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

LiveScanServer/KinectSettings.cs

@@ -33,8 +33,10 @@ namespace KinectServer
 
         public BindingList<MarkerPose> lMarkerPoses = new BindingList<MarkerPose>();
 
+        public bool bStreamOnlyBodies = false;
+
         public int nNumICPIterations = 10;
-        public int nMaxNumRefineIters = 10;
+        public int nNumRefineIters = 2;
         public bool bMergeScansForSave = false;
 
         public KinectSettings()
@@ -87,6 +89,11 @@ namespace KinectServer
                 lData.AddRange(bTemp);
             }
 
+            if (bStreamOnlyBodies)
+                lData.Add(1);
+            else
+                lData.Add(0);
+
             return lData;
         }
     }

LiveScanServer/MainWindowForm.cs

@@ -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);
                 }
-
-                if (firstPass)
-                {
-                    firstPass = false;
-                }
-                else
-                {
-                    if (Math.Abs(oldError - error) / error < 0.01)
-                        break;
-                }
-                oldError = error;
-
-                iter++;
             }
 
             //Update the calibration data in client machines.

LiveScanServer/SettingsForm.Designer.cs

@@ -71,11 +71,15 @@
             this.grServer = new System.Windows.Forms.GroupBox();
             this.txtRefinIters = new System.Windows.Forms.TextBox();
             this.lbOuterIters = new System.Windows.Forms.Label();
+            this.grBody = new System.Windows.Forms.GroupBox();
+            this.chBodyData = new System.Windows.Forms.CheckBox();
+            this.label1 = new System.Windows.Forms.Label();
             this.grClient.SuspendLayout();
             this.grMarkers.SuspendLayout();
             this.grBounding.SuspendLayout();
             this.grFiltering.SuspendLayout();
             this.grServer.SuspendLayout();
+            this.grBody.SuspendLayout();
             this.SuspendLayout();
             // 
             // lbMerge
@@ -90,7 +94,7 @@
             // chMerge
             // 
             this.chMerge.AutoSize = true;
-            this.chMerge.Location = new System.Drawing.Point(91, 48);
+            this.chMerge.Location = new System.Drawing.Point(98, 48);
             this.chMerge.Name = "chMerge";
             this.chMerge.Size = new System.Drawing.Size(86, 17);
             this.chMerge.TabIndex = 23;
@@ -109,7 +113,7 @@
             // 
             // txtICPIters
             // 
-            this.txtICPIters.Location = new System.Drawing.Point(91, 23);
+            this.txtICPIters.Location = new System.Drawing.Point(98, 23);
             this.txtICPIters.Name = "txtICPIters";
             this.txtICPIters.Size = new System.Drawing.Size(38, 20);
             this.txtICPIters.TabIndex = 25;
@@ -117,12 +121,13 @@
             // 
             // grClient
             // 
+            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(12, 12);
             this.grClient.Name = "grClient";
-            this.grClient.Size = new System.Drawing.Size(632, 212);
+            this.grClient.Size = new System.Drawing.Size(632, 327);
             this.grClient.TabIndex = 43;
             this.grClient.TabStop = false;
             this.grClient.Text = "KinectClient settings";
@@ -471,7 +476,7 @@
             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(12, 230);
+            this.grServer.Location = new System.Drawing.Point(12, 345);
             this.grServer.Name = "grServer";
             this.grServer.Size = new System.Drawing.Size(632, 78);
             this.grServer.TabIndex = 44;
@@ -480,7 +485,7 @@
             // 
             // txtRefinIters
             // 
-            this.txtRefinIters.Location = new System.Drawing.Point(271, 23);
+            this.txtRefinIters.Location = new System.Drawing.Point(266, 23);
             this.txtRefinIters.Name = "txtRefinIters";
             this.txtRefinIters.Size = new System.Drawing.Size(38, 20);
             this.txtRefinIters.TabIndex = 27;
@@ -489,17 +494,48 @@
             // lbOuterIters
             // 
             this.lbOuterIters.AutoSize = true;
-            this.lbOuterIters.Location = new System.Drawing.Point(135, 26);
+            this.lbOuterIters.Location = new System.Drawing.Point(142, 26);
             this.lbOuterIters.Name = "lbOuterIters";
-            this.lbOuterIters.Size = new System.Drawing.Size(139, 13);
+            this.lbOuterIters.Size = new System.Drawing.Size(118, 13);
             this.lbOuterIters.TabIndex = 26;
-            this.lbOuterIters.Text = "Max num of refinement iters:";
+            this.lbOuterIters.Text = "Num of refinement iters:";
+            // 
+            // grBody
+            // 
+            this.grBody.Controls.Add(this.label1);
+            this.grBody.Controls.Add(this.chBodyData);
+            this.grBody.Location = new System.Drawing.Point(9, 211);
+            this.grBody.Name = "grBody";
+            this.grBody.Size = new System.Drawing.Size(249, 110);
+            this.grBody.TabIndex = 47;
+            this.grBody.TabStop = false;
+            this.grBody.Text = "Body data";
+            // 
+            // chBodyData
+            // 
+            this.chBodyData.AutoSize = true;
+            this.chBodyData.Location = new System.Drawing.Point(11, 19);
+            this.chBodyData.Name = "chBodyData";
+            this.chBodyData.Size = new System.Drawing.Size(113, 17);
+            this.chBodyData.TabIndex = 19;
+            this.chBodyData.Text = "stream only bodies";
+            this.chBodyData.UseVisualStyleBackColor = true;
+            this.chBodyData.CheckedChanged += new System.EventHandler(this.chBodyData_CheckedChanged);
+            // 
+            // label1
+            // 
+            this.label1.AutoSize = true;
+            this.label1.Location = new System.Drawing.Point(11, 43);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(187, 13);
+            this.label1.TabIndex = 20;
+            this.label1.Text = "More features will be added here soon";
             // 
             // SettingsForm
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 13F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(656, 319);
+            this.ClientSize = new System.Drawing.Size(656, 435);
             this.Controls.Add(this.grServer);
             this.Controls.Add(this.grClient);
             this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
@@ -516,6 +552,8 @@
             this.grFiltering.PerformLayout();
             this.grServer.ResumeLayout(false);
             this.grServer.PerformLayout();
+            this.grBody.ResumeLayout(false);
+            this.grBody.PerformLayout();
             this.ResumeLayout(false);
 
