new System.Drawing.Size(178, 164);
this.lisMarkers.Size = new System.Drawing.Size(120, 108);
this.lisMarkers.TabIndex = 43;
this.lisMarkers.SelectedIndexChanged += new System.EventHandler(this.lisMarkers_SelectedIndexChanged);
//
// txtTranslationY
//
this.txtTranslationY.Location = new System.Drawing.Point(392, 100);
this.txtTranslationY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtTranslationY.Location = new System.Drawing.Point(261, 65);
this.txtTranslationY.Name = "txtTranslationY";
this.txtTranslationY.Size = new System.Drawing.Size(55, 26);
this.txtTranslationY.Size = new System.Drawing.Size(38, 20);
this.txtTranslationY.TabIndex = 54;
this.txtTranslationY.TextChanged += new System.EventHandler(this.txtTranslationY_TextChanged);
//
@@ -376,11 +386,9 @@
this.grBounding.Controls.Add(this.lbZ);
this.grBounding.Controls.Add(this.lbY);
this.grBounding.Controls.Add(this.lbX);
this.grBounding.Location = new System.Drawing.Point(14, 29);
this.grBounding.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grBounding.Location = new System.Drawing.Point(9, 19);
this.grBounding.Name = "grBounding";
this.grBounding.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grBounding.Size = new System.Drawing.Size(374, 140);
this.grBounding.Size = new System.Drawing.Size(249, 91);
this.grBounding.TabIndex = 46;
this.grBounding.TabStop = false;
this.grBounding.Text = "Bounding box";
@@ -388,104 +396,93 @@
// lbMin
//
this.lbMin.AutoSize = true;
this.lbMin.Location = new System.Drawing.Point(12, 58);
this.lbMin.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbMin.Location = new System.Drawing.Point(8, 38);
this.lbMin.Name = "lbMin";
this.lbMin.Size = new System.Drawing.Size(95, 20);
this.lbMin.Size = new System.Drawing.Size(65, 13);
this.lbMin.TabIndex = 13;
this.lbMin.Text = "Min bounds:";
//
// txtMaxZ
//
this.txtMaxZ.Location = new System.Drawing.Point(272, 95);
this.txtMaxZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtMaxZ.Location = new System.Drawing.Point(181, 62);
this.txtMaxZ.Name = "txtMaxZ";
this.txtMaxZ.Size = new System.Drawing.Size(55, 26);
this.txtMaxZ.Size = new System.Drawing.Size(38, 20);
this.txtMaxZ.TabIndex = 23;
this.txtMaxZ.TextChanged += new System.EventHandler(this.txtMaxZ_TextChanged);
//
// txtMaxY
//
this.txtMaxY.Location = new System.Drawing.Point(206, 95);
this.txtMaxY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtMaxY.Location = new System.Drawing.Point(137, 62);
this.txtMaxY.Name = "txtMaxY";
this.txtMaxY.Size = new System.Drawing.Size(55, 26);
this.txtMaxY.Size = new System.Drawing.Size(38, 20);
this.txtMaxY.TabIndex = 22;
this.txtMaxY.TextChanged += new System.EventHandler(this.txtMaxY_TextChanged);
//
// txtMinX
//
this.txtMinX.Location = new System.Drawing.Point(140, 54);
this.txtMinX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtMinX.Location = new System.Drawing.Point(93, 35);
this.txtMinX.Name = "txtMinX";
this.txtMinX.Size = new System.Drawing.Size(55, 26);
this.txtMinX.Size = new System.Drawing.Size(38, 20);
this.txtMinX.TabIndex = 14;
this.txtMinX.TextChanged += new System.EventHandler(this.txtMinX_TextChanged);
//
// txtMaxX
//
this.txtMaxX.Location = new System.Drawing.Point(140, 95);
