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Added the option to only stream the body data (skeleton and body point cloud) instead of everything.

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marek
2015-11-06 18:48:15 +01:00
parent 948eee769e
commit ef1c5ac2ce
10 changed files with 116 additions and 40 deletions
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LiveScanServer/MainWindowForm.cs
+4 -24
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@@ -316,16 +316,9 @@ namespace KinectServer
//Use ICP to refine the sensor poses.
//This part is explained in more detail in our article (name on top of this file).
float error = 1;
float oldError = 1;
bool firstPass = true;
int iter = 0;
while (true)
{
if (iter > oSettings.nMaxNumRefineIters)
break;
error = 0;
for (int refineIter = 0; refineIter < oSettings.nNumRefineIters; refineIter++)
{
for (int i = 0; i < lAllFrameVertices.Count; i++)
{
List<float> otherFramesVertices = new List<float>();
@@ -345,25 +338,12 @@ namespace KinectServer
Marshal.Copy(verts1, 0, pVerts1, verts1.Length);
Marshal.Copy(verts2, 0, pVerts2, verts2.Length);
error += ICP(pVerts1, pVerts2, otherFramesVertices.Count / 3, lAllFrameVertices[i].Count / 3, Rs[i], Ts[i], oSettings.nNumICPIterations);
ICP(pVerts1, pVerts2, otherFramesVertices.Count / 3, lAllFrameVertices[i].Count / 3, Rs[i], Ts[i], oSettings.nNumICPIterations);
Marshal.Copy(pVerts2, verts2, 0, verts2.Length);
lAllFrameVertices[i].Clear();
lAllFrameVertices[i].AddRange(verts2);
lAllFrameVertices[i].AddRange(verts2);
}
if (firstPass)
{
firstPass = false;
}
else
{
if (Math.Abs(oldError - error) / error < 0.01)
break;
}
oldError = error;
iter++;
}
//Update the calibration data in client machines.