         }
@@ -565,6 +603,9 @@
         private System.Windows.Forms.Label lbZ;
         private System.Windows.Forms.Label lbY;
         private System.Windows.Forms.Label lbX;
+        private System.Windows.Forms.GroupBox grBody;
+        private System.Windows.Forms.CheckBox chBodyData;
+        private System.Windows.Forms.Label label1;
 
     }
 }

LiveScanServer/SettingsForm.cs

@@ -51,10 +51,11 @@ namespace KinectServer
 
             lisMarkers.DataSource = oSettings.lMarkerPoses;
 
+            chBodyData.Checked = oSettings.bStreamOnlyBodies;            
 
             chMerge.Checked = oSettings.bMergeScansForSave;
             txtICPIters.Text = oSettings.nNumICPIterations.ToString();
-            txtRefinIters.Text = oSettings.nMaxNumRefineIters.ToString();
+            txtRefinIters.Text = oSettings.nNumRefineIters.ToString();
         }
 
         void UpdateClients()
@@ -156,7 +157,7 @@ namespace KinectServer
 
         private void txtRefinIters_TextChanged(object sender, EventArgs e)
         {
-            Int32.TryParse(txtRefinIters.Text, out oSettings.nMaxNumRefineIters);
+            Int32.TryParse(txtRefinIters.Text, out oSettings.nNumRefineIters);
         }
 
         private void chMerge_CheckedChanged(object sender, EventArgs e)
@@ -281,5 +282,11 @@ namespace KinectServer
                 UpdateClients();
             }
         }
+
+        private void chBodyData_CheckedChanged(object sender, EventArgs e)
+        {
+            oSettings.bStreamOnlyBodies = chBodyData.Checked;
+            UpdateClients();
+        }
     }
 }

include/LiveScanClient/iCapture.h

@@ -43,6 +43,7 @@ public:
 	int nDepthFrameHeight, nDepthFrameWidth;
 
 	UINT16 *pDepth;
+	BYTE *pBodyIndex;
 	RGB *pColorRGBX;
 	std::vector<Body> vBodies;
 };

include/LiveScanClient/kinectCapture.h

@@ -39,4 +39,5 @@ private:
 	void GetDepthFrame(IMultiSourceFrame* pMultiFrame);
 	void GetColorFrame(IMultiSourceFrame* pMultiFrame);
 	void GetBodyFrame(IMultiSourceFrame* pMultiFrame);
+	void GetBodyIndexFrame(IMultiSourceFrame* pMultiFrame);
 };

include/LiveScanClient/liveScanClient.h

@@ -40,6 +40,7 @@ private:
 
 	bool m_bCalibrate;
 	bool m_bFilter;
+	bool m_bStreamOnlyBodies;
 
 	ICapture *pCapture;
 