this.txtMaxX.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtMaxX.Location = new System.Drawing.Point(93, 62);
this.txtMaxX.Name = "txtMaxX";
this.txtMaxX.Size = new System.Drawing.Size(55, 26);
this.txtMaxX.Size = new System.Drawing.Size(38, 20);
this.txtMaxX.TabIndex = 21;
this.txtMaxX.TextChanged += new System.EventHandler(this.txtMaxX_TextChanged);
//
// txtMinY
//
this.txtMinY.Location = new System.Drawing.Point(206, 54);
this.txtMinY.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtMinY.Location = new System.Drawing.Point(137, 35);
this.txtMinY.Name = "txtMinY";
this.txtMinY.Size = new System.Drawing.Size(55, 26);
this.txtMinY.Size = new System.Drawing.Size(38, 20);
this.txtMinY.TabIndex = 15;
this.txtMinY.TextChanged += new System.EventHandler(this.txtMinY_TextChanged);
//
// lbMax
//
this.lbMax.AutoSize = true;
this.lbMax.Location = new System.Drawing.Point(12, 100);
this.lbMax.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbMax.Location = new System.Drawing.Point(8, 65);
this.lbMax.Name = "lbMax";
this.lbMax.Size = new System.Drawing.Size(99, 20);
this.lbMax.Size = new System.Drawing.Size(68, 13);
this.lbMax.TabIndex = 20;
this.lbMax.Text = "Max bounds:";
//
// txtMinZ
//
this.txtMinZ.Location = new System.Drawing.Point(272, 54);
this.txtMinZ.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtMinZ.Location = new System.Drawing.Point(181, 35);
this.txtMinZ.Name = "txtMinZ";
this.txtMinZ.Size = new System.Drawing.Size(55, 26);
this.txtMinZ.Size = new System.Drawing.Size(38, 20);
this.txtMinZ.TabIndex = 16;
this.txtMinZ.TextChanged += new System.EventHandler(this.txtMinZ_TextChanged);
//
// lbZ
//
this.lbZ.AutoSize = true;
this.lbZ.Location = new System.Drawing.Point(290, 25);
this.lbZ.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbZ.Location = new System.Drawing.Point(193, 16);
this.lbZ.Name = "lbZ";
this.lbZ.Size = new System.Drawing.Size(19, 20);
this.lbZ.Size = new System.Drawing.Size(14, 13);
this.lbZ.TabIndex = 19;
this.lbZ.Text = "Z";
//
// lbY
//
this.lbY.AutoSize = true;
this.lbY.Location = new System.Drawing.Point(225, 25);
this.lbY.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbY.Location = new System.Drawing.Point(150, 16);
this.lbY.Name = "lbY";
this.lbY.Size = new System.Drawing.Size(20, 20);
this.lbY.Size = new System.Drawing.Size(14, 13);
this.lbY.TabIndex = 18;
this.lbY.Text = "Y";
//
// lbX
//
this.lbX.AutoSize = true;
this.lbX.Location = new System.Drawing.Point(159, 25);
this.lbX.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbX.Location = new System.Drawing.Point(106, 16);
this.lbX.Name = "lbX";
this.lbX.Size = new System.Drawing.Size(20, 20);
this.lbX.Size = new System.Drawing.Size(14, 13);
this.lbX.TabIndex = 17;
this.lbX.Text = "X";
//
@@ -496,31 +493,27 @@
this.grFiltering.Controls.Add(this.lbFilterNeighbors);
this.grFiltering.Controls.Add(this.lbFilterDistance);
this.grFiltering.Controls.Add(this.txtFilterDistance);
this.grFiltering.Location = new System.Drawing.Point(14, 178);
this.grFiltering.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grFiltering.Location = new System.Drawing.Point(9, 116);
this.grFiltering.Name = "grFiltering";
