Frames are now saved to the file, added FramesFileWriterReader class.

LiveScanClient/KinectClient.vcxproj

@@ -13,6 +13,7 @@
   <ItemGroup>
     <ClInclude Include="..\include\LiveScanClient\calibration.h" />
     <ClInclude Include="..\include\LiveScanClient\filter.h" />
+    <ClInclude Include="..\include\LiveScanClient\framesFileWriterReader.h" />
     <ClInclude Include="..\include\LiveScanClient\iCapture.h" />
     <ClInclude Include="..\include\LiveScanClient\imageRenderer.h" />
     <ClInclude Include="..\include\LiveScanClient\iMarker.h" />
@@ -28,6 +29,7 @@
   <ItemGroup>
     <ClCompile Include="..\src\LiveScanClient\calibration.cpp" />
     <ClCompile Include="..\src\LiveScanClient\filter.cpp" />
+    <ClCompile Include="..\src\LiveScanClient\framesFileWriterReader.cpp" />
     <ClCompile Include="..\src\LiveScanClient\iCapture.cpp" />
     <ClCompile Include="..\src\LiveScanClient\imageRenderer.cpp" />
     <ClCompile Include="..\src\LiveScanClient\iMarker.cpp" />

LiveScanClient/KinectClient.vcxproj.filters

@@ -54,6 +54,9 @@
     <ClInclude Include="..\include\LiveScanClient\utils.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="..\include\LiveScanClient\framesFileWriterReader.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <ClCompile Include="..\src\socketCS.cpp">
@@ -86,6 +89,9 @@
     <ClCompile Include="..\src\LiveScanClient\utils.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="..\src\LiveScanClient\framesFileWriterReader.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <Image Include="app.ico">

include/LiveScanClient/framesFileWriterReader.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <stdio.h>
+#include <string>
+#include <vector>
+#include <chrono>
+#include "utils.h"
+
+class FramesFileWriterReader
+{
+public:
+	FramesFileWriterReader();
+	void openNewFileForWriting();
+	void openCurrentFileForReading();
+	
+	// leave filename blank if you want the filename to be generated from the date
+	void setCurrentFilename(std::string filename = ""); 
+
+	void writeFrame(std::vector<Point3s> points, std::vector<RGB> colors);
+	bool readFrame(std::vector<Point3s> &outPoints, std::vector<RGB> &outColors);
+
+	bool openedForWriting() { return m_bFileOpenedForWriting; }
+	bool openedForReading() { return m_bFileOpenedForReading; }
+
+
+	void closeFileIfOpened();
+
+	~FramesFileWriterReader();
+
+private:
+	void resetTimer();
+	int getRecordingTimeMilliseconds();
+
+	FILE *m_pFileHandle = nullptr;
+	bool m_bFileOpenedForWriting = false; 
+	bool m_bFileOpenedForReading = false;
+
+	std::string m_sFilename = "";
+
+	std::chrono::steady_clock::time_point recording_start_time;
+};

include/LiveScanClient/liveScanClient.h

@@ -20,6 +20,7 @@
 #include "calibration.h"
 #include "utils.h"
 #include "KinectCapture.h"
+#include "framesFileWriterReader.h"
 #include <thread>
 #include <mutex>
 
@@ -54,7 +55,11 @@ private:
 	bool m_bShowDepth;
 	bool m_bFrameCompression;
 	int m_iCompressionLevel;
-	
+	bool m_bCaptureToFile;			// false if capture frames to memory
+
+	FramesFileWriterReader m_framesFileWriterReader;
+
+
 	SocketClient *m_pClientSocket;
 	std::vector<float> m_vBounds;
 