@@ -86,7 +87,7 @@ private:
 	void SendFrame(vector<Point3f> vertices, vector<RGB> RGB, vector<Body> body);
 
 	void SocketThreadFunction();
-	void StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies);
+	void StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies, BYTE* bodyIndex);
 	void ShowFPS();
 	void ReadIPFromFile();
 	void WriteIPToFile();

src/LiveScanClient/iCapture.cpp

@@ -25,6 +25,7 @@ ICapture::ICapture()
 
 	pDepth = NULL;
 	pColorRGBX = NULL;
+	pBodyIndex = NULL;
 }
 
 ICapture::~ICapture()
@@ -40,4 +41,10 @@ ICapture::~ICapture()
 		delete[] pColorRGBX;
 		pColorRGBX = NULL;
 	}
+
+	if (pBodyIndex != NULL)
+	{
+		delete[] pBodyIndex;
+		pBodyIndex = NULL;
+	}
 }

src/LiveScanClient/kinectCapture.cpp

@@ -97,6 +97,7 @@ bool KinectCapture::AcquireFrame()
 	GetDepthFrame(pMultiFrame);
 	GetColorFrame(pMultiFrame);
 	GetBodyFrame(pMultiFrame);
+	GetBodyIndexFrame(pMultiFrame);
 
 
 	return true;
@@ -218,3 +219,26 @@ void KinectCapture::GetBodyFrame(IMultiSourceFrame* pMultiFrame)
 	SafeRelease(pBodyFrame);
 	SafeRelease(pBodyFrameReference);
 }
+
+void KinectCapture::GetBodyIndexFrame(IMultiSourceFrame* pMultiFrame)
+{
+	IBodyIndexFrameReference* pBodyIndexFrameReference = NULL;
+	IBodyIndexFrame* pBodyIndexFrame = NULL;
+	pMultiFrame->get_BodyIndexFrameReference(&pBodyIndexFrameReference);
+	HRESULT hr = pBodyIndexFrameReference->AcquireFrame(&pBodyIndexFrame);
+
+
+	if (SUCCEEDED(hr))
+	{
+		if (pBodyIndex == NULL)
+		{
+			pBodyIndex = new BYTE[nDepthFrameHeight * nDepthFrameWidth];
+		}
+
+		UINT nBufferSize = nDepthFrameHeight * nDepthFrameWidth;
+		hr = pBodyIndexFrame->CopyFrameDataToArray(nBufferSize, pBodyIndex);
+	}
+
+	SafeRelease(pBodyIndexFrame);
+	SafeRelease(pBodyIndexFrameReference);
+}

src/LiveScanClient/liveScanClient.cpp

@@ -50,6 +50,7 @@ LiveScanClient::LiveScanClient() :
 	m_pDepthCoordinatesOfColor(NULL),
 	m_bCalibrate(false),
 	m_bFilter(false),
+	m_bStreamOnlyBodies(false),
 	m_bCaptureFrame(false),
 	m_bConnected(false),
 	m_bConfirmCaptured(false),
@@ -195,7 +196,7 @@ void LiveScanClient::UpdateFrame()
 	pCapture->MapDepthFrameToColorSpace(m_pColorCoordinatesOfDepth);
 	{
 		std::lock_guard<std::mutex> lock(m_mSocketThreadMutex);
-		StoreFrame(m_pCameraSpaceCoordinates, m_pColorCoordinatesOfDepth, pCapture->pColorRGBX, pCapture->vBodies);
+		StoreFrame(m_pCameraSpaceCoordinates, m_pColorCoordinatesOfDepth, pCapture->pColorRGBX, pCapture->vBodies, pCapture->pBodyIndex);
 
 		if (m_bCaptureFrame)
 		{
@@ -497,6 +498,9 @@ void LiveScanClient::HandleSocket()
 				i += sizeof(int);
 			}
 
+			m_bStreamOnlyBodies = (received[i] != 0);
+			i++;
+
 			//so that we do not lose the next character in the stream
 			i--;
 		}
@@ -683,7 +687,7 @@ void LiveScanClient::SendFrame(vector<Point3f> vertices, vector<RGB> RGB, vector
 
 }
 
-void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies)
+void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color, vector<Body> &bodies, BYTE* bodyIndex)
 {
 	std::vector<Point3f> goodVertices;
 	std::vector<RGB> goodColorPoints;
@@ -692,6 +696,9 @@ void LiveScanClient::StoreFrame(Point3f *vertices, Point2f *mapping, RGB *color,
 
 	for (unsigned int vertexIndex = 0; vertexIndex < nVertices; vertexIndex++)
 	{
+		if (m_bStreamOnlyBodies && bodyIndex[vertexIndex] >= bodies.size())
+			continue;
+
 		if (vertices[vertexIndex].Z >= 0 && mapping[vertexIndex].Y >= 0 && mapping[vertexIndex].Y < pCapture->nColorFrameHeight)
 		{
 			Point3f temp = vertices[vertexIndex];