this.grFiltering.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grFiltering.Size = new System.Drawing.Size(374, 135);
this.grFiltering.Size = new System.Drawing.Size(249, 88);
this.grFiltering.TabIndex = 45;
this.grFiltering.TabStop = false;
this.grFiltering.Text = "Filtering";
//
// txtFilterNeighbors
//
this.txtFilterNeighbors.Location = new System.Drawing.Point(140, 60);
this.txtFilterNeighbors.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtFilterNeighbors.Location = new System.Drawing.Point(93, 39);
this.txtFilterNeighbors.Name = "txtFilterNeighbors";
this.txtFilterNeighbors.Size = new System.Drawing.Size(55, 26);
this.txtFilterNeighbors.Size = new System.Drawing.Size(38, 20);
this.txtFilterNeighbors.TabIndex = 20;
this.txtFilterNeighbors.TextChanged += new System.EventHandler(this.txtFilterNeighbors_TextChanged);
//
// chFilter
//
this.chFilter.AutoSize = true;
this.chFilter.Location = new System.Drawing.Point(140, 25);
this.chFilter.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.chFilter.Location = new System.Drawing.Point(93, 16);
this.chFilter.Name = "chFilter";
this.chFilter.Size = new System.Drawing.Size(147, 24);
this.chFilter.Size = new System.Drawing.Size(100, 17);
this.chFilter.TabIndex = 18;
this.chFilter.Text = "filtering enabled";
this.chFilter.UseVisualStyleBackColor = true;
@@ -529,29 +522,26 @@
// lbFilterNeighbors
//
this.lbFilterNeighbors.AutoSize = true;
this.lbFilterNeighbors.Location = new System.Drawing.Point(12, 65);
this.lbFilterNeighbors.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbFilterNeighbors.Location = new System.Drawing.Point(8, 42);
this.lbFilterNeighbors.Name = "lbFilterNeighbors";
this.lbFilterNeighbors.Size = new System.Drawing.Size(98, 20);
this.lbFilterNeighbors.Size = new System.Drawing.Size(67, 13);
this.lbFilterNeighbors.TabIndex = 19;
this.lbFilterNeighbors.Text = "N neighbors:";
//
// lbFilterDistance
//
this.lbFilterDistance.AutoSize = true;
this.lbFilterDistance.Location = new System.Drawing.Point(12, 105);
this.lbFilterDistance.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbFilterDistance.Location = new System.Drawing.Point(8, 68);
this.lbFilterDistance.Name = "lbFilterDistance";
this.lbFilterDistance.Size = new System.Drawing.Size(106, 20);
this.lbFilterDistance.Size = new System.Drawing.Size(73, 13);
this.lbFilterDistance.TabIndex = 21;
this.lbFilterDistance.Text = "Max distance:";
//
// txtFilterDistance
//
this.txtFilterDistance.Location = new System.Drawing.Point(140, 100);
this.txtFilterDistance.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtFilterDistance.Location = new System.Drawing.Point(93, 65);
this.txtFilterDistance.Name = "txtFilterDistance";
this.txtFilterDistance.Size = new System.Drawing.Size(55, 26);
this.txtFilterDistance.Size = new System.Drawing.Size(38, 20);
this.txtFilterDistance.TabIndex = 22;
this.txtFilterDistance.TextChanged += new System.EventHandler(this.txtFilterDistance_TextChanged);
//
@@ -568,79 +558,13 @@
this.grServer.Controls.Add(this.txtICPIters);
this.grServer.Controls.Add(this.chMerge);
this.grServer.Controls.Add(this.lbICPIters);
this.grServer.Location = new System.Drawing.Point(18, 478);