src/LiveScanClient/framesFileWriterReader.cpp

@@ -0,0 +1,109 @@
+#include "framesFileWriterReader.h"
+
+#include <ctime>
+
+FramesFileWriterReader::FramesFileWriterReader()
+{
+
+}
+
+void FramesFileWriterReader::closeFileIfOpened()
+{
+	if (m_pFileHandle == nullptr)
+		return;
+
+	fclose(m_pFileHandle);
+	m_pFileHandle = nullptr; 
+	m_bFileOpenedForReading = false;
+	m_bFileOpenedForWriting = false;
+}
+
+void FramesFileWriterReader::resetTimer()
+{
+	recording_start_time = std::chrono::steady_clock::now();
+}
+
+int FramesFileWriterReader::getRecordingTimeMilliseconds()
+{
+	std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
+	return static_cast<int>(std::chrono::duration_cast<std::chrono::milliseconds >(end - recording_start_time).count());
+}
+
+void FramesFileWriterReader::openCurrentFileForReading()
+{
+	closeFileIfOpened();
+
+	m_pFileHandle = fopen(m_sFilename.c_str(), "rb");
+
+	m_bFileOpenedForReading = true;
+	m_bFileOpenedForWriting = false;
+}
+
+void FramesFileWriterReader::openNewFileForWriting()
+{
+	closeFileIfOpened();
+
+	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);
+	m_sFilename = filename; 
+	m_pFileHandle = fopen(filename, "wb");
+
+	m_bFileOpenedForReading = false;
+	m_bFileOpenedForWriting = true;
+
+	resetTimer();
+}
+
+bool FramesFileWriterReader::readFrame(std::vector<Point3s> &outPoints, std::vector<RGB> &outColors)
+{
+	if (!m_bFileOpenedForReading)
+		openCurrentFileForReading();
+
+	outPoints.clear();
+	outColors.clear();
+	FILE *f = m_pFileHandle;
+	int nPoints, timestamp; 
+	char tmp[1024]; 
+	int nread = fscanf_s(f, "%s %d %s %d", tmp, 1024, &nPoints, tmp, 1024, &timestamp);
+
+	if (nread < 4)
+		return false;
+
+	if (nPoints == 0)
+		return true;
+
+	fgetc(f);		//  '\n'
+	outPoints.resize(nPoints);
+	outColors.resize(nPoints);
+
+	fread((void*)outPoints.data(), sizeof(outPoints[0]), nPoints, f);
+	fread((void*)outColors.data(), sizeof(outColors[0]), nPoints, f);
+	fgetc(f);		// '\n'
+	return true;
+
+}
+
+
+void FramesFileWriterReader::writeFrame(std::vector<Point3s> points, std::vector<RGB> colors)
+{
+	if (!m_bFileOpenedForWriting)
+		openNewFileForWriting();
+
+	FILE *f = m_pFileHandle;
+
+	int nPoints = static_cast<int>(points.size());
+	fprintf(f, "n_points= %d\nframe_timestamp= %d\n", nPoints, getRecordingTimeMilliseconds());
+	if (nPoints > 0)
+	{
+		fwrite((void*)points.data(), sizeof(points[0]), nPoints, f);
+		fwrite((void*)colors.data(), sizeof(colors[0]), nPoints, f);
+	}
+	fprintf(f, "\n");
+}
+
+FramesFileWriterReader::~FramesFileWriterReader()
+{
+	closeFileIfOpened();
+}

src/LiveScanClient/liveScanClient.cpp

@@ -53,6 +53,7 @@ LiveScanClient::LiveScanClient() :
 	m_bFilter(false),
 	m_bStreamOnlyBodies(false),
 	m_bCaptureFrame(false),
+	m_bCaptureToFile(true),
 	m_bConnected(false),
 	m_bConfirmCaptured(false),
 	m_bConfirmCalibrated(false),
@@ -183,6 +184,8 @@ int LiveScanClient::Run(HINSTANCE hInstance, int nCmdShow)
     return static_cast<int>(msg.wParam);
 }
 
+
+
 void LiveScanClient::UpdateFrame()
 {
 	if (!pCapture->bInitialized)
@@ -203,10 +206,19 @@ void LiveScanClient::UpdateFrame()
 
 		if (m_bCaptureFrame)
 		{
-			m_vGatheredVertices.push_back(m_vLastFrameVertices);
+			if (m_bCaptureToFile)
-			m_vGatheredRGBPoints.push_back(m_vLastFrameRGB);
+			{
-			m_bConfirmCaptured = true;
+				m_framesFileWriterReader.writeFrame(m_vLastFrameVertices, m_vLastFrameRGB);
-			m_bCaptureFrame = false;
+				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;
+			}
 		}
 	}
 
@@ -515,18 +527,32 @@ void LiveScanClient::HandleSocket()
 		{
 			byteToSend = MSG_STORED_FRAME;
 			m_pClientSocket->SendBytes(&byteToSend, 1);
-
+			if (m_bCaptureToFile)
-			if (m_vGatheredRGBPoints.size() > 0)
 			{
-				SendFrame(m_vGatheredVertices[0], m_vGatheredRGBPoints[0], m_vLastFrameBody);
+				vector<Point3s> points;
-
+				vector<RGB> colors; 
-				m_vGatheredRGBPoints.erase(m_vGatheredRGBPoints.begin(), m_vGatheredRGBPoints.begin() + 1);
+				bool res = m_framesFileWriterReader.readFrame(points, colors);
-				m_vGatheredVertices.erase(m_vGatheredVertices.begin(), m_vGatheredVertices.begin() + 1);
+				if (res == false)
+				{
+					int size = -1;
+					m_pClientSocket->SendBytes((char*)&size, 4);
+				} else
+					SendFrame(points, colors, m_vLastFrameBody);
 			}
 			else
 			{
-				int size = -1;
+				if (m_vGatheredRGBPoints.size() > 0)
-				m_pClientSocket->SendBytes((char*)&size, 4);
+				{
+					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);
+				}
 			}
 		}
 		//send last frame
@@ -692,7 +718,6 @@ void LiveScanClient::SendFrame(vector<Point3s> vertices, vector<RGB> RGB, vector
 
 	if (m_bFrameCompression)
 	{
-		char buf[8];
 		// *2, because according to zstd documentation, increasing the size of the output buffer above a 
 		// bound should speed up the compression.
 		int cBuffSize = ZSTD_compressBound(size) * 2;