this.grServer.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grServer.Location = new System.Drawing.Point(12, 311);
this.grServer.Name = "grServer";
this.grServer.Padding = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.grServer.Size = new System.Drawing.Size(948, 175);
this.grServer.Size = new System.Drawing.Size(632, 114);
this.grServer.TabIndex = 44;
this.grServer.TabStop = false;
this.grServer.Text = "KinectServer settings";
//
// rBinaryPly
//
this.rBinaryPly.AutoSize = true;
this.rBinaryPly.Location = new System.Drawing.Point(277, 105);
this.rBinaryPly.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.rBinaryPly.Name = "rBinaryPly";
this.rBinaryPly.Size = new System.Drawing.Size(110, 24);
this.rBinaryPly.TabIndex = 30;
this.rBinaryPly.TabStop = true;
this.rBinaryPly.Text = "binary PLY";
this.rBinaryPly.UseVisualStyleBackColor = true;
this.rBinaryPly.CheckedChanged += new System.EventHandler(this.PlyFormat_CheckedChanged);
//
// lbFormat
//
this.lbFormat.AutoSize = true;
this.lbFormat.Location = new System.Drawing.Point(7, 106);
this.lbFormat.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbFormat.Name = "lbFormat";
this.lbFormat.Size = new System.Drawing.Size(88, 20);
this.lbFormat.TabIndex = 29;
this.lbFormat.Text = "File format:";
//
// rAsciiPly
//
this.rAsciiPly.AutoSize = true;
this.rAsciiPly.Location = new System.Drawing.Point(156, 105);
this.rAsciiPly.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.rAsciiPly.Name = "rAsciiPly";
this.rAsciiPly.Size = new System.Drawing.Size(111, 24);
this.rAsciiPly.TabIndex = 28;
this.rAsciiPly.TabStop = true;
this.rAsciiPly.Text = "ASCII PLY";
this.rAsciiPly.UseVisualStyleBackColor = true;
this.rAsciiPly.CheckedChanged += new System.EventHandler(this.PlyFormat_CheckedChanged);
//
// txtRefinIters
//
this.txtRefinIters.Location = new System.Drawing.Point(408, 31);
this.txtRefinIters.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.txtRefinIters.Name = "txtRefinIters";
this.txtRefinIters.Size = new System.Drawing.Size(55, 26);
this.txtRefinIters.TabIndex = 27;
this.txtRefinIters.TextChanged += new System.EventHandler(this.txtRefinIters_TextChanged);
//
// lbOuterIters
//
this.lbOuterIters.AutoSize = true;
this.lbOuterIters.Location = new System.Drawing.Point(222, 36);
this.lbOuterIters.Margin = new System.Windows.Forms.Padding(4, 0, 4, 0);
this.lbOuterIters.Name = "lbOuterIters";
this.lbOuterIters.Size = new System.Drawing.Size(178, 20);
this.lbOuterIters.TabIndex = 26;
this.lbOuterIters.Text = "Num of refinement iters:";
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(8, 139);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(141, 20);
this.label2.TabIndex = 31;
this.label2.Text = "Compression level:";
//
// cbCompressionLevel
//
this.cbCompressionLevel.FormattingEnabled = true;
@@ -657,26 +581,88 @@
"15",
"17",
"19"});
this.cbCompressionLevel.Location = new System.Drawing.Point(154, 136);
this.cbCompressionLevel.Location = new System.Drawing.Point(103, 88);
this.cbCompressionLevel.Margin = new System.Windows.Forms.Padding(2);
this.cbCompressionLevel.Name = "cbCompressionLevel";
this.cbCompressionLevel.Size = new System.Drawing.Size(169, 28);
this.cbCompressionLevel.Size = new System.Drawing.Size(114, 21);
this.cbCompressionLevel.TabIndex = 32;
this.cbCompressionLevel.SelectedIndexChanged += new System.EventHandler(this.cbCompressionLevel_SelectedIndexChanged);
//
// label2
//
this.label2.AutoSize = true;
this.label2.Location = new System.Drawing.Point(5, 90);
this.label2.Margin = new System.Windows.Forms.Padding(2, 0, 2, 0);
this.label2.Name = "label2";
this.label2.Size = new System.Drawing.Size(95, 13);
this.label2.TabIndex = 31;
this.label2.Text = "Compression level:";
//
// rBinaryPly
//
this.rBinaryPly.AutoSize = true;
this.rBinaryPly.Location = new System.Drawing.Point(185, 68);
this.rBinaryPly.Name = "rBinaryPly";
this.rBinaryPly.Size = new System.Drawing.Size(76, 17);
this.rBinaryPly.TabIndex = 30;
this.rBinaryPly.TabStop = true;
this.rBinaryPly.Text = "binary PLY";
this.rBinaryPly.UseVisualStyleBackColor = true;
this.rBinaryPly.CheckedChanged += new System.EventHandler(this.PlyFormat_CheckedChanged);
//
// lbFormat
//
this.lbFormat.AutoSize = true;
this.lbFormat.Location = new System.Drawing.Point(5, 69);
this.lbFormat.Name = "lbFormat";
this.lbFormat.Size = new System.Drawing.Size(58, 13);
this.lbFormat.TabIndex = 29;
this.lbFormat.Text = "File format:";
//
// rAsciiPly
//
this.rAsciiPly.AutoSize = true;
this.rAsciiPly.Location = new System.Drawing.Point(104, 68);
this.rAsciiPly.Name = "rAsciiPly";
this.rAsciiPly.Size = new System.Drawing.Size(75, 17);
this.rAsciiPly.TabIndex = 28;
this.rAsciiPly.TabStop = true;
this.rAsciiPly.Text = "ASCII PLY";
this.rAsciiPly.UseVisualStyleBackColor = true;
this.rAsciiPly.CheckedChanged += new System.EventHandler(this.PlyFormat_CheckedChanged);
//
// txtRefinIters
//
this.txtRefinIters.Location = new System.Drawing.Point(272, 20);
this.txtRefinIters.Name = "txtRefinIters";
this.txtRefinIters.Size = new System.Drawing.Size(38, 20);
this.txtRefinIters.TabIndex = 27;
this.txtRefinIters.TextChanged += new System.EventHandler(this.txtRefinIters_TextChanged);
//
// lbOuterIters
//
this.lbOuterIters.AutoSize = true;
this.lbOuterIters.Location = new System.Drawing.Point(148, 23);
this.lbOuterIters.Name = "lbOuterIters";
this.lbOuterIters.Size = new System.Drawing.Size(118, 13);
this.lbOuterIters.TabIndex = 26;
this.lbOuterIters.Text = "Num of refinement iters:";
//
// SettingsForm
//
this.AutoScaleDimensions = new System.Drawing.SizeF(9F, 20F);
this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
this.ClientSize = new System.Drawing.Size(984, 663);
this.ClientSize = new System.Drawing.Size(656, 431);
this.Controls.Add(this.grServer);
this.Controls.Add(this.grClient);
this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
this.Margin = new System.Windows.Forms.Padding(4, 5, 4, 5);
this.MaximizeBox = false;
this.Name = "SettingsForm";
this.Text = "Settings";
this.Load += new System.EventHandler(this.SettingsForm_Load);
this.grClient.ResumeLayout(false);
this.grSync.ResumeLayout(false);
this.grSync.PerformLayout();
this.grBody.ResumeLayout(false);
this.grBody.PerformLayout();
this.grMarkers.ResumeLayout(false);
@@ -744,6 +730,7 @@
private System.Windows.Forms.CheckBox chSkeletons;
private System.Windows.Forms.ComboBox cbCompressionLevel;
private System.Windows.Forms.Label label2;
private System.Windows.Forms.GroupBox grSync;
private System.Windows.Forms.CheckBox chSync;
}
}
LiveScanServer/SettingsForm.cs
+16
View File
@@ -61,6 +61,9 @@ namespace KinectServer
chMerge.Checked = oSettings.bMergeScansForSave;
txtICPIters.Text = oSettings.nNumICPIterations.ToString();
txtRefinIters.Text = oSettings.nNumRefineIters.ToString();
chSync.Checked = oSettings.bEnableSync;
if (oSettings.bSaveAsBinaryPLY)
{
rBinaryPly.Checked = true;
@@ -78,7 +81,11 @@ namespace KinectServer
void UpdateClients()
{
if (bFormLoaded)
{
oServer.SendSettings();
oServer.SendTemporalSyncData();
}
}
void UpdateMarkerFields()
@@ -340,5 +347,14 @@ namespace KinectServer
}
UpdateClients();
}
private void chSync_CheckedChanged(object sender, EventArgs e)
{
oSettings.bEnableSync = chSync.Checked;
UpdateClients();
}
}
}
LiveScanServer/SettingsForm.resx
+3
View File
@@ -117,4 +117,7 @@
<resheader name="writer">
<value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
</resheader>
<metadata name="lbSyncWarning.GenerateMember" type="System.Boolean, mscorlib, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089">
<value>False</value>
</metadata>
</root>
include/LiveScanClient/liveScanClient.h
+5
View File
@@ -43,6 +43,9 @@ private:
bool m_bFilter;
bool m_bStreamOnlyBodies;
bool m_bIsMaster;
bool m_bIsSubOrdinate;
ICapture *pCapture;
int m_nFilterNeighbors;
@@ -51,6 +54,8 @@ private:
bool m_bCaptureFrame;
bool m_bConnected;
bool m_bConfirmCaptured;
bool m_bConfirmMaster;
bool m_bConfirmSubOrdinate;
bool m_bConfirmCalibrated;
bool m_bShowDepth;
bool m_bFrameCompression;
include/LiveScanClient/utils.h
+5 -2
View File
@@ -27,7 +27,9 @@ enum INCOMING_MESSAGE_TYPE
MSG_REQUEST_STORED_FRAME,
MSG_REQUEST_LAST_FRAME,
MSG_RECEIVE_CALIBRATION,
MSG_CLEAR_STORED_FRAMES
MSG_CLEAR_STORED_FRAMES,
MSG_SET_MASTER,
MSG_SET_SUBORDINATE
};
enum OUTGOING_MESSAGE_TYPE
@@ -35,7 +37,8 @@ enum OUTGOING_MESSAGE_TYPE
MSG_CONFIRM_CAPTURED,
MSG_CONFIRM_CALIBRATED,
MSG_STORED_FRAME,
MSG_LAST_FRAME
MSG_LAST_FRAME,
MSG_CONFIRM_TEMP_SYNC_STATUS
};
typedef struct Point3f
src/LiveScanClient/liveScanClient.cpp
+28
View File
@@ -444,6 +444,16 @@ void LiveScanClient::HandleSocket()
//calibrate
else if (received[i] == MSG_CALIBRATE)
m_bCalibrate = true;
//Set this client as master
else if (received[i] == MSG_SET_MASTER) {
m_bIsMaster = true;
m_bIsSubOrdinate = false;
}
//Set this client as subordinate
else if (received[i] == MSG_SET_SUBORDINATE) {
m_bIsMaster = false;
m_bIsSubOrdinate = true;
}
//receive settings
//TODO: what if packet is split?
else if (received[i] == MSG_RECEIVE_SETTINGS)
@@ -567,6 +577,24 @@ void LiveScanClient::HandleSocket()
m_bConfirmCaptured = false;
}
if (m_bConfirmMaster)
{
int size = 2;
char *buffer = new char[size];
buffer[0] = MSG_CONFIRM_TEMP_SYNC_STATUS;
buffer[1] = 0;
m_pClientSocket->SendBytes(buffer, size);
}
if (m_bConfirmSubOrdinate)
{
int size = 2;
char* buffer = new char[size];
buffer[0] = MSG_CONFIRM_TEMP_SYNC_STATUS;
buffer[1] = -1;
m_pClientSocket->SendBytes(buffer, size);
}
if (m_bConfirmCalibrated)
{
int size = (9 + 3) * sizeof(float) + sizeof(int) + 1;